Telescopic lifting mechanism and cleaning equipment

Abstract

According to the telescopic lifting mechanism and the cleaning equipment, through the interaction of the telescopic piece and the fixed piece and the limiting between the telescopic piece and the lifting piece, telescopic and lifting of the cleaning unit can be achieved only by driving the telescopic piece to move, and the telescopic lifting mechanism is simple in structure and convenient to control. According to the main technical scheme, according to the telescopic lifting mechanism, a fixing piece is used for being connected with cleaning equipment; the lifting piece is movably connected with the fixing piece in the first direction; the telescopic piece is movably connected with the fixed piece, and the telescopic piece and the lifting piece are mutually limited in the first direction; and the driving piece is connected with the fixing piece and the telescopic piece. The telescopic cleaning unit is mainly used for stretching, retracting and lifting of the cleaning unit.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, in particular to a telescopic lifting mechanism and a cleaning device. Background Art

[0002] With the continuous development of smart home technology, cleaning devices are used more and more frequently in daily household cleaning work. The main function of a cleaning device is floor cleaning. A rotary brush interfering with the floor is arranged below the cleaning device. By driving the rotary brush to rotate, dust on the floor can be gathered, and then centrally sucked, or the rotary brush can also be driven to rotate for wet cleaning.

[0003] In the prior art, there is a telescopic rotary brush, which includes two cleaning units that can telescopically move relative to each other, and the length of the rotary brush can be adjusted according to the cleaning environment. At least one of the two cleaning units needs to be connected to a telescopic driving member for telescopic driving. In order to avoid obstacles such as carpets during the walking of the cleaning device, the rotary brush needs to have a lifting function, and another lifting driving member is required to drive the cleaning unit and the telescopic driving member as a whole to lift, resulting in at least two driving members being required, with a redundant structure and cumbersome control. Summary of the Utility Model

[0004] In view of this, the utility model provides a telescopic lifting mechanism and a cleaning device. Through the interaction between the telescopic member and the fixed member and the limit with the lifting member, the telescopic and lifting of the cleaning unit can be realized only by driving the telescopic member to move, with a simple structure and convenient control.

[0005] On the one hand, the utility model provides a telescopic lifting mechanism, including: a telescopic lifting mechanism for a cleaning device, the telescopic lifting mechanism including:

[0006] A fixed member for connecting with the cleaning device;

[0007] A lifting member movably connected to the fixed member in a first direction;

[0008] A telescopic member movably connected to the fixed member and mutually limited with the lifting member in the first direction;

[0009] A driving member connected to the fixed member and also connected to the telescopic member.

[0010] Wherein, the telescopic member is used to move in a second direction under the action of the driving member and the fixed member, or move simultaneously in the first direction and the second direction.

[0011] Wherein, the first direction and the second direction are perpendicular directions;

[0012] And / or, the first direction is the vertical direction and the second direction is the horizontal direction.

[0013] Among them, the fixing member includes a guiding surface for interacting with the telescopic member. The guiding surface includes an inclined guiding area and a horizontal guiding area. The inclined guiding area and the horizontal guiding area are adjacent to each other. The horizontal guiding area extends in the second direction, and the inclined guiding area extends in both the first direction and the second direction.

[0014] Among them, the included angle between the inclined guiding area and the horizontal guiding area is greater than 90 degrees and less than 180 degrees.

[0015] Among them, the guiding surface further includes a receiving surface located on the side of the inclined guiding area away from the horizontal guiding area. The receiving surface is adjacent to the inclined guiding area, and the receiving surface forms a preset angle with the horizontal guiding area, or the receiving surface extends in the second direction.

[0016] Among them, the guiding surface further includes a limiting arc surface located between the receiving surface and the inclined guiding area. The vertex of the limiting arc surface is higher than the receiving surface.

[0017] Among them, at least one first sliding hole or first sliding groove is formed on the fixing member. The inner wall of the first sliding hole or first sliding groove includes a guiding surface. The telescopic member includes a telescopic main body and at least one protruding head. The protruding head is connected to the telescopic main body. The protruding head is movably embedded in the first sliding hole or first sliding groove, and the protruding head is movably abutted against the guiding surface to interact with the guiding surface.

[0018] Or, the edge of the fixing member includes at least one guiding surface. The telescopic member includes a telescopic main body and at least one protruding head. The protruding head is connected to the telescopic main body. The protruding head is movably abutted against the guiding surface to interact with the guiding surface.

[0019] Among them, the protruding head is slidably abutted against the guiding surface; or the protruding head is rotatably connected to the telescopic main body, and the protruding head is rollingly connected to the guiding surface.

[0020] Among them, the lifting member includes a lifting main body and at least one first limiting member. The first limiting member is connected to the lifting main body. At least one second limiting member is provided on the fixing member. The first limiting member and the second limiting member are movably connected in the first direction and limited in the second direction.

