Driving mechanism, cleaning equipment and cleaning system

Abstract

According to the driving mechanism, the cleaning equipment and the cleaning system, when the driving part rotates, the switching block is switched between the receding position and the positioning position, the lifting assembly is controlled to rotate or ascend and descend, only the switching block is driven to move, the lifting driving burden is reduced, and the working efficiency is improved. And the problems of complicated structure, large size and high cost caused by using a high-power driving piece are avoided. According to the main technical scheme, a lifting assembly is movably connected with a driving part, a first power part drives the driving part to move in the rotating direction, and acting force exists between the driving part and the lifting assembly due to movement; when the switching block is located at the positioning position, the switching assembly hinders the lifting assembly from rotating, the driving part overcomes the acting force to move relative to the lifting assembly and drives the lifting assembly to ascend and descend, the switching block is located at the vacant position, and the driving part drives the lifting assembly to drive the cleaning part to rotate through the acting force. The invention is mainly used for controlling the position and motion state of the driven part.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a driving mechanism, a cleaning device and a cleaning system. Background Art

[0002] With the improvement of living standards, the use of smart home devices is becoming more and more widespread, especially the popularity of cleaning robots, which has brought great convenience to daily household cleaning work. Cleaning robots usually include a movable main body and a cleaning module, and the cleaning module includes a cleaning member and a rotating drive member. During the cleaning process, the cleaning member contacts the surface to be cleaned and rotates under the drive of the rotating drive member, accompanying the movement of the cleaning robot to achieve the cleaning work.

[0003] In order to achieve obstacle avoidance of the cleaning component and adjust the cleaning force, in the prior art, a lifting drive component is provided to lift and drive the cleaning module. The lifting drive component needs to drive the movement of the entire cleaning module, which has a heavy driving burden. The lifting drive component has large power and volume, a complex structure, and high cost. Summary of the invention

[0004] In view of this, in order to solve at least one of the above technical problems, the present invention provides a driving mechanism, a cleaning device and a cleaning system.

[0005] In one aspect, the present invention provides a driving mechanism, comprising:

[0006] Active member (100);

[0007] A lifting component (200), the lifting component (200) is movably connected to the active component (100), and the lifting component (200) is used to connect to the passive component (300);

[0008] A switching component (400), the switching component (400) comprising a switching block (410), the position of the switching block (410) comprising at least a positioning position and an empty position;

[0009] A first power member, the first power member is connected to the active member (100) and is used to drive the active member (100) to rotate, and when the active member (100) is in at least one rotational position, a force in a rotational direction is generated between the active member (100) and the lifting assembly (200) due to movement;

[0010] When the switching block (410) is in the positioning position, the switching component (400) blocks the rotation of the lifting component (200), the active component (100) overcomes the action force and moves relative to the lifting component (200), and acts on the lifting component (200), thereby driving the lifting component (200) to drive the passive component (300) to move up and down; when the switching block (410) is in the idle position, the active component (100) drives the lifting component (200) to rotate through the action force.

[0011] Wherein, the active component (100) and the lifting component (200) are in abutment with each other at least partially, and the acting force includes the friction force between the active component (100) and the lifting component (200);

[0012] And / or, the active member (100) comprises a first acting member (101), the lifting assembly (200) comprises a second acting member (201), at least one of the first acting member (101) and the second acting member (201) comprises an acting position and a yielding position, the first acting member (101) is used to interact with the second acting member (201) so that at least one of the first acting member (101) and the second acting member (201) switches between the acting position and the yielding position, in the acting position, the first acting member (101) and the second acting member (201) are mutually limited in the rotation direction to provide an acting force so that the active member (100) and the lifting assembly (200) rotate synchronously, and in the yielding position, the first acting member (101) and the second acting member (201) yield to each other so that the active member (100) and the lifting assembly (200) move relative to each other.

[0013] There are multiple first action members (101), the multiple first action members (101) are arranged in the rotation direction, and adjacent first action members (101) are connected;

[0014] And / or, there are multiple second acting members (201), the multiple second acting members (201) are arranged in the rotation direction, and adjacent second acting members (201) are connected.

[0015] Wherein, at least a partial area of ​​the active member (100) is deformable so that the first active member (101) can be switched between an active position and a yielding position;

[0016] And / or, at least a partial area of ​​the lifting assembly (200) is deformable so that the second action member (201) can be switched between the action position and the yield position;

[0017] And / or, at least one of the first acting member (101) and the second acting member (201) is deformable.

[0018] The lifting assembly (200) comprises a lifting member (210) and an overload protection member (220); the lifting member (210) is movably connected to the active member (100); there is an acting force between the active member (100) and the overload protection member (220); and the lifting member (210) is used to connect to the passive member (300);

[0019] The lifting member (210) and the overload protection member (220) are detachably connected.

[0020] Wherein, the active member (100) is provided with a third action member (102), and the lifting component (200) is provided with a fourth action member (202);

[0021] At least one of the third acting member (102) and the fourth acting member (202) includes an acting inclined surface. When the switching block (410) is in the positioning position, the active member (100) moves in the rotation direction so that the third acting member (102) and the fourth acting member (202) cooperate with each other through the acting inclined surface, thereby driving the lifting assembly (200) to move up and down.

[0022] Wherein, the third acting member (102) and the fourth acting member (202) both include an acting inclined surface, or one of the third acting member (102) and the fourth acting member (202) includes an acting inclined surface, and the other of the third acting member (102) and the fourth acting member (202) includes a rolling member or a slider, and the rolling member or the slider is used to roll or slide relative to the acting inclined surface.

[0023] Wherein, one or both of the third action member (102) and the fourth action member (202) are threads;

[0024] Alternatively, at least one of the third acting member (102) and the fourth acting member (202) is an acting groove, and the other of the third acting member (102) and the fourth acting member (202) is used to be embedded in the acting groove.

[0025] The lifting assembly (200) comprises a lifting member (210), the lifting member (210) comprises a first sleeve (211) and a second sleeve (212), the second sleeve (212) is sleeved on the outer periphery of the first sleeve (211), the second sleeve (212) and the first sleeve (211) are arranged at intervals, and the second sleeve (212) and the first sleeve (211) are connected at one end close to the passive member (300);

[0026] The active member (100) is located between the first sleeve (211) and the second sleeve (212), and the active member (100) acts on at least one of the first sleeve (211) and the second sleeve (212) to drive the lifting assembly (200) to move up and down;

[0027] The first sleeve (211) is used for connecting the passive component (300).

[0028] The driving mechanism further comprises:

[0029] A first elastic member (600) and a connecting portion (700), wherein the connecting portion (700) is connected to the lifting assembly (200) via the first elastic member (600), and the connecting portion (700) is used to connect to the passive member (300);

[0030] When the lifting assembly (200) is lifted or lowered, the first elastic member (600) is compressed to different degrees, so as to provide the passive member (300) with different degrees of pressure on the cleaning surface.

[0031] The lifting assembly (200) comprises a blocking member (213), and the blocking member (213) is used to act with the connecting portion (700) to limit the connecting portion (700) to an extreme position of movement in the direction in which the first elastic member (600) releases energy.

[0032] When the switching block (410) is in the positioning position, the switching block (410) is directly connected to the lifting assembly (200) to prevent the lifting assembly (200) from rotating;

[0033] At least one limiting groove or limiting hole is provided on the lifting assembly (200); when the switching block (410) is in the positioning position, the switching block (410) is inserted into the limiting groove or the limiting hole;

[0034] Alternatively, when the switching block (410) is in the positioning position, the switching block (410) abuts against the lifting assembly (200), and the friction force between the switching block (410) and the lifting assembly (200) is greater than the action force.

