Driving mechanism, self-cleaning equipment and self-cleaning system

Abstract

The utility model discloses a driving mechanism, a self-cleaning device and a self-cleaning system, through the interaction of a first transmission part and a second transmission part, lifting and rotating driving of a cleaning part are carried out only through a single driving assembly, and the purposes of structure simplification and control are achieved. According to the main technical scheme, the driving mechanism comprises a main supporting body and a driving device, the first transmission part comprises a first end part and a second end part, and the second end part is used for being connected with the cleaning part; the first transmission part is movably connected with the second transmission part, the second transmission part is movably connected with the main supporting body, and first friction force exists between the second transmission part and the main supporting body; the power assembly is in transmission connection with the first end part, and the power assembly is used for driving the first transmission part to rotate, so that the first transmission part interacts with the second transmission part, and the first transmission part is driven to drive the cleaning part to ascend or descend. The cleaning device is mainly used for driving the cleaning piece.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority benefit of Chinese Patent Application No. 202410323970.9, filed on March 20, 2024, and the entire content of this document is incorporated herein by reference. Technical field

[0003] The utility model relates to the technical field of smart home, and particularly to a driving mechanism, a self - cleaning device and a self - cleaning system. Background art

[0004] With the continuous development of smart home technology, the utilization frequency of floor - cleaning robots in daily home cleaning work is getting higher and higher. The floor - cleaning robot realizes the relative movement between the cleaning part and the ground through the rotation of the cleaning part itself and the overall movement of the floor - cleaning robot for cleaning. The cleaning part can also be lifted to realize the storage of the cleaning part when it does not need to contact the ground, and obstacle avoidance when the floor - cleaning robot encounters obstacles such as carpets and felts.

[0005] In existing floor - cleaning robots, two independent driving mechanisms are respectively set for the lifting drive and the rotation drive of the cleaning part, and the structure and driving program are complex. Summary of the utility model

[0006] In view of this, to solve at least one of the above - mentioned technical problems, embodiments of the present utility model provide a driving mechanism, a self - cleaning device and a self - cleaning system.

[0007] On the one hand, the present utility model provides a driving mechanism for a self - cleaning device, and the driving mechanism includes:

[0008] A main support body;

[0009] A first transmission member, the first transmission member includes a first end and a second end, and the second end is used for connecting with the cleaning part;

[0010] A second transmission member, the first transmission member and the second transmission member are movably connected, the second transmission member is movably connected with the main support body, and there is a first frictional force between the second transmission member and the main support body

[0011] A power assembly, the power assembly is in transmission connection with the first end, and the power assembly is used for driving the first transmission member to rotate, so that the first transmission member and the second transmission member interact, and driving the first transmission member to drive the cleaning part to rise or fall.

[0012] On the other hand, the present utility model provides a self - cleaning device, including the driving mechanism according to any one of the above, and a device body, and the driving mechanism is arranged on the device body.

[0013] In another aspect, the present utility model provides a self-cleaning system, including the above-mentioned self-cleaning device and a cleaning base station.

[0014] For the driving mechanism, self-cleaning device and self-cleaning system provided by the present utility model, when the first transmission member is driven by the power member to move, through the interaction between the first transmission member and the second transmission member, and the frictional force between the second transmission member and the main support body, the relative movement of the first transmission member and the second transmission member is driven, and then the first transmission member is lifted or lowered to realize the lifting drive of the cleaning member. And through the interaction between the first transmission member and the second transmission member, the synchronous movement of the first transmission member and the second transmission member is driven, and then the lifting and moving cleaning of the cleaning member are realized by a single power member, so as to reduce the number of driving members, simplify the structure of the self-cleaning device, and reduce the production cost and driving burden. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG. 9 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the cleaning position;

[0016] Figure 2 FIG. 13 is a first cross-sectional structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the cleaning position;

[0017] Figure 3 FIG. 17 is an exploded cross-sectional structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the cleaning position;

[0018] Figure 4 FIG. 21 is an exploded structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the cleaning position;

[0019] Figure 5 FIG. 25 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the storage position;

[0020] Figure 6 FIG. 29 is a cross-sectional structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the storage position;

[0021] Figure 7 FIG. 33 is a schematic structural diagram of a partial structure of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the storage position;

[0022] Figure 8 FIG. 37 is a second cross-sectional structural diagram of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the cleaning position;

[0023] Figure 9Schematic diagram of a partial structure of a driving mechanism provided by an embodiment of the present utility model when the first transmission member is in the cleaning position;

[0024] Figure 10 Cross-sectional structure schematic diagram of another driving mechanism provided by an embodiment of the present utility model;

[0025] Figure 11 Exploded structure schematic diagram of another driving mechanism provided by an embodiment of the present utility model;

[0026] Figure 12 Partial structure schematic diagram of another driving mechanism provided by an embodiment of the present utility model. Detailed implementation manners

[0027] To further elaborate on the technical means and effects adopted by the present utility model to achieve the intended utility model purpose, the following, in combination with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features, and effects of a driving mechanism proposed according to the present utility model as follows.

[0028] As Figures 1 - 6 shown, an embodiment of the present utility model provides a driving mechanism for a self-cleaning device. The self-cleaning device may include, but is not limited to, a cleaning robot, an intelligent cleaner, an automatic floor washer, a mopping robot, a sweeping and mopping integrated machine, etc., and has functions such as moving, cleaning, and vacuuming. Some self-cleaning devices also include functions such as mopping, terrain detection, and indoor area scanning. Taking a cleaning robot as an example, the cleaning robot can be of various shapes. To balance stability and be applicable to various scenarios, such as cleaning areas under the bed, the outer contour of the cleaning robot is usually flat. The housing of the cleaning robot mainly includes a chassis and a cover connected to the chassis and enclosing a receiving cavity. Various components for the operation of the cleaning robot can be arranged in the receiving cavity, such as a controller, a power supply device, position sensing components such as a camera, a scanner, a gyroscope, a cleaning mechanism, and a traveling mechanism. The controller can be used to control the cleaning system and the traveling mechanism. Common traveling mechanisms mainly include moving wheels and auxiliary steering wheels. The moving wheels are driven by a driving motor in the receiving cavity, and the rotation of the moving wheels drives the cleaning robot to move. The auxiliary steering wheel can be a universal wheel fixed under the chassis. By the rotation and stop of the moving wheels, the cleaning robot can be steered in cooperation with the auxiliary steering wheel.

[0029] The cleaning system may include a cleaning component and a mopping component. The cleaning component includes a roller brush driving member, a roller brush, a dust box, and a suction fan. The roller brush is connected to the machine body through the roller brush driving member. There is a dust suction port on the machine body behind the roller brush. The dust box is located on the air path between the suction fan and the dust suction port. There is a certain interference between the roller brush and the ground. During the rotation of the roller brush, the garbage on the ground can be swept up and rolled to below the dust suction port, and then sucked into the dust box by the gas drawn back to the dust box generated by the suction fan. The mopping component may include a mop driving member and one or more mops. The mop can rotate to dry-mop the ground. In some embodiments, the mopping system further includes a water tank that can supply water to the mop for wet-mopping the ground. Since the area of the mop is large and the surface is made of soft water-absorbing materials such as felt or terry cloth, there will be a large friction between the mop and floor coverings such as blankets. In addition, stains will remain on the mop after cleaning, especially after wet-mopping, and there will be sewage on the mop. To avoid the friction between the mop and the floor covering from affecting the normal walking of the cleaning robot and to prevent the sewage-carrying mop from contacting the ground and causing repeated pollution of the ground, the mop needs to have a lifting function. The existing mop driving members are divided into a mop rotation driving member and a mop lifting driving member. The mop rotation driving member is connected to the mop and is used to drive the mop to rotate, while the mop lifting driving member is connected to the whole formed by the mop rotation driving member and the mop and is used to drive the whole to lift. This results in the need to separately set two sets of driving members to achieve the lifting and rotation of the mop, with redundant structure, large weight, large driving burden for lifting, and complicated control process. This application precisely aims to solve this problem and proposes a driving mechanism that realizes the lifting control and rotation control of the cleaning member only by a single power member and structural settings.

