Driving mechanism, self-cleaning equipment and self-cleaning system
By adopting a simplified driving mechanism in the sweeping robot, the lifting and rotation of the cleaning parts is achieved by using the transmission and friction force, the complex and cost problems of driving mechanism in the prior art are solved, and the structure is simplified and cost-reduced. Effect.
Patent Information
- Application Number
- CN202420550143.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-20
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-03-20
Smart Images
Figure CN222487271U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of smart home, in particular to a driving mechanism, a self-cleaning device and a self-cleaning system. Background Art
[0002] With the continuous development of smart home technology, sweeping robots are increasingly used in daily household cleaning. The sweeping robots clean by rotating the cleaning parts themselves and moving the sweeping robots as a whole to move the cleaning parts relative to the ground. The cleaning parts can also be raised and lowered to store the cleaning parts when they are not needed and to avoid obstacles such as carpets and felts when the sweeping robots encounter them.
[0003] In the existing sweeping robot, two independent driving mechanisms are respectively provided to drive the lifting and rotating of the cleaning member, and the structure and driving program are complicated. Utility Model Content
[0004] In view of this, in order to solve at least one of the above-mentioned technical problems, the embodiments of the present invention provide a driving mechanism, a self-cleaning device and a self-cleaning system.
[0005] On the one hand, the utility model provides a driving mechanism for a self-cleaning device, the driving mechanism comprising:
[0006] Main support body;
[0007] A first transmission member, the first transmission member comprises a first end and a second end, the second end being used for connecting with the cleaning member;
[0008] A second transmission member, the first transmission member and the second transmission member are movably connected, the second transmission member is movably connected to the main support body, and a first friction force exists between the second transmission member and the main support body;
[0009] A power assembly is connected to the first end portion in a transmission manner, and is used to drive the first transmission member to rotate so that the first transmission member interacts with the second transmission member, and drives the first transmission member to drive the cleaning member to rise or fall.
[0010] On the other hand, the utility model provides a self-cleaning device, comprising any one of the aforementioned driving mechanisms and a device body, wherein the driving mechanism is arranged on the device body.
[0011] On the other hand, the utility model provides a self-cleaning system, including the above-mentioned self-cleaning device and a cleaning base station.
[0012] The driving mechanism, self-cleaning equipment and self-cleaning system proposed in the utility model, when the first transmission member is driven to move by the power member, the first transmission member and the second transmission member are driven to move relative to each other through the interaction between the first transmission member and the second transmission member, and the friction between the second transmission member and the main support body, so that the first transmission member is raised or lowered, and the lifting and lowering drive of the cleaning member is realized. And through the interaction between the first transmission member and the second transmission member, the first transmission member and the second transmission member are driven to move synchronously, and then the lifting and moving cleaning of the cleaning member driven by a single power member is realized, so as to reduce the number of driving members, simplify the structure of the self-cleaning equipment, and reduce the production cost and driving burden. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 A schematic diagram of the structure of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a cleaning position;
[0014] Figure 2 A schematic diagram of a first cross-sectional structure of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a cleaning position;
[0015] Figure 3 An exploded schematic diagram of a cross-sectional structure of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a cleaning position;
[0016] Figure 4 An exploded schematic diagram of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a cleaning position;
[0017] Figure 5 A schematic diagram of the structure of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in the storage position;
[0018] Figure 6 A schematic cross-sectional view of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a storage position;
[0019] Figure 7 A schematic diagram of a partial structure of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in the storage position;
[0020] Figure 8 A second cross-sectional structural schematic diagram of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a cleaning position;
[0021] Fig. 9 A schematic structural diagram of a partial structure of a driving mechanism provided by an embodiment of the utility model when the first transmission member is in a cleaning position. DETAILED DESCRIPTION
[0022] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the present invention, 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.
[0023] like Figure 1-6 As shown, the embodiment of the utility model provides a driving mechanism for self-cleaning equipment, which may include but is not limited to cleaning robots, intelligent cleaners, automatic floor scrubbers, mopping robots, sweeping and mopping machines, etc., and has functions such as moving, cleaning, and vacuuming. Some self-cleaning equipment also includes functions such as mopping, terrain detection, and indoor area scanning. Taking the cleaning robot as an example, the cleaning robot can be in various shapes. In order to take into account stability and be applicable to various scenarios, such as cleaning areas under the bed, the outer contour of the cleaning robot is usually flat. The shell of the cleaning robot mainly includes a chassis and an outer cover connected to the chassis and enclosed to form a receiving cavity. Various components for the operation of the cleaning robot can be set in the receiving cavity, such as a controller, a power supply device, position sensing components such as cameras, scanners, gyroscopes, etc., a cleaning mechanism, and a walking mechanism. The controller can be used to control the cleaning system and the walking mechanism. Common walking mechanisms mainly include moving wheels and auxiliary steering wheels. The moving wheel is driven by a driving motor in the receiving cavity, so that the moving wheel rotates to drive the cleaning robot to walk. The auxiliary steering wheel may be a universal wheel fixed under the chassis. The steering of the cleaning robot can be achieved by rotating and stopping the moving wheel in cooperation with the auxiliary steering wheel.
[0024] The cleaning system may include a cleaning component and a mopping component. The cleaning component includes a roller brush drive, a roller brush, a dust box and an exhaust fan. The roller brush is connected to the machine body through the roller brush drive. The machine body has a dust suction port located behind the roller brush. 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 under the dust suction port, and then the garbage is sucked into the dust box by the gas generated by the exhaust fan and drawn back to the dust box. The mopping component may include a mop drive, one or more mops, and the mop can rotate to dry mop 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 its 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 will remain on the mop after cleaning, especially after wet mopping, there will be sewage on the mop. In order to avoid the friction between the mop and the floor coverings affecting the normal walking of the cleaning robot, and to avoid the contact between the mop with sewage and the ground causing repeated contamination of the ground, the mop needs to have a lifting function. The existing mop drive is divided into a mop rotating drive and a mop lifting drive. The mop rotating drive is connected to the mop and is used to drive the mop to rotate, while the mop lifting drive is connected to the mop rotating drive and the mop to form an integral connection, which is used to drive the overall lifting. This results in the need to set up two sets of drive parts separately to achieve the lifting and rotation of the mop, which is redundant in structure, heavy in weight, and has a heavy driving burden for the lifting drive, and the control process is cumbersome. This application is to solve this problem and proposes a driving mechanism that relies on only a single power part and a structural setting to achieve the lifting and rotation control of the cleaning part.
