Drive mechanism, self-cleaning device and self-cleaning system

Abstract

The present invention discloses a drive mechanism, a self-cleaning device, and a self-cleaning system. Through the interaction between the first and second drive elements, the lifting, lowering, and rotation of a cleaning element is ensured by a single drive component, thereby simplifying the structure and control. The main technical solution of the present invention is as follows: a drive mechanism comprising: a main support body; a first drive element, said first drive element comprising a first end and a second end, said second end being used to connect to the cleaning element;second drive element, said first drive element and said second drive element being movably connected, said second drive element being movably connected to said main support body, and there is a first frictional force between said second drive element and said main support body; power assembly, said power assembly being connected to said first end by drive, said power assembly being used to drive said first drive element to rotate so as to cause said first drive element to interact with said second drive element, so as to drive said cleaning element upwards or downwards. The present invention is used principally for driving the cleaning element. Figure for the abstract: Fig. 2.

Description

Title of the invention: Drive mechanism, self-cleaning device and self-cleaning system. Technical field

[0001] The present invention relates to the technical field of the smart home and, in particular, a drive mechanism, a self-cleaning device and a self-cleaning system. Background technology

[0002] With the continued development of smart home technology, sweeping robots are increasingly used for daily home cleaning. By utilizing their cleaning pads and their own rotation, along with the overall movement of the sweeping robot, these robots achieve relative movement between the cleaning pads and the floor, thus cleaning. The cleaning pads can also be raised and lowered, allowing them to be stored when not in contact with the floor, while also avoiding obstacles such as rugs and carpets.

[0003] In existing scanning robots, two separate drive mechanisms are implemented for the lifting and lowering drive as well as for the rotary drive of the cleaning element, and the structure and drive are complicated. Contents of the invention

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

[0005] On the one hand, the present invention proposes a drive mechanism for a self-cleaning device; the drive mechanism comprises:

[0006] a main support body;

[0007] a first drive element which includes a first end and a second end, said second end being configured to be connected to a cleaning element;

[0008] a second drive element, said first drive element and said second drive element being movably connected, said second drive element being movably connected to said main support body and a first friction force existing between said second drive element and said main support body;

[0009] a power assembly, said power assembly being connected to said first end with drive, said power assembly being configured to drive said first drive element to rotate so as to make said first drive element interact with said second drive element, in order to drive said cleaning element up or down.

[0010] Optionally, the positions of said first drive element include a cleaning position.

[0011] Optionally, said first training element and said second training element are provided with a first action part and a second action part, respectively, and said first action part and said second action part are configured to interact with each other.

[0012] Optionally, at least one of said first action part and of said second action part includes an action slope, and, when said first drive element rotates, said first action part and said second action part cooperate with each other by means of said action slope, in order to drive the first drive element upwards or downwards.

[0013] Optionally, said first part of action and said second part of action both include said slope of action, or, one of said first part of action and said second part of action includes said slope of action while the other of said first part of action and said second part of action includes a rolling or sliding element, said rolling or sliding element being configured to roll or slide relative to said slope of action.

[0014] Optionally, the number of said first action parts and said second action parts is identical and the number of said first action parts and said second action parts is at least equal to one.

[0015] Optionally, when the number of said first action parts and said second action parts are multiple, the plurality of said first action parts are distributed over the circumference around the axis of rotation of said first drive element and the plurality of said second action parts are distributed over the circumference around the axis of rotation of said second drive element.

[0016] Optionally, either one of said first action part and of said second action part is threaded, or at least one of said first action part and of said second action part is an action groove, while the other of said first action part and of said second action part is configured to be embedded in said action groove.

[0017] Optionally, the second end includes a first sleeve and the second drive element includes a second sleeve;

[0018] said first sleeve is provided with first action part, said second sleeve is provided with second action part and said first sleeve is fitted into said second sleeve.

[0019] Optionally, one of said first action part and said second action part is engaged with an action element, and when said first drive element is in cleaning position, the other of said first action part and said second action part comes to rest against said action element in order to cause said first drive element to cause said second drive element to rotate in synchronization with it.

[0020] Optionally, there is a second friction force between said first drive element and said second drive element, the first friction force being greater than the second friction force.

[0021] Optionally, the power assembly includes a power element and a third drive element; and

[0022] the power element is connected to the third drive element with drive, and the third drive element is connected by sliding to the first drive element in an axial direction with a position limitation on the circumferential direction.

[0023] Optionally, the second end includes a position limiting part, said third drive element is fitted to the outer periphery of said position limiting part, or, said position limiting part is fitted to the outer periphery of said third drive element.

[0024] Optionally, the positions of the second drive element and the main support body are axially limited, and the second drive element and the main support body are connected to each other via a damping on the circumference.

[0025] Optionally, said drive mechanism further comprises a shock-absorbing bearing,

[0026] the second drive element being connected to the main support body by means of the shock-absorbing bearing.

[0027] Optionally, said drive mechanism further comprises: a friction assembly;

[0028] said second drive element includes a reverse, said rim being connected to the second sleeve of said second drive element and projecting from the side wall of said second sleeve, said rim being connected to said friction assembly.

[0029] Optionally, said friction assembly comprises an upper friction element and a lower friction element, said upper friction element and said lower friction element coming into contact with said rim by both sides of said rim in the axial direction of said second drive element, respectively.

[0030] Optionally, said friction assembly further includes an elastic element, said elastic element being connected to at least one of said upper and lower friction elements, said elastic element being used to apply an elastic force to said upper friction element and / or said lower friction element so that it(s) move near said rim.

[0031] Optionally, said friction assembly includes a lower friction element and at least one drive wheel, said lower friction element and said drive wheel respectively coming against the rim by the two sides of the rim in the axial direction of said second drive element.

[0032] Optionally, said lower friction element is closer to said cleaning element than said action wheel.

[0033] Optionally, the drive mechanism includes a plurality of drive wheels, the plurality of said drive wheels (840) being arranged uniformly in the circumferential direction of said second drive element (300).

[0034] Optionally, the action wheel is rotationally connected to the main support body;

[0035] and / or, said drive wheel comprises a wheel body and a rotation axis, said axis rotation being connected to said main support body and said wheel body being rotationally connected to said rotation axis;

[0036] and / or, at least one of the contact surfaces of said drive wheel with said rim is provided with a wear-resistant layer;

[0037] and / or, said main support body is provided with a mounting cavity, the ends of said drive wheels are connected to the two opposite side walls of said mounting cavity and said drive wheels partially protrude out of said mounting cavity to butt against said rim.

[0038] Optionally, said friction assembly further includes an elastic element, said elastic element being connected to said lower friction element, said elastic element being used to apply an elastic force to said lower friction element so that it moves near said rim.

[0039] Optionally, said first drive element includes a third sleeve, said first sleeve of said first drive element having a first end opposite said cleaning element, said third sleeve being connected to said first end of said first sleeve, said third sleeve being spaced from said first sleeve, said second sleeve of said second drive element being embedded between said third sleeve and said first sleeve and having a space with said third sleeve.

[0040] Optionally, when the first drive element is in the cleaning position, the end of the third sleeve furthest from the cleaning element is further from the cleaning element than the first end of the first sleeve

[0041] Optionally, said main support body includes a fourth sleeve, said fourth sleeve being spaced from said second sleeve, said third sleeve being embedded between said fourth sleeve and said second sleeve and having a space with said fourth sleeve.

[0042] Optionally, when the first drive element is in the cleaning position, the end of the third sleeve away from the cleaning element is further from the cleaning element than the end of the fourth sleeve which is closer to the cleaning element.

[0043] Optionally, said drive mechanism further includes a magnetic attraction element, said magnetic attraction element is connected to the first drive element, said magnetic attraction element being used to be connected by magnetic connection to the magnetic element of the cleaning element;

[0044] or by the fact that said drive mechanism further comprises: a magnetic element, said magnetic element being connected to the first drive element, and said magnetic element is used to be connected by magnetic connection to the magnetic element of the cleaning element.

[0045] Optionally, that said cleaning element includes at least one of the following elements: a rotating brush, a side brush.

[0046] Optionally, said drive mechanism further comprises:

[0047] a first detection organ, the first detection organ generating a rise-to-position signal when the first drive element is raised to its highest position.

[0048] Optionally, the first sensing member includes a first photoemitter and a first light ray receiver, said first photoemitter and said first light ray receiver being opposite each other, and when said first drive element rises to the highest position, said first drive element blocks the light between said first photoemitter and said first light ray receiver to cause said first light ray receiver to generate said rise-to-position signal.

