Cleaning mechanism, cleaning device and cleaning system

Abstract

The utility model provides a cleaning mechanism, a cleaning device and a cleaning system, and the cleaning mechanism comprises a rack housing, and one side, facing the ground, of the rack housing is provided with a mounting opening; the transmission sleeve is rotationally mounted in the rack shell; the driving assembly drives the transmission sleeve to rotate, and a rotating speed difference is formed between the transmission sleeve and the output end of the driving assembly; the elastic damping piece is arranged at the output end of the driving assembly; a threaded transmission structure is arranged between the lifting assembly and the transmission sleeve, and the driving assembly drives the elastic damping part to press the lifting assembly or be away from the lifting assembly; and a cleaning member. According to the cleaning mechanism, the cleaning mechanism has a lifting function, so that the cleaning cloth mechanism can be lifted in a dry cleaning mode or under the condition that the cleaning cloth mechanism encounters a low obstacle. Meanwhile, the rotating speed difference is achieved under the condition that one driving assembly is arranged, the space occupied by the cleaning mechanism is reduced, the design space is saved, and standby space is provided for design of other functions of the cleaning device.

Description

Technical Field

[0001] The utility model relates to the field of cleaning electrical appliances, in particular to a cleaning mechanism, a cleaning device and a cleaning system. Background Art

[0002] The cleaning robot usually includes a body, a rag mechanism, a dust suction mechanism and a roller brush mechanism arranged on the body. The rag mechanism can wipe wet stains on the ground, the roller brush mechanism can sweep dry garbage on the ground, and the dust suction mechanism can absorb the dry garbage swept by the roller brush mechanism, thereby automatically completing the cleaning, dust suction and mopping work on the ground.

[0003] Cleaning robots usually have a dry cleaning mode and a wet cleaning mode. In the dry cleaning mode, the cleaning work is led by the roller brush mechanism and the dust suction mechanism, and in the wet cleaning mode, the mop mechanism is led by the mop work. However, in the prior art, whether in the dry cleaning mode or in the wet cleaning mode, the mop mechanism is always in contact with the ground, or the lifting distance of the mop mechanism is not enough, which leads to at least the following problems: 1. The mop mechanism will wet the dry garbage, further polluting the ground; 2. After the mop mechanism comes into contact with the dry garbage, the mop mechanism itself will also be contaminated, making it inconvenient to continue the next mopping work; 3. When the mop mechanism touches a low obstacle such as a carpet, it cannot climb over the obstacle and is easily stuck by the obstacle, causing the sweeping robot to stop working. Utility Model Content

[0004] The purpose of the utility model is to provide a cleaning mechanism and a cleaning device, which can enable the cleaning mechanism to have a lifting function, so that the rag mechanism can lift the rag mechanism in the dry cleaning mode or when encountering a low obstacle. At the same time, the speed difference is achieved when a driving component is set, which reduces the space occupied by the cleaning mechanism, saves design space, and provides spare space for the design of other functions of the cleaning device.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model provides a cleaning mechanism, comprising:

[0007] A rack housing, wherein a side of the rack housing facing the ground is provided with an installation opening;

[0008] A transmission sleeve, rotatably mounted in the frame housing;

[0009] A driving assembly, wherein the driving assembly has a transmission system, through which the transmission sleeve is driven to rotate, and a speed difference is formed between the transmission sleeve and an output end of the driving assembly;

[0010] at least one elastic damping member, disposed on the output end of the drive assembly;

[0011] A lifting assembly has a threaded transmission structure with the transmission sleeve, and the driving assembly drives the elastic damping member to press the lifting assembly or move away from the lifting assembly;

[0012] The cleaning member is arranged on one side of the mounting opening of the frame shell and is detachably connected to the lifting assembly.

[0013] In one embodiment of the utility model, the drive assembly includes a drive source and a differential gear set, the differential gear set includes a driving gear and a driven gear, the drive source is connected to the driving gear, the driven gear is meshed with the driving gear, and the inner ring of the transmission sleeve is provided with a first internal tooth structure, which is meshed with the driven gear.

[0014] In an embodiment of the utility model, a plurality of the driven gears are arranged around the driving gear, and a planet carrier is arranged on the plurality of driven gears. The driven gears revolve around the driving gear while rotating on their own.

[0015] This solution uses a differential gear set as a drive, has high transmission efficiency, and is easy to control and adjust the transmission ratio. In addition, the driving gear drives the driven gear. The setting of multiple driven gears can improve the stability of the transmission and reduce the transmission pressure of a single driven gear. The self-rotation of the driven gear drives the transmission sleeve to rotate. The revolution of the driven gear can stabilize the position of the driven gear itself, and the revolution of the driven gear can reduce the pressure on the gear and improve the life of the gear. This solution drives the transmission sleeve to rotate through the meshing relationship between the first internal tooth structure and the driven gear, reducing the friction pair and improving the life of the equipment.

[0016] In one embodiment of the present invention, a second internal tooth structure is provided on the inner wall of the frame housing, the second internal tooth structure is meshed with the driven gear, and the driven gear is located between the driving gear and the second internal tooth structure.

[0017] In an embodiment of the present invention, the inner diameter of the first internal tooth structure is equal to the inner diameter of the second internal tooth structure.

[0018] In one embodiment of the utility model, the threaded transmission structure includes a screw thread and a spiral thread groove, the screw thread is arranged on the transmission sleeve or the lifting assembly, the thread groove is arranged on the transmission sleeve or the lifting assembly, and the screw thread and the thread groove are threadedly matched.

[0019] In one embodiment of the utility model, one end of the thread groove is an upper stop, and the other end is a lower stop, and the distance between the upper stop and the lower stop along the axial direction of the transmission sleeve or the lifting assembly is the moving path of the lifting assembly.

[0020] In an embodiment of the present invention, the distance of the moving path is greater than the distance between the plane where the installation opening is located and the cleaning member.

[0021] In an embodiment of the present invention, the distance of the moving path is greater than the distance between the side of the lifting component facing the ground and the ground.

[0022] In an embodiment of the utility model, the lifting assembly includes a first cylinder, a portion of the first cylinder is disposed in the transmission sleeve, and the threaded transmission structure is disposed between the outer wall of the first cylinder and the inner wall of the transmission sleeve.

[0023] In an embodiment of the utility model, the driving assembly further comprises a damping sleeve, the damping sleeve is arranged in the transmission sleeve, the power end of the driving assembly is connected to the damping sleeve, and the elastic damping member is arranged on the damping sleeve.