[0025] Specifically, the driving mechanism includes:
[0026] Main support body 100;
[0027] A first transmission member 200, the first transmission member 200 comprises a first end and a second end, the second end being used to connect with the cleaning member 500;
[0028] The second transmission member 300, the first transmission member 200 and the second transmission member 300 are movably connected, the second transmission member 300 is movably connected to the main support body 100, and a first friction force exists between the second transmission member 300 and the main support body 100;
[0029] The power assembly 400 is in transmission connection with the first end portion, and the power assembly 400 is used to drive the first transmission member 200 to move so that the first transmission member 200 interacts with the second transmission member 300, and drives the first transmission member 200 to drive the cleaning member 500 to rise or fall.
[0030] The main support 100 can be a separate support member of the driving mechanism, which is fixedly mounted on the housing of the main body of the self-cleaning device; or, the main support 100 can also be a part of the housing of the main body of the device, so that the structural connection is tighter and more stable. The structure of the main support 100 can be set according to the specific structure of the first transmission member 200, the second transmission member 300 and the power assembly 400, so as to support the first transmission member 200, the second transmission member 300 and the power assembly 400, and can cooperate with the movement of the first transmission member 200. For the convenience of explanation, the following description is taken as an example of the direction when the driving mechanism is actually used. The first end is connected to the power assembly 400 in transmission, so that the power assembly 400 can drive the first transmission member 200 to move through the first end, and the first transmission member 200 will interact with the second transmission member 300. The trend of the movement of the first transmission member 200 will cause the first transmission member 200 and the second transmission member 300 to have a relative movement trend, and then the position of the first transmission member 200 changes at least in the vertical direction. The second transmission member 300 is stationary relative to the main support body 100, while the first transmission member 200 is raised and lowered relative to the main support body 100, so as to drive the first transmission member 200 to rise and fall. The first transmission member 200 is connected to the cleaning member 500 through the second end, thereby driving the cleaning member 500 to rise and fall. The cleaning member 500 can be a variety of components that clean by rotation, such as a rotating mop, a side brush, etc. The rotating mop can be a round mop, a square mop, a triangular mop, etc. The cleaning position can be considered as the extreme position of the movement of the first transmission member 200, and the extreme position can be set as needed, such as according to the need for the lifting height of the cleaning member 500. The position of the first transmission member 200 also includes a storage position. When in the storage position, the first transmission member 200 drives the cleaning member 500 to rise to the highest point. In some embodiments, the first transmission member 200 includes a cleaning position. When the first transmission member 200 and the second transmission member 300 interact with each other and move relative to each other until the first transmission member 200 is in the cleaning position, the action relationship between the first transmission member 200 and the second transmission member 300 will change, and the first transmission member 200 and the second transmission member 300 will not move relative to each other, but will move synchronously, thereby causing the cleaning member 500 to stop rising and falling and perform mobile cleaning. The cleaning position refers to the extreme position where the first transmission member 200 drops to the lowest point. When the first transmission member 200 is in the cleaning position, the height of the cleaning member 500 connected to the first transmission member 200 satisfies the interference with the surface to be cleaned, and the interference strength or the extrusion strength can reach the cleaning member 500 to clean the surface to be cleaned, and will not be excessively squeezed with the surface to be cleaned to affect the movement of the cleaning member 500.
[0031] The power assembly 400 may be used to drive the first transmission member 200 to move in various ways, such as driving the first transmission member 200 to rotate, or to move in a straight line or a curve.
[0032] During use, the first transmission member 200 is controlled to move, and then driven to drive the cleaning member 500 downward until the first transmission member 200 reaches the cleaning position and the cleaning member 500 is at the lowest position, and the first transmission member 200 is continuously driven to move, and the first transmission member 200, the second transmission member 300 and the cleaning member 500 move synchronously to achieve cleaning. When the cleaning member 500 needs to be stored after cleaning, the first transmission member 200 is controlled to move in the opposite direction, the first transmission member 200 is separated from the cleaning position, and the first transmission member 200 drives the cleaning member 500 upward to achieve storage.
[0033] It is worth noting that, in some embodiments, the second transmission member 300 can rotate forwardly relative to the main support body 100, or can rotate reversely relative to the main support body 100, and the forward and reverse directions are two opposite rotation directions. When the first transmission member 200 is driven forward to descend to the cleaning position, the first transmission member 200 is continued to be driven in the same direction, and a rigid thrust is generated between the first transmission member 200 and the second transmission member 300, and then the second transmission member 300 is driven to overcome the friction with the main support body 100 and follow the first transmission member 200 to rotate forward relative to the main support body 100. When the first transmission member 200 is driven reversely to rise to the highest position, the first transmission member 200 is continued to be driven in the same direction, and a rigid thrust is generated between the first transmission member 200 and the second transmission member 300, and then the second transmission member 300 is driven to overcome the friction with the main support body 100 and follow the first transmission member 200 to reverse relative to the main support body 100. The second transmission member 300 can rotate in both positive and negative directions relative to the main support body 100, thereby avoiding position error of the first transmission member 200 or failure to detect in time that the first transmission member 200 has reached the highest position, which may lead to excessive squeezing and damage of the first transmission member 200 and the second transmission member 300, and avoiding overloading of the power component 400.