[0049] Optionally, the first sensing member comprises a first magnetic sensor, said drive mechanism further comprising a first magnetic element, said first magnetic element being disposed on said first drive element and / or said cleaning element, said first magnetic element being within the sensing range of said first magnetic sensor when said the first drive element is raised to its highest position, so that said first magnetic sensor generates said rise-in-place signal.

[0050] Optionally, the first sensing member includes a first microswitch, the first drive element triggers the first microswitch when the first drive element reaches the highest position, so that the first microswitch generates the rise-to-place signal.

[0051] Optionally, said drive mechanism further comprises:

[0052] a second sensing member, the second sensing member being used to generate a fit-in-place signal when the cleaning element is mounted on the first drive element.

[0053] Optionally, the second sensing element includes a second photoemitter and a second light ray receiver, said second photoemitter and said second light ray receiver being arranged opposite each other, said cleaning element blocking the light rays between said second photoemitter and said second light ray receiver when said cleaning element is mounted on said first drive element, so as to cause said second light ray receiver to generate said assembly-in-place signal.

[0054] Optionally, said second sensing member includes a second magnetic sensor, said drive mechanism further comprising a second magnetic element, said second magnetic element being disposed on said cleaning element, said second magnetic element entering the sensing range of said second magnetic sensor when said cleaning element is mounted on said first drive element, so as to cause said second magnetic sensor to generate said signal mount in place.

[0055] Optionally, the second sensing member includes a second microswitch, in which the cleaning element triggers the second microswitch when the cleaning element is mounted on the first drive element so that the second microswitch generates the mount-in-place signal.

[0056] On the other hand, the present invention proposes a self-cleaning device comprising the drive mechanism of one of the preceding descriptions and a device body, the drive mechanism being disposed on the device body.

[0057] According to another aspect, the present invention proposes a self-cleaning system comprising the self-cleaning device described above and a cleaning base station.

[0058] Thanks to the interaction between the first drive element and the second drive element and the friction force between the second drive element and the main support body when the first drive element is driven into motion by the power element, the drive mechanism, the self-cleaning device and the self-cleaning system proposed by the present invention cause the first drive element and the second drive element to move relative to each other, and then raise or lower the first drive element, thus achieving the raising and lowering drive of the cleaning element.Furthermore, thanks to the interaction between the first and second drive elements, the first and second drive elements are driven in a synchronous movement, which makes it possible to obtain a single power element to drive the lifting, lowering and movement of the cleaning element, to reduce the number of drive parts, to simplify the structure of the self-cleaning device and to reduce the production cost and the drive burden. DESCRIPTIONS OF THE ATTACHED FIGURES

[0059] [Fig.1] Fig.1 shows a schematic view of the structure of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the cleaning position;

[0060] [Fig.2] [Fig.2] shows a schematic view of a first cross-sectional structure of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the cleaning position;

[0061] [Fig.3] [Fig.3] shows a schematic exploded structural cross-sectional view of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the cleaning position;

[0062] [Fig.4] [Fig.4] shows an exploded schematic view of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the cleaning position;

[0063] [Fig. 5] [Fig. 5] shows a schematic structural view of a mechanism training provided by an embodiment of the present invention when the first drive element is in a storage position;

[0064] [Fig. 6] [Fig. 6] shows a schematic structural cross-sectional view of a mechanism training provided by an embodiment of the present invention when the first drive element is in the storage position;

[0065] [Fig.7] [Fig.7] shows a schematic structural view of part of the structure of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the storage position;

[0066] [Fig. 8] [Fig. 8] shows a schematic view of a second structure in cross-section of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the cleaning position;

[0067] [Fig.9] [Fig.9] shows a schematic structural view of part of the structure of a drive mechanism provided by an embodiment of the present invention when the first drive element is in the cleaning position;

[0068] [Fig. 10] [Fig. 10] shows a schematic structural cross-sectional view of another drive mechanism provided by an embodiment of the present invention;

[0069] [Fig. 11] [Fig. 11] shows an exploded schematic structural view of another drive mechanism provided by an embodiment of the present invention;

[0070] [Fig. 12] [Fig. 12] shows a schematic view of part of the structure of another drive mechanism provided by an embodiment of the present invention. Specific embodiment

[0071] In order to further develop the technical means and effects adopted by the present invention to achieve the objective of the invention, the following combines the accompanying drawings and preferred embodiments to explain in detail the embodiments, structures, characteristics and specific effects of a drive mechanism proposed according to the present invention, as follows.

[0072] As shown in FIGS 1 to 6, embodiments of the present invention provide a drive mechanism for a self-cleaning device, and the self-cleaning device may include, but is not limited to, a cleaning robot, a smart cleaner, an automatic washer, a washing robot, an integrated sweeping and washing machine, and others, having functions such as movement, sweeping, vacuuming debris, and others. Some of the self-cleaning devices further include functions such as sweeping, terrain detection, and sweeping of the interior of the house. For example, the cleaning robot may have various shapes to ensure stability and applicability to a variety of scenarios, such as under the bed and other cleaning areas. Cleaning robots generally have a flat profile.The housing of a cleaning robot primarily consists of a chassis and a cover connected to the chassis and enclosed within a containment chamber. This containment chamber can house various components for the robot's operation, such as a controller, a power supply, positioning components like a camera, scanner, or gyroscope, a scanning mechanism, and a walking mechanism. The controller can be used to manage both the cleaning system and the movement mechanism. A typical movement mechanism consists of a main drive wheel and an auxiliary turning wheel. The main drive wheel is driven by a motor located within the housing's containment chamber, which rotates the main drive wheel and propels the cleaning robot. The auxiliary turning wheel may be... An omnidirectional wheel is fixed under the chassis. By rotating and stopping the mobile wheel, the auxiliary turning wheel allows the robot cleaner to turn.

[0073] The cleaning system may include a sweeping assembly and a washing assembly. The sweeping assembly comprises a roller brush drive element, a roller brush, a dust container, and an exhaust fan. The roller brush is connected to a machine body via the roller brush drive element. The machine body has a dust inlet located behind the roller brush, and the dust container is situated in an air path between the exhaust fan and the dust inlet. The roller brush has some contact with the floor and can sweep debris from the floor during its rotation, rolling it under the dust inlet so that it can be drawn into the dust container by the exhaust gas generated by the exhaust fan.The cleaning set may include a mop drive element, one or more mops that can be rotated to dry clean the floor, and, in some embodiments, the cleaning system further includes a water reservoir that can refill the mops for wet floor cleaning. Because the mop surface area is large, and because the surface area of ​​the felt, sponge, or other soft absorbent materials is large, the mop and the cover and other floor coverings will experience greater friction. Furthermore, stains may remain on the mop after cleaning, and dirty water may remain on the mop, especially after wet cleaning.Furthermore, it is necessary to equip the mop with a lifting function to prevent contact between the mop and the floor coverings from affecting the robot's proper operation, and to avoid repeated floor contamination caused by contact between the mop, where wastewater remains, and the floor. The existing mop drive unit is divided into a rotating drive element and a mop lifting drive element. The rotating drive element is connected to the mop to drive its rotation, and the lifting drive element is connected to the assembly formed by the rotating drive element and the mop to drive the lifting of the entire assembly.As a result, lifting and rotating the brush requires two separate sets of drive elements, which is redundant in terms of structure and weight, and the drive load for the lifting and lowering mechanism is significant, while the control process is cumbersome. To solve this problem, the present application proposes a drive mechanism based on a single drive element and a structural configuration that allows for the control of lifting and rotating a cleaning element.

[0074] More specifically, the drive mechanism comprises:

[0075] a main support body 100;

[0076] a first drive element 200, said first drive element 200 comprising a first end and a second end, said second end being used to be connected to the cleaning element 500;

[0077] a second drive element 300, said first drive element 200 and said second drive element 300 being movably connected, said second drive element 300 being movably connected to said main support body 100 and there is a first friction force between said second drive element 300 and said main support body 100;

[0078] a power set 400, said power set 400 being connected to said first end by drive, said power set 400 being used to drive said first drive element 200 to move so as to make said first drive element 200 interact with said second drive element 300, driving said first drive element 200 to drive said cleaning element 500 up or down.

[0079] The main support body 100 can be a separate support element from the drive mechanism, mounted and fixed to the housing of the main body of the self-cleaning device; alternatively, the main support body 100 can be part of the housing of the main body of the device, in order to obtain a closer and more stable structural connection. The structure of the main support body 100 can be defined according to the specific structures of the first drive element 200, the second drive element 300, and the power assembly 400, so as to be able to support the first drive element 200, the second drive element 300, and the power assembly 400, and to cooperate with the movement of the first drive element 200.

