Cloth lifting and swinging device

Abstract

The utility model relates to cleaning equipment technical field, specifically disclose a kind of cloth lifting eccentric swing device, comprising: eccentric swing power component, including first rotary motor and first planetary reduction box, the output shaft of first rotary motor and the output shaft of first planetary reduction box are all along horizontal direction setting;Follow-up shell, rotation is connected in fixed shell about vertical axis, the output shaft of first planetary reduction box is transmission connection with follow-up shell;Lifting power component, installation is in follow-up shell, including second rotary motor and second planetary reduction box, the output shaft of second rotary motor and the output shaft of second planetary reduction box are all along vertical direction setting;Lifting transmission component, including input and output, input connects the output shaft of second planetary reduction box, output is used for installing cloth component, when lifting power component drives input rotation, output is along vertical direction lifting.Cloth lifting eccentric swing device can solve the compactness problem of floor cleaning robot product structure.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a rag lifting and tilting device. Background Technology

[0002] With the continuous development of robotic vacuum cleaner technology, integrating a self-cleaning mop function has become a key element in improving overall cleaning performance. Currently, most common mop transmission solutions in this field adopt a parallel shaft transmission method, which transmits power through multiple parallel rotating shafts or gear sets.

[0003] This type of layout usually requires drive shafts, driven shafts and other components to be placed side by side, which causes them to occupy a large longitudinal or lateral dimension in the limited chassis space of the robot vacuum cleaner. This directly restricts the compact design of the overall structure of the robot vacuum cleaner, making it difficult to achieve a thinner product and affecting its ability to pass through low spaces. Utility Model Content

[0004] The purpose of this utility model is to provide a cloth lifting and tilting device to solve the problem of structural compactness in sweeping robot products.

[0005] On the one hand, this utility model provides a cloth lifting and tilting device, which includes:

[0006] Fixed housing;

[0007] A skew force assembly is installed on the fixed housing. The skew force assembly includes a first rotary motor and a first planetary gearbox whose input end is connected to the first rotary motor. The output shafts of the first rotary motor and the first planetary gearbox are both arranged in the horizontal direction.

[0008] A follower housing is rotatably connected to the fixed housing about a vertical axis, and the output shaft of the first planetary gearbox is drively connected to the follower housing to drive the follower housing to rotate about the vertical axis;

[0009] A lifting power assembly is installed on the follower housing. The lifting power assembly includes a second rotary motor and a second planetary gearbox whose input end is connected to the second rotary motor. The output shafts of the second rotary motor and the second planetary gearbox are both arranged in the vertical direction.

[0010] The lifting transmission assembly includes an input component and an output component that are connected by a transmission. The input component is connected to the output shaft of the second planetary gearbox, and the output component is used to install the rag assembly. When the lifting power assembly drives the input component to rotate, the output component moves up and down in the vertical direction.

[0011] As an optional technical solution, the output shaft of the first planetary gearbox is equipped with a drive gear, and the cloth lifting and tilting device further includes:

[0012] A yaw transmission component is rotatably connected to the fixed housing around the same vertical axis as the follower housing. The yaw transmission component includes a gear part and a pushing part. The gear part meshes with the driving gear for transmission, and the pushing part is connected to the follower housing for transmission.

[0013] As an optional technical solution, the follower housing includes a main body and an extension, the main body is configured as a cylindrical structure, the lifting power component is installed on the main body, and the extension is connected to the pushing part in a transmission manner.

[0014] As an optional technical solution, the pushing part is provided with a first pushing surface, and the extension part is correspondingly provided with a second pushing surface;

[0015] When the yaw force assembly drives the yaw transmission member to rotate in the first direction, the first pushing surface presses against the second pushing surface, and the pushing part pushes the follower housing to rotate in the inward direction.

[0016] As an optional technical solution, the cloth lifting and tilting device also includes an elastic assisting component. One end of the elastic assisting component is connected to the tilting transmission component, and the other end is connected to the follower housing. The elastic assisting component has the tendency to drive the follower housing to rotate in the outward tilting direction.

[0017] When the yaw force assembly drives the yaw transmission component to rotate in the second direction, the elastic potential energy of the elastic assist component increases, and the elastic assist component drives the follower housing to rotate in the outward yaw direction.

[0018] As an optional technical solution, the cloth lifting and tilting device further includes:

[0019] A yaw shaft is vertically arranged and installed on the fixed housing. The yaw transmission component and the follower housing are both rotatably connected to the yaw shaft.

