Lifting device and cleaning robot

Abstract

The utility model provides a lifting device and a cleaning robot, and relates to the field of cleaning equipment. The lifting device comprises a fixing mechanism, a first rotating mechanism connected with the first cleaning assembly, a second rotating mechanism connected with the second cleaning assembly and a switching mechanism located between the first rotating mechanism and the second rotating mechanism. The first rotating mechanism and the second rotating mechanism are rotationally arranged on the fixing mechanism, a lead screw of the switching mechanism is rotationally arranged on the fixing mechanism, a first limiting part, a second limiting part and a third limiting part are arranged on the lead screw, and the third limiting part is located between the first limiting part and the second limiting part; a first shifting nut and a second shifting nut of the switching mechanism are arranged on the lead screw in a sleeving mode, the first shifting nut is located between the first limiting part and the third limiting part, and the second shifting nut is located between the second limiting part and the third limiting part. According to the lifting device, the space utilization rate is increased, miniaturization design of the cleaning robot is facilitated, and the manufacturing cost is reduced.

Description

Technical Field

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

[0002] The information disclosed in this background art section is only intended to deepen the understanding of the overall background art of the present disclosure, and should not be regarded as an admission or any form of implication that this information constitutes the prior art known to those skilled in the art.

[0003] With the development of technology, the functions of cleaning robots have become increasingly rich, with functions such as sweeping, vacuuming, mopping, and water absorption. Generally, a rotary brush and a vacuuming component are used as one cleaning component, and a mop and a water absorption component are used as another cleaning component. The two cleaning components are distributed front and back and need to be lifted and switched to perform different cleaning operations. For example, when sweeping and mopping at the same time, both cleaning components need to descend; when only sweeping without mopping, only the rotary brush and the vacuuming component descend, while the mop and the water absorption component are lifted; when only mopping without sweeping, only the mop and the water absorption component descend, while the rotary brush and the vacuuming component are lifted; when neither sweeping nor mopping, both cleaning components are lifted.

[0004] In the related art, for the switching between the lifted state and the lowered state of the cleaning component, it is mainly completed by different motion mechanisms, that is, the number of motion mechanisms used is the same as the number of cleaning components. That is, each cleaning component needs to be separately configured with a set of motion mechanisms to drive its lifting or lowering, which results in a large number of parts used, increases the manufacturing cost of the cleaning robot, and is not conducive to the miniaturization design of the cleaning robot. Summary of the Utility Model

[0005] In view of this, the purpose of the present application is to provide a lifting device and a cleaning robot, aiming to solve the technical problems in the related art that each cleaning component of the cleaning robot needs to be separately configured with a set of motion mechanisms to switch between the lifted state and the lowered state, which increases the manufacturing cost and is not conducive to the miniaturization design.

[0006] To achieve the above purpose, the technical solution adopted by the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a lifting device, including:

[0008] A fixing mechanism;

[0009] A first rotating mechanism, rotatably arranged on the fixing mechanism and used for connecting a first cleaning component;

[0010] A second rotating mechanism, rotatably arranged on the fixing mechanism and used for connecting a second cleaning component;

[0011] A switching mechanism is located between the first rotating mechanism and the second rotating mechanism, and includes a lead screw, a first shifting nut, and a second shifting nut. The lead screw is rotatably arranged on the fixing mechanism. The lead screw is respectively provided with a first limiting portion, a second limiting portion, and a third limiting portion. The third limiting portion is located between the first limiting portion and the second limiting portion. The first shifting nut and the second shifting nut are respectively sleeved on the lead screw. The first shifting nut is located between the first limiting portion and the third limiting portion. The second shifting nut is located between the second limiting portion and the third limiting portion;

[0012] When the lead screw rotates in the first rotation direction, the first shifting nut is used to drive the second rotating mechanism to rotate a preset angle in the second rotation direction, and the second shifting nut is used to drive the first rotating mechanism to rotate the preset angle in the second rotation direction; when the lead screw rotates in the second rotation direction, the first shifting nut is used to drive the first rotating mechanism to rotate the preset angle in the first rotation direction, and the second shifting nut is used to drive the second rotating mechanism to rotate the preset angle in the first rotation direction;

[0013] Wherein, the second rotation direction is opposite to the first rotation direction.

[0014] In one embodiment of the first aspect, the first shifting nut has a first shifting portion, the second shifting nut has a second shifting portion. On one side of the first rotating mechanism close to the switching mechanism, a connected first extension portion and a second extension portion are respectively arranged. The first extension portion and the second extension portion jointly define a Z shape. On one side of the second rotating mechanism close to the switching mechanism, a third extension portion and a fourth extension portion which are spaced apart are respectively arranged. The third extension portion and the fourth extension portion respectively define an L shape, and the orientations of the third extension portion and the fourth extension portion are opposite.

[0015] In one embodiment of the first aspect, a first inclined surface is arranged on one side of the first extension portion close to the second rotating mechanism, a second inclined surface is arranged on one side of the second extension portion close to the second rotating mechanism, a third inclined surface is arranged on one side of the third extension portion close to the first rotating mechanism, and a fourth inclined surface is arranged on one side of the fourth extension portion close to the first rotating mechanism.

[0016] In one embodiment of the first aspect, the lead screw includes a first lead section and a second lead section. The first lead section and the second lead section are respectively rotatably disposed through the fixing mechanism. The third limiting portion is a shoulder connected between the first lead section and the second lead section. The first limiting portion is a first limiting nut sleeved on one end of the first lead section away from the shoulder. The second limiting portion is a second limiting nut sleeved on one end of the second lead section away from the shoulder.

[0017] In one embodiment of the first aspect, the first rotating mechanism includes a first proximal rod, a first distal rod, and a first connecting rod. The first connecting rod is connected between the first proximal rod and the first distal rod, and the middle of the first connecting rod is hinged to the fixing mechanism. The first proximal rod is disposed close to the lead screw, and the first distal rod is used to connect the first cleaning assembly.

[0018] And / or, the second rotating mechanism includes a second proximal rod, a second distal rod, and a second connecting rod. The second connecting rod is connected between the second proximal rod and the second distal rod, and the middle of the second connecting rod is hinged to the fixing mechanism. The second proximal rod is disposed close to the lead screw, and the second distal rod is used to connect the second cleaning assembly.