[0080] To facilitate illustration, the following descriptions are all in the direction in which the drive mechanism is actually used by way of example. The first end is connected to the power assembly 400 by drive, so that the power assembly 400 can drive the first drive element 200 via the first end, and the first drive element 200 will interact with the second drive element 300. The tendency of the first drive element 200 to move will cause the first drive element 200 and the second drive element 300 to move relative to each other, resulting in a change in the position of the first drive element 200 at least in the vertical direction.The second drive element 300 does not move relative to the main support body 100, while the first drive element 200 rises or falls by. relative to the main support body 100, this allows, for example, the first drive element 200 to be raised or lowered. The first drive element 200 is connected to the cleaning element 500 at its second end, which in turn allows the cleaning element 500 to be raised and lowered. The cleaning element 500 can consist of a variety of rotating cleaning parts, such as a rotary mop, a side brush, etc., and the rotary mop can be round, square, triangular, etc. The cleaning position can be considered a limit position for the movement of the first drive element 200, and this limit position can be defined according to requirements, for example, based on the required raising or lowering height of the cleaning element 500.The position of the first drive element 200 also includes a storage position, and in the storage position, the first drive element 200 drives the cleaning element 500 to the highest point.In some embodiments, the first drive element 200 includes a cleaning position, and the interaction between the first drive element 200 and the second drive element 300 causes these two elements to move relative to each other until the point where the first drive element 200 is located in the cleaning position, the action relationship between the first drive element 200 and the second drive element 300 will change, and instead of moving relative to each other, the first drive element 200 and the second drive element 300 will move in a synchronized manner, so that the cleaning element 500 ceases to rise or fall, but moves for cleaning.The cleaning position refers to a limit position in which the first drive element 200 is lowered to its lowest point, and when the first drive element 200 is in the cleaning position, the height of the cleaning element 500 connected to the first drive element 200 meets the interference requirements with the surface to be cleaned and the force of the interference, or the pressure force, is capable of reaching the point where the cleaning element 500 cleans the surface to be cleaned and does not excessively press the surface to be cleaned so as to affect the movement of the cleaning element 500.

[0081] The way in which the power set 400 is used to drive the movement of the first drive element 200 can be varied: it can be to drive the first drive element 200 in rotation, to move it in a straight line, to move it in a curved line, etc.

[0082] During operation, the first drive element 200 is controlled to move, then the first drive element 200 is driven to lower the cleaning element 500 until the first drive element 200 reaches the cleaning position and the cleaning element 500 is In the lowest position, the first drive element 200 is then driven to move, and the first drive element 200, the second drive element 300, and the cleaning element 500 move synchronously to perform the cleaning. At the end of the cleaning, when the cleaning element 500 needs to be stored, the first drive element 200 is controlled to move in the opposite direction, the first drive element 200 is detached from the cleaning position, and the first drive element 200 drives the cleaning element 500 upwards to complete the storage.

[0083] It should be noted that in some embodiments, the second drive element 300 can rotate forward relative to the main support body 100, or can rotate in the opposite direction relative to the main support body 100, the forward and opposite directions being two opposite directions of rotation. When the first drive element 200 is driven forward and lowered into the cleaning position, and the first drive element 200 continues to be driven in the same direction, the first drive element 200 generates a rigid thrust between the first drive element 200 and the second drive element 300, which in turn drives the second drive element 300 to overcome the frictional force with the main support body 100 and follow the first drive element 200 to rotate forward relative to the main support body 100.When the first drive element 200 is driven in the opposite direction to reach the highest position, and the first drive element 200 continues to be driven in the same direction, the first drive element 200 generates a rigid thrust force with the second drive element 300, which in turn causes the second drive element 300 to overcome the friction force with the main support body 100 and to follow the first drive element 200 to rotate in the opposite direction relative to the main support body 100.The second drive element 300 can rotate in both opposite directions relative to the main support body 100, which avoids positioning errors of the first drive element 200 or the inability to detect in time that the first drive element 200 has reached the highest position, which would damage the first drive element 200 and the second drive element 300 by excessive pressure, and avoids overloading the power assembly 400.

[0084] In certain embodiments, as shown in [Fig. 7], the drive mechanism further comprises a first sensing member. This first sensing member is connected to the main support body 100. The first sensing member is used to detect whether or not the first drive element 200 reaches the predetermined highest position, and the first sensing member generates a signal. The system enters its raised position when the first drive element 200 reaches its predetermined highest position, and the raised position signal indicates that the first drive element 200 has been lifted. Subsequently, the movement of the first drive element 200 can be stopped immediately upon receiving the raised position signal.The first sensing element can be a first microswitch, such as a combination of an elastic part and a touch sensor, and when the first drive element 200 does not reach the predetermined height position, the elastic part is detached from the touch sensor, and when the first drive element 200 continues to rise, the first drive element 200 compresses the elastic part, causing the elastic part to be close to the touch sensor until the first drive element 200 reaches the predetermined height position, and the elastic part touches the touch sensor, which then generates a rise-in-place signal.Alternatively, the first sensing organ can be a light blocking device, such as a combination of a first photoemitter 910 and a first light ray receiver 920, the first photoemitter 910 and the first light ray receiver 920 being arranged opposite each other, and the first light ray receiver 920 being used to receive the photoelectric signal from the first photoemitter 910, such as an infrared signal.When the first drive element 200 does not reach the predetermined height position, there is no obstruction between the first photoemitter 910 and the first light ray receiver 920, and when the first drive element 200 continues to rise, the upper structure of the first drive element 200 approaches the first photoemitter 910 until, when the first drive element 200 reaches the predetermined height position, the upper structure enters the position between the first photoemitter 910 and the first light ray receiver 920, which then blocks the light ray from the first photoemitter 910, and the first light ray receiver 920 then generates a rise-in-place signal.The upper structure can be an action element 212, as described in detail below; alternatively, the first sensing member can be a first magnetic sensor, such as a Hall sensor, and the first drive element 200 or the cleaning element 500 is provided with a first magnetic element that corresponds to the Hall sensor. The first magnetic element that corresponds to the Hall sensor is disposed on the first drive element 200 or the cleaning element 500, and after the first drive element 200 is moved into place, or after the first drive element 200 moves the cleaning element 500 into place, the first magnetic element will enter the sensing range of the Hall sensor, and the Hall sensor will detect the magnetism and generate a rise signal. place. The first detection organ can also have other forms aimed at detecting the position of the first drive element 200, at least when the first drive element 200 reaches a predetermined highest position, it will suffice to emit a rise-in-place signal.The arrangement of the first detection device, on the one hand, when the first drive element 200 has risen into place, the first drive element 200 will rotate synchronously with the second drive element 300, which will cause unnecessary idle rotation of the second drive element 300, and the addition of the first detection device can stop the continuous movement of the second drive element 300 in a timely manner after the first drive element 200 has been put in place, avoiding the consumption of energy and mechanical loss of movement of the second drive element 300, and avoiding the consumption of energy and mechanical loss of movement of the first drive element 300, and avoiding wasted time during the raising and lowering of the first drive element 200.On the other hand, the failure of the ascent of the first drive element 200 due to, for example, a blockage or a mechanical failure can be detected in time, for example in the case where, after a certain period of time from the start of the ascent, no signal is received for the ascent to position, and an alarm can be triggered.

[0085] In other embodiments, as illustrated in [Fig. 7], the drive mechanism further comprises a second sensing member, which can be connected to the main support body 100 and mounted on the first drive element 200. The second sensing member is used to detect whether the cleaning element 500 is mounted on the first drive element 200. When the cleaning element 500 is mounted, the second sensing member generates a "mount in place" signal. This signal indicates that the cleaning element 500 has been mounted and that the next action, such as cleaning, can be performed. This prevents the cleaning element 500 from being left unmounted or from being mounted successfully, thus preventing normal cleaning.The second sensing element can be a second microswitch, such as a combination of an elastic element and a touch sensor. When the cleaning element 500 is not mounted on the first drive element 200, the elastic element is detached from the touch sensor. When the cleaning element 500 is mounted, it presses against the elastic element, causing it to touch the touch sensor and generating a signal indicating that the element is mounted. Alternatively, the second sensing element can be a light-blocking device. This could be a combination of a second photoemitter and a second light-receiver, with the photoemitter and light-receiver positioned opposite each other. on the other, the second light ray receiver is used to receive a photoelectric signal emitted from the second photoemitter, which may be an infrared signal. When the cleaning element 500 is not mounted on the first drive element 200, there is no blockage between the second photoemitter and the second light ray receiver, and when the cleaning element 500 is mounted in place, part of the structures of the cleaning element 500 penetrates between the second photoemitter and the second light ray receiver and then blocks the light rays coming from the second photoemitter, and the second light ray receiver then generates a mount-in-place signal, and part of the structures of the cleaning element 500 may be an area where the cleaning element 500 extends into the mounting cavity opened by the first drive element 200;Alternatively, the second sensing element can be a second magnetic sensor 930, such as a Hall sensor. A second magnetic element corresponding to the Hall sensor is arranged on the cleaning element 500, and after the cleaning element 500 is mounted in place, the second magnetic element will enter the sensing area of ​​the Hall sensor, and the Hall sensor will detect the magnetism and generate a "mount in place" signal. The second sensing element can also take other forms, designed to detect whether the cleaning element 500 has been mounted or not, and simply emit a "mount in place" signal when the cleaning element 500 has been mounted on the first drive element 200. The arrangement of the second sensing element can prevent the cleaning element 500 from not being installed and the self-cleaning device from not carrying the cleaning element 500 and cleaning inefficiently.

