Lifting device and cleaning equipment

Abstract

The embodiment of the utility model provides a lifting device and cleaning equipment. The lifting device comprises a driving piece and a connecting rod transmission mechanism, the fixed end of the driving piece is rotatably arranged on a base, the movable end of the driving piece is hinged to the connecting rod transmission mechanism, and the connecting rod transmission mechanism at least comprises a first connecting piece hinged to the base through a mounting shaft; the first connecting piece can rotate around the axis of the mounting shaft relative to the base, and the first end of the first connecting piece is hinged to the moving end of the driving piece; the first end of the second connecting piece is hinged to the second end of the first connecting piece, the second end of the second connecting piece is used for being connected with the cleaning mechanism, and when the moving end of the driving piece moves, the first connecting piece is driven to rotate around the axis of the mounting shaft so as to drive the second connecting piece and the cleaning mechanism to ascend or descend.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of mechanical equipment, and in particular to a lifting device and a cleaning device. Background Art

[0002] In the field of robot applications, it is often necessary for local structures to fall (or rise) when working, and to rise (or fall) when stopping working, in order to realize the operation of the local structure. The rise and fall of the local structure parts need to be driven by a special structure as a connection, so as to realize the purpose of local structure movement.

[0003] Taking the cleaning part of a floor scrubber and a floor scrubber robot as an example, it has a cleaning mechanism (for example, at least one of a disc brush module, a roller brush module, a plate brush module, a suction scraper module and a dust pusher module). During daily work, the cleaning mechanism needs to fall and contact the surface to be cleaned (such as the ground) to achieve the purpose of cleaning the ground; when stopping working, the cleaning mechanism needs to be lifted up to make it off the ground to facilitate walking or crossing obstacles.

[0004] The cleaning mechanisms of existing floor scrubbers and floor scrubber robots are mostly connected by "flexible steel wire ropes" or "chains" for lifting or lowering. For example, a fixed pulley is installed on the frame of the floor scrubber, and a flexible steel wire rope or chain is passed around the fixed pulley, one end is connected to the drive motor (or other drive device), and the other end is connected to the cleaning mechanism. The cleaning mechanism is raised or lowered by pulling or releasing the flexible steel wire rope (or chain). This structure has some problems, such as:

[0005] When using flexible steel wire rope (hereinafter referred to as steel wire rope) for connection, both ends of the multi-strand steel wire rope are easy to curl up, making installation difficult and easily injuring operators; ordinary multi-strand steel wire rope has no fixed structure at the end, and the steel wire rope needs to be bent 180° and fixed with a wire rope clamp. The operation process is complicated, and the steel wire rope is easy to slip out of the clamp during use, resulting in the inability to lift the lifting work module; using customized steel wire rope, aluminum or steel connecting rings are used at both ends to crimp the steel wire rope. Since the connecting ring squeezes the steel wire rope during the crimping process, the connecting part causes different degrees of damage to the steel wire rope. During use, the damaged part is easily broken due to stress, resulting in the inability to lift the lifting work module.

[0006] When using chains for connection, the chain pitch is a fixed value, and there are setbacks during the lifting process, which makes it impossible for the lifting working module to achieve continuous lifting or lowering; the chain is multi-section, and in order to achieve the purpose of bearing weight, the joint position of the chain link needs to be welded, and the chain link ring is closed during use. When the chain link ring is subjected to a large external force during use, it is easy to be stretched, so that the suction scraper component or the dust pusher component cannot reach the designed lifting height. Even under certain working conditions, cracks will occur at the welding part of the chain link, making it impossible to lift the lifting working module; the chain is multi-section, and it is a hollow cross-connection form, which is easy to produce "knotting" or "stuck" during the pulling process; the use of chains takes up a lot of space, the product structure design is limited, and local narrow parts cannot be used. Utility Model Content

[0007] In view of this, the embodiments of the present application provide a lifting device and a cleaning equipment to at least partially solve the above problems.

[0008] According to a first aspect of an embodiment of the present application, a lifting device is provided, which includes a driving member and a connecting rod transmission mechanism, wherein the fixed end of the driving member is rotatably arranged on a base, and the movable end of the driving member is hinged to the connecting rod transmission mechanism, and the connecting rod transmission mechanism at least includes: a first connecting member, the first connecting member is hinged to the base through an installation shaft, the first connecting member can rotate relative to the base around the axis of the installation shaft, and the first end of the first connecting member is hinged to the movable end of the driving member; a second connecting member, the first end of the second connecting member is hinged to the second end of the first connecting member, and the second end of the second connecting member is used to connect with a cleaning mechanism, and when the movable end of the driving member moves, the first connecting member is driven to rotate around the axis of the installation shaft to drive the second connecting member and the cleaning mechanism to rise or fall.

