Driving mechanism, cleaning equipment and cleaning system

Abstract

According to the driving mechanism, the cleaning equipment and the cleaning system, when a driving part rotates, a switching block is switched between a receding position and a positioning position, a lifting assembly is controlled to rotate or ascend and descend, only the switching block is driven to move, the lifting driving burden is reduced, and the working efficiency is improved. And the problems of complicated structure, large size and high cost caused by using a high-power driving piece are avoided. According to the main technical scheme, a lifting assembly is movably connected with a driving part, a first power part drives the driving part to move in the rotating direction, and acting force exists between the driving part and the lifting assembly due to movement; when the switching block is located at the positioning position, the switching assembly hinders the lifting assembly from rotating, the driving part overcomes the acting force to move relative to the lifting assembly and drives the lifting assembly to ascend and descend, the switching block is located at the vacant position, and the driving part drives the lifting assembly to drive the cleaning part to rotate through the acting force. The device is mainly used for controlling the position and the motion state of the driven part.

Description

Technical Field

[0001] This utility model relates to the field of smart home technology, and in particular to a drive mechanism, cleaning equipment and cleaning system. Background Technology

[0002] With the improvement of living standards, the use of smart home devices is becoming increasingly widespread, especially the popularity of cleaning robots, which has brought great convenience to daily household cleaning. A cleaning robot typically consists of a movable main body and a cleaning module, which includes cleaning components and a rotary drive mechanism. During the cleaning process, the cleaning components contact the surface to be cleaned and rotate under the drive of the rotary drive mechanism, moving with the robot to complete the cleaning task.

[0003] In order to achieve obstacle avoidance and adjustment of cleaning intensity, the existing technology uses a lifting drive to lift the cleaning module. The lifting drive needs to drive the movement of the entire cleaning module, which has a large driving burden. The lifting drive has large power and size, complex structure and high cost. Utility Model Content

[0004] In view of this, in order to solve at least one of the above-mentioned technical problems, the present invention provides a drive mechanism, a cleaning device and a cleaning system.

[0005] On the one hand, this utility model provides a driving mechanism, including:

[0006] Active component (100);

[0007] A lifting assembly (200) is movably connected to the driving component (100), and the lifting assembly (200) is used to connect to the passive component (300);

[0008] A switching component (400) includes a switching block (410), the position of which includes at least a positioning position and an empty position;

[0009] The first power component is connected to the active component (100) and is used to drive the active component (100) to rotate. When the active component (100) is in at least one rotational position, it generates a force in the rotational direction between itself and the lifting assembly (200) due to its movement.

[0010] When the switching block (410) is in the positioning position, the switching component (400) obstructs the rotation of the lifting component (200), and the active component (100) moves relative to the lifting component (200) against the force and interacts with the lifting component (200) to drive the lifting component (200) to rise and fall. When the switching block (410) is in the idle position, the active component (100) drives the lifting component (200) to rotate the passive component (300) through the force.

[0011] The active component (100) and the lifting assembly (200) are in contact at least in a partial area, and the force includes the frictional force between the active component (100) and the lifting assembly (200).

[0012] And / or, the active member (100) includes a first action member (101), and the lifting assembly (200) includes a second action member (201). At least one of the first action member (101) and the second action member (201) includes an action position and a yield position. The first action member (101) is used to interact with the second action member (201) to switch at least one of the first action member (101) and the second action member (201) between the action position and the yield position. In the action position, the first action member (101) and the second action member (201) limit each other in the rotational direction to provide an action force so that the active member (100) and the lifting assembly (200) rotate synchronously. In the yield position, the first action member (101) and the second action member (201) yield to each other so that the active member (100) and the lifting assembly (200) move relative to each other.

[0013] The number of first action members (101) is multiple, and the multiple first action members (101) are arranged in the rotation direction, and adjacent first action members (101) are connected.

[0014] And / or, there are multiple second action members (201), the multiple second action members (201) are arranged in the rotation direction, and adjacent second action members (201) are connected.

[0015] At least a portion of the active member (100) is deformable to allow the first actuating member (101) to switch between an actuating position and a yielding position.

[0016] And / or, at least a portion of the lifting assembly (200) may be deformable to allow the second actuator (201) to switch between an actuating position and a yielding position;

[0017] And / or, at least one of the first action (101) and the second action (201) is deformable.

[0018] The lifting assembly (200) includes a lifting component (210) and an overload protection component (220). The lifting component (210) is movably connected to the active component (100). There is a force between the active component (100) and the overload protection component (220). The lifting component (210) is used to connect the passive component (300).

[0019] The lifting component (210) and the overload protection component (220) are detachably connected.

[0020] Among them, the active component (100) is provided with a third action component (102), and the lifting component (200) is provided with a fourth action component (202);

[0021] At least one of the third action member (102) and the fourth action member (202) includes an action ramp. When the switching block (410) is in the positioning position, the driving member (100) moves in the rotation direction so that the third action member (102) and the fourth action member (202) cooperate with each other through the action ramp to drive the lifting assembly (200) to lift.

[0022] The third action (102) and the fourth action (202) both include an action slope, or one of the third action (102) and the fourth action (202) includes an action slope, and the other of the third action (102) and the fourth action (202) includes a rolling element or a slider, which is used to roll or slide relative to the action slope.

[0023] Among them, one or both of the third action (102) and the fourth action (202) are threaded;

[0024] Alternatively, at least one of the third action (102) and the fourth action (202) is an action groove, and the other of the third action (102) and the fourth action (202) is used to be embedded in the action groove.

[0025] The lifting assembly (200) includes a lifting member (210), which includes a first sleeve (211) and a second sleeve (212). The second sleeve (212) is sleeved on the outer periphery of the first sleeve (211), and the second sleeve (212) and the first sleeve (211) are spaced apart. The second sleeve (212) and the first sleeve (211) are connected at one end near the passive member (300).

[0026] The active component (100) is located between the first sleeve (211) and the second sleeve (212). The active component (100) interacts with at least one of the first sleeve (211) and the second sleeve (212) to drive the lifting assembly (200) to move up and down.

[0027] The first sleeve (211) is used to connect the passive component (300).

[0028] The drive mechanism also includes:

[0029] The first elastic element (600) and the connecting part (700) are connected to the lifting assembly (200) through the first elastic element (600) and the connecting part (700) is used to connect the passive element (300);

[0030] When the lifting assembly (200) is raised or lowered, the first elastic element (600) is compressed to different degrees to provide different degrees of pressure on the cleaning surface for the passive element (300).

[0031] The lifting assembly (200) includes a blocking member (213) which interacts with the connecting part (700) to limit the movement of the connecting part (700) in the direction in which the first elastic member (600) releases energy.

[0032] When the switching block (410) is in the positioning position, the switching block (410) is directly connected to the lifting assembly (200) to prevent the lifting assembly (200) from rotating;

[0033] The lifting assembly (200) has at least one limiting groove or limiting hole. When the switching block (410) is in the positioning position, the switching block (410) is inserted into the limiting groove or limiting hole.

[0034] Alternatively, when the switching block (410) is in the positioning position, the switching block (410) abuts against the lifting component (200), and the friction between the switching block (410) and the lifting component (200) is greater than the force.

