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

Abstract

A driving mechanism, comprising: a main support body (100); a first transmission member (200), the first transmission member (200) comprising a first end portion and a second end portion, and the second end portion being used for being connected to a cleaning member (500); a second transmission member (300), the first transmission member (200) and the second transmission member (300) being movably connected, the second transmission member (300) being movably connected to the main support body (100), and a first friction force being provided between the second transmission member (300) and the main support body (100); a power assembly (400), the power assembly (400) being transmittingly connected to the first end portion, and the power assembly (400) being used for driving the first transmission member (200) to rotate, such that the first transmission member (200) interacts with the second transmission member (300) so as to drive the first transmission member (200) to drive the cleaning member (500) to ascend or descend.

Description

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

[0001] This application claims priority to Chinese patent application No. 202410323970.9 filed on March 20, 2024 and Chinese patent application No. 202410634735.3 filed on May 21, 2024, which are incorporated herein by reference in their entirety. Technical Field

[0002] The present disclosure relates to the field of smart home technology, and in particular to a driving mechanism, a self-cleaning device, and a self-cleaning system. Background Art

[0003] With the continuous development of smart home technology, robot vacuums are increasingly used in daily household cleaning tasks. Robot vacuums clean by rotating the cleaning element and moving the robot as a whole, moving the cleaning element relative to the floor. The cleaning element can also be raised and lowered, allowing it to be stored away from the floor when no longer needed, and to avoid obstacles such as carpets and felt.

[0004] In the existing sweeping robot, two independent driving mechanisms are respectively provided to drive the lifting and rotating of the cleaning member, and the structure and driving mechanism are complicated.

[0005] Summary of the Invention

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

[0007] In one aspect, the present disclosure provides a driving mechanism for a self-cleaning device, the driving mechanism comprising:

[0008] main support body;

[0009] a first transmission member, the first transmission member comprising a first end and a second end, the second end being used for connecting with the cleaning member;

[0010] a second transmission member, wherein the first transmission member and the second transmission member are movably connected, the second transmission member is movably connected to the main support body, and a first friction force exists between the second transmission member and the main support body;

[0011] The power assembly is in transmission connection with the first end portion and is used to drive the first transmission member to rotate so that the first transmission member and the second transmission member interact with each other, and drive the first transmission member to drive the cleaning member to rise or fall.

[0012] On the other hand, the present disclosure provides a self-cleaning device, comprising the driving mechanism of any one of the aforementioned items, and a device body, wherein the driving mechanism is arranged on the device body.

[0013] On the other hand, the present disclosure provides a self-cleaning system, comprising the self-cleaning device described above, and a cleaning base station.

[0014] The drive mechanism, self-cleaning device, and self-cleaning system proposed in the present disclosure drive the first transmission member and the second transmission member to move relative to each other through the interaction between the first transmission member and the second transmission member, as well as the friction between the second transmission member and the main support body, when the first transmission member is driven to move by the power member. This drives the first transmission member to rise or fall, thereby achieving the lifting and lowering drive of the cleaning member. Furthermore, the interaction between the first transmission member and the second transmission member drives the first transmission member and the second transmission member to move synchronously, thereby achieving the lifting and moving cleaning of the cleaning member driven by a single power member, thereby reducing the number of driving members, simplifying the structure of the self-cleaning device, and alleviating production costs and driving burdens. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0016] FIG1 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present disclosure when a first transmission member is in a cleaning position;

[0017] FIG2 is a schematic diagram of a first cross-sectional structure of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a cleaning position;

[0018] FIG3 is an exploded schematic cross-sectional view of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a cleaning position;

[0019] FIG4 is an exploded schematic diagram of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a cleaning position;

[0020] FIG5 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a storage position;

[0021] FIG6 is a schematic cross-sectional view of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a retracted position;

[0022] FIG7 is a schematic structural diagram of a portion of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a storage position;

[0023] FIG8 is a schematic diagram of a second cross-sectional structure of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a cleaning position;

[0024] FIG9 is a schematic structural diagram of a portion of a driving mechanism provided by an embodiment of the present disclosure when the first transmission member is in a cleaning position;

[0025] FIG10 is a schematic cross-sectional view of another driving mechanism provided in an embodiment of the present disclosure;

[0026] FIG11 is a schematic diagram of an exploded structure of another driving mechanism provided in an embodiment of the present disclosure;

[0027] FIG12 is a schematic diagram of a partial structure of another driving mechanism provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to further illustrate the technical means and effects adopted by the present disclosure to achieve the predetermined disclosure purpose, the following is a detailed description of the specific implementation method, structure, characteristics and effects of a driving mechanism proposed in accordance with the present disclosure, in combination with the accompanying drawings and preferred embodiments.

[0029] As shown in Figures 1-6, embodiments of the present disclosure provide a drive mechanism for self-cleaning devices. Self-cleaning devices may include, but are not limited to, cleaning robots, intelligent cleaners, automatic floor scrubbers, mopping robots, and all-in-one sweeping and mopping machines. These devices have functions such as movement, cleaning, and vacuuming. Some self-cleaning devices also include mopping, terrain detection, and indoor area scanning. Taking a cleaning robot as an example, cleaning robots can come in a variety of shapes. To ensure stability and suitability for various scenarios, such as cleaning under beds, cleaning robots typically have a flat outer profile. The housing of a cleaning robot primarily comprises a chassis and a housing connected to the chassis to form a housing. The housing can contain various components required for the operation of the cleaning robot, such as a controller, a power supply, position sensing components such as cameras, scanners, and gyroscopes, a cleaning mechanism, and a travel mechanism. The controller can be used to control the cleaning system and travel mechanism. A common travel mechanism primarily includes moving wheels and auxiliary steering wheels. The moving wheels are driven by a drive motor in the housing, which rotates to drive the cleaning robot. The auxiliary steering wheel can be a universal wheel fixed under the chassis. By rotating and stopping the moving wheel, the steering of the cleaning robot can be achieved in conjunction with the auxiliary steering wheel.

[0030] The cleaning system may include a cleaning component and a mopping component. The cleaning component includes a roller brush drive, a roller brush, a dust box, and an exhaust fan. The roller brush is connected to the machine body via the roller brush drive. The machine body has a dust suction port located behind the roller brush, and the dust box is located in the air path between the exhaust fan and the dust suction port. The roller brush has a certain interference with the ground. During the rotation process, the roller brush can sweep up the garbage on the ground and roll it under the dust suction port. The garbage is then sucked into the dust box by the gas generated by the exhaust fan and drawn back to the dust box. The mopping component may include a mop drive and one or more mops. The mop can rotate to dry mop the ground. In some embodiments, the mopping system also includes a water tank to replenish water to the mop for wet mopping of the ground. Because the mop has a large area and its surface is made of soft, water-absorbent materials such as felt or terry, there will be greater friction between the mop and floor coverings such as carpets. In addition, stains will remain on the mop after cleaning, especially after wet mopping, which will leave dirty water on the mop. In order to prevent the friction between the mop and the floor coverings from affecting the normal movement of the cleaning robot, and to prevent the mop with dirty water from coming into contact with the ground and causing repeated contamination of the ground, the mop needs to have a lifting function. The existing mop drive is divided into a mop rotation drive and a mop lifting drive. The mop rotation drive is connected to the mop and is used to drive the mop to rotate, while the mop lifting drive is connected to the mop rotation drive and the mop to drive the entire lifting. This means that two sets of drive components need to be set up separately to achieve the lifting and rotation of the mop, which is structurally redundant, heavy, and has a heavy driving burden for the lifting drive, and the control process is cumbersome. The present application is precisely to solve this problem and proposes a drive mechanism that relies on only a single power component and structural setting to achieve the lifting and rotation control of the cleaning component.