[0019] In one embodiment of the first aspect, the fixing mechanism includes a first fixing bracket and a second fixing bracket. The lead screw is rotatably disposed on the first fixing bracket, and the first rotating mechanism and the second rotating mechanism are respectively rotatably disposed on the second fixing bracket.

[0020] In one embodiment of the first aspect, the second fixing bracket includes a first fixing component and a second fixing component. The switching mechanism is located between the first fixing component and the second fixing component. The first rotating mechanism is rotatably disposed on the first fixing component, and the second rotating mechanism is rotatably disposed on the second fixing component.

[0021] In one embodiment of the first aspect, the first fixing component includes a first mounting member, a first limiting shaft, a first rotating shaft, and a first elastic member. The first rotating mechanism is hinged to the first mounting member through the first rotating shaft, and two first limiting slots respectively adapted to the first limiting shaft are disposed on the first rotating mechanism. The first limiting shaft is movably disposed on the first mounting member, and the first elastic member is connected between the first limiting shaft and the first rotating shaft. When the first rotating mechanism rotates the preset angle relative to the first mounting member, the first limiting shaft can slide out of one of the first limiting slots and snap into the other first limiting slot.

[0022] And / or, the second fixing component includes a second mounting member, a second limiting shaft, a second rotating shaft, and a second elastic member. The second rotating mechanism is hinged to the second mounting member through the second rotating shaft, and two second limiting grooves respectively adapted to the second limiting shaft are provided on the second rotating mechanism. The second limiting shaft is movably arranged on the second mounting member, and the second elastic member is connected between the second limiting shaft and the second rotating shaft; when the second rotating mechanism rotates the preset angle relative to the second mounting member, the second limiting shaft can slide out of one of the second limiting grooves and snap into the other second limiting groove.

[0023] In one embodiment of the first aspect, a first sliding groove is formed on the first mounting member, and the first limiting shaft is arranged through the first sliding groove.

[0024] And / or, a second sliding groove is formed on the second mounting member, and the second limiting shaft is arranged through the second sliding groove.

[0025] In one embodiment of the first aspect, the lifting device further includes a driving mechanism, and the driving mechanism includes a driving member and a speed reducer. The speed reducer is arranged on the fixing mechanism, the input end of the speed reducer is connected to the driving member, and the output end of the speed reducer is connected to one end of the lead screw. The driving member is used to drive the lead screw to rotate relative to the fixing mechanism in the first rotation direction or the second rotation direction through the speed reducer.

[0026] In a second aspect, an embodiment of the present application further provides a cleaning robot, including a chassis, a first cleaning component, a second cleaning component, and the lifting device in any of the above embodiments. The fixing mechanism is connected to the chassis, the first cleaning component is connected to a side of the first rotating mechanism away from the switching mechanism, and the second cleaning component is connected to a side of the second rotating mechanism away from the switching mechanism.

[0027] The beneficial effects of the present application are:

[0028] The lifting device provided in this embodiment, since the first rotating mechanism is used to connect the first cleaning component and the second rotating mechanism is used to connect the second cleaning component, on this basis, a switching mechanism is arranged between the first rotating mechanism and the second rotating mechanism. The switching mechanism includes a lead screw, a first shifting nut and a second shifting nut. The lead screw is rotatably arranged on the fixing mechanism. The lead screw is respectively provided with a first limiting portion, a second limiting portion and a third limiting portion. The third limiting portion is located between the first limiting portion and the second limiting portion. The first shifting nut and the second shifting nut are respectively sleeved on the lead screw. The first shifting nut is located between the first limiting portion and the third limiting portion, and the second shifting nut is located between the second limiting portion and the third limiting portion. In this way, the above switching mechanism, as a set of motion mechanisms, can cyclically switch the lifting states of the first cleaning component and the second cleaning component respectively, reducing the number of motion mechanisms used, thereby improving the space utilization rate, being beneficial to the miniaturized design of the cleaning robot, and reducing the manufacturing cost of the cleaning robot.

[0029] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, detailed descriptions are as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0031] Figure 1 Shows a schematic structural diagram of a lifting device in some embodiments of the present application;

[0032] Figure 2 Shows a schematic assembly structural diagram of a driving mechanism, a switching mechanism and a first fixing bracket in some embodiments of the present application;

[0033] Figure 3 Shows Figure 2 the cross-sectional structural diagram of;

[0034] Figure 4 Shows a schematic structural diagram of a switching mechanism in some embodiments of the present application;

[0035] Figure 5 Shows a schematic structural diagram of a lead screw in some embodiments of the present application;

[0036] Figure 6 Shows a schematic assembly structural diagram of a first rotating mechanism and a first fixing component in some embodiments of the present application;

[0037] Figure 7 shows Figure 6 a schematic cross-sectional structure diagram of

[0038] Figure 8 a schematic assembly structure diagram of the first connecting rod and part of the first fixing components in some embodiments of the present application;

[0039] Figure 9 a schematic structural diagram of a perspective view of the first proximal rod in some embodiments of the present application;

[0040] Figure 10 a schematic partial structural diagram of another perspective view of the first proximal rod in some embodiments of the present application;

[0041] Figure 11 a schematic structural diagram of the first connecting rod in some embodiments of the present application;

[0042] Figure 12 a schematic assembly structure diagram of the second rotating mechanism and the second fixing components in some embodiments of the present application;

[0043] Figure 13 shows Figure 12 a schematic cross-sectional structure diagram of

[0044] Figure 14 a schematic assembly structure diagram of the second connecting rod and part of the second fixing components in some embodiments of the present application;

[0045] Figure 15 a schematic structural diagram of a perspective view of the second proximal rod in some embodiments of the present application;

[0046] Figure 16 a schematic partial structural diagram of another perspective view of the second proximal rod in some embodiments of the present application;

[0047] Figure 17 schematic diagrams of the movement states of two perspectives of part of the lifting device corresponding to the case where the first cleaning component is in the descending state and the second cleaning component is in the descending state in some embodiments of the present application;

[0048] Figure 18 schematic diagrams of the movement states of two perspectives of part of the lifting device corresponding to the case where the first cleaning component is in the descending state and the second cleaning component is in the lifting state in some embodiments of the present application;

[0049] Figure 19 schematic diagrams of the movement states of two perspectives of part of the lifting device corresponding to the case where the first cleaning component is in the lifting state and the second cleaning component is in the lifting state in some embodiments of the present application;

[0050] Figure 20Schematically shows the motion states of two perspectives of a corresponding partial lifting device when the first cleaning component is in the lifted state and the second cleaning component is in the lowered state in some embodiments of the present application.