[0086] The drive mechanism, the self-cleaning device and the self-cleaning system proposed in the embodiment of the present invention, when the first drive element is driven in rotation by the power element, through the interaction between the first drive element and the second drive element and the interaction between the second drive element and the main support body, the first drive element and the second drive element are driven to move relative to each other, which in turn causes the first drive element to rise or fall, thus achieving the lifting and lowering drive of the cleaning element.When the relative position of the first drive element reaches the cleaning position, the interaction between the first drive element and the second drive element causes the synchronized rotation of the first and second drive elements, thus achieving the lifting, lowering and rotation of the cleaning element driven by a single power element in order to. reduce the number of drive elements, simplify the structure of the self-cleaning device and reduce production cost and drive burden.

[0087] In one embodiment, there is a second friction force between the first drive element 200 and the second drive element 300, the first friction force being greater than the second friction force.

[0088] When controlling the rotation of the first drive element 200, due to the low friction force of the threaded connection between the first drive element 200 and the second drive element 300 and the high friction force between the second drive element 300 and the main support body 100, there will be no relative movement between the second drive element 300 and the main support body 100, or the relative movement will be small, while the first drive element 200 and the second drive element 300 move circumferentially relative to each other in a more regular manner.

[0089] The first drive element 200 is used to rotate under the effect of the drive of the power assembly 400, and the first drive element 200 is used to interact with the second drive element 300. Simultaneously with its circumferential movement, it applies a force in the vertical direction. This can be achieved as follows: the first drive element 200 and the second drive element 300 are provided with a first action part 211 and a second action part 311, respectively, and the first action part 211 and the second action part 311 can have various shapes, with the aim that the second drive element 300, when moving, can cause the first drive element 200 to move up and down.

[0090] If at least one of the first action part 211 and the second action part 311 includes an action slope, when the first drive element 200 rotates, the first action part 211 and the second action part 311 are used to cooperate with each other by means of the action slope, in order to raise or lower the first drive element 200.

[0091] The action slope is a slope that provides both a lifting force and a lowering force for the first action part 211 and the second action part 311 when the first action part 211 and the second action part 311 move in a circumferential direction relative to each other, or the action slope is interpreted as a slope that ascends or descends rotationally in the circumferential direction. It is possible that the first action part 211 and the second action part 311 both include an action slope, but that the lengths of the action slopes are different. Alternatively, one of the first and Second action parts 211 comprise an action slope, and the other of the first and second action parts 311 comprise a rolling or sliding element, the rolling or sliding element being used to roll or slide relative to the action slope. The rolling element, which may be a roller or bearing, may further reduce the second friction force by rolling into contact with the action slope; the sliding element may also be a protrusion such as a block, column, or other.

[0092] In one embodiment, the number of first action parts 211 and second action parts 311 may be one each.Or the number of the first action part 211 and the second action part 311 is the same, with a one-to-one matching configuration, and the first action part 211 and the second action part 311 are multiple, several first action parts 211 are distributed around the circumference around the axis of rotation of the first drive element 200, and several second action parts 311 are distributed around the circumference around the axis of rotation of the second drive element 300, thus ensuring that the interaction between the first action part 211 and the second action part 311 causes the supported forces of the first drive element 200 and the second drive element 300 to be balanced around the circumference in order to avoid being oblique.

[0093] In more specific embodiments, one of the first actuating part 211 and the second actuating part 311 is threaded, and the other of the first actuating part 211 and the second actuating part 311 may be a ratchet head with an actuating slope, the ratchet head being embedded between the helical surfaces of the thread, or alternatively, the other of the first actuating part 211 and the second actuating part 311 may be simply a smaller ratchet head, without an actuating slope. The first drive element 200 and the second drive element 300 are connected together by threads, and the first drive element 200 is used to rotate relative to the second drive element 300 in order to push the first drive element 200 up or down through the threads.

[0094] Thanks to the threads, the circumferential movement will produce a thrust effect in the vertical direction, which will cause the first drive element 200 to rise or fall by the thrust.

[0095] Alternatively, in another embodiment, at least one of the first action part 211 and the second action part 311 is an action groove, the other of the first action part 211 and the second action part 311 is intended to be embedded in the action groove, and the action slope is a wall on one side of the action groove.

[0096] In one embodiment, the second end comprises a first sleeve 210, and the second drive element 300 comprises a second sleeve 310. The first sleeve 210 is provided with a first action part 211, the second sleeve 310 is provided with a second action part 311, and the first sleeve 210 is fitted into the second sleeve 310.

[0097] In an embodiment where one of the first acting part 211 and the second acting part 311 is threaded and the number of threads is multiple, and the other is a snap-on head, the snap-on head will be engaged in the threads of the thread after the first sleeve 210 has been fitted with the second sleeve 310. There may be four threads, i.e., four threads are formed and the number of snap-on heads is four, each corresponding to one thread that it will engage, and thanks to the arrangement of the plurality of threads, the movement between the first sleeve 210 and the second sleeve 310 can be more stable and less prone to jerking. As in the embodiments illustrated in FIGS. 2-4 and [Fig.6], the first sleeve 210 is provided with threads on the outer wall, and the snap-on head is provided on the inner wall of the second sleeve 310, or alternatively, the second sleeve 310 is provided with threads on the inner wall, and the first sleeve 210 is provided with a snap-on head on the outer wall.

[0098] In one embodiment, one of the first action part 211 and the second action part 311 connects the action element 212, as in an embodiment in which one of the first action part 211 and the second action part 311 is threaded, the end of the thread is provided by an action element 212, and the snap head comes to rest against the action element 212 when the first drive element 200 is in the cleaning position, so that the first drive element 200 causes the second drive element 300 to rotate in a synchronized manner. Or, in embodiments where at least one of the first action part 211 and the second action part 311 is an action groove, the action element 212 can be regarded as an inner wall surface of the action groove which is opposite to the action slope.

[0099] The actuating element 212 may be located only at the terminal end of one end of the threads and used solely to act with the ratchet head, so as to cause the synchronized rotation of the first drive element 200 when it is in the cleaning position, or, in certain embodiments, the actuating element 212 may be located at the terminal ends of both ends of the threads, one end being used to cause the synchronized rotation of the first drive element 200 with the second drive element 300 when the first drive element 200 is in the cleaning position, and the other end being used to limit the maximum height to which the first 200 drive element can rise.

[0100] More specifically, if in one embodiment the first acting part 211 is a thread of a thread, the second acting part 311 is a ratchet head, the first sleeve 210 is provided with threads on the outer wall, and the first sleeve 210 is used for lifting and lowering, according to FIGS. 2-4, and [Fig. 6], the acting element 212 can only be disposed at the terminal end of the threads which is far from the cleaning element 500, that is to say that the acting element 212 is disposed at the highest terminal end of the threads 211, and then the acting element 212 will move towards the ratchet head which is located above it during the descent of the first sleeve 210.Thus, when the first sleeve 210 descends, the acting element 212 moves towards the ratchet head located above, and when the first drive element 200 and the second drive element 300 are in the cleaning position, the acting element 212 comes into contact with the ratchet head located above, and consequently, when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 does not descend, and the acting element 212 drives the ratchet head in motion, causing the second sleeve 310 to rotate in a synchronized manner.In some embodiments, the lowest terminal end of the thread may also be provided with the action element 212, and when the first sleeve 210 rises, the action element 212 moves towards the ratchet head located below, and when the first sleeve 210 moves into the highest position, the action element 212 located below comes into contact with the ratchet head, which prevents the first sleeve 210 from rising excessively and plays a role in limiting the position.

