WO2022166020A1 - Lifting/lowering apparatus and cleaning robot - Google Patents

Lifting/lowering apparatus and cleaning robot Download PDF

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Publication number
WO2022166020A1
WO2022166020A1 PCT/CN2021/093146 CN2021093146W WO2022166020A1 WO 2022166020 A1 WO2022166020 A1 WO 2022166020A1 CN 2021093146 W CN2021093146 W CN 2021093146W WO 2022166020 A1 WO2022166020 A1 WO 2022166020A1
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WO
WIPO (PCT)
Prior art keywords
lifting
lifting device
rotating member
cleaning robot
spring
Prior art date
Application number
PCT/CN2021/093146
Other languages
French (fr)
Chinese (zh)
Inventor
张涛
张猛
宣晓刚
Original Assignee
美智纵横科技有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 美智纵横科技有限责任公司 filed Critical 美智纵横科技有限责任公司
Publication of WO2022166020A1 publication Critical patent/WO2022166020A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the application belongs to the field of cleaning technology, and specifically relates to a lifting device and a cleaning robot.
  • Cleaning robots are usually used to clean the ground waiting to be cleaned.
  • the operation is simple and efficient. It has gradually become a common household appliance in modern households.
  • the cleaning robots on the Internet began to gradually realize the functions of sweeping and mopping at the same time, thereby further improving the cleaning efficiency and user experience.
  • the sweeping module and the mopping module of the cleaning robot with the integrated sweeping and mopping function are installed on the main body of the cleaning robot.
  • the mopping module usually includes a water tank and a mop that needs to be soaked for cleaning, and the water tank is used to soak the mop. , thus resulting in the situation that there is water on the ground during the cleaning process.
  • the roller brush of the sweeping module passes through the water-filled ground, it is easy to cause secondary pollution, and even water will be drawn in and sucked by the fan, resulting in damage to the fan and affecting The service life of the cleaning robot.
  • a first aspect of the present application proposes a lifting device for a cleaning robot, the lifting device comprising:
  • the driving mechanism is arranged in the housing;
  • the lifting mechanism is arranged in the housing, the lifting mechanism includes a rotating member, a lifting rod and a spring block, the driving mechanism is connected with the rotating member to drive the rotating member to rotate, the lifting rod
  • the elastic block is connected to the rotating member and can move up and down with the rotation of the rotating member.
  • the elastic block is connected to the top of the lifting rod, and the elastic block is arranged to extend out of the housing and drive the cleaning robot. the roller brush assembly is lifted or dropped.
  • the rotating member in the lifting mechanism is driven by the drive mechanism to rotate, and the rotating member is used to drive the lifting rod to move in a straight line in the vertical direction, so that the elastic block connected to the top of the lifting rod can extend
  • the outer casing is in contact with the roller brush assembly, so that the roller brush assembly can be lifted or dropped with the up and down movement of the lifting rod.
  • the lifting device proposed in this embodiment has a simple structure, and the driving mechanism and the lifting mechanism are both arranged in the casing. , it is convenient to install the lifting device in the cleaning robot as a whole, and it can also avoid interference with other components inside the cleaning robot. Using the lifting device proposed in this embodiment to drive the roller brush assembly to move up and down can prevent the roller brush assembly from contacting the ground surface water. , which solves the problem of interference between the sweeping and dragging functions in the prior art.
  • the lifting device proposed according to the embodiment of the present application may also have the following technical features:
  • the lifting device further includes a first spring connected between the elastic block and the lifting rod.
  • a limiting portion is provided on the elastic block, a groove is formed on the top of the lifting rod, one end of the first spring is in contact with the limiting portion, and the first spring is in contact with the limiting portion. The other end of the spring extends into the groove.
  • the lift rod includes a threaded section and a limit section connected to the bottom of the threaded section, the limit section is used to limit the rotation of the lift rod, and the housing is provided with There is a limit hole matched with the limit section.
  • a boss is provided on the inner bottom surface of the housing, and the limiting hole is provided through the boss.
  • a plane perpendicular to the moving direction of the lift rod is taken as a cross-section, and the shape of the cross-section of the limiting segment and the limiting block is both a rectangle.
  • the lifting device further includes a second spring, a flange is protruded from the bottom of the threaded segment in the circumferential direction, and two ends of the second spring are respectively connected to the flange and the The inner bottom surfaces of the casings are in contact with each other.
  • the outer wall of the thread segment is provided with an external thread
  • the rotating member is provided as a nut
  • the inner peripheral surface of the nut is provided with an internal thread matched with the external thread
  • a second aspect of the present application proposes a cleaning robot, which includes:
  • a rolling brush assembly mounted on the main body
  • the lifting device is mounted on the main body, and the lifting device is in contact with the rolling brush assembly and can drive the rolling brush assembly to lift or drop.
  • the cleaning robot proposed in this embodiment has the same advantages as the lifting device proposed in the above-mentioned embodiment, which will not be repeated here.
  • the cleaning robot proposed according to the embodiments of the present application may also have the following technical features:
  • the roller brush assembly includes a fixed frame, a rotating shaft and a brush head structure, the brush head structure is rotatably connected to the fixed frame through the rotating shaft, and the elastic block abuts on the fixed frame. the bottom of the shaft.
  • FIG. 1 is an exploded view of a lifting device according to an embodiment of the application.
  • FIG. 2 is a cross-sectional view of the first embodiment of the lifting device according to the embodiment of the application;
  • FIG. 3 is a cross-sectional view of the second embodiment of the lifting device according to the embodiment of the application.
  • FIG. 4 is a cross-sectional view of a cleaning robot according to an embodiment of the application.
  • Fig. 5 is the enlarged schematic diagram of A place in Fig. 4;
  • FIG. 6 is a schematic structural diagram of a roller brush assembly and a lifting device in a cleaning robot according to an embodiment of the present application.
  • the elastic block 331, the limit part; 332, the first cylindrical section; 333, the second cylindrical section;
  • first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be restricted by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.
  • spatially relative terms may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures, such as “inner”, “outer”, “inner” “, “outside”, “below”, “below”, “above”, “above”, etc.
  • This spatially relative term is intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” or “above the other elements or features" above features". Thus, the example term “below” can encompass both an orientation of above and below.
  • the device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • the sweeping module and the mopping module of the cleaning robot with the integrated sweeping and mopping function on the market are prone to interfere with each other. Since the mopping cloth of the mopping module usually needs to be soaked for cleaning work, when the water tank is soaked in the mopping cloth, water is easy to remain in the On the ground, there is water remaining on the ground during the cleaning process. When the roller brush of the sweeping module passes through the ground where the water remains, the brush head of the roller brush is likely to be polluted, and the roller brush may remove the accumulated water during operation. Water entanglement causes the fan to be sucked in, there is a hidden danger of damaging the fan, and the service life of the cleaning robot is affected.
  • the application proposes a lifting device and a cleaning robot.
  • the lifting device is used to set the Drive the roller brush assembly up or down under certain circumstances, so as to prevent the roller brush assembly from being involved in the accumulation of water.
  • an embodiment of the first aspect of the present application proposes a lifting device 100 for a cleaning robot.
  • the lifting device 100 includes a housing 10 , a driving mechanism 20 and a lifting mechanism, and the driving mechanism 20 is provided with Inside the casing 10; the lifting mechanism is arranged in the casing 10, the lifting mechanism includes a rotating member 31, a lifting rod 32 and an elastic block 33, the driving mechanism 20 is connected with the rotating member 31 to drive the rotating member 31 to rotate, and the lifting rod 32 is connected to the rotating member 31.
  • the element 31 is connected and can move up and down with the rotation of the rotating element 31.
  • the elastic block 33 is connected to the top of the lifting rod 32.
  • the elastic block 33 is arranged to extend out of the housing 10 and drive the roller brush assembly of the cleaning robot to lift or fall.
  • the lifting device 100 proposed in the embodiment of the present application drives the rotating member 31 in the lifting mechanism to rotate by setting the driving mechanism 20, and uses the rotation of the rotating member 31 to drive the lifting rod 32 to perform linear movement in the vertical direction, so as to connect to the top of the lifting rod 32.
  • the elastic block 33 can extend out of the housing 10 and contact the rolling brush assembly, so that the rolling brush assembly can be lifted or dropped with the up and down movement of the lifting rod 32.
  • the lifting device 100 proposed in this embodiment has a simple structure and a driving mechanism. 20 and the lifting mechanism are both arranged in the housing 10, so that the lifting device 100 can be installed in the cleaning robot as a whole, and it can also avoid interference with other components inside the cleaning robot.
  • the lifting device 100 proposed in this embodiment is used to drive the roller brush assembly. By moving up and down, the roller brush assembly can be prevented from contacting with water on the ground, which solves the problem of interference between the sweeping and mopping functions in the prior art.
  • the housing 10 includes an upper cover 101 and a lower cover 102 .
  • the upper cover 101 and the lower cover 102 are fastened together to form a accommodating space.
  • the upper cover 101 and the lower cover 102 may be They are connected by fasteners, bolts or screws to ensure the reliability of the housing 10 ; on this basis, as shown in FIG. 2 and FIG.
  • the driving mechanism 20 is specifically configured as a motor.
