ES1322377U - DRIVE MECHANISM, SELF-CLEANING DEVICE AND SELF-CLEANING SYSTEM. (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

A drive mechanism, applicable in a self-contained cleaning device, comprising: a main support body (100); a first transmission member (200) having a first end and a second end, the second end being configured to be connected to a cleaning member (500); a second transmission element (300), movably connected to the first transmission element (200) and movably connected to the main support body (100), wherein between said second transmission element (300) and the main support body (100) a contact surface is defined that generates a first friction force and a power assembly (400), in transmission connection with the first end and configured to drive the first transmission element (200) in rotation, thus allowing the first transmission element (200) to interact with said second transmission element (300), the latter having means to cause the first transmission element (200) to vertically ascend and descend to raise or lower the cleaning element (500). (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

Drive mechanism, self-cleaning device and self-cleaning systemCross-reference to related applications

This application claims priority rights 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 documents are hereby incorporated by reference in their entirety.

Technical field

The present invention relates to the field of smart home technologies, and in particular, to a drive mechanism, a self-cleaning device, and a self-cleaning system.

Background of the invention

With the continued development of smart home technologies, the frequency of use of sweeping robots in daily home cleaning is increasing. Sweeping robots perform cleaning by rotating the cleaning element itself and moving the robot vacuum cleaner as a whole, thereby achieving relative movement of the cleaning element relative to the floor. The cleaning element can also be raised and lowered, allowing the cleaning element to be stored when it is not required to be in contact with the floor and also avoiding obstacles such as carpets, felt, or similar when the sweeping robot encounters them.

In existing sweeping robots, two independent drive mechanisms are provided for the lifting or lowering drive of the cleaning element and for the rotary drive, which makes the structure and drive program complex.

Summary of the invention

In view of this, to solve at least one of the above-mentioned technical problems, embodiments of the present invention provide a drive mechanism, a self-cleaning device and a self-cleaning system.

In one aspect, the present invention provides a drive mechanism for a self-cleaning device, the drive mechanism comprising:

a main support body;

a first transmission element having a first end and a second end, the second end being configured to be connected to a cleaning element; a second transmission element, movably connected to the first transmission element and movably connected to the main support body, where a first frictional force exists between the second transmission element and the main support body;

a power assembly, in transmission connection with the first end and configured to drive the first transmission element in rotation, thereby allowing the first transmission element to interact with the second transmission element, and driving the first transmission element to raise or lower the cleaning element.

In another aspect, the present invention provides a self-cleaning device, which the drive mechanism according to any claim of the aforementioned aspect, as well as a device body, in which the drive mechanism is arranged.

In yet another aspect, the present invention provides a self-cleaning system, including the aforementioned self-cleaning device, as well as a cleaning base station.

According to the driving mechanism, the self-cleaning device and the self-cleaning system proposed by the present invention, by driving the first transmission member to move by the power member, through the interaction between the first transmission member and the second transmission member, and the friction effect between the second transmission member and the main support body, the relative movement between the first transmission member and the second transmission member is driven, which in turn allows the first transmission member to be raised or lowered, thereby achieving the lifting or lowering drive of the cleaning member. Also, through the interaction between the first transmission member and the second transmission member, the synchronous movement of the first transmission member and the second transmission member is driven, thereby achieving a single power member driving the lifting and lowering as well as the movement and cleaning of the cleaning member, thereby reducing the number of driving members, simplifying the structure of the self-cleaning device, and reducing production costs and driving load.

Description of the drawings

Figure 1 is a schematic diagram of the structure of a drive mechanism in the cleaning position of the first transmission element according to an embodiment of the present invention.

Figure 2 is a schematic diagram of a first sectional structure of a drive mechanism in the cleaning position of the first transmission element according to an embodiment of the present invention.

Figure 3 is an exploded schematic diagram of a sectional structure of a drive mechanism in the cleaning position of the first transmission element according to an embodiment of the present invention.

Figure 4 is an exploded schematic diagram of a drive mechanism in the cleaning position of the first transmission element according to an embodiment of the present invention.

Figure 5 is a schematic diagram of the structure of a drive mechanism in the storage position of the first transmission element according to an embodiment of the present invention.

Figure 6 is a schematic cross-sectional diagram of a drive mechanism in the storage position of the first transmission element according to an embodiment of the present invention.

Figure 7 is a schematic diagram of the partial structure of a drive mechanism in the storage position of the first transmission element according to an embodiment of the present invention.

Figure 8 is a second schematic cross-sectional view of a drive mechanism in the cleaning position of the first transmission element according to an embodiment of the present invention.

Figure 9 is a schematic diagram of the partial structure of a drive mechanism in the cleaning position of the first transmission element according to an embodiment of the present invention.

Figure 10 is a schematic cross-sectional diagram of another drive mechanism according to an embodiment of the present invention.

Figure 11 is an exploded schematic diagram of another drive mechanism according to an embodiment of the present invention.

Figure 12 is a schematic diagram of the partial structure of another drive mechanism according to an embodiment of the present invention.

Detailed description

In order to further explain the technical means and effects adopted by the present invention to achieve the intended inventive objectives, specific implementations, structure, features and effects of a drive mechanism according to the present invention are described in detail below with reference to the drawings and preferred embodiments.

As shown in Figures 1-6, an exemplary embodiment of the present invention provides a drive mechanism for a self-cleaning device. The self-cleaning device may include, but is not limited to, cleaning robots, intelligent cleaners, automatic scrubbers, scrubbing robots, combined sweeping and mopping machines, and the like, which also have moving, sweeping, and vacuuming functions. Some of the self-cleaning devices also have functions such as mopping, terrain detection, and indoor area scanning. Taking a cleaning robot as an example, this cleaning robot can have various shapes. To ensure stability and adapt to various scenarios, such as cleaning areas under beds or the like, the outer contour of the cleaning robot generally has a flat shape. The housing of the cleaning robot mainly includes a chassis and a cover that is connected to the chassis and forms a housing cavity with the chassis in a surrounding manner. Various components for operating the cleaning robot can be arranged in the housing cavity, such as a controller, a feeding device, position-sensing components such as cameras, scanners, and gyroscopes, as well as a sweeping mechanism and a walking mechanism. The controller can be configured to control the sweeping system and the walking mechanism. Common walking mechanisms primarily include movable wheels and auxiliary steering wheels. The movable wheels are driven by a drive motor in the housing cavity, which causes the movable wheels to rotate and drive the cleaning robot. The auxiliary steering wheels can be omnidirectional wheels fixed underneath the chassis. The rotation and braking of the movable wheels, in combination with the auxiliary steering wheels, can achieve steering of the cleaning robot.

