Lifting device and cleaning robot

Abstract

The utility model provides a lifting device and a cleaning robot. The lifting device comprises a fixed seat, a first connecting rod, a second connecting rod, a first hinge, a second hinge, a transition piece and a third connecting rod, the middle of the first connecting rod is hinged to the fixed seat; the middle of the second connecting rod is hinged to the fixed seat; one ends of the first connecting rod and the second connecting rod are hinged to the first hinge; the other ends of the first connecting rod and the second connecting rod are hinged to the second hinge; the transition piece can be driven by the second hinge and moves downwards; one end of the third connecting rod is hinged to the transition piece, and the middle of the third connecting rod is hinged to the fixing piece.

Description

Technical Field

[0001] This disclosure relates to a lifting device and a cleaning robot, belonging to the field of cleaning equipment technology. Background Technology

[0002] With the advancement of technology, more and more families are using devices such as robotic vacuum cleaners to complete floor cleaning tasks.

[0003] However, in existing robotic vacuum cleaners, the roller brush device generally cannot be raised or lowered. When the robotic vacuum cleaner needs to be dragged on the ground, its roller brush device will always remain in contact with the ground, which undoubtedly aggravates the wear and tear of the roller brush device and affects its service life. Utility Model Content

[0004] This disclosure provides a lifting device and a cleaning robot.

[0005] According to one aspect of this disclosure, a lifting device is provided, comprising:

[0006] Fixed base;

[0007] The first link, the middle part of which is hinged to the fixed seat;

[0008] The second link, the middle part of which is hinged to the fixed base;

[0009] The first hinge, one end of the first link and one end of the second link are both hinged to the first hinge.

[0010] The second hinge, the other end of the second link of the first link is hinged to the second hinge;

[0011] A transition element, which can be driven by the second hinge and move downward;

[0012] The third link has one end hinged to a transition member and the middle part hinged to a fixing member.

[0013] The lifting device according to at least one embodiment of the present disclosure further includes:

[0014] A lifting rod is driven to produce vertical movement; wherein the lifting rod is used to drive the first hinge to descend.

[0015] According to at least one embodiment of the lifting device of the present disclosure, the first hinge is provided with a first groove structure, and the lower end of the lifting rod can slide horizontally within the first groove structure.

[0016] According to at least one embodiment of the lifting device of this disclosure, a second groove structure is formed on the second hinge, the lower end of the transition member is hinged to one end of the third connecting rod, and the upper end of the transition member can slide horizontally within the second groove structure.

[0017] The lifting device according to at least one embodiment of the present disclosure further includes:

[0018] An elastic component, one end of which is disposed on the second hinge and the other end of which is disposed on the first connecting rod, wherein the elastic component is in a stretched state.

[0019] According to another aspect of this disclosure, a cleaning robot is provided, which includes the lifting device described above.

[0020] According to at least one embodiment of the cleaning robot of the present disclosure, the cleaning robot further includes a roller brush device, and the lifting device is used to lift the roller brush device of the cleaning robot.

[0021] According to at least one embodiment of the cleaning robot of the present disclosure, the roller brush device includes a housing component having a receiving groove formed thereon, and the other end of the third link is inserted into the receiving groove.

[0022] According to at least one embodiment of the cleaning robot of the present disclosure, the cleaning robot further includes a lever assembly for limiting the position of the lifting top rod of the lifting device.

[0023] According to at least one embodiment of the cleaning robot disclosed herein, when the lever assembly is in the position of dragging the cleaning robot, the lifting top rod is at its maximum position in the upward direction; when the lever assembly is housed within the housing of the cleaning robot, the lifting top rod is at its maximum position in the downward direction. Attached Figure Description

[0024] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0025] Figure 1 This is a structural schematic diagram of a cleaning robot according to one embodiment of the present disclosure.

[0026] Figure 2 This is a structural schematic diagram of a cleaning robot according to one embodiment of the present disclosure from another angle.

[0027] Figure 3 This is a schematic diagram of the structure of a side brush device according to one embodiment of the present disclosure.

[0028] Figure 4 This is an exploded structural diagram of a side brush device according to one embodiment of the present disclosure.