  • the upper cover 101 of the housing 10 is provided with a motor housing 1011 protruding upward from the top, and the motor housing 1011 is fixedly connected to the upper cover 101 Specifically, it can be set as an integral molding structure, and the motor casing 1011 has a accommodating cavity.
  • the motor is arranged in the accommodating cavity of the motor casing 1011 . Further, the motor and the rotating member 31 in the lifting mechanism are drive-connected in the housing 10 .
  • the rotating member 31 can be specifically configured as a nut, and the inner peripheral surface of the nut is provided with a thread that matches the lifting rod 32; the outer wall of the rotating member 31 is provided with meshing teeth, and the motor and the rotating member 31 can pass through gears or gear sets.
  • the transmission connection can also be connected by a gear-rack transmission connection, and it can also be connected by a chain transmission connection.
  • the gear set includes a first gear 61 and a second gear 62 , and the first gear 61 and the second gear 62 are both arranged on the Inside the housing 10, the first gear 61 meshes with the second gear 62, the second gear 62 meshes with the meshing teeth on the outer wall of the rotating member 31, and the motor is connected with the first gear 61.
  • the first gear 61 meshes with the second gear 62
  • the second gear 62 meshes with the meshing teeth on the outer wall of the rotating member 31
  • the motor is connected with the first gear 61.
  • the motor shaft of the electric motor extends downward into the accommodating space between the upper cover 101 and the lower cover 102 , and the motor shaft is connected with the first gear 61 in a transmission, so as to drive the first gear 61 to rotate, thereby driving the second gear 62 and the rotating member 31 turn.
  • the transmission connection between the motor and the rotating member 31 is realized by the gear set, and the structure is simple and the space is small.
  • the rotating member 31 is rotatably connected with the lifting rod 32.
  • the rotating member 31 is configured as a nut, the inner peripheral surface of the nut may be provided with an internal thread, and the lifting rod 32 may be provided with an external thread, Therefore, the lifting rod 32 and the rotating member 31 are rotatably connected through the matching of the external thread and the internal thread.
  • the lifting rod 32 can move linearly with the rotation of the rotating member 31 to Taking the orientation shown in FIG. 2 or FIG. 3 as an example, the lift rod 32 can realize linear movement along the vertical direction, that is, move up and down.
  • the elastic block 33 connected to the top of the lift rod 32 can also follow the lift rod. 32 to move up and down.
  • a limiter 331 or a limiter may be provided on the lift rod 32, as shown in FIGS. 1 to 3, in some embodiments of the present application , the lifting rod 32 includes a threaded section 321 and a limit section 322.
  • the limit section 322 is connected to the bottom of the threaded section 321.
  • the housing 10 is provided with a limit hole 11 that matches the limit section 322.
  • the limiting section 322 can extend into the limiting hole 11, so as to limit the rotation of the lifting rod 32 in the circumferential direction.
  • the threaded section 321 of the lift rod 32 is set in a cylindrical shape
  • the limit section 322 is connected to the bottom of the threaded section 321
  • the limit section 322 is The radial dimension is smaller than the diameter of the threaded segment 321; for example, in some embodiments of the present application, a plane perpendicular to the moving direction of the lifting rod 32 is taken as the cross-section, and the shape of the cross-section of the limiting segment 322 is a rectangle, corresponding to
  • the limiting hole 11 is also set to be rectangular, so that the limiting segment 322 extending into the limiting hole 11 can slide in the vertical direction in the limiting hole 11, but does not rotate, which ensures that the lift rod 32 is integrated as a whole. Only do straight vertical motions.
  • the inner bottom surface of the housing 10 is provided with a boss 12 , and the boss 12 is located below the lifting rod 32 for connecting with the lifting rod 32 .
  • the limiting hole 11 matched with the limiting segment 322 is disposed through the boss 12, and the limiting hole 11 can penetrate through the bottom of the housing 10. Therefore, when the lifting rod 32 moves up and down, the limiting segment 322 is in the limiting position. Move up and down within the block.
  • the elastic block 33 is connected to the top of the lifting rod 32.
  • a window 1012 is opened on the upper cover 101 of the housing 10, and the window 1012 is used for the elastic block 33 to partially protrude so as to resist the Connected to the roller brush assembly of the cleaning robot;
  • the shape of the elastic block 33 can be set to a cylindrical shape or a prismatic shape, the elastic block 33 can be set to a rubber block, or the top of the elastic block 33 can be set to a rubber head, thereby Avoid damaging the brush assembly.
  • the elastic block 33 includes a first cylindrical section 332 and a second cylindrical section 333 connected to the bottom of the first cylindrical section 332 .
  • the diameter of the first cylindrical section 332 is larger than that of the second cylindrical section 333
  • the diameter of the first cylindrical section 332 is set as an arc surface.
  • a limiting portion 331 is provided along the circumferential direction of the side of the first cylindrical section 332 close to the second cylindrical section 333.
  • the limiting portion 331 is formed to protrude outward in the radial direction.
  • the radial dimension of the limiting portion 331 is larger than the diameter of the first cylindrical segment 332.
  • the inner surfaces are in contact with each other, and by contacting the inner surface of the housing 10 , the position is limited, and the elastic block 33 is prevented from being separated from the housing 10 , thereby ensuring the overall reliability of the lifting device 100 .
  • the elastic block 33 and the lifting rod 32 there are various ways to connect the elastic block 33 and the lifting rod 32 , for example, it can be set as snap connection, bolt connection, welding or an integral molding structure, thereby ensuring the elastic block 33 and the lifting rod 32
  • the elastic block 33 and the lifting rod 32 can also be connected by elastic members such as springs, which will be described in the following two specific embodiments.
  • the elastic block 33 is fixedly connected to the top of the lift rod 32 , and the length of the external thread on the threaded section 321 of the lift rod 32 is greater than the length of the internal thread of the rotating member 31 ,
  • This arrangement ensures that when the lifting rod 32 moves in the vertical direction, the inner thread and the outer thread are always engaged, so the threaded section 321 will not slip off the rotating member 31, thereby ensuring that the lifting rod 32 moves up and down to drive the elastic block 33 and the rolling element 31.
  • the brush assembly moves up and down to avoid failure of the lifting function.
  • the lifting device 100 in this embodiment may further include a position switch or a position sensor.
  • the lifting device 100 includes an in-position switch, and the in-position switch and the motor are respectively connected in communication with the controller of the cleaning robot.
  • the in-position switch may be provided on the elastic block 33, or may be provided on the lifting and lowering On the rod 32, when the lifting rod 32 moves up or down to the maximum stroke, the in-position switch can be triggered, and the in-position switch transmits a signal to the controller, and the controller controls the motor to stop running, so as to avoid the motor overload and prolong the overall operation of the lifting device 100. service life.
  • the lifting device 100 includes a position sensor, the position sensor is used to monitor the stroke of the lifting rod 32, the position sensor and the motor are respectively connected in communication with the controller of the cleaning robot, for example, the position The sensor can be set on the elastic block 33 or on the housing 10.
  • the position sensor detects that the lift rod 32 moves up or down to the maximum stroke, the position sensor transmits a signal to the controller, and the controller controls the motor to stop. operation, so as to avoid overloading of the motor and prolong the service life of the lifting device 100 as a whole.
  • the elastic block 33 and the lifting rod 32 are connected by an elastic member. It should be noted that in this embodiment, the elastic block 33 and the lifting rod 32 are connected by an elastic member. An elastic member is arranged between, and the elastic force generated by the elastic member is used for buffering, so as to prevent the motor from being overloaded, thereby prolonging the service life of the lifting device 100 as a whole.
  • the elastic member is set as a first spring 40
  • the first spring 40 is set between the elastic block 33 and the lift rod 32
  • the first spring 40 acts to assist the elastic block 33 to remain jacked up, and when the lift rod 32 faces When moving up, it plays a buffering role.
  • the elastic block 33 includes a first cylindrical section 332 and a second cylindrical section 333, and the outer wall of the first cylindrical section 332 is arranged in the circumferential direction.
  • a groove 3201 is formed on the top of the lifting rod 32, one end of the first spring 40 is sleeved on the second cylindrical section 333, and abuts with the limiting portion 331, and the other end of the first spring 40 extends into Therefore, when the lifting rod 32 moves upward, the first spring 40 is compressed, and an upward elastic force is applied to the elastic block 33, so that the elastic block 33 is kept in a jacked up state, and because the first spring 40 With a certain length, a certain buffer distance is provided for the upward movement of the lifting rod 32, thereby avoiding the sudden overload of the motor.
  • the lifting device 100 further includes a second spring 50, the second spring 50 is disposed between the lifting rod 32 and the inner bottom surface of the housing 10, and the second spring 50 serves as an auxiliary lifting rod 32 moves upward, and plays a buffering role when the lifting rod 32 moves downward.
  • the lifting rod 32 includes a threaded section 321 and a limit section 322.
  • a flange 3211 protrudes from the bottom of the threaded section 321 in the circumferential direction, and both ends of the second spring 50 abut against the flange 3211 and the inner bottom surface of the housing 10 respectively.