The cleaning system may include a cleaning assembly and a mopping assembly. The sweeping assembly includes a circular brush drive element, a circular brush, a dust box, and an extraction fan. The circular brush is connected to a machine body via the circular brush drive element, the machine body has a dust suction inlet located behind the circular brush, and the dust box is located in an air duct between the extraction fan and the dust suction inlet. The circular brush has some interference with the floor, and during its rotation, the circular brush can sweep debris from the floor and then roll it under the dust suction inlet, where it is then sucked into the dust box by gas generated by the extraction fan. The mopping assembly may include a mop drive element, one or more mops, which can be rotated to perform dry mopping of the floor. In some embodiments, the mopping system also includes a water tank that can supply water to the mop to perform wet mopping of the floor. Because the mop has a large surface area and its surface is made of soft, absorbent materials such as felt or terry cloth, it can generate considerable friction with floor coverings such as carpets. Furthermore, the mop can retain dirt after cleaning, especially after wet mopping, leaving residual water on the mop. Furthermore, to prevent friction between the mop and floor coverings from affecting the normal operation of the cleaning robot, and to prevent the mop with residual water from contacting the floor and contaminating it repeatedly, the mop must have lifting and lowering functions. Current mop drive elements are divided into mop rotation drive elements and mop lift and lower drive elements. The mop rotation drive element is connected to the mop to drive the rotation of the mop, while the mop lifting and lowering drive element is connected to the assembly formed by the mop rotation drive element and the mop, to drive the lifting or lowering of the entire assembly. This results in the need for two groups of drive elements to perform the lifting and lowering movement, as well as the rotation of the mop, which causes structural redundancy and is heavy. Furthermore, the lifting and lowering drive load is quite considerable, complicating the control process. The present application seeks to solve this problem by proposing a drive mechanism that achieves lifting and lowering control, as well as the rotation control of the cleaning element using only one power element and structural adjustments.

Specifically, the drive mechanism includes:

a main support body (100);

a first transmission element (200) including a first end and a second end, the second end being configured to be connected to a cleaning element (500);

a second transmission element (300), movably connected to the first transmission element (200) and movably connected to the main support body (100), and between the second transmission element (300) and the main support body (100) there is a first friction force; and

a power assembly (400), in transmission connection with the first end and configured to drive the first transmission element (200) in rotation, thereby causing the first transmission element (200) to interact with the second transmission element (300), and driving the first transmission element (200) to raise or lower the cleaning element (500).

The main support body (100) may be a support member independent of the drive mechanism, which is installed and fixed to the device body housing of the self-cleaning device; or the main support body (100) may also be a part of the device body housing, achieving a tighter and more stable structural connection. The structure of the main support body (100) may be configured 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 allow movement of the first transmission member (200). For convenience of description, the actual use direction of the drive mechanism will be taken as an example in the following descriptions. The first end is in transmission connection with the power assembly (400), which in turn allows the power assembly (400) to drive the first transmission element (200) to move through the first end. The first transmission element (200) will interact with the second transmission element (300), and the movement tendency of the first transmission element (200) will cause the first transmission element (200) and the second transmission element (300) to have a tendency to move relative to each other, thereby causing the position of the first transmission element (200) to change at least in the vertical direction. The second transmission element (300) remains stationary relative to the main support body (100), while the first transmission element (200) is raised or lowered relative to the main support body (100), thereby achieving the first transmission element (200) to be driven to be raised or lowered. The first drive element (200) is connected to the cleaning element (500) via the second end, thereby allowing the cleaning element (500) to be actuated to be raised or lowered. The cleaning element (500) may be one of several components that clean by rotation and may be, for example, a rotary mop, a side brush, etc. The rotary mop may be a round mop, a square mop, a triangular mop, etc. The cleaning position may be considered the limit position for movement of the first drive element (200), and this limit position may be configured as needed, such as based on the required lifting and lowering height of the cleaning element (500). The position of the first drive element (200) also includes a storage position, in which the first drive element (200) drives the cleaning element (500) to be raised to its highest point. In some embodiments, the first drive element (200) includes a cleaning position. When the first transmission member (200) is moved relative to the second transmission member (300) to the cleaning position due to interaction with the second transmission member (300), the interaction relationship between the first transmission member (200) and the second transmission member (300) will change. The first transmission member (200) and the second transmission member (300) will not move relative to each other, but will move synchronously, causing the cleaning member (500) to stop rising and falling and begin moving cleaning. The cleaning position refers to a limit position at which the first transmission member (200) is lowered to the lowest point. When the first transmission element (200) is in the cleaning position, the height of the cleaning element (500) connected to the first transmission element (200) is such that it interferes with the surface to be cleaned, and the intensity of the interference or pressure is sufficient for the cleaning element (500) to clean the surface to be cleaned without pressing it excessively, thus avoiding influence on the movement of the cleaning element (500).

The power assembly (400) can drive the first transmission element (200) in various ways, such as rotating the first transmission element (200), moving it in a straight line, in a curved path, and the like.

In use, the movement of the first transmission element (200) is controlled, which in turn drives the first transmission element (200) to lower, driving the cleaning element (500) downward, until the first transmission element (200) is raised to its cleaning position, placing the cleaning element (500) in the lowest position. By continuing to drive the movement of the first transmission element (200), the first transmission element (200), the second transmission element (300) and the cleaning element (500) move synchronously, thereby achieving cleaning. When the cleaning element (500) needs to be stored after cleaning is completed, the reverse movement of the first transmission element (200) is controlled, so that the first transmission element (200) moves away from the cleaning position, and the first transmission element (200) drives the cleaning element (500) to be raised, thereby achieving its storage.

It is worth mentioning that in some embodiments, the second transmission element (300) may rotate in a forward direction relative to the main support body (100), or it may rotate in a rearward direction relative to the main support body (100), the rearward direction and the backward direction being two opposite rotation directions. By driving the first transmission element (200) in a forward direction to descend to the cleaning position and continuing to drive the first transmission element (200) in the same direction, a rigid thrust force will be generated with the second transmission element (300), which in turn drives the second transmission element (300) to overcome the frictional force with the main support body (100) and rotate in a forward direction relative to the main support body (100) following the first transmission element (200). By driving the first transmission element (200) in a rearward direction and raising it to the highest position and continuing to drive the first transmission element (200) in the same direction, a rigid thrust force will be generated with the second transmission element (300), which in turn drives the second transmission element (300) to overcome the friction force with the main support body (100) and rotate in a rearward direction relative to the main support body (100) following the first transmission element (200). The second transmission element (300) can rotate in both directions, forward and backward, relative to the main support body (100), thus preventing damage from occurring due to excessive pressure between the first transmission element (200) and the second transmission element (300) due to errors in the position of the first transmission element (200) or due to the lack of timely detection of the arrival of the first transmission element (200) to the highest position, and avoiding overload of the power assembly (400).