[0031] Specifically, the driving mechanism includes:

[0032] Main support body 100;

[0033] A first transmission member 200, the first transmission member 200 includes a first end and a second end, the second end being used to connect with the cleaning member 500;

[0034] The second transmission member 300 is movably connected to the first transmission member 200 and the second transmission member 300. The second transmission member 300 is movably connected to the main support body 100, and a first friction force exists between the second transmission member 300 and the main support body 100.

[0035] The power assembly 400 is connected to the first end portion in a transmission manner. The power assembly 400 is used to drive the first transmission member 200 to move so that the first transmission member 200 interacts with the second transmission member 300, and drives the first transmission member 200 to drive the cleaning member 500 to rise or fall.

[0036] The main support body 100 can be a separate support member of the drive mechanism, which is fixed to the outer shell of the main body of the self-cleaning device; alternatively, the main support body 100 can also be a part of the outer shell of the main body of the device, so that the structural connection is tighter and more stable. The structure of the main support body 100 can be set according to the specific structure of the first transmission member 200, the second transmission member 300 and the power assembly 400, so as to support the first transmission member 200, the second transmission member 300 and the power assembly 400, and to cooperate with the movement of the first transmission member 200. For the convenience of explanation, the following description is based on the direction of the actual use of the drive mechanism as an example. The first end is connected to the power assembly 400 for transmission, so that the power assembly 400 can drive the first transmission member 200 to move through the first end. The first transmission member 200 will interact with the second transmission member 300. The trend of the first transmission member 200 moving will cause the first transmission member 200 and the second transmission member 300 to have a trend of relative movement, thereby causing the position of the first transmission member 200 to change at least in the vertical direction. The second transmission member 300 is stationary relative to the main support body 100, while the first transmission member 200 is raised and lowered relative to the main support body 100, thereby driving the first transmission member 200 to rise and fall. The first transmission member 200 is connected to the cleaning member 500 through the second end, thereby driving the cleaning member 500 to rise and fall. The cleaning member 500 can be a variety of components that clean by rotation, such as a rotating mop, a side brush, etc. The rotating mop can be a round mop, a square mop, a triangular mop, etc. The cleaning position can be considered as the extreme position of the movement of the first transmission member 200, and the extreme position can be set as needed, such as according to the need for the lifting height of the cleaning member 500. The position of the first transmission member 200 also includes a storage position. When in the storage position, the first transmission member 200 drives the cleaning member 500 to rise to the highest point. In some embodiments, the first transmission member 200 includes a cleaning position. When the first transmission member 200 and the second transmission member 300 interact and move relative to each other until the first transmission member 200 is in the cleaning position, the interaction between the first transmission member 200 and the second transmission member 300 will change. The first transmission member 200 and the second transmission member 300 will not move relative to each other, but will move synchronously, thereby causing the cleaning member 500 to stop rising and falling and perform mobile cleaning. The cleaning position refers to the extreme position where the first transmission member 200 descends to its lowest point. When the first transmission member 200 is in the cleaning position, the height of the cleaning member 500 connected to the first transmission member 200 satisfies the interference with the surface to be cleaned, and the interference strength, or extrusion strength, is sufficient to allow the cleaning member 500 to clean the surface to be cleaned without excessively extruding the surface to be cleaned to affect the movement of the cleaning member 500.

[0037] The power assembly 400 can be used to drive the first transmission member 200 to move in various ways, such as driving the first transmission member 200 to rotate, or to move linearly or curvedly.

[0038] During use, the first transmission member 200 is controlled to move, and then driven by the first transmission member 200 to lower the cleaning member 500 until the first transmission member 200 reaches the cleaning position and the cleaning member 500 is at the lowest position. The first transmission member 200 is then driven to move again, and the first transmission member 200, the second transmission member 300, and the cleaning member 500 move synchronously to achieve cleaning. When cleaning is completed and the cleaning member 500 needs to be stored, the first transmission member 200 is controlled to move in the opposite direction, the first transmission member 200 leaves the cleaning position, and the first transmission member 200 drives the cleaning member 500 to rise for storage.

[0039] It is worth noting that in some embodiments, the second transmission member 300 can rotate forwardly relative to the main support body 100, or can rotate reversely relative to the main support body 100, with forward and reverse being two opposite rotation directions. When the first transmission member 200 is driven forward to descend to the cleaning position, the first transmission member 200 is continued to be driven in the same direction, and a rigid thrust is generated between the first transmission member 200 and the second transmission member 300, thereby driving the second transmission member 300 to overcome the friction with the main support body 100 and follow the first transmission member 200 to rotate forward relative to the main support body 100. When the first transmission member 200 is driven reversely to ascend to the highest position, the first transmission member 200 is continued to be driven in the same direction, and a rigid thrust is generated between the first transmission member 200 and the second transmission member 300, thereby driving the second transmission member 300 to overcome the friction with the main support body 100 and follow the first transmission member 200 to rotate reversely relative to the main support body 100. The second transmission member 300 can rotate in both positive and negative directions relative to the main support body 100, avoiding position error of the first transmission member 200 or failure to detect in time that the first transmission member 200 has reached the highest position, which may cause excessive squeezing and damage of the first transmission member 200 and the second transmission member 300, and avoiding overload of the power component 400.

