TWM673128U - Driving mechanism, self-cleaning device and self-cleaning system - Google Patents

Abstract

The utility model relates to a driving mechanism, including: a main support body; a first transmission member having a first end and a second end, where the second end is connected with a cleaning member; a second transmission member, where the first transmission member is movably connected with the second transmission member, the second transmission member is movably connected with the main support body, and a first friction force exists between the second transmission member and the main support body; and a power assembly transmission-connected with the first end, where the power assembly is configured to drive the first transmission member to rotate, so that the first transmission member and the second transmission member interact with each other, and the first transmission member is driven to drive the cleaning member to rise or fall.

Description

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

This disclosure relates to the field of smart home technology, and in particular to a drive mechanism, a self-cleaning device, and a self-cleaning system.

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 when no longer in contact with the floor. It also helps avoid obstacles such as carpets and felt when the robot encounters them.

Existing sweeping robots use two independent drive mechanisms to drive the lifting and rotating parts of the cleaning unit, resulting in complex structures and drive programs.

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

In one aspect, the present disclosure provides a drive mechanism for a self-cleaning device. The drive mechanism includes: a main support; a first transmission member, the first transmission member including a first end and a second end, the second end being connected to a cleaning member; a second transmission member, the first transmission member and the second transmission member being movably connected, the second transmission member being movably connected to the main support, and a first friction force being generated between the second transmission member and the main support; and a power assembly, the power assembly being rotatably connected to the first end, the power assembly being configured to drive the first transmission member to rotate, thereby causing the first transmission member and the second transmission member to interact and drive the first transmission member to raise or lower the cleaning member.

On the other hand, the present disclosure provides a self-cleaning device comprising any of the aforementioned drive mechanisms and a device body, wherein the drive mechanism is disposed on the device body.

On another aspect, the present disclosure provides a self-cleaning system comprising the aforementioned self-cleaning device and a cleaning base station.

The drive mechanism, self-cleaning device, and self-cleaning system disclosed herein drive the first drive member to move relative to the second drive member through the interaction between the first and second drive members, as well as the friction between the second drive member and the main support body, causing the first drive member to rise or fall, thereby achieving the lifting and lowering of the cleaning member. Furthermore, the interaction between the first and second drive members drives the first and second drive members to move synchronously, thereby achieving the lifting and moving cleaning of the cleaning member driven by a single drive member. This reduces the number of drive members, simplifies the structure of the self-cleaning device, and reduces production costs and drive burdens.

10: Self-cleaning equipment

11: Shell

12: Equipment body

13: Shell

14: Drive mechanism

20: Clean the base station

100: Main support body

101: Installation cavity

110: Fourth Sleeve

200: First transmission element

210: First Sleeve

211: First Action Section

212: Action Parts

2121: Upper cover

220: Limiting part

221: Second limit surface

230: Third Sleeve

300: Second transmission element

310: Second sleeve

311: Chuck/Second Action Section

320: Flanging

400: Powertrain components

410: Power Parts

420: Third transmission element

421: First limit surface

430:Intermediate transmission parts

500: Cleaning Parts

800: Friction component

810: Upper friction member

820: Lower friction member

830: Elastic parts

840: Action wheel

900: Magnetic parts

910: First photoemitter

920: First optical receiver

930: Second magnetic sensor

The embodiments, features and advantages of the present invention will become clear from the subsequent description in conjunction with the accompanying drawings, in which: FIG1 is a structural schematic diagram of a driving mechanism provided by the disclosed embodiment when the first transmission member is in the cleaning position; FIG2 is a first cross-sectional structural schematic diagram of a driving mechanism provided by the disclosed embodiment when the first transmission member is in the cleaning position; FIG3 is a first cross-sectional structural schematic diagram of a driving mechanism provided by the disclosed embodiment when the first transmission member is in the cleaning position; FIG4 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the cleaning position; FIG5 is a structural schematic diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG6 is a schematic diagram of a cross-sectional structure of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG7 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG8 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG9 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG10 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG11 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG12 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG13 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG14 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG15 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG16 is an exploded diagram of a drive mechanism provided by the disclosed embodiment when the first transmission member is in the storage position; FIG17 is an exploded diagram of a drive mechanism provided by the disclosed embodiment FIG8 is a schematic diagram of a partial structure of a driving mechanism provided in the embodiment of the present disclosure when the first transmission member is in the storage position; FIG8 is a schematic diagram of a second cross-sectional structure of a driving mechanism provided in the embodiment of the present disclosure when the first transmission member is in the cleaning position; FIG9 is a schematic diagram of a partial structure of a driving mechanism provided in the embodiment of the present disclosure when the first transmission member is in the cleaning position; FIG10 is a schematic diagram of another driving mechanism provided in the embodiment of the present disclosure Figure 11 is a schematic cross-sectional view of another drive mechanism according to the disclosed embodiment; Figure 12 is a schematic diagram of a portion of another drive mechanism according to the disclosed embodiment; Figure 13 is a schematic diagram of the self-cleaning system according to the disclosed embodiment; Figure 14 is a perspective view of the self-cleaning device according to the disclosed embodiment; Figure 15 is a perspective view of the internal structure of the device body according to the disclosed embodiment.

