Driving structure and cleaning equipment

Abstract

The invention discloses a driving structure and cleaning equipment, and relates to the technical field of cleaning equipment, the driving structure comprises a driving assembly, a first transmission assembly, a swing transmission assembly and a swing arm assembly; the driving assembly is provided with a power output end, and the power output end has a first motion state and a second motion state; the first transmission assembly is in driving connection with the power output end, the power output end is switched between a first motion state and a second motion state so as to drive the first transmission assembly to drive the cleaning assembly to ascend and descend, and meanwhile the swing transmission assembly is in driving connection or disconnection with the power output end; the swing arm assembly is in driving connection with the swing transmission assembly and drives the cleaning assembly to move between the inward folding position and the outward swing position. The lifting and swinging of the cleaning assembly are controlled by arranging the driving assembly, the driving structure is simplified, the production cost is reduced, the structural size is reduced, and the cleaning equipment is more miniaturized and lighter.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a driving structure and a cleaning equipment. BACKGROUND

[0002] At present, the mainstream sweeping robot with edge cleaning function on the market has one of the core functions, that is, the rotating cloth can be extended horizontally to cover and clean the blind area such as the wall edge and the furniture leg which cannot be effectively reached by the traditional sweeping robot.

[0003] To realize this "cloth expansion" function, the existing technical solution generally adopts a double-motor driving architecture. In this architecture, one motor is used to drive the cloth to rotate at high speed to perform the main function of wiping the ground. In order to realize the horizontal extension and retraction of the cloth, another motor needs to be additionally provided, which is responsible for driving a mechanical transmission mechanism to realize the expansion of the cloth.

[0004] Since this scheme requires two motors and two sets of complex mechanical transmission structures, it leads to complex overall module structure, large number of parts, and high production cost, which is not conducive to the miniaturization and lightweight design of the product. SUMMARY

[0005] The main purpose of the present application is to provide a driving structure and a cleaning equipment, which aims to solve the problems of complex driving structure, large number of parts and high production cost of the existing cleaning equipment.

[0006] To achieve the above purpose, the driving structure provided by the present application is used to drive the cleaning assembly to lift and swing, and comprises: a driving assembly, the driving assembly has a power output end, the power output end has a first motion state and a second motion state; a first transmission assembly, the first transmission assembly is drivingly connected with the power output end and is used to be connected with the cleaning assembly, the power output end is switched between the first motion state and the second motion state to drive the first transmission assembly to drive the cleaning assembly to lift and lower; a swing transmission assembly, the power output end is switched between the first motion state and the second motion state, the swing transmission assembly is drivingly connected or disconnected with the power output end; an oscillating arm assembly, the oscillating arm assembly is drivingly connected with the swing transmission assembly and drives the cleaning assembly to move between the inner retraction position and the outer swing position under the driving of the swing transmission assembly.

[0007] In one embodiment of the present invention, the swing transmission assembly includes a clutch and a first transmission member, the first transmission member being drivenly connected to the swing arm assembly, the clutch including a driving member and a driven member being drivenly connected, the driving member being drivenly connected to the power output end, and the driven member moving under the drive of the driving member; When the power output end is in the first motion state, the driving member drives the driven member to move to engage with the first transmission member to establish a transmission connection. When the power output terminal is in the second motion state, the driving member drives the driven member to move until the first transmission member is separated, so as to disconnect the transmission connection.

[0008] In one embodiment of the present invention, the first transmission member includes a first transmission gear, the driving member is a driving gear, the driven member is a driven gear, the driven gear is disposed on the periphery of the driving gear and meshes with the driving gear, and the driven gear switches between meshing or disengaging with the first transmission gear under the drive of the driving gear.

[0009] In one embodiment of the present invention, the driving gear includes a first gear disk and a second gear disk, the first gear disk and the second gear disk are arranged sequentially along their rotational axis, the second gear disk is drivenly connected to the power output end, the first gear disk meshes with the driven gear, and the number of teeth of the first gear disk is less than the number of teeth of the second gear disk.

[0010] In one embodiment of the present invention, the clutch further includes a first connecting rod, the driven gear is movably disposed on the second gear plate, and the two ends of the first connecting rod are respectively movably connected to the first gear plate and the driven gear.

[0011] In one embodiment of the present invention, the clutch further includes a first elastic element, the two ends of which press against the first connecting rod and the driven gear, respectively.

[0012] In one embodiment of the present invention, the swing arm assembly includes a mounting base and a swing arm; Both the first transmission assembly and the swing transmission assembly are mounted on the mounting base; The first transmission gear is provided with a transmission part, which is offset from the rotation axis of the first transmission gear. The swing arm is formed with a mating part, and the transmission part is mated with the mating part. One end of the swing arm is rotatably connected to the mounting base, and the other end is rotatably connected to the body of the cleaning equipment; When the first transmission gear rotates, the transmission part rotates around the axis of the first transmission gear to drive the mating part and cause the mounting base to swing between the inward position and the outward position.

[0013] In one embodiment of the present invention, the transmission part is a transmission pin, the mating part is a sliding groove formed on the swing arm, and the transmission pin is movably embedded in the sliding groove.

[0014] In one embodiment of the present invention, the swing assembly further includes a second elastic member, one end of which is connected to the mounting base and the other end is used to connect to the body of the cleaning equipment; When the mounting base is in the retracted position and the outward swing position, the second elastic element applies an elastic force to the mounting base and drives the mounting base to remain in the current position.

[0015] In one embodiment of the present invention, the drive assembly includes a motor and a second transmission component; The power output end is the rotating shaft of the motor. When the rotating shaft is in the first motion state, it rotates counterclockwise. When the rotating shaft is in the second motion state, it rotates clockwise. The second transmission component is driven to connect with the rotating shaft and is also driven to connect with the first transmission component and the swing transmission component, respectively.

[0016] In one embodiment of the present invention, the rotating shaft and the second transmission component are gear-fitted structures; Alternatively, the rotating shaft and the second transmission component may be a worm gear coupling structure.

[0017] In one embodiment of the present invention, the first transmission assembly includes a third transmission member and a fourth transmission member; The third transmission component is driven to the power output end, the fourth transmission component is driven to the third transmission component, the fourth transmission component is connected to the cleaning component, and the fourth transmission component moves vertically under the drive of the third transmission component, thereby driving the cleaning component to rise and fall.

