Stretch / retraction and lifting / lowering mechanism, and cleaning device

Abstract

The present application discloses a stretch / retraction and lifting / lowering mechanism, and a cleaning device. By means of interaction between a stretchable / retractable member and a fixing member and limitation between the stretchable / retractable member and a lifting / lowering member, stretch / retraction and lifting / lowering of cleaning units can be implemented simply by driving the stretchable / retractable member to move, thereby achieving a simple structure and facilitating control. The main technical solution of the present invention is that: in a stretch / retraction and lifting / lowering mechanism, a fixing member is configured to be connected to a cleaning device; a lifting / lowering member is movably connected to the fixing member in a first direction; a stretchable / retractable member is movably connected to the fixing member, and the stretchable / retractable member and the lifting / lowering member limit each other in the first direction; and a driving member is connected to the fixing member and is connected to the stretchable / retractable member. The present invention is mainly used for stretch / retraction and lifting / lowering of cleaning units.

Description

Telescopic lifting mechanism and cleaning device

[0001] The present application claims priority to the Chinese Patent Application No. 202410479606.1, filed on April 19, 2024, and entitled "Telescopic Lifting Mechanism and Cleaning Device", and the Chinese Patent Application No. 202420821265.7, filed on April 19, 2024, and entitled "Telescopic Lifting Mechanism and Cleaning Device", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of smart home, and in particular to a telescopic lifting mechanism and a cleaning device. BACKGROUND

[0003] With the continuous development of smart home technology, the frequency of using cleaning devices in daily household work is increasing. The cleaning function of the ground is the main function of the cleaning device, and a rolling brush that interferes with the ground is arranged below the cleaning device. By driving the rolling brush to rotate, the dust on the ground can be collected, and then concentrated suction can be performed, or the rolling brush can be driven to rotate for wet cleaning.

[0004] The inventor realizes that there are telescopic rolling brushes in the prior art, including two cleaning units that can be telescoped with each other, which can realize length adjustment of the rolling brush according to the cleaning environment. At least one of the two cleaning units needs to be connected to a telescopic driving member for telescopic driving. In order to realize obstacle avoidance such as carpets during the walking process of the cleaning device, the rolling brush needs to have a lifting function, and then another lifting driving member needs to be used to drive the cleaning unit and the telescopic driving member as a whole to lift, resulting in the need for at least two driving members for driving, redundant structure, and complicated control.

[0005] SUMMARY

[0006] The present application provides a telescopic lifting mechanism and a cleaning device, which realizes telescopic and lifting of the cleaning unit by interaction between the telescopic member and the fixed member and limiting between the telescopic member and the lifting member, and only driving the telescopic member to move.

[0007] In one aspect, the present application provides a telescopic lifting mechanism for a cleaning device, the telescopic lifting mechanism comprising:

[0008] a fixed member, the fixed member being configured to be connected to the cleaning device;

[0009] a lifting member, the lifting member being movably connected to the fixed member in a first direction;

[0010] The telescopic part is movably connected with the fixing part and is limited in the first direction by the lifting part;

[0011] The driving part is connected with the fixing part and is further connected with the telescopic part.

[0012] In another aspect, the application further provides a cleaning device, comprising the telescopic lifting mechanism of any one of the preceding aspects, and a robot body, wherein the telescopic lifting mechanism is arranged on the robot body. Advantages

[0013] The telescopic lifting mechanism and the cleaning device provided by the application, when the driving part drives the telescopic part to move, the telescopic part interacts with the fixing part and moves in the second direction and the first direction, and the telescopic part and the lifting part are limited in the first direction, so that the cleaning unit is lifted, the lifting part and the fixing part are movably connected in the first direction and are limited in the second direction, and the telescopic part can move relative to the fixing part in the second direction, thereby realizing the telescoping of the cleaning unit, so that the telescopic part is driven to move in a single direction by a single driving part, and the telescoping and lifting of the cleaning unit are realized only by the structural relationship between the telescopic part, the fixing part and the lifting part, the number of driving parts is reduced, the driving burden and cost are reduced, the structure is more simple, and the control process is simpler. BRIEF DESCRIPTION OF DRAWINGS

[0014] FIG. 1 is a structural schematic view of a telescopic lifting mechanism provided by an embodiment of the application;

[0015] FIG. 2 is an exploded schematic view of the composition structure of a telescopic lifting mechanism provided by an embodiment of the application. DETAILED DESCRIPTION

[0016] In order to further illustrate the technical means and effects taken by the application to achieve the predetermined application purposes, the specific embodiments, structures, features and effects of the telescopic lifting mechanism according to the application are described in detail below in combination with the drawings and preferred embodiments.

