Stair climbing device and cleaning system

Abstract

The utility model relates to the technical field of self-moving devices, in particular to a stair climbing device and a cleaning system. The stair climbing device comprises a lifting assembly, a bearing platform and a supporting assembly, the lifting assembly comprises a supporting piece, a lifting piece and a lifting mechanism, the supporting piece and the lifting piece are both connected with the lifting mechanism, and the lifting mechanism is configured to drive the lifting piece to ascend relative to the supporting piece in the first direction; the lifting mechanism is further configured to drive the supporting piece to ascend in the first direction relative to the lifting piece. The bearing platform is in sliding connection with the lifting part and can slide in the second direction relative to the lifting part, and the first direction intersects with the second direction; the supporting assembly is connected with the lifting assembly, the supporting assembly is configured to extend and retract in the first direction so as to support the bearing platform, the stair climbing device can be prevented from falling off the steps, and the stair climbing device can stably climb the steps.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving devices, in particular to a stair climbing device and a cleaning system. BACKGROUND

[0002] A self-moving device refers to a device that can move and work automatically without manual control in a working area. With the increasing development of science and technology, more and more self-moving devices appear in people's daily life. Stairs are a common obstacle in daily life, and a stair climbing device with the function of climbing stairs has a wide range of applications in daily life.

[0003] In the related art, due to the narrowness of the stairs, some stair climbing devices are suspended on the steps of the stairs, which makes the stair climbing device prone to falling off the steps, and is not conducive to the stable climbing of the stair climbing device on the steps. CONTENT OF THE INVENTION

[0004] The purpose of the embodiments of the present application is to provide a stair climbing device and a cleaning system, which aims to solve the technical problem that the stair climbing device cannot stably climb the steps.

[0005] To achieve the above purpose, the technical solution adopted by the first aspect of the embodiments of the present application is: a stair climbing device, comprising a lifting assembly, a bearing platform and a supporting assembly.

[0006] The lifting assembly comprises a support, a lifting piece and a lifting mechanism, the support and the lifting piece are connected with the lifting mechanism, the lifting mechanism is configured to drive the lifting piece to ascend relative to the support along a first direction, and the lifting mechanism is also configured to drive the support to ascend relative to the lifting piece along the first direction; the bearing platform is in sliding connection with the lifting piece, and the bearing platform can slide relative to the lifting piece along a second direction, the first direction intersects with the second direction; the supporting assembly is connected with the lifting assembly, and the supporting assembly is configured to be able to extend and retract along the first direction to support the bearing platform.

[0007] The device has the beneficial effects that the lifting mechanism can drive the lifting member and the bearing platform to ascend relative to the support member along the first direction; the bearing platform can slide relative to the lifting member along the second direction, so that the bearing platform can move to the step relative to the lifting member, thereby realizing the bearing platform to climb one step. The lifting mechanism can also drive the support member to ascend relative to the lifting member along the first direction; the lifting member can slide relative to the bearing platform along the second direction, so that the lifting mechanism can move to the step, thereby realizing the lifting assembly to climb one step. Since the support assembly is configured to extend and retract along the first direction, the support assembly is in contact with the ground by extending, and the support assembly supports the bearing platform through the connection between the support assembly and the lifting assembly and the connection between the lifting assembly and the bearing platform, so that the support assembly can extend and support the bearing platform when the support member ascends relative to the lifting member along the first direction, to prevent the device from leaning backward and falling off the step due to the center of gravity rising during the lifting of the lifting assembly, and to facilitate the device to stably climb the step.

[0008] In some embodiments, the lifting mechanism comprises a first driving assembly, and a first driving rod and a second driving rod rotationally connected, the first driving rod has a first end and a second end located on both sides of the rotation axis of the first driving rod and the second driving rod, the second driving rod has a third end and a fourth end located on both sides of the rotation axis of the first driving rod and the second driving rod;

[0009] The first end is slidingly and rotationally connected with one of the support member and the lifting member, and the second end is rotationally connected with the other of the support member and the lifting member, and the first driving assembly is used to drive the first end to slide and rotate along a third direction, and the third direction intersects the first direction;

[0010] The third end is slidingly and rotationally connected with one of the support member and the lifting member along the third direction, and the fourth end is rotationally connected with the other of the support member and the lifting member.

[0011] In some embodiments, in the state that the distance between the support member and the lifting member is the smallest,

[0012] The position where the second end is rotationally connected with the other of the support member and the lifting member, and the position where the third end is slidingly and rotationally connected with one of the support member and the lifting member along the third direction, are respectively located at two ends of the lifting assembly in the second direction.

[0013] The position where the second end is rotationally connected to the other one of the support member and the lifting member, and the position where the third end is rotationally connected to one of the support member and the lifting member along the third direction, are respectively located at two ends of the lifting assembly in the second direction.

[0014] In some embodiments, the first driving assembly comprises a first slider and a first driving member, the first slider is slidably arranged on one of the support member and the lifting member, the first end is rotationally connected to the first slider, and the first driving member is configured to drive the first slider to slide along the third direction.

[0015] In some embodiments, the lifting mechanism further comprises a second slider, the second slider is slidably arranged on one of the support member and the lifting member, and the third end is rotationally connected to the second slider.

[0016] In some embodiments, the support assembly is provided with a rolling member, an axis of rotation of the rolling member is perpendicular to the second direction, and at least part of an outer surface of the rolling member protrudes from the support assembly in a direction opposite to the first direction.

[0017] In some embodiments, the support assembly comprises a first telescopic member, a second telescopic member, and a second driving assembly, the first telescopic member is connected to the support member, the first telescopic member and the second telescopic member are slidably connected, and the second driving assembly is configured to drive the first telescopic member to ascend along the first direction relative to the second telescopic member when the support member ascends along the first direction relative to the lifting member.

[0018] In some embodiments, the second driving assembly comprises a second driving member and a third slider, the third slider is connected to the second telescopic member, and the second driving member is configured to drive the third slider to slide along the first direction relative to the first telescopic member.