[0018] In one embodiment of the present invention, the third transmission member includes a third transmission gear, and the fourth transmission member includes a transmission sleeve; The third transmission gear includes a transmission gear disk and a transmission wheel. The transmission gear disk and the transmission wheel are arranged sequentially at intervals along the axis of the third transmission gear. The transmission gear disk is driven and connected to the power output end. The transmission wheel is embedded in the transmission sleeve and is threadedly connected to the transmission sleeve. The transmission sleeve is connected to the cleaning component. The power output end drives the third transmission gear to rotate the transmission wheel relative to the transmission sleeve, thereby driving the transmission sleeve to lift and lower the cleaning component.

[0019] In one embodiment of the present invention, the transmission ratio of the swing transmission assembly is greater than the transmission ratio of the first transmission assembly.

[0020] In one embodiment of the present invention, the driving structure further includes a first position sensor, which is communicatively connected to the driving component. The first position sensor is used to detect the lifting and lowering of the cleaning component, and when the cleaning component rises or falls to a preset position, it controls the driving component to stop driving the first transmission component. And / or, the drive structure further includes a second position sensor, which is communicatively connected to the drive assembly. The second position sensor is used to detect the swing of the cleaning assembly and, when the cleaning assembly is in the retracted position or the outward swing position, controls the drive assembly to stop driving the swing transmission assembly.

[0021] The present invention also proposes a cleaning device, the cleaning device comprising a body, cleaning components and a drive structure as described above; The drive structure is mounted on the body and is driven and connected to the cleaning component.

[0022] The driving structure proposed in this invention is used to drive the cleaning component to rise, fall, and swing. The driving structure includes a driving component, a first transmission component, a swing transmission component, and a swing arm component. The driving component has a power output end, which has a first motion state and a second motion state. The first transmission component is drivenly connected to the power output end. When the power output end is in the first motion state, the first transmission component, driven by the driving component, drives the cleaning component to rise. When the power output end is in the second motion state, the first transmission component, driven by the driving component, drives the cleaning component to fall. By controlling the rising and falling of the cleaning component, the functions of cleaning and obstacle avoidance are achieved.

[0023] The swing transmission component is driven to connect with the swing arm component. When the power output end is in the first motion state, the swing transmission component is driven to connect with the power output end, so that the swing transmission component drives the swing arm component to swing under the drive of the drive component, thereby driving the cleaning component to move between the inward position and the outward swing position. By controlling the swing of the cleaning component, the cleaning effect and cleaning range of the cleaning equipment can be improved.

[0024] This application sets up a drive component to simultaneously control the movement of the first transmission component and the swing transmission component, thereby realizing the control of the lifting and swinging of the cleaning component. Compared with the drive structure in the prior art, the drive structure of this application has fewer parts, simplifies the drive structure, reduces production costs, and reduces the structural volume, making the cleaning equipment more miniaturized and lightweight. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the cleaning component in the retracted position in the cleaning device provided by the present invention; Figure 2 A schematic diagram of the cleaning component in the cleaning device provided by the present invention in the outward swing position; Figure 3 A schematic diagram of the structure for the interaction between the drive structure and the cleaning components; Figure 4 A schematic diagram of the drive structure when the cleaning component is in the retracted position; Figure 5 A schematic diagram of the drive structure when the cleaning component is in the outward swing position; Figure 6 for Figure 4 Schematic diagram of the internal structure of the drive structure; Figure 7 for Figure 5 Schematic diagram of the internal structure of the drive structure; Figure 8 for Figure 6 A schematic diagram of the engagement between the clutch, the first transmission gear, and the swing arm in the drive structure; Figure 9 for Figure 7 A schematic diagram of the engagement between the clutch, the first transmission gear, and the swing arm in the drive structure; Figure 10 A schematic diagram of the structure in which the drive assembly, the fifth transmission component, the second transmission component, and the first transmission assembly cooperate in the drive structure provided by the present invention; Figure 11 A schematic diagram of the driving structure provided by the present invention in another embodiment; Figure 12 for Figure 11 A schematic diagram of the cooperation between the drive assembly and the swing transmission assembly in the drive structure; Figure 13 for Figure 11 A schematic diagram of the oscillating transmission component in the drive structure; Figure 14 This is a schematic diagram of the mounting base cover in the drive structure.

[0027] Explanation of icon numbers: 1. Drive structure; 10. Drive assembly; 11. Motor; 111. Power output end; 12. Second transmission component; 13. Fifth transmission component; 20. First transmission assembly; 21. Third transmission gear; 211. Transmission gear plate; 212. Transmission wheel; 22. Transmission sleeve; 30. Swing transmission assembly; 31. Clutch; 311. Drive gear; 3111. First gear plate; 3112. Second gear plate; 312. Driven gear; 313. First connecting rod; 314. First elastic element; 32. First transmission gear; 321. Transmission pin; 33. Sixth transmission gear; 40. Swing arm assembly; 41. Swing arm; 411. Sliding groove; 42. Mounting base; 421. Cover plate; 421a. Stop; 43. Second elastic element; 50. Second position sensor; 60. First position sensor; 2. Body; 3. Cleaning assembly.

[0028] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0032] The present invention proposes a driving structure 1, which is used to drive the cleaning component 3 to rise, fall and swing.

[0033] Combination Figure 1 , Figure 2 as well as Figure 6 and Figure 7 As shown, in one embodiment of the present invention, the drive structure 1 includes a drive assembly 10, a first transmission assembly 20, a swing transmission assembly 30, and a swing arm assembly 40; the drive assembly 10 has a power output end 111, which has a first motion state and a second motion state; the first transmission assembly 20 is driven to connect with the power output end 111 and is used to connect with the cleaning assembly 3; the power output end 111 switches between the first motion state and the second motion state to drive the first transmission assembly 20 to drive the cleaning assembly 3 to rise and fall; the swing transmission assembly 30 is driven to connect or disconnect from the power output end 111; the swing arm assembly 40 is driven to connect with the swing transmission assembly 30 and, driven by the swing transmission assembly 30, drives the cleaning assembly 3 to move between an inward position and an outward position.

