CN113208505A

CN113208505A - Self-moving cleaning equipment

Info

Publication number: CN113208505A
Application number: CN202110417448.3A
Authority: CN
Inventors: 刘小禹; 王兴明
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-08-06
Also published as: US20240206694A1; WO2022222406A1; EP4327713A1

Abstract

The embodiment of the invention discloses self-moving cleaning equipment, which comprises a main body, a cleaning device and a lifting device, wherein the cleaning device is connected with the main body through the lifting device; the lifting device comprises a synchronous linkage assembly, a connecting rod mechanism and a driving part, wherein the connecting rod mechanism comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are rotatably connected with the main body around the axis in the horizontal direction, and the first connecting rod is rotatably connected with the second connecting rod through the synchronous linkage assembly; the driving part is used for driving the first connecting rod so that the cleaning device can be lifted relative to the main body. From this, drive the first connecting rod through the drive portion and rotate for cleaning device can go up and down for the main part, can reduce elevating gear like this in the occupation space of vertical direction, thereby reduce the size from removing cleaning device, do benefit to from removing cleaning device miniaturized development.

Description

Self-moving cleaning equipment

Technical Field

The invention relates to the field of cleaning equipment, in particular to self-moving cleaning equipment.

Background

With the development of social productivity, mechanization and automation gradually replace heavy manual labor of human beings, the traditional floor washing and mopping usually adopts tools such as a mop, the working efficiency is low, the floor is not easy to dry, and the self-moving cleaning equipment is applied to solve the problems.

In the process of cleaning operation of the self-moving cleaning equipment, the lifting device drives the cleaning device to descend, so that the cleaning device is in contact with the ground to clean the surface to be cleaned. After cleaning, the lifting device drives the cleaning device to ascend, so that the abrasion of the surface to be cleaned to the cleaning device is reduced.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The embodiment of the invention provides self-moving cleaning equipment, which comprises a main body, a cleaning device and a lifting device, wherein the cleaning device is connected with the main body through the lifting device;

the lifting device comprises a synchronous linkage assembly, a connecting rod mechanism and a driving part, wherein the connecting rod mechanism comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are rotatably connected with the main body around the axis in the horizontal direction, and the first connecting rod is rotatably connected with the second connecting rod through the synchronous linkage assembly; the driving part is used for driving the first connecting rod so that the cleaning device can be lifted relative to the main body.

Optionally, a rotational connection position of the first connecting rod and the main body and a rotational connection position of the second connecting rod and the main body are located on the same horizontal plane.

Optionally, the first connecting rod includes a first swing arm, a bending portion and a second swing arm, the bending portion is respectively connected to one end of the first swing arm and one end of the second swing arm, the bending portion is rotatably connected to the main body, the other end of the first swing arm is rotatably connected to the second connecting rod through the synchronous linkage assembly, and the other end of the second swing arm is rotatably connected to the driving portion.

Optionally, the first connecting rod is located on a first vertical surface, the second connecting rod is located on a second vertical surface, and the first vertical surface and the second vertical surface are vertical surfaces which are parallel to each other and different from each other.

Optionally, the first link is at least partially horizontally disposed parallel to the second link.

Optionally, the number of the link mechanisms is two, and the two sets of the link mechanisms are respectively symmetrically arranged on two sides of the synchronous linkage assembly.

Optionally, the synchronous linkage assembly includes a first synchronous shaft, a second synchronous shaft, a third synchronous shaft and a connecting member, and the connecting member is respectively rotatably connected to the first synchronous shaft and the second synchronous shaft;

one end of a first connecting rod of each of the two groups of connecting rod mechanisms is rotatably connected through the first synchronizing shaft, the other end of the first connecting rod of each of the two groups of connecting rod mechanisms is rotatably connected through the second synchronizing shaft, and second connecting rods of the two groups of connecting rod mechanisms are rotatably connected through the third synchronizing shaft; the driving part is rotationally connected with the first synchronous shaft.

Optionally, the link mechanism further includes a limiting portion installed on the main body, and the limiting mechanism is configured to block rotation of the first link and the second link to limit a descending height of the cleaning device.

Optionally, the second link is rotatably connected to a lower portion of the blocking portion.

Optionally, the synchronous linkage assembly further comprises mounting seats arranged at two ends of the second synchronizing shaft and the third synchronizing shaft, and the mounting seats are connected with the cleaning device.

According to the self-moving cleaning equipment provided by the embodiment of the invention, the driving part drives the first connecting rod to rotate, so that the cleaning device can be lifted relative to the main body, the occupied space of the lifting device in the vertical direction can be reduced, the size of the self-moving cleaning equipment is reduced, and the miniaturization development of the self-moving cleaning equipment is facilitated.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention as a part of the examples. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

In the drawings:

FIG. 1 is an exploded view of a lift device according to an alternative embodiment of the present invention;

FIG. 2 is a diagram of an elevated state of a lift device according to an alternate embodiment of the present invention;

FIG. 3 is a perspective view of FIG. 2;

FIG. 4 is a diagram of a lowered state of a lifting device according to an alternative embodiment of the present invention;

FIG. 5 is a perspective view of FIG. 4;

FIG. 6 is a view showing the lifting mechanism and the cleaning device connected as a whole;

FIG. 7 is an exploded view of FIG. 6;

FIG. 8 is an exploded view of a sweeping device according to an alternative embodiment of the present invention;

FIG. 9 is a top view of FIG. 8;

FIG. 10 is a cross-sectional view taken along line A-A of FIG. 9;

FIG. 11 is a schematic view illustrating a process of disengaging the brush plate from the transmission mechanism;

FIG. 12 is a schematic view showing a process of engaging the brush plate with the transmission mechanism;

FIG. 13 is a block diagram of the main body of a self-moving cleaning device in accordance with an alternative embodiment of the present invention;

FIG. 14 is a schematic view illustrating a hooking process of the bending portion and the limiting portion;

FIG. 15 is a schematic view illustrating a process of releasing the hooking between the bending portion and the limiting portion.