[0034] In some embodiments, Figure 7As shown, the driving mechanism also includes a first detection part, which is connected to the main support body 100. The first detection part is used to detect whether the first transmission member 200 has reached a preset highest position. When the first transmission member 200 reaches the preset highest position, the first detection part generates a rising position signal, which indicates that the first transmission member 200 has been raised. After receiving the rising position signal, the movement of the first transmission member 200 can be stopped immediately. The first detection part may be a first micro switch, such as a combination of a spring and a touch sensor. When the first transmission member 200 does not reach a preset height position, the spring is disengaged from the touch sensor. When the first transmission member 200 continues to rise, the first transmission member 200 will squeeze the spring so that the spring is close to the touch sensor until the first transmission member 200 reaches a preset height position, at which time the spring contacts the touch sensor, thereby generating a rising position signal. Alternatively, the first detection part may be a light-interrupting device, such as a combination of a first photoelectric emitter 910 and a first light receiver 920. The first photoelectric emitter 910 and the first light receiver 920 are arranged relative to each other, and the first light receiver 920 is used to receive a photoelectric signal emitted by the first photoelectric emitter 910, such as an infrared signal. When the first transmission member 200 has not reached the preset height position, there is no shielding between the first photoelectric emitter 910 and the first light receiver 920. When the first transmission member 200 continues to rise, the top structure of the first transmission member 200 approaches the first photoelectric emitter 910 until the first transmission member 200 reaches the preset height position, and the top structure enters between the first photoelectric emitter 910 and the first light receiver 920, and then shields the light of the first photoelectric emitter 910. The first light receiver 920 then generates a rising position signal. The top structure can be an action member 212, which will be described in detail below; or, the first detection part can be a first magnetic sensor, such as a Hall sensor. The first transmission member 200 or the cleaning member 500 is provided with a first magnetic member matching the Hall sensor. After the first transmission member 200 moves into position, or after the first transmission member 200 drives the cleaning member 500 into position, the first magnetic member will enter the detection range of the Hall sensor, and the Hall sensor will detect the magnetism and generate a rising position signal. The first detection part may also have other forms, which are intended to detect the position of the first transmission member 200, and at least send out a rising position signal when the first transmission member 200 reaches a preset highest position.The setting of the first detection part, on the one hand, when the first transmission member 200 rises into position, the first transmission member 200 will rotate synchronously with the second transmission member 300, which will cause the second transmission member 300 to idle meaninglessly. The addition of the first detection part can stop the continued movement of the second transmission member 300 in time after the first transmission member 200 is in place, thereby avoiding energy consumption and mechanical loss caused by the movement of the second transmission member 300, and avoiding time wasted in the lifting process of the first transmission member 200. On the other hand, it can timely discover the failure of the first transmission member 200 to rise successfully due to jamming and mechanical failure. If no rising signal is received within a certain time after the start of the rise, an alarm can be issued.
[0035] In some other implementations, such as Figure 7As shown, the driving mechanism further includes a second detection part, which can be connected to the main support body 100 or installed on the first transmission member 200. The second detection part is used to detect whether the cleaning member 500 is installed on the first transmission member 200. When the cleaning member 500 is installed, the second detection part generates an installation signal, which indicates that the cleaning member 500 has been installed, and then the next action can be performed, such as cleaning, to avoid the cleaning member 500 being forgotten to be installed or not installed successfully, resulting in failure to achieve normal cleaning. The second detection part may be a second micro switch, such as a combination of a spring and a touch sensor. When the cleaning member 500 is not installed on the first transmission member 200, the spring is disengaged from the touch sensor. When the cleaning member 500 is installed, the cleaning member 500 will squeeze the spring so that the spring contacts the touch sensor, thereby generating an installation signal. Alternatively, the second detection part may be a light-blocking device, such as a combination of a second photoelectric transmitter and a second light receiver. The second photoelectric transmitter and the second light receiver are arranged relative to each other, and the second light receiver is used to receive a photoelectric signal emitted by the second photoelectric transmitter, such as an infrared signal. When the cleaning member 500 is not installed on the first transmission member 200, there is no shielding between the second photoelectric transmitter and the second light receiver. When the cleaning member 500 is installed in place, part of the structure of the cleaning member 500 enters between the second photoelectric transmitter and the second light receiver, and then shields the light of the second photoelectric transmitter. The second light receiver then generates an installation signal. The part of the structure of the cleaning member 500 can be the area where the cleaning member 500 extends into the installation cavity opened by the first transmission member 200; or, the second detection part can be a second magnetic sensor 930, such as a Hall sensor. The cleaning member 500 is provided with a second magnetic member matching the Hall sensor. After the cleaning member 500 is installed in place, the second magnetic member will enter the detection range of the Hall sensor, and the Hall sensor will detect the magnetism and generate an installation signal. The second detection part can also have other forms, which are intended to detect whether the cleaning member 500 is installed. When the cleaning member 500 is installed on the first transmission member 200, it can send an installation signal. The setting of the second detection part can avoid the cleaning member 500 from being missed and avoid the self-cleaning device from performing ineffective cleaning without carrying the cleaning member 500.
[0036] The driving mechanism, self-cleaning device and self-cleaning system proposed in the embodiment of the utility model, when the first transmission member is driven to rotate by the power member, the first transmission member and the second transmission member are driven to move relative to each other through the interaction between the first transmission member and the second transmission member, and the interaction between the second transmission member and the main support body, thereby causing the first transmission member to rise or fall, thereby realizing the lifting and lowering drive of the cleaning member. When the relative position of the first transmission member reaches the cleaning position, the first transmission member and the second transmission member are driven to rotate synchronously through the interaction between the first transmission member and the second transmission member, thereby realizing the lifting and rotating of the cleaning member driven by a single power member, thereby reducing the number of driving members, simplifying the structure of the self-cleaning device, and reducing the production cost and driving burden.
[0037] In one implementation, a second friction force exists between the first transmission member 200 and the second transmission member 300 , and the first friction force is greater than the second friction force.
[0038] The first transmission member 200 is controlled to rotate. Since the friction force of the threaded connection between the first transmission member 200 and the second transmission member 300 is small, while the friction force between the second transmission member 300 and the main support body 100 is large, the second transmission member 300 and the main support body 100 will not move relative to each other, or the relative movement will be very small, while the first transmission member 200 and the second transmission member 300 will move circumferentially relative to each other more smoothly.
[0039] The first transmission member 200 is used to rotate under the drive of the power assembly 400, and the first transmission member 200 is used to interact with the second transmission member 300 through rotation, and exerts a vertical force while moving in the circumferential direction. This can be achieved in the following manner: the first transmission member 200 and the second transmission member 300 are respectively provided with a first acting portion 211 and a second acting portion 311, and the first acting portion 211 and the second acting portion 311 can be adopted in a variety of ways, so as to drive the first transmission member 200 to rise and fall when the second transmission member 300 moves.
[0040] If at least one of the first acting portion 211 and the second acting portion 311 includes an acting inclined surface, when the first transmission member 200 rotates, the first acting portion 211 and the second acting portion 311 are used to cooperate with each other through the acting inclined surfaces to make the first transmission member 200 rise or fall.
[0041] The action slope is an inclined surface that provides lifting and lowering forces to the first action part 211 and the second action part 311 at the same time when the first action part 211 and the second action part 311 move relative to each other in the circumferential direction, or it can be interpreted as an inclined surface that spirals up or down in the circumferential direction. The first action part 211 and the second action part 311 may both include an action slope, but the lengths of the action slopes are different. Alternatively, one of the first action part 211 and the second action part 311 includes an action slope, and the other of the first action part 211 and the second action part 311 includes a rolling element or a slider, and the rolling element or the slider is used to roll or slide relative to the action slope. The rolling element may be a roller or a roller shaft, which can be further reduced by rolling on the action slope. Alternatively, the slider may be a block-shaped, columnar or other protrusion.
