Self-moving cleaning device

Abstract

The present invention discloses a self-moving cleaning device, comprising a main body, a sweeping apparatus and a lifting and lowering apparatus, wherein the sweeping apparatus is connected to the main body by means of the lifting and lowering apparatus; the lifting and lowering apparatus includes a synchronous linkage assembly, a connecting rod mechanism and a driving portion, the connecting rod mechanism comprising a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod being rotationally connected to the main body around an axis in a horizontal direction, and the first connecting rod being rotationally connected to the second connecting rod by means of the synchronous linkage assembly; and the driving portion is configured to drive the first connecting rod to enable the sweeping apparatus to be lifted and lowered relative to the main body.

1 . A self-moving cleaning device, comprising a main body, a sweeping apparatus and a lifting and lowering apparatus, wherein the sweeping apparatus is connected to the main body by means of the lifting and lowering apparatus;
 the lifting and lowering apparatus comprises a synchronous linkage assembly, a connecting rod mechanism and a driving portion, the connecting rod mechanism comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are rotationally connected to the main body around an axis in a horizontal direction, the first connecting rod is rotationally connected to the second connecting rod by means of the synchronous linkage assembly; and the driving portion is configured to drive the first connecting rod to enable the sweeping apparatus to be lifted and lowered relative to the main body.   
     
     
         2 . The self-moving cleaning device according to  claim 1 , wherein a first location where the first connecting rod and the main body are rotationally connected and a second location where the second connecting rod and the main body are rotationally connected are located on the same horizontal plane. 
     
     
         3 . The self-moving cleaning device according to  claim 2 , wherein the first connecting rod comprises a first swing arm, a bent portion and a second swing arm, the bent portion is respectively connected to a first end of the first swing arm and a first end of the second swing arm, the bent portion is rotationally connected to the main body, a second end of the first swing arm is rotationally connected to the second connecting rod by means of the synchronous linkage assembly, and a second end of the second swing arm is rotationally connected to the driving portion. 
     
     
         4 . The self-moving cleaning device according to  claim 3 , wherein the first connecting rod is located on a first vertical plane, the second connecting rod is located on a second vertical plane, and the first vertical plane and the second vertical plane are different vertical planes parallel to each other. 
     
     
         5 . The self-moving cleaning device according to  claim 3 , wherein the first connecting rod is at least partially arranged horizontally parallel to the second connecting rod. 
     
     
         6 . The self-moving cleaning device according to  claim 2 , wherein a number of the connecting rod mechanisms is two sets, and the two sets of connecting rod mechanisms are symmetrically arranged on two sides of the synchronous linkage assembly, respectively. 
     
     
         7 . The self-moving cleaning device according to  claim 6 , wherein the synchronous linkage assembly comprises a first synchronizing shaft, a second synchronizing shaft, a third synchronizing shaft and a connector, wherein the connector is rotationally connected to the first synchronizing shaft and the second synchronizing shaft;
 first ends of the first connecting rods of the two sets of connecting rod mechanisms are rotationally connected by means of the first synchronizing shaft, and second ends of first connecting rods of the two sets of connecting rod mechanisms are rotationally connected by means of the second synchronizing shaft; the second connecting rods of the two sets of connecting rod mechanisms are rotationally connected by means of the third synchronizing shaft; and the driving portion is rotationally connected to the first synchronizing shaft.   
     
     
         8 . The self-moving cleaning device according to  claim 7 , wherein the connecting rod mechanism further comprises a position-limiting portion mounted on the main body, the position-limiting portion is configured to prevent the first connecting rod and the second connecting rod from rotating so as to limit a lowering height of the sweeping apparatus. 
     
     
         9 . The self-moving cleaning device according to  claim 8 , wherein the second connecting rod is rotationally connected to a lower portion of the position-limiting portion. 
     
     
         10 . The self-moving cleaning device according to  claim 7 , wherein the synchronous linkage assembly further comprises mounting bases, the mounting bases are arranged at two ends of the second synchronizing shaft and two ends of the third synchronizing shaft, respectively, and the mounting bases are connected to the sweeping apparatus. 
     
