Cleaning robot side brush lifting device and cleaning robot

Abstract

The embodiment of the utility model provides a cleaning robot side brush lifting device and a cleaning robot. The utility model provides a cleaning robot side brush lifting device with side brush soft rubber and a bristle assembly. The side brush specifically comprises a driving assembly, a pull rope assembly, side brush soft rubber and a bristle assembly. The output end of the driving assembly is connected with the pull rope assembly, the pull rope assembly is fixedly connected with the side brush soft rubber, and the side brush soft rubber is detachably connected with the bristle assembly. The driving assembly rotates reversely, the driving assembly drives the side brush soft rubber to ascend by tightening the pull rope assembly, and the side brush soft rubber drives the bristle assembly to leave the ground; or; the driving assembly rotates forwards, the driving assembly drives the side brush soft rubber to descend by loosening the pull rope assembly, the side brush soft rubber drives the bristle assembly to descend, and the bristle assembly conducts cleaning.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to a cleaning robot side brush lifting device and a cleaning robot. Background Art

[0002] A sweeping robot is a type of smart home appliance that uses artificial intelligence to automatically clean the floor in the room. It usually uses brushing and vacuuming to absorb debris on the floor into its own garbage collection box, thereby completing the function of floor cleaning. Generally speaking, robots that complete sweeping, vacuuming, and mopping are also collectively classified as sweeping robots. The development direction of sweeping robots will be higher cleaning effects, higher cleaning efficiency, and larger cleaning areas brought by more advanced artificial intelligence.

[0003] As sweeping machines become more and more popular, users have higher and higher requirements for intelligent and deep cleaning effects. The side brush of the sweeping machine robot increases the machine's cleaning coverage and enhances the ability to clean corners.

[0004] The existing robot has a weak ability to cross obstacles and is prone to smearing solid-liquid mixed garbage or sewage on the cleaned area, causing secondary pollution. Utility Model Content

[0005] In view of the above problems, embodiments of the present utility model are proposed to provide a cleaning robot side brush lifting device that overcomes the above problems or at least partially solves the above problems.

[0006] A side brush lifting device for a cleaning robot, comprising a driving assembly, a pull rope assembly, a side brush soft rubber and a bristle assembly;

[0007] The output end of the driving assembly is connected to the pull rope assembly, the pull rope assembly is fixedly connected to the side brush soft rubber, and the side brush soft rubber is detachably connected to the bristle assembly.

[0008] Preferably, the driving assembly includes a motor assembly, a guide rod, a side brush lifting slider and a side brush lifting guide rail;

[0009] One end of the motor assembly is connected to the guide rod, the outer side of the guide rod is provided with the side brush lifting guide rail, and the side brush lifting slide block is provided on the side brush lifting guide rail.

[0010] Preferably, the motor assembly includes a side brush reduction motor, a reduction motor shaft and a one-way needle bearing;

[0011] The output shaft of the side brush reduction motor is connected to the reduction motor shaft, and the one-way needle roller bearing is arranged on the outer side of the reduction motor shaft.

[0012] Preferably, the side brush lifting guide rail is a spiral guide rail.

[0013] Preferably, the pull rope assembly comprises a pull rope turntable, a pull rope and a pull rope sleeve;

[0014] The pull rope turntable is connected to the side brush lifting slider; the pull rope turntable is connected to the pull rope, and the pull rope is arranged in the pull rope sleeve.

[0015] Preferably, the fixed end of the pull rope is arranged at a position where the bristles and the side brush soft rubber are connected.

[0016] Preferably, it also includes a shell, one side of which is provided with a groove for the side brush lifting slider to move up and down.

[0017] To implement the present application, a cleaning robot is also provided. The cleaning robot includes the cleaning robot side brush lifting device described in the machine body, and the cleaning robot side brush lifting device is installed on the machine body.

[0018] To achieve this, the present application includes a method for lifting the side brush of a cleaning robot, and the method is used for the side brush lifting device of the cleaning robot:

[0019] Acquire ground data, and determine whether to raise the bristle assembly according to the ground data;

[0020] If so, according to the state of the cleaning robot, the driving component will drive the side brush soft rubber to rise by tightening the pull rope component, and the side brush soft rubber will drive the bristle component to leave the ground.