[0029] Figure 5 This is a cross-sectional structural schematic diagram (lowered state) of a side brush device according to one embodiment of the present disclosure.

[0030] Figure 6 This is a cross-sectional structural schematic diagram (raised state) of a side brush device according to one embodiment of the present disclosure.

[0031] Figure 7 This is a cross-sectional structural diagram (disassembled state) of a side brush device according to one embodiment of the present disclosure.

[0032] Figure 8 This is a cross-sectional structural diagram (assembled state) of a side brush device according to one embodiment of the present disclosure.

[0033] Figure 9 This is a schematic diagram illustrating the interaction between the unlock button and the adapter according to one embodiment of this disclosure.

[0034] Figure 10 This is a structural schematic diagram from another angle illustrating the cooperation relationship between the unlock button and the adapter according to one embodiment of the present disclosure.

[0035] Figure 11 This is a schematic diagram of the structure of a roller brush device according to one embodiment of the present disclosure.

[0036] Figure 12 This is a structural schematic diagram of a roller brush device according to one embodiment of the present disclosure from another angle.

[0037] Figure 13 This is a schematic diagram of the structure of the first drive device and the second drive device of the roller brush device according to one embodiment of the present disclosure.

[0038] Figure 14 This is a partial structural schematic diagram of a first driving device according to one embodiment of the present disclosure.

[0039] Figure 15 This is a structural schematic diagram of a portion of the first drive device according to one embodiment of the present disclosure from another angle.

[0040] Figure 16 This is a cross-sectional structural schematic diagram of a portion of the structure of a roller brush device according to one embodiment of the present disclosure.

[0041] Figure 17This is a schematic diagram of the structure of a first roller brush assembly according to one embodiment of the present disclosure.

[0042] Figure 18 This is a structural schematic diagram of a lifting device according to one embodiment of the present disclosure.

[0043] Figure 19 This is a structural schematic diagram of the lifting device according to one embodiment of the present disclosure from another angle.

[0044] Figure 20 This is a schematic diagram of a lifting device according to one embodiment of the present disclosure.

[0045] Figure 21 This is a schematic diagram of a roller brush device in a lowered state according to one embodiment of the present disclosure.

[0046] Figure 22 This is a schematic diagram of a roller brush device in a raised state according to one embodiment of the present disclosure.

[0047] The specific labels in the attached figures are as follows:

[0048] 100 chassis

[0049] 200 Side Brush Device

[0050] 210 drive motor

[0051] 220 Lifting Flange

[0052] 230 adapter

[0053] 231 Guide groove

[0054] 232 Mounting Groove

[0055] 240 Side Brush Components

[0056] 241 Limiting Groove

[0057] 242 snap-fit ​​protrusion

[0058] 250 limit screw

[0059] 260 First Spring

[0060] 270 Unlock button

[0061] 271 Guide protrusion

[0062] 280 Second Spring

[0063] 300 roller brush device

[0064] 310 Housing components

[0065] 320 First Roller Brush Assembly

[0066] 321 First cylindrical component

[0067] 322 First brush bar

[0068] 323 First bristle row

[0069] 324 First Fixing Part

[0070] 325 First Support Section

[0071] 326 First drive shaft

[0072] 330 Second Roller Brush Assembly

[0073] 331 Second cylinder component

[0074] 332 Second refresh bar

[0075] 333 Second bristle row

[0076] 340 First Drive Unit

[0077] 341 First Motor

[0078] 342 First drive disk

[0079] 350 Second Drive Unit

[0080] 351 Second Motor

[0081] 400 steering wheel

[0082] 500 walking wheels

[0083] 600 lifting device

[0084] 610 Fixture

[0085] 620 First Link

[0086] 630 Second Link

[0087] 640 First hinge

[0088] 641 First slot structure

[0089] 650 Second Hinge

[0090] 651 Second slot structure

[0091] 660 Transition Part

[0092] 670 Third Link

[0093] 680 fastener

[0094] 690 Elastic Components

[0095] 695 Lifting rod

[0096] 700 tie rod assembly

[0097] 800 casing. Detailed Implementation

[0098] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0099] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0100] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0101] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0102] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0103] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0104] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0105] Figure 1 This is a structural schematic diagram of a cleaning robot according to one embodiment of the present disclosure. Figure 2 This is a structural schematic diagram of a cleaning robot according to one embodiment of the present disclosure from another angle.

