Lift detection device and cleaning robot

Abstract

The utility model discloses a kind of lifting detection device and cleaning robot, the lifting detection device includes base, detection component, driving assembly, protective cover, microswitch and trigger, the detection component is movably arranged on the base along vertical direction;The driving assembly is located in the base and is connected with the detection component, for driving the detection component moves;The protective cover is rotatable and connected with the detection component, one of the microswitch and the trigger is arranged on the protective cover, the other of the microswitch and the trigger is arranged on the detection component, when the protective cover rotates to the trigger triggers the microswitch, the driving assembly makes the detection component descend.The lifting detection device of the embodiment of the application can significantly improve the obstacle avoidance capability and cleaning effect of cleaning robot.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning technology, specifically to a lifting detection device and a cleaning robot. Background Technology

[0002] With the continuous development of technology, cleaning robots in homes and businesses are gradually becoming an important part of people's daily lives. Cleaning robots typically possess functions such as autonomous navigation and automatic cleaning, greatly reducing people's cleaning burden. However, a problem with related technologies is the poor obstacle detection performance of cleaning robots, which affects obstacle avoidance and cleaning effectiveness. Utility Model Content

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a lifting detection device and a cleaning robot.

[0004] The lifting detection device of this application embodiment includes a base, a detection component, a drive component, a protective cover, a micro switch, and a trigger. The detection component is at least partially movably mounted on the base in the vertical direction. The drive component is mounted on the base and connected to the detection component for driving the detection component to move. The protective cover is rotatably connected to the detection component. One of the micro switch and the trigger is mounted on the protective cover, and the other of the micro switch and the trigger is mounted on the detection component. When the protective cover rotates to the point where the trigger activates the micro switch, the drive component causes the detection component to descend.

[0005] Optionally, the lifting detection device in this application embodiment includes a slide block, the slide block having a sliding part, the base having a groove extending in a vertical direction, the sliding part being slidably fitted in the groove in a vertical direction, the driving component being connected to the slide block to drive the slide block to slide, the detection component being disposed on the slide block, and the protective cover being rotatably connected to the slide block between a first position and a second position via a rotating shaft.

[0006] Optionally, a first elastic element is provided between the protective cover and the slide to reset the protective cover to the first position.

[0007] Optionally, the slide groove is provided with a first stop and a second stop. The first stop is used to stop the sliding part when the detection component rises to a first preset position, and the second stop is used to stop the sliding part when the detection component falls to a second preset position.

[0008] Optionally, the drive assembly includes a first link, a second link, and a motor, wherein a first end of the first link is connected to the motor, a second end of the first link is pivotally connected to the first end of the second link, and a second end of the second link is pivotally connected to the slide.

[0009] Optionally, the side wall of the slide is provided with a through hole, the first connecting rod and the second connecting rod are disposed in the slide, the motor is disposed outside the slide and the motor shaft of the motor passes through the through hole and extends into the slide to connect with the first connecting rod.

[0010] Optionally, the slide has an upper chamber and a lower chamber, with at least a portion of the detection assembly located in the upper chamber and at least a portion of the second link located in the lower chamber.

[0011] Optionally, the drive assembly further includes a second elastic element and a connecting seat, the second elastic element and the connecting seat being disposed in the lower cavity, the second elastic element being located between the connecting seat and the top wall of the lower cavity, the second end of the second connecting rod being pivotally connected to the connecting seat, and the second elastic element being used to apply an upward elastic force to the slide when the detection assembly rises to a first preset position.

[0012] Optionally, the top of the connecting seat has a cylindrical boss, and the second elastic element is a spring with its lower end sleeved on the cylindrical boss.

[0013] Optionally, the second elastic element is a plurality of elements and is arranged at circumferential intervals along the connecting seat.

[0014] Optionally, the connecting seat includes a first seat body and a second seat body. The first seat body has a first pivot hole, the second seat body has a second pivot hole, and the second end of the second connecting rod is provided with a pivot. The first end of the pivot is pivotally engaged in the first pivot hole, and the second end of the pivot is pivotally engaged in the second pivot hole.

