CN114831546A

CN114831546A - Cleaning robot and cleaning equipment

Info

Publication number: CN114831546A
Application number: CN202210571117.XA
Authority: CN
Inventors: 徐迪青; 何冰亮; 李璐璐
Original assignee: TP Link Technologies Co Ltd
Current assignee: TP Link Technologies Co Ltd
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-08-02

Abstract

The application provides a cleaning robot and cleaning device, above-mentioned cleaning robot includes: the cleaning assembly comprises a cleaning piece and a lifting rotating shaft, wherein the first end of the lifting rotating shaft is connected with the cleaning piece, and the second end of the lifting rotating shaft is provided with a first clamping part; the cleaning driving assembly comprises a first driver and a driving shaft, the first driver is used for driving the driving shaft to rotate, the driving shaft and the lifting rotating shaft are coaxially arranged, the driving shaft and the lifting rotating shaft are mutually sleeved, and a second clamping part matched with the first clamping part is arranged on the driving shaft; and the lifting driving component is used for driving the cleaning component to do lifting motion along the axial direction of the lifting rotating shaft. The cleaning robot has the advantages that the abrasion of parts is less, so that the service life of the cleaning robot is prolonged, the transmission structure between the cleaning driving assembly and the cleaning assembly and the transmission structure between the lifting driving assembly and the cleaning assembly are simple, and the working reliability of the cleaning robot is improved.

Description

Cleaning robot and cleaning equipment

Technical Field

The invention relates to the technical field of cleaning equipment, and particularly provides a cleaning robot and cleaning equipment.

Background

The sweeping and mopping integrated robot is a cleaning robot with sweeping and mopping functions, has the characteristics of convenience in cleaning, time saving and labor saving, enables people to get rid of tedious housework, and greatly improves the life convenience of people.

However, when cleaning robot is at the during operation, if floor laid the carpet, cleaning robot removes and to make the carpet dirty by the spot on the mop on the carpet, and cleaning robot passes through a period of work after moreover, can adhere a large amount of filths on the mop, if let cleaning robot continue to work, not only can not play cleaning effect, can bring secondary pollution to ground on the contrary.

In view of this, cleaning robots with a mop cloth lifting function are available on the market, and when the cleaning robots encounter a carpet or the mop cloth is excessively dirty, the mop cloth is lifted to prevent the carpet from being dirty by the mop cloth or the mop cloth from causing secondary pollution to the floor. However, at present, such a cleaning robot is generally provided with only one driving assembly, which is used for driving the mop to do rotary motion and lifting motion, and the driving assembly always keeps driving the mop to do rotary motion no matter the mop is in a lifting state or a lowering state, so that the internal wear of the driving assembly is increased, and the service life of the cleaning robot is shortened.

Disclosure of Invention

An object of the embodiment of this application is to provide one kind to solve the short and poor technical problem of operational reliability of life that cleaning robot among the prior art exists.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions: provided is a cleaning robot including:

the cleaning assembly comprises a cleaning piece and a lifting rotating shaft, wherein a first end of the lifting rotating shaft is connected with the cleaning piece, and a second end of the lifting rotating shaft is provided with a first clamping part;

the cleaning driving assembly comprises a first driver and a driving shaft, the first driver is used for driving the driving shaft to rotate, the driving shaft and the lifting rotating shaft are coaxially arranged, the driving shaft and the lifting rotating shaft are mutually sleeved, and a second clamping part matched with the first clamping part is arranged on the driving shaft;

and the lifting driving component is used for driving the cleaning component to do lifting motion along the axial direction of the lifting rotating shaft.

Optionally, the cleaning driving assembly further includes a first elastic member, one end of the first elastic member abuts against the driving shaft, the other end of the first elastic member abuts against the lifting rotating shaft, and when the cleaning assembly descends to the lowest position, the first elastic member is in a compressed state.

Optionally, a first coupling cavity is formed in the lifting rotating shaft, the first coupling cavity extends along the axial direction of the lifting rotating shaft, the first coupling cavity penetrates through the second end of the lifting rotating shaft, the first engaging portion is disposed on a cavity wall of the first coupling cavity, and the lifting rotating shaft is sleeved on the driving shaft through the first coupling cavity; alternatively, the first and second electrodes may be,

the second shaft connecting cavity is formed in the driving shaft, extends along the axial direction of the driving shaft, penetrates through one end, close to the cleaning piece, of the driving shaft, the second clamping portion is arranged on the cavity wall of the second shaft connecting cavity, and the driving shaft is connected to the lifting rotating shaft in a sleeved mode through the second shaft connecting cavity.