[0106] like Figure 1 and Figure 2 As shown, the cleaning robot disclosed herein can be a self-moving cleaning robot; as an example, the self-moving cleaning robot can be a sweeping robot, a mopping robot, a self-moving surface cleaning robot, or a sweeping and mopping robot, etc. The self-moving cleaning robot is capable of performing autonomous cleaning maneuvers, that is, the cleaning robot can autonomously move on the surface to be cleaned to clean the surface by absorbing particles located on different parts of the surface.

[0107] by Figure 1 and Figure 2 Taking the self-moving surface cleaning robot shown as an example, with the robot's forward direction denoted as "forward," refer to... Figure 2 In the view orientation, the cleaning robot's forward direction is upward to one side. The direction away from the cleaning robot's forward direction is backward. (Refer to...) Figure 2 In the view orientation, the rear of the cleaning robot refers to the side below it. Correspondingly, the direction perpendicular to the front-back direction can be defined as the left-right direction.

[0108] The cleaning robot may include a chassis 100, which can be formed as the body of the cleaning robot; the bottom of the chassis 100 is provided with steering wheels 400 and walking wheels 500, the steering wheels 400 are used to control the direction of travel of the cleaning robot, and the walking wheels 500 are used to drive the cleaning robot forward.

[0109] like Figure 2 As shown, the present disclosure provides two walking wheels 500, located approximately at the center of the chassis 100 in the front-rear direction and on both sides of the chassis 100 in the left-right direction. Furthermore, three steering wheels 400 are provided, which can be omnidirectional wheels. One steering wheel 400 is positioned at the center of the cleaning robot in the left-right direction, near the front end of the cleaning robot. The remaining two steering wheels 400 are positioned at the rear end of the cleaning robot, with one on each of the left and right ends.

[0110] In actual use, the walking wheels 500 can be driven and rotated. By controlling the walking wheels 500 to rotate at a constant speed, the cleaning robot can move forward. Correspondingly, by controlling the walking wheels 500 to rotate at unequal speeds, the cleaning robot can be controlled to turn.

[0111] In this disclosure, the chassis 100 is also provided with a side brush device 200, wherein the side brush device 200 can be configured as one or two; Figure 2 In the implementation shown, two side brush devices 200 are provided, which are located on the left and right sides of the front end of the chassis 100; thus, by rotating the side brush devices 200, the dirt on the surface to be cleaned can be disturbed and the surface to be cleaned can be cleaned.

[0112] In addition, a roller brush device 300 is provided on the chassis 100. The roller brush device 300 is located at the middle position in the front-rear direction of the chassis 100, and its length direction is the width direction of the chassis 100. Figure 2The specific structure of the roller brush device 300 is shown. The rotation axis of the roller brush device is parallel to the surface to be cleaned. When the roller brush device 300 rotates, it can clean the surface to be cleaned. Thus, the rotating roller brush of the roller brush device 300 can disturb the dirt on the surface to be cleaned. This dirt can be sucked into the dust box or other device by negative pressure adsorption, and the solid particles are separated in the dust box or other device, thereby realizing the cleaning operation of the surface to be cleaned.

[0113] Figure 3 This is a schematic diagram of the structure of a side brush device 200 according to one embodiment of the present disclosure. Figure 4 This is an exploded structural diagram of a side brush device 200 according to one embodiment of the present disclosure.

[0114] like Figure 3 and Figure 4 As shown, the side brush device 200 of this disclosure may include structures such as a drive motor 210, a lifting flange 220, an adapter 230, and a side brush assembly 240.

[0115] The drive motor 210 disclosed herein is arranged generally vertically, and the body of the drive motor 210 can be directly or indirectly fixed to the chassis 100 of the cleaning robot, and the output shaft of the drive motor 210 can rotate freely.

