Driving device, base station and cleaning system

Abstract

The invention discloses a driving device, a base station and a cleaning system. The driving device drives the moving piece to move along the guiding piece through the crank assembly, so that the load is driven to move through the moving piece, for example, the load can be driven to stretch or lift. The crank assembly is arranged opposite to the guide piece in the second direction, that is, the crank assembly does not additionally occupy the space of the driving device in the load moving direction, so that the size of the driving device in the load moving direction can be reduced, and installation operation of the driving device in a specific application scene is facilitated. The driving device can be suitable for application scenes with strict requirements for installation space.

Description

Technical Field

[0001] The present application relates to the technical field of crank-connecting rod mechanisms, and in particular to a driving device, a base station and a cleaning system. Background Art

[0002] At present, the mechanisms used to drive the load to extend or lift usually include telescopic cylinders, telescopic motors, gear rack transmission mechanisms, synchronous belt pulley transmission mechanisms, crank connecting rod mechanisms, etc. The dimensions of the aforementioned mechanisms in the load moving direction are often larger than the load moving stroke, which causes inconvenience to the installation of the mechanisms and cannot be applied to application scenarios with strict requirements on installation space. Summary of the invention

[0003] The present application provides a driving device, a base station and a cleaning system, which can reduce the size of the driving device in the load moving direction.

[0004] The present application provides a driving device, which has a first direction and a second direction perpendicular to each other, and comprises: a base; a driving assembly, comprising a guide member and a moving member, the guide member is connected to the base, the moving member is movably connected to the guide member, the guide member extends along the first direction to guide the moving member to move along the first direction, and the moving member is also used to connect a load; a crank assembly, which is connected to the base and is also transmission-connected to the moving member, wherein the crank assembly is arranged opposite to the guide member in the second direction; and a main power member, which is connected to the base and is also transmission-connected to the crank assembly, and the main power member is used to drive the moving member to move along the guide member through the crank assembly.

[0005] In one embodiment of the present application, the crank assembly includes: a crank wheel, which is transmission-connected to a main force member, and the main force member is used to drive the crank wheel to rotate relative to a base around a first rotation axis; and a connecting rod, whose opposite ends are a first end and a second end, respectively, the first end is rotatably connected to the crank wheel via a crank shaft, and the second end is rotatably connected to a moving member; wherein the main force member drives the crank shaft to rotate around the first rotation axis for at least one circle, so that the crank shaft drives the moving member to move along the guide member through the connecting rod.

[0006] In one embodiment of the present application, a line connecting the first end and the second end is defined as a target line; the driving device also includes: an auxiliary power component connected to the moving member and / or the crank wheel; in the process of the main power member driving the crank wheel to rotate, before the target line passes through the first rotation axis, the moving member moves along a preset direction; when the target line passes through the first rotation axis, the moving member and the crank wheel are matched through the auxiliary power component to drive the moving member to continue moving along the preset direction.

[0007] In one embodiment of the present application, the auxiliary power assembly includes: a first transmission member, which is arranged on the moving member; and a second transmission member, which is arranged on the crank wheel. The second transmission member can interfere with the first transmission member as the crank wheel rotates, so that the moving member and the crank wheel are in transmission coordination.

[0008] In one embodiment of the present application, at least one of the first transmission member and the second transmission member is an elastic body, and the elastic body is used to provide elastic restoring force so that the moving member and the crank wheel can cooperate in transmission.

[0009] In one embodiment of the present application, when the target line passes through the first rotation axis, both the first transmission member and the second transmission member intersect with the target line.

[0010] In one embodiment of the present application, when the target line passes through the first rotation axis, the target line is perpendicular to the first direction.

[0011] In one embodiment of the present application, the crank assembly also includes a first rotating bearing; the crank shaft is arranged on the crank wheel, and the first end is rotatably connected to the crank shaft through the first rotating bearing, or the crank shaft is arranged at the first end, and the crank shaft is rotatably connected to the crank wheel through the first rotating bearing.