[0051] Description of main reference numerals:

[0052] 100 - Lifting device; 110 - Fixing mechanism; 111 - First fixing bracket; 112 - Second fixing bracket; 1121 - First fixing component; 11211 - First mounting member; 112111 - First sliding groove; 11212 - First limiting shaft; 11213 - First rotating shaft; 11214 - First elastic member; 1122 - Second fixing component; 11221 - Second mounting member; 112211 - Second sliding groove; 11222 - Second limiting shaft; 11223 - Second rotating shaft; 11224 - Second elastic member; 120 - First rotating mechanism; 121 - First proximal rod; 1211 - First extension; 1212 - Second extension; 1213 - First inclined surface; 1214 - Second inclined surface; 122 - First distal rod; 123 - First connecting rod; 1231 - First limiting groove; 130 - Second rotating mechanism; 131 - Second proximal rod; 1311 - Third extension; 1312 - Fourth extension; 1313 - Third inclined surface; 1314 - Fourth inclined surface; 132 - Second distal rod; 133 - Second connecting rod; 1331 - Second limiting groove; 140 - Switching mechanism; 141 - Lead screw; 1411 - First thread segment; 1412 - Second thread segment; 1413 - Third limiting portion; 142 - First toggling nut; 1421 - First toggling portion; 143 - Second toggling nut; 1431 - Second toggling portion; 144 - First limiting portion; 145 - Second limiting portion; 150 - Driving mechanism; 151 - Driving member; 152 - Reducer; 161 - Location a; 162 - Location b; 163 - Location c; x - First rotation direction; y - Second rotation direction. Detailed description of the embodiments

[0053] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.

[0054] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0055] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0056] In the present application, unless otherwise clearly specified and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0057] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0058] In a first aspect, an embodiment of the present application provides a lifting device, which relates to the technical field of cleaning equipment and is mainly applied to a cleaning robot for switching the lifting states of a first cleaning component and a second cleaning component of the cleaning robot respectively. It should be noted that the above-mentioned cleaning robot includes but is not limited to a floor sweeper, a handheld vacuum cleaner, a pet hair vacuum cleaner, a weeding machine, etc., and no specific limitation is made here.

[0059] AsFigures 1 to 3 As shown in the figure, the lifting device 100 provided in this embodiment includes: a fixing mechanism 110, a first rotating mechanism 120, a second rotating mechanism 130, and a switching mechanism 140.

[0060] Among them, the first rotating mechanism 120 is rotatably arranged on the fixing mechanism 110 and is used to connect the first cleaning component. The second rotating mechanism 130 is rotatably arranged on the fixing mechanism 110 and is used to connect the second cleaning component. The switching mechanism 140 is located between the first rotating mechanism 120 and the second rotating mechanism 130, and the switching mechanism 140 includes a lead screw 141, a first shifting nut 142, and a second shifting nut 143. The lead screw 141 is rotatably arranged on the fixing mechanism 110. The lead screw 141 is respectively provided with a first limiting portion 144, a second limiting portion 145, and a third limiting portion 1413. The third limiting portion 1413 is located between the first limiting portion 144 and the second limiting portion 145. The first shifting nut 142 and the second shifting nut 143 are respectively sleeved on the lead screw 141. The first shifting nut 142 is located between the first limiting portion 144 and the third limiting portion 1413, and the second shifting nut 143 is located between the second limiting portion 145 and the third limiting portion 1413.

[0061] As Figure 17 and Figure 18 shown in the figure, when the lead screw 141 rotates in the first rotation direction x, the first shifting nut 142 is used to drive the second rotating mechanism 130 to rotate a preset angle in the second rotation direction y, and the second shifting nut 143 is used to drive the first rotating mechanism 120 to rotate a preset angle in the second rotation direction y; as Figure 19 and Figure 20 shown in the figure, when the lead screw 141 rotates in the second rotation direction y, the first shifting nut 142 is used to drive the first rotating mechanism 120 to rotate a preset angle in the first rotation direction x, and the second shifting nut 143 is used to drive the second rotating mechanism 130 to rotate a preset angle in the first rotation direction x.

[0062] It should be noted that the above-mentioned first rotation direction x and the second rotation direction y are opposite. That is, when the first rotation direction x is the clockwise direction, the second rotation direction y is the counterclockwise direction; when the first rotation direction x is the counterclockwise direction, the second rotation direction y is the clockwise direction.

[0063] It can be understood that the working principle of the lifting device 100 provided in this embodiment is as follows: Taking Figure 17Taking the state shown as an example, at this time, the second cleaning component is in the descending state. The lead screw 141 rotates in the first rotation direction x, causing the second toggle nut 143 to move in the direction close to the first limiting part 144 until it cannot move further when the second toggle nut 143 contacts the third limiting part 1413. As the lead screw 141 continues to rotate in the first rotation direction x, the second toggle nut 143 contacts the first rotating mechanism 120 and drives the first rotating mechanism 120 to rotate a preset angle in the second rotation direction y, causing the first cleaning component to switch from the lifting state to the descending state; as Figure 18 shown, the lead screw 141 continues to rotate in the first rotation direction x, causing the first toggle nut 142 to move in the direction close to the first limiting part 144 until it cannot move further when the first toggle nut 142 contacts the first limiting part 144. As the lead screw 141 continues to rotate in the first rotation direction x, the first toggle nut 142 contacts the second rotating mechanism 130 and drives the second rotating mechanism 130 to rotate a preset angle in the second rotation direction y, causing the second cleaning component to switch from the descending state to the lifting state; as Figure 19 shown, the lead screw 141 rotates in the second rotation direction y, causing the first toggle nut 142 to move in the direction close to the second limiting part 145 until it cannot move further when the first toggle nut 142 contacts the third limiting part 1413. As the lead screw 141 continues to rotate in the second rotation direction y, the first toggle nut 142 contacts the first rotating mechanism 120 and drives the first rotating mechanism 120 to rotate a preset angle in the first rotation direction x, causing the first cleaning component to switch from the descending state to the lifting state; as Figure 20 shown, the lead screw 141 continues to rotate in the second rotation direction y, causing the second toggle nut 143 to move in the direction close to the second limiting part 145 until it cannot move further when the second toggle nut 143 contacts the second limiting part 145. As the lead screw 141 continues to rotate in the second rotation direction y, the second toggle nut 143 contacts the second rotating mechanism 130 and drives the second rotating mechanism 130 to rotate a preset angle in the first rotation direction x, causing the second cleaning component to switch from the lifting state to the descending state. In this way, a complete cyclic motion process is completed.