[0015] The cleaning robot of this application embodiment includes a shell and a lifting detection device. The top surface of the shell has a first opening. The lifting detection device is the lifting detection device described in any of the above embodiments. The base is disposed inside the shell. At least a portion of the detection component can be raised to the outside of the shell through the first opening, and at least a portion of the detection component can be lowered to the top surface through the first opening.

[0016] Optionally, the side wall of the housing is provided with a second opening, through which the detection component can transmit a detection signal when it is located inside the housing.

[0017] When a cleaning robot equipped with the lifting detection device of this application encounters obstacles of different heights, it can adjust the height of the detection component through the drive component to identify and avoid the obstacles, thereby reducing the risk of collision and damage and improving obstacle avoidance. The cleaning robot can also adjust the height of the detection component according to changes in obstacle height to better adapt to the cleaning needs of different surfaces and improve cleaning efficiency. Furthermore, the automatic linkage between the protective cover and the drive component can be achieved through the setting of microswitches and triggers, improving the degree of automation. The rapid response capability of the microswitches ensures that a signal is triggered immediately when the protective cover touches an obstacle, thereby adjusting the height position of the detection component in a timely manner. The lifting detection device of this application can significantly improve the obstacle avoidance capability and cleaning efficiency of the cleaning robot. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the detection component of the cleaning robot in an embodiment of this application rising to a first preset position.

[0019] Figure 2 This is a schematic diagram of the detection component of the cleaning robot in an embodiment of this application descending to a second preset position.

[0020] Figure 3 This is a schematic diagram of the lifting detection device according to an embodiment of this application.

[0021] Figure 4 This is a schematic diagram of the lifting detection device according to an embodiment of this application, with the base omitted.

[0022] Figure 5 This is a schematic diagram of the slide block according to an embodiment of this application.

[0023] Figure 6 This is a schematic diagram of the structure of the driving component in an embodiment of this application.

[0024] Figure 7 This is a cross-sectional view of the detection component of this application embodiment rising to a first preset position.

[0025] Figure 8 This is a cross-sectional view of the detection component in an embodiment of this application descending to a second preset position.

[0026] Figure label:

[0027] 1000 Cleaning robot; 100 Lifting detection device; 1 Base; 101 Slide groove; 2 Slide seat; 201 Sliding part; 202 Upper chamber; 203 Lower chamber; 3 Drive assembly; 301 First connecting rod; 302 Second connecting rod; 303 Motor; 304 Second elastic element; 305 Connecting seat; 3051 First seat body; 3052 Second seat body; 4 First stop; 5 Second stop; 6 Cylindrical boss; 7 Pivot; 8 Protective cover; 9 Rotating shaft; 10 First elastic element; 11 Micro switch; 12 Trigger; 13 Housing; 1301 Second opening. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below, with examples of the embodiments shown in the accompanying drawings. Unless otherwise specified, the embodiments and technical features described in this application can be combined with each other. The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this utility model, but should not be construed as limiting this utility model.

[0029] like Figures 1 to 8 As shown, this application provides a lifting detection device 100, which can be used in self-propelled equipment, for example, in applications such as... Figure 1 In the cleaning robot shown, the lifting detection device 100 includes a base 1, a detection component (not shown), a drive component 3, a protective cover 8, a micro switch 11, and a trigger 12. The detection component is at least partially movably mounted on the base 1 in the vertical direction. The drive component 3 is mounted on the base 1 and connected to the detection component, and is used to drive the detection component to move. The protective cover 8 is rotatably connected to the detection component. One of the micro switch 11 and the trigger 12 is mounted on the protective cover, and the other of the micro switch 11 and the trigger 12 is mounted on the detection component. When the protective cover 8 rotates to the point where the trigger 12 triggers the micro switch 11, the drive component 3 causes the detection component to descend.

[0030] In use, the lifting detection device 100 of this application embodiment has, for example, a trigger 12 mounted on a protective cover 8, and a micro switch 11 mounted on the detection assembly. The micro switch 11 is connected to the drive assembly 3 for control. The detection assembly is used to acquire obstacle information. The specific type of the detection assembly can be a camera, millimeter-wave radar, lidar, infrared, ultrasonic, etc.

