Pull rod device and cleaning robot

Abstract

The utility model provides a pull rod device and a cleaning robot. The pull rod device comprises a left pull rod assembly, a right pull rod assembly, a handle assembly, a handle assembly, a first left rotating piece and a first right rotating piece. Two ends of the handle assembly are arranged at the upper ends of the left pull rod assembly and the right pull rod assembly; the handle assembly is rotatably arranged on the handle assembly; the first left rotating piece can be driven by the handle assembly to rotate. The first right rotating piece can be driven by the handle assembly to rotate; when the first left rotating piece rotates, the first left rotating piece drives the first left driving piece to move downwards; when the first right rotating piece rotates, the first right rotating piece drives the first right driving piece to move downwards.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a pull rod device and a cleaning robot, and belongs to the technical field of cleaning equipment. BACKGROUND

[0002] In the background of the outbreak of service robots and the rise of labor costs, cleaning robots, as an intelligent assistant that can free both hands, have the functions of autonomous sweeping, washing, and mopping, and can greatly improve the cleaning efficiency in indoor, supermarket, factory, and parking lot scenarios.

[0003] In actual use scenarios, cleaning robots are usually equipped with a pull rod structure to facilitate movement. After pulling out the pull rod, the pull rod is moved for mopping, which is more convenient and labor-saving.

[0004] The most common pull rod extension principle is to transmit the up-and-down pressing action of a person to the pressing action inside the pull rod extension unit to unlock, so as to realize the up-and-down stretching of each level of pull rod extension unit.

[0005] However, the pull rod unlocking structure itself causes the structure to be single and unable to coordinate the integration of the pull rod unit into the robot model, especially in the case of a curved model. In addition, some pull rod structures need to be pressed and unlocked from both sides with both hands. Even when the mechanical pressing structure arranged at the middle point transmits the pressing action to the inside of the pull rod extension unit to unlock, it means that the electrical operation button cannot be designed at the most central position of the pull rod head.

[0006] Therefore, a new pull rod unlocking structure needs to be designed, which can be unlocked with one hand for convenient operation, the pull rod unlocking form cannot be limited to the most traditional middle point up-and-down pressing, does not affect the position of the electrical operation button, and can effectively unlock in the case of a curved model. CONTENT OF THE INVENTION

[0007] The present disclosure provides a pull rod device and a cleaning robot.

[0008] According to one aspect of the present disclosure, a pull rod device is provided, which comprises:

[0009] a left pull rod assembly and a right pull rod assembly;

[0010] a handle assembly rotatably arranged on the handle assembly;

[0011] a handle assembly rotatably arranged on the handle assembly;

[0012] a first left rotating member capable of being driven and rotated by the handle assembly; and

[0013] The first right rotating member is capable of being driven and rotating by the handle assembly.

[0014] When the first left rotating member rotates, the first left rotating member drives the first left driving member to move downward; when the first right rotating member rotates, the first right rotating member drives the first right driving member to move downward.

[0015] The left pull rod assembly comprises a first left pull rod, the upper end of the first left pull rod being fixed to the handle assembly, the lower end of the first left pull rod being provided with a first left locking assembly, the first left locking assembly being capable of being driven and unlocked by the first left driving member; the first left locking assembly comprises a first left force applying member and a first left locking member; the first left force applying member is capable of being connected with the first left driving member, so as to drive the first left force applying member to move downward by the first left driving member; the first left locking member is arranged to cooperate with the inclined surface of the first left force applying member, so that when the first left force applying member moves downward, the first left locking member is capable of moving in a direction perpendicular to the length direction of the first left pull rod, and the part of the first left locking member exposed to the outer end of the first left pull rod is capable of being retracted into the interior of the first left pull rod.

[0016] According to the pull rod device of at least one embodiment of the present disclosure, the handle assembly comprises a rotating shaft part and an operating part, the rotating shaft part is rotatably supported in the handle assembly, and the operating part is connected to the rotating shaft part and is capable of rotating the rotating shaft part by applying force to the operating part.