[0034] In this embodiment, the drive component 10 has a power output end 111, which has a first motion state and a second motion state. Specifically, the motion state of the power output end 111 can be understood as a change in the motion characteristics of the output end, which can be achieved by changing the rotation direction of the rotating shaft of the power output end 111, changing the speed of operation, or changing the motion time.

[0035] For example, the motion state of the power output terminal 111 is related to the rotation direction. For instance, the power output terminal 111 rotates clockwise in the first motion state and counterclockwise in the second motion state. Of course, the motion state of the power output terminal 111 can also be related to the rotation direction, rotation speed, or rotation time. For example, the power output terminal 111 may rotate counterclockwise at high speed in the first motion state, or the power output terminal 111 may rotate counterclockwise at low speed in the first motion state and continue rotating for a preset time.

[0036] When the power output terminal 111 switches between the first motion state and the second motion state, the swing transmission assembly 30 establishes or disconnects the drive connection with the power output terminal 111.

[0037] Specifically, in one embodiment, when the power output end 111 is in the first motion state, the swing transmission component 30 gradually approaches the power output end 111 and then drives and connects with the power output end 111. At this time, the swing transmission component 30 transmits power to the swing arm component 40, causing the swing arm component 40 to drive the cleaning component 3 to move in the retracted position and the outward swing position. When the power output end 111 switches to the second motion state, the swing transmission component 30 separates from the power output end 111. At this time, the cleaning component 3 cannot swing, and the power of the drive component 10 is concentrated in the first transmission component 20 to perform the lifting operation.

[0038] In another embodiment, when the power output terminal 111 is in the first motion state, the swing transmission component 30 gradually approaches the power output terminal 111 and then drives and connects with the power output terminal 111. At this time, the swing transmission component 30 transmits power to the swing arm assembly 40, causing the swing arm assembly 40 to drive the cleaning component 3 to move from the retracted position to the outward swing position. When the power output terminal 111 switches to the second motion state, the swing transmission component 30 gradually separates from the power output terminal 111. During this process, the swing transmission component 30 drives the swing arm assembly 40 to move the cleaning component 3 from the outward swing position to the retracted position. When the cleaning component 3 is in the retracted position, the swing transmission component 30 separates from the power output terminal 111. At this time, the cleaning component 3 cannot swing, and the power of the drive component 10 is concentrated in the first transmission component 20 to perform the lifting operation.

[0039] This connection and disconnection mechanism can be achieved by switching the transmission path. It can be a movable gear mechanism, which automatically adjusts its position to achieve engagement and disengagement when the motion state of the power output end 111 changes; or it can be an electromagnetically controlled transmission coupling, which triggers engagement or disengagement actions according to the motion state signal of the power output end 111.

[0040] Understandably, one of the core innovations of this application lies in using the switching of two motion states of the power output terminal 111 as a selection of lifting and swinging functions. For example, in one motion state, the power output terminal 111 can drive the cleaning component 3 to descend and rotate for cleaning, while in the other motion state, it can drive the cleaning component 3 to rise, swing outward, and retract. A single drive source can orderly control both lifting and swinging actions, avoiding the use of an additional motor 11, thereby reducing structural complexity and the number of parts, which is conducive to simplified product design and miniaturization. Any application that can achieve the control of the swing transmission component 30 to drive or stop the swinging of the cleaning component 3 by switching the motion state of the power output terminal 111 of the drive component 10 falls within the protection scope of this application.

[0041] The second core innovation of this application lies in the following: By setting up a housing structure and placing the first transmission component 20, the swing transmission component 30, and the drive component 10 inside the housing structure, the swing arm component 40 drives the body 2 of the cleaning equipment, which is connected to the housing structure. The drive component 10 drives the swing transmission component 30 to move the swing arm component 40, thereby causing the housing structure to swing outward, thus realizing the overall outward and inward swing of the drive structure 1. Alternatively, the motor 11 in the drive component 10 can be fixed to the body 2, and the first transmission component 20, the swing transmission component 30, and other transmission components in the drive component 10 can be placed inside the housing structure, swinging outward and inward together with the housing structure.

[0042] When the power output terminal 111 switches between the first and second motion states, the first transmission component 20 is driven, causing the cleaning component 3 to rise or fall. For example, when the power output terminal 111 rotates clockwise, the first transmission component 20 causes the cleaning component 3 to fall for cleaning the floor. When the power output terminal 111 rotates counterclockwise, the first transmission component 20 causes the cleaning component 3 to rise to avoid obstacles or to return to its original position after cleaning.

[0043] This application systematically distributes the power of a single drive component 10 to the first transmission component 20 and the swing transmission component 30, and controls the lifting and swinging functions of the cleaning component 3 through changes in the motion state of the power output end 111. This effectively solves the structural complexity problem caused by relying on a dual-motor 11 architecture in the prior art, reduces the number of parts, and lowers production costs. Furthermore, the space occupancy of the drive structure 1 is reduced, which is conducive to the miniaturization and lightweighting of cleaning equipment.

[0044] Combination Figures 6 to 9 , Figure 12 As shown, in one embodiment of the present invention, the swing transmission assembly 30 includes a clutch 31 and a first transmission member. The first transmission member is driven to connect with the swing arm assembly 40. The clutch 31 includes a driving member and a driven member that are driven to connect. The driving member is driven to connect with the power output end 111, and the driven member moves under the drive of the driving member. When the power output end 111 is in the first motion state, the active component drives the driven component to move to engage with the first transmission component to establish a transmission connection. When the power output end 111 is in the second motion state, the driving member drives the driven member to move until it is separated from the first transmission member, so as to disconnect the transmission connection.

[0045] In this embodiment, the clutch 31 is a mechanical clutch 31 used to control the on / off state of power transmission. The driving member receives power from the power output end 111 and drives the driven member to move, which in turn drives the first transmission member to move. The driving member is a structure such as a gear, cam, or worm gear, and cooperates with the driven member, moving under the push of the driving member to engage or disengage with the first transmission member. The first transmission member is an intermediate transmission component that transmits power to the swing arm assembly 40. It can be a structure such as a gear, sprocket, cam, or worm gear. The first transmission member is used to convert the output power of the clutch 31 into the swinging power of the swing arm assembly 40.

