Lifting device and cleaning robot

Abstract

The lifting device comprises a transmission shaft, a shaft sleeve, an elastic piece, a driving assembly and a rotary mounting part, the transmission shaft comprises an external thread section, a transmission section and a mounting section which are sequentially arranged in the axial direction of the transmission shaft, the shaft sleeve is rotationally mounted on the rotary mounting part and is in threaded connection with the external thread section, and the shaft sleeve is provided with a first limiting part; the elastic piece elastically abuts against the shaft sleeve, so that the shaft sleeve keeps still under the acting force of the elastic piece, and the driving assembly is in transmission connection with the transmission section to drive the transmission shaft to rotate, so that the transmission shaft moves back and forth relative to the shaft sleeve under the interaction of the shaft sleeve and the external thread section and rotates in the first direction. When the tail end of the external thread section moves to the first limiting part, the tail end of the external thread section abuts against the first limiting part in a transmission mode so as to synchronously drive the shaft sleeve to rotate in the first direction. According to the technical scheme, the lifting operation of the cleaning assembly can be driven only through the driving assembly, and the cleaning assembly can be driven to rotate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a lifting device and a cleaning robot. BACKGROUND

[0002] The cleaning robot is a common cleaning equipment in home, office and other scenes. In actual application, the ground may be paved with carpets and other paving materials or have uneven areas. In order to avoid the friction between the cleaning components (such as mop) on the cleaning robot and the paving materials and / or the ground affecting the normal walking of the cleaning robot, the cleaning robot needs to have the function of lifting the cleaning components.

[0003] In the prior art, the cleaning robot usually has two sets of independent driving members: a rotating driving member directly drives the cleaning components to rotate, and a lifting driving member needs to connect the rotating driving member and the whole cleaning components to realize lifting.

[0004] Although the prior art scheme can realize the functional requirement of lifting the cleaning components, due to the need for two sets of independent driving systems, it leads to structural redundancy, and the weight and the body are large, which makes it difficult to enter narrow space for work. In addition, the load burden of the lifting driving member is increased, and the control process is also complex. CONTENT OF THE UTILITY MODEL

[0005] The main purpose of the present application is to provide a lifting device, which aims to improve the problem that the existing cleaning robot driving cleaning components lifting has structural redundancy, which makes it difficult for the cleaning robot to enter narrow space for work.

[0006] In order to achieve the above purpose, the lifting device provided by the present application is applied to a cleaning robot, and has the following characteristics: the lifting device comprises a transmission shaft, a shaft sleeve, an elastic member, a driving assembly and a rotating installation part; wherein,

[0007] The transmission shaft comprises an outer thread segment, a transmission segment and an installation segment arranged in sequence along the axial direction of the transmission shaft, and the installation segment is used to connect with the cleaning components of the cleaning robot;

[0008] The shaft sleeve is rotatably installed on the rotating installation part and is in threaded connection with the outer thread segment, and the first end of the shaft sleeve close to the cleaning components is provided with a first limiting part;

[0009] The elastic member is in elastic abutment with the shaft sleeve, so that the shaft sleeve is kept stationary by the force of the elastic member;

[0010] The driving assembly is in transmission connection with the transmission segment to drive the transmission shaft to rotate in a first direction or a second direction, so that the transmission shaft moves back and forth relative to the shaft sleeve under the interaction of the shaft sleeve and the external thread segment, and when the end of the external thread segment moves to the first limiting portion when the transmission shaft rotates in the first direction, the end of the external thread segment is in transmission abutment with the limiting portion to synchronously drive the shaft sleeve to rotate in the first direction.

[0011] In some embodiments of the present application, the driving assembly comprises a driving member and a transmission member, the driving member is fixedly arranged, and the transmission member is rotatably arranged, the transmission member is in transmission connection with the driving member, and the transmission member is also in transmission abutment with the transmission segment to transmit the power of the driving member to the transmission shaft, and the transmission segment can slide along the axial direction of the transmission member relative to the transmission member.

[0012] In some embodiments of the present application, the transmission member comprises a transmission ring, the outer side of the transmission ring is in transmission connection with the driving member, the inner side of the transmission ring is provided with a transmission hole, and the transmission segment comprises a prismatic body matched with the transmission hole, and the prismatic body is in plug-in cooperation with the transmission hole.

[0013] In some embodiments of the present application, the transmission ring is rotatably arranged through a bearing.

[0014] In some embodiments of the present application, a plurality of racks are arranged at intervals on the circumferential side of the transmission segment, and each rack is arranged to extend along the axial direction of the transmission shaft.

[0015] The transmission member comprises a gear, the gear is in transmission connection with the driving member, and the gear is also in meshing with the rack on the transmission segment.

[0016] In some embodiments of the present application, the circumferential side of the shaft sleeve is protrudingly provided with an abutment portion, the elastic member comprises a sleeve spring, one end of the sleeve spring is fixedly arranged, and the other end of the sleeve spring is in elastic abutment with the abutment portion.

[0017] In some embodiments of the present application, the inner diameter of the sleeve spring is greater than the outer diameter of the shaft sleeve, and the sleeve spring is also sleeved on the circumferential side of the shaft sleeve.