[0017] According to the pull rod device of at least one embodiment of the present disclosure, one end of the rotating shaft part of the handle assembly is connected with a first left universal joint, the first left universal joint is further connected to one end of a first left transmission shaft, the other end of the first left transmission shaft is connected to a second left universal joint, the second left universal joint is further connected to a second left transmission shaft, and the first left rotating member is fixed to the second left transmission shaft.

[0018] According to the pull rod device of at least one embodiment of the present disclosure, the second left transmission shaft is rotatably supported in the handle assembly by a first left support seat.

[0019] According to the pull rod device of at least one embodiment of the present disclosure, one end of the rotating shaft part of the handle assembly is connected with a first right universal joint, the first right universal joint is further connected to one end of a first right transmission shaft, the other end of the first right transmission shaft is connected to a second right universal joint, the second right universal joint is further connected to a second right transmission shaft, and the first right rotating member is fixed to the second right transmission shaft.

[0020] According to the pull rod device of at least one embodiment of the present disclosure, the second right transmission shaft is rotatably supported in the handle assembly by a first right support seat.

[0021] According to another aspect of the present disclosure, a cleaning robot is provided, which includes the above-described pull rod device.

[0022] The pull rod device has the following beneficial effects: the handle assembly is formed in a curved structure, in order to match the external shape of the industrial design, and an electrical operation button needs to be arranged on the pull rod device, the present disclosure realizes rotation unlocking through the operation part (paddle) structure, so that one-handed operation unlocking can be realized and the electrical operation button is not affected. In addition, the unlocking action is transmitted downward through the transmission shaft and the universal joint, so that the handle assembly can be made into any shape, even if it is a special-shaped structure for matching the overall cleaning robot shape, the unlocking action can still be realized. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description, explain the principles of the present disclosure, in which:

[0024] Figure 1 is a structural schematic diagram of a cleaning robot according to an embodiment of the present disclosure.

[0025] Figure 2 is a structural schematic diagram of another state of a cleaning robot according to an embodiment of the present disclosure.

[0026] Figure 3 is a structural schematic diagram of another angle of a cleaning robot according to an embodiment of the present disclosure.

[0027] Figure 4 is a structural schematic diagram of a brake device according to an embodiment of the present disclosure.

[0028] Figure 5 is a structural schematic diagram of a pull rod device according to an embodiment of the present disclosure.

[0029] Figure 6 is a structural schematic diagram of another angle of a pull rod device according to an embodiment of the present disclosure.

[0030] Figure 7 is a structural schematic diagram of a handle assembly according to an embodiment of the present disclosure.

[0031] Figure 8 and Figure 9 is a working principle diagram of a pull rod device according to an embodiment of the present disclosure.

[0032] Figure 10 is a structural schematic diagram of a left pull rod assembly according to an embodiment of the present disclosure.

[0033] Figure 11 is a schematic view of an internal structure of a left pull rod assembly according to an embodiment of the present disclosure.

[0034] Figure 12 is a schematic view of a structure of a first left locking assembly and an i-th left locking assembly according to an embodiment of the present disclosure.

[0035] Figure 13 is a schematic view of a first left locking assembly according to an embodiment of the present disclosure.

[0036] Figure 14 is a schematic view of an i-th left locking assembly according to an embodiment of the present disclosure.

[0037] The reference numerals in the drawings are specifically as follows:

[0038] 100 housing assembly

[0039] 400 steering wheel

[0040] 500 traveling wheel

[0041] 600 cleaning assembly

[0042] 700 braking device

[0043] 710 brake pad

[0044] 720 driving device

[0045] 730 shaft member

[0046] 740 guide member

[0047] 800 pull rod device

[0048] 801 first left universal joint

[0049] 802 first left transmission shaft

[0050] 803 second left universal joint

[0051] 804 second left transmission shaft

[0052] 805 first right universal joint

[0053] 806 first right transmission shaft

[0054] 807 second right universal joint

[0055] 808 second right transmission shaft

[0056] 810 left pull rod assembly

[0057] 811 first left pull rod

[0058] 812 first left locking assembly

[0059] 812A first left fixing seat

[0060] 812B first left force applying member

[0061] 812C first left locking member

[0062] 813 i-th left pull rod

[0063] 814 i-th left locking assembly

[0064] 814A i-th left fixing seat

[0065] 814B i-th left force applying member

[0066] 814C i-th left locking member

[0067] 820 right pull rod assembly

[0068] 830 handle assembly

[0069] 840 handle assembly

[0070] 841 rotation shaft part

[0071] 842 operation part

[0072] 850 first left rotating member

[0073] 860 first right rotating member

[0074] 870 first left driving member

[0075] 880 first right driving member DETAILED DESCRIPTION

[0076] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the present disclosure and not limiting thereof. It should also be noted that only the parts related to the present disclosure are shown in the accompanying drawings for the purpose of description.

[0077] It should be noted that the embodiments and features in the embodiments of the present disclosure can be combined with each other without conflict. The technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0078] Unless otherwise stated, the exemplary implementations / examples shown will be understood to provide exemplary features of various details that can be implemented in practice to embody the technological concepts of the present disclosure. Accordingly, features of the various implementations / examples can additionally be combined, separated, interchanged, and / or rearranged, unless otherwise stated, without departing from the technological concepts of the present disclosure.

[0079] The use of cross-hatching and / or shading in the drawings is generally used to make the boundaries and regions of adjacent components more clearly understood. As such, unless specifically stated otherwise, the presence of cross-hatching or shading in no way limits the scope of a component to the areas of cross-hatching or shading and is merely intended to accentuate the boundaries and regions of adjacent components. Moreover, the size and relative sizes of the components shown in the drawings can be exaggerated or otherwise not drawn to scale for the purposes of clarity and / or description. When exemplary embodiments can be practiced differently, a specific process sequence can be performed in an order other than the described sequence. For example, two sequentially described processes can be performed at substantially the same time or in the reverse order of the described sequence. Moreover, the same reference numbers are used in different drawings to represent the same or similar components.

[0080] When a component is referred to as being “on” or “over” another component, “connected to” or “coupled to” another component, it can be directly on, directly connected to, or directly coupled to the other component, or one or more intervening components can be present. However, when a component is referred to as being “directly on,” “directly connected to,” or “directly coupled to” another component, there are no intervening components present. To that end, the term “connected” can refer to a physical or electrical connection, whether or not with intervening components.

[0081] For descriptive purposes, the present disclosure can use spatial or relative terms, such as “below,” “lower,” “under,” “lessor,” “above,” “upper” “over,” “higher,” and “side” (e.g., as in “sidewall”) to describe the relationship between one component and another component as shown in the figures. The spatial or relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “under” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term “below” can encompass both an orientation of above and below. Moreover, the device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatial or relative descriptors used herein interpreted accordingly.

[0082] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "comprise," "include," "contain," and / or "comprising," "including," and / or "contain" are used in the detailed description and / or claims, such terms are intended to be inclusive in a manner similar to the term "comprise" as an open transition term without precluding the presence of additional, non-recited members, elements, steps, operations, components, assemblies, and / or groups thereof. It is also noted that, as used herein, the terms "substantially," "approximately," and other similar terms are used as synonyms for "about," and are intended to mean that a value is within a reasonable expected range of values (i.e., a range that would be understood by one of ordinary skill in the art to be acceptable under the circumstances) when used in a description of a parameter, a measurement, an amount, and / or the like.

[0083] Figure 1 is a structural schematic view of a cleaning robot according to an embodiment of the present disclosure. Figure 2 is a structural schematic view of another state of a cleaning robot according to an embodiment of the present disclosure. Figure 3 is a structural schematic view of another angle of a cleaning robot according to an embodiment of the present disclosure.

[0084] In Figures 1 to 3 the cleaning robot shown as an example, the advancing direction of the cleaning robot is referred to as the front, with reference to the view direction of Figure 3 , the advancing direction of the cleaning robot is the side of the upper. The direction away from the advancing direction of the cleaning robot is the back, with reference to the view direction of Figure 3 , the back of the cleaning robot refers to the side of the lower. Accordingly, the direction perpendicular to the front-back direction can be defined as the left-right direction.