Optionally, the lift drive assembly includes second driver, cam, crane and second elastic component, the lift pivot with crane rotatable coupling, the second elastic component has stiff end and flexible end, flexible end with the crane is connected, the second driver is used for the drive the cam rotates, so that the cam drives the crane is elevating movement.

Optionally, the cam is provided with a sliding groove, the lifting frame comprises a frame body and a rolling part connected to the frame body, and the rolling part is movably arranged in the sliding groove.

Optionally, a first flat wall surface is disposed on a wall surface at one end of the chute, a second flat wall surface is disposed on a wall surface at the other end of the chute, when the cleaning assembly descends to the lowest position, the first flat wall surface is in a horizontal state, the rolling portion is disposed on the first flat wall surface, and when the cleaning assembly ascends to the highest position, the second flat wall surface is in a horizontal state, and the rolling portion is disposed on the second flat wall surface.

Optionally, the lifting driving assembly further comprises a guide mechanism, the guide mechanism comprises a guide post extending along the movement direction of the lifting frame, and a guide sleeve sleeved on the guide post; the guide post is connected to the lifting frame, and the guide sleeve and the second driver are relatively and fixedly arranged; or the guide sleeve is connected to the lifting frame, and the guide post and the second driver are relatively fixedly arranged.

Optionally, the peripheral wall of lift pivot is equipped with the convex part, the crane with the convex part is close to one side of cleaning member leans on.

Optionally, an annular groove is formed in the peripheral wall of the lifting rotating shaft, the annular groove surrounds the axis of the lifting rotating shaft, and the lifting rotating shaft is connected with the lifting frame in a rotatable mode through the annular groove.

Optionally, the number of the cleaning assemblies is multiple, the number of the cleaning driving assemblies is multiple, each cleaning driving assembly is arranged in one-to-one correspondence with each cleaning assembly, and the lifting driving assembly is used for driving each cleaning assembly to perform lifting movement.

The cleaning robot provided by the application has at least the following beneficial effects: compared with the prior art, the cleaning piece lifting device has the advantages that the first clamping part is arranged on the cavity wall at one end of the second end of the lifting rotating shaft, the second clamping part is arranged on the driving shaft, the driving shaft and the lifting rotating shaft are mutually sleeved, when the lifting driving assembly drives the cleaning assembly to descend to the lowest position, the first clamping part and the second clamping part are mutually clamped, at the moment, the first driver drives the driving shaft to rotate, the lifting rotating shaft rotates along with the driving shaft, so that the cleaning piece is driven to rotate, the ground is cleaned, when the lifting driving assembly drives the cleaning assembly to ascend to the highest position, the first clamping part and the second clamping part are mutually separated, at the moment, even if the first driver drives the driving shaft to rotate, the lifting rotating shaft cannot rotate along with the driving shaft, and therefore, the continuous rotation of the cleaning piece caused by misoperation or accidental faults in the lifting process of the cleaning piece can be avoided, thereby reducing the abrasion of parts in the cleaning robot and prolonging the service life of the cleaning robot; meanwhile, the cleaning assembly is driven to rotate by the cleaning driving assembly, and the cleaning assembly is driven to move up and down by the lifting driving assembly, so that a transmission structure between the cleaning driving assembly and the cleaning assembly and a transmission structure between the lifting driving assembly and the cleaning assembly can be effectively simplified, software control logic and hardware operation logic of the cleaning robot are simplified, the fault rate of the cleaning robot is reduced, and the working reliability of the cleaning robot is improved.

To achieve the above object, the present application also provides a cleaning apparatus including the cleaning robot according to any one or more of the above embodiments.

