Lifting device and cleaning robot

Abstract

The utility model relates to a lifting device and a cleaning robot. The lifting device is used for being connected with a base of the cleaning robot and comprises a walking mechanism, the walking mechanism comprises walking wheels and a shell, the walking wheels are used for making contact with a bearing face, and the shell is rotationally connected with the walking wheels and the base at the same time; the lifting mechanism comprises a driver, a rotating shaft and a lifting unit, the driver is used for being fixedly connected with the base and driving the rotating shaft to rotate relative to the base, one end of the lifting unit is fixedly connected with the rotating shaft, and the other end of the lifting unit abuts against the shell; when the rotating shaft rotates to drive the abutting position of the lifting unit and the shell to be changed, the lifting unit drives the base to rotate close to or away from the bearing face relative to the walking wheels. Therefore, the base can be driven to lift through the rotating shaft and the lifting unit, the structure of the lifting device can be simplified, and the manufacturing cost of the lifting device is further reduced.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a lifting device and a cleaning robot including the lifting device. Background Technology

[0002] During the operation of a cleaning robot, its base needs to rise or fall, which in turn moves the cleaning components connected to the base up or down, thus changing the distance between the cleaning components and the objects waiting to be cleaned on the ground. Traditional cleaning robots use a lifting device to drive the base up or down. However, traditional lifting devices typically suffer from complex structures and relatively high manufacturing costs. Utility Model Content

[0003] One of the technical problems addressed by this application is how to simplify the structure of the lifting device and reduce its manufacturing cost.

[0004] A lifting device for connecting to the base of a cleaning robot, the lifting device comprising:

[0005] The walking mechanism includes a walking wheel and a housing, the walking wheel being for contacting a bearing surface, and the housing being rotatably connected to both the walking wheel and the base; and

[0006] The lifting mechanism includes a driver, a rotating shaft, and a lifting unit. The driver is fixedly connected to the base and drives the rotating shaft to rotate relative to the base. One end of the lifting unit is fixedly connected to the rotating shaft and the other end abuts against the housing. When the rotating shaft rotates to change the abutment position of the lifting unit against the housing, the lifting unit drives the base to rotate relative to the traveling wheel closer to or away from the bearing surface.

[0007] In one embodiment, the lifting unit has a through hole, and the rotating shaft includes a through portion that mates with the through hole. The through portion matches the shape of the through hole, and the cross-section of the through portion is non-circular.

[0008] In one embodiment, the outer peripheral surface of the through portion includes a first plane.

[0009] In one embodiment, the outer peripheral surface of the through portion further includes two first arc surfaces. The number of first planes is two, and the two first planes are connected between the ends of the two first arc surfaces and are parallel to each other.

[0010] In one embodiment, the lifting unit includes a lifting component and a rotating wheel. The lifting component is fixedly connected to the rotating shaft, and the rotating wheel is rotatably connected to the lifting component and used to abut against the housing.

[0011] In one embodiment, the lifting member has an arc-shaped abutment surface, and the axis around which the rotating wheel rotates is spaced apart from the central axis of the cylindrical surface where the abutment surface is located. During the movement of the base away from the bearing surface, the rotating wheel contacts the housing, and when the base is furthest away from the bearing surface, the abutment surface abuts against the housing.

[0012] In one embodiment, at least one of the following schemes is also included:

[0013] The number of the walking mechanism and the number of the lifting unit are two each, the number of the driver and the number of the rotating shaft are one each, and the lifting unit is respectively disposed at both ends of the rotating shaft and used to abut against different housings;

[0014] The outer surface of the housing includes a second arc surface and a second plane that are connected at their ends. The second plane is arranged around the walking wheel and forms a recessed cavity with the second arc surface. The lifting unit abuts against different positions of the second arc surface to drive the base to move closer to or away from the bearing surface. When the base is furthest away from the bearing surface, the lifting unit is located in the recessed cavity and abuts against both the second arc surface and the second plane.

[0015] The walking mechanism also includes a second fixed seat, which is rotatably connected to the housing and used for fixed connection with the base;

[0016] The outer surface of the housing includes a second plane, which is set at an angle to the bearing surface. The lifting unit abuts against the second plane at different positions to drive the base to move closer to or away from the bearing surface. When the base moves away from the bearing surface, the height of the abutment position of the second plane and the lifting unit relative to the bearing surface increases; when the base moves closer to the bearing surface, the height of the abutment position of the second plane and the lifting unit relative to the bearing surface decreases.