[0021] Preferably, the ground data includes ground tilt data and ground garbage data; the step of obtaining ground data and determining whether to raise the bristle assembly according to the ground data, wherein the ground data includes ground tilt data and ground garbage data; comprises:

[0022] Acquire the ground inclination data, and determine whether the ground inclination data is greater than a preset slope; if the ground inclination data is greater than the preset slope, raise the bristle assembly;

[0023] and / or;

[0024] Obtain ground garbage data, and determine whether there is liquid on the ground based on the ground garbage data; if there is liquid on the ground, raise the brush assembly.

[0025] The present application specifically includes the following advantages:

[0026] In the embodiments of the present application, in contrast to the prior art that "the robot of the prior art has a weak ability to cross obstacles, and is prone to smearing solid-liquid mixed garbage or sewage on the cleaned area, causing secondary pollution", the present application provides a cleaning robot side brush lifting device with a side brush soft glue and a bristle assembly. Specifically, it includes a driving assembly, a pull rope assembly, a side brush soft glue and a bristle assembly; the output end of the driving assembly is connected to the pull rope assembly, the pull rope assembly is fixedly connected to the side brush soft glue, and the side brush soft glue is detachably connected to the bristle assembly. The present application can effectively lift the bristles when crossing obstacles, thereby improving the cleaning robot's ability to cross obstacles, and lift the bristles when encountering sewage to avoid secondary pollution. The present application can realize the lifting and lowering of the side brush of the sweeping robot. Compared with the solution of the entire cleaning robot cleaning one motor and lifting one motor, the present solution reduces the cost of the lifting motor, and the entire side brush and motor assembly occupy a larger space, and the present solution occupies less space. Compared with the solution of shrinking the bristles and the side brush soft rubber into the middle, the side brush soft rubber of the present application has less deformation and a longer life of the side brush; and because the bristles naturally droop, the present application makes the bristles close to the machine chassis compared to other methods, and the lifting effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 It is a cross-sectional structural schematic diagram of a bristle assembly of a side brush lifting device of a cleaning robot of the utility model descending;

[0029] Figure 2 It is a schematic cross-sectional structure diagram of a brush assembly tightened in a side brush lifting device of a cleaning robot of the utility model;

[0030] Figure 3 It is a structural schematic diagram of a side brush lifting guide rail of a side brush lifting device of a cleaning robot of the utility model;

[0031] Figure 4 It is a structural schematic diagram of a side brush lifting device and a side brush lifting slider of a cleaning robot of the utility model;

[0032] Figure 5 It is a structural schematic diagram of a side brush lifting slider of a side brush lifting device of a cleaning robot of the utility model;

[0033] 1. Motor assembly; 11. Side brush reduction motor; 12. Reduction motor shaft; 13. One-way needle roller bearing; 2. Guide rod; 3. Side brush lifting slider; 4. Side brush lifting guide rail; 5. Pull rope assembly; 51. Pull rope turntable; 52. Pull rope; 53. Pull rope sleeve; 6. Side brush soft rubber; 7. Brush bristle assembly. DETAILED DESCRIPTION

[0034] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0035] The inventor of the utility model found through analysis of the existing technology that: as sweepers become more and more popular, users have higher and higher requirements for intelligent and deep cleaning effects. The side brush of the sweeper robot increases the coverage of the machine's cleaning and enhances the ability to clean corners. At the same time, the side brush also brings some problems, such as affecting the ability to cross obstacles and smearing solid-liquid mixed garbage or sewage on the cleaned area. The existing side brush lifting technology, due to the natural drooping of the bristles, there is still a risk of wiping the floor after the bristles are raised, and there is no problem of fully fitting the robot chassis.