  • the second spring 50 when the lifting rod 32 moves downwards , the second spring 50 is compressed and exerts an upward elastic force on the lifting rod 32, thereby providing a certain buffering distance for the downward movement of the lifting rod 32, thereby avoiding the sudden overload of the motor; when the lifting rod 32 moves upward, it is in compression.
  • the second spring 50 in the state can apply upward elastic force to the lift rod 32 , thereby causing the lift rod 32 to move upward.
  • the outer wall of the threaded section 321 is provided with an external thread, and the external thread is matched with the internal thread on the inner peripheral surface of the rotating member 31.
  • the length of the external thread may be equal to or slightly smaller than the length of the internal thread. Therefore, the above-mentioned When the second spring 50 exerts upward elastic force on the lift rod 32, it can assist the external thread on the lift rod 32 to contact and engage with the internal thread on the rotating member 31, so as to realize the protection of the motor on the basis of realizing the lifting function.
  • an embodiment of the second aspect of the present application provides a cleaning robot, the cleaning robot includes a main body 700 , a roller brush assembly 800 , and the lifting device 100 according to any of the above embodiments, wherein the roller The brush assembly 800 is installed on the main body 700, and the lifting device 100 is also installed on the main body 700.
  • the lifting device 100 is in contact with the rolling brush assembly 800 and can drive the rolling brush assembly 800 to lift or fall.
  • the cleaning robot in this embodiment includes a mopping module and a sweeping module connected to the main body 700 , wherein the sweeping module includes a rolling brush assembly 800 , a side brush and a fan, and the mopping module includes a water tank and a Mop 900, the cleaning robot in the embodiment of the present application is provided with a lifting device 100, and the lifting device 100 is used to contact and connect with the rolling brush assembly 800, so that the rolling brush assembly 800 can be lifted or dropped under the driving of the lifting device 100.
  • the cleaning robot also includes a controller, when the water in the water tank soaks the mop 900 and remains on the ground, the controller controls the lifting device 100 connected to it in communication, and uses the lifting device 100 to lift the roller brush assembly 800, thereby avoiding The roller brush assembly 800 is in contact with accumulated water, so as to realize the protection of the roller brush assembly 800 and the fan.
  • the cleaning robot proposed in this embodiment has the same advantages as the lifting device 100 proposed in the above-mentioned first aspect embodiment, which will not be repeated here.
  • the rolling brush assembly 800 includes a fixing frame 810 , a rotating shaft 820 and a brush head structure 830 , and the brush head structure 830 is rotatably connected to the fixing frame through the rotating shaft 820 .
  • the elastic block 33 of the lifting device 100 abuts on the bottom of the rotating shaft 820 .
  • the fixing frame 810 is installed on the main body 700 of the cleaning robot, the side of the fixing frame 810 facing the ground is provided with a receiving portion, and the fixing frame 810 is provided with a connecting seat;
  • the brush head structure 830 includes a turret And the brush head connected in the turret, the rear top surface of the turret is provided with a rotating shaft 820, and the rotating shaft 820 is rotatably connected to the connecting seat, in addition, the front side of the turret is also provided with a fixed frame 810. Therefore, when the rotating shaft 820 rotates, the brush head structure 830 can rotate upwards or downwards in the accommodating part of the fixing frame 810 .
  • the elastic block 33 in the lifting device 100 can abut against the bottom of the rotating shaft 820.
  • the rotating shaft 820 When the lifting device 100 is started, when the elastic block 33 moves upward in the vertical direction, the rotating shaft 820 It rotates under the upward thrust of the elastic block 33. Accordingly, when the elastic block 33 moves downward in the vertical direction, the rotating shaft 820 is rotated by the gravity of the turret and the brush head in the brush head structure 830; the rotation of the rotating shaft 820 can Drive the brush head up or down, so as to reasonably avoid the water on the ground.

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Abstract

A lifting/lowering apparatus (100) and a cleaning robot (1000). The lifting/lowering apparatus (100) comprises a housing (10), a driving mechanism (20), and a lifting/lowering mechanism. The driving mechanism (20) is provided within the housing (10). The lifting/lowering mechanism is provided within the housing (10). The lifting/lowering mechanism comprises a rotating member (31), a lifting/lowering rod (32), and a flexible block (33). The driving mechanism (20) is connected to the rotating member (31) to drive the rotating member (31) to rotate. The lifting/lowering rod (32) is connected to the rotating member (31) and is capable of moving up and down with the rotation of the rotating member (31). The flexible block (33) is connected to the top section of the lifting/lowering rod (32). The flexible block (33) is configured as being capable of extending beyond the housing (10) and driving a roller brush component (800) of the cleaning robot (1000) to be raised or lowered. The lifting/lowering apparatus (100) is capable of driving the roller brush component (800) of the cleaning robot (1000) to move up and down, thus preventing the roller brush component (800) from coming into contact with a puddle on the ground surface, and solving the problem of mutual interference between sweeping and mopping functions in the prior art.

Description

升降装置及清洁机器人Lifting device and cleaning robot
优先权信息priority information
本申请要求于2021年02月08日提交至中国国家知识产权局的、申请号为202120366042.2、名称为“升降装置及清洁机器人”的中国专利申请的优先权和权益，其全部内容通过引用结合在本申请中。This application claims the priority and rights of the Chinese patent application with the application number 202120366042.2 and the title of "Lifting Device and Cleaning Robot", which was submitted to the State Intellectual Property Office of China on February 8, 2021, the entire contents of which are incorporated by reference in in this application.
技术领域technical field
本申请属于清洁技术领域，具体涉及一种升降装置及清洁机器人。The application belongs to the field of cleaning technology, and specifically relates to a lifting device and a cleaning robot.
背景技术Background technique
本部分提供的仅仅是与本公开相关的背景信息，其并不必然是现有技术。This section provides merely background information related to the present disclosure and is not necessarily prior art.
随着科技的进步和生活水平的提高，清洁机器人越来越受到人们的欢迎，清洁机器人通常用于对地面等待清洁面进行清洁，操作简单且效率高，逐渐成为现代家庭的常用家电，目前市面上的清洁机器人开始逐步实现同时具备扫地、拖地的功能，从而进一步提高清洁效率以及用户体验。With the advancement of science and technology and the improvement of living standards, cleaning robots are becoming more and more popular. Cleaning robots are usually used to clean the ground waiting to be cleaned. The operation is simple and efficient. It has gradually become a common household appliance in modern households. The cleaning robots on the Internet began to gradually realize the functions of sweeping and mopping at the same time, thereby further improving the cleaning efficiency and user experience.
但现有技术中具备扫拖一体功能的清洁机器人的扫地模块与拖地模块安装在清洁机器人的主体上，拖地模块通常包括水箱以及需要浸湿后进行清洁的拖布，并利用水箱浸湿拖布，于是造成在清洁过程中地面留有积水的情况，此时扫地模块的滚刷经过积水地面时，容易造成二次污染，甚至会将水卷入并被风机吸入，导致损坏风机，影响清洁机器人的使用寿命。However, in the prior art, the sweeping module and the mopping module of the cleaning robot with the integrated sweeping and mopping function are installed on the main body of the cleaning robot. The mopping module usually includes a water tank and a mop that needs to be soaked for cleaning, and the water tank is used to soak the mop. , thus resulting in the situation that there is water on the ground during the cleaning process. At this time, when the roller brush of the sweeping module passes through the water-filled ground, it is easy to cause secondary pollution, and even water will be drawn in and sucked by the fan, resulting in damage to the fan and affecting The service life of the cleaning robot.
申请内容Application content
本申请的目的是至少解决现有的清洁机器人扫拖功能相干涉的问题。该目的是通过以下技术方案实现的：The purpose of this application is to at least solve the problem of interference between the sweeping and mopping functions of existing cleaning robots. This purpose is achieved through the following technical solutions:
本申请第一方面提出了一种升降装置，用于清洁机器人，该升降装置包括：A first aspect of the present application proposes a lifting device for a cleaning robot, the lifting device comprising:
壳体；case;
驱动机构，所述驱动机构设置在所述壳体内；a driving mechanism, the driving mechanism is arranged in the housing;
升降机构，所述升降机构设置在所述壳体内，所述升降机构包括转动 件、升降杆和弹块，所述驱动机构与所述转动件连接以驱动所述转动件转动，所述升降杆与所述转动件连接并能够随所述转动件的转动上下移动，所述弹块连接在所述升降杆的顶部，所述弹块设置成能够伸出所述壳体并带动所述清洁机器人的滚刷组件抬起或落下。Lifting mechanism, the lifting mechanism is arranged in the housing, the lifting mechanism includes a rotating member, a lifting rod and a spring block, the driving mechanism is connected with the rotating member to drive the rotating member to rotate, the lifting rod The elastic block is connected to the rotating member and can move up and down with the rotation of the rotating member. The elastic block is connected to the top of the lifting rod, and the elastic block is arranged to extend out of the housing and drive the cleaning robot. the roller brush assembly is lifted or dropped.