Description of the reference numerals

1-a synchronous linkage component, 101-a first synchronous shaft, 102-a second synchronous shaft, 103-a third synchronous shaft, 104-a connecting piece, 105-a mounting seat, 2-a link mechanism, 201-a first connecting rod, 2011-a first swing arm, 2012-a second swing arm, 2013-a bending part, 202-a second connecting rod, 3-a driving part, 4-a first bracket, 5-a second bracket, 6-a limiting part, 7-a main body, 701-a chassis, 702-a fluid storage device, 8-a brush disc, 801-a brush disc body, 802-bristles, 803-a guiding part, 9-a clamping mechanism, 901-a clamping part, 9011-a clamping body, 9012-a clamping groove, 9013-a first clamping groove, 9014-a second clamping groove and 902-a limiting part, 9021-a limiting pin, 9022-a fastener, 10-a transmission part, 1001-a connecting shaft, 1002-a connecting disc, 1003-a guide part, 11-a stopping part, 12-a locking part, 1201-an elastic arm, 1202-a bending part, 13-a bolt, 14-a rotating motor and 15-a packaging shell.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

In a first aspect, as shown in fig. 1, 3 and 11, an embodiment of the present invention provides a self-moving cleaning apparatus, including a main body 7, a cleaning device and a lifting device, wherein the cleaning device is connected to the main body 7 through the lifting device; the lifting device comprises a synchronous linkage assembly 1, a link mechanism 2 and a driving part 3, wherein the link mechanism 2 comprises a first link 201 and a second link 202, the first link 201 and the second link 202 are rotatably connected with the main body 7 around the axis in the horizontal direction, and the first link 201 is rotatably connected with the second link 202 through the synchronous linkage assembly 1; the driving unit 3 drives the first link 201 to move the cleaning device up and down with respect to the main body 7.

The self-cleaning apparatus of an embodiment is an apparatus that can automatically travel over an area to be cleaned and automatically perform a cleaning operation. Self-cleaning devices may include, but are not limited to, a floor washing machine, a floor sweeper, a mopping machine, and the like.

As shown in fig. 13, the fluid storage device 702 may be integrally molded using a material such as plastic and may serve as a housing of the main body 7 to improve elasticity, toughness, corrosion resistance and impact resistance of the main body 7 and to reduce the weight of the main body 7. The peripheral wall of the fluid storage device 702 may be pre-formed with a plurality of grooves, recesses, detents, or the like for mounting a spraying device, a sewage recovery device, and a running gear. And in the case of a floor washing machine for cleaning large sites, the volume of the main body 7 can be increased to increase the volume of the fluid storage device 702 so that the fluid storage device has sufficient cleaning solution to meet the cleaning requirements.

The walking device comprises a plurality of groups of rollers arranged at the lower part of the main body 7, wherein two rollers of each group are respectively positioned at two opposite sides of the main body 7, and the main body 7 is driven to walk through the rollers to perform cleaning operation.

The spraying device includes a liquid outlet in fluid communication with the fluid reservoir 702 for discharging the cleaning liquid. Optionally, the fluid storage device 702 is connected to the liquid outlet via a cleaning liquid output line, and a necessary pump is provided on the cleaning liquid output line to supply the cleaning liquid to the liquid outlet in a sufficient amount in time. In other embodiments, the liquid outlet can also be arranged at the front side of the suction port, so that the liquid outlet is used for directly wetting the surface to be cleaned at the front side of the suction port, the cleaning device is used for brushing the wetted surface to be cleaned, and the brushing effect on the surface to be cleaned can also be achieved. In some embodiments, the fluid storage device 8 may be divided into a plurality of compartments, for example, two compartments, one for storing cleaning fluid and the other for storing recycled sewage; further, in the case of a mixture of clean water and detergent, the compartment for storing the cleaning solution may be divided into two sub-compartments, one sub-compartment having a volume substantially larger than the volume of the other sub-compartment, such that the larger sub-compartment stores clean water and the smaller sub-compartment stores detergent.

The sewage recovery device comprises a fan assembly and a sewage recovery pipeline connected between the sewage recovery device and the suction port. The sewage recovery pipeline sucks impurities and dirty liquid on the surface to be cleaned into the fluid storage device 702 through the sewage recovery pipeline under the action of suction force provided by the fan assembly.

As shown in fig. 8, the cleaning device includes a brush 8, an engaging mechanism 9, and a transmission unit 10 connected to a rotating motor 14. The rotating motor 14 drives the transmission part 10 to rotate in a first direction relative to the brush disk 8 so that the brush disk 8 is engaged with the transmission part 10 through the engaging mechanism 9, the rotating motor 14 drives the transmission part 10 to rotate in a second direction opposite to the first direction relative to the brush disk 8 so that the engaging mechanism 9 is disengaged from the transmission part 10, and the first direction is the rotating direction of the transmission part 10 in a normal working state.

As shown in fig. 8 and 10, the transmission part 10 includes a connection disc 1002 and a connection shaft 1001 located at the middle of the connection disc 1002. The brush disk 8 comprises a brush disk body 801 and bristles 802 arranged at the lower part of the brush disk body 801, after the brush disk body 801 is connected with a connecting disk 1002 of the transmission part 10, the connecting shaft 1001 of the transmission part 10 is driven to rotate through rotation of the rotating motor 14, so that the bristles 802 of the brush disk 8 are driven to rotate, the ground to be cleaned is cleaned, dirty water and dirty dirt are thrown away by centrifugal force generated by rotation, and the dirty water and the dirty dirt are recovered by the sewage recovery device. The bristles 802 are made of nylon, so that the corrosion resistance and the aging resistance of the bristles 802 can be greatly improved, the abrasion degree of the bristles 802 is reduced, and the service life of the bristles 802 is prolonged. The bristles 802 can also be formed by injection molding of an ABS material through an injection molding process, and have good corrosion resistance, impact resistance and strong stability. Further, the brush bristles 802 can also be arranged in a wavy manner along the length direction of the brush bristles, and are only arranged at the edge outside the brush disc 8, and two adjacent brush bristles 802 are distributed in a staggered manner, so that the density of the brush bristles 802 is increased, a good water retaining effect can be achieved, the using amount of the brush bristles 802 can be reduced, good water retaining performance can be achieved only by the single-layer brush bristles 802, and the production cost of the brush disc 8 is reduced.

Wherein, the first direction is a rotation direction of the transmission part 10 in a normal operation state, that is, the transmission part 10 rotates clockwise in a normal operation state, the first direction is a clockwise direction, and the second direction is an anticlockwise direction; the transmission part 10 rotates counterclockwise under normal operation, and the first direction is counterclockwise and the second direction is clockwise.

When the brush disc 8 needs to be disassembled, a certain external force is applied to the brush disc 8, then the rotating motor 14 drives the transmission part 10 to rotate relative to the brush disc 8 along the second direction, so that the brush disc 8 is unlocked from the transmission part 10 through the clamping mechanism 9, the brush disc 8 is separated from the transmission part 10, and the disassembly is completed. When the brush disc 8 needs to be installed, a certain external force is applied to the brush disc 8, then the rotating motor 14 drives the transmission part 10 to rotate relative to the brush disc 8 along the first direction, so that the brush disc 8 is clamped with the transmission part 10 through the clamping mechanism 9, and the brush disc 8 is connected with the transmission part 10, and the installation is completed. Therefore, the brush disc 8 can be automatically disassembled and assembled, the workload of an operator is reduced, the operation is convenient, and the assembly and disassembly efficiency is improved.