[0042] In one embodiment, the number of the first acting part 211 and the second acting part 311 can both be one. Alternatively, the number of the first acting part 211 and the second acting part 311 is the same, and they are arranged in a one-to-one correspondence, and there are multiple first acting parts 211 and second acting parts 311, multiple first acting parts 211 are distributed circumferentially around the rotating shaft of the first transmission member 200, and multiple second acting parts 311 are distributed circumferentially around the rotating shaft of the second transmission member 300, thereby ensuring that the first acting part 211 and the second acting part 311 act so that the forces on the first transmission member 200 and the second transmission member 300 are balanced in the circumferential direction to avoid skewing.
[0043] In a more specific embodiment, one of the first acting part 211 and the second acting part 311 is a thread, and the other of the first acting part 211 and the second acting part 311 can be a clamp with an acting inclined surface, and the clamp is embedded between the spiral surfaces, or the other of the first acting part 211 and the second acting part 311 is only a smaller clamp without an acting inclined surface. The first transmission member 200 and the second transmission member 300 are threadedly connected, and the first transmission member 200 is used to rotate relative to the second transmission member 300 to push the first transmission member 200 up and down through the thread.
[0044] Due to the setting of the thread, the circumferential movement will generate a pushing effect in the vertical direction, so that the first transmission member 200 is pushed to rise or fall.
[0045] Alternatively, in another embodiment, at least one of the first acting portion 211 and the second acting portion 311 is an acting groove, the other of the first acting portion 211 and the second acting portion 311 is used to be embedded in the acting groove, and the acting inclined surface is a side groove wall of the acting groove.
[0046] In one embodiment, the second end portion includes a first sleeve 210, and the second transmission member 300 includes a second sleeve 310. The first sleeve 210 is provided with a first acting portion 211, and the second sleeve 310 is provided with a second acting portion 311, and the first sleeve 210 and the second sleeve 310 are sleeved.
[0047] In the embodiment where one of the first action part 211 and the second action part 311 is a thread, and the number of threads is multiple, and the other is a clamp, after the first sleeve 210 and the second sleeve 310 are sleeved, the clamp will be embedded in the thread. There can be four threads, that is, four threads are formed, and the number of clamps is four, each corresponding to a thread is embedded. By setting multiple threads, the movement between the first sleeve 210 and the second sleeve 310 can be more stable and not easy to shake. Figure 2-4 , Figure 6 In the illustrated embodiment, a thread is provided on the outer wall of the first sleeve 210 , and a clamp is provided on the inner wall of the second sleeve 310 , or a thread is provided on the inner wall of the second sleeve 310 , and a clamp is provided on the outer wall of the first sleeve 210 .
[0048] In one embodiment, one of the first acting portion 211 and the second acting portion 311 is connected to the acting member 212. For example, in an embodiment in which one of the first acting portion 211 and the second acting portion 311 is a thread, the terminal of the thread is provided with the acting member 212. When the first transmission member 200 is located at the cleaning position, the clamping head abuts against the acting member 212, so that the first transmission member 200 drives the second transmission member 300 to rotate synchronously. Alternatively, in an embodiment in which at least one of the first acting portion 211 and the second acting portion 311 is an acting groove, the acting member 212 can be regarded as the inner wall surface of the inner wall of the acting groove opposite to the acting inclined surface.
[0049] The action member 212 may be located only at the terminal end of one end of the thread and is only used to act with the chuck so that the first transmission member 200 rotates synchronously when it is in the cleaning position. Alternatively, in some embodiments, the action member 212 may be located at the terminal ends of the thread, with one end being used to allow the first transmission member 200 to rotate synchronously with the second transmission member 300 when it is in the cleaning position, and the other end being used to limit the maximum height to which the first transmission member 200 can be raised.
[0050] More specifically, in an embodiment where the first acting portion 211 is a thread, the second acting portion 311 is a chuck, a thread is provided on the outer wall of the first sleeve 210, and the first sleeve 210 is used for lifting, Figure 2-4 , Figure 6As shown, the action member 212 may be located only at the terminal of the thread away from the cleaning member 500, or the action member 212 is located at the terminal at the top of the thread 211, and then during the descent of the first sleeve 210, the action member 212 moves toward the clamp located above, and when the first transmission member 200 and the second transmission member 300 are in the cleaning position, the action member 212 will contact the clamp located above, and then when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the action member 212 will push the clamp, driving the second sleeve 310 to rotate synchronously. In some embodiments, the action member 212 may also be provided at the terminal at the bottom of the thread, and then during the ascent of the first sleeve 210, the action member 212 moves toward the clamp located below, and when the first sleeve 210 moves to the highest position, the action member 212 located below will contact the clamp, and then the first sleeve 210 can be prevented from rising excessively, thereby playing a limiting role.
[0051] In another embodiment, the second acting portion 311 is a thread, and the first acting portion 211 is a chuck. A thread is provided on the inner wall of the second sleeve 310. In an embodiment in which the first sleeve 210 is used for lifting, the acting member 212 is located at the terminal end of the thread close to the cleaning member 500, or the acting member 212 is located at the terminal end of the thread at the bottom. Then, during the descending process of the first sleeve 210, the chuck moves toward the acting member 212 located below. When the first transmission member 200 and the second transmission member 300 are in the cleaning position, the chuck will contact the acting member 212 located below. Then, when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the chuck will push the acting member 212 located below, driving the second sleeve 310 to rotate synchronously. In some embodiments, an action piece 212 may also be provided at the uppermost terminal of the thread 211. Then, during the rising process of the first sleeve 210, the chuck moves toward the action piece 212 located above. When the first sleeve 210 moves to the highest position, the chuck will contact the action piece 212 located above, thereby preventing the first sleeve 210 from rising excessively and playing a limiting role.
[0052] It can be understood that in the embodiment where there are four clamp heads 311 and the threads 211 can be four threads, the terminals of the four threads are respectively provided with action members 212. The action members 212 can be integrally formed with the first sleeve 210 or the second sleeve 310. Alternatively, in some embodiments, such as Figure 4 , Figure 6 As shown, the driving mechanism further includes an upper cover 2121, the action member 212 is connected to the upper cover 2121, and the upper cover 2121 is connected to the first sleeve 210, so that the action member 212 is located at the terminal end of the thread, which is convenient for processing.
[0053] In the aforementioned embodiment where the first detection unit includes the first photoelectric emitter 910 and the first light receiver 920, the upper cover 2121 is buckled onto the top edge of the first sleeve 210, and then plays the role of blocking the light from the first photoelectric emitter 910 and the first light receiver 920 after the first transmission member 200 is in place.