根据本申请实施例的升降装置，通过设置驱动机构驱动升降机构中的转动件转动，利用转动件转动带动升降杆在竖直方向上做直线运动，从而使连接在升降杆顶部的弹块能够伸出壳体与滚刷组件接触，进而使滚刷组件随升降杆的上下移动实现抬起或落下的动作，本实施例提出的升降装置结构简单，且驱动机构和升降机构均设置在壳体中，便于使升降装置整体安装在清洁机器人中，还能够避免与清洁机器人内部的其他组件发生干涉，利用本实施例提出的升降装置带动滚刷组件上下移动，能够避免滚刷组件与地面积水接触，解决了现有技术中扫拖功能相干涉的问题。According to the lifting device of the embodiment of the present application, the rotating member in the lifting mechanism is driven by the drive mechanism to rotate, and the rotating member is used to drive the lifting rod to move in a straight line in the vertical direction, so that the elastic block connected to the top of the lifting rod can extend The outer casing is in contact with the roller brush assembly, so that the roller brush assembly can be lifted or dropped with the up and down movement of the lifting rod. The lifting device proposed in this embodiment has a simple structure, and the driving mechanism and the lifting mechanism are both arranged in the casing. , it is convenient to install the lifting device in the cleaning robot as a whole, and it can also avoid interference with other components inside the cleaning robot. Using the lifting device proposed in this embodiment to drive the roller brush assembly to move up and down can prevent the roller brush assembly from contacting the ground surface water. , which solves the problem of interference between the sweeping and dragging functions in the prior art.
另外，根据本申请实施例提出的升降装置，还可以具有如下所述的技术特征：In addition, the lifting device proposed according to the embodiment of the present application may also have the following technical features:
在本申请的一些实施例中，所述升降装置还包括第一弹簧，所述第一弹簧连接在所述弹块与所述升降杆之间。In some embodiments of the present application, the lifting device further includes a first spring connected between the elastic block and the lifting rod.
在本申请的一些实施例中，所述弹块上设置有限位部，所述升降杆的顶部开设有凹槽，所述第一弹簧的一端与所述限位部相抵接，所述第一弹簧的另一端伸入所述凹槽内。In some embodiments of the present application, a limiting portion is provided on the elastic block, a groove is formed on the top of the lifting rod, one end of the first spring is in contact with the limiting portion, and the first spring is in contact with the limiting portion. The other end of the spring extends into the groove.
在本申请的一些实施例中，所述升降杆包括螺纹段和连接在所述螺纹段的底部的限位段，所述限位段用于限制所述升降杆转动，所述壳体上设置有与所述限位段相配合的限位孔。In some embodiments of the present application, the lift rod includes a threaded section and a limit section connected to the bottom of the threaded section, the limit section is used to limit the rotation of the lift rod, and the housing is provided with There is a limit hole matched with the limit section.
在本申请的一些实施例中，所述壳体的内底面设置有凸台，所述限位孔贯穿设置在所述凸台上。In some embodiments of the present application, a boss is provided on the inner bottom surface of the housing, and the limiting hole is provided through the boss.
在本申请的一些实施例中，以垂直于所述升降杆的移动方向的平面为截面，所述限位段和所述限位块的横截面的形状均为矩形。In some embodiments of the present application, a plane perpendicular to the moving direction of the lift rod is taken as a cross-section, and the shape of the cross-section of the limiting segment and the limiting block is both a rectangle.
在本申请的一些实施例中，所述升降装置还包括第二弹簧，所述螺纹段的底部沿周向伸出设置有凸缘，所述第二弹簧的两端分别与所述凸缘和所述壳体的内底面相抵接。In some embodiments of the present application, the lifting device further includes a second spring, a flange is protruded from the bottom of the threaded segment in the circumferential direction, and two ends of the second spring are respectively connected to the flange and the The inner bottom surfaces of the casings are in contact with each other.
在本申请的一些实施例中，所述螺纹段的外壁设置有外螺纹，所述转动件设置为螺母，所述螺母的内周面设置有与所述外螺纹相配合的内螺纹。In some embodiments of the present application, the outer wall of the thread segment is provided with an external thread, the rotating member is provided as a nut, and the inner peripheral surface of the nut is provided with an internal thread matched with the external thread.
本申请第二方面提出了一种清洁机器人，该清洁机器人包括：A second aspect of the present application proposes a cleaning robot, which includes:
主体；main body;
滚刷组件，所述滚刷组件安装在所述主体上；a rolling brush assembly mounted on the main body;
根据上述任一实施例所述的升降装置，所述升降装置安装在所述主体上，所述升降装置与所述滚刷组件接触并能够带动所述滚刷组件抬起或落下。According to the lifting device according to any one of the above embodiments, the lifting device is mounted on the main body, and the lifting device is in contact with the rolling brush assembly and can drive the rolling brush assembly to lift or drop.
本实施例提出的清洁机器人具有与上述实施例提出的升降装置相同的优点，在此不再赘述。The cleaning robot proposed in this embodiment has the same advantages as the lifting device proposed in the above-mentioned embodiment, which will not be repeated here.
另外，根据本申请实施例提出的清洁机器人，还可以具有如下所述的技术特征：In addition, the cleaning robot proposed according to the embodiments of the present application may also have the following technical features:
在本申请的一些实施例中，所述滚刷组件包括固定架、转轴和刷头结构，所述刷头结构通过所述转轴转动连接在所述固定架上，所述弹块抵接在所述转轴的底部。In some embodiments of the present application, the roller brush assembly includes a fixed frame, a rotating shaft and a brush head structure, the brush head structure is rotatably connected to the fixed frame through the rotating shaft, and the elastic block abuts on the fixed frame. the bottom of the shaft.
附图说明Description of drawings
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的附图标记表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for purposes of illustrating preferred embodiments only and are not to be considered limiting of the application. Also throughout the drawings, the same components are denoted by the same reference numerals. In the attached image:
图1为本申请实施例的升降装置的***图；1 is an exploded view of a lifting device according to an embodiment of the application;
图2为本申请实施例的升降装置第一种实施方式的剖视图；2 is a cross-sectional view of the first embodiment of the lifting device according to the embodiment of the application;
图3为本申请实施例的升降装置第二种实施方式的剖视图；3 is a cross-sectional view of the second embodiment of the lifting device according to the embodiment of the application;
图4为本申请实施例的清洁机器人的剖视图；4 is a cross-sectional view of a cleaning robot according to an embodiment of the application;
图5为图4中A处的放大示意图；Fig. 5 is the enlarged schematic diagram of A place in Fig. 4;
图6为本申请实施例的清洁机器人中滚刷组件和升降装置的结构示意图。6 is a schematic structural diagram of a roller brush assembly and a lifting device in a cleaning robot according to an embodiment of the present application.
附图中各标记表示如下：The symbols in the accompanying drawings are indicated as follows:
1000、清洁机器人；1000. Cleaning robot;
100、升降装置；100. Lifting device;
10、壳体；11、限位孔；12、凸台；101、上盖；1011、电机壳；1012、窗口；102、下盖；10. Shell; 11. Limiting hole; 12. Boss; 101. Upper cover; 1011. Motor shell; 1012. Window; 102. Lower cover;
20、驱动机构；20. Drive mechanism;
31、转动件；31. Rotating parts;
32、升降杆；3201、凹槽；321、螺纹段；3211、凸缘；322、限位段；32. Lifting rod; 3201, groove; 321, threaded section; 3211, flange; 322, limit section;
33、弹块；331、限位部；332、第一圆柱段；333、第二圆柱段；33, the elastic block; 331, the limit part; 332, the first cylindrical section; 333, the second cylindrical section;
40、第一弹簧；40. The first spring;
50、第二弹簧；50. The second spring;
61、第一齿轮；62、第二齿轮；61, the first gear; 62, the second gear;
700、主体；700, subject;
800、滚刷组件；810、固定架；820、转轴；830、刷头结构；800, rolling brush assembly; 810, fixing frame; 820, rotating shaft; 830, brush head structure;
900、拖布。900, mop.
具体实施方式Detailed ways
下面将参照附图更详细地描述本公开的示例性实施方式。虽然附图中显示了本公开的示例性实施方式，然而应当理解的是，可以以各种形式实现本公开而不应被这里阐述的实施方式所限制。相反的，提供这些实施方式是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.
应理解的是，文中使用的术语仅出于描述特定示例实施方式的目的，而无意于进行限制。除非上下文另外明确地指出，否则如文中使用的单数形式“一”、“一个”以及“所述”也可以表示包括复数形式。术语“包括”、“包含”、“含有”以及“具有”是包含性的，并且因此指明所陈述的特征、步骤、操作、元件和/或部件的存在，但并不排除存在或者添加一个或多个其它特征、步骤、操作、元件、部件、和/或它们的组合。It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" can also be intended to include the plural forms unless the context clearly dictates otherwise. The terms "comprising", "comprising", "containing" and "having" are inclusive and thus indicate the presence of stated features, steps, operations, elements and/or components, but do not preclude the presence or addition of one or Various other features, steps, operations, elements, components, and/or combinations thereof.
尽管可以在文中使用术语第一、第二、第三等来描述多个元件、部件、区域、层和/或部段，但是，这些元件、部件、区域、层和/或部段不应被这些术语所限制。这些术语可以仅用来将一个元件、部件、区域、层或部段与另一区域、层或部段区分开。除非上下文明确地指出，否则诸如“第一”、“第二”之类的术语以及其它数字术语在文中使用时并不暗示顺序或者次序。因此，以下讨论的第一元件、部件、区域、层或部段在不脱离示例实施方式的教导的情况下可以被称作第二元件、部件、区域、层或部段。Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be restricted by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.
