Lifting mechanism, driving device and cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and discloses a lifting mechanism, a driving device and a cleaning robot. The lifting mechanism comprises a base, a rotating part and a driving assembly, the base is used for being connected with the walking equipment, a top plate is movably connected to the base, the top plate is used for being connected with a chassis of the walking equipment, and the rotating part can drive the top plate to move in the vertical direction in the rotating process. The driving device comprises a walking frame and the lifting mechanism. The cleaning robot comprises the driving device. Based on the lifting mechanism provided by the utility model, the lifting mechanism can be arranged on the cleaning robot, and the rotating piece is driven to rotate through the driving assembly, so that the rotating piece drives the top plate to move upwards in the rotating process, and then the bottom plate of the cleaning robot is driven to move upwards through the top plate; and the distance between the chassis of the cleaning robot and the ground is increased, so that the cleaning robot can walk in special scenes such as a long wool carpet, and the use range of the cleaning robot is widened.

Description

Technical Field

[0001] The utility model relates to the field of cleaning equipment, in particular to a lifting mechanism, a driving device and a cleaning robot. Background Art

[0002] Cleaning robots are smart home appliances that, leveraging artificial intelligence, can automatically clean floors in any room. They typically use a brushing and vacuuming system to collect debris into their own trash collection bin, completing the cleaning process. Current cleaning robots are limited by their chassis height and can only be used on flat surfaces. This limits their suitability for specialized applications, such as long-pile carpets. Utility Model Content

[0003] In order to solve the technical problem that current cleaning robots have limitations in use due to limited chassis height, the utility model provides a lifting mechanism, a driving device and a cleaning robot.

[0004] The utility model provides a lifting mechanism, comprising a base, a rotating member rotatably arranged on the base, and a driving assembly for driving the rotating member to rotate, wherein the base is used to be connected to a walking device, a top plate is movably connected to the base, and the top plate is used to be connected to the chassis of the walking device and is configured as follows:

[0005] The rotating member can drive the top plate to move along the vertical direction during the rotation process.

[0006] Optionally, the rotating member includes a cam rotatably disposed on the base, and an outer periphery of the cam forms a contact surface abutting against the top plate.

[0007] Optionally, the cam includes a rotating wheel rotatably arranged on the base and a first protrusion and a second protrusion arranged on the outer periphery of the rotating wheel, a first support position is formed between the first protrusion and the rotating wheel, and a second support position is formed on the outer periphery of the second protrusion.

[0008] Optionally, the driving method of the driving assembly enables any position between the first supporting position and the second supporting position to support the top plate.

[0009] Optionally, a sliding shaft is rotatably connected to the top plate, and the sliding shaft abuts against the outer periphery of the rotating member.

[0010] Optionally, an extension shell is provided on the base, and the driving assembly includes a driving member and a transmission member provided in the extension shell, and the driving member can drive the rotating member to rotate through the transmission member.

[0011] Optionally, the driving member includes a driving motor arranged in the extension shell, the output shaft of the driving motor is provided with a worm, the transmission member includes a gear set, the head end gear of the gear set is provided with a worm wheel matching the worm, and the end gear of the gear set is engaged with the driven gear on the rotating member.

[0012] The utility model also provides a driving device, comprising:

[0013] A walking frame, used to connect with the walking equipment, and the walking frame is rotatably provided with walking wheels;

[0014] The above-mentioned lifting mechanism, the base of the lifting mechanism is arranged on one side of the walking frame.

[0015] Optionally, a rotating shaft is provided on the walking frame, the walking wheel is rotatably arranged on the rotating shaft, the rotating shaft extends into the base, and the rotating member is rotatably arranged on the outer periphery of the rotating shaft.

[0016] The utility model also provides a cleaning robot, comprising the above-mentioned driving device.