[0116] Figure 5 This is a cross-sectional structural schematic diagram (lowered state) of a side brush device according to one embodiment of the present disclosure. Figure 6 This is a cross-sectional structural schematic diagram (raised state) of a side brush device according to one embodiment of the present disclosure.

[0117] like Figure 5 and Figure 6 As shown, the lifting flange 220 is slidably mounted on the drive motor 210 and driven to rotate by the drive motor 210. Specifically, the lifting flange 220 is formed into a cylindrical structure, and a through hole is provided on the lifting flange 220. The through hole is a non-circular hole, wherein the axis of the through hole coincides with the axis of the lifting flange 220. Correspondingly, the output shaft of the drive motor 210 is adapted to the shape of the lifting flange 220, so that the lifting flange 220 can slide along the output shaft of the drive motor 210 and can also be driven to rotate by the drive motor 210.

[0118] The adapter 230 is connected to the lifting flange 220 to rotate and move up and down with the lifting flange 220; in this disclosure, the adapter 230 can be connected to the lifting flange 220 by fasteners such as screws.

[0119] More specifically, the output shaft of the drive motor 210 has a threaded hole, and the threaded section of the limit screw 250 is screwed into the threaded hole, limiting the maximum downward position of the lifting flange 220 by the screw head of the limit screw 250. That is, with the position of the drive motor 210 unchanged, the maximum upward position of the lifting flange 220 can be limited by the first spring 260, and the maximum downward position of the lifting flange 220 can be limited by the limit screw 250.

[0120] A first spring 260 is provided between the upper surface of the lifting flange 220 and the drive motor 210. The first spring 260 is always in a pre-compressed state, so that the side brush assembly 240 can make pressure contact with the ground.

[0121] Figure 7 This is a cross-sectional structural diagram (disassembled state) of a side brush device according to one embodiment of the present disclosure. Figure 8 This is a cross-sectional structural diagram (assembled state) of a side brush device according to one embodiment of the present disclosure. Figure 9 This is a schematic diagram illustrating the interaction between the unlock button and the adapter according to one embodiment of this disclosure. Figure 10 This is a structural schematic diagram from another angle illustrating the cooperation relationship between the unlock button and the adapter according to one embodiment of the present disclosure.

[0122] like Figures 7 to 10 As shown, the side brush device 200 of this disclosure further includes: an unlocking button 270, which restricts the rotation of the side brush assembly 240 relative to the adapter 230; the adapter 230 restricts the movement of the side brush assembly 240 relative to the adapter 230 along the axial direction (i.e., the vertical direction) of the adapter 230. A second spring 280 is provided between the unlocking button 270 and the lifting flange 220. The second spring 280 is in a pre-compressed state, so that the elastic force of the second spring 280 can cause the unlocking button 270 to tend to remain in the second position.

[0123] The unlock button 270 is configured to move along the axial direction of the adapter 230, but cannot rotate relative to the adapter 230. Specifically, the adapter 230 is provided with a guide groove 231, and the unlock button 270 includes a guide protrusion 271, which is slidably disposed within the guide groove 231.

[0124] When the unlock button 270 moves along the axial direction of the adapter 230, the unlock button 270 includes a first position and a second position, wherein the first position is higher than the second position; when the unlock button 270 is in the first position, the side brush assembly 240 is allowed to rotate relative to the adapter 230; when the unlock button 270 is in the second position, the side brush assembly 240 is not allowed to rotate relative to the adapter 230.

[0125] Specifically, the side brush assembly 240 includes a limiting groove 241. When the unlock button is in the second position, the guide protrusion 271 can be located in the limiting groove 241. Thus, the unlock button 270 can act as a force transmission element, causing the adapter 230, the unlock button 270, and the side brush assembly 240 to rotate synchronously.

[0126] In this disclosure, the adapter 230 includes a mounting groove 232, and the side brush assembly 240 includes a snap-fit ​​protrusion 242 disposed within the mounting groove 232. A side wall (e.g., bottom wall or top wall) of the snap-fit ​​protrusion 242 can engage with a side wall (e.g., top wall or bottom wall) of the mounting groove 232 to restrict the movement of the side brush assembly 240 relative to the adapter 230.