[0036] The cleaning robot that lifts the bristle assembly through the pull rope assembly provided in the present application overcomes some problems in the prior art. Specifically, these problems are: low cleaning efficiency, the bristles of traditional sweeping robots are easily entangled with dust and hair, resulting in reduced cleaning efficiency. The pull rope assembly can lift the bristles to avoid entanglement, thereby improving the cleaning effect. The bristles wear quickly, and frequent contact with the ground and other obstacles can easily cause the bristles to wear. The pull rope assembly can lift the bristles when they come into contact with the ground or other objects, reducing wear and extending the service life of the bristles. It is difficult to pass through narrow spaces. When traditional sweeping robots pass through narrow spaces, the bristles may get stuck. The pull rope assembly can lift the bristles to reduce obstacles and make it easier for the sweeping robot to pass through narrow spaces. Maintenance is difficult. The bristles of traditional sweeping robots are easily entangled with dust and hair, and need to be frequently cleaned and replaced, which increases the difficulty of maintenance. The pull rope assembly reduces the entanglement of the bristles, reducing the frequency and difficulty of maintenance.

[0037] In the embodiment of the present application, compared with the prior art that "the robot of the prior art has weak ability to cross obstacles, and is prone to smearing solid-liquid mixed garbage or sewage on the cleaned area, causing secondary pollution", the present application provides a cleaning robot side brush lifting device with a side brush soft glue 6 and a bristle assembly 7. Specifically, it includes a driving assembly, a pull rope assembly 5, a side brush soft glue 6 and a bristle assembly 7; the output end of the driving assembly is connected to the pull rope assembly 5, the pull rope assembly 5 is fixedly connected to the side brush soft glue 6, and the side brush soft glue 6 is detachably connected to the bristle assembly 7; the driving assembly is reversed, the driving assembly drives the side brush soft glue 6 to rise by tightening the pull rope assembly 5, and the side brush soft glue 6 drives the bristle assembly 7 off the ground; or; the driving assembly is forward, the driving assembly drives the side brush soft glue 6 to descend by loosening the pull rope assembly 5, the side brush soft glue 6 drives the bristle assembly 7 to descend, and the bristle assembly 7 is cleaned. The present application can effectively lift the bristles when crossing obstacles, thereby improving the cleaning robot's ability to cross obstacles, and lift the bristles when encountering sewage to avoid secondary pollution. The present application can realize the lifting and lowering of the side brush of the sweeping robot. Compared with the solution that the entire cleaning robot cleans one motor and lifts one motor, the present solution reduces the cost of the lifting motor and is lower. The entire side brush and motor assembly 1 occupies more space, and the present solution occupies less space. Compared with the solution of shrinking the bristles and the side brush soft rubber 6 into the middle, the side brush soft rubber 6 of the present application is less deformed and the side brush has a longer life; due to the natural drooping of the bristles, the present application makes the bristles close to the machine chassis compared to other methods, and the lifting effect is better.

[0038] Reference Figure 1-5 , showing that a cleaning robot side brush lifting device provided by an embodiment of the present application specifically includes the following structure: including a driving component, a pull rope component 5, a side brush soft rubber 6 and a bristle component 7;

[0039] The output end of the driving assembly is connected to the pull rope assembly 5, the pull rope assembly 5 is fixedly connected to the side brush soft rubber 6, and the side brush soft rubber 6 is detachably connected to the bristle assembly 7; the driving assembly is reversed, and the driving assembly drives the side brush soft rubber 6 to rise by tightening the pull rope assembly 5, and the side brush soft rubber 6 drives the bristle assembly 7 off the ground; or; the driving assembly rotates forward, and the driving assembly drives the side brush soft rubber 6 to descend by loosening the pull rope assembly 5, and the side brush soft rubber 6 drives the bristle assembly 7 to descend, and the bristle assembly 7 is cleaned.

[0040] In one embodiment of the present application, the output end of the driving assembly is connected to the pull rope assembly 5. The driving assembly includes a motor assembly 1, a guide rod 2, a side brush lifting slider 3 and a side brush lifting guide rail 4; one end of the motor assembly 1 is connected to the guide rod 2, the side brush lifting guide rail 4 is provided on the outer side of the guide rod 2, and the side brush lifting slider 3 is provided on the side brush lifting guide rail 4.

[0041] As an example, the driving assembly is used to drive the entire device to rotate the bristle assembly 7 and lift the bristle assembly 7. The driving assembly drives the bristle assembly 7 to rotate, thereby cleaning the floor; and then by changing the rotation direction of the driving assembly, the bristle assembly 7 is driven to rise and fall, so that when encountering an inclined slope or a mixture of dry and wet garbage, the bristles will not be contaminated.