[0064] It should be mentioned that in the related art, for the switching between the lifting state and the descending state of the cleaning component, it is mainly completed by different motion mechanisms, that is, the number of motion mechanisms used is the same as the number of cleaning components. That is, each cleaning component needs to be equipped with a separate set of motion mechanisms to drive its lifting or descending, which results in a large number of parts used, increases the manufacturing cost of the cleaning robot, and is not conducive to the miniaturization design of the cleaning robot.

[0065] It can be understood that the lifting device 100 provided in this embodiment, since the first rotating mechanism 120 is used to connect the first cleaning component and the second rotating mechanism 130 is used to connect the second cleaning component, on this basis, a switching mechanism 140 is arranged between the first rotating mechanism 120 and the second rotating mechanism 130, the switching mechanism 140 includes a screw rod 141, a first toggle nut 142 and a second toggle nut 143, the screw rod 141 is rotatably arranged on the fixing mechanism 110, and the screw rod 141 is respectively provided with a first limiting portion 144, a second limiting portion 145 and a third limiting portion 1413, the third limiting portion 1413 is located between the first limiting portion 144 and the second limiting portion 145, the first toggle nut 142 and the second toggle nut 143 are respectively sleeved on the screw rod 141, the first toggle nut 142 is located between the first limiting portion 144 and the third limiting portion 1413, and the second toggle nut 143 is located between the second limiting portion 145 and the third limiting portion 1413. In this way, the switching mechanism 140 as a set of motion mechanisms can cyclically switch the lifting and lowering states of the first cleaning component and the second cleaning component respectively, reducing the number of motion mechanisms used, thereby improving space utilization, facilitating the miniaturization design of the cleaning robot, and reducing the manufacturing cost of the cleaning robot.

[0066] like Figure 1 、 Figure 4 、 Figure 9 and Figure 15 As shown, in one embodiment, the first toggle nut 142 has a first toggle portion 1421, the second toggle nut 143 has a second toggle portion 1431, and the first rotating mechanism 120 is provided with a first extension portion 1211 and a second extension portion 1212 connected to each other on one side close to the switching mechanism 140, and the first extension portion 1211 and the second extension portion 1212 are jointly defined as a Z shape, and the second rotating mechanism 130 is provided with a third extension portion 1311 and a fourth extension portion 1312 distributed at intervals on one side close to the switching mechanism 140, and the third extension portion 1311 and the fourth extension portion 1312 are respectively defined as an L shape, and the direction of the third extension portion 1311 is opposite to the direction of the fourth extension portion 1312.

[0067] It should be understood that the phrase "the first extension portion 1211 and the second extension portion 1212 collectively define a Z-shape" means that the shape formed by the first extension portion 1211 and the second extension portion 1212 is similar to the letter "Z", rather than being completely identical to the letter "Z". The phrase "the third extension portion 1311 and the fourth extension portion 1312 are each defined as an L-shape" means that the shapes of the third extension portion 1311 and the fourth extension portion 1312 are both similar to the letter "L", rather than being completely identical to the letter "L".

[0068] It is understandable that the working principle of the lifting device 100 provided in this embodiment is as follows: Figure 17 The state shown is taken as an example and combined with Figure 10 and Figure 16 To begin with, at this time, the second cleaning assembly is in a descending state, and the screw rod 141 rotates in the first rotation direction x, so that the second toggle portion 1431 of the second toggle nut 143 abuts against the point a 161 of the second extension portion 1212 and moves in a direction close to the first limiting portion 144 (at the same time, the first toggle nut 142 idles as the screw rod 141 rotates), until the second toggle nut 143 contacts the third limiting portion 1413 and cannot move further. As the screw rod 141 continues to rotate in the first rotation direction x, the second toggle nut 143 abuts against the point c 163 of the second extension portion 1212 and drives the first rotating mechanism 120 to rotate in the second rotation direction y by a preset angle, so that the first cleaning assembly switches from the lifting state to the descending state (at the same time, the first toggle portion 1421 of the first toggle nut 142 abuts against the point b 162 of the first extension portion 1211); Figure 18 As shown, the screw rod 141 continues to rotate in the first rotation direction x, so that the first toggle portion 1421 of the first toggle nut 142 disengages from the first extension portion 1211 and abuts against the point a 161 of the third extension portion 1311 and moves in the direction close to the first limiting portion 144 (at the same time, the second toggle nut 143 idles as the screw rod 141 rotates), until the first toggle nut 142 contacts the first limiting portion 144 and cannot move further. As the screw rod 141 continues to rotate in the first rotation direction x, the first toggle portion 1421 of the first toggle nut 142 abuts against the point c 163 of the third extension portion 1311 and drives the second rotating mechanism 130 to rotate in the second rotation direction y by a preset angle, so that the second cleaning component switches from the lowering state to the lifting state; as shown Figure 19 As shown, the screw rod 141 rotates in the second rotation direction y, so that the first toggle portion 1421 of the first toggle nut 142 abuts against the b point 162 of the third extension portion 1311 and moves in the direction close to the second limiting portion 145 (at the same time, the second toggle nut 143 rotates idly following the rotation of the screw rod 141). After moving out of the third limiting portion 1413, the first toggle portion 1421 of the first toggle nut 142 abuts against the a point 161 of the first extension portion 1211 until the first toggle nut 142 contacts the third limiting portion 1413 and cannot move further. As the screw rod 141 continues to rotate in the second rotation direction y, the first toggle portion 1421 of the first toggle nut 142 abuts against the c point 163 of the first extension portion 1211 and drives the first rotating mechanism 120 to rotate in the first rotation direction x by a preset angle, so that the first cleaning component switches from the lowering state to the lifting state; as shown Figure 20As shown, the lead screw 141 continues to rotate in the second rotation direction y, causing the second toggle nut 143 to abut against the b position 162 of the second extension portion 1212 and move in the direction close to the second limiting portion 145 (meanwhile, the first toggle nut 142 idles as the lead screw 141 rotates). After moving away from the second extension portion 1212, the second toggle portion 1431 of the second toggle nut 143 abuts against the a position 161 of the fourth extension portion 1312 until the second toggle nut 143 cannot move further when it contacts the second limiting portion 145. As the lead screw 141 continues to rotate in the second rotation direction y, the second toggle portion 1431 of the second toggle nut 143 abuts against the c position 163 of the fourth extension portion 1312 and drives the second rotation mechanism 130 to rotate a preset angle in the first rotation direction x, causing the second cleaning assembly to switch from the lifted state to the lowered state. Thus, a complete cyclic motion process is completed.