[0031] When the cleaning robot 1000 is working, if the protective cover 8 touches a tall obstacle and is pressed down, the trigger 12 set between the protective cover 8 and the detection component will contact the micro switch 11. This contact action will trigger the micro switch 11, thereby sending a signal to the control system. After receiving the signal, the control system will instruct the drive component 3 to lower the detection component in order to reduce the height of the protective cover 8 to avoid obstacles.

[0032] The primary function of the protective cover 8 is to protect the detection components from physical damage or contamination, thereby extending their service life. By reducing the impact of the external environment on the detection components, the accuracy of detection and the reliability of the entire system can be improved. In harsh working environments, such as high temperature, high humidity, or dusty environments, the protective cover 8 can provide a relatively stable and clean working environment. The protective cover 8 can prevent operators or other objects from accidentally coming into contact with the detection components, reducing safety risks.

[0033] Therefore, when the cleaning robot 1000 equipped with the lifting detection device 100 of this application encounters obstacles of different heights, the height of the detection component can be adjusted by the drive component 3 to identify and avoid the obstacles, thereby reducing the risk of collision and damage and improving the obstacle avoidance effect. The cleaning robot 1000 can also adjust the height of the detection component according to the height change of the obstacle to better adapt to the cleaning needs of different ground surfaces and improve the cleaning effect. In addition, the automatic linkage between the protective cover 8 and the drive component 3 can be realized through the setting of the micro switch 11 and the trigger 12, improving the automation level of operation. The fast response capability of the micro switch 11 ensures that a signal can be triggered immediately when the protective cover 8 touches an obstacle, thereby adjusting the height position of the detection component in a timely manner. The lifting detection device 100 of this application embodiment can significantly improve the obstacle avoidance ability and cleaning effect of the cleaning robot 1000.

[0034] The liftable detection device 100 provided in this application has low-altitude space adaptability. By lowering its height (e.g., below the robot's main body), the liftable detection device 100 can smoothly enter low-altitude areas (such as under beds or sofa crevices) that fixed-height detection devices cannot access, thus improving cleaning efficiency. The liftable detection device 100 also has complex terrain adaptability. For example, when the robot encounters carpets, thresholds, or other objects with varying heights, the height of the detection device can be dynamically adjusted to optimize ranging accuracy and avoid misjudgments or missed areas. Furthermore, through the lifting function, the detection device can acquire environmental data from different height planes (such as under furniture or between table legs), constructing a more three-dimensional 3D map and improving obstacle recognition capabilities.

[0035] In some embodiments, such as Figure 7 and Figure 8 As shown, the lifting detection device 100 of this application embodiment includes a slide 2, the slide 2 having a sliding part 201, and a base 1 having a slide groove 101 extending in the vertical direction. The sliding part 201 is slidably fitted into the slide groove 101 in the vertical direction. A driving assembly 3 is connected to the slide 2 to drive the slide 2 to slide. A detection assembly is disposed on the slide 2, and a protective cover 8 is rotatably connected to the slide 2 between a first position and a second position via a rotating shaft 9.

[0036] Specifically, the detection component is mounted on the slide block 2, and the drive component 3 drives the slide block 2 to rise or fall, which in turn drives the detection component to rise or fall, thereby realizing the lifting and lowering of the detection component. The sliding fit of the slide block 2 within the slide groove 101 provides good stability, ensuring that there will be no shaking or deviation during the lifting and lowering process.

[0037] Optionally, a first elastic element 10 is provided between the protective cover 8 and the slide 2 to reset the protective cover 8 to the first position.

[0038] When the cleaning robot 1000 is working, if the protective cover 8 encounters a tall obstacle and is pressed downwards, the trigger 12 on the protective cover 8 will contact the micro switch 11 on the slide block 2 while the protective cover 8 is pressing against the first elastic element 10. This contact action will trigger the micro switch 11, thereby sending a signal to the control system. After receiving the signal, the control system will instruct the drive component 3 to lower the detection component, so as to reduce the height of the protective cover 8 to avoid the obstacle. After the obstacle avoidance is completed, the protective cover 8 will return to its initial position (i.e., the first position) under the elastic force of the first elastic element 10.