Because the cleaning equipment adopts the cleaning robot, the service life of the cleaning equipment is effectively prolonged, and the working reliability of the cleaning equipment is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

FIG. 2 is a cross-sectional view of the cleaning robot shown in FIG. 1, taken in a plane in which the axes of the drive shafts of the two cleaning drive assemblies are connected;

FIG. 3 is a schematic cross-sectional view of the lifting shaft of the cleaning robot shown in FIG. 2 along the axial direction;

fig. 4 is a schematic structural view of a driving shaft in the cleaning robot of fig. 2;

FIG. 5 is a first schematic view of the cleaning assembly of the cleaning robot shown in FIG. 1 lowered to a lowest position;

FIG. 6 is a second schematic view of the cleaning assembly of the cleaning robot shown in FIG. 1 being lowered to a lowest position;

FIG. 7 is a first schematic view of the cleaning assembly of the cleaning robot shown in FIG. 1 when it is raised to the uppermost position;

FIG. 8 is a second schematic structural view of the cleaning assembly of the cleaning robot shown in FIG. 1 when it is raised to the uppermost position;

fig. 9 is a schematic structural view of a cam in the cleaning robot shown in fig. 1.

Wherein, in the figures, the respective reference numerals:

100. a cleaning robot; 110. a cleaning assembly; 111. a cleaning member; 1111. mop cloth; 1112. a support; 112. a lifting rotating shaft; 1121. a first engaging portion; 1122. a first axial cavity; 1123. a convex portion; 120. a cleaning drive assembly; 121. a first driver; 122. a drive shaft; 1221. a second engaging portion; 123. a first elastic member; 124. a gear transmission mechanism; 1241. a gear case; 1242. a gear set; 130. a lift drive assembly; 131. a second driver; 132. a cam; 1321. a chute; 1322. a first flat wall surface; 1323. a second flat wall surface; 133. a lifting frame; 1331. a frame body; 1332. a rolling section; 134. a second elastic member; 135. a guide mechanism; 1351. a guide post; 1352. and (7) guiding the sleeve.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

A first aspect of the present application provides a cleaning robot 100, and the cleaning robot 100 provided in the embodiments of the present application will now be described with reference to the drawings.

Referring to fig. 1 to 4, the cleaning robot 100 includes a cleaning assembly 110, a cleaning driving assembly 120, and a lifting driving assembly 130. The cleaning assembly 110 includes a cleaning member 111 and a lifting shaft 112, a first end of the lifting shaft 112 is connected to the cleaning member 111, and a second end of the lifting shaft 112 is provided with a first engaging portion 1121. The cleaning driving assembly 120 includes a first driver 121 and a driving shaft 122, the first driver 121 is used for driving the driving shaft 122 to rotate, in this embodiment, the first driver 121 is a motor, the driving shaft 122 is coaxially disposed with the lifting rotating shaft 112, and the driving shaft 122 is sleeved with the lifting rotating shaft 112, a second engaging portion 1221 adapted to the first engaging portion 1121 is disposed on the driving shaft 122, specifically, to ensure that the lifting rotating shaft 112 has a sufficient lifting stroke, the second engaging portion 1221 is disposed on one end of the driving shaft 122 close to the cleaning member 111. The lifting driving assembly 130 is used for driving the cleaning assembly 110 to perform a lifting motion along the axial direction of the lifting rotating shaft 112.

Compared with the prior art, in the cleaning robot 100 provided by the present application, the first engaging portion 1121 is disposed on the cavity wall at one end of the second end of the lifting rotating shaft 112, and the second engaging portion 1221 is disposed on the driving shaft 122, so as to sleeve the driving shaft 122 and the lifting rotating shaft 112, please refer to fig. 5, when the lifting driving assembly 130 drives the cleaning assembly 110 to descend to the lowest position, the first engaging portion 1121 is engaged with the second engaging portion 1221, at this time, after the first driver 121 drives the driving shaft 122 to rotate, the lifting rotating shaft 112 rotates along with the driving shaft 122, so as to drive the cleaning member 111 to rotate, so as to clean the floor, please refer to fig. 7, when the lifting driving assembly 130 drives the cleaning assembly 110 to ascend to the highest position, the first engaging portion 1121 is separated from the second engaging portion 1221, at this time, even if the first driver 121 drives the driving shaft 122 to rotate, the lifting rotating shaft 112 does not rotate along with the driving shaft 122, so that the cleaning piece 111 is prevented from continuously rotating due to misoperation or accidental fault in the lifting process of the cleaning piece 111, the abrasion of parts in the cleaning robot 100 is reduced, and the service life of the cleaning robot 100 is prolonged; meanwhile, the cleaning assembly 110 is driven to rotate by the cleaning driving assembly 120, and the cleaning assembly 110 is driven to move up and down by the lifting driving assembly 130, so that a transmission structure between the cleaning driving assembly 120 and the cleaning assembly 110 and a transmission structure between the lifting driving assembly 130 and the cleaning assembly 110 can be effectively simplified, software control logic and hardware operation logic of the cleaning robot 100 are simplified, the fault rate of the cleaning robot 100 is reduced, and the working reliability of the cleaning robot 100 is improved.