In some embodiments, as shown in Figure 7, the drive mechanism also includes a first detection portion, which is connected to the main support body (100), and the first detection portion is configured to detect whether the first transmission element (200) has reached the preset highest position. When the first transmission element (200) reaches the preset highest position, the first detection portion generates a position reached signal, indicating that the first transmission element (200) has finished rising. Upon receiving the position reached signal, movement of the first transmission element (200) may be immediately stopped. The first detection portion may be a first microswitch, such as a combination of a reed and a touch sensor. When the first transmitting element (200) has not reached the preset height position, the tab is separated from the touch sensor, as the first transmitting element (200) continues to ascend, the first transmitting element (200) will compress the tab, bringing it closer to the touch sensor until the first transmitting element (200) reaches the preset height position, at which time the tab contacts the touch sensor, thereby generating the position reached signal. Alternatively, the first sensing portion may be a light blocking device, such as a combination of a first photoelectric emitter (910) and a first light receiver (920). The first photoelectric emitter (910) and the first light receiver (920) are arranged opposite each other, and the first light receiver (920) is configured to receive a photoelectric signal emitted by the first photoelectric emitter (910), which may be an infrared signal. When the first transmitting element (200) has not reached the preset height position, there is no blocking between the first photoelectric emitter (910) and the first light receiver (920). When the first transmitting element (200) continues to ascend, an upper structure of the first transmitting element (200) approaches the first photoelectric emitter (910), until the first transmitting element (200) reaches the preset height position and the upper structure enters between the first photoelectric emitter (910) and the first light receiver (920), thereby blocking the light from the first photoelectric emitter (910). Then, the first light receiver (920) generates the position reached signal, and the upper structure may be the action element (212), which will be described in detail later. Alternatively, the first detection portion may be a first magnetic sensor, such as a Hall sensor. The first transmission element (200) or the cleaning element (500) is equipped with a first magnetic element that is matched with the Hall sensor. After the first transmission element (200) moves into position, or after the first transmission element (200) drives and brings the cleaning element (500) into position, the first magnetic element enters the detection range of the Hall sensor, so that the Hall sensor can detect the magnetism and generate the position reached signal. The first detection portion may also have other forms, with the aim of detecting the position of the first transmission element (200) and, at least when the first transmission element (200) reaches the preset highest position, outputting the position reached signal. The provision of the first sensing portion serves two purposes: first, when the first transmission element (200) reaches its highest position, the first transmission element (200) will rotate synchronously with the second transmission element (300), which will cause an idle rotation of the second transmission element (300), adding the first sensing portion makes it possible to timely stop further movement of the second transmission element (300) when the first transmission element (200) is in place, thereby avoiding unnecessary power consumption and mechanical wear of the second transmission element (300), and avoiding wasted time during the raising and lowering process of the first transmission element (200); second, it makes it possible to timely detect whether the first transmission element (200) has not ascended successfully due to jamming or mechanical failure, for example. If the position reached signal is not received within a certain time after starting to ascend, an alarm may be triggered.

In some other embodiments, as shown in Figure 7, the drive mechanism also includes a second detection portion, which may be connected to the main support body (100) or installed on the first transmission element (200). The second detection portion is configured to detect whether the cleaning element (500) is installed on the first transmission element (200), and when the cleaning element (500) is correctly installed, the second detection portion generates an installation complete signal, indicating that the cleaning element (500) has been correctly installed, allowing to proceed to the next step, such as starting cleaning, thereby preventing cleaning from being unsuccessful due to lack of installation of the cleaning element (500) or improper installation. The second detection portion may be a second microswitch, such as a combination of a reed and a touch sensor. When the cleaning member (500) is not installed on the first transmitting member (200), the tab is separated from the touch sensor, and when the cleaning member (500) is properly installed, the cleaning member (500) will compress the tab, causing the tab to contact the touch sensor, thereby subsequently generating the installation complete signal. Alternatively, the second sensing portion may be a light blocking device, such as a combination of a second photoelectric emitter and a second light receiver. The second photoelectric emitter and the second light receiver are arranged opposite each other, and the second light receiver is configured to receive a photoelectric signal emitted by the second photoelectric emitter, which may be an infrared signal. When the cleaning member (500) is not installed on the first transmitting member (200), there is no blockage between the second photoelectric emitter and the second light receiver. When the cleaning element (500) is properly installed, a structure portion of the cleaning element (500) enters between the second photoelectric emitter and the second light receiver, and then blocks the light from the second photoelectric emitter. Then, the second light receiver generates the installation complete signal. A structure portion of the cleaning element (500) may be the area of the cleaning element (500) that extends into the installation cavity of the first transmitting element (200). Alternatively, the second sensing portion may be a second magnetic sensor (930), such as a Hall sensor. The cleaning element (500) is equipped with a second magnetic element that is compatible with the Hall sensor. After the cleaning element (500) is properly installed, the second magnetic element enters the detection range of the Hall sensor, so that the Hall sensor detects the magnetism and generates the installation complete signal. The second detecting portion may also have other forms, so as to detect whether or not the cleaning member (500) is installed, and to output the installation completion signal when the cleaning member (500) is installed on the first transmitting member (200). The provision of the second detecting portion can prevent failure to install the cleaning member (500), thereby preventing the self-cleaning device from performing ineffective cleaning without carrying the cleaning member (500).

According to the driving mechanism, self-cleaning device, and self-cleaning system proposed by embodiments of the present invention, by driving the first transmission element to rotate by the power element, the first transmission element and the second transmission element are driven relative movement with respect to each other through the interaction between the first transmission element and the second transmission element, as well as the interaction between the second transmission element and the main support body, which in turn causes the first transmission element to be raised or lowered, and thus achieving the lifting or lowering drive of the cleaning element. When the relative position of the first transmission element reaches the cleaning position, the interaction between the first transmission element and the second transmission element drives both rotators synchronously, such that a single power element drives the rotation as well as the lifting or lowering of the cleaning element, thereby reducing the number of driving elements, simplifying the structure of the self-cleaning device, and reducing production costs and driving load.

In some embodiments, between the first transmission element (200) and the second transmission element (300) there is a second friction force, the first friction force being greater than the second friction force.

By controlling the rotation of the first transmission member (200), because 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, therefore, the second transmission member (300) will not move relative to the main support body (100), or such relative movement will be minimal, while the first transmission member (200) and the second transmission member (300) will move more smoothly in the circumferential direction.

The first transmission element (200) is configured to rotate under the action of the power assembly (400), and the first transmission element (200) interacts with the second transmission element (300) by rotating it, thereby applying a force in the vertical direction while moving in the circumferential direction. This can be achieved as follows: a first action portion (211) and a second action portion (311) are provided on the first transmission element (200) and the second transmission element (300), respectively. The first action portion (211) and the second action portion (311) can take various forms, so that the second transmission element (300) drives the first transmission element (200) to raise or lower during its movement.

For example, at least one of the first action portion (211) and the second action portion (311) includes an inclined action surface. When the first transmission member (200) rotates, the first action portion (211) and the second action portion (311) cooperate through the inclined action surface to cause the first transmission member (200) to be raised or lowered.

The inclined action surface is a slope that, when the first action portion (211) and the second action portion (311) move relative to each other in the circumferential direction, simultaneously provides lifting and lowering action forces to the first action portion (211) and the second action portion (311), or the inclined action surface can be interpreted as an ascending or descending spiral slope in the circumferential direction. Both the first action portion (211) and the second action portion (311) may include inclined action surfaces, but with different lengths. Alternatively, one of the first action portion (211) and the second action portion (311) includes the inclined action surface, and the other of the first action portion (211) and the second action portion (311) includes a rolling element or a slider, which are configured to roll or slide relative to the inclined action surface. The rolling element can be a wheel or a roller, and can be connected in a rolling manner to the inclined surface of action, which can further reduce the secondary friction force. Alternatively, the slider can be a block-shaped, column-shaped, or other protrusion.

In some embodiments, the number of first action portions (211) and second action portions (311) may be one. Alternatively, the number of first action portions (211) and second action portions (311) may be equal and arranged in a one-to-one correspondence, and the first action portions (211) and second action portions (311) may be multiple. The plurality of first action portions (211) are circumferentially distributed around a rotation axis of the first transmission element (200), and the plurality of second action portions (311) are circumferentially distributed around a rotation axis of the second transmission element (300), thereby ensuring that interaction between the first action portion (211) and the second action portion (311) maintains force balance in the circumferential direction between the first transmission element (200) and the second transmission element (300), thereby preventing misalignments.

In more specific embodiments, one of the first action portion (211) and the second action portion (311) is a thread, while the other of the first action portion (211) and the second action portion (311) may be a clamping head with an inclined action surface, which is inserted between the helical surfaces. Alternatively, one of the first action portion (211) and the second action portion (311) may simply be a smaller clamping head without an inclined action surface. The first transmission element (200) and the second transmission element (300) are threadably connected, and the first transmission element (200) is configured to rotate relative to the second transmission element (300), such that the threads drive the raising or lowering of the first transmission element (200).