[0019] In some embodiments, the support assembly further comprises a third telescopic member, the third telescopic member is slidably connected to the second telescopic member, and the second driving assembly is configured to drive the second telescopic member to ascend along the first direction relative to the third telescopic member when the support member ascends along the first direction relative to the lifting member.

[0020] In some embodiments, the second driving assembly comprises a first gear, a second gear and a transmission member, the first gear and the second gear are arranged at two ends of the second telescopic member in the first direction, and the rotation axes of the first gear and the second gear are perpendicular to the first direction, the first gear and the second gear are synchronously rotated through the transmission member; the first telescopic member is provided with a first rack, the first gear is engaged with the first rack, and the third telescopic member is provided with a second rack, the second gear is engaged with the second rack.

[0021] In some embodiments, the stair climbing device further comprises a moving assembly, the moving assembly is arranged on the lifting assembly and / or the carrying platform, and the moving assembly is configured to drive the lifting assembly, the carrying platform and the supporting assembly to move.

[0022] In some embodiments, the moving assembly comprises a first moving assembly and a second moving assembly.

[0023] The first moving assembly is arranged on the carrying platform or the lifting assembly, and the first moving assembly is used to drive the carrying platform, the lifting assembly and the supporting assembly to move in a fourth direction.

[0024] The second moving assembly is arranged on the carrying platform or the lifting assembly, and the second moving assembly is used to drive the carrying platform, the lifting assembly and the supporting assembly to move in a fifth direction.

[0025] The fourth direction and the fifth direction intersect.

[0026] To achieve the above object, a technical solution adopted by the second aspect of the present application is a cleaning system comprising a cleaning device and the stair climbing device of the first aspect of the present application, and the stair climbing device is configured to carry the cleaning device.

[0027] The cleaning system provided by the second aspect of the present application has the beneficial effect that the stair climbing device can carry the cleaning device to climb stairs, can transport the cleaning device to the stairs, and can make the cleaning device clean the stairs; and can also transport the cleaning device to an upper floor, and can make the cleaning device clean the ground, the table top and the like on the upper floor. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 is a structural schematic view of the stair climbing device in one embodiment of the present application;

[0030] Figure 2 is Figure 1 is a structural schematic view of the stair climbing device in one embodiment of the present application;

[0031] Figure 3 is Figure 1 is a structural schematic view of the stair climbing device in one embodiment of the present application;

[0032] Figure 4 is Figure 3 is a structural schematic view of the lifting assembly in the stair climbing device in one embodiment of the present application;

[0033] Figure 5 is Figure 4 is a structural schematic view of the lifting assembly in one embodiment of the present application;

[0034] Figure 6 is Figure 3 is a structural schematic view of the support assembly in one embodiment of the present application;

[0035] Figure 7 is Figure 6 is a structural schematic view of the support assembly in one embodiment of the present application;

[0036] Figure 8 is a structural schematic view of the stair climbing device in one embodiment of the present application.

[0037] Reference signs:

[0038] 1, lifting assembly; 11, support piece; 12, lifting piece; 13, lifting mechanism; 131, first driving assembly; 1311, first sliding block; 1312, first driving piece; 13121, first motor; 13122, first screw rod; 132, first driving rod; 1321, first end; 1322, second end; 133, second driving rod; 1331, third end; 1332, fourth end; 134, second sliding block;

[0039] 2, bearing platform;

[0040] 3, support assembly; 31, first telescopic piece; 311, first rack; 32, second telescopic piece; 331, second driving piece; 3311, second motor; 3312, second screw rod; 332, third sliding block; 333, first gear; 334, second gear; 34, third telescopic piece; 341, second rack;

[0041] 4, rolling piece;

[0042] 5, moving assembly; 51, first moving assembly; 52, second moving assembly;

[0043] 61, floor of lower floor; 62, first step; 63, second step; 64, third step; 65, floor of upper floor;

[0044] 7, cleaning robot. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0046] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0047] In addition, the terms "first", "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0048] In the description of the present application, the reference "one embodiment", "some embodiments" or "embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in other embodiments" and the like appearing in the description are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. In addition, in one or more embodiments, specific features, structures or characteristics can be combined in any suitable manner.

[0049] The stair climbing process of the stair climbing device includes at least two steps. Step one: the lifting assembly drives the carrying platform to rise; then the carrying platform moves relative to the lifting assembly, so that the carrying platform moves to the step. Step two: the lifting assembly rises; then the lifting assembly moves forward relative to the carrying platform, so that the lifting assembly moves to the step, so that the stair climbing device successfully climbs a step. Repeating the above steps can make the stair climbing device climb the stairs step by step.

[0050] The process of the stair climbing device descending the stairs comprises at least the following steps: step three, moving the lifting assembly relative to the bearing platform so that the lifting assembly is moved to be suspended above the step; step four, extending the lifting assembly downward to contact the upper surface of the step; step five, moving the bearing platform relative to the lifting assembly so that the bearing platform is moved to be suspended above the step; and step six, retracting the lifting assembly. Repeating the above steps can make the stair climbing device descend the stairs step by step.

[0051] Because the stairs are narrow, i.e., the step is not enough to support the bearing platform, in steps two and three, part of the stair climbing device is suspended above the step, so that the stair climbing device is easy to fall off the step, which is not conducive to the stable climbing of the stair climbing device.

[0052] In view of the above problems, the embodiments of the present application provide a stair climbing device and a cleaning system, aiming to solve the technical problem that the stair climbing device cannot stably climb the steps.

[0053] In order to illustrate the technical solutions of the present application, the specific embodiments and drawings will be described below.

[0054] Please refer to Figure 1 , Figure 2 and Figure 3 , the embodiments of the present application provide a stair climbing device, which comprises a lifting assembly 1, a bearing platform 2 and a support assembly 3.