[0035] The switching assembly (400) further comprises a transmission assembly, which is connected to the lifting assembly (200). When the switching block (410) is in the positioning position, the switching block (410) is connected to the transmission assembly so as to hinder the rotation of the lifting assembly (200) through the transmission assembly.

[0036] The transmission assembly at least includes an action gear (420), the lifting assembly (200) includes a transmission tooth (214) arranged in a circumferential direction, the action gear (420) is directly or indirectly meshed with the transmission tooth (214), when the switching block (410) is in a positioning position, the switching block (410) acts on the action gear (420) to limit the rotation of the action gear (420), and when the switching block (410) is in an idle position, the action gear (420) rotates along with the lifting assembly (200).

[0037] The transmission assembly further comprises a first intermediate gear (430) and a second intermediate gear (440), the first intermediate gear (430) being meshed with the action gear (420) and the second intermediate gear (440) respectively, and the second intermediate gear (440) being meshed with the transmission gear (214);

[0038] The extension length of the structure connecting the lifting component (200) and the transmission gear (214) in the lifting direction is greater than the maximum lifting range of the lifting component (200);

[0039] And / or, the extension length of the transmission tooth (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200).

[0040] The switching block (410) acts on the axial end surface of the action gear (420) to limit the rotation of the action gear (420).

[0041] The transmission assembly further comprises a second elastic member (450), the second elastic member (450) being connected to the switching block (410) and being used for applying an elastic force to the switching block (410) in a direction opposite to the force applied by the switching block (410);

[0042] A plurality of limit clamps (421) arranged around the rotating shaft are arranged on the axial end surface of the action gear (420); a limit clamping groove (411) is arranged on the switching block (410); the second power member (500) is used to drive the switching block (410) to move in the axial direction of the action gear (420); when the switching block (410) is at the positioning position, the limit clamps (421) are embedded in the limit clamping groove (411).

[0043] The driving mechanism further comprises:

[0044] The second power member (500) is connected to the switching block (410) and is used to drive the switching block (410) to move between a positioning position and an idle position.

[0045] The second power member (500) comprises a driving member (510) and a screw rod (520), the driving member (510) is connected to the screw rod (520), the screw rod (520) is threadedly connected to the switching block (410), the switching block (410) and the housing of the driving mechanism are limited in the circumferential direction of the switching block (410), and the screw rod (520) is used to rotate under the action of the driving member (510) to push the switching block (410) to move through the thread.

[0046] The transmission assembly further comprises a second elastic member (450), which is connected to the switching block (410) and is used to apply an elastic force to the switching block (410) in a direction opposite to the force applied by the switching block (410).

[0047] The driving mechanism further comprises: a detection unit (800), and the detection unit (800) is used to generate an in-position signal when the lifting component (200) moves to the extreme position in the lifting direction.

[0048] On the other hand, the present invention further provides a cleaning device (30) comprising a driving mechanism as described above.

[0049] In yet another aspect, the present invention further provides a cleaning system, comprising the cleaning device (30) as described above.

[0050] The driving mechanism, cleaning equipment and cleaning system proposed in the present invention, when cleaning, the driving switch block moves to an empty position, the circumferential limit of the lifting assembly is released, and when the first power member drives the active member to rotate, the active member drives the lifting assembly through the force to drive the cleaning member to rotate synchronously, and then the surface to be cleaned can be cleaned; when the cleaning member needs to be lifted, the driving switch block is moved to the positioning position, and then the lifting assembly is blocked from rotating. When the first power member drives the active member to rotate, the driving force will enable the active member to overcome the force, and the active member will move relative to the lifting assembly. Through the action of the structure between the active member and the lifting assembly, the rotational movement of the active member is converted into the lifting of the lifting assembly, driving the cleaning member to lift and lower. The lifting of the cleaning member can achieve the avoidance of ground obstacles and the adjustment of the pressure on the surface to be cleaned. After the lifting adjustment is completed, the driving switch block moves to an empty position, and the cleaning member is cleaned at the adjusted height. It is possible to achieve the lifting and lowering drive of the cleaning module as a whole without setting up a driving component, and only the switching block needs to be driven. The power is provided by the first power component, and the lifting and lowering drive is achieved by coordinating the relative movement of the active component and the lifting component, thereby reducing the lifting and lowering drive burden and avoiding the problems of complex structure, large size, and high cost caused by the use of high-power driving components. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of the structure of a driving mechanism and a cleaning member provided in an embodiment of the present invention;

[0052] Figure 2 A schematic cross-sectional view of a driving mechanism provided by an embodiment of the present invention;

[0053] Figure 3 A schematic cross-sectional view of a partial structure of a driving mechanism provided by an embodiment of the present invention;

[0054] Figure 4 A schematic diagram of the structure of an overload protection component in a driving mechanism provided by an embodiment of the present invention;

[0055] Figure 5 A schematic structural diagram of a part of the structure of a driving mechanism provided by an embodiment of the present invention at a first viewing angle;

[0056] Figure 6 A schematic structural diagram of a part of the structure of a driving mechanism provided by an embodiment of the present invention at a second viewing angle;

[0057] Figure 7 A schematic diagram of the structure of a cleaning device provided by an embodiment of the present invention;

[0058] Figure 8 A structural block diagram of a cleaning system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, characteristics and effects of a driving mechanism proposed according to the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0060] like Figure 5-6 As shown, an embodiment of the present invention provides a driving mechanism that can be used to drive a driven part to move in a first direction and a second direction, wherein the first direction and the second direction can be a variety of different directions, such as the first direction can be a rotational direction, that is, the circumferential direction of the driven part, and the second direction is the direction of the axis, or can be a lifting direction. The following takes the example of a driving mechanism providing a driven part with a movement drive in the axial direction and a rotation drive around the axis. The driving mechanism can be used in a variety of driving scenarios that require axial movement and rotation at a specified position as needed. For example, it can be used for the telescopic and rotational drive of a milling head on machine tools such as milling machines. This application takes the use of a driving mechanism for cleaning equipment as an example to provide a specific description of the driving mechanism.

[0061] Cleaning equipment can also be called cleaning robots, self-cleaning equipment, sweepers, sweeping robots, floor scrubbers or mopping machines, etc., which can automatically clean and collect debris without user operation. Cleaning equipment can further include a machine body, a motion system, a cleaning system and a sensing system. In order to enable the cleaning equipment to adapt to more cleaning spaces and the machine body to be more stable and balanced, the machine body is usually flat and round, or it can also have other shapes, such as semicircular, square, etc. The sensing system is arranged on the machine body for sensing walls and obstacles, drawing maps, and positioning when the machine body moves and cleans. The motion system may include a moving wheel, a moving wheel drive and an auxiliary steering wheel. The moving wheel is driven by the moving wheel drive to rotate, driving the cleaning robot to walk. The auxiliary steering wheel can be a universal wheel, and the steering of the cleaning robot can be achieved by rotating and stopping the moving wheel in conjunction with the auxiliary steering wheel.