[0017] As shown in Figure 1, an embodiment of the present application provides a telescopic lifting mechanism for a cleaning device, which can also be called a self-cleaning device, a sweeper, a sweeping robot, a floor scrubber or a mop sweeper, etc., and can automatically clean and collect debris without user operation. The cleaning device can further include a machine body, a motion system, a cleaning system and a sensing system. In order to enable the cleaning device to adapt to more cleaning spaces and make the body more stable and balanced, the machine body is usually flat and circular, or it can also have other shapes, such as a semicircle, a square, etc. The sensing system is arranged on the machine body and is used to sense walls and obstacles, draw maps, and determine the position when the machine body moves to clean. For example, the sensing system includes a camera, a distance sensor, a collision sensor, a distance sensor, a magnetometer, an accelerometer, a gyroscope, an odometer and other sensing devices. The motion system may include multiple moving wheels and a drive member. The moving wheels may include a left wheel and a right wheel. The drive member can control the rotation of the left wheel and the right wheel respectively, and can realize the movement of the machine body such as forward and backward movement and left and right rotation. In order to make the movement of the machine body more balanced, the moving wheel may also include a driven wheel, which may be a universal wheel, etc. The cleaning system mainly includes a cleaning unit, a dust box and an exhaust fan. The cleaning unit may be a brush, a rubber brush, etc. The cleaning unit is connected to the machine body through a driving member. The machine body has a dust suction port located behind the roller brush, and the dust box is located on the air path between the exhaust fan and the dust suction port. There is a certain interference between the cleaning unit and the ground. The cleaning unit is used to rotate under the action of the driving member. During the rotation, the garbage on the ground can be swept up and rolled to the bottom of the dust suction port, and then sucked into the dust box by the gas generated by the exhaust fan and drawn back to the dust box. Alternatively, the cleaning unit of the cleaning system can also rotate for wet cleaning. In order to adjust the length of the cleaning unit according to changes in the cleaning environment, the cleaning unit may include a first cleaning member and a second cleaning member. The second cleaning member can be extended and retracted relative to the first cleaning member under the drive of an external force, thereby changing the overall axial length of the cleaning unit. For example, when cleaning a narrow area such as the gap between two carpets, the length of the cleaning unit can be shortened. When cleaning a large area of ​​the floor or cleaning the edge near a wall, the second cleaning member can be extended to increase the cleaning range. Since the cleaning unit requires interference with the ground, the cleaning unit protrudes from the bottom surface of the machine body. When cleaning protrusions such as carpets, it will interact with the edge of the carpet, hindering the movement of the machine body and causing the machine body to jam. The cleaning unit can be raised when not cleaning to avoid obstacles. When cleaning is required, the cleaning unit is lowered to contact the ground for mobile cleaning.

[0018] To simplify the implementation structure of the telescopic and lifting of the cleaning unit, as well as to reduce the control difficulty and driving burden, this embodiment proposes a telescopic lifting mechanism. For the convenience of explanation, the following embodiments are all based on the actual direction of the cleaning device in use. As shown in Figure 1-2, the telescopic lifting mechanism includes:

[0019] The fixing member 100 is used to connect with the cleaning device;

[0020] The lifting member 200 is movably connected with the fixing member 100 in the first direction Y;

[0021] The telescopic member 300 is movably connected with the fixing member 100 and is limited with the lifting member 200 in the first direction Y;

[0022] The driving member 400 is connected with the fixing member 100 and is further connected with the telescopic member 300.