[0046] Specifically, when the power output end 111 is in the first motion state, for example when the power output end 111 rotates counterclockwise, the power output end 111 drives the active member to move, thereby driving the driven member to move toward the first transmission member. When the driven member contacts and connects with the first transmission member, the power of the power output end 111 is transmitted to the swing arm assembly 40, so that the cleaning assembly 3 swings between the inward position and the outward position.

[0047] When the power output terminal 111 switches to the second motion state, for example when the power output terminal 111 rotates clockwise, the change in the rotation direction of the power output terminal 111 causes the driving member to drive the driven member in the opposite direction, making it move away from the first transmission member. At this time, the power transmission path between the power output terminal 111 and the swing arm assembly 40 is cut off, thereby preventing interference with the swing function during the lifting and lowering of the cleaning assembly 3.

[0048] Furthermore, such as Figure 13 and Figure 14 As shown, the swing transmission assembly 30 is mounted on the mounting base 42. The mounting base 42 includes a cover plate 421. A stop portion 421a is provided on the surface of the cover plate 421. The stop portion 421a can be a pin, a protrusion, or other structure protruding from the surface of the cover plate 421. When the driving member drives the driven member in the opposite direction to move it away from the first transmission member, after the driven member separates from the first transmission member, it will move in the direction close to the stop portion 421a and eventually abut against the stop portion 421a. The stop portion 421a prevents the driven member from continuing to move, thereby limiting the driven member and keeping it in the position separated from the first transmission member.

[0049] Combination Figure 8 , Figure 9 and Figure 13 As shown, in one embodiment of the present invention, the first transmission member includes a first transmission gear 32, the driving member is a driving gear 311, and the driven member is a driven gear 312. The driven gear 312 is disposed on the periphery of the driving gear 311 and meshes with the driving gear 311. The driven gear 312 switches between meshing with or disengaging from the first transmission gear 32 under the drive of the driving gear 311.

[0050] In this embodiment, the first transmission gear 32, the driving gear 311, and the driven gear 312 can all be gear structures such as spur gears, helical gears, or bevel gears. Among them, the driving gear 311 receives the rotational power from the power output end 111 and drives the driven gear 312 to rotate. The driving gear 311 can be designed as a single-stage gear or a compound gear structure, depending on the power transmission efficiency and space layout requirements.

[0051] The first transmission gear 32 is spaced around the circumference of the driving gear 311. Therefore, when the driving gear 311 rotates, it drives the driven gear 312 to move circumferentially along the driving gear 311, thereby achieving engagement and disengagement between the driven gear 312 and the first transmission gear 32. For example, when the power output end 111 rotates counterclockwise, it drives the driving gear 311 to rotate and, through engagement, drives the driven gear 312 to move towards the first transmission gear 32 until the two engage to form a driving connection, thereby driving the swing arm assembly 40 to perform an outward swing action. When the power output end 111 rotates clockwise, the driving gear 311 rotates in the opposite direction, causing the driven gear 312 to gradually disengage from the first transmission gear 32. At the same time, it drives the swing arm assembly 40 to drive the cleaning assembly 3 to perform an inward retraction action until the driven gear 312 disengages from the first transmission gear 32. The gear-engagement clutch 31 structure improves the reliability of the driving connection, effectively improves the problems of misalignment, jamming, or wear, thereby ensuring the long-term stability and service life of the swing function under frequent operation.

[0052] Understandably, the first transmission gear 32 is spaced apart from the circumference of the driving gear 311, meaning that a non-interference gap is reserved between the two in the rotational direction to ensure that there is no mechanical conflict between the driving gear 311 and the first transmission gear 32 when they rotate.

[0053] Combination Figure 8 , Figure 9 and Figure 13 As shown, in one embodiment of the present invention, the driving gear 311 includes a first gear disk 3111 and a second gear disk 3112. The first gear disk 3111 and the second gear disk 3112 are arranged sequentially along their rotational axis. The second gear disk 3112 is drivenly connected to the power output end 111. The first gear disk 3111 meshes with the driven gear 312. The number of teeth on the first gear disk 3111 is less than the number of teeth on the second gear disk 3112.

[0054] In this embodiment, the first gear disk 3111 and the second gear disk 3112 can be integrally cast or assembled separately. The diameter of the first gear disk 3111 is smaller than the diameter of the second gear disk 3112. The first gear disk 3111 and the second gear disk 3112 are arranged sequentially along the rotation axis. At the same time, the driven gear 312 is movably arranged on the second gear disk 3112 and meshes with the first gear disk 3111.

[0055] For example, the first gear 3111 and the second gear 3112 are an integral double-tooth structure, so the first gear 3111 and the second gear 3112 will rotate synchronously when rotating. At the same time, the first gear 3111 meshes with the driven gear 312, and the second gear 3112 is connected to the power output end 111. Therefore, the number of teeth of the first gear 3111 is designed to be relatively small, and the number of teeth of the second gear 3112 is designed to be relatively large, so that the driving gear 311 can act as a speed reducer. The driving speed transmitted from the power output end 111 will be reduced after passing through the clutch 31. The specific reduction ratio is related to the ratio of the number of teeth of the first gear 3111 and the second gear 3112.

[0056] As described above, the drive assembly 10 needs to drive not only the first transmission assembly 20, but also the swing transmission assembly 30. When the driven gear 312 is separated from the first transmission gear 32, the drive assembly 10 drives the drive gear 311 through the power output end 111 to move the driven gear 312 toward the first transmission gear 32. At the same time, the power output end 111 of the drive assembly 10 also drives the first transmission assembly 20 to raise and lower the cleaning assembly 3.

[0057] Therefore, the number of teeth on the first gear 3111 is designed to be less than the number of teeth on the second gear 3112. This allows the first transmission component 20 to drive the cleaning component 3 to rise and fall first during the driving process of the drive component 10, and then the swing transmission component 30 will drive the cleaning component 3 to swing. Thus, in some obstacle avoidance scenarios, it is only necessary to control the power output end 111 to rotate counterclockwise or clockwise and maintain a low speed or a short rotation time to make the cleaning component 3 rise or fall without swinging outwards. In some scenarios requiring outward swinging, by controlling the power output end 111 to rotate at high speed or continuously for a preset time, the driven gear 312 moves to mesh with the first transmission gear 32, thereby driving the swing arm assembly 40 to swing the cleaning component 3.

