Drive device, base station and cleaning system

Abstract

The application discloses a driving device, a base station and a cleaning system. The driving device drives a moving part to move along a guide through a crank assembly, so as to drive a load to move, for example, to stretch or lift, etc. The crank assembly of the application is arranged opposite to the guide in a second direction, that is, the crank assembly does not additionally occupy the space of the driving device in the moving direction of the load, so as to reduce the size of the driving device in the moving direction of the load, thereby facilitating the installation operation of the driving device in a specific application scene. The driving device of the application can be applied to an application scene with strict requirements on the installation space.

Description

Technical Field

[0001] This application relates to the field of crank-connecting rod mechanism technology, specifically to a drive device, base station, and cleaning system. Background Technology

[0002] Currently, mechanisms used to drive loads to extend or lift typically include telescopic cylinders, telescopic motors, rack and pinion transmission mechanisms, synchronous belt pulley transmission mechanisms, and crank-connecting rod mechanisms. The dimensions of these mechanisms in the load movement direction are often larger than the load's travel distance, causing inconvenience during installation and making them unsuitable for applications with strict space requirements. Summary of the Invention

[0003] This application provides a drive device, a base station, and a cleaning system that can reduce the size of the drive device in the load movement direction.

[0004] This application provides a driving device having a first direction and a second direction perpendicular to each other. The driving device includes: a base; a driving assembly including a guide and a moving member, the guide being connected to the base and the moving member being movably connected to the guide, the guide extending along the first direction to guide the moving member to move along the first direction, and the moving member also being used to connect a load; a crank assembly connected to the base and also being drivenly connected to the moving member, wherein the crank assembly is disposed opposite to the guide in the second direction; and a driving force member connected to the base and also being drivenly connected to the crank assembly, the driving force member being used to drive the moving member to move along the guide via the crank assembly.

[0005] In one embodiment of this application, the crank assembly includes: a crank wheel, which is connected to a driving force member, the driving force member driving the crank wheel to rotate relative to the base about a first rotation axis; and a connecting rod, the two opposite ends of which are a first end and a second end, the first end being rotatably connected to the crank wheel via a crank shaft, and the second end being rotatably connected to a movable member; wherein the driving force member drives the crank shaft to rotate about the first rotation axis at least one revolution, such that the crank shaft drives the movable member to move along the guide via the connecting rod.

[0006] In one embodiment of this application, the line connecting the first end and the second end is defined as the target line; the driving device further includes: an auxiliary power component connected to the moving member and / or the crank wheel; during the process of the main power component 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 driven by the auxiliary power component to drive the moving member to continue moving along the preset direction.

[0007] In one embodiment of this application, the auxiliary power component includes: a first transmission member disposed on the movable member; and a second transmission member disposed on the crank wheel, wherein the second transmission member can interfere with the first transmission member as the crank wheel rotates, thereby enabling a transmission engagement between the movable member and the crank wheel.

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

[0009] In one embodiment of this 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 this 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 this application, the crank assembly further includes a first rotary bearing; the crank shaft is disposed on the crank wheel, and the first end is rotatably connected to the crank shaft through the first rotary bearing, or the crank shaft is disposed at the first end, and the crank shaft is rotatably connected to the crank wheel through the first rotary bearing.

[0012] In one embodiment of this application, the crank assembly further includes a rotating shaft and a second rotating bearing; the rotating shaft is disposed on the movable member, and the second end is rotatably connected to the rotating shaft via the second rotating bearing, or the rotating shaft is disposed on the second end, and the rotating shaft is rotatably connected to the movable member via the second rotating bearing.

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

[0014] Accordingly, this 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 embodiments, the base of the driving device being disposed on the base station body; and a liquid injection device connected to a movable part of the driving device, the driving device being 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 fluid into the cleaning device.

[0015] Accordingly, this application also provides a cleaning system, including a cleaning device and a base station as described in the above embodiments.

[0016] The beneficial effects of this application are as follows: Unlike existing technologies, this application provides a drive device, a base station, and a cleaning system. The drive device drives a moving component along a guide via a crank assembly, thereby moving a load, such as extending, retracting, or lifting the load. In this application, the crank assembly is positioned opposite the guide in a second direction, meaning it does not additionally occupy space in the load movement direction of the drive device. This reduces the size of the drive device in the load movement direction, facilitating installation in specific application scenarios. The drive device of this application is suitable for applications with strict space requirements.