[0021] Among them, the second limiting member is at least one third sliding hole or third sliding groove formed on the fixing member. The third sliding hole or third sliding groove extends in the first direction, and the first limiting member is movably embedded in the third sliding hole or third sliding groove.

[0022] Among them, the telescopic member is slidably arranged between the fixing member and the lifting member, and the telescopic member is movably connected to the first limiting member in the second direction and limited in the first direction.

[0023] Alternatively, at least one second sliding hole is provided on the telescopic member, the second sliding hole extends in the second direction, and the first limiting member is movably inserted into the second sliding hole;

[0024] Alternatively, a slide groove extending in the second direction is provided on the lifting body, and the telescopic member is slidably embedded in the slide groove.

[0025] The driving member is transmission-connected with the telescopic member in the second direction, and the driving member is slidingly connected with the telescopic member in the first direction.

[0026] Wherein, the driving member includes a power member and a transmission gear assembly, and the transmission gear assembly is connected to the power member;

[0027] The telescopic member comprises a telescopic body and a rack, the rack is arranged on the telescopic body, the rack comprises a plurality of meshing teeth arranged in parallel in the second direction, and the transmission gear assembly is gear-connected with the rack.

[0028] The fixing part is provided with a hollow for making way, the rack is opposite to the hollow for making way, and the transmission gear assembly is connected with the hollow for making way to be engaged with the rack.

[0029] The transmission gear assembly includes a driving gear and a transmission gear. The driving gear is connected to the power member, and the transmission gear is respectively connected to the driving gear and the rack.

[0030] The contour of a partial area of the telescopic member is adapted to the trajectory of the transmission gear assembly moving on the lifting member.

[0031] Among them, the telescopic lifting mechanism also includes:

[0032] at least one position detection switch;

[0033] The position detection switch is opposite to the telescopic member and is used to send a first trigger signal when the telescopic member moves to an extreme position in the second direction;

[0034] Alternatively, the position detection switch is opposite to the telescopic member, and is used to send a second trigger signal when the telescopic member moves to an extreme position in the first direction.

[0035] Wherein, at least one of the fixing member, the lifting member and the telescopic member is a hollow structure;

[0036] Alternatively, at least one of the fixing member, the lifting member and the telescopic member includes a reinforcing rib.

[0037] On the other hand, the utility model further provides a cleaning device, comprising any of the telescopic lifting mechanisms described above, and a robot body, wherein the telescopic lifting mechanism is arranged on the robot body.

[0038] The telescopic lifting mechanism and cleaning equipment proposed by the present utility model, when the driving member drives the telescopic member to move, the telescopic member interacts with the fixed member and moves in the second direction and the first direction at the same time. By limiting the telescopic member and the lifting member in the first direction, the cleaning unit is lifted, and the lifting member and the fixed member are only movably connected in the first direction and limited in the second direction, while the telescopic member can move relative to the fixed member in the second direction, thereby realizing the telescopic movement of the cleaning unit. In this way, a single driving member is used to drive the telescopic member to move in a single direction, and the telescopic and lifting of the cleaning unit are realized only through the structural action relationship between the telescopic member, the fixed member and the lifting member, reducing the number of driving members, reducing the driving burden and cost, making the structure more concise and the control process simpler. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of a telescopic lifting mechanism provided by an embodiment of the present utility model;

[0040] Figure 2 It is an exploded schematic diagram of the composition structure of a telescopic lifting mechanism provided by an embodiment of the present utility model. Detailed Embodiment

[0041] To further elaborate on the technical means and effects adopted by the present utility model to achieve the intended utility model purpose, the following, in combination with the drawings and preferred embodiments, details the specific embodiments, structures, features and effects of a telescopic lifting mechanism proposed according to the present utility model.