[0040] In some embodiments, as shown in Figure 7, the driving mechanism also includes a first detection part, which is connected to the main support body 100. The first detection part is used to detect whether the first transmission member 200 has reached a preset highest position. When the first transmission member 200 reaches the preset highest position, the first detection part generates a rising position signal. The rising position signal indicates that the first transmission member 200 has been raised. After receiving the rising position signal, the movement of the first transmission member 200 can be stopped immediately. The first detection part can be a first micro switch, such as a combination of a spring and a touch sensor. When the first transmission member 200 has not reached the preset height position, the spring is disengaged from the touch sensor. When the first transmission member 200 continues to rise, the first transmission member 200 will squeeze the spring so that the spring is close to the touch sensor until the first transmission member 200 reaches the preset height position, at which time the spring contacts the touch sensor, thereby generating a rising position signal. Alternatively, the first detection part can be a light-interrupting device, such as a combination of a first photoelectric emitter 910 and a first light receiver 920. The first photoelectric emitter 910 and the first light receiver 920 are arranged relative to each other, and the first light receiver 920 is used to receive a photoelectric signal emitted by the first photoelectric emitter 910, such as an infrared signal. When the first transmission member 200 has not reached the preset height position, there is no obstruction between the first photoelectric emitter 910 and the first light receiver 920. When the first transmission member 200 continues to rise, the top structure of the first transmission member 200 approaches the first photoelectric emitter 910 until the first transmission member 200 reaches the preset height position, at which point the top structure enters between the first photoelectric emitter 910 and the first light receiver 920, thereby blocking the light of the first photoelectric emitter 910. The first light receiver 920 then generates a rising position signal. The top structure may be an action member 212, which will be described in detail below. Alternatively, the first detection portion may be a first magnetic sensor, such as a Hall sensor. A first magnetic member matching the Hall sensor is provided on the first transmission member 200 or the cleaning member 500. After the first transmission member 200 moves into position, or after the first transmission member 200 drives the cleaning member 500 into position, the first magnetic member will enter the detection range of the Hall sensor, and the Hall sensor will detect the magnetism and generate a rising position signal. The first detection portion may also have other forms, and is intended to detect the position of the first transmission member 200 , and at least send out a rising position signal when the first transmission member 200 reaches a preset highest position.The setting of the first detection part, on the one hand, when the first transmission member 200 rises into position, the first transmission member 200 will rotate synchronously with the second transmission member 300, which will cause the second transmission member 300 to idle meaninglessly. The addition of the first detection part can stop the continued movement of the second transmission member 300 in time after the first transmission member 200 is in position, thereby avoiding energy consumption and mechanical loss caused by the movement of the second transmission member 300, and avoiding time wasted in the lifting process of the first transmission member 200; on the other hand, it can timely detect the failure of the first transmission member 200 to rise successfully due to jamming and mechanical failure. If no rising into position signal is received within a certain time after the start of the rise, an alarm can be issued.

[0041] In some other embodiments, as shown in FIG7 , the driving mechanism further includes a second detection portion, which can be connected to the main support body 100 or installed on the first transmission member 200. The second detection portion is used to detect whether the cleaning member 500 is installed on the first transmission member 200. When the cleaning member 500 is installed, the second detection portion generates an installation position signal, which indicates that the cleaning member 500 has been installed, and then the next action can be performed, such as cleaning, to avoid the cleaning member 500 being forgotten to be installed or not installed successfully, resulting in the inability to achieve normal cleaning. The second detection part can be a second micro switch, such as a combination of a spring and a touch sensor. When the cleaning member 500 is not installed on the first transmission member 200, the spring is disengaged from the touch sensor. When the cleaning member 500 is installed, the cleaning member 500 will squeeze the spring so that the spring contacts the touch sensor, thereby generating an installation signal. Alternatively, the second detection part can be a light-interrupting device, such as a combination of a second photoelectric emitter and a second light receiver. The second photoelectric emitter and the second light receiver are arranged relative to each other, and the second light receiver is used to receive a photoelectric signal emitted by the second photoelectric emitter, such as an infrared signal. When the cleaning member 500 is not mounted on the first transmission member 200, there is no obstruction between the second photoelectric emitter and the second light receiver. When the cleaning member 500 is mounted, a portion of the cleaning member 500 enters between the second photoelectric emitter and the second light receiver, thereby blocking the light from the second photoelectric emitter. The second light receiver then generates a signal indicating that the cleaning member 500 is in place. The portion of the cleaning member 500 can be the area where the cleaning member 500 extends into the mounting cavity defined by the first transmission member 200. Alternatively, the second detection unit can be a second magnetic sensor 930, such as a Hall sensor. The cleaning member 500 is provided with a second magnetic member that matches the Hall sensor. When the cleaning member 500 is mounted, the second magnetic member enters the detection range of the Hall sensor, which detects the magnetism and generates a signal indicating that the cleaning member 500 is in place. The second detection unit can also have other forms, designed to detect whether the cleaning member 500 is installed. When the cleaning member 500 is mounted on the first transmission member 200, the signal indicating that the cleaning member 500 is in place is generated. The provision of the second detection unit can prevent the cleaning member 500 from being missed and prevent the self-cleaning device from performing ineffective cleaning due to not having the cleaning member 500.

[0042] The drive mechanism, self-cleaning device, and self-cleaning system proposed in the embodiments of the present disclosure drive the first transmission member and the second transmission member to move relative to each other through the interaction between the first transmission member and the second transmission member, as well as the interaction between the second transmission member and the main support body, when the first transmission member is driven to rotate by the power member. This drives the first transmission member and the second transmission member to move relative to each other, thereby causing the first transmission member to rise or fall, thereby achieving the lifting and lowering drive of the cleaning member. When the relative position of the first transmission member reaches the cleaning position, the first transmission member and the second transmission member are driven to rotate synchronously through the interaction between the first transmission member and the second transmission member, thereby achieving the lifting and rotation of the cleaning member driven by a single power member, thereby reducing the number of driving members, simplifying the structure of the self-cleaning device, and reducing production costs and driving burdens.

[0043] In one embodiment, a second friction force exists between the first transmission member 200 and the second transmission member 300 , and the first friction force is greater than the second friction force.

[0044] The rotation of the first transmission member 200 is controlled. Since the friction force of the threaded connection between the first transmission member 200 and the second transmission member 300 is small, and the friction force between the second transmission member 300 and the main support body 100 is large, the second transmission member 300 and the main support body 100 will not move relative to each other, or the relative movement will be very small, while the first transmission member 200 and the second transmission member 300 will move circumferentially relative to each other more smoothly.

[0045] The first transmission member 200 is driven by the power assembly 400 to rotate. This rotation interacts with the second transmission member 300, exerting a vertical force while simultaneously moving circumferentially. This can be achieved by providing a first actuating portion 211 and a second actuating portion 311 on the first transmission member 200 and the second transmission member 300, respectively. The first actuating portion 211 and the second actuating portion 311 can be implemented in a variety of ways, so that the movement of the second transmission member 300 can drive the first transmission member 200 to rise and fall.

[0046] If at least one of the first acting portion 211 and the second acting portion 311 includes an acting inclined surface, when the first transmission member 200 rotates, the first acting portion 211 and the second acting portion 311 cooperate with each other through the acting inclined surfaces to make the first transmission member 200 rise or fall.

[0047] The action slope is an inclined surface that simultaneously provides lifting and lowering forces to the first action portion 211 and the second action portion 311 when the first action portion 211 and the second action portion 311 move relative to each other in the circumferential direction, or can be interpreted as an inclined surface that spirals upward or downward in the circumferential direction. The first action portion 211 and the second action portion 311 may both include an action slope, but the lengths of the action slopes are different. Alternatively, one of the first action portion 211 and the second action portion 311 includes an action slope, and the other of the first action portion 211 and the second action portion 311 includes a rolling element or a slider, and the rolling element or the slider is used to roll or slide relative to the action slope. The rolling element may be a roller or a roller, which can further reduce the second friction force by being connected to the action slope through rolling. Alternatively, the slider may be a block-shaped, columnar, or other protrusion.