[0058] Secondly, in some embodiments, when the first transmission component 20 and the swing transmission component 30 are set inside the housing structure, the swing arm component 40 needs to drive the first transmission component 20, the swing transmission component 30 and the cleaning component 3 to swing outward and retract as a whole. Therefore, designing the number of teeth of the first toothed disc 3111 to be less than the number of teeth of the second toothed disc 3112 can increase the output torque of the swing arm component 40, thereby improving the stability of the cleaning component 3 when swinging outward and retracting.

[0059] Therefore, through the above design, the lifting and swinging of the cleaning component 3 can be controlled by controlling the rotation direction, speed or rotation time of the power output end 111 of the drive component 10, so as to be applied to obstacle avoidance and corner cleaning scenarios.

[0060] CombinationFigure 8 , Figure 9 , Figure 13 As shown, in one embodiment of the present invention, the clutch 31 further includes a first connecting rod 313, and a driven gear 312 is movably disposed on a second gear disk 3112. The two ends of the first connecting rod 313 are respectively movably connected to the first gear disk 3111 and the driven gear 312.

[0061] In this embodiment, the first connecting rod 313 connects the first gear disk 3111 and the driven gear 312. Specifically, the first connecting rod 313 has rotating holes at both ends. Rotating pins are respectively provided on the rotation axes of the driven gear 312 and the first gear disk 3111. The rotating pins are movably inserted into the rotating holes so that the first connecting rod 313 is rotatably connected to the driven gear 312 and the first gear disk 3111 respectively.

[0062] The first gear 3111 rotates with the driving gear 311. The rotational motion of the first gear 3111 drives the driven gear 312 to rotate and slide along its circumference. The driven gear 312 is movably mounted on the second gear 3112. Therefore, the design of the first connecting rod 313 can limit the driven gear 312, so that the movement trajectory of the driven gear 312 is limited in the circumferential direction of the first gear 3111, avoiding the problem of the driven gear 312 disengaging due to radial offset, thereby ensuring reliable meshing or disengagement between the driven gear 312 and the first transmission gear 32.

[0063] Combination Figure 13 As shown, in one embodiment of the present invention, the clutch 31 further includes a first elastic member 314, the two ends of which press against the first connecting rod 313 and the driven gear 312 respectively.

[0064] In this embodiment, the first elastic element 314 can be a helical spring, a disc spring, or an elastic sheet, etc.

[0065] Specifically, the first elastic element 314 is engaged with the first connecting rod 313 and the driven gear 312 through a pressing fit. For example, when the first elastic element 314 is a helical spring, the spring is sleeved on the rotating pin of the driven gear 312, and its two ends press against the end faces of the first connecting rod 313 and the driven gear 312, respectively. Since the driven gear 312 needs to rotate circumferentially along the first gear disk 3111, a certain gap needs to be maintained between the driven gear 312 and the first connecting rod 313. In this embodiment, the first elastic element 314 limits the driven gear 312 in a direction parallel to the axial direction of the first gear disk 3111, which not only improves the stability of the driven gear 312, but also allows the driven gear 312 to rotate circumferentially around the first gear disk 3111.

[0066] Combination Figure 3 , Figure 4 , Figure 5 as well asFigure 11 As shown, in one embodiment of the present invention, the swing arm assembly 40 includes a mounting base 42 and a swing arm 41; The first transmission assembly 20 and the swing transmission assembly 30 are both mounted on the mounting base 42; The first transmission gear 32 is provided with a transmission part, which is offset from the rotation axis of the first transmission gear 32. The swing arm 41 is provided with a mating part, and the transmission part and the mating part are mated. One end of the swing arm 41 is rotatably connected to the mounting base 42, and the other end is rotatably connected to the body 2 of the cleaning equipment. When the first transmission gear 32 rotates, the transmission part rotates around the axis of the first transmission gear 32 to drive the mating part and cause the mounting base 42 to swing between the inward position and the outward position.

[0067] In this embodiment, a cavity is formed within the mounting base 42, and the first transmission assembly 20 and the swing transmission assembly 30 are installed within the cavity. The mounting base 42 includes a base body and a cover plate 421, which are detachably connected to facilitate the installation of each component within the cavity.

[0068] The transmission part is mounted on the first transmission gear 32 and offset from its rotation axis; it can be a protrusion, pin, slot, or other structure. The mating part is mounted on the rocker arm 41 and matches the transmission part; it can be a groove, pin, or slide rail structure. For example, when the transmission part is a pin, the mating part can be a groove, and vice versa.

[0069] Specifically, this application drives the transmission part, which is off-axis, to move around the axis of the first transmission gear 32 by rotating the first transmission gear 32. Therefore, driven by the transmission part, the mating part transmits the driving force to the swing arm 41. Since one end of the swing arm 41 is rotatably connected to the mounting base 42 and the other end is rotatably connected to the body 2, the swing arm 41 is driven to swing back and forth between the inward position and the outward position with its connection point with the body 2 as the axis. This drives the first transmission assembly 20 and the swing transmission assembly 30 to swing. Since the cleaning assembly 3 is connected to the first transmission assembly 20, the swing of the cleaning assembly 3 can be controlled.

[0070] During this process, the first transmission component 20 and the swing transmission component 30 are mounted on the mounting base 42 so that the power transmission of the swing is synchronized. The swing arm 41 can drive the mounting base 42 to drive the cleaning component 3 to swing between the inward position and the outward position, thereby improving the stability of the swing.

[0071] Combination Figures 6 to 9 As shown, in one embodiment of the present invention, the transmission part is a transmission pin 321, and the mating part is a sliding groove 411 opened on the swing arm 41. The transmission pin 321 is movably embedded in the sliding groove 411.

[0072] In this embodiment, the transmission pin 321 can be a metal pin, a plastic pin, or a boss integrally formed with the first transmission gear 32. It is used to convert the rotational motion of the first transmission gear 32 into linear thrust to drive the swing arm 41 to swing. The sliding groove 411 is a guide channel formed on the swing arm 41. It can be a straight or arc-shaped groove. It is used to cooperate with the transmission pin 321 and limit the movement trajectory of the transmission pin 321 to ensure that the swing arm 41 swings only in a preset direction.