[0017] In one embodiment, the lifting mechanism further includes a first fixed seat, which is fixedly connected to the base and spaced apart from the housing, and is rotatably connected to the rotating shaft.

[0018] In one embodiment, the lifting mechanism further includes a fastener, the rotating shaft includes a driving part, a through part and a stop part, the driving part is connected to the driver, the through part is connected between the driving part and the stop part and passes through the lifting unit, the through part protrudes from the end face of the driving part, the end face includes a stepped surface surrounding the through part, the fastener is disposed on the stop part, and the lifting unit abuts between the stepped surface and the fastener.

[0019] In one embodiment, the stop portion is recessed near the through portion to form an annular groove, and the fastener abuts against the inner wall of the annular groove away from the through portion. The fastener is an E-shaped retaining ring.

[0020] In one embodiment, the first fixed base includes a first limiting surface and a second limiting surface arranged at an angle. When the lifting unit abuts against the first limiting surface, the rotating shaft is closest to the bearing surface; when the lifting unit abuts against the second limiting surface, the lifting unit abuts against the housing and the rotating shaft is furthest from the bearing surface.

[0021] When the lifting unit moves to a designated position near the first limiting surface, the lifting unit abuts against the housing and the rotating shaft is closest to the bearing surface. During the process of the lifting unit moving from the designated position to abutting against the first limiting surface, the lifting unit leaves the housing.

[0022] A cleaning robot includes a base and a lifting device as described above, wherein the base is rotatably connected to the housing and the rotating shaft and is fixedly connected to the driver.

[0023] One technical advantage of one embodiment of this application is that, since one end of the lifting unit is fixedly connected to the rotating shaft and the other end can abut against the housing, when the rotating shaft rotates to change the abutment position between the lifting unit and the housing, the housing drives the base to rotate relative to the traveling wheels closer to or further away from the bearing surface, thereby realizing the lifting of the base relative to the bearing surface. Therefore, the base can be driven to produce lifting motion through the rotating shaft and the lifting unit, which simplifies the structure of the lifting device and further reduces the manufacturing cost of the lifting device. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of a lifting device provided in one embodiment when the lifting unit abuts against the first limiting surface.

[0025] Figure 2 for Figure 1 The diagram shows a three-dimensional structure of the lifting device when the lifting unit first comes into contact with the housing.

[0026] Figure 3 for Figure 1 The diagram shows a three-dimensional structure of the lifting device when the lifting unit comes into contact with the second limiting surface.

[0027] Figure 4 for Figure 1 A partial three-dimensional cross-sectional view of the lifting device shown.

[0028] Figure 5 for Figure 1 A partially exploded view of the lifting device shown.

[0029] Figure 6 for Figure 1 A partial planar structural diagram of the lifting device shown.

[0030] Figure 7 A three-dimensional structural schematic diagram of a lifting device provided for another embodiment.

[0031] Reference numerals: Lifting device 10, traveling mechanism 100, traveling wheel 110, housing 120, second arc surface 121, second plane 122, recessed cavity 123, second fixed seat 130, lifting mechanism 200, driver 210, rotating shaft 220, driving part 221, stepped surface 2211, through part 222, first arc surface 2221, first plane 2222, stop part 223, annular groove 2231, lifting unit 230, lifting component 231, through hole 2311, rotating wheel 232, first fixed seat 240, first limiting surface 241, second limiting surface 242, fastener 250. Detailed Implementation

[0032] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0033] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0034] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0038] See Figure 1 , Figure 2 and Figure 3 In one embodiment of this application, a lifting device 10 is provided for connection to the base of a cleaning robot. The lifting device 10 includes a walking mechanism 100 and a lifting mechanism 200. The lifting mechanism 200 can drive the base to rotate relative to the walking mechanism 100, causing the base to move closer to or away from the ground or other supporting surface. Obviously, when the base moves closer to the supporting surface, the base moves downward relative to the supporting surface; when the base moves away from the supporting surface, the base moves upward relative to the supporting surface. That is, the lifting mechanism 200 drives the base to move up and down relative to the supporting surface.