[0018] In some embodiments of the present application, the lifting device further comprises a housing, the housing is provided with a mounting cavity and a mounting hole in communication with the mounting cavity, the transmission shaft, the shaft sleeve, the elastic member and the driving assembly are all mounted in the mounting cavity, and the transmission shaft further extends out of the mounting cavity through the mounting hole.

[0019] The present application further provides a cleaning robot, which comprises:

[0020] a body;

[0021] The lifting device of any one of the above, the lifting device is installed on one side of the machine body; and

[0022] The cleaning assembly is detachably installed on the installation section.

[0023] In some embodiments of the present application, a locking member is arranged on the second end of the shaft sleeve away from the cleaning assembly along the axial direction of the shaft sleeve, the lifting device is further fixedly provided with a cooperating member and a second limiting portion, respectively, and the cleaning assembly is provided with a slot which is inserted and matched with the installation section.

[0024] When the transmission shaft rotates in the second direction, the outer threaded section moves to the second end to abut against the locking member to slide, so that the shaft sleeve is limited by the locking member and the cooperating member to keep still, and the slot opening of the slot and the second limiting portion abut to make the installation section disengage from the slot.

[0025] In some embodiments of the present application, a sliding groove is formed in the peripheral wall of the second end, the sliding groove is further arranged along the axial direction of the shaft sleeve, the locking member is provided with a sliding block, and the sliding block is slidably matched with the sliding groove.

[0026] And / or, a guide rib is protruded on the peripheral wall of the second end, the guide rib is further arranged along the axial direction of the shaft sleeve, the locking member is recessed with a notch, and the guide rib is slidably matched with the notch.

[0027] In some embodiments of the present application, the locking member is formed with a locking hole, the cooperating member includes a cooperating block, and the cooperating block is inserted and matched with the locking hole.

[0028] Or, the locking member is provided with a locking block, the cooperating member is formed with a cooperating hole, and the locking block is inserted and matched with the cooperating hole.

[0029] In some embodiments of the present application, the installation section is provided with a first magnetic member, the bottom wall of the slot is provided with a second magnetic member, and the first magnetic member and the second magnetic member are magnetically attracted when the installation section is inserted and matched with the slot.

[0030] In some embodiments of the present application, the cleaning assembly includes a cleaning member and an installation member, the cleaning member is detachably connected with the installation member, and the installation member is detachably connected with the installation section.

[0031] The present application also provides a cleaning system, which includes the cleaning robot of any one of the above and a base station, the base station is provided with a parking platform for parking the cleaning robot, and the parking platform is provided with a cleaning groove for carrying the cleaning assembly.

[0032] The lifting device provided by the embodiments of the present application has the following advantages. When the driving assembly drives the transmission shaft to rotate, the external force for driving the shaft sleeve to rotate is less than the static friction force provided by the elastic member, so that the shaft sleeve remains stationary, the external thread segment of the transmission shaft rotates along the internal thread of the shaft sleeve, moves along the axial direction of the shaft sleeve, i.e., moves back and forth relative to the shaft sleeve, the cleaning assembly moves back and forth along the shaft sleeve, and the lifting operation is completed. When the driving assembly drives the transmission shaft to rotate in the first direction, the end of the external thread segment abuts against the first limiting portion in transmission, the external thread segment cannot rotate relative to the shaft sleeve due to the limitation of the first limiting portion, and at the same time, the external thread segment transmits power to the shaft sleeve through the first limiting portion. At this time, the external force for driving the shaft sleeve to rotate is greater than the static friction force provided by the elastic member, so that the shaft sleeve can rotate synchronously with the transmission shaft, so that the transmission shaft continues to rotate to drive the cleaning assembly to rotate and clean. In this way, the technical solution of the present application can realize the lifting operation of the cleaning assembly to avoid the paving object and / or the uneven area and realize the rotation of the cleaning assembly to achieve the cleaning function by using only one driving assembly. The structure is simple, the overall quality and volume are reduced, and the cleaning robot can clean the narrow space. In addition, the load of the driving assembly for driving the cleaning assembly to lift is reduced, and the control process is simple, and only the rotation of the transmission shaft in the first direction or the second direction needs to be controlled.

[0033] The cleaning robot provided by the embodiments of the present application has the following advantages. The cleaning assembly is detachably installed on the mounting segment. When the cleaning assembly is damaged, dirty and cannot be cleaned, etc., the old cleaning assembly can be detached to install a new cleaning assembly, and the specific type of the new cleaning assembly can be different from that of the old cleaning assembly, i.e., the old cleaning assembly can be a floor brush, and the new cleaning assembly can be a floor brush, a mop, a cloth or the like. In this way, the cleaning efficiency of the cleaning robot is improved. In addition, during the daily cleaning and maintenance of the cleaning robot, the cleaning assembly and the body of the cleaning robot can be cleaned by detaching the cleaning assembly. In this way, the operation of the user is facilitated, the blind area of the cleaning operation is reduced, and the cleaning effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on the drawings shown.

[0035] Figure 1 It is an exploded view of an embodiment of the lifting device of the present application.