[0042] In one embodiment of the present application, the motor assembly 1 includes a side brush reduction motor 11, a reduction motor shaft 12, and a one-way needle bearing 13; the output shaft of the side brush reduction motor 11 is connected to the reduction motor shaft 12, and the one-way needle bearing 13 is provided on the outer side of the reduction motor shaft 12; when the side brush reduction motor 11 rotates forward, the resistance of the one-way needle bearing 13 decreases, the side brush lifting slider 3 rotates along the side brush lifting guide rail 4 and descends to the lowest position, and the side brush reduction motor 11 shaft drives the side brush software and the bristle assembly 7 to rotate through the guide rod 2, and the bristle assembly 7 rotates and cleans; or; when the side brush reduction motor 11 is reversed, the resistance of the one-way needle bearing 13 increases, and the side brush reduction motor 11 drives the side brush lifting slider 3 to the highest position along the side brush lifting guide rail 4 through the guide rod 2, the pull rope assembly 5 of the side brush lifting slider 3 is tightened, and the side brush soft rubber 6 raises the bristles to the highest position of the chassis under slight deformation.

[0043] In a specific embodiment, the side brush reduction motor 11 can rotate forward and reverse, and can be a stepping motor. The side brush reduction motor 11 is arranged at the top of the entire device. The reduction motor shaft 12 is connected below the side brush reduction motor 11. The output end of the side brush reduction motor 11 is the reduction motor shaft 12, and the central axis of the reduction motor shaft 12 is the same as that of the side brush reduction motor 11.

[0044] It should be noted that the one-way needle roller bearing 13 is a special type of rolling bearing that allows the shaft to rotate freely in one direction while limiting its rotation in the other direction. The one-way needle roller bearing 13 is often used in mechanical devices that require precise positioning and unidirectional movement, such as camshafts, transmissions, differentials, etc. of automobile engines. The internal structure of the one-way needle roller bearing 13 includes an inner ring, an outer ring, and a cage. There are one or more needle rollers between the inner ring and the outer ring, which are fixed in place by the cage. The design of the cage ensures that the needle rollers can only roll in one direction, thereby limiting the rotation direction of the shaft. When the shaft rotates in one direction, the needle rollers roll smoothly under the guidance of the cage, thereby achieving low-friction, high-precision rotational movement. In the opposite direction, due to the limitation of the cage, the needle rollers cannot roll, thereby preventing the rotation of the shaft. The principle of the one-way bearing is the clamping principle. The working surface where the rolling element used for clamping is located is a slope. The rolling element is downhill when the bearing rotates in the same direction and uphill when it rotates in the opposite direction. The one-way clutch in the form of an irregular wedge also has the same working principle. In summary, the one-way needle roller bearing 13 realizes the one-way rotation function of the shaft through its unique internal structure and cage design, and is often used in mechanical systems that require precise control and one-way movement.

[0045] As an example, when the side brush reduction motor 11 rotates forward, the resistance of the one-way needle bearing 13 is small, and the side brush lifting slider 3 rotates along the side brush lifting guide rail 4 and descends to the lowest position. Then the side brush reduction motor 11 shaft is connected to the side brush software and the bristle assembly 7 through the guide rod 2 to rotate and perform rotary cleaning.

[0046] As an example, when the side brush reduction motor 11 is reversed, the resistance of the one-way needle bearing 13 becomes larger, and the force of the guide rod 2 driven by the side brush reduction motor 11 is transmitted to the side brush lifting slider 3, and the side brush lifting slider 3 rotates along the side brush lifting guide rail 4 to the highest position, and the side brush lifting slider 3 drives the pull rope turntable 51 to rise, and the rope is pulled by the turntable to rise, and the pull rope 52 moves in the pull rope sleeve 53 with less friction and more labor saving. The pull rope 52 pulls the bristles, changes the angle and height of the bristles, and makes the side brush soft rubber 6 rise to the highest position of the chassis under slight deformation.

[0047] In a specific embodiment, the guide rod 2 is connected to the lower part of the reduction motor shaft 12, and the central axis of the guide rod 2 is the same as the central axis of the reduction motor shaft 12. The side brush reduction motor 11 drives the reduction motor shaft 12 to rotate, the reduction motor shaft 12 drives the guide rod 2 to rotate, the guide rod 2 drives the side brush lifting guide rail 4 to rotate, and thus drives the side brush lifting slider 3 to rotate.