To facilitate understanding, identical drawing reference numerals have been used, where possible, to designate identical elements that are common to the figures.

The present invention will be described in more detail below with reference to exemplary embodiments. The following detailed description is merely exemplary in nature and is not intended to limit the present disclosure, the present application, or the uses of the present disclosure. Furthermore, no intention is to be bound by any theory presented in the preceding background or the following detailed description.

To facilitate understanding of the present invention, a more comprehensive description of the present invention is provided below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more comprehensive and thorough understanding of the present invention.

This new patent 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, the entire contents of which are incorporated herein by reference.

To further illustrate the technical means and effects employed by this disclosure to achieve its intended purpose, the following, in conjunction with the accompanying figures and preferred embodiments, provides a detailed description of the specific implementation, structure, features, and effects of a drive mechanism proposed in this disclosure.

As shown in Figures 1 to 6, embodiments of the present disclosure provide a drive mechanism for self-cleaning equipment. Self-cleaning equipment may include, but is not limited to, cleaning robots, smart cleaners, automatic floor scrubbers, mopping robots, and sweeper-moppers. These devices have functions such as movement, sweeping, and vacuuming. Some self-cleaning equipment also includes mopping, terrain detection, and indoor area scanning. For example, cleaning robots can have a variety of shapes. To ensure stability and suitability for a variety of scenarios, such as cleaning under beds, cleaning robots typically have a flat outer profile. The cleaning robot's housing primarily consists of a chassis and a housing connected to the chassis to form a housing. The housing houses various components necessary for the robot's operation, including a controller, power supply, position sensing components such as cameras, scanners, and gyroscopes, the cleaning mechanism, and the travel mechanism. The controller controls the cleaning system and travel mechanism. Common travel mechanisms include travel wheels and auxiliary steering wheels. The travel wheels are driven by a drive motor in the housing, rotating to propel the robot. The auxiliary steering wheels can be universal casters fixed beneath the chassis. The rotation and stopping of the travel wheels, in conjunction with the auxiliary steering wheels, allow the robot to steer.

The cleaning system may include a sweeping assembly and a mopping assembly. The cleaning assembly includes a brush drive, a roller brush, a dust box, and an exhaust fan. The brush drive connects the brush to the main body of the machine. The main body has a dust suction port located behind the brush, and the dust box is located in the air path between the exhaust fan and the dust suction port. The brush has a certain degree of interference with the floor. As it rotates, it picks up debris from the floor and carries it under the dust suction port. The dust box is then sucked into the dust box by the air generated by the exhaust fan. The mopping assembly may include a mop drive and one or more mops that rotate for dry mopping. In some embodiments, the mopping system also includes a water tank to refill the mop for wet mopping. Because the mop has a large surface area and is made of soft, absorbent materials such as felt or terry, it creates significant friction with floor coverings like carpets. Furthermore, the mop retains stains after cleaning, especially after wet mopping. To prevent friction between the mop and floor coverings that could affect the robot's movement and prevent the contaminated mop from contacting the floor and causing repeated contamination, a mop with a lifting function is required. Existing mop drives are divided into a mop rotation drive and a mop lift drive. The mop rotation drive is connected to the mop to drive its rotation, while the mop lift drive is connected to the entire mop assembly, driving the entire assembly up and down. This requires two separate sets of drives for mop lifting and rotation, resulting in a redundant and heavy structure. The lifting drive also carries a significant load and a cumbersome control process. This application addresses this issue by proposing a drive mechanism that utilizes a single power element and structural configuration to achieve both lift and rotation control of the cleaning element.

