Obstacle crossing auxiliary mechanism, lifting device and sweeping robot

Abstract

The utility model provides an obstacle crossing auxiliary mechanism, a lifting device and a sweeping robot. The obstacle crossing auxiliary mechanism comprises a mounting frame, a threaded rod and a sliding piece. The threaded rod is rotationally connected to the mounting frame, the sliding part is in threaded connection with the threaded rod, the sliding part is fixedly connected with the threaded rod in the circumferential direction of the threaded rod, the sliding part is movably connected with the threaded rod in the axial direction of the threaded rod, the threaded rod drives the sliding part to press downwards when rotating in the first direction, and the sliding part is further used for being connected with the supporting wheel. When the sweeping robot encounters an obstacle, the threaded rod rotates in the first direction, the sliding piece is pressed downwards, and at the moment, the sliding piece moves downwards relative to the threaded rod. Due to the fact that the sliding piece is connected with the supporting wheel, the supporting wheel is driven to press downwards when the sliding piece is pressed downwards, the supporting wheel jacks up the front end of the machine body, the ground clearance of the front end of the machine body is increased, and the situation that the front end of the machine body is clamped by a high obstacle is avoided. Therefore, under the condition that the diameters of the supporting wheels are not increased, the obstacle crossing ability of the front end of the machine body is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sweeping robots, in particular to an obstacle-crossing auxiliary mechanism, a lifting device and a sweeping robot. BACKGROUND

[0002] A sweeping robot, also known as an automatic cleaning machine, an intelligent vacuum cleaner, a robot vacuum cleaner, etc., is a kind of intelligent household appliance. The bottom of the sweeping robot is generally provided with driving wheels arranged symmetrically, which are used to drive the sweeping robot to move. The front end of the bottom of the sweeping robot is also provided with a support wheel to avoid the body of the sweeping robot from dragging the floor. The support wheel is usually a universal wheel to allow the sweeping robot to turn flexibly during forward movement.

[0003] In related technologies, in order to ensure that the sweeping robot can pass through a narrow space, the overall thickness of the sweeping robot is required to be small, but this limits the diameter of the support wheel. For example, a sweeping robot device for cleaning the floor of a room is disclosed in a patent application with publication number CN118303789A and publication date July 9, 2024.

[0004] Due to the small diameter of the support wheel, the size of the support wheel protruding from the body is small, resulting in a small ground clearance at the front end of the body. Since the ground clearance at the front end of the body is small, a higher obstacle can get stuck at the front end of the body. In order to make the front end of the body cross over the higher obstacle, the sweeping robot needs to be lifted manually, resulting in poor convenience of use of the sweeping robot. Therefore, there is an urgent need to solve the problem of weak obstacle-crossing ability of the front end of the body. UTILITY MODEL CONTENT

[0005] The purpose of the present application is to overcome the deficiencies in the prior art and provide an obstacle-crossing auxiliary mechanism, a lifting device and a sweeping robot that improve the obstacle-crossing ability of the support wheel.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] An obstacle-crossing auxiliary mechanism comprises:

[0008] a mounting frame;

[0009] a threaded rod rotatably connected to the mounting frame; and

[0010] a sliding member threadedly connected to the threaded rod, the sliding member being fixedly connected to the threaded rod in the circumferential direction of the threaded rod and movably connected to the threaded rod in the axial direction of the threaded rod, the threaded rod driving the sliding member to press down when rotating in a first direction, and the sliding member being further used to connect with the support wheel.

[0011] In some embodiments, the obstacle-surmounting assisting mechanism further comprises a guide connected to the mounting frame, and the sliding member is fixedly connected to the guide in the circumferential direction of the guide and is slidingly connected to the guide in the axial direction of the guide.

[0012] In some embodiments, the obstacle-surmounting assisting mechanism further comprises a buffer between the sliding member and the mounting frame, and the sliding member abuts against the buffer when being moved to one of the limit positions.

[0013] In some embodiments, the sliding member abuts against the buffer when being moved to the lower limit position.

[0014] In some embodiments, when the obstacle-surmounting assisting mechanism further comprises a guide, the buffer is sleeved on the guide.