[0020] The elastic assisting component is a torsion spring, and the elastic assisting component is sleeved on the yaw shaft.

[0021] As an optional technical solution, the pushing part is configured as a cylindrical structure with a clearance notch on the peripheral wall, an assisting cavity is formed inside the pushing part, the deflection shaft passes through the assisting cavity, the elastic assisting member is located inside the assisting cavity, and a portion of the extension part extends into the assisting cavity through the clearance notch.

[0022] As an optional technical solution, the gear part is configured as an end face gear structure, and multiple gear teeth on the gear part are distributed around the vertical axis on its upper end face;

[0023] The driving gear is configured as a flat gear, with multiple teeth on the driving gear distributed around a horizontal axis on its cylindrical circumference.

[0024] As an optional technical solution, the fixed housing is provided with a transmission cavity and a detection through hole, the swaying transmission component is installed in the transmission cavity, the detection through hole connects the transmission cavity and the outer wall surface of the fixed housing, and the cloth lifting and swaying device further includes:

[0025] A swing sensor is fixedly installed on the outer wall of the fixed housing. The detection end of the swing sensor is set towards the transmission cavity through the detection through hole. The swing sensor is used to detect the rotation angle of the swing transmission component.

[0026] As an optional technical solution, the input component is a rotating cylinder, which forms a clearance cavity with an opening at the lower end. The upper end of the rotating cylinder is connected to the output shaft of the second planetary gearbox, and the outer periphery of the rotating cylinder is provided with spiral protrusions.

[0027] The output component is a lifting sleeve, which includes an outer ring and an inner ring. The outer ring is coaxially wound around the outer periphery of the inner ring, and the lower end of the outer ring is connected to the lower end of the inner ring. A transmission groove is formed between the outer ring and the inner ring, into which the rotating cylinder can extend. The inner ring is at least partially located in the clearance cavity. The inner wall of the outer ring is provided with a threaded groove that matches the spiral protrusion. An installation cavity is formed inside the inner ring, into which the wiping assembly can extend. A magnetic suction element is provided inside the installation cavity.

[0028] The cloth lifting and tilting device provided by this utility model has at least the following beneficial effects:

[0029] This wiping cloth lifting and tilting device includes a tilting force component and a lifting power component. The tilting force component transmits the tilting force output from the first rotary motor through a first planetary gearbox, while the lifting power component transmits the lifting power output from the second rotary motor through a second planetary gearbox. Due to the power splitting, coaxial transmission, and multi-stage series characteristics of the planetary gearboxes, a large reduction ratio is efficiently generated in a confined space, which is beneficial for the compact design of the overall device. Furthermore, the power transmission paths of the tilting force component and the lifting power component are perpendicular to each other, improving the space utilization rate inside the wiping cloth lifting and tilting device. In summary, the wiping cloth lifting and tilting device provided by this invention can achieve the tilting and lifting of the wiping cloth component in a smaller space, making the product easier to achieve a thinner profile and enhancing its maneuverability in low-ceilinged spaces. Attached Figure Description

[0030] Figure 1This is a top view of the cloth lifting and tilting device in the embodiment of this utility model when it is in the outward tilting state;

[0031] Figure 2 This is a top view of the cloth lifting and tilting device in the retracted state in this embodiment of the utility model.

[0032] Figure 3 This is a schematic diagram of the first structure of the cloth lifting and tilting device in this embodiment of the present utility model;

[0033] Figure 4 This is a schematic diagram of the second structure of the cloth lifting and tilting device in an embodiment of the present utility model;

[0034] Figure 5 This is a schematic diagram of the internal structure of the cloth lifting and tilting device in this embodiment of the present invention. Figure 1 ;

[0035] Figure 6 This is a schematic diagram of the internal structure of the cloth lifting and tilting device in this embodiment of the present invention. Figure 2 ;

[0036] Figure 7 This is a schematic diagram of the structure of the fixed shell in an embodiment of the present utility model;

[0037] Figure 8 This is a schematic diagram of the oscillating transmission component in an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the structure of the follower housing in an embodiment of this utility model;

[0039] Figure 10 This is an exploded structural diagram of the lifting transmission assembly in an embodiment of this utility model.