[0062] The cleaning system may include a dry cleaning component and a wet cleaning component. The dry cleaning component includes a roller brush, a dust box and an exhaust fan. The roller brush is connected to the machine body through a roller brush driving member. The machine body has a dust suction port located behind the roller brush, and the dust box is located on the wind path between the exhaust fan and the dust suction port. The roller brush has a certain interference with the ground. During the rotation process, the roller brush can sweep up the garbage on the ground and roll it to the bottom of the dust suction port, and then be sucked into the dust box by the gas generated by the exhaust fan and drawn back to the dust box. The roller brush driving member can only drive the roller brush to rotate. In some embodiments, the driving mechanism provided in the embodiment of the present application can be used to adjust the position of the entire roller brush in the axial direction, stop at any position, and drive the roller brush to rotate, so that the axial position of the roller brush can be adjusted as needed, and avoidance can be performed. Alternatively, in some embodiments, the roller brush can include two parts, at least one of which is connected by the driving mechanism of the present application, and the two parts of the roller brush can be driven to move away from each other in the axial direction and perform rotation cleaning, and to move closer to each other in the axial direction and perform rotation cleaning, so that the length of the roller brush can be adjusted as needed. The wet cleaning assembly may include a mop drive, one or more mops, and the mop can be rotated to perform dry mopping of the ground. In some embodiments, the mopping system also includes a water tank, which can replenish water to the mop for wet mopping of the ground. Since the mop has a large area and the surface is made of soft, water-absorbing materials such as felt or terry, there will be greater friction between the mop and floor coverings such as blankets. In addition, stains or sewage will remain on the mop after cleaning. In order to achieve obstacle avoidance of the mop and avoid repeated contamination of the mop on the surface to be cleaned, the mop needs to have a lifting function. The driving mechanism provided in this application can be used to drive the mop to rise and fall, so that the mop can be stored after obstacle avoidance and cleaning. In addition, during the cleaning process, the pressure of the mop on the surface to be cleaned can be adjusted according to the material of the surface to be cleaned, the degree of dirtiness, dry mopping or wet mopping, and other factors. In some embodiments, the driving mechanism of the present application can also be used on components such as side brushes, which are not listed one by one.

[0063] In the following embodiments, the first direction is the circumferential direction or the rotation direction, and the second direction is the vertical direction or the lifting direction, for example, to describe in detail the various embodiments of the drive mechanism structure. The passive member (300) can be a variety of components that clean by rotation, such as a mop, a side brush, etc. The rotating mop can be a round mop, a square mop, a triangular mop, etc. The following embodiments are described based on the actual direction of use.

[0064] like Figure 1-6 As shown, the driving mechanism includes: an active member (100);

[0065] A lifting component (200), the lifting component (200) is movably connected to the active component (100), and the lifting component (200) is used to connect to the passive component (300);

[0066] A switching component (400), the switching component (400) comprising a switching block (410), the position of the switching block (410) comprising at least a positioning position and an empty position;

[0067] A first power member, the first power member is connected to the active member (100) and is used to drive the active member (100) to rotate, and when the active member (100) is in at least one rotational position, a force in a rotational direction is generated between the active member (100) and the lifting assembly (200) due to movement;

[0068] When the switching block (410) is in the positioning position, the switching component (400) hinders the lifting component (200) from rotating or rotating, and the active component (100) overcomes the action force to move relative to the lifting component (200) and acts on the lifting component (200), thereby driving the lifting component (200) to drive the passive component (300) to move up and down. When the switching block (410) is in the idle position, the active component (100) drives the lifting component (200) through the action force to drive the passive component (300) to rotate.

[0069] The first power member may be a motor, which drives the active member (100) to rotate through a transmission member such as a gear. The active member (100) will only generate a force when it has a tendency to move relative to the lifting assembly (200) or has already moved relative to it. The active member (100) may generate a force between it and the lifting assembly (200) due to movement at any rotational position. Alternatively, the active member (100) may generate a force between it and the lifting assembly (200) due to movement only when it rotates to a specified position. The force at least includes a force in the rotational direction, i.e., a circumferential direction. When the switching block (410) is in an idle position, the switching block (410) has no contact with the lifting assembly (200), or at least does not hinder the movement of the lifting assembly (200). When the active member (100) has a tendency to move relative to the lifting assembly (200), the lifting assembly (200) will rotate synchronously with the active member (100) under the drive of the force. When the switching block (410) is in the positioning position, the switching block (410) will act on the lifting component (200), and the switching block (410) will provide resistance to the lifting component (200) in the rotation direction, and the resistance is at least not less than the force of the active member (100) on the lifting component (200) in the rotation direction. Then, when the active member (100) rotates, it cannot drive the lifting component (200) to rotate synchronously, but will produce relative movement in the rotation direction. The active member (100) will interact with the lifting component (200), the active member (100) will not move in the vertical direction, and the lifting component (200) will be lifted relative to the active member (100), so as to realize the lifting and lowering of the driving lifting component (200) and the passive member (300) connected thereto. The passive member (300) can be driven to stay at any position within a certain range, that is, the passive member (300) can be lifted to any position between the highest position and the lowest position for height positioning, and then rotated for cleaning. When in use, the passive component (300) can be driven to the highest position to store the passive component (300), and then obstacle avoidance and repeated contamination of the ground by the passive component (300) can be achieved. The passive component (300) can also be moved according to the height of the obstacle, such as being moved to a position lower than the highest position and higher than the height of the obstacle, in order to avoid the obstacle, and the time spent on the lifting of the passive component (300) can be reduced. During the cleaning process, the passive component (300) can be driven to lift and lower to different degrees to provide different cleaning pressures on the ground. For example, when the passive component (300) is a mop and wet mopping is performed, at the beginning of cleaning, the passive component (300) can be moved to the bottom to slightly contact the ground, and as the cleaning process proceeds, the height of the passive component (300) can be driven to gradually decrease, and then the water on the passive component (300) can be gradually squeezed out as the cleaning progresses, avoiding excessive squeezing in the initial stage of cleaning to cause too much water to be discharged, avoiding too wet the ground, and ensuring that the passive component (300) can also maintain a high drainage volume in the later stage of cleaning to avoid being unable to clean thoroughly.In addition, the height of the passive component (300) can be adjusted according to the friction coefficient of the cleaning surface. For example, in an environment with a high friction coefficient such as a carpet, the passive component (300) can be raised to reduce the interference between the passive component (300) and the carpet, thereby avoiding difficulty in the movement of the cleaning robot. Alternatively, the pressure can be adjusted according to the degree of dirtiness of the surface to be cleaned in the scene. For example, when cleaning the kitchen area, the pressure of the passive component (300) on the ground can be increased, thereby effectively cleaning stubborn stains such as oil stains. When cleaning indoors, the pressure of the passive component (300) on the ground can be reduced to avoid a heavy burden on movement.

[0070] During use, when the passive part (300) needs to be lowered, the switch block (410) is controlled to move to the positioning position, the active part (100) is controlled to rotate forward, and then the lifting assembly (200) is driven to drive the passive part (300) to descend. After the lifting assembly (200) reaches the required height, the switch block (410) is controlled to move to the vacant position, the active part (100) is driven to rotate, and the lifting assembly (200), the active part (100) and the passive part (300) rotate synchronously to achieve cleaning. When the passive part (300) needs to be raised, the switch block (410) is controlled to move to the positioning position, the active part (100) is controlled to rotate in the opposite direction, and the lifting assembly (200) drives the passive part (300) to rise, so as to achieve storage or obstacle avoidance. In addition, it is worth mentioning that when the passive component (300) is raised or lowered into place and the passive component (300) needs to rotate, the active component (100) can be moved in the forward direction or in the reverse direction. That is, after the passive component (300) rises or falls, there is no need to adjust the driving direction of the active component (100). The active component (100) can continue to be driven in the same direction, which makes the control process more efficient.