[0039] The rotatable design of the protective cover 8 allows it to be quickly opened when testing is needed and automatically reset when not testing, improving operational flexibility. Through the action of the first elastic element 10, the protective cover 8 can automatically return to the first position when not in use, reducing manual intervention. The reset mechanism of the first elastic element 10 ensures that the protective cover 8 always remains in the correct position, improving the reliability of the entire mechanism.

[0040] In some embodiments, the slide 101 is provided with a first stop 4 and a second stop 5. The first stop 4 is used to stop the sliding part 201 when the detection component rises to a first preset position, and the second stop 5 is used to stop the sliding part 201 when the detection component falls to a second preset position.

[0041] For example, such as Figure 7 and Figure 8 As shown, the first stop 4 and the second stop 5 are vertically spaced on the side wall of the slide groove 101, with the first stop 4 located above the second stop 5, and the sliding part 201 located between the first stop 4 and the second stop 5.

[0042] The first stop 4 stops the sliding part 201 when the detection component rises to the first preset position, preventing it from continuing to rise. The second stop 5 stops the sliding part 201 when the detection component descends to the second preset position, preventing it from continuing to descend. The first stop 4 and the second stop 5 limit the movement range of the detection component to ensure that the detection component is accurately positioned at a specific working height and to ensure that the detection component is not damaged due to exceeding the design range. When the detection component reaches the preset upper or lower limit, the stop can prevent it from continuing to move, avoiding damage to the equipment.

[0043] Optionally, the drive assembly 3 includes a first link 301, a second link 302, and a motor 303. The first end of the first link 301 is connected to the motor 303, the second end of the first link 301 is pivotally connected to the first end of the second link 302, and the second end of the second link 302 is pivotally connected to the slide 2.

[0044] like Figures 6 to 8 As shown, after the motor 303 starts, it drives the first link 301 to rotate through rotational motion. The pivotal connection between the first link 301 and the second link 302 allows for changes in the angle between the two links, thereby transmitting motion. The pivotal connection between the second link 302 and the slide 2 allows the slide 2 to rise or fall as the angle of the linkage mechanism changes.

[0045] The linkage mechanism enables smooth lifting and lowering movements, preventing vibration of the slide 2 during operation. Through the cooperation of the motor 303 and the linkage, the lifting position of the slide 2 can be precisely controlled to meet the working requirements at different heights. The linkage mechanism has a relatively compact design, saving space and making it suitable for use in confined spaces.

[0046] In some embodiments, the side wall of the slide 101 is provided with a through hole, the first connecting rod 301 and the second connecting rod 302 are provided in the slide 101, the motor 303 is provided outside the slide 101 and the motor 303 shaft of the motor 303 passes through the through hole and extends into the slide 101 to be connected with the first connecting rod 301.

[0047] External mounting of the motor 303 allows for a more compact internal space within the slide rail 101, providing more room for other components or functional modules. This makes maintenance and replacement of the motor 303 easier and faster, and also protects the motor 303 from the effects of the internal environment of the slide rail 101 (such as dust and moisture), thus extending its service life. Furthermore, the motor 303 generates heat during operation, and placing it externally within the slide rail 101 helps with heat dissipation.

[0048] In some embodiments, the slide 2 has an upper chamber 202 and a lower chamber 203, with at least a portion of the detection component located in the upper chamber 202 and at least a portion of the second link 302 located in the lower chamber 203.

[0049] In other words, the upper chamber 202 of the slide 2 is used to accommodate part or all of the detection assembly. The lower chamber 203 of the slide 2 is used to accommodate part or all of the second connecting rod 302.

[0050] like Figure 7 and Figure 8 As shown, a modular design is achieved by placing the detection component and linkage mechanism in separate chambers, facilitating maintenance and replacement. Placing the detection component in the upper chamber 202 provides additional protection against damage during lifting and lowering. The arrangement of the upper chamber 202 and lower chamber 203 helps improve the stability and balance of the entire slide 2, especially during lifting and lowering. The design of the upper chamber 202 and lower chamber 203 provides dust and water protection for the internal electronic components, improving their reliability in harsh environments. Furthermore, separating the detection component and linkage mechanism reduces mutual interference between them, such as electromagnetic interference or mechanical vibration.

