Cleaning robot and cleaning device

Abstract

A cleaning robot and a cleaning device. The cleaning robot (10) comprises: a first functional assembly (104), a second functional assembly (105), and a lifting / lowering mechanism (101). The lifting / lowering mechanism (101) comprises: a first rotating member (100); a first cable (510), wherein one end of the first cable (510) is wound on the first rotating member (100), and the other end of the first cable (510) is connected to the first functional assembly (104); a second rotating member (200); a second cable (520), wherein one end of the second cable (520) is wound on the second rotating member (200), and the other end of the second cable (520) is connected to the second functional assembly (105); and a driving assembly (300), configured to drive the first rotating member (100) to rotate so as to drive the first functional assembly (104) to ascend and descend by means of the first cable (510), and configured to drive the second rotating member (200) to rotate so as to drive the second functional assembly (105) to ascend and descend by means of the second cable (520). The first functional assembly (104) and the second functional assembly (105) share one lifting / lowering mechanism (101), thereby simplifying the structure of the cleaning robot (10) and reducing the manufacturing cost.

Description

Cleaning robot and cleaning device

[0001] This application claims priority to the Chinese Patent Application No. 202421672107.6, filed on July 15, 2024, to the Chinese Patent Application No. 202410947234.0, filed on July 15, 2024, and to the Chinese Patent Application No. 202421164907.7, filed on May 24, 2024, all of which are hereby incorporated by reference in its entirety.

[0002] TECHNICAL FIELD TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning robots, in particular to a cleaning robot and a cleaning device. BACKGROUND

[0004] A cleaning robot is a highly intelligent cleaning device with multiple functions such as autonomous navigation, intelligent perception, path planning, and cleaning. The cleaning robot is widely used in household cleaning and office cleaning, and can automatically clean the floor in the room by using artificial intelligence, thereby improving the cleaning efficiency. During the working process, the cleaning robot needs to drive the brush module and the roller module to automatically lift and lower to achieve cleaning. However, the traditional cleaning robot usually has the defects of complex structure and high manufacturing cost. SUMMARY

[0005] One of the technical problems solved by the present application is how to simplify the structure of the cleaning robot and reduce the manufacturing cost.

[0006] The present application provides a cleaning robot, comprising a first functional component, a second functional component, and a lifting mechanism, wherein the lifting mechanism comprises:

[0007] a first rotating member, a first cable having one end wound around the first rotating member and the other end connected to the first functional component, a second rotating member, and a second cable having one end wound around the second rotating member and the other end connected to the second functional component.

[0008] a driving assembly for driving the first rotating member to rotate and thereby driving the first functional component to lift or lower through the first cable, and for driving the second rotating member to rotate and thereby driving the second functional component to lift or lower through the second cable.

[0009] In one of the embodiments, the first functional component and the second functional component are configured to be in the lowered state, or in the raised state, or one is in the raised state and the other is in the lowered state through the lifting mechanism.

[0010] In one of the embodiments, the cleaning robot has an initial working state, in which the first functional assembly and the second functional assembly are both in the lowered state.

[0011] In one of the embodiments, in the initial working state, the first rotating member has a first maximum angle of rotation in a first direction and a second maximum angle of rotation in a second direction, based on the position of the first rotating member.

[0012] In the initial working state, the second rotating member has a third maximum angle of rotation in the first direction and a fourth maximum angle of rotation in the second direction, based on the position of the second rotating member.

[0013] In one of the embodiments, the first direction and the second direction are opposite, and the first maximum angle is greater than the third maximum angle.

[0014] In one of the embodiments, the lifting mechanism is configured such that, during the rotation of the first rotating member in the first direction from the position corresponding to the initial working state to the position corresponding to the first maximum angle, the first rotating member and the second rotating member are changed from a state of being rotated together to a state of the first rotating member being rotated and the second rotating member being stopped.

[0015] In one of the embodiments, the first functional assembly is in the raised state when the first rotating member is rotated in the first direction by the first maximum angle, and the first functional assembly is in the raised state when the first rotating member is rotated in the second direction by the second maximum angle.

[0016] The second functional assembly is in the raised state when the second rotating member is rotated in the first direction by the third maximum angle, and the second functional assembly maintains the lowered state when the second rotating member is rotated in the second direction by the fourth maximum angle.

[0017] In one of the embodiments, the first rotating member releases the first cable first and then winds the first cable when the first rotating member is rotated in the first direction by the first maximum angle.

[0018] In one of the embodiments, the lifting mechanism further includes a housing, both the first rotating member and the second rotating member are at least partially accommodated in the housing, the housing is provided with a first through hole and a second through hole, the first cable is arranged in the first through hole, and the second cable is arranged in the second through hole.

[0019] In one of the embodiments, the first cable is arranged to pass out of the housing in a direction opposite to the direction in which the second cable passes out of the housing.

[0020] In one of the embodiments, one of the housing and the second rotating member has a boss and the other has a limiting surface, and when the boss and the limiting surface are in circumferential abutment during rotation of the second rotating member, the rotation of the second rotating member is stopped.

[0021] In one of the embodiments, the first rotating member and the second rotating member rotate synchronously before the rotation of the second rotating member is stopped, and the first rotating member can continue to rotate in the original direction relative to the second rotating member when the rotation of the second rotating member is stopped, one of the first rotating member and the second rotating member has a protrusion and the other has a locating surface, and when the protrusion and the locating surface are in circumferential abutment, the first rotating member stops to continue to rotate in the original direction relative to the second rotating member.

[0022] In one of the embodiments, the first rotating member has a first fixing position for fixing an end of the first cable, and the second rotating member has a second fixing position for fixing an end of the second cable, and in the initial working state, the first fixing position and the second fixing position are arranged to be spaced apart from the first through hole and the second through hole in the circumferential direction of the first rotating member.

[0023] In one of the embodiments, in the initial working state, the first fixing position and the second fixing position are arranged to be at the same position in the circumferential direction of the first rotating member.

[0024] In one of the embodiments, the first rotating member and the second rotating member rotate in the same direction.

[0025] In one of the embodiments, the first rotating member and the second rotating member rotate synchronously, or the first rotating member and the second rotating member rotate relative to each other.

[0026] In one of the embodiments, when the first rotating member and the second rotating member rotate synchronously, the first rotating member releases the first cable and the second rotating member winds the second cable, or the first rotating member winds the first cable and the second rotating member releases the second cable.

[0027] In one of the embodiments, the winding direction of the first cable on the first rotating member is the same as or opposite to the winding direction of the second cable on the second rotating member.

[0028] In one of the embodiments, the driving assembly is configured to drive the first rotating member to rotate, and the second rotating member is configured to rotate under the action of the first rotating member.

[0029] In one of the embodiments, the maximum rotation angle corresponding to the first rotating member is greater than the maximum rotation angle corresponding to the second rotating member.

[0030] When the second rotating member rotates to the maximum rotation angle, the second rotating member stops rotating, and the first rotating member can continue to rotate relative to the second rotating member.

[0031] In one of the embodiments, the first rotating member and the second rotating member are coaxially arranged.

[0032] In one of the embodiments, the lifting mechanism further comprises an elastic member, the elastic member abuts between the first rotating member and the second rotating member, and the first rotating member drives the second rotating member to synchronously rotate through the elastic member.

[0033] In one of the embodiments, one of the first functional assembly and the second functional assembly is a wet cleaning assembly, and the other is a dry cleaning assembly.

[0034] In one of the embodiments, the wet cleaning assembly comprises a roller, and the dry cleaning assembly comprises a roller brush, and the axes of the roller and the roller brush are parallel to each other.

[0035] In one of the embodiments, a third functional assembly is further included, the third functional assembly is connected with the first cable to synchronously lift with the first functional assembly, or the third functional assembly is connected with the second cable to synchronously lift with the second functional assembly.

[0036] In one of the embodiments, a first feature and a second feature are further included, the first cable comprises a first elastic section with elasticity, the first feature is arranged at opposite ends of the first elastic section, the second cable comprises a second elastic section with elasticity, and the second feature is arranged at opposite ends of the second elastic section.

[0037] Embodiments of the present application further provide a cleaning device, comprising: a device main body; a driving motor arranged in the device main body; a first cleaning member movably arranged in the device main body; and a first flexible shaft, wherein an output shaft of the driving motor is in transmission connection with the first cleaning member through the first flexible shaft, and the driving motor is configured to drive the first cleaning member to move by driving the first flexible shaft to move.

[0038] One technical effect of one embodiment of the present application is that only one lifting mechanism is provided, so that the driving assembly drives the first rotating member and the second rotating member to rotate, thereby driving the first pull cable to lift the first functional assembly and driving the second pull cable to lift the second functional assembly, so as to ensure that the cleaning robot can be applied to different working scenes. Since the first functional assembly and the second functional assembly share one lifting mechanism, the number of lifting mechanisms is reduced, so that the structure of the cleaning robot is simplified and the manufacturing cost of the cleaning robot is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0039] Fig. 1 is a schematic view of a plan structure of a cleaning robot according to one embodiment;

[0040] Fig. 2 is a schematic view of a perspective structure of a lifting mechanism in the cleaning robot shown in Fig. 1;

[0041] Fig. 3 is a schematic view of a perspective sectional structure of the lifting mechanism shown in Fig. 2 at a first position;

[0042] Fig. 4 is a schematic view of an overall exploded structure of the lifting mechanism shown in Fig. 3;

[0043] Fig. 5 is a schematic view of a perspective sectional structure of the lifting mechanism shown in Fig. 3 at a second position;

[0044] Fig. 6 is a schematic view of a partial exploded structure of the lifting mechanism shown in Fig. 3;

[0045] Fig. 7 is a schematic view of a perspective structure of Fig. 6 from another perspective;

[0046] Fig. 8 is a schematic view of a perspective sectional structure of Fig. 6;

[0047] Fig. 9 is a schematic view of a perspective sectional structure of the lifting mechanism shown in Fig. 2 at a third position;

[0048] [Corrected according to Rule 91 04.07.2025] Fig. 10a is a schematic view of a plan structure of the first rotating member and the second rotating member at an initial working state; [0048.1][Corrected according to Rule 91 04.07.2025] Fig. 10b is a schematic view of a plan structure of the first rotating member and the second rotating member at a descending state;

[0049] Fig. 11a is a schematic view of a plan structure of the first rotating member and the second rotating member at a synchronous rotation in a first direction from a reference position corresponding to the initial working state and reaching a limit position of the second rotating member;

[0050] Fig. 11b is a schematic view of a rising state or a descending state after the rotation of Fig. 11a;

[0051] Fig. 12a is a plan view of the first rotating member continuing to rotate in the first direction to the limit position relative to the second rotating member rotating in the first direction to the limit position;

[0052] Fig. 12b is a schematic view of the raised or lowered state of Fig. 12a after rotation;

[0053] Fig. 13a is a plan view of the first rotating member and the second rotating member rotating in the second direction to the limit position synchronously from the reference position corresponding to the initial operating state;

[0054] Fig. 13b is a schematic view of the raised or lowered state of Fig. 13a after rotation;

[0055] Fig. 14 is a perspective view of a part of the structure of another embodiment of the cleaning device according to the present application;

[0056] Fig. 15 is a cross-sectional view of the structure shown in Fig. 14;

[0057] Fig. 16 is a schematic view of the structure of part A of the cleaning device shown in Fig. 15;

[0058] Fig. 17 is a schematic view of the structure of the connection of the driving motor to the roller brush;

[0059] Fig. 18 is another cross-sectional view of the structure shown in Fig. 14;

[0060] Fig. 19 is a schematic view of another structure of the connection of the driving motor to the roller brush;

[0061] Fig. 20 is a schematic view of another structure of the connection of the driving motor to the roller brush;

[0062] Fig. 21 is a schematic view of another structure of the connection of the driving motor to the roller brush.