[0009] Optionally, an adjustment mounting hole is provided at the first end of the second connecting member, and the adjustment mounting hole extends along the length direction of the second connecting member. A matching mounting hole is provided at the second end of the first connecting member. The lifting device also includes a hinge, and the hinge passes through the adjustment mounting hole and the matching mounting hole to connect the first connecting member and the second connecting member, so that the second connecting member can rotate and move relative to the first connection.

[0010] Optionally, the lifting device further comprises an adjusting member, the first end of the second connecting member is provided with an adjusting hole extending along the length direction of the second connecting member, the adjusting member passes through the adjusting hole and is connected to the hinge member to adjust the connection position of the second connecting member and the hinge member.

[0011] Optionally, the lifting device further comprises a pressing member, which is used to abut against the cleaning mechanism and apply a force to the cleaning mechanism so as to press the cleaning mechanism against the surface to be cleaned.

[0012] Optionally, the clamping member includes a spring, which is sleeved outside the second connecting member, one end of the spring is used to abut against the cleaning mechanism, and the other end of the spring abuts against the second end of the first connecting member. When the cleaning mechanism is in a cleaning state in contact with the surface to be cleaned, the rotation of the first connecting member can adjust the force applied to the cleaning mechanism by the spring.

[0013] Optionally, the first connecting member is provided with a shaft mounting hole for accommodating the mounting shaft, the line connecting the first end of the first connecting member and the shaft mounting hole is a first straight line, the line connecting the second end of the first connecting member and the shaft mounting hole is a second straight line, and a first angle is formed between the first straight line and the second straight line, and the first angle is greater than 0° and less than 180°.

[0014] Optionally, the first angle is less than or equal to 90°.

[0015] Optionally, the lifting device further comprises at least one swing arm, a first end of the swing arm is hinged to the base, and a second end of the swing arm is used to be hinged to the cleaning mechanism.

[0016] Optionally, the lifting device includes at least two swing arms, and the at least two swing arms are arranged at intervals along a direction perpendicular to the rotation plane of the first connecting member.

[0017] According to another aspect of the present application, a cleaning device is provided, which includes a cleaning mechanism and the above-mentioned lifting device.

[0018] According to the solution provided in the embodiment of the present application, the driving member of the lifting device can be installed on a base for bearing, and the driving member is used to output power. The connecting rod transmission mechanism in the form of a multi-link includes at least a first connecting member and a second connecting member. Since the first connecting member is hinged on the base through a mounting shaft, the first connecting member can rotate around the axis of the mounting shaft. In this way, when the driving member moves, the first connecting member can be driven to rotate, and then the second connecting member connected to the second end of the first connecting member moves around the axis of the mounting shaft, which makes the cleaning mechanism connected to the second connecting member rise or fall, thereby realizing the lifting and lowering of the cleaning mechanism. This method of lifting and lowering the cleaning mechanism by using a connecting rod transmission mechanism in the form of a multi-link is not only compact in structure and reliable in lifting and lowering, but also simple in structure and easy to install, which solves the problem of inconvenient installation and insufficient reliability of wire rope or chain transmission methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1This is a structural schematic diagram of a lifting device in a cleaning state according to an embodiment of the present application;

[0021] Figure 2 This is a schematic structural diagram of a lifting device in an uncleaned state according to an embodiment of the present application;

[0022] Figure 3 It is an exploded diagram of a lifting device according to an embodiment of the present application.

[0023] Description of reference numerals:

[0024] 10. Base; 11. Motor bracket; 12. Connecting rod bracket; 20. Driving member; 31. First connecting member; 311. Shaft mounting hole; 312. Mounting hole; 32. Second connecting member; 321. Adjustment mounting hole; 322. Adjustment hole; 41. Mounting shaft; 42. Adjustment member; 43. Spring; 44. Swing arm; 50. Cleaning mechanism. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0026] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0027] Reference Figure 1-3 The embodiment of the present application provides a lifting device, including a driving member 20 and a connecting rod transmission mechanism. The fixed end of the driving member 20 is rotatably arranged on the base 10, and the movable end of the driving member 20 is hinged to the connecting rod transmission mechanism. The connecting rod transmission mechanism includes at least a first connecting member 31 and a second connecting member 32. The first connecting member 31 is hinged to the base 10 through a mounting shaft 41. The first connecting member 31 can rotate relative to the base 10 around the axis of the mounting shaft 41. The first end of the first connecting member 31 is hinged to the movable end of the driving member 20; the first end of the second connecting member 32 is hinged to the second end of the first connecting member 31, and the second end of the second connecting member 32 is used to connect with the cleaning mechanism 50. When the movable end of the driving member 20 moves, the first connecting member 31 is driven to rotate around the axis of the mounting shaft 41 to drive the second connecting member 32 and the cleaning mechanism 50 to rise or fall.