[0071] The acting force between the lifting component (200) and the active component (100) is an acting force that can be overcome, and is not a single rigid acting force. Therefore, in addition to realizing the switching function of lifting and rotating, it can also avoid the lifting component (200) and the active component (100) being over-extruded and damaged when, for example, the passive component (300) is subjected to resistance, and can avoid overloading of the first power component.

[0072] The driving mechanism, cleaning equipment and cleaning system proposed in the present invention, when cleaning, the driving switch block moves to an empty position, the circumferential limit of the lifting assembly is released, and when the first power member drives the active member to rotate, the active member drives the lifting assembly through the force to drive the cleaning member to rotate synchronously, and then the surface to be cleaned can be cleaned; when the cleaning member needs to be lifted, the driving switch block is moved to the positioning position, and then the lifting assembly is blocked from rotating. When the first power member drives the active member to rotate, the driving force will enable the active member to overcome the force, and the active member will move relative to the lifting assembly. Through the action of the structure between the active member and the lifting assembly, the rotational movement of the active member is converted into the lifting of the lifting assembly, driving the cleaning member to lift and lower. The lifting of the cleaning member can achieve the avoidance of ground obstacles and the adjustment of the pressure on the surface to be cleaned. After the lifting adjustment is completed, the driving switch block moves to an empty position, and the cleaning member is cleaned at the adjusted height. It is possible to achieve the lifting and lowering drive of the cleaning module as a whole without setting up a driving component, and only the switching block needs to be driven. The power is provided by the first power component, and the lifting and lowering drive is achieved by coordinating the relative movement of the active component and the lifting component, thereby reducing the lifting and lowering drive burden and avoiding the problems of complex structure, large size, and high cost caused by the use of high-power driving components.

[0073] There may be multiple ways to generate the force. For example, in one embodiment, the active member (100) and the lifting assembly (200) are in contact with each other at least partially, and the force includes the friction between the active member (100) and the lifting assembly (200). That is, as long as the active member (100) and the lifting assembly (200) have a tendency to move relative to each other, the force will be generated. If at least the area where the active member (100) and the lifting assembly (200) contact each other is a rough surface, then when the lifting assembly (200) is not restricted from rotating by the switching block (410), the active member (100) can drive the lifting assembly (200) to rotate through the friction.

[0074] Alternatively, in another embodiment, the active member (100) includes a first acting member (101), and the lifting assembly (200) includes a second acting member (201); at least one of the first acting member (101) and the second acting member (201) includes an acting position and a yielding position; the first acting member (101) is used to interact with the second acting member (201) so that at least one of the first acting member (101) and the second acting member (201) switches between the acting position and the yielding position; when in the acting position, the first acting member (101) and the second acting member (201) limit each other in the rotation direction to provide an acting force so that the active member (100) and the lifting assembly (200) rotate synchronously; when in the yielding position, the first acting member (101) and the second acting member (201) yield to each other so that the active member (100) and the lifting assembly (200) move relative to each other.

[0075] The realization that at least one of the first action member (101) and the second action member (201) can switch between the action position and the yield position can be achieved by means of deformation of the main body, such as at least a part of the active member (100) is elastically deformable, and the first action member (101) presses the active member (100) under the action of the second action member (201), so that the active member (100) is deformed, and then the first action member (101) moves from the action position to the yield position. The active member (100) is used to restore its shape through elastic deformation, so that the first action member (101) moves from the yield position to the action position. Alternatively, at least a part of the lifting component (200) is elastically deformable, and the second action member (201) presses the lifting component (200) under the action of the first action member (101), so that the lifting component (200) is deformed, and then the second action member (201) moves from the action position to the yield position. The lifting assembly (200) is also used to restore the shape through elastic deformation, so that the second action member (201) moves from the yielding position to the action position. Figure 4 As shown, taking the second action member (201) including the action position and the yield position as an example, the lifting assembly (200) may be provided with a hollow (203), and the hollow (203) makes part of the side wall of the lifting assembly (200) easy to deform. Alternatively, the active member (100) and the lifting assembly (200) may both be elastic, and the first action member (101) and the second action member (201) may interact with each other, and the first action member (101) and the second action member (201) may respectively squeeze or release the active member (100) and the lifting assembly (200) to switch between the action position and the yield position. Alternatively, the active member (100) and the lifting assembly (200) may both be inelastic, and at least one of the first action member (101) and the second action member (201) may itself be elastic, and the action position and the yield position refer to the position of any point on the first action member (101) and the second action member (201). If the first action member (101) is an elastic member, the first action member (101) at least deforms itself under the action of the second action member (201), thereby causing the first action member (101) to move from the action position to the yield position. The first action member (101) also restores its shape through elastic deformation, thereby causing the first action member (101) to move from the yield position to the action position. The embodiment in which the second action member (201) is an elastic member will not be described in detail.

[0076] like Figure 3-4As shown in , the position of the second acting member (201) includes an acting position and a yielding position as an example. In the acting position, the first acting member (101) and the second acting member (201) are mutually limited in the rotation direction or in the circumferential direction of the active member (100), and then the lifting component (200) and the active member (100) are driven to rotate coaxially. When the first acting member (101) and the second acting member (201) are mutually limited and then the lifting component (200) is driven to rotate, due to the inertia of the lifting component (200), a certain external force is required to drive the lifting component (200) to rotate, resulting in a certain pressure between the first acting member (101) and the second acting member (201), but the pressure is not too large, and the second acting member (201) will not be pressed to move to the yielding position. However, when the lifting component (200) is obstructed by the switching block (410), the reverse external force on the active member (100) and the lifting component (200) increases, so that the pressure between the first acting member (101) and the second acting member (201) increases. The second acting member (201) is configured so that when the pressure increases, the interaction between the first acting member (101) and the second acting member (201) will push the second acting member (201) away from the first acting member (101), so that the second acting member (201) moves to a yielding position, so that the first acting member (101) and the second acting member (201) are in a critical position of misalignment. The first acting member (101) and the second acting member (201) yield to each other, thereby realizing the interruption of transmission between the active member (100) and the lifting component (200). The active member (100) can rotate relative to the lifting component (200) to achieve relative movement in the circumferential direction. It is worth noting that when the first acting member (101) and the second acting member (201) are in the acting position, only the relative position of the active member (100) and the lifting assembly (200) in the circumferential direction is limited, and the axial position, or the lifting direction, is not limited.

[0077] In one embodiment, there are multiple second acting members (201), and the multiple second acting members (201) are arranged in the rotation direction or in the circumferential direction of the lifting component (200), and adjacent second acting members (201) are connected. After the first acting member (101) is separated from the current second acting member (201), the first acting member (101) acts on the adjacent second acting member (201) of the current second acting member (201); or, there are multiple first acting members (101), and the multiple first acting members (101) are arranged in the rotation direction or in the circumferential direction of the active member (100), and adjacent first acting members (101) are connected. After the second acting member (201) is separated from the current first acting member (101), the second acting member (201) acts on the adjacent first acting member (101) of the current first acting member (101).