[0063] 10, cleaning robot; 101, lifting mechanism; 102, first feature; 103, second feature; 104, first functional assembly; 1041, roller; 105, second functional assembly; 1051, roller brush; 106, third functional assembly; 1061, side brush; 100, first rotating member; 110, protrusion; 140, first fixing position; 200, second rotating member; 211, first limiting surface; 212, second limiting surface; 213, abutting surface; 221, first positioning surface; 222, second positioning surface; 223, stop surface; 240, second fixing position; 300, driving assembly; 310, driving motor; 400, housing; 411, first shell; 412, second shell; 421, first through hole; 422, second through hole; 430, boss; 510, first pull cable; 511, first elastic section; 520, second pull cable; 521, second elastic section; 600, elastic member; 700, device main body; 800, second cleaning member; 900, first cleaning member; 1001, transmission shaft; 11000, synchronous belt; 201, roller brush; 523, connecting hole; 560, first flexible shaft; 570, connector; 580, second flexible shaft; 701, main housing; 702, roller brush housing; 703, cleaning member housing; 704, bearing; 561, first connecting section; 562, second connecting section; 571, first connector; 572, second connector; 601, first gear; 602, second gear; 301, side brush; 1000, driving motor; 1001, output shaft; 1200, surface to be cleaned; 500, flexible shaft assembly; 502, sleeve; 1100, synchronous belt. DETAILED DESCRIPTION

[0064] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without using some or all of these specific details. In other instances, well-known process steps have not been described in detail in order to avoid obscuring the present application.

[0065] In the description of the application, it should be understood that, if there are these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0066] In addition, if there are these terms "first", "second", these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0067] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mounting", "connecting", "connecting", "fixing" and the like, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0068] In this application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on or under second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0069] It is to be noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element, or intervening elements can be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element, or intervening elements can be present. As used herein, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions are used for explanation only and are not intended to be limiting.

[0070] Referring to FIG. 1, FIG. 2 and FIG. 3, the cleaning robot 10 provided by an embodiment of the present application comprises a lifting mechanism 101, a first functional assembly 104 and a second functional assembly 105. The lifting mechanism 101 drives the first functional assembly 104 and the second functional assembly 105 to produce lifting relative to a ground surface to be cleaned, so that the first functional assembly 104 and the second functional assembly 105 share one lifting mechanism 101. Hereinafter, the ground surface is taken as the surface to be cleaned for illustration. The lifting mechanism 101 comprises a first rotating member 100, a first flexible cable 510, a second rotating member 200, a second flexible cable 520 and a driving assembly 300. The first flexible cable 510 and the second flexible cable 520 are both flexible. One end of the first flexible cable 510 is wound around the first rotating member 100, and the other end of the first flexible cable 510 is connected to the first functional assembly 104. One end of the second flexible cable 520 is wound around the second rotating member 200, and the other end of the second flexible cable 520 is connected to the second functional assembly 105. The driving assembly 300 is used to drive the first rotating member 100 and the second rotating member 200 to produce rotation, so that the first flexible cable 510 is wound or released relative to the first rotating member 100, thus driving the first functional assembly to produce lifting relative to the ground surface. Also, the second flexible cable 520 is wound or released relative to the second rotating member 200, thus driving the second functional assembly to produce lifting relative to the ground surface.

[0071] Referring to FIG. 1, FIG. 2 and FIG. 3, in some embodiments, the driving assembly 300 is in transmission connection with at least one of the first rotating member 100 and the second rotating member 200, and the driving assembly 300 is configured to drive at least one of the first rotating member 100 and the second rotating member 200 to rotate, thereby driving the first functional assembly 104 to ascend and descend through the first cable 510 and driving the second functional assembly 105 to ascend and descend through the second cable 520. The driving assembly 300 can include a driving motor 310, and the driving motor 310 is configured to drive the first rotating member 100 to rotate, and the second rotating member 200 is configured to rotate under the action of the first rotating member 100, i.e., the first rotating member 100 drives the second rotating member 200 to rotate, so that the structure of the lifting mechanism 101 can be simplified, and the independent lifting of the first functional assembly 104 and the second functional assembly 105 can be finally realized. The lifting mechanism 101 can further include an elastic member 600, and the elastic member 600 is in abutment between the first rotating member 100 and the second rotating member 200, and the first rotating member 100 drives the second rotating member 200 to rotate through the elastic member 600. The elastic member 600 can be a torsion spring or the like. In other embodiments, the elastic member 600 can also be replaced by other transmission structures, such as a clutch structure, a gear structure, etc.

[0072] In other embodiments, for example, the driving assembly 300 can include a driving motor 310, but the driving motor 310 drives the first rotating member 100 and the second rotating member 200 to rotate through two transmission assemblies respectively. Alternatively, the driving assembly 300 can adopt a double-head motor, one output end of the double-head motor is in transmission connection with the first rotating member 100, and the other output end is connected with the second rotating member 200. For another example, the driving assembly 300 can include two driving motors 310, and the two driving motors 310 independently drive the first rotating member 100 and the second rotating member 200 to rotate respectively. It can be understood that the first rotating member 100 and the second rotating member 200 are driven by one driving motor 310 respectively, so that the independent rotation of the first rotating member 100 and the second rotating member 200 can also be realized. Through the independent rotation of the first rotating member 100 and the second rotating member 200, the first cable 510 and the second cable 520 are independently released or wound, and finally the first functional assembly 104 and the second functional assembly 105 are independently lifted.

[0073] In some embodiments, the first rotating member 100 and the second rotating member 200 can be coaxially arranged, so that the structure of the lifting mechanism 101 can be simplified, and the occupied space of the lifting mechanism 101 can be reduced, and the miniaturization design of the lifting mechanism 101 and the cleaning robot 10 can be realized. In other embodiments, the first rotating member 100 and the second rotating member 200 can also be arranged non-coaxially, for example, the first rotating member 100 and the second rotating member 200 are arranged side by side, and the axis of the first rotating member 100 is parallel to the axis of the second rotating member 200.

[0074] In some embodiments, the first rotating member 100 and the second rotating member 200 rotate in the same direction, for example, the first rotating member 100 and the second rotating member 200 rotate synchronously in the same direction at the same rotating speed, or the first rotating member 100 and the second rotating member 200 can rotate relative to each other, for example, the second rotating member 200 can stop rotating, and the first rotating member 100 rotates relative to the second rotating member 200. Alternatively, the first rotating member 100 and the second rotating member 200 are both in a rotating state, but the first rotating member 100 and the second rotating member 200 rotate relative to each other in the same direction at different rotating speeds. In other embodiments, the first rotating member 100 and the second rotating member 200 can also rotate in opposite directions.

[0075] The first rotating member 100 and the second rotating member 200 can rotate in a first direction or a second direction, the first direction and the second direction being two opposite directions. In the axial direction of the lifting mechanism 101, the first rotating member 100 is closer to the observer relative to the second rotating member 200, that is, the line of sight of the observer points from the first rotating member 100 to the second rotating member 200 in the axial direction of the first rotating member 100, that is, the direction indicated by the thick dashed arrow in FIG. 2, and the first direction and the second direction are defined according to the angle of view of the observer relative to the lifting mechanism 101 at this time. In the following, the first direction is taken as the clockwise direction and the second direction is taken as the counterclockwise direction, the first direction being the direction indicated by the thick solid arrow in FIG. 2, and the second direction being the direction indicated by the thin dashed arrow in FIG. 2.

[0076] Referring to FIG. 4, FIG. 5 and FIG. 6, in some embodiments, when the first rotating member 100 and the second rotating member 200 rotate synchronously, the first rotating member 100 releases the first cable 510 and the second rotating member 200 winds the second cable 520; or, the first rotating member 100 winds the first cable 510 and the second rotating member 200 releases the second cable 520. It can be understood that when the first cable 510 and the second cable 520 are wound, the winding length of both the first cable 510 and the second cable 520 increases and the effective length decreases; when the first cable 510 and the second cable 520 are released, the winding length of both the first cable 510 and the second cable 520 decreases and the effective length increases. It can be understood that the winding length refers to the length of the first cable 510 wound around the circumference of the first rotating member 100, and the effective length refers to the length of the first cable 510 between the first rotating member 100 and the first functional assembly 104, and the second cable 520 is the same. In the case that the first cable 510 and the second cable 520 are both in a taut state, and the first functional assembly 104 and the second functional assembly 105 are both above the ground and maintain a certain distance from the ground, when the first cable 510 is wound, the first cable 510 will drive the first functional assembly 104 to further rise relative to the ground, and when the first cable 510 is released, the first cable 510 will drive the first functional assembly 104 to descend relative to the ground. Similarly, when the second cable 520 is wound, the second cable 520 will drive the second functional assembly 105 to further rise relative to the ground, and when the second cable 520 is released, the second cable 520 will drive the second functional assembly 105 to descend relative to the ground.

[0077] In some embodiments, the winding direction of the first cable 510 on the first rotating member 100 is the same as or opposite to the winding direction of the second cable 520 on the second rotating member 200. For example, the first cable 510 and the second cable 520 can be wound in the second direction at the same time, or for example, the first cable 510 can be wound in the first direction and the second cable 520 can be wound in the second direction. It can be understood that when the first cable 510 is wound on the first rotating member 100 in the first direction, the fixed end of the first cable 510 fixed on the first rotating member 100 is taken as the starting point, and the first cable 510 is wound on the first rotating member 100 in the first direction relative to the fixed end. When the first cable 510 is wound on the first rotating member 100 in the second direction, the first cable 510 is wound on the first rotating member 100 in the second direction relative to the fixed end. Similarly, when the second cable 520 is wound on the second rotating member 200 in the first direction, the second cable 520 is wound on the second rotating member 200 in the first direction relative to the fixed end. When the second cable 520 is wound on the second rotating member 200 in the second direction, the second cable 520 is wound on the second rotating member 200 in the second direction relative to the fixed end. Of course, in some embodiments, the winding direction of the first cable 510 on the first rotating member 100 is different with the rotating direction of the first rotating member 100, for example, when the first rotating member 100 rotates in the first direction, the first cable 510 is wound on the first rotating member 100 in the first direction, and when the first rotating member 100 rotates in the second direction, the first cable 510 is wound on the first rotating member 100 in the second direction. The winding direction of the second cable 520 on the second rotating member 200 is the same, which will not be repeated here.

[0078] When the first functional assembly 104 and the second functional assembly 105 are in contact with the ground, it can be understood that the first functional assembly 104 and the second functional assembly 105 are both in a descending state; when the first functional assembly 104 and the second functional assembly 105 are located above the ground and maintain a distance from the ground, it can be understood that the first functional assembly 104 and the second functional assembly 105 are both in an ascending state. Taking the first functional assembly 104 and the first cable 510 as an example, since the first cable 510 is flexible, when the first functional assembly 104 is in a descending state and the part of the first cable 510 between the first functional assembly 104 and the first rotating member 510 is just in a taut state, when the first cable 510 is released, although the length of the part of the first cable 510 between the first functional assembly 104 and the first rotating member 510 becomes longer, the height of the first functional assembly 104 remains unchanged due to the limitation of the ground, so the first functional assembly 104 continues to maintain the descending state; when the first cable 510 is wound, the first cable 510 drives the first functional assembly 104 to ascend away from the ground, so that the first functional assembly 104 is in an ascending state; for the first functional assembly 104 in an ascending state, the first cable 510 can be wound or released to drive the first functional assembly 104 to further ascend or descend relative to the ground. When the first functional assembly 104 is in a descending state and the first cable 510 is in a non-taut state, when the first cable 510 is released, the first functional assembly 104 continues to be in contact with the ground and maintains the descending state; when the first cable 510 is wound, before the first cable 510 is in a taut state, the first functional assembly 104 continues to be in contact with the ground and maintains the descending state, and after the first cable 510 is in a taut state, the first functional assembly 104 will ascend away from the ground and be in an ascending state. For the second cable 520 and the second functional assembly 105, please refer to the above description of the first cable 510 and the first functional assembly 104.

