Lock control mechanism, lifting device and cleaning robot

Abstract

The utility model relates to the technical field of cleaning robots, and discloses a lock control mechanism, a lifting device and a cleaning robot. A limiting piece of the lock control mechanism has an unlocking state and a locking state; when the limiting piece is in the locking state, the movement of the scraping strip in the first direction is limited; when the limiting piece is in the unlocking state, the scraping strip can freely move in the first direction; the ejector pin can move in a first direction; the moving path of the ejector pin in the first direction intersects with the limiting piece. The trigger table is matched with the end face of the thimble; wherein the scraping strip can freely move in the second direction, and the ejector pin moves along with the scraping strip in the second direction; when the scraping strip moves to the preset position, the trigger table drives the ejector pin to move towards the limiting piece in the first direction, so that the limiting piece is opened. The lifting device comprises a driving assembly and a lock control mechanism. The cleaning robot comprises a lifting device. According to the technical scheme, the technical problem that the pre-tightening force of the scraping strip of a cleaning robot in the related technology is insufficient can be solved.

Description

Technical Field

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

[0002] In the prior art, cleaning robots use scraping bars to clean the cleaning surface; however, the scraping bars of some cleaning robots have insufficient pre-tightening force, and the scraping bars are easily separated from the cleaning surface during the cleaning process, resulting in incomplete cleaning.

[0003] Therefore, providing a locking mechanism, a lifting device and a cleaning robot with sufficient pre-tightening force in the working state is a technical problem that needs to be urgently solved by those skilled in the art. Utility Model Content

[0004] The utility model discloses a locking mechanism, a lifting device and a cleaning robot, which are used to solve the technical problem of insufficient pre-tightening force of a scraper strip in a cleaning robot in the related art.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions:

[0006] In a first aspect, a locking mechanism is disclosed, comprising:

[0007] The limiting member has an unlocked state and a locked state; when the limiting member is in the locked state, the movement of the scraper strip in the first direction is limited so that the scraper strip remains in a low position; when the limiting member is in the unlocked state, the scraper strip can move freely in the first direction and can return to a high position from the low position;

[0008] The ejector pin is movable in a first direction; a moving path of the ejector pin in the first direction intersects with the limiting member;

[0009] The trigger table cooperates with the end face of the ejector pin;

[0010] The scraper strip can move freely in the second direction, and the ejector pin follows the scraper strip to move in the second direction; when the scraper strip moves to a preset position, the trigger platform drives the ejector pin to move toward the limiter in the first direction, so that the limiter is opened.

[0011] In some embodiments, the trigger stage and / or the ejector pin has an inclined first guide surface;

[0012] When the scraper moves along the second direction to the first preset position, the ejector pin contacts the first guide surface;

[0013] Alternatively, the trigger stage contacts the first guide surface;

[0014] Alternatively, the two first guide surfaces contact each other, so that the ejector pin moves toward the limiting member along the first direction.

[0015] In some embodiments, the trigger stage further has a second guide surface, and the second guide surface is parallel to the second direction;

[0016] When the end surface of the ejector pin contacts the second guide surface, the ejector pin remains relatively stationary in the first direction.

[0017] In some embodiments, the limiting member includes two symmetrically arranged limiting portions, which are driven by the ejector pin to rotate toward or away from each other around their own rotation axes;

[0018] A limiting space is formed between the two limiting portions, and the limiting space is used to limit the movement of the scraper strip in the first direction.

[0019] In some solutions, at least one of the facing surfaces of the two limiting portions is provided with a protrusion; when the scraper strip is located in the limiting space and the limiting member is in a locked state, the protrusion abuts against the scraper strip.

[0020] In some embodiments, the end surface of the protrusion away from the ejector pin has an inclined third guide surface, and the third guide surface is inclined from the top to the bottom toward the other limiting portion;

[0021] When the scraper strip moves toward the limiting member along the first direction, the end of the scraper strip contacts the third guide surface, so that the limiting portion rotates.

