Transmission mechanism and cleaning robot

Abstract

The utility model is suitable for the technical field of cleaning equipment, and provides a transmission mechanism and a cleaning robot, the transmission mechanism comprises a power output assembly, a stress part and a lifting seat, one end of the stress part abuts against the power output assembly, and the stress part can be driven by the power output assembly to rotate around a first axis; the lifting seat and the stress part are in spiral transmission, and the lifting seat is configured to be capable of moving along a first axis under the driving of the stress part; when the lifting base moves to the first position or the second position, the stress part can slide relative to the power output assembly. By making the power output assembly abut against the stress part, the stress part can slide relative to the power output assembly, and therefore the situation that the lifting base continuously moves after reaching the first position or the second position, and consequently the mechanism is blocked can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and more specifically, to a transmission mechanism and a cleaning robot. Background Art

[0002] At present, cleaning robots, as a machine that reduces the cleaning burden of users, have been increasingly widely used in daily life, especially in home life. In order to prevent the cleaning robot from colliding with obstacles, a screw nut lifting mechanism is often provided. However, during the operation of the screw nut lifting mechanism, the nut often continues to move after reaching the limit position, causing the mechanism to jam.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a device to solve the technical problem in the prior art that during the operation of the screw nut lifting mechanism, the mechanism often becomes stuck due to the continuous movement of the nut after reaching the limit position.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a transmission mechanism, comprising:

[0006] Power take-off assembly;

[0007] A force-bearing part, one end of which is in contact with the power output assembly, and the force-bearing part can rotate around a first axis driven by the power output assembly;

[0008] A lifting seat, the lifting seat and the force-bearing part are spirally driven, and the lifting seat is configured to move along the first axis driven by the force-bearing part;

[0009] When the lifting seat moves to the first position or the second position, the force-bearing part can slide relative to the power output assembly.

[0010] In a possible design, an elastic member is further included, one end of the elastic member abuts against the power output assembly, and the other end of the elastic member abuts against the force-bearing portion.

[0011] In a possible design, a side wall of the force-bearing portion is provided with a protrusion extending along a first direction, the first direction is a direction perpendicular to the first axis, the protrusion has a first end face and a second end face arranged opposite to each other, the elastic member is sleeved on the force-bearing portion, and the other end of the elastic member abuts against the first end face;

[0012] An external thread section is arranged between the other end of the force-bearing part and the second end face. An internal thread hole is arranged on the lifting seat. The external thread section and the hole wall of the internal thread hole are spirally transmitted. One end of the external thread section is in the first position, and the other end of the external thread section is in the second position.

[0013] In a possible design, it also includes a first rotating shaft, and the power output assembly can drive the first rotating shaft to rotate; the force-bearing part is a sleeve structure, the first axis is the central axis of the sleeve structure, the force-bearing part is sleeved on the first rotating shaft, and the force-bearing part can rotate relative to the first rotating shaft.

[0014] In one possible design, the power take-off assembly includes:

[0015] A first gear having a first end surface and a second end surface arranged opposite to each other;

[0016] A second gear, the second gear is mounted on the first rotating shaft;

[0017] A pressing member, which is sleeved on the first rotating shaft and can rotate relative to the first rotating shaft;

[0018] The first end face of the first gear abuts against one end face of the second gear, and the second end face of the first gear abuts against one end of the pressing member. When the first gear rotates, it can drive the second gear and the pressing member to rotate respectively; the other end of the pressing member abuts against one end of the elastic member.

[0019] In a possible design, a first limiting portion is provided at the end of the pressing member, and a second limiting portion is provided at the end face of the second gear. The first limiting portion and the second limiting portion are matched in a concave-convex manner, and the pressing member is circumferentially fixed to the second gear through the first limiting portion and the second limiting portion.

[0020] In a possible design, the transmission mechanism further includes:

[0021] Third gear;

[0022] A second rotating shaft, the second rotating shaft is sleeved in the center hole of the third gear, the second rotating shaft is axially fixedly connected to the lifting seat, the second rotating shaft can move along the center axis of the third gear under the drive of the lifting seat, and when the lifting seat reaches the second position, the second rotating shaft rotates under the drive of the third gear;

[0023] The vibration component is connected to the second rotating shaft.

[0024] In a possible design, the transmission mechanism further includes a power transmission wheel, which rotates around the central axis of the third gear under the drive of the third gear, and the center of the power transmission wheel is provided with a first inner hole and a second inner hole which are axially connected, the aperture of the second inner hole is larger than the aperture of the first inner hole, the side wall of the first inner hole is provided with an internal spline, and the second rotating shaft is provided with an external spline;

[0025] When the lifting seat reaches the second position, the second rotating shaft rotates under the cooperation of the inner spline and the outer spline.

[0026] In one possible design, the vibration assembly includes:

[0027] A push-drive rod, the push-drive rod is connected to the second rotating shaft, and an angle is formed between the push-drive rod and the second rotating shaft;

[0028] The vibration seat is rotatably connected with the lifting seat through a pin shaft, and a strip hole is provided on the vibration seat. The length direction of the strip hole is parallel to the pin shaft, and the axis of the pin shaft intersects with the axis of the second rotating shaft. The inner wall of the strip hole is slidably matched with the push drive rod. When the push drive rod rotates, it can push the vibration seat to reciprocate around the pin shaft.

[0029] Or, the vibration component includes:

[0030] A push-drive wheel, wherein the push-drive wheel is sleeved on the second rotating shaft, a push-drive shaft is arranged on the push-drive wheel, and an axis of the push-drive shaft and an axis of the second rotating shaft are spaced apart in a radial direction of the second rotating shaft;

[0031] A fixed seat connected to the lifting seat;

[0032] A vibrating member, wherein the vibrating member is in sliding cooperation with the fixing seat, a rectangular hole is provided on the vibrating member, and an inner wall of the rectangular hole is in sliding cooperation with the driving shaft;

[0033] The vibrating member is provided with a first guide portion, and the lifting seat is provided with a second guide portion. The first guide portion and the second guide portion can slide and cooperate in the width direction of the rectangular hole. Driven by the driving shaft, the vibrating member can perform linear reciprocating motion along the width direction of the rectangular hole.

[0034] A cleaning robot comprises the above-mentioned transmission mechanism.