[0039] See Figure 1 , Figure 2 and Figure 3 In some embodiments, the lifting mechanism 200 may include a driver 210, a rotating shaft 220, a lifting unit 230, and a first fixed base 240. The first fixed base 240 is fixedly connected to the base, and the driver 210 is also fixedly connected to the base. Therefore, the driver 210, the first fixed base 240, and the base are mutually fixed and move synchronously. The driver 210 is connected to the rotating shaft 220 and is used to drive the rotating shaft 220 to rotate around its central axis. The driver 210 may include a gearbox, etc. The rotating shaft 220 is rotatably inserted into the first fixed base 240, allowing the rotating shaft 220 to rotate relative to the first fixed base 240 and the base. One end of the lifting unit 230 is fixedly connected to the rotating shaft 220, and the other end is a free end that can abut against the traveling mechanism 100. Obviously, the lifting unit 230 rotates synchronously with the rotating shaft 220 relative to the first fixed base 240 and the base.

[0040] See Figure 1 , Figure 2 and Figure 3In some embodiments, the walking mechanism 100 may include a walking wheel 110, a housing 120, and a second fixed seat 130. The walking wheel 110 contacts the bearing surface and supports the entire cleaning robot. When the walking wheel 110 rolls on the bearing surface, it drives the cleaning robot to move relative to the bearing surface, thereby realizing the cleaning function of the cleaning robot. The second fixed seat 130 is fixedly connected to the base. The housing 120 is rotatably connected to both the walking wheel 110 and the second fixed seat 130, allowing the housing 120 to rotate relative to the walking wheel 110 and the base. The axes around which the housing 120 rotates relative to the walking wheel 110 and the base can be parallel to each other. The end of the lifting unit 230 abuts against the housing 120. When the rotating shaft 220 drives the lifting unit 230 to rotate, thereby changing the abutment position between the end of the lifting unit 230 and the housing 120, the housing 120 drives the base to rotate relative to the walking wheel 110, moving closer to or away from the bearing surface. That is, the lifting unit 230 drives the base to move up and down relative to the bearing surface through the housing 120.

[0041] See Figure 1 , Figure 2 and Figure 3 In some embodiments, there is one rotating shaft 220 and two walking mechanisms 100, which are spaced apart along the axial direction of the rotating shaft 220. There are also two lifting units 230, each positioned near one end of the rotating shaft 220, i.e., spaced apart, and capable of contacting the housing 120 of a different walking mechanism 100. There is one driver 210, which drives the rotating shaft 220 to rotate, causing the two lifting units 230 to rotate synchronously relative to the first fixed seat 240 and the base. Therefore, the lifting units 230 can share a single driver 210, avoiding the need for separate drivers 210 to power the rotation of the two lifting units 230. This reduces the number of drivers 210 used, simplifying the structure of the lifting device 10 and the entire cleaning robot, and lowering its manufacturing cost.

[0042] See Figure 3 , Figure 4 and Figure 5In some embodiments, the lifting unit 230 includes a lifting member 231 and a rotating wheel 232. The lifting member 231 is fixedly connected to the rotating shaft 220, and the rotating wheel 232 is rotatably connected to the lifting member 231, such that the axis around which the rotating wheel 232 rotates can be parallel to the central axis of the rotating shaft 220. Alternatively, the rotating wheel can be a universal wheel, allowing the rotating wheel 232 to rotate relative to the lifting member 231 around the rotating shaft 220 extending in any direction. The rotating wheel 232 abuts against the housing 120. During the process of the lifting unit 230 abutting against the housing 120 at different positions driven by the rotating shaft 220, the rotating wheel 232 rolls relative to the outer surface of the housing 120, thereby generating rolling friction between the entire lifting unit 230 and the housing 120, thus reducing the frictional resistance of the lifting unit 230 relative to the housing 120. In other embodiments, the rotating wheel 232 can be omitted, allowing the lifting member 231 to directly abut against the outer surface of the housing.