[0022] In some solutions, the end of the ejector pin close to the limiting member has a collision block; the ejector pin contacts the limiting member through the collision block.

[0023] In a second aspect, a lifting device is disclosed, comprising a drive assembly and the locking mechanism of the first aspect; when the limit member is in an unlocked state, the drive assembly can drive the scraper strip to move away from the limit member in a first direction.

[0024] In some embodiments, a locking member is further included. When the scraper strip moves away from the limiting member along the first direction, the locking member contacts the scraper strip and limits the movement of the scraper strip in the first direction.

[0025] In a third aspect, a cleaning robot is disclosed, comprising the lifting device of the second aspect.

[0026] The technical solution adopted by the utility model can achieve the following beneficial effects:

[0027] When the scraper moves from the proximal end to the distal end along the second direction, the scraper is kept in a high position under the action of external force, and there is a gap between the scraper and the cleaning surface, which is beneficial to reduce the friction of the scraper when it moves in a non-working state and reduce unnecessary wear of the scraper; when the scraper moves to the distal end along the second direction and reaches the working starting point, the external force disappears, and the scraper moves along the first direction, switching from a high position to a low position and contacting the cleaning surface. At this time, the limiter switches to a locked state, limiting the movement of the scraper in the first direction, so that the scraper is tightly attached to the cleaning surface, thereby applying sufficient pre-tightening force to the scraper, thereby avoiding the scraper from separating from the cleaning surface during the cleaning process, and ensuring the cleaning effect of the scraper; during the cleaning process, the scraper moves from the distal end to the proximal end along the second direction, bringing back the garbage on the cleaning surface, thereby achieving directional cleaning of the cleaning surface; when the scraper moves to the preset position, the trigger platform drives the ejector pin to move toward the limiter in the first direction, so that the limiter switches to an unlocked state, releasing the restriction on the scraper in the first direction, so that the scraper can return to the high position in the standby state. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is a schematic structural diagram of the cleaning robot of the present utility model;

[0030] Figure 2 It is a structural diagram of the locking mechanism of the utility model;

[0031] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0032] Figure 4 yes Figure 2 Enlarged view of point B in the middle;

[0033] Figure 5 This is a structural diagram of the utility model when the limiting member is in the unlocked state;

[0034] Figure 6 This is a structural diagram of the utility model in which the limiting member is in a locked state;

[0035] Figure 7 It is a structural diagram of the limiting part of the utility model;

[0036] Figure 8 It is a partial structural diagram of the cleaning robot of the present invention.

[0037] In the picture:

[0038] 100 - cleaning robot, 101 - inner plate installation, 1011 - limiting groove, 102 - outer plate installation, 110 - scraping strip, 111 - protrusion, 120 - locking piece;

[0039] 200 - locking mechanism, 210 - limiting member, 211 - limiting portion, 2111 - first block, 2112 - second block, 212 - protrusion, 2121 - third guide surface, 220 - ejector pin, 230 - triggering platform, 231 - first guide surface, 232 - second guide surface, 240 - impact block;

[0040] 300-lifting device, 310-impacting part, 320-striker, 330-rotating part. DETAILED DESCRIPTION

[0041] To make the purpose, technical solution, and advantages of the present invention more clear, the technical solution of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0042] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0043] In each embodiment of the present application, "proximal end" and "distal end" refer to the position of each component relative to the user in the use environment, wherein the end closer to the user is designated as the "proximal end" and the end farther from the user is designated as the "distal end".

[0044] The inventors discovered during use that some cleaning robots 100 have insufficient preload. This means the scraper bar 110 easily separates from the cleaning surface during cleaning, resulting in incomplete cleaning and poor cleaning results. While some cleaning robots 100 have sufficient preload, ensuring the scraper bar 110 remains in contact with the ground, when the robot 100 is not in operation and moving, the contact between the scraper bar 110 and the ground increases friction, affecting the robot's movement and easily causing wear on the scraper bar 110.