[0017] Furthermore, the active power component of this application drives the crankshaft to rotate at least one revolution around the first rotation axis to drive the moving component to move along the guide. That is, the active power component of this application drives the crank wheel to rotate within a full revolution range, which can amplify the maximum travel of the moving component, thereby amplifying the maximum travel of the load. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figures 1a-1b This is a schematic diagram of the structure of an embodiment of the driving device of this application;

[0020] Figure 2 yes Figures 1a-1b The diagram shows the exploded structure of the drive device.

[0021] Figures 3a-3c This is a schematic diagram of an embodiment of a single movement stroke of the moving part of this application;

[0022] Figures 4a-4c This is a schematic diagram of an embodiment of the moving part of this application passing through the zero point position;

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

[0024] Explanation of reference numerals in the attached figures:

[0025] 10 Drive unit; 11 Base; 12 Drive assembly; 121 Guide; 122 Moving part; 13 Crank assembly; 131 Crank wheel; 132 Connecting rod; 1321 First end; 1322 Second end; 133 Crankshaft; 134 First rotary bearing; 135 Rotating shaft; 136 Second rotary bearing; 14 Main power component; 15 Auxiliary power assembly; 151 First transmission component; 152 Second transmission component. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to up, down, left, and right in the actual use or working state of the device, specifically the drawing directions in the accompanying drawings.

[0027] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," "stacked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] This application provides a driving device, a base station, and a cleaning system, which are described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0029] Please see Figures 1a-1b as well as Figure 2 , Figures 1a-1b This is a schematic diagram of the structure of an embodiment of the driving device of this application. Figure 2 yes Figures 1a-1b A schematic diagram of the exploded structure of the drive device shown.

[0030] In one embodiment, the drive device 10 is used to drive the load to perform operations such as extension, retraction, or lifting. Specifically, the drive device 10 has a first direction that is perpendicular to each other (e.g., Figure 1b (As indicated by the middle arrow X, the same below) and the second direction (as shown by the middle arrow X) and the second direction ( Figure 1b(As indicated by the middle arrow Y, the same applies below). The drive device 10 includes a base 11. The base 11 is the basic carrier of the drive device 10, used to support the remaining components of the drive device 10. The drive device 10 also includes a drive assembly 12, which includes a guide 121 and a moving member 122. The guide 121 is connected to the base 11, and the moving member 122 is movably connected to the guide 121. The guide 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 that the load can be moved along the first direction by the movement of the moving member 122 along the first direction, which is the direction of movement of the load. The drive 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 drively connected to the moving member 122. The drive device 10 also includes a main power element 14. The active power component 14 is connected to the base 11 and is also connected to the crank assembly 13. The active power component 14 is used to drive the moving component 122 to move along the guide 121 through the crank assembly 13, and then drive the load to move through the moving component 122, so as to drive the load to perform operations such as extension, retraction or lifting.

[0031] It should be noted that the crank assembly 13 is disposed opposite to the guide 121 in the second direction. Compared to the case where the crank assembly 13 and the guide 121 are arranged sequentially along the first direction, in this embodiment, the crank assembly 13 is located to the side of the guide 121 in the second direction. The crank assembly 13 does not occupy additional space in the load movement direction of the drive device 10, thus reducing the size of the drive device 10 in the load movement direction, which facilitates the installation of the drive device 10 in specific application scenarios. Although the overall volume of the drive device 10 in this embodiment remains unchanged, extreme dimensions of the drive device 10 in the load movement direction are avoided, improving the flexibility of the drive device 10 arrangement and thus facilitating the installation of the drive device 10. The drive device 10 in this embodiment is suitable for application scenarios with strict requirements for installation space.

[0032] For example, both the first and second directions are parallel to the surface of the base 11 where the guide 121 is located. The crank assembly 13, guide 121, and moving member 122 are located on the same side of the base 11, and the driving force member 14 is connected to the side of the base 11 opposite to 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 disposed opposite to the guide 121 in the second direction. The crank wheel 131 is drively connected to the driving force member 14, which drives the crank wheel 131 relative to the base 11 about a first axis of rotation (e.g., ...). Figures 3a to 3c(As shown by the dashed line O1, the same below) Rotation causes the crank wheel 131 to drive the moving part 122 to move along the guide 121 via the connecting rod 132. The main power component 14 can be a power element such as a motor. The main power component 14 can be locked to the base 11 by fasteners such as screws, and the output shaft of the main power component 14 passes through the base 11 and is connected to the crank wheel 131 on the other side of the base 11. Therefore, the first axis of rotation is the central axis of the output shaft of the main power component 14.