[0043] See Figure 1 , Figure 2 and Figure 3In some embodiments, the first fixed base 240 is spaced apart from the housing 120, meaning the first fixed base 240 and the housing 120 can maintain a non-contact relationship. The first fixed base 240 includes a first limiting surface 241 and a second limiting surface 242, which are arranged at an angle. As the rotating shaft 220 drives the lifting unit 230 to gradually rotate closer to the first limiting surface 241, under the action of the weight of the base and the housing 120 itself, the housing 120 can drive the base to gradually move closer to the bearing surface, that is, the base gradually descends, and the rotating shaft 220 also gradually descends with the base. When the lifting unit 230 moves to a designated position that maintains a set distance from the first limiting surface 241, the base and the rotating shaft 220 descend to the lowest point. At this time, the lifting unit 230 is still in contact with the housing 120. Specifically, it can be the rotating wheel 232 that abuts against the housing 120, or... The lifting component 231 abuts against the housing 120, for example, the abutting surface 2322 of the lifting component 231 abuts against the housing 120, and the rotating shaft 220 is also closest to the bearing surface, that is, the rotating shaft 220 descends to the lowest point along with the base; when the lifting unit 230 continues to move closer to the first limiting surface 241 from the designated position, the entire lifting unit 230 will leave the housing 120, and the base and the rotating shaft 220 will no longer produce lifting movement; when the lifting component 231 of the lifting unit 230 abuts against the first limiting surface 241, the lifting unit 230 stops rotating forward in the original direction. At this time, the rotating wheel 232 and the entire lifting unit 230 will maintain a certain distance from the housing 120, that is, the rotating wheel 232 and the entire lifting unit 230 maintain a non-contact relationship with the housing 120. In this way, when the base is in the lowest position, it can prevent the lifting unit 230 from contacting the housing 120 under the impact of external force, and prevent the lifting unit 230 from contacting the housing 120 and causing the base to lift. On the other hand, it can reduce wear between the lifting unit 230 and the housing 120. Of course, when the lifting unit 230 abuts against the first limiting surface 241, the lifting component 231 or the rotating wheel 232 of the lifting unit 230 can also maintain contact with the housing 120. At this time, the base can just descend to the lowest point.

[0044] See Figure 1 , Figure 2 and Figure 3 As the rotating shaft 220 drives the lifting unit 230 to gradually rotate closer to the second limiting surface 242, the lifting component 231 or the rotating wheel 232 of the lifting unit 230 abuts against the housing 120, allowing the housing 120 to drive the base to gradually move away from the bearing surface, i.e., the base gradually rises, and the rotating shaft 220 also rises gradually with the base. When the lifting component 231 of the lifting unit 230 abuts against the second limiting surface 242, the base is furthest away from the bearing surface, i.e., the base rises to its highest point relative to the bearing surface. Of course, the rotating shaft 220 is also furthest away from the bearing surface, i.e., the rotating shaft 220 rises to its highest point along with the base.

[0045] Therefore, during the process of the rotating shaft 220 driving the lifting unit 230 to reciprocate near the first limiting surface 241 or the second limiting surface 242, the lifting unit 230 will drive the housing 120 to move the base closer to or away from the bearing surface, thereby realizing the lifting movement of the base relative to the bearing surface, so that the distance between the base and the bearing surface can be effectively adjusted.

[0046] See Figure 3 and Figure 6 In some embodiments, the lifting member 231 has an arc-shaped abutment surface 2322, and the axis around which the rotating wheel 232 rotates is spaced apart from the central axis of the abutment surface 2322. The central axis of the abutment surface 2322 is the central axis of the cylindrical surface on which the abutment surface 2322 is located. In this case, it can be understood that the rotating wheel 232 is eccentrically set relative to the central axis of the abutment surface 2322. During the movement of the base rising from the lowest position, the rotating wheel 232 contacts the housing 120. When the base is raised to its highest point and furthest from the bearing surface, the contact surface 2322 abuts against the housing 120, and the rotating wheel 232 is spaced apart from the housing 120 and does not contact the housing 120. This causes sliding friction between the contact surfaces 2322, that is, the lifting unit 230 and the housing 120 change from rolling friction to sliding friction. This can improve the stability and reliability of the base when it is at its highest point, and can also effectively limit the lifting unit 230. This allows the lifting force of the base to be borne and maintained by the lifting unit 230, avoiding the driver 210 from maintaining the lifting force on the base for a long time and preventing the driver 210 from being damaged under a large load.