[0055] The lifting assembly 1 comprises a support piece 11, a lifting piece 12 and a lifting mechanism 13, the support piece 11 and the lifting piece 12 are connected with the lifting mechanism 13, the lifting mechanism 13 is configured to drive the lifting piece 12 to ascend relative to the support piece 11 along a first direction, and the lifting mechanism 13 is also configured to drive the support piece 11 to ascend relative to the lifting piece 12 along the first direction; the bearing platform 2 is slidingly connected with the lifting piece 12, and the bearing platform 2 can slide relative to the lifting piece 12 along a second direction, the first direction intersects the second direction; the support assembly 3 is connected with the lifting assembly 1, the support assembly 3 is configured to be able to extend and retract along the first direction, and the support assembly 3, by extending to a state of contacting the ground, supports the bearing platform 2 through the connection of the support assembly 3 with the lifting assembly 1 and the connection of the lifting assembly 1 with the bearing platform 2.

[0056] In general, the first direction is parallel to the vertical direction, and in the figure, the first direction is parallel to the Y direction; the second direction is parallel to the horizontal direction, and in the figure, the second direction is parallel to the X direction.

[0057] The lifting mechanism 13 is a mechanism for driving the relative movement of the support member 11 and the lifting member 12 in the first direction. When the stair climbing device is located on the ground 61 of the lower floor, the lifting mechanism 13 drives the relative movement of the support member 11 and the lifting member 12, and since the support member 11 is supported on the ground 61 of the lower floor, the position of the support member 11 in the first direction no longer changes, so the lifting member 12 will rise in the first direction relative to the support member 11. When the carrying platform 2 is located on the step, the lifting mechanism 13 drives the relative movement of the support member 11 and the lifting member 12, and since the carrying platform 2 is supported on the upper surface of the step, the position of the carrying platform 2 in the first direction no longer changes, that is, the position of the lifting member 12 connected with the carrying platform 2 in the first direction no longer changes, so the support member 11 will rise in the first direction relative to the lifting member 12.

[0058] The carrying platform 2 is a platform for carrying the sweeping robot 7, express delivery, food and other objects.

[0059] A linear drive is arranged on the carrying platform 2 and / or the lifting member 12, and the linear drive is used to drive the relative movement of the carrying platform 2 and the lifting member 12. The linear drive can be, but is not limited to, a synchronous belt type linear drive, a screw type linear drive, and a linear motor drive.

[0060] The support assembly 3 is a telescopic mechanism. During the process of the stair climbing device climbing the stairs, when the stair climbing device is located on the ground 61 of the lower floor, the support assembly 3 is also located on the ground 61 of the lower floor, and when the support member 11 rises in the first direction relative to the lifting member 12, the support assembly 3 is extended, so that the support assembly 3 can support the carrying platform 2 and the lifting assembly 1 suspended on the first step 62, so as to prevent the stair climbing device from falling off the first step 62, and facilitate the stable climbing of the stair climbing device. After the stair climbing device climbs to the last step on the stairs, the support assembly 3 is retracted, and the support assembly 3 rises to be flush with the support member 11 in the vertically downward direction, so that the support assembly 3 does not affect the movement of the stair climbing device on the ground 65 of the upper floor. During the process of the stair climbing device descending the stairs, when the stair climbing device is located on the ground 65 of the upper floor, the support assembly 3 is also located on the ground 65 of the upper floor, and before the lifting assembly 1 moves relative to the carrying platform 2 to above the second step 63, the support assembly 3 is extended, so that the support assembly 3 can support the upper surface of the second step 63, and when the lifting assembly 1 moves relative to the carrying platform 2 to above the second step 63, the support assembly 3 can support the carrying platform 2 and the lifting assembly 1 suspended on the ground 65 of the upper floor, so as to prevent the stair climbing device from falling off the ground 65 of the upper floor, and facilitate the stable descent of the stair climbing device.

[0061] In the stair climbing device provided in the first aspect of the present application, the lifting mechanism 13 can drive the lifting member 12 and the carrying platform 2 to ascend relative to the support member 11 along the first direction; the carrying platform 2 can slide relative to the lifting member 12 along the second direction, so that the carrying platform 2 can move to the step relative to the lifting member 12, thereby realizing the carrying platform 2 climbing a step. The lifting mechanism 13 can also drive the support member 11 to ascend relative to the lifting member 12 along the first direction; the lifting member 12 can slide relative to the carrying platform 2 along the second direction, so that the lifting mechanism 13 can move to the step, thereby realizing the lifting assembly 1 climbing a step. Since the support assembly 3 is configured to extend and retract along the first direction to support the carrying platform 2, the center of gravity of the stair climbing device can be prevented from changing during the lifting process of the lifting assembly 1, thereby preventing the stair climbing device from falling off the step, and the stair climbing device can stably climb the step and stably descend the stairs.

[0062] Please refer to Figure 2 and Figure 3 , for example, the stair climbing device climbs the stairs with three steps, in which the ground connected to the lower end of the stairs is the ground 61 of the lower floor, the ground connected to the upper end of the stairs is the ground 65 of the upper floor, and the three steps are the first step 62, the second step 63 and the third step 64.

[0063] The process of the stair climbing device climbing the first step 62 is as follows: the stair climbing device moves to the stairs on the ground 61 of the lower floor; the lifting mechanism 13 drives the lifting member 12 to ascend, so that the height of the lifting member 12 and the carrying platform 2 relative to the ground 61 of the lower floor is greater than or equal to the height of the first step 62 relative to the ground 61 of the lower floor; the carrying platform 2 moves forward relative to the lifting member 12, so that the carrying platform 2 moves to the first step 62; the lifting mechanism 13 drives the support member 11 to ascend, and the support assembly 3 extends, so that the end of the support assembly 3 connected to the support member 11 ascends with the support member 11, and the support assembly 3 is supported on the ground 61 of the lower floor, so that the support assembly 3 can support the support member 11; then the lifting member 12 drives the lifting mechanism 13 and the support member 11 to move forward to the first step 62, and the support assembly 3 also moves forward on the ground 61 of the lower floor under the driving of the lifting member 12, and the support assembly 3 in the unfolded state can support the support member 11 suspended on the first step 62, so as to support the lifting assembly 1 and the carrying platform 2 suspended on the first step 62.