[0035] The beneficial effect of the transmission mechanism provided by the present application is that: compared with the prior art, the transmission mechanism of the present application includes a power output assembly, a force-bearing part and a lifting seat, the force-bearing part abuts against the power output assembly, and under the action of the static friction force between the power output assembly and the force-bearing part, when the power output assembly rotates, the force-bearing part can rotate around the first axis driven by the power output assembly, so that the lifting seat that is spirally driven with the force-bearing part can move along the first axis, thereby realizing the lifting and lowering of the lifting seat.

[0036] When the lifting seat moves to the first position or the second position, the first position and the second position are respectively the two end positions of the lifting seat moving along the first axis, that is, the lifting seat can no longer continue to move along the first axis after reaching the first position or the second position, at this time, the meshing surfaces of the lifting seat and the force-bearing part will be pressed against each other to increase the friction between the meshing surfaces, when the maximum friction between the lifting seat and the force-bearing part is greater than the maximum friction between the power output assembly and the force-bearing part, the rotation of the power output assembly will not drive the force-bearing part to rotate, at this time, the force-bearing part stops rotating and slides relative to the power output assembly. This can avoid the mechanism from being stuck due to the lifting seat continuing to move after reaching the first position or the second position.

[0037] The cleaning robot provided in the present application includes the above-mentioned transmission mechanism and thus has all the above-mentioned beneficial effects of the transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a structural schematic diagram of a transmission mechanism provided by an embodiment of the present application from one perspective;

[0040] Figure 2 is a schematic structural diagram of a transmission mechanism provided by an embodiment of the present application from another perspective;

[0041] Figure 3 is another perspective structural schematic diagram of a transmission mechanism provided by an embodiment of the present application;

[0042] Figure 4 is another perspective structural schematic diagram of a transmission mechanism provided by an embodiment of the present application;

[0043] Figure 5 yes Figure 4 Schematic diagram of the top view structure in ;

[0044] Figure 6 yes Figure 5 A schematic cross-sectional view of the device along the AA direction;

[0045] Figure 7 is a schematic structural diagram of a pressing member of a transmission mechanism provided by an embodiment of the present application;

[0046] Figure 8 is a structural schematic diagram of a push-drive rod of a transmission mechanism provided by an embodiment of the present application;

[0047] Fig. 9 is a structural schematic diagram of a vibration seat of a transmission mechanism provided by an embodiment of the present application;

[0048] Fig.10 is a schematic structural diagram of a vibration component of a transmission mechanism provided by an embodiment of the present application;

[0049] Fig.11 yes Fig.10 A cross-sectional schematic diagram of a vibration component in FIG.

[0050] Fig.12 It is a structural schematic diagram of a fixed seat of a transmission mechanism provided by an embodiment of the present application;

[0051] Fig.13 It is a schematic diagram of the structure of a vibration component of a transmission mechanism provided by an embodiment of the present application.

[0052] Description of main reference numerals:

[0053] 100-power output assembly, 110-first gear, 120-second gear, 121-second limiting portion, 130-pressing member, 131-first limiting portion, 200-force bearing portion, 210-protruding portion, 211-first end face, 212-second end face, 220-external threaded section, 300-lifting seat, 410-elastic member, 420-first rotating shaft, 430-damping member, 510-third gear, 520-second rotating shaft, 521-external spline, 522-annular groove, 530-force transmission wheel, 531-first inner hole, 532-second inner hole, 533-connecting column, 60 0-vibration assembly, 610-push drive rod, 620-vibration seat, 630-pin shaft, 640-bar hole, 650-push drive wheel, 651-push drive shaft, 660-vibration member, 661-rectangular hole, 670-fixed seat, 680-first guide portion, 681-first U-shaped groove, 6811-second guide inclined surface, 690-second guide portion, 691-guide block, 6911-second U-shaped groove, 692-supporting block, 6921-first guide inclined surface, 710-fourth gear, 720-fifth gear, 730-sixth gear, 740-servo motor, 800-outer shell. DETAILED DESCRIPTION

[0054] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0056] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0058] In order to illustrate the technical solution described in this application, a detailed description is given below in conjunction with specific drawings and embodiments.

[0059] like Figures 1 to 9As shown, in some embodiments, the transmission mechanism provided by the present application includes a power output assembly 100, a force-bearing part 200 and a lifting seat 300, the force-bearing part 200 is in contact with the power output assembly 100, and when the power output assembly 100 rotates, the force-bearing part 200 can rotate around the first axis driven by the power output assembly 100. The lifting seat 300 and the force-bearing part 200 are spirally transmitted, and the lifting seat 300 is configured to be able to move along the first axis driven by the force-bearing part 200. When the lifting seat 300 moves to the first position or the second position, the force-bearing part 200 can slide relative to the power output assembly 100. In one embodiment, the power output assembly 100 is connected to the output end of the driving motor through a gear transmission mechanism, and the driving motor can drive the power output assembly 100 to rotate. The force-bearing part 200 is a sleeve structure, one end of the force-bearing part 200 is in contact with the power output assembly 100, and the central axis of the force-bearing part 200 is coaxially arranged with the rotation center axis of the power output assembly 100. The other end of the force-bearing part 200 is limited to the inner wall of the shell, and the maximum static friction between the force-bearing part 200 and the inner wall of the shell is less than the maximum static friction between the force-bearing part 200 and the power output assembly 100. When the power output assembly 100 rotates, it can drive the force-bearing part 200 to rotate synchronously around the first axis. The first axis is the central axis of the force-bearing part 200.

[0060] Optionally, a ball bearing can be installed at the end of the force-bearing part 200 opposite to the inner wall of the shell, so that the force-bearing part 200 and the shell can roll together to reduce the maximum static friction between the force-bearing part 200 and the inner wall of the shell, so that when the power output assembly 100 rotates, it can drive the force-bearing part 200 to rotate synchronously around the first axis.

[0061] In order to increase the friction between the power output assembly 100 and the force-bearing part 200, the end surface of the force-bearing part 200 that abuts against the power output assembly 100 can be made of a material with higher roughness. For example, the end surface of the force-bearing part 200 that abuts against the power output assembly 100 is covered with a rubber layer to increase the maximum static friction between the power output assembly 100 and the force-bearing part 200. When the transmission wheel rotates, it is ensured that the force-bearing part 200 can rotate with the transmission wheel.