[0023] The fixing member 100 is used to connect with the machine body of the cleaning device, which is fixed connection. The fixing member 100 can be connected with the machine body by additional fixing member, such as bolt connection, or can be integrally formed with the shell of the machine body. The telescopic member 300 movably connected with the fixing member 100 can be various, such as in an embodiment, the telescopic member 300 is used to move in the second direction X under the action of the driving member 400 and the fixing member 100, or simultaneously move in the first direction Y and the second direction X, the first direction Y and the second direction X are perpendicular directions, the first direction Y is vertical direction, and the second direction X is horizontal direction. That is, the telescopic member 300 can move horizontally or obliquely. It can be understood that in some other embodiments, the first direction Y and the second direction X can also be not perpendicular, the first direction Y can also be obliquely downward direction, as long as there is a vertical component, and the second direction X can be a direction obliquely relative to the horizontal direction, as long as there is a horizontal component. When the first direction Y is vertical direction and the second direction X is horizontal direction, the moving amount of the cleaning unit relative to the ground can be maximized when the moving amount of the telescopic member 300 is consistent in lifting and telescopic movement. In the following embodiments, the first direction Y is vertical direction and the second direction X is horizontal direction as an example. The movement in the first direction Y, i.e. vertical direction, includes downward movement and upward movement, and the movement in the second direction X, i.e. horizontal direction, includes leftward movement and rightward movement.

[0024] The driving member 400 is a single driving member, which only drives the telescopic member 300 to move. The driving member 400 drives the telescopic member 300 to move in the horizontal direction, which can be set by the shape of the fixed member 100, and acts on the telescopic member 300 to realize the movement of the telescopic member 300 in the vertical direction, so that the telescopic member 300 only moves in the horizontal direction, or can simultaneously move in the horizontal direction and the vertical direction, that is, tilt upward or downward. The lifting member 200 and the fixed member 100 only move relative to each other in the first direction Y, and the lifting member 200 and the fixed member 100 are limited in the second direction X. When the telescopic member 300 is subjected to an external force, the lifting member 200 only moves in the first direction Y. The telescopic member 300 is movably connected with the fixed member 100 and can move in any direction relative to the fixed member 100, and the lifting member 200 and the telescopic member 300 are limited in the first direction Y, that is, when the movement of the telescopic member 300 has a downward movement or an upward movement component, the lifting member 200 will be driven to move synchronously, so that the second cleaning member connected with the telescopic member 300 and the first cleaning member are synchronously lifted, and then the first cleaning member and the second cleaning member are lowered to abut against the ground to realize cleaning, or are lifted to the storage position to realize obstacle avoidance. When the movement of the telescopic member 300 has a horizontal movement component, the telescopic member 300 drives the second cleaning member to move horizontally relative to the first cleaning member, so as to realize the telescoping of the second cleaning member relative to the first cleaning member, and then the telescopic member 300 can adapt to different environments. The driving member 400 can control the movement of the telescopic member 300 according to the lifting requirement and the telescoping requirement, so as to realize the lifting and telescoping control of the cleaning unit by the single driving member 400 and the structural arrangement.

[0025] The telescopic lifting mechanism and the cleaning equipment provided in the embodiments of the present application are characterized in that when the driving member drives the telescopic member to move, the telescopic member and the fixed member interact and simultaneously move in the second direction and move in the first direction. The first cleaning member and the second cleaning member are synchronously lifted by limiting the telescopic member and the lifting member in the first direction. The lifting member and the fixed member are movably connected in the first direction and are limited in the second direction. The telescopic member can move relative to the fixed member in the second direction, so as to realize the telescoping of the first cleaning member and the second cleaning member. In this way, the single driving member drives the telescopic member to move in a single direction, and the telescoping and lifting of the first cleaning member and the second cleaning member are realized only by the structural interaction relationship of the telescopic member, the fixed member and the lifting member, so that the number of driving members is reduced, the driving burden and cost are reduced, the structure is more simple, and the control process is simpler.

[0026] In one embodiment, the fixing member 100 comprises a guide surface 110 for interacting with the telescopic member 300, the guide surface 110 comprises an inclined guide area 111 and a horizontal guide area 112, the inclined guide area 111 is arranged adjacent to the horizontal guide area 112, the horizontal guide area 112 extends along the second direction X, and the inclined guide area 111 extends along both the first direction Y and the second direction X.