[0064] It should be noted that the support assembly 3 remains in the unfolded state before the stair climbing device continuously climbs the steps and the stair climbing device does not climb to the ground 65 of the upper floor.

[0065] The process of the stair climbing device climbing the second step 63 is as follows: the lifting mechanism 13 drives the lifting piece 12 to ascend, so that the height of the lifting piece 12 and the carrying platform 2 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor, in this step, the support assembly 3 in the unfolded state is always supported on the ground 61 of the lower floor, and can support the support piece 11 suspended on the first step 62, preventing the support piece 11 from falling off the first step 62; then, the carrying platform 2 moves forward relative to the lifting piece 12, so that the carrying platform 2 moves to the second step 63; the lifting mechanism 13 drives the support piece 11 and the support assembly 3 in the unfolded state to ascend, so that the height of the support piece 11 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor, and the height of the support assembly 3 relative to the ground 61 of the lower floor is greater than or equal to the height of the first step 62 relative to the ground 61 of the lower floor (it should be noted that in the case where the height of the first step 62 relative to the ground 61 of the lower floor and the height of the second step 63 relative to the first step 62 are inconsistent, the support assembly 3 can be contracted or extended, so that the height of the support assembly 3 relative to the ground 61 of the lower floor is greater than or equal to the height of the first step 62 relative to the ground 61 of the lower floor); finally, the lifting piece 12 drives the lifting mechanism 13 and the support piece 11 to move forward to the second step 63, and the support assembly 3 in the unfolded state also moves forward to the first step 62 under the drive of the lifting piece 12, so that the support assembly 3 can be supported on the first step 62, so that the support assembly 3 can support the support piece 11 suspended on the second step 63, to support the lifting assembly 1 and the carrying platform 2 suspended on the second step 63.

[0066] The process of the stair climbing device climbing the third step 64 is: the lifting mechanism 13 drives the lifting piece 12 to ascend, so that the height of the lifting piece 12 and the carrying platform 2 relative to the ground 61 of the lower floor is greater than or equal to the height of the third step 64 relative to the ground 61 of the lower floor, in this step, the support assembly 3 in the unfolded state is always supported on the first step 62, and the support piece 11 suspended on the second step 63 can be supported, so as to prevent the support piece 11 from falling off the second step 63; then, the carrying platform 2 is moved forward relative to the lifting piece 12, so that the carrying platform 2 moves to the third step 64; the lifting mechanism 13 drives the support piece 11 and the support assembly 3 in the unfolded state to ascend, so that the height of the support piece 11 relative to the ground 61 of the lower floor is greater than or equal to the height of the third step 64 relative to the ground 61 of the lower floor, and the height of the support assembly 3 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor (it should be noted that in the case that the height of the second step 63 relative to the first step 62 and the height of the third step 64 relative to the second step 63 are inconsistent, the support assembly 3 can be contracted or extended, so that the height of the support assembly 3 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor); finally, the lifting piece 12 drives the lifting mechanism 13 and the support piece 11 to move forward to the third step 64, and the support assembly 3 in the unfolded state also moves forward to the second step 63 under the driving of the lifting piece 12, so that the support assembly 3 can be supported on the second step 63, so that the support assembly 3 can support the support piece 11 suspended on the third step 64, so as to support the lifting assembly 1 and the carrying platform 2 suspended on the third step 64.

[0067] Finally, the support assembly 3 is contracted, so that the height of the overall structure of the support assembly 3 is higher than or equal to the height of the third step 64, so as not to affect the movement of the stair climbing device on the ground 65 of the upper floor.

[0068] Please refer to Figure 2 and Figure 3 In some embodiments, the lifting assembly 1 is provided with multiple groups, and the multiple groups of lifting assemblies 1 are arranged at intervals. When the lifting assembly 1 drives the carrying platform 2 to ascend, the lifting pieces 12 in the multiple groups of lifting assemblies 1 ascend together relative to the support piece 11, so that the carrying platform 2 can ascend more stably. When the support piece 11 ascends relative to the lifting piece 12, the support pieces 11 in the multiple lifting assemblies 1 ascend in turn, so that the last ascending support piece 11 can support the carrying platform 2, and can prevent the carrying platform 2 from falling off the step.

[0069] Please refer to Figure 4 and Figure 5In some embodiments, the lifting mechanism 13 comprises a driving rod and a first driving assembly 131. The driving rod is drivingly connected to the support 11 and the lifting member 12 respectively; the first driving assembly 131 is drivingly connected to the driving rod, and the driving rod is configured to drive the lifting member 12 to ascend relative to the support 11 along the first direction or drive the support 11 to ascend relative to the lifting member 12 along the first direction under the driving action of the first driving assembly 131.

[0070] Please refer to Figure 4 and Figure 5 In some embodiments, the lifting mechanism comprises a first driving assembly 131 and a first driving rod 132 and a second driving rod 133 which are rotatably connected, the first driving rod 132 has a first end 1321 and a second end 1322 which are located on two sides of the rotation axis of the first driving rod 132 and the second driving rod 133; the second driving rod 133 has a third end 1331 and a fourth end 1332 which are located on two sides of the rotation axis of the first driving rod 132 and the second driving rod 133; the first end 1321 is slidingly and rotatably connected to one of the support 11 and the lifting member 12, the second end 1322 is rotatably connected to the other of the support 11 and the lifting member 12, and the first driving assembly 131 is configured to drive the first end 1321 to slide and rotate along a third direction, the third direction being transverse to the first direction; the third end 1331 is slidingly and rotatably connected to one of the support 11 and the lifting member 12 along the third direction, and the fourth end 1332 is rotatably connected to the other of the support 11 and the lifting member 12.