[0036] Figure 2 Fig. 2 is a sectional view of the lifting device in the application; Figure 1 Fig. 3 is a sectional view of the lifting device in the application when the lifting device abuts against the mounting member;

[0037] Figure 3 Fig. 4 is a sectional view of the lifting device in the application when the lifting device abuts against the mounting member; Figure 1 Fig. 5 is a sectional view of the lifting device in the application when the lifting device abuts against the mounting member;

[0038] Figure 4 Fig. 6 is a sectional view of the lifting device in the application when the lifting device abuts against the mounting member; Figure 3 Fig. 7 is a sectional view of the lifting device in the application when the lifting device abuts against the mounting member;

[0039] Figure 5 Fig. 8 is an assembly schematic view of the shaft sleeve and the locking member in the application; Figure 1 Fig. 9 is a structural schematic view of the locking member and the cooperating member in the application when the locking member and the cooperating member are in cooperation;

[0040] Figure 6 Fig. 10 is a structural schematic view of the locking member and the cooperating member in the application when the locking member and the cooperating member are in cooperation; Figure 1 Fig. 11 is a structural schematic view of the transmission ring and the transmission shaft in the application;

[0041] Figure 7 Fig. 12 is a structural schematic view of the transmission ring and the transmission shaft in the application; Figure 1 Fig. 13 is a structural schematic view of the cleaning assembly of the cleaning robot in the application.

[0042] Figure 8 Fig. 14 is a structural schematic view of the cleaning assembly of the cleaning robot in the application.

[0043] Brief Description of the Drawings:

[0044] 100, lifting device; 10, transmission shaft; 11, outer threaded segment; 12, transmission segment; 13, mounting segment; 20, shaft sleeve; 21, first end; 211, first limiting portion; 22, abutting portion; 23, second end; 231, sliding groove; 30, elastic member; 40, driving assembly; 41, driving member; 42, transmission member; 421, transmission ring; 422, transmission hole; 43, bearing; 50, housing; 51, mounting cavity; 52, mounting hole; 53, second limiting portion; 54, rotationally mounted portion; 60, locking member; 61, sliding block; 62, locking hole; 70, cooperating member; 200, cleaning assembly; 201, cleaning member; 202, mounting member; 203, insertion slot.

[0045] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the application.

[0047] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art. When the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0049] The present application proposes a cleaning robot, which can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot or a window cleaning robot, etc. without specific limitation.

[0050] Specifically, the cleaning robot comprises a body, a lifting device 100 and a cleaning assembly 200. When the cleaning robot is a sweeping robot, the cleaning assembly 200 can be a brush adapted to the cleaning robot. When the cleaning robot is a mopping robot, the cleaning assembly 200 can be a mop adapted to the cleaning robot. When the cleaning robot is a window cleaning robot, the cleaning assembly 200 can be a cloth or paper cleaning product adapted to the window cleaning robot.

[0051] The lifting device 100 is installed on one side of the body, and the cleaning assembly 200 is detachably installed on the mounting section 13 of the lifting device 100. The lifting device 100 is used to drive the cleaning assembly 200 to move back and forth and rotate. It should be noted that when the cleaning device is a sweeping robot, a mop robot or a sweeping and mopping integrated robot, the lifting device 100 is generally installed at the bottom of the body to drive the cleaning assembly 200 to move back and forth in the height direction of the body. When the cleaning device is a window cleaning robot, the lifting device 100 can be installed on the front side of the body to drive the cleaning assembly 200 to move back and forth in the front-back direction of the body. When the cleaning device cleans some objects (such as but not limited to beds, sofas and the like) which are spaced apart from the ground and have a bottom surface cleaning requirement, the lifting device 100 can also be arranged on the top of the body, without specific limitation.

[0052] In some use scenarios, when the cleaning robot detects that an article such as a carpet is placed on the moving path of the cleaning robot and will interfere with the movement of the cleaning assembly 200, to prevent the stains carried by the cleaning assembly 200 from polluting the article and to ensure smooth movement of the robot body, the lifting device 100 can drive the cleaning assembly 200 to move towards the robot body, so that the cleaning assembly 200 is spaced apart from the article.

[0053] In other use scenarios, when the cleaning device completes the cleaning task, to prevent the stains carried by the cleaning assembly 200 from polluting the cleaned ground, the lifting device 100 can drive the cleaning assembly 200 to move towards the robot body, so that the cleaning assembly 200 is spaced apart from the ground.

[0054] The cleaning robot provided by the embodiments of the present application is provided with a cleaning assembly 200 that is detachably installed on the installation section 13. When the cleaning assembly 200 is damaged, dirty and cannot be cleaned, etc., the old cleaning assembly 200 can be disassembled to install a new cleaning assembly 200, and the specific type of the new cleaning assembly 200 can be different from that of the old cleaning assembly 200, that is, the old cleaning assembly 200 can be a floor brush, and the new cleaning assembly 200 can be a floor brush, a mop, a cloth, etc., thereby improving the cleaning efficiency of the cleaning robot. In addition, during the daily cleaning and maintenance of the cleaning robot, the cleaning assembly 200 and the body of the cleaning robot can also be cleaned by disassembling the cleaning assembly 200, thereby facilitating the operation of the user, reducing the blind area of the cleaning operation, and improving the cleaning effect.