In one embodiment of the present application, referring to fig. 1 and 2, the cleaning member 111 includes a mop 1111 and a bracket 1112, the first end of the lifting spindle 112 is fixedly connected to the bracket 1112, and the mop 1111 is mounted on the bracket 1112, it being understood that the mop 1111 may be fixedly mounted on the bracket 1112 or detachably mounted on the bracket 1112. When the lifting driving assembly 130 drives the cleaning assembly 110 to descend to the lowest position, the first driver 121 drives the driving shaft 122 to rotate, and the lifting rotating shaft 112 rotates along with the driving shaft 122, so that the bracket 1112 and the mop 1111 are driven to rotate, thereby cleaning the floor.

In another embodiment of the present application, the cleaning element 111 includes a brush and a bracket 1112, a first end of the lifting shaft 112 is fixedly connected to the bracket 1112, the brush is mounted on the bracket 1112, when the lifting driving assembly 130 drives the cleaning assembly 110 to descend to the lowest position, the first driver 121 drives the driving shaft 122 to rotate, and the lifting shaft 112 rotates along with the driving shaft 122, so as to drive the bracket 1112 and the brush to rotate, so as to clean the floor.

In one embodiment of the present application, referring to fig. 1 and 2, the cleaning driving assembly 120 further includes a gear transmission mechanism 124, and the first driver 121 drives the driving shaft 122 to rotate through the gear transmission mechanism 124. Specifically, the gear transmission 124 includes a gear box 1241 and a gear set 1242, a power output end of the first driver 121 is disposed in the gear box 1241, and a power output end of the first driver 121 is connected with a power input side of the gear set 1242, a power input end of the drive shaft 122 is disposed in the gear box 1241, and a power input end of the drive shaft 122 is connected with a power output side of the gear set 1242.

In an embodiment of the present application, referring to fig. 2, 5 and 7, the cleaning driving assembly 120 further includes a first elastic member 123, one end of the first elastic member 123 abuts against the driving shaft 122, and the other end of the first elastic member 123 abuts against the lifting rotating shaft 112, when the cleaning assembly 110 is lowered to the lowest position, the first elastic member 123 is in a compressed state, so that a sufficient downward pressure can be provided to the cleaning member 111, so that the cleaning member 111 can be tightly attached to the ground during the operation process, and the cleaning effect of the cleaning robot 100 is effectively improved.

It is understood that the kind of the first elastic member 123 includes various kinds, such as a spring, a resilient sheet, etc., and is not particularly limited herein.

In an embodiment of the present application, please refer to fig. 2, a first coupling cavity 1122 is formed inside the lifting spindle 112, the first coupling cavity 1122 extends along an axial direction of the lifting spindle 112, the first coupling cavity 1122 penetrates through a second end of the lifting spindle 112, the first engaging portion 1121 is disposed on a cavity wall of the first coupling cavity 1122, and the lifting spindle 112 is sleeved on the driving shaft 122 through the first coupling cavity 1122. It can be understood that, in the present embodiment, the first elastic element 123 is disposed in the first coupling cavity 1122, and the first elastic element 123 abuts between the driving shaft 122 and the lifting rotating shaft 112. Referring to fig. 5, when the cleaning assembly 110 is lowered to the lowest position, the second engaging portion 1221 of the driving shaft 122 is engaged with the first engaging portion 1121 of the lifting/lowering rotating shaft 112, and at this time, after the first driver 121 drives the driving shaft 122 to rotate, the lifting/lowering rotating shaft 112 rotates along with the driving shaft 122, so as to drive the cleaning member 111 to rotate, referring to fig. 7, when the lifting/lowering driving assembly 130 drives the cleaning assembly 110 to be raised to the highest position, the first engaging portion 1121 and the second engaging portion 1221 are separated from each other, and at this time, even if the first driver 121 drives the driving shaft 122 to rotate, the lifting/lowering rotating shaft 112 does not rotate along with the driving shaft 122.