[0079] In some embodiments, the driving assembly 300 drives the first rotating member 100 and the second rotating member 200 to rotate, and then drives the first cable 510 and the second cable 520 to release or wind, for example, so that the first functional assembly 104 and the second functional assembly 105 are both in a descending state; for example, so that the first functional assembly 104 and the second functional assembly 105 are both in an ascending state. For example, one of the first functional assembly 104 and the second functional assembly 105 can be in a descending state and the other can be in an ascending state.

[0080] Referring to FIGS. 5, 6 and 7, in some embodiments, the cleaning robot 10 has an initial working state in which the first functional assembly 104 and the second functional assembly 105 are both in the lowered state, i.e., in the initial working state, the first functional assembly 104 and the second functional assembly 105 are both in contact with the ground. In other embodiments, the initial state of the cleaning robot 10 can also be that the first functional assembly 104 and the second functional assembly 105 are both in the raised state, or one of the first functional assembly 104 and the second functional assembly 105 is in the raised state and the other is in the lowered state.

[0081] In the present embodiment, the first rotating member and the second rotating member each have a rotating limit position. Specifically, in the initial working state, taking the position of the first rotating member 100 as a reference position, when the first rotating member 100 rotates from the reference position to the limit position in the first direction and stops rotating, the first rotating member 100 rotates a first maximum angle in the first direction; when the first rotating member 100 rotates from the reference position to the limit position in the second direction and stops rotating, the first rotating member 100 rotates a second maximum angle in the second direction. In the initial working state, taking the position of the second rotating member 200 as a reference position, when the second rotating member 200 rotates from the reference position to the limit position in the first direction and stops rotating, the second rotating member 200 rotates a third maximum angle in the first direction; when the second rotating member 200 rotates from the reference position to the limit position in the second direction and stops rotating, the second rotating member 200 rotates a fourth maximum angle in the second direction. The first maximum angle is greater than the third maximum angle, and the second angle can be less than, greater than, or equal to the fourth angle. In this way, at least the relative rotation of the first rotating member 100 and the second rotating member 200 in the first direction is achieved, so that the first pull cable 510 and the second pull cable 520 are independently wound or released, thereby driving the first functional assembly 104 and the second functional assembly 105 to independently and relatively rise or fall with respect to the ground.

[0082] Referring to FIG. 5, FIG. 6 and FIG. 7, in some embodiments, during the process that the first rotating member 100 rotates from the position corresponding to the initial working state to the position corresponding to the first maximum angle along the first direction, the first rotating member 100 and the second rotating member 200 are changed from the state of rotating together to the state of rotating separately, i.e., the first rotating member 100 rotates while the second rotating member 200 stops rotating. In other words, during the process that the first rotating member 100 rotates from the reference position to the limit position along the first direction, first, the first rotating member 100 and the second rotating member 200 rotate together, then the second rotating member 200 stops rotating while the first rotating member 100 rotates relative to the second rotating member 200. When the first rotating member 100 and the second rotating member 200 rotate together, the first rotating member 100 and the second rotating member 200 can rotate at the same speed synchronously or at different speeds asynchronously. In this way, the time and space rotating forms of the first rotating member 100 and the second rotating member 200 can be diversified, and the lifting of the first functional assembly 104 and the second functional assembly 105 can be diversified.

[0083] The maximum rotating angle corresponding to the first rotating member 100 is greater than the maximum rotating angle corresponding to the second rotating member 200, for example, the first maximum angle is greater than the third maximum angle. When the second rotating member 200 rotates to the third maximum angle, the second rotating member 200 stops rotating, and the first rotating member 100 can continue to rotate relative to the second rotating member 200. For example, during the process that the first rotating member 100 rotates from the reference position to the limit position corresponding to the first maximum angle along the first direction, the second rotating member 200 stops rotating after rotating the third maximum angle, while the first rotating member 100 continues to rotate relative to the stationary second rotating member 200 along the first direction by a certain angle.

[0084] Referring to FIG. 5, FIG. 8 and FIG. 9, in some embodiments, when the first rotating member 100 rotates by the first maximum angle in the first direction, i.e. when the first rotating member 100 reaches the limit position in the first direction, the first functional assembly 104 is in the raised state; when the first rotating member 100 rotates by the second maximum angle in the second direction, i.e. when the first rotating member 100 reaches the limit position in the second direction, the first functional assembly 104 is also in the raised state. When the second rotating member 200 rotates by the third maximum angle in the first direction, i.e. when the second rotating member 200 reaches the limit position in the first direction, the second functional assembly 105 is in the raised state; when the second rotating member 200 rotates by the fourth maximum angle in the second direction, i.e. when the second rotating member 200 reaches the limit position in the second direction, the second functional assembly 105 is also in the lowered state. Therefore, when the first rotating member 100 and the second rotating member 200 rotate from the respective reference positions in the first direction, the second functional assembly 105 is in the raised state, and the first functional assembly 104 can be in the lowered state or in the raised state. When the first rotating member 100 and the second rotating member 200 rotate from the respective reference positions in the second direction, the first functional assembly 104 is in the raised state, and the second functional assembly 105 is in the lowered state. In this way, the combination of the first functional assembly 104 and the second functional assembly 105 between the raised state and the lowered state can be diversified.

[0085] In some embodiments, during the process that the first rotating member 100 rotates by the first maximum angle in the first direction, i.e. during the process that the first rotating member 100 rotates from the reference position to the limit position in the first direction, the first rotating member 100 first releases the first cable 510 and then winds the first cable 510. When the first cable 510 is released, the first functional assembly 104 can maintain the lowered state; during the process that the first cable 510 is wound, the first functional assembly 104 can continue to maintain the lowered state before the first cable 510 is tightened, and the first functional assembly 104 can be in the raised state after the first cable 510 is tightened.

[0086] Referring to FIGS. 5, 8 and 9, in some embodiments, the lifting mechanism 101 further comprises a housing 400, both the first rotating member 100 and the second rotating member 200 are at least partially accommodated in the housing 400, for example, the first rotating member 100 and the second rotating member 200 can be entirely accommodated in the housing 400. The first cable 510 and the second cable 520 are both arranged in the housing 400, the housing 400 can protect the first rotating member 100 and the second rotating member 200 from external impact force, so as to avoid interference with the rotation of the first rotating member 100 and the second rotating member 200. The direction in which the first cable 510 passes out of the housing 400 is opposite to the direction in which the second cable 520 passes out of the housing 400, so as to avoid mutual entanglement or other interference between the first cable 510 and the second cable 520, thereby improving the control precision of the lifting movement of the first functional assembly 104 and the second functional assembly 105. In other embodiments, the housing 400 can be omitted, and the direction in which the first cable 510 passes out of the housing 400 can be the same as the direction in which the second cable 520 passes out of the housing 400.

[0087] Referring to FIGS. 5, 8 and 9, in some embodiments, one of the housing 400 and the second rotating member 200 has a boss 430 and the other has a limiting surface, when the boss 430 and the limiting surface are circumferentially abutted during the rotation of the second rotating member 200, the rotation of the second rotating member 200 is stopped. Therefore, when the boss 430 and the limiting surface are circumferentially abutted, the second rotating member 200 is rotated to the limit position, so as to limit the limit positions of the second rotating member 200 in the first direction and the second direction. In other embodiments, the boss 430 and the limiting surface can be cancelled, the limit positions of the second rotating member 200 can be controlled by controlling the rotation angle of the driving assembly 300 or limiting the transmission structure connected with the second rotating member 200, for example, when the second rotating member 200 moves to the limit position, the driving assembly 300 automatically stops driving the second rotating member 200 to move through the control program.

[0088] Referring to FIGS. 4, 7 and 8, in some embodiments, one of the first rotating member 100 and the second rotating member 200 has the protrusion 110 and the other has the positioning surface, when the protrusion 110 abuts against the positioning surface in the circumferential direction, the first rotating member 100 stops continuing to rotate in the original direction relative to the second rotating member 200. Before the second rotating member 200 stops rotating, both the first rotating member 100 and the second rotating member 200 can rotate; when the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate in the original direction relative to the second rotating member 200, when the protrusion 110 abuts against the positioning surface in the circumferential direction, the first rotating member 100 stops continuing to rotate in the original direction relative to the second rotating member 200. For example, in the process that the first rotating member 100 rotates in the first direction from the reference position to the limit position by the first maximum angle, first, before the second rotating member 200 stops rotating, both the first rotating member 100 and the second rotating member 200 can rotate; then, when the second rotating member 200 abuts against the housing 400 in the circumferential direction, the second rotating member 200 rotates to the limit position and stops rotating; subsequently, after the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate in the first direction relative to the second rotating member 200, when the protrusion 110 abuts against the positioning surface in the circumferential direction, the first rotating member 100 stops rotating. In other embodiments, the second maximum angle can be greater than the fourth maximum angle, so that, in the process that the first rotating member 100 rotates in the second direction to the limit position, the first rotating member 100 and the second rotating member 200 can be first rotated in the second direction, when the second rotating member 200 abuts against the housing 400 and rotates to the limit position to stop rotating, the first rotating member 100 continues to rotate in the second direction relative to the second rotating member 200 to the limit position.

[0089] Referring to FIG. 4 and FIG. 5, in some embodiments, the first through hole 421 and the second through hole 422 are arranged on the shell 400, the first cable 510 is arranged in the first through hole 421, and the second cable 520 is arranged in the second through hole 422. The first fixing position 140 for fixing the end of the first cable 510 is arranged on the first rotating member 100, and the second fixing position 240 for fixing the end of the second cable 520 is arranged on the second rotating member 200. In the initial working state, the first fixing position 140 is arranged at a position spaced apart from the first through hole 421 and the second through hole 422 along the circumference of the first rotating member 100, and the second fixing position 240 is arranged at a position spaced apart from the first through hole 421 and the second through hole 422. In this way, in the initial working state, the first cable 510 can be wound on the first rotating member 100, and the second cable 520 can also be wound on the second rotating member 200. For example, in the initial working state, the winding length of the first cable 510 and the second cable 520 can be less than one turn, and of course, the winding length of the first cable 510 and the second cable 520 can also be more than one turn. Further, in the initial working state, the first fixing position 140 and the second fixing position 240 are arranged at the same position along the circumference of the first rotating member 100, and it can be understood that the angle between the first fixing position 140 and the second fixing position 240 along the circumference of the first rotating member 100 is substantially zero. In this way, the balance of the first rotating member 100 and the second rotating member 200 during rotation can be improved, the swing of the first rotating member 100 and the second rotating member 200 during rotation can be reduced, and the stability of the first functional assembly 104 and the second functional assembly 105 during the relative ground seat lifting movement can be improved.