为了便于描述，可以在文中使用空间相对关系术语来描述如图中示出的一个 元件或者特征相对于另一元件或者特征的关系，这些相对关系术语例如为“内部”、“外部”、“内侧”、“外侧”、“下面”、“下方”、“上面”、“上方”等。这种空间相对关系术语意于包括除图中描绘的方位之外的在使用或者操作中装置的不同方位。例如，如果在图中的装置翻转，那么描述为“在其它元件或者特征下面”或者“在其它元件或者特征下方”的元件将随后定向为“在其它元件或者特征上面”或者“在其它元件或者特征上方”。因此，示例术语“在……下方”可以包括在上和在下的方位。装置可以另外定向(旋转90度或者在其它方向)并且文中使用的空间相对关系描述符相应地进行解释。For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures, such as "inner", "outer", "inner" ", "outside", "below", "below", "above", "above", etc. This spatially relative term is intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "above the other elements or features" above features". Thus, the example term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
目前市面上具备扫拖一体功能的清洁机器人的扫地模块与拖地模块容易相互干扰，由于拖地模块通常的拖布通常需要浸湿后进行清洁工作，当水箱在浸湿拖布时，水容易残留在地面上，在清洁过程中存在地面残留有积水的情况，当扫地模块的滚刷经过残留有积水的地面时，容易造成滚刷的刷头污染，而且滚刷在工作时可能会将积水卷入导致风机吸入，存在损坏风机的隐患，影响清洁机器人的使用寿命，对此，本申请提出了一种升降装置及清洁机器人，通过在清洁机器人中设置升降装置，利用升降装置在设定情况下带动滚刷组件抬起或落下，从而避免滚刷组件将积水卷入。At present, the sweeping module and the mopping module of the cleaning robot with the integrated sweeping and mopping function on the market are prone to interfere with each other. Since the mopping cloth of the mopping module usually needs to be soaked for cleaning work, when the water tank is soaked in the mopping cloth, water is easy to remain in the On the ground, there is water remaining on the ground during the cleaning process. When the roller brush of the sweeping module passes through the ground where the water remains, the brush head of the roller brush is likely to be polluted, and the roller brush may remove the accumulated water during operation. Water entanglement causes the fan to be sucked in, there is a hidden danger of damaging the fan, and the service life of the cleaning robot is affected. In this regard, the application proposes a lifting device and a cleaning robot. By setting the lifting device in the cleaning robot, the lifting device is used to set the Drive the roller brush assembly up or down under certain circumstances, so as to prevent the roller brush assembly from being involved in the accumulation of water.
如图1至图3所示，本申请第一方面的实施例提出了一种升降装置100，用于清洁机器人，该升降装置100包括壳体10、驱动机构20和升降机构，驱动机构20设置在壳体10内；升降机构设置在壳体10内，升降机构包括转动件31、升降杆32和弹块33，驱动机构20与转动件31连接以驱动转动件31转动，升降杆32与转动件31连接并能够随转动件31的转动上下移动，弹块33连接在升降杆32的顶部，弹块33设置成能够伸出壳体10并带动清洁机器人的滚刷组件抬起或落下。As shown in FIGS. 1 to 3 , an embodiment of the first aspect of the present application proposes a lifting device 100 for a cleaning robot. The lifting device 100 includes a housing 10 , a driving mechanism 20 and a lifting mechanism, and the driving mechanism 20 is provided with Inside the casing 10; the lifting mechanism is arranged in the casing 10, the lifting mechanism includes a rotating member 31, a lifting rod 32 and an elastic block 33, the driving mechanism 20 is connected with the rotating member 31 to drive the rotating member 31 to rotate, and the lifting rod 32 is connected to the rotating member 31. The element 31 is connected and can move up and down with the rotation of the rotating element 31. The elastic block 33 is connected to the top of the lifting rod 32. The elastic block 33 is arranged to extend out of the housing 10 and drive the roller brush assembly of the cleaning robot to lift or fall.
本申请实施例提出的升降装置100通过设置驱动机构20驱动升降机构中的转动件31转动，利用转动件31转动带动升降杆32在竖直方向上做直线运动，从而使连接在升降杆32顶部的弹块33能够伸出壳体10与滚刷组件接触，进而使滚刷组件随升降杆32的上下移动实现抬起或落下的动作，本实施例提出的升降装置100结构简单，且驱动机构20和升降机构均设置在壳体10中，便于使升降装置100整体安装在清洁机器人中，还能够避免与清洁机器人内部的其他组件发生干涉，利用本实施例提出的升降装置100带动滚刷组件上下移动，能够避免 滚刷组件与地面积水接触，解决了现有技术中扫拖功能相干涉的问题。The lifting device 100 proposed in the embodiment of the present application drives the rotating member 31 in the lifting mechanism to rotate by setting the driving mechanism 20, and uses the rotation of the rotating member 31 to drive the lifting rod 32 to perform linear movement in the vertical direction, so as to connect to the top of the lifting rod 32. The elastic block 33 can extend out of the housing 10 and contact the rolling brush assembly, so that the rolling brush assembly can be lifted or dropped with the up and down movement of the lifting rod 32. The lifting device 100 proposed in this embodiment has a simple structure and a driving mechanism. 20 and the lifting mechanism are both arranged in the housing 10, so that the lifting device 100 can be installed in the cleaning robot as a whole, and it can also avoid interference with other components inside the cleaning robot. The lifting device 100 proposed in this embodiment is used to drive the roller brush assembly. By moving up and down, the roller brush assembly can be prevented from contacting with water on the ground, which solves the problem of interference between the sweeping and mopping functions in the prior art.
具体地，如图1所示，本实施例中壳体10包括上盖101和下盖102，上盖101与下盖102相扣合并形成容纳空间，进一步地，上盖101与下盖102可以通过卡扣、螺栓或螺钉等连接件相连接，以保证壳体10的可靠性；在此基础上，如图2和图3所示，驱动机构20和升降机构均设置在壳体10内。Specifically, as shown in FIG. 1 , in this embodiment, the housing 10 includes an upper cover 101 and a lower cover 102 . The upper cover 101 and the lower cover 102 are fastened together to form a accommodating space. Further, the upper cover 101 and the lower cover 102 may be They are connected by fasteners, bolts or screws to ensure the reliability of the housing 10 ; on this basis, as shown in FIG. 2 and FIG.
本实施例中驱动机构20具体设置为电动机，如图1和图2所示，壳体10的上盖101自顶部向上凸出设置有电机壳1011，电机壳1011与上盖101固定连接，具体可以设置为一体成型结构，电机壳1011内具有容纳腔，本实施例中电动机设置在该电机壳1011的容纳腔内。进一步地，电动机与升降机构中的转动件31在壳体10内传动连接。In this embodiment, the driving mechanism 20 is specifically configured as a motor. As shown in FIG. 1 and FIG. 2 , the upper cover 101 of the housing 10 is provided with a motor housing 1011 protruding upward from the top, and the motor housing 1011 is fixedly connected to the upper cover 101 Specifically, it can be set as an integral molding structure, and the motor casing 1011 has a accommodating cavity. In this embodiment, the motor is arranged in the accommodating cavity of the motor casing 1011 . Further, the motor and the rotating member 31 in the lifting mechanism are drive-connected in the housing 10 .
示例性地，转动件31具体可以设置为螺母，螺母的内周面设置有与升降杆32相配合的螺纹；转动件31的外壁设置有啮合齿，电动机与转动件31可以通过齿轮或齿轮组传动连接，也可以通过齿轮-齿条传动连接，还可以通过链条传动连接。Exemplarily, the rotating member 31 can be specifically configured as a nut, and the inner peripheral surface of the nut is provided with a thread that matches the lifting rod 32; the outer wall of the rotating member 31 is provided with meshing teeth, and the motor and the rotating member 31 can pass through gears or gear sets. The transmission connection can also be connected by a gear-rack transmission connection, and it can also be connected by a chain transmission connection.
如图1所示，本实施例以电动机与转动件31通过齿轮组传动连接为例进行描述，齿轮组包括第一齿轮61和第二齿轮62，第一齿轮61和第二齿轮62均设置在壳体10内，且第一齿轮61与第二齿轮62相啮合，第二齿轮62与转动件31外壁的啮合齿相啮合，电动机与第一齿轮61连接，具体地，如图2所示，电动机的电机轴朝下伸至上盖101与下盖102之间的容纳空间内，电机轴与第一齿轮61传动连接，从而能够带动第一齿轮61转动，进而带动第二齿轮62以及转动件31转动。本实施例通过齿轮组实现电动机与转动件31之间的传动连接，结构简单且占用空间小。As shown in FIG. 1 , the present embodiment is described by taking the motor and the rotating member 31 as an example of transmission connection through a gear set. The gear set includes a first gear 61 and a second gear 62 , and the first gear 61 and the second gear 62 are both arranged on the Inside the housing 10, the first gear 61 meshes with the second gear 62, the second gear 62 meshes with the meshing teeth on the outer wall of the rotating member 31, and the motor is connected with the first gear 61. Specifically, as shown in FIG. 2, The motor shaft of the electric motor extends downward into the accommodating space between the upper cover 101 and the lower cover 102 , and the motor shaft is connected with the first gear 61 in a transmission, so as to drive the first gear 61 to rotate, thereby driving the second gear 62 and the rotating member 31 turn. In this embodiment, the transmission connection between the motor and the rotating member 31 is realized by the gear set, and the structure is simple and the space is small.