[0027] The driving direction of the driving member 400 for driving the telescopic member 300 is horizontal, and the guide surface 110 acts on the telescopic member 300 to guide the actual moving direction of the telescopic member 300. The inclined guide area 111 guides the telescopic member 300 to move along both the second direction X and the first direction Y, thereby driving the second cleaning member to lift and descend with the first cleaning member, and the second cleaning member to extend and retract relative to the first cleaning member. The horizontal guide area 112 supports the telescopic member 300 to move along the second direction X only, thereby controlling the degree of extension and retraction of the second cleaning member relative to the first cleaning member. More specifically, as shown in FIG. 2, the inclined guide area 111 is located to the right of the horizontal guide area 112, the angle between the inclined guide area 111 and the horizontal guide area 112 is greater than 90 degrees and less than 180 degrees, i.e., the inclined guide area 111 is inclined upward. When the cleaning unit needs to descend, the telescopic member 300 starts to move left from the side away from the horizontal guide area 112 of the inclined guide area 111, first interacts with the inclined guide area 111, and the telescopic member 300 relies on gravity to move downward along the inclined guide area 111, i.e., moves left and downward at the same time, thereby driving the second cleaning member to extend relative to the first cleaning member, and the second cleaning member and the first cleaning member descend at the same time, until the telescopic member 300 moves to the joint position of the inclined guide area 111 and the horizontal guide area 112, at which time the first cleaning member and the second cleaning member are at the lowest position and contact the ground, thereby achieving cleaning. At this time, the extension distance between the second cleaning member and the first cleaning member is short, and if further extension of the second cleaning member is needed, the telescopic member 300 continues to move, the telescopic member 300 interacts with the horizontal guide area 112 to move horizontally left, thereby the second cleaning member can continue to extend, and the extension length can be controlled as needed. When the second cleaning member needs to be retracted, the telescopic member 300 can be controlled to move right. When the telescopic member 300 moves to the joint position of the inclined guide area 111 and the horizontal guide area 112, if the telescopic member 300 continues to move right, the telescopic member 300 will interact with the inclined guide area 111 and move upward under the action of the thrust of the inclined guide area 111, i.e., move right and upward at the same time, thereby driving the second cleaning member to retract relative to the first cleaning member, and the second cleaning member and the first cleaning member ascend at the same time, until the telescopic member 300 moves to the outside of the inclined guide area 111 away from the horizontal guide area 112, at which time the first cleaning member and the second cleaning member are at the highest position, thereby achieving obstacle crossing.

[0028] In addition, the inclined guide area 111 can also be arranged on the left side of the horizontal guide area 112, and the inclined guide area 111 is arranged in an inclined downward manner, so that the telescopic member 300 can be first extended and then lowered when moving to the left. The inclined manner of the inclined guide area 111 and the relative position with the horizontal guide area 112 can be arranged as required.

[0029] In an embodiment, the guide surface 110 further comprises a receiving surface 113, the receiving surface 113 is located on the side of the inclined guide area 111 away from the horizontal guide area 112, and the receiving surface 113 is arranged adjacent to the inclined guide area 111. The receiving surface 113 is at a preset angle with the horizontal guide area 112, or the receiving surface 113 extends in the second direction X.

[0030] The receiving surface 113 is used to keep the first cleaning member and the second cleaning member at the highest position, or the receiving position. As shown in FIG. 2, when the telescopic member 300 acts on the inclined guide area 111, the telescopic member 300 will have a downward moving tendency under the action of gravity, that is, the driving member 400 is subjected to the action force applied by the telescopic member 300. In order to avoid that the driving member 400 is always subjected to the action force, and also to make the position of the cleaning unit in the receiving position more stable, the receiving surface 113 is arranged. After the telescopic member 300 moves to the top point of the inclined guide area 111, the telescopic member 300 is continuously moved to the right to the receiving surface 113, and then the receiving surface 113 can play a role in supporting the telescopic member 300.

[0031] Further, the guide surface 110 further comprises a limiting arc surface 114, the limiting arc surface 114 is located between the receiving surface 113 and the inclined guide area 111, and the top point of the limiting arc surface 114 is higher than the receiving surface 113.

[0032] The limiting arc surface 114 is a convex between the inclined guide area 111 and the receiving surface 113. When there is no external force of the driving member 400 acting on the telescopic member 300, the telescopic member 300 is not easy to slide from the receiving surface 113 to the inclined guide area 111, thereby ensuring the stability of the position of the cleaning unit in the receiving state.

