Cleaning robot

Abstract

The utility model discloses a cleaning robot which comprises a walking mechanism, the walking mechanism comprises a first shell, a walking assembly and an adsorption assembly, the adsorption assembly is arranged on the first shell, the adsorption assembly is configured to be capable of being adsorbed on the surface of a medium, the walking assembly is arranged on the first shell, and the adsorption assembly is configured to be capable of being adsorbed on the surface of the medium; the walking assembly is configured to move on the medium surface when the adsorption assembly is adsorbed on the medium surface; the cleaning mechanism comprises a cleaning disc set, and the cleaning disc set is driven by the walking assembly to move on the surface of the medium in a reciprocating mode. According to the cleaning robot, the cleaning effect of stubborn stains on the smooth wall surface can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a cleaning robot. BACKGROUND

[0002] Cleaning robot is a kind of machine that can replace manual work to complete floor cleaning, effectively reduces the labor quantity of manual work.However, for stubborn stain on smooth wall surface, the cleaning effect of existing cleaning robot is poor. SUMMARY

[0003] The utility model aims at at least one of the technical problems existing in prior art is solved.For this purpose, the utility model provides a kind of cleaning robot, can improve the cleaning effect of stubborn stain on smooth wall surface.

[0004] According to the cleaning robot of the utility model embodiment, including:

[0005] Walking mechanism, including first shell, walking component and adsorption component, the adsorption component is set to the first shell, the adsorption component is configured to be able to adsorb on medium surface, the walking component is set to the first shell, the walking component is configured to be able to move on medium surface when the adsorption component is adsorbed on medium surface;

[0006] Cleaning mechanism, including cleaning disc group, the cleaning disc group is configured to reciprocatingly scrape medium surface under the driving of the walking mechanism.

[0007] According to the cleaning robot of the utility model embodiment, at least has following beneficial effects:

[0008] Walking component can walk on medium surface when adsorption component is adsorbed on medium surface, so as to be applicable to horizontal, inclined or vertical medium surface.Walking component drives cleaning disc group to reciprocate on medium surface, so as to clean the medium surface to be cleaned, since adsorption component is adsorbed on medium surface, therefore, it can improve the pressure between cleaning disc group and medium surface, and further improve the cleaning effect of cleaning disc group.

[0009] According to some embodiments of the utility model, the cleaning disc group includes second shell, nozzle and two groups of cleaning components, the second shell is formed with two groups of suction channels, each cleaning component is arranged at the air inlet end of corresponding suction channel, and two groups of cleaning components are arranged at intervals along the direction of travel, the nozzle is used to spray liquid to the interval;The cleaning component can scrape medium surface and collect liquid, and the suction channel can adsorb the liquid collected by the cleaning component.

[0010] According to some embodiments of the present application, the cleaning disc group comprises a valve body, the valve body can open two groups of suction channels at different times, so that a group of suction channels located at the front side of the travel direction is closed, and another group of suction channels located at the rear side of the travel direction is opened.

[0011] According to some embodiments of the present application, the cleaning assembly comprises a flexible cleaning strip and a brush, the flexible cleaning strip and the brush can contact the medium surface, wherein the brush is arranged on one side of the flexible cleaning strip close to the nozzle, the brush comprises a plurality of gap arranged bristles, and liquid can enter the suction channel from the gap of the bristles.

[0012] According to some embodiments of the present application, the adsorption assembly is provided in multiple groups, each group of the adsorption assembly comprises at least one suction disc assembly and a vacuum generator, and the at least one suction disc assembly is in communication with the vacuum generator.

[0013] According to some embodiments of the present application, along the travel direction, one side of the first shell has a notch, and the cleaning disc group is at least partially located in the notch, wherein at least part of the suction disc assembly is located on both sides of the notch.