[0101] In another embodiment in which the second actuating part 311 is a thread and the first actuating part 211 is a ratchet head, in which the second sleeve 310 is provided with threads on the inner wall and the first sleeve 210 is used for lifting and lowering, the actuating element 212 is located at the terminal end of the threads which is situated near the cleaning element 500, i.e., the actuating element 212 is located at the lowest terminal end of the threads, and subsequently, during the descent of the first sleeve 210, the ratchet head moves towards the actuating element 212 located below, and when the first drive element 200 and the second drive element 300 are in the cleaning position, the ratchet head comes into contact with the actuating element 212 located below, and consequently, while the first sleeve 210 continues to rotate in the same direction,The first sleeve 210 does not descend, and the ratchet head pushes the moving actuating element 212 located below it. causing the second sleeve 310 to rotate synchronously. In some embodiments, the highest end end of the thread 211 can also be provided with the action element 212, and then, in the process of raising the first sleeve 210, the movement of the ratchet head towards the action element 212 located on the upper side, and when the first sleeve 210 is moved into the highest position, the ratchet head will come into contact with the action element 212 located above, and the first sleeve 210 can be prevented from rising excessively, by the position limiting function.

[0102] It is easy to understand that, in embodiments where there are four snap-on heads 311 and four threads 211, each of the four threads is provided with an actuating element 212 at the end of the four threads. The actuating element 212 can be formed as a single piece with the first sleeve 210 or the second sleeve 310. Alternatively, in some embodiments, as illustrated in FIGS. 4 and 6, the drive mechanism further comprises an upper cover 2121 to which the actuating element 212 is connected, and the upper cover 2121 is connected to the first sleeve 210 so that the actuating element 212 is located at the ends of the threads to facilitate processing.

[0103] In the previous embodiment, where the first sensing member comprises the first photoemitter 910 and the first light ray receiver 920, the upper cover 2121 is snapped onto the upper edge of the first sleeve 210, which serves to prevent light from the first photoemitter 910 from reaching the first light ray receiver 920 once the height of the first drive element 200 is in place.

[0104] During use, the power assembly 400 drives the first drive element 200 by rotating it in a forward direction of rotation relative to the main support body 100, which is the forward direction of rotation of the motor of the power assembly 400.Due to the positional immobility of the second drive element 300 (which is caused by the frictional force between the second drive element 300 and the support body 100 being greater than the frictional force between the first action part 211 and the second action part 311), the second action part 311 will be displaced relative to the first action part 211, as in the embodiment where one of the first action parts 211 and the second action part 311 is a thread, and the ratchet head will be relatively mobile relative to the thread and will press on the thread, which in turn will drive the first drive element 200 downwards in the vertical direction relative to the main support body 100 to lower the cleaning element 500. When the cleaning element 500 descends to its lowest position, the first drive element 200 reaches the position of . cleaning. As the power assembly motor 400 always rotates in the forward direction, the first drive element 200 continues to rotate in the forward direction relative to the main support body 100, and the ratchet head interacts with the action element 212 at the end end located under the threads, which prevents the ratchet head and the threads from continuing to move relative to each other, and the first drive element 200 and the second drive element 300 produce a rigid thrust force which causes the second drive element 300 to overcome the friction force between itself and the main support body 100, and the first drive element 200 and the second drive element 300 finally rotate in a synchronized manner, and the cleaning element 500 cleans the floor.In other words, during the descent and cleaning process, the direction of rotation of the first drive element 200 does not change. Then, when cleaning is complete, or a user command is received, or an obstacle is detected, the cleaning element 500 must be moved upwards for storage or to avoid the obstacle. At this point, the power assembly 400 causes the first drive element 200 to rotate relative to the main support body 100 in the opposite direction to its forward rotation, which can be matched with the reverse rotation of the motor in the power assembly 400.Due to the positional immobility of the second drive element 300 (which is due to the fact that the friction force between the second drive element 300 and the support body 100 is greater than the friction force between the ratchet head and the threads), the ratchet head moves in the opposite direction to disengage from the action element 212, and the ratchet head moves relative to the threads and lifts the threads, which in turn causes the first drive element 200 to rise relative to the main support body 100 in the vertical direction, in order to raise the cleaning element 500. The cleaning element 500 is lifted.When the cleaning element 500 reaches the highest position, the ratchet head may interact with the action element 212 at the terminal end above the thread, which then prevents the ratchet head from continuing to move relative to the thread, and the first drive element 200 and the second drive element 300 generate a rigid thrust force, which causes the second drive element 300 to overcome the friction force between the second drive element 300 and the main support body 100, and the first drive element 200 and the second drive element 300 to move in a synchronized manner. It is appreciated that at this stage, the cleaning element 500, which is in the storage position, or in a higher position, rotates until the programmed time is reached and the power unit 400 ceases to drive the first drive element 200. Alternatively, in the mode of . the aforementioned embodiment comprising a first detection organ including a first photoemitter 910 and a first light ray receiver 920, when the first drive element 200 is mounted in place, the light rays between the first photoemitter 910 and the first light ray receiver 920 will be blocked, and thus the rotation of the first drive element 200 can be stopped directly, which avoids inefficient energy consumption as well as wear of the damping of the second drive element 300 and the main support body 100.

[0105] As in the embodiment where the first drive element 200 is raised or lowered, the second drive element 300 is only movably connected to the main support body 100 in the circumferential direction, while in the axial or vertical direction there is a positional limitation. The second drive element 300 cannot be raised and lowered, whereas the first drive element 200 must be movably connected to the power assembly 400 in the vertical direction. Since the power assembly 400 must cause the first drive element 200 to rotate, the positions of the first drive element 200 and the power assembly 400 must be limited in the circumferential direction. A more detailed description of several embodiments of the raising and lowering of the first drive element 200 will be given below.

[0106] The first drive element 200 and the power assembly 400 have a drive relationship in the circumferential direction and move relative to each other in the axial, or vertical, direction. This can be achieved by the output shaft of the power assembly 400 extending in the vertical direction. The output shaft is provided with first gear teeth extending vertically, and the first drive element 200 is provided with second gear teeth. The power assembly 400 is connected to the first drive element 200 by the first and second gear teeth. The first drive element 200 can rotate when the output shaft rotates, and since both the first and second gear teeth extend in the vertical direction,The first drive element 200 can be moved vertically relative to the power assembly 400 to perform lifting and lowering. In another embodiment, as illustrated in FIGS. 7-9, the power assembly 400 comprises a power element 410 and a third drive element 420, and the power element 410 is connected to the third drive element 420 by a drive mechanism; for example, the power element 410 can be a motor, the motor's output shaft extends horizontally, and the motor's output shaft is directly connected to . The third drive element 420 is connected by the gear teeth, or it can be connected to the third drive element 420 by indirect drive via an additional gear. The third drive element 420 is slidably connected to the first drive element 200 in the axial direction, and its position is limited in the circumferential direction.

[0107] Thanks to the arrangement of the third drive element 420, the power element 410 can be extended horizontally to fully utilize the internal space of the self-cleaning device, and furthermore, the structure of the third drive element 420 can be flexibly adjusted to achieve a better driving effect. In one embodiment, the second end comprises a position limiting portion 220, the position limiting portion 220 is connected to the first sleeve 210, the position limiting portion 220 is fitted onto the outer periphery of the third drive element 420, or the third drive element 420 is fitted onto the outer periphery of the position limiting portion 220.For example, in the case where the third drive element 420 is fitted onto the outer periphery of the position limiting part 220, the third drive element 420 comprises a cartridge structure, on the inner wall of the third drive element 420 are distributed a plurality of first limiting surfaces 421 arranged in the circumferential direction, the first limiting surfaces 421 may be curved surfaces with an external convexity, the outer profile of the position limiting part 220 has the form of a rod structure, on the outer wall of the position limiting part 220 are arranged a plurality of second limiting surfaces distributed in the circumferential direction which correspond to the inner wall of the third drive element 420, the second limiting surfaces 221 may be concave curved surfaces.It will be appreciated if the shapes of the faces of the first limiting surface 421 and the second limiting surface 221 can also be interchangeable, or, can have other shapes, such as toothed. The limiting portion 220 is inserted into the tube-shaped structure of the third drive element 420, with the first limiting surface 421 and the second limiting surface 221 sliding against each other, thus achieving positional limitation in the circumferential direction, while sliding relative to each other in the axial direction.The third drive element 420 is fitted to the periphery of the position limiting part 220, so as to apply an external force in the circumferential direction of the position limiting part 220 to rotate the position limiting part 220, and to apply a more uniform force, and by moving the position limiting part 220 only in the vertical direction, by playing a . The guiding role in raising and lowering the position-limiting part 220 or the first drive element 200 is to make the first drive element 200 less prone to vibration. The method of interlocking the position-limiting part 220 with the outer periphery of the third drive element 420 can be referred to as interlocking the third drive element 420 with the outer periphery of the position-limiting part 220, and will not be discussed further.