[0085] As Figures 1 to 3 shown, the cleaning robot can include a housing assembly 100 capable of being formed as the body of the cleaning robot; the bottom of the housing assembly 100 is provided with a steering wheel 400 for controlling the advancing direction of the cleaning robot and a walking wheel 500 for driving the cleaning robot to advance. The steering wheel 400 is arranged at the rear position of the housing assembly 100, and the cleaning assembly 600 is rotatably connected to the bottom of the housing assembly 100, which is located at the rear position of the housing assembly 100.

[0086] As Figure 2As shown, the present disclosure provides two walking wheels 500, which are located at the front end of the housing assembly 100 in the front-rear direction and on both sides of the housing assembly 100 in the left-right direction. Furthermore, it provides one steering wheel 400, which can be a swivel wheel, positioned at the middle of the cleaning robot in the left-right direction and near the rear end of the cleaning robot. Of course, the present disclosure also provides two or more steering wheels 400.

[0087] 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.

[0088] In a preferred embodiment, a cleaning component 600 is further provided on the housing assembly 100; in this disclosure, the cleaning component 600 is rotatably connected to the housing assembly 100 and configured to clean the surface to be cleaned. In a preferred embodiment, the cleaning component 600 can be a mop pad, that is, the rotating mop pad can wet mop the surface to be cleaned, so that the surface to be cleaned can be cleaned more thoroughly.

[0089] In a preferred embodiment, the cleaning component 600 can be configured as two, and the cleaning robot of this disclosure can self-clean its cleaning component 600 according to its working time; more preferably, the working time can vary depending on the degree of dirt on the ground. For example, when the ground is heavily soiled, the working time can be set to be relatively short; correspondingly, when the ground is lightly soiled, the working time can be set to be relatively long.

[0090] Meanwhile, after the cleaning robot completes its cleaning task within the predetermined time, it can automatically return and dock at the base station, where the base station will perform self-cleaning on the cleaning robot's cleaning components 600.

[0091] Figure 4 This is a schematic diagram of the structure of a braking device 700 according to one embodiment of the present disclosure.

[0092] like Figure 4 As shown, the braking device 700 of this disclosure may include brake pads 710 and a drive device 720.

[0093] The brake pad 710 is fixedly connected to the walking wheel 500; that is, the brake pad 710 can rotate synchronously with the walking wheel 500. At this time, the rotation of the brake pad 710 can be controlled to achieve braking of the cleaning robot.

[0094] In one embodiment, the brake pad 710 is integrally formed as a disc-shaped structure, and a plurality of grooves are formed on the outer circumferential surface of the brake pad 710; preferably, the plurality of grooves are uniformly distributed along the circumferential direction of the brake pad 710.

[0095] In one specific embodiment, the grooves are formed as circular-arc grooves. Thus, when one end of the shaft member 730 is inserted into the groove, the circular-arc groove can guide the shaft member 730 to prevent the shaft member 730 from colliding with the brake pad 710 with a large force.

[0096] In the present disclosure, the number of grooves is 10-20, for example, the number of grooves can be set to 12.

[0097] Referring again to Figure 4 , the driving device 720 is used to drive the shaft member 730 to move so that the shaft member 730 can approach or move away from the brake pad 710, wherein at least part of the shaft member 730 can be located in the groove when the shaft member 730 approaches the brake pad 710. In one specific embodiment, the driving device 720 can be an electromagnet.

[0098] The braking device of the present disclosure uses a push-pull electromagnet of electrical basic components, combined with a guide hard stop structure, which is stable and reliable, and can withstand the large inertial force during emergency stop. Moreover, the braking device of the present disclosure occupies very little space, is simple and efficient, and can effectively solve the existing problems.

[0099] The braking device 700 of the present disclosure further comprises a guide member 740, the guide member 740 is formed with a guide hole, and the shaft member 730 is slidably arranged in the guide hole. Thus, by providing the guide member 740, the shaft member 730 can be guided, so that the shaft of the electromagnet can move along a straight line, and also can provide support when braking the walking wheel, preventing the large inertial force and driving force from directly knocking or damaging the shaft of the electromagnet.