[0048] In one embodiment, the number of the first acting portion 211 and the second acting portion 311 can both be one. Alternatively, the number of the first acting portion 211 and the second acting portion 311 can be the same, and they are arranged in a one-to-one correspondence. In addition, there can be multiple first acting portions 211 and second acting portions 311, with the multiple first acting portions 211 distributed circumferentially around the rotation axis of the first transmission member 200, and the multiple second acting portions 311 distributed circumferentially around the rotation axis of the second transmission member 300. This ensures that the first acting portions 211 and the second acting portions 311 act in a balanced manner in the circumferential direction on the first transmission member 200 and the second transmission member 300, thereby preventing skew.

[0049] In a more specific embodiment, one of the first and second actuating portions 211 and 311 is threaded, and the other can be a chuck with an actuating bevel, embedded between the helical surfaces. Alternatively, the other can be a smaller chuck without an actuating bevel. The first transmission member 200 and the second transmission member 300 are threadedly connected, and the first transmission member 200 is configured to rotate relative to the second transmission member 300, thereby driving the first transmission member 200 up and down via the threads.

[0050] Due to the arrangement of the threads, the circumferential movement will generate a pushing effect in the vertical direction, so that the first transmission member 200 is pushed to rise or fall.

[0051] Alternatively, in another embodiment, at least one of the first acting portion 211 and the second acting portion 311 is an acting groove, the other of the first acting portion 211 and the second acting portion 311 is used to be embedded in the acting groove, and the acting inclined surface is a side wall of the acting groove.

[0052] In one embodiment, the second end portion includes a first sleeve 210 and the second transmission member 300 includes a second sleeve 310. The first sleeve 210 is provided with a first acting portion 211, and the second sleeve 310 is provided with a second acting portion 311. The first sleeve 210 and the second sleeve 310 are sleeved together.

[0053] In an embodiment where one of the first action portion 211 and the second action portion 311 is a thread, and the number of threads is multiple, and the other is a chuck, after the first sleeve 210 and the second sleeve 310 are sleeved, the chuck will be embedded in the thread. The threads can be four, that is, four threads are formed, and the number of chucks is four, each corresponding to one thread. By setting up multiple threads, the movement between the first sleeve 210 and the second sleeve 310 can be made more stable and less likely to shake. In the embodiments shown in Figures 2-4 and 6, the outer wall of the first sleeve 210 is provided with threads, and the inner wall of the second sleeve 310 is provided with chucks, or the inner wall of the second sleeve 310 is provided with threads, and the outer wall of the first sleeve 210 is provided with chucks.

[0054] In one embodiment, one of the first and second actuating portions 211 and 311 engages with the actuating member 212. For example, in an embodiment where one of the first and second actuating portions 211 and 311 is a thread, the actuating member 212 is disposed at the terminal end of the thread. When the first transmission member 200 is in the cleaning position, the chuck abuts against the actuating member 212, causing the first transmission member 200 to drive the second transmission member 300 to rotate synchronously. Alternatively, in an embodiment where at least one of the first and second actuating portions 211 and 311 is an actuating groove, the actuating member 212 can be considered the inner wall of the actuating groove opposite the actuating inclined surface.

[0055] The action member 212 may be located only at the terminal end of one end of the thread, and be used only to act with the chuck, so that the first transmission member 200 rotates synchronously when it is in the cleaning position. Alternatively, in some embodiments, the action member 212 may be located at the terminal end of both ends of the thread, with one end being used to cause the first transmission member 200 to rotate synchronously with the second transmission member 300 when it is in the cleaning position, and the other end being used to limit the maximum height to which the first transmission member 200 can be raised.

[0056] More specifically, if the first acting portion 211 is a thread, the second acting portion 311 is a chuck, a thread is provided on the outer wall of the first sleeve 210, and the first sleeve 210 is used for lifting, as shown in Figures 2-4 and 6, the acting member 212 can be located only at the terminal end of the thread away from the cleaning member 500, or the acting member 212 is located at the uppermost terminal end of the thread 211, and then during the descending process of the first sleeve 210, the acting member 212 moves toward the chuck located above, and when the first transmission member 200 and the second transmission member 300 are in the cleaning position, the acting member 212 will contact the chuck located above, and then when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the acting member 212 will push the chuck, driving the second sleeve 310 to rotate synchronously. In some embodiments, an action member 212 may also be provided at the terminal end at the bottom of the thread, and then during the rising process of the first sleeve 210, the action member 212 moves toward the clamping head located below. When the first sleeve 210 moves to the highest position, the action member 212 located below will contact the clamping head, thereby preventing the first sleeve 210 from rising excessively and playing a limiting role.

[0057] In another embodiment, the second acting portion 311 is a thread, the first acting portion 211 is a chuck, a thread is provided on the inner wall of the second sleeve 310, and in an embodiment in which the first sleeve 210 is used for lifting, the acting member 212 is located at the terminal end of the thread close to the cleaning member 500, or the acting member 212 is located at the lowest terminal end of the thread, and then during the descending process of the first sleeve 210, the chuck moves toward the acting member 212 located below, and when the first transmission member 200 and the second transmission member 300 are in the cleaning position, the chuck will contact the acting member 212 located below, and then when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the chuck will push the acting member 212 located below, driving the second sleeve 310 to rotate synchronously. In some embodiments, an action member 212 may also be provided at the uppermost terminal of the thread 211. Then, during the rising process of the first sleeve 210, the clamp moves toward the action member 212 located above. When the first sleeve 210 moves to the highest position, the clamp will contact the action member 212 located above, thereby preventing the first sleeve 210 from rising excessively and playing a limiting role.

[0058] It will be understood that in an embodiment where there are four chucks 311 and the threads 211 can be four-threaded, the terminals of the four threads are respectively provided with an actuating member 212. The actuating member 212 can be integrally formed with the first sleeve 210 or the second sleeve 310. Alternatively, in some embodiments, as shown in Figures 4 and 6, the drive mechanism further includes an upper cover 2121, the actuating member 212 being connected to the upper cover 2121, and the upper cover 2121 being connected to the first sleeve 210, so that the actuating member 212 is located at the terminal end of the threads, facilitating processing.

[0059] In the aforementioned embodiment where the first detection part includes the first photoelectric emitter 910 and the first light receiver 920, the upper cover 2121 is buckled onto the top edge of the first sleeve 210, and then plays the role of blocking the light from the first photoelectric emitter 910 and the first light receiver 920 after the first transmission member 200 is in place.