As shown in fig. 6 and 7, the lifting device is used for driving the transmission part 10 to ascend or descend; the lifting device and the rotating motor 14 are matched with each other to realize the engagement or disengagement of the engagement mechanism 9 and the transmission part 10. The lifting device and the rotating motor 14 drive the lifting and rotating of the transmission part 10, so that the brush disc 8 can be automatically disassembled and assembled, the workload of operators is reduced, the operation is convenient, and the assembly and disassembly efficiency is improved. Wherein the rotating motor 14 can be connected with the lifting device through the packaging shell 15.

Specifically, the lifting device and the rotating motor 14 can be used to realize the engagement or disengagement between the brush disc 8 and the transmission part 10 in two ways of mutual cooperation.

The first matching mode is as follows: in the process of descending the lifting device driving transmission part 10, the rotating motor 14 drives the transmission part 10 to rotate along the first direction, and after the lifting device driving transmission part 10 descends to the right position, the rotating motor 14 drives the transmission part 10 to rotate along the first direction relative to the brush disc 8 by the first maximum stroke, so that the clamping structure 9 is clamped with the transmission part 10.

The first maximum stroke is a rotation stroke of the rotating motor 14 rotating in the first direction to engage the engaging mechanism 9 with the transmission part 10, that is, if the first maximum stroke is smaller than the first maximum stroke, the transmission part 10 cannot be engaged with the engaging mechanism 9. Lowering to the position means that the lifting means lowers the drive part to a position where the bristles 802 of the brush disc 8 engage the ground and exert a certain pressure on the brush disc 8.

As shown in fig. 12, when it is desired to mount the brush plate 8, the brush plate 8 is placed on the ground, the driving part 10 is then lowered by the elevating means, and during the lowering, the rotating motor 14 drives the driving part 10 to rotate in the first direction. After the lifting device drives the transmission part 10 to descend to a proper position, the transmission part 10 is engaged with the brush disk 8 and applies pressure to the brush disk 8, and similarly, the bristles 802 are also subjected to a large downward force applied by the lifting device, so that a large friction force is generated between the bristles 802 and the ground, when the rotation motor 14 drives the transmission part 10 to rotate along a first direction, the brush disk 8 cannot rotate along with the rotation motor, the transmission part 10 can rotate relative to the brush disk 8, and the rotation motor 14 drives the transmission part 10 to rotate for a first maximum stroke, so that the clamping mechanism 9 is clamped with the transmission part 10, and the installation of the brush disk 8 is completed.

During the process of descending the lifting device driving transmission part 10, the rotating motor 14 drives the transmission part 10 to rotate along the second direction, and after the lifting device driving transmission part descends to the right position, the rotating motor 14 drives the transmission part 10 to rotate along the second direction relative to the brush disc 8 by a second maximum stroke, so that the clamping structure 9 is clamped with the transmission part 10.

The second maximum stroke is a rotation stroke of the rotating motor 14 rotating in the second direction to disengage the engaging mechanism 9 from the transmission part 10, that is, if the second maximum stroke is smaller than the second maximum stroke, the transmission part 10 cannot be disengaged from the engaging mechanism 9.

As shown in fig. 11, when the brush plate 8 needs to be removed, the transmission part 10 is lowered by the lifting device, and during the lowering process, the rotating motor 14 drives the transmission part 10 to rotate in the second direction. After the lifting device drives the transmission part 10 to descend to the proper position, the transmission part 10 is engaged with the brush disk 8 and applies pressure to the brush disk 8, and similarly, the bristles 802 are also subjected to a large downward force applied by the lifting device, so that a large friction force is generated between the bristles 802 and the ground, when the rotation motor 14 drives the transmission part 10 to rotate along the second direction, the brush disk 8 cannot rotate along with the rotation motor, the transmission part 10 can rotate relative to the brush disk 8, and the rotation motor 14 drives the transmission part 10 to rotate for a second maximum stroke, so that the clamping mechanism 9 is disengaged from the transmission part 10, and the installation of the brush disk 8 is completed.

The second matching mode is as follows: after the lifting device driving transmission part 10 descends to a certain position, the rotating motor 14 drives the transmission part 10 to rotate along a first direction relative to the brush disc 8 by a first maximum stroke, so that the clamping structure 9 is clamped with the transmission part 10.

As shown in fig. 12, when the brush disk 8 needs to be installed, the brush disk 8 is placed on the ground, after the lifting device drives the transmission part 10 to descend to the right position, the transmission part 10 is engaged with the brush disk 8 and applies pressure to the brush disk 8, and similarly, the bristles 802 are also subjected to a large downward pressure applied by the lifting device, so that a large friction force is generated between the bristles 802 and the ground, and thus, when the rotating motor 14 drives the transmission part 10 to rotate along the first direction, the brush disk 8 cannot rotate along with the rotation, so that the transmission part 10 can rotate relative to the brush disk 8, and the rotating motor 14 drives the transmission part 10 to rotate for a first maximum stroke, so that the engaging mechanism 9 is engaged with the transmission part 10, and thus, the installation of the brush disk 8 is completed.

After the lifting device driving transmission part 10 descends to the right position, the rotating motor 14 drives the transmission part 3 to rotate in the second direction relative to the brush disc 8 by the second maximum stroke, so that the engagement structure 9 is disengaged from the transmission part 10.

As shown in fig. 11, when the brush disk 8 needs to be removed, after the lifting device drives the transmission part 10 to descend to the right position, the transmission part 10 is engaged with the brush disk 8 and applies pressure to the brush disk 8, and the bristles 802 are also subjected to a large downward pressure applied by the lifting device, so that a large friction force is generated between the bristles 802 and the ground, and thus when the rotation motor 14 drives the transmission part 10 to rotate in the second direction, the brush disk 8 does not rotate along with the rotation motor, so that the transmission part 10 can rotate relative to the brush disk 8, and the rotation motor 14 drives the transmission part 10 to rotate for a second maximum stroke, so that the engagement mechanism 9 is disengaged from the transmission part 10, and the brush disk 8 is mounted. Compared with the first matching mode, the mode is that the rotating motor 14 works after being lowered to the right position, so that the power consumption of the rotating motor 14 can be reduced, and energy is saved.