[0035] The switching component (400) also includes a transmission component, which is connected to the lifting component (200). When the switching block (410) is in the positioning position, the switching block (410) is connected to the transmission component to prevent the lifting component (200) from rotating.

[0036] The transmission assembly includes at least an action gear (420), and the lifting assembly (200) includes a circumferentially arranged transmission tooth (214). The action gear (420) meshes directly or indirectly with the transmission tooth (214). When the switching block (410) is in the positioning position, the switching block (410) acts with the action gear (420) to limit the rotation of the action gear (420). When the switching block (410) is in the idle position, the action gear (420) rotates with the lifting assembly (200).

[0037] The transmission assembly also includes a first intermediate gear (430) and a second intermediate gear (440). The first intermediate gear (430) meshes with the action gear (420) and the second intermediate gear (440) respectively, and the second intermediate gear (440) meshes with the transmission gear (214).

[0038] The extension length of the structure connecting the lifting assembly (200) and the transmission gear (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200);

[0039] And / or, the extension length of the transmission gear (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200).

[0040] The switching block (410) interacts with the axial end face of the action gear (420) to restrict the rotation of the action gear (420).

[0041] The transmission assembly also includes a second elastic element (450), which is connected to the switching block (410) and is used to apply an elastic force to the switching block (410) in the opposite direction to the force applied by the switching block (410).

[0042] Multiple limiting heads (421) arranged around the rotating shaft are provided on the axial end face of the action gear (420). The switching block (410) is provided with a limiting slot (411). The second power component (500) is used to drive the switching block (410) to move in the axial direction of the action gear (420). When the switching block (410) is in the positioning position, the limiting head (421) is embedded in the limiting slot (411).

[0043] The drive mechanism also includes:

[0044] The second power component (500) is connected to the switching block (410) and is used to drive the switching block (410) to move between the positioning position and the idle position.

[0045] The second power component (500) includes a drive component (510) and a lead screw (520). The drive component (510) is connected to the lead screw (520), and the lead screw (520) is screwed to the switching block (410). The switching block (410) and the housing of the drive mechanism are positioned at the upper limit in the circumferential direction of the switching block (410). The lead screw (520) is used to rotate under the action of the drive component (510) so as to push the switching block (410) to move through the thread.

[0046] The transmission assembly also includes a second elastic element (450), which is connected to the switching block (410) and is used to apply an elastic force to the switching block (410) in the opposite direction to the force applied by the switching block (410).

[0047] The drive mechanism also includes a detection unit (800), which generates a positioning signal when the lifting assembly (200) moves to the limit position in the lifting direction.

[0048] On the other hand, the present invention also provides a cleaning device (30) including a drive mechanism as described above.

[0049] Furthermore, this utility model also provides a cleaning system, including the cleaning equipment (30) described above.

[0050] The drive mechanism, cleaning equipment, and cleaning system proposed in this utility model, during cleaning, have the drive switching block moved to an empty position, releasing the circumferential limit of the lifting component. When the first power component drives the active component to rotate, the active component drives the lifting component through force, causing the cleaning component to rotate synchronously, thus achieving cleaning of the surface to be cleaned. When it is necessary to raise or lower the cleaning component, the drive switching block is moved to a positioning position, thus hindering the rotation of the lifting component. When the first power component drives the active component to rotate, the driving force causes the active component to overcome the force, and the active component moves relative to the lifting component. Through the structural interaction between the active component and the lifting component, the rotational movement of the active component is converted into the raising or lowering of the lifting component, driving the cleaning component to rise or fall. The raising and lowering of the cleaning component can avoid obstacles on the ground and adjust the pressure on the surface to be cleaned. After the raising and lowering adjustment is completed, the drive switching block is moved to an empty position, allowing the cleaning component to clean at the adjusted height. This invention enables the overall lifting and lowering of the cleaning module without the need for a separate drive unit. Only the switching block needs to be driven. Power is provided by the first power unit, which, together with the relative movement of the active component and the lifting assembly, achieves the lifting and lowering drive. This reduces the burden on the lifting and lowering drive and avoids the problems of complex structure, large size, and high cost caused by using high-power drive units. Attached Figure Description

[0051] Figure 1 A schematic diagram of the structure of a drive mechanism and a cleaning component provided in an embodiment of this utility model;

[0052] Figure 2 A cross-sectional structural schematic diagram of a drive mechanism provided for an embodiment of this utility model;

[0053] Figure 3 A cross-sectional view of a portion of the structure of a drive mechanism provided in an embodiment of this utility model;

[0054] Figure 4 A schematic diagram of the structure of an overload protection component in a drive mechanism provided in an embodiment of this utility model;

[0055] Figure 5 A schematic diagram of a portion of the structure of a drive mechanism provided in an embodiment of this utility model from a first-view perspective;

[0056] Figure 6 A schematic diagram of a portion of the structure of a drive mechanism provided in an embodiment of this utility model from a second perspective;

[0057] Figure 7 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present utility model;

[0058] Figure 8 This is a structural block diagram of a cleaning system provided in an embodiment of the present utility model. Detailed Implementation

[0059] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the following detailed description of the specific implementation, structure, features and effects of a driving mechanism proposed according to this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0060] like Figure 5-6 As shown, this utility model embodiment provides a driving mechanism that can be used to drive a driven component to move in a first direction and a second direction. The first and second directions can be various different directions; for example, the first direction can be a rotational direction, i.e., the circumferential direction of the driven component, while the second direction is the axial direction, or a lifting direction. The following example illustrates how the driving mechanism provides axial movement and rotational drive around an axis for the driven component. The driving mechanism can be used in various scenarios where axial movement and rotation at a specified position are required. For example, it can be used on machine tools such as milling machines for the extension and rotation of the milling head. This application uses the driving mechanism in cleaning equipment as an example to provide a detailed description of the driving mechanism.

[0061] Cleaning equipment, also known as cleaning robots, self-cleaning devices, sweepers, floor cleaning robots, floor scrubbers, or mopping robots, can automatically clean and collect debris without user intervention. Cleaning equipment can further include a main body, a motion system, a cleaning system, and a sensing system. To allow the cleaning equipment to adapt to more cleaning spaces and for greater stability and balance, the main body is typically a flattened circle, but may also have other shapes such as semi-circles or squares. The sensing system is located on the main body and is used to detect walls and obstacles, create a map, and locate the robot as it moves and cleans. The motion system may include wheels, wheel drives, and auxiliary steering wheels. The wheels are driven by the wheel drives to rotate, propelling the cleaning robot. The auxiliary steering wheels can be omnidirectional wheels; by rotating and stopping the wheels, in conjunction with the auxiliary steering wheels, the cleaning robot can turn.