[0060] During use, the power assembly 400 drives the first transmission member 200 to rotate in a forward direction relative to the main support body 100, such as by the forward rotation of the motor of the power assembly 400. Since the second transmission member 300 is stationary (this is caused by the friction between the second transmission member 300 and the support body 100 being greater than the friction between the first acting portion 211 and the second acting portion 311), the second acting portion 311 will move relative to the first acting portion 211. For example, in an embodiment in which one of the first acting portion 211 and the second acting portion 311 is threaded, the clamp will move relative to the thread and press down on the thread, thereby driving the first transmission member 200 to descend vertically relative to the main support body 100, thereby lowering the cleaning member 500. When the cleaning member 500 descends to its lowest position, the first transmission member 200 reaches the cleaning position. Since the motor of the power assembly 400 is still rotating in the forward direction, the first transmission member 200 will continue to rotate relative to the main support body 100 in the forward direction. The chuck will interact with the actuating member 212 at the lower end of the thread, thereby hindering the further relative movement of the chuck and the thread. The first transmission member 200 and the second transmission member 300 will generate a rigid thrust, which will enable the second transmission member 300 to overcome the friction between the second transmission member 300 and the main support body 100. Subsequently, the first transmission member 200 and the second transmission member 300 will rotate synchronously, and the cleaning member 500 will clean the floor. In other words, during the descent and cleaning process, the rotation direction of the first transmission member 200 does not reverse. Then, when cleaning is completed, or a user instruction is received, or an obstacle is detected, the cleaning member 500 needs to be moved upward for storage or obstacle avoidance. At this time, the power assembly 400 drives the first transmission member 200 to rotate relative to the main support body 100 in the reverse direction of the forward rotation, such as by reversing the rotation of the motor of the power assembly 400. Since the second transmission member 300 is stationary (this is due to the friction between the second transmission member 300 and the support body 100 being greater than the friction between the chuck and the threads), the chuck will reverse and disengage from the actuator 212. The chuck will then move relative to the threads and lift the threads, thereby driving the first transmission member 200 to rise vertically relative to the main support body 100, thereby achieving the ascent of the cleaning member 500. When the cleaning member 500 reaches its highest position, the chuck may interact with the actuator 212 at the upper end of the threads, thereby hindering the chuck and the threads from further relative movement. The first transmission member 200 and the second transmission member 300 will generate a rigid thrust, which will cause the second transmission member 300 to overcome the friction between the second transmission member 300 and the main support body 100, and the first transmission member 200 and the second transmission member 300 will move synchronously. It can be understood that at this time, the cleaning member 500 is in the storage position, or in other words, rotates at the higher position, until the programmed time is reached and the power assembly 400 stops driving the first transmission member 200.Alternatively, in the aforementioned embodiment including a first detection unit, the first detection unit includes a first photoelectric emitter 910 and a first light receiver 920, when the first transmission member 200 rises into position, the light between the first photoelectric emitter 910 and the first light receiver 920 will be blocked, and then the rotation of the first transmission member 200 can be directly stopped, thereby avoiding ineffective energy consumption and wear of the second transmission member 300 and the main support body 100 damping.

[0061] For example, in an embodiment in which the first transmission member 200 is raised and lowered, the second transmission member 300 is only circumferentially movable with the main support body 100 and is limited in the axial, or vertical, direction. Therefore, the second transmission member 300 cannot be raised or lowered, while the first transmission member 200 needs to be vertically movable with the power assembly 400. Since the power assembly 400 needs to drive the first transmission member 200 to rotate, the first transmission member 200 and the power assembly 400 need to be limited in the circumferential direction. Several embodiments of raising and lowering the first transmission member 200 will be described in more detail below.

[0062] The first transmission member 200 and the power assembly 400 have a circumferential transmission relationship and move relative to each other in the axial direction, or vertical direction. This can be achieved by having the output shaft of the power assembly 400 extend in the vertical direction, with a first meshing tooth extending vertically provided on the output shaft, and a second meshing tooth provided on the first transmission member 200. The power assembly 400 is meshed with the first transmission member 200 via the first meshing tooth and the second meshing tooth. When the output shaft rotates, the first transmission member 200 can be driven to rotate. Since both the first meshing tooth and the second meshing tooth extend in the vertical direction, the first transmission member 200 can move vertically relative to the power assembly 400, thereby achieving lifting. Alternatively, in another embodiment, as shown in Figures 7-9, the power assembly 400 includes a power member 410 and a third transmission member 420. The power member 410 is in transmission connection with the third transmission member 420. For example, the power member 410 can be a motor, with the output shaft of the motor extending horizontally. The output shaft of the motor is directly meshed with the third transmission member 420, or it can be indirectly meshed with the third transmission member 420 via an additional gear. The third transmission member 420 is slidably connected to the first transmission member 200 in the axial direction and is limited in the circumferential direction.

[0063] By providing the third transmission member 420, the power member 410 can be extended horizontally, thereby fully utilizing the internal space of the self-cleaning device. In addition, the structure of the third transmission member 420 can be flexibly configured to achieve a better transmission effect. For example, in one embodiment, the second end includes a limit portion 220, which is connected to the first sleeve 210 and is sleeved on the outer periphery of the third transmission member 420, or the third transmission member 420 is sleeved on the outer periphery of the limit portion 220. Taking the example of the third transmission member 420 being sleeved on the outer circumference of the limiting portion 220, the third transmission member 420 comprises a cylindrical structure, with a plurality of first limiting surfaces 421 distributed circumferentially on the inner wall of the third transmission member 420. The first limiting surfaces 421 can be convex arcuate surfaces. The outer contour of the limiting portion 220 is a rod-shaped structure, and a plurality of second limiting surfaces 221 are distributed circumferentially on the outer wall of the limiting portion 220 to match the inner wall of the third transmission member 420. The second limiting surfaces 221 can be concave arcuate surfaces. It is understood that the surface shapes of the first limiting surfaces 421 and the second limiting surfaces 221 can be interchangeable, or can have other shapes, such as teeth. The limiting portion 220 is inserted into the cylindrical structure of the third transmission member 420, and the first limiting surfaces 421 and the second limiting surfaces 221 slide in contact with each other to achieve circumferential limiting, while being able to slide relative to each other in the axial direction. By having the third transmission member 420 sleeved around the outer periphery of the limiting portion 220, an external force is applied to the circumference of the limiting portion 220 to cause the limiting portion 220 to rotate. This force is applied more evenly, and the limiting portion 220 can only move in the vertical direction, thus serving as a guide for the limiting portion 220 or the first transmission member 200 during the raising and lowering of the limiting portion 220, thereby preventing the first transmission member 200 from shaking. The implementation method of sleeved engagement of the limiting portion 220 with the outer periphery of the third transmission member 420 can be referred to the implementation method of sleeved engagement of the third transmission member 420 with the outer periphery of the limiting portion 220, and will not be further described.

[0064] The transmission connection between the power member 410 and the third transmission member 420 can be achieved in various ways. As shown in FIG9 , the power assembly 400 further includes an intermediate transmission member 430. The intermediate transmission member 430 can be one or more gears and can be arranged according to the distance and relative position between the power member 410 and the third transmission member 420. The power member 410 and the third transmission member 420 are connected by one or more gears to achieve a transmission connection.