[0030] Specifically, the driving mechanism includes:

[0031] The main support body 100;

[0032] The first transmission member 200, the first transmission member 200 includes a first end and a second end, and the second end is used to connect to the cleaning member 500;

[0033] The second transmission member 300, the first transmission member 200 and the second transmission member 300 are movably connected, the second transmission member 300 is movably connected to the main support body 100, and there is a first frictional force between the second transmission member 300 and the main support body 100;

[0034] The power assembly 400, the power assembly 400 is in transmission connection with the first end, and the power assembly 400 is used to drive the first transmission member 200 to move, so that the first transmission member 200 interacts with the second transmission member 300, and drives the first transmission member 200 to drive the cleaning member 500 to rise or fall.

[0035] The main support body 100 can be a separate support for the driving mechanism, which is fixedly installed on the housing of the main body of the self-cleaning device; alternatively, the main support body 100 can also be a part of the housing of the main body of the device, achieving a more compact and stable structural connection. The structure of the main support body 100 can be set according to the specific structures of the first transmission member 200, the second transmission member 300, and the power assembly 400, aiming to support the first transmission member 200, the second transmission member 300, and the power assembly 400, and being able to cooperate with the movement of the first transmission member 200. For the convenience of description, the direction when the driving mechanism is actually in use is taken as an example in the following description. The first end is in transmission connection with the power assembly 400, so that the power assembly 400 can drive the first transmission member 200 to move through the first end. The first transmission member 200 will interact with the second transmission member 300. The moving trend of the first transmission member 200 will cause a relative moving trend between the first transmission member 200 and the second transmission member 300, and then the position of the first transmission member 200 will change at least in the vertical direction. The second transmission member 300 is stationary relative to the main support body 100, while the first transmission member 200 will move up and down relative to the main support body 100, realizing the lifting of the first transmission member 200. The first transmission member 200 is connected to the cleaning member 500 through the second end, and then drives the cleaning member 500 to move up and down. The cleaning member 500 can be various components that clean by rotation, such as a rotating mop, a side brush, etc. The rotating mop can be a circular mop, a square mop, a triangular mop, etc. The cleaning position can be considered as the limit position of the movement of the first transmission member 200, and can be set according to needs, such as according to the required lifting height of the cleaning member 500. The position of the first transmission member 200 also includes a storage position. In the storage position, the first transmission member 200 drives the cleaning member 500 to rise to the highest point. In some embodiments, the first transmission member 200 includes a cleaning position. When the first transmission member 200 moves relative to the second transmission member 300 due to their interaction and reaches the cleaning position, the interaction relationship between the first transmission member 200 and the second transmission member 300 will change. The first transmission member 200 and the second transmission member 300 will not move relatively, but will move synchronously, and then the cleaning member 500 will stop moving up and down and perform mobile cleaning. The cleaning position refers to the limit position where the first transmission member 200 descends to the lowest point. When the first transmission member 200 is in the cleaning position, the height of the cleaning member 500 connected to the first transmission member 200 satisfies the interference with the surface to be cleaned, and the interference intensity, or the extrusion intensity, can reach the cleaning of the surface to be cleaned by the cleaning member 500, and will not over-extrude the surface to be cleaned and affect the movement of the cleaning member 500.

[0036] There are various ways for the power assembly 400 to drive the first transmission member 200 to move, such as driving the first transmission member 200 to rotate, or linear movement, curvilinear movement, etc.

[0037] During use, the first transmission member 200 is controlled to move, and then drives the first transmission member 200 to drive the cleaning member 500 to descend until the first transmission member 200 reaches the cleaning position and the cleaning member 500 is at the lowest position. Continuing to drive the first transmission member 200 to move, the first transmission member 200, the second transmission member 300, and the cleaning member 500 move synchronously to achieve cleaning. When it is necessary to store the cleaning member 500 after cleaning is completed, the first transmission member 200 is controlled to move in the reverse direction, the first transmission member 200 disengages from the cleaning position, and the first transmission member 200 drives the cleaning member 500 to ascend to achieve storage.

[0038] It should be noted that in some embodiments, the second transmission member 300 can rotate forward relative to the main support 100 or rotate in the reverse direction relative to the main support 100. Forward and reverse are two opposite rotation directions. When the first transmission member 200 is driven forward to the cleaning position, continuing to drive the first transmission member 200 in the same direction will generate a rigid thrust between the first transmission member 200 and the second transmission member 300, and then drive the second transmission member 300 to overcome the friction with the main support 100 and rotate forward relative to the main support 100 following the first transmission member 200. When the first transmission member 200 is driven in the reverse direction to the highest position, continuing to drive the first transmission member 200 in the same direction will generate a rigid thrust between the first transmission member 200 and the second transmission member 300, and then drive the second transmission member 300 to overcome the friction with the main support 100 and rotate in the reverse direction relative to the main support 100 following the first transmission member 200. The second transmission member 300 can rotate in both the forward and reverse directions relative to the main support 100, avoiding over-extrusion damage to the first transmission member 200 and the second transmission member 300 caused by the position error of the first transmission member 200 or failure to detect in time that the first transmission member 200 reaches the highest position, and avoiding overload of the power assembly 400.

[0039] In some embodiments, such as Figure 7As shown, the driving mechanism further includes a first detection unit. The first detection unit is connected to the main support body 100 and is used to detect whether the first transmission member 200 reaches a preset highest position. When the first transmission member 200 reaches the preset highest position, the first detection unit generates a signal indicating that the upward movement is in place, which indicates that the first transmission member 200 has completed the upward movement. Then, after receiving the signal indicating that the upward movement is in place, the movement of the first transmission member 200 can be immediately stopped. The first detection unit can be a first microswitch, such as a combination of a spring piece and a touch sensor. When the first transmission member 200 does not reach the preset height position, the spring piece is separated from the touch sensor. When the first transmission member 200 continues to rise, the first transmission member 200 will squeeze the spring piece, causing the spring piece to approach the touch sensor until the first transmission member 200 reaches the preset height position, at which time the spring piece contacts the touch sensor and then generates a signal indicating that the upward movement is in place; alternatively, the first detection unit can be a light interruption device, such as a combination of a first photoelectric emitter 910 and a first light receiver 920. The first photoelectric emitter 910 and the first light receiver 920 are arranged opposite to each other, and the first light receiver 920 is used to receive the photoelectric signal emitted by the first photoelectric emitter 910, such as an infrared signal. When the first transmission member 200 does not reach the preset height position, there is no occlusion between the first photoelectric emitter 910 and the first light receiver 920. When the first transmission member 200 continues to rise, the top structure of the first transmission member 200 approaches the first photoelectric emitter 910 until the first transmission member 200 reaches the preset height position, at which time the top structure enters between the first photoelectric emitter 910 and the first light receiver 920, thereby blocking the light of the first photoelectric emitter 910, and then the first light receiver 920 generates a signal indicating that the upward movement is in place. The top structure can be the acting member 212, which will be described in detail below; alternatively, the first detection unit can be a first magnetic sensor, such as a Hall sensor. A first magnetic member matching the Hall sensor is provided on the first transmission member 200 or the cleaning member 500. After the first transmission member 200 moves in place, or after the first transmission member 200 drives the cleaning member 500 in place, the first magnetic member will enter the detection range of the Hall sensor, and the Hall sensor will detect the magnetism and generate a signal indicating that the upward movement is in place. The first detection unit can also have other forms, aiming to detect the position of the first transmission member 200, and at least when the first transmission member 200 reaches the preset highest position, it can emit a signal indicating that the upward movement is in place.The setting of the first detection unit, on the one hand, after the first transmission member 200 rises to the in-place position, the first transmission member 200 will rotate synchronously with the second transmission member 300, which will cause the second transmission member 300 to rotate idly meaninglessly. Adding the first detection unit can stop the continuous movement of the second transmission member 300 in time after the first transmission member 200 reaches the in-place position, avoiding the energy consumption and mechanical loss of the movement of the second transmission member 300, and avoiding the time wasted during the lifting process of the first transmission member 200; on the other hand, it can timely detect that the first transmission member 200 fails to rise successfully due to reasons such as jamming and mechanical failures. For example, if no signal indicating reaching the in-place position is received within a certain time after the start of the rise, an alarm can be issued.