[0054] During use, the power assembly 400 drives the first transmission member 200 to rotate in the positive rotation direction relative to the main support body 100, such as the motor of the power assembly 400. Since the position of the second transmission member 300 is fixed (this is caused by the friction between the second transmission member 300 and the support body 100 being greater than the friction between the first action part 211 and the second action part 311), the second action part 311 will move relative to the first action part 211. For example, in an embodiment in which one of the first action part 211 and the second action part 311 is a thread, the clamp will move relative to the thread and press the thread downward, thereby driving the first transmission member 200 to descend in the vertical direction relative to the main support body 100 to achieve the descent of the cleaning member 500. When the cleaning member 500 descends to the lowest position, the first transmission member 200 reaches the cleaning position. Since the motor of the power assembly 400 is still rotating forward, the first transmission member 200 will continue to rotate relative to the main support body 100 in the forward rotation direction, the chuck will act on the action member 212 at the terminal below the thread, and then hinder the continued relative movement of the chuck and the thread, and the first transmission member 200 and the second transmission member 300 will generate a rigid thrust, which will enable the second transmission member 300 to overcome the friction between the main support body 100, and then the first transmission member 200 and the second transmission member 300 will rotate synchronously, and the cleaning member 500 will clean relative to the ground. That is, during the descent and cleaning process, the rotation direction of the first transmission member 200 does not change. Then, when the cleaning is completed, or a user instruction is received, or an obstacle is detected, the cleaning member 500 needs to move up to be stored or avoid obstacles. At this time, the power assembly 400 drives the first transmission member 200 to rotate relative to the main support body 100 in the reverse rotation direction opposite to the forward rotation, such as the motor of the power assembly 400 can be reversed. Since the position of the second transmission member 300 is fixed (this is caused by the friction between the second transmission member 300 and the support body 100 being greater than the friction between the chuck and the thread), the chuck will move in the opposite direction and disengage from the action member 212, and the chuck will move relative to the thread and lift the thread, thereby driving the first transmission member 200 to rise in the vertical direction relative to the main support body 100 to achieve the rise of the cleaning member 500. When the cleaning member 500 rises to the highest position, it may be the action member 212 at the upper terminal of the chuck and the thread that hinders the continued relative movement of the chuck and the thread, and the first transmission member 200 and the second transmission member 300 will generate a rigid thrust, which will enable the second transmission member 300 to overcome the friction between the second transmission member 300 and the main support body 100, and the first transmission member 200 and the second transmission member 300 will move synchronously. It can be understood that at this time, the cleaning member 500 is in the storage position, or rotates at a higher position, until the set time of the program is reached and the power assembly 400 stops driving the first transmission member 200.Alternatively, in the aforementioned embodiment including a first detection unit, the first detection unit includes a first photoelectric emitter 910 and a first light receiver 920, when the first transmission member 200 rises into position, the light between the first photoelectric emitter 910 and the first light receiver 920 will be blocked, and then the rotation of the first transmission member 200 can be directly stopped, thereby avoiding ineffective energy consumption and wear of the second transmission member 300 and the main support body 100 damping.
[0055] For example, in the implementation of the lifting of the first transmission member 200, the second transmission member 300 is only movably connected to the main support body 100 in the circumferential direction, but is limited in the axial direction, or in the vertical direction, so the second transmission member 300 cannot be lifted, and the first transmission member 200 needs to be movably connected to the power assembly 400 in the vertical direction. Since the power assembly 400 needs to drive the first transmission member 200 to rotate, the first transmission member 200 and the power assembly 400 need to be limited in the circumferential direction. Several implementations of lifting the first transmission member 200 will be described in more detail below.
[0056] The first transmission member 200 and the power assembly 400 have a transmission relationship in the circumferential direction, and move relative to each other in the axial direction, or in the vertical direction. The implementation method can be that the output shaft of the power assembly 400 extends in the vertical direction, and a vertically extending first meshing tooth is provided on the output shaft, and a second meshing tooth is provided on the first transmission member 200. The power assembly 400 is engaged with the first transmission member 200 through the first meshing tooth and the second meshing tooth. Then, when the output shaft rotates, the first transmission member 200 can be driven to rotate. Since the first meshing tooth and the second meshing tooth both extend in the vertical direction, the first transmission member 200 can move in the vertical direction relative to the power assembly 400, thereby realizing lifting and lowering. Or, in another embodiment, as Figure 7-9 As shown, the power assembly 400 includes a power member 410 and a third transmission member 420, and the power member 410 is transmission-connected with the third transmission member 420. For example, the power member 410 can be a motor, and the output shaft of the motor extends horizontally. The output shaft of the motor is directly gear-connected with the third transmission member 420, or can be indirectly transmission-connected with the third transmission member 420 through an additional gear. The third transmission member 420 is slidably connected with the first transmission member 200 in the axial direction and is limited in the circumferential direction.
[0057] By setting the third transmission member 420, the power member 410 can be extended horizontally to fully utilize the internal space of the self-cleaning device. In addition, the structure of the third transmission member 420 can be flexibly set to achieve a better transmission effect. In one embodiment, the second end includes a limit portion 220, the limit portion 220 is connected to the first sleeve 210, and the limit portion 220 is sleeved on the outer periphery of the third transmission member 420, or the third transmission member 420 is sleeved on the outer periphery of the limit portion 220. Taking the third transmission member 420 sleeved on the outer circumference of the limiting portion 220 as an example, the third transmission member 420 includes a cylindrical structure, and the inner wall of the third transmission member 420 is circumferentially distributed with a plurality of first limiting surfaces 421, and the first limiting surfaces 421 can be an outwardly convex arc surface. The outer contour of the limiting portion 220 is a rod-shaped structure, and the outer wall of the limiting portion 220 is circumferentially distributed with a plurality of second limiting surfaces 221 adapted to the inner wall of the third transmission member 420, and the second limiting surfaces 221 can be an inwardly concave arc surface. It can be understood that the surface shapes of the first limiting surfaces 421 and the second limiting surfaces 221 can also be interchangeable, or can also have other shapes, such as teeth. The limiting portion 220 is inserted into the cylindrical structure of the third transmission member 420, and the first limiting surfaces 421 and the second limiting surfaces 221 are in sliding contact with each other to achieve circumferential limiting, and can slide relative to each other in the axial direction. By sleeve-connecting the third transmission member 420 to the outer periphery of the limiting part 220, an external force is applied to the circumference of the limiting part 220 to rotate the limiting part 220, and the force is applied more evenly, and the limiting part 220 can only move in the vertical direction, which plays a guiding role when the limiting part 220 or the first transmission member 200 is raised or lowered, so that the first transmission member 200 is not easy to shake. The implementation method of sleeve-connecting the limiting part 220 to the outer periphery of the third transmission member 420 can refer to the implementation of sleeve-connecting the third transmission member 420 to the outer periphery of the limiting part 220, which will not be repeated.