[0108] The drive connection between the power element 410 and the third drive element 420 can be made in different ways, as shown in [Fig.9]. The power assembly 400 further includes an intermediate drive element 430. The intermediate drive element 430 can be one or more gears, which can be adjusted according to the distance and relative position between the power element 410 and the third drive element 420. The power element 410 and the third drive element 420 are driven by one or more gears together, thus providing a drive connection.

[0109] In embodiments where the first drive element 200 is used to raise and lower itself relative to the main support body 100, the second drive element 300 and the main support body 100 are axially position-constrained and circumferentially connected to each other in a damped manner. The friction force between the second drive element 300 and the main support body 100 is greater than the friction force between the first drive element 200 and the second drive element 300, meaning that the friction force in the circumferential direction between the second drive element 300 and the main support body 100 is greater than the friction force between the latch head 311 and the thread 211 in the direction of thread extension.The damping connection between the second drive element 300 and the main support body 100 can be varied, and in one embodiment, the drive mechanism further includes a damping bearing. The second drive element 300 is connected to the main support body 100 by a damping gear. The damping gear has a gear strength greater than the friction force between the engagement head 311 and the threads 211. The damping gear is fixedly connected to the second drive element 300 and the main support body 100 in the axial direction. In other embodiments, as illustrated in the figures.2-4 and 6, the drive mechanism further includes a friction assembly 800, the second drive element 300 including a rim 320 forming for example an annular rib, the rim 320 being connected to the second sleeve 310 of the second drive element 300 and projecting from a . side wall of the second sleeve 310, the rim 320 being connected to the friction assembly 800. The rim 320 extends in a horizontal direction in order to obtain an axial limitation of the position of the rim 320 by the cooperation between the friction assembly 800 and the rim 320 in order to avoid an axial movement of the second sleeve 310.

[0110] In a more specific embodiment, the friction assembly 800 comprises an upper friction element 810 and a lower friction element 820, the upper friction element 810 and the lower friction element 820 bearing respectively against the rim 320 by the two sides of the rim 320 in the axial direction on the second drive element 300. An increase in friction can be obtained to prevent the second drive element 300 from following the rotation of the first drive element 200 when the first drive element 200 is raised and lowered.

[0111] In one embodiment, the friction assembly 800 further includes an elastic element 830, the elastic element 830 being connected to at least one of the upper friction element 810 and the lower friction element 820, the elastic element 830 being used to apply an elastic force to the upper friction element 810 and / or the lower friction element 820 to move near the rim 320.The elastic element 830 can be a spring, such as a spring connected only between the lower friction element 820 and the main support body 100, the spring causing the lower friction element 820 and the upper friction element 810 to press the rim 320 with moderate pressing pressure, so that when the lower friction element 820 and the upper friction element 810 wear, thanks to the arrangement of the spring, the lower friction element 820 and the upper friction element 810 are assured to continue to provide effective friction, and thus prevent the second drive element 300 from following the rotation when the first drive element 200 is raised and lowered.

[0112] In other embodiments, as illustrated in FIGS. 10-12, the friction assembly 800 comprises a lower friction element 820 and at least one drive wheel 840, the lower friction element 820 and the drive wheel 840 bearing against the rim 320 by both sides of the axial direction of the second drive element 300 of the rim 320, respectively.

[0113] The lower friction element 820 cooperates with the drive wheel 840 to support the rim 320 by the sides of the rim 320, which in turn axially limits the position of the second drive element 300. The lower friction element 820 is used to provide damping in the circumferential direction to the rim 320 or to the second drive element 300. When the second drive element 300 follows the movement of the first drive element 200, the drive wheel 840 rolls along rim 320, while rim 320 slides with lower friction element 820, compared to the model using upper friction element 810, which uses rolling instead of sliding, reducing wear on the rim side 320 compared to the action wheel 840.

[0114] In one embodiment, the lower friction element 820 is closer to the cleaning element 500 than the drive wheel 840, i.e., the lower friction element 820 acts on the rim 320 through the lower surface of the rim 320, while the drive wheel 840 is connected in bearing with the upper surface of the rim 320. During the cleaning process of the cleaning element 500, the cleaning element 500 interacts with the ground, and the ground exerts an upward reaction force on the cleaning element 500, which in turn exerts an upward thrust on the second drive element 300, so that the rim 320 is stressed upwards. Furthermore, in the embodiment where the lower friction element 820 is connected to the elastic element 830, the lower friction element 820 cooperates in compression with the rim 320, so that the rim 320 is stressed upwards.If the upper friction element 810 is used, the rim 320 compresses it upwards, increasing the friction force on the rim 320. This results in a significant rotational load on the drive of the second drive element 300, increasing the drive load on the power element 410 and thus increasing energy consumption. However, when using the drive wheel 840 instead of the upper friction element 810, the drive wheel 840 and the rim 320 are connected by bearings. As the pressure between the rim 320 and the drive wheel 840 increases, this does not lead to an increase in force on the second drive element 300, thereby ensuring the operating time of the power element 410.

[0115] In one embodiment, the number of drive wheels 840 is a plurality, and the plurality of drive wheels 840 are arranged uniformly on the circumferential direction of the second drive element 300.

[0116] If there are two drive wheels 840 arranged on opposite sides of the radial direction of the second drive element 300, or if there are three, four or more drive wheels 840, it can be ensured that the second drive element 300 is subjected to a uniform force in the circumferential direction, and that it is not easy to bend or jam it.

[0117] In one embodiment, the drive wheel 840 is rotationally connected to the main support body 100. For example, the drive wheel 840 may be a one-piece roller, the roller being rotationally connected either directly to the main support body 100 or connected via a gear. Alternatively, the drive wheel 840 comprises a wheel body and a rotating shaft, the rotating shaft being connected to the main support body 100, which can be a fixed connection such as an insert connection, the wheel body being rotationally connected to the rotating shaft, the wheel body being able to be connected to the rotating shaft via one or more bearings, or, the rotating shaft being a bare shaft, the wheel body being directly rotationally connected to the rotating shaft.

[0118] In one embodiment, a wear-resistant layer is provided on at least one of the contact surfaces of the drive wheel 840 and the rim 320, and the wear-resistant layer may be a thin coating and have a certain degree of flexibility, which can then serve to dampen vibrations and resist wear between the drive wheel 840 and the rim 320.

[0119] In one embodiment, the main support body 100 is provided with a mounting cavity 101, the ends of the drive wheels 840 are connected to the opposite sides of the side walls of the mounting cavity 101, and the drive wheels 840 partially protrude out of the mounting cavity 101 to butt against the rim 320.

[0120] As shown in [Fig. 12], the main support body 100 is provided with a mounting cavity 101, and the mounting cavity 101 has at least one lower opening. Each of the drive wheels 840 may correspond to one of the mounting cavities 101 respectively, and the drive wheels 840 are fixed by the inner wall of the mounting cavities 101, thus ensuring that the drive wheels 840 are supported on both sides in the axial direction, guaranteeing that the drive wheels 840 are in a stable position and are not prone to vibration. A portion of the structure of the drive wheel 840 extends from the lower opening of the mounting cavity 101 and then interacts with the flange 320.

[0121] In the embodiment where the lower friction element 820 cooperates with the drive wheel 840, the lower friction element 820 can be connected to the elastic element 830, so that when the lower friction element 820 wears out, due to the presence of the spring, it is possible to ensure that the lower friction element 820 continues to provide an effective friction force, thus preventing the second drive element 300 from following the rotation when the first drive element 200 is raised and lowered.