[0078] The active member (100) will generate an acting force only when the active member (100) and the lifting assembly (200) have a tendency to move relative to each other in the rotation position where the first acting member (101) and the second acting member (201) are in contact. In order to ensure that the lifting component (200) and the active component (100) can still transmit normally after the lifting and lowering adjustment of the lifting component (200) is completed, the first acting components (101) are arranged closely, and then after the second acting component (201) passes over the current first acting component (101), the second acting component (201) will return to the acting position and can fall into the first acting component (101) adjacent to the current first acting component (101). If the switching block (410) moves to the vacant position at this time, the second acting component (201) can immediately continue to act with the adjacent first acting component (101), and then immediately provide an acting force to realize rotational transmission, saving switching time and avoiding the situation where the first acting components (101) are arranged at intervals or there is only one, and the active component (100) needs to idle for a certain distance before it can act with the first acting component (101) again to provide an acting force. If the switching block (410) is still in the positioning position, the second acting member (201) will continue to be pressed against the adjacent first acting member (101), so that the second acting member (201) moves to the yielding position again, and so on and so forth until the switching block (410) moves to the vacant position.

[0079] The distribution of the first acting member (101) and the second acting member (201) is related to the direction in which the active member (100) drives the lifting assembly (200) to move. When the rotation direction is circumferential, that is, when the active member (100) drives the lifting assembly (200) to rotate, a plurality of first acting members (101) can be arranged around the rotating shaft, and the second acting member (201) can be only one or more. For example, the second acting member (201) can be Figure 3 As shown, the three second action members (201) are evenly distributed around the rotating shaft, thereby achieving even force between the lifting component (200) and the active member (100).

[0080] The first acting member (101) and the second acting member (201) interact with each other so that at least one of the first acting member (101) and the second acting member (201) moves to the yielding position through the surface shape of the first acting member (101) and the second acting member (201) contacting each other. For example, the first acting member (101) includes a first acting surface, and the second acting member (201) includes a second acting surface. The first acting surface slides relative to the second acting surface so that at least one of the first acting member (101) and the second acting member (201) moves from the acting position to the yielding position. The external force applied to each other between the first acting surface and the second acting surface should satisfy that the first acting member (101) and the second acting member (201) push each other so that the first acting member (101) and the second acting member (201) move away from each other. In one embodiment, one of the first acting surface and the second acting surface is a concave arc surface, and the other is a convex arc surface. The shapes of the concave arc surface and the convex arc surface are adapted. When in the acting position, the concave arc surface abuts against the convex arc surface.

[0081] The first acting member (101) and the second acting member (201) are used to provide an acting force. Compared with the friction force between the active member (100) and the lifting assembly (200), the transmission force between the active member (100) and the lifting assembly (200) is ensured to be greater, thereby avoiding the problem of transmission failure caused by the decrease of friction force between the active member (100) and the lifting assembly (200) after long-term use, and the inability to drive the passive member (300) to rotate effectively.

[0082] In one embodiment, the lifting assembly (200) comprises a lifting member (210) and an overload protection member (220); the lifting member (210) is movably connected to the active member (100); there is a force between the active member (100) and the overload protection member (220); and the lifting member (210) is used to connect to the passive member (300).

[0083] The overload protection member (220) includes the aforementioned second action member (201), and then the lifting member (210) and the overload protection member (220) can be made of different materials. The overload protection member (220) can be made of a material that is easier to deform, so that the second action member (201) can be switched in position, while the lifting member (210) is made of a harder material, which is convenient for stably fixing the passive member (300) and effectively interacting with the active member (100). The lifting member (210) and the overload protection member (220) are detachably connected, and the overload protection member (220) can be replaced as needed.

[0084] When the active member (100) and the lifting assembly (200) or the lifting member (210) move relative to each other in the rotation direction, the active member (100) can exert force on the lifting assembly (200) in the lifting direction or in the vertical direction through the structural setting of the active member (100) and the lifting assembly (200), thereby driving the lifting assembly (200) to rise or fall. The structural setting can adopt the following implementation mode: a third action member (102) is arranged on the active member (100), and a fourth action member (202) is arranged on the lifting assembly (200). At least one of the third action member (102) and the fourth action member (202) includes an action inclined surface. When the switching block (410) is in the positioning position, the active member (100) moves in the rotation direction so that the third action member (102) and the fourth action member (202) cooperate with each other through the action inclined surface, thereby driving the lifting assembly (200) to rise and fall.

[0085] The action slope is an inclined plane extending in both the rotation direction and the lifting direction, or in other words, an inclined plane extending in both the circumferential direction and the vertical direction. The action slope is an inclined plane that provides lifting and lowering forces to the third action member (102) and the fourth action member (202) when the third action member (102) and the fourth action member (202) move relative to each other in the circumferential direction. The third action member (102) and the fourth action member (202) may both include an action slope. Alternatively, one of the third action member (102) and the fourth action member (202) includes an action slope, and the other of the third action member (102) and the fourth action member (202) includes a rolling member or a slider, and the rolling member or the slider is used to roll or slide relative to the action slope. The rolling member may be a roller or a roller shaft, which can reduce the friction between the third action member (102) and the fourth action member (202) and reduce the driving burden by rolling and connecting to the action slope. Alternatively, the slider may be a block-shaped, columnar or other protrusion.

[0086] In one embodiment, the number of the third action member (102) and the number of the fourth action member (202) can both be one. Alternatively, the number of the third action member (102) and the number of the fourth action member (202) are the same, and they are arranged in a one-to-one correspondence, and there are multiple third action members (102) and fourth action members (202).

[0087] In one embodiment, one of the third acting member (102) and the fourth acting member (202) is a thread, and the other of the third acting member (102) and the fourth acting member (202) can be a chuck with an action slope, and the chuck is embedded between the spiral surfaces, or the other of the third acting member (102) and the fourth acting member (202) is only a smaller chuck without an action slope. The active member (100) is threadedly connected to the lifting assembly (200), and the active member (100) rotates relative to the lifting assembly (200) to push the lifting assembly (200) up and down through the thread.

[0088] Or, if Figure 2 As shown, the third actuating member (102) and the fourth actuating member (202) are both threads. Compared with the combination of threads and chucks, the two threads are interlocked and connected to each other, thereby increasing the tightness of the connection between the active member (100) and the lifting assembly (200) and preventing the active member (100) and the lifting assembly (200) from shaking relative to each other.

[0089] Alternatively, at least one of the third acting member (102) and the fourth acting member (202) is an acting groove, and the other of the third acting member (102) and the fourth acting member (202) is used to be embedded in the acting groove, and the groove wall of the acting groove includes an acting inclined surface.

[0090] In one embodiment, the lifting assembly (200) includes a lifting member (210), and the lifting member (210) includes a first sleeve (211) and a second sleeve (212), wherein the second sleeve (212) is sleeved on the outer periphery of the first sleeve (211), and the second sleeve (212) and the first sleeve (211) are spaced apart, and the second sleeve (212) and the first sleeve (211) are connected at one end close to the passive member (300). The active member (100) is located between the first sleeve (211) and the second sleeve (212), and the active member (100) acts on at least one of the first sleeve (211) and the second sleeve (212) to drive the lifting assembly (200) to rise and fall. The first sleeve (211) is used to connect the passive member (300).

[0091] The first sleeve (211), the second sleeve (212) and the overload protection member (220) are all cylindrical structures. The overload protection member (220) can be arranged at one end of the second sleeve (212) away from the passive member (300) to interact with the outer peripheral surface of the active member (100), that is, the first action member (101) is arranged on the outer peripheral surface of the active member (100), and the second action member (201) is arranged on the inner peripheral surface of the overload protection member (220). Or, as Figure 3 As shown, the overload protection member (220) can be arranged at one end of the first sleeve (211) away from the passive member (300) to interact with the inner circumference of the active member (100), that is, the first action member (101) is arranged on the inner circumference of the active member (100), and the second action member (201) is arranged on the outer circumference of the overload protection member (220). Alternatively, the overload protection member (220) can be arranged on both the first sleeve (211) and the second sleeve (212).