Due to the provision of the threads, the circumferential movement will generate a pushing action in the vertical direction, causing the first transmission element (200) to be raised or lowered.

Alternatively, in another embodiment, at least one of the first action portion (211) and the second action portion (311) is an action slot, and the other of the first action portion (211) and the second action portion (311) is configured to fit into the action slot, where the inclined action surface is the slot side wall of the action slot.

In some embodiments, the second end includes a first sleeve (210), and the second transmission element (300) includes a second sleeve (310). The first sleeve (210) is equipped with a first driving portion (211), the second sleeve (310) is equipped with a second driving portion (311), and the first sleeve (210) is in jacketed connection with the second sleeve (310).

In embodiments 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 of the first action portion (211) and the second action portion (311) are the clamping heads, after the first sleeve (210) is in jacketed connection with the second sleeve (310), the clamping heads are inserted into the threads. The number of threads may be four, forming four threads, and the number of clamping heads is four, each corresponding to a thread. The multiple thread arrangement ensures that the movement between the first sleeve (210) and the second sleeve (310) is more stable and less prone to wobble. In the embodiment shown in Figures 2-4 and 6, the threads are arranged on the outer wall of the first sleeve (210), while the fastening heads are arranged on the inner wall of the second sleeve (310).

Alternatively, the threads are arranged on the inner wall of the second sleeve (310), while the fastening heads are arranged on the outer wall of the first sleeve (210).

In some embodiments, one of the first action portion (211) and the second action portion (311) is linked to the action member (212). For example, in the embodiment where one of the first action portion (211) and the second action portion (311) is the thread, a tail end of the thread is connected to the action member (212). When the first transmission member (200) is in the cleaning position, the clamping head abuts against the action member (212), causing the first transmission member (200) to drive synchronous rotation of the second transmission member (300). Alternatively, in embodiments where at least one of the first action portion (211) and the second action portion (311) is the action groove, the action member (212) may be considered as an inner wall surface of the inner wall of the action groove corresponding to the inclined action surface.

The actuating member 212 may be located only at the trailing end at one end of the thread, and solely configured to interact with the clamping head, thereby allowing the first drive member 200 to rotate synchronously when it is in the cleaning position. Alternatively, in some embodiments, the actuating member 212 may be disposed at trailing ends at two ends of the thread: one end being configured to allow the first drive member 200 and the second drive member 300 to rotate synchronously when the first drive member 200 is in the cleaning position, and the other end being configured to limit the maximum height to which the first drive member 200 may be raised.

More specifically, for example, in an embodiment where the first action portion (211) is a thread and the second action portion (311) is a clamping head, the thread is arranged on the outer wall of the first sleeve (210), and the first sleeve (210) is used for raising and lowering, as shown in Figures 2-4 and 6, the action element (212) may be located only at the tail end of the thread furthest from the cleaning element (500), that is, the action element (212) may be located at the uppermost tail end of the thread (211). Then, during the lowering of the first sleeve (210), the action element (212) moves toward the upper clamping head. When the first transmission element (200) and the second transmission element (300) are in the cleaning position, the action element (212) is in contact with the upper clamping head, so that when the first sleeve (210) continues to rotate in the same direction, the first sleeve (210) no longer descends, and the action element (212) drives the clamping head, driving the second sleeve (310) to rotate synchronously. In some embodiments, an action element (212) can also be arranged at the lowermost tail end of the thread, so that during the rising process of the first sleeve (210), the action element (212) moves towards the lower clamping head. When the first sleeve (210) reaches the highest position, the action element (212) will be in contact with the lower clamping head, thus preventing excessive rising of the first sleeve (210) and thus providing a limiting effect.

In another embodiment, the second action portion (311) is a thread, and the first action portion (211) is a clamping head. In an embodiment where a thread is provided on the inner wall of the second sleeve (310), and the first sleeve (210) is used for raising and lowering, the action element (212) is located at the tail end of the thread close to the cleaning element (500), i.e. the action element (212) may be located at the lowermost tail end of the thread, such that during lowering of the first sleeve (210), the clamping head moves towards the lower action element (212). When the first transmission element (200) and the second transmission element (300) are in the cleaning position, the clamping head is in contact with the lower action element (212), so that when the first sleeve (210) continues to rotate in the same direction, the first sleeve (210) no longer descends, and the clamping head drives the lower action element (212), driving the second sleeve (310) to rotate synchronously. In some embodiments, an action element (212) may also be arranged at the uppermost tail end of the thread (211), so that during the rising process of the first sleeve (210), the clamping head moves towards the upper action element (212). When the first sleeve (210) reaches the highest position, the clamping head is in contact with the upper action element (212), thus preventing excessive rising of the first sleeve (210) and providing a limiting effect.

It can be understood that in embodiments where there are four clamping heads (311) and four threads (211), action elements (212) are arranged at the tail end of each of the four threads. The action element (212) may be integrally molded with the first sleeve (210) or with the second sleeve (310). Alternatively, in some embodiments, as shown in Figures 4 and 6, the drive mechanism also includes a top cap (2121), the action element (212) is connected to the top cap (2121), and the top cap (2121) is connected to the first sleeve (210), so that the action element (212) is located at the tail end of the thread, thereby facilitating processing thereof.

In the previous embodiment where the first detection portion includes a first photoelectric emitter (910) and a first light receiver (920), the upper cover (2121) is coupled to the upper edge of the first sleeve (210), which in turn allows, once the first transmission element (200) reaches the desired height, the light to be blocked between the first photoelectric emitter (910) and the first light receiver (920).

In use, the power assembly (400) drives the first transmission member (200) to rotate in the forward rotation direction relative to the main support body (100), which may be the forward rotation of the motor of the power assembly (400). Because the position of the second transmission member (300) remains fixed (this is because the frictional force between the second transmission member (300) and the main support body (100) is greater than the frictional force between the first action portion (211) and the second action portion (311), the second action portion (311) will move relative to the first action portion (211). For example, in the embodiment where one of the action portion (211) and the action portion (311) is the thread, the clamping head will move relative to the thread, compressing it, and thereby driving the first transmission member (200) to be lowered relative to the main support body (100) in the vertical direction, thereby allowing the cleaning member (500) to be lowered. When the cleaning member (500) is lowered to the lowest position, the first transmission member (200) has reached the cleaning position. Because As the motor of the power assembly (400) continues to rotate forward, the first transmission member (200) will continue to rotate in the forward rotation direction relative to the main support body (100), and the clamping head will interact with the action member (212) at the lower tail end of the thread, thereby preventing the clamping head from continuing to move relative to the thread. Then, a rigid thrust force will be generated between the first transmission member (200) and the second transmission member (300), which causes the second transmission member (300) to overcome the friction force with the main support body (100), so that the first transmission member (200) rotates in synchronization with the second transmission member (300), thereby enabling the cleaning member (500) to clean the floor. In other words, during the lowering and cleaning process, the rotation direction of the first transmission member (200) does not change. Thereafter, when the cleaning is completed, or receive an instruction from the user, or an obstacle is detected, it will be necessary to raise the cleaning element (500) to store it or avoid the obstacle, at that time, the power assembly (400) drives the first transmission element (200) to rotate in the direction of backward rotation opposite to the forward rotation in relation to the main support body (100), which may be the reverse rotation of the motor of the power assembly (400). Because the position of the second transmission element (300) remains fixed (this is because the frictional force between the second transmission element (300) and the main support body (100) is greater than the frictional force between the clamping head and the thread), the clamping head will move in the backward direction, separating from the action element (212), moving relative to the thread and raising it, in turn driving the first transmission element (200) to rise relative to the main support body (100) in a vertical direction, thus allowing the cleaning element (500) is raised. When the cleaning element (500) is raised to its highest position, the clamping head can interact with the action element (212) at the upper tail end of the thread, in turn preventing the clamping head from continuing to move relative to the thread. A rigid thrust force will be generated between the first transmission element (200) and the second transmission element (300), which causes the second transmission element (300) to overcome the frictional force with the main support body (100), and the first transmission element (200) will move in synchronization with the second transmission element (300). It can be understood that, at this point, the cleaning element (500) is in the storage position, or in a raised position, rotating until the time set by a program is reached and the power assembly (400) stops driving the first transmission element (200).