[0055] There are cleaning robots on the market that have the function of lifting the cleaning assembly 200, but the market usually provides two independent driving members 41: the rotating driving member 41 directly drives the cleaning assembly 200 to rotate, and the lifting driving member 41 needs to connect the rotating driving member 41 and the whole cleaning assembly 200 to realize lifting. Although the existing technical solution can realize the functional requirement of lifting the cleaning assembly 200, due to the need for two independent driving systems, it leads to structural redundancy, weight, and large body, which makes it difficult to enter narrow spaces for work. In addition, the load burden of the lifting driving member 41 is heavy, and the control process is also complex.

[0056] To solve the above problems, the present application provides a lifting device 100 applied to a cleaning robot.

[0057] In the embodiments of the present application, as shown in Figure 1 Specifically, in some embodiments, as shown in Figures 1 to 4As shown, the lifting device 100 further comprises a housing 50, the housing 50 is provided with a mounting cavity 51 and a mounting hole 52 in communication with the mounting cavity 51, the transmission shaft 10, the shaft sleeve 20, the elastic member 30 and the driving assembly 40 are all mounted in the mounting cavity 51, and the transmission shaft 10 further extends out of the mounting cavity 51 through the mounting hole 52. Among them, the housing 50 can be mounted on the body of the cleaning robot mentioned above, since the structural shape of the housing 50 can be adapted according to the actual use demand, and here is not specifically limited, in this embodiment, the rotating mounting portion 54 mentioned above can also be formed on the housing 50; in other embodiments, the transmission shaft 10, the shaft sleeve 20, the elastic member 30 and the driving assembly 40 and other components can also be directly mounted on the body, and here is not specifically limited, and in this example, the rotating mounting portion 54 can also be formed on the body. The preferred scheme is that the lifting device 100 further comprises the housing 50, so that the components of the lifting device 100 can be integrated by the housing 50 to form a whole module, which is convenient for the modularization of the cleaning robot and improves the production and assembly efficiency of the cleaning robot. In addition, the housing 50 can also well protect the components of the lifting device 100.

[0058] The transmission shaft 10 comprises an external thread segment 11, a transmission segment 12 and a mounting segment 13 arranged in sequence along the axial direction of the transmission shaft 10, and the mounting segment 13 is used for connecting with the cleaning assembly 200 of the cleaning robot. The transmission shaft 10 is in a columnar shape as a whole, which can be made of metal material to ensure its rigidity and avoid damage of the cleaning assembly 200 when it is collided by external force. Of course, the transmission shaft 10 can also be made of hard plastic to reduce the manufacturing cost and reduce the weight, and the transmission shaft 10 can also be made of composite material, which will not be described one by one here.

[0059] Among them, the above content has described that the cleaning assembly 200 and the mounting segment 13 are detachably connected, specifically, the cleaning assembly 200 can be connected with the mounting segment 13 through detachable connection modes such as clamping, threaded connection, plug-in connection and the like. Of course, in other embodiments, the cleaning assembly 200 can also be fixedly connected with the mounting segment 13 in a non-detachable manner, for example, bonding, welding and the like.

[0060] The shaft sleeve 20 is rotatably mounted on the rotating mounting portion 54 and is in threaded connection with the external thread segment 11, and the first end 21 of the shaft sleeve 20 close to the cleaning assembly 200 is provided with a first limiting portion 211. In the scheme that the lifting device 100 comprises the housing 50, the shaft sleeve 20 can be directly rotatably mounted on the rotating mounting portion 54, that is, the shaft sleeve 20 is directly in sliding abutment with the rotating mounting portion 54, or can be rotatably mounted on the rotating mounting portion 54 through a bearing 43 and the like, which will not be enumerated one by one here. In some example schemes, the rotating mounting portion 54 is a groove, and part of the structure of the shaft sleeve 20 is in sliding abutment with the groove wall, specifically, as shown in the figure, the shaft sleeve 20 is in sliding abutment with the groove wall of the rotating mounting portion 54 through the bearing 43. Figure 4As shown, a flange can be arranged at the notch of the groove, which is in sliding abutment with part of the structure of the shaft sleeve 20 and limits the axial movement of the shaft sleeve 20; in other examples, a bearing can be arranged in the groove, and the shaft sleeve 20 is rotatably mounted in the groove through the bearing.

[0061] Similarly, in the scheme in which the lifting device 100 does not include the housing 50, the shaft sleeve 20 is arranged similarly to the machine body, and is not described one by one.

[0062] It should be noted that the outer threaded section 11 on the transmission shaft 10 is externally threaded, and the shaft sleeve 20 is threadedly connected with the outer threaded section 11, that is, the shaft sleeve 20 is provided with an internal thread and is threadedly connected with the outer threaded section 11. It can be understood that the shaft sleeve 20 must be sleeved on the transmission shaft 10, and the axis of the shaft sleeve 20 coincides with the axis of the transmission shaft 10, that is, the axial directions also coincide. Among them, the above-mentioned first limiting portion 211 is usually located at the end (start end or end) of the internal thread of the shaft sleeve 20, and the first limiting portion 211 can abut against the end of the outer threaded section 11 to limit the outer threaded section 11 from being separated from the shaft sleeve 20, and can also transmit power.