[0090] Referring to FIG. 4 and FIG. 5, in some embodiments, the shell 400 can include a first shell 411 and a second shell 412, and the first shell 411 and the second shell 412 can be detachably connected by means of bolt connection or the like. In this way, the convenience of assembling and maintaining the cleaning robot 10 can be improved. The first through hole 421 and the second through hole 422 can be spaced apart by 180° along the circumference of the shell 400. The first shell 411 or the second shell 412 can include a boss 430, which can be arranged on the inner wall surface of the first shell 411 or the second shell 412 in a radial direction of the shell 400, and the boss 430 can be used to abut against the second rotating member 200. In the initial working state, the angle between the first fixing position 140 and the first through hole 421 and the second through hole 422 can be equal, so that the angle between the first fixing position 140 and the first through hole 421 and the second through hole 422 is 90°, and similarly, the angle between the second fixing position 240 and the first through hole 421 and the second through hole 422 can also be 90°. That is, in the initial working state, the first cable 510 is wound at least one quarter of a turn around the first rotating member 100, and the second cable 520 is also wound at least one quarter of a turn around the second rotating member 200.

[0091] Referring to FIG. 5, in some embodiments, the second rotating member 200 has a limiting surface and an abutting surface 213, the abutting surface 213 is arranged along the axial direction of the second rotating member 200 and away from the first rotating member 100, the number of the limiting surfaces is two, the two limiting surfaces are respectively a first limiting surface 211 and a second limiting surface 212, the first limiting surface 211 and the second limiting surface 212 are arranged at an angle with the abutting surface 213, for example, the first limiting surface 211 and the second limiting surface 212 can be perpendicular to the abutting surface 213, that is, connected at an angle of 90°; the first limiting surface 211 and the second limiting surface 212 can be spaced 180° along the circumferential direction of the second rotating member 200. Both the first limiting surface 211 and the second limiting surface 212 can abut against the boss 430 along the circumferential direction of the housing 400, during the rotation of the second rotating member 200 in the first direction, when the first limiting surface 211 of the second rotating member 200 abuts against the boss 430 of the housing 400 along the circumferential direction of the housing 400, the first limiting surface 211 will interfere with the boss 430, thereby preventing the second rotating member 200 from continuing to rotate in the first direction, at this time, the second rotating member 200 rotates to the limit position in the first direction and stops rotating. During the rotation of the second rotating member 200 in the second direction, when the second limiting surface 212 of the second rotating member 200 abuts against the boss 430 of the housing 400 along the circumferential direction of the housing 400, the second limiting surface 212 will interfere with the boss 430, thereby preventing the second rotating member 200 from continuing to rotate in the second direction, at this time, the second rotating member 200 rotates to the limit position in the second direction and stops rotating. In the initial working state, along the circumferential direction of the housing 400, the boss 430 can be equally spaced from the first limiting surface 211 and the second limiting surface 212, in the case where the first limiting surface 211 and the second limiting surface 212 are spaced 180°, the boss 430 is spaced from the first limiting surface 211 and the second limiting surface 212 at an angle of 90°. Of course, the boss 430 can be unequally spaced from the first limiting surface 211 and the second limiting surface 212. During the rotation of the second rotating member 200, the boss 430 of the housing 400 can abut against the abutting surface 213 along the axial direction of the second rotating member 200, in this way, the second rotating member 200 can be well limited in the axial direction, thereby improving the assembly precision and rotation precision of the second rotating member 200.

[0092] Referring to FIG. 6 and FIG. 9, in some embodiments, the first rotating member 100 comprises the protrusion 110, the second rotating member 200 is provided with a positioning surface and a stop surface 223, the stop surface 223 is arranged along the axial direction of the second rotating member 200 towards the first rotating member 100, and the stop surface 223 and the abutting surface 213 are oppositely directed. The number of the positioning surfaces is two, and the two positioning surfaces are respectively referred to as a first positioning surface 221 and a second positioning surface 222. The first positioning surface 221 and the second positioning surface 222 are both connected with the stop surface 223 at an included angle, for example, the first positioning surface 221 and the second positioning surface 222 can both be perpendicular to the stop surface 223, i.e. connected at an included angle of 90°. The first positioning surface 221 and the second positioning surface 222 can be spaced 180° along the circumferential direction of the second rotating member 200. The first positioning surface 221 and the second positioning surface 222 can both abut against the protrusion 110 along the circumferential direction of the housing 400. In the process of relative rotation of the first rotating member 100 along the first direction relative to the second rotating member 200 which is relatively stationary, when the first positioning surface 221 of the second rotating member 200 abuts against the protrusion 110 of the first rotating member 100 along the circumferential direction of the housing 400, the first positioning surface 221 will interfere with the protrusion 110, thereby preventing the first rotating member 100 from continuing to rotate forward along the first direction relative to the second rotating member 200. At this time, the first rotating member 100 rotates to the limit position along the first direction and stops rotating. In the process of relative rotation of the first rotating member 100 along the second direction relative to the second rotating member 200 which is relatively stationary, when the second positioning surface 222 of the second rotating member 200 abuts against the protrusion 110 of the first rotating member 100 along the circumferential direction of the housing 400, the second positioning surface 222 will interfere with the protrusion 110, thereby preventing the first rotating member 100 from continuing to rotate forward along the second direction relative to the second rotating member 200. At this time, the first rotating member 100 rotates to the limit position along the second direction and stops rotating. In the initial working state, the protrusion 110 can abut against the second positioning surface 222 along the circumferential direction of the housing 400, i.e. the protrusion 110 and the second positioning surface 222 are spaced 0° along the circumferential direction of the housing 400. In the case where the first positioning surface 221 and the second positioning surface 222 are spaced 180°, the protrusion 110 is spaced 180° from the first positioning surface 221. Of course, the protrusion 110 can be spaced equal angles from the first positioning surface 221 and the second positioning surface 222, i.e. the protrusion 110 is spaced 90° from the first positioning surface 221 and the second positioning surface 222. In the process of rotation of the first rotating member 100, the protrusion 110 can abut against the stop surface 223 along the axial direction of the second rotating member 200, so as to well position the first rotating member 100 in the axial direction, and improve the assembly precision and rotation precision of the first rotating member 100.

[0093] Referring to FIG. 10a or FIG. 10b, for the convenience of description, the working principle of the lifting mechanism 101 is described below with a specific embodiment, for which the driving assembly 300 drives the second rotating member 200 to rotate through the first rotating member 100. In the initial working state, the first perforation 421 and the second perforation 422 are spaced apart by 180°, the first fixed position 140 and the second fixed position 240 are spaced apart by an angle of zero, the first cable 510 is wound on the first rotating member 100 by 1 / 4 turn, the first fixed position 140 being the winding starting point, the first cable 510 is wound on the first rotating member 100 in the first direction M relative to the first fixed position 140. The second cable 520 is wound on the second rotating member 200 by 1 / 4 turn, the second fixed position 240 being the winding starting point, the second cable 520 is wound on the second rotating member 200 in the second direction N relative to the second fixed position 240, so the winding directions of the first cable 510 and the second cable 520 are opposite. The first limiting surface 211 and the second limiting surface 212 of the second rotating member 200 are spaced apart by 180°, the boss 430 of the housing 400 is spaced apart by 90° from the first limiting surface 211 and the second limiting surface 212. The first positioning surface 221 and the second positioning surface 222 of the second rotating member 200 are spaced apart by 180°, the protrusion 110 of the first rotating member 100 is spaced apart by 180° from the first positioning surface 221, the protrusion 110 abuts against the second positioning surface 222, so the spacing angle between the protrusion 110 and the second positioning surface 222 is zero. The first cable 510 and the second cable 520 are both in the taut state, and the first functional assembly 104 and the second functional assembly 105 are both in the lowered state, as shown in FIG. 10b.

[0094] Referring to FIG. 11a and FIG. 11b, during the process that the driving assembly 300 drives the first rotating member 100 to rotate along the first direction from the reference position corresponding to the initial working state, first, the first rotating member 100 drives the second rotating member 200 to rotate synchronously along the first direction M through the elastic member 600. Obviously, during the process of synchronous rotation along the first direction, the first cable 510 is released so that the winding length decreases, and the second cable 520 is wound so that the winding length increases. After the two are synchronously rotated by 90° from the reference position along the first direction, the first fixing position 140 and the second fixing position 240 are both in the position corresponding to the first perforation 421, that is, along the circumference of the shell 400, the interval angle between the first fixing position 140 and the second fixing position 240 and the first perforation 421 is approximately zero. At this time, the boss 430 of the shell 400 abuts against the first limiting surface 211 to generate interference, preventing the second rotating member 200 from continuing to rotate along the first direction to generate rotation along the first direction, so that the second rotating member 200 rotates along the first direction to the limit position, and the third maximum angle of the second rotating member 200 rotating along the first direction is 90°. When the second rotating member 200 stops rotating, the winding length of the first cable 510 changes from 1 / 4 turn to zero turn and is in a non-tight state, and the first functional assembly 104 maintains a descending state; the winding length of the second cable 520 changes from 1 / 4 turn to 1 / 2 turn, and the second functional assembly 105 is in a rising state. Of course, the process of rotating the first rotating member 100 and the second rotating member 200 in the reverse direction from the limit position to the reference position is the reverse process, which will not be described again.

[0095] Referring to FIG. 12a and FIG. 12b, when the second rotating member 200 stops rotating, the first rotating member 100 can continue rotating relative to the second rotating member 200 in the first direction. Specifically, the protrusion 110 of the first rotating member 100 gradually moves close to the first positioning surface 221, and when the protrusion 110 of the first rotating member 100 abuts against the first positioning surface 221, the protrusion 110 abuts against the first positioning surface 221 to generate interference, thereby preventing the first rotating member 100 from continuing to rotate in the first direction. Therefore, the first rotating member 100 rotates to a limit position in the first direction, and the first maximum angle of rotation of the first rotating member 100 in the first direction is 270°, so that the first rotating member 100 can continue to rotate 180° in the first direction relative to the second rotating member 200 which stops rotating, and at this time, the first fixed position 140 is located at a position corresponding to the second through hole 422. Therefore, in the process of rotating the first rotating member 100 in the first direction relative to the second rotating member 200, the winding length of the first cable 510 increases, the winding length of the second cable 520 remains unchanged, and the first functional assembly 104 is in the rising state, and the second functional assembly 105 still maintains the rising state. Specifically, when the first rotating member 100 rotates 90° relative to the second rotating member 200 for the first time, i.e., the first rotating member 100 rotates 180° relative to the reference position, the winding length of the first cable 510 changes from zero turns to 1 / 4 turn, the first cable 510 is in a taut state, and the first functional assembly 104 still maintains the descending state; when the first rotating member 100 rotates 90° relative to the second rotating member 200 again, i.e., the first rotating member 100 rotates 270° relative to the reference position, the winding length of the first cable 510 changes from 1 / 4 turn to 1 / 2 turn, the first cable 510 is in a taut state, and the first functional assembly 104 is in a rising state. Therefore, in the process of rotating the first rotating member 100 in the first direction relative to the second rotating member 200, the first functional assembly 104 can be changed from the descending state to the rising state. Of course, the process of rotating the first rotating member 100 from the limit position to the reference position in the reverse direction is the reverse process, which will not be described again.