Alternatively, in the above embodiment where the first detection portion is provided, and the first detection portion includes the first photoelectric emitter (910) and the first light receiver (920), when the first transmission element (200) reaches its position, the light between the first photoelectric emitter (910) and the first light receiver (920) will be blocked, thereby allowing the rotation of the first transmission element (200) to be directly stopped, which avoids unnecessary power consumption and damping wear between the second transmission element (300) and the main support body (100).

For example, in an embodiment where the first transmission member (200) is raised and lowered, the second transmission member (300) is movably connected to the main support body (100) only in the circumferential direction, while in the axial, or vertical, direction it is limited, which prevents the second transmission member (300) from being raised or lowered, and the first transmission member (200) needs to be movably connected to the power assembly (400) in the vertical direction, and since the power assembly (400) needs to drive rotation of the first transmission member (200), the first transmission member (200) and the power assembly (400) need to be limited in the circumferential direction. Next, various embodiments of the raising and lowering of the first transmission member (200) will be described in more detail.

The first transmission element (200) has a circumferential transmission relationship with the power assembly (400) and moves in the axial, or vertical, direction relative thereto, the implementation may be that the output shaft of the power assembly (400) extends in the vertical direction, with first vertical gear teeth provided on the output shaft, and the first transmission element (200) is equipped with second gear teeth, so that the power assembly (400) meshes with the first transmission element (200) through the first gear teeth and the second gear teeth, and then, by rotating the output shaft, the rotation of the first transmission element (200) can be driven. Furthermore, since both the first gear teeth and the second gear teeth extend in the vertical direction, the first transmission element (200) can move in the vertical direction relative to the power assembly (400), thereby enabling ascent and descent. Alternatively, in another embodiment, as shown in Figures 7-9, the power assembly (400) includes a power element (410) and a third transmission element (420). The power element (410) is in transmission connection with the third transmission element (420). For example, the power element (410) may be a motor whose output shaft extends horizontally, and the output shaft of the motor is directly meshed with the third transmission element (420), or it may be in indirect transmission connection through a further gearing with the third transmission element (420). The third transmission element (420) is slidably connected in the axial direction with the first transmission element (200) and is limited in the circumferential direction.

The arrangement of the third transmission element (420) allows the power element (410) to extend horizontally, making full use of the internal space of the self-cleaning device. In addition, the structure of the third transmission element (420) can be provided flexibly to achieve a better transmission effect. For example, in one embodiment, the second end includes a limiting portion (220), the limiting portion (220) is connected to the first sleeve (210), the limiting portion (220) sleeves the outer periphery of the third transmission element (420), or the third transmission element (420) sleeves the outer periphery of the limiting portion (220). Taking as an example the case where the third transmission element (420) sleeves the outer periphery of the limiting portion (220), the third transmission element (420) has a cylindrical structure. On the inner wall of the third transmission element (420) a plurality of first limiting surfaces (421) are distributed in the circumferential direction, and the first limiting surfaces (421) may be arc-shaped convex surfaces. The limiting portion (220) has a rod structure on its outer contour, and on the limiting portion (220) on its outer wall a plurality of second limiting surfaces (221) are distributed in the circumferential direction which adapt to the inner wall of the third transmission element (420), and the second limiting surfaces (221) may be arc-shaped concave surfaces. It can be understood that the shapes of the first limiting surface (421) and the second limiting surface (221) may be interchangeable, or may have other shapes, such as a toothed shape. 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) slidably abut each other, thereby limiting in the circumferential direction while allowing relative sliding with respect to each other in the axial direction. Since the third transmission member (420) sleeves the outer periphery of the limiting portion (220), an external force is applied in the circumferential direction of the limiting portion (220) to cause the limiting portion (220) to rotate, distributing the force more evenly and thereby allowing the limiting portion (220) to move only in the vertical direction, thereby allowing a guiding effect for the raising and lowering of the limiting portion (220) or the first transmission member (200), thereby preventing the first transmission member (200) from wobbling. The implementation in which the limiting portion (220) encases the outer periphery of the third transmission element (420) may be referred to as the implementation in which the third transmission element (420) encases the outer periphery of the limiting portion (220), without the need for further explanation herein.

The transmission connection mode between the power element (410) and the third transmission element (420) may vary. As shown in Figure 9, the power assembly (400) also includes an intermediate transmission element (430), and the intermediate transmission element (430) may include one or more gears, which are provided according to the distance and relative positions between the power element (410) and the third transmission element (420). The power element (410) and the third transmission element (420) are meshed through one or more gears, thereby achieving the transmission connection.

In the embodiment in which the first transmission member (200) is raised and lowered relative to the main support body (100), the second transmission member (300) and the main support body (100) are limited in the axial direction and are in cushioning connection in the circumferential direction. The frictional force between the second transmission member (300) and the main support body (100) is greater than the frictional force between the first transmission member (200) and the second transmission member (300). This means that the circumferential frictional force between the second transmission member (300) and the main support body (100) in the circumferential direction is greater than the frictional force between the clamping head (311) and the thread (211) in the extension direction of the thread (211). The damping connection relationship between the second transmission member (300) and the main support body (100) may vary, and in one embodiment, the drive mechanism also includes a damping bearing. The second transmission member (300) is connected to the main support body (100) through the damping bearing. The strength of the damping bearing is greater than the friction force between the clamping head (311) and the thread (211). The damping bearing is fixedly connected in the axial direction to both the second transmission member (300) and the main support body (100). In other embodiments, as shown in Figures 2-4 and 6, the drive mechanism also includes a friction assembly (800). The second transmission member (300) includes a flange (320). The flange (320) is connected to the second sleeve (310) of the second transmission element (300) and protrudes from a side wall of the second sleeve (310), and is connected to the friction assembly (800). The flange (320) extends in the horizontal direction, achieving axial limitation of the flange (320) by the interaction of the friction assembly (800) with the flange (320), thereby preventing axial movement of the second sleeve (310).

In a more specific embodiment, the friction assembly (800) includes an upper friction element (810) and a lower friction element (820). The upper friction element (810) and the lower friction element (820) abut against the flange (320), respectively, on the two axial sides of the flange (320) in the axial direction of the second transmission element (300). This can increase the friction force, thereby preventing the second transmission element (300) from rotating together with the first transmission element (200) during their ascent and descent.