[0014] According to some embodiments of the present application, the cleaning robot comprises a lifting mechanism, the lifting mechanism is arranged on the first shell, the cleaning disc group is arranged on the lifting mechanism, and the lifting mechanism is configured to drive the cleaning disc group to press on the medium surface or drive the cleaning disc group to move away from the medium surface.

[0015] According to some embodiments of the present application, the cleaning mechanism comprises a floating assembly, the floating assembly comprises a first floating subassembly and a second floating subassembly, the first floating subassembly is connected with the lifting mechanism, and the first floating subassembly can deflect around a first rotation axis, the second floating subassembly is connected with the first floating subassembly, and the second floating subassembly can deflect around a second rotation axis, and the cleaning disc group is connected to the second floating subassembly.

[0016] The extension direction of the first rotation axis intersects with the extension direction of the second rotation axis.

[0017] According to some embodiments of the present application, the floating assembly comprises a return elastic member, the return elastic member is connected between the lifting mechanism and the cleaning disc group, and the return elastic member is configured to provide an elastic force to return the cleaning disc group to the original position.

[0018] According to some embodiments of the present application, the cleaning robot comprises a distance measuring sensor, the distance measuring sensor is arranged on the cleaning mechanism and the walking mechanism, and the distance measuring sensor is used for emitting a light beam and receiving a reflected light beam.

[0019] According to some embodiments of the utility model, the cleaning robot comprises a vision assembly and a lifting mechanism, the lifting mechanism is arranged on the first shell, the cleaning disc group is arranged on the lifting mechanism, and the vision assembly is arranged on the top of the lifting mechanism.

[0020] Additional aspects and advantages of the utility model will be given in part in the following description, some will become obvious from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model will be further explained in combination with the drawings and examples, wherein:

[0022] Figure 1 It is the perspective structural schematic diagram of the cleaning robot of the utility model embodiment;

[0023] Figure 2 It is the top view of the cleaning robot of the utility model embodiment;

[0024] Figure 3 It is Figure 2 A-A sectional view of;

[0025] Figure 4 It is the bottom view of the cleaning robot of the utility model embodiment;

[0026] Figure 5 It is the perspective structural schematic diagram of another angle of the cleaning robot of the utility model embodiment.

[0027] REFERENCE NUMERALS:

[0028] 100, walking mechanism;110, first shell;110a, notch;120, walking assembly;130, adsorption assembly;131, suction disc assembly;132, vacuum generator;1311, suction disc;1312, buffer flange;1313, buffer clamping piece;1314, buffer sleeve;

[0029] 200, cleaning mechanism;210, cleaning disc group;211, second shell;212, nozzle;213, cleaning assembly;2111, suction channel;214, valve body;2131, flexible cleaning strip;2132, brush;215, flexible fence;220, front recovery pipe;230, rear recovery pipe;240, support wheel;

[0030] 300, lifting mechanism;310, connecting ring body;

[0031] 400, floating assembly;410, first floating subassembly;420, second floating subassembly;430, return elastic piece;

[0032] 500, Vision components; 600, Indicator lights. Detailed Implementation

[0033] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0034] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0036] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0037] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] Please refer to Figures 1-5The embodiment of the present application provides a cleaning robot, which comprises a walking mechanism 100, a cleaning mechanism 200 and a lifting mechanism 300. The lifting mechanism 300 is arranged on the walking mechanism 100, and the cleaning mechanism 200 is arranged on the lifting mechanism 300. The walking mechanism 100 can move on a medium surface, thereby driving the lifting mechanism 300 and the cleaning mechanism 200 to move.

[0039] Please refer to Figure 4 The walking mechanism 100 comprises a first shell 110, a walking assembly 120 and a suction assembly 130. The suction assembly 130 is arranged on the first shell 110 and is configured to be capable of being adsorbed on a medium surface. The walking assembly 120 is arranged on the first shell 110 and is configured to be capable of moving on the medium surface when the suction assembly 130 is adsorbed on the medium surface. Therefore, the walking mechanism 100 can be applied to a horizontal, inclined or vertical medium surface. The medium surface is a relatively smooth surface, such as a glass surface or a PVC plate surface.