In another embodiment of the present application, a second coupling cavity (not shown) is formed inside the driving shaft 122, the second coupling cavity extends along the axial direction of the driving shaft 122, and penetrates through one end of the driving shaft 122 close to the cleaning element 111, the second engaging portion 1221 is disposed on a cavity wall of the second coupling cavity, and the driving shaft 122 is sleeved on the lifting rotating shaft 112 through the second coupling cavity. It can be understood that, in the present embodiment, the first elastic element 123 is disposed in the second axial cavity, and the first elastic element 123 abuts between the driving shaft 122 and the lifting rotating shaft 112. When the cleaning assembly 110 is lowered to the lowest position, the second engaging portion 1221 of the driving shaft 122 is engaged with the first engaging portion 1121 of the lifting/lowering rotating shaft 112, and at this time, after the first driver 121 drives the driving shaft 122 to rotate, the lifting/lowering rotating shaft 112 rotates along with the driving shaft 122, so as to drive the cleaning element 111 to rotate, when the lifting/lowering driving assembly 130 drives the cleaning assembly 110 to be raised to the highest position, the first engaging portion 1121 and the second engaging portion 1221 are separated from each other, and at this time, even if the first driver 121 drives the driving shaft 122 to rotate, the lifting/lowering rotating shaft 112 does not rotate along with the driving shaft 122.

Specifically, the cross section of the first engaging portion 1121 has a non-circular structure, for example, the cross section of the first engaging portion 1121 has a hexagonal structure, a pentagonal structure, a quadrilateral structure, etc., which are not limited herein specifically, and the cross section of the second engaging portion 1221 has a cross section structure matched with the cross section structure of the first engaging portion 1121. It is understood that the cross section of the first engaging portion 1121 refers to the cross section of the first engaging portion 1121 along the direction perpendicular to the axial direction of the lifting rotating shaft 112, and similarly, the cross section of the second engaging portion 1221 refers to the cross section of the second engaging portion 1221 along the direction perpendicular to the axial direction of the driving shaft 122.

In an embodiment of the present application, referring to fig. 1 and 2, the lifting driving assembly 130 includes a second driver 131, a cam 132, a lifting frame 133 and a second elastic member 134, the lifting spindle 112 is rotatably connected to the lifting frame 133, it can be understood that the lifting spindle 112 can rotate on the lifting frame 133 around its axis, the second elastic member 134 has a fixed end and a telescopic end, the telescopic end is connected to the lifting frame 133, and the second driver 131 is used for driving the cam 132 to rotate, so that the cam 132 drives the lifting frame 133 to perform lifting movement. The lifting frame 133 is driven by the cam 132 to move up and down, so that the size of the lifting driving assembly 130 can be effectively reduced, and the cleaning robot 100 is more beneficial to realizing the miniaturized design.

It should be noted that the types of the second driver 131 include, but are not limited to, a steering engine and a motor, and in this embodiment, the second driver 131 is a steering engine to further reduce the volume of the lifting driving assembly 130.

In the above embodiment, referring to fig. 1 and 2, during the operation of the lifting driving assembly 130, the fixed end of the second elastic member 134 is fixed, specifically, the fixed end of the second elastic member 134 is connected to any one of the fixed parts of the cleaning robot 100, for example, the fixed end of the second elastic member 134 is connected to the gear box 1241, it can be understood that the second elastic member 134 is always in a stretching state, on one hand, the lifting frame 133 can be kept in close contact with the cam 132, on the other hand, the lifting frame 133 can be provided with a lifting force, and the work load of the second driver 131 can be reduced to a certain extent, thereby further prolonging the service life of the cleaning robot 100.

In the above embodiment, referring to fig. 6, 8 and 9, the cam 132 is provided with a sliding slot 1321, the lifting frame 133 includes a frame body 1331 and a rolling part 1332 connected to the frame body 1331, and the rolling part 1332 is movably disposed in the sliding slot 1321. As can be understood, the extending track of the sliding slot 1321 is consistent with the contour line of the cam 132, referring to fig. 6, when the second driver 131 drives the cam 132 to rotate in the counterclockwise direction, the rolling part 1332 rolls to one end of the sliding slot 1321 relative to the cam 132, at this time, the lifting frame 133 drives the cleaning assembly 110 to descend to the lowest position, referring to fig. 8, when the second driver 131 drives the cam 132 to rotate in the clockwise direction, the rolling part 1332 rolls to the other end of the sliding slot 1321 relative to the cam 132, at this time, the lifting frame 133 drives the cleaning assembly 110 to ascend to the highest position. By arranging the rolling part 1332 in the slide slot 1321, the relative position of the lifting frame 133 and the cam 132 is effectively limited, thereby avoiding the situation that the lifting frame 133 is separated from the cam 132, and further improving the working reliability of the cleaning robot 100.