[0100] In the present disclosure, the shaft member 730 moves in a direction perpendicular to the axis direction of the brake pad 710, so that the shaft member 730 can be inserted into the groove in the radial direction.

[0101] Based on the above structure, when the cleaning robot works normally, the electromagnet is in a retracted state, the electromagnet and the brake pad maintain a certain distance, and the walking wheel works without disturbance according to the command; when the robot determines that emergency braking is required, the shaft of the electromagnet is extended and inserted into the limiting groove of the brake pad, so that the walking wheel stops moving, and braking is achieved.

[0102] The driving device of the present disclosure can also adopt a rocker structure, a swing arm structure, a compression spring pop-out structure, etc. Moreover, the brake pad of the present disclosure can be integrated with the walking wheel, i.e. a groove or a through hole can be formed on the walking wheel, and at least part of the shaft component 730 is inserted into the groove or the through hole, so as to realize the braking of the cleaning robot.

[0103] Figure 5 is a structural schematic diagram of the pull rod device 800 according to an embodiment of the present disclosure. Figure 6 is another angle of the structural schematic diagram of the pull rod device 800 according to an embodiment of the present disclosure. Figure 7 is a structural schematic diagram of the handle assembly 840 according to an embodiment of the present disclosure. Figure 8 and Figure 9 is a working principle diagram of the pull rod device 800 according to an embodiment of the present disclosure. Figure 10 is a structural schematic diagram of the left pull rod assembly 810 according to an embodiment of the present disclosure. Figure 11 is an internal structural schematic diagram of the left pull rod assembly 810 according to an embodiment of the present disclosure. Figure 12 is a structural schematic diagram of the first left locking assembly 812 and the i-th left locking assembly according to an embodiment of the present disclosure. Figure 13 is a principle diagram of the first left locking assembly 812 according to an embodiment of the present disclosure. Figure 14 is a principle diagram of the i-th left locking assembly according to an embodiment of the present disclosure.

[0104] As shown in Figures 5 to 14 , the cleaning robot of the present disclosure further comprises a pull rod device 800, which is fixed to the shell assembly 100 of the cleaning robot. At the same time, when the pull rod device 800 is pulled out, it can be at least partially above the upper surface of the shell assembly 100, so that the cleaning robot can be dragged by operating the pull rod device 800. On the other hand, as shown in Figure 2 , when the pull rod device 800 is retracted, it can be located inside the shell assembly 100.

[0105] The pull rod device 800 of the present disclosure comprises a left pull rod assembly 810, a right pull rod assembly 820, a handle assembly 840, a first left rotating member 850 and a first right rotating member 860.

[0106] The left pull rod assembly 810 and the right pull rod assembly 820 of the present disclosure have the same structure. The structure of the left pull rod assembly 810 and the right pull rod assembly 820 of the present disclosure will be described below by taking the left pull rod assembly as an example.

[0107] The two ends of the handle assembly 830 are arranged at the upper ends of the left pull rod assembly 810 and the right pull rod assembly 820. Specifically, the left pull rod assembly 810 includes a first left pull rod 811 and an i-th left pull rod, the upper end of the first left pull rod 811 is fixed to the handle assembly 830, so that when the handle assembly 830 is operated, the first left pull rod 811 can be pulled out of the second left pull rod (at this time i is equal to 2), wherein i is an integer greater than or equal to 2.

[0108] The lower end of the first left pull rod 811 is provided with a first left locking assembly 812, which can be driven and unlocked by a first left driving member 870.

[0109] Specifically, the first left locking assembly 812 includes a first left fixed seat 812A, a first left biasing member 812B, and a first left locking member 812C.

[0110] The first left fixed seat 812A is fixed to the lower end of the first left pull rod 811, the first left locking member 812C is slidably arranged in the first left fixed seat 812A, and the movement direction of the first left fixed seat 812A is perpendicular to the length direction of the first left pull rod 811.