[0015] In some embodiments, the mounting frame is provided with an embedding groove, and part of the buffer is embedded in the embedding groove.

[0016] In some embodiments, the mounting frame is a one-piece structure.

[0017] A lifting device comprising a driving mechanism and the obstacle-surmounting assisting mechanism according to any one of the above embodiments, and a power output end of the driving mechanism is connected to the threaded rod.

[0018] In some embodiments, the driving mechanism comprises a motor and a speed reduction gear assembly, the motor is mounted on the mounting frame, the motor is located on one side of the threaded rod, a power input end of the speed reduction gear assembly is connected to an output shaft of the motor, and a power output end of the speed reduction gear assembly is connected to the threaded rod.

[0019] A sweeping robot comprising a body, a support wheel and the lifting device according to any one of the above embodiments, the mounting frame is mounted on the body, and the support wheel is connected to the sliding member.

[0020] Compared with the prior art, the present application has at least the following advantages:

[0021] The above-described obstacle surmounting auxiliary mechanism, the sliding member is in transmission connection with the threaded rod, the sliding member is fixedly connected with the threaded rod in the circumferential direction of the threaded rod, and the sliding member is movably connected with the threaded rod in the axial direction of the threaded rod, so that the threaded rod drives the sliding member to press down when rotating in the first direction. When the robot cleaner encounters an obstacle, the threaded rod rotates in the first direction to press down the sliding member, at this time, the sliding member moves downward relative to the threaded rod. Since the sliding member is used to be connected with the supporting wheel, when the sliding member is pressed down, the supporting wheel is pressed down, so that the supporting wheel lifts the front end of the body, increases the ground clearance of the front end of the body, avoids the situation that the higher obstacle blocks the front end of the body, and improves the obstacle surmounting capability of the front end of the body. In this way, the obstacle surmounting capability of the front end of the body is improved without increasing the diameter of the supporting wheel. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0023] Figure 1 The structure schematic diagram of the lifting device shown in the figure is shown in the figure.

[0024] Figure 2 The structure schematic diagram of the lifting device shown in the figure is shown in the figure. Figure 1 The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure.

[0025] Figure 3 The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure. Figure 1 The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure.

[0026] Figure 4 The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure. Figure 1 The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure.

[0027] Figure 5 The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure. Figure 4 The enlarged schematic diagram of the lifting device at A shown in the figure is shown in the figure.

[0028] The structure schematic diagram of the mounting frame of the lifting device shown in the figure is shown in the figure. DETAILED DESCRIPTION

[0029] For the purpose of clarity, detailed descriptions of a preferred embodiment of the present application are provided herein below with reference to the accompanying drawings. The preferred embodiment of the present application is shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. The purpose of providing these embodiments is to make the reader more thoroughly and comprehensively understand the present application.

[0030] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be an intervening element.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification herein is for describing particular embodiments only and is not intended to be limiting of the present application.

[0032] In order to better understand the technical solutions and beneficial effects of the present application, the present application will be further described in detail below in combination with specific embodiments:

[0033] As shown in Figure 1 The embodiment of the present application provides a sweeping robot, which comprises a lifting device 10, a body and a support wheel. The lifting device 10 is installed at the front end of the bottom of the body, and the support wheel is connected to the power output end of the lifting device 10. The lifting device 10 is used to drive the support wheel to lift. When the sweeping robot encounters an obstacle of a certain height, the lifting device 10 drives the support wheel to press down, so that the support wheel lifts the front end of the body, increasing the ground clearance of the front end of the body to avoid the obstacle from blocking the front end of the body. As the sweeping robot continues to move forward, the front end of the body will pass over the obstacle. After the front end of the body passes over the obstacle, or after the obstacle enters the lower side of the body, the lifting device 10 reversely drives the support wheel to reset the body downward.

[0034] It can be understood that after the support wheel lifts the front end of the body, if the obstacle is on the path of the support wheel, the support wheel will pass over the obstacle. Conversely, if the obstacle is not on the path of the support wheel, the support wheel will not have contact with the obstacle. It can be understood that after the body is reset downward, if there is a higher obstacle on the lower side of the body, the body will not be able to be completely reset.