[0127] Therefore, when the side brush device of this disclosure encounters obstacles or relatively high carpets during use, the side brush device can be raised a certain distance, so that the bristles of the side brush device will not cause a large interference with the ground, reducing the wear and curl of the bristles and thus improving the reliability and lifespan of the entire side brush; at the same time, the side brush device of this disclosure can also protect the carpet after being raised.

[0128] When replacing the side brush, the unlock button 270 can be pressed to the first position. At this time, the side brush assembly can be rotated to remove the side brush. When installing a new side brush, the side brush assembly can be rotated so that the unlock button 270 falls into the side brush assembly, thereby restricting the rotational freedom of the side brush assembly.

[0129] Figure 11 This is a schematic diagram of the structure of a roller brush device 300 according to one embodiment of the present disclosure. Figure 12 This is a structural schematic diagram of a roller brush device 300 according to one embodiment of the present disclosure from another angle. Figure 13 This is a schematic diagram of the structure of the first drive device 340 and the second drive device 350 of the roller brush device 300 according to one embodiment of the present disclosure. Figure 14 This is a partial structural schematic diagram of a first drive device 340 according to one embodiment of the present disclosure. Figure 15 This is a structural schematic diagram of a portion of the first drive device 340 according to one embodiment of the present disclosure from another angle. Figure 16 This is a cross-sectional structural schematic diagram of a portion of the structure of a roller brush device 300 according to one embodiment of the present disclosure. Figure 17 This is a schematic diagram of the structure of a first roller brush assembly 320 according to one embodiment of the present disclosure.

[0130] like Figures 11 to 17As shown, the roller brush device 300 of this disclosure may include a housing component 310, a first roller brush assembly 320, a second roller brush assembly 330, a first drive device 340, and a second drive device 350.

[0131] The housing component 310 is rotatably connected to the chassis 100 of the cleaning robot. Specifically, the pivot axis of the housing component 310 relative to the chassis 100 is a horizontal straight line in the left-right direction. As a result, the roller brush device 300 of this disclosure can generate a certain swinging motion. This swinging motion will cause the roller brush device 300 to rise from the position in contact with the surface to be cleaned to the position separated from the surface to be cleaned. In the opposite working process, the swinging motion in the opposite direction will cause the roller brush device 300 to fall from the position separated from the surface to the position in contact with the surface to be cleaned.

[0132] In one embodiment, the housing component 310 includes an opening and a vacuum suction port, wherein the opening is formed as a downward-facing hole structure; the vacuum suction port is formed on the sidewall of the housing component 310. The opening and vacuum suction port are common structures in the art, and will not be described in detail herein.

[0133] The first roller brush assembly 320 is rotatably disposed on the housing component 310, and at least a portion of the first roller brush assembly 320 passes through the opening and is located below the housing component 310; in a preferred embodiment, the first roller brush assembly 320 has a first axis, which is a horizontal straight line in the left-right direction.

[0134] The second roller brush assembly 330 is rotatably disposed on the housing component 310, and at least a portion of the second roller brush assembly 330 passes through the opening and is located below the housing component 310, with the free end of the first roller brush assembly 320 and the free end of the second roller brush assembly 330 spaced apart.

[0135] More preferably, the second roller brush assembly 330 has a second axis, which is a horizontal straight line in the left-right direction, and in this case, the first axis can coincide with the second axis.

[0136] Of course, the first axis and the second axis of this disclosure may not coincide. For example, the first axis and the second axis are both set at an angle to the horizontal straight line in the left and right direction, that is, the first roller brush assembly and the second roller brush assembly are both set at an angle.

[0137] In other words, the roller brush device 300 disclosed herein, by providing two independent roller brush assemblies, allows hair to be wound around the roller brush assembly, move along the roller brush assembly, detach from the roller brush assembly at the gap between the two roller brush assemblies, and be sucked in by the vacuum suction port.

[0138] A first driving device 340 is disposed on the housing component 310 and is used to drive the first roller brush assembly 320 to rotate; a second driving device 350 is disposed on the housing component 310 and is used to drive the second roller brush assembly 330 to rotate, wherein the first roller brush assembly 320 and the second roller brush assembly 330 have the same rotation direction.