[0062] Optionally, the lifting seat 300 is circumferentially limited on the inner wall of the shell, for example, a protrusion extending along the first axis is provided on the lifting seat 300, and a groove extending along the first axis is provided on the inner wall of the shell, and the protrusion and the groove are slidably matched, and the lifting seat 300 can move along the first axis through the sliding match between the protrusion and the groove. The lifting seat 300 is provided with a through hole, and the inner wall of the through hole is provided with an internal thread, and the outer wall of the force-bearing part 200 is provided with an external thread, and the external thread and the internal thread cooperate with each other, so that the lifting seat 300 is sleeved on the outer wall of the force-bearing part 200 and can be spirally driven with the lifting seat 300.

[0063] Optionally, the power output assembly 100 can be a transmission wheel, the axle of the transmission wheel is connected to the driving member, and one end face of the transmission wheel abuts against one end face of the force-bearing part 200. Since one end face of the transmission wheel and one end face of the force-bearing part 200 are pressed against each other, the maximum static friction force between the abutting surfaces of the transmission wheel and the force-bearing part 200 is relatively large. Therefore, when the driving member drives the transmission wheel to rotate, under the action of the static friction force between the transmission wheel and the force-bearing part 200, the force-bearing part 200 can rotate synchronously with the transmission wheel.

[0064] By utilizing the technical solution of this embodiment, since the power output assembly 100 is in contact with the force-bearing part 200, the static friction between the power output assembly 100 and the force-bearing part 200 is relatively large. Under the action of the static friction between the power output assembly 100 and the force-bearing part 200, when the power output assembly 100 rotates, the force-bearing part 200 can rotate around the first axis driven by the power output assembly 100, so that the lifting seat 300 that is spirally driven with the force-bearing part 200 can move along the first axis, thereby realizing the lifting and lowering of the lifting seat 300.

[0065] When the lifting seat 300 moves to the first position or the second position, the first position and the second position are respectively two end positions of the lifting seat 300 moving along the first axis. Figure 6 At B in the middle, the second position is Figure 6 C in the figure. Due to the obstruction, the lifting seat 300 cannot continue to move along the first axis after reaching the first position or the second position. At this time, the thread teeth of the lifting seat 300 and the force-bearing part 200 will press each other to increase the maximum static friction between the thread teeth. When the maximum static friction between the lifting seat 300 and the force-bearing part 200 is greater than the maximum static friction between the power output assembly 100 and the force-bearing part 200, the power output assembly 100 will not be able to drive the force-bearing part 200 to rotate when rotating. At this time, the force-bearing part 200 stops rotating and slides relative to the power output assembly 100. This can prevent the lifting seat 300 from continuing to move after reaching the first position or the second position, causing the mechanism to jam.

[0066] like Figures 1 to 6 As shown, in some embodiments of the present application, the transmission mechanism further includes an elastic member 410, one end of the elastic member 410 abuts against the power output assembly 100, and the other end of the elastic member 410 abuts against the force-bearing portion 200. In one embodiment, the elastic member 410 is a spring, one end of the spring is connected to the power output assembly 100, and the other end of the spring abuts against one end surface of the force-bearing portion 200.

[0067] By utilizing the technical solution of this embodiment, an elastic member 410 is added between the power output assembly 100 and the force-bearing part 200, and the compressive elastic force of the elastic member 410 is utilized to further increase the pressure on the force-bearing part 200, thereby increasing the maximum static friction force between the force-bearing part 200 and the elastic member 410. When the elastic member 410 rotates driven by the power output assembly 100, it is ensured that the force-bearing part 200 can rotate with the elastic member 410.

[0068] like Figures 1 to 6 As shown, in some embodiments of the present application, the side wall of the force-bearing part 200 is provided with a protrusion 210 extending along the first direction, the first direction is a direction perpendicular to the first axis, the protrusion 210 has a first end face 211 and a second end face 212 arranged opposite to each other, the elastic member 410 is sleeved on the force-bearing part 200, and the other end of the elastic member 410 abuts against the first end face 211. An external thread segment 220 is arranged between the second end face 212 and the other end of the force-bearing part 200, an internal thread hole is provided on the lifting seat 300, and the external thread segment 220 and the hole wall of the internal thread hole of the lifting seat 300 are spirally driven, one end of the external thread segment 220 is in the first position, and the other end of the external thread segment 220 is in the second position.

[0069] Specifically, the protrusion 210 is a columnar structure, located in the middle of the force-bearing part 200. The protrusion 210 divides the force-bearing part 200 into an upper section and a lower section. The upper end face of the protrusion 210 is a first end face 211, and the lower end face of the protrusion 210 is a second end face 212. The elastic member 410 is sleeved on the upper section of the force-bearing part 200, and the other end of the elastic member 410 abuts against the upper end face of the protrusion 210. The lower section of the force-bearing part 200 is configured as an external thread section 220, that is, an external thread is provided on the side wall of the lower section of the force-bearing part 200. The lifting seat 300 is provided with a through hole, and the inner wall of the through hole is provided with an internal thread. The external thread and the internal thread cooperate with each other, so that the lifting seat 300 is sleeved on the outer wall of the force-bearing part 200 and can be spirally driven with the lifting seat 300.

[0070] By using the technical solution provided in this embodiment, by providing the protrusion 210 on the side wall of the force-bearing part 200, the other end of the elastic member 410 can be brought into contact with the protrusion 210. By sleeve-arranging the elastic member 410 on the force-bearing part 200 at a position on one side of the protrusion 210, the elastic member 410 can be brought into pressure contact with the side wall of the force-bearing part 200. Thus, the maximum static friction between the elastic member 410 and the force-bearing part 200 is increased. When the elastic member 410 rotates, it is ensured that the force-bearing part 200 can rotate with the elastic member 410.

[0071] like Figures 1 to 6As shown, in some embodiments of the present application, the transmission mechanism also includes a first rotating shaft 420, and the first rotating shaft 420 is connected to the power output assembly 100, and the power output assembly 100 can drive the first rotating shaft 420 to rotate. The force-bearing part 200 is a sleeve structure, and the first axis is the central axis of the sleeve structure. The force-bearing part 200 is sleeved on the first rotating shaft 420, and there is a radial gap between the inner wall of the force-bearing part 200 and the outer wall of the first rotating shaft 420, so that the force-bearing part 200 can rotate relative to the first rotating shaft 420. In one embodiment, the first rotating shaft 420 and the power output assembly 100 are circumferentially fixed by splines, and the first rotating shaft 420 rotates under the drive of the power output assembly 100. The force-bearing part 200 is a sleeve structure, and the inner hole diameter of the force-bearing part 200 is slightly larger than the diameter of the first rotating shaft 420, so that the force-bearing part 200 can rotate relative to the first rotating shaft 420.