[0017] The technical solution provided by the embodiment of the utility model has the following advantages compared with the prior art:

[0018] Based on the lifting mechanism provided by the utility model, the lifting mechanism can be set on the cleaning robot. When the cleaning robot walks on a flat ground, the lifting mechanism does not work or the chassis of the cleaning robot is supported at a certain height by the lifting mechanism. When encountering special scenes such as long-haired carpets, the driving assembly can be used to drive the rotating part to rotate, so that the rotating part drives the top plate to move upward during the rotation process, and then the chassis of the cleaning robot is driven to move upward through the top plate, thereby increasing the distance between the chassis of the cleaning robot and the ground, so that the cleaning robot can walk on special scenes such as long-haired carpets, thereby increasing the scope of use of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention.

[0020] In order to more clearly illustrate the implementation mode of the utility model or the technical solution in the prior art, the drawings required for use in the implementation mode or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a schematic structural diagram of the driving device according to an embodiment of the present utility model;

[0022] Figure 2 This is a cross-sectional view of the driving device according to an embodiment of the present utility model;

[0023] Figure 3 This is a schematic structural diagram of the top plate according to an embodiment of the present utility model;

[0024] Figure 4 This is a schematic structural diagram of the cleaning robot according to an embodiment of the present utility model;

[0025] Figure 5 This is a structural schematic diagram of the cleaning robot when the sliding shaft is located at the first supporting position according to an embodiment of the present utility model;

[0026] Figure 6 This is a structural schematic diagram of the cleaning robot when the sliding shaft is located at the second supporting position according to an embodiment of the present invention.

[0027] Description of Reference Numerals

[0028] 1. Base; 11. Extended housing; 12. Circular housing; 121. Step surface; 2. Rotating member; 21. Cam; 211. Rotating wheel; 212. First protrusion; 213. Second protrusion; 214. First support position; 215. Second support position; 216. Rotating cover; 22. Driven gear; 3. Driving assembly; 31. Driving member; 311. Driving motor; 3111. Worm; 32. Transmission member; 321. Gear set; 32 11. First gear; 32111. Worm gear; 3212. Second gear; 32121. Second synchronous gear; 3213. Third gear; 32131. Third synchronous gear; 3214. Fourth gear; 3215. Fifth gear; 3216. Sixth gear; 32161. Sixth synchronous gear; 4. Top plate; 41. Sliding shaft; 5. Traveling frame; 51. Traveling wheel; 52. Rotating shaft; 6. Body; 61. Universal wheel. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0030] The following description sets forth many specific details to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the implementation methods in the specification are only part of the implementation methods of the present invention, not all of the implementation methods.

[0031] Combine Figure 1 and Figure 2As shown, the lifting mechanism provided by the embodiment of the present invention includes a base 1, a rotating member 2 rotatably arranged on the base 1, and a driving assembly 3 for driving the rotating member 2 to rotate, wherein the base 1 is used to connect with a walking device, that is, the base 1 is arranged on the driving device of the walking device or on the walking device, and the connection method between the base 1 and the driving device of the walking device or the walking device is not limited, for example, a clamping or bolting method can be adopted, which can be selected according to actual needs. A top plate 4 is movably connected to the base 1, and the movably connected here means that the top plate 4 can at least move in the vertical direction relative to the base 1, and the top plate 4 is used to connect with the chassis of the walking device, and then the chassis of the walking device can be driven to move synchronously through the top plate 4, wherein the walking device here can be a cleaning robot, etc., that is, the top plate 4 is used to connect with the chassis of the cleaning robot. And it is configured as follows: the rotating part 2 can drive the top plate 4 to move in the vertical direction during the rotation process, wherein the rotating part 2 can directly drive the top plate 4 to move in the vertical direction, or the rotating part 2 drives the top plate 4 to move in the vertical direction through other intermediate structures. These are not restrictive and can be selected according to actual needs. When in use, the walking device walks normally on a flat ground. When encountering special scenes such as long-haired carpets, the driving component 3 can be used to drive the rotating part 2 to rotate, thereby causing the rotating part 2 to drive the top plate 4 to move upward during the rotation process, and then driving the chassis of the walking device to move upward through the top plate 4, thereby increasing the distance between the chassis of the walking device and the ground, so that the walking device can walk on special scenes such as long-haired carpets.

[0032] Among them, the cleaning robot can be a sweeping robot, a sweeping and mopping robot, a mopping robot, a floor washing robot, etc.