In one embodiment, the friction assembly (800) also includes a resilient member (830). The resilient member (830) is connected to at least one of the upper friction member (810) and the lower friction member (820), and the resilient member (830) is configured to apply a resilient force to the upper friction member (810) and/or the lower friction member (820) to bring them closer to the flange (320). The resilient member (830) may be a spring, for example, the spring may be connected solely between the lower friction member (820) and the main support body (100), the spring causing the lower friction member (820) and the upper friction member (810) to compress the flange (320) with a moderate pressure. When the lower friction member (820) and the upper friction member (810) are worn, the provision of the spring can ensure that the lower friction member (820) and the upper friction member (810) continue to provide an effective friction force, thereby preventing the second transmission member (300) from rotating together with the first transmission member (200) during their ascent and descent.

In some other embodiments, as shown in Figures 10-12, the friction assembly (800) includes a lower friction element (820) and at least one drive wheel (840). The lower friction element (820) and the drive wheel (840) abut the flange (320), respectively, on both sides of the flange (320) in the axial direction of the second transmission element (300).

The lower friction member (820) cooperates with the action wheel (840) to support the flange (320) from both sides of the flange (320), in turn limiting the second transmission member (300) in the axial direction. The lower friction member (820) is configured to provide circumferential cushioning for the flange (320) or the second transmission member (300). When the second transmission member (300) moves together with the first transmission member (200), the action wheel (840) rolls along the flange (320), and the flange (320) slides on the lower friction member (820), which, compared with the embodiment using the upper friction member (810), by using rolling instead of sliding, can reduce wear on the side of the flange (320) relative to the action wheel (840).

In one embodiment, the lower friction member 820 is closer to the cleaning member 500 compared to the drive wheel 840, i.e., the lower friction member 820 acts on the lower surface of the rim 320, and the drive wheel 840 is roller-connected to the upper surface of the rim 320. During the cleaning process of the cleaning member 500, 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 exert an upward thrust force on the second transmission member 300, causing the rim 320 to be compressed upward. Furthermore, in the embodiment where the lower friction member (820) is connected to the elastic member (830), the lower friction member (820) will also compress the flange (320), causing the flange (320) to be compressed upward. If an upper friction member (810) is used, the upward compression of the flange (320) will increase the frictional force on the upper friction member (810), which will increase the frictional force to which the flange (320) is subjected, and causes a large load to drive the second transmission member (300) in rotation. As a result, the driving load of the power member (410) and the power consumption increase. Instead, by using an action wheel (840) instead of the upper friction element (810), the action wheel (840) and the flange (320) will be connected in a rolling manner, so that the force on the second transmission element does not increase with the increase in pressure on the flange (320) and the action wheel (840), thus ensuring the autonomy time of the power element (410).

In one embodiment, the number of drive wheels (840) is multiple, and the multiple drive wheels (840) are uniformly distributed in a circumferential direction of the second transmission member (300).

For example, two drive wheels (840) may be provided, and are distributed on opposite sides in the radial direction of the second transmission element (300). Alternatively, three, four or more drive wheels (840) may be provided, ensuring that the second transmission element (300) is subjected to a uniform force in the circumferential direction, thereby avoiding tilting and jamming.

In one embodiment, the action wheel (840) is rotatably connected to the main support body (100). For example, the action wheel (840) may be an integrated roller, and the roller and the main support body (100) are in direct rotational connection or are connected through a bearing. Alternatively, the action wheel (840) includes a wheel body and a rotational shaft. The rotational shaft is connected to the main support body (100), and the connection therebetween may be a fixed connection, such as a coupling connection. The wheel body is rotatably connected to the rotational shaft. The wheel body may be connected to the rotational shaft by one or more bearings. Alternatively, the wheel body is directly rotatably connected to the rotational shaft.

In one embodiment, at least one of the contact surfaces between the drive wheel (840) and the flange (320) is provided with a wear-resistant layer. The wear-resistant layer may be a thin coating with a certain degree of flexibility and thus plays a role in reducing vibration and resisting wear between the drive wheel (840) and the flange (320).

In one embodiment, the main support body (100) is equipped with an installation cavity (101), two ends of the action wheel (840) are connected to side walls of opposite sides of the installation cavity (101), respectively, and a part of the action wheel (840) protrudes outside the installation cavity (101) to abut against the flange (320).

As shown in Figure 12, the main support body (100) has an installation cavity (101), which has at least one bottom opening. Each of the action wheels (840) may correspond to an installation cavity (101) and the action wheel (840) is fixed to the inner wall of the installation cavity (101), which ensures that the action wheel (840) is supported by two axial sides, thereby ensuring the stable position of the action wheel (840) and avoiding vibration. Part of the structure of the action wheel (840) extends from the bottom opening of the installation cavity (101) to subsequently interact with the flange (320).

In the embodiment where the lower friction element (820) cooperates with the action wheel (840), the lower friction element (820) may be connected to the elastic element (830), so that when the lower friction element (820) wears, the provision of the spring ensures that the lower friction element (820) continues to provide an effective friction force, thus preventing the second transmission element (300) from rotating together with the first transmission element (200) during its ascent and descent.

In embodiments of the above-described process, the power assembly (400) drives the first transmission element (200) in the forward rotation direction relative to the main support body (100). Since the lower friction element (820) and the upper friction element (810) compress the shoulder (320), the position of the second transmission element (300) remains fixed, which makes the clamping head able to interact with the thread, driving the first transmission element (200) to descend in the vertical direction relative to the main support body (100). When the clamping head interacts with the action element (212) at the lower tail end of the thread, a rigid thrust force will be generated between the first transmission element (200) and the second transmission element (300). The biasing force will allow the second transmission member (300) to overcome the friction force of the lower friction member (820) and the upper friction member (810), allowing the flange (320) to slide and move relative to the lower friction member (820) and the upper friction member (810), and allowing the first transmission member (200) and the second transmission member (300) to rotate synchronously. When the cleaning member (500) is required to be raised for storage or obstacle avoidance, the first transmission member (200) will rotate in the rearward direction relative to the main support body (100). Since the lower friction element (820) and the upper friction element (810) compress the flange (320), and the position of the second transmission element (300) remains fixed, which causes the clamping head to move relative to the thread and raise it, in turn driving the first transmission element (200) to rise in the vertical direction relative to the main support body (100), thus allowing the cleaning element (500) to be lifted. When the cleaning member (500) is raised to its highest position and a first detection portion has not been installed, the clamping head will interact with the action member (212) at the upper tail end of the thread, and a rigid biasing force will be generated between the first transmission member (200) and the second transmission member (300), allowing the second transmission member (300) to overcome the frictional force of the lower friction member (820) and the upper friction member (810), thereby allowing the flange (320) to slide and move relative to the lower friction member (820) and the upper friction member (810), and allowing the first transmission member (200) and the second transmission member (300) to move synchronously.

In one embodiment, the first transmission element (200) may include only the limiting portion (220) and the first sleeve (210) that are connected to each other, and the first sleeve (210) has a straight tube structure. Alternatively, in other embodiments, as shown in Figures 2-4, the first transmission element (200) includes a third sleeve (230). A first end of the first sleeve (210) of the first transmission element (200) is opposite the cleaning element (500). The third sleeve (230) is connected to the first end of the first sleeve (210), and is spaced apart from the first sleeve (210). The second sleeve (310) of the second transmission element (300) is fitted between the third sleeve (230) and the first sleeve (210), and there is a space with the third sleeve (230).