[0024] In one embodiment of the utility model, the lifting assembly also includes a second cylinder, which is coaxially arranged outside the first cylinder, and a transmission groove is formed between the inner wall of the second cylinder and the outer wall of the first cylinder, and part of the cylinder wall of the transmission sleeve extends into the transmission groove.

[0025] In an embodiment of the present invention, a gap is provided between a portion of the outer wall of the transmission sleeve and an inner wall of the frame shell to form a slide groove, and a portion of the second cylinder body extends into the slide groove.

[0026] In an embodiment of the utility model, the lifting assembly further comprises a positioning member, the damping sleeve has an inner cavity hole, the positioning member is inserted into the inner cavity hole, and there is a clearance fit between the positioning member and the inner cavity hole.

[0027] In the above scheme, the positioning member is used to establish a connection relationship between the cleaning member, the lifting assembly and the damping sleeve, which can control the axial movement of the cleaning member with the lifting assembly and the relative movement relationship between the lifting assembly and the damping sleeve.

[0028] In one embodiment of the utility model, the elastic damping member includes a resistance member and an elastic member, at least one damping hole is provided on the output end of the driving component, the elastic member and the resistance member are both arranged in the damping hole, the resistance member is connected to the elastic member, and the resistance member and the damping hole are slidingly fitted.

[0029] In the above scheme, the elastic member will be compressed due to different centrifugal forces at different rotation speeds, thereby enabling relative movement between the lifting assembly and the transmission sleeve.

[0030] In an embodiment of the utility model, an internal thread section is provided in the end of the damping hole away from the abutment, and a blocking member is connected to one end of the elastic member away from the abutment, and the blocking member is threadably matched with the internal thread section.

[0031] In an embodiment of the present utility model, a quick-release structure is provided on the cleaning member and / or the lifting assembly, and the cleaning member is detachably connected to the lifting assembly via the quick-release structure.

[0032] In the above solution, the detachable connection between the positioning member and the cleaning member is conducive to the rapid disassembly and installation of the cleaning member.

[0033] In one embodiment of the utility model, the cleaning mechanism further includes a position sensing component, the sensing end of the position sensing component is disposed in the frame shell, and when the lifting component moves to the sensing end of the sensing component, the position sensing component is triggered and controls the driving component to stop rotating.

[0034] The utility model provides a cleaning device, comprising a self-moving cleaning body, on which the cleaning mechanism is arranged.

[0035] The utility model provides a cleaning system, comprising a working base station and the cleaning device

[0036] As described above, the utility model provides a cleaning mechanism and a cleaning device, which can enable the cleaning mechanism to have a lifting function, so that the rag mechanism can be lifted in dry cleaning mode or when encountering a low obstacle such as a carpet, to form a gap between the rag mechanism and the ground. At the same time, the speed difference is achieved when a driving component is set, which reduces the space occupied by the cleaning mechanism, saves design space, and provides spare space for the design of other functions of the cleaning device.

[0037] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1It is a schematic diagram of a front cross section of a disassembly device in one embodiment of the utility model.

[0040] Figure 2 The figure is a top view distribution diagram of the planet carrier and the planet gear in one embodiment of the utility model.

[0041] Figure 3 It is a structural schematic diagram of the lower stop in one embodiment of the utility model.

[0042] Figure 4 The figure is a top view distribution diagram of the elastic damping member in one embodiment of the utility model.

[0043] Figure 5 It is a front view schematic diagram of a disassembly device in one embodiment of the utility model.

[0044] Figure 6 This is a schematic diagram of a cleaning robot in a raised position in one embodiment of the utility model.

[0045] Figure 7 This is a schematic diagram of a cleaning robot in a working position according to an embodiment of the utility model.

[0046] Figure 8 This is a schematic diagram of a cleaning robot in a disassembled position according to an embodiment of the present invention.

[0047] In the figure: 100, cleaning member; 110, convex portion; 120, magnet; 200, frame housing; 210, slide groove; 220, limit rod; 230, installation opening; 300, transmission sleeve; 310, first step cylinder; 320, second step cylinder; 400, lifting assembly; 410, first cylinder; 420, second cylinder; 430, guide cover; 440, positioning member; 441, positioning plate; 442, positioning shaft; 500, thread transmission structure; 510, thread groove; 511, lower stop; 520, screw thread; 600, differential gear set; 610, driving gear; 620, driven gear; 630, first internal tooth structure; 640, second internal tooth structure; 650, planet carrier; 651, fixing part; 652, first support rod; 653, second support rod; 700, motor; 710, motor shaft; 800, position sensing component; 900, damping sleeve; 910, damping hole; 920, elastic damping member; 921, elastic member; 922, blocking member; 923, resistance member; 930, inner cavity hole. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0049] See also Figure 1 As shown, the utility model discloses a cleaning mechanism, which is applicable to a cleaning device, and the cleaning device can be a cleaning robot for cleaning the floor, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. The cleaning mechanism at least includes a frame housing 200, a transmission sleeve 300, a driving assembly, a lifting assembly 400, an elastic damping member 920 and a cleaning member 100.

[0050] like Figure 1 As shown, the frame shell 200 is installed on the cleaning device. The frame shell 200 is a shell structure with a cavity in the middle. The side of the frame shell 200 facing the ground is provided with an installation opening 230, and the transmission sleeve 300 is coaxially rotatably installed in the frame shell 200.

[0051] like Figure 1 As shown, there is a threaded transmission structure 500 between the lifting component 400 and the transmission sleeve 300, and the driving component is connected to the end of the frame shell 200 away from the ground. The driving component is used to drive the transmission sleeve 300 to rotate. At the same time, the output end of the driving component is connected to the lifting component 400, so that a speed difference is formed between the transmission sleeve 300 and the output end of the driving component.

[0052] like Figure 1 As shown, specifically, the speed difference is formed by the transmission system of the drive component, and the transmission system is arranged between the output end of the drive component and the transmission sleeve 300. On the one hand, it can transmit the power of the drive component to the transmission sleeve 300 to drive the transmission sleeve 300 to rotate. On the other hand, the transmission system has a speed changing effect and realizes the speed difference between the output end of the drive component and the transmission sleeve 300.