[0033] Based on the lifting mechanism provided by the present invention, the lifting mechanism can be set on the cleaning robot. When the cleaning robot walks on a flat ground, the lifting mechanism does not work or the chassis of the cleaning robot is supported at a certain height by the lifting mechanism. When encountering special scenes such as long-haired carpets, the driving component 3 can be used to drive the rotating part 2 to rotate, and then the rotating part 2 drives the top plate 4 to move upward during the rotation process, and then the chassis of the cleaning robot is driven to move upward through the top plate 4, thereby increasing the distance between the chassis of the cleaning robot and the ground, so that the cleaning robot can walk on special scenes such as long-haired carpets, thereby increasing the scope of use of the cleaning robot.

[0034] In some embodiments, combined Figure 1 、 Figure 5 and Figure 6 As shown, the rotating member 2 includes a cam 21 rotatably disposed on the base 1 , and the outer periphery of the cam 21 forms a contact surface that abuts against the top plate 4 .

[0035] With this design, under normal conditions, top plate 4 contacts the non-raised portion of cam 21, supporting top plate 4 and the chassis of the walking device at a certain height. In special situations, such as when using long-haired carpet, drive assembly 3 can be used to rotate cam 21. During rotation, the raised portion of cam 21 contacts top plate 4, thereby driving top plate 4 upward, which in turn drives the chassis of the walking device upward. This simple structure and convenient operation.

[0036] In some embodiments, continue with reference to Figure 1 、 Figure 5 and Figure 6 The cam 21 includes a rotating wheel 211 rotatably arranged on the base 1 and a first protrusion 212 and a second protrusion 213 arranged on the outer periphery of the rotating wheel 211. A first support position 214 is formed between the first protrusion 212 and the rotating wheel 211, and a second support position 215 is formed on the outer periphery of the second protrusion 213.

[0037] like Figure 5 As shown, a groove structure is formed between the first protrusion 212 and the rotating wheel 211, and a first support position 214 is formed at the position of the groove structure. Under normal circumstances, the first protrusion 212 is located at the top of the rotating wheel 211 (there is a certain angle with the vertical direction), and the second protrusion 213 is located at the inclined downward position of the rotating wheel 211. The top plate 4 is supported at the first support position 214 through an intermediate structure (the sliding shaft 41 described below).

[0038] like Figure 6 As shown, second protrusion 213 is a raised structure formed on rotating wheel 211, and second support position 215 is formed at the raised position of second protrusion 213. In special situations, such as when using a long-haired carpet, drive assembly 3 drives rotating wheel 211 to rotate. During this process, the middle structure of top plate 4 (sliding shaft 41 described below) always abuts the outer periphery of cam 21 until second protrusion 213 rotates to the top of rotating wheel 211. At this time, second protrusion 213 lifts the middle structure of top plate 4 (sliding shaft 41 described below), thereby driving top plate 4 and the chassis of the mobile device upward.

[0039] On the contrary, the driving rod assembly drives the rotating wheel 211 to rotate in the opposite direction until the middle structure of the top plate 4 (the sliding shaft 41 described below) is located at the first supporting position 214, and the chassis of the mobile device is reset.

[0040] The cam 21 of this design can be supported at the first support position 214 under normal conditions to ensure the supporting effect, and the first protrusion 212 facilitates the accurate positioning of the middle structure of the top plate 4 (the sliding shaft 41 described below) when the chassis of the mobile device is reset.

[0041] In some embodiments, the cleaning robot can raise the chassis to different heights by controlling the rotation of the rotating member 2 to rotate at different angles, thereby achieving stepless lifting of the chassis. Specifically, the driving method of the driving assembly 3 enables any position between the first support position 214 and the second support position 215 to support the top plate 4.

[0042] Under this design, when the driving component 3 drives the cam 21 to rotate, the driving component 3 can drive the cam 21 to flip to different angles, so that different positions of the cam 21 support the top plate 4, and then drive the chassis to different heights through the top plate 4, thereby realizing infinite lifting of the chassis.