[0063] The elastic member 30 is in elastic abutment with the shaft sleeve 20, so that the shaft sleeve 20 is kept stationary by the force of the elastic member 30. The force exerted by the elastic member 30 on the shaft sleeve 20 is a pre-pressure, that is, a static friction force is provided for the shaft sleeve 20, so that the shaft sleeve 20 will not rotate under the action of a slight external force, and will rotate only when a force greater than the static friction force is applied.

[0064] The driving assembly 40 is in driving connection with the transmission section 12 to drive the transmission shaft 10 to rotate in the first direction or the second direction, so that the transmission shaft 10 moves back and forth relative to the shaft sleeve 20 under the interaction of the shaft sleeve 20 and the outer threaded section 11, and when the transmission shaft 10 rotates in the first direction and the end of the outer threaded section 11 moves to the first limiting portion 211, the end of the outer threaded section 11 is in driving abutment with the first limiting portion 211 to synchronously drive the shaft sleeve 20 to rotate in the first direction.

[0065] It can be understood that when the first direction is the clockwise direction, the second direction is the counterclockwise direction, and similarly, when the first direction is the counterclockwise direction, the second direction is the clockwise direction.

[0066] The lifting device 100 provided by the embodiment of the present application has the following advantages. When the driving assembly 40 drives the transmission shaft 10 to rotate, the driving rotating external force of the shaft sleeve 20 is less than the static friction force provided by the elastic member 30, so that the shaft sleeve 20 remains stationary, the outer threaded section 11 of the transmission shaft 10 rotates along the inner thread of the shaft sleeve 20, and moves along the axial direction of the shaft sleeve 20, that is, moves back and forth relative to the shaft sleeve 20, so that the cleaning assembly 200 moves back and forth along the shaft sleeve 20, to complete the lifting operation. When the driving assembly 40 drives the transmission shaft 10 to rotate in the first direction, the end of the outer threaded section 11 is in transmission abutment with the first limiting portion 211, the outer threaded section 11 is limited from rotating relative to the shaft sleeve 20 by the first limiting portion 211, and at the same time, the outer threaded section 11 transmits power to the shaft sleeve 20 through the first limiting portion 211. At this time, the driving rotating external force of the shaft sleeve 20 is greater than the static friction force provided by the elastic member 30, so that the shaft sleeve 20 can rotate synchronously with the transmission shaft 10, so that the transmission shaft 10 continues to rotate to drive the cleaning assembly 200 to rotate and clean. In this way, the technical solution of the present application can realize the lifting operation of the cleaning assembly 200 to avoid laying objects and / or uneven areas and realize the rotation of the cleaning assembly 200 to clean by using only one driving assembly 40. The structure is simple, the overall quality and volume are reduced, and the cleaning robot is conducive to cleaning in narrow spaces. In addition, the load of the driving assembly 40 for driving the cleaning assembly 200 to lift is reduced, the control process is simple, and only the rotation of the transmission shaft 10 in the first direction or the second direction needs to be controlled.

[0067] In some examples, as shown in FIG. 1, the driving assembly 40 includes a driving member 41 and a transmission member 42. The driving member 41 is fixedly arranged, and the transmission member 42 is rotatably arranged. The transmission member 42 is in transmission connection with the driving member 41, and is in transmission abutment with the transmission section 12, so as to transmit the power of the driving member 41 to the transmission shaft 10. The transmission section 12 can slide along the axial direction of the transmission member 42. Figures 1 to 4

[0068] In the scheme in which the lifting device 100 includes the housing 50, the driving member 41 can be fixedly arranged in the mounting cavity 51 of the housing 50 by means of threaded connection, clamping or the like. The transmission member 42 can be directly slidably arranged in the housing 50, or can be rotatably arranged in the housing 50 through a bearing 43 or the like. Similarly, in the scheme in which the lifting device 100 does not include the housing 50, the driving member 41 and the transmission member 42 can be arranged on the machine body by similar methods, which will not be enumerated one by one. The transmission member 42 and the driving member 41 can be directly in transmission connection, or can be indirectly in transmission connection through a gear, a belt or the like.

[0069] ​In this way, the fixing of the driving member 41 ensures that the driving member 41 can stably output power, the rotation of the transmission member 42 and the transmission of the power of the driving member 41 to the transmission shaft 10 by the transmission member 42 ensure that the power of the driving member 41 is stably transmitted to the transmission shaft 10. At the same time, when the cleaning assembly 200 is impacted, the transmission shaft 10 directly transmits the kinetic energy of the impact to the driving member 41, which can cause damage to the driving member 41, and the reliability of the lifting device 100 is improved.

[0070] The transmission member 42 is in transmission abutment with the transmission section 12, and the transmission section 12 can slide along the axial direction of the transmission member 42. There are various implementation manners, and two examples will be described below.

[0071] In some examples, as shown in Figures 1 to 4 and Figure 7 The transmission member 42 includes a transmission ring 421, the outer side of the transmission ring 421 is in transmission connection with the driving member 41, and the inner side of the transmission ring 421 is provided with a transmission hole 422. The transmission section 12 includes a prismatic body matched with the transmission hole 422, and the prismatic body is in plug-in cooperation with the transmission hole 422.