[0045] The following is combined with Figures 1 to 8 , a locking mechanism 200, a lifting device 300 and a cleaning robot 100 provided in this application are described in detail through specific embodiments and their application scenarios.

[0046] The embodiment of the present application provides a locking mechanism 200, such as Figure 2 As shown, it includes a limiting member 210 , a ejector pin 220 and a triggering platform 230 .

[0047] The limiting member 210 has an unlocked state, such as Figure 5 As shown; the limit member 210 also has a locked state, as Figure 6 When the limiting member 210 is in the unlocked state, the scraper strip 110 can move freely in the first direction and can be restored to the high position from the low position under the action of an external force; when the limiting member 210 is in the locked state, the movement of the scraper strip 110 in the first direction is restricted, so that the low position is maintained.

[0048] Ejector pin 220 is movable in a first direction, and its path of movement intersects with stopper 210, causing ejector pin 220 to contact stopper 210, thereby switching stopper 210 from a locked state to an unlocked state. Triggering platform 230 engages with the end surface of ejector pin 220, allowing ejector pin 220 to move toward stopper 210 in the first direction, causing the end of ejector pin 220 to contact stopper 210.

[0049] like Figure 2 、 Figure 5 and Figure 6 As shown, the scraper 110 can move freely in the second direction, and the ejector pin 220 follows the scraper 110 to move in the second direction; when the scraper 110 moves to the preset position, the trigger platform 230 drives the ejector pin 220 to move toward the limit member 210 in the first direction, so that the limit member 210 switches to the unlocked state.

[0050] During the process of the scraper 110 moving from the proximal end to the distal end along the second direction, the scraper 110 is kept in a high position under the action of an external force, with a gap between the scraper 110 and the cleaning surface. This helps to reduce the friction of the scraper 110 when it moves in a non-working state, thereby reducing unnecessary wear of the scraper 110. When the scraper 110 moves along the second direction to the distal end and reaches the working starting point, the external force disappears, and the scraper 110 moves along the first direction, switching from a high position to a low position, and contacts the cleaning surface. At this time, the limiter 210 switches to a locked state, restricting the movement of the scraper 110 in the first direction, so that the scraper 110 is in close contact with the cleaning surface, thereby applying sufficient pre-tightening force to the scraper 110, preventing the scraper 110 from separating from the cleaning surface during the cleaning process, and ensuring the cleaning effect of the scraper 110. During the cleaning process, the scraper 110 moves from the distal end to the proximal end along the second direction, bringing back the garbage on the cleaning surface, thereby achieving directional cleaning of the cleaning surface. When the scraper 110 moves to the preset position, the trigger platform 230 drives the ejector pin 220 to move toward the limit member 210 in the first direction, so that the limit member 210 switches to the unlocked state, releasing the restriction on the scraper 110 in the first direction, so that the scraper 110 can return to the high position in the standby state.

[0051] It should be noted that a three-dimensional coordinate system is established with the width direction of the cleaning robot 100 as the X-axis, the height direction of the cleaning robot 100 as the Y-axis, and the length direction of the cleaning robot 100 as the Z-axis, as shown in FIG. Figure 1 Wherein, the first direction refers to the Y axis, and the second direction refers to the X axis.

[0052] It should be noted that the preset position refers to the position where the scraper strip 110 moves along the second direction to where the triggering platform 230 contacts the ejector pin 220 .

[0053] It should be noted that the scraper bar 110 is mounted on the cleaning robot 100. The scraper bar 110 is movable in a first direction, which means that the scraper bar 110 and the cleaning robot 100 slide together in the first direction, thereby enabling the scraper bar 110 to move in the first direction. The scraper bar 110 is movable in a second direction, which means that the scraper bar 110 is mounted on the cleaning robot 100, and the cleaning robot 100, driven by its own walking mechanism, is able to move in the second direction, thereby enabling the scraper bar 110 to move in the second direction.