[0040] In some other embodiments, such as Figure 7As shown, the driving mechanism further includes a second detection unit. The second detection unit can be connected to the main support body 100 or installed on the first transmission member 200. The second detection unit is used to detect whether the cleaning member 500 is installed on the first transmission member 200. When the cleaning member 500 is installed, the second detection unit generates an installation-in-place signal, which indicates that the cleaning member 500 has been installed, and then the next action can be carried out, such as cleaning, to avoid the situation where the cleaning member 500 is forgotten to be installed or not installed successfully, resulting in the inability to achieve normal cleaning. The second detection unit can be a second microswitch, such as a combination of a spring piece and a touch sensor. When the cleaning member 500 is not installed on the first transmission member 200, the spring piece and the touch sensor are separated. When the cleaning member 500 is installed, the cleaning member 500 will squeeze the spring piece, causing the spring piece to contact the touch sensor, and then an installation-in-place signal is generated; or, the second detection unit can be a light interruption device, such as a combination of a second photoelectric emitter and a second light receiver. The second photoelectric emitter and the second light receiver are arranged opposite to each other. The second light receiver is used to receive the photoelectric signal emitted by the second photoelectric emitter, such as an infrared signal. When the cleaning member 500 is not installed on the first transmission member 200, there is no occlusion between the second photoelectric emitter and the second light receiver. When the cleaning member 500 is installed in place, a part of the structure of the cleaning member 500 enters between the second photoelectric emitter and the second light receiver, and then blocks the light of the second photoelectric emitter, and the second light receiver then generates an installation-in-place signal. A part of the structure of the cleaning member 500 can be the area where the cleaning member 500 extends into the installation cavity opened on the first transmission member 200; or, the second detection unit can be a second magnetic sensor 930, such as a Hall sensor. A second magnetic member matching the Hall sensor is provided on the cleaning member 500. After the cleaning member 500 is installed in place, the second magnetic member will enter the detection range of the Hall sensor, and the Hall sensor will detect magnetism and generate an installation-in-place signal. The second detection unit can also have other forms, aiming to detect whether the cleaning member 500 is installed, and an installation-in-place signal can be issued when the cleaning member 500 is installed on the first transmission member 200. The setting of the second detection unit can avoid the omission of the installation of the cleaning member 500 and avoid the ineffective cleaning of the self-cleaning device without carrying the cleaning member 500.

[0041] The driving mechanism, self-cleaning device, and self-cleaning system proposed in the embodiments of the present utility model, when the first transmission member is driven to rotate by the power member, through the interaction between the first transmission member and the second transmission member, and the interaction between the second transmission member and the main support body, drive the relative movement of the first transmission member and the second transmission member, and then make the first transmission member rise or fall, realizing the lifting drive of the cleaning member. When the relative position of the first transmission member reaches the cleaning position, through the interaction between the first transmission member and the second transmission member, drive the first transmission member and the second transmission member to rotate synchronously, and then realize the lifting and rotation of the cleaning member driven by a single power member, reducing the number of driving members, simplifying the structure of the self-cleaning device, and reducing the production cost and driving burden.

[0042] In one implementation, there is a second frictional force between the first transmission member 200 and the second transmission member 300, and the first frictional force is greater than the second frictional force.

[0043] Control the rotation of the first transmission member 200. Since the frictional force of the threaded connection between the first transmission member 200 and the second transmission member 300 is small, and the frictional force between the second transmission member 300 and the main support body 100 is large, the second transmission member 300 and the main support body 100 will not move relative to each other, or the relative movement is a tiny movement, while the first transmission member 200 and the second transmission member 300 will perform a more smooth circumferential relative movement.

[0044] The first transmission member 200 is used to rotate under the drive of the power component 400, and the first transmission member 200 is used to interact with the second transmission member 300 through rotation, applying a vertical force while moving circumferentially. The following method can be adopted: The first acting portion 211 and the second acting portion 311 are respectively provided on the first transmission member 200 and the second transmission member 300. The first acting portion 211 and the second acting portion 311 can adopt various methods, aiming to drive the first transmission member 200 to rise or fall when the second transmission member 300 moves.

[0045] For example, at least one of the first acting portion 211 and the second acting portion 311 includes an acting inclined surface. When the first transmission member 200 rotates, the first acting portion 211 and the second acting portion 311 are used to cooperate with each other through the acting inclined surface to make the first transmission member 200 rise or fall.

[0046] The acting inclined plane is an inclined plane that provides ascending and descending acting forces for the first acting part 211 and the second acting part 311 simultaneously when the first acting part 211 and the second acting part 311 move relative to each other circumferentially, or can be interpreted as an inclined plane that spirally ascends or descends in the circumferential direction. The first acting part 211 and the second acting part 311 may both include acting inclined planes, but the lengths of the acting inclined planes are different. Or, one of the first acting part 211 and the second acting part includes an acting inclined plane, and the other of the first acting part 211 and the second acting part includes a rolling member or a slider, and the rolling member or the slider is used to roll or slide relative to the acting inclined plane. The rolling member can be a roller or a roller shaft, and by rollingly connecting to the acting inclined plane, the second frictional force can be further reduced. Or, the slider can be a protrusion such as a block shape or a column shape.

[0047] In one implementation, the number of the first acting part 211 and the second acting part 311 can both be one. Or the number of the first acting part 211 and the second acting part 311 is the same, and they are arranged in one-to-one correspondence. Moreover, the first acting part 211 and the second acting part 311 are multiple, and the multiple first acting parts 211 are circumferentially distributed around the rotating shaft of the first transmission member 200, and the multiple second acting parts 311 are circumferentially distributed around the rotating shaft of the second transmission member 300, thereby ensuring that the acting of the first acting part 211 and the second acting part 311 makes the forces on the first transmission member 200 and the second transmission member 300 balanced in the circumferential direction and avoiding skewing.

[0048] In a more specific implementation, one of the first acting part 211 and the second acting part 311 is a thread, and the other of the first acting part 211 and the second acting part 311 can be a chuck with an acting inclined plane, and the chuck is embedded between the spiral surfaces. Or, the other of the first acting part 211 and the second acting part 311 is only a smaller chuck without an acting inclined plane. The first transmission member 200 and the second transmission member 300 are threadedly connected, and the first transmission member 200 is used to rotate relative to the second transmission member 300 to push the first transmission member 200 to ascend or descend through the thread.