[0040] In the picture:

[0041] 1. Fixed housing; 11. Drive cavity; 12. Transmission cavity; 13. Detection through hole; 14. Top plate;

[0042] 21. First rotary motor; 22. First planetary gearbox;

[0043] 3. Yaw transmission component; 31. Gear section; 32. Pushing section; 321. First pushing surface; 322. Assisting cavity;

[0044] 4. Follower housing; 41. Main body; 411. Gear cavity; 42. Extension; 421. Second thrust surface;

[0045] 51. Second rotary motor; 52. Second planetary gearbox;

[0046] 6. Lifting transmission assembly; 61. Rotating cylinder; 611. Spiral convex strip; 62. Lifting sleeve; 621. Outer ring; 622. Inner ring; 623. Transmission groove; 624. Threaded groove; 625. Mounting cavity; 63. Magnetic suction component; 64. Lower housing; 65. Rotation limiting rubber ring; 651. Rotation limiting particles;

[0047] 71. Drive gear; 72. Elastic assist component; 73. Yaw shaft; 74. Inner cover;

[0048] 8. Oscillation sensor. Detailed Implementation

[0049] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0050] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0052] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0053] like Figures 1 to 10 As shown, this embodiment provides a wiping cloth lifting and tilting device, which includes a fixed housing 1, a tilting force component, a follower housing 4, a lifting power component, and a lifting transmission component 6. The tilting force component is installed on the fixed housing 1, and the follower housing 4 is rotatably connected to the fixed housing 1 around a vertical axis. The output end of the tilting force component is drively connected to the follower housing 4 to drive the follower housing 4 to rotate around a vertical axis. The lifting power component is installed on the follower housing 4. The lifting transmission component 6 includes an input component and an output component that are drively connected. The input component is connected to the output end of the lifting power component, and the output component is used to install the wiping cloth component. When the lifting power component drives the input component to rotate, the output component moves up and down in the vertical direction.

[0054] Furthermore, the swaying force assembly includes a first rotary motor 21 and a first planetary gearbox 22 with its input end connected to the first rotary motor 21. The output shafts of both the first rotary motor 21 and the first planetary gearbox 22 are arranged in a horizontal direction. The lifting power assembly includes a second rotary motor 51 and a second planetary gearbox 52 with its input end connected to the second rotary motor 51. The input end is connected to the output shaft of the second planetary gearbox 52. The output shafts of both the second rotary motor 51 and the second planetary gearbox 52 are arranged in a vertical direction. The swaying device for lifting and lowering the cloth also includes a swaying transmission component 3. The swaying transmission component 3 and the follower housing 4 are rotatably connected to the fixed housing 1 around the same vertical axis. The swaying transmission component 3 includes a gear part 31 and a pushing part 32. The output shaft of the first planetary gearbox 22 is equipped with a driving gear 71. The gear part 31 meshes with the driving gear 71 for transmission, and the pushing part 32 is connected to the follower housing 4 for transmission.

[0055] Specifically, the wiping cloth lifting and tilting device provided in this embodiment includes a tilting force component and a lifting power component. The tilting force component transmits the tilting force output by the first rotary motor 21 through the first planetary gearbox 22, and the lifting power component transmits the lifting power output by the second rotary motor 51 through the second planetary gearbox 52. Due to the power splitting, coaxial transmission, and multi-stage series characteristics of the planetary gearbox, a huge reduction ratio is efficiently generated in a small space, which is beneficial to the compact design of the overall device. On the other hand, the power transmission paths of the tilting force component and the lifting power component are perpendicular to each other, which improves the space utilization rate inside the wiping cloth lifting and tilting device. In summary, the wiping cloth lifting and tilting device provided by this utility model can realize the tilting and lifting of the wiping cloth component in a smaller space, making the product easier to achieve a thinner profile and enhancing the product's passability in low-ceilinged spaces.

[0056] For example, a drive cavity 11 and a transmission cavity 12 are formed on the fixed housing 1, wherein the first rotary motor 21 and the first planetary gearbox 22 are mounted in the drive cavity 11, and the yaw transmission component 3 is mounted in the transmission cavity 12. The independent cavity configuration makes full use of the space inside the fixed housing 1, reduces the difficulty of assembling the cloth lifting and yaw device, and helps to improve production efficiency.

[0057] For example, the fixed housing 1 is provided with a detection through hole 13, which connects the transmission cavity 12 and the outer wall of the fixed housing 1. The rag lifting and tilting device also includes a swing sensor 8, which is fixedly installed on the outer wall of the fixed housing 1. The detection end of the swing sensor 8 is set towards the transmission cavity 12 through the detection through hole 13. The swing sensor 8 is used to detect the rotation angle of the tilting transmission component 3. In this embodiment, the swing sensor 8 is a Hall sensor. In other embodiments, the swing sensor 8 can also be other types of sensors such as photoelectric encoders and magnetic encoders.