[0033] The guide surface 110 can be arranged on the fixed part 100 in various ways. In one embodiment, at least one first sliding hole or first sliding groove is formed on the fixed part 100, the first sliding hole or first sliding groove is in a strip shape, the inner wall of the first sliding hole or first sliding groove comprises the guide surface 110, the bottom wall can comprise the guide surface 110, or the top wall and the bottom wall oppositely arranged have the guide surface 110. The telescopic part 300 comprises a telescopic main body 310 and at least one extension head 320, the extension head 320 is connected with the telescopic main body 310, the extension head 320 is movably embedded in the first sliding hole or first sliding groove, and the extension head 320 movably abuts against the guide surface 110 to interact with the guide surface 110. In another embodiment, the edge of the fixed part 100 comprises at least one guide surface 110, as shown in FIG. 2, the guide surface 110 is located on the upper edge of the fixed part 100. The telescopic part 300 comprises a telescopic main body 310 and at least one extension head 320, the extension head 320 is connected with the telescopic main body 310, the extension head 320 movably abuts against the guide surface 110 to interact with the guide surface 110, which can facilitate the installation of the telescopic part 300, and can reduce the volume and weight of the fixed part 100.

[0034] The extension head 320 can be a slider protruding from the telescopic main body 310, and the extension head 320 is in sliding abutment with the guide surface 110. Alternatively, the extension head 320 is rotationally connected with the telescopic main body 310, for example, the telescopic main body 310 comprises a protruding rotating rod, and the extension head 320 can be a bearing, and the extension head 320 is in rolling connection with the guide surface 110.

[0035] In addition, the number of extension heads 320 can be multiple, for example, two, and the extension heads 320 are arranged at intervals in the length direction of the telescopic main body 310. The guide surface 110 corresponds to the number of extension heads 320, for example, two, and the extension heads 320 correspondingly interact with the guide surface 110, which can make the telescopic main body 310 move more stably and not easily vibrate.

[0036] In one embodiment, the lifting part 200 comprises a lifting main body 210 and at least one first limiting part 220, the first limiting part 220 is connected with the lifting main body 210, the fixed part 100 is provided with at least one second limiting part 120, the first limiting part 220 and the second limiting part 120 are movably connected in the first direction Y and are limited in the second direction X.

[0037] Through the interaction of the first limiting piece 220 and the second limiting piece 120, the lifting piece 200 only moves relative to the fixed piece 100 in the first direction Y, that is, the vertical direction, and does not move horizontally with the telescopic piece 300. The number of the first limiting piece 220 and the second limiting piece 120 can be multiple, and the first limiting piece 220 and the second limiting piece 120 correspond one by one, such as two first limiting pieces 220 and two second limiting pieces 120, and the two first limiting pieces 220 are arranged in the length direction of the lifting piece 200, that is, horizontally, so that the movement of the lifting piece 200 is more stable. The first limiting piece 220 and the second limiting piece 120 can have various implementation manners, such as the second limiting piece 120 being at least one third sliding hole or third sliding groove opened on the fixed piece 100, the third sliding hole or third sliding groove extending in the first direction Y, and the first limiting piece 220 being movably embedded in the third sliding hole or third sliding groove for sliding relative to the third sliding hole or third sliding groove.

[0038] The positional relationship between the telescopic piece 300 and the fixed piece 100 can be various, and the telescopic piece 300 and the fixed piece 100 can move relative to each other in the horizontal direction, and can be limited in the vertical direction. For example, in an embodiment, the telescopic piece 300 is slidingly arranged between the fixed piece 100 and the lifting piece 200, and the telescopic piece 300 is movably connected with the first limiting piece 220 in the second direction X and is limited in the first direction Y. For example, the telescopic piece 300 is provided with at least one second sliding hole extending in the second direction X, and the first limiting piece 220 is movably inserted into the second sliding hole. In another embodiment, as shown in FIG. 1, the lifting body 210 is provided with a sliding groove 230 extending in the second direction X, and the telescopic piece 300 is slidingly embedded in the sliding groove 230. In this embodiment, the sliding groove 230 can be arranged on the side of the lifting body 210 relative to the fixed piece 100, that is, the telescopic piece 300 is slidingly arranged between the fixed piece 100 and the lifting piece 200. The sliding groove 230 can also be arranged at the top end and the bottom end of the lifting body 210, and the telescopic piece 300 is slidingly arranged on the side of the top end or the bottom end of the lifting piece 200, that is, the telescopic piece 300 and the lifting piece 200 are arranged side by side in the vertical direction. However, the embodiment in which the telescopic piece 300 is slidingly arranged between the fixed piece 100 and the lifting piece 200 can reduce the overall height of the telescopic lifting mechanism, thereby saving space.