[0012] In one embodiment of the present application, the crank assembly also includes a rotating shaft and a second rotating bearing; the rotating shaft is arranged on the movable part, and the second end is rotatably connected to the rotating shaft through the second rotating bearing, or the rotating shaft is arranged at the second end, and the rotating shaft is rotatably connected to the movable part through the second rotating bearing.

[0013] In one embodiment of the present application, the crank assembly, the guide member and the moving member are located on the same side of the base, and the main force member is connected to a side of the base facing away from the crank assembly.

[0014] Correspondingly, the present application also provides a base station for a cleaning device, the base station comprising: a base station body; a driving device as described in the above embodiment, the base of the driving device is arranged on the base station body; and an injection device, which is connected to the moving part of the driving device, and the driving device is used to drive the injection device to dock with the cleaning device when the cleaning device returns to the base station, so that the injection device can inject cleaning liquid into the cleaning device.

[0015] Correspondingly, the present application also provides a cleaning system, including a cleaning device and a base station as described in the above embodiment.

[0016] The beneficial effects of the present application are as follows: Different from the prior art, the present application provides a driving device, a base station and a cleaning system. The driving device drives the movable member to move along the guide member through the crank assembly, so as to drive the load to move through the movable member, for example, it can drive the load to be extended or lifted. The crank assembly of the present application is arranged relative to the guide member in the second direction, that is, the crank assembly does not occupy additional space of the driving device in the load movement direction, and thus can reduce the size of the driving device in the load movement direction, so as to facilitate the installation operation of the driving device in a specific application scenario. The driving device of the present application can be suitable for application scenarios that have strict requirements on the installation space.

[0017] Furthermore, the main power member of the present application drives the crank shaft to rotate around the first rotation axis for at least one circle to drive the moving member to move along the guide member, that is, the main power member of the present application drives the crank wheel to rotate within a full circle, which can amplify the maximum moving stroke of the moving member and thereby amplify the maximum moving stroke of the load. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1a-1b It is a structural schematic diagram of an embodiment of the driving device of the present application;

[0020] Figure 2 yes Figure 1a-1b An exploded structural diagram of the drive device shown;

[0021] Figure 3a-3c It is a schematic diagram of an embodiment of a single moving stroke of the moving member of the present application;

[0022] Figure 4a-4c It is a schematic diagram of an embodiment of the present invention in which the moving part passes through the zero position;

[0023] Figure 5 It is a schematic diagram of an embodiment of the principle structure of the driving device of the present application.

[0024] Description of reference numerals:

[0025] 10 driving device; 11 base; 12 driving assembly; 121 guiding member; 122 moving member; 13 crank assembly; 131 crank wheel; 132 connecting rod; 1321 first end; 1322 second end; 133 crank shaft; 134 first rotating bearing; 135 rotating shaft; 136 second rotating bearing; 14 main power member; 15 auxiliary power assembly; 151 first transmission member; 152 second transmission member. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0027] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] The present application provides a driving device, a base station and a cleaning system, which are described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0029] See also Figure 1a-1b as well as Figure 2 , Figure 1a-1b is a schematic structural diagram of an embodiment of the driving device of the present application, Figure 2 yes Figure 1a-1b Schematic diagram of the exploded structure of the drive device shown.