[0058] For example, the fixed housing 1 is also provided with a top plate 14, and a clearance space is formed below the top plate 14 to accommodate the follower housing 4.

[0059] For example, the follower housing 4 includes a main body 41 and an extension 42, wherein the main body 41 is configured as a cylindrical structure, the lifting power assembly is installed on the main body 41, and the extension 42 is connected to the pushing part 32 in a transmission manner.

[0060] For example, the gear section 31 is configured as an end-face gear structure, with multiple teeth on the gear section 31 distributed around a vertical axis on its upper end face, and the driving gear 71 is configured as a spur gear structure, with multiple teeth on the driving gear 71 distributed around a horizontal axis on its cylindrical circumference. Specifically, the output shaft of the first planetary gearbox 22 passes through the transmission cavity 12, the driving gear 71 is located in the transmission cavity 12, and an inner cover 74 is installed on the inner wall of the transmission cavity 12, covering the periphery and upper part of the driving gear 71. The gear section 31 extends to the lower part of the driving gear 71 and meshes with the driving gear 71 for transmission. The inner cover 74 is also fitted with a rolling bearing to rotatably connect to the output shaft of the first planetary gearbox 22, thereby improving structural stability.

[0061] For example, the pushing part 32 is configured as a cylindrical structure with a clearance notch on its peripheral wall. This cylindrical structure is coaxially arranged with the gear part 31. The pushing part 32 has a first pushing surface 321, which is formed on the side wall of the clearance notch. The extension part 42 is correspondingly provided with a second pushing surface 421. When the yaw force assembly drives the yaw transmission member 3 to rotate in the first direction, the first pushing surface 321 presses against the second pushing surface 421, and the pushing part 32 pushes the follower housing 4 to rotate in the inward direction. It should be noted that, with Figure 1 For reference, the first direction is... Figure 1 The clockwise direction in the middle.

[0062] For example, the cloth lifting and tilting device also includes an elastic assist component 72. One end of the elastic assist component 72 is connected to the tilting transmission component 3, and the other end is connected to the follower housing 4. The elastic assist component 72 has a tendency to drive the follower housing 4 to rotate in the outward tilting direction. When the tilting force component drives the tilting transmission component 3 to rotate in the second direction, the elastic potential energy of the elastic assist component 72 increases, and the elastic assist component 72 drives the follower housing 4 to rotate in the outward tilting direction. It should be noted that the first direction is opposite to the second direction. Figure 1 For reference, the second direction is... Figure 1 The counterclockwise direction.

[0063] Specifically, the cloth lifting and tilting device also includes a tilting shaft 73, which is vertically arranged and installed on the fixed housing 1. The tilting transmission component 3 and the follower housing 4 are both rotatably connected to the tilting shaft 73. The elastic assist component 72 is a torsion spring, which is sleeved on the tilting shaft 73. In this embodiment, one end of the elastic assist component 72 is inserted into the pushing part 32 of the tilting transmission component 3, and the other end of the elastic assist component 72 is inserted into the extension part 42 of the follower housing 4.

[0064] When the eccentric oscillation force component drives the cloth assembly to oscillate inward, the thrust transmitted between the first pushing surface 321 and the second pushing surface 421 directly drives the follower shell to oscillate inward, without the need for the elastic assist component 72. However, when the eccentric oscillation force component drives the cloth assembly to oscillate outward, the first pushing surface 321 and the second pushing surface 421 tend to move away from each other. There is a gap in the circumferential direction between the side wall opposite to the first pushing surface 321 and the outer extension 42 on the clearance notch of the pushing part 32. The follower shell 4 needs to rely on the elastic assist component 72. The elastic potential energy of the elastic assist component 72 first increases as the gap between the pushing part 32 and the outer extension 42 decreases, and then releases the elastic potential energy to pull the follower shell 4 outward. At this time, the follower shell 4 still has a certain elastic floating space in the oscillation direction.

[0065] For example, an assist cavity 322 is formed inside the push portion 32, the yaw shaft 73 passes through the assist cavity 322, the elastic assist member 72 is located inside the assist cavity 322, and a portion of the extension portion 42 extends into the assist cavity 322 through an avoidance notch, thereby improving the compactness of the installation structure.