[0122] In the preceding embodiment of the operating method, the power assembly 400 drives the first drive element 200 in rotation in a forward direction relative to the main support body 100. As the lower friction element 820 and the upper friction element 810 grip the rim 320, the second drive element 300 remains stationary in position. Then, the ratchet head engages with the threads, driving the first drive element 200 downward in a vertical direction relative to the body. of main support 100. When the actuating element 212 acts by reaching the latching head and the end end located under the threads, the first drive element 200 and the second drive element 300 generate a rigid thrust, which causes the second drive element 300 to overcome the friction of the lower friction element 820 and the upper friction element 810, resulting in the sliding movement of the rim 320 relative to the lower friction element 820 and the upper friction element 810, and the first drive element 200 and the second drive element 300 rotate synchronously. The first drive element 200 and the second drive element 300 will rotate synchronously.When the cleaning part 500 needs to be raised for storage or to avoid obstacles, the first drive element 200 rotates in the opposite direction relative to the main support body 100, and since the lower friction element 820 and the upper friction element 810 compress the rim 320, the position of the second drive element 300 does not change, and the ratchet head moves relative to the threads and lifts the threads, then drives the first drive element 200 relative to the main support body 100 in the vertical direction to achieve the raising of the cleaning part 500.When the cleaning element 500 reaches the highest position, if the first sensing piece is not supplied, the ratchet head acts with the action element 212 at the upper terminal end of the thread, the first drive element 200 and the second drive element 300 generate a rigid thrust force, and the thrust force causes the second drive element 300 to overcome the friction force of the lower friction element 820 and the upper friction element 810, causing the rim 320 to slide relative to the lower friction element 820 and the upper friction element 810, and the first drive element 200 and the second drive element 300 then move in a synchronized manner.

[0123] In one embodiment, the first drive element 200 may comprise only a position-limiting portion 220 and a first sleeve 210, interconnected, and the first sleeve 210 is in a straight tube structure. Alternatively, in other embodiments, as illustrated in FIGS. 2-4, the first drive element 200 further comprises a third sleeve 230, the first end of the first sleeve 210 of the first drive element 200 is opposite the cleaning element 500, the third sleeve 230 is connected to the first end of the first sleeve 210, the third sleeve 230 is spaced from the first sleeve 210, and the second sleeve 310 of the second drive element 300 is embedded between the third sleeve 230 and the first sleeve 210 and has a space with the third sleeve 230.

[0124] The third sleeve 230 is located and fitted to the periphery of the second sleeve 310 and the first sleeve 210 near the cleaning element 500, and the end of the third sleeve 230 that is furthest from the cleaning element 500 is further from the distance between the first end of the first sleeve 210 and the cleaning element 500. In other words, when the first drive element 200 is in its lowest position, it is also ensured that the upper end of the third sleeve 230 is higher than the lower end of the first sleeve 210, so as to play a protective role in the space between the second sleeve 310 and the first sleeve 210, and to prevent dust, hair, and other particles from entering the space between the second sleeve 310 and the first sleeve 210, and from affecting the relative movement between the second sleeve 310 and the first sleeve 210.

[0125] Furthermore, as shown in FIGS. 1-6, the main support body 100 includes a fourth sleeve 110, the fourth sleeve 110 is spaced from the second sleeve 310, and the third sleeve 230 is embedded between the fourth sleeve 110 and the second sleeve 310 and has a space with the fourth sleeve 110.

[0126] The fourth sleeve 110 is arranged around the periphery of the third sleeve 230, and the end of the third sleeve 230 away from the cleaning element 500 is further from the cleaning element 500 than the end of the fourth sleeve 110 near the cleaning element 500. In other words, when the first drive element 200 is in its lowest position, it is also ensured that the lower end of the fourth sleeve 110 is higher than the upper end of the third sleeve 230, which helps to protect the space between the third sleeve 230 and the second sleeve 310, and to prevent dust, hair or other particles from entering between the third sleeve 230 and the second sleeve 310, which would affect the relative movement between the second sleeve 310 and the third sleeve 230.

[0127] In one embodiment, the drive mechanism further comprises a magnetic attraction element 900, the magnetic attraction element 900 being connected to the first drive element 200, the magnetic attraction element 900 being used to connect magnetically to the magnetic element of the cleaning element 500. Alternatively, the drive mechanism further comprises: a magnetic element, the magnetic element being connected to the first drive element 200, the magnetic element being used to connect magnetically to the magnetic attraction element of the cleaning element 500.

[0128] The magnetic attraction element 900 may be a metal capable of being magnetically adsorbed, such as an iron object. The magnetic element may be a magnet.

[0129] For example, the cleaning element 500 comprises a connecting rod and a cleaning element body. One end of the connecting rod is connected to the cleaning element body, and the other end of the connecting rod is provided with a magnetic element. The magnetic attraction element 900 is disposed at the top of the first sleeve 210 of the first drive element 200. The connecting rod is inserted into the first sleeve 210, and the magnetic attraction element 900 is adsorbed and fixed to the magnetic element.

[0130] As in the embodiment where the first sensing member includes a Hall effect sensor, the cleaning element 500 is connected to a magnetic element, which makes it possible to determine whether the cleaning element 500 is connected or not and to prevent the dislodging of the cleaning element 500 from being detected in time.

[0131] On the other hand, the present invention proposes a self-cleaning device comprising the drive mechanism of one of the preceding claims and a device body, the drive mechanism being provided on the device body.

[0132] The drive mechanism may be one, two, or more, as desired. The power assembly 400 may be used solely for lifting, lowering, and rotating the cleaning element 500, or, in certain embodiments, a more complex structure may be provided to oscillate the cleaning element 500 in the horizontal direction. The self-cleaning apparatus includes the drive mechanism for all of the above, and the advantages of including the drive mechanism for all of the above are not repeated here.

[0133] In another aspect, the present invention proposes a self-cleaning system comprising the aforementioned self-cleaning device and a cleaning base station, the self-cleaning device being used to dock optionally with the cleaning base station. In some embodiments, the cleaning base station includes a docking area, and the self-cleaning device can be moved within the docking area while performing operations such as cleaning and replacing the cleaning parts, filling the water tanks, loading, and so on. The self-cleaning system comprises the aforementioned self-cleaning device, and the advantages of including the aforementioned self-cleaning device are not repeated in this document.

[0134] The foregoing are only specific embodiments of the present invention, which are in no way limiting.

Claims

Demands

1. A drive mechanism for a self-cleaning device, characterized in that it comprises: a main support body (100); a first drive element (200) which includes a first end and a second end, said second end being configured to be connected to a cleaning element (500); a second drive element (300), said first drive element (200) and said second drive element (300) being movably connected, said second drive element (300) being movably connected to said main support body (100) and a first friction force existing between said second drive element (300) and said main support body (100);a power assembly (400), said power assembly (400) being connected to said first end with drive, said power assembly (400) being configured to drive said first drive element (200) to rotate, so as to cause said first drive element (200) to interact with said second drive element (300), in order to drive said cleaning element (500) upwards or downwards.;

2. A drive mechanism according to claim 1, characterized in that the positions of said first drive element (200) include a cleaning position; and in that, when said first drive element (200) is in said cleaning position, said first drive element (200) is used to drive said second drive element (300) in order to overcome said first friction force and rotate in a synchronized manner with it.

3. A drive mechanism according to claim 1 or 2, characterized in that said first drive element (200) and said second drive element (300) are provided with a first acting part (211) and a second acting part (311), respectively, and said first acting part (211) and said second acting part (311) are configured to interact with each other.

4. A drive mechanism according to claim 3, characterized in that at least one of said first acting part (211) and said second acting part (311) comprises an acting slope, and in that, when said first drive element (200) rotates, said first acting part (211) and said second acting part (311) cooperate with each other by means of said acting slope, in order to drive the first drive element (200) upwards or downwards.

5. A drive mechanism according to claim 4, characterized in that said first acting part (211) and said second acting part (311) both comprise said acting slope, or, one of said first acting part (211) and said second acting part (311) comprises said acting slope while the other of said first acting part (211) and said second acting part (311) comprises a rolling or sliding element, said rolling or sliding element being configured to roll or slide relative to said acting slope.

6. A drive mechanism according to claim 4 or 5, characterized in that the number of said first action parts (211) and said second action parts (311) is identical and the number of said first action parts (211) and said second action parts (311) is at least equal to one.

7. A drive mechanism according to claim 6, characterized in that, when the number of said first action parts (211) and said second action parts (311) are multiple, the plurality of said first action parts (211) are distributed over the circumference around the axis of rotation of said first drive element (200) and the plurality of said second action parts (311) are distributed over the circumference around the axis of rotation of said second drive element (300).

8. A drive mechanism according to any one of claims 4 to 7, characterized in that either one of said first acting part (211) and of said second acting part (311) is threaded, or at least one of said first acting part (211) and of said second acting part (311) is an acting groove, while the other of said first acting part (211) and of said second acting part (311) is configured to be embedded in said acting groove.

9. A drive mechanism according to any one of claims 1 to 8, characterized in that the second end comprises a first sleeve (210) and the second drive element (300) comprises a second sleeve (310); said first sleeve (210) is provided with a first acting part (211), said second sleeve (310) is provided with a second acting part (311) and said first sleeve (210) is fitted into said second sleeve (310).