[0049] Due to the setting of the thread, the circumferential movement will generate a pushing action in the vertical direction, so that the first transmission member 200 is pushed to ascend or descend.

[0050] Or, in another implementation, at least one of the first acting part 211 and the second acting part 311 is an acting groove, and the other of the first acting part 211 and the second acting part 311 is used to be embedded in the acting groove, and the acting inclined plane is one side wall of the acting groove.

[0051] In one embodiment, the second end portion includes a first sleeve 210, and the second transmission member 300 includes a second sleeve 310. The first sleeve 210 is provided with a first acting portion 211, the second sleeve 310 is provided with a second acting portion 311, and the first sleeve 210 is sleeved with the second sleeve 310.

[0052] In an embodiment where one of the first acting portion 211 and the second acting portion 311 is a thread and the number of threads is multiple, and the other is a chuck, after the first sleeve 210 is sleeved with the second sleeve 310, the chuck will be embedded in the thread. The number of threads can be four, that is, four threads are formed. The number of chucks is four, and each corresponds to being embedded in one thread. By setting multiple threads, the movement between the first sleeve 210 and the second sleeve 310 can be made more stable and not easy to shake. As Figures 2 - 4 , Figure 6 In the embodiment shown, threads are provided on the outer wall of the first sleeve 210, and a chuck is provided on the inner wall of the second sleeve 310, or, threads are provided on the inner wall of the second sleeve 310, and a chuck is provided on the outer wall of the first sleeve 210.

[0053] In one embodiment, one of the first acting portion 211 and the second acting portion 311 is connected to an acting member 212. For example, in an embodiment where one of the first acting portion 211 and the second acting portion 311 is a thread, an acting member 212 is provided at the end of the thread. When the first transmission member 200 is in the cleaning position, the chuck abuts against the acting member 212 so that the first transmission member 200 drives the second transmission member 300 to rotate synchronously. Or, in an embodiment where at least one of the first acting portion 211 and the second acting portion 311 is an acting groove, the acting member 212 can be regarded as the inner wall surface of the acting groove opposite to the acting inclined surface.

[0054] The acting member 212 can be only located at the end of one end of the thread and is only used to act with the chuck, so that the first transmission member 200 rotates synchronously when in the cleaning position. Or, in some embodiments, the acting member 212 can be located at the ends of both ends of the thread. One end is used to make the first transmission member 200 rotate synchronously with the second transmission member 300 when in the cleaning position, and the other end is used to limit the maximum height of the first transmission member 200 from rising.

[0055] More specifically, for example, in an embodiment where the first acting portion 211 is a thread, the second acting portion 311 is a chuck, threads are provided on the outer wall of the first sleeve 210, and the first sleeve 210 is used for lifting, as Figures 2 - 4 , Figure 6As shown, the acting member 212 can be only located at the end of the thread away from the cleaning member 500, or rather, the acting member 212 is located at the uppermost end of the thread 211. Then, during the downward movement of the first sleeve 210, the acting member 212 moves towards the chuck located above. When the first transmission member 200 and the second transmission member 300 are in the cleaning position, the acting member 212 will contact the chuck located above. Then, when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the acting member 212 will push the chuck to drive the second sleeve 310 to rotate synchronously. In some embodiments, the acting member 212 can also be provided at the lowermost end of the thread. Then, during the upward movement of the first sleeve 210, the acting member 212 moves towards the chuck located below. When the first sleeve 210 moves to the highest position, the acting member 212 located below will contact the chuck, thereby preventing the first sleeve 210 from rising excessively and playing a limiting role.

[0056] In another embodiment, the second acting portion 311 is a thread, and the first acting portion 211 is a chuck. There is a thread provided on the inner wall of the second sleeve 310, and in the embodiment where the first sleeve 210 is used for lifting and lowering, the acting member 212 is located at the end of the thread close to the cleaning member 500, or rather, the acting member 212 is located at the lowermost end of the thread. Then, during the downward movement of the first sleeve 210, the chuck moves towards the acting member 212 located below. When the first transmission member 200 and the second transmission member 300 are in the cleaning position, the chuck will contact the acting member 212 located below. Then, when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the chuck will push the acting member 212 located below to drive the second sleeve 310 to rotate synchronously. In some embodiments, the acting member 212 can also be provided at the uppermost end of the thread 211. Then, during the upward movement of the first sleeve 210, the chuck moves towards the acting member 212 located above. When the first sleeve 210 moves to the highest position, the chuck will contact the acting member 212 located above, thereby preventing the first sleeve 210 from rising excessively and playing a limiting role.

[0057] It can be understood that in the embodiment where there are four chucks 311 and the thread 211 can be four threads, acting members 212 are respectively provided at the ends of the four threads. The acting member 212 can be integrally formed with the first sleeve 210 or the second sleeve 310. Or, in some embodiments, as Figure 4 、 Figure 6 shown, the drive mechanism further includes an upper cover 2121. The acting member 212 is connected to the upper cover 2121, and the upper cover 2121 is connected to the first sleeve 210, so that the acting member 212 is located at the end of the thread, facilitating processing.

[0058] In the embodiment where the foregoing first detection unit includes a first photoelectric emitter 910 and a first light receiver 920, the upper cover 2121 is buckled to the top edge of the first sleeve 210, and then plays a role in blocking the light between the first photoelectric emitter 910 and the first light receiver 920 after the first transmission member 200 reaches the in-place height.

[0059] During use, the power component 400 drives the first transmission member 200 to rotate relative to the main support body 100 in the forward rotation direction, for example, the motor of the power component 400 rotates forward. Since the position of the second transmission member 300 remains unchanged (this is caused by the friction between the second transmission member 300 and the support body 100 being greater than the friction between the first acting portion 211 and the second acting portion 311), the second acting portion 311 will move relative to the first acting portion 211. For example, in an embodiment where one of the first acting portion 211 and the second acting portion 311 is a thread, the chuck will move relative to the thread and press down on the thread, thereby driving the first transmission member 200 to descend relative to the main support body 100 in the vertical direction to achieve the descent of the cleaning member 500. When the cleaning member 500 descends to the lowest position, that is, the first transmission member 200 reaches the cleaning position. Since the motor of the power component 400 is still rotating forward, the first transmission member 200 will continue to rotate relative to the main support body 100 in the forward rotation direction, and the chuck will act on the acting member 212 at the lower end of the thread, thereby hindering the continued relative movement between the chuck and the thread. A rigid thrust will be generated between the first transmission member 200 and the second transmission member 300, and the thrust will cause the second transmission member 300 to overcome the friction with the main support body 100. Then, the first transmission member 200 and the second transmission member 300 will rotate synchronously, and the cleaning member 500 will clean relative to the ground. That is, during the descent and cleaning processes, the rotation direction of the first transmission member 200 does not change. Then, when the cleaning is completed, or a user instruction is received, or an obstacle is detected, the cleaning member 500 needs to move upward for storage or obstacle avoidance. At this time, the power component 400 drives the first transmission member 200 to rotate relative to the main support body 100 in the reverse rotation direction opposite to the forward rotation direction, for example, the motor of the power component 400 rotates in reverse. Since the position of the second transmission member 300 remains unchanged (this is caused by the friction between the second transmission member 300 and the support body 100 being greater than the friction between the chuck and the thread), the chuck will move in the reverse direction to disengage from the acting member 212, the chuck will move relative to the thread and lift the thread, thereby driving the first transmission member 200 to ascend relative to the main support body 100 in the vertical direction to achieve the ascent of the cleaning member 500. When the cleaning member 500 ascends to the highest position, it may be that the chuck acts on the acting member 212 at the upper end of the thread, thereby hindering the continued relative movement between the chuck and the thread. A rigid thrust will be generated between the first transmission member 200 and the second transmission member 300, and the thrust will cause the second transmission member 300 to overcome the friction with the main support body 100, and the first transmission member 200 and the second transmission member 300 will move synchronously. It can be understood that at this time, the cleaning member 500 is located at the storage position, or rotates at a higher position until the set time of the program is reached and the power component 400 stops driving the first transmission member 200.Alternatively, in the aforementioned embodiment including a first detection unit, the first detection unit includes a first photoelectric emitter 910 and a first light receiver 920, when the first transmission member 200 rises into position, the light between the first photoelectric emitter 910 and the first light receiver 920 will be blocked, and then the rotation of the first transmission member 200 can be directly stopped, thereby avoiding ineffective energy consumption and wear of the second transmission member 300 and the main support body 100 damping.