[0054] It should be noted that the high position means that the wiper strip 110 is located at an upper position in the first direction, such as Figure 5 As described above, when the scraper bar 110 is in the high position, there is a gap between the bottom of the scraper bar 110 and the cleaning surface; the low position means that the scraper bar 110 is located at the lower position in the first direction, such as Figure 6 As shown, when the scraper strip 110 is in the low position, the bottom of the scraper strip 110 contacts the cleaning surface.

[0055] As a preferred embodiment of the present invention, the number of the limiting members 210 is preferably two, which are respectively located on opposite sides of the scraper strip 110 in the third direction (Z axis), thereby locking the scraper strip 110 on both sides at the same time. Compared with adopting a single limiting method, this can avoid the scraper strip 110 being subjected to uneven force, resulting in one side of the scraper strip 110 being tilted, thereby ensuring the cleaning effect of the scraper strip 110.

[0056] In this embodiment, if Figure 1 and Figure 2 As shown, the cleaning robot 100 has an inner mounting plate 101 and an outer mounting plate 102, wherein an installation space is formed between the inner mounting plate 101 and the outer mounting plate 102, and a position limiting member 210 is located in the installation space. The outer mounting plate 102 protects the position limiting member 210, and the position limiting member 210 is exposed to the outside.

[0057] A limiting groove 1011 is provided on the top of the inner plate 101, and the limiting groove 1011 extends along the first direction. Figure 3 As shown, the scraper strip 110 has protrusions 111 at both ends along the third direction, and the protrusions 111 are slidably fitted in the limiting grooves 1011 along the first direction. Figure 2 and Figure 3 As shown, the limiting groove 1011 guides the movement of the scraper bar 110 in the first direction. The width of the limiting groove 1011 along the second direction is equal to the width of the protrusion 111 along the second direction, so as to limit the scraper bar 110 in the second direction, so that the scraper bar 110 cannot move relative to the cleaning robot 100 in the second direction, thereby preventing the scraper bar 110 from colliding with the cleaning robot 100 in the second direction and generating noise when the cleaning robot 100 moves in the second direction.

[0058] The protrusion 111 also extends outward through the limiting groove 1011 along the third direction and cooperates with the limiting member 210. Figure 2 and Figure 3 When the limiting member 210 is in the locked state, the limiting member 210 and the protrusion 111 generate motion interference, thereby achieving the locking of the scraper strip 110.

[0059] like Figure 4 As shown, the triggering platform 230 and / or the ejector pin 220 have an inclined first guide surface 231; when the scraper strip 110 moves along the second direction to the first preset position, the ejector pin 220 contacts the first guide surface 231, or the triggering platform 230 contacts the first guide surface 231, or the two first guide surfaces 231 contact, so that the ejector pin 220 moves along the first direction toward the limit member 210.

[0060] As the first preferred method of this embodiment, the top side of the trigger platform 230 has an inclined first guide surface 231, and the first guide surface 231 is inclined upward from the distal end to the proximal end; when the ejector pin 220 contacts the trigger platform 230, and as the cleaning robot 100 continues to move in the second direction toward the proximal end, under the action of the first guide surface 231, the ejector pin 220 moves in the first direction toward the limit member 210, so that the limit member 210 switches to an unlocked state.

[0061] As a second preferred method of this embodiment, one side of the bottom of the ejector pin 220 has an inclined first guide surface 231, and the first guide surface 231 is inclined upward from the distal end to the proximal end; when the ejector pin 220 contacts the trigger platform 230, and as the cleaning robot 100 continues to move in the second direction toward the proximal end, under the action of the first guide surface 231, the ejector pin 220 moves in the first direction toward the limit member 210, so that the limit member 210 switches to an unlocked state.

[0062] As a third preferred method of this embodiment, the bottom side of the ejector pin 220 and the top side of the trigger platform 230 both have an inclined first guide surface 231, and both first guides are inclined upward from the distal end to the proximal end; when the ejector pin 220 contacts the trigger platform 230, and as the cleaning robot 100 continues to move in the second direction toward the proximal end, the two first guide surfaces 231 fit together, and under the interaction of the two first guide surfaces 231, the ejector pin 220 moves in the first direction toward the limit member 210, so that the limit member 210 switches to an unlocked state.