In the above embodiment, as shown in fig. 8 and 9, the engaging mechanism 9 includes at least two engaging portions 901 disposed on the transmission portion 10, and a limiting portion 902 disposed on the brush disk 8 and corresponding to each engaging portion 901; after the brush disc 8 is engaged with the transmission portion 10, when the transmission portion 10 drives the engaging portions 901 to rotate to the engaging position, each engaging portion 901 is engaged with the corresponding limiting portion 902; when the transmission portion 10 drives the engaging portions 901 to rotate to the unlocking position, each engaging portion 901 is disengaged from the corresponding limiting portion 902.

The number of the engaging portions 901 may be set by an operator according to actual requirements, and is not strictly limited in this embodiment. In some possible implementation manners, the number of the engaging portions 901 is three, so that the number of the engaging portions 901 can be ensured to be small, the complexity of the overall structure can be reduced, and the stability of the engagement can be ensured. Since the stopper portions 902 and the engaging portions 901 are in one-to-one correspondence, the number of stopper portions 902 is the same as the number of engaging portions 901.

Although the engaging portion 901 has the ability to engage with the stopper portion 902, whether or not the engaging portion 901 can engage with the stopper portion 902 is also checked to see whether or not the engaging portion 901 reaches the engaging position.

The releasing position is specifically any position on the interval between two adjacent limiting portions 902, and when the transmission portion 10 drives the engaging portion 901 to rotate to any position on the interval between two adjacent limiting portions 902, the engaging portion 901 is disengaged from the limiting portions 902, that is, the engaging is released.

In a specific application, as shown in fig. 8 and 9, at least two engaging portions 901 are connected to an outer edge of the connecting disc 1002 of the transmission portion 10, and the at least two engaging portions 901 are uniformly distributed on the same circumference. At least two spacing portions 902 set up the upper surface at brush dish 8, and evenly distributed is on same circumference, guarantees like this that after block portion 901 and spacing portion 902 block, brush dish 8 receives even engaging force, prevents that brush dish 8 from taking place the slope, influences clean effect.

Further, the first direction is the same as the rotation direction of the transmission portion 10 in the normal operation state.

When the floor cleaning machine cleans the operation, elevating gear drives brush dish 8 through transmission portion 10 and descends to make brush dish 8 with treat clean surface contact, later carry the cleaning solution to liquid outlet department and come to provide the cleaning solution to brush dish 8, rotate motor 14 simultaneously and drive brush dish 8 rotatory through transmission portion 10, thereby realize clean operation. After the cleaning operation is finished, the lifting device is driven to rise through the transmission part 10, so that a certain distance is formed between the cleaning device and the surface to be cleaned, the abrasion of the ground to the cleaning device is reduced, and the service life of the cleaning device is prolonged.

In a specific use, as shown in fig. 6 and 7, the number of the cleaning devices is two, and the rotation directions of the transmission parts of the two cleaning devices in the normal working state are opposite.

When the two cleaning devices work, the rotating directions of the transmission parts 10 of the two cleaning devices in the normal working state are opposite, namely the first direction and the second direction of the two cleaning devices are opposite, so that impurities such as dust can be swept to the suction port at the middle part of the mobile cleaning equipment to be absorbed. For example, if the rotation direction of the transmission part 10 of one of the cleaning devices in the normal operation state is clockwise rotation, that is, the first direction is clockwise and the second direction is counterclockwise, the rotation direction of the transmission part 10 of the other cleaning device in the normal operation state is counterclockwise, that is, the first direction is counterclockwise and the second direction is clockwise. In this embodiment, after the brush disk 8 is engaged with the transmission part 10, all the engaging parts 901 and all the limiting parts 902 are located on the same circumference, so that when one engaging part 901 is engaged with the corresponding limiting part 902, the other engaging parts 901 are also engaged with the corresponding limiting parts 902, thereby improving the accuracy of the engagement.

In the above embodiment, as shown in fig. 9 to 12, each of the engaging portions 901 includes an engaging body 9011, and the engaging body 9011 is connected to an outer edge of the transmission portion 10 and extends in a direction away from the transmission portion 10; the clamping body 9011 is provided with a clamping groove 9012 at least on one side opposite to the corresponding limiting portion 902, and each limiting portion 902 comprises a limiting pin 9021 connected with the brush disc 8; when the transmission part 10 drives the clamping bodies 9011 to rotate to the clamping position, the clamping groove 9012 of each clamping body 9011 is clamped with the corresponding limiting pin 9021; when the transmission part 10 drives the fastening bodies 9011 to rotate to the unlocking position, the fastening groove 9012 of each fastening body 9011 is unlocked from the corresponding limit pin 9021.

Specifically, the limiting pin 9021 includes a cylinder and a limiting protrusion arranged above the cylinder, when the clamping body 9011 rotates to the clamping position, at least part of the limiting column is located in the clamping groove 9012, the limiting protrusion plays a role in limiting the axial direction of the edge of the clamping groove 9012, the clamping body 9011 is prevented from falling off due to gravity in the axial direction, and therefore the clamping of the clamping groove 9012 and the limiting pin 9021 is achieved. When the clamping body 9011 rotates to the unlocking position, the limiting column is separated from the clamping groove 9012, and meanwhile, the limiting protrusion cannot play a role in axial limiting, so that separation of the clamping portion 901 and the limiting portion 902 can be achieved. The clamping and the releasing are realized through the matching of the clamping groove 9012 and the limiting pin 9021, the structure is simple, and the operation is convenient.

Further, as shown in fig. 8, the limit pin 9021 is detachably connected with the brush disc body 801, a channel for containing a fastener 9022 such as a bolt 13 is formed in the main body, the fastener 9022 such as the bolt 13 penetrates through the channel to be in threaded connection with the brush disc 8, and therefore detachable connection between the limit pin 9021 and the brush disc 8 is achieved, only the limit pin 9021 needs to be replaced under the condition that the limit pin 9021 is seriously abraded, the whole brush disc 8 does not need to be scrapped, the service life of the brush disc 8 is prolonged, and cost is saved.

Different ways of providing the slot on the fastening body 9011 can be adopted, and the following describes the different ways in detail.

The first implementation manner is that the engaging body 9011 is provided with a locking slot 9012 only on the side opposite to the corresponding limiting portion 902.

In this implementation manner, the clamping groove 9012 is only formed on the side opposite to the corresponding limiting portion 902, so that the manufacturing process and the flow of the clamping portion 901 can be simplified, and the production efficiency can be improved. In order to improve the stability of the engagement, the rotation direction of the slot 9012 of the engagement body 9011 to the corresponding limit pin 9021 should be the same as the rotation direction of the transmission part 10 in the normal working state.