[0069] As Figure 9 and Figure 10 As shown, further, a first inclined surface 1213 is provided on the side of the first extension portion 1211 close to the second rotation mechanism 130, a second inclined surface 1214 is provided on the side of the second extension portion 1212 close to the second rotation mechanism 130, a third inclined surface 1313 is provided on the side of the third extension portion 1311 close to the first rotation mechanism 120, and a fourth inclined surface 1314 is provided on the side of the fourth extension portion 1312 close to the first rotation mechanism 120.

[0070] In this embodiment, by providing a first inclined surface 1213 on the side of the first extension portion 1211 close to the second rotation mechanism 130, the first toggle portion 1421 can more smoothly drive the first rotation mechanism 120 to rotate in the first rotation direction x through the first extension portion 1211, so that the first cleaning assembly switches from the lowered state to the lifted state. By providing a second inclined surface 1214 on the side of the second extension portion 1212 close to the second rotation mechanism 130, the second toggle portion 1431 can more smoothly drive the first rotation mechanism 120 to rotate in the second rotation direction y through the second extension portion 1212, so that the first cleaning assembly switches from the lifted state to the lowered state. By providing a third inclined surface 1313 on the side of the third extension portion 1311 close to the first rotation mechanism 120, the first toggle portion 1421 can more smoothly drive the second rotation mechanism 130 to rotate in the second rotation direction y through the third extension portion 1311, thereby driving the second cleaning assembly to switch from the lowered state to the lifted state. By providing a fourth inclined surface 1314 on the side of the fourth extension portion 1312 close to the first rotation mechanism 120, the second toggle portion 1431 can more smoothly drive the second rotation mechanism 130 to rotate in the first rotation direction x through the fourth extension portion 1312, thereby driving the second cleaning assembly to switch from the lifted state to the lowered state.

[0071] As Figure 4 and Figure 5 shown, in one embodiment, the lead screw 141 includes a first lead screw section 1411 and a second lead screw section 1412. The first lead screw section 1411 and the second lead screw section 1412 are respectively rotatably disposed through the fixing mechanism 110. The third limiting portion 1413 is a shoulder connecting between the first lead screw section 1411 and the second lead screw section 1412. The first limiting portion 144 is a first limiting nut sleeved on one end of the first lead screw section 1411 away from the shoulder. The second limiting portion 145 is a second limiting nut sleeved on one end of the second lead screw section 1412 away from the shoulder.

[0072] In this embodiment, the first limiting nut is used as the first limiting portion 144, and the second limiting nut is used as the second limiting portion 145. When assembling the switching mechanism 140 in this way, the first limiting nut is screwed onto the first lead screw section 1411, and the second limiting nut is screwed onto the second lead screw section 1412, which facilitates the assembly of the switching mechanism 140.

[0073] Of course, for the above embodiment, the first limiting portion 144 may also be a first limiting ring formed on the outer peripheral side of the first lead screw section 1411, and the second limiting portion 145 may also be a second limiting ring formed on the outer peripheral side of the second lead screw section 1412. The third limiting portion 1413 may also be a limiting nut. Here, the structures of the first limiting portion 144, the second limiting portion 145, and the third limiting portion 1413 are not specifically limited.

[0074] As Figure 1 , Figure 6 and Figure 12 shown, in one embodiment, the first rotating mechanism 120 includes a first proximal rod 121, a first distal rod 122, and a first connecting rod 123. The first connecting rod 123 is connected between the first proximal rod 121 and the first distal rod 122, and the middle of the first connecting rod 123 is hinged to the fixing mechanism 110. The first proximal rod 121 is disposed close to the lead screw 141, and the first distal rod 122 is used to connect the first cleaning assembly; and / or the second rotating mechanism 130 includes a second proximal rod 131, a second distal rod 132, and a second connecting rod 133. The second connecting rod 133 is connected between the second proximal rod 131 and the second distal rod 132, and the middle of the second connecting rod 133 is hinged to the fixing mechanism 110. The second proximal rod 131 is disposed close to the lead screw 141, and the second distal rod 132 is used to connect the second cleaning assembly.

[0075] It should be noted that for the sake of convenience in description, the following is defined as A: "The first rotating mechanism 120 includes a first proximal rod 121, a first distal rod 122, and a first connecting rod 123. The first connecting rod 123 is connected between the first proximal rod 121 and the first distal rod 122, and the middle of the first connecting rod 123 is hinged to the fixing mechanism 110. The first proximal rod 121 is disposed close to the lead screw 141, and the first distal rod 122 is used to connect the first cleaning assembly." And the following is defined as B: "The second rotating mechanism 130 includes a second proximal rod 131, a second distal rod 132, and a second connecting rod 133. The second connecting rod 133 is connected between the second proximal rod 131 and the second distal rod 132, and the middle of the second connecting rod 133 is hinged to the fixing mechanism 110. The second proximal rod 131 is disposed close to the lead screw 141, and the second distal rod 132 is used to connect the second cleaning assembly." The above-mentioned "and / or" means that this embodiment includes A or B, or a combination of A and B. The "and / or" mentioned hereinafter is the same reason, and will not be elaborated hereinafter.