[0035] It should be noted that the bottom of the body is also provided with a drive wheel for driving the sweeping robot to walk. The support wheel and the drive wheel are sequentially arranged in the moving direction of the sweeping robot. When the drive wheel encounters an obstacle, the drive wheel will be assisted to pass over the obstacle by the corresponding obstacle passing structure. Since the drive wheel and the corresponding obstacle passing structure are not within the protection scope of the present application and belong to the conventional technology in the art, for example, the obstacle passing assembly and the cleaning robot disclosed in CN216675634U, the present application will not be described again.

[0036] As shown in Figure 1 some embodiments, the lifting device 10 comprises a driving mechanism 200 and an obstacle-aiding mechanism 100, the power input end of the obstacle-aiding mechanism 100 is connected with the power output end of the driving mechanism 200, and the support wheel is connected with the power output end of the obstacle-aiding mechanism 100.

[0037] As shown in Figure 1 some embodiments, when the robot cleaner encounters an obstacle with a certain height, the driving mechanism 200 drives the obstacle-aiding mechanism 100 to make the power output end of the obstacle-aiding mechanism 100 press down. Since the support wheel is connected with the power output end of the obstacle-aiding mechanism 100, the power output end of the obstacle-aiding mechanism 100 drives the support wheel to press down when it is pressed down, and then the support wheel lifts up the front end of the robot body to increase the ground clearance of the front end of the robot body to avoid the obstacle from blocking the front end of the robot body. As the robot cleaner continues to move forward, the front end of the robot body will pass over the obstacle. When the front end of the robot body passes over the obstacle or the obstacle enters the underside of the robot body, the driving mechanism 200 reversely drives the obstacle-aiding mechanism 100 to make the robot body reset downward.

[0038] As shown in Figures 1 to 3 some embodiments, the obstacle-aiding mechanism 100 comprises a mounting frame 110, a threaded rod 120 and a sliding piece 130. The mounting frame 110 is used to be mounted on the robot body of the robot cleaner, the threaded rod 120 is used to be connected with the power output end of the driving mechanism 200, and the threaded rod 120 is also rotationally connected with the mounting frame 110, and the axial direction of the threaded rod 120 forms an angle with the surface to be cleaned. The sliding piece 130 is threadedly connected with the threaded rod 120, and the sliding piece 130 is fixedly connected with the threaded rod 120 in the circumferential direction of the threaded rod 120, and the sliding piece 130 is movably connected with the threaded rod 120 in the axial direction of the threaded rod 120. When the threaded rod 120 rotates in a first direction, the threaded rod 120 drives the sliding piece 130 to press down, and at this time, the sliding piece 130 moves downward relative to the threaded rod 120. The sliding piece 130 is used to be connected with the support wheel to make the sliding piece 130 drive the support wheel to press down when the sliding piece 130 is pressed down. When the threaded rod 120 rotates in a second direction, the threaded rod 120 drives the sliding piece 130 to reset upward relative to the threaded rod 120, and then the robot body resets downward, and the second direction is opposite to the first direction.

[0039] As shown in Figure 1As shown, in the present embodiment, when the sweeping robot encounters an obstacle of a certain height, the driving mechanism 200 drives the threaded rod 120 to rotate in the first direction, so that the sliding piece 130 is pressed down, at this time the sliding piece 130 moves downward relative to the threaded rod 120, and the sliding piece 130 drives the support wheel to be pressed down when it is pressed down, and then the support wheel lifts the front end of the body, thereby increasing the ground clearance of the front end of the body to avoid the obstacle from blocking the front end of the body. As the sweeping robot continues to travel, the front end of the body will pass over the obstacle. When the front end of the body passes over the obstacle, or after the obstacle enters the underside of the body, the driving mechanism 200 drives the threaded rod 120 to rotate in the second direction, so that the sliding piece 130 is reset upward relative to the threaded rod 120, and then the body is reset downward.