[0040] Please refer to Figure 2 The cleaning mechanism 200 comprises a cleaning disc set 210. The cleaning disc set 210 is used for contacting and cleaning the medium surface.

[0041] Please refer to Figure 1 And Figure 2 The lifting mechanism 300 is configured to drive the cleaning disc set 210 to be pressed on the medium surface, so that the cleaning disc set 210 reciprocally moves on the medium surface under the driving of the walking assembly 120, or drives the cleaning disc set 210 to be far away from the medium surface. Specifically, when the cleaning robot moves to a to-be-cleaned area, the lifting mechanism 300 drives the cleaning disc set 210 to be pressed on the medium surface, and the walking assembly 120 drives the lifting mechanism 300 and the cleaning disc set 210 to reciprocally move, so that the cleaning disc set 210 reciprocally wipes the medium surface.

[0042] In the above embodiment, the lifting mechanism 300 drives the cleaning disc set 210 to be pressed on the medium surface to be cleaned, and the walking assembly 120 drives the cleaning disc set 210 to reciprocally move on the medium surface, so that the medium surface to be cleaned is cleaned. Since the suction assembly 130 is adsorbed on the medium surface, the pressure between the cleaning disc set 210 and the medium surface can be improved, and the cleaning effect is improved. The lifting mechanism 300 can also drive the cleaning disc set 210 to be far away from the medium surface to be cleaned, so that the cleaning disc set 210 is prevented from contacting the non-to-be-cleaned area of the medium surface and causing additional pollution.

[0043] Please refer to Figure 4In some embodiments, the cleaning disc set 210 comprises a second housing 211, a nozzle 212, and two groups of cleaning assemblies 213. The second housing 211 is formed with two groups of suction channels 2111. Each cleaning assembly 213 is arranged at the air inlet end of a corresponding suction channel 2111. The air outlet end of the suction channel 2111 is connected to a negative pressure source. The negative pressure source provides negative pressure, so that air flow and liquid flow into the suction channel 2111 through the air inlet end.

[0044] In the advancing direction, the two groups of cleaning assemblies 213 are arranged at intervals. The nozzle 212 is used to spray liquid to the above-mentioned intervals. In this way, the reciprocating movement of the cleaning robot drives the two groups of cleaning assemblies 213 to move reciprocally. The cleaning assembly 213 can scrape the medium surface and collect liquid. The suction channel 2111 can absorb the liquid collected by the cleaning assembly 213. In this way, the surrounding area of the medium surface to be cleaned can be reduced.

[0045] In some embodiments, the nozzle 212 is a high-pressure nozzle 212. The nozzle 212 has an annular nozzle opening, so that the liquid spray path forms a bowl shape similar to an inverted cup, so that the liquid spray is relatively uniform. The nozzle 212 can be selectively connected to a cleaning liquid supply channel with decontamination capability, so as to improve the cleaning effect.

[0046] Please refer to Figure 3 In some embodiments, the cleaning disc set 210 comprises a valve body 214. The valve body 214 can open the two groups of suction channels 2111 at different times, that is, selectively open one group of suction channels 2111 and close the other group of suction channels 2111, or open the other group of suction channels 2111 and open one group of suction channels 2111. The valve body 214 is configured to close the group of suction channels 2111 located at the front side in the advancing direction, and open the other group of suction channels 2111 located at the rear side in the advancing direction. Specifically, the cleaning assembly 213 located at the rear side in the advancing direction can scrape the medium surface and collect liquid. The cleaning assembly 213 located at the front side in the advancing direction can only scrape the medium surface. Therefore, the group of suction channels 2111 located at the front side in the advancing direction is closed, and the other group of suction channels 2111 located at the rear side in the advancing direction is opened, so as to absorb the liquid. When the cleaning robot moves in the opposite direction, the cleaning assembly 213 located at the rear side in the original advancing direction is located at the front side in the new advancing direction. The corresponding suction channel 2111 is closed. The cleaning assembly 213 located at the front side in the original advancing direction is located at the rear side in the new advancing direction. The corresponding suction channel 2111 is opened. The above-mentioned arrangement can ensure the suction efficiency while reducing the power of the negative pressure source.