[0073] Combination Figures 1 to 3 As shown, in one embodiment of the present invention, the swing assembly further includes a second elastic member 43, one end of which is connected to the mounting base 42, and the other end is used to connect to the body 2 of the cleaning equipment. When the mounting base 42 is in the retracted position and the outward swing position, the second elastic element 43 applies elastic force to the mounting base 42 and drives the mounting base 42 to remain in the current position.

[0074] In this embodiment, the second elastic element 43 can be a helical spring, torsion spring, or elastic band, etc., which provides traction force on the mounting base 42 through elastic deformation to stabilize the position of the mounting base 42. The second elastic element 43 can be connected to the mounting base 42 and the body 2 via fasteners such as clips or bolts.

[0075] Specifically, when the mounting base 42 moves to the retracted or outward position, the second elastic element 43 is in a compressed or stretched state, thereby generating a force opposite to the swinging trend of the mounting base 42. This force keeps the mounting base 42 stably in the retracted or outward position, ensuring that the cleaning component 3 can clean stably in the outward position and remain stable in the retracted position, thus improving the cleaning effect. Simultaneously, an arc-shaped groove is provided on the body 2 of the cleaning equipment. The drive structure 1 can drive the cleaning component 3 to swing along the arc-shaped groove. When the mounting base 42 is in the retracted or outward position, it abuts against the groove walls at both ends of the arc-shaped groove. When the mounting base 42 is between the retracted and outward positions, the elastic force of the second elastic element 43 generates a force that pulls the mounting base 42 towards the retracted or outward position. Therefore, when the cleaning equipment has finished cleaning the corners and needs to retract the cleaning component 3, after the mounting base 42 swings to a certain angle, the second elastic element 43 can drive the mounting base 42 to retract. As can be seen from the foregoing, when the power output end 111 is in the second motion state, the power output end 111 is disconnected from the swing transmission assembly 30. Therefore, the second elastic element 43 can improve the problem of the cleaning assembly 3 shaking and not fully resetting after the power output end 111 is disconnected from the swing transmission assembly 30.

[0076] Combination Figure 6 , Figure 7 as well as Figure 10, Figure 12 As shown, in one embodiment of the present invention, the drive assembly 10 includes a motor 11 and a second transmission member 12; The power output end 111 is the rotating shaft of the motor 11. When the rotating shaft is in the first motion state, it rotates counterclockwise. When the rotating shaft is in the second motion state, it rotates clockwise. The second transmission component 12 is driven to the rotating shaft and is also driven to the first transmission component 20 and the swing transmission component 30, respectively.

[0077] In this embodiment, the motor 11 can be a permanent magnet synchronous motor or a brushed or brushless DC motor. The second transmission member 12 can be a single gear or a planetary gear set, transmitting the driving force of the motor 11 to the first transmission assembly 20 and the oscillating transmission assembly 30. Alternatively, a fifth transmission member 13 can be provided, drivingly connecting the motor 11 and the second transmission member 12 through the fifth transmission member 13, which can be a single gear or a planetary gear set. The oscillating transmission assembly 30 can include a clutch 31 and a first transmission gear 32, with the second transmission member 12 drivingly connected to the clutch 31. Alternatively, the oscillating transmission assembly 30 can include a sixth transmission gear 33, a clutch 31, and a first transmission gear 32, with the sixth transmission gear 33 drivingly connected to the clutch 31, and the second transmission member 12 drivingly connected to the sixth transmission gear 33.

[0078] Specifically, this application defines the motion state as the rotation direction of the rotating shaft of motor 11: when the rotating shaft rotates counterclockwise, power is transmitted through the second transmission component 12 to the swing transmission component 30 and the first transmission component 20, so that the swing transmission component 30 drives the swing arm component 40 to swing the cleaning component 3, while the first transmission component 20 drives the cleaning component 3 to rise and fall. When the rotating shaft rotates clockwise, power is transmitted through the second transmission component 12 to the first transmission component 20, driving the cleaning component 3 to rise and fall. At this time, the swing transmission component 30 automatically disconnects from the drive connection with the second transmission component 12. This design utilizes the forward and reverse rotation characteristics of motor 11 to achieve control over the rising, falling, and swinging of the cleaning component 3, thereby simplifying the control logic and structural components.

[0079] Combination Figures 4 to 7 As shown, in one embodiment of the present invention, the rotating shaft and the second transmission member 12 are gear-fitted structures, and the gear axis of the rotating shaft is parallel to the gear axis of the second transmission member 12 and the gear axes of other transmission components. At this time, the drive assembly 10 is also installed in the mounting base 42, and under the drive of the swing arm assembly 40, it swings synchronously with the first transmission assembly 20, the swing transmission assembly 30, the mounting base 42, and the cleaning assembly 3.

[0080] Combination Figure 11 and Figure 12As shown, in another embodiment, the rotating shaft and the second transmission component 12 are a worm gear coupling structure. The rotating shaft is a worm gear structure, and the second transmission component 12 includes a worm gear structure. The rotation axis of the rotating shaft is perpendicular to the rotation axis of the second transmission component 12. In this case, it is installed on the body 2 and remains fixed relative to the body 2 during the swinging of the cleaning component 3.

[0081] Combination Figures 4 to 7 as well as Figure 10 As shown, in one embodiment of the present invention, the first transmission assembly 20 includes a third transmission member and a fourth transmission member; The third transmission component is driven to the power output end 111, the fourth transmission component is driven to the third transmission component, the fourth transmission component is connected to the cleaning component 3, and the fourth transmission component moves vertically under the drive of the third transmission component, thereby driving the cleaning component 3 to rise and fall.

[0082] In this embodiment, the third and fourth transmission components can be a screw and nut mating structure, a gear and rack mating structure, or a worm gear mating structure, so as to convert the rotational driving force of the power output end 111 into a linear driving force, thereby achieving the purpose of driving the cleaning component 3 to rise and fall.