[0039] In an embodiment, the driving piece 400 is movably connected with the telescopic piece 300 in the second direction X, and the driving piece 400 is slidingly connected with the telescopic piece 300 in the first direction Y.

[0040] The driving member 400 is fixedly connected with the fixed member 100 and is not movable. The driving member 400 drives the telescopic member 300 to move in the second direction X. Meanwhile, the driving member 400 is slidably connected with the telescopic member 300 in the first direction Y, so that the telescopic member 300 can move in the vertical direction under the action of the inclined guide area 111.

[0041] In an embodiment, the driving member 400 comprises a power member 410 and a transmission gear assembly 420 connected with the power member 410. The telescopic member 300 comprises a telescopic body 310 and a rack 330 arranged on the telescopic body 310. The rack 330 comprises a plurality of engagement teeth arranged side by side in the second direction X. The transmission gear assembly 420 is in engagement with the rack 330.

[0042] The engagement teeth of the rack 330 and the rack 330 of the transmission gear assembly 420 are both strip-shaped teeth extending in the first direction Y, so that the rack 330 and the transmission gear assembly 420 are only engaged in the second direction X and are relatively slidable in the first direction Y. The profile of the partial area of the telescopic member 300 is adapted to the track of the transmission gear assembly 420 moving on the lifting member 200. For example, during the movement of the telescopic body 310, the rack 330 only covers the running area of the gear assembly 420. The upper edge profile and the lower edge profile of the area of the telescopic body 310 provided with the rack 330 are both adapted to the track of the transmission gear assembly 420 moving on the lifting member 200, or are adapted to the shape of the guide surface 110. The distance between the upper edge and the lower edge of the area of the telescopic body 310 provided with the rack 330 is greater than the thickness of the side edge of the transmission gear assembly 420 in contact with the telescopic body 310, so that the volume and weight of the telescopic body 310 can be reduced.

[0043] In an embodiment, the fixed member 100 is provided with a let-out hollow 130 opposite to the rack 330. The transmission gear assembly 420 is inserted into the let-out hollow 130 to be in engagement with the rack 330, so that the transmission gear assembly 420 is located at the middle position of the fixed member 100, facilitating the fixation and stability of the driving member 400.

[0044] In an embodiment, the transmission gear assembly 420 comprises a driving gear 421 and a transmission gear 422. The driving gear 421 is connected with the power member 410. The transmission gear 422 is in engagement with the driving gear 421 and the rack 330, respectively.

[0045] The driving gear 421 can be a gear with overload protection. The disc area of the transmission gear 422 can be greater than that of the driving gear 421, so that more accurate control can be achieved.

[0046] In one embodiment, the telescopic lifting mechanism further comprises at least one position detection switch. The position detection switch is opposite to the telescopic member 300 and is configured to send a first trigger signal when the telescopic member 300 moves to the limit position in the second direction X. Alternatively, the position detection switch is opposite to the telescopic member 300 and is configured to send a second trigger signal when the telescopic member 300 moves to the limit position in the first direction Y.

[0047] The position detection switch can be fixed at multiple positions and can adopt multiple detection methods, and is intended to send a signal at the limit position. For example, the position detection switch can be fixed on the housing of the machine body of the cleaning device, or can be fixed on the fixed member 100. The position detection switch can be a touch switch, a photoelectric switch, or a sensing switch such as an infrared switch. The first trigger signal and the second trigger signal are used to guide the host controller to confirm the actual positions of the first cleaning member and the second cleaning member. For example, in the direction of FIG. 2, the number of position detection switches is three, and the setting positions satisfy: when the telescopic member 300 moves downward along the inclined guide area 111 until the telescopic member 300 moves to the joint position of the inclined guide area 111 and the horizontal guide area 112, the first position detection switch is triggered, and it can be determined that the first cleaning member and the second cleaning member are in the lowest position, and the rotation driving is performed to realize cleaning. When the telescopic member 300 moves to the left limit position of the second cleaning member by driving the telescopic member 300 to act on the horizontal guide area 112, the second position detection switch is triggered. When the second cleaning member is retracted, the telescopic member 300 moves to the joint position of the inclined guide area 111 and the horizontal guide area 112, and the first position detection switch is triggered again, and it can be determined that the second cleaning member is retracted. When the telescopic member 300 moves upward along the inclined guide area 111 until the telescopic member 300 moves to the outside of the horizontal guide area 112, such as the storage surface 113, the third position detection switch is triggered, and it can be determined that the first cleaning member and the second cleaning member are in the highest position, and the obstacle crossing can be realized.