[0040] It should be noted that the "to-be-cleaned surface" can be a ground surface, a wall surface, a table surface or an existing surface to be cleaned. The "ground clearance" is the distance between the corresponding part and the to-be-cleaned surface, for example, when the to-be-cleaned surface is a ground surface, the "ground clearance" is the distance between the corresponding part and the ground surface; when the to-be-cleaned surface is a table surface, the "ground clearance" is the distance between the corresponding part and the table surface.

[0041] It should be emphasized that the terms "up", "rise", "down", "fall" and the like in the text indicate the orientation or positional relationship based on the orientation or positional relationship set in the drawings, which is only for the convenience of clearly describing the present application, and does not indicate or imply that the structure or part referred to must have a particular orientation or be constructed in a particular orientation, i.e. it is not the only embodiment, and therefore cannot be understood as a limitation on the present application. For example, when the to-be-cleaned surface is a ground surface, "up" and "rise" are both directions of movement away from the ground, and "down" and "fall" are both directions of movement towards the ground; when the to-be-cleaned surface is a wall surface, "up" and "rise" are both directions of movement away from the wall surface, and "down" and "fall" are both directions of movement towards the wall surface.

[0042] The above-mentioned sweeping robot, lifting device 10 and obstacle-crossing auxiliary mechanism 100, the sliding piece 130 is in transmission connection with the threaded rod 120, the sliding piece 130 is fixedly connected with the threaded rod 120 in the circumferential direction of the threaded rod 120, and the sliding piece 130 is movably connected with the threaded rod 120 in the axial direction of the threaded rod 120, so that the threaded rod 120 drives the sliding piece 130 to be pressed down when it rotates in the first direction. When the sweeping robot encounters an obstacle, the threaded rod 120 rotates in the first direction to press down the sliding piece 130, at this time the sliding piece 130 moves downward relative to the threaded rod 120. Since the sliding piece 130 is connected with the support wheel, the sliding piece 130 drives the support wheel to be pressed down when it is pressed down, so that the support wheel lifts the front end of the body, increases the ground clearance of the front end of the body, avoids the situation that a higher obstacle blocks the front end of the body, and improves the obstacle-crossing ability of the front end of the body. In this way, the obstacle-crossing ability of the front end of the body is improved without increasing the diameter of the support wheel.

[0043] As shown in Figure 1 In some embodiments, the driving mechanism 200 comprises a motor 210 and a speed reduction gear assembly 220, the motor 210 is mounted on the mounting frame 110, the motor 210 is located on one side of the threaded rod 120, the power input end of the speed reduction gear assembly 220 is connected with the output shaft of the motor 210, and the power output end of the speed reduction gear assembly 220 is connected with the threaded rod 120. In this embodiment, the motor 210 is arranged on one side of the threaded rod 120, avoiding the arrangement of the motor 210 on one end of the threaded rod 120, so that the driving mechanism 200 occupies a smaller height space. Since the driving mechanism 200 is mounted on the body of the sweeping robot, the thickness of the sweeping robot can be reduced, which is beneficial to improve the passing ability of the sweeping robot through narrow spaces, and thus the passing ability of the sweeping robot is improved.

[0044] It should be noted that the speed reduction gear assembly 220 is a conventional technology, and the present application will not be described again.

[0045] As shown in Figure 2 and Figure 3 In some embodiments, the obstacle surmounting auxiliary mechanism 100 further comprises a guide 140 connected to the mounting frame 110, the sliding piece 130 is fixedly connected with the guide 140 in the circumferential direction of the guide 140, and the sliding piece 130 is slidingly connected with the guide 140 in the axial direction of the guide 140, so that the guide 140 limits the rotation of the sliding piece 130, and the rotation of the threaded rod 120 can drive the sliding piece 130 to move along the axial direction of the threaded rod 120, and the movement of the sliding piece 130 is guided, and the smoothness of the movement of the sliding piece 130 is improved.