[0096] Referring to FIG. 13a and FIG. 13b, during the process that the driving assembly 300 drives the first rotating member 100 to rotate along the second direction from the reference position corresponding to the initial working state, the first rotating member 100 drives the second rotating member 200 to produce synchronous rotation along the second direction through the elastic member 600. Apparently, during the process of synchronous rotation along the second direction, the first cable 510 is wound to increase the winding length, and the second cable 520 is released to decrease the winding length. When both of them are synchronously rotated 90° along the second direction from the reference position, the first fixing position 140 and the second fixing position 240 are both in the position corresponding to the second perforation 422, i.e. along the circumference of the shell 400, the interval angle between the first fixing position 140 and the second fixing position 240 and the second perforation 422 is substantially zero. At this time, the boss 430 of the shell 400 abuts against the second limiting surface 212 to produce interference, which prevents the second rotating member 200 from continuously producing rotation along the second direction, so that the second rotating member 200 rotates to the limit position along the second direction, and the fourth maximum angle of the second rotating member 200 rotating along the second direction is 90°. Since the bump 110 abuts against the second positioning surface 222 to produce interference, the first rotating member 100 cannot continuously produce relative motion along the second direction relative to the second rotating member 200, so that the first rotating member 100 and the second rotating member 200 both stop rotating continuously after synchronously rotating 90° along the second direction, so that the first rotating member 100 also rotates to the limit position along the second direction, so that the second maximum angle of the first rotating member 100 rotating along the second direction is 90°. That is, the second maximum angle of the first rotating member 100 rotating along the second direction is equal to the fourth maximum angle of the second rotating member 200 rotating along the second direction. When the first rotating member 100 and the second rotating member 200 both stop rotating, the winding length of the first cable 510 is converted from 1 / 4 turn to 1 / 2 turn, and the first functional assembly 104 is in the rising state; the winding length of the second cable 520 is converted from 1 / 4 turn to zero turn, and the second functional assembly 105 maintains the descending state. Of course, the process that the first rotating member 100 and the second rotating member 200 are reversely rotated from the limit position to the reference position is the reverse process, which will not be described herein.

[0097] Therefore, during the process that the first rotating member 100 moves 180° from the reference position along the first direction, the first functional assembly 104 is in the lowered state; therefore, it is required that when the first functional assembly 104 is in the lowered state, the first rotating member 100 can be rotated to a position which is spaced apart from the reference position by less than or equal to 180° along the first direction. During the process that the first rotating member 100 rotates 90° again along the first direction after rotating 180° along the first direction relative to the reference position, and during the process that the first rotating member 100 rotates 90° along the second direction from the reference position, the first functional assembly 104 is in the raised state. Therefore, it is required that when the first functional assembly 104 is in the raised state, the first rotating member 100 can be rotated to a position which is greater than 180° and less than or equal to 270° relative to the reference position along the first direction, or the first rotating member 100 can be rotated to a position which is less than or equal to 90° relative to the reference position along the second direction.

[0098] During the process that the second rotating member 200 rotates 90° along the first direction from the reference position, the second functional assembly 105 is in the raised state. Therefore, it is required that when the second functional assembly 105 is in the raised state, the second rotating member 200 can be rotated to a position which is less than or equal to 90° relative to the reference position along the first direction. During the process that the second rotating member 200 rotates 90° along the second direction from the reference position, the second functional assembly 105 is in the lowered state. Therefore, it is required that when the second functional assembly 105 is in the lowered state, the second rotating member 200 can be rotated to a position which is less than or equal to 90° relative to the reference position along the second direction.

[0099] More specifically, in the present embodiment, the cleaning robot 10 is in the initial working state in which the first functional assembly 104 and the second functional assembly 105 are both in the lowered state. Starting from the initial working state, when it is required that the second functional assembly 105 is raised while the first functional assembly 104 is maintained in the lowered state, the driving assembly 300 drives the first rotating member 100 to rotate 90° along the first direction. Starting from the initial working state, when it is required that the first functional assembly 104 is raised while the second functional assembly 105 is maintained in the lowered state, the driving assembly 300 drives the first rotating member 100 to rotate 90° along the second direction. Starting from the initial working state, when it is required that the first functional assembly 104 and the second functional assembly 105 are both raised, the driving assembly 300 controls the first rotating member 100 to rotate 270° along the first direction. When the cleaning robot 10 is switched from the state in which the first functional assembly 104 is in the raised state and the second functional assembly 105 is in the lowered state to the state in which the second functional assembly 105 is in the raised state and the first functional assembly 104 is in the lowered state, the driving assembly 300 drives the first rotating member 100 to rotate 180° along the first direction, and the switching between the states is carried out in this way, which will not be listed one by one here.

[0100] If the cleaning robot 10 respectively adopts different lifting mechanisms 101 to drive the first functional assembly 104 and the second functional assembly 105 to independently move, the number of the lifting mechanisms 101 will increase, which makes the cleaning robot 10 more complex in structure and the manufacturing cost of the cleaning robot 10 rises. For the cleaning robot 10 in the above embodiment, only one lifting mechanism 101 is arranged, which makes the driving assembly 300 drive the first rotating member 100 and the second rotating member 200 to rotate, so that the first cable 510 and the second cable 520 are released or wound, and finally the first functional assembly 104 and the second functional assembly 105 can independently ascend and descend, which ensures that the cleaning robot 10 can be applied to different working scenes. Since the first functional assembly 104 and the second functional assembly 105 share one lifting mechanism 101, the number of the lifting mechanisms 101 is reduced, which can not only simplify the structure of the cleaning robot 10, but also reduce the manufacturing cost of the cleaning robot 10.

[0101] In some embodiments, one of the first functional assembly 104 and the second functional assembly 105 is a wet cleaning assembly, and the other is a dry cleaning assembly. The wet cleaning assembly includes a roller 1041, and the dry cleaning assembly includes a roller brush 1051, and the axes of the roller 1041 and the roller brush 1051 are parallel to each other. When cleaning a carpet, the cleaning robot 10 can drive the wet cleaning assembly to ascend by the lifting mechanism 101, and make the dry cleaning assembly in a descending state to perform a cleaning operation on the carpet. When only a mopping task needs to be performed, the cleaning robot 10 can drive the dry cleaning assembly to ascend by the lifting mechanism 101, and make the wet cleaning assembly in a descending state to perform a mopping operation. When facing an obstacle, the cleaning robot 10 can drive the wet cleaning assembly and the dry cleaning assembly to ascend by the lifting mechanism 101, to improve the obstacle crossing ability of the cleaning robot 10.

[0102] In other embodiments, the wet cleaning assembly can further include a rotating mop, and the axis of the rotating mop is perpendicular to the ground, or a flat mop. The dry cleaning assembly can further include an edge brush 1061, and the rotating axis of the edge brush 1061 is perpendicular to the ground. Alternatively, in other embodiments, the first functional assembly 104 and the second functional assembly 105 can also be wet cleaning assemblies or dry cleaning assemblies. Alternatively, the first functional assembly 104 or the second functional assembly 105 can also be a driving wheel, a universal wheel, or a sensor, etc., as long as it is a structure on the cleaning robot 10 that needs to be actively lifted to change the lifting state, which can be realized by the lifting mechanism 101. First functional assembly 104 roller 1041 second functional assembly 105 roller brush 1051

[0103] It should be noted that in the embodiment, the first rotating member 100 and the second rotating member 200 are coaxially arranged, and the axes of the first rotating member 100 and the second rotating member 200 are parallel to the axes of the roller 1041 and the roller brush 1051. The first direction mentioned above can be the same as or opposite to the rotating direction of the roller brush 1051 when the cleaning robot 10 moves forward, which is not limited herein.

[0104] In some embodiments, the cleaning robot 10 can further include a third functional assembly 106, which is connected with the first cable 510 to make the third functional assembly 106 synchronously lift with the first functional assembly 104, or connected with the second cable 520 to make the third functional assembly 106 synchronously lift with the second functional assembly 105. The third functional assembly 106 can include a side brush 1061. At this time, the first functional assembly 104, the second functional assembly 105 and the third functional assembly 106 share one lifting structure to realize independent lifting, which can further simplify the structure of the cleaning robot 10 and reduce the manufacturing cost. Similarly, in other embodiments, the third functional assembly 106 can also be other structures that need to change the lifting state by active lifting, which is not listed one by one herein. For example, the cleaning robot 10 can further separately provide a third rotating member, which can be driven to rotate by the second rotating member 200, so that the third functional assembly 106 realizes lifting through the rotation of the third rotating member.

[0105] Referring to FIG. 1, in some embodiments, the cleaning robot 10 further includes a first feature 102 and a second feature 103, the first cable 510 includes a first elastic section 511 having elasticity, and the first feature 102 is arranged at opposite ends of the first elastic section 511; the second cable 520 includes a second elastic section 521 having elasticity, and the second feature 103 is arranged at opposite ends of the second elastic section 521. Through the first elastic section 511 and the second elastic section 521, a pre-tension and a pre-deformation can be provided to ensure resilience.

[0106] As shown in FIGS. 14-17, another embodiment of the present application provides a cleaning device including a device body 700, a driving motor 1000, a first cleaning member 900 and a first flexible shaft 560. The driving motor 1000 is arranged on the device body 700. The first cleaning member 900 is movably arranged on the device body 700. An output shaft 1001 of the driving motor 1000 is in driving connection with the first cleaning member 900 through the first flexible shaft 560, and the driving motor 1000 is used to drive the first cleaning member 900 to move by driving the first flexible shaft 560 to move.

[0107] By arranging the first flexible shaft 560, the transmission structure of the cleaning device is facilitated to be simplified, and assembly is facilitated. In addition, the first flexible shaft 560 has a certain degree of deformation capability, and can be bent and twisted to facilitate adjustment of the torque direction and position in the transmission process. On the one hand, the impact force of the first cleaning element 900 is facilitated to be reduced to affect the driving motor 1000, and a damping effect is achieved. On the other hand, the output shaft of the driving motor 1000 and the first cleaning element 900 can still be stably connected when the position or attitude of the first cleaning element 900 is adjusted, and the structural stability and flexibility of the cleaning device are facilitated to be improved, and the position or attitude of the first cleaning element 900 is facilitated to be adjusted.

[0108] Optionally, as shown in FIGS. 14-17, the driving motor 1000 is configured to drive the first cleaning element 900 to rotate by driving the first flexible shaft 560 to move. The first cleaning element 900 is rotatably connected to the device main body 700.

[0109] In this way, the output shaft of the driving motor 1000 can drive the first end of the first flexible shaft 560 to twist and rotate when the output shaft of the driving motor 1000 rotates. The first end of the first flexible shaft 560 can transmit the rotating motion to the second end of the first flexible shaft 560, and further transmit the rotating motion to the first cleaning element 900, so as to drive the first cleaning element 900 to rotate.

[0110] Optionally, as shown in FIG. 16, the first flexible shaft 560 has a first connecting section 561 and a second connecting section 562. The first flexible shaft 560 is arranged to be bent, so that the first connecting section 561 and the second connecting section 562 are arranged at an angle. For example, the first connecting section 561 and the second connecting section 562 are perpendicular.

[0111] In this way, the transmission direction of the motion can be changed by changing the extension direction of the first flexible shaft 560, and the transmission structure of the cleaning device is facilitated to be simplified, and assembly is facilitated.

[0112] In some embodiments, the first connecting section 561 and the second connecting section 562 can be located at two ends of the first flexible shaft 560, respectively. In other embodiments, the first connecting section 561 can be located at one end of the first flexible shaft 560, and the second connecting section 562 can be located between the two ends of the first flexible shaft 560.

[0113] In some embodiments, the first end of the first flexible shaft 560 is connected to the output shaft of the driving motor 1000, and the second end of the first flexible shaft 560 is connected to the first cleaning element 900.