[0076] In this embodiment, since the first connecting rod 123 is connected between the first proximal rod 121 and the first distal rod 122, and the middle of the first connecting rod 123 is hinged to the fixing mechanism 110, the first proximal rod 121 is disposed close to the lead screw 141, and the first distal rod 122 is used to connect the first cleaning assembly. Thus, by driving the first connecting rod 123 to rotate in the first rotation direction x by the first proximal rod 121, the first cleaning assembly can be driven by the first distal rod 122 to switch from the landing state to the lifting state. By driving the first connecting rod 123 to rotate in the second rotation direction y by the first proximal rod 121, the first cleaning assembly can be driven by the first distal rod 122 to switch from the lifting state to the landing state. Since the second connecting rod 133 is connected between the second proximal rod 131 and the second distal rod 132, and the middle of the second connecting rod 133 is hinged to the fixing mechanism 110, the second proximal rod 131 is disposed close to the lead screw 141, and the second distal rod 132 is used to connect the second cleaning assembly. Thus, by driving the second connecting rod 133 to rotate in the first rotation direction x by the second proximal rod 131, the second cleaning assembly can be driven by the second distal rod 132 to switch from the lifting state to the landing state. By driving the second connecting rod 133 to rotate in the second rotation direction y by the second proximal rod 131, the second cleaning assembly can be driven by the second distal rod 132 to switch from the landing state to the lifting state.

[0077] Of course, for the above-mentioned embodiment, the first rotating mechanism 120 can also be a first rotating arm, and the second rotating mechanism 130 can also be a second rotating arm, which can also drive the first cleaning assembly and the second cleaning assembly to rotate. The structures of the first rotating mechanism 120 and the second rotating mechanism 130 are not specifically limited herein.

[0078] Such as Figure 1As shown, in one embodiment, the fixing mechanism 110 includes a first fixing bracket 111 and a second fixing bracket 112. The lead screw 141 is rotatably arranged on the first fixing bracket 111, and the first rotating mechanism 120 and the second rotating mechanism 130 are respectively rotatably arranged on the second fixing bracket 112.

[0079] In this embodiment, the first fixing bracket 111 and the second fixing bracket 112 can be respectively used to connect to the chassis of the cleaning robot, serving as the installation carriers for the switching mechanism 140, the first rotating mechanism 120, and the second rotating mechanism 130. When the lead screw 141 rotates relative to the chassis, it can drive the first rotating mechanism 120 to rotate relative to the chassis, realizing the switching of the first cleaning component between the lifting state and the landing state, or drive the second rotating mechanism 130 to rotate relative to the chassis, realizing the switching of the second cleaning component between the lifting state and the landing state.

[0080] As Figure 1 shown, further, the second fixing bracket 112 includes a first fixing component 1121 and a second fixing component 1122. The switching mechanism 140 is located between the first fixing component 1121 and the second fixing component 1122. The first rotating mechanism 120 is rotatably arranged on the first fixing component 1121, and the second rotating mechanism 130 is rotatably arranged on the second fixing component 1122.

[0081] In this embodiment, the first fixing component 1121 and the second fixing component 1122 can be respectively used to connect to the chassis of the cleaning robot, serving as the installation carriers for the first rotating mechanism 120 and the second rotating mechanism 130. When the lead screw 141 rotates, it can drive the first rotating mechanism 120 to rotate relative to the chassis, realizing the switching of the first cleaning component between the lifting state and the landing state, or drive the second rotating mechanism 130 to rotate relative to the chassis, realizing the switching of the second cleaning component between the lifting state and the landing state.

[0082] As Figures 6 to 8 and Figure 11As shown, further, the first fixing component 1121 includes a first mounting member 11211, a first limiting shaft 11212, a first rotating shaft 11213, and a first elastic member 11214. The first rotating mechanism 120 is hinged to the first mounting member 11211 through the first rotating shaft 11213, and two first limiting grooves 1231 adapted to the first limiting shaft 11212 are provided on the first rotating mechanism 120. The first limiting shaft 11212 is movably arranged on the first mounting member 11211, and the first elastic member 11214 is connected between the first limiting shaft 11212 and the first rotating shaft 11213. When the first rotating mechanism 120 rotates a preset angle relative to the first mounting member 11211, the first limiting shaft 11212 can slide out of one of the first limiting grooves 1231 and snap into the other first limiting groove 1231; and / or as Figures 12 to 14 As shown, the second fixing component 1122 includes a second mounting member 11221, a second limiting shaft 11222, a second rotating shaft 11223, and a second elastic member 11224. The second rotating mechanism 130 is hinged to the second mounting member 11221 through the second rotating shaft 11223, and two second limiting grooves 1331 adapted to the second limiting shaft 11222 are provided on the second rotating mechanism 130. The second limiting shaft 11222 is movably arranged on the second mounting member 11221, and the second elastic member 11224 is connected between the second limiting shaft 11222 and the second rotating shaft 11223. When the second rotating mechanism 130 rotates a preset angle relative to the second mounting member 11221, the second limiting shaft 11222 can slide out of one of the second limiting grooves 1331 and snap into the other second limiting groove 1331.

[0083] Exemplarily, the first elastic member 11214 and / or the second elastic member 11224 can be a torsion spring, a spring sheet, a cylindrical spring, etc., and no specific limitation is made here.