[0047] Please refer to Figure 2The cleaning mechanism 200 comprises a front recovery pipe 220 and a rear recovery pipe 230, the front recovery pipe 220 is communicated with the suction passage 2111, the rear recovery pipe 230 is communicated with another suction passage 2111, the valve body 214 can be a three-way valve, the front recovery pipe 220 and the rear recovery pipe 230 are respectively communicated with one inlet of the three-way valve, and the remaining one outlet of the three-way valve is communicated with the negative pressure source.

[0048] In some embodiments, referring to Figure 3 and Figure 4 The cleaning assembly 213 comprises a flexible cleaning strip 2131 and a brush 2132, and the flexible cleaning strip 2131 and the brush 2132 can contact the medium surface, wherein the brush 2132 is arranged on one side of the flexible cleaning strip 2131 close to the nozzle 212, the brush 2132 comprises a plurality of gap arranged bristles, and liquid can enter the suction passage 2111 from the gap between the bristles. It can be understood that the bristles of the brush 2132 contact the medium surface, and liquid can enter the suction passage 2111 from the gap between the bristles under the action of air flow.

[0049] The flexible cleaning strip 2131 can be a silica gel strip, which has good water scraping effect. In other embodiments, the flexible cleaning strip 2131 is a sponge, which has good cleaning effect, and part of liquid can enter the suction passage 2111 through the gap of the sponge.

[0050] The flexible cleaning strip 2131 and the brush 2132 can be a straight strip, and can also be an arc-shaped strip.

[0051] In some embodiments, the cleaning disc group 210 comprises a water blocking strip, and the water blocking strip and the two groups of flexible cleaning strips 2131 jointly form a continuous annular flexible fence 215 to prevent liquid from flowing out.

[0052] In some embodiments, the adsorption assembly 130 is provided in multiple groups, each group of adsorption assemblies 130 comprises at least one suction disc assembly 131 and a vacuum generator 132, and the at least one suction disc assembly 131 is communicated with the vacuum generator 132. Each group of adsorption assemblies 130 works independently, thereby improving safety.

[0053] The suction disc assembly 131 comprises a suction disc 1311, a buffer flange 1312, a buffer clamping piece 1313, and a buffer sleeve 1314. The suction disc 1311 is used to contact and adhere to the medium surface, and is capable of elastic expansion and contraction. The suction disc 1311 is connected with the buffer sleeve 1314, the buffer flange 1312 is sleeved on the buffer sleeve 1314, and the buffer flange 1312 is fixed to the bottom plate of the shell. The buffer clamping piece 1313 comprises a first clamping part and a second clamping part. The first clamping part can be integrally formed with the buffer flange 1312, and the second clamping part can be clamped and fixed on the buffer sleeve 1314 in cooperation with the first clamping part. In this way, the position of the buffer flange 1312 in the axial direction of the buffer sleeve 1314 can be adjusted.

[0054] In some specific embodiments, the number of suction assemblies 130 is six, and they are symmetrically arranged along the width direction of the first shell 110. Each vacuum generator 132 is connected with one suction disc assembly 131.

[0055] Please refer to Figure 4 In some embodiments, along the advancing direction, one side of the first shell 110 has a notch 110a, and the cleaning disc group 210 is at least partially arranged in the notch 110a, so as to reduce the size of the cleaning robot. At least part of the suction disc assembly 131 is arranged on both sides of the notch 110a, so that the suction assembly 130 can be more stably and uniformly adhered to the medium surface.