In the above embodiment, referring to fig. 9, a groove wall at one end of the sliding groove 1321 is provided with a first straight wall 1322, and a groove wall at the other end of the sliding groove 1321 is provided with a second straight wall 1323, referring to fig. 6, when the cleaning assembly 110 is lowered to the lowest position, the first straight wall 1322 is in a horizontal state, and the rolling portion 1332 is disposed on the first straight wall 1322, at this time, the rolling portion 1332 is stationary on the first straight wall 1322 without other external force, so as to achieve a function of locking a position of the rolling portion 1332, similarly, referring to fig. 8, when the cleaning assembly 110 is raised to the highest position, the second straight wall 1323 is in a horizontal state, and the rolling portion 1331322 is disposed on the second straight wall 1323, at this time, the rolling portion 2 is stationary on the first straight wall without other external force, so as to achieve a function of locking a position of the rolling portion 1332, thus, no matter the cleaning assembly 110 is at the lowest position or the highest position, the cleaning assembly 110 does not have the vertical position offset, the position locking function of the cleaning assembly 110 can be realized without additionally arranging a locking mechanism, the structure of the cleaning robot 100 is further simplified, and the miniaturization design of the cleaning robot 100 can be more effectively realized.

In the above embodiment, referring to fig. 1 and fig. 2, the lifting driving assembly 130 further includes a guiding mechanism 135, and the guiding mechanism 135 includes a guide post 1351 extending along the moving direction of the lifting frame 133, and a guide sleeve 1352 sleeved on the guide post 1351.

Wherein, the guide post 1351 is connected to the lifting frame 133, and the guide sleeve 1352 is relatively and fixedly arranged with the second driver 131. Specifically, the guide sleeve 1352 is connected to any one of the fixed parts of the cleaning robot 100, for example, the guide sleeve 1352 is connected to the gear box 1241 described above.

Or the guide sleeve 1352 is connected to the lifting frame 133, and the guide post 1351 is fixedly arranged opposite to the second driver 131. Specifically, the guide post 1351 is connected to any one of the fixed parts of the cleaning robot 100, for example, the guide post 1351 is connected to the gear box 1241 described above.

Through setting up guiding mechanism 135, effectively avoid crane 133 to take place to shift and bring extra mechanical loss, effectively improved crane 133's mobility stability, further improved cleaning machines people 100's operational reliability.

In an embodiment of the present application, referring to fig. 2 and fig. 3, the outer peripheral wall of the lifting spindle 112 is provided with a protrusion 1123, and the lifting frame 133 abuts against a side of the protrusion 1123 close to the cleaning member 111. When the second driver 131 drives the lifting frame 133 to ascend through the cam 132, the lifting frame 133 supports the convex portion 1123 of the lifting spindle 112, so that the lifting spindle 112 ascends along with the lifting frame 133 to drive the cleaning assembly 110 to ascend, and when the second driver 131 drives the lifting frame 133 to descend through the cam 132, the lifting spindle 112 descends along with the lifting frame 133 under the actions of the self-gravity of the lifting spindle 112, the gravity of the cleaning assembly 110 and other downward forces (such as the downward force of the first elastic member 123 acting on the lifting spindle 112), so as to drive the cleaning assembly 110 to descend, thereby effectively realizing the lifting motion of the cleaning assembly 110.

In another embodiment of the present application, the outer peripheral wall of the lifting spindle 112 is provided with an annular groove (not shown), the annular groove is disposed around the axis of the lifting spindle 112, the lifting spindle 112 is rotatably connected to the lifting frame 133 through the annular groove, in other words, the lifting frame 133 is clamped into the annular groove, and the lifting spindle 112 can rotate around its own axis relative to the lifting frame 133, so that the lifting spindle 112 can synchronously perform lifting motion along with the lifting frame 133, and meanwhile, the lifting spindle 112 can rotate around its own axis on the lifting frame 133.