[0084] In this embodiment, since the first rotating mechanism 120 is hinged to the first mounting member 11211 through the first rotating shaft 11213, and two first limiting grooves 1231 adapted to the first limiting shaft 11212 are provided on the first rotating mechanism 120, the first limiting shaft 11212 is movably arranged on the first mounting member 11211, and the first elastic member 11214 is connected between the first limiting shaft 11212 and the first rotating shaft 11213. In this way, when the first rotating mechanism 120 rotates a preset angle relative to the first mounting member 11211, the first limiting shaft 11212 can slide out of one of the first limiting grooves 1231 and snap into the other first limiting groove 1231, so that the first cleaning assembly can be stably maintained in the lifted state or the lowered state. Since the second rotating mechanism 130 is hinged to the second mounting member 11221 through the second rotating shaft 11223, and two second limiting grooves 1331 adapted to the second limiting shaft 11222 are provided on the second rotating mechanism 130, the second limiting shaft 11222 is movably arranged on the second mounting member 11221, and the second elastic member 11224 is connected between the second limiting shaft 11222 and the second rotating shaft 11223. In this way, when the second rotating mechanism 130 rotates a preset angle relative to the second mounting member 11221, the second limiting shaft 11222 can slide out of one of the second limiting grooves 1331 and snap into the other second limiting groove 1331, so that the second cleaning assembly can be stably maintained in the lifted state or the lowered state.

[0085] Of course, for the above embodiment, an elastic column or a combination of a limiting column and an elastic member can be used to replace the combination of the first limiting shaft 11212 and the first elastic member 11214, and the above elastic limiting effect can also be achieved, so that the cleaning assembly can be stably maintained in the lifted state or the lowered state. The structures of the first fixing assembly 1121 and the second fixing assembly 1122 are not specifically limited herein.

[0086] As Figure 6 and Figure 12 shown, further, a first sliding groove 112111 is formed on the first mounting member 11211, and the first limiting shaft 11212 is arranged through the first sliding groove 112111; and / or a second sliding groove 112211 is formed on the second mounting member 11221, and the second limiting shaft 11222 is arranged through the second sliding groove 112211.

[0087] In this embodiment, since the first sliding groove 112111 is formed in the first mounting member 11211, and the first limiting shaft 11212 is disposed through the first sliding groove 112111, when the first rotating mechanism 120 rotates by a preset angle, the first limiting shaft 11212 can slide along the groove wall of the first sliding groove 112111, and under the elastic force of the first elastic member 11214, it slides out of one of the first limiting grooves 1231 and snaps into another first limiting groove 1231. Since the second sliding groove 112211 is formed in the second mounting member 11221, and the second limiting shaft 11222 is disposed through the second sliding groove 112211, when the second rotating mechanism 130 rotates by a preset angle, the second limiting shaft 11222 can slide along the groove wall of the second sliding groove 112211, and under the elastic force of the second elastic member 11224, it slides out of one of the second limiting grooves 1331 and snaps into another second limiting groove 1331.

[0088] As Figure 2 and Figure 3 shown, in one embodiment, the lifting device 100 further includes a driving mechanism 150. The driving mechanism 150 includes a driving member 151 and a speed reducer 152. The speed reducer 152 is disposed on the fixing mechanism 110. The input end of the speed reducer 152 is connected to the driving member 151, and the output end of the speed reducer 152 is connected to one end of the lead screw 141. The driving member 151 is configured to drive the lead screw 141 to rotate relative to the fixing mechanism 110 in the first rotation direction x or the second rotation direction y through the speed reducer 152.

[0089] Exemplarily, the driving member 151 can be a rotary motor or a driving motor, and the speed reducer 152 can be a gear speed reducer or a worm and worm gear speed reducer. The types of the driving member 151 and the speed reducer 152 are not specifically limited herein.

[0090] In this embodiment, since the speed reducer 152 is disposed on the fixing mechanism 110, the input end of the speed reducer 152 is connected to the driving member 151, and the output end of the speed reducer 152 is connected to one end of the lead screw 141. In this way, the driving member 151 can transmit the torque to the lead screw 141 through the speed reducer 152, thereby driving the lead screw 141 to rotate relative to the fixing mechanism 110 in the first rotation direction x or in the second rotation direction y. At the same time, the speed reducer 152 plays a role in reducing speed and increasing torque, so that the lead screw 141 can be driven to rotate more stably, so as to realize the switching of the lifting states of the first cleaning assembly and the second cleaning assembly.

[0091] In a second aspect, an embodiment of the present application provides a cleaning robot, which includes a chassis, a first cleaning component, a second cleaning component, and the lifting device 100 mentioned in any of the above embodiments. A fixing mechanism 110 is connected to the chassis. The first cleaning component is connected to a side of a first rotating mechanism 120 away from a switching mechanism 140, and the second cleaning component is connected to a side of a second rotating mechanism 130 away from the switching mechanism 140.

[0092] Exemplarily, the first cleaning component can be a combination of a rolling brush and a dust suction component, and the second cleaning component can be a combination of a mopping cloth and a water absorption component. Of course, the first cleaning component can also be a combination of a mopping cloth and a water absorption component, and the second cleaning component can also be a combination of a rolling brush and a dust suction component. Or the first cleaning component is a rolling brush and the second cleaning component is a mopping cloth, or the first cleaning component is a water absorption component and the second cleaning component is a water absorption component, or the first cleaning component is a dust suction component and the second cleaning component is a mopping cloth, etc. The types of the first cleaning component and the second cleaning component are not specifically limited herein.

[0093] In this embodiment, the chassis is used to move along a surface to be cleaned (such as the ground, a tabletop, a glass surface, etc.). When the lead screw 141 rotates relative to the chassis, it can drive the first rotating mechanism 120 to rotate relative to the chassis, so as to switch the first cleaning component between a lifted state and a lowered state, or drive the second rotating mechanism 130 to rotate relative to the chassis, so as to switch the second cleaning component between a lifted state and a lowered state.

[0094] It can be understood that since the cleaning robot provided in this embodiment has the lifting device 100 mentioned in any of the above embodiments, it has all the beneficial effects of the lifting device 100, which will not be listed one by one here.