[0030] In one embodiment, the driving device 10 is used to drive a load to perform operations such as extension or lifting. Specifically, the driving device 10 has a first direction (eg Figure 1b In the second direction (shown by the arrow X, the same below) and the second direction (as shown in Figure 1bThe driving device 10 includes a base 11. The base 11 is the basic carrier of the driving device 10, and is used to carry the remaining parts of the driving device 10. The driving device 10 also includes a driving component 12, and the driving component 12 includes a guide member 121 and a moving member 122. The guide member 121 is connected to the base 11, and the moving member 122 is movably connected to the guide member 121. The guide member 121 extends along a first direction to guide the moving member 122 to move along the first direction. The moving member 122 is also used to connect a load, so as to drive the load to move along the first direction by moving the moving member 122 along the first direction, and the first direction is the moving direction of the load. The driving device 10 also includes a crank assembly 13. The crank assembly 13 is connected to the base 11, and the crank assembly 13 is also transmission-connected to the moving member 122. The driving device 10 also includes a main power member 14. The main force member 14 is connected to the base 11 and is also connected to the crank assembly 13. The main force member 14 is used to drive the moving member 122 to move along the guide member 121 through the crank assembly 13, and then drive the load to move through the moving member 122 to achieve operations such as driving the load to extend or lift.

[0031] It should be noted that the crank assembly 13 is arranged opposite to the guide member 121 in the second direction. Compared with the case where the crank assembly 13 and the guide member 121 are arranged sequentially along the first direction, the crank assembly 13 of this embodiment is located on the side of the guide member 121 in the second direction, and the crank assembly 13 does not occupy additional space of the drive device 10 in the load movement direction, thereby being able to reduce the size of the drive device 10 in the load movement direction to facilitate the installation of the drive device 10 in a specific application scenario. Although the overall volume of the drive device 10 of this embodiment has not changed, the extreme size of the drive device 10 in the load movement direction is avoided, which can improve the flexibility of arranging the drive device 10, thereby facilitating the installation of the drive device 10. The drive device 10 of this embodiment can be suitable for application scenarios that have strict requirements on the installation space.

[0032] For example, the first direction and the second direction are both parallel to the surface of the base 11 where the guide member 121 is located. The crank assembly 13, the guide member 121, and the moving member 122 are located on the same side of the base 11, and the main force member 14 is connected to the side of the base 11 away from the crank assembly 13. The crank assembly 13 includes a crank wheel 131 and a connecting rod 132. At least the crank wheel 131 is arranged opposite to the guide member 121 in the second direction. The crank wheel 131 is in transmission connection with the main force member 14, and the main force member 14 is used to drive the crank wheel 131 to rotate relative to the base 11 around a first rotation axis (such as Figure 3a to Figure 3cThe first rotation axis is the central axis of the output shaft of the main power member 14.

[0033] It should be noted that the second direction of the embodiment of the present application is defined as any direction perpendicular to the first direction. For the case where both the first direction and the second direction are parallel to the surface of the base 11 where the guide 121 is located, the second direction is Figure 1b Of course, in other embodiments of the present application, the second direction may also be perpendicular to the surface of the base 11 where the guide member 121 is located, or the second direction may be other directions perpendicular to the first direction, which is not limited here.

[0034] In one embodiment, the two opposite ends of the connecting rod 132 are respectively a first end 1321 and a second end 1322. The first end 1321 is rotatably connected to the crank wheel 131 through a crank shaft 133, and the second end 1322 is rotatably connected to the moving member 122. The main force member 14 drives the crank shaft 133 to rotate at least one circle around the first rotation axis, so that the crank shaft 133 drives the moving member 122 to move along the guide member 121 through the connecting rod 132.

[0035] When the driving device 10 drives the load to move in one direction to reach the maximum stroke, the main force member 14 drives the crank wheel 131 to rotate one circle in the corresponding direction, so that the crank shaft 133 rotates one circle around the first rotation axis, thereby driving the moving member 122 to rotate in a preset direction (such as 10) parallel to the first direction. Figure 3a to Figure 3c In other words, the main power member 14 of the present embodiment drives the crank wheel 131 to rotate within a full circle. Compared with the crank-connecting rod 132 mechanism of the traditional engine in which the crank only rotates within a half circle, the maximum movement stroke of the moving member 122 of the present embodiment is magnified to 2 times, that is, the maximum movement stroke of the load is magnified to 2 times. At the same time, for driving the load to move the same stroke, since the crank assembly 13 of the present embodiment is located on the side of the guide member 121 in the second direction, the present embodiment reduces the occupied space of the drive assembly 12 by optimizing the setting position of the crank assembly 13.