[0092] The third action member (102) and the fourth action member (202) can be respectively arranged on the inner circumference of the active member (100) and the outer circumference of the first sleeve (211), and the active member (100) and the second sleeve (212) can be slidably connected. Figure 2 As shown, the third action member (102) and the fourth action member (202) are respectively arranged on the outer circumference of the active member (100) and the inner circumference of the second sleeve (212), and the active member (100) and the first sleeve (211) can be slidably connected. Alternatively, the first sleeve (211) and the second sleeve (212) are both provided with the fourth action member (202), and the inner circumference and the outer circumference of the active member (100) are both provided with the third action member (102).

[0093] By setting the first sleeve (211) and the second sleeve (212), the active member (100) is placed between the first sleeve (211) and the second sleeve (212), which plays a role in protecting the active member (100). For example, when the active member (100) is threadedly connected to the first sleeve (211) and / or the second sleeve (212), it is possible to avoid dust and debris entering between the threads and causing transmission problems. In addition, the relative position of the active member (100) and the lifting assembly (200) in the radial direction is more stable and less likely to shake.

[0094] In one embodiment, the driving mechanism further comprises: a first elastic member (600) and a connecting portion (700), wherein the connecting portion (700) is connected to the lifting assembly (200) via the first elastic member (600), and the connecting portion (700) is used to connect the passive member (300). When the lifting assembly (200) is lifted or lowered, the first elastic member (600) is compressed to different degrees, so as to provide different degrees of pressure on the cleaning surface for the passive member (300).

[0095] By setting the first elastic member (600), different forces for squeezing the ground are provided for the passive member (300). And when the passive member (300) is directly connected to the lifting assembly (200), it is avoided that the passive member (300) cannot contact the ground due to mechanical errors or other reasons, or the overpressure damage of the components caused by excessive squeezing with the ground is avoided. The force of the passive member (300) to clean the ground can be adjusted as needed. For example, in the initial period when the passive member (300) cleans the ground, the lifting assembly (200) descends to the first elastic member (600) for slight compression, so that the water on the passive member (300) is not excessively squeezed. With the cleaning process, the lifting assembly (200) can be driven to descend, so that the elastic member (700) is further compressed, and then the force applied to the passive member (300) is increased, so that the passive member (300) squeezes the ground with greater strength, discharges the residual water, and ensures that the water output of the passive member (300) during the cleaning process is moderate. Alternatively, the pressure can be adjusted according to the degree of dirtiness of the ground, taking into account both the cleaning strength and reducing walking obstacles. Alternatively, the pressure can be adjusted according to the material of the surface to be cleaned. The lifting component (200) includes an inner cavity, and the connecting part (700) is inserted into the inner cavity and can be slidably abutted against the inner wall of the inner cavity, such as the connecting part (700) and the inner wall of the first sleeve (211) slidingly abut. A plug-in slot can be provided on the connecting part (700), and a magnetic suction part is provided in the plug-in slot for plugging and adsorbing the passive part (300). The connection between the first elastic part (600) and the connecting part (700) and the lifting component (200) can be abutment, plug-in, hanging, bonding, magnetic suction connection, etc. The first elastic part (600) can be a spring, foam, soft rubber, etc. In one embodiment, the lifting assembly (200) includes a blocking member (213), which is used to act with the connecting portion (700) to limit the connecting portion (700) to an extreme position of movement in the direction of energy release of the first elastic member (600). The blocking member (213) can be arranged at the inner cavity of the lifting assembly (200) or the bottom opening edge of the first sleeve (211) to prevent the connecting portion (700) from escaping from the inner cavity and allow the first elastic member (600) to be installed in an abutting manner. At the same time, it also serves to block debris between the lifting assembly (200) and the connecting portion (700) to prevent the movement of the connecting portion (700) from being obstructed.

[0096] The switch block (410) can be used in a variety of ways to position and give way to the lifting component (200). When the switch block (410) is in the positioning position, the lifting component (200) is positioned only in the rotation direction or the circumferential direction of the lifting component (200), and the movement of the lifting component (200) in the lifting direction or the vertical direction is not restricted. The switch block (410) can be used to directly contact the lifting component (200) for positioning and giving way. For example, in one embodiment, when the switch block (410) is in the positioning position, the switch block (410) is directly connected to the lifting component (200) to hinder the rotation of the lifting component (200). The lifting component (200) or the second sleeve (212) may be provided with at least one limiting groove or limiting hole. When the switch block (410) is in the positioning position, the switch block (410) is plugged into the limiting groove or limiting hole. The limiting groove or limiting hole is a strip groove or strip hole extending in the vertical direction. Alternatively, when the switching block (410) is in the positioning position, the switching block (410) abuts against the lifting assembly (200), and the friction between the switching block (410) and the lifting assembly (200) is greater than the applied force. If the friction between the switching block (410) and the lifting assembly (200) is greater than the friction between the lifting assembly (200) and the active component (100), the lifting assembly (200) and the active component (100) are moved relative to each other. In this arrangement, there is no need for the switching block (410) to align with the limiting groove or the limiting hole. When the lifting assembly (200) rotates to any position, the switching block (410) can be switched to the positioning position to fix the lifting assembly (200).

[0097] In some other embodiments, the switching block (410) is not in direct contact with the lifting assembly (200), and the switching assembly (400) further includes a transmission assembly, which is connected to the lifting assembly (200). When the switching block (410) is in the positioning position, the switching block (410) is connected to the transmission assembly to hinder the rotation of the lifting assembly (200) through the transmission assembly.

[0098] The arrangement of the transmission assembly allows the action mode of the switching block (410) to be arranged more flexibly, thereby avoiding the problem in the aforementioned embodiment that positioning by friction is prone to wear after long-term use, resulting in the inability to stably stop the rotation of the lifting assembly (200). It can also avoid the problem in the aforementioned embodiment that the lifting assembly (200) needs to be rotated until the limiting groove or limiting hole is aligned with the switching block (410) in order to be positioned.

[0099] In one embodiment, the transmission assembly at least includes an action gear (420), the lifting assembly (200) includes a transmission tooth (214) arranged in a circumferential direction, the action gear (420) is directly or indirectly meshed with the transmission tooth (214), when the switching block (410) is in a positioning position, the switching block (410) acts on the action gear (420) to limit the rotation of the action gear (420), and when the switching block (410) is in an idle position, the action gear (420) rotates along with the lifting assembly (200).