[0028] The driving member 20 of the lifting device can be installed on the base 10 for bearing, and the driving member 20 is used to output power. The connecting rod transmission mechanism in the form of a multi-link at least includes a first connecting member 31 and a second connecting member 32. Since the first connecting member 31 is hinged on the base 10 through the installation shaft 41, the first connecting member 31 can rotate around the axis of the installation shaft 41. In this way, when the driving member 20 moves, the first connecting member 31 can be driven to rotate, and then the second connecting member 32 connected to the second end of the first connecting member 31 moves around the axis of the installation shaft 41, so that the cleaning mechanism 50 connected to the second connecting member 32 rises or falls, thereby realizing the lifting of the cleaning mechanism 50. This method of lifting the cleaning mechanism 50 by using a connecting rod transmission mechanism in the form of a multi-link is not only compact in structure and reliable in lifting, but also simple in structure and easy to install, which solves the problem of inconvenient installation and insufficient reliability of the wire rope or chain transmission method.

[0029] The structure and working process of the lifting device are described as follows in conjunction with the accompanying drawings:

[0030] When the lifting device is applied to different equipment, the base 10 can be of different structures or shapes, as long as it can achieve the bearing function, and there is no limitation on this. Figure 3 As shown, the lifting device is applied to a floor scrubber or a floor scrubber robot, and the base 10 can be a mounting frame or other structure of the floor scrubber or the floor scrubber robot. In some specific examples, the base 10 includes a motor bracket 11 and a connecting rod bracket 12. The motor bracket 11 is used to be hinged with the fixed end of the driving member 20. The connecting rod bracket 12 is used to be hinged with the first connecting member 31.

[0031] like Figure 1 As shown, in this embodiment, the driving member 20 includes a driving motor, which is a retractable motor. The fixed end of the driving member 20 is hinged on the motor bracket 11, and the movable end of the driving member 20 can move relative to the fixed end, so that when the driving member 20 is extended, the movable end is away from the fixed end, and when the driving member 20 is shortened, the movable end is close to the fixed end. Of course, in other embodiments, a rotatable motor can be used in conjunction with other transmission structures to achieve similar functions, and this is not limited.

[0032] In some examples, such as Figure 3 As shown, the first connecting member 31 is provided with a shaft mounting hole 311 for accommodating the mounting shaft 41, the line connecting the first end of the first connecting member 31 and the shaft mounting hole 311 is a first straight line, the line connecting the second end of the first connecting member 31 and the shaft mounting hole 311 is a second straight line, and the first straight line ( Figure 3 The left dashed line in the middle) and the second straight line ( Figure 3The first angle is greater than 0° and less than 180°. In this way, the first connecting member 31 forms a V-shaped structure, which can not only effectively save space, but also realize the lifting and lowering of the cleaning mechanism 50.

[0033] During installation, the installation shaft 41 (such as a pin or a bolt) passes through the connecting rod bracket 12 and the shaft installation hole 311, so that the first connecting member 31 is installed on the base 10. The first end of the first connecting member 31 can be provided with a first installation hole for hinged connection of the moving end of the driving member 20. The first straight line can be a line connecting the center of the first installation hole and the center of the shaft installation hole 311.

[0034] Optionally, in order to make the structure of the lifting device more compact, the first angle is less than or equal to 90°.

[0035] In this embodiment, in order to facilitate the connection with the first connecting member 31, the first end of the second connecting member 32 is provided with an adjustment mounting hole 321, and the adjustment mounting hole 321 extends along the length direction of the second connecting member 32. The second end of the first connecting member 31 is provided with a matching mounting hole 312. The lifting device also includes a hinge, which passes through the adjustment mounting hole 321 and the matching mounting hole 312 to connect the first connecting member 31 and the second connecting member 32, and enables the second connecting member 32 to rotate and move relative to the first connection.

[0036] The adjustment installation control hole 321 is an oblong hole, so that after being connected to the second end of the first connecting member 31 through a hinge (such as a pin or a bolt), the second connecting member 32 can move relative to the first connecting member 31 and can rotate relative to it, ensuring freedom.