The third sleeve (230) covers the outer periphery of the second sleeve (310) and the first sleeve (210) near the cleaning member (500), and the end of the third sleeve (230) remote from the cleaning member (500) is farther from the cleaning member (500) than the first end of the first sleeve (210). That is, it can be ensured that, when the first transmission member (200) is in the lowest position, the upper end of the third sleeve (230) is higher than the lower end of the first sleeve (210), protecting the space between the second sleeve (310) and the first sleeve (210) to thereby prevent dust, hair and the like from entering the space between the second sleeve (310) and the first sleeve (210), which might affect the relative movement between the second sleeve (310) and the first sleeve (210).

Furthermore, as shown in Figures 1-6, the main support body (100) comprises a fourth sleeve (110) which is separated from the second sleeve (310). The third sleeve (230) is fitted between the fourth sleeve (110) and the second sleeve (310), and there is a space with the fourth sleeve (110).

The fourth sleeve (110) covers the outer periphery of the third sleeve (230), and the end of the third sleeve (230) remote from the cleaning member (500) is farther from the cleaning member (500) than the end of the fourth sleeve (110) near the cleaning member (500). That is, it can be ensured that, when the first transmission member (200) is in the lowest position, the lower end of the fourth sleeve (110) is higher than the upper end of the third sleeve (230), protecting the space between the third sleeve (230) and the second sleeve (310) to thereby prevent dust, hair or other debris and the like from entering the space between the third sleeve (230) and the second sleeve (310), which might affect the relative movement between the second sleeve (310) and the third sleeve (230).

In one embodiment, the drive mechanism also includes a magnetic attraction element (900). The magnetic attraction element (900) is connected to the first transmission element (200), and is configured to magnetically connect with the magnetic element of the cleaning element (500). Alternatively, the drive mechanism further includes a magnetic element. The magnetic element is connected to the first transmission element (200), and the magnetic element is configured to magnetically connect to a magnetic element of the cleaning element (500).

The magnetic attraction element (900) may be a metal that can be magnetically attracted, such as an iron object. The magnetic element may be a magnet.

For example, the cleaning element (500) includes 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 equipped with a magnetic element. The magnetic attraction element (900) is placed on top of the first sleeve (210) of the first transmission element (200), the connecting rod is inserted into the first sleeve (210), and the magnetic attraction element (900) and the magnetic element are attractively fixed.

For example, in an embodiment where the first detection portion includes a Hall sensor, the cleaning element (500) is connected to a magnetic element, which allows detecting whether the cleaning element (500) is connected or not, thereby preventing the cleaning element (500) from being detached without being detected in time.

In another aspect, the present disclosure provides a self-cleaning device, including a drive mechanism according to any one of the aforementioned aspects, as well as a device body, in which the drive mechanism is arranged.

The drive mechanism may be one or two, or even more as needed. The power unit (400) may be used only for rotating the cleaning element (500) and for raising and lowering it. Alternatively, in some embodiments, a more complex structure may be provided to achieve swinging of the cleaning element (500) in the horizontal direction. The self-cleaning device includes a drive mechanism according to any one of the aforementioned aspects and enjoys the advantages of the drive mechanism according to any of the aforementioned aspects, so they are not explained again herein.

In a further aspect, the present invention provides a self-cleaning system including the aforementioned self-cleaning device and a cleaning station. The self-cleaning device is configured to selectively dock with the cleaning base station. In some embodiments, the cleaning base station comprises a docking space, and the self-cleaning device can be moved to the docking space to perform operations such as cleaning or replacing the cleaning element (500), refilling the water tank, charging the battery, etc. The self-cleaning system includes the aforementioned self-cleaning device, with the advantages of the aforementioned self-cleaning device, which will not be repeated herein.

The above descriptions are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to this. Anyone of ordinary skill in the art, within the technical scope of the present invention, can easily think of variations or replacements that should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be subject to the scope of protection defined by the claims.

Claims (37)