[0111] The first left biasing member 812B can be connected with the first left driving member 870 to drive the first left biasing member 812B to move downward by the first left driving member 870; the first left locking member 812C is arranged to be inclined with the first left biasing member 812B, so that when the first left biasing member 812B moves downward, the first left biasing member 812B can drive the first left locking member 812C to move in a direction perpendicular to the length direction of the first left pull rod 811 (as shown by the arrow pointing to the right), and the part of the first left locking member 812C exposed to the outer end of the first left pull rod 811 can be retracted into the inside of the first left pull rod 811, so that the first left pull rod 811 can move in the length direction relative to the second left pull rod. Figure 13

[0112] When the first left pull rod moves relative to the second left pull rod to a preset position, the handle assembly 840 can be released, at this time, under the action of the elastic restoring force, the first left locking member 812C will reset, that is, move along Figure 13 the arrow pointing to the left, at this time, at least part of the first left locking member 812C can be inserted into the hole in the side wall of the second left pull rod, so that the relative position of the first left pull rod and the second left pull rod is fixed.

[0113] Similarly, the lower end of the i-th left pull rod 813 is provided with an i-th left locking assembly 814, which can be driven and unlocked by an (i-1) -th left locking assembly.

[0114] ​Specifically, the i-th left locking component 814 includes structures such as the i-th left fixing seat 814A, the i-th left force application member 814B, and the i-th left locking member 814C.

[0115] The i-th left fixed seat 814A is fixed to the lower end of the i-th left pull rod 813, the i-th left locking member 814C is slidably disposed on the i-th left fixed seat 814A, and the movement direction of the i-th left fixed seat 814A is perpendicular to the length direction of the i-th left pull rod 813 (i.e., Figure 14 (As shown, to the left).

[0116] When the left pull rod assembly is in the retracted state, such as Figure 13 As shown, the (i-1)th left locking component will be tightly connected to the i-th left locking component 814, so that the i-th left force-applying component 814B is driven by the (i-1)th left locking component to the maximum position in the downward direction. At this time, the i-th left locking component 814C will move to the maximum position in the left direction. The left end of the i-th left force-applying component 814B will be inserted into the through hole of the (i+1)th left pull rod (e.g., the housing), thereby restricting the position of the i-th left pull rod 813.

[0117] When the (i-1)th left lever is pulled out, the (i-1)th left locking component will be in contact with the i-th left locking component 814. Under the action of the reset force of the spring and other reset elements, the i-th left locking component 814C will move to the right, so that the i-th left lever 813 can slide relative to the (i+1)th left lever, and thus the i-th left lever 813 can be pulled out.

[0118] When the i-th left lever 813 moves to the preset position relative to the i+1 left lever, under the action of the elastic restoring force, the right end of the i-th left locking member 814C will be inserted into the hole on the side wall of the i+1 left lever, thereby fixing the relative position of the i-th left lever 813 and the i+1 left lever.

[0119] The handle assembly 840 is rotatably disposed on the handle assembly 830; specifically, the axis of rotation of the handle assembly 840 may be parallel to the direction of the line connecting the upper ends of the left and right lever assemblies.

[0120] The first left-hand rotating member 850 can be driven and rotated by the handle assembly 840; the first right-hand rotating member 860 can be driven and rotated by the handle assembly 840; wherein, when the first left-hand rotating member 850 rotates, the first left-hand rotating member 850 drives the first left driving member 870 to move downward; when the first right-hand rotating member 860 rotates, the first right-hand rotating member 860 drives the first right driving member 880 to move downward.

[0121] Specifically, the handle assembly 840 comprises a rotating shaft part 841 rotatably supported in the handle assembly 830 and an operating part 842 connected to the rotating shaft part 841 and capable of rotating the rotating shaft part 841 by applying force to the operating part 842.

[0122] One end of the rotating shaft part 841 of the handle assembly 840 is connected to a first left universal joint 801, the first left universal joint 801 is further connected to one end of a first left transmission shaft 802, the other end of the first left transmission shaft 802 is connected to a second left universal joint 803, the second left universal joint 803 is further connected to a second left transmission shaft 804, and a first left rotating part 850 is fixed to the second left transmission shaft 804. The second left transmission shaft 804 is rotatably supported on the handle assembly 830 through a first left support seat.