[0065] In an embodiment in which the first transmission member 200 is used to lift and lower relative to the main support body 100, the second transmission member 300 is limited in the axial direction to the main support body 100 and is connected to the main support body 100 in a damping manner in the circumferential direction. The friction between the second transmission member 300 and the main support body 100 is greater than the friction between the first transmission member 200 and the second transmission member 300, which refers to the friction between the second transmission member 300 and the main support body 100 in the circumferential direction, which is greater than the friction between the chuck 311 and the thread 211 in the direction in which the thread 211 extends. The damping connection relationship between the second transmission member 300 and the main support body 100 can be various. In one embodiment, the drive mechanism also includes a damping bearing. The second transmission member 300 is connected to the main support body 100 via a damping bearing. The bearing resistance of the damping bearing is greater than the friction between the chuck 311 and the thread 211. The damping bearing is fixedly connected to both the second transmission member 300 and the main support body 100 in the axial direction. In other embodiments, as shown in Figures 2-4 and 6, the drive mechanism further includes a friction assembly 800, and the second transmission member 300 includes a flange 320. The flange 320 is connected to the second sleeve 310 of the second transmission member 300 and protrudes from the side wall of the second sleeve 310. The flange 320 is connected to the friction assembly 800. The flange 320 extends horizontally, and the friction assembly 800 cooperates with the flange 320 to axially limit the flange 320, thereby preventing axial movement of the second sleeve 310.

[0066] In a more specific embodiment, the friction assembly 800 includes an upper friction member 810 and a lower friction member 820. The flanges 320 of the upper friction member 810 and the lower friction member 820 abut against the flanges 320 on both sides of the second transmission member 300 in the axial direction. This increases friction and prevents the second transmission member 300 from rotating with it when the first transmission member 200 is raised or lowered.

[0067] In one embodiment, the friction assembly 800 further includes an elastic member 830 connected to at least one of the upper friction member 810 and the lower friction member 820. The elastic member 830 is configured to apply an elastic force to the upper friction member 810 and / or the lower friction member 820 to cause the upper friction member 810 and / or the lower friction member 820 to move toward the flange 320. The elastic member 830 may be a spring, such as one connected only between the lower friction member 820 and the main support body 100. The spring forces the lower friction member 820 and the upper friction member 810 to press against the flange 320 with a moderate pressure. When the lower friction member 820 and the upper friction member 810 wear, the provision of the spring ensures that the lower friction member 820 and the upper friction member 810 continue to provide effective friction, thereby preventing the second transmission member 300 from rotating with the first transmission member 200 as it is raised or lowered.

[0068] In some other embodiments, as shown in Figures 10-12, the friction assembly 800 includes a lower friction member 820 and at least one action wheel 840, and the lower friction member 820 and the action wheel 840 are respectively abutted against the flange 320 on both sides of the second transmission member 300 in the axial direction.

[0069] The lower friction member 820 cooperates with the action wheel 840 to support the flange 320 from both sides, thereby axially limiting the second transmission member 300. The lower friction member 820 provides circumferential damping for the flange 320, or the second transmission member 300. When the second transmission member 300 follows the movement of the first transmission member 200, the action wheel 840 rolls along the flange 320, while the flange 320 and the lower friction member 820 slide. Compared to the embodiment using the upper friction member 810, the use of rolling instead of sliding can reduce wear on the side of the flange 320 facing the action wheel 840.

[0070] In one embodiment, the lower friction member 820 is closer to the cleaning member 500 than the action wheel 840. Specifically, the lower friction member 820 acts on the flange 320 from the bottom surface of the flange 320, while the action wheel 840 is in rolling connection with the top surface of the flange 320. During the cleaning process, the cleaning member 500 will interfere with the ground, which will generate an upward reaction force on the cleaning member 500. In turn, the cleaning member 500 will apply an upward thrust to the second transmission member 300, causing the flange 320 to be squeezed upward. Furthermore, in embodiments where an elastic member 830 is connected to the lower friction member 820, the lower friction member 820 will also squeeze the flange 320, causing it to be squeezed upward. If an upper friction member 810 is used, the upward pressure of the flange 320 against the upper friction member 810 will increase the friction force on the flange 320, resulting in a greater load on the rotation of the second transmission member 300, an increased load on the power member 410, and increased energy consumption. The action wheel 840 is used instead of the upper friction member 810. The action wheel 840 and the flange 320 are in rolling connection. When the pressure between the flange 320 and the action wheel 840 increases, it will not cause the force on the second transmission member 300 to increase, thereby ensuring the endurance of the power member 410.

[0071] In one embodiment, there are multiple action wheels 840 , and the multiple action wheels 840 are evenly distributed in the circumferential direction of the second transmission member 300 .

[0072] For example, there can be two action wheels 840, which are arranged on opposite radial sides of the second transmission member 300, or there can be three, four or more action wheels 840, which can ensure that the second transmission member 300 is evenly stressed in the circumferential direction and is not prone to skewing or jamming.

[0073] In one embodiment, the action wheel 840 is rotatably connected to the main support body 100. For example, the action wheel 840 can be an integral roller, and the roller is directly rotatably connected to the main support body 100 or connected via a bearing. Alternatively, the action wheel 840 includes a wheel body and a rotating shaft, and the rotating shaft is connected to the main support body 100. The connection can be fixed, such as plug-in connection, and the wheel body and the rotating shaft are rotatably connected. The wheel body can be connected to the rotating shaft via one or more bearings, or the wheel body can be directly rotatably connected to the rotating shaft.

[0074] In one embodiment, a wear-resistant layer is provided on at least one of the contact surfaces of the action wheel 840 and the flange 320. The wear-resistant layer can be a thin coating and can have a certain flexibility, thereby playing a role in shock absorption and wear resistance between the action wheel 840 and the flange 320.

[0075] In one embodiment, a mounting cavity 101 is provided on the main support body 100 , and both ends of the action wheel 840 are connected to opposite side walls of the mounting cavity 101 , and a portion of the action wheel 840 extends out of the mounting cavity 101 to abut against the flange 320 .

[0076] As shown in Figure 12, the main support body 100 defines a mounting cavity 101, which has at least a bottom opening. Each actuating wheel 840 may correspond to a mounting cavity 101. The actuating wheel 840 is secured by the inner wall of the mounting cavity 101, thereby ensuring that the actuating wheel 840 is supported axially from both sides, ensuring a stable position and preventing vibration. Part of the structure of the actuating wheel 840 extends from the bottom opening of the mounting cavity 101 and interacts with the flange 320.

[0077] In the embodiment in which the lower friction member 820 and the action wheel 840 cooperate, the lower friction member 820 can be connected to the elastic member 830. When the lower friction member 820 wears, due to the setting of the spring, the lower friction member 820 can continue to provide effective friction force, thereby avoiding the second transmission member 300 from rotating with it when the first transmission member 200 is raised or lowered.