[0036] In one embodiment, considering that the main force member 14 drives the crank wheel 131 to rotate within the full circle, there is a zero position in the process of the mobile member 122 moving along the above-mentioned preset direction, and the mobile member 122 is no longer subject to driving force when the mobile member 122 moves to the zero position. In view of this, the drive device 10 of the present embodiment also includes an auxiliary power assembly 15, and the auxiliary power assembly 15 is connected with the mobile member 122 and / or the crank wheel 131. The auxiliary power assembly 15 is used to apply driving force to the mobile member 122 when the mobile member 122 moves to the zero position, so as to drive the mobile member 122 to continue to move along the preset direction, so that the mobile member 122 reliably and stably crosses the zero position, avoids the mobile member 122 from stagnating at the zero position as much as possible or avoids the mobile member 122 from moving in the opposite direction of the preset direction, and then ensures that the mobile member 122 drives the load to move as required.

[0037] Specifically, the line connecting the first end 1321 and the second end 1322 of the connecting rod 132 is defined as the target line (eg Figure 3a to Figure 3c The first end 1321 of the connecting rod 132 and the crank wheel 131 can rotate around a second rotation axis (such as Figure 3a The second end 1322 and the moving member 122 can rotate relative to each other around a third rotation axis (as shown by the dashed line O2 in the middle, the same below). Figure 3a The target line passes through the second rotation axis and the third rotation axis respectively, and the target line is perpendicular to the first rotation axis, the second rotation axis and the third rotation axis respectively. In the process of the main force member 14 driving the crank wheel 131 to rotate, before the target line passes through the first rotation axis (that is, the target line intersects with the first rotation axis), the moving member 122 moves along the preset direction; when the target line passes through the first rotation axis, the moving member 122 and the crank wheel 131 are matched through the auxiliary power component 15 to drive the moving member 122 to cross the zero position, and then drive the moving member 122 to continue to move in the preset direction, that is, the moving direction of the moving member 122 is controllable. And, when the target line passes through the first rotation axis, the target line is perpendicular to the first direction. For the case where the connecting rod 132 is a straight rod, the target line is the central axis of the connecting rod 132. When the target line passes through the first rotation axis, the connecting rod 132 intersects with the first rotation axis.

[0038] In one embodiment, the auxiliary power assembly 15 includes a first transmission member 151 and a second transmission member 152. The first transmission member 151 is disposed on the moving member 122. The second transmission member 152 is disposed on the crank wheel 131, and the second transmission member 152 can interfere with the first transmission member 151 as the crank wheel 131 rotates, so that the moving member 122 and the crank wheel 131 are in transmission cooperation.

[0039] At least one of the first transmission member 151 and the second transmission member 152 is an elastic body, and the elastic body is used to provide elastic restoring force so that the moving member 122 and the crank wheel 131 can be matched with each other in transmission. Figures 4a to 4c The case where the first transmission member 151 is an elastic body is exemplified. Figures 4a to 4c The connecting rod 132 is omitted. The second transmission member 152 is a flange structure protruding from the outer edge of the crank wheel 131. The second transmission member 152 can be an integral structure with the crank wheel 131, or the second transmission member 152 is a separate structural member and assembled to the crank wheel 131.

[0040] For example, a single movement stroke of the moving member 122 is taken as Figure 3a to Figure 3c For example, the default direction is Figure 3a to Figure 3c The left side points to the right side, specifically, the moving member 122 moves from the A position to the C position, and the moving member 122 can pass through the B position (i.e., the zero position). For driving the load to perform operations such as lifting, the single movement stroke of the moving member 122 can drive the load to complete a rising operation, and drive the load to complete the corresponding descending operation through the reverse movement stroke of the moving member 122 (moving from the C position to the A position), or the single movement stroke of the moving member 122 drives the load to complete a descending operation, and drives the load to complete the corresponding rising operation through the reverse movement stroke of the moving member 122. The telescopic operation of the load is similar, and will not be repeated here.