[0053] like Figure 1 As shown, it should be noted that, in other embodiments, the speed difference is not limited to the transmission system, but can also be achieved by configuring two motors 700 with power respectively, wherein one motor 700 is connected to the transmission sleeve 300 by sprocket drive, belt drive, gear drive or output shaft direct connection, and the other motor 700 is connected to the lifting assembly 400 by sprocket drive, belt drive, gear drive or output shaft direct connection. The method of configuring two motors 700 with power respectively is relatively existing and will not be described in detail here.

[0054] like Figure 1 and Figure 4 As shown, at least one elastic damping member 920 is provided along the circumferential direction, and the elastic damping member 920 is arranged on the driving assembly.

[0055] like Figure 1 and Figure 4 As shown, the driving assembly drives the elastic damping member 920 to press the lifting assembly 400 or to move away from the lifting assembly 400. Specifically, the driving assembly generates centrifugal force during rotation, and the magnitude of the centrifugal force is determined by the rotation speed of the driving assembly. The faster the rotation speed of the driving assembly, the greater the centrifugal force, and vice versa. When the centrifugal force is less than the elastic force of the elastic damping member 920, the elastic damping member 920 presses the lifting assembly 400. At this time, the transmission between the driving assembly and the lifting assembly 400 is engaged. Under the action of the speed difference, the lifting assembly 400 performs a lifting movement along the axial direction of the transmission sleeve 300 through the threaded transmission structure 500 during rotation; when the centrifugal force is greater than the elastic force of the elastic damping member 920, and the lifting assembly 400 moves to the end of the threaded transmission structure 500 close to the installation opening 230, the elastic damping member 920 is separated from the lifting assembly 400. At this time, the transmission between the driving assembly and the lifting assembly 400 is separated, that is, there is no longer a speed difference between the lifting assembly 400 and the transmission sleeve 300, the lifting assembly 400 and the transmission sleeve 300 are relatively stationary, the lifting assembly 400 is no longer lifted, and only rotates synchronously with the transmission sleeve 300.

[0056] like Figure 1 As shown, the cleaning member 100 is disposed on one side of the mounting opening 230 of the frame housing 200 and is detachably connected to the lifting assembly 400. The cleaning member 100 has two working states. The first working state is a ground cleaning state. Figure 7 As shown, in this state, the cleaning member 100 is in a rotating state, and is driven by the lifting assembly 400 to descend until it contacts the ground to clean the dirt on the ground; the second working state is a suspended state, such as Figure 6 As shown, in this state, there is no need to clean the floor, and the cleaning member 100 is lifted by the lifting assembly 400 to have a distance from the floor.

[0057] like Figure 1 , Figure 6 and Figure 7As shown, in order to achieve the state of cleaning the ground, the driving assembly rotates at a low speed. At this time, the elastic damping member 920 presses the lifting assembly 400, and the transmission between the driving assembly and the lifting assembly 400 is engaged, so that the lifting assembly 400 moves toward the ground along the axial direction of the transmission sleeve 300 during the rotation. When the cleaning member 100 is in contact with the ground, the lifting assembly 400 moves to one end of the threaded transmission structure 500 close to the installation opening 230, that is, the lifting assembly 400 moves to one end of the threaded transmission structure 500. At this time, the rotation speed of the driving assembly is increased to a high speed state, so that the elastic damping member 920 is separated from the lifting assembly 400, and the transmission between the driving assembly and the lifting assembly 400 is separated, and the lifting assembly 400 no longer descends. Since the lifting assembly 400 has moved to one end of the threaded transmission structure 500, it cannot continue to transmit on the threaded transmission structure 500. Therefore, the lifting assembly 400 only rotates synchronously with the transmission sleeve 300. In this process, the lifting assembly 400 drives the cleaning member 100 to clean the dirt on the ground.

[0058] In the prior art, the cleaning device has a dry cleaning mode and a wet cleaning mode, and the two cleaning modes need to be switched between each other. The dry cleaning mode and the wet cleaning mode of the cleaning device are conventional designs in the prior art and will not be described in detail herein.

[0059] like Figure 6 As shown, in this embodiment, the cleaning member 100 cleans the dirt on the ground, which corresponds to a wet cleaning mode. When it is necessary to switch to a dry cleaning mode or other working modes or encounter a low obstacle such as a carpet, the cleaning member 100 needs to be lifted up with a distance from the ground, that is, corresponding to this embodiment, the working state of the cleaning member 100 is in a suspended state.

[0060] like Figure 1 and Figure 6 As shown, in order to achieve the suspended state, the rotation direction of the driving component is opposite to the rotation direction in the state of cleaning the floor, and is in a low-speed rotation state. During the reverse low-speed rotation of the driving component, the lifting of the lifting component 400 is achieved through the cooperation of the threaded transmission structure 500, thereby achieving the lifting of the cleaning component 100, thereby achieving the suspended state.

[0061] like Figure 1 and Figure 4 As shown, it should be noted that the low speed and high speed of the above-mentioned driving assembly correspond to the centrifugal force of the driving assembly respectively. When the rotational speed of the driving assembly makes the centrifugal force smaller than the elastic force of the elastic damping member 920, it is defined as a low speed regardless of the rotational speed; when the rotational speed of the driving assembly makes the centrifugal force greater than the elastic force of the elastic damping member 920, it is defined as a high speed regardless of the rotational speed.

[0062] like Figure 1As shown, in this embodiment, the cleaning member 100 is a rag disk. In other embodiments, the cleaning member 100 may also be a brush disk, an adsorption disk, or the like. In this embodiment, the cleaning member 100 includes a disk body and a convex portion 110. The convex portion 110 is disposed on the disk body.

[0063] like Figure 1 As shown, a quick-release structure is provided between the lifting assembly 400 and the cleaning member 100. The quick-release structure may be a magnetic element, such as a magnet 120, or a sticky structure, such as Velcro. The quick-release structure may be provided on the lifting assembly 400 alone, or on the cleaning member 100 alone, or on the lifting assembly 400 and the cleaning member 100 respectively, as long as a detachable connection between the cleaning member 100 and the lifting assembly 400 can be achieved.

[0064] like Figure 1 As shown, in this embodiment, the quick-release mechanism is arranged on the cleaning member 100, and the quick-release structure is a magnet 120. A groove is arranged on the protrusion 110, and the quick-release structure is fixed in the groove. Among them, the surface of the magnet 120 can be higher than the surface of the protrusion 110, or it can be flush with the surface of the protrusion 110, or it can be lower than the surface of the protrusion 110, as long as it does not affect the adsorption of the magnet 120 on the lifting component 400, and there is no restriction here. A guide cover shell 430 with a hollow interior is provided on the side of the lifting component 400 facing the ground, and a guide opening is provided on the side of the guide cover shell 430 facing the ground. The protrusion 110 is inserted into the guide cover shell 430 through the guide opening, and the quick-release structure can adsorb the lifting component 400 to achieve the connection between the cleaning member 100 and the lifting component 400.