[0062] The cleaning system may include dry cleaning components and wet cleaning components. The dry cleaning component includes a roller brush, a dustbin, and an exhaust fan. The roller brush is connected to the machine body via a roller brush drive. The machine body has a suction port located behind the roller brush, and the dustbin is located in the airflow path between the exhaust fan and the suction port. The roller brush has some interference with the ground. During rotation, the roller brush sweeps up debris from the ground and carries it below the suction port, where it is then sucked into the dustbin by the air drawn back towards it by the exhaust fan. The roller brush drive may only drive the roller brush to rotate. In some embodiments, the drive mechanism provided in this application can be used to adjust the overall axial position of the roller brush, and to stop at any position while driving the roller brush to rotate. This allows for adjustment of the axial position of the roller brush as needed, and can avoid misalignment. Alternatively, in some embodiments, the roller brush may include two parts, at least one of which is connected via the drive mechanism of this application. This allows the two parts of the roller brush to be driven axially away from each other for rotational cleaning, and axially close to each other for rotational cleaning, allowing for adjustment of the roller brush length as needed. A wet cleaning assembly may include a mop drive unit and one or more mops. The mops are rotatable for dry mopping. In some embodiments, the mopping system also includes a water tank to replenish water to the mops for wet mopping. Because the mop has a large surface area and its surface is made of soft, absorbent material such as felt or loops, there is significant friction between the mop and carpets or other floor coverings. Furthermore, stains or wastewater may remain on the mop after cleaning. To enable obstacle avoidance and prevent repeated contamination of the surface, the mop needs a lifting function. The drive mechanism provided in this application can be used to lift the mop, allowing for mop storage after obstacle avoidance and cleaning. During cleaning, the pressure of the mop on the surface can be adjusted according to the material and degree of soiling, and whether it is dry or wet mopping. In some embodiments, the drive mechanism of this application can also be used in components such as side brushes, which will not be listed here.

[0063] In the following embodiments, taking the first direction as the circumferential direction or rotation direction and the second direction as the vertical direction or lifting direction as an example, the various embodiments of the drive mechanism structure are described in detail. The passive component (300), as mentioned above, can be a variety of components that clean by rotation, such as a mop, a side brush, etc. The rotating mop can be a round mop, a square mop, a triangular mop, etc. The following embodiments are all described based on the actual direction of use.

[0064] like Figure 1-6 As shown, the drive mechanism includes: an active component (100);

[0065] A lifting assembly (200) is movably connected to the driving component (100), and the lifting assembly (200) is used to connect to the passive component (300);

[0066] A switching component (400) includes a switching block (410), the position of which includes at least a positioning position and an empty position;

[0067] The first power component is connected to the active component (100) and is used to drive the active component (100) to rotate. When the active component (100) is in at least one rotational position, it generates a force in the rotational direction between itself and the lifting assembly (200) due to its movement.

[0068] When the switching block (410) is in the positioning position, the switching component (400) hinders the rotation of the lifting component (200), and the active component (100) moves relative to the lifting component (200) against the force, interacts with the lifting component (200), and drives the lifting component (200) to rise or fall. When the switching block (410) is in the idle position, the active component (100) drives the lifting component (200) to rotate through the force.

[0069] The first power component can be a motor, which drives the driving component (100) to rotate via gears or other transmission components. The driving component (100) only generates force when it has a tendency to move relative to the lifting assembly (200) or when it has already moved relative to it. The driving component (100) can generate force with the lifting assembly (200) due to movement at any rotational position. Alternatively, the driving component (100) can generate force with the lifting assembly (200) due to movement only when it rotates to a specified position. The force includes at least the force in the rotational direction, i.e., the circumferential direction. When the switching block (410) is in the idle position, the switching block (410) does not contact the lifting assembly (200), or at least does not obstruct the movement of the lifting assembly (200). When the driving component (100) tends to move relative to the lifting assembly (200), the lifting assembly (200) will rotate synchronously with the driving component (100) under the drive of the force. When the switching block (410) is in the positioning position, the switching block (410) will act on the lifting component (200). The switching block (410) provides resistance to the lifting component (200) in the rotation direction. The resistance is at least as great as the force exerted by the active component (100) on the lifting component (200) in the rotation direction. As a result, when the active component (100) rotates, it cannot drive the lifting component (200) to rotate synchronously, but will generate relative movement in the rotation direction. The active component (100) will interact with the lifting component (200). The active component (100) will remain stationary in the vertical direction, while the lifting component (200) will rise and fall relative to the active component (100), thereby driving the lifting component (200) and its connected passive component (300) to rise and fall. The driving of the passive component (300) to rise and fall can stop at any position within a certain range, that is, the passive component (300) can be raised and lowered to any position between the highest and lowest positions for height positioning and rotation cleaning. In use, the passive component (300) can be driven to its highest position for storage, thereby achieving obstacle avoidance and preventing repeated contamination of the ground by the passive component (300). Alternatively, the passive component (300) can be moved according to the height of the obstacle, such as moving it to a position below the highest position but above the obstacle height, aiming to avoid the obstacle and reducing the time spent raising and lowering the passive component (300). During the cleaning process, the passive component (300) can be driven to raise and lower to different degrees to provide different cleaning pressures on the ground. For example, when the passive component (300) is a mop and wet mopping is being performed, at the beginning of cleaning, the passive component (300) can be moved to the bottom to slightly touch the ground. As the cleaning process progresses, the height of the passive component (300) can be gradually lowered, allowing the water on the passive component (300) to be gradually squeezed out as the cleaning progresses. This avoids excessive squeezing in the initial stage of cleaning, which would cause too much water to be discharged and prevent the ground from becoming too wet. At the same time, it ensures that the passive component (300) can still maintain a high drainage capacity in the later stages of cleaning, preventing incomplete cleaning.In addition, the height of the passive component (300) can be adjusted according to the coefficient of friction of the surface being cleaned. For example, in environments with a high coefficient of friction, such as carpets, the passive component (300) can be raised to reduce interference between the passive component (300) and the carpet, thus avoiding difficulties in moving the cleaning robot. Alternatively, the pressure can be adjusted according to the degree of dirt on the surface to be cleaned in the scene. For example, when cleaning the kitchen area, the pressure of the passive component (300) on the ground can be increased to effectively clean stubborn stains such as oil stains, while when cleaning indoors, the pressure of the passive component (300) on the ground can be reduced to avoid excessive burden on movement.

[0070] During use, when the passive component (300) needs to descend, the control switching block (410) moves to the positioning position, controlling the active component (100) to rotate forward, which in turn drives the lifting assembly (200) to lower the passive component (300). After the lifting assembly (200) reaches the required height, the control switching block (410) moves to the empty position, driving the active component (100) to rotate. The lifting assembly (200), active component (100), and passive component (300) rotate synchronously to achieve cleaning. When the passive component (300) needs to rise, the control switching block (410) moves to the positioning position, controlling the active component (100) to rotate in the opposite direction. The lifting assembly (200) drives the passive component (300) to rise to achieve storage or obstacle avoidance, etc. Furthermore, it is worth noting that when the passive component (300) is raised or lowered to its position and needs to rotate, the active component (100) can move in either the forward or reverse direction. That is, after the passive component (300) rises or falls, there is no need to adjust the driving direction of the active component (100). The active component (100) can continue to drive in the same direction, which makes the control process more efficient.

[0071] The force between the lifting assembly (200) and the driving component (100) is a force that can be overcome, not a rigid force. In addition to enabling the switching function of lifting and rotating, it can also prevent the lifting assembly (200) and the driving component (100) from being excessively squeezed and damaged when the passive component (300) is subjected to resistance, thus preventing the first power component from being overloaded.