[0072] It should be emphasized that the transmission ring 421 is rotationally arranged, and the prismatic body is in plug-in cooperation with the transmission hole 422, so the rotation axis of the transmission ring 421 coincides with the axis of the transmission shaft 10. During rotation, the peripheral wall of the prismatic body abuts against the hole wall of the transmission hole 422, so that the transmission ring 421 can transmit power to the prismatic body through the hole wall of the transmission hole 422, and the prismatic body can also slide along the axial direction relative to the transmission hole 422.

[0073] Considering that the transmission ring 421 is used for transmitting power and is in plug-in cooperation with the prismatic body, the transmission ring 421 can be made of a metal material. The outer side of the transmission ring 421 is in transmission connection with the driving member 41 in various ways. In some examples, the outer side of the transmission ring 421 is provided with a gear ring, the driving member 41 can be engaged with the outer side gear ring of the transmission ring 421 by gear engagement, or the driving member 41 can be engaged with the outer side gear ring of the transmission ring 421 by gear engagement. In some examples, the outer side of the transmission ring 421 is provided with a friction surface, and the driving member 41 is in contact with the friction surface by a friction belt, a belt, etc., to realize transmission connection with the transmission ring 421.

[0074] Considering that the main purpose of the plug-in cooperation of the prismatic body with the transmission hole 422 is to transmit power, the prismatic body is preferably a hexagonal prism, and the transmission hole 422 is a hexagonal through hole, so that the transmission of power is more stable, and the processing is convenient, which is beneficial to improve the processing efficiency. Of course, in other examples, the prismatic body can be a pentagonal prism, and the transmission hole 422 is a pentagonal through hole.

[0075] In this way, the prismatic body is assembled with the transmission hole 422 in a plug-in manner, the rotation axis of the transmission ring 421 coincides with the axis of the transmission shaft 10, and the stability of power transmission is improved.

[0076] In some examples, as shown in Figures 1 to 4 The transmission ring 421 is rotatably arranged through the bearing 43. In this way, the stability of the transmission ring 421 during rotation is improved, and the stability of power transmission is further improved.

[0077] In some examples, a plurality of racks are arranged at intervals on the circumferential side of the transmission section 12, and each rack extends along the axial direction of the transmission shaft 10. The transmission member 42 includes a gear, which is in transmission connection with the driving member 41 and is also in meshing connection with the racks on the transmission section 12.

[0078] It should be noted that the length of the rack on the gear is shorter than that of the rack on the transmission section 12. When the transmission shaft 10 moves along the axial direction, the rack on the transmission section 12 slides along the rack on the gear, but the rack on the transmission section 12 is always in meshing connection with the rack on the gear, thereby ensuring the stability of power transmission.

[0079] In some examples, as shown in Figures 1 to 4 The circumferential side of the shaft sleeve 20 protrudes with an abutting portion 22, and the elastic member 30 includes a sleeve spring, one end of which is fixedly arranged, and the other end of which is in elastic abutting connection with the abutting portion 22.

[0080] In the embodiments of the present application, the abutting portion 22 also extends along the circumferential direction of the shaft sleeve 20 and forms a ring around the circumferential side of the shaft sleeve 20. In other examples, the abutting portion 22 can include a plurality of protrusions and be arranged at intervals on the circumferential side of the shaft sleeve 20.

[0081] The fixed manner of the sleeve spring is various, in the scheme that the lifting device 100 includes the housing 50, one end of the sleeve spring is fixedly connected with the housing 50, in the scheme that the lifting device 100 does not include the housing 50, the sleeve spring is fixedly connected with the machine body, and specific fixing can be performed by clamping, bonding and the like.

[0082] In this way, the sleeve spring can stably apply a force to the shaft sleeve 20, and the sleeve spring can also maintain relative stability when the shaft sleeve 20 rotates.

[0083] In the present example, the number of sleeve springs is one, and the inner diameter of the sleeve spring is greater than the outer diameter of the shaft sleeve 20, and the sleeve spring is also arranged on the circumferential side of the shaft sleeve 20. In this way, the sleeve spring is convenient to install, and is limited by the circumferential side of the shaft sleeve 20, so that the sleeve spring is not easy to move or separate, and has high stability. In some other examples, the number of sleeve springs is multiple, and the multiple sleeve springs are arranged at intervals on the circumferential side of the shaft sleeve 20.

[0084] It can be understood that the main role of the elastic member 30 is to keep the shaft sleeve 20 stationary, and the application does not limit the direction of the force exerted by the elastic member 30 on the shaft sleeve 20. In the scheme shown, the force exerted by the elastic member 30 on the shaft sleeve 20 is a downward pre-pressure. In other examples, the force exerted by the elastic member 30 on the shaft sleeve 20 is an upward pre-pressure. Even in some examples, the elastic member 30 includes a spring ball that abuts the peripheral wall of the shaft sleeve 20 and exerts a horizontal pre-pressure on the shaft sleeve 20. Figure 2 It can be understood that the main role of the elastic member 30 is to keep the shaft sleeve 20 stationary, and the application does not limit the direction of the force exerted by the elastic member 30 on the shaft sleeve 20. In the scheme shown, the force exerted by the elastic member 30 on the shaft sleeve 20 is a downward pre-pressure. In other examples, the force exerted by the elastic member 30 on the shaft sleeve 20 is an upward pre-pressure. Even in some examples, the elastic member 30 includes a spring ball that abuts the peripheral wall of the shaft sleeve 20 and exerts a horizontal pre-pressure on the shaft sleeve 20.