[0043] In some embodiments, the cleaning robot can control the rotation angle of the rotating part 2 according to the working time of the driving motor 311, thereby achieving flexible control of the lifting height and realizing stepless lifting of the chassis.

[0044] In other embodiments, a code disk can be added to the drive motor 311, or a motor with controllable rotation angle, such as a brushless motor, can be used as the drive motor 311. By controlling the rotation angle of the motor, the rotation angle of the rotating member 2 can be controlled to achieve lift height control, thereby achieving stepless lift of the chassis. Alternatively, a sensor can be provided on the rotating member 2 or the top plate 4 to detect the rotation position of the rotating member 2 or the rising position of the top plate 4 in real time and provide feedback to the drive motor controller, thereby achieving flexible adjustment of the lift height and achieving stepless lift of the chassis.

[0045] Of course, the above-mentioned embodiments are merely exemplary, and the specific stepless lifting of the chassis may also be achieved in other ways. As long as the lifting height can be flexibly adjusted, the chassis can be lifted to any position, and the present invention does not impose any limitation on this.

[0046] In some embodiments, the first protrusion 212 and the rotating wheel 211 have an arc-shaped transition.

[0047] This design can increase the convenience of the middle structure of the top plate 4 (the sliding shaft 41 described below) moving to the first support position 214 or leaving the first support position 214, making the adjustment process smoother.

[0048] In some embodiments, the second protrusion 213 and the rotating wheel 211 have an arc-shaped transition.

[0049] With this design, the convenience of the middle structure of the top plate 4 (the sliding shaft 41 described below) moving to the second support position 215 or leaving the second support position 215 can be increased, making the adjustment process smoother.

[0050] In some embodiments, combined Figure 3 、 Figure 5 and Figure 6 As shown, a sliding shaft 41 is rotatably connected to the top plate 4 , and the sliding shaft 41 abuts against the outer periphery of the rotating member 2 .

[0051] In this design, the top plate 4 abuts against the rotating member 2 via the sliding shaft 41 , which can reduce the contact area between the top plate 4 and the rotating member 2 , make the sliding fit smoother, and increase the convenience of adjustment.

[0052] In some embodiments, combined Figure 1 and Figure 2 As shown, an extension shell 11 is provided on the base 1, wherein the extension shell 11 is arranged along the extension direction of the chassis of the mobile device, and the driving component 3 includes a driving member 31 and a transmission member 32 arranged in the extension shell 11, and the driving member 31 can drive the rotating member 2 to rotate through the transmission member 32.

[0053] In this design, the driving member 31 can be supported in a suitable position by the transmission member 32, the internal space of the mobile device can be reasonably utilized, the additional space occupied by the driving member 31 can be reduced, and the overall structure can be more compact.

[0054] In some embodiments, continue with reference to Figure 1 and Figure 2 The driving member 31 includes a driving motor 311 disposed in the extension housing 11, and the output shaft of the driving motor 311 is disposed perpendicular to the rotating shaft 52 of the rotating member 2. The output shaft of the driving motor 311 is provided with a worm 3111, so that the worm 3111 can be driven to rotate synchronously by the driving motor 311. The transmission member 32 includes a gear set 321, and the head gear of the gear set 321 is provided with a worm wheel 32111 that matches the worm 3111, thereby being able to drive the multiple gears on the gear set 321 to rotate in sequence through the rotation of the worm 3111. The end gear of the gear set 321 is engaged with the driven gear 22 on the rotating member 2, thereby being able to drive the driven gear 22 to rotate through the gear set 321, thereby driving the rotating member 2 to rotate.

[0055] Under this design method, the transmission method of the worm wheel 32111 and the worm 3111 in combination with the gear set 321 has a high transmission ratio, and the arrangement of the gear set 321 can change the transmission path, making the design position of the drive motor 311 more flexible and the overall structure of the drive device more compact.

[0056] It is understandable that the output shaft of the drive motor 311 can also be set parallel to the direction of the rotating shaft 52 of the rotating part 2. For example, the drive motor 311 can be set on the side of the rotating part 2, and the driven gear 22 of the rotating part 2 can be directly driven by the drive motor 311 to rotate, or the drive motor 311 can drive the driven gear 22 to rotate through multiple gear transmissions. These are not restrictive and can be designed according to actual needs.