在上述实施方式的基础上，转动件31与升降杆32转动连接，示例性地，转动件31设置为螺母，螺母的内周面可以设置有内螺纹，升降杆32上可以设置有外螺纹，由此，升降杆32与转动件31通过外螺纹与内螺纹相配合的方式转动连接，当转动件31在电动机的带动下转动时，升降杆32可以随转动件31的转动实现直线运动，以图2或图3所示的方位为例，升降杆32可以实现沿竖直方向的直线运动，即上下移动，在此基础上，连接在升降杆32的顶部的弹块33也可以随升降杆32上下移动。On the basis of the above-mentioned embodiment, the rotating member 31 is rotatably connected with the lifting rod 32. Exemplarily, the rotating member 31 is configured as a nut, the inner peripheral surface of the nut may be provided with an internal thread, and the lifting rod 32 may be provided with an external thread, Therefore, the lifting rod 32 and the rotating member 31 are rotatably connected through the matching of the external thread and the internal thread. When the rotating member 31 is rotated under the driving of the motor, the lifting rod 32 can move linearly with the rotation of the rotating member 31 to Taking the orientation shown in FIG. 2 or FIG. 3 as an example, the lift rod 32 can realize linear movement along the vertical direction, that is, move up and down. On this basis, the elastic block 33 connected to the top of the lift rod 32 can also follow the lift rod. 32 to move up and down.
进一步地，为了避免升降杆32在上下移动的过程中发生转动，可以在升降 杆32上设置限位部331或限位件，如图1至图3所示，在本申请的一些实施例中，升降杆32包括螺纹段321和限位段322，限位段322连接在螺纹段321的底部，相应地，壳体10上设置有与限位段322相配合的限位孔11，本实施例中限位段322可以伸入限位孔11内，从而限制升降杆32沿周向转动。Further, in order to prevent the lift rod 32 from rotating in the process of moving up and down, a limiter 331 or a limiter may be provided on the lift rod 32, as shown in FIGS. 1 to 3, in some embodiments of the present application , the lifting rod 32 includes a threaded section 321 and a limit section 322. The limit section 322 is connected to the bottom of the threaded section 321. Correspondingly, the housing 10 is provided with a limit hole 11 that matches the limit section 322. This embodiment In the example, the limiting section 322 can extend into the limiting hole 11, so as to limit the rotation of the lifting rod 32 in the circumferential direction.
具体地，请继续参阅图1，升降杆32中螺纹段321设置为圆柱状，限位段322连接在螺纹段321的底部，且在沿螺纹段321的径向方向上，限位段322的径向尺寸小于螺纹段321的直径；示例性地，在本申请的一些实施例中，以垂直于升降杆32的移动方向的平面为截面，限位段322的横截面的形状为矩形，相应地，限位孔11也设置为矩形，由此，伸入限位孔11中的限位段322能够在限位孔11中沿竖直方向滑动，但不发生转动，保证了升降杆32整体只做竖直方向的直线运动。Specifically, please continue to refer to FIG. 1 , the threaded section 321 of the lift rod 32 is set in a cylindrical shape, the limit section 322 is connected to the bottom of the threaded section 321 , and in the radial direction of the threaded section 321 , the limit section 322 is The radial dimension is smaller than the diameter of the threaded segment 321; for example, in some embodiments of the present application, a plane perpendicular to the moving direction of the lifting rod 32 is taken as the cross-section, and the shape of the cross-section of the limiting segment 322 is a rectangle, corresponding to In addition, the limiting hole 11 is also set to be rectangular, so that the limiting segment 322 extending into the limiting hole 11 can slide in the vertical direction in the limiting hole 11, but does not rotate, which ensures that the lift rod 32 is integrated as a whole. Only do straight vertical motions.
进一步地，如图2和图3所示，在本申请的一些实施例中，壳体10的内底面设置有凸台12，凸台12位于升降杆32的下方，用于与升降杆32的限位段322相配合的限位孔11贯穿设置在凸台12上，且限位孔11可以贯穿壳体10的底部，由此，当升降杆32上下移动时，限位段322在限位块内上下移动。Further, as shown in FIG. 2 and FIG. 3 , in some embodiments of the present application, the inner bottom surface of the housing 10 is provided with a boss 12 , and the boss 12 is located below the lifting rod 32 for connecting with the lifting rod 32 . The limiting hole 11 matched with the limiting segment 322 is disposed through the boss 12, and the limiting hole 11 can penetrate through the bottom of the housing 10. Therefore, when the lifting rod 32 moves up and down, the limiting segment 322 is in the limiting position. Move up and down within the block.
在上述实施方式的基础上，弹块33连接在升降杆32的顶部，具体地，壳体10的上盖101上开设有窗口1012，该窗口1012用于供弹块33部分伸出，从而抵接在清洁机器人的滚刷组件上；弹块33的形状可以设置为圆柱状，也可以设置为棱柱状，弹块33可以设置为橡胶块，或者弹块33的顶端可以设置为橡胶头，从而避免损坏滚刷组件。On the basis of the above embodiment, the elastic block 33 is connected to the top of the lifting rod 32. Specifically, a window 1012 is opened on the upper cover 101 of the housing 10, and the window 1012 is used for the elastic block 33 to partially protrude so as to resist the Connected to the roller brush assembly of the cleaning robot; the shape of the elastic block 33 can be set to a cylindrical shape or a prismatic shape, the elastic block 33 can be set to a rubber block, or the top of the elastic block 33 can be set to a rubber head, thereby Avoid damaging the brush assembly.
本实施例中，如图1所示，弹块33包括第一圆柱段332和连接在第一圆柱段332的底部的第二圆柱段333，第一圆柱段332的直径大于第二圆柱段333的直径，第一圆柱段332的顶端面设置为弧面，结合参阅图2或图3，第一圆柱段332靠近第二圆柱段333的一侧沿周向设置有限位部331，限位部331具体为沿径向朝外伸出形成，限位部331的径向尺寸大于第一圆柱段332的直径，限位部331的面向第一圆柱段332的一侧用于与壳体10的内表面相接触，通过抵接在壳体10的内表面实现限位，防止弹块33脱离壳体10，保证了升降装置100整体的可靠性。In this embodiment, as shown in FIG. 1 , the elastic block 33 includes a first cylindrical section 332 and a second cylindrical section 333 connected to the bottom of the first cylindrical section 332 . The diameter of the first cylindrical section 332 is larger than that of the second cylindrical section 333 The diameter of the first cylindrical section 332 is set as an arc surface. Referring to FIG. 2 or FIG. 3, a limiting portion 331 is provided along the circumferential direction of the side of the first cylindrical section 332 close to the second cylindrical section 333. The limiting portion 331 is formed to protrude outward in the radial direction. The radial dimension of the limiting portion 331 is larger than the diameter of the first cylindrical segment 332. The inner surfaces are in contact with each other, and by contacting the inner surface of the housing 10 , the position is limited, and the elastic block 33 is prevented from being separated from the housing 10 , thereby ensuring the overall reliability of the lifting device 100 .
在上述实施方式的基础上，弹块33与升降杆32的连接方式有多种，例如可 以设置为卡接、螺栓连接、焊接或设置为一体成型结构，由此保证弹块33与升降杆32之间连接的可靠性；另外，弹块33与升降杆32也可以通过弹簧等弹性件相连接，以下通过两种具体的实施方式进行描述。On the basis of the above-mentioned embodiment, there are various ways to connect the elastic block 33 and the lifting rod 32 , for example, it can be set as snap connection, bolt connection, welding or an integral molding structure, thereby ensuring the elastic block 33 and the lifting rod 32 In addition, the elastic block 33 and the lifting rod 32 can also be connected by elastic members such as springs, which will be described in the following two specific embodiments.
在一种具体的实施方式中，如图2所示，弹块33固定连接在升降杆32的顶部，升降杆32的螺纹段321上的外螺纹的长度大于转动件31的内螺纹的长度，这样的设置方式保证了升降杆32在竖直方向运动时，内螺纹与外螺纹始终啮合，故螺纹段321不会与转动件31滑脱，从而保证升降杆32通过上下移动带动弹块33以及滚刷组件上下移动，避免升降功能失效。In a specific embodiment, as shown in FIG. 2 , the elastic block 33 is fixedly connected to the top of the lift rod 32 , and the length of the external thread on the threaded section 321 of the lift rod 32 is greater than the length of the internal thread of the rotating member 31 , This arrangement ensures that when the lifting rod 32 moves in the vertical direction, the inner thread and the outer thread are always engaged, so the threaded section 321 will not slip off the rotating member 31, thereby ensuring that the lifting rod 32 moves up and down to drive the elastic block 33 and the rolling element 31. The brush assembly moves up and down to avoid failure of the lifting function.