[0060] For example, in the implementation of the lifting of the first transmission member 200, the second transmission member 300 is only movably connected to the main support body 100 in the circumferential direction, but is limited in the axial direction, or in the vertical direction, so the second transmission member 300 cannot be lifted, and the first transmission member 200 needs to be movably connected to the power assembly 400 in the vertical direction. Since the power assembly 400 needs to drive the first transmission member 200 to rotate, the first transmission member 200 and the power assembly 400 need to be limited in the circumferential direction. Several implementations of lifting the first transmission member 200 will be described in more detail below.

[0061] The first transmission member 200 and the power assembly 400 have a transmission relationship in the circumferential direction, and move relative to each other in the axial direction, or in the vertical direction. The implementation method can be that the output shaft of the power assembly 400 extends in the vertical direction, and a vertically extending first meshing tooth is provided on the output shaft, and a second meshing tooth is provided on the first transmission member 200. The power assembly 400 is engaged with the first transmission member 200 through the first meshing tooth and the second meshing tooth. Then, when the output shaft rotates, the first transmission member 200 can be driven to rotate. Since the first meshing tooth and the second meshing tooth both extend in the vertical direction, the first transmission member 200 can move in the vertical direction relative to the power assembly 400, thereby realizing lifting and lowering. Or, in another embodiment, as Figures 7 - 9 As shown, the power assembly 400 includes a power member 410 and a third transmission member 420, and the power member 410 is transmission-connected with the third transmission member 420. For example, the power member 410 can be a motor, and the output shaft of the motor extends horizontally. The output shaft of the motor is directly gear-connected with the third transmission member 420, or can be indirectly transmission-connected with the third transmission member 420 through an additional gear. The third transmission member 420 is slidably connected with the first transmission member 200 in the axial direction and is limited in the circumferential direction.

[0062] Through the arrangement of the third transmission member 420, the power member 410 can extend horizontally, making full use of the internal space of the self-cleaning device. In addition, the structure of the third transmission member 420 can be flexibly arranged to achieve a better transmission effect. In one embodiment, the second end portion includes a limiting portion 220. The limiting portion 220 is connected to the first sleeve 210. The limiting portion 220 is sleeved on the outer periphery of the third transmission member 420, or the third transmission member 420 is sleeved on the outer periphery of the limiting portion 220. Taking the third transmission member 420 being sleeved on the outer periphery of the limiting portion 220 as an example, the third transmission member 420 includes a cylindrical structure. A plurality of first limiting surfaces 421 are distributed on the inner wall of the third transmission member 420 in the circumferential direction. The first limiting surfaces 421 can be convex arc surfaces. The outer contour of the limiting portion 220 is in a rod shape. A plurality of second limiting surfaces 221 adapted to the inner wall of the third transmission member 420 are distributed on the outer wall of the limiting portion 220 in the circumferential direction. The second limiting surfaces 221 can be concave arc surfaces. It can be understood that the surface types of the first limiting surfaces 421 and the second limiting surfaces 221 can also be interchanged, or there can be other shapes, such as tooth shapes, etc. The limiting portion 220 is inserted into the cylindrical structure of the third transmission member 420. The first limiting surfaces 421 and the second limiting surfaces 221 are in sliding contact to achieve circumferential limitation, while being relatively slidable in the axial direction. By sleeving the third transmission member 420 on the outer periphery of the limiting portion 220, an external force for rotating the limiting portion 220 is applied in the circumferential direction of the limiting portion 220. The force application is more uniform, and the limiting portion 220 can only move in the vertical direction, playing a guiding role when the limiting portion 220 or the first transmission member 200 is lifted or lowered, making the first transmission member 200 not easily shake. The implementation method of sleeving the limiting portion 220 on the outer periphery of the third transmission member 420 can be referred to the implementation of sleeving the third transmission member 420 on the outer periphery of the limiting portion 220, and will not be elaborated here.

[0063] The transmission connection method between the power member 410 and the third transmission member 420 can be various, such as Figure 9 As shown, the power assembly 400 further includes an intermediate transmission member 430. The intermediate transmission member 430 can be one or more gears, which can be set according to the distance and relative position between the power member 410 and the third transmission member 420. The power member 410 and the third transmission member 420 are tooth-connected through one or more gears, and then the transmission connection can be achieved.

[0064] In the embodiment where the first transmission member 200 is used to move up and down relative to the main support body 100, the second transmission member 300 is axially limited and dampedly connected to the main support body 100 in the circumferential direction. The frictional force between the second transmission member 300 and the main support body 100 is greater than the frictional force between the first transmission member 200 and the second transmission member 300, which refers to the frictional force between the second transmission member 300 and the main support body 100 in the circumferential direction being greater than the frictional force between the chuck 311 and the thread 211 in the extending direction of the thread 211. The damped connection relationship between the second transmission member 300 and the main support body 100 can be various. In one embodiment, the driving mechanism further includes a damped bearing. The second transmission member 300 is connected to the main support body 100 through the damped bearing. The bearing resistance of the damped bearing is greater than the frictional force between the chuck 311 and the thread 211. The damped bearing is fixedly connected to both the second transmission member 300 and the main support body 100 in the axial direction. In other embodiments, such as Figures 2 - 4 , Figure 6 As shown, the driving mechanism further includes a friction assembly 800. The second transmission member 300 includes a flange 320. The flange 320 is connected to the second sleeve 310 of the second transmission member 300 and protrudes from the side wall of the second sleeve 310. The flange 320 is connected to the friction assembly 800. The flange 320 extends in the horizontal direction, and axial limitation of the flange 320 is realized through the cooperation between the friction assembly 800 and the flange 320, so as to prevent the second sleeve 310 from axially moving.

[0065] In a more specific embodiment, the friction assembly 800 includes an upper friction member 810 and a lower friction member 820. The upper friction member 810 and the lower friction member 820 respectively abut against the flange 320 on both sides of the second transmission member 300 in the axial direction. It can increase the frictional force and prevent the second transmission member 300 from rotating when the first transmission member 200 moves up and down.

[0066] In one embodiment, the friction assembly 800 further includes an elastic member 830. The elastic member 830 is connected to at least one of the upper friction member 810 and the lower friction member 820. The elastic member 830 is used to apply an elastic force to the upper friction member 810 and / or the lower friction member 820 to move closer to the flange 320. The elastic member 830 can be a spring. For example, the spring is only connected between the lower friction member 820 and the main support body 100. The spring causes the lower friction member 820 and the upper friction member 810 to squeeze the flange 320, and the squeezing pressure is appropriate. When the lower friction member 820 and the upper friction member 810 are worn, due to the setting of the spring, it can ensure that the lower friction member 820 and the upper friction member 810 continuously provide effective frictional force, thereby preventing the second transmission member 300 from rotating when the first transmission member 200 moves up and down.