[0072] According to the technical solution of this embodiment, by providing the first rotating shaft 420, the force-bearing part 200 is sleeved on the first rotating shaft 420, and there is a small radial gap between the inner wall of the force-bearing part 200 and the outer wall of the first rotating shaft 420. When the power output assembly 100 drives the first rotating shaft 420 to rotate, the first rotating shaft 420 will touch the inner wall of the force-bearing part 200. When the first rotating shaft 420 touches the inner wall of the force-bearing part 200, friction will be generated between the first rotating shaft 420 and the inner wall of the force-bearing part 200, so that the force-bearing part 200 can be driven to rotate together with the power output assembly 100. The rotation of the force-bearing part 200 drives the lifting seat 300 to move along the first axis. When the lifting seat 300 moves to the first position or the second position, since the force-bearing part 200 and the first rotating shaft 420 can rotate relative to each other, even if the first rotating shaft 420 continues to rotate under the drive of the power output assembly 100, it will not drive the force-bearing part 200 to rotate. Therefore, when the lifting seat 300 moves to the first position or the second position, the force-bearing part 200 can stop rotating immediately, thereby preventing the lifting seat 300 from continuously moving after reaching the first position or the second position and preventing the transmission mechanism from being stuck.

[0073] like Figure 6As shown, in some embodiments of the present application, the power output assembly 100 includes a first gear 110, a second gear 120 and a pressing member 130. The first gear 110 is in transmission connection with the driving member, and the first gear 110 has a first end face 211 and a second end face 212 arranged opposite to each other. The second gear 120 is mounted on the first rotating shaft 420. The second gear 120 and the first rotating shaft 420 are circumferentially fixed by splines. The rotation of the second gear 120 can drive the first rotating shaft 420 to rotate. The pressing member 130 is sleeved on the first rotating shaft 420. The pressing member 130 is a sleeve structure. There is a gap between the inner wall of the pressing member 130 and the outer wall of the first rotating shaft 420, so that the pressing member 130 can rotate relative to the first rotating shaft 420. The first end face 211 of the first gear 110 is in contact with one end face of the second gear 120, and the second end face 212 of the first gear 110 is in contact with one end of the pressing member 130. When the first gear 110 rotates, it can drive the second gear 120 and the pressing member 130 to rotate respectively. The other end of the pressing member 130 is in contact with one end of the elastic member 410. In one embodiment, the first gear 110 is located between the second gear 120 and the pressing member 130, the upper end face of the first gear 110 is the first end face 211, and the lower end face of the first gear 110 is the second end face 212. Under the joint extrusion of the second gear 120 and the pressing member 130, the maximum static friction force between the upper end surface of the first gear 110 and the lower end surface of the second gear 120 is relatively large. Similarly, the maximum static friction force between the lower end surface of the first gear 110 and the upper end surface of the pressing member 130 is relatively large. Under the action of the static friction force, the rotation of the first gear 110 can drive the second gear 120 and the pressing member 130 to rotate synchronously.

[0074] Preferably, the lower end face of the second gear 120 has a circular convex ring extending along the axial direction of the second gear 120, and the inner hole wall of the first gear 110 abuts against the circular convex ring in the radial direction of the first gear 110. With such an arrangement, the friction force between the inner hole wall of the first gear 110 and the circular convex ring can also cooperate with other friction forces, so that the rotation of the first gear 110 can drive the second gear 120 and the pressing member 130 to rotate synchronously.

[0075] Preferably, in order to increase the friction between the pressing member 130 and the elastic member 410 and the first gear 110 , the pressing member 130 can be made of a material with a larger friction coefficient, for example, the pressing member 130 can be made of plastic and replaced in time after being worn.

[0076] By using the technical solution provided by the above embodiment, by abutting the upper end face of the first gear 110 against one end face of the second gear 120, the second gear 120 can be driven to rotate when the first gear 110 rotates, and the rotation of the second gear 120 drives the first rotating shaft 420 to rotate. By abutting the lower end face of the first gear 110 against one end of the pressing member 130, and abutting the other end of the pressing member 130 against one end of the elastic member 410, the rotation of the first gear 110 can drive the pressing member 130 to rotate, and the rotation of the pressing member 130 drives the elastic member 410 to rotate. In this way, the rotational power of the first gear 110 is transmitted to the first rotating shaft 420 and the elastic member 410 respectively, and the static friction between the first rotating shaft 420 and the elastic member 410 and the force-bearing part 200 when the first rotating shaft 420 and the elastic member 410 rotate is utilized, so that the first rotating shaft 420 and the elastic member 410 can cooperate to drive the force-bearing part 200 to rotate synchronously. By designing a gap between the inner wall of the pressing member 130 and the outer wall of the first rotating shaft 420 so that the pressing member 130 can slide along the axial direction of the first rotating shaft 420, the pressing member 130 can generate a slight displacement along the axial direction of the first rotating shaft 420 under the action of the elastic member 410, so that the resistance force between the pressing member 130 and the first gear 110 is greater, and then the resistance force between the first gear 110, the second gear 120 and the pressing member 130 is greater, thereby increasing the maximum static friction force between the first gear 110 and the second gear 120 and the pressing member 130, which helps to smoothly drive the second gear 120 and the pressing member 130 to rotate synchronously when the first gear 110 rotates.

[0077] like Figure 6 , Figure 7 As shown, in some embodiments of the present application, the end of the pressing member 130 is provided with a first limiting portion 131, and the end surface of the second gear 120 is provided with a second limiting portion 121, the first limiting portion 131 and the second limiting portion 121 are matched in a concave-convex manner, and the pressing member 130 is circumferentially fixed to the second gear 120 through the first limiting portion 131 and the second limiting portion 121. In one embodiment, the end of the pressing member 130 is provided with a square convex ring extending along the axial direction of the first rotating shaft 420, and the first rotating shaft 420 passes through the inner hole of the square convex ring. The second gear 120 is provided with a directional groove extending along the axial direction of the first rotating shaft 420, and the directional groove and the square convex ring can slide relative to each other in the axial direction of the first rotating shaft 420. After the directional groove and the square convex ring are matched and clamped with each other, the circumferential limiting can be achieved between the pressing member 130 and the second gear 120.