[0042] As Figure 1As shown in the figure, an embodiment of the present utility model provides a telescopic lifting mechanism for a cleaning device. The cleaning device can also be referred to as a self-cleaning device, a sweeper, a floor sweeping robot, a floor washing machine, a mopping and sweeping machine, etc. It can automatically clean and collect debris without the operation of a user. The cleaning device can further include a machine body, a motion system, a cleaning system, a sensing system, etc. To enable the cleaning device to adapt to more cleaning spaces and make the body more stable and balanced, the machine body is usually in a flat circular shape, or can also have other shapes, such as semi-circular, square, etc. The sensing system is arranged on the machine body for sensing walls and obstacles, mapping the map, and determining the position when the machine body moves for cleaning. For example, the sensing system includes sensing devices such as cameras, distance sensors, collision sensors, distance sensors, magnetometers, accelerometers, gyroscopes, odometers, etc. The motion system can include multiple moving wheels and driving components. The moving wheels can include a left wheel and a right wheel. The driving components can respectively control the rotation of the left wheel and the right wheel, and can realize the forward and backward movement and left and right rotation of the machine body. To make the movement of the machine body more balanced, the moving wheels can also include driven wheels, and the driven wheels can be universal wheels, etc. The cleaning system mainly includes a cleaning unit, a dust box, and a suction fan. The cleaning unit can be a brush, a rubber brush, etc. The cleaning unit is connected to the machine body through a driving component. There is a suction port on the machine body behind the roller brush. The dust box is located on the air path between the suction fan and the suction port. The cleaning unit has a certain interference with the ground. The cleaning unit is used to rotate under the action of the driving component. During the rotation process, the garbage on the ground can be swept up and carried to the lower part of the suction port, and then inhaled into the dust box by the gas sucked back to the dust box generated by the suction fan. Or the cleaning unit of the cleaning system can also rotate for wet cleaning. To realize the adjustment of the length of the cleaning unit according to the change of the cleaning environment, the cleaning unit can include a first cleaning part and a second cleaning part. The second cleaning part can telescopically move relative to the first cleaning part under the drive of an external force, thereby changing the overall axial length of the cleaning unit. For example, when cleaning a narrow area such as the interval area between two carpets, the length of the cleaning unit can be shortened, and when cleaning a large area of the ground or performing edge cleaning near the wall, the second cleaning part can be extended to increase the cleaning range. Since the cleaning unit needs to have an interference with the ground, the cleaning unit protrudes from the bottom surface of the machine body. When cleaning raised objects such as carpets, it will act on the edge of the carpet and hinder the progress of the machine body, resulting in the machine body getting stuck during progress. The cleaning unit can be lifted when not cleaning to achieve obstacle avoidance. When cleaning is required, the cleaning unit can be lowered to contact the ground for mobile cleaning.

[0043] To simplify the implementation structure of the telescopic and lifting of the cleaning unit, as well as simplify the control difficulty and driving burden, this embodiment proposes a telescopic lifting mechanism. For the convenience of description, in the following embodiments, the direction when the cleaning device is actually used is taken as an example. Such as Figure 1-2As shown, the telescopic lifting mechanism includes:

[0044] A fixing member 100, which is used to connect with the cleaning device;

[0045] A lifting member 200, which is movably connected with the fixing member 100 in the first direction Y;

[0046] A telescopic member 300, which is movably connected with the fixing member 100 and is mutually limited with the lifting member 200 in the first direction Y;

[0047] A driving member 400, which is connected with the fixing member 100 and is also connected with the telescopic member 300.

[0048] The fixing member 100 is used to connect with the machine body of the cleaning device and is a fixed connection. The fixing member 100 can be connected to the machine body by using an additional fixing member, such as by using bolts, or can be integrally formed with the outer shell of the machine body. There are various ways for the telescopic member 300 to be movably connected with the fixing member 100. For example, in one implementation, the telescopic member 300 is used to move in the second direction X under the action of the driving member 400 and the fixing member 100, or to move simultaneously in the first direction Y and the second direction X. The first direction Y and the second direction X are perpendicular directions, the first direction Y is the vertical direction, and the second direction is the horizontal direction. That is, the telescopic member 300 can move horizontally or obliquely. It can be understood that in some other implementations, the first direction Y and the second direction X may not be perpendicular, and the first direction Y can also be the obliquely downward direction as long as it has a vertical component, and the second direction X can be the direction obliquely inclined relative to the horizontal direction as long as it has a horizontal component. When the first direction Y is the vertical direction and the second direction X is the horizontal direction, the moving amounts of the telescopic member 300 for lifting and telescoping are the same, and the moving amount of the cleaning unit relative to the ground can reach the maximum. In the following implementations, the first direction Y is the vertical direction and the second direction X is the horizontal direction are taken as examples. The movement in the first direction Y, that is, the vertical direction, includes downward movement and upward movement, and the movement in the second direction X, that is, the horizontal direction, includes leftward movement and rightward movement.

[0049] The driving member 400 is a single driving member, and it only needs to drive the telescopic member 300 to move. The direction in which the driving member 400 drives the telescopic member 300 to move is the horizontal direction. By setting the shape of the fixing member 100, it acts on the telescopic member 300 to realize the movement of the telescopic member 300 in the vertical direction, so that the telescopic member 300 can move only in the horizontal direction, or it can move simultaneously in the horizontal direction and the vertical direction, that is, move obliquely upward or downward. The lifting member 200 and the fixing member 100 only move relative to each other in the first direction Y, while the lifting member 200 and the fixing member 100 are limited to each other in the second direction X. When the lifting member 200 is subjected to the external force of the telescopic member 300, it only moves in the first direction Y. The telescopic member 300 is movably connected to the fixing member 100 and can move relative to the fixing member 100 in any direction. The lifting member 200 and the telescopic member 300 are limited to each other in the first direction Y. That is, when the movement of the telescopic member 300 has a component of moving downward or upward, it will drive the lifting member 200 to move synchronously, so that the second cleaning member connected to the telescopic member 300 and the first cleaning member are lifted and lowered synchronously, and then drive the first cleaning member and the second cleaning member to descend to abut against the ground to realize cleaning, or rise to the storage position to realize obstacle avoidance. When the movement of the telescopic member 300 has a component of horizontal movement, due to the limited horizontal position of the lifting member 200, the telescopic member 300 drives the second cleaning member to move horizontally relative to the first cleaning member, so as to realize the telescoping of the second cleaning member relative to the first cleaning member, and then it can adapt to different environments. The driving member 400 can control the movement of the telescopic member 300 according to the lifting requirement and the telescoping requirement, and then realize the lifting and telescoping control of the cleaning unit through the single driving member 400 and the structural setting.