[0047] See Figure 3 , Figure 4 and Figure 5 In some embodiments, the rotating shaft 220 includes a driving part 221, a through part 222, and a stop part 223. The driving part 221, through part 222, and stop part 223 are coaxially arranged. The driving part 221 is connected to the driver 210, and the through part 222 is connected between the driving part 221 and the stop part 223. The driving part 221 passes through the first fixed seat 240, allowing it to rotate relative to the first fixed seat 240. The through part 222 passes through the lifting member 231 of the lifting unit 230. The through part 222 protrudes from the end face of the driving part 221, covering the middle portion of the end face while leaving the edge portion uncovered. This creates a stepped surface 2211 at the edge of the end face, which is annular and surrounds the through part 222. The lifting mechanism 200 also includes a fastener 250, which is disposed on the stop portion 223. The lifting component 231 of the lifting unit 230 will abut against the step surface 2211 and the fastener 250 along the axial direction of the rotating shaft 220, so that the lifting unit 230 can be well limited along the axial direction of the rotating shaft 220.

[0048] See Figure 3 , Figure 4 and Figure 5 In some embodiments, the fastener 250 can be an E-shaped retaining ring, which is a standard part. An annular groove 2231 is formed on the outer circumferential surface of the stop portion 223, radially recessed along the pivot 220. The annular groove 2231 is located at the end of the stop portion 223 near the through portion 222. The fastener 250 abuts against the lifting member 231 and the inner wall of the annular groove 2231 away from the through portion 222. Alternatively, the fastener 250 can be understood as abutting against the lifting member 231 and the stop portion 223 along the axial direction of the pivot 220. That is, by providing the annular groove 2231 on the stop portion 223, the E-shaped retaining ring can be effectively limited. By providing the E-shaped retaining ring, the lifting member 231 can be effectively limited along the axial direction of the pivot 220, preventing the lifting member 231 from sliding along the pivot 220.

[0049] See Figure 3 , Figure 4 and Figure 5In some embodiments, the lifting member 231 of the lifting unit 230 has a through hole 2311, and the through portion 222 of the rotating shaft 220 cooperates with the through hole 2311. The shapes of the through portion 222 and the through hole 2311 are matched, which can be understood as the through portion 222 and the through hole 2311 having approximately the same shape. The cross-sections of the through portion 222 and the through hole 2311 are non-circular, which effectively prevents the lifting member 231 from rotating relative to the through portion 222 and the entire rotating shaft 220 during the rotation of the lifting unit 230 driven by the rotating shaft 220. That is, it prevents the lifting unit 230 from rotating relative to the rotating shaft 220, ensuring that the lifting unit 230 rotates synchronously with the rotating shaft 220. For example, the outer peripheral surface of the through-hole 222 includes a first arc surface 2221 and a first plane. There are two first arc surfaces 2221 and two first planes. The two first planes 2222 are parallel to each other. One first plane 2222 connects one end of the two first arc surfaces 2221, and the other first plane 2222 connects the other end of the two first arc surfaces 2221. This makes the cross-sectional profile of the through-hole 222 approximately racetrack-shaped. Obviously, the inner wall of the through hole 2311 can also include two arc surfaces and two planes. When the through-hole 222 mates with the through hole 2311, the first arc surface 2221 contacts the arc surface, and the first plane 2222 contacts the plane. This prevents the through-hole 222 and the lifting unit 230 from rotating relative to the rotating shaft 220, ensuring that the through-hole 222 and the lifting unit 230 rotate synchronously with the rotating shaft 220. Of course, the number of the first arc surface 2221 and the first plane 2222 can also be one, as long as the cross-section of the through part 222 and the through hole 2311 is not circular.

[0050] See Figure 1 , Figure 2 and Figure 3In some embodiments, the outer surface of the housing 120 includes a second arcuate surface 121 and a second plane 122. The ends of the second arcuate surface 121 and the second plane 122 are connected to each other. The second arcuate surface 121 is arranged around the traveling wheel 110. When the rotating wheel 232 abuts against different positions of the second arcuate surface 121, the housing 120 will drive the base to produce lifting and lowering movements. The second plane 122 and the second arcuate surface 121 form a recessed cavity 123. The opening of the recessed cavity 123 is arranged facing the lifting unit 230. When the base rises to the highest position away from the bearing surface, the rotating wheel 232 of the lifting unit 230 is located in the recessed cavity 123, and the rotating wheel 232 can simultaneously abut against the second arcuate surface 121 and the second plane 122. By providing the recessed cavity 123, the lifting unit 230 can be effectively limited, while the upward lifting force of the base is borne and maintained by the lifting unit 230, preventing the actuator 210 from maintaining a lifting force on the base for an extended period and thus preventing damage to the actuator 210 under heavy loads. It can be understood that during the rotation of the driving lifting unit 230 to lift the base by abutting against the housing 120, the lifting force of the base is also borne and maintained by the lifting unit 230, preventing the lifting force from acting on the actuator 210.