[0065] like Figure 1 As shown, it should be noted that, in other embodiments, the quick-release structure between the cleaning member 100 and the lifting assembly 400 may also be in the form of an elastic connection, for example, a spring sheet is provided on the inner wall of the guide housing 430, at least two spring sheets are provided along the circumference, the spring sheet is V-shaped, and the open side of the spring sheet is connected to the inner wall of the guide housing 430. When the cleaning member 100 is connected to the lifting assembly 400, the convex portion 110 on the cleaning member 100 is inserted between the spring sheets in the guide housing 430. At this time, the spring sheets are compressed and apply elastic force to the convex portion 110 to achieve the connection between the cleaning member 100 and the lifting assembly 400.

[0066] like Figure 1As shown, in other embodiments, in order to improve the connection stability between the cleaning member 100 and the lifting assembly 400, an annular groove is provided on the outer wall of the protrusion 110 of the cleaning member 100. When the protrusion 110 of the cleaning member 100 is fully inserted into the guide cover 430, the raised portion of the spring sheet is embedded in the annular groove. The annular groove can limit the spring sheet in the lifting direction of the cleaning member 100, thereby reducing the possibility of the cleaning member 100 easily falling from the guide cover 430 under the action of its own gravity.

[0067] like Figure 1 As shown, in other embodiments, the annular groove can also be replaced by a plurality of grooves distributed circumferentially along the convex portion 110 of the cleaning member 100, and the grooves correspond to the spring sheets one by one. When the convex portion 110 of the cleaning member 100 is fully inserted into the guide housing 430, the convex portions of each spring sheet are respectively embedded in the corresponding grooves. In addition to limiting the spring sheets in the lifting direction of the cleaning member 100, the grooves can also limit the spring sheets in the circumferential direction of the convex portion 110 of the cleaning member 100, thereby reducing the possibility of non-rotation due to slippage between the cleaning member 100 and the lifting member 400 during the rotation of the lifting member 400.

[0068] like Figure 1 As shown in the figure, when it is necessary to remove the cleaning member 100 from the lifting assembly 400, after reaching the above-mentioned suspended state, the rotation direction of the driving assembly is consistent with the rotation direction when reaching the suspended state, and is still in a low-speed rotation state. When the disk of the cleaning member 100 hits the edge of the mounting opening 230 during the lifting process, the lifting assembly 400 continues to lift the cleaning member 100, and the side of the lifting assembly 400 close to the ground gradually enters the frame shell 200. At this time, the cleaning member 100 is restricted by the frame shell 200 and detaches from the lifting assembly 400, thereby completing the automatic disassembly of the cleaning member 100.

[0069] like Figure 1 As shown, in this embodiment, the driving assembly includes a driving source and a differential gear set 600, wherein the differential gear set 600 corresponds to the transmission system of the driving assembly described above.

[0070] like Figure 1 and Figure 2 As shown, the differential gear set 600 includes a driving gear 610 and at least one driven gear 620. The driving gear 610 is a central gear, and the driven gear 620 can be one or more. The driven gear 620 meshes with the driving gear 610, and the driven gear 620 is a planetary gear rotating around the driving gear 610.

[0071] like Figure 1As shown, the driving source is a motor 700, and the output end of the driving source is a motor shaft 710. The motor 700 is coaxially connected to the frame housing 200, and the motor shaft 710 passes through the frame housing 200 and extends into the frame housing 200. The driving gear 610 is coaxially fixedly connected to the motor shaft 710. When the motor shaft 710 rotates, the driving gear 610 is driven to rotate synchronously, and the driving gear 610 drives the driven gear 620 to rotate and revolve around the driving gear 610.

[0072] like Figure 1 As shown, it should be noted that, in this embodiment, the driving mode of the driving gear 610 is not limited to being directly connected to the motor shaft 710, and the driving gear 610 can also be fixed on the extension shaft of the motor shaft 710, wherein the extension shaft of the motor shaft 710 serves as the gear shaft of the driving gear 610. Specifically, the motor shaft 710 and the extension shaft are coaxial, and the motor shaft 710 and the gear shaft of the driving gear 610 can be fixedly connected by a coupling.

[0073] like Figure 1 As shown, the motor 700 is coaxially connected to the frame housing 200, which can greatly save the space occupied by the cleaning mechanism in the horizontal direction, thereby providing more design space for the design of the cleaning device. Of course, if there is no need to save space in the horizontal direction, the motor 700 does not need to be coaxially connected to the frame housing 200, and the motor 700 can also be set beside the frame housing 200. In this case, a gear shaft is coaxially fixed to the driving gear 610, and the gear shaft and the motor 700 are driven by a pulley drive, a sprocket drive, or a gear drive to achieve transmission coordination.

[0074] like Figure 1 and Figure 2 As shown, when at least two driven gears 620 are provided, a planet carrier 650 is provided on the plurality of driven gears 620 , and the planet carrier 650 includes a fixing portion 651 , at least two first support rods 652 , and a second support rod 653 .

[0075] like Figure 1 and Figure 2 As shown, the fixing portion 651 is circular, the fixing portion 651 is coaxially mounted on the motor shaft 710, and the fixing portion 651 is located on the side of the driving gear 610 away from the motor 700. The first support rod 652 is fixedly connected to the fixing portion 651, and the first support rod 652 extends along the radial direction of the driving gear 610. The number of the first support rods 652 corresponds to the number of the driven gears 620, and the utility model does not limit the number of the first support rods 652.

[0076] like Figure 1 and Figure 2As shown, a plurality of first support rods 652 are distributed in an annular array, and the center of the annular array is the motor shaft 710. Among them, the second support rod 653 corresponds to the first support rod 652 one by one, the second support rod 653 is fixed to the end of the first support rod 652, and the second support rod 653 extends along the axial direction of the driving gear 610. Specifically, the second support rod 653 extends along a side close to the driving gear 610. Among them, the driven gear 620 is rotatably mounted on the second support rod 653, and the second support rod 653 serves as the gear shaft of the driven gear 620. A plurality of driven gears 620 are meshed with the driving gear 610, and the rotation speeds of the plurality of driven gears 620 are the same, and the driving gear 610 and the driven gear 620 have different diameters. Specifically, the diameter of the driving gear 610 can be larger than that of the driven gear 620, or smaller than that of the driven gear 620. The driving gear 610 and the driven gear 620 of different diameters can achieve a speed difference between the output end of the drive assembly and the transmission sleeve 300.