[0046] Please refer to Figure 2 and Figure 3 It can be understood that in other embodiments, the obstacle surmounting auxiliary mechanism 100 can omit the guide 140, and the sliding piece 130 is accommodated in the space surrounded by the mounting frame 110, the mounting frame 110 has a support column 110a for limiting the rotation of the sliding piece 130, and the sliding piece 130 is slidingly connected with the support column 110a of the mounting frame 110. When the threaded rod 120 rotates, the sliding piece 130 abuts against the outer side of the support column 110a, so that the support column 110a limits the rotation of the sliding piece 130, and as the threaded rod 120 continues to rotate, the sliding piece 130 not only slides along the support column 110a, but also moves along the axial direction of the threaded rod 120, thereby realizing the lifting action of the sliding piece 130.

[0047] As shown in Figure 3As shown, in some embodiments, the mounting rack 110 is an integrally formed structure, which is made of multiple parts as a whole, reducing the number and complexity of connecting components. Compared with an assembled structure, the integrally formed structure has no loose or failed parts such as screws and rivets at the connecting parts, thereby reducing the risk of structural instability and strength reduction due to the failure of connecting components. In this way, not only the structural stability and strength of the mounting rack 110 are improved, thereby prolonging the service life of the mounting rack 110, but also the shaking of the obstacle-aiding mechanism 100 is avoided. Since the support wheel is connected to the obstacle-aiding mechanism 100, the shaking of the support wheel during walking is avoided, ensuring the walking accuracy of the support wheel and the walking accuracy of the robot.

[0048] Preferably, the mounting rack 110 is an integrally die-cast structure, improving the convenience and efficiency of manufacturing the mounting rack 110.

[0049] It can be understood that, in other embodiments, the mounting rack 110 can also be an assembled structure, i.e., the mounting rack includes multiple parts assembled together.

[0050] As shown, Figure 4 In some embodiments, the obstacle-aiding mechanism 100 further includes a buffer 150 between the sliding member 130 and the mounting rack 110. The sliding member 130 abuts against the buffer 150 when moving to one of the limit positions. In this embodiment, as the threaded rod 120 rotates, the sliding member 130 moves along the axial direction of the threaded rod 120, and when the sliding member 130 moves to one of the limit positions, the sliding member 130 abuts against the buffer 150, so that the buffer 150 alleviates the impact of the sliding member 130 on the mounting rack 110, prolonging the service life of the obstacle-aiding mechanism 100.

[0051] It can be understood that the buffer 150 can be a silica gel structure, a rubber structure, a spring, or other existing structures that can alleviate impact force.

[0052] As shown, Figure 4 Further, the sliding member 130 abuts against the buffer 150 when moving to the lower limit position, i.e., the sliding member 130 abuts against the buffer 150 after being pressed down, reducing the impact force generated when the sliding member 130 is pressed down, prolonging the service life of the obstacle-aiding mechanism 100, and further suppressing the shaking of the sliding member 130 and the support wheel, further improving the walking accuracy of the support wheel.

[0053] Further, the sliding piece 130 abuts against the buffer piece 150 when moving to the upper limit position, that is, the sliding piece 130 abuts against the buffer piece 150 after being reset upward relative to the threaded rod 120, which reduces the impact force generated by the sliding piece 130 when being reset, prolongs the service life of the obstacle-aiding mechanism 100, further suppresses the shaking of the sliding piece 130 and the support wheel, and further improves the walking accuracy of the support wheel.

[0054] As shown in Figure 4 and Figure 5 shown, in some embodiments, when the obstacle-aiding mechanism 100 further includes the guide piece 140, the buffer piece 150 is sleeved on the guide piece 140, so that the buffer piece 150 is limited on the guide piece 140. In this embodiment, since the buffer piece 150 is sleeved on the guide piece 140, even if the impact force generated by the sliding piece 130 is large, the buffer piece 150 remains at the predetermined position for buffering, avoiding the problem of failure of the buffer piece 150.

[0055] As shown in Figure 5 shown, in some embodiments, the mounting bracket 110 is provided with an embedded slot 111, and part of the buffer piece 150 is embedded in the embedded slot 111, so that the mounting bracket 110 limits the buffer piece 150, further improving the positional stability of the buffer piece 150, and also making the buffer piece 150 partially coincide with the mounting bracket 110, improving the structural compactness of the obstacle-aiding mechanism 100.