     
         11 . A lifting method for a self-moving cleaning device, comprising:
 controlling a driving portion to drive a first connecting rod and a second connecting rod to rotate in a first direction, so as to lift a sweeping apparatus,   wherein the self-moving cleaning device comprises a main body, the sweeping apparatus and a lifting and lowering apparatus; the sweeping apparatus is connected to the main body by means of the lifting and lowering apparatus; and   the lifting and lowering apparatus comprises a synchronous linkage assembly, a connecting rod mechanism and the driving portion, the connecting rod mechanism comprises the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod are rotationally connected to the main body around an axis in a horizontal direction, and the first connecting rod is rotationally connected to the second connecting rod by means of the synchronous linkage assembly.   
     
     
         12 . The lifting method according to  claim 11 , wherein controlling the driving portion to drive the first connecting rod and the second connecting rod to rotate in the first direction, so as to lift the sweeping apparatus comprises:
 controlling the driving portion to drive the first connecting rod to rotate around a first rotational connection point in the first direction, and driving, by means of the synchronous linkage assembly, the second connecting rod to rotate around a second rotational connection point in the first direction, so as to lift the sweeping apparatus.   
     
     
         13 . The lifting method according to  claim 11 , wherein controlling the driving portion to drive the first connecting rod and the second connecting rod to rotate in the first direction, so as to lift the sweeping apparatus comprises:
 controlling the driving portion to drive a second swing arm of the first connecting rod to rotate around a first rotational connection point in the first direction; driving, by means of the second swing arm, a first swing arm of the first connecting rod to rotate around the first rotational connection point in the first direction; and driving, by means of the synchronous linkage assembly, the second connecting rod to rotate around a second rotational connection point in the first direction, so as to lift the sweeping apparatus.   
     
     
         14 . A lowering method for a self-moving cleaning device, comprising:
 controlling a driving portion to drive a first connecting rod and a second connecting rod to rotate in a second direction opposite to a first direction, so as to lower a sweeping apparatus,   wherein the self-moving cleaning device comprises a main body, the sweeping apparatus and a lifting and lowering apparatus; the sweeping apparatus is connected to the main body by means of the lifting and lowering apparatus; and   the lifting and lowering apparatus comprises a synchronous linkage assembly, a connecting rod mechanism and the driving portion, the connecting rod mechanism comprises the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod are rotationally connected to the main body around an axis in a horizontal direction, and the first connecting rod is rotationally connected to the second connecting rod by means of the synchronous linkage assembly.   
     
     
         15 . The lowering method according to  claim 14 , wherein controlling the driving portion to drive the first connecting rod and the second connecting rod to rotate in the second direction opposite to the first direction, so as to lower the sweeping apparatus comprises:
 controlling the driving portion to drive the first connecting rod to rotate around a first rotational connection point in the second direction, and driving, by means of the synchronous linkage assembly, the second connecting rod to rotate around a second rotational connection point in the second direction, so as to lower the sweeping apparatus.   
     
     
         16 . The lowering method according to  claim 14 , wherein controlling the driving portion to drive the first connecting rod and the second connecting rod to rotate in the second direction opposite to the first direction, so as to lower the sweeping apparatus comprises:
 controlling the driving portion to drive a second swing arm of the first connecting rod to rotate around a first rotational connection point in the second direction, driving, by means of the second swing arm, a first swing arm of the first connecting rod to rotate around the first rotational connection point in the second direction, and driving, by means of the synchronous linkage assembly, the second connecting rod to rotate around a second rotational connection point in the second direction, so as to lower the sweeping apparatus.   
     
     
         17 . The self-moving cleaning device according to  claim 2 , wherein during rotation of the first connecting rod and the second connecting rod, ends of the first connecting rod and the second connecting rod connected by means of the synchronous linkage assembly are always located on the same horizontal plane. 
     
     
         18 . The self-moving cleaning device according to  claim 3 , wherein the main body is provided with a second bracket, and the bent portion is rotationally connected to the main body through the second bracket. 
     
     
         19 . The self-moving cleaning device according to  claim 3 , wherein the first swing arm and the second swing arm form an included angle, and a length of the first swing arm is greater than a length of the second swing arm. 
     
     
         20 . The self-moving cleaning device according to  claim 4 , wherein the first vertical plane and the second vertical plane are surfaces perpendicular to the horizontal plane.