[0077] like Figure 1 As shown, in one embodiment of the utility model, a second inner tooth structure 640 is provided on the inner wall of the frame housing 200, and the second inner tooth structure 640 is meshed with the driven gear 620 to limit the driven gear 620. In this embodiment, the driven gear 620 is meshed between the driving gear 610 and the second inner tooth structure 640, thereby limiting the spacing between the motor shaft 710 and the second support rod 653. The frame housing 200 is fixed, so when the driving gear 610 rotates, the driven gear 620 is driven to rotate. In addition, the driven gear 620 revolves around the driving gear 610 while rotating.

[0078] like Figure 1 and Figure 2 As shown, it should be noted that when the number of the driven gear 620 is one, the utility model may not set the planet carrier 650, and only limit the position of the driven gear 620 by applying an axial limit to the driven gear 620. The axial limit may be a step structure set on the inner wall of the transmission sleeve 300.

[0079] like Figure 1 As shown, in addition, in order to define a good meshing relationship between the second inner tooth structure 640 and the driven gear 620, the inner wall of the frame housing 200 is a cylindrical surface. In order to improve space utilization, in this embodiment, the frame housing 200 is a cylindrical housing.

[0080] like Figure 1As shown, in one embodiment of the present utility model, the transmission sleeve 300 includes a first step cylinder 310 and a second step cylinder 320 which are coaxially arranged, and the first step cylinder 310 and the second step cylinder 320 are integrally formed. The inner diameter of the first step cylinder 310 is not equal to the inner diameter of the second step cylinder 320. Specifically, the inner diameter of the first step cylinder 310 is larger than the inner diameter of the second step cylinder 320, so as to accommodate the differential gear set 600.

[0081] like Figure 1 As shown, a supporting ring is provided at the junction of the internal cavity of the first step cylinder 310 and the internal cavity of the second step cylinder 320, and the driving gear 610, the driven gear 620 and the planetary carrier 650 are all located in the first step cylinder 310, wherein the planetary carrier 650 is arranged on the supporting ring.

[0082] like Figure 1 As shown, a first inner tooth structure 630 is provided on the inner wall of the first stepped barrel 310, the first inner tooth structure 630 and the second inner diameter structure are coaxially arranged, and the inner diameter of the first inner tooth structure 630 is equal to the inner diameter of the second inner tooth structure 640, and the first inner tooth structure 630 is meshed with the driven gear 620. The outer wall of the first stepped barrel 310 is rotationally matched with the inner wall of the frame housing 200.

[0083] like Figure 1 As shown, in order to limit the position of the first step cylinder 310 and improve the transmission efficiency of the driven gear 620, the end face of the first step cylinder 310 abuts against the side wall where the second internal tooth structure 640 is located, thereby connecting the second internal tooth structure 640 and the first internal tooth structure 630, so that the driven gear 620 drives the first step cylinder 310 to rotate through the first internal tooth structure 630.

[0084] like Figure 1 As shown, in this embodiment, the first step cylinder 310 rotates on its own axis inside the frame housing 200, and the first step cylinder 310 and the driving gear 610 are coaxially arranged. Among them, the first step cylinder 310 and the second step cylinder 320 are connected, and the outer diameter of the first step cylinder 310 and the outer diameter of the second step cylinder 320 are not equal. Specifically, the outer diameter of the second step cylinder 320 is smaller than the outer diameter of the first step cylinder 310. Among them, the second step cylinder 320 is arranged on the side of the first step cylinder 310 away from the motor 700. The second step cylinder 320 is connected to the lifting assembly 400 through a threaded transmission structure 500.

[0085] like Figure 1As shown, in this embodiment, in order to limit the position of the transmission sleeve 300 in the frame housing 200, at least two limiting rods 220 are circumferentially penetrated on the side wall of the frame housing 200, and one end of the limiting rod 220 extends into the frame housing 200, supported on the side of the first step cylinder 310 facing the ground, and pointing to the second step cylinder 320. In this embodiment, the limiting rod 220 can be a latch structure.

[0086] like Figure 1 and Figure 3 As shown, in one embodiment of the utility model, the screw transmission structure 500 includes a screw thread 520 and a spiral screw groove 510, the screw thread 520 can be provided on the transmission sleeve 300 or the lifting assembly 400, and the screw groove 510 can be provided on the transmission sleeve 300 or the lifting assembly 400, as long as the screw thread 520 and the screw groove 510 can be threadedly matched. Preferably, the screw groove 510 is provided on the inner wall of the second step cylinder 320, and the screw thread 520 is provided on the lifting assembly 400.

[0087] like Figure 1 and Figure 3 As shown, in this embodiment, one end of the thread groove 510 is an upper stop, and the other end is a lower stop 511. The distance between the upper stop and the lower stop 511 along the axial direction of the second step cylinder 320 is the moving path of the lifting assembly 400. Both the upper stop and the lower stop 511 are closed ports. The upper stop is the starting end point of the thread groove 510, located at the intersection of the first step cylinder 310 and the second step cylinder 320. The lower stop 511 is the terminal end point of the thread groove 510, located in the end of the second step cylinder 320 close to the ground. The lower stop 511 corresponds to one end of the above-mentioned thread transmission structure 500 close to the installation opening 230. The closed lower stop 511 can limit the screw thread 520. When the screw thread 520 moves to the lower stop 511, it will not continue to move because it is blocked by the wall of the second step cylinder 320.

[0088] like Figure 1 As shown, in one embodiment of the utility model, the lifting assembly 400 includes a first cylinder 410, a second cylinder 420, and a positioning member 440. The first cylinder 410 and the second cylinder 420 are coaxially arranged, the second cylinder 420 is arranged outside the first cylinder 410, and the second cylinder 420 and the first cylinder 410 share a bottom wall. The notches of the first cylinder 410 and the second cylinder 420 are in the same direction. Specifically, the notches of the first cylinder 410 and the second cylinder 420 face the transmission sleeve 300 and the driving gear 610.