[0085] Please refer to the above description of the rotating installation part 54 and the above description of the abutting part 22. In some examples, as shown in Figure 4 The side of the abutting part 22 away from the sleeve spring slides against the flange on the groove.

[0086] It is considered that existing cleaning robots cannot autonomously disassemble or replace the cleaning assembly 200, and users need to manually replace the cleaning assembly 200. The main purpose of the cleaning robot is to replace human labor and perform autonomous cleaning work, which goes against the original design of the cleaning robot and brings great inconvenience to the user.

[0087] To solve the above problems, some embodiments of the application provide a cleaning robot with the function of autonomously disassembling and replacing the cleaning assembly 200.

[0088] In some examples, as shown in Figures 1 to 5 The second end 23 of the shaft sleeve 20 away from the cleaning assembly 200 is slidably provided with a locking member 60 along the axial direction thereof, and the lifting device 100 is further fixedly provided with a cooperating member 70 and a second limiting part 53, respectively. The cleaning assembly 200 is provided with a slot 203 that is inserted and cooperated with the mounting section 13.

[0089] In the scheme in which the lifting device 100 includes the housing 50, the cooperating member 70 and the second limiting part 53 are fixed to or integrated on the housing 50. Specifically, the second limiting part 53 is located on the peripheral side of the mounting hole 52. In the scheme in which the lifting device 100 does not include the housing 50, the cooperating member 70 and the second limiting part 53 are fixed to or integrated on the machine body.

[0090] When the transmission shaft 10 rotates in the second direction, the external thread section 11 moves to the second end 23 to abut against the locking member 60 to slide, so that the locking member 60 is locked and cooperated with the cooperating member 70. The shaft sleeve 20 is kept stationary by the locking of the locking member 60 and the cooperating member 70, and the slot opening of the slot 203 abuts against the second limiting part 53, so that the mounting section 13 is separated from the slot 203.

[0091] It can be understood that the driving assembly 40 drives the transmission shaft 10 to rotate in the second direction, and the outer threaded section 11 moves towards the second end 23, in the process, the outer threaded section 11 abuts against the locking piece 60 to slide towards the matching piece 70, and the locking piece 60 is locked with the matching piece 70, since the locking piece 60 is arranged to slide along the circumference of the sleeve 20, the locking piece 60 cannot rotate relative to the sleeve 20, when the locking piece 60 is locked with the matching piece 70, the rotation of the locking piece 60 is limited, that is, the rotation of the sleeve 20 is also limited, so even if the sleeve 20 is driven to rotate by the outer threaded section 11 with a force greater than the static friction provided by the elastic piece 30, the sleeve 20 cannot rotate, the outer threaded section 11 continues to move towards the second end 23, which can drive the cleaning assembly 200 on the mounting section 13 to move towards the second end 23, when the cleaning assembly 200 moves a certain stroke, the notch of the insertion slot 203 abuts against the second limiting portion 53, the cleaning assembly 200 is limited and stops moving towards the second end 23, and the mounting section 13 is gradually separated from the insertion slot 203 due to the continuous movement of the outer threaded section 11, finally realizing the autonomous disassembly of the cleaning robot to the cleaning assembly 200. Similar to the above, when the transmission shaft 10 rotates in the first direction, the mounting section 13 moves away from the sleeve 20, and the mounting section 13 can be inserted and matched with the insertion slot 203, realizing the autonomous installation of the cleaning robot to the cleaning assembly 200.

[0092] The cleaning robot provided by the embodiment of the present application realizes the autonomous disassembly and installation of the cleaning robot to the cleaning assembly 200 through the above structure, so that the cleaning robot can replace different types of cleaning assemblies 200 to clean the ground, improving the practicability of the cleaning robot, and at the same time, replacing the new cleaning assembly 200 of the cleaning robot can also improve the cleaning efficiency of the cleaning robot, bringing greater convenience to the user.

[0093] There are various implementation manners for the sliding arrangement of the locking piece 60 along the axial direction of the sleeve 20, which will be illustrated by examples.

[0094] In some examples, as shown in Figure 5 and Figure 6 The circumferential wall of the second end 23 is provided with a sliding groove 231, the sliding groove 231 is also arranged to extend along the axial direction of the sleeve 20, the locking piece 60 is provided with a sliding block 61, and the sliding block 61 is slidably matched with the sliding groove 231. In this way, the stability of the locking piece 60 in the sliding process is improved.

[0095] The circumferential wall of the second end 23 is provided with a guide rib, the guide rib is also arranged to extend along the axial direction of the sleeve 20, the locking piece 60 is recessed with a notch, and the guide rib is slidably matched with the notch. In this way, the stability of the locking piece 60 in the sliding process is improved.

[0096] In the above two examples, the circumferential side of the locking piece 60 can also slide against the inner side of the shaft sleeve 20 to further improve the stability of the locking piece 60.

[0097] In some examples, as shown in Figure 6 The locking piece 60 is provided with a locking hole 62, and the cooperating piece 70 includes a cooperating block that is inserted and cooperated with the locking hole 62. It should be noted that the number of locking holes 62 can be multiple, and the number of locking holes 62 corresponds to the number of cooperating blocks. In this way, the insertion and cooperation of the cooperating block and the locking hole 62 is simple and reliable.