As shown in fig. 8 and 9, a second implementation manner is that each clamping body 9011 is provided with a first clamping groove 9013 on a first side, a second clamping groove 9014 on a second side, and the second side is the side of the clamping body 9011 opposite to the first side; the clamping position comprises a first clamping position and a second clamping position; when the transmission part 10 drives the clamping bodies 9011 to rotate to the first clamping position, the first clamping groove 9013 of each clamping body 9011 is clamped with the adjacent limiting pin 9021; when the transmission part 10 drives the clamping bodies 9011 to rotate to the second clamping position, the second clamping groove 9014 of each clamping body 9011 is clamped with the corresponding limiting pin 9021; when the transmission portion 10 drives the fastening bodies 9011 to rotate to the releasing position, the first fastening groove 9013 of each fastening body 9011 is in contact fastening with the adjacent limiting pin 9021, and the second fastening groove 9014 of each fastening body 9011 is in contact fastening with the adjacent limiting pin 9021.

In this implementation manner, a first card slot 9013 and a second card slot 9014 are respectively disposed on two opposite sides of the fastening body 9011, so that the fastening body 9011 can be fastened to both of the two adjacent limit pins 9021, that is, the fastening body 9011 can rotate clockwise to realize fastening and can also rotate counterclockwise to realize fastening, that is, according to the rotation direction of the normal operating state of the transmission part 10, one of the two adjacent limit pins 9021 of the fastening body 9011 is selected as the limit part 902 corresponding to the fastening part 901, and if the rotation direction of the normal operating state of the transmission part 10 is clockwise, and the direction of the fastening body 9011 rotating to the first unlocking position is clockwise, the limit pin 9021 adjacent to the first card slot 9013 is determined as the limit part 902 corresponding to the fastening part 901; similarly, if the rotation direction of the transmission part 10 in the normal operation state is the counterclockwise direction, and the direction in which the engaging body 9011 rotates to the second unlocking position is the counterclockwise direction, the pin limiting part adjacent to the engaging groove 9012 of the second engaging groove 9014 is determined as the limiting part 902 corresponding to the engaging part 901, so that the engaging part 901 can engage with the corresponding limiting part 902 no matter whether the rotation direction of the transmission part 10 in the normal operation state is the clockwise direction or the counterclockwise direction, thereby improving the applicability and the flexibility of use. The unlocking position is still any position spaced between the two adjacent limiting parts 902, so that when the clamping body 9011 rotates to the unlocking position, the clamping of the first clamping groove 9013 and the second clamping groove 9014 is limited and unlocked by the adjacent limiting parts 9012, and the unlocking operation is facilitated.

Further, as shown in fig. 8 and 9, for the second implementation, at least one of the engaging portions 901 is configured with a corresponding stopper portion 11, and the stopper portion 11 is used to block the first slot 9013 or the second slot 9014 from engaging with the adjacent limiting portion 902.

When the rotation angle of the engaging portion 901 to the unlocking position is too large, the stopper portion 11 can prevent the engaging portion 9013 or the engaging portion 9014 on the other side from engaging with the adjacent limiting portion 902, so that the brush plate 8 cannot be separated from the transmission portion 10. Specifically, under the condition that the direction of the first card slot 9013, in which the card slot 9012 rotates toward the adjacent limiting portion 902, is the same as the rotation direction of the transmission portion 10 in the normal operating state, the stopper portion 11 is disposed on at least one second card slot 9014, so that the second card slot 9014 is prevented from being engaged with the adjacent limiting portion 902 in the card releasing process. Similarly, when the direction in which the second card slot 9014 rotates toward the adjacent limiting portion 902 is the same as the rotation direction of the transmission portion 10 in the normal operating state, the stopper portion 11 is disposed on at least one first card slot 9013 of the card slot 9012, so that the first card slot 9013 is prevented from being engaged with the adjacent limiting portion 902 during the card releasing process.

In a specific application process, all the clamping parts 901 are clamped and unlocked simultaneously with all the limiting parts 902, and therefore, the stopping of all the first clamping grooves 9013 and the

second clamping grooves

9012 and 9014 can be achieved by arranging the corresponding stopping parts 11 on one or more of the clamping parts 901, so that the structure can be simplified, and the assembly and the manufacturing are convenient. Of course, the stopper portion 11 may be disposed in each of the engaging portions 901, so that the resistance of the stopper portion 11 can be increased, and the stopper effect can be improved.

Further, the stopper 11 is installed at a position corresponding to the first slot 9013 or the second slot 9014 on the edge of the transmission portion 10, and the first slot 2013 or the second slot 2014 is at least partially shielded by the stopper 4.

The blocking portion 4 blocks the first slot 2013 or the second slot 2014, so that the occupied space of the blocking portion 11 can be reduced, and the structure is more compact.

Specifically, the stopper 11 is detachably connected to the edge of the transmission part 10.

The stopping portion 11 and the transmission portion 10 are detachably connected, and the detachable connection manner can be realized by using an existing connection manner such as a bolt 136, and the present embodiment is not limited strictly. The detachable connection shell facilitates the mounting and dismounting of the stopper 114 to facilitate the adjustment of the position of the stopper 11. For example, when the first stopper portion 11 is disposed at the first slot 9013, and the direction of rotation of the first slot 9013 toward the adjacent limiting portion 902 is opposite to the direction of rotation of the transmission portion 10 in the normal operating state, the first stopper portion 11 may be detached and mounted at the second slot 9014, which is convenient for the user to operate.

In the above embodiment, at least one engaging portion 901 is provided with a corresponding locking portion 12, and when each engaging portion 901 is engaged with a corresponding limiting portion 902, the locking portion 12 is locked with the corresponding limiting portion 902, so as to limit the rotation of the engaging portion 901 towards the unlocking position.

Through the locking of locking part 12, can prevent because cleaning equipment produces rocking in the in-process of marcing, and make card and portion rotatory to the direction of unfreezing the position to make the block not hard up, the phenomenon of unfreezing even takes place, has further improved the stability and the reliability of block.

In a specific application process, all the clamping parts 901 and all the limiting parts 902 are clamped and unlocked simultaneously, and thus, all clamping parts can be locked by arranging corresponding locking parts 12 on one or more clamping parts 901, so that the structure can be simplified, and assembly and manufacturing are facilitated. Of course, the locking portion 125 may be provided for each of the engaging portions 901, which can improve the locking force and the locking effect.

Specifically, as shown in fig. 8 and 9, the locking portion 12 is mounted on the edge of the transmission portion 10 at a position corresponding to the engaging portion 901; the locking part 12 comprises an elastic arm 1201, and a bending part 1202 is arranged at one end of the elastic arm 1201 close to the corresponding limiting part 902; when each engaging portion 901 engages with the corresponding stopper portion 902, the stopper portion 902 is at least partially located in the curved portion 1202 to restrict the engaging portion 901 from rotating in the direction of the unlocking position.