[0051] In other embodiments, for example, the second plane 122 can also be replaced by a curved surface, as long as the curved surface and the second arcuate surface 121 form a recessed cavity 123. See also Figure 7 For example, if the second plane 122 is set at an angle to the bearing surface, during the rising and falling of the base, the lifting unit 230 can contact only the second plane 122 without contacting the second arc surface 121, thus still causing the base to rise and fall. Specifically, the lifting unit 230 abuts against the second plane 122 at different positions to drive the base closer to or away from the bearing surface. When the base moves away from the bearing surface, the height of the contact position between the second plane 122 and the lifting unit 230 relative to the bearing surface increases; when the base moves closer to the bearing surface, the height of the contact position between the second plane 122 and the lifting unit 230 relative to the bearing surface decreases.

[0052] During the operation of the lifting device 10, when it is necessary to raise the base, the rotating shaft 220 can drive the lifting unit 230 to rotate closer to the second limiting surface 242 by a set angle. This set angle can be determined according to the required lifting height of the base. Obviously, the greater the lifting height of the base, the closer the lifting unit 230 is to the second limiting surface 242. When it is necessary to lower the base, the rotating shaft 220 can drive the lifting unit 230 to rotate closer to the first limiting surface 241 by a set angle. This set angle can be determined according to the required lowering height of the base. Obviously, the greater the lowering height of the base, the closer the lifting unit 230 is to the first limiting surface 241. Therefore, by driving the lifting unit 230 to abut against the housing 120 through the rotating shaft 220, the base can be driven to move up and down. This simplifies the structure of the lifting device 10 and the entire cleaning robot, and can further reduce the manufacturing cost of the lifting device 10 and the entire cleaning robot.

[0053] Specifically, when the lifting member 231 abuts against the first limiting surface 241 (e.g. Figure 1 The rotating wheel 232 is spaced apart from the housing 120. When the lifting component 231 moves a certain distance from the first limiting surface 241 to the second limiting surface 242, the rotating wheel 232 just comes into contact with the housing 120 (e.g., Figure 2 Obviously, before the rotating wheel 232 comes into contact with the housing 120, the lifting unit 230 cannot drive the base to move through the housing 120. This prevents the lifting unit 230 from contacting the housing 120 under external impact when the base is at its lowest position, thus preventing the lifting unit 230 from contacting the housing 120 and causing the base to rise or fall. It also reduces wear between the lifting unit 230 and the housing 120. As the lifting component 231 continues to move closer to the second limiting surface 242, the rotating wheel 232 comes into contact with the housing 120, causing the lifting unit 230 to drive the base to rise through the housing 120. When the lifting component 231 comes into contact with the second limiting surface 242 (e.g., when...), the lifting unit 230 drives the base to rise through the housing 120. Figure 3 The base rises to its limit position. Conversely, as the lifting mechanism moves from the second limiting surface 242 towards the first limiting surface 241, the base will descend. Obviously, the base will descend to its lowest position the instant the rotating wheel 232 disengages from the housing 120.

[0054] This application also provides a cleaning robot, which includes a base and the aforementioned lifting device 10. The base is rotatably connected to the housing 120 and the rotating shaft 200, and is fixedly connected to the driver 210. By providing the lifting device 10, the position of the base relative to the bearing surface can be adjusted, thereby simplifying the structure of the lifting device 10 and the entire cleaning robot, and further reducing the manufacturing cost of the lifting device 10 and the entire cleaning robot.

[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A lifting device for connecting to the base of a cleaning robot, characterized in that, The lifting device includes: The walking mechanism includes a walking wheel and a housing, the walking wheel being for contacting a bearing surface, and the housing being rotatably connected to both the walking wheel and the base; and The lifting mechanism includes a driver, a rotating shaft, and a lifting unit. The driver is fixedly connected to the base and drives the rotating shaft to rotate relative to the base. One end of the lifting unit is fixedly connected to the rotating shaft and the other end abuts against the housing. When the rotating shaft rotates to change the abutment position of the lifting unit against the housing, the lifting unit drives the base to rotate relative to the traveling wheel closer to or away from the bearing surface.