[0071] In the above embodiments, as the first end 1321 slides and rotates relative to one of the support 11 and the lifting member 12, the height of the first driving rod 132 in the first direction is variable, so that the distance between the support 11 and the lifting member 12 in the first direction is variable, and the support 11 and the lifting member 12 can move relative to each other in the first direction. And since the first driving rod 132 and the second driving rod 133 are rotatably connected, the second driving rod 133 can move together with the first driving rod 132 under the driving of the first driving assembly 1312, and the first driving rod 132 and the second driving rod 133 cooperate to support the lifting member 12 and the support 11, so that the lifting member 12 and the support 11 can move relative to each other more stably, thereby enhancing the structural stability of the lifting assembly 1. And in the above embodiments, the cooperation of the first driving rod 132 and the second driving rod 133 can limit the relative position of the lifting member 12 and the support 11 in the third direction, so as to prevent the lifting member 12 and the support 11 from moving relative to each other in the third direction, thereby enabling the lifting member 12 and the support 11 to move relative to each other more stably in the first direction.

[0072] Please refer to Figure 5In an embodiment, the first end 1321 is slidingly connected with the lifting member 12, the second end 1322 is rotatably connected with the support member 11, and the first end 1321 is reciprocally slidable along the third direction relative to the lifting member 12. The third end 1331 is slidingly connected with the support member 11, the fourth end 1332 is rotatably connected with the lifting member 12, and the third end 1331 is slidable along the third direction relative to the support member 11 when the first sliding block 1311 is driven by the first driving member 1312 to slide along the third direction.

[0073] In the above embodiment, when the first end 1321 and the second end 1322 are oppositely distributed along the first direction, the first driving rod 132 and the second driving rod 133 are vertically arranged, so that the distance between the lifting member 12 and the support member 11 along the first direction is maximum. When the first end 1321 slides along the third direction relative to the lifting member 12 and away from the rotatable connection between the second end 1322 and the support member 11, the third end 1331 slides along the third direction relative to the support member 11 and away from the rotatable connection between the fourth end 1332 and the lifting member 12, the first driving rod 132 is rotated to be inclined relative to the support member 11, and the second driving rod 133 is rotated to be inclined relative to the lifting member 12, so that the distance between the lifting member 12 and the support member 11 along the first direction is reduced; and as the first end 1321 continuously slides, the first driving rod 132 is continuously rotated relative to the support member 11 to increase the inclination angle of the first driving rod 132 relative to the first direction, and the second driving rod 133 is rotated relative to the lifting member 12 to increase the inclination angle of the second driving rod 133 relative to the first direction, so that the distance between the lifting member 12 and the support member 11 along the first direction is continuously reduced; when the first driving rod 132 is rotated to be horizontal relative to the support member 11, the second driving rod 133 is rotated to be horizontal relative to the lifting member 12, and the distance between the lifting member 12 and the support member 11 along the first direction is minimum. When the first end 1321 slides along the third direction relative to the lifting member 12 and approaches the rotatable connection between the second end 1322 and the support member 11, the third end 1331 slides along the third direction relative to the support member 11 and approaches the rotatable connection between the fourth end 1332 and the lifting member 12, the first driving rod 132 is rotated to decrease the inclination angle of the first driving rod 132 relative to the first direction, and the second driving rod 133 is rotated to decrease the inclination angle of the second driving rod 133 relative to the first direction, so that the distance between the lifting member 12 and the support member 11 along the first direction is increased; as the first end 1321 continuously slides, the inclination angle of the first driving rod 132 is continuously decreased, and the inclination angle of the second driving rod 133 is continuously decreased, so that the distance between the lifting member 12 and the support member 11 along the first direction is continuously increased; when the first driving rod 132 is rotated to be vertical, the second driving rod 133 is rotated to be vertical, and the distance between the lifting member 12 and the support member 11 along the first direction is maximum.

[0074] Please refer to Figure 4 and Figure 5In some embodiments, the position where the second end 1322 is rotationally connected to the other one of the support 11 and the lifting member 12 and the position where the third end 1331 is slidingly and rotationally connected to one of the support 11 and the lifting member 12 along the third direction are respectively located at two ends of the lifting assembly 1 in the second direction.

[0075] With the above arrangement, when the lifting assembly 1 is not unfolded, such as when the stair climbing device is walking on the ground or stopping, the first driving rod 132 and the second driving rod 133 can balance the load of the stair climbing machine in the first direction, so that the stair climbing machine runs more stably.

[0076] Please refer to Figure 4 and Figure 5 In some embodiments, the first end 1321 and the third end 1331 are located on one side of the rotationally connected position of the first driving rod 132 and the second driving rod 133, and the second end 1322 and the fourth end 1332 are located on the other side of the rotationally connected position of the first driving rod 132 and the second driving rod 133.

[0077] With the above arrangement, the space occupied by the lifting mechanism 13 can be reduced.

[0078] Please refer to Figure 5 In some embodiments, the third direction is parallel to the second direction, i.e., the third direction is parallel to the X direction in the figure.

[0079] Please refer to Figure 5 In some embodiments, the first driving assembly 131 includes a first sliding block 1311 and a first driving member 1312, the first sliding block 1311 is slidingly arranged on one of the support 11 and the lifting member 12, the first end 1321 is rotationally connected to the first sliding block 1311, and the first driving member 1312 is used to drive the first sliding block 1311 to slide along the third direction.

[0080] With the above arrangement, the first end 1321 on the first driving rod 132 is rotationally connected to the first sliding block 1311, so that when the first sliding block 1311 slides along the third direction, the first driving rod 132 can stably rotate.

[0081] It should be noted that the first driving member 1312 can be, but is not limited to, a synchronous belt type linear driver, a screw type linear driver, or a linear motor driver.