[0058] The transmission connection between the power member 410 and the third transmission member 420 can be in various ways, such as Fig. 9 As shown, the power assembly 400 further includes an intermediate transmission member 430, which may be one or more gears, and may be arranged according to the distance and relative position between the power member 410 and the third transmission member 420. The power member 410 and the third transmission member 420 are connected by one or more gears, thereby realizing transmission connection.
[0059] In an embodiment in which the first transmission member 200 is used to lift and lower relative to the main support body 100, the second transmission member 300 is limited in the axial direction and connected to the main support body 100 in a damping manner in the circumferential direction. The friction between the second transmission member 300 and the main support body 100 is greater than the friction between the first transmission member 200 and the second transmission member 300, which means that the friction between the second transmission member 300 and the main support body 100 in the circumferential direction is greater than the friction between the chuck 311 and the thread 211 in the extension direction of the thread 211. The damping connection relationship between the second transmission member 300 and the main support body 100 can be various. In one embodiment, the drive mechanism also includes a damping bearing. The second transmission member 300 is connected to the main support body 100 via a damping bearing. The bearing resistance of the damping bearing is greater than the friction between the chuck 311 and the thread 211. The damping bearing is fixedly connected to the second transmission member 300 and the main support body 100 in the axial direction. In other embodiments, such as Figure 2-4 , Figure 6 As shown, the driving mechanism further includes a friction assembly 800, and the second transmission member 300 includes a flange 320, which is connected to the second sleeve 310 of the second transmission member 300 and protrudes from the side wall of the second sleeve 310, and the flange 320 is connected to the friction assembly 800. The flange 320 extends in the horizontal direction, and the flange 320 is axially limited by the cooperation between the friction assembly 800 and the flange 320, so as to prevent the second sleeve 310 from moving axially.
[0060] In a more specific embodiment, the friction assembly 800 includes an upper friction member 810 and a lower friction member 820, and the upper friction member 810 and the lower friction member 820 are respectively abutted against the flange 320 by the flange 320 on both sides of the axial direction of the second transmission member 300. The friction force can be increased to prevent the second transmission member 300 from rotating with the first transmission member 200 when it is raised or lowered.
[0061] In one embodiment, the friction assembly 800 further includes an elastic member 830, which is connected to at least one of the upper friction member 810 and the lower friction member 820, and is used to apply elastic force to the upper friction member 810 and / or the lower friction member 820 to move close to the flange 320. The elastic member 830 may be a spring, such as the spring is only connected between the lower friction member 820 and the main support body 100, and the spring enables the lower friction member 820 and the upper friction member 810 to squeeze the flange 320, and the squeezing pressure is moderate. When the lower friction member 820 and the upper friction member 810 are worn, due to the setting of the spring, the lower friction member 820 and the upper friction member 810 can be ensured to continue to provide effective friction, thereby preventing the second transmission member 300 from rotating with the first transmission member 200 when the first transmission member 200 is raised or lowered.
[0062] In the above-mentioned embodiment of the use process, the power assembly 400 drives the first transmission member 200 to rotate in the positive rotation direction relative to the main support body 100. Since the lower friction member 820 and the upper friction member 810 squeeze the flange 320, the position of the second transmission member 300 does not move, and then the chuck will act on the thread, and drive the first transmission member 200 to descend in the vertical direction relative to the main support body 100. When the action member 212 reaching the terminal below the chuck and the thread acts, the first transmission member 200 and the second transmission member 300 will generate a rigid thrust, which will make the second transmission member 300 overcome the friction of the lower friction member 820 and the upper friction member 810, so that the flange 320 slides relative to the lower friction member 820 and the upper friction member 810, and then the first transmission member 200 and the second transmission member 300 will rotate synchronously. When the cleaning member 500 needs to move up to be stored or avoid obstacles, the first transmission member 200 rotates in the opposite direction relative to the main support body 100. Since the lower friction member 820 and the upper friction member 810 squeeze the flange 320, the position of the second transmission member 300 does not change, and the clamping head will move relative to the thread and lift the thread, thereby driving the first transmission member 200 to rise in the vertical direction relative to the main support body 100 to achieve the rise of the cleaning member 500. When the cleaning member 500 rises to the highest position, if the first detection part is not provided, the clamping head acts on the acting member 212 at the upper terminal of the thread, and the first transmission member 200 and the second transmission member 300 will generate a rigid thrust, which will enable the second transmission member 300 to overcome the friction of the lower friction member 820 and the upper friction member 810, so that the flange 320 slides relative to the lower friction member 820 and the upper friction member 810, and the first transmission member 200 and the second transmission member 300 move synchronously.
[0063] In one embodiment, the first transmission member 200 may only include a stopper 220 and a first sleeve 210 connected to each other, and the first sleeve 210 is a straight tube structure. Figure 2-4 As shown, the first transmission member 200 also includes a third sleeve 230, the first end of the first sleeve 210 of the first transmission member 200 is opposite to the cleaning member 500, the third sleeve 230 is connected to the first end of the first sleeve 210, the third sleeve 230 and the first sleeve 210 are spaced apart, and the second sleeve 310 of the second transmission member 300 is embedded between the third sleeve 230 and the first sleeve 210, and there is a gap between the third sleeve 230 and the third sleeve 230.
[0064] The third sleeve 230 is disposed on the outer periphery of the second sleeve 310 and the first sleeve 210 close to the cleaning member 500, and the end of the third sleeve 230 away from the cleaning member 500 is farther from the cleaning member 500 than the first end of the first sleeve 210. That is, when the first transmission member 200 is at the lowest position, the top of the third sleeve 230 can be ensured to be higher than the bottom of the first sleeve 210, thereby protecting the gap between the second sleeve 310 and the first sleeve 210, and preventing dust, hair, etc. from entering between the second sleeve 310 and the first sleeve 210, thereby affecting the relative movement between the second sleeve 310 and the first sleeve 210.