[0089] like Figure 1As shown, the side wall of the first cylinder 410 and the side wall of the second cylinder 420 are arranged at a distance to form a transmission groove, and part of the cylinder of the second step cylinder 320 extends into the transmission groove and can slide freely in the transmission groove, and the outer wall of the second step cylinder 320 is attached to the inner side wall of the second cylinder 420. There is a gap between the outer wall of the second step cylinder 320 and the inner wall of the frame shell 200 to form a slide groove 210, and part of the cylinder of the second cylinder 420 extends into the slide groove 210, and as the lifting assembly 400 moves, the side wall of the second cylinder 420 is slidably connected in the slide groove 210, and the outer side wall of the second cylinder 420 is attached to the inner side wall of the frame shell 200, and the inner side wall of the second cylinder 420 is attached to the outer side wall of the second step cylinder 320. The slide groove 210 and the transmission groove both have a guiding function, which improves the stability of the lifting assembly 400 during the lifting process.

[0090] like Figure 1 and Figure 3 As shown, in this embodiment, the screw thread 520 is arranged on the outer side wall of the first cylinder 410, the notch of the first cylinder 410 is higher than the notch of the second cylinder 420, and the position of the screw thread 520 is higher than the notch of the second cylinder 420. Part of the cylinder of the first cylinder 410 extends into the second stepped cylinder 320, and the screw thread 520 is threadedly matched with the thread groove 510 on the inner side wall of the second stepped cylinder 320.

[0091] like Figure 1 As shown, in one embodiment of the utility model, the positioning member 440 includes a positioning plate 441 and a positioning shaft 442. The positioning plate 441 is fixedly connected to the bottom wall shared by the first cylinder 410 and the second cylinder 420. One end of the positioning shaft 442 is fixed to the positioning plate 441, and the other end of the positioning shaft 442 passes through the bottom wall of the first cylinder 410 and extends into the first cylinder 410. In this embodiment, the second cylinder 420, the first cylinder 410, the positioning shaft 442 and the output shaft of the motor 700 are coaxially arranged.

[0092] like Figure 1 As shown, in this embodiment, the guide housing 430 is integrally formed on the bottom wall shared by the first cylinder 410 and the second cylinder 420, and the guide housing 430 is located on the side of the bottom wall shared by the first cylinder 410 and the second cylinder 420 facing the ground. The positioning plate 441 is located in the guide housing 430, and the positioning plate 441 is a magnetic member and can be adsorbed and connected with the magnet 120.

[0093] like Figure 1As shown, in one embodiment of the utility model, the driving assembly further includes a damping sleeve 900, and the damping sleeve 900 and the output shaft of the motor 700 together constitute the output end of the driving assembly. The damping sleeve 900 is installed in the first cylinder 410, and the damping sleeve 900 is located on the side of the supporting ring away from the planetary carrier 650. After the output shaft of the motor 700 passes through the driving gear 610, the fixing part 651 and the supporting ring, it is coaxially connected to the damping sleeve 900. The damping sleeve 900 is a rotating part. Specifically, the damping sleeve 900 can be a sleeve structure, and an inner cavity hole is provided on the side of the damping sleeve 900 away from the motor 700. Among them, the positioning shaft 442 extends into the inner cavity hole of the damping sleeve 900, and there is a clearance fit between the positioning shaft 442 and the inner side wall of the inner cavity hole of the damping sleeve 900.

[0094] like Figure 1 and Figure 4 As shown, in one embodiment of the utility model, at least one damping hole 910 is circumferentially arranged on the damping sleeve 900, and an elastic damping member 920 is arranged in the damping hole 910. With the rotation speed of the damping sleeve 900, one end of the elastic damping member 920 close to the positioning shaft 442 is extended and retracted along the damping hole 910 to press or disengage the positioning shaft 442. When the elastic damping member 920 presses the positioning shaft 442, the positioning shaft 442 and the damping sleeve 900 rotate synchronously. When the elastic damping member 920 is disengaged from the positioning shaft 442, the positioning shaft 442 and the damping sleeve 900 can move relative to each other.

[0095] like Figure 1 and Figure 4 As shown, the elastic damping member 920 includes an elastic member 921 and a resisting member 923 .

[0096] like Figure 1 and Figure 4As shown, the damping hole 910 is a blind hole with one end open and the other end closed, and the open end of the damping hole 910 is in communication with the inner cavity hole. The resisting member 923 is fixedly connected to one end of the elastic member 921, and the elastic member 921 and the resisting member 923 are both arranged in the damping hole 910, and the resisting member 923 is arranged close to the opening of the damping hole 910, and the end of the elastic member 921 away from the resisting member 923 abuts on the closed end of the damping hole 910. The resisting member 923 and the damping hole 910 are slidably matched, and the resisting member 923 can completely enter the damping hole 910 or extend from the opening of the damping hole 910. Specifically, when the speed of the motor 700 is in a high-speed state, the centrifugal force of the damping sleeve 900 is greater than the elastic force of the elastic member 921. At this time, the resistance member 923 completely enters the damping hole 910, that is, the resistance member 923 is disengaged from the positioning shaft 442, and the positioning shaft 442 and the damping sleeve 900 move relative to each other; when the speed of the motor 700 is in a low-speed state, the centrifugal force of the damping sleeve 900 is less than the elastic force of the elastic member 921. At this time, the resistance member 923 partially or completely extends out of the opening of the damping hole 910 and is pressed against the positioning shaft 442, so that the positioning shaft 442 and the damping sleeve 900 rotate synchronously.

[0097] like Figure 1 and Figure 4 As shown, the abutment 923 can be a column structure or a ball bearing, and the ball bearing is a steel ball roller. When the abutment 923 is a ball bearing, the rolling surface of the abutment 923 is arranged toward the positioning shaft 442. When the rotation speed of the motor 700 is at a high speed, the abutment 923 completely enters the damping hole 910. However, due to the inaccurate rotation speed control of the motor 700, it is also possible that the abutment 923 fails to completely enter the damping hole 910, and there is a slight contact between the abutment 923 and the positioning shaft 442. At this time, the rolling surface of the abutment 923 can reduce the friction between the abutment 923 and the positioning shaft 442, thereby reducing the influence of the friction when the positioning shaft 442 and the damping sleeve 900 are in relative motion.