In the process of assembling and disassembling the brush disk 8, as the lifting device applies larger downward pressure, larger friction force is generated between the brush bristles 802 and the ground, the frictional force is greater than the interaction force between the curved portion 1202 and the limiting portion 902, and during the rotation of the transmission portion 10 in the first direction with respect to the brush disc 8, the end of the resilient arm 1201 provided with the curved portion 1202 is gradually brought closer to the corresponding stopper portion 902, after the bending portion 1202 abuts against the stopper portion 902, the bending portion 902 is forced to move the elastic arm 1201 in a direction approaching the transmission portion 10, the bending portion 902 retreats from the transmission portion 10 to continue the rotation of the transmission portion 10, and then the bending portion 1202 is moved in a direction away from the transmission portion 10 by a repulsive force generated by the deformation of the elastic arm 1201, so that the position-limiting part 1202 is at least partially positioned in the bending part 902, and the automatic hooking of the bending part 902 and the position-limiting part 1202 is realized.

In a specific application, in a case where the engaging body 9011 is provided with the engaging groove 9012 only on a side opposite to the corresponding limiting portion 902, the bending part 1202 is at least partially positioned above the clamping groove 9012, the other end of the elastic clamping part can be fixed on the connecting part of the transmission part 103, as shown in fig. 14, during the rotation of the transmission part 10 relative to the brush plate 1 in the first direction, the end of the elastic arm 1201 provided with the bending part 902 gradually approaches the corresponding limit part 902, after the bending portion 902 abuts against the limiting portion 1202, the bending portion 902 is forced to move the elastic arm 1201 toward the transmission portion 10, thereby, the bending portion 902 retreats from the transmission portion 10 to make the transmission portion 10 rotate continuously, and then the bending portion 902 is moved in a direction away from the transmission portion 10 by the resilience force generated by the deformation of the elastic arm 1201, so that the position-limiting part 1202 is at least partially positioned in the bending part 902, and the automatic hooking of the bending part 902 and the position-limiting part 1202 is realized. Similarly, as shown in fig. 15, in the process of the rotation of the transmission part 10 relative to the brush plate 8 in the first direction, after the bending part 902 abuts against the stopper part 1202, the bending part 902 is forced to move the elastic arm 1201 in the direction approaching the transmission part 10, so that the bending part 902 retreats from the stopper part 1202, the stopper part 1202 is released from the bending part 902, and then, as the transmission part 10 rotates relative to the brush plate 8 in the second direction, the elastic force generated by the deformation of the elastic arm 1201 moves the bending part 902 in the direction away from the transmission part, and the separation of the stopper part 1202 and the bending part 902 is completed, so that the bending part 902 and the stopper part 1202 are disengaged.

As shown in fig. 8 and 9, for the situation that each clamping body 9011 has a first clamping slot 9013 on a first side and a second clamping slot 9014 on a second side, if the first clamping slot 9013 needs to be rotated to be clamped with an adjacent limiting pin, the bending portion 1202 is at least partially located above the first clamping slot 9013, and if the second clamping slot 9014 needs to be rotated to be clamped with an adjacent limiting pin, the bending portion 1202 is at least partially located above the second clamping slot 9014, and the remaining principles of hooking and unhooking can refer to the above description, which is not repeated herein.

In some possible implementations, as shown in fig. 8 and 10, the lower portion of the transmission part 10 is provided with a guide part 1003, the brush tray 8 is further provided with a guide part 803 matched with the guide part 1003, and the transmission part 10 is engaged with the brush tray 8 through the matching of the guide part 1003 and the guide part 803.

Through the cooperation of conduction portion with guide portion 1003, can be fast and accurate the realization brush dish 8 with the joint of transmission portion 10 to avoid the adjustment of relative position between conduction portion and the brush dish 8, thereby improve dismouting efficiency.

Specifically, as shown in fig. 6 and 8, the guide portion 1003 is a protrusion extending downward from the transmission portion 10, and the guide portion 803 is a recess for accommodating the protrusion.

The bulge extends into the recess, so that the brush disc 8 is connected with the transmission part 10, and the bulge is taken out of the recess, so that the brush disc 8 is separated from the transmission part 10, the connection operation is facilitated, the structure is simple, and the manufacture is facilitated.

In the lifting device in this embodiment, different connection manners may be adopted for the driving portion 3, one is that the driving end of the driving portion 3 is rotatably connected to the first connecting rod 201, the other is that the driving end of the driving portion 3 is rotatably connected to the second connecting rod 202, and the other is that the driving end of the driving portion 3 is rotatably connected to the synchronous linkage assembly 1. No matter which connection method is adopted, the driving end of the driving portion 3 can drive the first connecting rod 201 and the second connecting rod 202 to rotate simultaneously. Further, the bottom of the driving part 3 is rotatably connected with the main body 7, specifically, the main body 7 is provided with the first support 4, and the bottom of the driving part 3 is rotatably connected with the first support 4, so that the complexity of manufacturing the main body 7 can be reduced, and the production of the main body 7 is facilitated.

When the cleaning device needs to be lifted, the driving end of the driving part 3 drives the first connecting rod 201 and the second connecting rod 202 to rotate simultaneously, so that the first connecting rod 201 and the second connecting rod 202 both generate displacement in the horizontal direction and the vertical direction, and the cleaning device is driven to move up and down through the displacement generated in the vertical direction. Wherein, the horizontal direction is a direction parallel to the chassis 701 of the main body 7, and the vertical direction is located in a direction perpendicular to the chassis 701 of the main body 7; the driving portion 3 may be a linear motor or an electric push rod, and the embodiment is not limited strictly. In this embodiment, drive first connecting rod 201 through drive division 3 and rotate for cleaning device can go up and down for main part 7, reduces elevating gear like this in the occupation space of vertical direction, thereby reduces the size from removing cleaning device, does benefit to the miniaturized development of self-moving cleaning device.

As shown in fig. 2 to 5, the rotational connection position of the first link 201 and the main body 7 and the rotational connection position of the second link 202 and the main body 7 are located on the same horizontal plane, so that the space occupied by the first link 201 and the second link 202 in the vertical direction is reduced, and the space occupied by the lifting device in the vertical direction is reduced.

Further, the horizontal plane refers to a surface parallel to the bottom plate 701 of the main body 7. In the process of rotating the first connecting rod 201 and the second connecting rod 202, one end of the first connecting rod 201 connected with the second connecting rod 202 through the synchronous linkage assembly 1 is always located on the same horizontal plane, so that the cleaning device can be prevented from being overturned after being cleaned in the lifting process, and only part of the cleaning device is in contact with a surface to be cleaned, and the cleaning effect is reduced or the cleaning operation cannot be performed.