[0072] The drive mechanism, cleaning equipment, and cleaning system proposed in this utility model, during cleaning, have the drive switching block moved to an empty position, releasing the circumferential limit of the lifting component. When the first power component drives the active component to rotate, the active component drives the lifting component through force, causing the cleaning component to rotate synchronously, thus achieving cleaning of the surface to be cleaned. When it is necessary to raise or lower the cleaning component, the drive switching block is moved to a positioning position, thus hindering the rotation of the lifting component. When the first power component drives the active component to rotate, the driving force causes the active component to overcome the force, and the active component moves relative to the lifting component. Through the structural interaction between the active component and the lifting component, the rotational movement of the active component is converted into the raising or lowering of the lifting component, driving the cleaning component to rise or fall. The raising and lowering of the cleaning component can avoid obstacles on the ground and adjust the pressure on the surface to be cleaned. After the raising and lowering adjustment is completed, the drive switching block is moved to an empty position, allowing the cleaning component to clean at the adjusted height. This invention enables the overall lifting and lowering of the cleaning module without the need for a separate drive unit. Only the switching block needs to be driven. Power is provided by the first power unit, which, together with the relative movement of the active component and the lifting assembly, achieves the lifting and lowering drive. This reduces the burden on the lifting and lowering drive and avoids the problems of complex structure, large size, and high cost caused by using high-power drive units.

[0073] The force can be generated in various ways. For example, in one embodiment, the driving member (100) and the lifting assembly (200) are at least partially in contact, and the force includes the frictional force between the driving member (100) and the lifting assembly (200). That is, as long as the driving member (100) and the lifting assembly (200) have a relative tendency to move, a force will be generated. If the area where the driving member (100) and the lifting assembly (200) are at least in contact is a rough surface, then the driving member (100) can drive the lifting assembly (200) to rotate through friction when the lifting assembly (200) is not restricted to rotation by the switching block (410).

[0074] Alternatively, in another embodiment, the active member (100) includes a first action member (101), and the lifting assembly (200) includes a second action member (201). At least one of the first action member (101) and the second action member (201) includes an action position and a yield position. The first action member (101) is used to interact with the second action member (201) to switch at least one of the first action member (101) and the second action member (201) between the action position and the yield position. In the action position, the first action member (101) and the second action member (201) limit each other in the rotation direction to provide force so that the active member (100) and the lifting assembly (200) rotate synchronously. In the yield position, the first action member (101) and the second action member (201) yield to each other so that the active member (100) and the lifting assembly (200) move relative to each other.

[0075] The ability of at least one of the first actuating member (101) and the second actuating member (201) to switch between an actuating position and a yielding position can be achieved by means of body deformation. For example, at least a portion of the active member (100) is elastically deformable. Under the action of the second actuating member (201), the first actuating member (101) compresses the active member (100), causing the active member (100) to deform, thereby moving the first actuating member (101) from the actuating position to the yielding position. The active member (100) is used to restore its shape through elastic deformation, causing the first actuating member (101) to move from the yielding position to the actuating position. Alternatively, at least a portion of the lifting assembly (200) is elastically deformable. Under the action of the first actuating member (101), the second actuating member (201) compresses the lifting assembly (200), causing the lifting assembly (200) to deform, thereby moving the second actuating member (201) from the actuating position to the yielding position. The lifting assembly (200) is also used to restore its shape through elastic deformation, causing the second actuating member (201) to move from the yielding position to the actuating position. In one embodiment, such as Figure 4 As shown, taking the second action member (201) including the action position and the yielding position as an example, it can be that the lifting assembly (200) has a hollow (203) on it, and the hollow (203) makes part of the side wall of the lifting assembly (200) easy to deform. Alternatively, both the driving member (100) and the lifting assembly (200) are elastic, and the first action member (101) and the second action member (201) interact with each other. The first action member (101) and the second action member (201) respectively squeeze or release the driving member (100) and the lifting assembly (200) to switch between the action position and the yielding position. Alternatively, neither the driving member (100) nor the lifting assembly (200) is elastic, but at least one of the first action member (101) and the second action member (201) is elastic. In this case, the action position and the yielding position refer to the position of any point on the first action member (101) and the second action member (201). If the first actuating member (101) is an elastic member, under the action of the second actuating member (201), the first actuating member (101) will at least deform itself, thereby moving the first actuating member (101) from the acting position to the yielding position. The first actuating member (101) will also recover its shape through elastic deformation, thereby moving the first actuating member (101) from the yielding position to the acting position. The implementation method where the second actuating member (201) is an elastic member will not be described in detail.

[0076] like Figure 3-4As shown, the position of the second action member (201) includes both the action position and the yield position. In the action position, the first action member (101) and the second action member (201) are mutually limited in the rotational direction, or in other words, in the circumferential direction of the driving member (100), thereby driving the lifting assembly (200) and the driving member (100) to rotate coaxially. When the first action member (101) and the second action member (201) are mutually limited and then drive the lifting assembly (200) to rotate, due to the inertia of the lifting assembly (200), a certain external force is required to drive the lifting assembly (200) to rotate, resulting in a certain pressure between the first action member (101) and the second action member (201), but the pressure is not too great and will not cause the second action member (201) to be pressed and moved to the yield position. However, when the lifting assembly (200) is obstructed by the switching block (410), the reverse external force on the driving member (100) and the lifting assembly (200) increases, which increases the pressure between the first action member (101) and the second action member (201). The second action member (201) is set to push the second action member (201) away from the first action member (101) when the pressure increases, so that the interaction between the first action member (101) and the second action member (201) will move the second action member (201) to the yielding position, so that the first action member (101) and the second action member (201) are in the critical position of being misaligned. The first action member (101) and the second action member (201) yield to each other, thereby realizing the interruption of transmission between the driving member (100) and the lifting assembly (200). The driving member (100) can rotate relative to the lifting assembly (200) to realize relative movement in the circumferential direction. It is worth noting that when the first action member (101) and the second action member (201) are in the action position, they only limit the relative position of the driving member (100) and the lifting assembly (200) in the circumferential direction, and do not limit the axial position, or the lifting direction.

[0077] In one embodiment, there are multiple second action members (201), which are arranged in the rotation direction or the circumferential direction of the lifting assembly (200), and adjacent second action members (201) are connected. After the first action member (101) is separated from the current second action member (201), the first action member (101) interacts with the adjacent second action member (201) of the current second action member (201); or, there are multiple first action members (101), which are arranged in the rotation direction or the circumferential direction of the driving member (100), and adjacent first action members (101) are connected. After the second action member (201) is separated from the current first action member (101), the second action member (201) interacts with the adjacent first action member (101) of the current first action member (101).