[0067] In some other embodiments, such as Figures 10 - 12As shown, the friction assembly 800 includes a lower friction member 820 and at least one acting wheel 840. The lower friction member 820 and the acting wheel 840 are respectively abutted against the flanging 320 on both sides of the second transmission member 300 in the axial direction.

[0068] The lower friction member 820 and the acting wheel 840 cooperate to support the flanging 320 by both sides of the flanging 320, and then axially limit the second transmission member 300. The lower friction member 820 is used to provide circumferential damping for the flanging 320 or the second transmission member 300. When the second transmission member 300 follows the first transmission member 200 to move, the acting wheel 840 rolls along the flanging 320, and the flanging 320 slides with the lower friction member 820. Compared with the embodiment using the upper friction member 810, using rolling instead of sliding can reduce the wear on one side of the flanging 320 relative to the acting wheel 840.

[0069] In one embodiment, the lower friction member 820 is closer to the cleaning member 500 than the acting wheel 840, that is, the lower friction member 820 acts on the flanging 320 from the bottom surface of the flanging 320, and the acting wheel 840 is in rolling connection with the top surface of the flanging 320. During the cleaning process of the cleaning member 500, the cleaning member 500 will interfere with the ground, and the ground will generate an upward reaction force on the cleaning member 500. Then the cleaning member 500 will apply an upward thrust to the second transmission member 300, causing the flanging 320 to be squeezed upward. In addition, in the embodiment where the elastic member 830 is connected to the lower friction member 820, the lower friction member 820 will also squeeze the flanging 320, causing the flanging 320 to be squeezed upward. If the upper friction member 810 is used, the flanging 320 squeezing the upper friction member 810 upward will increase the friction force received by the flanging 320, resulting in a large driving burden on the second transmission member 300, increasing the driving burden on the power member 410, and increasing energy consumption. By using the acting wheel 840 instead of the upper friction member 810, the acting wheel 840 and the flanging 320 are in rolling connection. When the pressure between the flanging 320 and the acting wheel 840 increases, it will not cause an increase in the force on the second transmission member 300, thus ensuring the battery life of the power member 410.

[0070] In one embodiment, the number of acting wheels 840 is multiple, and the multiple acting wheels 840 are evenly arranged in the circumferential direction of the second transmission member 300.

[0071] For example, the acting wheels 840 can be two, arranged on the radially opposite sides of the second transmission member 300, or the acting wheels 840 are three, four or more, which can ensure that the second transmission member 300 is evenly stressed in the circumferential direction and is not prone to skew or jamming.

[0072] In one embodiment, the acting wheel 840 is rotatably connected to the main support 100. For example, the acting wheel 840 can be an integral roller, and the roller is directly rotatably connected to the main support 100 or connected through a bearing. Alternatively, the acting wheel 840 includes a wheel body and a rotating shaft. The rotating shaft is connected to the main support 100, which can be a fixed connection, such as a plug connection. The wheel body is rotatably connected to the rotating shaft. The wheel body can be connected to the rotating shaft through one or more bearings. Alternatively, the rotating shaft is a smooth shaft, and the wheel body is directly rotatably connected to the rotating shaft.

[0073] In one embodiment, a wear-resistant layer is provided on at least one of the contact surfaces between the acting wheel 840 and the flange 320. The wear-resistant layer can be a thin coating and can have a certain flexibility, thereby playing a role in shock absorption and wear resistance between the acting wheel 840 and the flange 320.

[0074] In one embodiment, an installation cavity 101 is provided on the main support 100. Both ends of the acting wheel 840 are connected to the opposite side walls of the installation cavity 101, and a part of the acting wheel 840 extends out of the installation cavity 101 to abut against the flange 320.

[0075] As Figure 12 shown, an installation cavity 101 is formed on the main support 100, and the installation cavity 101 has at least an opening at the bottom end. It is possible that each acting wheel 840 corresponds to an installation cavity 101, and the acting wheel 840 is fixed by the inner wall of the installation cavity 101, thereby ensuring that the acting wheel 840 is supported from both axial sides, ensuring the stable position of the acting wheel 840 and not being prone to vibration. A part of the structure of the acting wheel 840 extends out from the opening at the bottom end of the installation cavity 101, and then acts on the flange 320.

[0076] In the embodiment where the lower friction member 820 and the acting wheel 840 cooperate, the lower friction member 820 can be connected to an elastic member 830. When the lower friction member 820 wears, due to the setting of the spring, it can ensure that the lower friction member 820 continuously provides effective frictional force, thereby preventing the second transmission member 300 from rotating when the first transmission member 200 moves up and down.

[0077] In the embodiment of the foregoing usage process, the power assembly 400 drives the first transmission member 200 to rotate relative to the main support body 100 in the forward rotation direction. Since the lower friction member 820 and the upper friction member 810 press against the flanging 320, the position of the second transmission member 300 remains unchanged. Subsequently, the chuck will act on the thread and drive the first transmission member 200 to descend relative to the main support body 100 in the vertical direction. When the chuck acts on the acting member 212 at the lower end of the thread, a rigid thrust will be generated between the first transmission member 200 and the second transmission member 300. The thrust will cause the second transmission member 300 to overcome the frictional force between the lower friction member 820 and the upper friction member 810, causing the flanging 320 to slide relative to the lower friction member 820 and the upper friction member 810, and then the first transmission member 200 and the second transmission member 300 will rotate synchronously. When it is necessary to move the cleaning member 500 upward for storage or obstacle avoidance, the first transmission member 200 rotates in the reverse direction relative to the main support body 100. Since the lower friction member 820 and the upper friction member 810 press against the flanging 320, the position of the second transmission member 300 remains unchanged. The chuck will move relative to the thread and lift the thread, and then drive the first transmission member 200 to rise relative to the main support body 100 in the vertical direction to achieve the upward movement of the cleaning member 500. When the cleaning member 500 rises to the highest position, if the first detection portion is not provided, the chuck acts on the acting member 212 at the upper end of the thread, and a rigid thrust will be generated between the first transmission member 200 and the second transmission member 300. The thrust will cause the second transmission member 300 to overcome the frictional force between the lower friction member 820 and the upper friction member 810, causing the flanging 320 to slide relative to the lower friction member 820 and the upper friction member 810, and the first transmission member 200 and the second transmission member 300 will move synchronously.

[0078] In one embodiment, the first transmission member 200 may only include a limiting portion 220 and a first sleeve 210 that are connected to each other, and the first sleeve 210 has a straight cylinder structure. Alternatively, in other embodiments, as Figures 2 - 4 shown, the first transmission member 200 further includes a third sleeve 230. The first end of the first sleeve 210 of the first transmission member 200 faces the cleaning member 500. The third sleeve 230 is connected to the first end of the first sleeve 210. There is a gap between the third sleeve 230 and the first sleeve 210. The second sleeve 310 of the second transmission member 300 is embedded between the third sleeve 230 and the first sleeve 210 and has a gap with the third sleeve 230.

[0079] The third sleeve 230 covers the outer periphery of the second sleeve 310 and the first sleeve 210 near the cleaning member 500. One end of the third sleeve 230 away from the cleaning member 500 is farther from the cleaning member 500 than the first end of the first sleeve 210. That is, when the first transmission member 200 is in the lowest position, it can also ensure that the top end of the third sleeve 230 is higher than the bottom end of the first sleeve 210, playing a protective role for the gap between the second sleeve 310 and the first sleeve 210, and preventing dust, hair, etc. from entering between the second sleeve 310 and the first sleeve 210, which may affect the relative movement between the second sleeve 310 and the first sleeve 210.