[0063] While all three approaches can achieve the purpose of cooperating between ejector pin 220 and trigger platform 230, allowing ejector pin 220 to move toward stopper 210, the first approach is preferred in this embodiment. With the second approach, because ejector pin 220 is shorter in the second direction, fabricating first guide surface 231 on the bottom of ejector pin 220 is more difficult, and the slope of first guide surface 231 is steeper, causing ejector pin 220 to quickly collide with stopper 210, shortening the service life of both ejector pin 220 and stopper 210. Providing first guide surface 231 only on the top side of trigger platform 230 reduces fabrication complexity and offers a lower slope, allowing ejector pin 220 to move more slowly toward stopper 210 in the first direction. In the third method, both the bottom side of the ejector pin 220 and the top side of the trigger platform 230 have an inclined first guide surface 231, which requires relatively high precision of fit and increases the difficulty of processing. However, if the first guide surface 231 is only provided on the top side of the trigger platform 230, there is no need to consider the problem of precision of fit, and the degree of adaptability is higher.

[0064] The triggering platform 230 also has a second guide surface 232. Figure 4As shown, the second guide surface 232 is parallel to the second direction; when the end surface of the ejector pin 220 contacts the second guide surface 232, the ejector pin 220 remains relatively stationary in the first direction.

[0065] The head of the second guide surface 232 is connected to the tail of the first guide surface 231. When the ejector pin 220 moves to the tail of the first guide surface 231, the limiter 210 has been switched to the unlocked state. As the cleaning robot 100 moves along the second direction toward the proximal end, the bottom of the ejector pin 220 contacts the second guide surface 232. Since the second guide surface 232 is parallel to the second direction, the position of the ejector pin 220 in the first direction will not change, and the limiter 210 will remain unlocked.

[0066] like Figure 2 and Figure 3 As shown, the limiting member 210 includes two symmetrically arranged limiting portions 211, which are driven by the ejector pin 220 to rotate toward or away from each other around their own rotation axes; a limiting space is formed between the two limiting portions 211, which is used to limit the movement of the scraper strip 110 in the first direction.

[0067] It should be noted that the two limiting portions 211 are symmetrically arranged on opposite sides of the limiting groove 1011 with the plane where the ejector pin 220 is located along the third direction as the symmetry plane, so as to achieve cooperation with the protrusion 111.

[0068] It should be noted that when the limiter 210 is switched to the locked state, the two limiters 211 rotate toward each other, making the size of the opening of the limit space smaller than the width of the protrusion 111 in the second direction, thereby restricting the movement of the wiper strip 110 in the first direction. When the limiter 210 is switched to the unlocked state, the two limiters 211 rotate away from each other, making the size of the opening of the limit space larger than the width of the protrusion 111 in the second direction, thereby allowing the wiper strip 110 to move freely in the first direction.

[0069] The two limiting parts 211 have the same structure, which is close to L-shaped, and are formed as a whole by sequentially connected first blocks 2111 and second blocks 2112. Figure 7 The connection between the first block 2111 and the second block 2112 is rotatably connected to the mounting inner plate 101 .

[0070] like Figure 3 and Figure 7 As shown, at least one of the facing surfaces of the two limiting portions 211 is provided with a protrusion 212 ; when the scraper strip 110 is located in the limiting space and the limiting member 210 is in the locked state, the protrusion 212 abuts against the scraper strip 110 .

[0071] The protrusions 212 are respectively located on the facing surfaces of the second block 2112 . When the scraper strip 110 is in the limiting space and the limiting member 210 is in the locked state, the protrusions 212 abut against the upper end surface of the protrusion 111 , further increasing the locking force of the limiting member 210 .

[0072] In some embodiments, the facing surfaces of the two limiting portions 211 respectively have a protrusion 212 .