[0082] Please refer toFigure 5 In some embodiments, the first driving member 1312 is a screw rod type linear driver, the first driving member 1312 comprises a first motor 13121 and a first screw rod 13122, the first sliding block 1311 is sleeved on the first screw rod 13122, and the first screw rod 13122 and the first sliding block 1311 are threadedly connected, and the first motor 13121 is used to drive the first screw rod 13122 to rotate around the third direction.

[0083] In the above-mentioned embodiments, when the first motor 13121 drives the first screw rod 13122 to rotate clockwise around the third direction, the first sliding block 1311 slides along the third direction and away from the rotating connection between the second end 1322 and the support member 11; when the first motor 13121 drives the first screw rod 13122 to rotate counterclockwise around the third direction, the first sliding block 1311 slides along the third direction and approaches the rotating connection between the second end 1322 and the support member 11.

[0084] Please refer to Figure 4 In some embodiments, the lifting mechanism 13 further comprises a second sliding block 134, the second sliding block 134 is slidably arranged on one of the support member 11 and the lifting member 12, and the third end 1331 is rotationally connected with the second sliding block 134.

[0085] Through the above-mentioned arrangement, the third end 1331 on the second driving rod 133 is rotationally connected with the second sliding block 134, so that the second driving rod 133 can stably rotate.

[0086] Please refer to Figure 3 and Figure 6 In some embodiments, the support assembly 3 is provided with a rolling member 4, the rotating axis of the rolling member 4 is perpendicular to the second direction, and at least part of the outer surface of the rolling member 4 protrudes from the support assembly 3 in the direction opposite to the first direction.

[0087] Through the above-mentioned arrangement, the rolling member 4 can contact the ground and the upper surface of the step, and when the lifting member 12 slides along the second direction relative to the bearing platform 2, the rolling member 4 can rotate relative to the ground or the upper surface of the step, so as to reduce the friction between the support assembly 3 and the ground or the upper surface of the step.

[0088] Please refer to Figure 3 and Figure 6 In some embodiments, the support assembly 3 comprises a first telescopic member 31, a second telescopic member 32 and a second driving assembly, the first telescopic member 31 is connected with the support member 11, the first telescopic member 31 and the second telescopic member 32 are slidably connected, and the second driving assembly is configured to drive the first telescopic member 31 to ascend along the first direction relative to the second telescopic member 32 when the support member 11 ascends along the first direction relative to the lifting member 12.

[0089] In the above embodiment, when the support member 11 is lifted relative to the lifting member 12 along the first direction, the second driving assembly drives the first telescopic member 31 to lift relative to the second telescopic member 32 along the first direction, so that the support assembly 3 is stretched, and the support assembly 3 can support the support member 11 arranged in suspension.

[0090] Please refer to Figure 6 In some embodiments, the second driving assembly comprises a second driving member 331 and a third sliding block 332, the third sliding block 332 is connected with the second telescopic member 32, and the second driving member 331 is used to drive the third sliding block 332 to slide along the first direction relative to the first telescopic member 31.

[0091] In the above embodiment, when the support member 11 is lifted relative to the lifting member 12 along the first direction, the second driving member 331 drives the third sliding block 332 to slide downward along the first direction relative to the first telescopic member 31, so that the second telescopic member 32 can slide downward relative to the first telescopic member 31, so that the first telescopic member 31 is lifted relative to the second telescopic member 32.

[0092] It should be noted that the second driving member 331 can be, but is not limited to, a synchronous belt type linear drive, a screw type linear drive, and a linear motor drive.

[0093] Please refer to Figure 6 In some embodiments, the second driving member 331 is a screw type linear drive, the second driving member 331 comprises a second motor 3311 and a second screw 3312, the third sliding block 332 is sleeved on the second screw 3312, and the second screw 3312 and the third sliding block 332 are threadedly connected, and the second motor 3311 is used to drive the second screw 3312 to rotate around the first direction.

[0094] In the above embodiment, in the initial state, the first telescopic member 31 and the second telescopic member 32 are arranged in overlap in the first direction, when the second motor 3311 drives the second screw 3312 to rotate clockwise around the first direction, the third sliding block 332 slides along the first direction and moves downward relative to the first telescopic member 31, so that the third sliding block 332 drives the second telescopic member 32 to move downward relative to the first telescopic member 31, so that the support assembly 3 is stretched; when the second motor 3311 drives the second screw 3312 to rotate counterclockwise around the first direction, the third sliding block 332 slides along the first direction and moves upward relative to the first telescopic member 31, so that the third sliding block 332 drives the second telescopic member 32 to move upward relative to the first telescopic member 31, so that the support assembly 3 is contracted.

[0095] Please refer to Figure 6 and Figure 7In some embodiments, the support assembly 3 further comprises a third telescopic member 34, which is in sliding connection with the second telescopic member 32, and the second driving assembly is configured to drive the second telescopic member 32 to ascend along the first direction relative to the third telescopic member 34 when the support member 11 ascends along the first direction relative to the lifting member 12.

[0096] In the above embodiments, the height of the support assembly 3 in the extended state can be increased by adding the third telescopic member 34, so that the support assembly 3 can support the support member 11 suspended on a higher step.

[0097] Please refer to Figure 6 and Figure 7 In some embodiments, the second driving assembly comprises a first gear 333, a second gear 334 and a transmission member (not shown in the figure), the first gear 333 and the second gear 334 are arranged at two ends of the second telescopic member 32 in the first direction, and the rotation axes of the first gear 333 and the second gear 334 are both perpendicular to the first direction, the first gear 333 and the second gear 334 are synchronously rotated through the transmission member; the first telescopic member 31 is provided with a first gear rack 311, the first gear 333 is in mesh with the first gear rack 311, and the third telescopic member 34 is provided with a second gear rack 341, the second gear 334 is in mesh with the second gear rack 341.