[0078] By using the technical solution of this embodiment, a first limiting portion 131 is provided at the end of the pressing member 130, and a second limiting portion 121 is provided at the end surface of the second gear 120, and the first limiting portion 131 and the second limiting portion 121 are matched in a concave-convex manner, and the pressing member 130 is circumferentially fixed to the second gear 120 through the first limiting portion 131 and the second limiting portion 121. Driven by the first gear 110, the pressing member 130 and the second gear 120 can be ensured to rotate at the same angular velocity, and the elastic member 410 and the first rotating shaft 420 can be further ensured to rotate at the same angular velocity, so that the force-bearing part 200 can be ensured to rotate smoothly driven by the elastic member 410 and the first rotating shaft 420.

[0079] At the same time, the first limiting portion 131 and the second limiting portion 121 enable circumferential fixation between the pressing member 130 and the second gear 120. By controlling the second gear 120 to stop rotating, the pressing member 130 and the first rotating shaft 420 can both stop rotating, thereby preventing the gears from scratching the debugging and assembling personnel during the dynamic debugging of the equipment.

[0080] like Figure 6 As shown, in some embodiments of the present application, a damping member 430 is provided between the power output assembly 100 and the elastic member 410. Specifically, the damping member 430 is a rubber gasket. Such a configuration can increase the friction between the power output assembly 100 and the elastic member 410, so that when the power output assembly 100 rotates, it can smoothly drive the elastic member 410 to rotate synchronously.

[0081] like Figures 1 to 8 As shown, in some embodiments of the present application, the transmission mechanism further includes a third gear 510, a second rotating shaft 520 and a vibration component. The second rotating shaft 520 is sleeved in the center hole of the third gear 510. The second rotating shaft 520 is connected to the lifting seat 300. Driven by the lifting seat 300, the second rotating shaft 520 can move along the center axis of the third gear 510. When the lifting seat 300 reaches the second position, the second rotating shaft 520 rotates driven by the third gear 510. The vibration component is connected to the second rotating shaft 520. In one embodiment, an annular groove 522 is provided on the second rotating shaft 520. The lifting seat 300 is sleeved in the annular groove 522 so that the lifting seat 300 and the second rotating shaft 520 are axially fixed, so that the second rotating shaft 520 can move along its axial direction driven by the lifting seat 300. When the lifting seat 300 moves to the second position, that is, when Figure 6 At C in the figure, the second rotating shaft 520 can rotate under the drive of the third gear 510, thereby driving the vibration component to swing.

[0082] By using the technical solution of this embodiment, by providing the third gear 510 and the second rotating shaft 520, when the lifting base 300 drives the second rotating shaft 520 to move along the central axis of the third gear 510, when the lifting base 300 reaches the second position, the second rotating shaft 520 can rotate under the drive of the third gear 510, and then the vibration component 600 can swing under the drive of the second rotating shaft 520. When the lifting base 300 is in the first position, the second rotating shaft 520 does not rotate with the third gear 510, and the vibration component 600 does not swing.

[0083] like Figure 6 As shown, in some embodiments of the present application, the transmission mechanism further includes a force transmission wheel 530, which rotates around the central axis of the third gear 510 under the drive of the third gear 510. The center of the force transmission wheel 530 is provided with a first inner hole 531 and a second inner hole 532 which are axially connected. The aperture of the second inner hole 532 is larger than the aperture of the first inner hole 531. The side wall of the first inner hole 531 is provided with an inner spline, and the second rotating shaft 520 is provided with an outer spline 521. When the lifting seat 300 reaches the second position, the second rotating shaft 520 rotates under the cooperation of the inner spline and the outer spline 521. In one embodiment, a connecting column 533 extending along the central axis of the third gear 510 is provided on the wheel surface of the force transmission wheel 530 close to the third gear 510, and a column groove extending along the central axis of the third gear 510 is provided on the wheel surface of the third gear 510. The connecting column 533 and the column groove are in clearance fit, so that when the third gear 510 rotates, it can drive the force transmission wheel 530 to rotate synchronously. The first inner hole 531 is located below the second inner hole 532. A circle of inner splines is evenly arranged on the side wall of the first inner hole 531. The outer wall of the second shaft 520 is correspondingly sleeved with outer splines 521. When the second shaft 520 moves to the second position, the inner splines and the outer splines 521 cooperate with each other to achieve the circumferential limit of the second shaft 520 and the force transmission wheel 530. The rotation of the force transmission wheel 530 can drive the second shaft 520 to rotate. When the second shaft 520 moves to the first position, the corresponding outer splines 521 move into the second inner hole 532. The rotation of the force transmission wheel 530 will not be able to drive the second shaft 520 to rotate.

[0084] By using the technical solution of this embodiment, by setting the force transmission wheel 530, the second rotating shaft 520 can only rotate when the lifting seat 300 reaches the second position, and does not rotate when the lifting seat 300 reaches the first position. Therefore, the vibration component 600 can only swing under the drive of the second rotating shaft 520 when the lifting seat 300 reaches the second position. Specifically applied to the transmission mechanism of the cleaning equipment, when the cleaning equipment senses an obstacle, the vibration seat 620 moves up, and the vibration seat 620 does not vibrate at this time, which can prevent dust from falling on the obstacle. When the cleaning equipment is cleaning normally, the vibration seat 620 is located at the bottom, that is, the lifting seat 300 is in the second position. At this time, the vibration seat 620 vibrates, which can shake off the dust on the rag in time and be cleaned by the cleaning equipment.

[0085] In one embodiment, a fourth gear 710 is sleeved on the output shaft of the servo motor 740, and the servo motor 740 can drive the fourth gear 710 to rotate, and the fourth gear 710 is meshed with the third gear 510, and the third gear 510 rotates under the drive of the fourth gear 710, so that the third gear 510 drives the second rotating shaft 520 to rotate. The third gear 510 is meshed with one side of the fifth gear 720, and the other side of the fifth gear 720 is meshed with the first gear 110, so that the third gear 510 rotates to drive the fifth gear 720 to rotate, and the fifth gear 720 rotates to drive the first gear 110 to rotate, and the first gear 110 rotates to respectively drive the second gear 120 and the pressing member 130 to rotate. In this way, the first rotating shaft 420 and the second rotating shaft 520 can share a driving motor.