[0050] For the telescopic lifting mechanism and the cleaning device proposed in the embodiment of the present utility model, when the driving member drives the telescopic member to move, the telescopic member and the fixing member interact with each other, and move simultaneously in the second direction and in the first direction. By limiting the telescopic member and the lifting member to each other in the first direction, the first cleaning member and the second cleaning member are lifted and lowered synchronously, while the lifting member and the fixing member are only movably connected in the first direction and limited in the second direction, and the telescopic member can move relative to the fixing member in the second direction, so as to realize the telescoping of the first cleaning member and the second cleaning member. In this way, a single driving member is used to drive the telescopic member to move in a single direction, and the telescoping and lifting of the first cleaning member and the second cleaning member are realized only through the structural action relationship between the telescopic member, the fixing member and the lifting member, reducing the number of driving members, reducing the driving burden and cost, making the structure more concise, and the control process simpler.

[0051] In one embodiment, the fixing member 100 includes a guiding surface 110 which is used to interact with the telescopic member 300. The guiding surface 110 includes an inclined guiding area 111 and a horizontal guiding area 112. The inclined guiding area 111 and the horizontal guiding area 112 are arranged adjacent to each other. The horizontal guiding area 112 extends in the second direction X, and the inclined guiding area 111 extends in both the first direction Y and the second direction X.

[0052] The driving direction of the driving member 400 for driving the telescopic member 300 is the horizontal direction. The guiding surface 110 acts on the telescopic member 300 to realize guiding the actual moving direction of the telescopic member 300. The inclined guiding area 111 guides the telescopic member 300 to move in both the second direction X and the first direction Y, and then drives the second cleaning member and the first cleaning member to lift, and the second cleaning member to telescopically move relative to the first cleaning member. The horizontal guiding area 112 supports the telescopic member 300 to move only in the second direction X, so as to realize controllable telescopic degree of the second cleaning member relative to the first cleaning member. More specifically, as Figure 2 shown, the inclined guiding area 111 is located on the right side of the horizontal guiding area 112. The included angle between the inclined guiding area 111 and the horizontal guiding area 112 is greater than 90 degrees and less than 180 degrees, that is, the inclined guiding area 111 slopes upward. When the cleaning unit needs to descend, the telescopic member 300 starts to move leftward from the side far away from the horizontal guiding area 112 of the inclined guiding area 111, first acts on the inclined guiding area 111, and the telescopic member 300 slopes downward along the inclined guiding area 111 by relying on gravity, that is, moves leftward and downward at the same time, and then drives the second cleaning member to extend relative to the first cleaning member, and the second cleaning member and the first cleaning member descend at the same time until it moves to the connection position between the inclined guiding area 111 and the horizontal guiding area 112. At this time, the first cleaning member and the second cleaning member are at the lowest position and in contact with the ground, and cleaning can be realized. At this time, the extension distance between the second cleaning member and the first cleaning member is short. If the second cleaning member needs to be further extended, continue to drive the telescopic member 300 to move. The telescopic member 300 acts on the horizontal guiding area 112 and moves horizontally leftward, and then the second cleaning member can continue to extend, and the extension length can be controlled as needed. When the second cleaning member needs to be retracted, control the telescopic member 300 to move rightward. When the telescopic member 300 moves to the connection position between the inclined guiding area 111 and the horizontal guiding area 112, if the telescopic member 300 continues to move rightward, the telescopic member 300 will act on the inclined guiding area 111, and under the thrust of the inclined guiding area 111, it will slope upward and move, that is, move rightward and upward at the same time, and then drive the second cleaning member to retract relative to the first cleaning member, and the second cleaning member and the first cleaning member rise at the same time until it moves to the outside of the inclined guiding area 111 far away from the horizontal guiding area 112. At this time, the first cleaning member and the second cleaning member are at the highest position, and obstacle crossing can be realized.

[0053] In addition, the inclined guiding area 111 can also be arranged on the left side of the horizontal guiding area 112, and the inclined guiding area 111 is arranged to incline downward, so that when the telescopic member 300 moves to the left, it can first extend and then descend. The inclination mode of the inclined guiding area 111 and its relative position with the horizontal guiding area 112 can be set as required.