[0100] The action gear (420) and the transmission gear (214) always maintain a direct or indirect meshing relationship. When the switching block (410) is in an idle position, the switching block (410) is disengaged from the action gear (420), and the action gear (420) will idle under the rotation of the lifting assembly (200). In some embodiments, the transmission assembly also includes an intermediate gear, and the intermediate gear can be set or not as needed. There are two intermediate gears, or a single one, three or more intermediate gears, which can be set as needed. For example, a first intermediate gear (430) and a second intermediate gear (440) can be set, and the first intermediate gear (430) is meshed with the action gear (420) and the second intermediate gear (440) respectively, and the second intermediate gear (440) is meshed with the transmission gear (214). Through the setting of the intermediate gear, the setting position and shape of the action gear (420) are more flexible, and the avoidance of other components on the cleaning robot can be achieved. In the embodiment in which the second intermediate gear (440) is provided, the extension length of the second intermediate gear (440) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200). If the action gear (420) is directly connected to the transmission gear (214), the extension length of the action gear (420) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200), and the transmission gear (214) can be shorter in the axial direction, thereby saving the space occupied by the transmission gear (214). Alternatively, the extension length of the transmission gear (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200), and the second intermediate gear (440) is a gear with a shorter axial length, which can be set as needed, so that when the lifting assembly (200) is at any height, the transmission assembly can maintain a connection and transmission relationship with the transmission gear (214), ensuring that continuous adjustment of lifting can be achieved at any position, and ensuring that the transmission assembly and the transmission gear (214) will not be disengaged in the entire lifting range of the lifting assembly (200).

[0101] In one embodiment, the driving mechanism further comprises a second power member (500), and the second power member (500) is connected to the switching block (410) and is used to drive the switching block (410) to move between the positioning position and the idle position.

[0102] The switching block (410) can use a variety of methods to hinder the rotation of the action gear (420), so as to hinder the rotation of the lifting assembly (200) through the transmission teeth (214). In one embodiment, the switching block (410) acts on the axial end surface of the action gear (420) to limit the rotation of the action gear (420). The action between the switching block (410) and the action gear (420) can be to use friction to hinder the rotation of the action gear (420). Or, Figure 5-6 As shown, a plurality of limit clamps (421) arranged around the rotating shaft are arranged on the axial end face of the action gear (420), a limit clamping groove (411) is arranged on the switching block (410), and the second power member (500) is used to drive the switching block (410) to move in the axial direction of the action gear (420), and when the switching block (410) is in the positioning position, the limit clamp (421) is embedded in the limit clamping groove (411). The surfaces of the limiting clamp (421) and the limiting groove (411) may both include guiding surfaces, thereby providing a certain tolerance for circumferential alignment. For example, the limiting clamp (421) and the limiting groove (411) may both be V-shaped sawtooth structures or include arcuate surfaces. Then, even if the limiting clamp (421) is not completely aligned with the limiting groove (411), the limiting clamp (421) can enter the limiting groove (411) through the guiding effect of the inclined surface or the arcuate surface, thereby ensuring that the switching block (410) effectively limits the acting gear (420).

[0103] In one embodiment, the transmission assembly further includes a second elastic member (450), which is connected to the switching block (410) and is used to apply an elastic force to the switching block (410) in a direction opposite to the force applied by the switching block (410). This can then play a buffering role when the action gear (420) is impacted, avoiding edge wear caused by the rigid impact of the switching block (410), and can also reduce the noise caused by the rigid impact of the switching block (410). At the same time, the elastic force provided by the second elastic member (450) can ensure that the switching block (410) and the action gear (420) are closely fitted in the axial direction, making the limit more stable.

[0104] The second power member (500) can be in various forms and can drive the switching block (410) to move in various ways. For example, in one embodiment, the second power member (500) includes a driving member (510) and a screw rod (520), the driving member (510) is connected to the screw rod (520), the screw rod (520) is screwed to the switching block (410), the switching block (410) and the housing of the driving mechanism are circumferentially limited to the switching block (410), and the screw rod (520) is used to rotate under the action of the driving member (510) to push the switching block (410) to move in the vertical direction through the thread. The action gear (420) can be rotatably sleeved on the screw rod (520) through a bearing, so that the structure is more compact and has better stability.

[0105] In one embodiment, the driving mechanism further comprises: a detection unit (800), and the detection unit (800) is used to generate an in-position signal when the lifting component (200) moves to the extreme position in the lifting direction.

[0106] The detection unit (800) can be used to provide feedback on the highest position of the lifting assembly (200) in the vertical direction, so as to avoid over-ascending of the lifting assembly (200) and causing overload of the first power member. The detection unit (800) can also be used to provide feedback on the lowest position of the lifting assembly (200) in the vertical direction, so as to avoid over-descending of the lifting assembly (200) and causing the lifting assembly (200) to be detached from the active member (100), or the lifting assembly (200) being hindered from moving downward by the outer shell structure of the driving mechanism, causing overload of the first power member. The detection unit (800) can be of various types, such as the detection unit (800) including a photoelectric transmitter and a light receiver, the photoelectric transmitter and the light receiver being arranged relative to each other, and when the lifting assembly (200) moves to the highest position or the lowest position, the lifting assembly (200) blocks the light between the photoelectric transmitter and the light receiver, so that the light receiver generates a signal of arrival. Alternatively, the detection unit (800) includes a magnetic sensor, and the lifting assembly (200) is connected to a magnetic part. When the lifting assembly (200) moves to the highest position or the lowest position, the magnetic part enters the detection range of the magnetic sensor, so that the magnetic sensor generates an in-position signal. Alternatively, the detection unit (800) includes a micro switch, and when the lifting assembly (200) moves to the highest position or the lowest position, the lifting assembly (200) triggers the micro switch, so that the micro switch generates an in-position signal.

[0107] On the other hand, Figure 7 As shown, the present invention further provides a cleaning device (30), comprising a driving mechanism (10) as described above, and a cleaning device body (20). The driving mechanism (10) is connected to the cleaning device body (20). The advantages of the cleaning device (30) including any of the driving mechanisms described above are not described in detail here.

[0108] On the other hand, Figure 8 As shown, the present invention further provides a cleaning system, comprising the above-mentioned cleaning device (30) and a base station (40), wherein the cleaning device (30) can selectively dock at the base station (40), and the base station (40) can replenish water, clean, charge, etc. for the cleaning device (30). The advantages of the cleaning system including any one of the above-mentioned cleaning devices (30) are not described in detail here.

[0109] The driving mechanism can be one or two, or more, and can be set as needed. The driving mechanism can drive the lifting and rotation of the mop, side brush, etc., and can also drive the horizontal movement and rotation of the roller brush, or can also be used for the extension and retraction drive of the roller brush.

[0110] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A driving mechanism, characterized in that: include: Active member (100); A lifting component (200), the lifting component (200) being movably connected to the active component (100), and the lifting component (200) being used to connect to the passive component (300); A switching component (400), the switching component (400) comprising a switching block (410), the position of the switching block (410) comprising at least a positioning position and an empty position; a first power member, the first power member being connected to the active member (100) and used for driving the active member (100) to rotate, wherein when the active member (100) is in at least one rotational position, a force in a rotational direction is generated between the active member (100) and the lifting assembly (200) due to movement; When the switching block (410) is in the positioning position, the switching component (400) hinders the lifting component (200) from rotating, and the active component (100) overcomes the action force and moves relative to the lifting component (200), and acts on the lifting component (200), thereby driving the lifting component (200) to drive the passive component (300) to move up and down; when the switching block (410) is in the idle position, the active component (100) drives the lifting component (200) to rotate through the action force, thereby driving the passive component (300).

2. The driving mechanism according to claim 1, characterized in that: The active member (100) and the lifting assembly (200) are in abutment with each other at least partially, and the acting force comprises a friction force between the active member (100) and the lifting assembly (200); And / or, the active member (100) comprises a first acting member (101), the lifting assembly (200) comprises a second acting member (201), at least one of the first acting member (101) and the second acting member (201) comprises an action position and a yield position, the first acting member (101) is used to interact with the second acting member (201) so that at least one of the first acting member (101) and the second acting member (201) switches between the action position and the yield position, in the action position, the first acting member (101) and the second acting member (201) are mutually limited in the rotation direction to provide the action force so that the active member (100) and the lifting assembly (200) rotate synchronously, and in the yield position, the first acting member (101) and the second acting member (201) yield to each other so that the active member (100) and the lifting assembly (200) move relative to each other.