10. A drive mechanism according to claim 9, characterized in that one of said first acting part (211) and of said second acting part (311) is engaged with an acting element (212), and when said first driving element (200) is in the cleaning position, the other of said first acting part (211) and of said second acting part (311) comes to rest against said acting element (212) in order to cause said first driving element (200) to cause said second driving element (300) to rotate in a synchronous manner with it.

11. A drive mechanism according to any one of claims 1 to 10, characterized in that there is a second friction force between said first drive element (200) and said second drive element (300), the first friction force being greater than the second friction force.

12. A drive mechanism according to any one of claims 1 to 11, characterized in that the power assembly (400) comprises a power element (410) and a third drive element (420); and in that the power element (410) is connected to the third drive element (420) with drive, and the third drive element (420) is connected by sliding to the first drive element (200) in an axial direction with a position limitation on the circumferential direction.

13. A drive mechanism according to claim 12, characterized in that the second end comprises a position limiting part (220), said third drive element (420) is fitted to the outer periphery of said position limiting part (220), or, said position limiting part (220) is fitted onto the outer periphery of said third drive element (420).

14. A drive mechanism according to any one of claims 1 to 13, characterized in that the positions of the second drive element (300) and the main support body (100) are axially limited, and the second drive element (300) and the main support body (100) are connected to each other via a circumferential damping.

15. Drive mechanism according to claim 14, characterized in that said drive mechanism further comprises a shock-absorbing bearing, the second drive element (300) being connected to the main support body (100) by means of the shock-absorbing bearing.

16. A drive mechanism according to claim 9, taken in combination with claim 14 or 15, characterized in that said drive mechanism further comprises: a friction assembly (800); said second drive element (300) comprises a rim (320), said rim (320) being connected to the second sleeve (310) of said second drive element (300) and projecting from the side wall of said second sleeve (310), said rim (320) being connected to said friction assembly (800).

17. Drive mechanism according to claim 16, characterized in that said friction assembly (800) comprises an upper friction element (810) and a lower friction element (820), said upper friction element (810) and said lower friction element (820) bearing against said rim (320) by both sides of said rim (320) in the axial direction of said second drive element (300), respectively.

18. A drive mechanism according to claim 17, characterized in that said friction assembly (800) further comprises an elastic element (830), said elastic element (830) being connected to at least one of said upper (810) and lower (820) friction elements, said elastic element (830) being used to apply an elastic force to said upper friction element (810) and / or said lower friction element (820) so that it(s) move in the vicinity of said rim (320).

19. A drive mechanism according to any one of claims 16 to 18, characterized in that said friction assembly (800) comprises a lower friction element (820) and at least one drive wheel (840), said lower friction element (820) and said drive wheel (840) respectively bearing against the rim (320) by both sides of the rim (320) in the axial direction of said second drive element (300).

20. Drive mechanism according to claim 19, characterized in that said lower friction element (820) is closer to said cleaning element (500) than said drive wheel (840).

21. Drive mechanism according to claim 19 or 20, characterized in that it comprises a plurality of drive wheels (840), the plurality of said drive wheels (840) being arranged uniformly in the circumferential direction of said second drive element (300).

22. A drive mechanism according to any one of claims 19 to 21, characterized in that the drive wheel (840) is rotationally connected to the main support body (100); and / or, said drive wheel (840) comprises a wheel body and a rotational axis, said rotational axis being connected to said main support body (100) and said wheel body being rotationally connected to said rotational axis; and / or, at least one of the contact surfaces of said drive wheel (840) with said rim (320) is provided with a wear-resistant coating; and / or, said main support body (100) is provided with a mounting cavity (101), the ends of said drive wheels (840) are connected to the two opposite side walls of said mounting cavity (101) and said drive wheels (840) partially protrude out of said mounting cavity (101) to butt against said rim (320).

23. A drive mechanism according to any one of claims 19 to 22, characterized in that said friction assembly (800) further comprises an elastic element (830), said elastic element (830) being connected to said lower friction element (820), said elastic element (830) being used to apply an elastic force to said lower friction element (820) so that it moves in the vicinity of said rim (320).

24. A drive mechanism according to claim 9 taken in combination with any one of claims 1 to 23, characterized in that said first drive element (200) comprises a third sleeve (230), said first sleeve (210) of said first drive element (200) having a first end opposite said cleaning element (500), said third sleeve (230) being connected to said first end of said first sleeve (210), said third sleeve (230) being spaced from said first sleeve (210), said second sleeve (310) of said second drive element (300) being embedded between said third sleeve (230) and said first sleeve (210) and having a space with said third sleeve (230).

25. Drive mechanism according to claim 24, characterized in that when the first drive element (200) is in the cleaning position, the end of the third sleeve (230) away from the cleaning element (500) is further away from the cleaning element (500) than the first end of the first sleeve (210).

26. Drive mechanism according to claim 24 or 25, characterized in that said main support body (100) comprises a fourth sleeve (110), said fourth sleeve (110) being spaced from said second sleeve (310), said third sleeve (230) being embedded between said fourth sleeve (110) and said second sleeve (310) and having a space with said fourth sleeve (110).

27. ​​Drive mechanism according to claim 26, characterized in that when the first drive element (200) is in the cleaning position, the end of the third sleeve (230) away from the cleaning element (500) is further away from the cleaning element (500) than the end of the fourth sleeve (110) which is closer to the cleaning element (500).

28. A drive mechanism according to any one of claims 1 to 27, characterized in that said drive mechanism further comprises a magnetic attraction element (900), said magnetic attraction element (900) being connected to the first drive element (200), said magnetic attraction element (900) being used to be connected by magnetic connection to the magnetic element of the cleaning element (500); or by the fact that said drive mechanism further comprises: a magnetic element, said magnetic element being connected to the first drive element (200), and said magnetic element is used to be connected by magnetic connection to the magnetic element of the cleaning element (500).

29. A drive mechanism according to any one of claims 1 to 28, characterized in that said cleaning element (500) comprises at least one of the following elements: a rotating brush, a side brush.

30. A drive mechanism according to any one of claims 1 to 29, characterized in that said drive mechanism further comprises: a first sensing member, the first sensing member generating a rise-to-position signal when the first drive element (200) is raised to its highest position.

31. A drive mechanism according to claim 30, characterized in that the first sensing member comprises a first photoemitter (910) and a first light ray receiver (920), said first photoemitter (910) and said first light ray receiver (920) being opposed to each other, and when said first drive element (200) rises to the highest position, said first drive element (200) blocks the light between said first photoemitter (910) and said first light ray receiver (920) to cause said first light ray receiver (920) to generate said rise-to-position signal.

32. A drive mechanism according to claim 30, characterized in that the first sensing member comprises a first magnetic sensor, said drive mechanism further comprising a first magnetic element, said first magnetic element being disposed on said first drive element (200) and / or said cleaning element (500), said first magnetic element being within the sensing range of said first magnetic sensor when said first drive element (200) is raised to its highest position, so that said first magnetic sensor generates said raising signal.

33. Drive mechanism according to claim 30, characterized in that the first sensing member comprises a first microswitch, the first drive element (200) triggers the first microswitch when the first drive element (200) reaches the highest position, so that the first microswitch generates the rise-to-place signal.

34. A drive mechanism according to any one of claims 1 to 33, characterized in that said drive mechanism further comprises: a second sensing member, the second sensing member being used to generate a fit-in-place signal when the cleaning element (500) is mounted on the first drive element (200).

35. A drive mechanism according to claim 34, characterized in that the second sensing member comprises a second photoemitter and a second light ray receiver, said second photoemitter and said second light ray receiver being arranged opposite each other, said cleaning element (500) blocking the light rays between said second photoemitter and said second light ray receiver when said cleaning element (500) is mounted on said first drive element (200), so as to cause said second light ray receiver to generate said mounting-in-place signal.

36. Drive mechanism according to claim 34, characterized in that said second sensing member comprises a second magnetic sensor (930), said drive mechanism further comprising a second magnetic element, said second magnetic element being disposed on said cleaning element (500), said second magnetic element entering the sensing range of said second magnetic sensor (930) when said cleaning element (500) is mounted on said first drive element (200), so as to cause said second magnetic sensor (930) to generate said mounting-in signal.

37. A drive mechanism according to claim 34, characterized in that the second sensing member comprises a second microswitch, wherein the cleaning element (500) triggers the second microswitch when the element cleaning (500) is mounted on the first drive element (200) so that the second micro-switch generates the mount-in-place signal.

38. Self-cleaning device characterized in that it comprises a drive mechanism as claimed in any one of claims 1 to 37, and a device body, said drive mechanism being disposed on said device body.

39. Self-cleaning system characterized in that it comprises a self-cleaning device according to claim 38 above and a cleaning base station.

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