[0037] In order to facilitate the adjustment of the actual use length of the second connecting member 32, the lifting device further includes an adjusting member 42. The first end of the second connecting member 32 is provided with an adjusting hole 322 extending along the length direction of the second connecting member 32. The adjusting member 42 passes through the adjusting hole 322 and is connected to the hinge to adjust the connection position between the second connecting member 32 and the hinge. The adjusting member 42 is, for example, a bolt. By screwing the adjusting member 42, the depth of the adjusting member 42 screwed into the adjusting hole 322 can be controlled, thereby limiting the actual use length of the second connecting member 32, thereby increasing adaptability.

[0038] In some examples, in order to ensure the cleaning effect and make the contact between the cleaning mechanism 50 and the surface to be cleaned more reliable, the lifting device further includes a pressing member, which is used to abut against the cleaning mechanism 50 and apply a force to the cleaning mechanism 50 to make the cleaning mechanism 50 and the surface to be cleaned close to each other. The pressing member provides a force to the cleaning mechanism 50, so that when the cleaning mechanism 50 contacts the surface to be cleaned, there is a certain pressing force, which ensures that the friction between the cleaning mechanism 50 and the surface to be cleaned is large, thereby improving the cleaning effect.

[0039] Optionally, the clamping member includes a spring 43, which is sleeved outside the second connecting member 32, one end of the spring 43 is used to abut against the cleaning mechanism 50, and the other end of the spring 43 abuts against the second end of the first connecting member 31. When the cleaning mechanism 50 is in a cleaning state in contact with the surface to be cleaned, the rotation of the first connecting member 31 can adjust the force applied to the cleaning mechanism 50 by the spring 43.

[0040] By adjusting the force applied by the spring 43 to the cleaning mechanism 50, a variety of cleaning effects such as washing and mopping can be achieved for a variety of floors, a variety of materials and different functional modules.

[0041] A process of driving the cleaning mechanism 50 to descend to the cleaning state is: the driving motor retracts inward to a preset length, so that the first end of the first connecting member 31 is driven to move forward, the first connecting member 31 rotates as a whole around the axis of the mounting shaft 41, and its second end drives the second connecting member 32 to move forward and downward, and at the same time, the cleaning mechanism 50 is pressed downward by the spring until it contacts the surface to be cleaned (such as the ground) and forms a certain pressure on the ground. In this state, the method of adjusting the force is, for example: by adjusting the driving motor to retract inward (the retraction length can be adjusted to different values ​​according to actual conditions), the first connecting member 31 rotates to squeeze the spring, which can increase the pressure of the spring on the cleaning mechanism 50 on the ground, thereby achieving the effect of increasing the pressure on the ground.

[0042] If the force applied by the spring needs to be reduced when the cleaning mechanism is in the cleaning state, the second connecting member 32 can be lifted upward (compressing the spring) by adjusting the adjusting member 42. When the second connecting member 32 is lifted upward, it drives the cleaning mechanism 50 upward, thereby reducing the pressure effect of the cleaning mechanism 50 on the ground.

[0043] When the cleaning mechanism 50 needs to be raised, the driving motor extends outward by a preset length (the extension length can be adjusted to different values ​​according to actual conditions), so that the first connecting member 31 is moved around the axis of the mounting shaft 41 according to Figure 2 The first connecting member 31 rotates counterclockwise, so that the second connecting member 32 moves upward and backward; thereby the cleaning mechanism 50 moves upward, achieving an upward lifting effect.

[0044] Optionally, in order to make the cleaning mechanism 50 rise and fall more smoothly, the lifting device further includes at least one swing arm 44 , a first end of the swing arm 44 is hinged to the base 10 , and a second end of the swing arm 44 is used to be hinged to the cleaning mechanism 50 .

[0045] In some examples, the lifting device includes at least two swing arms 44, and at least two swing arms 44 are spaced apart in a direction perpendicular to the rotation plane of the first connecting member 31. In this way, the upper ends of the swing arms on both sides of the cleaning mechanism 50 are hingedly connected to the base 10 (such as the chassis of the cleaning device), and the lower ends are hingedly connected to the cleaning mechanism 50, so that it can perform reciprocating (lifting) motion in a "swinging" manner. At the same time, the swing arms on both sides form a "trapezoidal" structure, so that it can be relatively stable left and right during operation, and at the same time, it can ensure that the cleaning mechanism 50 does not interfere with the chassis or other mechanisms when the cleaning device turns.

[0046] According to another aspect of the present application, a cleaning device is provided, which includes a cleaning mechanism 50 and the above-mentioned lifting device.