需要说明的是，当驱动机构20设置为电动机时，由于升降杆32在有限的范围内运动，当升降杆32向上或向下移动到最大行程处时，电动机持续运转会导致过载，进而导致电流升高，而频繁过载容易损坏电动机，为了保护电动机，本实施例中升降装置100还可以包括到位开关或位置传感器。It should be noted that, when the driving mechanism 20 is set as a motor, since the lift rod 32 moves in a limited range, when the lift rod 32 moves up or down to the maximum stroke, the continuous operation of the motor will cause overload, which in turn leads to current The motor is easily damaged due to frequent overloading. In order to protect the motor, the lifting device 100 in this embodiment may further include a position switch or a position sensor.
在一种可选的实施方式中，升降装置100包括到位开关，到位开关和电动机分别与清洁机器人的控制器通信连接，示例性地，到位开关可以设置在弹块33上，也可以设置在升降杆32上，当升降杆32向上或向下移动到最大行程处时，可以触发到位开关，到位开关传递信号给控制器，控制器控制电动机停止运转，从而避免电动机过载，延长升降装置100整体的使用寿命。In an optional implementation manner, the lifting device 100 includes an in-position switch, and the in-position switch and the motor are respectively connected in communication with the controller of the cleaning robot. Exemplarily, the in-position switch may be provided on the elastic block 33, or may be provided on the lifting and lowering On the rod 32, when the lifting rod 32 moves up or down to the maximum stroke, the in-position switch can be triggered, and the in-position switch transmits a signal to the controller, and the controller controls the motor to stop running, so as to avoid the motor overload and prolong the overall operation of the lifting device 100. service life.
在另一种可选的实施方式中，升降装置100包括位置传感器，位置传感器用于对升降杆32的行程进行监测，位置传感器和电动机分别与清洁机器人的控制器通信连接，示例性地，位置传感器可以设置在弹块33上，也可以设置在壳体10上，当位置传感器监测到升降杆32向上或向下移动到最大行程处时，位置传感器传递信号给控制器，控制器控制电动机停止运转，从而避免电动机过载，延长升降装置100整体的使用寿命。In another optional embodiment, the lifting device 100 includes a position sensor, the position sensor is used to monitor the stroke of the lifting rod 32, the position sensor and the motor are respectively connected in communication with the controller of the cleaning robot, for example, the position The sensor can be set on the elastic block 33 or on the housing 10. When the position sensor detects that the lift rod 32 moves up or down to the maximum stroke, the position sensor transmits a signal to the controller, and the controller controls the motor to stop. operation, so as to avoid overloading of the motor and prolong the service life of the lifting device 100 as a whole.
在另一种具体的实施方式中，如图3所示，弹块33与升降杆32之间通过弹性件相连接，需要说明的是，本实施例中通过在弹块33与升降杆32之间设置弹性件，利用弹性件产生的弹性力进行缓冲，从而防止电动机过载，从而延长升降装置100整体的使用寿命。In another specific embodiment, as shown in FIG. 3 , the elastic block 33 and the lifting rod 32 are connected by an elastic member. It should be noted that in this embodiment, the elastic block 33 and the lifting rod 32 are connected by an elastic member. An elastic member is arranged between, and the elastic force generated by the elastic member is used for buffering, so as to prevent the motor from being overloaded, thereby prolonging the service life of the lifting device 100 as a whole.
具体地，弹性件设置为第一弹簧40，第一弹簧40设置在弹块33与升降杆32之间，第一弹簧40起到辅助弹块33保持顶起的状态，以及在升降杆32朝上运动时起到缓冲的作用，在上述实施方式的基础上，如图3所示，弹块33包括 第一圆柱段332和第二圆柱段333，第一圆柱段332的外壁沿周向设置有限位部331，升降杆32的顶部开设有凹槽3201，第一弹簧40的一端套接在第二圆柱段333上，并与限位部331相抵接，第一弹簧40的另一端伸入凹槽3201内，由此，当升降杆32朝上运动时，第一弹簧40被压缩，施加给弹块33向上的弹力，从而使弹块33保持顶起的状态，而且由于第一弹簧40具有一定的长度，为升降杆32朝上运动提供了一定的缓冲距离，进而避免了电动机突然过载。Specifically, the elastic member is set as a first spring 40, the first spring 40 is set between the elastic block 33 and the lift rod 32, the first spring 40 acts to assist the elastic block 33 to remain jacked up, and when the lift rod 32 faces When moving up, it plays a buffering role. On the basis of the above embodiment, as shown in FIG. 3 , the elastic block 33 includes a first cylindrical section 332 and a second cylindrical section 333, and the outer wall of the first cylindrical section 332 is arranged in the circumferential direction. In the limiting portion 331, a groove 3201 is formed on the top of the lifting rod 32, one end of the first spring 40 is sleeved on the second cylindrical section 333, and abuts with the limiting portion 331, and the other end of the first spring 40 extends into Therefore, when the lifting rod 32 moves upward, the first spring 40 is compressed, and an upward elastic force is applied to the elastic block 33, so that the elastic block 33 is kept in a jacked up state, and because the first spring 40 With a certain length, a certain buffer distance is provided for the upward movement of the lifting rod 32, thereby avoiding the sudden overload of the motor.
进一步地，在本申请的一些实施例中，升降装置100还包括第二弹簧50，第二弹簧50设置在升降杆32与壳体10的内底面之间，第二弹簧50起到辅助升降杆32朝上运动的作用，以及在升降杆32朝下运动时起到缓冲的作用，在上述实施方式的基础上，如图3所示，升降杆32包括螺纹段321和限位段322，本实施例中螺纹段321的底部沿周向伸出设置有凸缘3211，第二弹簧50的两端分别与凸缘3211和壳体10的内底面相抵接，由此，当升降杆32朝下运动时，第二弹簧50被压缩，施加给升降杆32向上的弹力，从而为升降杆32朝下运动提供了一定的缓冲距离，进而避免了电动机突然过载；当升降杆32朝上运动时，处于压缩状态的第二弹簧50能够施加给升降杆32向上的弹力，从而使升降杆32朝上运动。Further, in some embodiments of the present application, the lifting device 100 further includes a second spring 50, the second spring 50 is disposed between the lifting rod 32 and the inner bottom surface of the housing 10, and the second spring 50 serves as an auxiliary lifting rod 32 moves upward, and plays a buffering role when the lifting rod 32 moves downward. On the basis of the above embodiment, as shown in FIG. 3, the lifting rod 32 includes a threaded section 321 and a limit section 322. In the embodiment, a flange 3211 protrudes from the bottom of the threaded section 321 in the circumferential direction, and both ends of the second spring 50 abut against the flange 3211 and the inner bottom surface of the housing 10 respectively. Therefore, when the lifting rod 32 moves downwards , the second spring 50 is compressed and exerts an upward elastic force on the lifting rod 32, thereby providing a certain buffering distance for the downward movement of the lifting rod 32, thereby avoiding the sudden overload of the motor; when the lifting rod 32 moves upward, it is in compression. The second spring 50 in the state can apply upward elastic force to the lift rod 32 , thereby causing the lift rod 32 to move upward.
需要说明的是，螺纹段321的外壁设置有外螺纹，外螺纹与转动件31内周面的内螺纹相配合，本实施例中外螺纹的长度可以等于或略小于内螺纹的长度，因此，上述第二弹簧50在向升降杆32施加向上的弹力时，可以辅助升降杆32上的外螺纹与转动件31上的内螺纹接触并啮合，在实现升降功能的基础上实现了对电机的保护。It should be noted that the outer wall of the threaded section 321 is provided with an external thread, and the external thread is matched with the internal thread on the inner peripheral surface of the rotating member 31. In this embodiment, the length of the external thread may be equal to or slightly smaller than the length of the internal thread. Therefore, the above-mentioned When the second spring 50 exerts upward elastic force on the lift rod 32, it can assist the external thread on the lift rod 32 to contact and engage with the internal thread on the rotating member 31, so as to realize the protection of the motor on the basis of realizing the lifting function.
如图4至图6所示，本申请第二方面的实施例提出了一种清洁机器人，该清洁机器人包括主体700、滚刷组件800以及根据上述任一实施例的升降装置100，其中，滚刷组件800安装在主体700上，升降装置100也安装在主体700上，升降装置100与滚刷组件800接触并能够带动滚刷组件800抬起或落下。As shown in FIGS. 4 to 6 , an embodiment of the second aspect of the present application provides a cleaning robot, the cleaning robot includes a main body 700 , a roller brush assembly 800 , and the lifting device 100 according to any of the above embodiments, wherein the roller The brush assembly 800 is installed on the main body 700, and the lifting device 100 is also installed on the main body 700. The lifting device 100 is in contact with the rolling brush assembly 800 and can drive the rolling brush assembly 800 to lift or fall.