1. A drive mechanism, applicable in a self-contained cleaning device and comprising: a main support body (100); a first transmission element (200), having a first end and a second end, wherein the second end is configured to be connected to a cleaning element (500); a second transmission element (300), movably connected to the first transmission element (200) and movably connected to the main support body (100), wherein between said second transmission element (300) and the main support body (100) a contact surface is defined that generates a first friction force and a power assembly (400), in transmission connection with the first end and configured to drive the first transmission element (200) in rotation, thus allowing the first transmission element (200) to interact with said second transmission element (300), the latter having means to cause the first transmission element (200) to move vertically upwards and downwards to raise or lower the cleaning element (500). 2. The drive mechanism according to claim 1, wherein the first transmission element (200) comprises a cleaning position according to its extreme downward movement position; and When the first transmission element (200) is in the cleaning position, the first transmission element (200) is configured to drive the second transmission element (300) after overcoming the first friction force and rotate synchronously. 3. The drive mechanism according to claim 1, wherein The first transmission element (200) and the second transmission element (300) are equipped with a first action portion (211) and a second action portion (311), respectively, and the first action portion (211) and the second action portion (311) are configured to interact with each other. 4. The drive mechanism according to claim 3, wherein at least one of the first action portion (211) and the second action portion (311) comprises an inclined action surface, and when the first transmission element (200) rotates, the first action portion (211) and the second action portion (311) are configured to cooperate with each other via the inclined action surface, so that the first transmission element (200) ascends or descends. 5. The drive mechanism according to claim 4, wherein each of the first action portion (211) and the second action portion (311) comprises the inclined action surface; or one of the first action portion (211) and the second action portion (311) comprises the inclined action surface, and the other of the first action portion (211) and the second action portion (311) comprises a rolling element or a slider, the rolling element or slider being configured to roll or slide relative to the inclined action surface. 6. The drive mechanism according to claim 4, wherein In the mechanism, one or more first action portions (211) and one or more second action portions (311) are defined, their number being the same in both cases. 7. The drive mechanism according to claim 6, wherein when the number of first action portions (211) and the number of second action portions (311) is a multiple, the multiple first action portions (211) are circumferentially distributed around the rotation axis of the first transmission element (200), and the multiple second action portions (311) are circumferentially distributed around the rotation axis of the second transmission element (300). 8. The drive mechanism according to claim 4, wherein one of the first action portion (211) and the second action portion (311) is a thread; or, at least one of the first action portion (211) and the second action portion (311) is an action slot, and the other of the first action portion (211) and the second action portion (311) is configured to fit into the action slot. 9. The drive mechanism according to claim 1, wherein, the second end comprises a first sleeve (210), the second transmission element (300) comprises a second sleeve (310); the first sleeve (210) is equipped with a first action portion (211), the second sleeve (310) is equipped with a second action portion (311), and the first sleeve (210) is in jacketed connection with the second sleeve (310). 10. The drive mechanism according to claim 9, wherein one of the first action portion (211) and the second action portion (311) is connected with an action member (212); and when the first transmission member (200) is in the cleaning position, the other of the first action portion (211) and the second action portion (311) abuts the action member (212), thereby allowing the first transmission member (200) to drive the second transmission member (300) to rotate synchronously. 11. The drive mechanism according to claim 1, wherein, between the first transmission element (200) and the second transmission element (300) a friction surface is defined that generates a second friction force where the first friction force is greater than the second friction force. 12. The drive mechanism according to claim 1, wherein the power assembly (400) comprises a power element (410) and a third transmission element (420); and The power element (410) is in transmission connection with the third transmission element (420), and the third transmission element (420) is slidably connected to the first transmission element (200) in an axial direction and is limited in a circumferential direction. 13. The drive mechanism according to claim 12, wherein the second end comprises a limiting portion (220), and the third transmission element (420) is jacketedly connected to an outer periphery of the limiting portion (220), or the limiting portion (220) is jacketedly connected to the outer periphery of the third transmission element (420). 14. The drive mechanism according to claim 1, wherein The second transmission element (300) and the main support body (100) are limited in an axial direction and are in damping connection in the circumferential direction. 15. The drive mechanism according to claim 14, further comprising: a shock absorber bearing; wherein the second transmission element (300) is connected to the main support body (100) by means of the damping bearing. 16. The drive mechanism according to claim 14, further comprising: a friction assembly (800); wherein the second transmission element (300) comprises a flange (320), and the flange (320) is connected to a second sleeve (310) of the second transmission element (300), protrudes from a side wall of the second sleeve (310), and is connected to the friction assembly (800). 17. The drive mechanism according to claim 16, wherein The friction assembly (800) comprises an upper friction piece (810) and a lower friction piece (820), wherein the upper friction piece (810) and the lower friction piece (820) abut against the flange (320), respectively from both sides of the flange (320) in an axial direction of the second transmission element (300). 18. The drive mechanism according to claim 17, wherein The friction assembly (800) further comprises an elastic element (830), wherein the elastic element (830) is connected to at least one of the upper friction piece (810) and the lower friction piece (820), and is configured to apply an elastic force to the upper friction piece (810) and/or the lower friction piece (820) to bring them closer to the flange (320). 19. The drive mechanism according to claim 16, wherein The friction assembly (800) comprises a lower friction piece (820) and at least one drive wheel (840), wherein the lower friction piece (820) and the drive wheel (840) abut against the flange (320), respectively from both sides of the flange (320) in an axial direction of the second transmission element (300). 20. The drive mechanism according to claim 19, wherein The lower friction piece (820) is closer to the cleaning element (500) compared to the action wheel (840). 21. The drive mechanism according to claim 19, wherein, The number of drive wheels (840) is multiple, and the multiple drive wheels (840) are evenly distributed in a circumferential direction of the second transmission member (300). 22. The drive 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 rotary shaft, wherein the rotary shaft is connected to the main support body (100), and the wheel body is rotatably connected to the rotary shaft; and/or, a wear-resistant layer is arranged on at least one of the contact surfaces between the drive wheel (840) and the flange (320); and/or, In the main support body (100) is provided an installation cavity (101), the two ends of the action wheel (840) are respectively connected to two opposite side walls of the installation cavity (101), and a part of the action wheel (840) protrudes from the installation cavity (101) to abut against the flange (320). 23. The drive mechanism according to claim 19, wherein The friction assembly (800) further comprises an elastic element (830), wherein the elastic element (830) is connected to the lower friction piece (820), and the elastic element (830) is configured to apply an elastic force to the lower friction piece (820) to bring it closer to the flange (320). 24. The drive mechanism according to claim 8, wherein the first transmission element (200) comprises a third sleeve (230), wherein a first end of the first sleeve (210) of the first transmission element (200) is arranged opposite to 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 apart from the first sleeve (210), and the second sleeve (310) of the second transmission element (300) is fitted between the third sleeve (230) and the first sleeve (210), and there is a space with the third sleeve (230). 25. The drive mechanism according to claim 24, wherein, when the first transmission element (200) is in a cleaning position, an end of the third sleeve (230) that is remote from the cleaning element (500) is further from the cleaning element (500) compared to the first end of the first sleeve (210). 26. The drive mechanism according to claim 24, wherein The main support body (100) comprises a fourth sleeve (110), separated from the second sleeve (310), in which the third sleeve (230) is fitted between the fourth sleeve (110) and the second sleeve (310), and there is a space with the fourth sleeve (110). 27. The drive mechanism according to claim 26, wherein when the first transmission element (200) is in the cleaning position, an end of the third sleeve (230) that is remote from the cleaning element (500) is further from the cleaning element (500) compared to an end of the fourth sleeve (110) that is closer to the cleaning element (500). 28. The drive mechanism according to claim 1, further comprising: a magnetically attractable element (900), connected to the first transmission element (200) and configured to be magnetically connected to a magnetic element of the cleaning element (500); or, The drive mechanism further comprises: a magnetic element, connected to the first transmission element (200), wherein the magnetic element is configured to be magnetically connected to a magnetically attractable element of the cleaning element (500). 29. The drive mechanism according to claim 1, wherein The cleaning element (500) comprises at least one of the following: a rotating mop and a side brush. 30. The drive mechanism according to claim 1, further comprising: a first detection portion, configured to generate a position reached signal when the first transmission element (200) is raised to the highest position, in which mechanism, the first detection portion comprises a first photoelectric emitter (910) and a first light receiver (920), wherein the first photoelectric emitter (910) and the first light receiver (920) are arranged opposite to each other, and when the first transmission element (200) is raised to the highest position, the first transmission element (200) blocks light between the first photoelectric emitter (910) and the first light receiver (920), thereby allowing the first light receiver (920) to generate the position reached signal. 31. The drive mechanism according to claim 1, further comprising: a first detection portion, configured to generate a position reached signal when the first transmission element (200) is raised to the highest position, in which mechanism, the first detection portion comprises a first magnetic sensor, and the drive mechanism further comprises a first magnetic element, wherein the first magnetic element is arranged on the first transmission element (200) and/or the cleaning element (500), and when the first transmission element (200) is raised to the highest position, the first magnetic element enters the detection range of the first magnetic sensor, thereby enabling the first magnetic sensor to generate the position reached signal. 32. The drive mechanism according to claim 1, further comprising: a first detection portion, configured to generate a position reached signal when the first transmission element (200) is raised to the highest position, in which mechanism, The first detection portion comprises a first microswitch, wherein when the first transmission element (200) is raised to the highest position, the first transmission element (200) activates the first microswitch, so that the first microswitch generates the position reached signal. 33. The drive mechanism according to claim 1, further comprising: a second detection portion, configured to generate an installation completed signal when the cleaning element (500) is installed in the first transmission element (200), in which mechanism, the second detecting portion comprises a second photoelectric emitter and a second light receiver, wherein the second photoelectric emitter and the second light receiver are arranged opposite to each other, and when the cleaning element (500) is installed on the first transmitting element (200), the cleaning element (500) blocks light between the second photoelectric emitter and the second light receiver, so that the second light receiver generates the installation completion signal. 34. The drive mechanism according to claim 1, further comprising: a second detection portion, configured to generate an installation completed signal when the cleaning element (500) is installed in the first transmission element (200), in which mechanism, the second detection portion comprises a second magnetic sensor (930), and the driving mechanism further comprises a second magnetic element, wherein the second magnetic element is arranged on the cleaning element (500), and when the cleaning element (500) is installed on the first transmission element (200), the second magnetic element enters the detection range of the second magnetic sensor (930), so that the second magnetic sensor (930) generates the installation completion signal. 35. The drive mechanism according to claim 1, further comprising: a second detection portion, configured to generate an installation completed signal when the cleaning element (500) is installed in the first transmission element (200), in which mechanism, The second detection portion comprises a second microswitch, wherein when the cleaning element (500) is installed on the first transmission element (200), the cleaning element (500) activates the second microswitch, so that the second microswitch generates the installation completed signal. 36. A self-cleaning device, comprising a drive mechanism according to any one of claims 1 to 35, as well as a device body in which the drive mechanism is arranged. 37. A self-cleaning system, comprising the self-cleaning device according to claim 36, as well as a cleaning base station.