In an embodiment of the present application, referring to fig. 1, the number of the cleaning assemblies 110 is multiple, the number of the cleaning driving assemblies 120 is multiple, each cleaning driving assembly 120 is arranged corresponding to each cleaning assembly 110, and the lifting driving assembly 130 is configured to drive each cleaning assembly 110 to perform a lifting motion. Thus, one lifting driving assembly 130 can simultaneously drive a plurality of cleaning assemblies 110 to move up and down, the structure of the cleaning robot 100 is further simplified, the size of the cleaning robot 100 is reduced, and the cleaning robot 100 is more favorably miniaturized.

It should be noted that the number of the cleaning assemblies 110 and the cleaning driving assemblies 120 can be determined according to actual needs, in this embodiment, referring to fig. 1, the number of the cleaning assemblies 110 is two, and correspondingly, the number of the cleaning driving assemblies 120 is two, but not limited thereto, the number of the cleaning assemblies 110 can also be three, four, and the like, and correspondingly, the number of the cleaning driving assemblies 120 can also be three, four, and the like.

The second aspect of the present application also provides a cleaning apparatus including the cleaning robot 100 of any one or more of the embodiments described above.

Since the cleaning device adopts the cleaning robot 100, the service life of the cleaning device is effectively prolonged, and the working reliability of the cleaning device is effectively improved.

In one embodiment of the present application, the cleaning apparatus further includes a cleaning base station for washing the cleaning member 111 of the cleaning robot 100 and for charging the cleaning robot 100.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that the cleaning robot comprises:

2. The cleaning robot of claim 1, wherein: the cleaning driving assembly further comprises a first elastic piece, one end of the first elastic piece abuts against the driving shaft, the other end of the first elastic piece abuts against the lifting rotating shaft, and when the cleaning assembly descends to the lowest position, the first elastic piece is in a compressed state.

3. The cleaning robot of claim 1, wherein: a first coupling cavity is formed in the lifting rotating shaft, the first coupling cavity extends along the axial direction of the lifting rotating shaft, the first coupling cavity penetrates through the second end of the lifting rotating shaft, the first clamping part is arranged on the cavity wall of the first coupling cavity, and the lifting rotating shaft is sleeved on the driving shaft through the first coupling cavity; alternatively, the first and second electrodes may be,

4. The cleaning robot of claim 1, wherein: the lift drive assembly includes second driver, cam, crane and second elastic component, the lift pivot with crane rotatable coupling, the second elastic component has stiff end and flexible end, flexible end with the crane is connected, the second driver is used for the drive the cam rotates, so that the cam drives the crane is elevating movement.

5. The cleaning robot of claim 4, wherein: the cam is provided with a sliding groove, the lifting frame comprises a frame body and a rolling part connected to the frame body, and the rolling part is movably arranged in the sliding groove.

6. The cleaning robot of claim 5, wherein: the cleaning assembly is characterized in that a first straight wall surface is arranged on one end groove wall of the sliding groove, a second straight wall surface is arranged on the other end groove wall of the sliding groove, when the cleaning assembly descends to the lowest position, the first straight wall surface is in a horizontal state, the rolling portion is arranged on the first straight wall surface, when the cleaning assembly ascends to the highest position, the second straight wall surface is in a horizontal state, and the rolling portion is arranged on the second straight wall surface.

7. The cleaning robot of claim 4, wherein: the lifting driving assembly further comprises a guide mechanism, and the guide mechanism comprises a guide pillar extending along the movement direction of the lifting frame and a guide sleeve sleeved on the guide pillar; the guide post is connected to the lifting frame, and the guide sleeve and the second driver are relatively and fixedly arranged; or the guide sleeve is connected to the lifting frame, and the guide post and the second driver are relatively fixedly arranged.

8. The cleaning robot of claim 4, wherein: the periphery wall of lift pivot is equipped with the convex part, the crane with the convex part is close to one side counterbalance of cleaning member leans on.

9. The cleaning robot of claim 4, wherein: annular groove has been seted up to the periphery wall of lift pivot, annular groove encircles the axis setting of lift pivot, the lift pivot passes through annular groove with crane rotatable coupling.

10. The cleaning robot according to any one of claims 1 to 9, wherein: the cleaning device comprises a cleaning assembly, a plurality of cleaning driving assemblies, a lifting driving assembly and a plurality of cleaning assemblies, wherein the cleaning driving assemblies and the cleaning assemblies are arranged in a one-to-one correspondence manner, and the lifting driving assembly is used for driving the cleaning assemblies to do lifting motion.

11. A cleaning device, characterized by: the cleaning device comprises a cleaning robot according to any of claims 1-10.