[0054] In one implementation, the guiding surface 110 further includes a receiving surface 113. The receiving surface 113 is located on the side of the inclined guiding area 111 away from the horizontal guiding area 112, and the receiving surface 113 is adjacent to the inclined guiding area 111. The receiving surface 113 forms a preset angle with the horizontal guiding area 112, or the receiving surface 113 extends along the second direction X.

[0055] The receiving surface 113 is used to keep the first cleaning member and the second cleaning member at the highest position, or the so-called receiving position. As Figure 2 shown, when the telescopic member 300 acts on the inclined guiding area 111, the telescopic member 300 will tend to move downward under the action of gravity, that is, the driving member 400 is subjected to the force exerted by the telescopic member 300. To avoid the driving member 400 being always subjected to the force and to make the position of the cleaning unit in the receiving position more stable, the receiving surface 113 is provided. After the telescopic member 300 moves to the vertex of the inclined guiding area 111 and continues to move the telescopic member 300 to the right to the receiving surface 113, the receiving surface 113 can play a role in supporting the telescopic member 300.

[0056] Furthermore, the guiding surface 110 further includes a limiting arc surface 114. The limiting arc surface 114 is located between the receiving surface 113 and the inclined guiding area 111, and the vertex of the limiting arc surface 114 is higher than the receiving surface 113.

[0057] The limiting arc surface 114 is a protrusion between the inclined guiding area 111 and the receiving surface 113. When there is no external force of the driving member 400 acting on the telescopic member 300, it is not easy for the telescopic member 300 to slide from the receiving surface 113 to the inclined guiding area 111, thereby ensuring the stability of the position of the cleaning unit in the receiving state.

[0058] The guiding surface 110 can be arranged on the fixing member 100 in various ways. For example, in one implementation, at least one first sliding hole or first sliding groove is formed on the fixing member 100. Both the first sliding hole and the first sliding groove are strip-shaped. The inner wall of the first sliding hole or the first sliding groove includes the guiding surface 110, which can be that the bottom wall includes the guiding surface 110, or the top wall and the bottom wall are oppositely provided with the guiding surface 110. The telescopic member 300 includes a telescopic main body 310 and at least one protruding head 320. The protruding head 320 is connected to the telescopic main body 310. The protruding head 320 is movably embedded in the first sliding hole or the first sliding groove, and the protruding head 320 is movably abutted against the guiding surface 110 to interact with the guiding surface 110. In another implementation, the edge of the fixing member 100 includes at least one guiding surface 110. As Figure 2 shown in the figure, the guiding surface 110 is located on the upper edge of the fixing member 100. The telescopic member 300 includes a telescopic main body 310 and at least one protruding head 320. The protruding head 320 is connected to the telescopic main body 310. The protruding head 320 is movably abutted against the guiding surface 110 to interact with the guiding surface 110, which can facilitate the installation of the telescopic member 300, and can reduce the volume of the fixing member 100 and the weight of the fixing member 100.

[0059] The protruding head 320 can be only a slider protruding from the telescopic main body 310, and the protruding head 320 is in sliding contact with the guiding surface 110. Alternatively, the protruding head 320 is rotatably connected to the telescopic main body 310. For example, the telescopic main body 310 includes a protruding rotating rod, and the protruding head 320 can be a bearing, and the protruding head 320 is in rolling contact with the guiding surface 110.

[0060] In addition, the number of the protruding heads 320 can be multiple, such as two, which are arranged at intervals in the length direction of the telescopic main body 310. The guiding surface 110 corresponds to the number of the protruding heads 320 one by one. For example, if there are two, the protruding heads 320 interact with the guiding surface 110 one by one, which has the effect of making the telescopic main body 310 move more stably and not easily vibrate.

[0061] In one implementation, the lifting member 200 includes a lifting main body 210 and at least one first limiting member 220. The first limiting member 220 is connected to the lifting main body 210. At least one second limiting member 120 is arranged on the fixing member 100. The first limiting member 220 and the second limiting member 120 are movably connected in the first direction Y and are limited in the second direction X.

[0062] Through the interaction between the first limiting member 220 and the second limiting member 120, the lifting member 200 can only move relative to the fixed member 100 in the first direction Y, that is, the vertical direction, and will not move horizontally along with the telescopic member 300. The number of the first limiting member 220 and the second limiting member 120 can be multiple, and the first limiting member 220 and the second limiting member 120 correspond to each other one by one. For example, both the first limiting member 220 and the second limiting member 120 are two, and the two first limiting members 220 are arranged at intervals in the length direction of the lifting member 200, or in other words, in the horizontal direction, so that the movement of the lifting member 200 is more stable. The first limiting member 220 and the second limiting member 120 can be implemented in various ways. For example, the second limiting member 120 is at least one third sliding hole or third sliding groove opened on the fixed member 100, and the third sliding hole or third sliding groove extends in the first direction Y. The first limiting member 220 is movably inserted into the third sliding hole or third sliding groove for sliding relative to the third sliding hole or third sliding groove.