[0065] Furthermore, if Figure 1-6 As shown, the main support body 100 includes a fourth sleeve 110 , the fourth sleeve 110 is spaced apart from the second sleeve 310 , and the third sleeve 230 is embedded between the fourth sleeve 110 and the second sleeve 310 , and there is a gap between the third sleeve 230 and the fourth sleeve 110 .
[0066] The fourth sleeve 110 is disposed on the outer periphery of the third sleeve 230, and the end of the third sleeve 230 away from the cleaning member 500 is farther from the cleaning member 500 than the end of the fourth sleeve 110 close to the cleaning member 500. That is, when the first transmission member 200 is at the lowest position, it can also ensure that the bottom end of the fourth sleeve 110 is higher than the top end of the third sleeve 230, thereby protecting the gap between the third sleeve 230 and the second sleeve 310, and preventing dust, hair, etc. from entering between the third sleeve 230 and the second sleeve 310, affecting the relative movement between the second sleeve 310 and the third sleeve 230.
[0067] In one embodiment, the driving mechanism further includes a magnetic member 900, which is connected to the first transmission member 200 and is used to be magnetically connected to the magnetic member of the cleaning member 500. Alternatively, the driving mechanism further includes: a magnetic member, which is connected to the first transmission member 200 and is used to be magnetically connected to the magnetic member of the cleaning member 500.
[0068] The magnetic attraction member 900 may be a metal that can be magnetically attracted, such as iron. The magnetic member may be a magnet.
[0069] For example, the cleaning member 500 includes a connecting rod and a cleaning member body, one end of the connecting rod is connected to the cleaning member body, and the other end of the connecting rod is provided with a magnetic member. The magnetic member 900 is provided at the top end of the first sleeve 210 of the first transmission member 200, the connecting rod is inserted into the first sleeve 210, and the magnetic member 900 is fixed by adsorption thereto.
[0070] For example, in an embodiment where the first detection unit includes a Hall sensor, the cleaning member 500 is connected to the magnetic member, and detection of whether the cleaning member 500 is connected can be performed to avoid the cleaning member 500 from falling off and not being discovered in time.
[0071] On the other hand, the utility model provides a self-cleaning device, comprising any one of the aforementioned driving mechanisms and a device body, wherein the driving mechanism is arranged on the device body.
[0072] The driving mechanism may be one or two, or more, and may be set as needed. The power assembly 400 may be used only for lifting and rotating the cleaning member 500, or, in some embodiments, a more complex structure may be provided to achieve the horizontal swing of the cleaning member 500. The self-cleaning device includes any of the aforementioned driving mechanisms, including the advantages of any of the aforementioned driving mechanisms, which will not be repeated here.
[0073] On the other hand, the present invention provides a self-cleaning system, including the aforementioned self-cleaning device and a cleaning base station, wherein the self-cleaning device is used to selectively dock at the cleaning base station. In some embodiments, the cleaning base station includes a docking space, and the self-cleaning device can be moved to the docking space to perform operations such as cleaning and replacing the cleaning member 500, refilling the water tank, and charging. The self-cleaning system includes the aforementioned self-cleaning device, including the advantages of the aforementioned self-cleaning device, which will not be repeated here.
[0074] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.
Claims
1. A driving mechanism for a self-cleaning device, characterized in that: include: A main support body (100); A first transmission member (200), the first transmission member (200) comprising a first end and a second end, the second end being used for connecting to a cleaning member (500); A second transmission member (300), wherein the first transmission member (200) and the second transmission member (300) are connected, and the first transmission member (200) and the second transmission member (300) can move relative to each other, and the second transmission member (300) is movably connected to the main support body (100), and a first friction force exists between the second transmission member (300) and the main support body (100); A power assembly (400) is in driving connection with the first end portion, and the power assembly (400) is used to drive the first transmission member (200) to rotate, so that the first transmission member (200) and the second transmission member (300) interact with each other, and drive the first transmission member (200) to drive the cleaning member (500) to rise or fall.
2. The driving mechanism according to claim 1, characterized in that: The position of the first transmission member (200) includes a cleaning position; When the first transmission member (200) is located at the cleaning position, the first transmission member (200) is used to drive the second transmission member (300) to overcome the first friction force and rotate synchronously.
3. The driving mechanism according to claim 1, characterized in that: The first transmission member (200) and the second transmission member (300) are respectively provided with a first acting portion (211) and a second acting portion (311), and the first acting portion (211) and the second acting portion (311) are used to interact with each other.
4. The driving mechanism according to claim 3, characterized in that: At least one of the first acting portion (211) and the second acting portion (311) includes an acting inclined surface, and when the first transmission member (200) rotates, the first acting portion (211) and the second acting portion (311) are used to cooperate with each other through the acting inclined surface to make the first transmission member (200) rise or fall.
5. The driving mechanism according to claim 4, characterized in that: The first acting part (211) and the second acting part (311) both include the acting inclined surface, or one of the first acting part (211) and the second acting part (311) includes the acting inclined surface, and the other of the first acting part (211) and the second acting part (311) includes a rolling element or a slider, and the rolling element or the slider is used to roll or slide relative to the acting inclined surface.
6. The driving mechanism according to claim 4, characterized in that: The number of the first acting parts (211) and the number of the second acting parts (311) are the same, and the number of the first acting parts (211) and the number of the second acting parts (311) is at least one.
7. The driving mechanism according to claim 6, characterized in that: When there are multiple first acting parts (211) and multiple second acting parts (311), the multiple first acting parts (211) are distributed circumferentially around the rotating shaft of the first transmission member (200), and the multiple second acting parts (311) are distributed circumferentially around the rotating shaft of the second transmission member (300).
8. The driving mechanism according to claim 4, characterized in that: One of the first acting portion (211) and the second acting portion (311) is a thread; Alternatively, at least one of the first acting portion (211) and the second acting portion (311) is an acting groove, and the other of the first acting portion (211) and the second acting portion (311) is used to be embedded in the acting groove.
9. The driving mechanism according to claim 1, characterized in that: The second end portion includes a first sleeve (210), and the second transmission member (300) includes a second sleeve (310); The first sleeve (210) is provided with a first acting portion (211), the second sleeve (310) is provided with a second acting portion (311), and the first sleeve (210) and the second sleeve (310) are sleeved together.
10. The driving mechanism according to claim 9, characterized in that: One of the first acting part (211) and the second acting part (311) is connected to an acting member (212); when the first transmission member (200) is located at a cleaning position, the other of the first acting part (211) and the second acting part (311) abuts against the acting member (212), so that the first transmission member (200) drives the second transmission member (300) to rotate synchronously.
11. The driving mechanism according to claim 1, characterized in that: A second friction force exists between the first transmission member (200) and the second transmission member (300), and the first friction force is greater than the second friction force.