[0048] In the embodiment of the present application, the side brush lifting rail 4 is a spiral rail. A groove for the side brush lifting slider 3 to move up and down is provided on one side of the housing. Since the interior is rotating and the housing does not rotate, the side brush lifting rail 4 rotates to drive the side brush lifting slider 3 to move up and down in the groove.

[0049] In a specific embodiment, the side brush rotates in the opposite direction for a fixed degree so that the side brush stops after rising to the right position; the fixed degree is set to 180 degrees, which can make the structure simpler; the rotation stops when the degree is reached, which can be sensed by a sensor or accurately controlled by a stepper motor. The lifting height and the rotation degree determine the curvature of the side brush lifting guide rail 4. The smaller the curvature, the smaller the force required for lifting and climbing. In this application, the side brush lifting slider 3 rises 5mm and the bristles rise 10mm.

[0050] In the embodiment of the present application, the pull cord assembly 5 includes a pull cord turntable 51, a pull cord 52 and a pull cord sleeve 53; the pull cord turntable 51 is connected to the side brush lifting slider 3; the pull cord turntable 51 is connected to the pull cord 52, and the pull cord 52 is arranged in the pull cord sleeve 53. The fixed end of the pull cord 52 is arranged at the position where the bristles and the side brush soft rubber 6 are connected. The bristle assembly 7 includes at least two bristles; the bristles are arranged at equal intervals.

[0051] In a specific embodiment, the fixed pulling position of the pull rope 52 is the junction of the bristle assembly 7 and the side brush soft rubber 6, and the position outside the side brush soft rubber 6; here, the pull rope 52 pulls the bristles close to the machine chassis, and the lifting effect is better. Here, the pulling force of the pull rope 52 is small, the deformation of the side brush soft rubber 6 is small, and the side brush has a longer life. The pull rope turntable 51 is lifted up and down along the guide rod 2.

[0052] As an example, the bristle assembly 7 includes first bristles and second bristles, and the first bristles and the second bristles are symmetrically arranged. The bristles are arranged at equal intervals.

[0053] In a specific embodiment, when the side brush reduction motor 11 rotates forward, the side brush descends to perform rotational cleaning. When the side brush reduction motor 11 rotates reversely, the bristles are pulled up by the pull rope 52, the side brush soft rubber 6 is slightly deformed, and the bristles are close to the chassis of the cleaning robot. After rotating in place, the side brush stops working. When the side brush reduction motor 11 rotates forward, the resistance of the one-way needle bearing 13 is small, and the side brush lifting slider 3 rotates and descends to the lowest position along the side brush lifting guide rail 4, and then the side brush reduction motor 11 shaft is connected to the side brush soft rubber and the bristle assembly 7 through the guide rod 2 to rotate and perform rotational cleaning.

[0054] In a specific embodiment, when the side brush reduction motor 11 is reversed, the resistance of the one-way needle bearing 13 becomes larger, and the force of the guide rod 2 driven by the side brush reduction motor 11 is transmitted to the side brush lifting slider 3, and the side brush lifting slider 3 rotates along the side brush lifting guide rail 4 to the highest position, and the side brush lifting slider 3 drives the pull rope turntable 51 to rise, and the rope is pulled by the turntable to rise, and the pull rope 52 moves in the pull rope sleeve 53 with less friction and more labor saving. The pull rope 52 pulls the bristles, changes the angle and height of the bristles, and makes the side brush soft rubber 6 rise to the highest position of the chassis under slight deformation.

[0055] The present application also includes a cleaning robot, which includes a machine body and the cleaning robot side brush lifting device, and the cleaning robot side brush lifting device is installed on the machine body.

[0056] The present application also includes a method for lifting and lowering the side brush of a cleaning robot, which is used for the side brush lifting device of the cleaning robot: obtaining ground data, and judging whether to raise the bristle assembly 7 based on the ground data; if so, according to the state of the cleaning robot, the driving assembly will drive the side brush soft rubber 6 to rise by tightening the pull rope assembly 5, and the side brush soft rubber 6 will drive the bristle assembly 7 off the ground.