[0078] In the embodiment of the aforementioned use process, the power assembly 400 drives the first transmission member 200 to rotate in the forward direction relative to the main support body 100. As the lower friction member 820 and the upper friction member 810 squeeze the flange 320, the second transmission member 300 remains stationary. Subsequently, the chuck acts on the thread, driving the first transmission member 200 to descend vertically relative to the main support body 100. When the action member 212 reaches the terminal below the chuck and the thread, the first transmission member 200 and the second transmission member 300 generate a rigid thrust. This thrust causes the second transmission member 300 to overcome the friction of the lower friction member 820 and the upper friction member 810, causing the flange 320 to slide relative to the lower friction member 820 and the upper friction member 810, and then the first transmission member 200 and the second transmission member 300 rotate synchronously. When the cleaning member 500 needs to be moved upward for storage or obstacle avoidance, the first transmission member 200 rotates in the opposite direction relative to the main support body 100. Since the lower friction member 820 and the upper friction member 810 squeeze the flange 320, the position of the second transmission member 300 remains unchanged. The clamping head will move relative to the thread and lift the thread, thereby driving the first transmission member 200 to rise vertically relative to the main support body 100 to achieve the ascent of the cleaning member 500. When the cleaning member 500 rises to the highest position, if the first detection portion is not provided, the clamping head will act on the actuating member 212 at the upper end of the thread, and the first transmission member 200 and the second transmission member 300 will generate a rigid thrust. The thrust will cause the second transmission member 300 to overcome the friction of the lower friction member 820 and the upper friction member 810, causing the flange 320 to slide relative to the lower friction member 820 and the upper friction member 810, and the first transmission member 200 and the second transmission member 300 to move synchronously.

[0079] In one embodiment, the first transmission member 200 may only include a stopper 220 and a first sleeve 210 that are connected to each other, and the first sleeve 210 may be a straight cylindrical structure. Alternatively, in other embodiments, as shown in Figures 2-4, the first transmission member 200 further includes a third sleeve 230, wherein the first end of the first sleeve 210 of the first transmission member 200 is opposite to the cleaning member 500, the third sleeve 230 is connected to the first end of the first sleeve 210, and the third sleeve 230 is spaced apart from the first sleeve 210. The second sleeve 310 of the second transmission member 300 is embedded between the third sleeve 230 and the first sleeve 210, and has a gap between the third sleeve 230 and the third sleeve 230.

[0080] The third sleeve 230 is disposed around the outer periphery of the second sleeve 310 and the first sleeve 210 near the cleaning member 500. The end of the third sleeve 230 away from the cleaning member 500 is further away from the cleaning member 500 than the first end of the first sleeve 210. That is, even when the first transmission member 200 is in its lowest position, the top end of the third sleeve 230 is ensured to be higher than the bottom end of the first sleeve 210, thereby protecting the gap between the second sleeve 310 and the first sleeve 210 and preventing dust, hair, etc. from entering between the second sleeve 310 and the first sleeve 210 and affecting the relative movement between the second sleeve 310 and the first sleeve 210.

[0081] Furthermore, as shown in Figures 1-6, the main support body 100 includes a fourth sleeve 110, which is spaced apart 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 gap between the third sleeve 230 and the fourth sleeve 110.

[0082] The fourth sleeve 110 is disposed over the outer periphery of the third sleeve 230. The end of the third sleeve 230 away from the cleaning member 500 is further away from the cleaning member 500 than the end of the fourth sleeve 110 closer to the cleaning member 500. That is, even when the first transmission member 200 is in its lowest position, the bottom end of the fourth sleeve 110 is ensured to be higher than the top end of the third sleeve 230, thereby protecting the gap between the third sleeve 230 and the second sleeve 310 and preventing dust, hair, etc. from entering between the third sleeve 230 and the second sleeve 310 and affecting the relative movement between the second sleeve 310 and the third sleeve 230.

[0083] In one embodiment, the drive mechanism further includes a magnetic member 900, which is connected to the first transmission member 200 and is used to magnetically connect to the magnetic member of the cleaning member 500. Alternatively, the drive mechanism further includes a magnetic member, which is connected to the first transmission member 200 and is used to magnetically connect to the magnetic member of the cleaning member 500.

[0084] The magnetic member 900 may be a metal that can be magnetically attracted, such as iron. The magnetic member may be a magnet.

[0085] For example, the cleaning member 500 includes a connecting rod and a cleaning member body. One end of the connecting rod is connected to the cleaning member body, and the other end of the connecting rod is provided with a magnetic member. The magnetic member 900 is provided at the top end of the first sleeve 210 of the first transmission member 200. The connecting rod is inserted into the first sleeve 210, and the magnetic member 900 is fixed by adsorption to the magnetic member.

[0086] For example, in an embodiment where the first detection portion includes a Hall sensor, the cleaning member 500 is connected to the magnetic member, and whether the cleaning member 500 is connected can be detected, thereby preventing the cleaning member 500 from falling off and not being discovered in time.

[0087] On the other hand, the present disclosure provides a self-cleaning device, comprising the driving mechanism of any one of the aforementioned items, and a device body, wherein the driving mechanism is arranged on the device body.

[0088] The driving mechanism may be one, two, or more, and may be configured as needed. The power assembly 400 may be used only for lifting and rotating the cleaning member 500, or, in some embodiments, a more complex structure may be configured to achieve horizontal swinging of the cleaning member 500. The self-cleaning device includes any of the aforementioned driving mechanisms, including the advantages of any of the aforementioned driving mechanisms, which will not be repeated here.

[0089] In another aspect, the present disclosure provides a self-cleaning system comprising the aforementioned self-cleaning device and a cleaning base station, wherein the self-cleaning device is selectively docked at the cleaning base station. In some embodiments, the cleaning base station includes a docking space, into which the self-cleaning device can be moved to perform operations such as cleaning or replacing the cleaning element 500, refilling the water tank, and charging. The advantages of the self-cleaning system including the aforementioned self-cleaning device are not further elaborated here.

[0090] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A driving mechanism for a self-cleaning device, characterized in that: include: A main support body (100); a first transmission member (200), the first transmission member (200) comprising a first end and a second end, the second end being used for connecting to the cleaning member (500); a second transmission member (300), wherein the first transmission member (200) and the second transmission member (300) are movably connected, the second transmission member (300) is movably connected to the main support body (100), and a first friction force exists between the second transmission member (300) and the main support body (100); A power assembly (400) is in transmission connection with the first end portion, and the power assembly (400) is used to drive the first transmission member (200) to rotate, so that the first transmission member (200) and the second transmission member (300) interact with each other, and drive the first transmission member (200) to drive the cleaning member (500) to rise or fall.

2. The driving mechanism according to claim 1, wherein: The position of the first transmission member (200) includes a cleaning position; When the first transmission member (200) is located at the cleaning position, the first transmission member (200) is used to drive the second transmission member (300) to overcome the first friction force and rotate synchronously.

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

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

5. The driving mechanism according to claim 4, characterized in that: The first action portion (211) and the second action portion (311) both include the action slope; or, One of the first acting portion (211) and the second acting portion (311) includes the acting inclined surface, and the other of the first acting portion (211) and the second acting portion (311) includes a rolling element or a slider, and the rolling element or the slider is used to roll or slide relative to the acting inclined surface.

6. The driving mechanism according to claim 4, characterized in that: The number of the first action portion (211) and the number of the second action portion (311) are the same, and the number of the first action portion (211) and the second action portion (311) is at least one.

7. The driving mechanism according to claim 6, characterized in that: There are multiple first action parts (211) and multiple second action parts (311), and the multiple first action parts (211) are distributed circumferentially around the rotation axis of the first transmission member (200), and the multiple second action parts (311) are distributed circumferentially around the rotation axis of the second transmission member (300).