[0139] In one specific embodiment, the first driving device 340 may include a first motor 341 and a first driving disk 342 that is driveably connected to the first motor 341. In a preferred embodiment, the first motor 341 may be driveably connected to the first driving disk 342 via a synchronous belt drive mechanism. In this case, the first motor 341 may be directly or indirectly fixed to the housing component 310, and the first driving disk 342 may be directly or indirectly rotatably disposed on the housing component 310.

[0140] Similarly, the second drive device 350 may include a second motor 351 and a second drive disk that is driveably connected to the second motor 351. In a preferred embodiment, the second motor 351 may be driveably connected to the second drive disk via a synchronous belt drive mechanism. In this case, the second motor 351 may be directly or indirectly fixed to the housing component 310, and the second drive disk may be directly or indirectly rotatably disposed on the housing component 310.

[0141] In one specific embodiment, the first roller brush assembly 320 includes: a first cylindrical component 321, a first brush bar 322, and a first bristle array 323; the first cylindrical component 321 is driven by a first driving device 340 to be rotatable; the first brush bar 322 is disposed on the outer surface of the first cylindrical component 321 and is spirally arranged along the outer surface of the first cylindrical component 321; the first bristle array 323 is disposed on the outer surface of the first cylindrical component 321 and is spirally arranged along the outer surface of the first cylindrical component 321.

[0142] More preferably, the first roller brush assembly 320 further includes: a first fixing part 324, a first support part 325, and a first drive shaft 326; the first fixing part 324 is detachably disposed on the housing part 310; the first support part 325 is fixed to the first fixing part 324, and the first support part 325 has a central hole; wherein, the first cylinder part 321 is rotatably disposed on the first support part 325 through a bearing; one end of the first drive shaft 326 is connected to the first drive device 340 for transmission, and the other end of the first drive shaft 326 is fixedly connected to the first cylinder part 321.

[0143] At this time, the first drive shaft 326 can be connected to the first drive disk 342 so that the first motor 341 can drive the first drive shaft 326 to rotate.

[0144] In a preferred embodiment, a labyrinth seal is formed between one end of the first cylindrical component 321 and the first fixing part 324, and the other end of the first cylindrical component 321 is formed as the free end of the first roller brush assembly 320, thereby preventing dust and other particles from entering the bearing location.

[0145] In this disclosure, the number of first brush strips 322 and the number of first bristle rows 323 are different. For example, the number of first brush strips 322 can be set to three, and the number of first bristle rows 323 can be set to two.

[0146] Similar in structure to the first roller brush assembly 320, the second roller brush assembly 330 of this disclosure includes: a second cylindrical component 331, a second brush bar 332, and a second bristle row 333; the second cylindrical component 331 is driven by a second driving device 350 to be rotatable; the second brush bar 332 is disposed on the outer surface of the second cylindrical component 331 and is spirally arranged along the outer surface of the second cylindrical component 331; the second bristle row 333 is disposed on the outer surface of the second cylindrical component 331 and is spirally arranged along the outer surface of the second cylindrical component 331, wherein the spiral directions of the second brush bar 332 and the second bristle row 333 are the same, the spiral directions of the first brush bar 322 and the first bristle row 323 are the same, and the spiral directions of the second brush bar 332 and the first brush bar 322 are opposite.

[0147] The second roller brush assembly 330 further includes: a second fixing part, a second support part, and a second drive shaft; the second fixing part is detachably disposed on the housing part 310; the second support part is fixed to the second fixing part, and the second support part has a central hole; wherein, the second cylinder part 331 is rotatably disposed on the second support part through a bearing; one end of the second drive shaft is connected to the second drive device 350 for transmission, and the other end of the second drive shaft is fixedly connected to the second cylinder part 331.

[0148] The second fixing part, the second support part, and the second drive shaft of the second roller brush assembly 330 disclosed herein have the same structure as those of the first roller brush assembly 320, and their structures will not be shown in the accompanying drawings in this disclosure.