[0098] In the above embodiments, under the driving of the second driving assembly, the first telescopic member 31 can slide relative to the second telescopic member 32; since the first gear 333 is in mesh with the first gear rack 311 on the first telescopic member 31, the first gear 333 can rotate; since the first gear 333 and the second gear 334 are synchronously rotated through the transmission member, the second gear 334 can rotate; since the second gear 334 is in mesh with the second gear rack 341 on the third telescopic member 34, the third telescopic member 34 can slide relative to the second telescopic member 32; so that the sliding movement of the first telescopic member 31 relative to the second telescopic member 32 and the sliding movement of the second telescopic member 32 relative to the third telescopic member 34 are synchronously performed, not only the time spent when the support assembly 3 is extended can be saved, but also the control precision of the support assembly 3 can be simplified, and energy can also be saved.

[0099] Please refer to Figure 6When the second motor 3311 drives the second screw rod 3312 to rotate clockwise around the first direction, the third sliding block 332 slides along the first direction and moves downward relative to the first telescopic member 31, so that the third sliding block 332 drives the second telescopic member 32 to move downward relative to the first telescopic member 31, so that the first telescopic member 31 moves upward along with the support member 11; since the first gear rack 311 on the first telescopic member 31 is engaged with the first gear wheel 333 on the second telescopic member 32, the first gear wheel 333 rotates; since the first gear wheel 333 and the second gear wheel 334 rotate synchronously through the transmission member, the second gear wheel 334 can rotate; since the second gear wheel 334 is engaged with the second gear rack 341 on the third telescopic member 34, the third telescopic member 34 can slide downward relative to the second telescopic member 32, so that the second telescopic member 32 moves upward relative to the third telescopic member 34.

[0100] Please refer to Figure 6 When the second motor 3311 drives the second screw rod 3312 to rotate counterclockwise around the first direction, the third sliding block 332 slides along the first direction and moves upward relative to the first telescopic member 31, so that the third sliding block 332 drives the second telescopic member 32 to move upward relative to the first telescopic member 31, so that the first telescopic member 31 and the second telescopic member 32 are arranged in an overlapping manner; since the first gear rack 311 on the first telescopic member 31 is engaged with the first gear wheel 333 on the second telescopic member 32, the first gear wheel 333 rotates; since the first gear wheel 333 and the second gear wheel 334 rotate synchronously through the transmission member, the second gear wheel 334 can rotate; since the second gear wheel 334 is engaged with the second gear rack 341 on the third telescopic member 34, the third telescopic member 34 can slide upward relative to the second telescopic member 32, so that the second telescopic member 32 and the third telescopic member 34 are arranged in an overlapping manner, so that the support assembly 3 is retracted.

[0101] Please refer to Figure 8 In some embodiments, the stair climbing device further comprises a moving assembly 5, which is arranged on the lifting assembly 1 and / or the carrying platform 2, and is configured to drive the lifting assembly 1, the carrying platform 2 and the support assembly 3 to move.

[0102] In the above embodiments, the moving assembly 5 can drive the lifting assembly 1 to move on the upper surface of the ground or the steps.

[0103] When the stair climbing device drives the sweeping robot 7 to clean the upper surface of the steps, the moving assembly 5 can drive the lifting assembly 1 and the carrying platform 2 to move, so that the sweeping robot 7 carried on the carrying platform 2 moves, so that the sweeping robot 7 can clean the step surface comprehensively. For example, in Figure 2In the shown scenario, when the lifting mechanism 13 drives the lifting member 12 to rise to the height of the first step 62 (at this time, the carrying platform 2 is not moved forward to the first step 62 relative to the lifting member 12), the sweeping robot 7 carried on the carrying platform 2 can be moved relative to the carrying platform 2, so that the sweeping assembly (roller brush, rotating disc mop, edge brush, etc.) of the sweeping robot 7 is moved to contact the upper surface of the first step 62, and part of the sweeping robot 7 is also carried on the carrying platform 2, so that the climbing device can drive the sweeping robot 7 to move, the moving assembly 5 drives the lifting assembly 1 to move on the ground 61 of the lower floor, so as to drive the sweeping robot 7 to move relative to the upper surface of the first step 62, so that the sweeping robot can completely clean the upper surface of the first step 62.

[0104] For reference Figure 8 In some embodiments, the moving assembly 5 includes a first moving assembly 51 and a second moving assembly 52, the moving assembly 5 includes the first moving assembly 51 and the second moving assembly 52; the first moving assembly 51 is arranged on the carrying platform 2 or the lifting assembly 1, and is used to drive the carrying platform 2, the lifting assembly 1 and the supporting assembly 3 to move in a fourth direction; the second moving assembly 52 is arranged on the carrying platform 2 or the lifting assembly 1, and is used to drive the carrying platform 2, the lifting assembly 1 and the supporting assembly 3 to move in a fifth direction; the fourth direction and the fifth direction intersect.

[0105] It should be noted that the fourth direction and the fifth direction are both parallel to the horizontal direction.

[0106] In some embodiments, the fourth direction and the fifth direction are perpendicular to each other.

[0107] For reference Figure 8 In some embodiments, the first moving assembly 51 is arranged on the carrying platform 2, and the second moving assembly 52 is arranged on the supporting member 11.

[0108] In the above-mentioned embodiments, the fifth direction is perpendicular to the second direction, so that the second moving assembly 52 can drive the carrying platform 2, the lifting assembly 1 and the supporting assembly 3 to move relative to the steps.

[0109] The second aspect of the present application provides a cleaning system, which includes a cleaning device and the climbing device of the first aspect of the present application, and the climbing device is configured to carry the cleaning device.

[0110] The climbing device can carry the cleaning device to climb the steps, so that the cleaning device can be transported to the steps, so that the cleaning device can clean the stairs; and the cleaning device can also be transported to the upper floor, so that the cleaning device can clean the ground, the table top, etc. on the upper floor.

[0111] It should be noted that the cleaning device can be a sweeping robot, a dust collector, etc.