[0056] As shown in Figure 5 shown, in some embodiments, the buffer piece 150 is in the shape of a ring.

[0057] Compared with the prior art, the present application has at least the following advantages:

[0058] The sliding piece 130 is in transmission connection with the threaded rod 120, the sliding piece 130 is fixedly connected with the threaded rod 120 in the circumferential direction of the threaded rod 120, and the sliding piece 130 is movably connected with the threaded rod 120 in the axial direction of the threaded rod 120, so that the threaded rod 120 drives the sliding piece 130 to press down when rotating in the first direction. When the robotic sweeper encounters an obstacle, the threaded rod 120 rotates in the first direction to make the sliding piece 130 press down, at which time the sliding piece 130 moves downward relative to the threaded rod 120. Since the sliding piece 130 is connected with the support wheel, the sliding piece 130 drives the support wheel to press down when pressing down, so that the support wheel lifts the front end of the body, increases the ground clearance of the front end of the body, avoids the situation that the higher obstacle jams the front end of the body, and improves the obstacle-aiding ability of the front end of the body. In this way, the obstacle-aiding ability of the front end of the body is improved without increasing the diameter of the support wheel.

[0059] The above embodiments only express several implementation ways of the present application, and the description is more specific and detailed, but it should not be understood as a limitation to the disclosed patent scope. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. An obstacle surmounting assisting mechanism characterized by comprising: The barrier-surmounting auxiliary mechanism comprises: a mounting frame (110); a threaded rod (120) rotatably connected to the mounting frame (110); and a sliding member (130) threadedly connected to the threaded rod (120), the sliding member (130) being fixedly connected to the threaded rod (120) in the circumferential direction of the threaded rod (120) and movably connected to the threaded rod (120) in the axial direction of the threaded rod (120), the threaded rod (120) driving the sliding member (130) to move downward when rotated in a first direction, the sliding member (130) being further configured to be connected to a support wheel. The barrier-surmounting auxiliary mechanism further comprises a guide member (140) connected to the mounting frame (110), the sliding member (130) being fixedly connected to the guide member (140) in the circumferential direction of the guide member (140) and movably connected to the guide member (140) in the axial direction of the guide member (140).

2. The obstacle negotiation aid mechanism of claim 1, wherein, The barrier-surmounting auxiliary mechanism further comprises a buffer member (150) located between the sliding member (130) and the mounting frame (110), the sliding member (130) abutting against the buffer member (150) when moved to one of the limit positions.

3. The obstacle negotiation aid of claim 1 or 2, wherein, The sliding member (130) abuts against the buffer member (150) when moved to a lower limit position.

4. The obstacle negotiation aid of claim 3, wherein, When the barrier-surmounting auxiliary mechanism further comprises the guide member (140), the buffer member (150) is sleeved on the guide member (140).

5. The obstacle negotiation aid mechanism of claim 3, wherein, The mounting frame (110) is provided with an embedding groove (111), and part of the buffer member (150) is embedded in the embedding groove (111).

6. The obstacle negotiation aid mechanism of claim 3, wherein, The mounting frame (110) is an integral structure.

7. The obstacle negotiation aid of claim 1, wherein, The barrier-surmounting auxiliary mechanism (100) according to any one of claims 1 to 7 and a driving mechanism (200), wherein a power output end of the driving mechanism (200) is connected to the threaded rod (120).

8. A lifting device, characterized in that The driving mechanism (200) comprises a motor (210) and a speed reduction gear assembly (220), the motor (210) being mounted on the mounting frame (110) and located on one side of the threaded rod (120), a power input end of the speed reduction gear assembly (220) being connected to an output shaft of the motor (210), and a power output end of the speed reduction gear assembly (220) being connected to the threaded rod (120).

9. The lift device of claim 8, wherein, The lifting device (10) according to claim 8 or 9 and a machine body, a support wheel and the barrier-surmounting auxiliary mechanism (100), wherein the mounting frame (110) is mounted on the machine body, and the support wheel is connected to the sliding member (130).

10. A robot vacuum cleaner characterised in that, ​

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