[0066] For example, the main body 41 of the follower housing 4 is provided with a gear cavity 411, and the upper end of the gear cavity 411 is provided with an opening. The second rotary motor 51 is installed at the upper end of the gear cavity 411, and the second planetary gearbox 52 is installed in the gear cavity 411. The main body 41 also constitutes the outer shell of the second planetary gearbox 52. An internal gear ring is integrally formed on the inner wall of the gear cavity 411. The internal gear ring meshes with the multi-stage planetary gears in the second planetary gearbox 52 for transmission. The integral forming of the internal gear ring with the gear cavity 411 further improves the compactness of the structure and saves installation space.

[0067] For example, both the first rotary motor 21 and the second rotary motor 51 are servo motors.

[0068] For example, both the first planetary gearbox 22 and the second planetary gearbox 52 adopt planetary gearboxes in the prior art. Their specific internal structures and working principles will not be described in detail here. The first planetary gearbox 22 and the second planetary gearbox 52 each include at least two stages of planetary gear systems arranged in series to achieve multi-stage transmission and speed reduction. In this embodiment, the first planetary gearbox 22 and the second planetary gearbox 52 each include two stages of planetary gear systems arranged in series.

[0069] For example, the lifting transmission assembly 6 includes a rotating cylinder 61, a lifting sleeve 62, a magnetic suction element 63, a lower housing 64, and a rotation limiting rubber ring 65. The input component of the lifting transmission assembly 6 is the rotating cylinder 61, and the output component is the lifting sleeve 62. The lower housing 64 is fixedly installed at the lower end of the follower housing 4. The rotation limiting rubber ring 65 is embedded in the inner cavity of the lower housing 64. The inner ring of the rotation limiting rubber ring 65 is provided with a plurality of rotation limiting particles 651. The lifting sleeve 62 includes an outer ring portion 621 and an inner ring portion 622. The outer ring portion 621 is coaxially wound around the outer periphery of the inner ring portion 622, and the lower end of the outer ring portion 621 is connected to the lower end of the inner ring portion 622. The plurality of rotation limiting particles 651 abut against the outer periphery of the outer ring portion 621 to limit the rotational freedom of the lifting sleeve 62. The rotating cylinder 61 forms a clearance cavity with an opening at its lower end. The upper end of the rotating cylinder 61 is connected to the output shaft of the second planetary gearbox 52. The outer periphery of the rotating cylinder 61 is provided with a spiral protrusion 611. A transmission groove 623 is formed between the outer ring 621 and the inner ring 622, into which the rotating cylinder 61 can extend. The inner ring 622 is at least partially located in the clearance cavity. The inner wall of the outer ring 621 is provided with a threaded groove 624 that matches the spiral protrusion 611. The spiral protrusion 611 is inserted into the threaded groove 624. An installation cavity 625 is formed in the inner ring 622, into which the wiping assembly can extend. A magnetic suction member 63 is installed on the top of the installation cavity 625 for magnetically adsorbing the wiping assembly.

[0070] Specifically, the cloth assembly is installed in the mounting cavity 625 by a magnetic adsorption component. When the lifting power assembly drives the rotating cylinder 61 to rotate, the spiral protrusion 611 slides along the threaded groove 624, causing the lifting sleeve 62 to rise and fall selectively extend from the lower end of the lower housing 64, thereby driving the cloth assembly to rise and fall.

[0071] For example, the magnetic 63 may be a permanent magnet, or the magnetic 63 may be made of ferromagnetic metal and magnetically attracted to the permanent magnet at the upper end of the wiping cloth assembly.

[0072] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A rag lifting and tilting device, characterized in that, include: Fixed housing (1); A skew force assembly is installed on the fixed housing (1). The skew force assembly includes a first rotary motor (21) and a first planetary gearbox (22) whose input end is connected to the first rotary motor (21). The output shaft of the first rotary motor (21) and the output shaft of the first planetary gearbox (22) are both arranged in the horizontal direction. The follower housing (4) is rotatably connected to the fixed housing (1) about a vertical axis. The output shaft of the first planetary gearbox (22) is connected to the follower housing (4) for transmission, so as to drive the follower housing (4) to rotate about a vertical axis. A lifting power assembly is installed on the follower housing (4). The lifting power assembly includes a second rotary motor (51) and a second planetary gearbox (52) whose input end is connected to the second rotary motor (51). The output shaft of the second rotary motor (51) and the output shaft of the second planetary gearbox (52) are both arranged in the vertical direction. The lifting transmission assembly (6) includes an input component and an output component that are connected by transmission. The input component is connected to the output shaft of the second planetary gearbox (52), and the output component is used to install the rag assembly. When the lifting power assembly drives the input component to rotate, the output component moves up and down in the vertical direction.