[0051] In some embodiments, the drive assembly 3 further includes a second elastic element 304 and a connecting seat 305. The second elastic element 304 and the connecting seat 305 are disposed in the lower chamber 203. The second elastic element 304 is located between the connecting seat 305 and the top wall of the lower chamber 203. The second end of the second connecting rod 302 is pivotally connected to the connecting seat 305. The second elastic element 304 is used to apply an upward elastic force to the slide 2 when the detection assembly rises to the first preset position.

[0052] Specifically, such as Figures 6 to 8 As shown, when the drive component 3 raises the detection component to the first preset position, the second elastic element 304 applies an upward elastic force to the slide 2. On the one hand, when the detection component or the slide 2 collides with an obstacle during the movement of the cleaning robot 1000, the second elastic element 304 can be compressed, playing a buffering role and effectively protecting the detection component from damage. On the other hand, the elastic properties of the second elastic element 304 can absorb and buffer the impact and vibration that may be generated during the lifting and lowering process, achieving a smoother lifting and lowering.

[0053] In some embodiments, the top of the connecting seat 305 has a cylindrical boss 6, and the second elastic member 304 is a spring with its lower end sleeved on the cylindrical boss 6.

[0054] For example, such as Figure 6 As shown, the cylindrical boss 6 provides a positioning and guiding mechanism for the second elastic element 304, ensuring that the second elastic element 304 is correctly installed in the predetermined position and avoiding offset or tilting. In addition, the cylindrical boss 6 ensures that the force of the second elastic element 304 can be evenly distributed when it is subjected to compression or tension.

[0055] Optionally, there are multiple second elastic elements 304 arranged at circumferential intervals along the connecting seat 305.

[0056] like Figure 6 As shown, the evenly arranged multiple second elastic elements 304 ensure a more uniform elastic force on the slide block 2, thereby reducing structural deformation or damage caused by uneven elastic force. The uniform distribution of springs helps enhance the stability of the entire lifting mechanism, especially during lifting, better resisting external disturbances. The spaced arrangement of multiple springs reduces the pressure on a single spring, avoiding spring fatigue or damage caused by localized stress concentration.

[0057] Optionally, such as Figure 6 As shown, the connecting seat 305 includes a first seat body 3051 and a second seat body 3052. The first seat body 3051 has a first pivot hole, and the second seat body 3052 has a second pivot hole. The second end of the second connecting rod 302 is provided with a pivot 7. The first end of the pivot 7 is pivotally fitted in the first pivot 7 hole, and the second end of the pivot 7 is pivotally fitted in the second pivot 7 hole.

[0058] By dividing the connector 305 into a first seat body 3051 and a second seat body 3052 and connecting them via a pivot 7, it can adapt to different installation environments, making the connector 305 easy to install. This, in turn, makes the installation and maintenance of the connector 305 more convenient, allowing for quick assembly and disassembly. The pivoting connection of the pivot 7 provides a stable support point, ensuring the reliability and long-term stability of the connector 305.

[0059] The cleaning robot 1000 of this application embodiment includes a housing 13 and a lifting detection device 100. The top surface of the housing 13 has a first opening, and the lifting detection device 100 is the lifting detection device 100 in any of the above embodiments. The base 1 is disposed inside the housing 13. At least a portion of the detection component can be raised to the outside of the housing 13 through the first opening, and at least a portion of the detection component can be lowered to the top surface of the housing 13 through the first opening.

[0060] In use, the cleaning robot 1000 of this embodiment allows the detection component to be raised and lowered via the drive component 3, extending outwards through the first opening on the top surface of the housing 13 and descending inwards. When the cleaning robot 1000 encounters obstacles of varying heights, the drive component 3 can adjust the height of the detection component to identify and avoid obstacles, thereby reducing the risk of collisions and damage and improving obstacle avoidance. Furthermore, the cleaning robot 1000 can adjust the height of the detection component according to changes in obstacle height to better adapt to the cleaning needs of different surfaces and improve cleaning effectiveness. Therefore, the cleaning robot 1000 of this embodiment possesses the advantages of both obstacle avoidance capability and excellent cleaning performance.

[0061] In some embodiments, the sidewall of the housing 13 is provided with a second opening 1301, through which the detection component can transmit a detection signal when it is located inside the housing 13.