[0114] In this way, the output shaft of the driving motor 1000 can drive the first end of the first flexible shaft 560 to twist and rotate when the output shaft of the driving motor 1000 rotates. The first end of the first flexible shaft 560 can transmit the rotating motion to the second end of the first flexible shaft 560, and further transmit the rotating motion to the first cleaning element 900, so as to drive the first cleaning element 900 to rotate.

[0115] Optionally, as shown in FIG. 18, the cleaning device further comprises a second cleaning member 800 movably arranged on the device body 700. The driving motor 1000 is configured to drive the second cleaning member 800 to rotate. Further, the second cleaning member 800 is rotationally connected with the device body 700.

[0116] The second cleaning member 800 and the first cleaning member 900 can clean different areas, which can enhance the functionality of the cleaning device and improve the cleaning efficiency. Compared with arranging different motors to drive the first cleaning member 900 and the second cleaning member 800, the driving motor 1000 is arranged to drive the first cleaning member 900 and the second cleaning member 800 to rotate, which is conducive to reducing the number of motors arranged, thereby improving the space utilization and reducing the cost.

[0117] Optionally, the second cleaning member 800 can be the same as or different from the first cleaning member 900. For example, the second cleaning member 800 and the first cleaning member 900 are both edge brushes 301. For another example, the second cleaning member 800 and the first cleaning member 900 are both mops. For another example, the second cleaning member 800 is a roller brush 201, and the first cleaning member 900 is an edge brush 301. For another example, the first cleaning member 900 can be a mop, and the second cleaning member 800 is a roller brush 201.

[0118] Optionally, the output shaft of the driving motor 1000 is drivingly connected with the first cleaning member 900 and the second cleaning member 800 through the first flexible shaft 560. The driving motor 1000 can drive the first cleaning member 900 and the second cleaning member 800 to rotate by driving the first flexible shaft 560 to move.

[0119] In this way, it is conducive to improving the synchronism of the rotation of the first cleaning member 900 and the second cleaning member 800. For example, the second cleaning member 800 and the first cleaning member 900 are both mops or both edge brushes 301, and the synchronous movement of the second cleaning member 800 and the first cleaning member 900 is conducive to improving the cleaning effect.

[0120] Optionally, the output shaft of the driving motor 1000 is drivingly connected with the second cleaning member 800 through a non-flexible shaft transmission structure. The non-flexible shaft transmission structure is a transmission structure that does not include a flexible shaft.

[0121] In this way, the rotation of the output shaft of the driving motor 1000 can be accurately transmitted to the second cleaning member 800 to drive the second cleaning member 800 to rotate. For example, the output shaft of the driving motor 1000 drives the second cleaning member 800 to rotate through gear transmission. For another example, as shown in FIG. 18, the cleaning device further comprises a synchronous belt 1100. The output shaft of the driving motor 1000 is in driving connection with the second cleaning member 800 through the synchronous belt 1100 to drive the second cleaning member 800 to rotate through the synchronous belt 1100. Specifically, the cleaning device can further comprise a first gear 601 and a second gear 602, the first gear 601 is fixed to the output shaft of the driving motor 1000, the second gear 602 is fixed relative to the second cleaning member 800, and the synchronous belt 1100 is engaged with the first gear 601 and the second gear 602 respectively, so that the output shaft of the driving motor 1000 can drive the second cleaning member 800 to rotate.

[0122] Optionally, as shown in FIG. 17, the cleaning device further comprises a second flexible shaft 580, and the output shaft of the driving motor 1000 is in driving connection with the second cleaning member 800 through the second flexible shaft 580. The driving motor 1000 can drive the second cleaning member 800 to rotate by driving the second flexible shaft 580 to move.

[0123] In this way, when the output shaft of the driving motor 1000 rotates, the second flexible shaft 580 can be driven to twist and rotate, and the second flexible shaft 580 can transmit the rotating motion to the second cleaning member 800 to drive the second cleaning member 800 to rotate.

[0124] For example, as shown in FIG. 17, the first end of the second flexible shaft 580 is connected with the output shaft of the driving motor 1000, and the second end of the second flexible shaft 580 is inserted into or passes through the second cleaning member 800 along the direction of the rotating axis of the second cleaning member 800. When the output shaft of the driving motor 1000 rotates, the first end of the second flexible shaft 580 can be driven to twist and rotate, the first end of the second flexible shaft 580 can transmit the rotating motion to the second end of the second flexible shaft 580, and further transmit the rotating motion to the second cleaning member 800 to drive the second cleaning member 800 to rotate.

[0125] Optionally, the second flexible shaft 580 is the same as or different from the first flexible shaft 560.

[0126] Optionally, the driving motor 1000 is configured to drive the first cleaning member 900 and the second cleaning member 800 to rotate relative to the device main body 700.

[0127] Optionally, the extending direction of the rotating axis of the first cleaning member 900 is parallel to the extending direction of the rotating axis of the second cleaning member 800.

[0128] Thus, the consistency of the rotation of the first cleaning member 900 and the second cleaning member 800 is improved. For example, the second cleaning member 800 and the first cleaning member 900 are both mops or both edge brushes 301, and the consistent movement of the second cleaning member 800 and the first cleaning member 900 improves the cleaning effect.

[0129] Alternatively, as shown in FIG. 18, the extension direction of the rotation axis L1 of the first cleaning member 900 and the extension direction of the rotation axis L2 of the second cleaning member 800 are arranged at an angle, denoted by a in the figure.

[0130] Since the extension direction of the rotation axis L1 of the second cleaning member 800 and the extension direction of the rotation axis L2 of the first cleaning member 900 are different, the second cleaning member 800 and the first cleaning member 900 can clean in different directions and areas, which can enhance the functionality of the cleaning device. For example, as shown in FIG. 18, the first cleaning member 900 is an edge brush 301, and the second cleaning member 800 is a roller brush 201. The edge brush 301 can be arranged at the edge of the cleaning device and protrude from the device main body 700, used to clean the edge corner area of the scene to be cleaned, and the roller brush 201 is arranged at the middle position of the bottom of the cleaning device.

[0131] Alternatively, the cleaning device is used to clean the surface to be cleaned. As shown in FIG. 19, the extension direction of the rotation axis L1 of the first cleaning member 900 and the extension direction of the rotation axis L2 of the second cleaning member 800 are both perpendicular to the surface to be cleaned 1200.

[0132] For example, as shown in FIG. 19, the second cleaning member 800 and the first cleaning member 900 are both mops or both edge brushes 301, which is conducive to increasing the contact area and friction force between the second cleaning member 800 and the first cleaning member 900 and the surface to be cleaned, and can improve the cleaning efficiency and cleaning effect. The surface to be cleaned 1200 can be the ground.

[0133] Alternatively, the extension direction of the rotation axis of one of the first cleaning member 900 and the second cleaning member 800 intersects the surface to be cleaned, and the extension direction of the rotation axis of the other of the first cleaning member 900 and the second cleaning member 800 is parallel to the surface to be cleaned. As shown in FIG. 18, the XY plane in the figure is the surface to be cleaned, which is parallel to the ground of the edge brush 301. In FIG. 18, the extension direction of the rotation axis L1 of the second cleaning member 800 intersects the surface to be cleaned, and the rotation axis L2 of the first cleaning member 900 is parallel to the surface to be cleaned.

[0134] Thus, the second cleaning member 800 and the first cleaning member 900 can clean the surface to be cleaned in different directions and areas, which can improve the cleaning efficiency and cleaning effect.

[0135] Optionally, the rotation axis of the first cleaning member 900 and the rotation axis of the second cleaning member 800 are parallel to the surface to be cleaned.

[0136] For example, one of the first cleaning member 900 and the second cleaning member 800 is a rolling brush 201. In this way, the friction between the first cleaning member 900 and the second cleaning member 900 and the surface to be cleaned is reduced, and the rotation resistance is reduced.

[0137] Optionally, as shown in FIG. 19 or 20, the driving motor 1000 has one output shaft 1001, and the output shaft 1001 is in driving connection with the first cleaning member 900 and the second cleaning member 800, and the output shaft is used to drive the first cleaning member 900 and the second cleaning member 800 to rotate. In this way, the cost of the driving motor 1000 is reduced.

[0138] In other embodiments, the driving motor 1000 has one output shaft, and the output shaft is used to drive one first cleaning member 900 to rotate, for example, the first cleaning member 900 is a side brush 301 arranged on one side.

[0139] Optionally, the driving motor 1000 has two output shafts, one of which is in driving connection with the first cleaning member 900, and the other is in driving connection with the second cleaning member 800. One of the output shafts is used to drive the first cleaning member 900 to rotate, and the other is used to drive the second cleaning member 800 to rotate.

[0140] In this way, the rotation of the second cleaning member 800 and the rotation of the first cleaning member 900 are less likely to interfere with each other.

[0141] Optionally, the driving motor 1000 has two output shafts, and the two output shafts are coaxially arranged and respectively arranged at two ends of the driving motor 1000. The two output shafts can rotate synchronously or independently.

[0142] Optionally, at least one of the first cleaning member 900 and the second cleaning member 800 is a mop, and the mop is used for wet cleaning of the surface to be cleaned. Wet cleaning refers to cleaning the surface to be cleaned with cleaning liquid. For example, the cleaning liquid can be water. For another example, the first cleaning member 900 can be a mop, and the second cleaning member 800 is a rolling brush.

[0143] In some embodiments, the first cleaning member 900 and the second cleaning member 800 are both used in a wet state. In other embodiments, one of the first cleaning member 900 and the second cleaning member 800 is used in a wet state.

[0144] Optionally, at least one of the first cleaning member 900 and the second cleaning member 800 is the edge brush 301 or the roller brush 201, and the edge brush 301 or the roller brush 201 is used for dry cleaning of the surface to be cleaned. Dry cleaning refers to cleaning the surface to be cleaned without cleaning liquid. For example, the second cleaning member 800 is the roller brush 201, the first cleaning member 900 is the edge brush 301, and the surface to be cleaned is the ground. The roller brush 201 and the edge brush 301 are used for sweeping the ground, which is dry cleaning.

[0145] In some embodiments, the first cleaning member 900 and the second cleaning member 800 are both used for working in a non-wet state.

[0146] Optionally, one of the first cleaning member 900 and the second cleaning member 800 is the edge brush 301 or the roller brush 201. For example, the first cleaning member 900 can be a mop, and the second cleaning member 800 is a roller brush. In this way, it is beneficial to improve the sweeping effect on the ground.

[0147] Optionally, the driving motor 1000 is used to drive the first cleaning member 900 to ascend and descend relative to the device body 700 by driving the first flexible shaft 560 to move.

[0148] In this way, it is beneficial to use the cleaning device in more scenarios. For example, the first cleaning member 900 can leave the ground by ascending movement, thereby avoiding the wet area of the ground.

[0149] The second end of the first flexible shaft 560 can be connected with the first cleaning member 900. When the first cleaning member 900 performs ascending and descending movement, the second end of the first flexible shaft 560 can move together with the first cleaning member 900, so that the first cleaning member 900 can be stably connected with the driving motor 1000 when performing ascending and descending movement or floating up and down.

[0150] For example, the first cleaning member 900 can be suspended at the lower end of the first flexible shaft 560, and the driving motor 1000 is used to drive the lower end of the first flexible shaft 560 to perform ascending and descending movement, and the first cleaning member 900 can ascend and descend with the lower end of the first flexible shaft 560.