[0056] The cleaning mechanism 200 comprises a support wheel 240 arranged on the first shell 110, and the support wheel 240 is capable of moving on the medium surface. The number of support wheels 240 can be four, two of which are arranged on one side of the support wheel 240, and the other two are arranged on the opposite side of the support wheel 240.

[0057] In some embodiments, the lifting mechanism 300 is arranged on the first shell 110, and the cleaning disc group 210 is arranged on the lifting mechanism 300. The lifting mechanism 300 is configured to drive the cleaning disc group 210 to press against the medium surface or drive the cleaning disc group 210 to move away from the medium surface. Thus, additional pollution caused by the cleaning disc group 210 contacting the non-cleaning area of the medium surface can be avoided.

[0058] The lifting mechanism 300 is connected to the first shell 110 at one end and located at the edge of the notch 110a, and part of the lifting mechanism 300 is located above the notch 110a.

[0059] The lifting mechanism 300 comprises a frame body with a avoiding hole, and the rear recovery pipe 230 passes through the avoiding hole. In this way, the structure is compact, and the avoiding hole can constrain the rear recovery pipe 230, thereby improving the stability of the connection.

[0060] Please refer to Figure 5In some embodiments, the cleaning mechanism 200 comprises a floating assembly 400, the floating assembly 400 comprises a first floating component 410 and a second floating component 420, the first floating component 410 is connected with the lifting mechanism 300 and can be deflected around a first rotation axis, the second floating component 420 is connected with the first floating component 410 and the cleaning disc set 210, and the second floating component 420 can be deflected around a second rotation axis. The extension direction of the first rotation axis intersects with the extension direction of the second rotation axis.

[0061] In this way, the cleaning disc set 210 can be deflected around the first rotation axis, the second rotation axis, or both the first rotation axis and the second rotation axis, so as to be adapted to the surface of the medium and be uniformly pressed on the surface of the medium.

[0062] The first floating component 410 is hingedly connected with the lifting mechanism 300, and the second floating component 420 is hingedly connected with the first floating component 410. The first rotation axis and the second rotation axis can be perpendicular.

[0063] In some embodiments, the floating assembly 400 comprises a return elastic member 430, the return elastic member 430 is connected between the lifting mechanism 300 and the cleaning disc set 210, and the return elastic member 430 is configured to provide an elastic force to make the cleaning disc set 210 parallel to the walking mechanism 100, that is, to provide an elastic force to make the cleaning disc set 210 return to the original position, so that the cleaning disc set 210 can be attached to the surface of the medium each time it is pressed down.

[0064] The lifting mechanism 300 comprises a connecting ring body 310, the number of the return elastic members 430 is multiple, one end of the multiple return elastic members 430 is connected with the connecting ring body 310, and the return elastic members 430 are outwardly inclined and have the other end connected with the second shell 211 of the cleaning disc set 210. The number of the return elastic members 430 can be eight, which are evenly divided into four groups and arranged at the front side, the rear side, the left side and the right side of the connecting ring body 310.

[0065] In some embodiments, the cleaning robot comprises a distance measuring sensor, the distance measuring sensor is arranged on the cleaning mechanism 200 and the walking mechanism 100, or the distance measuring sensor is arranged on the cleaning mechanism 200 or the walking mechanism 100, the distance measuring sensor is used to emit a light beam and receive a reflected light beam, so as to detect obstacles in the surrounding environment.

[0066] In some embodiments, the cleaning robot comprises a vision assembly 500, the vision assembly 500 is arranged on the top of the lifting mechanism 300, so as to better obtain the environmental information of the surrounding environment. The vision assembly 500 can also confirm the cleaning effect, and if the cleaning effect does not meet the preset condition, the cleaning action, that is, spraying liquid and driving the cleaning disc set 210 to reciprocate, can be repeated multiple times.

[0067] In some embodiments, the cleaning robot comprises an antenna for communication connection with an external remote control device. The first housing 110 is further provided with an indicator light 600, which can display the current state of the cleaning robot by changing color. The cleaning robot further comprises an emergency stop button, which can immediately interrupt the operation of the cleaning robot in an emergency.