[0149] Similar to the first roller brush assembly 320, a labyrinth seal is formed between one end of the second cylindrical component 331 and the second fixed part, and the other end of the second cylindrical component 331 is formed as the free end of the second roller brush assembly 330.

[0150] The number of second brush strips 332 and the number of second bristle rows 333 are different. For example, the number of second brush strips 332 can be set to three, and the number of second bristle rows 333 can be set to two.

[0151] In a preferred embodiment, the gap between the first roller brush assembly and the second roller brush assembly of this disclosure is set at the middle position of the vacuum suction port, that is, the first roller brush assembly and the second roller brush assembly of this disclosure can be arranged symmetrically.

[0152] Figure 18 This is a structural schematic diagram of a lifting device 600 according to one embodiment of the present disclosure. Figure 19 This is a structural schematic diagram of the lifting device 600 according to one embodiment of the present disclosure from another angle. Figure 20 This is a schematic diagram of a lifting device 600 according to one embodiment of the present disclosure. Figure 21 This is a schematic diagram of the roller brush device 300 in a lowered state according to one embodiment of the present disclosure. Figure 22 This is a schematic diagram of the roller brush device 300 in a raised state according to one embodiment of the present disclosure.

[0153] like Figures 18 to 22 As shown, the lifting device 600 of this disclosure is used to lift the roller brush device 300 of the cleaning robot. A receiving groove is formed on the housing component 310 of the roller brush device 300, and the other end of the third link 670 is inserted into the receiving groove.

[0154] Specifically, the lifting device 600 disclosed herein includes: a fixed base 610, a first connecting rod 620, a second connecting rod 630, a first hinge 640, a second hinge 650, a transition piece 660, and a third connecting rod 670, etc.

[0155] The fixed base 610 of this disclosure can be directly or indirectly fixed to the chassis 100 of the cleaning robot; the middle part of the first link 620 is hinged to the fixed base 610 (the pivot axis is a horizontal straight line in the left and right direction); the middle part of the second link 630 is also hinged to the fixed base 610 (the pivot axis is a horizontal straight line in the left and right direction); thus, the first link 620 and the second link 630 of this disclosure can be formed into a parallel link structure.

[0156] One end of the first link 620 and the second link 630 are both hinged to the first hinge 640; the other end of the second link 630 of the first link 620 is hinged to the second hinge 650; thus, when the first hinge 640 is driven to descend, the second hinge 650 will generate an upward movement.

[0157] The transition member 660 can be driven by the second hinge 650 and move downward; that is, the transition member 660 of this disclosure can transmit the downward movement of the second hinge 650 to the third link 670.

[0158] One end of the third link 670 is hinged to the transition member 660, and the middle part of the third link 670 is hinged to the fixing member 680 (the pivot axis is a horizontal straight line in the left-right direction). In this disclosure, the fixing member 680 can be directly or indirectly fixed to the chassis 100.

[0159] The lifting device 600 disclosed herein further includes a lifting rod 695, which is driven to generate movement in the vertical direction; wherein the lifting rod 695 is used to drive the first hinge 640 to descend.

[0160] Specifically, the lifting rod 695 of this disclosure can be guided directly or indirectly by a guide device mounted on the chassis 100, and can generate vertical movement. The downward movement of the lifting rod 695 is driven by the lever assembly 700 described below. In other words, the cleaning robot also includes the lever assembly 700, which is used to drive the lifting rod 695 of the lifting device 600 to descend.

[0161] Specifically, this disclosure can be in a storage state and a working state, wherein, for example... Figure 21 As shown, the pull rod assembly 700 is in the retracted state, at which point the cleaning robot can be in working mode, meaning the cleaning robot can clean the surface to be cleaned. Figure 22 As shown, the lever assembly 700 is in the working state, and the cleaning robot can be dragged by operating the lever assembly 700. At this time, the cleaning robot is in the non-working state.