[0048] In one embodiment, at least one of the fixed member 100, the lifting member 200 and the telescopic member 300 is in a hollow structure, which can realize weight reduction. Alternatively, at least one of the fixed member 100, the lifting member 200 and the telescopic member 300 comprises the reinforcing rib 140, and the fixed member 100, the lifting member 200 and / or the telescopic member 300 itself is relatively thin, which realizes weight reduction, and the reinforcing rib 140 realizes structural reinforcement.

[0049] On the other hand, the application also provides a cleaning device comprising the telescopic lifting mechanism of any one of the preceding embodiments, and a robot body, wherein the telescopic lifting mechanism is arranged on the robot body. The cleaning device has the advantages of the telescopic lifting mechanism of any one of the preceding embodiments, and details are not repeated here.

[0050] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A telescoping lift mechanism for a cleaning device, wherein, The telescopic lifting mechanism comprises: a fixing member (100) configured to be connected with the cleaning device; a lifting member (200) movably connected with the fixing member (100) in a first direction; a telescopic member (300) movably connected with the fixing member (100) and limited with the lifting member (200) in the first direction; a driving member (400) connected with the fixing member (100) and the telescopic member (300).

2. The telescopic lifting mechanism according to claim 1, wherein the telescopic member (300) is configured to move in a second direction under the action of the driving member (400) and the fixing member (100), or simultaneously move in the first direction and the second direction.

3. The telescopic lifting mechanism according to claim 2, wherein the first direction and the second direction are perpendicular directions; and / or, the first direction is a vertical direction, and the second direction is a horizontal direction.

4. The telescopic lifting mechanism according to claim 2, wherein the fixing member (100) comprises a guide surface (110) configured to interact with the telescopic member (300), the guide surface (110) comprises an inclined guide area (111) and a horizontal guide area (112), the inclined guide area (111) is arranged adjacent to the horizontal guide area (112), the horizontal guide area (112) extends in the second direction, and the inclined guide area (111) extends in the first direction and the second direction simultaneously.

5. The telescopic lifting mechanism according to claim 4, wherein the angle between the inclined guide area (111) and the horizontal guide area (112) is greater than 90 degrees and less than 180 degrees.

6. The telescopic lifting mechanism according to claim 4, wherein the guide surface (110) further comprises a receiving surface (113), the receiving surface (113) is located on the side of the inclined guide area (111) away from the horizontal guide area (112), and the receiving surface (113) is arranged adjacent to the inclined guide area (111), the receiving surface (113) is at a preset angle with the horizontal guide area (112), or the receiving surface (113) extends in the second direction.

7. The telescopic lifting mechanism according to claim 6, wherein the guide surface (110) further comprises a limiting arc surface (114), the limiting arc surface (114) is located between the receiving surface (113) and the inclined guide area (111), and the vertex of the limiting arc surface (114) is higher than the receiving surface (113).

8. The telescopic lifting mechanism according to claim 4, wherein The fixed part (100) is provided with at least one first sliding hole or first sliding groove, and the inner wall of the first sliding hole or the first sliding groove comprises the guide surface (110); the telescopic part (300) comprises a telescopic body (310) and at least one telescopic head (320), the telescopic head (320) is connected with the telescopic body (310), the telescopic head (320) is movably embedded in the first sliding hole or the first sliding groove, and the telescopic head (320) movably abuts against the guide surface (110) to interact with the guide surface (110). Alternatively, the edge of the fixed part (100) comprises at least one guide surface (110), and the telescopic part (300) comprises a telescopic body (310) and at least one telescopic head (320), the telescopic head (320) is connected with the telescopic body (310), and the telescopic head (320) movably abuts against the guide surface (110) to interact with the guide surface (110).