[0063] The positional relationship between the telescopic member 300 and the fixed member 100 can be various, as long as the telescopic member 300 and the fixed member 100 can move relative to each other in the horizontal direction and can be limited relative to each other in the vertical direction. For example, in one embodiment, the telescopic member 300 is slidably disposed between the fixed member 100 and the lifting member 200, and the telescopic member 300 is movably connected to the first limiting member 220 in the second direction X and is limited in the first direction Y. For example, at least one second sliding hole is opened on the telescopic member 300, and the second sliding hole extends in the second direction X. The first limiting member 220 is movably inserted into the second sliding hole. In another embodiment, as Figure 1 shown, a sliding groove 230 extending in the second direction X is opened on the lifting main body 210, and the telescopic member 300 is slidably inserted into the sliding groove 230. In this embodiment, the sliding groove 230 can be disposed on one side of the lifting main body 210 relative to the fixed member 100 as Figure 1 set, that is, the telescopic member 300 is slidably disposed between the fixed member 100 and the lifting member 200. The sliding groove 230 can also be disposed at the top and bottom of the lifting main body 210, and the telescopic member 300 is slidably disposed on one side of the top or bottom of the lifting member 200, that is, the telescopic member 300 and the lifting member 200 are arranged side by side in the vertical direction. However, the embodiment in which the telescopic member 300 is slidably disposed between the fixed member 100 and the lifting member 200 can reduce the overall height of the telescopic lifting mechanism and thus save space.

[0064] In one embodiment, the driving member 400 is in driving connection with the telescopic member 300 in the second direction X, and the driving member 400 is slidably connected with the telescopic member 300 in the first direction Y.

[0065] The driving member 400 is fixedly connected to the fixing member 100 and does not move. The driving member 400 drives the telescopic member 300 to move in the second direction X. At the same time, the driving member 400 is slidably connected to the telescopic member 300 in the first direction Y, so that the telescopic member 300 can move in the vertical direction under the action of the inclined guiding area 111.

[0066] In one embodiment, the driving member 400 includes a power member 410 and a transmission gear assembly 420, and the transmission gear assembly 420 is connected to the power member 410. The telescopic member 300 includes a telescopic main body 310 and a rack 330. The rack 330 is disposed on the telescopic main body 310. The rack 330 includes a plurality of engaging teeth arranged side by side in the second direction X, and the transmission gear assembly 420 is in tooth engagement with the rack 330.

[0067] The engaging teeth of the rack 330 and the rack 330 of the transmission gear assembly 420 are both strip-shaped teeth extending in the first direction Y, so that the rack 330 and the transmission gear assembly 420 are only engaged in the second direction X and then transmission-connected, and can slide relative to each other in the first direction Y. The contour of a part of the telescopic member 300 is adapted to the moving track of the transmission gear assembly 420 on the lifting member 200. For example, the rack 330 only covers the traveling area of the gear assembly 420 during the movement of the telescopic main body 310. The upper edge contour and the lower edge contour of the area of the telescopic main body 310 provided with the rack 330 are both adapted to the moving track of the transmission gear assembly 420 on the lifting member 200, or in other words, are adapted to the shape of the guiding surface 110. It is only necessary that the distance between the upper edge and the lower edge of the area of the telescopic main body 310 provided with the rack 330 is greater than the thickness of the side edge of the transmission gear assembly 420 in contact with the telescopic main body 310, which can reduce the volume and weight of the telescopic main body 310.

[0068] In one embodiment, a relief hollow 130 is formed on the fixing member 100. The rack 330 is opposite to the relief hollow 130, and the transmission gear assembly 420 passes through the relief hollow 130 to be in tooth engagement with the rack 330, so that the transmission gear assembly 420 is located at the middle position of the fixing member 100, which is convenient for the fixing and stability of the driving member 400.

[0069] In one embodiment, the transmission gear assembly 420 includes a driving gear 421 and a transmission gear 422. The driving gear 421 is connected to the power member 410, and the transmission gear 422 is in tooth engagement with the driving gear 421 and the rack 330 respectively.

[0070] The driving gear 421 can be a gear with overload protection, and the disk area of the transmission gear 422 can be larger than that of the driving gear 421, so as to achieve more accurate control.

[0071] In one embodiment, the telescopic lifting mechanism further includes at least one position detection switch. The position detection switch faces the telescopic member 300 and is configured to emit a first trigger signal when the telescopic member 300 reaches the limit position in the second direction X. Alternatively, the position detection switch faces the telescopic member 300 and is configured to emit a second trigger signal when the telescopic member 300 moves to the limit position in the first direction Y.