[0083] Combination Figure 6 , Figure 7 as well as Figure 10 As shown, in one embodiment of the present invention, the third transmission member includes a third transmission gear 21, and the fourth transmission member includes a transmission sleeve 22. The third transmission gear 21 includes a transmission gear disk 211 and a transmission wheel 212. The transmission gear disk 211 and the transmission wheel 212 are arranged sequentially at intervals along the axis of the third transmission gear 21. The transmission gear disk 211 is driven and connected to the power output end 111. The transmission wheel 212 is embedded in the transmission sleeve 22 and is threadedly connected to the transmission sleeve 22. The transmission sleeve 22 is connected to the cleaning component 3. The power output end 111 drives the third transmission gear 21 to drive the transmission wheel 212 to rotate relative to the transmission sleeve 22, thereby driving the transmission sleeve 22 to lift and lower the cleaning component 3.

[0084] In this embodiment, the fourth transmission component is a hollow transmission sleeve 22 with internal threads machined inside. The third transmission gear 21 is a compound gear, consisting of a transmission gear disk 211 and a transmission wheel 212 coaxially fixed. The transmission gear disk 211 is drivenly connected to the second transmission component 12 and receives power from the second transmission component 12. The outer peripheral side of the transmission wheel 212 has external threads, which are embedded in the inner hole of the transmission sleeve 22 and engage with the internal threads. When the third transmission gear 21 is driven to rotate, the transmission wheel 212 rotates relative to the transmission sleeve 22, thereby driving the transmission sleeve 22 to move linearly along the axial direction. The cleaning component 3 is fixed to the bottom of the transmission sleeve 22, and thus rises and falls accordingly. The first transmission component 20 can drive the lifting and lowering of the cleaning component 3, or the first transmission component 20 can simultaneously drive the lifting and lowering and rotating cleaning of the cleaning component 3; in one embodiment, the cleaning component 3 is connected to the transmission wheel 212 and rotates under the drive of the transmission wheel 212 to achieve the cleaning function.

[0085] In one embodiment of the present invention, the transmission ratio of the swing transmission component 30 is greater than the transmission ratio of the first transmission component 20.

[0086] In this embodiment, the transmission ratio of the oscillating transmission component 30 is greater than the transmission ratio of the first transmission component 20. For example, the transmission ratio of the oscillating transmission component 30 and the transmission ratio of the first transmission component 20 are 5:1 or 10:1, etc. Specifically, the difference in transmission ratio can be achieved by changing the number of teeth or the module of the gears, or by setting a reduction gear.

[0087] Specifically, when performing the outward and inward movements of the swing arm 41, the swing arm 41 needs to overcome the deformation force of the return spring, thus requiring a larger output torque. By setting a larger transmission ratio for the swing transmission component 30, the output torque of the swing transmission component 30 can be amplified without changing the output power of the motor 11, ensuring that the swing arm 41 can stably complete the return. When performing conventional mop lifting and sweeping, the load is relatively small, and a smaller transmission ratio can ensure a faster response speed and motion efficiency. In addition, the swing transmission component 30 has a large transmission ratio, so under the same rotational speed of the motor 11 shaft, the first transmission component 20 can first drive the cleaning component 3 to complete the lifting and lowering, and then the swing transmission component 30 can drive the cleaning component 3 to swing. This allows the drive component 10 to control the lifting and lowering of the cleaning component 3 and keep the cleaning component 3 from swinging by controlling the low-speed rotation of the motor 11 in the first motion state, for daily cleaning obstacle avoidance. For details, please refer to the description in the foregoing embodiments, which will not be elaborated further here.

[0088] This differential transmission ratio design enables the present invention to achieve multifunctional, high-performance drive control under the constraint of a single motor 11.

[0089] Combination Figure 3 As shown, in one embodiment of the present invention, the drive structure 1 further includes a first position sensor 60, which is communicatively connected to the drive assembly 10. The first position sensor 60 is used to detect the lifting and lowering of the cleaning assembly 3, and when the cleaning assembly 3 rises or falls to a preset position, it controls the drive assembly 10 to stop driving the first transmission assembly 20. And / or, the drive structure 1 further includes a second position sensor 50, which is communicatively connected to the drive assembly 10. The second position sensor 50 is used to detect the swing of the cleaning assembly 3, and when the cleaning assembly 3 is in the retracted position or the outward swing position, it controls the drive assembly 10 to stop driving the swing transmission assembly 30.

[0090] In this embodiment, the first position sensor 60 can be a Hall sensor, a micro switch, or an infrared sensor, etc. Two first position sensors 60 are provided, installed at the top and bottom of the lifting stroke of the cleaning component 3 respectively, to detect in real time whether the cleaning component 3 has been raised or lowered into position. Once a position signal is detected, the control system immediately instructs the motor 11 to stop operating to prevent overshoot and damage to the equipment.

[0091] Similarly, the second position sensor 50 can be a Hall sensor, a micro switch, or an infrared sensor, etc. The second position sensor 50 is arranged on the swing trajectory of the mounting base 42. Specifically, two second position sensors 50 are provided, installed on the machine body 2 near the mounting base 42 in the retracted position and the outward swing position, respectively, to detect whether the cleaning component 3 has reached the retracted or outward swing position. When the second position sensor 50 detects a position signal, it will also issue a stop command.

[0092] By setting the first position sensor 60 and / or the second position sensor 50, a safety protection and position closed loop are formed, making the entire driving process fully automated without human intervention, which greatly improves the intelligence level of the product and the user experience.

[0093] The present invention also proposes a cleaning device, which includes a body 2, a cleaning component 3, and a drive structure 1. The specific structure of the drive structure 1 is as described in the above embodiments. Since the cleaning device adopts all the technical solutions of all the embodiments of the drive structure 1 described above, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0094] Combination Figures 1 to 3 As shown, the drive structure 1 is installed on the body 2 and is connected to the cleaning component 3.

[0095] In this embodiment, the cleaning equipment can be a sweeping robot, a sweeping and mopping robot, a floor scrubber, etc. The cleaning component 3 can include a mop disc or a roller mop, etc., and is connected to the drive structure 1 by threaded connection, snap-fit, magnetic connection or other fasteners. Specifically, the first transmission component 20 is directly or indirectly driven to the cleaning component 3, and drives the cleaning component 3 to rise and fall under the drive of the drive component 10. At the same time, the first transmission component 20 is installed in the mounting base 42, and the mounting base 42 is driven to swing by the swing transmission component 30 and the swing arm 41, thereby driving the cleaning component 3 to swing between the inward position and the outward swing position. Through the above design, the cleaning equipment can perform a variety of complex actions such as lifting and obstacle avoidance, cleaning of outer corners, and regular floor sweeping. This design, which drives the lifting and swinging functions through a single motor 11, saves the internal space of the cleaning equipment and reduces the material and production costs of the whole machine.