[0095] In the description of this specification, the description with reference to terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0096] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A lifting device, characterized in that, Comprising: A fixing mechanism; A first rotating mechanism rotatably arranged on the fixing mechanism for connecting a first cleaning component; A second rotating mechanism rotatably arranged on the fixing mechanism for connecting a second cleaning component; A switching mechanism located between the first rotating mechanism and the second rotating mechanism and including a lead screw, a first toggle nut and a second toggle nut. The lead screw is rotatably arranged on the fixing mechanism. The lead screw is respectively provided with a first limiting portion, a second limiting portion and a third limiting portion. The third limiting portion is located between the first limiting portion and the second limiting portion. The first toggle nut and the second toggle nut are respectively sleeved on the lead screw. The first toggle nut is located between the first limiting portion and the third limiting portion. The second toggle nut is located between the second limiting portion and the third limiting portion; When the lead screw rotates in a first rotation direction, the first toggle nut is used to drive the second rotating mechanism to rotate a preset angle in a second rotation direction, and the second toggle nut is used to drive the first rotating mechanism to rotate the preset angle in the second rotation direction; when the lead screw rotates in the second rotation direction, the first toggle nut is used to drive the first rotating mechanism to rotate the preset angle in the first rotation direction, and the second toggle nut is used to drive the second rotating mechanism to rotate the preset angle in the first rotation direction; Wherein, the second rotation direction is opposite to the first rotation direction.

2. The lifting device according to claim 1, characterized in that, The first toggle nut has a first toggle portion, and the second toggle nut has a second toggle portion. A first extension portion and a second extension portion which are connected are respectively arranged on one side of the first rotating mechanism close to the switching mechanism. The first extension portion and the second extension portion jointly define a Z shape. A third extension portion and a fourth extension portion which are spaced apart are respectively arranged on one side of the second rotating mechanism close to the switching mechanism. The third extension portion and the fourth extension portion respectively define an L shape, and the orientations of the third extension portion and the fourth extension portion are opposite; 3. The lifting device according to claim 2, wherein, A first inclined surface is arranged on one side of the first extension portion close to the second rotating mechanism, a second inclined surface is arranged on one side of the second extension portion close to the second rotating mechanism, a third inclined surface is arranged on one side of the third extension portion close to the first rotating mechanism, and a fourth inclined surface is arranged on one side of the fourth extension portion close to the first rotating mechanism.

4. The lifting device according to claim 1, characterized in that, The lead screw includes a first screw section and a second screw section. The first screw section and the second screw section are respectively rotatably inserted through the fixing mechanism. The third limiting portion is a shoulder connecting the first screw section and the second screw section. The first limiting portion is a first limiting nut sleeved on one end of the first screw section away from the shoulder. The second limiting portion is a second limiting nut sleeved on one end of the second screw section away from the shoulder.

5. The lifting device according to any one of claims 1 to 4, characterized in that, The first rotating mechanism includes a first proximal rod, a first distal rod, and a first connecting rod. The first connecting rod is connected between the first proximal rod and the first distal rod, and the middle of the first connecting rod is hinged to the fixing mechanism. The first proximal rod is disposed close to the lead screw, and the first distal rod is used to connect the first cleaning assembly; And / or, the second rotating mechanism includes a second proximal rod, a second distal rod, and a second connecting rod. The second connecting rod is connected between the second proximal rod and the second distal rod, and the middle of the second connecting rod is hinged to the fixing mechanism. The second proximal rod is disposed close to the lead screw, and the second distal rod is used to connect the second cleaning assembly.

6. The lifting device according to any one of claims 1 to 4, characterized in that, The fixing mechanism includes a first fixing bracket and a second fixing bracket. The lead screw is rotatably disposed on the first fixing bracket, and the first rotating mechanism and the second rotating mechanism are respectively rotatably disposed on the second fixing bracket.

7. The lifting device according to claim 6, characterized in that, The second fixing bracket includes a first fixing component and a second fixing component. The switching mechanism is located between the first fixing component and the second fixing component. The first rotating mechanism is rotatably disposed on the first fixing component, and the second rotating mechanism is rotatably disposed on the second fixing component.

8. The lifting device according to claim 7, characterized in that, The first fixing component includes a first mounting member, a first limiting shaft, a first rotating shaft, and a first elastic member. The first rotating mechanism is hinged to the first mounting member through the first rotating shaft, and two first limiting grooves respectively adapted to the first limiting shaft are provided on the first rotating mechanism. The first limiting shaft is movably disposed on the first mounting member, and the first elastic member is connected between the first limiting shaft and the first rotating shaft; when the first rotating mechanism rotates the preset angle relative to the first mounting member, the first limiting shaft can slide out of one of the first limiting grooves and be caught in the other first limiting groove; And / or, the second fixing component includes a second mounting member, a second limiting shaft, a second rotating shaft, and a second elastic member. The second rotating mechanism is hinged to the second mounting member through the second rotating shaft, and two second limiting grooves respectively adapted to the second limiting shaft are provided on the second rotating mechanism. The second limiting shaft is movably disposed on the second mounting member, and the second elastic member is connected between the second limiting shaft and the second rotating shaft; when the second rotating mechanism rotates the preset angle relative to the second mounting member, the second limiting shaft can slide out of one of the second limiting grooves and be caught in the other second limiting groove.

9. The lifting device according to claim 8, characterized in that, A first sliding groove is formed on the first mounting member, and the first limiting shaft is disposed through the first sliding groove; And / or, a second sliding groove is formed on the second mounting member, and the second limiting shaft is disposed through the second sliding groove.

10. The lifting device according to any one of claims 1 to 4, characterized in that, The lifting device further includes a driving mechanism, the driving mechanism includes a driving member and a speed reducer, the speed reducer is arranged on the fixing mechanism, an input end of the speed reducer is connected to the driving member, an output end of the speed reducer is connected to one end of the lead screw, and the driving member is configured to drive the lead screw to rotate relative to the fixing mechanism in the first rotation direction or the second rotation direction through the speed reducer.

11. A cleaning robot, characterized in that, It includes a chassis, a first cleaning assembly, a second cleaning assembly, and the lifting device according to any one of claims 1 to 10, the fixing mechanism is connected to the chassis, the first cleaning assembly is connected to a side of the first rotating mechanism away from the switching mechanism, and the second cleaning assembly is connected to a side of the second rotating mechanism away from the switching mechanism.

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