[0068] The embodiments of the utility model are explained in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range possessed by the ordinary skilled in the art without departing from the purpose of the utility model. In addition, the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a walking mechanism comprising a first housing, a walking assembly, and an adsorption assembly, the adsorption assembly being arranged on the first housing and configured to be adsorbed on a medium surface, the walking assembly being arranged on the first housing and configured to move on the medium surface when the adsorption assembly is adsorbed on the medium surface; a cleaning mechanism comprising a cleaning disc set, the cleaning disc set being configured to reciprocally scrape the medium surface under the driving of the walking mechanism.

2. The cleaning robot according to claim 1, characterized in that, The cleaning disc set comprises a second housing, a nozzle, and two groups of cleaning assemblies, the second housing being formed with two groups of suction channels, each of the cleaning assemblies being arranged at an air inlet end of a corresponding suction channel, and the two groups of cleaning assemblies being arranged at intervals in a traveling direction, the nozzle being used for spraying liquid to the intervals; The cleaning assemblies are capable of scraping the medium surface and collecting liquid, and the suction channels are capable of adsorbing the liquid collected by the cleaning assemblies.

3. The cleaning robot according to claim 2, wherein, The cleaning disc set comprises a valve body, the valve body being capable of opening the two groups of suction channels at different times, so that one group of suction channels located at a front side in the traveling direction is closed, and the other group of suction channels located at a rear side in the traveling direction is opened.

4. The cleaning robot according to claim 2, wherein, The cleaning assemblies comprise a flexible cleaning strip and a brush, the flexible cleaning strip and the brush are both used for contacting the medium surface, wherein the brush is arranged on a side of the flexible cleaning strip close to the nozzle, the brush comprises a plurality of bristles arranged at intervals, and liquid can enter the suction channels from the intervals of the bristles.

5. The cleaning robot according to claim 1, wherein, The adsorption assembly is arranged in multiple groups, each group of the adsorption assembly comprises at least one suction disc assembly and a vacuum generator, and the at least one suction disc assembly is in communication with the vacuum generator.

6. The cleaning robot according to claim 5, wherein, In the traveling direction, one side of the first housing has a notch, and the cleaning disc set is at least partially arranged in the notch, wherein at least part of the suction disc assemblies are arranged on both sides of the notch.

7. The cleaning robot of claim 1, wherein, The cleaning robot comprises a lifting mechanism, the lifting mechanism being arranged on the first housing, the cleaning disc set being arranged on the lifting mechanism, and the lifting mechanism being configured to drive the cleaning disc set to be pressed against the medium surface or to be driven away from the medium surface.

8. The cleaning robot according to claim 7, wherein, The cleaning mechanism comprises a floating assembly, the floating assembly comprising a first floating subassembly and a second floating subassembly, the first floating subassembly being connected with the lifting mechanism and being capable of deflecting around a first rotation axis, the second floating subassembly being connected with the first floating subassembly and being capable of deflecting around a second rotation axis, and the cleaning disc set being connected with the second floating subassembly. The first rotation axis and the second rotation axis are intersected in an extension direction. 9.The cleaning robot according to claim 8, wherein, The floating assembly comprises a return elastic member, the return elastic member being connected between the lifting mechanism and the cleaning disc set, and the return elastic member being configured to provide an elastic force to return the cleaning disc set to an original position.

10. The cleaning robot of claim 1, wherein, The cleaning robot comprises a distance measuring sensor, the distance measuring sensor being arranged on the cleaning mechanism and the walking mechanism, the distance measuring sensor being used for emitting a light beam and receiving a reflected light beam. and / or, The cleaning robot comprises a vision assembly and a lifting mechanism, the lifting mechanism is arranged in the first shell, the cleaning disc group is arranged in the lifting mechanism, and the vision assembly is arranged at the top of the lifting mechanism.

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