[0098] The locking piece 60 is provided with a locking block, and the cooperating piece 70 is provided with a cooperating hole, and the locking block is inserted and cooperated with the cooperating hole. This scheme is similar to the above-mentioned cooperating block and locking hole 62 scheme, and will not be described in detail.

[0099] In some examples, the mounting section 13 is provided with a first magnetic piece, the bottom wall of the insertion slot 203 is provided with a second magnetic piece, and when the mounting section 13 is inserted and cooperated with the insertion slot 203, the first magnetic piece and the second magnetic piece are magnetically attracted. In this way, the reliability of the connection between the mounting section 13 and the cleaning assembly 200 is improved.

[0100] In some examples, as shown in Figure 8 The cleaning assembly 200 includes a cleaning piece 201 and a mounting piece 202, the cleaning piece 201 is detachably connected with the mounting piece 202, and the mounting piece 202 is detachably connected with the mounting section 13. In this way, the replacement of the cleaning piece 201 is facilitated, the consumables are reduced, and the resources are saved.

[0101] The present application also provides a cleaning system, which includes the cleaning robot and the base station of any one of the above-mentioned embodiments. The specific structure of the cleaning robot is referred to the above-mentioned embodiments. Since the cleaning system adopts all the technical schemes of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical schemes of the above-mentioned embodiments, which will not be described in detail. The base station is provided with a parking platform for parking the cleaning robot, and the parking platform is provided with a cleaning groove for carrying the cleaning assembly 200.

[0102] In some examples, the cleaning groove can also be provided with a cleaning mechanism for cleaning the cleaning assembly 200, so as to realize the automatic cleaning of the cleaning assembly 200,

[0103] In some examples, the cleaning groove can also be provided with a third magnetic piece, and the second magnetic piece on the cleaning assembly 200 can be controlled to be aligned with the third magnetic piece when the cleaning assembly 200 is detached, and the second magnetic piece and the third magnetic piece are magnetically attracted when the cleaning assembly 200 is separated from or is being separated from the mounting section 13.

[0104] The above merely describes optional embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural changes made according to the content of the present application and the drawings, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A lifting device applied to a cleaning robot, characterized in that, The lifting device comprises a transmission shaft, a shaft sleeve, an elastic member, a driving assembly and a rotating mounting portion. The transmission shaft comprises an outer threaded segment, a transmission segment and a mounting segment arranged in sequence along the axial direction of the transmission shaft. The shaft sleeve is rotatably mounted on the rotating mounting portion and is threadedly connected with the outer threaded segment. The elastic member is in elastic abutment with the shaft sleeve, so that the shaft sleeve is kept stationary by the force of the elastic member. The driving assembly is in driving connection with the transmission segment to drive the transmission shaft to rotate in a first direction or a second direction.

2. The lift device of claim 1, wherein, The driving assembly comprises a driving member and a transmission member.

3. The lift device of claim 2, wherein, The transmission member is in driving connection with the driving member and is in driving abutment with the transmission segment to transmit the power of the driving member to the transmission shaft.

4. The lift device of claim 3, wherein, The transmission member comprises a transmission ring.

5. The lift device of claim 1, wherein, The transmission ring is rotatably mounted on the shaft sleeve by a bearing.

6. Lift according to any of claims 1 to 5, characterized in that The shaft sleeve is provided with an abutment portion on the lateral side.

7. A cleaning robot, characterized in that, The lifting device further comprises a housing provided with a mounting cavity and a mounting hole in communication with the mounting cavity. The transmission shaft, the shaft sleeve, the elastic member and the driving assembly are mounted in the mounting cavity. The transmission shaft further extends out of the mounting cavity through the mounting hole. The lifting device is mounted on one side of the machine body. The cleaning assembly is detachably mounted on the mounting segment.

8. The cleaning robot of claim 7, wherein, The second end of the shaft sleeve away from the cleaning assembly is provided with a locking member sliding along the axial direction. The lifting device is further provided with a cooperating member and a second limiting portion. The cleaning assembly is provided with a slot in plug-in cooperation with the mounting segment. When the transmission shaft rotates in the second direction, the outer threaded segment moves to the second end to abut against the locking member to slide. When the locking member is in locking cooperation with the cooperating member, the shaft sleeve is kept stationary by the locking cooperation of the locking member and the cooperating member. The slot opening is in abutment with the second limiting portion to make the mounting segment disengage from the slot.

9. The cleaning robot of claim 8, wherein, The circumferential wall of the second end is provided with a sliding groove, the sliding groove also extends along the axial direction of the shaft sleeve, the locking member is provided with a sliding block, and the sliding block is in sliding fit with the sliding groove And / or, the circumferential wall of the second end is provided with a guide rib, the guide rib also extends along the axial direction of the shaft sleeve, the locking member is concave, and the guide rib is in sliding fit with the concave.

10. The cleaning robot of claim 8, wherein, The locking member is provided with a locking hole, the matching member comprises a matching block, and the matching block is in plug-in fit with the locking hole. Or, the locking member is provided with a locking block, the matching member is provided with a matching hole, and the locking block is in plug-in fit with the matching hole.

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