[0123] One end of the rotating shaft part 841 of the handle assembly 840 is connected to a first right universal joint 805, the first right universal joint 805 is further connected to one end of a first right transmission shaft 806, the other end of the first right transmission shaft 806 is connected to a second right universal joint 807, the second right universal joint 807 is further connected to a second right transmission shaft 808, and a first right rotating part 860 is fixed to the second right transmission shaft 808. The second right transmission shaft 808 is rotatably supported on the handle assembly 830 through a first right support seat.

[0124] The handle assembly of the present disclosure is formed into a curved structure to match the external shape of the industrial design, and an electrical operation button needs to be arranged on the pull rod device. The present disclosure realizes rotation unlocking through the operating part (paddle) structure, so that single-handed operation unlocking can be realized without affecting the electrical operation button. In addition, the unlocking action is transmitted through the transmission shaft and the universal joint, so that the handle assembly can be made into any shape, even if it is a special shape to match the overall cleaning robot shape, the unlocking action can still be realized.

[0125] In the description of the present specification, the description of the terms "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments / ways or examples. In addition, the skilled person in the art can combine and combine the different embodiments / ways or examples described in the present specification and the features of the different embodiments / ways or examples without contradiction.

[0126] In addition, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or a specific number of the technical features indicated. Thus, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited.

[0127] Those skilled in the art will understand that the above-mentioned embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. Other changes or modifications can be made on the basis of the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A pull rod device, characterized in that, include: Left and right pull rod assemblies; A handle assembly, the two ends of which are disposed at the upper ends of the left pull rod assembly and the right pull rod assembly; A handle assembly, the handle assembly being rotatably disposed on the grip assembly; A first left-hand rotating member, which can be driven and rotated by the handle assembly; as well as A first right-hand rotating member, which can be driven and rotated by the handle assembly; Specifically, when the first left rotating member rotates, the first left rotating member drives the first left driving member to move downward; when the first right rotating member rotates, the first right rotating member drives the first right driving member to move downward. The left lever assembly includes a first left lever, the upper end of which is fixed to the handle assembly, and a first left locking assembly at the lower end of which is driven and unlocked by the first left drive member. The first left locking assembly includes a first left force-applying member and a first left locking member. The first left force-applying member can be connected to the first left drive member to drive it downward. The first left locking member is configured to engage with the inclined surface of the first left force-applying member, so that when the first left force-applying member moves downward, the first left locking member can move in a direction perpendicular to the length of the first left lever, and the portion of the first left locking member exposed to the outer end of the first left lever can retract into the interior of the first left lever.

2. The pull rod device according to claim 1, characterized in that, The handle assembly includes a pivot portion and an operating portion. The pivot portion is rotatably supported on the handle assembly and located inside the handle assembly. The operating portion is connected to the pivot portion, and the pivot portion is rotated by applying force to the operating portion.

3. The pull rod device according to claim 2, characterized in that, One end of the pivot of the handle assembly is connected to a first left universal joint, which is also connected to one end of a first left drive shaft. The other end of the first left drive shaft is connected to a second left universal joint, which is also connected to a second left drive shaft. The first left rotating component is fixed to the second left drive shaft.

4. The pull rod device according to claim 3, characterized in that, The second left drive shaft is rotatably supported on the handle assembly via the first left support.

5. The pull rod device according to claim 3, characterized in that, One end of the pivot of the handle assembly is connected to a first right universal joint, the first right universal joint is also connected to one end of a first right drive shaft, the other end of the first right drive shaft is connected to a second right universal joint, the second right universal joint is also connected to a second right drive shaft, and the first right rotating component is fixed to the second right drive shaft.

6. The pull rod device according to claim 5, characterized in that, The second right drive shaft is rotatably supported on the handle assembly via the first right support.

7. A cleaning robot, characterized in that, The pull rod device includes any one of claims 1-6.

Images