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

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

[0035] During the process of the drive unit 10 driving the load to move in one direction to reach its maximum stroke, the main force component 14 drives the crank wheel 131 to rotate one revolution in the corresponding direction, causing the crankshaft 133 to rotate one revolution around the first rotation axis, thereby driving the moving component 122 to move in a preset direction parallel to the first direction (e.g., Figures 3a to 3c As indicated by arrow D (hereinafter the same), the movement reaches its maximum stroke. In other words, in this embodiment, the driving force component 14 drives the crank wheel 131 to rotate within a full circle. Compared to the crank-connecting rod 132 mechanism of a conventional engine, where the crank only rotates within half a circle, the maximum travel of the moving component 122 in this embodiment is increased by 2 times, that is, the maximum travel of the load is increased by 2 times. At the same time, for driving the load to move the same distance, since the crank assembly 13 in this embodiment is located to the side of the guide 121 in the second direction, this embodiment reduces the space occupied by the driving component 12 by optimizing the setting position of the crank assembly 13.

[0036] In one embodiment, considering that the main power component 14 drives the crank wheel 131 to rotate within a full revolution, the moving component 122 has a zero point position during its movement along the aforementioned preset direction. When the moving component 122 reaches the zero point position, it is no longer subject to driving force. Therefore, the drive device 10 in this embodiment further includes an auxiliary power component 15, which is connected to the moving component 122 and / or the crank wheel 131. The auxiliary power component 15 applies a driving force to the moving component 122 when it reaches the zero point position, thereby driving the moving component 122 to continue moving along the preset direction. This ensures that the moving component 122 reliably and stably crosses the zero point position, minimizing the possibility of the moving component 122 stopping at the zero point position or moving in the opposite direction of the preset direction, thus guaranteeing that the moving component 122 drives the load to move as required.

[0037] Specifically, the line connecting the first end 1321 and the second end 1322 of the link 132 is defined as the target line (e.g., Figures 3a to 3c (As shown by the dashed line L, the same applies below). The first end 1321 of the connecting rod 132 and the crank wheel 131 can rotate around the second axis of rotation (as shown by...). Figure 3a As shown by the dashed line O2 (the same below), they can rotate relative to each other, and the second end 1322 and the moving part 122 can rotate around the third axis of rotation (as shown by the dashed line O2). Figure 3a (As shown by the dashed line O3, the same below) Relative rotation. The target connection line passes through the second and third rotation axes respectively, and is perpendicular to the first, second, and third rotation axes respectively. During the rotation of the crank wheel 131 driven by the active force component 14, before the target connection line passes through the first rotation axis (i.e., the target connection line intersects the first rotation axis), the moving component 122 moves in a preset direction; when the target connection line passes through the first rotation axis, the moving component 122 and the crank wheel 131 are connected by the auxiliary power component 15 to drive the moving component 122 across the zero point position, and then drive the moving component 122 to continue moving in the preset direction, that is, the movement direction of the moving component 122 is controllable. Furthermore, when the target connection line passes through the first rotation axis, the target connection line is perpendicular to the first direction. In the case where the connecting rod 132 is a straight rod, the target connection line is the central axis of the connecting rod 132. When the target connection line passes through the first rotation axis, the connecting rod 132 intersects 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 movable 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 there is a transmission engagement between the movable member 122 and the crank wheel 131.

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

[0040] For example, taking the single movement stroke of the moving part 122 as an example... Figures 3a to 3c Taking moving from left to right as an example, the preset direction is... Figures 3a to 3c The left side points to the right side. Specifically, when the moving part 122 moves from position A to position C, it will pass through position B (i.e., the zero point). For operations such as lifting and lowering the load, a single movement of the moving part 122 can drive the load to complete one lifting operation, and the reverse movement of the moving part 122 (from position C to position A) can drive the load to complete the corresponding lowering operation. Alternatively, a single movement of the moving part 122 can drive the load to complete one lowering operation, and the reverse movement of the moving part 122 can drive the load to complete the corresponding lifting operation. The extension and retraction of the load is similar and will not be described in detail here.

[0041] like Figure 4a As shown, just before the moving member 122 moves to position B, the second transmission member 152 rotates with the crank wheel 131 and just contacts the first transmission member 151; as 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 undergo 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 position B. Figure 4c The example shows the state where the moving part 122 has just crossed position B, at which point the second transmission part 152 passes through the gap between the first transmission part 151 and the crank wheel 131.