[0096] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A drive structure for driving a cleaning component to rise, fall, and swing, characterized in that, The driving structure includes: A drive assembly having a power output end, the power output end having a first motion state and a second motion state; A first transmission component is driven and connected to the power output end and is used to connect to the cleaning component. The power output end switches between the first motion state and the second motion state to drive the first transmission component to drive the cleaning component to rise and fall. The swing transmission assembly, wherein the power output end switches between the first motion state and the second motion state, and the swing transmission assembly is driven to be connected or disconnected from the power output end; The swing arm assembly is driven and connected to the swing transmission assembly, and under the drive of the swing transmission assembly, it drives the cleaning assembly to move between an inward position and an outward position.

2. The driving structure as described in claim 1, characterized in that, The swing transmission assembly includes a clutch and a first transmission component. The first transmission component is drivenly connected to the swing arm assembly. The clutch includes a driving component and a driven component that are drivenly connected. The driving component is drivenly connected to the power output end, and the driven component moves under the drive of the driving component. When the power output end is in the first motion state, the driving member drives the driven member to move to engage with the first transmission member to establish a transmission connection. When the power output terminal is in the second motion state, the driving member drives the driven member to move to separate from the first transmission member, so as to disconnect the transmission connection.

3. The driving structure as described in claim 2, characterized in that, The first transmission component includes a first transmission gear, the driving component is a driving gear, the driven component is a driven gear, the driven gear is disposed on the periphery of the driving gear and meshes with the driving gear, and the driven gear switches between meshing or disengaging with the first transmission gear under the drive of the driving gear.

4. The driving structure as described in claim 3, characterized in that, The driving gear includes a first gear disk and a second gear disk, which are arranged sequentially along their rotational axis. The second gear disk is driven to the power output end, and the first gear disk meshes with the driven gear. The number of teeth on the first gear disk is less than the number of teeth on the second gear disk.

5. The driving structure as described in claim 4, characterized in that, The clutch further includes a first connecting rod, and the driven gear is movably disposed on the second gear plate. The two ends of the first connecting rod are respectively movably connected to the first gear plate and the driven gear.

6. The driving structure as described in claim 5, characterized in that, The clutch further includes a first elastic element, the two ends of which press against the first connecting rod and the driven gear, respectively.

7. The driving structure as described in any one of claims 3 to 6, characterized in that, The swing arm assembly includes a mounting base and a swing arm; Both the first transmission assembly and the swing transmission assembly are mounted on the mounting base; The first transmission gear is provided with a transmission part, which is offset from the rotation axis of the first transmission gear. The swing arm is formed with a mating part, and the transmission part is mated with the mating part. One end of the swing arm is rotatably connected to the mounting base, and the other end is rotatably connected to the body of the cleaning equipment; When the first transmission gear rotates, the transmission part rotates around the axis of the first transmission gear to drive the mating part and cause the mounting base to swing between the inward position and the outward position.

8. The driving structure as described in claim 7, characterized in that, The transmission part is a transmission pin, and the mating part is a sliding groove formed on the swing arm, wherein the transmission pin is movably embedded in the sliding groove.

9. The driving structure as described in claim 7, characterized in that, The swing assembly also includes a second elastic element, one end of which is connected to the mounting base, and the other end is used to connect to the body of the cleaning equipment; When the mounting base is in the retracted position and the outward swing position, the second elastic element applies an elastic force to the mounting base and drives the mounting base to remain in the current position.

10. The driving structure as described in any one of claims 1 to 6, characterized in that, The drive assembly includes a motor and a second transmission component; The power output end is the rotating shaft of the motor. The second transmission component is driven to connect with the rotating shaft and is also driven to connect with the first transmission assembly and the swing transmission assembly, respectively.

11. The driving structure as described in claim 10, characterized in that, The rotating shaft and the second transmission component are gear-fitted structures; Alternatively, the rotating shaft and the second transmission component may be a worm gear coupling structure.

12. The driving structure as described in any one of claims 1 to 6, characterized in that, The first transmission assembly includes a third transmission component and a fourth transmission component; The third transmission component is driven to the power output end, the fourth transmission component is driven to the third transmission component, the fourth transmission component is connected to the cleaning component, and the fourth transmission component moves vertically under the drive of the third transmission component, thereby driving the cleaning component to rise and fall.

13. The driving structure as described in claim 12, characterized in that, The third transmission component includes a third transmission gear, and the fourth transmission component includes a transmission sleeve. The third transmission gear includes a transmission gear disk and a transmission wheel. The transmission gear disk and the transmission wheel are arranged sequentially at intervals along the axis of the third transmission gear. The transmission gear disk is driven and connected to the power output end. The transmission wheel is embedded in the transmission sleeve and is threadedly connected to the transmission sleeve. The transmission sleeve is connected to the cleaning component. The power output end drives the third transmission gear to rotate the transmission wheel relative to the transmission sleeve, thereby driving the transmission sleeve to lift and lower the cleaning component.

14. The driving structure as described in any one of claims 1 to 6, characterized in that, The transmission ratio of the swing transmission component is greater than that of the first transmission component.

15. The driving structure as described in any one of claims 1 to 6, characterized in that, The drive structure further includes a first position sensor, which is communicatively connected to the drive assembly. The first position sensor is used to detect the lifting and lowering of the cleaning assembly, and when the cleaning assembly rises or falls to a preset position, it controls the drive assembly to stop driving the first transmission assembly. And / or, the drive structure further includes a second position sensor, which is communicatively connected to the drive assembly. The second position sensor is used to detect the swing of the cleaning assembly and, when the cleaning assembly is in the retracted position or the outward swing position, controls the drive assembly to stop driving the swing transmission assembly.

16. A cleaning device, characterized in that, The cleaning equipment includes a body, cleaning components, and a drive structure as described in any one of claims 1 to 15; The drive structure is mounted on the body and is driven and connected to the cleaning component.

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