[0151] Optionally, the driving motor 1000 is also used to drive the second cleaning member 800 to ascend and descend relative to the device body 700. Further, the driving motor 1000 is used to drive the second cleaning member 800 to ascend and descend relative to the device body 700 by driving the second flexible shaft 580 to move.

[0152] For example, the second cleaning member 800 can be suspended at the lower end of the second flexible shaft 580, and the driving motor 1000 is used to drive the lower end of the second flexible shaft 580 to perform ascending and descending movement, and the second cleaning member 800 can ascend and descend with the lower end of the second flexible shaft 580.

[0153] In some embodiments, the output shaft of the driving motor 1000 is connected to the first cleaning member 900 and the second cleaning member 800 through the first flexible shaft 560, and the driving motor 1000 is configured to drive the first cleaning member 900 and the second cleaning member 800 to move up and down by driving the first flexible shaft 560. In other embodiments, the cleaning device further comprises a second flexible shaft 580, and the output shaft of the driving motor 1000 is connected to the second cleaning member 800 through the second flexible shaft 580, and the driving motor 1000 is configured to drive the second cleaning member 800 to move up and down by driving the second flexible shaft 580.

[0154] In some embodiments, the driving motor 1000 is configured to drive the first cleaning member 900 to move up and down by driving the first flexible shaft 560, and the driving motor 1000 is further configured to drive the first cleaning member 900 to rotate by driving the first flexible shaft 560.

[0155] In some embodiments, the driving motor 1000 is configured to drive the second cleaning member 800 to move up and down by driving the second flexible shaft 580, and the driving motor 1000 is further configured to drive the second cleaning member 800 to rotate by driving the second flexible shaft 580.

[0156] In some embodiments, the driving motor 1000 is configured to drive the first cleaning member 900 and the second cleaning member 800 to move up and down by driving the first flexible shaft 560 and the second flexible shaft 580. In other embodiments, the driving motor 1000 is configured to drive the first cleaning member 900 and the second cleaning member 800 to rotate by driving the first flexible shaft 560 and the second flexible shaft 580. In other embodiments, the driving motor 1000 is configured to drive one of the first cleaning member 900 and the second cleaning member 800 to rotate and the other to move up and down by driving the first flexible shaft 560 and the second flexible shaft 580.

[0157] Different types of first flexible shaft 560, second flexible shaft 580, first cleaning member 900 and second cleaning member 800 can be suitable for the above driving forms.

[0158] In some embodiments, as shown in FIGS. 14-16, the cleaning device comprises a flexible shaft assembly 500, the flexible shaft assembly 500 comprises a first flexible shaft 560 and a second flexible shaft 580, and when the second cleaning member 800 is connected to the flexible shaft assembly 500, the second cleaning member 800 can move up and down or move forward and backward in the direction of travel of the cleaning device, and when the first cleaning member 900 is connected to the flexible shaft assembly 500, the first cleaning member 900 can move up and down or move forward and backward in the direction of travel of the cleaning device or move outwardly.

[0159] Optionally, as shown in FIGS. 14-16 and 18, the device body 700 comprises a main housing 701, a roller brush housing 702 and a cleaning member housing 703, the roller brush housing 702 and the cleaning member housing 703 are connected with the main housing 701 respectively, the second cleaning member 800 is a roller brush 201, the roller brush 201 is rotatably installed in the roller brush housing 702, and the first cleaning member 900 is an edge brush 301, the edge brush 301 is rotatably installed in the cleaning member housing 703. The driving motor 1000 can be installed on the main housing 701, the roller brush housing 702 or the cleaning member housing 703.

[0160] Further, the device body 700 is provided with a fan and a dust box, the dust box is arranged in the main housing 701, the main housing 701 is provided with a dust suction port in communication with the dust box, the roller brush 201 is arranged at the dust suction port, the edge brush 301 is arranged at the periphery of the dust suction port, the roller brush 201 and the edge brush 301 both have bristles, and the garbage swept up by the roller brush 201 and the edge brush 301 can be sucked into the dust box through the dust suction port under the action of the fan.

[0161] Optionally, in some embodiments, the second cleaning member 800 has a mopping function. The device body 700 is provided with a water tank to supply water for the second cleaning member 800.

[0162] Optionally, as shown in FIGS. 14-16 and 18, the axis L3 of the output shaft of the driving motor 1000 is arranged at an angle with the extension direction of the rotation axis L2 of the first cleaning member 900, as shown in FIG. 16, the angle between L2 and L3 is β. For example, the axis of the output shaft of the driving motor 1000 is perpendicular to the extension direction of the rotation axis L2 of the first cleaning member 900. The first flexible shaft 560 is arranged to be bendable, so that the first end of the first flexible shaft 560 is arranged on the same central axis as the output shaft of the driving motor 1000, and the second end of the first flexible shaft 560 is arranged on the same central axis as the first cleaning member 900.

[0163] Further, the first end of the first flexible shaft 560 can be fixedly connected with the output shaft of the driving motor 1000. Alternatively, the first end of the first flexible shaft 560 is drivingly connected with the output shaft of the driving motor 1000 through a gear. For example, as shown in FIG. 19, the cleaning device can comprise a first gear 601 and a third gear 603 engaged with each other, the first end of the first flexible shaft 560 is arranged on the third gear 603, and the first gear 601 is fixedly arranged on the output shaft of the driving motor 1000, so that the output shaft of the driving motor 1000 can drive the first end of the first flexible shaft 560 to rotate.

[0164] Optionally, as shown in FIGS. 14-16 and 18, the soft shaft assembly 500 further comprises a connector 570. The connector 570 is provided with a connecting hole 523, and the first soft shaft 560 is inserted into the connecting hole 523, and the cross section of the portion of the first soft shaft 560 in the connecting hole 523 matches the cross section of the connecting hole 523 and is also non-circular. The first soft shaft 560 connects at least one of the first cleaning member 900 and the output shaft of the driving motor 1000 through the connector 570.

[0165] By providing the connector 570, the assembly of the first soft shaft 560 can be facilitated. By providing that the cross section of the first soft shaft 560 matches the cross section of the connecting hole 523 and is also non-circular, the first soft shaft 560 can be facilitated to rotate with the connector 570. For example, the cross section of the first soft shaft 560 matches the cross section of the connecting hole 523 and is also rectangular.

[0166] Optionally, the edge brush 301 comprises a base and a brush body, and the base is fixedly connected with the connector 570 and connected with the second end of the first soft shaft 560 through the connector 570.

[0167] In some embodiments, as shown in FIGS. 14-16 and 18, the first end or the second end of the first soft shaft 560 is provided with the connector 570, and the first soft shaft 560 connects one of the first cleaning member 900 and the output shaft of the driving motor 1000 through one connector 570. In other embodiments, the first end and the second end of the first soft shaft 560 are both provided with the connector 570, and the first soft shaft 560 connects the first cleaning member 900 and the output shaft of the driving motor 1000 through two connectors 570 respectively.

[0168] Optionally, as shown in FIGS. 14-16 and 18, the two connectors 570 are a first connector 571 and a second connector 572 respectively. The first end of the first soft shaft 560 is connected with the output shaft 1001 of the driving motor 1000 through the first connector 571, and the second end of the first soft shaft 560 is connected with the first cleaning member 900 through the second connector 572. A bearing 704 or a rolling element is provided between the second connector 572 and the device body 700, and the second connector 572 rotates relative to the device body 700 through the bearing 704 or the rolling element.

[0169] Specifically, the cleaning device comprises the bearing 704, and the device body 700 is connected with the outer ring of the bearing 704, and the second connector 572 is connected with the inner ring of the bearing 704, so that the second connector 572 can rotate relative to the device body 700 through the bearing 704. Alternatively, the cleaning device comprises a rolling element, which can be a needle roller, a ball, etc.

[0170] In this way, the device body 700 can limit the second connector 572 in a direction perpendicular to the height direction D1 of the cleaning device, while reducing the resistance of the device body 700 to the rotation of the second connector 572, facilitating smooth rotation of the second connector 572 and the first cleaning element 900.

[0171] Optionally, the first connector 571 can be provided with a mounting hole, and the output shaft of the driving motor 1000 can be inserted into the mounting hole to be connected with the first connector 571.

[0172] Optionally, along the height direction D1 of the cleaning device, the first cleaning element 900 and the second end of the first flexible shaft 560 are arranged to be movable relative to the device body 700.

[0173] In this way, the lifting movement or up-and-down floating of the first cleaning element 900 can be achieved, facilitating the use of the cleaning device in more scenarios. For example, the first cleaning element 900 elastically abuts against the device body 700 through a spring, and when the first cleaning element 900 cleans uneven ground, the first cleaning element 900 can float up and down to adapt to the ground. For another example, the cleaning device can be provided with a lifting motor, which can be used to drive the first cleaning element 900 to perform lifting movement to move away from the ground, thereby avoiding the wet area of the ground.

[0174] When the first cleaning element 900 performs lifting movement or up-and-down floating, the second end of the first flexible shaft 560 can move together with the first cleaning element 900, and the first flexible shaft 560 can deform, so that the first cleaning element 900 can remain stably connected with the driving motor 1000 when performing lifting movement or up-and-down floating.

[0175] Optionally, the cleaning device has a width direction perpendicular to the advancing direction and the height direction of the cleaning device, and along the width direction D2 of the cleaning device, the first cleaning element 900 and the second end of the first flexible shaft 560 are arranged to be movable relative to the device body 700.

[0176] In this way, the inward retraction or outward expansion movement of the first cleaning element 900 can be achieved, facilitating the use of the cleaning device in more scenarios. For example, when cleaning the edge corner area of the to-be-cleaned scene, the side of the device body 700 needs to be kept apart from the edge corner of the to-be-cleaned scene along the width direction D2 of the cleaning device, and then the first cleaning element 900 can be extended outward by outward expansion movement to extend more in size, facilitating the cleaning of the edge corner of the to-be-cleaned scene. Along the width direction D2 of the cleaning device, the first cleaning element 900 can reduce its size by performing inward retraction movement, so as to be conveniently stored.

[0177] Optionally, the number of the first cleaning element 900 is one.

[0178] Optionally, the number of the first cleaning members 900 is two. In some embodiments, as shown in FIG. 20, two ends of the first flexible shaft 560 are connected with two first cleaning members 900 respectively, and the two ends of the first flexible shaft 560 are in transmission connection with the output shaft of the driving motor 1000, so that the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously. In this way, the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously through one first flexible shaft 560, and the two first cleaning members 900 can be allowed to move up and down or move forward and backward in the direction of movement of the cleaning device or move outwardly.

[0179] In other embodiments, as shown in FIG. 19, the output shaft of the driving motor 1000 is in transmission connection with two first cleaning members 900 through two first flexible shafts 560 respectively, so that the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously. In this way, the driving motor 1000 can drive the two first cleaning members 900 to rotate synchronously, and the two first cleaning members 900 can be allowed to move up and down or move forward and backward in the direction of movement of the cleaning device or move outwardly, and the transmission structure can be adjusted to make the rotation speeds of the two first cleaning members 900 different.

[0180] Optionally, as shown in FIG. 21, the flexible shaft assembly 500 includes a sleeve 502, which is sleeved on the outer periphery of the first flexible shaft 560 or the second flexible shaft 580, and the sleeve 502 is used to guide the extension direction of the first flexible shaft 560 or the second flexible shaft 580.