[0057] In some embodiments, as Figure 2 As shown, the gear set 321 includes a first gear 3211, a second gear 3212, a third gear 3213, a fourth gear 3214, a fifth gear 3215 and a sixth gear 3216 designed to rotate in the extension housing 11, wherein the worm gear 32111 is coaxially arranged with the first gear 3211 and can rotate synchronously, the second gear 3212 is meshed with the first gear 3211, and a second synchronous gear 32121 is coaxially arranged on the second gear 3212, the second synchronous gear 32121 and the second gear 3212 can rotate synchronously, and the diameter of the second synchronous gear 32121 is smaller than the diameter of the second gear 3212, the third gear 3213 is meshed with the second synchronous gear 32121, and the third gear 3213 is meshed with the second synchronous gear 32121. A third synchronous gear 32131 is coaxially provided on the upper portion. The third synchronous gear 32131 can rotate synchronously with the third gear 3213, and the diameter of the third synchronous gear 32131 is smaller than the diameter of the third gear 3213. The fourth gear 3214 is engaged with the third synchronous gear 32131, the fifth gear 3215 is engaged with the fourth gear 3214, and the sixth gear 3216 is engaged with the fifth gear 3215. A sixth synchronous gear 32161 is coaxially provided on the sixth gear 3216. The sixth synchronous gear 32161 can rotate synchronously with the sixth gear 3216, and the diameter of the sixth synchronous gear 32161 is smaller than the diameter of the sixth gear 3216. The sixth synchronous gear 32161 is engaged with the driven gear 22.

[0058] The gear set 321 under this design method can realize power transmission, ensure that the drive motor 311 can drive the driven gear 22 to rotate, and can have a certain transmission distance in the direction perpendicular to the output shaft of the drive motor 311, so that the drive motor 311 and the driven gear 22 can not be in the same vertical plane, further increasing the installation flexibility of the drive motor 311.

[0059] It is understandable that the above embodiment only illustrates one embodiment of the gear set 321, and the structure of the gear set 321 can be improved according to actual needs. It is only necessary to ensure that the drive motor 311 can drive the transmission gear to rotate through the gear set 321.

[0060] In some embodiments, continue with reference to Figure 2 As shown, the driven gear 22 is sleeved on the rotating shaft 52 of the base 1, and the driven gear 22 is a half gear. At this time, the driving component 3 drives the driven gear 22 to rotate back and forth, meeting the driving requirements and reducing space occupancy.

[0061] In some embodiments, as Figure 1As shown, the base 1 includes a circular shell 12, and the driven gear 22 is rotatably set in the circular shell 12. The wheel 211 and the driven gear 22 are connected by multiple bolts to increase the convenience of disassembly and assembly. One side of the outer periphery of the wheel 211, the first protrusion 212 and the second protrusion 213 is connected by a rotating cover 216. A step surface 121 is formed on the side of the circular shell 12. The wheel 211, the first protrusion 212 and the second protrusion 213 are rotatably set on the step surface 121 of the circular shell 12 through the rotating cover 216, making the rotation smoother.

[0062] Combine Figures 1 to 6 As shown, the present invention further provides a driving device, which includes a traveling frame 5 and the above-mentioned lifting mechanism.

[0063] The traveling frame 5 is connected to the traveling equipment and is rotatably provided with traveling wheels 51. Within these wheels 51 is a drive mechanism for driving the rotation of these wheels 51. The drive mechanism for these wheels 51 is conventional and will not be described in detail here. The base 1 of the lifting mechanism is located on one side of the traveling frame 5. This lifting mechanism incorporates all the technical features of the aforementioned lifting mechanisms.

[0064] The driving device under this design can lift the chassis of the walking device on the basis of driving the walking device to move, thereby increasing the scope of use of the walking device.

[0065] In some embodiments, a rotating shaft 52 is provided on the traveling frame 5 , the traveling wheel 51 is rotatably disposed on the rotating shaft 52 , the rotating shaft 52 extends into the base 1 , and the rotating member 2 is rotatably disposed on the periphery of the rotating shaft 52 .