[0086] Preferably, a sixth gear 730 is further included, which is meshed with the second gear 120. The diameter of the sixth gear 730 is larger than the diameter of the second gear 120. A force is applied to the sixth gear 730 to hinder its rotation, such as pressing the wheel surface of the sixth gear 730. Since the diameter of the sixth gear 730 is larger than the diameter of the second gear 120, the pressing force required to stop the sixth gear 730 from rotating is relatively small. Since the sixth gear 730 is meshed with the second gear 120, the second gear 120 stops rotating immediately, so that the pressing member 130 and the second rotating shaft 520 both stop rotating, thereby preventing the gears from scratching the debugging and assembling personnel during the dynamic debugging of the equipment.

[0087] like Figures 6 to 8As shown, in some embodiments of the present application, the vibration assembly includes a push rod 610 and a vibration seat 620, the push rod 610 is connected to the second rotating shaft 520, and there is an angle between the push rod 610 and the second rotating shaft 520. The vibration seat 620 is rotatably connected to the lifting seat 300 through the pin 630, and the vibration seat 620 is provided with a bar hole 640, the length direction of the bar hole 640 is parallel to the pin 630, the axis of the pin 630 intersects with the axis of the second rotating shaft 520, and the inner wall of the bar hole 640 is slidably matched with the push rod 610, and the push rod 610 can push the vibration seat 620 to swing back and forth around the pin 630 when rotating. In one embodiment, the push rod 610 is integrally connected to the second rotating shaft 520, and the angle between the push rod 610 and the second rotating shaft 520 is an obtuse angle. When the second rotating shaft rotates, the end of the push rod 610 rotates around the second rotating shaft 520 driven by the second rotating shaft 520. The lower end of the lifting seat 300 is rotatably connected with the vibration seat 620 through the pin shaft 630. Among them, the lower end of the lifting seat 300 is located on the opposite sides of the second rotating shaft 520 and is respectively provided with pin holes, and the upper end of the vibration seat 620 is located on the opposite sides of the second rotating shaft 520 and is respectively provided with pin holes. The vibration seat 620 is placed on the lower end of the lifting seat 300, and the two pairs of pin holes are respectively connected through the pin shaft 630, and the end of the push-drive rod 610 is slidably matched with the inner wall of the bar hole 640 of the vibration seat 620. When the second rotating shaft 520 rotates, the end of the push-drive rod 610 rotates around the second rotating shaft 520, and the end of the push-drive rod 610 is slidably matched with the inner wall of the bar hole 640, driving the vibration seat 620 to swing back and forth around the pin shaft 630. By setting the vibration seat 620, when the push-drive rod 610 rotates, it can push the vibration seat 620 to swing back and forth around the pin shaft 630, so as to realize the vibration of the vibration seat 620. Specifically applied to the transmission mechanism of the cleaning equipment, the vibration seat 620 is usually used to fix the rag. The vibration seat 620 is vibrated by reciprocating at high frequency and short distance around the pin shaft 630, so that dust and the like stuck on the rag can be separated from the rag.

[0088] like Figure 10-13As shown, in some embodiments of the present application, the vibration assembly includes a driving wheel 650, a fixed seat 670 and a vibrating member 660, the driving wheel 650 is sleeved on the second rotating shaft, and a driving shaft 651 is provided on the driving wheel 650, and the axis of the driving shaft 651 and the axis of the second rotating shaft have a spacing in the radial direction of the second rotating shaft. The fixed seat 670 is connected to the lifting seat; the vibrating member 660 is slidably matched with the fixed seat 670, and a rectangular hole 661 is opened on the vibrating member 660, and the inner wall of the rectangular hole 661 is slidably matched with the driving shaft 651; the vibrating member 660 is provided with a first guide portion 680, and the lifting seat is provided with a second guide portion 690, and the first guide portion 680 and the second guide portion 690 can be slidably matched in the width direction of the rectangular hole 661, and the vibrating member 660 can perform linear reciprocating motion along the width direction of the rectangular hole 661 under the drive of the driving shaft 651. In some embodiments, the center of the push-drive wheel 650 has a through hole, the push-drive shaft 651 is sleeved on the lower end of the second rotating shaft, the push-drive shaft 651 is provided near the edge of the push-drive wheel 650, the push-drive shaft 651 and the push-drive wheel 650 are integrally formed, and the push-drive shaft 651 rotates around the axis of the second rotating shaft driven by the push-drive wheel 650. Exemplarily, the material of the push-drive shaft 651 and the push-drive wheel 650 is powder metallurgy, mainly to meet the needs of high-speed operation. A rectangular hole 661 is provided on the vibrating member 660, and the length direction of the rectangular hole 661 is the left and right direction of the vibrating member 660. During the rotation of the push-drive shaft 651, it can slide and cooperate with the inner wall of the rectangular hole 661, thereby driving the vibrating member 660 to move. A first guide portion 680 is provided on the vibrating member 660, and a second guide portion 690 is provided on the fixing seat 670. The first guide portion 680 and the second guide portion 690 can slide and cooperate with each other in the width direction of the rectangular hole 661. For example, the first guide portion 680 is a protrusion arranged on the vibrating member 660, and the second guide portion 690 is a groove opened on the fixing seat 670, and the groove extends along the width direction of the rectangular hole 661, and the groove slides and cooperates with the protrusion.

[0089] By using the technical solution of this embodiment, when the driving shaft 651 rotates around the axis of the second rotating shaft, the vibrating member 660 can perform linear reciprocating motion along the width direction (i.e., the front-to-back direction) of the rectangular hole 661 driven by the driving shaft 651. Since the distance of the linear reciprocating motion is small, a small vibration of the vibrating member 660 is achieved. Specifically applied to the transmission mechanism of the cleaning equipment, the vibrating member 660 is usually used to fix the rag. By making the vibrating member 660 generate high-frequency short-distance linear reciprocating motion along the front-to-back direction, dust and the like stuck on the rag can be separated from the rag.