[0078] The driving member (100) only generates force when the first actuating member (101) and the second actuating member (201) are in a rotating position and the driving member (100) and the lifting assembly (200) have a relative motion tendency. To ensure that the lifting assembly (200) and the driving member (100) can still transmit power normally after the lifting assembly (200) has been adjusted, the first action members (101) are arranged closely together. Then, after the second action member (201) passes the current first action member (101), the second action member (201) will return to the action position and can fall into the first action member (101) adjacent to the current first action member (101). If the switching block (410) moves to the empty position at this time, the second action member (201) can immediately continue to act with the adjacent first action member (101) and then immediately provide force to realize the rotational transmission, save switching time, and avoid the situation where the driving member (100) needs to idle for a certain distance before it can act with the first action member (101) again to provide force when the first action member (101) is set at intervals or is only a single one. If the switching block (410) is still in the positioning position, the second action (201) will continue to press against the adjacent first action (101), causing the second action (201) to move to the yielding position again, and so on, until the switching block (410) moves to the empty position.

[0079] The distribution of the first action member (101) and the second action member (201) is related to the direction in which the driving member (100) drives the lifting assembly (200) to move. When the rotation direction is circumferential, that is, when the driving member (100) drives the lifting assembly (200) to rotate, multiple first action members (101) can be arranged around the axis of rotation. The second action member (201) can be only one or multiple. For example, the second action member (201) can be as follows: Figure 3 The three second action members (201) shown are evenly distributed around the rotating shaft, thereby achieving uniform force distribution between the lifting assembly (200) and the driving member (100).

[0080] The interaction between the first actuating element (101) and the second actuating element (201) to move at least one of them to a yielding position is achieved by the surface shape of the contact position between the first actuating element (101) and the second actuating element (201). For example, the first actuating element (101) includes a first actuating surface, and the second actuating element (201) includes a second actuating surface. The first actuating surface and the second actuating surface slide relative to each other to move at least one of the first actuating element (101) and the second actuating element (201) from the actuating position to the yielding position. The external force applied between the first actuating surface and the second actuating surface should satisfy the condition that the first actuating element (101) and the second actuating element (201) push each other away from each other. In one embodiment, one of the first actuating surface and the second actuating surface is a concave arc surface, and the other is a convex arc surface. The shapes of the concave arc surface and the convex arc surface are adapted to each other, and in the actuating position, the concave arc surface abuts against the convex arc surface.

[0081] The first action member (101) and the second action member (201) provide the force. Compared with the friction between the active member (100) and the lifting assembly (200) as the force, the transmission force between the active member (100) and the lifting assembly (200) is greater. This avoids the problem of transmission failure caused by the decrease in friction between the active member (100) and the lifting assembly (200) after long-term use, which would prevent the passive member (300) from rotating effectively.

[0082] In one embodiment, the lifting assembly (200) includes a lifting member (210) and an overload protection member (220). The lifting member (210) is movably connected to the driving member (100), and there is an action force between the driving member (100) and the overload protection member (220). The lifting member (210) is used to connect to the passive member (300).

[0083] The overload protection component (220) includes the aforementioned second action component (201). The lifting component (210) and the overload protection component (220) can be made of different materials. The overload protection component (220) can be made of a more easily deformable material, allowing the second action component (201) to switch positions. The lifting component (210) can be made of a harder material, facilitating stable fixation of the passive component (300) and effective interaction with the active component (100). The lifting component (210) and the overload protection component (220) are detachably connected, and the overload protection component (220) can be replaced as needed.

[0084] When the driving member (100) and the lifting assembly (200), or the lifting member (210), move relative to each other in the rotational direction, the structural arrangement of the driving member (100) and the lifting assembly (200) allows the driving member (100) to apply force to the lifting assembly (200) in the lifting direction or vertical direction, thereby driving the lifting assembly (200) to rise or fall. The structural arrangement can be implemented as follows: the driving member (100) is provided with a third action member (102), and the lifting assembly (200) is provided with a fourth action member (202). At least one of the third action member (102) and the fourth action member (202) includes an action ramp. When the switching block (410) is in the positioning position, the driving member (100) moves in the rotational direction, causing the third action member (102) and the fourth action member (202) to cooperate with each other through the action ramp, driving the lifting assembly (200) to rise or fall.

[0085] The inclined plane is an inclined plane that extends simultaneously in both the rotational and lifting directions, or in other words, an inclined plane that extends simultaneously in both the circumferential and vertical directions. The inclined plane provides both lifting and lowering forces to the third action member (102) and the fourth action member (202) when they move relative to each other in the circumferential direction. Both the third action member (102) and the fourth action member (202) may include an inclined plane. Alternatively, one of the third action member (102) and the fourth action member (202) may include an inclined plane, and the other may include a rolling element or a slider, which is used to roll or slide relative to the inclined plane. The rolling element may be a roller or a shaft, which, through rolling connection to the inclined plane, can reduce the friction between the third action member (102) and the fourth action member (202), thus reducing the driving burden. Alternatively, the slider may be a block-shaped, columnar, or other protrusion.

[0086] In one embodiment, the number of the third action (102) and the fourth action (202) can both be one. Alternatively, the number of the third action (102) and the fourth action (202) can be the same, and they can be configured in a one-to-one correspondence, with multiple third action (102) and fourth action (202).

[0087] In one embodiment, one of the third actuating member (102) and the fourth actuating member (202) is threaded, and the other of the third actuating member (102) and the fourth actuating member (202) can be a chuck with an actuating bevel, the chuck being embedded between the helical surfaces; alternatively, the other of the third actuating member (102) and the fourth actuating member (202) may be simply a smaller chuck without an actuating bevel. The driving member (100) is threadedly connected to the lifting assembly (200), and the driving member (100) rotates relative to the lifting assembly (200) to push the lifting assembly (200) up and down via the thread.

[0088] Or, such as Figure 2 As shown, both the third action (102) and the fourth action (202) are threaded. Compared with the combination of thread and chuck, the two threads are connected by interlocking to increase the tightness of the connection between the driving part (100) and the lifting assembly (200) and avoid relative shaking between the driving part (100) and the lifting assembly (200).

[0089] Alternatively, at least one of the third action (102) and the fourth action (202) is an action groove, and the other of the third action (102) and the fourth action (202) is used to be embedded in the action groove, the groove wall of which includes an action ramp.

[0090] In one embodiment, the lifting assembly (200) includes a lifting member (210), which includes a first sleeve (211) and a second sleeve (212). The second sleeve (212) is sleeved around the outer periphery of the first sleeve (211), and the second sleeve (212) and the first sleeve (211) are spaced apart. The second sleeve (212) and the first sleeve (211) are connected at one end near the passive member (300). An active member (100) is located between the first sleeve (211) and the second sleeve (212). The active member (100) interacts with at least one of the first sleeve (211) and the second sleeve (212) to drive the lifting assembly (200) to move up and down. The first sleeve (211) is used to connect the passive member (300).

[0091] The first sleeve (211), the second sleeve (212), and the overload protection element (220) are all cylindrical structures. The overload protection element (220) can be located at the end of the second sleeve (212) away from the driven member (300) and interact with the outer peripheral surface of the driving member (100), that is, the aforementioned first actuating element (101) is located on the outer peripheral surface of the driving member (100), and the second actuating element (201) is located on the inner peripheral surface of the overload protection element (220). Alternatively, as Figure 3 As shown, the overload protection element (220) can be disposed at the end of the first sleeve (211) away from the passive element (300) and interact with the inner circumferential surface of the active element (100). That is, the aforementioned first action element (101) is disposed on the inner circumferential surface of the active element (100), and the second action element (201) is disposed on the outer circumferential surface of the overload protection element (220). Alternatively, the overload protection element (220) can be disposed on both the first sleeve (211) and the second sleeve (212).