[0072] The position detection switch can be fixed at multiple positions and various detection methods can be adopted, as long as it can emit a signal at the limit position. For example, the position detection switch can be fixed on the housing of the main body of the cleaning device, or it can be fixed on the fixing member 100. The position detection switch can be a touch switch, an optoelectronic switch, etc., or it can be a sensing switch, such as an infrared switch. The first trigger signal and the second trigger signal are used to guide the main controller to confirm the actual positions of the first cleaning member and the second cleaning member. For example, Figure 2 Taking the [direction] as an example, the number of position detection switches is three, and their installation positions satisfy the following: the telescopic member 300 moves downward along the inclined guiding area 111 until it reaches the connection position between the inclined guiding area 111 and the horizontal guiding area 112. At this time, the first position detection switch will be triggered, and it can be determined that the first cleaning member and the second cleaning member are at the lowest position, and then the rotation drive is performed to achieve cleaning. When the driving telescopic member 300 acts on the horizontal guiding area 112 and moves leftward to the limit position where the second cleaning member can extend, the second position detection switch will be triggered. When the second cleaning member retracts and the telescopic member 300 moves to the connection position between the inclined guiding area 111 and the horizontal guiding area 112, the first position detection switch will be triggered again, and it can be determined that the retraction of the second cleaning member is completed. The telescopic member 300 moves upward along the inclined guiding area 111 until it moves to the outer side of the inclined guiding area 111 away from the horizontal guiding area 112, such as moving to the aforementioned storage surface 113, and the third position detection switch will be triggered, that is, it is determined that the first cleaning member and the second cleaning member are at the highest position, and obstacle crossing can be achieved.

[0073] In one embodiment, at least one of the fixing member 100, the lifting member 200, and the telescopic member 300 is a hollow structure, which can achieve weight reduction. Alternatively, at least one of the fixing member 100, the lifting member 200, and the telescopic member 300 includes a reinforcing rib 140. The fixing member 100, the lifting member 200, and / or the telescopic member 300 itself is relatively thin, achieving weight reduction, and the structural reinforcement is realized through the reinforcing rib 140.

[0074] On the other hand, the present utility model further provides a cleaning device, including the telescopic lifting mechanism described in any one of the above, and a robot body. The telescopic lifting mechanism is arranged on the robot body. The cleaning device has the advantages of the telescopic lifting mechanism described in any one of the above, which will not be elaborated here.

[0075] The above are only the specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims described above.

Claims

1. A telescopic lifting mechanism for a cleaning device, characterized in that, The telescopic lifting mechanism includes: A fixing member (100) for connecting with the cleaning device; A lifting member (200) movably connected to the fixing member (100), and the lifting member (200) is movable in a first direction; A telescopic member (300) movably connected to the fixing member (100) and mutually limited with the lifting member (200) in the first direction; A driving member (400) connected to the fixing member (100) and further connected to the telescopic member (300).

2. The telescopic lifting mechanism according to claim 1, characterized in that The telescopic member (300) is configured to move in a second direction under the action of the driving member (400) and the fixing member (100), or simultaneously move in the first direction and the second direction.

3. The telescopic lifting mechanism according to claim 2, characterized in that The first direction and the second direction are perpendicular directions; and / or, the first direction is a vertical direction and the second direction is a horizontal direction.

4. The telescopic lifting mechanism according to claim 2, characterized in that The fixing member (100) includes a guiding surface (110) for interacting with the telescopic member (300). The guiding surface (110) includes an inclined guiding area (111) and a horizontal guiding area (112). The inclined guiding area (111) and the horizontal guiding area (112) are adjacent to each other. The horizontal guiding area (112) extends along the second direction, and the inclined guiding area (111) extends simultaneously in the first direction and the second direction.

5. The telescopic lifting mechanism according to claim 4, characterized in that The included angle between the inclined guiding area (111) and the horizontal guiding area (112) is greater than 90 degrees and less than 180 degrees.

6. The telescopic lifting mechanism according to claim 4, characterized in that The guiding surface (110) further includes a receiving surface (113) located on a side of the inclined guiding area (111) away from the horizontal guiding area (112), and the receiving surface (113) is adjacent to the inclined guiding area (111). The receiving surface (113) forms a preset angle with the horizontal guiding area (112), or the receiving surface (113) extends along the second direction.

7. The telescopic lifting mechanism according to claim 6, characterized in that The guiding surface (110) further includes a limiting arc surface (114) located between the receiving surface (113) and the inclined guiding area (111), and the vertex of the limiting arc surface (114) is higher than the receiving surface (113).