Specifically, as shown in fig. 2 to 4, the first connecting rod 201 includes a first swing arm 2011, a bending portion 2013 and a second swing arm 2012, the bending portion 2013 is respectively connected to one end of the first swing arm 2011 and one end of the second swing arm 2012, the bending portion 2013 is rotatably connected to the main body 7, the other end of the first swing arm 2011 is rotatably connected to the second connecting rod 202 through the synchronous linkage assembly 1, and the other end of the second swing arm 2012 is rotatably connected to the driving portion 3.

The main body 7 can be further provided with a second support 5, and the bent part 2013 is rotatably connected with the second support 5, so that the complexity of manufacturing the main body 7 can be reduced, and the production of the main body 7 is facilitated.

When needing to go up and down with cleaning device, the drive end drive second swing arm 2012 of drive division 3 rotates to make second swing arm 2012 drive first swing arm 2011 through kink 2013 and rotate, later drive the rotation of second connecting rod 202 through synchronous linkage subassembly 1, thereby drive cleaning device elevating movement through first swing arm 2011 and the produced displacement of second connecting rod 202 in vertical direction.

The first swing arm 2011 and the second swing arm 2012 form an included angle, so that the first swing arm 2011 can be driven to rotate by the rotation of the second swing arm 2012 at a smaller angle, and the driving stroke of the driving part 3 is reduced. And the length of first swing arm 2011 is greater than the length of second swing arm 2012, can increase the movement height of first swing arm 2011 in vertical direction to can make cleaning device have great elevating height, satisfy the demand of different elevating heights.

Further, as shown in fig. 3 to 5, the first link 201 is at least partially horizontally disposed in parallel with the second link 202, and the second link 202 is horizontally disposed in parallel with the first swing arm 2011 in the above embodiments. The horizontal parallel means that the two connecting rods are in the same horizontal level with the rotating connection position of the main body 7, and the first connecting rod 201 is at least partially arranged in parallel with the second connecting rod 202.

At least part of the first connecting rod 201 and the second connecting rod 202 are horizontally arranged in parallel, so that the occupied space of the lifting device in the vertical direction can be reduced, the size of the self-moving cleaning equipment is reduced, the miniaturization development of the self-moving cleaning equipment is facilitated, the smooth linkage of a connecting rod mechanism can be ensured, and the mutual interference of the first connecting rod 201 and the second connecting rod 202 is avoided.

Further, as shown in fig. 2 to 4, the first link 201 is located on a first vertical plane, and the second link 202 is located on a second vertical plane, which are parallel to and different from each other.

The first vertical surface and the second vertical surface are surfaces perpendicular to the horizontal plane. The first connecting rod 201 and the second connecting rod 202 are located on the vertical surfaces which are parallel to each other and different from each other, so that the situation of mutual interference in the rotating process of the first connecting rod 201 and the second connecting rod 202 can be avoided, and the smooth rotation of the first connecting rod 201 and the second connecting rod 202 is ensured. The projection of the second connecting rod 202 on the first vertical surface is at least partially located in the area between the first swing arm 2011 and the second swing arm 2012, so that the space occupied by the first connecting rod 201 and the space occupied by the second connecting rod 202 coincide, and the space occupied by the first connecting rod 201 and the second connecting rod 202 in the horizontal direction is reduced; meanwhile, the total displacement of the first connecting rod 201 and the second connecting rod 202 in the horizontal direction can be reduced, so that the occupied space of the lifting device in the horizontal direction is further increased.

Further, the included angle is 90 °. The included angle between the first swing arm 2011 and the second swing arm 2012 is set to be 90 degrees, so that the first connecting rod 201 can be conveniently manufactured.

In the above embodiment, as shown in fig. 1, 3 and 5, the number of the link mechanisms 2 is two, and the two sets of link mechanisms 2 are respectively and symmetrically arranged at two sides of the synchronous linkage assembly 1.

The two sets of link mechanisms 2 are symmetrically arranged, so that the problem of unbalanced stress caused by non-coplanarity of the first connecting rod 201 and the second connecting rod 202 can be avoided, and the overall strength of the lifting device is improved.

Specifically, as shown in fig. 1, 3 and 5, the synchronous linkage assembly 1 includes a first synchronous shaft 101, a second synchronous shaft 102, a third synchronous shaft 103 and a connecting member 104, wherein the connecting member 104 is respectively rotatably connected to the first synchronous shaft 101 and the second synchronous shaft 102; one end of a first connecting rod 201 of the two groups of link mechanisms 2 is rotatably connected through a first synchronizing shaft 101, the other end of the first connecting rod is rotatably connected through a second synchronizing shaft 102, and a second connecting rod 202 of the two groups of link mechanisms 2 is rotatably connected through a third synchronizing shaft 103; the drive unit 3 is rotatably connected to the first synchronizing shaft 101.

Wherein the connecting member 104 is a connecting plate having a first thickness, and the middle portion of the connecting plate may be provided as a hollow structure, thereby reducing the weight of the connecting member 104. The opposite two sides of the connecting plate can be respectively provided with a first through hole for the first synchronizing shaft 101 to pass through and a second through hole for the second synchronizing shaft 102 to pass through, so that the first synchronizing shaft 101 passes through the first through hole, and the second synchronizing shaft 102 passes through the second through hole to complete the connection of the first synchronizing shaft 101 and the second synchronizing shaft 102, and the connecting plate is not only stable in connection, but also convenient to assemble.

The driving end of the driving part 3 is rotatably connected with the middle part of the first synchronizing shaft 101, so that the driving force applied to the two groups of link mechanisms 2 is the same, the rotating synchronism can be ensured, and the operation of the lifting device is smoother.

In the embodiment, as shown in fig. 2 and fig. 3, the driving end of the driving portion 3 is used for extending, and then the first link 201 is driven by the first synchronizing shaft 101 to rotate counterclockwise, and at the same time, the first link 201 drives the second link 202 to rotate counterclockwise through the linkage of the second synchronizing shaft 102, the third synchronizing shaft 103 and the connecting member 104, so as to drive the cleaning device to ascend. Similarly, as shown in fig. 4 and 5, the driving end of the driving part 3 is used to shorten, and then the first link 201 is driven by the first synchronizing shaft 101 to rotate clockwise, and at the same time, the first link 201 drives the second link 202 to rotate clockwise by the linkage of the second synchronizing shaft 102, the third synchronizing shaft 103 and the connecting piece 104, so as to drive the cleaning device to descend.