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

9. The driving mechanism according to claim 1, wherein: The second end portion includes a first sleeve (210), and the second transmission member (300) includes a second sleeve (310); The first sleeve (210) is provided with a first action portion (211), the second sleeve (310) is provided with a second action portion (311), and the first sleeve (210) and the second sleeve (310) are sleeved.

10. The driving mechanism according to claim 9, characterized in that: One of the first acting portion (211) and the second acting portion (311) is connected to an acting member (212); when the first transmission member (200) is located at the cleaning position, the other of the first acting portion (211) and the second acting portion (311) abuts against the acting member (212), so that the first transmission member (200) drives the second transmission member (300) to rotate synchronously.

11. The driving mechanism according to claim 1, wherein: There is a second friction force between the first transmission member (200) and the second transmission member (300), and the first friction force is greater than the second friction force.

12. The driving mechanism according to claim 1, wherein: The power assembly (400) includes a power member (410) and a third transmission member (420); The power member (410) is in transmission connection with the third transmission member (420), and the third transmission member (420) is in sliding connection with the first transmission member (200) in the axial direction and is limited in the circumferential direction.

13. The driving mechanism according to claim 12, wherein: The second end portion includes a limiting portion (220), and the third transmission member (420) is sleeved on the outer periphery of the limiting portion (220), or the limiting portion (220) is sleeved on the outer periphery of the third transmission member (420).

14. The driving mechanism according to claim 1, wherein: The second transmission member (300) is axially limited and connected to the main support body (100) in a damping manner in the circumferential direction.

15. The driving mechanism according to claim 14, characterized in that: The driving mechanism further comprises: Damping bearings; The second transmission member (300) is connected to the main support body (100) via the damping bearing.

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

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

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

19. The driving mechanism according to claim 16, wherein: The friction assembly (800) comprises a lower friction member (820) and at least one action wheel (840), wherein the lower friction member (820) and the action wheel (840) are respectively abutted against the flange (320) by two sides of the flange (320) in the axial direction of the second transmission member (300).

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

21. The driving mechanism according to claim 19, wherein: There are multiple action wheels (840), and the multiple action wheels (840) are evenly distributed in the circumferential direction of the second transmission member (300).

22. The driving mechanism according to claim 19, wherein: The action wheel (840) is rotatably connected to the main support body (100); And / or, the action wheel (840) comprises a wheel body and a rotating shaft, the rotating shaft is connected to the main support body (100), and the wheel body is rotatably connected to the rotating shaft; and / or, a wear-resistant layer is provided on at least one of the contact surfaces of the action wheel (840) and the flange (320); And / or, a mounting cavity (101) is provided on the main support body (100), the two ends of the action wheel (840) are respectively connected to the opposite side walls of the mounting cavity (101), and the action wheel (840) partially extends out of the mounting cavity (101) to abut against the flange (320).

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

24. The driving mechanism according to claim 8, wherein: The first transmission member (200) includes a third sleeve (230), a first end of the first sleeve (210) of the first transmission member (200) is opposite to the cleaning member (500), the third sleeve (230) is connected to the first end of the first sleeve (210), the third sleeve (230) and the first sleeve (210) are spaced apart, and the second sleeve (310) of the second transmission member (300) is embedded between the third sleeve (230) and the first sleeve (210), and has a gap between the third sleeve (230) and the third sleeve (230).

25. The driving mechanism according to claim 24, characterized in that: When the first transmission member (200) is in the cleaning position, the end of the third sleeve (230) away from the cleaning member (500) is farther from the cleaning member (500) than the first end of the first sleeve (210).

26. The driving mechanism according to claim 24, wherein: The main support body (100) includes a fourth sleeve (110), the fourth sleeve (110) and the second sleeve (310) are spaced apart, and the third sleeve (230) is embedded between the fourth sleeve (110) and the second sleeve (310), and has a gap between the third sleeve (230) and the fourth sleeve (110).

27. The driving mechanism according to claim 26, wherein: When the first transmission member (200) is in the cleaning position, the end of the third sleeve (230) away from the cleaning member (500) is farther from the cleaning member (500) than the end of the fourth sleeve (110) close to the cleaning member (500).

28. The driving mechanism according to claim 1, wherein: The driving mechanism further comprises: A magnetic attraction member (900), the magnetic attraction member (900) being connected to the first transmission member (200), and the magnetic attraction member (900) being used for magnetic attraction connection with the magnetic member of the cleaning member (500); Alternatively, the driving mechanism further comprises: a magnetic member, the magnetic member being connected to the first transmission member (200), and the magnetic member being used for magnetic connection with the magnetic member (900) of the cleaning member (500).

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

30. The driving mechanism according to claim 1, wherein: The driving mechanism further comprises: A first detection unit is provided, wherein the first detection unit is used to generate a rising position signal when the first transmission member (200) rises to the highest position.

31. The driving mechanism according to claim 30, characterized in that The first detection unit comprises a first photoelectric transmitter (910) and a first light receiver (920). The first photoelectric transmitter (910) and the first light receiver (920) are arranged relative to each other. When the first transmission member (200) rises to the highest position, the first transmission member (200) blocks the light between the first photoelectric transmitter (910) and the first light receiver (920), so that the first light receiver (920) generates the rising position signal.

32. The driving mechanism according to claim 30, wherein: The first detection portion includes a first magnetic sensor, and the driving mechanism also includes a first magnetic member, wherein the first magnetic member is arranged on the first transmission member (200) and / or the cleaning member (500), and when the first transmission member (200) rises to the highest position, the first magnetic member enters the detection range of the first magnetic sensor, so that the first magnetic sensor generates the rising position signal.

33. The driving mechanism according to claim 30, wherein: The first detection portion comprises a first micro switch, and when the first transmission member (200) rises to the highest position, the first transmission member (200) triggers the first micro switch, so that the first micro switch generates the rising position signal.

34. The driving mechanism according to claim 1, wherein: The driving mechanism further comprises: A second detection part, the second detection part is used to generate a mounting position signal when the cleaning member (500) is mounted on the first transmission member (200).

35. The driving mechanism according to claim 34, characterized in that The second detection part comprises a second photoelectric transmitter and a second light receiver, the second photoelectric transmitter and the second light receiver being arranged relative to each other, and when the cleaning member (500) is mounted on the first transmission member (200), the cleaning member (500) blocks the light between the second photoelectric transmitter and the second light receiver, so that the second light receiver generates the installation position signal.

36. The driving mechanism according to claim 34, wherein: The second detection portion includes a second magnetic sensor (930), and the driving mechanism further includes a second magnetic member, the second magnetic member being arranged on the cleaning member (500), and when the cleaning member (500) is mounted on the first transmission member (200), the second magnetic member enters the detection range of the second magnetic sensor (930), so that the second magnetic sensor (930) generates the installation position signal.

37. The driving mechanism according to claim 34, wherein: The second detection portion comprises a second micro switch, and when the cleaning member (500) is mounted on the first transmission member (200), the cleaning member (500) triggers the second micro switch, so that the second micro switch generates the mounted in place signal.

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

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

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