12. The driving mechanism according to claim 1, characterized in that: The power assembly (400) comprises a power member (410) and a third transmission member (420); The power member (410) is in transmission connection with the third transmission member (420), and the third transmission member (420) is slidably connected with the first transmission member (200) in the axial direction and is limited in the circumferential direction.
13. The driving mechanism according to claim 12, characterized in that: The second end portion comprises a limiting portion (220), and the third transmission member (420) is sleeved on the outer periphery of the limiting portion (220), or the limiting portion (220) is sleeved on the outer periphery of the third transmission member (420).
14. The driving mechanism according to claim 1, characterized in that: The second transmission member (300) is limited in the axial direction and connected to the main support body (100) in a damping manner in the circumferential direction.
15. The driving mechanism according to claim 14, characterized in that: The driving mechanism further comprises: Damping bearings; The second transmission member (300) is connected to the main support body (100) via the damping bearing.
16. The driving mechanism according to claim 14, characterized in that: The driving mechanism further comprises: Friction assembly (800); The second transmission member (300) comprises a flange (320), the flange (320) is connected to the second sleeve (310) of the second transmission member (300) and protrudes from the side wall of the second sleeve (310), and the flange (320) is connected to the friction assembly (800).
17. The driving mechanism according to claim 16, characterized in that: The friction assembly (800) comprises an upper friction member (810) and a lower friction member (820), wherein the upper friction member (810) and the lower friction member (820) are respectively abutted against the flange (320) by two sides of the flange (320) in the axial direction of the second transmission member (300).
18. The driving mechanism according to claim 17, characterized in that: The friction assembly (800) further includes an elastic member (830), wherein the elastic member (830) is connected to at least one of the upper friction member (810) and the lower friction member (820), and the elastic member (830) is used to apply an elastic force to the upper friction member (810) and / or the lower friction member (820) to move closer to the flange (320).
19. The driving mechanism according to claim 8, characterized in that: The first transmission member (200) comprises a third sleeve (230), the first end of the first sleeve (210) of the first transmission member (200) is opposite to the cleaning member (500), the third sleeve (230) is connected to the first end of the first sleeve (210), the third sleeve (230) and the first sleeve (210) are spaced apart, and the second sleeve (310) of the second transmission member (300) is embedded between the third sleeve (230) and the first sleeve (210), and has a gap between the third sleeve (230) and the third sleeve (230).
20. The driving mechanism according to claim 19, characterized in that: The position of the first transmission member (200) includes a cleaning position; when the first transmission member (200) is in the cleaning position, the end of the third sleeve (230) away from the cleaning member (500) is farther from the cleaning member (500) than the first end of the first sleeve (210).
21. The driving mechanism according to claim 19, characterized in that: The main support body (100) includes a fourth sleeve (110), the fourth sleeve (110) and the second sleeve (310) are spaced apart, and the third sleeve (230) is embedded between the fourth sleeve (110) and the second sleeve (310), and has a gap between the third sleeve (230) and the fourth sleeve (110).
22. The driving mechanism according to claim 21, characterized in that: The position of the first transmission member (200) includes a cleaning position; when the first transmission member (200) is in the cleaning position, an end of the third sleeve (230) away from the cleaning member (500) is farther from the cleaning member (500) than an end of the fourth sleeve (110) close to the cleaning member (500).
23. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: A magnetic attraction member (900), the magnetic attraction member (900) being connected to the first transmission member (200), and the magnetic attraction member (900) being used for magnetic attraction connection with a magnetic member of the cleaning member (500); Alternatively, the driving mechanism further comprises: a magnetic member, the magnetic member being connected to the first transmission member (200), and the magnetic attraction member (900) being used for being magnetically connected to the magnetic attraction member of the cleaning member (500).
24. The driving mechanism according to claim 1, characterized in that: The cleaning member (500) comprises at least one of a rotating mop and a side brush.
25. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: A first detection unit is used to generate a rising position signal when the first transmission member (200) rises to the highest position.
26. The driving mechanism according to claim 25, characterized in that: The first detection unit comprises a first photoelectric transmitter (910) and a first light receiver (920), wherein the first photoelectric transmitter (910) and the first light receiver (920) are arranged opposite to each other, and when the first transmission member (200) rises to the highest position, the first transmission member (200) blocks the light between the first photoelectric transmitter (910) and the first light receiver (920), so that the first light receiver (920) generates the rising position signal.
27. The driving mechanism according to claim 25, characterized in that: The first detection unit comprises a first magnetic sensor, and the driving mechanism further comprises a first magnetic member, wherein the first magnetic member is arranged on the first transmission member (200) and / or the cleaning member (500), and when the first transmission member (200) rises to the highest position, the first magnetic member enters the detection range of the first magnetic sensor, so that the first magnetic sensor generates the rising position signal.
28. The driving mechanism according to claim 25, characterized in that: The first detection part comprises a first micro switch, and when the first transmission member (200) rises to the highest position, the first transmission member (200) triggers the first micro switch, so that the first micro switch generates the rising position signal.
29. The driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises: A second detection unit, the second detection unit is used to generate a mounting position signal when the cleaning member (500) is mounted on the first transmission member (200).
30. The drive mechanism according to claim 29, characterized in that: The second detection part comprises a second photoelectric transmitter and a second light receiver, the second photoelectric transmitter and the second light receiver are arranged opposite to each other, and when the cleaning member (500) is installed on the first transmission member (200), the cleaning member (500) blocks the light between the second photoelectric transmitter and the second light receiver, so that the second light receiver generates the installation position signal.
31. The drive mechanism according to claim 29, characterized in that: The second detection unit includes a second magnetic sensor (930), and the driving mechanism also includes a second magnetic member, the second magnetic member is arranged on the cleaning member (500), and when the cleaning member (500) is installed on the first transmission member (200), the second magnetic member enters the detection range of the second magnetic sensor (930), so that the second magnetic sensor (930) generates the installation position signal.
32. The drive mechanism according to claim 29, characterized in that: The second detection part comprises a second micro switch, and when the cleaning member (500) is installed on the first transmission member (200), the cleaning member (500) triggers the second micro switch, so that the second micro switch generates the installation position signal.
33. A self-cleaning device, characterized in that: It comprises a driving mechanism as described in any one of claims 1 to 32 above, and a device body, wherein the driving mechanism is arranged on the device body.
34. A self-cleaning system, characterized in that: It comprises the self-cleaning device as described in claim 33 above, and a cleaning base station.