[0112] The above examples are only used to illustrate the technical solutions of the present application, but not to limit the present application; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A stair climbing device, characterized in that, The utility model relates to a lifting device, including: a lifting assembly (1) comprising a support (11), a lifting piece (12) and a lifting mechanism (13), the support (11) and the lifting piece (12) are connected with the lifting mechanism (13), the lifting mechanism (13) is configured to drive the lifting piece (12) to ascend relative to the support (11) along a first direction, and the lifting mechanism (13) is further configured to drive the support (11) to ascend relative to the lifting piece (12) along the first direction; a bearing platform (2) slidably connected with the lifting piece (12), and the bearing platform (2) can slide relative to the lifting piece (12) along a second direction, and the first direction intersects with the second direction; a support assembly (3) connected with the lifting assembly (1), and the support assembly (3) is configured to extend and retract along the first direction to support the bearing platform (2).

2. The stair climbing device of claim 1, wherein, the lifting mechanism (13) comprises a first driving assembly (131) and a first driving rod (132) and a second driving rod (133) rotationally connected, the first driving rod (132) has a first end (1321) and a second end (1322) located on both sides of the rotation axis of the first driving rod (132) and the second driving rod (133), the second driving rod (133) has a third end (1331) and a fourth end (1332) located on both sides of the rotation axis of the first driving rod (132) and the second driving rod (133); the first end (1321) is slidably and rotationally connected with one of the support (11) and the lifting piece (12), the second end (1322) is rotationally connected with the other of the support (11) and the lifting piece (12), and the first driving assembly (131) is used to drive the first end (1321) to slide and rotate along a third direction, and the third direction intersects with the first direction; the third end (1331) is slidably and rotationally connected with one of the support (11) and the lifting piece (12) along the third direction, and the fourth end (1332) is rotationally connected with the other of the support (11) and the lifting piece (12).

3. The stair climbing device of claim 2, wherein, when the distance between the support (11) and the lifting piece (12) is the smallest, the position where the second end (1322) is rotationally connected with the other of the support (11) and the lifting piece (12), and the position where the third end (1331) is slidably and rotationally connected with one of the support (11) and the lifting piece (12) along the third direction, are respectively located at two ends of the lifting assembly (1) in the second direction. The second end (1322) is rotatably connected to the other one of the support member (11) and the lifting member (12), and the third end (1331) is rotatably and slidably connected to one of the support member (11) and the lifting member (12) along the third direction, respectively, at two ends of the lifting assembly (1) in the second direction.

4. The stair climbing device of claim 2, wherein, The first driving assembly (131) comprises a first sliding block (1311) and a first driving member (1312), the first sliding block (1311) is slidably arranged on one of the support member (11) and the lifting member (12), the first end (1321) is rotatably connected to the first sliding block (1311), and the first driving member (1312) is configured to drive the first sliding block (1311) to slide along the third direction.

5. The stair climbing device of claim 2, wherein, The lifting mechanism (13) further comprises a second sliding block (134), the second sliding block (134) is slidably arranged on one of the support member (11) and the lifting member (12), and the third end (1331) is rotatably connected to the second sliding block (134).

6. The stair climbing device according to any one of claims 1 to 5, wherein, The support assembly (3) is provided with a rolling member (4), an axis of rotation of the rolling member (4) is perpendicular to the second direction, and at least part of an outer surface of the rolling member (4) protrudes from the support assembly (3) in a direction opposite to the first direction.

7. The stair climbing device according to any one of claims 1 to 5, wherein, The support assembly (3) comprises a first telescopic member (31), a second telescopic member (32), and a second driving assembly, the first telescopic member (31) is connected to the support member (11), the first telescopic member (31) and the second telescopic member (32) are slidably connected, and the second driving assembly is configured to drive the first telescopic member (31) to ascend along the first direction relative to the second telescopic member (32) when the support member (11) ascends along the first direction relative to the lifting member (12).

8. The stair climbing device of claim 7, wherein, The second driving assembly comprises a second driving member (331) and a third sliding block (332), the third sliding block (332) is connected to the second telescopic member (32), and the second driving member (331) is configured to drive the third sliding block (332) to slide along the first direction relative to the first telescopic member (31).

9. The stair climbing device of claim 7, wherein, The support assembly (3) further comprises a third telescopic member (34), the third telescopic member (34) is slidably connected to the second telescopic member (32), and the second driving assembly is configured to drive the second telescopic member (32) to ascend along the first direction relative to the third telescopic member (34) when the support member (11) ascends along the first direction relative to the lifting member (12).

10. The stair climbing device of claim 9, wherein, The second driving assembly comprises a first gear (333), a second gear (334) and a transmission member, the first gear (333) and the second gear (334) are arranged at two ends of the second telescopic member (32) in the first direction, and rotation axes of the first gear (333) and the second gear (334) are perpendicular to the first direction, the first gear (333) and the second gear (334) are synchronously rotated through the transmission member; the first telescopic member (31) is provided with a first rack (311), the first gear (333) is engaged with the first rack (311), and the third telescopic member (34) is provided with a second rack (341), the second gear (334) is engaged with the second rack (341).

11. The stair climbing device according to any one of claims 1 to 5, wherein, The stair climbing device further comprises a moving assembly (5), the moving assembly (5) is arranged on the lifting assembly (1) and / or the bearing platform (2), and the moving assembly (5) is configured to drive the lifting assembly (1), the bearing platform (2) and the support assembly (3) to move.

12. The stair climbing device of claim 11, wherein, The moving assembly (5) comprises a first moving assembly (51) and a second moving assembly (52); The first moving assembly (51) is arranged on the bearing platform (2) or the lifting assembly (1), and is configured to drive the bearing platform (2), the lifting assembly (1) and the support assembly (3) to move in a fourth direction; The second moving assembly (52) is arranged on the bearing platform (2) or the lifting assembly (1), and is configured to drive the bearing platform (2), the lifting assembly (1) and the support assembly (3) to move in a fifth direction; The fourth direction and the fifth direction intersect.

13. A cleaning system characterized by, The stair climbing device of any one of claims 1 to 12 is configured to bear the cleaning device.

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