[0092] The third actuating member (102) and the fourth actuating member (202) can be respectively disposed on the inner peripheral surface of the driving member (100) and the outer peripheral surface of the first sleeve (211), and the driving member (100) and the second sleeve (212) can be slidably connected. Or, as Figure 2 As shown, the third actuating member (102) and the fourth actuating member (202) are respectively disposed on the outer peripheral surface of the driving member (100) and the inner peripheral surface of the second sleeve (212), and the driving member (100) and the first sleeve (211) can be slidably connected. Alternatively, both the first sleeve (211) and the second sleeve (212) are provided with the fourth actuating member (202), and both the inner and outer peripheral surfaces of the driving member (100) are provided with the third actuating member (102).

[0093] By using the first sleeve (211) and the second sleeve (212), the driving element (100) is positioned between the first sleeve (211) and the second sleeve (212), which serves to protect the driving element (100). For example, when the driving element (100) is threadedly connected to the first sleeve (211) and / or the second sleeve (212), it can prevent dust and debris from entering between the threads, thus avoiding transmission problems. In addition, it also makes the relative position of the driving element (100) and the lifting assembly (200) in the radial direction more stable and less prone to shaking.

[0094] In one embodiment, the drive mechanism further includes a first elastic element (600) and a connecting portion (700). The connecting portion (700) is connected to the lifting assembly (200) via the first elastic element (600), and the connecting portion (700) is used to connect the passive element (300). When the lifting assembly (200) moves up and down, the first elastic element (600) is compressed to different degrees to provide different degrees of pressure on the cleaning surface for the passive element (300).

[0095] By setting the first elastic element (600), different pressure forces can be applied to the passive element (300) to the ground. This avoids situations where the passive element (300) cannot contact the ground due to mechanical errors or excessive pressure damage caused by excessive pressure when it is directly connected to the lifting assembly (200). The cleaning force of the passive element (300) can be adjusted as needed. For example, in the initial stage of cleaning, the lifting assembly (200) descends to the first elastic element (600) for slight compression, preventing excessive pressure on the water on the passive element (300). As cleaning progresses, the lifting assembly (200) can be driven to descend further, compressing the elastic element (700) and increasing the force applied to the passive element (300), allowing it to press the ground with greater intensity and expel residual water, ensuring a moderate water output from the passive element (300) during cleaning. Alternatively, the pressure can be adjusted according to the degree of dirt on the ground, balancing cleaning power with minimizing walking obstacles. Alternatively, the pressure can be adjusted according to the material of the surface to be cleaned. The lifting assembly (200) includes an inner cavity, and a connecting part (700) passes through the inner cavity, sliding against the inner wall of the cavity, such as the connecting part (700) sliding against the inner wall of the first sleeve (211). A insertion groove can be provided on the connecting part (700), and a magnetic element can be provided in the insertion groove for inserting and adsorbing the passive component (300). The connection between the first elastic element (600) and the connecting part (700) and the lifting assembly (200) can be abutment, insertion, hanging, bonding, magnetic connection, etc. The first elastic element (600) can be a spring, foam, soft rubber, etc. In one embodiment, the lifting assembly (200) includes a blocking member (213) that interacts with the connecting portion (700) to limit the movement of the connecting portion (700) in the direction in which the first elastic member (600) releases energy. The blocking member (213) may be disposed in the inner cavity of the lifting assembly (200) or at the bottom opening edge of the first sleeve (211) to prevent the connecting portion (700) from dislodging from the inner cavity and to allow the first elastic member (600) to be installed in an abutting manner. Simultaneously, it also serves to block debris between the lifting assembly (200) and the connecting portion (700), preventing obstruction of the movement of the connecting portion (700).

[0096] The switching block (410) can be used in various ways to position and allow the lifting assembly (200) to move. When the switching block (410) is in the positioning position, it only positions the lifting assembly (200) in the rotation direction or in the circumferential direction of the lifting assembly (200), without restricting the movement of the lifting assembly (200) in the lifting direction or in the vertical direction. The switching block (410) can be used to position and allow the lifting assembly (200) to move by direct contact. For example, in one embodiment, when the switching block (410) is in the positioning position, the switching block (410) is directly connected to the lifting assembly (200) to prevent the lifting assembly (200) from rotating. The lifting assembly (200) or the second sleeve (212) may have at least one limiting groove or limiting hole. When the switching block (410) is in the positioning position, the switching block (410) is inserted into the limiting groove or limiting hole. The limiting groove or limiting hole is a strip groove or strip hole extending in the vertical direction. Alternatively, when the switching block (410) is in the positioning position, the switching block (410) abuts against the lifting component (200), and the frictional force between the switching block (410) and the lifting component (200) is greater than the force applied. If the frictional force between the switching block (410) and the lifting component (200) is greater than the frictional force between the lifting component (200) and the driving member (100), the lifting component (200) and the driving member (100) will move relative to each other. With this setting, there is no need for the switching block (410) to align with the limiting groove or limiting hole. When the lifting component (200) rotates to any position, the switching block (410) can switch to the positioning position to fix the lifting component (200).

[0097] In some other embodiments, the switching block (410) does not directly contact the lifting assembly (200). The switching assembly (400) also includes a transmission assembly connected to the lifting assembly (200). When the switching block (410) is in the positioning position, the switching block (410) is connected to the transmission assembly to impede the rotation of the lifting assembly (200) through the transmission assembly.

[0098] The transmission component allows for a more flexible setting of the switching block (410)'s function. This avoids the problem in the aforementioned embodiments where positioning by friction is prone to wear after prolonged use, leading to an inability to stably stop the rotation of the lifting component (200). It also avoids the problem in the aforementioned embodiments where the lifting component (200) needs to be rotated to align with the limiting groove or limiting hole to achieve positioning.

[0099] In one embodiment, the transmission assembly includes at least an action gear (420), and the lifting assembly (200) includes a circumferentially arranged transmission tooth (214). The action gear (420) meshes directly or indirectly with the transmission tooth (214). When the switching block (410) is in the positioning position, the switching block (410) acts with the action gear (420) to limit the rotation of the action gear (420). When the switching block (410) is in the idle position, the action gear (420) rotates with the lifting assembly (200).