9. The telescopic lifting mechanism according to claim 4, wherein the telescopic head (320) is in sliding abutment with the guide surface (110); or the telescopic head (320) is in rotational connection with the telescopic body (310), and the telescopic head (320) is in rolling connection with the guide surface (110).

10. The telescopic lifting mechanism according to claim 1, characterized in that the lifting part (200) comprises a lifting body (210) and at least one first limiting part (220), the first limiting part (220) is connected with the lifting body (210), and the fixed part (100) is provided with at least one second limiting part (120), the first limiting part (220) is movably connected with the second limiting part (120) in the first direction and is limited in the second direction.

11. The telescopic lifting mechanism according to claim 10, wherein the second limiting part (120) is at least one third sliding hole or third sliding groove formed in the fixed part (100), the third sliding hole or the third sliding groove extends in the first direction, and the first limiting part (220) is movably embedded in the third sliding hole or the third sliding groove.

12. The telescopic lifting mechanism according to claim 10, wherein the telescopic part (300) is movably arranged between the fixed part (100) and the lifting part (200), and the telescopic part (300) is movably connected with the first limiting part (220) in the second direction and is limited in the first direction; Alternatively, the telescopic part (300) is provided with at least one second sliding hole extending in the second direction, and the first limiting part (220) is movably inserted into the second sliding hole; Alternatively, the lifting body (210) is provided with a sliding groove (230) extending in the second direction, and the telescopic part (300) is movably embedded in the sliding groove (230). ​ ​ ​ ​ Alternatively, a sliding groove (230) extending in the second direction is formed on the lifting main body (210), the sliding groove (230) faces the fixing member (100), the telescopic member (300) is slidingly arranged between the fixing member (100) and the lifting member (200), and the telescopic member (300) is slidingly embedded in the sliding groove (230).

13. The telescopic lifting mechanism according to claim 2, wherein, the driving member (400) is in driving connection with the telescopic member (300) in the second direction, and the driving member (400) is in sliding connection with the telescopic member (300) in the first direction.

14. The telescopic lifting mechanism according to claim 13, wherein, the driving member (400) comprises a power member (410) and a transmission gear assembly (420), and the transmission gear assembly (420) is connected with the power member (410); the telescopic member (300) comprises a telescopic main body (310) and a rack (330), the rack (330) is arranged on the telescopic main body (310), the rack (330) comprises a plurality of engagement teeth arranged side by side in the second direction, and the transmission gear assembly (420) is in gear connection with the rack (330).

15. The telescopic lifting mechanism according to claim 14, wherein, a let-in hollow (130) is formed on the fixing member (100), the rack (330) is opposite to the let-in hollow (130), and the transmission gear assembly (420) is threaded through the let-in hollow (130) to be in gear connection with the rack (330).

16. The telescopic lifting mechanism according to claim 14, wherein, the transmission gear assembly (420) comprises a driving gear (421) and a transmission gear (422), the driving gear (421) is connected with the power member (410), and the transmission gear (422) is in gear connection with the driving gear (421) and the rack (330) respectively.

17. The telescopic lifting mechanism according to claim 14, wherein, a profile of a partial area of the telescopic member (300) is adapted to a track of the transmission gear assembly (420) moving on the lifting member (200).

18. The telescoping lift mechanism of claim 1, wherein, The telescopic lifting mechanism further comprises: at least one position detection switch; the position detection switch is opposite to the telescopic member (300) and is used to send a first trigger signal when the telescopic member (300) moves to a limit position in the second direction; alternatively, the position detection switch is opposite to the telescopic member (300) and is used to send a second trigger signal when the telescopic member (300) moves to a limit position in the first direction.

19. The telescopic lifting mechanism according to claim 1, wherein, at least one of the fixing member (100), the lifting member (200) and the telescopic member (300) is a hollow structure; alternatively, at least one of the fixing member (100), the lifting member (200) and the telescopic member (300) comprises a reinforcing rib (140).

20. A cleaning apparatus wherein, A telescopic lifting mechanism as claimed in any one of claims 1 to 19, and a robot body, the telescopic lifting mechanism being provided on the robot body.

Images