[0162] See again Figure 21 and Figure 22 When the pull rod assembly 700 is in the position of dragging the cleaning robot, the lifting rod 695 is at its maximum upward position; the upward movement of the lifting rod 695 can be achieved by the restoring force of the elastic member 690. When the pull rod assembly 700 is housed inside the outer shell 800 of the cleaning robot, the lifting rod 695 is at its maximum downward position, and the downward movement of the lifting rod 695 can be driven by the rotation of the pull rod assembly 700. The outer shell 800 can be fixed to the chassis 100.

[0163] At this time, as Figure 21 As shown, when the lifting rod 695 is at its maximum upward position, the roller brush device 300 is in a lowered state. In this lowered state, at least a portion of the roller brush device 300 can contact the surface to be cleaned and clean it. Conversely, when the lifting rod 695 is at its maximum downward position, the roller brush device 300 is in a raised state, at which point it will rise to a position away from the surface to be cleaned.

[0164] In one embodiment, the lifting device 600 further includes an elastic member 690, one end of which is disposed on the second hinge 650 and the other end of which is disposed on the first connecting rod 620, wherein the elastic member 690 is in a stretched state. That is, when the lifting rod 695 moves downward, the elastic member 690 (spring) is further stretched and stores energy. When the pull rod assembly 700 allows the lifting rod 695 to rise, the energy stored in the elastic member 690 is released, causing the entire lifting device to move.

[0165] The first hinge 640 is provided with a first groove structure 641, and the lower end of the lifting rod 695 can slide horizontally (front-back direction) within the first groove structure 641. Similarly, a second groove structure 651 is formed on the second hinge 650, the lower end of the transition member 660 is hinged to one end of the third connecting rod 670, and the upper end of the transition member 660 can slide horizontally (front-back direction) within the second groove structure 651.

[0166] The lifting device disclosed herein achieves the raising and lowering of the roller brush device through a mechanical structure during use, occupying little space and at low cost; moreover, it does not require electric control and is simple to operate. This mechanical structure boasts high reliability and a long lifespan. Consequently, when the cleaning robot of this disclosure is handling and pushing for mapping, the roller brush device will not contact the ground, solving the technical problem in the prior art where roller brush contact with the ground increases frictional force on the ground, thus affecting the user experience.

[0167] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0168] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0169] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A lifting device, characterized in that, include: Fixed base; The first link, the middle part of which is hinged to the fixed seat; The second link, the middle part of which is hinged to the fixed base; The first hinge, one end of the first link and one end of the second link are both hinged to the first hinge. The second hinge, the other end of the second link of the first link is hinged to the second hinge; A transition element, which can be driven by the second hinge and move downward; The third link has one end hinged to a transition member and the middle part hinged to a fixing member.

2. The lifting device according to claim 1, characterized in that, Also includes: A lifting rod is driven to produce vertical movement; wherein the lifting rod is used to drive the first hinge to descend.

3. The lifting device according to claim 2, characterized in that, The first hinge is provided with a first groove structure, and the lower end of the lifting rod can slide horizontally within the first groove structure.

4. The lifting device according to claim 1, characterized in that, The second hinge has a second groove structure, the lower end of the transition member is hinged to one end of the third connecting rod, and the upper end of the transition member can slide horizontally within the second groove structure.

5. The lifting device according to claim 1, characterized in that, Also includes: An elastic component, one end of which is disposed on the second hinge and the other end of which is disposed on the first connecting rod, wherein the elastic component is in a stretched state.

6. A cleaning robot, characterized in that, The lifting device includes any one of claims 1-5.

7. The cleaning robot according to claim 6, characterized in that, The cleaning robot also includes a roller brush device, and the lifting device is used to lift the roller brush device of the cleaning robot.

8. The cleaning robot according to claim 7, characterized in that, The roller brush device includes a housing component with a receiving groove formed thereon, and the other end of the third connecting rod is inserted into the receiving groove.

9. The cleaning robot according to claim 7, characterized in that, The cleaning robot also includes a lever assembly for limiting the position of the lifting top rod of the lifting device.

10. The cleaning robot according to claim 9, characterized in that, When the pull rod assembly is in the position of dragging the cleaning robot, the lifting rod is at its maximum upward position; when the pull rod assembly is housed inside the cleaning robot's housing, the lifting rod is at its maximum downward position.

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