[0073] In some embodiments, one of the limiting portions 211 has a protrusion 212 .

[0074] like Figure 3 As shown, the end surface of the protrusion 212 away from the ejector pin 220 has an inclined third guide surface 2121, and the third guide surface 2121 is inclined from the top to the bottom toward the other limiting portion 211; when the scraper strip 110 moves along the first direction toward the limiting member 210, the end of the scraper strip 110 contacts the third guide surface 2121, so that the limiting portion 211 rotates.

[0075] When the scraper 110 returns to the high position and the ejector pin 220 separates from the two limiting portions 211, the two limiting portions 211 may spontaneously rotate inward due to their own gravity, turning into a locked state. Therefore, a downwardly inclined third guide surface 2121 is provided on the top end surface of the protrusion 212. When the scraper 110 moves from the high position to the low position, the protrusion 111 first contacts the third guide surface 2121. Under the action of the third guide surface 2121, the limiting portion 211 rotates, thereby opening the limiting space and allowing the protrusion 111 to enter the limiting space.

[0076] like Figure 3 As shown, the end of the ejector pin 220 close to the limiting member 210 has a collision block 240 ; the ejector pin 220 contacts the limiting member 210 through the collision block 240 .

[0077] The width of the impact block 240 in the second direction is greater than the width of the ejector pin 220 in the second direction, so that the end of the ejector pin 220 can better contact the two first blocks 2111 synchronously and better drive the two limiting parts 211 to rotate towards each other.

[0078] The impact block 240 can be connected to the ejector pin 220 by threading, welding, gluing or other connection methods, which are not limited in this embodiment.

[0079] The embodiment of the present application also provides a lifting device 300, such as Figure 2 As shown, it includes a driving assembly and a locking mechanism 200. When the limiting member 210 is in the unlocked state, the driving assembly can drive the scraper strip 110 to move away from the limiting member 210 in the first direction.

[0080] The structure of the driving component can be various, for example, the impact part 310, the striker 320 and the rotating part 330 are set, the rotating part 330 is rotatably set on the cleaning robot 100, the striker 320 is slidably set on the cleaning robot 100, and the impact part 310 is set at the proximal end, such as Figure 8 As the cleaning robot 100 moves, the striker 320 collides with the impact portion 310, causing the striker 320 to rotate the rotating portion 330, thereby causing the distal end of the rotating portion 330 to lift the scraper 110. Of course, the drive assembly may also have other structures, which are not specifically described here.

[0081] like Figure 2 As shown, the lifting device 300 also includes a locking member 120. When the scraper bar 110 moves in the first direction away from the limiting member 210, the locking member 120 contacts the scraper bar 110 and limits the movement of the scraper bar 110 in the first direction. The locking member 120 contacts the scraper bar 110, so that the scraper bar 110 always remains in a high position in the standby state. When the cleaning robot 100 reaches the working starting point, the locking member 120 separates from the scraper bar 110, and the scraper bar 110 moves in the first direction toward the limiting member 210 under the action of gravity and is locked by the limiting member 210.

[0082] In some embodiments, the locking member 120 includes a plurality of electromagnets, and accordingly, the scraper 110 has a magnetic structure. When the scraper 110 is in the high position, the plurality of electromagnets are energized, generating magnetism and adsorbing the scraper 110, thereby restricting the scraper 110 from moving in the first direction, so that the scraper 110 always remains in the high position. When the plurality of electromagnets are de-energized, the scraper 110 can move in the first direction under the action of gravity.

[0083] In some embodiments, the locking member 120 includes a plurality of clamps; when the scraper 110 is in a high position, the plurality of clamps are retracted to clamp the scraper 110, thereby limiting the movement of the scraper 110 in the first direction, so that the scraper 110 always remains in a high position; when the plurality of clamps are opened, the scraper 110 can move along the first direction under the action of gravity.