[0041] like Figure 4a As shown, before the moving member 122 is about to move to the B position, the second transmission member 152 rotates with the crank wheel 131 and just contacts the first transmission member 151; Figure 4b As shown, as the crank wheel 131 continues to rotate, it drives the moving member 122 to move to position B. At this time, the second transmission member 152 squeezes the first transmission member 151, causing the first transmission member 151 to produce elastic deformation. The elastic restoring force provided by the first transmission member 151 drives the moving member 122 to continue to move along the preset direction and cross the B position. Figure 4c The state where the moving member 122 just crosses the B position is exemplarily shown, and at this time, the second transmission member 152 just passes through the gap between the first transmission member 151 and the crank wheel 131.

[0042] Figure 5The principle structure of the drive device 10 is shown as an example. The drive device 10 includes three movable components, namely, a crank wheel 131, a connecting rod 132 and a moving member 122; the drive device 10 also includes four sets of low pairs, including a rotating pair formed by the crank wheel 131, a rotating pair formed by the crank wheel 131 and the connecting rod 132, a rotating pair formed by the connecting rod 132 and the moving member 122, and a moving pair formed by the moving member 122 and the guide member 121; the number of high pairs of the drive device 10 is zero. Therefore, the degree of freedom F of the drive device 10 satisfies: F = 3*N-2*PL-PH = 1, where N is the number of movable components of the drive device 10, PL is the number of low pairs of the drive device 10, and PH is the number of high pairs of the drive device 10.

[0043] Further, when the target line passes through the first rotation axis, the first transmission member 151 and the second transmission member 152 intersect with the target line. In this way, when the moving member 122 moves to the zero position, the second transmission member 152 has caused the first transmission member 151 to be squeezed and deformed, thereby reliably and stably driving the moving member 122 to cross the zero position. And, at this time, the driving force required to drive the moving member 122 to cross the zero position is minimum, which is conducive to reducing the requirements on the main force member 14, and then is conducive to reducing the cost of the drive device 10.

[0044] Optionally, the elastic body may be elastic rubber or a spring, etc., which is not limited here.

[0045] It should be noted that, in other embodiments of the present application, the auxiliary power assembly 15 is not limited to the above-mentioned first transmission member 151 and the second transmission member 152. For example, the auxiliary power assembly 15 can be only provided on the crank wheel 131 or only provided on the moving member 122. Of course, in other embodiments of the present application, the driving device 10 can also omit the auxiliary power assembly 15, and the moving member 122 crosses the zero position by the inertia of its own movement, which is not limited here.

[0046] Please continue reading Figure 2 In one embodiment, the crank assembly 13 further includes a first rotating bearing 134. The crank shaft 133 is disposed on the crank wheel 131, and the first end 1321 of the connecting rod 132 is rotatably connected to the crank shaft 133 through the first rotating bearing 134. Figure 2 Or, the crankshaft 133 is disposed at the first end 1321, and the crankshaft 133 is rotatably connected to the crank wheel 131 through the first rotating bearing 134. The crank assembly 13 also includes a rotating shaft 135 and a second rotating bearing 136. The rotating shaft 135 is disposed on the moving member 122, and the second end 1322 of the connecting rod 132 is rotatably connected to the rotating shaft 135 through the second rotating bearing 136, as shown in FIG. Figure 2or, the rotating shaft 135 is disposed at the second end 1322 , and the rotating shaft 135 is rotatably connected to the moving member 122 through a second rotating bearing 136 .