8. The telescopic lifting mechanism according to claim 4, characterized in that At least one first sliding hole or first sliding groove is formed in the fixing member (100), and the inner wall of the first sliding hole or the first sliding groove includes the guiding surface (110). The telescopic member (300) includes a telescopic main body (310) and at least one protruding head (320). The protruding head (320) is connected to the telescopic main body (310), and the protruding head (320) is movably embedded in the first sliding hole or the first sliding groove. The protruding head (320) is movably abutted against the guiding surface (110) to interact with the guiding surface (110). Alternatively, the edge of the fixing member (100) includes at least one of the guiding surfaces (110). The telescopic member (300) includes a telescopic main body (310) and at least one protruding head (320). The protruding head (320) is connected to the telescopic main body (310), and the protruding head (320) is movably abutted against the guiding surface (110) to interact with the guiding surface (110).

9. The telescopic lifting mechanism according to claim 8, wherein the protruding head (320) is in sliding abutment with the guiding surface (110); or, the protruding head (320) is rotatably connected to the telescopic main body (310), and the protruding head (320) is in rolling connection with the guiding surface (110).

10. The telescopic lifting mechanism according to claim 1, wherein: The lifting member (200) includes a lifting main body (210) and at least one first limiting member (220). The first limiting member (220) is connected to the lifting main body (210). At least one second limiting member (120) is provided on the fixing member (100). The first limiting member (220) is movably connected to the second limiting member (120) in a first direction and is limited in a second direction.

11. The telescopic lifting mechanism according to claim 10, wherein The second limiting member (120) is at least one third sliding hole or third sliding groove formed in the fixing member (100). The third sliding hole or the third sliding groove extends in the first direction, and the first limiting member (220) is movably embedded in the third sliding hole or the third sliding groove.

12. The telescopic lifting mechanism according to claim 10, wherein The telescopic member (300) is slidably disposed between the fixing member (100) and the lifting member (200), and the telescopic member (300) is movably connected to the first limiting member (220) in the second direction and is limited in the first direction; or, at least one second sliding hole is formed in the telescopic member (300). The second sliding hole extends in the second direction, and the first limiting member (220) is movably inserted into the second sliding hole; or, a sliding groove (230) extending in the second direction is formed in the lifting main body (210), and the telescopic member (300) is slidably embedded in the sliding groove (230). Alternatively, the lifting body (210) is provided with a slide groove (230) extending in the second direction, the slide groove (230) is arranged on a side of the lifting body (210) opposite to the fixing member (100), the telescopic member (300) is slidably arranged between the fixing member (100) and the lifting member (200), and the telescopic member (300) is slidably embedded in the slide groove (230).

13. The telescopic lifting mechanism according to claim 2, characterized in that: The driving member (400) is transmission-connected with the telescopic member (300) in the second direction, and the driving member (400) is slidingly connected with the telescopic member (300) in the first direction.

14. The telescopic lifting mechanism according to claim 13, characterized in that: The driving member (400) comprises a power member (410) and a transmission gear assembly (420), wherein the transmission gear assembly (420) is connected to the power member (410); The telescopic member (300) comprises a telescopic body (310) and a rack (330), wherein the rack (330) is arranged on the telescopic body (310), the rack (330) comprises a plurality of meshing teeth arranged in parallel in the second direction, and the transmission gear assembly (420) is gear-connected with the rack (330).

15. The telescopic lifting mechanism according to claim 14, characterized in that: The fixing member (100) is provided with a clearance hollow (130), the rack (330) is opposite to the clearance hollow (130), and the transmission gear assembly (420) is connected to the clearance hollow (130) to be gear-engaged with the rack (330).

16. The telescopic lifting mechanism according to claim 14, characterized in that: The transmission gear assembly (420) comprises a driving gear (421) and a transmission gear (422); the driving gear (421) is connected to the power member (410); and the transmission gear (422) is respectively gear-engaged with the driving gear (421) and the rack (330).

17. The telescopic lifting mechanism according to claim 14, characterized in that: The contour of a partial area of the telescopic member (300) is adapted to the trajectory of the transmission gear assembly (420) moving on the lifting member (200).

18. The telescopic lifting mechanism according to claim 1, wherein The telescopic lifting mechanism also includes: at least one position detection switch; The position detection switch is opposite to the telescopic member (300), and is used to send a first trigger signal when the telescopic member (300) moves to an extreme position in the second direction; Alternatively, the position detection switch is opposite to the telescopic member (300), and is used to send a second trigger signal when the telescopic member (300) moves to an extreme position in the first direction.

19. The telescopic lifting mechanism according to claim 1, characterized in that: At least one of the fixing member (100), the lifting member (200) and the telescopic member (300) is a hollow structure; Alternatively, at least one of the fixing member (100), the lifting member (200), and the telescopic member (300) includes a reinforcing rib (140).

20. A cleaning device, characterized in that, A telescopic lifting mechanism according to any one of the above claims 1-19, and a robot body, wherein the telescopic lifting mechanism is disposed on the robot body.

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