[0100] The action gear (420) and the transmission gear (214) always maintain a direct or indirect meshing relationship. When the switching block (410) is in the idle position, the switching block (410) disengages from the action gear (420), and the action gear (420) will idle under the action of the rotation of the lifting assembly (200). In some embodiments, the transmission assembly also includes intermediate gears. Intermediate gears can be set as needed, and there can be two, one, three, or more intermediate gears, depending on the requirements. For example, a first intermediate gear (430) and a second intermediate gear (440) can be set. The first intermediate gear (430) meshes with the action gear (420) and the second intermediate gear (440) respectively, and the second intermediate gear (440) meshes with the transmission gear (214). By setting intermediate gears, the setting position and shape of the action gear (420) are more flexible, and the avoidance of other components on the cleaning robot can be achieved. In the embodiment with a second intermediate gear (440), the extension length of the second intermediate gear (440) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200). If the actuating gear (420) is directly connected to the transmission gear (214), then the extension length of the actuating gear (420) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200), and the transmission gear (214) can have a shorter axial extension length, thereby saving space occupied by the transmission gear (214). Alternatively, the extension length of the transmission gear (214) in the lifting direction can be greater than the maximum lifting range of the lifting assembly (200), and the second intermediate gear (440) can be a gear with a shorter axial length. This can be set as needed so that the transmission assembly can maintain connection and transmission relationship with the transmission gear (214) at any height of the lifting assembly (200), ensuring continuous adjustment of lifting at any position and ensuring that the transmission assembly and the transmission gear (214) will not disengage throughout the entire lifting range of the lifting assembly (200).

[0101] In one embodiment, the drive mechanism further includes a second power member (500), which is connected to the switching block (410) and is used to drive the switching block (410) to move between a positioning position and an idle position.

[0102] The switching block (410) can impede the rotation of the actuating gear (420) in various ways to impede the rotation of the lifting assembly (200) via the transmission teeth (214). In one embodiment, the switching block (410) acts on the axial end face of the actuating gear (420) to limit the rotation of the actuating gear (420). The interaction between the switching block (410) and the actuating gear (420) can be achieved by using friction to impede the rotation of the actuating gear (420). Alternatively, as... Figure 5-6 As shown, multiple limiting heads (421) arranged around the rotating shaft are provided on the end face of the axial direction of the action gear (420), and a limiting slot (411) is provided on the switching block (410). The second power member (500) is used to drive the switching block (410) to move in the axial direction of the action gear (420). When the switching block (410) is in the positioning position, the limiting head (421) is embedded in the limiting slot (411). The surfaces of the limiting head (421) and the limiting slot (411) can both include guide surfaces, thus providing a certain tolerance for circumferential alignment. For example, if the limiting head (421) and the limiting slot (411) are both V-shaped sawtooth structures or include arc surfaces, then even if the limiting head (421) is not completely aligned with the limiting slot (411), the limiting head (421) can still enter the limiting slot (411) through the guiding effect of the inclined surface or arc surface, ensuring that the switching block (410) effectively limits the action of the gear (420).

[0103] In one embodiment, the transmission assembly further includes a second elastic element (450), which is connected to the switching block (410) and applies a spring force to the switching block (410) in the opposite direction to the force applied by the switching block (410). This can buffer the impact on the working gear (420), preventing edge wear caused by rigid impact of the switching block (410), and also reducing noise caused by rigid impact of the switching block (410). At the same time, the spring force provided by the second elastic element (450) ensures a tight axial fit between the switching block (410) and the working gear (420), making the limiting more stable.

[0104] The second power component (500) can take various forms and drive the switching block (410) to move in various ways. In one embodiment, the second power component (500) includes a drive component (510) and a lead screw (520). The drive component (510) is connected to the lead screw (520), and the lead screw (520) is screwed to the switching block (410). The switching block (410) and the housing of the drive mechanism are circumferentially capped at the upper limit of the switching block (410). The lead screw (520) is used to rotate under the action of the drive component (510) to push the switching block (410) to move vertically via a thread. An actuating gear (420) can be rotatably sleeved on the lead screw (520) via a bearing, making the structure more compact and improving stability.

[0105] In one embodiment, the drive mechanism further includes a detection unit (800) for generating a positioning signal when the lifting assembly (200) moves to an extreme position in the lifting direction.

[0106] The detection unit (800) can be used to provide feedback on the highest position of the lifting assembly (200) in the vertical direction, preventing overload of the first power component caused by excessive upward movement of the lifting assembly (200). The detection unit (800) can also be used to provide feedback on the lowest position of the lifting assembly (200) in the vertical direction, preventing overload of the first power component caused by excessive downward movement of the lifting assembly (200) leading to detachment from the driving member (100), or by the lifting assembly (200) being obstructed downward movement by a housing structure such as the drive mechanism. The detection unit (800) can be of various types, such as including a photoelectric emitter and a light receiver, which are arranged opposite each other. When the lifting assembly (200) moves to the highest or lowest position, the lifting assembly (200) blocks the light between the photoelectric emitter and the light receiver, causing the light receiver to generate a positioning signal. Alternatively, the detection unit (800) includes a magnetic sensor, and a magnetic element is connected to the lifting assembly (200). When the lifting assembly (200) moves to the highest or lowest position, the magnetic element enters the detection range of the magnetic sensor, causing the magnetic sensor to generate a position signal. Or, the detection unit (800) includes a micro switch. When the lifting assembly (200) moves to the highest or lowest position, the lifting assembly (200) triggers the micro switch, causing the micro switch to generate a position signal.

[0107] On the other hand, such as Figure 7 As shown, this utility model also provides a cleaning device (30), including a drive mechanism (10) as described above, and a cleaning device body (20). The drive mechanism (10) is connected to the cleaning device body (20). The advantages of the cleaning device (30) including any of the drive mechanisms described above will not be elaborated here.

[0108] On the other hand, such as Figure 8 As shown, this utility model also provides a cleaning system, including the cleaning device (30) as described above, and a base station (40). The cleaning device (30) can selectively dock at the base station (40), and the base station (40) can provide water, cleaning, charging, etc. for the cleaning device (30). The cleaning system includes the advantages of any of the cleaning devices (30) described above, which will not be repeated here.

[0109] There can be one, two, or more drive mechanisms, depending on the needs. The drive mechanism can drive the lifting and rotation of items such as mops and side brushes, as well as the horizontal movement and rotation of items such as roller brushes, or it can also be used for roller brush extension and retraction.

[0110] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A driving mechanism, characterized in that, include: Active component (100); A lifting assembly (200) is movably connected to the active component (100), and the lifting assembly (200) is used to connect to the passive component (300). A switching component (400) includes a switching block (410), the position of which includes at least a positioning position and an empty position; The first power component is connected to the active component (100) and is used to drive the active component (100) to rotate. When the active component (100) is in at least one rotational position, it generates a force in the rotational direction between itself and the lifting assembly (200) due to its movement. When the switching block (410) is in the positioning position, the switching component (400) hinders the rotation of the lifting component (200), and the active component (100) moves relative to the lifting component (200) against the force and interacts with the lifting component (200) to drive the lifting component (200) to rise and fall. When the switching block (410) is in the vacant position, the active component (100) drives the lifting component (200) to rotate the passive component (300) through the force.

2. The driving mechanism according to claim 1, characterized in that, The active component (100) and the lifting assembly (200) abut at least in a portion of their respective areas, and the force includes the frictional force between the active component (100) and the lifting assembly (200); And / or, the active member (100) includes a first action member (101), and the lifting assembly (200) includes a second action member (201). At least one of the first action member (101) and the second action member (201) includes an action position and a yielding position. The first action member (101) is used to interact with the second action member (201) to switch at least one of the first action member (101) and the second action member (201) between the action position and the yielding position. In the action position, the first action member (101) and the second action member (201) limit each other in the rotation direction to provide the action force so that the active member (100) rotates synchronously with the lifting assembly (200). In the yielding position, the first action member (101) and the second action member (201) yield to each other so that the active member (100) moves relative to the lifting assembly (200).