[0090] like Figure 10-13As shown, in some embodiments of the present application, the first guide portion 680 is a first U-shaped groove 681 respectively provided at opposite ends of the vibrating member 660. The second guide portion 690 includes a guide block 691 and a support block 692, both of which extend along the first direction, and opposite sides of the guide block 691 are respectively slidably matched with the inner sidewalls of the first U-shaped groove 681, and the support block 692 is perpendicular to the guide block 691 and is disposed at opposite sides of the guide block 691, and the vibrating member 660 is located on the support block 692, and the support block 692 is slidably matched with the surface of the vibrating member 660. In some embodiments, four first U-shaped grooves 681 are provided on the vibrating member 660, wherein two first U-shaped grooves 681 are provided on the front side of the vibrating member 660, and two first U-shaped grooves 681 are provided on the rear side of the vibrating member 660, and the notches of the two first U-shaped grooves 681 located on the front side of the vibrating member 660 are arranged opposite to the notches of the two first U-shaped grooves 681 located on the rear side of the vibrating member 660. A second guide portion 690 is provided on the fixing seat 670 corresponding to each position of the first U-shaped groove 681, and each second guide portion 690 includes a guide block 691 and a supporting block 692, wherein the guide block 691 is arranged vertically, and the supporting block 692 is connected to the lower end of the guide block 691 and arranged horizontally, and the guide block 691 and the supporting block 692 both extend along the front-rear direction of the vibrating member 660. The guide block 691 is inserted into the first U-shaped groove 681, the left side of the guide block 691 is slidably matched with the left inner wall of the first U-shaped groove 681, and the right side of the guide block 691 is slidably matched with the right inner wall of the first U-shaped groove 681. The vibrating member 660 is located on the supporting block 692, and the lower end surface of the first U-shaped groove 681 is slidably matched with the upper end surface of the supporting block 692.

[0091] According to the technical solution of this embodiment, the first U-shaped grooves 681 are symmetrically provided at opposite ends of the vibrating member 660, and the guide blocks 691 and the support blocks 692 are provided at positions corresponding to the first U-shaped grooves 681 on the fixing seat 670, and the guide blocks 691 and the support blocks 692 are extended along the width direction of the rectangular hole 661. When the driving shaft 651 rotates around the axis of the transmission shaft, the vibrating member 660 can perform linear reciprocating motion along the width direction of the rectangular hole 661 (i.e., the front-rear direction of the vibrating member 660) driven by the driving shaft 651, and because the distance of the linear reciprocating motion is small, a slight vibration of the vibrating member 660 is achieved.

[0092] like Fig.11 , Fig.12 , Fig.13As shown, in some embodiments of the present application, a second U-shaped groove 6911 is provided on the guide block 691, and the supporting blocks 692 are symmetrically arranged on the outer walls of the second U-shaped groove 6911 near the notch. The two supporting blocks 692 are respectively provided with first guiding slopes 6921 on the side away from the guide block 691, and the two first guiding slopes 6921 are away from each other along the direction from the notch of the second U-shaped groove to the bottom of the groove. Second guiding slopes 6811 are respectively provided on the opposite inner side walls of the first U-shaped groove, and the two second guiding slopes 6811 are away from each other along the direction from the notch of the second U-shaped groove to the bottom of the groove. In one embodiment, a second U-shaped groove 6911 with a notch facing downward is vertically provided on the guide block 691, and the second U-shaped groove 6911 divides the guide block 691 into two left and right blocks, and the first guiding slope 6921 is located on the side of the supporting block 692 away from the guide block 691, and the two first guiding slopes 6921 are away from each other from bottom to top. The second guiding inclined surfaces 6811 are symmetrically arranged on two opposite inner side walls of the first U-shaped groove, and from bottom to top, the two second guiding inclined surfaces 6811 are away from each other.

[0093] By using the technical solution of the present application, a first guiding bevel 6921 is provided on the side of the supporting block 692 away from the guiding block 691, and a second guiding bevel 6811 is provided on the two opposite inner side walls of the first U-shaped groove. Along the direction from the notch of the second U-shaped groove to the groove bottom, the two first guiding bevels 6921 are away from each other, and the two second guiding bevels 6811 are away from each other. Thus, the vibrating member 660 can be installed on the fixing member from bottom to top. Specifically, the second guiding bevel 6811 slides upward along the first guiding bevel 6921. During the sliding process, the guiding block 691 is squeezed. Since the second U-shaped groove 6911 is provided on the guiding block 691, the guiding blocks 691 on the left and right sides of the second U-shaped groove 6911 can be relatively close to each other, so that the first U-shaped groove of the vibrating member 660 passes through the supporting block 692 from bottom to top and is provided on the supporting block 692.

[0094] The working principle of the transmission mechanism provided in this application is roughly as follows:

[0095] Under normal working conditions, the servo motor 740 rotates forward, and the lifting seat 300 is located at the second position, that is, Figure 6 When the force-bearing part 200 is at position C in the figure, the force-bearing part 200 does not rotate, and the pressing member 130 and the first rotating shaft 420 are driven by the first gear 110 to idle. When encountering an obstacle, the servo motor 740 rotates in the opposite direction, and the force-bearing part 200 rotates driven by the first rotating shaft 420 and the pressing member 130, thereby driving the lifting seat 300 to move upward. When the lifting seat 300 is at the first position, that is, at Figure 6When the force-bearing part 200 is at point B in the figure, the force-bearing part 200 stops rotating, and the pressing member 130 and the first rotating shaft 420 idle under the drive of the first gear 110. After crossing the obstacle, the servo motor 740 rotates forward again, and the force-bearing part 200 rotates under the drive of the first rotating shaft 420 and the pressing member 130, thereby driving the lifting seat 300 to move downward, and the mechanism returns to a normal working state.

[0096] The cleaning robot provided in the present application includes the transmission mechanism provided in any of the above embodiments and further includes an outer shell 800 in which the transmission mechanism is disposed.

[0097] The transmission mechanism and cleaning robot of the embodiment of the present application have at least the following beneficial effects:

[0098] 1. The power output assembly 100 is in contact with the force-bearing part 200, so that the force-bearing part 200 can slide relative to the power output assembly 100, thereby preventing the lifting seat 300 from continuously moving after reaching the first position or the second position and causing the mechanism to become stuck.

[0099] 2. By adding an elastic member 410 between the power output assembly 100 and the force-bearing part 200, the compressive elastic force of the elastic member 410 is utilized to further increase the pressure on the force-bearing part 200, thereby increasing the maximum static friction between the force-bearing part 200 and the elastic member 410. When the elastic member 410 rotates under the drive of the power output assembly 100, it is ensured that the force-bearing part 200 can rotate with the elastic member 410.