[0098] like Figure 1 and Figure 4 As shown, it should be noted that the above-mentioned slight contact means that the pressure applied by the resistance member 923 on the positioning shaft 442 is not enough to cause the transmission engagement between the positioning shaft 442 and the damping sleeve 900, that is, it is not enough to cause the positioning shaft 442 and the damping sleeve 900 to rotate synchronously. In this state, the contact between the resistance member 923 and the positioning shaft 442 is slight contact.

[0099] like Figure 1 and Figure 4As shown, in other embodiments, the damping hole 910 penetrates the side wall of the damping sleeve 900 along the radial direction of the damping sleeve 900, and the elastic damping member 920 includes an elastic member 921, a resisting member 923 and a blocking member 922. The arrangement of the elastic member 921 and the resisting member 923 is consistent with the above description and will not be repeated here.

[0100] like Figure 1 and Figure 4 As shown, the blocking member 922 is fixedly connected to one end of the elastic member 921 away from the abutment member 923, and an internal thread section is provided in the end of the damping hole 910 away from the abutment member 923, and the blocking member 922 is threadedly connected to the internal thread section. On the one hand, the blocking member 922 is detachable, which is convenient for repairing or replacing the elastic damping member 920. On the other hand, the blocking member 922 can adjust the length of the elastic member 921 in the damping hole 910, thereby adjusting the elastic force of the elastic member 921, so that the pressure applied by the abutment member 923 on the positioning shaft 442 can be adjusted.

[0101] like Figure 1 , Figure 3 and Figure 5 As shown, in one embodiment of the utility model, the cleaning mechanism also includes a position sensing component 800, which is mounted on the frame shell 200, and the sensing end face of the position sensing component 800 is arranged in the cavity of the frame shell 200. When the lifting component 400 is lifted from the lower stop 511 to the sensing end face of the position sensing component 800, the position sensor is triggered, and the control system of the cleaning device controls the motor 700 to stop working. At this time, the lifting component 400 is in the lifting position, and the cleaning member 100 is in a suspended state. In this embodiment, the position sensing component 800 can be an optical coupler. When the lifting component 400 blocks the optical coupler, the motor 700 stops working.

[0102] like Figure 1 , Figure 3 and Figure 5 As shown, in this embodiment, the position sensing component 800 is disposed on the second stepped cylinder 320, specifically, within the range of the thread groove 510. The utility model does not specifically limit the installation position of the position sensing component 800, and the installation position of the sensing component can be adjusted accordingly according to the lifting distance of the cleaning member 100.

[0103] like Figure 1 and Figure 5 As shown, in other embodiments, the position sensing component 800 can be a metal contact, a mechanical switch, or a position sensing sensor, etc.

[0104] like Figure 1 , Figure 6 and Figure 8As shown, in this embodiment, the moving path of the lifting assembly 400 is greater than the distance between the plane where the installation opening 230 is located and the plate body of the cleaning member 100. With this arrangement, the lifting assembly 400 has a sufficient moving path during the lifting process and completely enters the frame housing 200, so that the cleaning member 100 automatically detaches from the lifting assembly 400 under the restriction of the frame housing 200, thereby achieving automatic disassembly.

[0105] like Figure 1 , Figure 6 and Figure 7 As shown, in this embodiment, the distance of the moving path of the lifting assembly 400 is greater than the distance between the side of the lifting assembly 400 facing the ground and the ground. With this arrangement, the lifting assembly 400 has a sufficient moving distance when moving toward the ground, so that the cleaning member 100 can be close to the ground to clean the dirt on the ground.

[0106] The second aspect of the utility model discloses a cleaning device, which includes a self-moving cleaning body. The self-moving cleaning body can be a sweeping robot, a mopping robot, a sweeping and mopping robot, or other cleaning robots used to clean the floor. The cleaning device is provided with the above-mentioned cleaning mechanism.

[0107] The third aspect of the utility model discloses a cleaning system, including a working base station and the above-mentioned cleaning device. The working base station is a conventional technology in the field of existing cleaning robots and will not be described in detail here.

[0108] See also Figure 1 , Figures 6 to 8 As shown, the technical solution provided in the embodiment of the present application is described below in conjunction with a specific working scenario.

[0109] Scenario 1:

[0110] This scene is that the cleaning member 100 is cleaning the floor and is in a state of cleaning the floor, which corresponds to the wet cleaning mode of the cleaning device.

[0111] In this scenario, the motor 700 of the driving assembly rotates at a low speed. At this time, the centrifugal force of the damping sleeve 900 is less than the elastic force of the elastic member 921, and the abutment member 923 presses the positioning shaft 442, and the damping sleeve 900 is in transmission engagement with the positioning shaft 442 of the lifting assembly 400. Since the motor 700 is directly connected to the damping sleeve 900, and the transmission sleeve 300 is transmitted between the differential gear set 600 and the motor 700, there is a speed difference between the transmission sleeve 300 and the damping sleeve 900. Under the action of the speed difference, the lifting assembly 400 moves toward the ground along the axial direction of the transmission sleeve 300 during the rotation process.

[0112] The lifting assembly 400 drives the cleaning member 100 to move, and when the cleaning member 100 is in contact with the ground, the lifting assembly 400 moves to the lower stop 511 of the threaded transmission structure 500. At this time, the rotation speed of the driving assembly is increased to a high speed state, so that the centrifugal force of the damping sleeve 900 is greater than the elastic force of the elastic member 921, the abutment member 923 is disengaged from the positioning shaft 442, the transmission between the damping sleeve 900 and the positioning shaft 442 is separated, and the lifting assembly 400 no longer descends. Since the lifting assembly 400 has moved to the lower stop 511 of the threaded transmission structure 500, it cannot continue to transmit on the threaded transmission structure 500. Therefore, the lifting assembly 400 only rotates synchronously with the transmission sleeve 300. In this process, the lifting assembly 400 drives the cleaning member 100 to rotate to clean the dirt on the ground.

[0113] Scenario 2:

[0114] In this scene, the cleaning member 100 is suspended on the ground, in a suspended state.

[0115] In this scenario, the motor 700 rotates in the reverse low-speed direction relative to scenario 1. During the reverse low-speed rotation process, the lifting of the lifting assembly 400 is achieved through the cooperation of the threaded transmission structure 500, thereby achieving the lifting of the cleaning element 100 to achieve a suspended state.

[0116] Scenario 3:

[0117] This scene is the disassembly of the cleaning element 100 .