3. The driving mechanism according to claim 2, characterized in that, The number of the first action members (101) is multiple, and the multiple first action members (101) are arranged in the rotation direction, and adjacent first action members (101) are connected. And / or, the number of the second action (201) is multiple, the multiple second action (201) are arranged in the rotation direction, and adjacent second action (201) are connected.

4. The driving mechanism according to claim 2, characterized in that, At least a portion of the active member (100) is deformable to allow the first actuating member (101) to switch between the actuating position and the yielding position; And / or, at least a portion of the lifting assembly (200) is deformable to allow the second actuator (201) to switch between the actuating position and the yielding position; And / or, at least one of the first actuating element (101) and the second actuating element (201) is deformable.

5. The driving mechanism according to claim 1, characterized in that, The lifting assembly (200) includes a lifting member (210) and an overload protection member (220). The lifting member (210) is movably connected to the active member (100). There is a force between the active member (100) and the overload protection member (220). The lifting member (210) is used to connect to the passive member (300). The lifting component (210) and the overload protection component (220) are detachably connected.

6. The driving mechanism according to claim 1, characterized in that, The active component (100) is provided with a third action component (102), and the lifting assembly (200) is provided with a fourth action component (202). At least one of the third action member (102) and the fourth action member (202) includes an action ramp. When the switching block (410) is in the positioning position, the active member (100) moves in the rotation direction so that the third action member (102) and the fourth action member (202) cooperate with each other through the action ramp to drive the lifting assembly (200) to lift.

7. The driving mechanism according to claim 6, characterized in that, Both the third action (102) and the fourth action (202) include the action ramp; Alternatively, one of the third action (102) and the fourth action (202) may include the action ramp, and the other of the third action (102) and the fourth action (202) may include a roller or slider for rolling or sliding relative to the action ramp.

8. The driving mechanism according to claim 6, characterized in that, One of the third action (102) and the fourth action (202) is a thread and the other is a chuck, with the chuck embedded between the threads; Alternatively, both the third action (102) and the fourth action (202) may be threaded. Alternatively, at least one of the third action (102) and the fourth action (202) may be an action groove, and the other of the third action (102) and the fourth action (202) may be used to be embedded in the action groove.

9. The driving mechanism according to claim 1, characterized in that, The lifting assembly (200) includes a lifting member (210), which includes a first sleeve (211) and a second sleeve (212). The second sleeve (212) is sleeved on the outer periphery of the first sleeve (211), and the second sleeve (212) and the first sleeve (211) are spaced apart. The second sleeve (212) and the first sleeve (211) are connected at one end near the passive member (300). The active component (100) is located between the first sleeve (211) and the second sleeve (212). The active component (100) interacts with at least one of the first sleeve (211) and the second sleeve (212) to drive the lifting assembly (200) to move up and down. The first sleeve (211) is used to connect the passive member (300).

10. The driving mechanism according to claim 1, characterized in that, The drive mechanism also includes: A first elastic element (600) and a connecting part (700), wherein the connecting part (700) is connected to the lifting assembly (200) via the first elastic element (600), and the connecting part (700) is used to connect the passive element (300). When the lifting assembly (200) is raised or lowered, the first elastic element (600) is compressed to different degrees to provide the passive element (300) with different degrees of pressure on the surface to be cleaned.

11. The driving mechanism according to claim 10, characterized in that, The lifting assembly (200) includes a blocking member (213) that interacts with the connecting part (700) to limit the movement of the connecting part (700) in the direction in which the first elastic member (600) releases energy to its limit position.

12. The driving mechanism according to claim 1, characterized in that, When the switching block (410) is in the positioning position, the switching block (410) is directly connected to the lifting assembly (200) to prevent the lifting assembly (200) from rotating; The lifting assembly (200) is provided with at least one limiting groove or limiting hole. When the switching block (410) is in the positioning position, the switching block (410) is inserted into the limiting groove or limiting hole. Alternatively, when the switching block (410) is in the positioning position, the switching block (410) abuts against the lifting assembly (200), and the frictional force between the switching block (410) and the lifting assembly (200) is greater than the force.

13. The driving mechanism according to claim 1, characterized in that, The switching component (400) further includes a transmission component connected to the lifting component (200). When the switching block (410) is in the positioning position, the switching block (410) is connected to the transmission component to impede the rotation of the lifting component (200) through the transmission component.

14. The driving mechanism according to claim 13, characterized in that, The transmission assembly includes at least an action gear (420), and the lifting assembly (200) includes a circumferentially arranged transmission tooth (214). The action gear (420) meshes directly or indirectly with the transmission tooth (214). When the switching block (410) is in the positioning position, the switching block (410) acts with the action gear (420) to restrict the rotation of the action gear (420). When the switching block (410) is in the idle position, the action gear (420) rotates with the lifting assembly (200).

15. The driving mechanism according to claim 14, characterized in that, The transmission assembly further includes a first intermediate gear (430) and a second intermediate gear (440), the first intermediate gear (430) meshing with the action gear (420) and the second intermediate gear (440) respectively, and the second intermediate gear (440) meshing with the transmission gear (214); The extension length of the portion of the transmission assembly connected to the transmission gear (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200); And / or, the extension length of the transmission tooth (214) in the lifting direction is greater than the maximum lifting range of the lifting assembly (200).

16. The driving mechanism according to claim 14, characterized in that, The switching block (410) interacts with the axial end face of the actuating gear (420) to restrict the rotation of the actuating gear (420).

17. The driving mechanism according to claim 16, characterized in that, The working gear (420) has a plurality of limiting heads (421) arranged around the rotating shaft on its axial end face. The switching block (410) has a limiting slot (411). The driving mechanism also includes a second power member (500), which is used to drive the switching block (410) to move in the axial direction of the working gear (420). When the switching block (410) is in the positioning position, the limiting head (421) is embedded in the limiting slot (411).

18. The driving mechanism according to claim 1, characterized in that, The drive mechanism also includes: The second power component (500) is connected to the switching block (410) and is used to drive the switching block (410) to move between the positioning position and the idle position.

19. The driving mechanism according to claim 18, characterized in that, The second power component (500) includes a drive component (510) and a lead screw (520). The drive component (510) is connected to the lead screw (520), and the lead screw (520) is screwed to the switching block (410). The switching block (410) and the housing of the drive mechanism are circumferentially limited at the switching block (410). The lead screw (520) is used to rotate under the action of the drive component (510) so as to push the switching block (410) to move through the thread. The switching assembly (400) further includes a transmission assembly, which also includes a second elastic element (450) connected to the switching block (410) for applying an elastic force to the switching block (410) in the opposite direction to the force applied by the switching block (410).

20. The driving mechanism according to claim 1, characterized in that, The drive mechanism also includes: The detection unit (800) is used to generate a positioning signal when the lifting assembly (200) moves to the limit position in the lifting direction.

21. A cleaning device, characterized in that, Includes the drive mechanism (10) as described in any one of claims 1-20 above.

22. A cleaning system, characterized in that, Includes the cleaning equipment described in claim 21 above.

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