[0042] Figure 5The principle structure of the drive device 10 is illustrated by way of example. The drive device 10 includes three moving components: a crank wheel 131, a connecting rod 132, and a moving member 122. The drive device 10 also includes four sets of lower pairs: a revolute joint formed by the crank wheel 131, a revolute joint formed by the crank wheel 131 and the connecting rod 132, a revolute joint formed by the connecting rod 132 and the moving member 122, and a prismatic joint formed by the moving member 122 and the guide member 121. The drive device 10 has zero higher pairs. 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 moving components of the drive device 10, PL is the number of lower pairs of the drive device 10, and PH is the number of higher pairs of the drive device 10.

[0043] Furthermore, when the target line passes through the first axis of rotation, both the first transmission member 151 and the second transmission member 152 intersect with the target line. Thus, when the moving member 122 moves to the zero position, the second transmission member 152 has already caused the first transmission member 151 to deform under pressure, thereby reliably and stably driving the moving member 122 across the zero position. Moreover, the driving force required to drive the moving member 122 across the zero position is minimal at this time, which helps reduce the requirements on the main power member 14, and consequently reduces the cost of the drive device 10.

[0044] Alternatively, the elastomer can be elastic rubber or a spring, etc., and there is no limitation on it.

[0045] It should be noted that in other embodiments of this application, the auxiliary power component 15 is not limited to the first transmission member 151 and the second transmission member 152 described above. For example, the auxiliary power component 15 may be provided only on the crank wheel 131 or only on the moving member 122. Of course, in other embodiments of this application, the drive device 10 may omit the auxiliary power component 15, and the moving member 122 may cross the zero point position by its own inertia. This is not limited here.

[0046] Please continue reading Figure 2 In one embodiment, the crank assembly 13 further includes a first rotary bearing 134. A crankshaft 133 is disposed on the crank wheel 131, and the first end 1321 of the connecting rod 132 is rotatably connected to the crankshaft 133 via the first rotary bearing 134, such as... Figure 2 As shown; or, crankshaft 133 is disposed at the first end 1321, and crankshaft 133 is rotatably connected to crank wheel 131 via a first rotary bearing 134. Crank assembly 13 also includes a rotating shaft 135 and a second rotary bearing 136. Rotating shaft 135 is disposed on moving member 122, and the second end 1322 of connecting rod 132 is rotatably connected to rotating shaft 135 via second rotary bearing 136, as shown. Figure 2As shown; or, the rotating shaft 135 is disposed at the second end 1322, and the rotating shaft 135 is rotatably connected to the moving part 122 through the 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 robot or other cleaning equipment, capable of moving autonomously on the ground or the surface of an object to be cleaned to clean the area it passes through. The cleaning device can also be a floor scrubber or other cleaning equipment, whereby a user holds the main unit of the cleaning device and pushes the floor brush of the cleaning device to move across the surface to be cleaned to clean the area it passes through.

[0048] The cleaning device is equipped with a liquid storage component to store cleaning fluid to assist in cleaning operations. The cleaning device is used in conjunction with a base station, for example, the base station is used for replenishing the liquid storage component. The base station includes a base station body, a drive unit 10, and a liquid injection device. The drive unit 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 unit 10. The drive unit 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 cleaning fluid into the cleaning device, specifically into the liquid storage component.

[0049] Of course, in other embodiments of this application, the base station can also be used for charging operations, self-cleaning operations, and other operations of the cleaning device, which will not be elaborated here. Furthermore, the drive device 10 is not limited to the lifting operations of the liquid injection device, and the drive device 10 is not limited to the cleaning system, which is not limited here.

[0050] The technical solutions provided in the embodiments of this application will be described below in conjunction with specific application scenarios.

[0051] Application Scenario 1:

[0052] The drive unit 10 is used to drive a load to perform operations such as extension, retraction, or lifting. The drive unit 10 includes a base 11. The drive unit 10 also includes a drive assembly 12, which includes a guide 121 and a moving member 122. The guide 121 is connected to the base 11, and the moving member 122 is movably connected to the guide 121. The guide 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 to the load, so that the movement of the moving member 122 along the first direction drives the load to move along the first direction, which is the direction of load movement. The drive unit 10 also includes a crank assembly 13. The crank assembly 13 is connected to the base 11, and the crank assembly 13 is also drively connected to the moving member 122. The drive unit 10 also includes a main power element 14. The active power component 14 is connected to the base 11 and is also connected to the crank assembly 13. The active power component 14 is used to drive the moving component 122 to move along the guide 121 through the crank assembly 13, and then drive the load to move through the moving component 122, so as to drive the load to perform operations such as extension, retraction or lifting.