2. The lifting device according to claim 1, characterized in that, The lifting unit has a through hole, and the rotating shaft includes a through part that mates with the through hole. The through part matches the shape of the through hole, and the cross-section of the through part is non-circular.

3. The lifting device according to claim 2, characterized in that, The outer peripheral surface of the through part includes a first plane.

4. The lifting device according to claim 3, characterized in that, The outer peripheral surface of the through part also includes two first arc surfaces. The number of first planes is two, and the two first planes are connected between the ends of the two first arc surfaces and are parallel to each other.

5. The lifting device according to claim 1, characterized in that, The lifting unit includes a lifting component and a rotating wheel. The lifting component is fixedly connected to the rotating shaft, and the rotating wheel is rotatably connected to the lifting component and abuts against the housing.

6. The lifting device according to claim 5, characterized in that, The lifting component has an arc-shaped contact surface. The axis around which the rotating wheel rotates is spaced apart from the central axis of the cylindrical surface where the contact surface is located. During the movement of the base away from the bearing surface, the rotating wheel contacts the housing. When the base is furthest away from the bearing surface, the contact surface abuts against the housing.

7. The lifting device according to claim 1, characterized in that, It also includes at least one of the following options: The number of the walking mechanism and the number of the lifting unit are two each, the number of the driver and the number of the rotating shaft are one each, and the lifting unit is respectively disposed at both ends of the rotating shaft and used to abut against different housings; The outer surface of the housing includes a second arc surface and a second plane that are connected at their ends. The second arc surface is arranged around the walking wheel and forms a recessed cavity with the second plane. The lifting unit abuts against different positions of the second arc surface to drive the base to move closer to or away from the bearing surface. When the base is furthest away from the bearing surface, the lifting unit is located in the recessed cavity and abuts against both the second arc surface and the second plane. The walking mechanism also includes a second fixed seat, which is rotatably connected to the housing and used for fixed connection with the base; The outer surface of the housing includes a second plane, which is set at an angle to the bearing surface. The lifting unit abuts against the second plane at different positions to drive the base to move closer to or away from the bearing surface. When the base moves away from the bearing surface, the height of the abutment position of the second plane and the lifting unit relative to the bearing surface increases; when the base moves closer to the bearing surface, the height of the abutment position of the second plane and the lifting unit relative to the bearing surface decreases.

8. The lifting device according to claim 1, characterized in that, The lifting mechanism further includes a first fixed seat, which is fixedly connected to the base and spaced apart from the housing, and is rotatably connected to the rotating shaft.

9. The lifting device according to claim 8, characterized in that, The lifting mechanism further includes a fastener. The rotating shaft includes a driving part, a through part, and a stop part. The driving part is connected to the driver. The through part is connected between the driving part and the stop part and passes through the lifting unit. The through part protrudes from the end face of the driving part. The end face includes a stepped surface surrounding the through part. The fastener is disposed on the stop part. The lifting unit abuts between the stepped surface and the fastener.

10. The lifting device according to claim 9, characterized in that, The stop portion is recessed near the through portion to form an annular groove, and the fastener abuts against the inner wall of the annular groove away from the through portion. The fastener is an E-shaped retaining ring.

11. The lifting device according to claim 8, characterized in that, The first fixed base includes a first limiting surface and a second limiting surface arranged at an angle. When the lifting unit abuts against the first limiting surface, the rotating shaft is closest to the bearing surface; when the lifting unit abuts against the second limiting surface, the lifting unit abuts against the housing and the rotating shaft is furthest from the bearing surface. When the lifting unit moves to a designated position near the first limiting surface, the lifting unit abuts against the housing and the rotating shaft is closest to the bearing surface. During the process of the lifting unit moving from the designated position to abutting against the first limiting surface, the lifting unit leaves the housing.

12. A cleaning robot, characterized in that, The device includes a base and a lifting device according to any one of claims 1 to 11, wherein the base is rotatably connected to the housing and the rotating shaft and is fixedly connected to the driver.

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