3. The driving mechanism according to claim 2, characterized in that: The number of the first acting members (101) is plural, the plurality of the first acting members (101) are arranged in the rotation direction, and adjacent first acting members (101) are connected; And / or, the number of the second acting members (201) is plural, the plurality of the second acting members (201) are arranged in the rotation direction, and adjacent second acting members (201) are connected.

4. The driving mechanism according to claim 2, characterized in that: At least a partial area of ​​the active member (100) is deformable so that the first action member (101) can be switched between the action position and the yield position; And / or, at least a partial area of ​​the lifting assembly (200) is deformable so that the second action member (201) switches between the action position and the yield position; And / or, at least one of the first acting member (101) and the second acting member (201) is deformable.

5. The driving mechanism according to claim 1, characterized in that: The lifting component (200) comprises a lifting member (210) and an overload protection member (220); the lifting member (210) is movably connected to the active member (100); there is the acting force between the active member (100) and the overload protection member (220); and the lifting member (210) is used to connect to the passive member (300); The lifting member (210) and the overload protection member (220) are detachably connected.

6. The driving mechanism according to claim 1, characterized in that: The active member (100) is provided with a third action member (102), and the lifting component (200) is provided with a fourth action member (202); At least one of the third acting member (102) and the fourth acting member (202) includes an acting inclined surface. When the switching block (410) is in the positioning position, the active member (100) moves in a rotational direction so that the third acting member (102) and the fourth acting member (202) cooperate with each other through the acting inclined surface, thereby driving the lifting assembly (200) to move up and down.

7. The driving mechanism according to claim 6, characterized in that: The third action member (102) and the fourth action member (202) both include the action slope; Alternatively, one of the third acting member (102) and the fourth acting member (202) includes the acting inclined surface, and the other of the third acting member (102) and the fourth acting member (202) includes a rolling member or a slider, and the rolling member or the slider is used to roll or slide relative to the acting inclined surface.

8. The driving mechanism according to claim 6, characterized in that: One of the third action member (102) and the fourth action member (202) is a thread, and the other is a chuck, and the chuck is embedded between the threads; Alternatively, the third action member (102) and the fourth action member (202) are both threads; Alternatively, at least one of the third acting member (102) and the fourth acting member (202) is an acting groove, and the other of the third acting member (102) and the fourth acting member (202) is used to be embedded in the acting groove.

9. The driving mechanism according to claim 1, characterized in that: The lifting assembly (200) comprises a lifting member (210), wherein the lifting member (210) comprises a first sleeve (211) and a second sleeve (212), wherein the second sleeve (212) is sleeved on the outer periphery of the first sleeve (211), and the second sleeve (212) and the first sleeve (211) are spaced apart from each other, and the second sleeve (212) and the first sleeve (211) are connected at one end close to the passive member (300); The active member (100) is located between the first sleeve (211) and the second sleeve (212), and the active member (100) acts on at least one of the first sleeve (211) and the second sleeve (212) to drive the lifting assembly (200) to move up and down; The first sleeve (211) is used for connecting the passive component (300).

10. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: a first elastic member (600) and a connecting portion (700), wherein the connecting portion (700) is connected to the lifting assembly (200) via the first elastic member (600), and the connecting portion (700) is used to connect to the passive member (300); When the lifting assembly (200) is lifted or lowered, the first elastic member (600) is compressed to different degrees, so as to provide the passive member (300) with different degrees of pressure on the surface to be cleaned.

11. The driving mechanism according to claim 10, characterized in that: The lifting assembly (200) comprises a blocking member (213), and the blocking member (213) is used to act with the connecting portion (700) to limit the connecting portion (700) to an extreme position of movement in the direction in which the first elastic member (600) releases energy.

12. The driving mechanism according to claim 1, characterized in that: When the switching block (410) is in the positioning position, the switching block (410) is directly connected to the lifting assembly (200) to prevent the lifting assembly (200) from rotating; The lifting assembly (200) is provided with at least one limiting groove or limiting hole, and when the switching block (410) is in the positioning position, the switching block (410) is inserted into the limiting groove or limiting hole; Alternatively, when the switching block (410) is in the positioning position, the switching block (410) abuts against the lifting assembly (200), and the friction force between the switching block (410) and the lifting assembly (200) is greater than the acting force.

13. The driving mechanism according to claim 1, characterized in that: The switching assembly (400) further comprises a transmission assembly, wherein the transmission assembly is connected to the lifting assembly (200); when the switching block (410) is in the positioning position, the switching block (410) is connected to the transmission assembly so as to hinder the lifting assembly (200) from rotating via the transmission assembly.

14. The driving mechanism according to claim 13, characterized in that: The transmission assembly at least comprises an action gear (420); the lifting assembly (200) comprises a transmission tooth (214) arranged in a circumferential direction; the action gear (420) is directly or indirectly meshed with the transmission tooth (214); when the switching block (410) is in the positioning position, the switching block (410) acts on the action gear (420) to limit the rotation of the action gear (420); when the switching block (410) is in the idle position, the action gear (420) rotates along with the lifting assembly (200).

15. The driving mechanism according to claim 14, characterized in that: The transmission assembly further comprises a first intermediate gear (430) and a second intermediate gear (440), wherein the first intermediate gear (430) is meshed with the action gear (420) and the second intermediate gear (440) respectively, and the second intermediate gear (440) is meshed with the transmission gear (214); The extension length of the portion of the transmission assembly connected to the transmission tooth (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200); And / or, the extension length of the transmission tooth (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200).

16. The driving mechanism according to claim 14, characterized in that: The switching block (410) acts on the axial end surface of the working gear (420) to limit the rotation of the working gear (420).

17. The driving mechanism according to claim 16, characterized in that: A plurality of limit clamps (421) arranged around the rotating shaft are arranged on the axial end surface of the action gear (420); a limit clamping groove (411) is arranged on the switching block (410); the second power member (500) is used to drive the switching block (410) to move in the axial direction of the action gear (420); when the switching block (410) is at the positioning position, the limit clamp (421) is embedded in the limit clamping groove (411). 。 18. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: A second power member (500), the second power member (500) is connected to the switching block (410) and is used to drive the switching block (410) to move between the positioning position and the idle position.

19. The driving mechanism according to claim 18, characterized in that: The second power member (500) comprises a driving member (510) and a screw rod (520), the driving member (510) being connected to the screw rod (520), the screw rod (520) being threadedly connected to the switching block (410), the switching block (410) and the housing of the driving mechanism being limited in the circumferential direction of the switching block (410), and the screw rod (520) being used to rotate under the action of the driving member (510) so as to push the switching block (410) to move through the thread; The transmission assembly further comprises a second elastic member (450), wherein the second elastic member (450) is connected to the switching block (410) and is used for applying an elastic force to the switching block (410) in a direction opposite to the force applied by the switching block (410).

20. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: A detection unit (800) is used to generate an in-position signal when the lifting component (200) moves to the extreme position in the lifting direction.

21. A cleaning device, characterized in that: It comprises a driving mechanism (10) as claimed in any one of claims 1 to 20.

22. A cleaning system, characterized in that: A cleaning device comprising the cleaning device described in claim 21 above.

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