[0047] The cleaning equipment using this lifting device adopts a multi-link transmission structure, which makes the lifting more stable and reliable, and avoids the problem of loss of function of the whole machine due to the falling or breaking of the wire rope. The lifting device in the form of a multi-link can achieve continuous lifting and lowering, avoiding the problem of uneven lifting and jamming when using a chain. The lifting device in the form of a multi-link has a simple structure and is easier to maintain and repair. The lifting device in the form of a multi-link can adjust the ground pressure of the cleaning mechanism 50, which solves the problem that the cleaning effect of different surfaces to be cleaned cannot be guaranteed and the ground pressure of the cleaning mechanism 50 cannot be adjusted. By adjusting the ground pressure, the cleaning mechanism can adapt to more working conditions. The swing arms on both sides have a simple structure and high stability, which solves the problem of interference caused by twisting when turning. The overall structure is simple and can be switched or replaced at any time between different modules or assemblies in the cleaning mechanism (such as suction and scraping module assembly, roller brush module assembly, disc brush module assembly, plate brush module assembly or dust push module assembly and other lifting working modules).

[0048] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0049] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A lifting device, characterized in that: The invention comprises a driving member (20) and a connecting rod transmission mechanism, wherein the fixed end of the driving member (20) is rotatably arranged on a base (10), and the movable end of the driving member (20) is hinged to the connecting rod transmission mechanism, and the connecting rod transmission mechanism at least comprises: A first connecting member (31), the first connecting member (31) is hinged on the base (10) via a mounting shaft (41), the first connecting member (31) can rotate relative to the base (10) around the axis of the mounting shaft (41), and a first end of the first connecting member (31) is hinged to a movable end of the driving member (20); A second connecting member (32), wherein a first end of the second connecting member (32) is hinged to a second end of the first connecting member (31), and the second end of the second connecting member (32) is used to be connected to a cleaning mechanism (50), and when the moving end of the driving member (20) moves, the first connecting member (31) is driven to rotate around the axis of the mounting shaft (41), so as to drive the second connecting member (32) and the cleaning mechanism (50) to rise or fall.

2. The lifting device according to claim 1, characterized in that: The first end of the second connecting member (32) is provided with an adjusting mounting hole (321), and the adjusting mounting hole (321) extends along the length direction of the second connecting member (32). The second end of the first connecting member (31) is provided with a matching mounting hole (312). The lifting device also includes a hinge, and the hinge passes through the adjusting mounting hole (321) and the matching mounting hole (312) to connect the first connecting member (31) and the second connecting member (32), so that the second connecting member (32) can rotate and move relative to the first connecting member.

3. The lifting device according to claim 2, characterized in that: The lifting device further comprises an adjusting member (42), the first end of the second connecting member (32) being provided with an adjusting hole (322) extending along the length direction of the second connecting member (32), the adjusting member (42) passing through the adjusting hole (322) and being connected to the hinge member so as to adjust the connection position between the second connecting member (32) and the hinge member.

4. The lifting device according to claim 3, characterized in that: The lifting device further comprises a pressing member, which is used to abut against the cleaning mechanism (50) and apply a force to the cleaning mechanism (50) so as to press the cleaning mechanism (50) against the surface to be cleaned.

5. The lifting device according to claim 4, characterized in that: The pressing member comprises a spring (43), the spring (43) being sleeved outside the second connecting member (32), one end of the spring (43) being used to abut against the cleaning mechanism (50), and the other end of the spring (43) abutting against the second end of the first connecting member (31), and when the cleaning mechanism (50) is in a cleaning state in contact with the surface to be cleaned, the rotation of the first connecting member (31) can adjust the force applied by the spring (43) to the cleaning mechanism (50).

6. The lifting device according to any one of claims 1 to 5, characterized in that: The first connecting member (31) is provided with a shaft mounting hole (311) for accommodating the mounting shaft (41); a line connecting the first end of the first connecting member (31) and the shaft mounting hole (311) is a first straight line; a line connecting the second end of the first connecting member (31) and the shaft mounting hole (311) is a second straight line; a first angle is formed between the first straight line and the second straight line; the first angle is greater than 0° and less than 180°.

7. The lifting device according to claim 6, characterized in that: The first angle is less than or equal to 90°.

8. The lifting device according to any one of claims 1 to 5, characterized in that: The lifting device further comprises at least one swing arm (44), a first end of the swing arm (44) being hinged to the base (10), and a second end of the swing arm (44) being used for being hinged to the cleaning mechanism (50).

9. The lifting device according to claim 8, characterized in that: The lifting device comprises at least two swing arms (44), and the at least two swing arms (44) are arranged at intervals in a direction perpendicular to the rotation plane of the first connecting member (31).

10. A cleaning device, characterized in that: The cleaning device comprises a cleaning mechanism (50) and a lifting device according to any one of claims 1-9.

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