具体地，如图4所示，本实施例中清洁机器人包括连接在主体700上的拖地模块和扫地模块，其中，扫地模块包括滚刷组件800以及边刷、风机，拖地模块包括水箱和拖布900，本申请实施例的清洁机器人通过设置升降装置100，利用 升降装置100与滚刷组件800接触连接，使滚刷组件800能够在升降装置100的带动下抬起或落下，需要说明的是，清洁机器人还包括控制器，在水箱中的水浸湿拖布900后残留在地面上时，控制器通过控制与其通信连接的升降装置100，利用升降装置100将滚刷组件800抬起，从而避免滚刷组件800接触积水，实现了对滚刷组件800以及风机的保护。本实施例提出的清洁机器人具有与上述第一方面实施例提出的升降装置100相同的优点，在此不再赘述。Specifically, as shown in FIG. 4 , the cleaning robot in this embodiment includes a mopping module and a sweeping module connected to the main body 700 , wherein the sweeping module includes a rolling brush assembly 800 , a side brush and a fan, and the mopping module includes a water tank and a Mop 900, the cleaning robot in the embodiment of the present application is provided with a lifting device 100, and the lifting device 100 is used to contact and connect with the rolling brush assembly 800, so that the rolling brush assembly 800 can be lifted or dropped under the driving of the lifting device 100. It should be noted that , the cleaning robot also includes a controller, when the water in the water tank soaks the mop 900 and remains on the ground, the controller controls the lifting device 100 connected to it in communication, and uses the lifting device 100 to lift the roller brush assembly 800, thereby avoiding The roller brush assembly 800 is in contact with accumulated water, so as to realize the protection of the roller brush assembly 800 and the fan. The cleaning robot proposed in this embodiment has the same advantages as the lifting device 100 proposed in the above-mentioned first aspect embodiment, which will not be repeated here.
进一步地，如图5和图6所示，在本申请的一些实施例中，滚刷组件800包括固定架810、转轴820和刷头结构830，刷头结构830通过转轴820转动连接在固定架810上，升降装置100的弹块33抵接在转轴820的底部。Further, as shown in FIGS. 5 and 6 , in some embodiments of the present application, the rolling brush assembly 800 includes a fixing frame 810 , a rotating shaft 820 and a brush head structure 830 , and the brush head structure 830 is rotatably connected to the fixing frame through the rotating shaft 820 . On 810 , the elastic block 33 of the lifting device 100 abuts on the bottom of the rotating shaft 820 .
具体地，如图6所示，固定架810安装在清洁机器人的主体700上，固定架810朝向地面的一侧设置有容纳部，固定架810上设置有连接座；刷头结构830包括转动架和连接在转动架中的刷头，转动架的后侧顶面上设置有转轴820，转轴820转动连接在连接座上，另外，转动架的前侧还设置有与固定架810相粘接的连接板，由此，当转轴820转动时，刷头结构830可以在固定架810的容纳部内朝上转动或朝下转动。Specifically, as shown in FIG. 6 , the fixing frame 810 is installed on the main body 700 of the cleaning robot, the side of the fixing frame 810 facing the ground is provided with a receiving portion, and the fixing frame 810 is provided with a connecting seat; the brush head structure 830 includes a turret And the brush head connected in the turret, the rear top surface of the turret is provided with a rotating shaft 820, and the rotating shaft 820 is rotatably connected to the connecting seat, in addition, the front side of the turret is also provided with a fixed frame 810. Therefore, when the rotating shaft 820 rotates, the brush head structure 830 can rotate upwards or downwards in the accommodating part of the fixing frame 810 .
可以理解地，在上述实施方式的基础上，升降装置100中的弹块33可以抵接在转轴820的底部，当升降装置100启动后，弹块33沿竖直方向朝上移动时，转轴820受到弹块33的向上的推力发生转动，相应地，弹块33沿竖直方向朝下移动时，转轴820受刷头结构830中转动架以及刷头的重力作用发生转动；转轴820的转动能够带动刷头抬起或落下，从而合理避让地面上的积水。It can be understood that, on the basis of the above-mentioned embodiment, the elastic block 33 in the lifting device 100 can abut against the bottom of the rotating shaft 820. When the lifting device 100 is started, when the elastic block 33 moves upward in the vertical direction, the rotating shaft 820 It rotates under the upward thrust of the elastic block 33. Accordingly, when the elastic block 33 moves downward in the vertical direction, the rotating shaft 820 is rotated by the gravity of the turret and the brush head in the brush head structure 830; the rotation of the rotating shaft 820 can Drive the brush head up or down, so as to reasonably avoid the water on the ground.
以上，仅为本申请较佳的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。The above are only the preferred embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

  1. 一种升降装置，用于清洁机器人，其特征在于，包括：A lifting device for cleaning robots, characterized in that it includes:
    壳体；case;
    驱动机构，所述驱动机构设置在所述壳体内；a driving mechanism, the driving mechanism is arranged in the housing;
    升降机构，所述升降机构设置在所述壳体内，所述升降机构包括转动件、升降杆和弹块，所述驱动机构与所述转动件连接以驱动所述转动件转动，所述升降杆与所述转动件连接并能够随所述转动件的转动上下移动，所述弹块连接在所述升降杆的顶部，所述弹块设置成能够伸出所述壳体并带动所述清洁机器人的滚刷组件抬起或落下。Lifting mechanism, the lifting mechanism is arranged in the housing, the lifting mechanism includes a rotating member, a lifting rod and a spring block, the driving mechanism is connected with the rotating member to drive the rotating member to rotate, the lifting rod The elastic block is connected to the rotating member and can move up and down with the rotation of the rotating member. The elastic block is connected to the top of the lifting rod, and the elastic block is arranged to extend out of the housing and drive the cleaning robot. the roller brush assembly is lifted or dropped.
  2. 根据权利要求1所述的升降装置，其特征在于，所述升降装置还包括第一弹簧，所述第一弹簧连接在所述弹块与所述升降杆之间。The lifting device according to claim 1, wherein the lifting device further comprises a first spring, and the first spring is connected between the elastic block and the lifting rod.
  3. 根据权利要求2所述的升降装置，其特征在于，所述弹块上设置有限位部，所述升降杆的顶部开设有凹槽，所述第一弹簧的一端与所述限位部相抵接，所述第一弹簧的另一端伸入所述凹槽内。The lifting device according to claim 2, wherein a limiting portion is provided on the elastic block, a groove is formed on the top of the lifting rod, and one end of the first spring is in contact with the limiting portion , the other end of the first spring extends into the groove.
  4. 根据权利要求1所述的升降装置，其特征在于，所述升降杆包括螺纹段和连接在所述螺纹段的底部的限位段，所述限位段用于限制所述升降杆转动，所述壳体上设置有与所述限位段相配合的限位孔。The lifting device according to claim 1, wherein the lifting rod comprises a threaded section and a limiting section connected to the bottom of the threaded section, the limiting section is used to limit the rotation of the lifting rod, and the The casing is provided with a limit hole matched with the limit section.
  5. 根据权利要求4所述的升降装置，其特征在于，所述壳体的内底面设置有凸台，所述限位孔贯穿设置在所述凸台上。The lifting device according to claim 4, wherein the inner bottom surface of the casing is provided with a boss, and the limiting hole is provided through the boss.
  6. 根据权利要求4所述的升降装置，其特征在于，以垂直于所述升降杆的移动方向的平面为截面，所述限位段和所述限位块的横截面的形状均为矩形。The lifting device according to claim 4, characterized in that, taking a plane perpendicular to the moving direction of the lifting rod as a cross-section, the shape of the cross-section of the limiting section and the limiting block is rectangular.
  7. 根据权利要求4所述的升降装置，其特征在于，所述升降装置还包括第二弹簧，所述螺纹段的底部沿周向伸出设置有凸缘，所述第二弹簧的两端分别与所述凸缘和所述壳体的内底面相抵接。The lifting device according to claim 4, wherein the lifting device further comprises a second spring, the bottom of the threaded segment is provided with a flange extending in the circumferential direction, and the two ends of the second spring are respectively connected with the The flange is in contact with the inner bottom surface of the housing.
  8. 根据权利要求4所述的升降装置，其特征在于，所述螺纹段的外壁设置有外螺纹，所述转动件设置为螺母，所述螺母的内周面设置有与所述外螺纹相配合的内螺纹。The lifting device according to claim 4, wherein the outer wall of the threaded section is provided with an external thread, the rotating member is provided as a nut, and the inner peripheral surface of the nut is provided with a thread matching the external thread. internal thread.
  9. 一种清洁机器人，其特征在于，包括：A cleaning robot, comprising:
    主体；main body;
    滚刷组件，所述滚刷组件安装在所述主体上；a rolling brush assembly mounted on the main body;
    根据权利要求1至8任一项所述的升降装置，所述升降装置安装在所述主体上，所述升降装置与所述滚刷组件接触并能够带动所述滚刷组件抬起或落下。The lifting device according to any one of claims 1 to 8, wherein the lifting device is mounted on the main body, the lifting device is in contact with the rolling brush assembly and can drive the rolling brush assembly to lift or fall.
  10. 根据权利要求9所述的清洁机器人，其特征在于，所述滚刷组件包括固定架、转轴和刷头结构，所述刷头结构通过所述转轴转动连接在所述固定架上，所述弹块抵接在所述转轴的底部。The cleaning robot according to claim 9, wherein the roller brush assembly comprises a fixed frame, a rotating shaft and a brush head structure, the brush head structure is rotatably connected to the fixed frame through the rotating shaft, and the elastic The block abuts on the bottom of the shaft.
PCT/CN2021/093146 2021-02-08 2021-05-11 Lifting/lowering apparatus and cleaning robot WO2022166020A1 (en)

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