[0047] In one embodiment, the cleaning system includes a cleaning device and a base station. The cleaning device can be a cleaning device such as a cleaning robot, which can move on the ground or the surface of the object to be cleaned to clean the area it passes through. The cleaning device can also be a cleaning device such as a floor scrubber, where the user holds the main body of the cleaning device and pushes the floor brush of the cleaning device to move on the surface to be cleaned to clean the area it passes through.

[0048] The cleaning device is equipped with a liquid storage component, which is used to store cleaning liquid to assist the cleaning device in performing cleaning operations. The cleaning device is used in conjunction with a base station, for example, the base station is used for refilling operations of the liquid storage component. The base station includes a base station body, a drive device 10, and a liquid injection device. The drive device 10 has been described in detail in the above embodiments and will not be repeated here. The liquid injection device is the load described in the above embodiments. The liquid injection device is connected to the moving part 122 of the drive device 10, and the drive device 10 is used to drive the liquid injection device to dock with the cleaning device when the cleaning device returns to the base station, so that the liquid injection device can inject the cleaning liquid into the cleaning device, specifically into the liquid storage component.

[0049] Of course, in other embodiments of the present application, the base station can also be used for other operations such as charging operations and self-cleaning operations of the cleaning device, which will not be described in detail here. In addition, the driving device 10 is not limited to being used in the lifting operation of the injection device, and even the driving device 10 is not limited to being used in the cleaning system, which is not limited here.

[0050] The technical solution provided in the embodiment of the present application is described below in conjunction with specific application scenarios.

[0051] Application scenario 1:

[0052] The driving device 10 is used to drive the load to perform operations such as telescoping or lifting. The driving device 10 includes a base 11. The driving device 10 also includes a driving component 12, and the driving component 12 includes a guide member 121 and a moving member 122. The guide member 121 is connected to the base 11, and the moving member 122 is movably connected to the guide member 121. The guide member 121 extends along a first direction to guide the moving member 122 to move along the first direction. The moving member 122 is also used to connect the load, so as to drive the load to move along the first direction through the moving member 122 moving along the first direction, and the first direction is the moving direction of the load. The driving device 10 also includes a crank assembly 13. The crank assembly 13 is connected to the base 11, and the crank assembly 13 is also transmission-connected to the moving member 122. The driving device 10 also includes a main force member 14. The main force member 14 is connected to the base 11 and is also connected to the crank assembly 13. The main force member 14 is used to drive the moving member 122 to move along the guide member 121 through the crank assembly 13, and then drive the load to move through the moving member 122 to achieve operations such as driving the load to extend or lift.

[0053] Before the moving member 122 is about to move to the zero position, the second transmission member 152 rotates with the crank wheel 131 and just contacts the first transmission member 151; as the crank wheel 131 continues to rotate, it drives the moving member 122 to move to the zero position. At this time, the second transmission member 152 squeezes the first transmission member 151, causing the first transmission member 151 to produce elastic deformation. The elastic restoring force provided by the first transmission member 151 drives the moving member 122 to continue to move along the preset direction and cross the zero position.

[0054] Application scenario 2:

[0055] The cleaning system includes a cleaning device and a base station. The cleaning device is a cleaning robot. The cleaning device is equipped with a liquid storage component, which is used to store cleaning liquid to assist the cleaning device in performing cleaning operations. The base station includes a driving device 10 and a liquid injection device. The liquid injection device is connected to a moving part 122 of the driving device 10. When the cleaning device returns to the base station, the main power member 14 of the driving device 10 drives the moving part 122 to move along the guide member 121 through the crank assembly 13, so that the moving part 122 drives the liquid injection device to dock with the liquid storage component of the cleaning device, so that the liquid injection device can inject the cleaning liquid into the liquid storage component. After the liquid storage component completes the liquid injection, the main power member 14 drives the moving part 122 to move in the opposite direction along the guide member 121, so that the moving part 122 drives the liquid injection device away from the cleaning device, thereby completing the liquid injection operation.