[0062] When the detection component does not need to be raised for detection, it can remain inside the housing 13. In this case, the detection component can emit detection signals through the second opening 1301 on the side wall of the housing 13. These signals can be used to detect the surrounding environment, such as measuring distance, detecting obstacles, and identifying clean areas, enhancing the robot's perception capabilities. The fact that the detection component can still perform detection while inside optimizes the use of internal space, making the robot's design more compact.

[0063] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 utility model.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In this utility model, unless otherwise explicitly 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, an electrical connection, or a connection that allows communication between them; 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 explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0066] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through 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. "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.

[0067] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0068] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A lifting detection device, characterized in that, include: Base; A detection component, at least partially movably disposed on the base in a vertical direction; A driving component, which is disposed on the base and connected to the detection component, is used to drive the detection component to move; The device includes a protective cover, a micro switch, and a trigger. The protective cover is rotatably connected to the detection component. One of the micro switch and the trigger is located on the protective cover, and the other of the micro switch and the trigger is located on the detection component. When the protective cover rotates to the point where the trigger activates the micro switch, the drive component causes the detection component to descend.

2. The lifting detection device according to claim 1, characterized in that, The device includes a slide block having a sliding portion, a base having a vertically extending groove, the sliding portion being slidably fitted into the groove in the vertical direction, a drive assembly being connected to the slide block to drive the slide block to slide, a detection assembly being disposed on the slide block, and a protective cover being rotatably connected to the slide block between a first position and a second position via a rotating shaft.

3. The lifting detection device according to claim 2, characterized in that, A first elastic element is provided between the protective cover and the slide to reset the protective cover to the first position.

4. The lifting detection device according to claim 2, characterized in that, The slide groove is provided with a first stop and a second stop. The first stop is used to stop the sliding part when the detection component rises to a first preset position, and the second stop is used to stop the sliding part when the detection component descends to a second preset position.

5. The lifting detection device according to claim 2, characterized in that, The drive assembly includes a first link, a second link, and a motor. A first end of the first link is connected to the motor, a second end of the first link is pivotally connected to the first end of the second link, and a second end of the second link is pivotally connected to the slide.

6. The lifting detection device according to claim 5, characterized in that, The side wall of the slide is provided with a through hole, the first connecting rod and the second connecting rod are located inside the slide, the motor is located outside the slide and the motor shaft of the motor passes through the through hole and extends into the slide to connect with the first connecting rod.

7. The lifting detection device according to claim 6, characterized in that, The slide has an upper chamber and a lower chamber, with at least a portion of the detection assembly located in the upper chamber and at least a portion of the second link located in the lower chamber.

8. The lifting detection device according to claim 7, characterized in that, The drive assembly further includes a second elastic element and a connecting seat. The second elastic element and the connecting seat are disposed in the lower cavity. The second elastic element is located between the connecting seat and the top wall of the lower cavity. The second end of the second connecting rod is pivotally connected to the connecting seat. The second elastic element is used to apply an upward elastic force to the slide when the detection assembly rises to a first preset position.

9. The lifting detection device according to claim 8, characterized in that, The top of the connecting seat has a cylindrical boss, and the second elastic element is a spring with its lower end sleeved on the cylindrical boss.

10. The lifting detection device according to claim 8, characterized in that, The second elastic element is a plurality of elements and is arranged at circumferential intervals along the connecting seat.

11. The lifting detection device according to claim 8, characterized in that, The connecting seat includes a first seat body and a second seat body. The first seat body has a first pivot hole, and the second seat body has a second pivot hole. The second end of the second connecting rod is provided with a pivot. The first end of the pivot is pivotally fitted in the first pivot hole, and the second end of the pivot is pivotally fitted in the second pivot hole.

12. A cleaning robot, characterized in that, include: The outer casing has a first opening on its top surface; A lifting detection device, wherein the lifting detection device is any one of claims 1-11, the base is disposed inside the housing, at least a portion of the detection component can be raised to the outside of the housing through the first opening, and at least a portion of the detection component can be lowered to the top surface through the first opening.

13. The cleaning robot according to claim 12, characterized in that, The side wall of the housing is provided with a second opening, through which the detection component can transmit a detection signal when it is located inside the housing.

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