[0080] Furthermore, as Figures 1 - 6 shown, the main support body 100 includes a fourth sleeve 110. The fourth sleeve 110 is arranged at an interval from the second sleeve 310. The third sleeve 230 is embedded between the fourth sleeve 110 and the second sleeve 310, and there is a gap between the third sleeve 230 and the fourth sleeve 110.

[0081] The fourth sleeve 110 covers the outer periphery of the third sleeve 230. One end of the third sleeve 230 away from the cleaning member 500 is farther from the cleaning member 500 than one end of the fourth sleeve 110 close to the cleaning member 500. That is, when the first transmission member 200 is in the lowest position, it can also ensure that the bottom end of the fourth sleeve 110 is higher than the top end of the third sleeve 230, playing a protective role for the gap between the third sleeve 230 and the second sleeve 310, and preventing dust, hair, etc. from entering between the third sleeve 230 and the second sleeve 310, which may affect the relative movement between the second sleeve 310 and the third sleeve 230.

[0082] In one embodiment, the driving mechanism further includes a magnetic attraction member 900. The magnetic attraction member 900 is connected to the first transmission member 200, and the magnetic attraction member 900 is used for magnetically connecting with the magnetic member of the cleaning member 500. Alternatively, the driving mechanism further includes: a magnetic member, the magnetic member is connected to the first transmission member 200, and the magnetic attraction member 900 is used for magnetically connecting with the magnetic attraction member of the cleaning member 500.

[0083] The magnetic attraction member 900 can be a metal that can be magnetically attracted, such as an iron object. The magnetic member can be a magnet.

[0084] For example, the cleaning member 500 includes a connecting rod and a cleaning member body. One end of the connecting rod is connected to the cleaning member body, and a magnetic member is provided at the other end of the connecting rod. The magnetic attraction member 900 is arranged at the top end of the first sleeve 210 of the first transmission member 200. The connecting rod is inserted into the first sleeve 210, and the magnetic attraction member 900 is fixedly adsorbed with the magnetic attraction member.

[0085] For example, in an embodiment where the first detection portion includes a Hall sensor, the cleaning member 500 is connected with a magnetic member, and it is possible to detect whether the cleaning member 500 is connected, so as to avoid the failure to timely detect the detachment of the cleaning member 500.

[0086] On the other hand, the present utility model provides a self-cleaning device, which includes the driving mechanism of any one of the foregoing, and a device body, and the driving mechanism is arranged on the device body.

[0087] The driving mechanism can be one, two, or more, and can be set according to needs. The power component 400 can be only used for driving the lifting and rotation of the cleaning component 500. Or, in some embodiments, a more complex structure can be set to realize the swinging of the cleaning component 500 in the horizontal direction. The self-cleaning device includes the driving mechanism of any one of the foregoing, and the advantages of including the driving mechanism of any one of the foregoing will not be elaborated here.

[0088] On yet another aspect, the present utility model provides a self-cleaning system, which includes the foregoing self-cleaning device and a cleaning base station, and the self-cleaning device is used to selectively dock at the cleaning base station. In some embodiments, the cleaning base station includes a docking space, and the self-cleaning device can move to the docking space to perform operations such as cleaning and replacing the cleaning component 500, replenishing water in the water tank, and charging. The self-cleaning system includes the foregoing self-cleaning device, and the advantages of including the foregoing self-cleaning device will not be elaborated here.

[0089] As described above, the foregoing are only specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.

Claims

1. A driving mechanism for a self-cleaning device, characterized in that Comprising: A main support body (100); A first transmission member (200), the first transmission member (200) includes a first end and a second end, and the second end is used to connect with a cleaning member (500); A second transmission member (300), the first transmission member (200) and the second transmission member (300) are movably connected, the second transmission member (300) is movably connected with the main support body (100), and there is a first frictional force between the second transmission member (300) and the main support body (100); A power assembly (400), the power assembly (400) is in transmission connection with the first end, the power assembly (400) and the first transmission member (200) are limited in the circumferential direction of the first transmission member (200), and are movably connected in the axial direction of the first transmission member (200); The power assembly (400) is used to drive the first transmission member (200) to rotate, so that the first transmission member (200) interacts with the second transmission member (300), and drives the first transmission member (200) to drive the cleaning member (500) to rise or fall.

2. The driving mechanism according to claim 1, wherein The position of the first transmission member (200) includes a cleaning position; When the first transmission member (200) is in the cleaning position, the first transmission member (200) is used to drive the second transmission member (300) to rotate synchronously against the first frictional force.

3. The driving mechanism according to claim 1, wherein A first acting portion (211) and a second acting portion (311) are respectively provided on the first transmission member (200) and the second transmission member (300), and the first acting portion (211) and the second acting portion (311) are used to interact with each other.

4. The driving mechanism according to claim 3, wherein At least one of the first acting portion (211) and the second acting portion (311) includes an acting inclined surface. When the first transmission member (200) rotates, the first acting portion (211) and the second acting portion (311) are used to cooperate with each other through the acting inclined surface, so that the first transmission member (200) rises or falls.

5. The driving mechanism according to claim 4, wherein Both the first acting portion (211) and the second acting portion (311) include the acting inclined surface, or one of the first acting portion (211) and the second acting portion includes the acting inclined surface, and the other of the first acting portion (211) and the second acting portion includes a rolling member or a slider, and the rolling member or the slider is used to roll or slide relative to the acting inclined surface.

6. The driving mechanism according to claim 4, wherein The numbers of the first acting portion (211) and the second acting portion (311) are the same, and the numbers of the first acting portion (211) and the second acting portion (311) are at least one.

7. The driving mechanism according to claim 6, wherein When there are multiple first acting parts (211) and multiple second acting parts (311), the multiple first acting parts (211) are circumferentially distributed around the rotation axis of the first transmission part (200), and the multiple second acting parts (311) are circumferentially distributed around the rotation axis of the second transmission part (300).

8. The drive mechanism according to claim 4, characterized in that One of the first acting part (211) and the second acting part (311) is a thread; Alternatively, at least one of the first acting part (211) and the second acting part (311) is an acting groove, and the other of the first acting part (211) and the second acting part (311) is used to be embedded in the acting groove.

9. The drive mechanism according to claim 1, characterized in that The second end portion includes a first sleeve (210), and the second transmission part (300) includes a second sleeve (310); The first sleeve (210) is provided with a first acting part (211), the second sleeve (310) is provided with a second acting part (311), and the first sleeve (210) is sleeved with the second sleeve (310).

10. The drive mechanism according to claim 9, characterized in that One of the first acting part (211) and the second acting part (311) is connected with an acting member (212). When the first transmission part (200) is in the cleaning position, the other of the first acting part (211) and the second acting part (311) abuts against the acting member (212) so that the first transmission part (200) drives the second transmission part (300) to rotate synchronously.

11. The drive mechanism according to claim 1, characterized in that There is a second frictional force between the first transmission part (200) and the second transmission part (300), and the first frictional force is greater than the second frictional force.

12. The drive mechanism according to claim 1, characterized in that The power assembly (400) includes a power member (410) and a third transmission part (420); The power member (410) is in transmission connection with the third transmission part (420), and the third transmission part (420) is slidably connected with the first transmission part (200) in the axial direction and limited in the circumferential direction.