[0056] The driving device, base station and cleaning system provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A driving device, characterized in that: The driving device has a first direction and a second direction that are perpendicular to each other, and the driving device comprises: Pedestal; A driving assembly, comprising a guide member and a moving member, wherein the guide member is connected to the base, the moving member is movably connected to the guide member, the guide member extends along the first direction to guide the moving member to move along the first direction, and the moving member is also used to connect a load; a crank assembly connected to the base, and the crank assembly is also drivingly connected to the moving member, wherein the crank assembly is arranged opposite to the guide member in the second direction; and A main force member is connected to the base, and the main force member is also drivingly connected to the crank assembly, and the main force member is used to drive the moving member to move along the guide member through the crank assembly.

2. The driving device according to claim 1, characterized in that: The crank assembly comprises: a crank wheel, drivingly connected to the main power member, the main power member being used to drive the crank wheel to rotate relative to the base around a first rotation axis; and A connecting rod, whose two opposite ends are a first end and a second end, wherein the first end is rotatably connected to the crank wheel via a crank shaft, and the second end is rotatably connected to the moving member; The main force member drives the crankshaft to rotate at least one revolution around the first rotation axis, so that the crankshaft drives the moving member to move along the guide member through the connecting rod.

3. The driving device according to claim 2, characterized in that: defining a line connecting the first end and the second end as a target line; The driving device further comprises: An auxiliary power assembly connected to the moving member and / or the crank wheel; During the process of the main force member driving the crank wheel to rotate, before the target line passes through the first rotation axis, the moving member moves along a preset direction; when the target line passes through the first rotation axis, the moving member and the crank wheel are coordinated through the auxiliary power assembly to drive the moving member to continue moving along the preset direction.

4. The driving device according to claim 3, characterized in that: The auxiliary power assembly comprises: A first transmission member, disposed on the moving member; and The second transmission member is arranged on the crank wheel. The second transmission member can interfere with the first transmission member as the crank wheel rotates, so that the moving member and the crank wheel are in transmission cooperation.

5. The driving device according to claim 4, characterized in that: At least one of the first transmission member and the second transmission member is an elastic body, and the elastic body is used to provide elastic restoring force so that the moving member and the crank wheel can be matched in transmission.

6. The driving device according to claim 5, characterized in that: When the target line passes through the first rotation axis, both the first transmission member and the second transmission member intersect with the target line.

7. The driving device according to claim 5, characterized in that: When the target line passes through the first rotation axis, the target line is perpendicular to the first direction.

8. The driving device according to any one of claims 2 to 7, characterized in that: The crank assembly also includes a first rotating bearing; the crank shaft is arranged on the crank wheel, and the first end is rotatably connected to the crank shaft through the first rotating bearing, or the crank shaft is arranged on the first end, and the crank shaft is rotatably connected to the crank wheel through the first rotating bearing.

9. The driving device according to any one of claims 2 to 7, characterized in that: The crank assembly also includes a rotating shaft and a second rotating bearing; the rotating shaft is arranged on the movable member, and the second end is rotatably connected to the rotating shaft through the second rotating bearing, or the rotating shaft is arranged on the second end, and the rotating shaft is rotatably connected to the movable member through the second rotating bearing.

10. The driving device according to any one of claims 1 to 7, characterized in that: The crank assembly, the guide member and the moving member are located on the same side of the base, and the main force member is connected to a side of the base facing away from the crank assembly.

11. A base station of a cleaning device, characterized in that: The base station comprises: Base station body; The driving device according to any one of claims 1 to 10, wherein a base of the driving device is arranged on the base station body; and The liquid injection device is connected to the moving part of the driving device, and the driving device is used to drive the liquid injection device to dock with the cleaning device when the cleaning device returns to the base station, so that the liquid injection device can inject cleaning liquid into the cleaning device.

12. A cleaning system, characterized in that: The invention comprises a cleaning device and the base station as claimed in claim 11.

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