[0057] In an embodiment of the present application, the step of obtaining ground data and determining whether to raise the bristle assembly 7 based on the ground data, wherein the ground data includes ground inclination data and ground garbage data; comprises: obtaining the ground inclination data, and determining whether the ground inclination data is greater than a preset slope; if the ground inclination data is greater than the preset slope, raising the bristle assembly 7; and / or; obtaining ground garbage data, and determining whether there is liquid on the ground based on the ground garbage data; if there is liquid on the ground, raising the bristle assembly 7.

[0058] As an example, the IMU is used to obtain ground inclination data, and the robot climbs over obstacles and raises the side brush. The AI ​​camera is used to obtain ground garbage data, and when there is water or mixed solid-liquid garbage on the ground, the side brush is raised to prevent the side brush from smearing garbage on the cleaned area.

[0059] The algorithm implementation process and pseudo code are as follows:

[0060] 1. Import the required libraries

[0061] V4L2

[0062] OPENCV

[0063] MNN

[0064] 2. Import the model and camera internal reference files

[0065] load("XX.mnn")

[0066] load(“XX.yml”)

[0067] 3. Create an interpreter and session for the mnn model

[0068] MNN::Interpreter

[0069] MNN::Session

[0070] 4. Set GPU and interpreter parameters

[0071] MNN::ScheduleConfig

[0072] MNN::BackendConfig

[0073] ScheduleConfig.mode

[0074] ScheduleConfig.type

[0075] BackendConfig.precision

[0076] BackendConfig.backendConfig

[0077] MNN::Session(BackendConfig)

[0078] MNN::Interpreter(MNN::Session)

[0079] 5. Loop through the loaded images (once every 100ms)

[0080]

[0081] It should be noted that, for the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the utility model are not limited by the described action sequence, because according to the embodiments of the utility model, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the utility model.

[0082] There are repeated operation steps in this specific embodiment and the above specific embodiment, and this specific embodiment is only briefly described. For other solutions, refer to the description of the above specific embodiment.

[0083] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0084] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0085] The above is a detailed introduction to a cleaning robot side brush lifting device provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A side brush lifting device for a cleaning robot, characterized in that: It includes a driving assembly, a pull rope assembly, a side brush soft rubber and a bristle assembly; The output end of the driving assembly is connected to the pull rope assembly, the pull rope assembly is fixedly connected to the side brush soft rubber, and the side brush soft rubber is detachably connected to the bristle assembly.

2. The cleaning robot side brush lifting device according to claim 1, characterized in that: The driving assembly includes a motor assembly, a guide rod, a side brush lifting slider and a side brush lifting guide rail; One end of the motor assembly is connected to the guide rod, the outer side of the guide rod is provided with the side brush lifting guide rail, and the side brush lifting slide block is provided on the side brush lifting guide rail.

3. The cleaning robot side brush lifting device according to claim 2, characterized in that: The motor assembly includes a side brush reduction motor, a reduction motor shaft and a one-way needle roller bearing; The output shaft of the side brush reduction motor is connected to the reduction motor shaft, and the one-way needle roller bearing is arranged on the outer side of the reduction motor shaft.

4. The cleaning robot side brush lifting device according to claim 2, characterized in that: The side brush lifting guide rail is a spiral guide rail.

5. The cleaning robot side brush lifting device according to claim 2, characterized in that: The pull rope assembly includes a pull rope turntable, a pull rope and a pull rope sleeve; The pull rope turntable is connected to the side brush lifting slider; the pull rope turntable is connected to the pull rope, and the pull rope is arranged in the pull rope sleeve.

6. The cleaning robot side brush lifting device according to claim 5, characterized in that: The fixed end of the pull rope is arranged at the position where the bristles and the side brush soft rubber are connected.

7. The cleaning robot side brush lifting device according to claim 2, characterized in that: It also includes a shell, one side of which is provided with a groove for the side brush lifting slider to move up and down.

8. A cleaning robot, characterized in that: The cleaning robot comprises a machine body and a cleaning robot side brush lifting device as claimed in any one of claims 1 to 7, wherein the cleaning robot side brush lifting device is installed on the machine body.

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