[0053] Just 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 comes into contact with 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 undergo elastic deformation. The elastic restoring force provided by the first transmission member 151 drives the moving member 122 to continue to move in 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 assembly to store cleaning fluid to assist in cleaning operations. The base station includes a drive unit 10 and a liquid injection device. The liquid injection device is connected to a moving part 122 of the drive unit 10. When the cleaning device returns to the base station, the main power component 14 of the drive unit 10 drives the moving part 122 along the guide 121 via the crank assembly 13, causing the moving part 122 to engage with the liquid injection device's storage assembly, allowing the liquid injection device to inject cleaning fluid into the storage assembly. After the storage assembly is filled, the main power component 14 drives the moving part 122 to move in the opposite direction along the guide 121, causing the moving part 122 to move the liquid injection device away from the cleaning device, thus completing the liquid injection operation.

[0056] The driving device, base station, and cleaning system provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this 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 includes: Base; A drive assembly includes a guide and a movable member, the guide being connected to the base, the movable member being movably connected to the guide, the guide extending along a first direction to guide the movable member to move along the first direction, and the movable member also being used to connect a load; A crank assembly, connected to the base and also drively connected to the moving member, wherein the crank assembly is disposed opposite to the guide member in the second direction; and A drive force component is connected to the base and is also connected to the crank assembly. The drive force component is used to drive the moving component to move along the guide via the crank assembly. The crank assembly includes: A crank wheel is connected to the driving force component, which drives the crank wheel to rotate relative to the base about a first rotation axis; and A link has two opposite ends, namely the first end and the second end, and the line connecting the first end and the second end is defined as the target line; The drive device further includes: An auxiliary power assembly is connected to the moving part and / or the crank wheel; During the process of the active power component driving the crank wheel to rotate, before the target line passes through the first rotation axis, the moving component moves in a preset direction; when the target line passes through the first rotation axis, the moving component and the crank wheel are driven by the auxiliary power component to drive the moving component to continue moving in the preset direction. The auxiliary power component includes: A first transmission component is disposed on the movable component; and A second transmission component is disposed on the crank wheel. The second transmission component can interfere with the first transmission component as the crank wheel rotates, so that the moving component and the crank wheel are in transmission engagement. At least one of the first transmission member and the second transmission member is an elastic body, which provides elastic restoring force to enable the moving member to engage with the crank wheel transmission; when the target line passes through the first rotation axis, the target line is perpendicular to the first direction.

2. The driving device according to claim 1, characterized in that, The first end is rotatably connected to the crank wheel via a crankshaft, and the second end is rotatably connected to the moving part; The active force component drives the crankshaft to rotate at least one revolution around the first rotation axis, so that the crankshaft drives the moving component to move along the guide via the connecting rod.

3. The driving device according to claim 1, characterized in that, When the target line passes through the first rotation axis, both the first transmission component and the second transmission component intersect the target line.

4. The driving device according to any one of claims 2 to 3, characterized in that, The crank assembly further includes a first rotary bearing; the crank shaft is disposed on the crank wheel, and the first end is rotatably connected to the crank shaft via the first rotary bearing, or the crank shaft is disposed on the first end, and the crank shaft is rotatably connected to the crank wheel via the first rotary bearing.

5. The driving device according to any one of claims 2 to 3, characterized in that, The crank assembly further includes a rotating shaft and a second rotating bearing; the rotating shaft is disposed on the moving member, and the second end is rotatably connected to the rotating shaft through the second rotating bearing, or the rotating shaft is disposed on the second end, and the rotating shaft is rotatably connected to the moving member through the second rotating bearing.

6. The driving device according to any one of claims 1 to 3, characterized in that, The crank assembly, the guide, and the moving member are located on the same side of the base, and the power element is connected to the side of the base opposite to the crank assembly.

7. A base station for a cleaning device, characterized in that, The base station includes: Base station main body; The driving device as described in any one of claims 1 to 6, wherein the base of the driving device is disposed on the base station body; and The liquid injection device is connected to the moving part of the drive device. The drive 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 fluid into the cleaning device.

8. A cleaning system, characterized in that, Includes cleaning equipment and the base station as described in claim 7.

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