[0066] In this design, the rotating member 2 and the traveling wheel 51 are coaxially arranged and can both rotate relative to the rotating shaft 52, thereby reducing the number of rotating shafts 52 and making the overall structure more compact.

[0067] Combine Figures 4 to 6 As shown, the present invention further provides a cleaning robot, including the above-mentioned drive device. Specifically, the cleaning robot includes a body 6, and the drive device is arranged on the body 6, wherein the walking frame 5 and the base 1 are both arranged on the body 6, and the top plate 4 is connected to the chassis of the body 6. The drive device here includes all the technical features of the above-mentioned drive device, and further includes all the technical features of the above-mentioned lifting mechanism.

[0068] In some embodiments, the cleaning robot further includes universal wheels 61, which, together with the running wheels 51, control the movement of the cleaning robot. The universal wheels 61 of the cleaning robot are independently driven and can move up and down relative to the body 6. During use, when the body 6 is raised, the universal wheels 61 move downward to ensure that the universal wheels 61 and the running wheels 51 can still cooperate to drive the body 6.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0070] The foregoing description is intended only to provide specific embodiments of the present invention, intended to enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments described herein, but rather to conform to the broadest scope consistent with the principles and novel features of the present invention described herein.

Claims

1. A lifting mechanism, characterized in that: The invention comprises a base (1), a rotating member (2) rotatably arranged on the base (1), and a driving assembly (3) for driving the rotating member (2) to rotate, wherein the base (1) is used to be connected to a walking device, a top plate (4) is movably connected to the base (1), and the top plate (4) is used to be connected to the chassis of the walking device and is configured as follows: The rotating member (2) can drive the top plate (4) to move along the vertical direction during the rotation process.

2. The lifting mechanism according to claim 1, wherein: The rotating member (2) includes a cam (21) rotatably arranged on the base (1), and the outer periphery of the cam (21) forms a contact surface that abuts against the top plate (4).

3. The lifting mechanism according to claim 2, characterized in that: The cam (21) comprises a rotating wheel (211) rotatably arranged on the base (1), and a first protrusion (212) and a second protrusion (213) arranged on the periphery of the rotating wheel (211); a first support position (214) is formed between the first protrusion (212) and the rotating wheel (211); and a second support position (215) is formed on the periphery of the second protrusion (213).

4. The lifting mechanism according to claim 3, characterized in that: The driving method of the driving assembly (3) enables any position between the first supporting position (214) and the second supporting position (215) to support the top plate (4).

5. The lifting mechanism according to claim 1, characterized in that: A sliding shaft (41) is rotatably connected to the top plate (4), and the sliding shaft (41) abuts against the outer periphery of the rotating member (2).

6. The lifting mechanism according to claim 1, wherein: An extension shell (11) is provided on the base (1), and the drive assembly (3) includes a drive member (31) and a transmission member (32) arranged in the extension shell (11). The drive member (31) can drive the rotating member (2) to rotate through the transmission member (32).

7. The lifting mechanism according to claim 6, characterized in that: The driving member (31) includes a driving motor (311) disposed in the extension housing (11), the output shaft of the driving motor (311) being provided with a worm (3111), the transmission member (32) including a gear set (321), a worm wheel matching the worm (3111) being provided on the head gear of the gear set (321), and the end gear of the gear set (321) being meshed with the driven gear (22) on the rotating member (2).

8. A driving device, characterized in that: include: A walking frame (5) is used to connect to the walking equipment, and the walking frame (5) is rotatably provided with a walking wheel (51); The lifting mechanism according to any one of claims 1 to 7, wherein the base (1) of the lifting mechanism is arranged on one side of the walking frame (5).

9. The driving device according to claim 8, characterized in that A rotating shaft (52) is provided on the walking frame (5), the walking wheel (51) is rotatably arranged on the rotating shaft (52), the rotating shaft (52) extends into the base (1), and the rotating member (2) is rotatably arranged on the periphery of the rotating shaft (52).

10. A cleaning robot, characterized in that: Comprising the driving device according to claim 8 or 9.

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