[0181] The deformation resistance of the sleeve 502 can be higher than that of the first flexible shaft 560 or the second flexible shaft 580, so that the sleeve 502 can be used to maintain the bending shape and extension direction of the first flexible shaft 560 or the second flexible shaft 580. There can be a gap between the sleeve 502 and the first flexible shaft 560 or the second flexible shaft 580, so that the sleeve 502 and the first flexible shaft 560 or the second flexible shaft 580 can move relatively, thereby reducing the resistance of the sleeve 502 to the rotation of the first flexible shaft 560 or the second flexible shaft 580. In some embodiments, the sleeve 502 can rotate with the first flexible shaft 560 or the second flexible shaft 580. In other embodiments, the sleeve 502 does not rotate with the first flexible shaft 560 or the second flexible shaft 580.

[0182] When the second cleaning member 800 moves up and down or floats up and down, the second end of the second flexible shaft 580 can move together with the second cleaning member 800, and the second flexible shaft 580 can be deformed, so that the second cleaning member 800 can be stably connected with the driving motor 1000 when moving up and down or floating up and down. Further, the second flexible shaft 580 is connected with the second cleaning member 800 through the connector 570, so as to drive the second cleaning member 800 to rotate.

[0183] Optionally, the axis direction of the output shaft of the driving motor 1000 can be parallel to the extension direction of the rotation axis L1 of the second cleaning member 800.

[0184] In summary, the second cleaning member 800 and the first cleaning member 900 can be cleaned in different directions and areas, which can enhance the functionality of the cleaning device. Compared with setting different motors to drive the first cleaning member 900 and the second cleaning member 800, the driving motor 1000 is set to drive the first cleaning member 900 and the second cleaning member 800 to rotate, which is conducive to reducing the number of motors, thereby improving space utilization and reducing costs. By setting the driving motor 1000 to drive the first soft shaft 560 and the second soft shaft 580 to move and drive the first cleaning member 900 and the second cleaning member 800 to rotate, it is conducive to simplifying the transmission structure of the cleaning device and facilitating assembly. In addition, the first soft shaft 560 and the second soft shaft 580 have a certain degree of deformation capability and can be bent to adjust the torque direction and position of the transmission process. On the one hand, it is conducive to reducing the impact of the impact force on the first cleaning member 900 and the second cleaning member 800 on the driving motor 1000, thereby playing a shock-absorbing role. On the other hand, when adjusting the position of the first cleaning member 900 or the second cleaning member 800, the output shaft of the driving motor 1000 can still be stably connected with the first cleaning member 900 and the second cleaning member 800, which is conducive to improving the structural stability and flexibility of the cleaning device.

[0185] The above-described embodiments are merely some embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation based on the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

[0186] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist contradictory, they should be considered within the scope of the present application.

[0187] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the patent scope of the application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises a first functional component, a second functional component and a lifting mechanism, wherein the lifting mechanism comprises: a first rotating member; a first cable, one end of which is wound around the first rotating member and the other end of which is connected to the first functional component; a second rotating member; a second cable, one end of which is wound around the second rotating member and the other end of which is connected to the second functional component; and a driving component, which is configured to drive the first rotating member to rotate and in turn drive the first functional component to lift through the first cable, and drive the second rotating member to rotate and in turn drive the second functional component to lift through the second cable.

2. The cleaning robot according to claim 1, wherein, The first functional component and the second functional component are configured to be in a lowered state, or in a raised state, or one in a raised state and the other in a lowered state through the lifting mechanism.

3. The cleaning robot according to claim 2, wherein, The cleaning robot has an initial working state, in which the first functional component and the second functional component are in the lowered state.

4. The cleaning robot according to claim 3, wherein, In the initial working state, the first rotating member has a first maximum angle of rotation in a first direction and a second maximum angle of rotation in a second direction based on the position of the first rotating member. In the initial working state, the second rotating member has a third maximum angle of rotation in the first direction and a fourth maximum angle of rotation in the second direction based on the position of the second rotating member. The first direction and the second direction are opposite, and the first maximum angle is greater than the third maximum angle.

5. The cleaning robot according to claim 4, wherein, The lifting mechanism is configured such that, during the rotation of the first rotating member from the position corresponding to the initial working state to the position corresponding to the first maximum angle in the first direction, the first rotating member and the second rotating member change from a state of being rotated together to a state of the first rotating member rotating and the second rotating member stopping.

6. The cleaning robot according to claim 4, wherein, The first functional component is in the raised state when the first rotating member rotates the first maximum angle in the first direction, and the first functional component is in the raised state when the first rotating member rotates the second maximum angle in the second direction. The second functional component is in the raised state when the second rotating member rotates the third maximum angle in the first direction, and the second functional component maintains the lowered state when the second rotating member rotates the fourth maximum angle in the second direction.

7. The cleaning robot according to claim 6, wherein, The first rotating member releases the first cable first and then winds the first cable when the first rotating member rotates the first maximum angle in the first direction.

8. The cleaning robot according to claim 3, wherein, The lifting mechanism further comprises a housing, both the first rotating member and the second rotating member are at least partially accommodated in the housing, the housing is provided with a first through hole and a second through hole, the first cable passes through the first through hole, and the second cable passes through the second through hole. 9.The cleaning robot according to claim 8, wherein, The direction in which the first cable passes out of the housing is opposite to the direction in which the second cable passes out of the housing.

10. The cleaning robot according to claim 8, wherein, One of the shell and the second rotating member has a boss and the other has a limiting surface, when the boss and the limiting surface are in circumferential abutment during rotation of the second rotating member, the second rotating member stops rotating. 11.The cleaning robot according to claim 10, wherein The first rotating member and the second rotating member rotate synchronously before the second rotating member stops rotating; when the second rotating member stops rotating, the first rotating member can continue rotating in the original direction relative to the second rotating member, one of the first rotating member and the second rotating member has a protrusion and the other has a positioning surface, when the protrusion and the positioning surface are in circumferential abutment, the first rotating member stops rotating in the original direction relative to the second rotating member.

12. The cleaning robot of claim 8, wherein, The first rotating member has a first fixing position for fixing an end of the first cable, and the second rotating member has a second fixing position for fixing an end of the second cable, in the initial working state, the first fixing position is arranged at a position spaced apart from the first through hole and the second through hole in the circumferential direction of the first rotating member, and the second fixing position is arranged at a position spaced apart from the first through hole and the second through hole in the circumferential direction of the first rotating member.

13. The cleaning robot according to claim 12, wherein, In the initial working state, the first fixing position and the second fixing position are located at the same position in the circumferential direction of the first rotating member.

14. The cleaning robot of claim 1, wherein, The first rotating member and the second rotating member rotate in the same direction.

15. The cleaning robot according to claim 14, wherein, The first rotating member and the second rotating member rotate synchronously; or, The first rotating member and the second rotating member rotate relative to each other.

16. The cleaning robot according to claim 15, wherein, When the first rotating member and the second rotating member rotate synchronously, the first rotating member releases the first cable and the second rotating member winds the second cable; or, the first rotating member winds the first cable and the second rotating member releases the second cable.

17. The cleaning robot of claim 14, wherein, The winding direction of the first cable on the first rotating member is the same as or opposite to the winding direction of the second cable on the second rotating member.

18. The cleaning robot of claim 1, wherein, The driving assembly is configured to drive the first rotating member to rotate, and the second rotating member is configured to rotate under the action of the first rotating member.

19. The cleaning robot of claim 18, wherein, The maximum rotation angle of the first rotating member is greater than the maximum rotation angle of the second rotating member. When the second rotating member rotates to the corresponding maximum rotation angle, the second rotating member stops rotating, and the first rotating member can continue rotating relative to the second rotating member.

20. The cleaning robot of claim 18, wherein, The first rotating member and the second rotating member are coaxially arranged.

21. The cleaning robot of claim 1, wherein, The lifting mechanism further comprises an elastic member, the elastic member abuts between the first rotating member and the second rotating member, and the first rotating member drives the second rotating member to rotate synchronously through the elastic member.

22. The cleaning robot of claim 1, wherein, One of the first functional assembly and the second functional assembly is a wet cleaning assembly, and the other is a dry cleaning assembly.

23. The cleaning robot of claim 22, wherein, The wet cleaning assembly comprises a roller, and the dry cleaning assembly comprises a rolling brush, and the axes of the roller and the rolling brush are parallel to each other.

24. The cleaning robot of claim 1, wherein, The third functional assembly is connected with the first cable to be synchronously lifted with the first functional assembly, or the third functional assembly is connected with the second cable to be synchronously lifted with the second functional assembly.

25. The cleaning robot of claim 1, wherein, The first cable comprises a first elastic section with elasticity, and the first feature is arranged at opposite ends of the first elastic section; the second cable comprises a second elastic section with elasticity, and the second feature is arranged at opposite ends of the second elastic section.

26. A cleaning device, characterized by The device body; The driving motor is arranged in the device body; The first cleaning member is movably arranged in the device body; The output shaft of the driving motor is in transmission connection with the first cleaning member through the first flexible shaft, and the driving motor is used to drive the first cleaning member to move by driving the first flexible shaft to move.

27. The cleaning device according to claim 26, wherein the driving motor is used to drive the first cleaning member to rotate or to be lifted relative to the device body by driving the first flexible shaft to move.

28. The cleaning device according to claim 27, wherein the cleaning device further comprises a second cleaning member movably arranged in the device body; and the driving motor is further used to drive the second cleaning member to rotate or to be lifted relative to the device body.

29. The cleaning device according to claim 28, wherein the output shaft of the driving motor is in transmission connection with the first cleaning member and the second cleaning member through the first flexible shaft; or the output shaft of the driving motor is in transmission connection with the second cleaning member through a non-flexible shaft transmission structure; or the cleaning device further comprises a second flexible shaft, and the output shaft of the driving motor is in transmission connection with the second cleaning member through the second flexible shaft.

30. The cleaning device according to claim 28, wherein the driving motor is used to drive the first cleaning member and the second cleaning member to rotate relative to the device body, and wherein the extending direction of the rotation axis of the first cleaning member is parallel to the extending direction of the rotation axis of the second cleaning member; or the extending direction of the rotation axis of the first cleaning member is arranged at an angle with the extending direction of the rotation axis of the second cleaning member.

31. The cleaning device according to claim 28, wherein the driving motor is used to drive the first cleaning member and the second cleaning member to rotate relative to the device body, and wherein the extending direction of the rotation axis of the first cleaning member and the extending direction of the rotation axis of the second cleaning member are both perpendicular to the surface to be cleaned; or the extending direction of the rotation axis of one of the first cleaning member and the second cleaning member intersects with the surface to be cleaned, and the extending direction of the rotation axis of the other of the first cleaning member and the second cleaning member is parallel to the surface to be cleaned; or the extending direction of the rotation axis of the first cleaning member and the extending direction of the rotation axis of the second cleaning member are both parallel to the surface to be cleaned.

32. The cleaning device according to claim 28, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ At least one of the first cleaning member and the second cleaning member is a mop for wet cleaning of a surface to be cleaned; or At least one of the first cleaning member and the second cleaning member is an edge brush or a roll brush for dry cleaning of a surface to be cleaned.

33. The cleaning device according to claim 28, wherein the driving motor has one output shaft, and one output shaft is drivingly connected to the first cleaning member and the second cleaning member; or the driving motor has two output shafts, one of which is drivingly connected to the first cleaning member, and the other of which is drivingly connected to the second cleaning member.

34. The cleaning device according to claim 33, wherein the two output shafts are coaxially arranged and respectively arranged at two ends of the driving motor.

35. The cleaning device according to claim 26, wherein the first flexible shaft has a first connecting section and a second connecting section, and the first flexible shaft is arranged to be bent so that the first connecting section and the second connecting section are arranged at an angle.

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