In order to ensure that the descending height of the cleaning device is suitable for the actual requirement, in some implementations, as shown in fig. 2 to 5, the link mechanism 2 further includes a limiting portion 6 mounted on the main body 7, and the limiting mechanism is used for blocking the rotation of the first link 201 and the second link 202 to limit the descending height of the cleaning device.

Wherein, spacing portion 6 is located the one side that is close to drive part 3 of first synchronizing shaft 101, and spacing portion 6 can adopt the baffle that has a take the altitude to play and carry out spacing effect to first synchronizing shaft 101. In order to avoid interference with the driving movement of the driving portion, the stopper portion 6 may be provided at a position near the end of the first synchronizing shaft 101.

As shown in fig. 4 and 5, the rotation of the first synchronizing shaft 101 is blocked by the limiting part 6, so that the rotation of the first connecting rod 201 and the second connecting rod 202 is limited, and thus the cleaning device can be lowered to a preset position and cannot be lowered continuously, and the precise control of the lowering height of the cleaning device is realized. The descending height of the cleaning device can be adjusted by adjusting the distance between the limiting part 6 and the first synchronizing shaft 101, that is, the closer the limiting part 6 is to the first synchronizing shaft 101, the smaller the rotating angle of the first connecting rod 201 and the second connecting rod 202 is, that is, the descending height of the cleaning device is; the farther the limiting part 6 is from the first synchronizing shaft 101, the larger the rotation angle of the first connecting rod 201 and the second connecting rod 202 is, that is, the larger the descending height of the cleaning device is, and the worker can determine the distance between the limiting part 6 and the first synchronizing shaft according to actual requirements.

Further, as shown in fig. 2 to 5, the second link 202 is rotatably connected to the lower portion of the blocking portion, so that it is not necessary to separately provide a hinge bracket for the second link 202, thereby simplifying the structure and making the structure more compact.

In the above embodiment, as shown in fig. 1 to 5, the synchronization linkage assembly 1 further includes the mounting seats 105 disposed at both ends of the second synchronizing shaft 102 and the third synchronizing shaft 103, and the mounting seats 105 are connected to the cleaning device.

The installation seats 105 are arranged at the two ends of the second synchronizing shaft 102 and the third synchronizing shaft 103, so that the connection stability of the lifting device and the cleaning device can be ensured, and the cleaning device can be uniformly stressed, so that the cleaning device is prevented from being inclined in the lifting process.

In a second aspect, with respect to the self-moving cleaning apparatus in the foregoing embodiments, an embodiment of the present invention provides a method for lifting a cleaning device of the self-moving cleaning apparatus, including:

step S101: the control driving part drives the first connecting rod and the second connecting rod to rotate along the first direction so as to drive the cleaning device to ascend.

Specifically, the step S101 includes:

step S1011: the control driving part 3 drives the first connecting rod 201 to rotate around the first rotating connecting point along the first direction, and drives the second connecting rod 202 to rotate around the second rotating connecting point along the first direction through the synchronous linkage component 1, so as to drive the cleaning device to ascend.

Specifically, the step S1011 further includes:

step S10111: the control driving part 3 drives the second swing arm 2012 of the first link 201 to rotate around the first rotation connection point along the first direction, the second swing arm 2012 drives the first swing arm 2011 of the first link 201 to rotate around the first rotation connection point along the first direction, and the synchronous linkage component 1 drives the second link 202 to rotate around the second rotation connection point along the first direction, so as to drive the cleaning device to ascend.

In a third aspect, with respect to the self-moving cleaning apparatus in the foregoing embodiments, an embodiment of the present invention provides a descending method of a cleaning device of the self-moving cleaning apparatus, including:

step S101: the control driving part drives the first connecting rod and the second connecting rod to rotate along a second direction opposite to the first direction so as to drive the cleaning device to descend.

Specifically, the step S101 includes:

step S1011: the control driving part 3 drives the first connecting rod 201 to rotate around the first rotating connection point along a second direction opposite to the first direction, and drives the second connecting rod 202 to rotate around the second rotating connection point along a second direction opposite to the first direction through the synchronous linkage assembly 1, so as to drive the cleaning device to descend.

Specifically, the step S1011 further includes:

step S10111: the control driving part 3 drives the second swing arm 2012 of the first link 201 to rotate around the first rotation connection point in a second direction opposite to the first direction, the second swing arm 2012 drives the first swing arm 2011 of the first link 201 to rotate around the first rotation connection point in a second direction opposite to the first direction, and the synchronous linkage assembly 1 drives the second link 202 to rotate around the second rotation connection point in a second direction opposite to the first direction, so as to drive the cleaning device to descend.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The self-moving cleaning equipment is characterized by comprising a main body, a cleaning device and a lifting device, wherein the cleaning device is connected with the main body through the lifting device;

2. The self-moving cleaning apparatus in accordance with claim 1, wherein the rotational connection of the first link to the main body is located on the same horizontal plane as the rotational connection of the second link to the main body.

3. The self-moving cleaning device as claimed in claim 2, wherein the first connecting rod comprises a first swing arm, a bending portion and a second swing arm, the bending portion is connected to one end of the first swing arm and one end of the second swing arm respectively, the bending portion is connected to the main body in a rotating manner, the other end of the first swing arm is connected to the second connecting rod in a rotating manner through the synchronous linkage assembly, and the other end of the second swing arm is connected to the driving portion in a rotating manner.

4. The self-moving cleaning apparatus in accordance with claim 3 wherein the first link is located on a first vertical plane and the second link is located on a second vertical plane, the first vertical plane and the second vertical plane being parallel and different vertical planes from each other.

5. The self-moving cleaning apparatus in accordance with claim 3 wherein the first link is disposed at least partially horizontally parallel to the second link.

6. The self-moving cleaning device as claimed in claim 2, wherein the number of the link mechanisms is two, and the two sets of the link mechanisms are respectively symmetrically arranged at two sides of the synchronous linkage assembly.

7. The self-moving cleaning apparatus according to claim 6, wherein the synchronization linkage assembly comprises a first synchronization shaft, a second synchronization shaft, a third synchronization shaft and a connecting member, the connecting member being rotatably connected with the first synchronization shaft and the second synchronization shaft, respectively;

8. The self-moving cleaning apparatus as claimed in claim 7, wherein the link mechanism further comprises a stopper mounted to the main body, the stopper mechanism being configured to block rotation of the first and second links to limit a lowered height of the sweeping device.

9. The self-moving cleaning apparatus in accordance with claim 8 wherein the second link is pivotally connected to a lower portion of the blocking portion.

10. The self-moving cleaning apparatus in accordance with claim 7, wherein the synchronized linkage assembly further comprises mounting seats disposed at both ends of the second and third synchronizing shafts, the mounting seats being connected to the cleaning device.