[0118] In this scenario, the rotation direction of the motor 700 is consistent with that in scenario two and is still in a low-speed rotation state. During this process, the lifting assembly 400 continues to lift. When the disk of the cleaning member 100 hits the edge of the mounting opening 230, the lifting assembly 400 continues to lift the cleaning member 100, and the side of the lifting assembly 400 close to the ground gradually enters the frame shell 200. At this time, the cleaning member 100 is restricted by the frame shell 200 and detaches from the lifting assembly 400, thereby completing the automatic disassembly of the cleaning member 100.

[0119] Scenario 4:

[0120] This scenario is about avoiding low obstacles such as carpets.

[0121] When the cleaning device moves near a low obstacle such as a carpet, the cleaning device identifies the obstacle. The identification method is conventional technology and will not be described here. When a low obstacle such as a carpet is identified, the cleaning mechanism is lifted. The lifting principle here is consistent with the working principle of scenario 2 and will not be described here.

[0122] It should be noted that the above-mentioned "low" thickness range refers to a thickness not greater than the maximum distance between the cleaning member and the ground, that is, the distance between the upper surface of the cleaning member's disk and the installation opening when the cleaning member touches the ground. At the same time, the above-mentioned carpet is only an example of a low obstacle, such as a door sill. Therefore, the nature of the low obstacle is not specifically limited, as long as the height range falls within the "low" distance range, it can be any obstacle.

[0123] The embodiments of the utility model disclosed above are only used to help illustrate the utility model. The embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A cleaning mechanism, characterized in that: include: A rack housing, wherein a side of the rack housing facing the ground is provided with an installation opening; A transmission sleeve, rotatably mounted in the frame housing; A driving assembly, wherein the driving assembly has a transmission system, through which the transmission sleeve is driven to rotate, and a speed difference is formed between the transmission sleeve and an output end of the driving assembly; at least one elastic damping member, disposed on the output end of the drive assembly; A lifting assembly has a threaded transmission structure with the transmission sleeve, and the driving assembly drives the elastic damping member to press the lifting assembly or move away from the lifting assembly; The cleaning member is arranged on one side of the mounting opening of the frame shell and is detachably connected to the lifting assembly.

2. The cleaning mechanism according to claim 1, characterized in that: The drive assembly includes a drive source and a differential gear set, the differential gear set includes a driving gear and a driven gear, the drive source is connected to the driving gear, the driven gear is meshed with the driving gear, and the inner ring of the transmission sleeve is provided with a first internal tooth structure, which is meshed with the driven gear.

3. The cleaning mechanism according to claim 2, characterized in that: The driven gears are arranged in plurality around the driving gear, and planet carriers are arranged on the plurality of driven gears. The driven gears revolve around the driving gear while rotating on their own.

4. The cleaning mechanism according to claim 2, characterized in that: A second internal tooth structure is arranged on the inner wall of the frame shell, the second internal tooth structure is meshed with the driven gear, and the driven gear is located between the driving gear and the second internal tooth structure.

5. The cleaning mechanism according to claim 4, characterized in that: The inner diameter of the first internal tooth structure is equal to the inner diameter of the second internal tooth structure.

6. The cleaning mechanism according to claim 1, characterized in that: The thread transmission structure includes a screw thread and a spiral thread groove, the screw thread is arranged on the transmission sleeve or the lifting component, the thread groove is arranged on the transmission sleeve or the lifting component, and the screw thread and the thread groove are threadedly matched.

7. The cleaning mechanism according to claim 6, characterized in that: One end of the thread groove is an upper stop, and the other end is a lower stop. The distance between the upper stop and the lower stop along the axial direction of the transmission sleeve or the lifting component is the moving path of the lifting component.

8. The cleaning mechanism according to claim 7, characterized in that: The distance of the moving path is greater than the distance between the plane where the installation opening is located and the cleaning member.

9. The cleaning mechanism according to claim 7, characterized in that: The distance of the moving path is greater than the distance between the side of the lifting component facing the ground and the ground.

10. The cleaning mechanism according to claim 1, characterized in that: The lifting assembly includes a first cylinder, a portion of which is disposed in the transmission sleeve, and the threaded transmission structure is disposed between an outer wall of the first cylinder and an inner wall of the transmission sleeve.

11. The cleaning mechanism according to claim 10, characterized in that: The driving assembly further comprises a damping sleeve, wherein the damping sleeve is arranged in the transmission sleeve, the power end of the driving assembly is connected to the damping sleeve, and the elastic damping member is arranged on the damping sleeve.

12. The cleaning mechanism according to claim 10, characterized in that: The lifting assembly also includes a second cylinder, which is coaxially arranged outside the first cylinder, and a transmission groove is formed between the inner wall of the second cylinder and the outer wall of the first cylinder, and a part of the cylinder wall of the transmission sleeve extends into the transmission groove.

13. The cleaning mechanism according to claim 12, characterized in that: A gap is provided between a portion of the outer wall of the transmission sleeve and the inner wall of the frame shell to form a slide groove, and a portion of the second cylinder body extends into the slide groove.

14. The cleaning mechanism according to claim 11, characterized in that: The lifting assembly further comprises a positioning member, the damping sleeve has an inner cavity hole, the positioning member is inserted into the inner cavity hole, and there is a clearance fit between the positioning member and the inner cavity hole.

15. The cleaning mechanism according to claim 1, characterized in that: The elastic damping member includes a resistance member and an elastic member. At least one damping hole is provided on the output end of the driving component. The elastic member and the resistance member are both arranged in the damping hole. The resistance member is connected to the elastic member. The resistance member and the damping hole are slidably matched.

16. The cleaning mechanism according to claim 15, characterized in that: An inner thread section is arranged in the end of the damping hole away from the abutment, and a blocking member is connected to one end of the elastic member away from the abutment. The blocking member is threadably matched with the inner thread section.

17. The cleaning mechanism according to claim 1, characterized in that: The cleaning member and / or the lifting assembly is provided with a quick-release structure, and the cleaning member is detachably connected to the lifting assembly via the quick-release structure.

18. The cleaning mechanism according to claim 1, characterized in that: The cleaning mechanism further comprises a position sensing component, a sensing end of which is arranged in the frame shell. When the lifting component moves to the sensing end of the sensing component, the position sensing component is triggered and controls the driving component to stop rotating.

19. A cleaning device, characterized in that: It comprises a self-moving cleaning body, on which is provided a cleaning mechanism as described in any one of claims 1-18.

20. A cleaning system, characterized in that: It comprises a working base station and the cleaning device as claimed in claim 19.

Images