13. The drive mechanism according to claim 12, characterized in that The second end portion includes a limiting part (220), and the third transmission part (420) is sleeved on the outer periphery of the limiting part (220), or the limiting part (220) is sleeved on the outer periphery of the third transmission part (420).

14. The drive mechanism according to claim 1, characterized in that The second transmission part (300) is axially limited and circumferentially damped-connected with the main support body (100).

15. The drive mechanism according to claim 14, wherein The drive mechanism further includes: A damping bearing; The second transmission part (300) is connected with the main support body (100) through the damping bearing.

16. The drive mechanism according to claim 14, characterized in that, The drive mechanism further includes: A friction assembly (800); The second transmission member (300) includes a flange (320). The flange (320) is connected to the second sleeve (310) of the second transmission member (300) and protrudes from the side wall of the second sleeve (310). The flange (320) is connected to the friction assembly (800).

17. The drive mechanism according to claim 16, wherein the friction assembly (800) includes an upper friction member (810) and a lower friction member (820). The upper friction member (810) and the lower friction member (820) are respectively abutted against the flange (320) on both sides of the second transmission member (300) in the axial direction.

18. The drive mechanism according to claim 17, wherein the friction assembly (800) further includes an elastic member (830). The elastic member (830) is connected to at least one of the upper friction member (810) and the lower friction member (820). The elastic member (830) is configured to apply an elastic force for moving the upper friction member (810) and / or the lower friction member (820) closer to the flange (320).

19. The drive mechanism according to claim 16, wherein the friction assembly (800) includes a lower friction member (820) and at least one acting wheel (840). The lower friction member (820) and the acting wheel (840) are respectively abutted against the flange (320) on both sides of the second transmission member (300) in the axial direction.

20. The drive mechanism according to claim 19, wherein the lower friction member (820) is closer to the cleaning member (500) than the acting wheel (840).

21. The drive mechanism according to claim 19, wherein the number of the acting wheels (840) is plural, and the plural acting wheels (840) are uniformly arranged in the circumferential direction of the second transmission member (300).

22. The drive mechanism according to claim 19, wherein the acting wheel (840) is rotatably connected to the main support body (100); and / or, the acting wheel (840) includes a wheel body and a rotating shaft. The rotating shaft is connected to the main support body (100), and the wheel body is rotatably connected to the rotating shaft; and / or, a wear-resistant layer is provided on at least one of the contact surfaces of the acting wheel (840) and the flange (320); and / or, an installation cavity (101) is provided on the main support body (100). Both ends of the acting wheel (840) are respectively connected to the opposite side walls of the installation cavity (101), and a part of the acting wheel (840) extends out of the installation cavity (101) to abut against the flange (320).

23. The drive mechanism according to claim 19, wherein The friction assembly (800) further includes an elastic member (830). The elastic member (830) is connected to the lower friction member (820), and the elastic member (830) is configured to apply an elastic force to the lower friction member (820) to move it closer to the flanging (320).

24. The drive mechanism according to claim 8, wherein the first transmission member (200) includes a third sleeve (230). A first end of the first sleeve (210) of the first transmission member (200) faces the cleaning member (500). The third sleeve (230) is connected to the first end of the first sleeve (210), and there is a gap between the third sleeve (230) and the first sleeve (210). The second sleeve (310) of the second transmission member (300) is inserted between the third sleeve (230) and the first sleeve (210), and there is a gap between the second sleeve (310) and the third sleeve (230).

25. The drive mechanism according to claim 24, wherein the position of the first transmission member (200) includes a cleaning position; when the first transmission member (200) is in the cleaning position, an end of the third sleeve (230) away from the cleaning member (500) is farther from the cleaning member (500) than the first end of the first sleeve (210).

26. The drive mechanism according to claim 24, wherein the main support body (100) includes a fourth sleeve (110). The fourth sleeve (110) is spaced from the second sleeve (310). The third sleeve (230) is inserted between the fourth sleeve (110) and the second sleeve (310), and there is a gap between the third sleeve (230) and the fourth sleeve (110).

27. The drive mechanism according to claim 26, wherein the position of the first transmission member (200) includes a cleaning position; when the first transmission member (200) is in the cleaning position, an end of the third sleeve (230) away from the cleaning member (500) is farther from the cleaning member (500) than an end of the fourth sleeve (110) close to the cleaning member (500).

28. The drive mechanism according to claim 1, characterized in that The drive mechanism further includes: a magnetic member (900). The magnetic member (900) is connected to the first transmission member (200), and the magnetic member (900) is configured to magnetically connect with a magnetic part of the cleaning member (500); alternatively, the drive mechanism further includes: a magnetic part. The magnetic part is connected to the first transmission member (200), and the magnetic member (900) is configured to magnetically connect with a magnetic member of the cleaning member (500).

29. The drive mechanism according to claim 1, wherein the cleaning member (500) includes at least one of a rotating mop and a side brush.

30. The drive mechanism according to claim 1, characterized in that, The drive mechanism further includes: a first detection unit. The first detection unit is configured to generate a signal indicating that the rising is in place when the first transmission member (200) rises to the highest position.

31. The drive mechanism according to claim 30, wherein The first detection unit includes a first photoelectric emitter (910) and a first light receiver (920). The first photoelectric emitter (910) and the first light receiver (920) are arranged opposite to each other. When the first transmission member (200) rises to the highest position, the first transmission member (200) blocks the light between the first photoelectric emitter (910) and the first light receiver (920), so that the first light receiver (920) generates the signal indicating reaching the upper position.

32. The driving mechanism according to claim 30, wherein the first detection unit includes a first magnetic sensor, and the driving mechanism further includes a first magnetic member. The first magnetic member is arranged on the first transmission member (200) and / or the cleaning member (500). When the first transmission member (200) rises to the highest position, the first magnetic member enters the detection range of the first magnetic sensor, so that the first magnetic sensor generates the signal indicating reaching the upper position.

33. The driving mechanism according to claim 30, wherein the first detection unit includes a first microswitch. When the first transmission member (200) rises to the highest position, the first transmission member (200) triggers the first microswitch, so that the first microswitch generates the signal indicating reaching the upper position.

34. The drive mechanism according to claim 1, wherein, The driving mechanism further includes: a second detection unit, which is used to generate a signal indicating proper installation when the cleaning member (500) is installed on the first transmission member (200).

35. The driving mechanism according to claim 34, wherein the second detection unit includes a second photoelectric emitter and a second light receiver. The second photoelectric emitter and the second light receiver are arranged opposite to each other. When the cleaning member (500) is installed on the first transmission member (200), the cleaning member (500) blocks the light between the second photoelectric emitter and the second light receiver, so that the second light receiver generates the signal indicating proper installation.

36. The driving mechanism according to claim 34, wherein the second detection unit includes a second magnetic sensor (930), and the driving mechanism further includes a second magnetic member. The second magnetic member is arranged on the cleaning member (500). When the cleaning member (500) is installed on the first transmission member (200), the second magnetic member enters the detection range of the second magnetic sensor (930), so that the second magnetic sensor (930) generates the signal indicating proper installation.

37. The driving mechanism according to claim 34, wherein the second detection unit includes a second microswitch. When the cleaning member (500) is installed on the first transmission member (200), the cleaning member (500) triggers the second microswitch, so that the second microswitch generates the signal indicating proper installation.

38. A self-cleaning device, characterized in that, including the driving mechanism according to any one of claims 1-37 above, and a device body, wherein the driving mechanism is arranged on the device body.

39. A self-cleaning system, characterized in that, Comprising a self-cleaning device as described in claim 38 above, and a cleaning base station.

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