[0084] Although both methods can achieve the high position state of the scraper 110, the embodiment preferably adopts the method of using an electromagnet. The method of using a clamp requires a larger installation space, while the method of using an electromagnet only requires a smaller installation space, which can make the structure of the cleaning robot 100 more compact.

[0085] The present application also provides a cleaning robot 100. Figure 1 and Figure 2 As shown, a lifting device 300 is included.

[0086] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus comprising the element.

[0087] Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in reverse order depending on the functions involved. For example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Furthermore, features described with reference to certain examples may be combined in other examples.

[0088] The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A locking mechanism (200), characterized in that: include: A limiting member (210) having an unlocked state and a locked state; When the limiting member (210) is in a locked state, the movement of the scraper strip (110) in the first direction is limited, so that the scraper strip (110) maintains a low position; when the limiting member (210) is in an unlocked state, the scraper strip (110) can move freely in the first direction and can return to a high position from the low position; A thimble (220) is movable in a first direction; a moving path of the thimble (220) in the first direction intersects with the limiting member (210); A triggering platform (230) cooperates with the end surface of the ejector pin (220); The scraper (110) is freely movable in a second direction, and the ejector pin (220) follows the scraper (110) in moving in the second direction; when the scraper (110) moves to a preset position, the triggering platform (230) drives the ejector pin (220) to move in a first direction toward the limiting member (210), so that the limiting member (210) opens.

2. A locking mechanism (200) according to claim 1, characterized in that: The triggering platform (230) and / or the ejector pin (220) have an inclined first guide surface (231); When the scraper strip (110) moves along the second direction to a first preset position, the ejector pin (220) contacts the first guide surface (231); Alternatively, the trigger platform (230) contacts the first guide surface (231); Alternatively, the two first guide surfaces (231) are in contact, causing the ejector pin (220) to move along the first direction toward the limiting member (210).

3. A locking mechanism (200) according to claim 2, characterized in that: The trigger platform (230) further has a second guide surface (232), and the second guide surface (232) is parallel to the second direction; When the end surface of the ejector pin (220) contacts the second guide surface (232), the ejector pin (220) remains relatively stationary in the first direction.

4. The locking mechanism (200) according to claim 1, characterized in that: The limiting member (210) comprises two symmetrically arranged limiting portions (211), and the two limiting portions (211) are driven by the ejector pin (220) to rotate toward or away from each other around their own rotation axes; A limiting space is formed between the two limiting portions (211), and the limiting space is used to limit the movement of the scraper strip (110) in the first direction.

5. A locking mechanism (200) according to claim 4, characterized in that: At least one of the facing surfaces of the two limiting parts (211) is provided with a protrusion (212); when the scraper strip (110) is located in the limiting space and the limiting member (210) is in a locked state, the protrusion (212) abuts against the scraper strip (110).

6. The locking mechanism (200) according to claim 5, characterized in that: The end surface of the protrusion (212) away from the ejector pin (220) has an inclined third guide surface (2121), and the third guide surface (2121) is inclined from the top to the bottom toward the other limiting portion (211); When the scraper strip (110) moves along the first direction toward the limiting member (210), the end of the scraper strip (110) contacts the third guide surface (2121), causing the limiting portion (211) to rotate.

7. The locking mechanism (200) according to claim 1, characterized in that: The end of the ejector pin (220) close to the limiting member (210) is provided with a collision block (240); the ejector pin (220) contacts the limiting member (210) through the collision block (240).

8. A lifting device (300), characterized in that: The invention comprises a drive component and a locking mechanism (200) according to any one of claims 1 to 7; when the limiting member (210) is in an unlocked state, the drive component can drive the scraper (110) to move away from the limiting member (210) in a first direction.

9. The lifting device (300) according to claim 8, characterized in that: It also includes a locking member (120), which contacts the scraper (110) and limits the movement of the scraper (110) in the first direction when the scraper (110) moves away from the limiting member (210) in the first direction.

10. A cleaning robot (100), characterized in that: Comprising the lifting device (300) according to claim 9.

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