[0100] 3. By abutting the first end face 211 of the first gear 110 against one end face of the second gear 120, and abutting the second end face 212 of the first gear 110 against the pressing member 130, the first gear 110 can respectively drive the second gear 120 and the pressing member 130 to rotate when rotating, thereby making the first rotating shaft 420 and the elastic member 410 rotate synchronously, so that the first rotating shaft 420 and the elastic member 410 cooperate to drive the force-bearing member to rotate, ensuring that the force-bearing member can rotate smoothly under the action of friction.

[0101] 4. The first limiting portion 131 and the second limiting portion 121 are used to achieve circumferential fixation between the pressing member 130 and the second gear 120. By controlling the second gear 120 to stop rotating, the pressing member 130 and the first rotating shaft 420 can both stop rotating, thereby preventing the accident of gears scratching the debugging and assembling personnel during the dynamic debugging of the equipment.

[0102] 5. By providing a push rod 610 and a vibration seat 620, when the push rod 610 rotates, it can push the vibration seat 620 to perform high-frequency short-distance reciprocating motion along a preset path, thereby realizing the vibration of the vibration seat 620. Specifically applied to the transmission mechanism of the cleaning equipment, the vibration seat 620 is usually used to fix the rag, and the vibration seat 620 is made to perform high-frequency short-distance reciprocating motion along a preset path to achieve vibration, so that dust and the like stuck on the rag can be separated from the rag.

[0103] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A transmission mechanism, characterized in that: include: Power take-off assembly; A force-bearing portion, one end of which is in contact with the power output assembly, and the force-bearing portion can rotate around a first axis driven by the power output assembly; A lifting seat, wherein the lifting seat and the force-bearing part are in spiral transmission, and the lifting seat is configured to be able to move along a first axis driven by the force-bearing part; When the lifting seat moves to the first position or the second position, the force-bearing portion can slide relative to the power output assembly.

2. The transmission mechanism according to claim 1, characterized in that: It also includes an elastic member, one end of which is in contact with the power output assembly, and the other end of which is in contact with the force-bearing portion.

3. The transmission mechanism according to claim 2, characterized in that: The side wall of the force-bearing portion is provided with a protrusion extending in a first direction, the first direction being a direction perpendicular to the first axis, the protrusion having a first end face and a second end face arranged opposite to each other, the elastic member is sleeved on the force-bearing portion, and the other end of the elastic member is in contact with the first end face; An external thread segment is configured between the other end of the force-bearing part and the second end face, an internal thread hole is provided on the lifting seat, the external thread segment and the hole wall of the internal thread hole are spirally transmitted, one end of the external thread segment is the first position, and the other end of the external thread segment is the second position.

4. The transmission mechanism according to claim 2, characterized in that: It also includes a first rotating shaft, and the power output assembly can drive the first rotating shaft to rotate; the force-bearing part is a sleeve structure, the first axis is the central axis of the sleeve structure, the force-bearing part is sleeved on the first rotating shaft, and the force-bearing part can rotate relative to the first rotating shaft.

5. The transmission mechanism according to claim 4, characterized in that: The power output assembly comprises: A first gear having a first end surface and a second end surface arranged opposite to each other; a second gear, the second gear being mounted on the first rotating shaft; A pressing member, wherein the pressing member is sleeved on the first rotating shaft and can rotate relative to the first rotating shaft; The first end face of the first gear abuts against one end face of the second gear, and the second end face of the first gear abuts against one end of the pressing member. When the first gear rotates, it can drive the second gear and the pressing member to rotate respectively; the other end of the pressing member abuts against one end of the elastic member.

6. The transmission mechanism according to claim 5, characterized in that: A first limiting portion is provided at the end of the pressing member, and a second limiting portion is provided at the end surface of the second gear. The first limiting portion and the second limiting portion are matched in a concave-convex manner, and the pressing member is circumferentially fixed to the second gear via the first limiting portion and the second limiting portion.

7. The transmission mechanism according to any one of claims 1 to 6, characterized in that: Also includes: Third gear; a second rotating shaft, wherein the second rotating shaft is sleeved in the central hole of the third gear, the second rotating shaft is axially fixed to the lifting seat, and the second rotating shaft can move along the central axis of the third gear under the drive of the lifting seat, and when the lifting seat reaches the second position, the second rotating shaft rotates under the drive of the third gear; A vibration component is connected to the second rotating shaft.

8. The transmission mechanism according to claim 7, characterized in that: It also includes a force transmission wheel, which is driven by the third gear and rotates around the central axis of the third gear. The center of the force transmission wheel is provided with a first inner hole and a second inner hole which are axially connected. The aperture of the second inner hole is larger than that of the first inner hole. The side wall of the first inner hole is provided with an internal spline, and the second rotating shaft is provided with an external spline. When the lifting seat reaches the second position, the second rotating shaft rotates under the cooperation of the inner spline and the outer spline.

9. The transmission mechanism according to claim 7, characterized in that: The vibration assembly comprises: A push-drive rod, the push-drive rod is connected to the second rotating shaft, and an angle is formed between the push-drive rod and the second rotating shaft; A vibration seat, wherein the vibration seat is rotatably connected to the lifting seat via a pin shaft, the vibration seat is provided with a strip hole, the length direction of the strip hole is parallel to the pin shaft, the axis of the pin shaft intersects with the axis of the second rotating shaft, the inner wall of the strip hole is slidably matched with the push drive rod, and the push drive rod can push the vibration seat to reciprocate around the pin shaft when rotating; Or, the vibration component includes: A push-drive wheel, wherein the push-drive wheel is sleeved on the second rotating shaft, a push-drive shaft is arranged on the push-drive wheel, and an axis of the push-drive shaft and an axis of the second rotating shaft are spaced apart in a radial direction of the second rotating shaft; A fixed seat connected to the lifting seat; A vibrating member, wherein the vibrating member is in sliding cooperation with the fixing seat, a rectangular hole is provided on the vibrating member, and an inner wall of the rectangular hole is in sliding cooperation with the driving shaft; The vibrating member is provided with a first guide portion, and the lifting seat is provided with a second guide portion. The first guide portion and the second guide portion can slide and cooperate in the width direction of the rectangular hole. Driven by the driving shaft, the vibrating member can perform linear reciprocating motion along the width direction of the rectangular hole.

10. A cleaning robot, characterized in that: The invention comprises the transmission mechanism according to any one of claims 1 to 9.

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