2. The cloth lifting and tilting device according to claim 1, characterized in that, The output shaft of the first planetary gearbox (22) is equipped with a drive gear (71), and the cloth lifting and tilting device further includes: The oscillating transmission component (3) is rotatably connected to the fixed housing (1) around the same vertical axis as the follower housing (4). The oscillating transmission component (3) includes a gear part (31) and a pushing part (32). The gear part (31) meshes with the driving gear (71) for transmission, and the pushing part (32) is connected to the follower housing (4) for transmission.

3. The cloth lifting and tilting device according to claim 2, characterized in that, The follower housing (4) includes a main body (41) and an extension (42). The main body (41) is configured as a cylindrical structure. The lifting power assembly is installed on the main body (41). The extension (42) is connected to the pushing part (32) in a transmission connection.

4. The cloth lifting and tilting device according to claim 3, characterized in that, The pushing part (32) is provided with a first pushing surface (321), and the extension part (42) is provided with a second pushing surface (421). When the yaw force assembly drives the yaw transmission member (3) to rotate in the first direction, the first pushing surface (321) presses against the second pushing surface (421), and the pushing part (32) pushes the follower housing (4) to rotate in the inward direction.

5. The cloth lifting and tilting device according to claim 4, characterized in that, The cloth lifting and tilting device also includes an elastic assist component (72), one end of which is connected to the tilting transmission component (3) and the other end is connected to the follower housing (4). The elastic assist component (72) has the tendency to drive the follower housing (4) to rotate in the outward tilting direction. When the yaw force assembly drives the yaw transmission member (3) to rotate in the second direction, the elastic potential energy of the elastic assist member (72) increases, and the elastic assist member (72) drives the follower housing (4) to rotate in the outward swing direction.

6. The cloth lifting and tilting device according to claim 5, characterized in that, The cloth lifting and tilting device also includes: A yaw shaft (73) is arranged vertically and installed on the fixed housing (1). The yaw transmission component (3) and the follower housing (4) are both rotatably connected to the yaw shaft (73). The elastic assisting component (72) is a torsion spring, and the elastic assisting component (72) is sleeved on the yaw shaft (73).

7. The cloth lifting and tilting device according to claim 6, characterized in that, The pushing part (32) is configured as a cylindrical structure with a clearance notch on the peripheral wall. An assist cavity (322) is formed inside the pushing part (32). The yaw shaft (73) passes through the assist cavity (322). The elastic assist member (72) is located inside the assist cavity (322). A portion of the extension part (42) extends into the assist cavity (322) through the clearance notch.

8. The cloth lifting and tilting device according to claim 2, characterized in that, The gear part (31) is configured as an end face gear structure, and multiple gear teeth on the gear part (31) are distributed around the vertical axis on its upper end face; The driving gear (71) is configured as a flat gear structure, and multiple teeth on the driving gear (71) are distributed around the horizontal axis on its cylindrical circumference.

9. The cloth lifting and tilting device according to claim 2, characterized in that, The fixed housing (1) is provided with a transmission cavity (12) and a detection through hole (13). The swaying transmission component (3) is installed in the transmission cavity (12). The detection through hole (13) connects the transmission cavity (12) and the outer wall of the fixed housing (1). The rag lifting and swaying device further includes: The swing sensor (8) is fixedly installed on the outer wall of the fixed housing (1). The detection end of the swing sensor (8) is set towards the transmission cavity (12) through the detection through hole (13). The swing sensor (8) is used to detect the rotation angle of the oscillation transmission component (3).

10. The cloth lifting and tilting device according to any one of claims 1-9, characterized in that, The input component is a rotating cylinder (61), which forms a clearance cavity with an opening at the lower end. The upper end of the rotating cylinder (61) is connected to the output shaft of the second planetary gearbox (52), and the outer periphery of the rotating cylinder (61) is provided with a spiral protrusion (611). The output component is a lifting sleeve (62), which includes an outer ring (621) and an inner ring (622). The outer ring (621) is coaxially wound around the outer periphery of the inner ring (622), and the lower end of the outer ring (621) is connected to the lower end of the inner ring (622). A transmission groove (623) is formed between the outer ring (621) and the inner ring (622) into which the rotating cylinder (61) can extend. The inner ring (622) is at least partially located in the clearance cavity. The inner wall of the outer ring (621) is provided with a threaded groove (624) that is adapted to the spiral protrusion (611). An installation cavity (625) is formed in the inner ring (622) into which the wiping assembly can extend. A magnetic suction element (63) is provided in the installation cavity (625).

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