Specifically, the drive mechanism includes: a main support 100; a first transmission member 200, comprising a first end and a second end, the second end being connected to the cleaning member 500; a second transmission member 300, movably connected to the first transmission member 200 and the second transmission member 300, wherein the second transmission member 300 is movably connected to the main support 100 and a first friction force is generated between the second transmission member 300 and the main support 100; and a power assembly 400, movably connected to the first end and used to drive the first transmission member 200 to move, thereby causing the first transmission member 200 and the second transmission member 300 to interact and drive the first transmission member 200 to move the cleaning member 500 upward or downward.

The main support 100 can be a separate support member for the drive mechanism, fixedly mounted to the main housing of the self-cleaning device. Alternatively, the main support 100 can be a part of the main housing, achieving a tighter and more stable structural connection. The structure of the main support 100 can be tailored to the specific configurations of the first drive member 200, the second drive member 300, and the power assembly 400. The main support 100 is designed to support the first drive member 200, the second drive member 300, and the power assembly 400 and to coordinate with the movement of the first drive member 200. For ease of explanation, the following description uses the actual orientation of the drive mechanism as an example. The first end is operatively connected to the power assembly 400, which in turn drives the first transmission member 200 via the first end. The first transmission member 200 interacts with the second transmission member 300. The movement of the first transmission member 200 causes the first and second transmission members 200 and 300 to move relative to each other, causing the position of the first transmission member 200 to change at least vertically. The second transmission member 300 remains stationary relative to the main support 100, while the first transmission member 200 moves upward and downward relative to the main support 100, effectively driving the first transmission member 200 upward and downward. The first transmission member 200 is connected to the cleaning member 500 via the second end, thereby driving the cleaning member 500 upward and downward. The cleaning member 500 can be a variety of rotating cleaning components, such as a rotating mop or side brush. The rotating mop can be circular, square, or triangular. The cleaning position can be considered the limit of movement of the first transmission member 200. This limit can be set as needed, such as to adjust the height of the cleaning member 500. The first transmission member 200 also has a stowed position, in which the first transmission member 200 drives the cleaning member 500 to its 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 with each other and move relative to each other until the first transmission member 200 is located in the cleaning position, the interaction relationship between the first transmission member 200 and the second transmission member 300 will change. The first transmission member 200 and the second transmission member 300 will not move 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 position where the first actuator 200 reaches its lowest point. When the first actuator 200 is in the cleaning position, the height of the cleaning member 500 connected to the first actuator 200 satisfies the requirement to interfere with the surface to be cleaned. The interference strength, or compression strength, is sufficient to allow the cleaning member 500 to clean the surface without excessively compressing the surface and affecting its movement.

The power assembly 400 can be used to drive the first transmission member 200 in various ways, such as driving the first transmission member 200 to rotate, move in a straight line, or move in a curved line.

During operation, the first transmission member 200 is controlled to move, which in turn drives the cleaning member 500 downward until it reaches the cleaning position, where the cleaning member 500 is at its lowest position. The first transmission member 200 is then driven further, and the first transmission member 200, second transmission member 300, and cleaning member 500 move synchronously to complete the cleaning process. When cleaning is complete and the cleaning member 500 needs to be stored, the first transmission member 200 is controlled to move in the opposite direction, moving it out of the cleaning position and causing the cleaning member 500 to rise for storage.

It is worth noting that in some embodiments, the second transmission member 300 can rotate in both the forward and reverse directions relative to the main support 100, with the forward and reverse directions being opposite. When the first transmission member 200 is driven forward to descend to the cleaning position, the first transmission member 200 is driven in the same direction. This generates a rigid thrust between the first transmission member 200 and the second transmission member 300, which in turn drives the second transmission member 300 to overcome friction with the main support 100 and follow the first transmission member 200 in forward rotation relative to the main support 100. When the first actuator 200 is driven in the reverse direction and reaches its highest position, it continues to be driven in the same direction. This generates a rigid thrust between the first actuator 200 and the second actuator 300, which in turn causes the second actuator 300 to overcome the friction with the main support 100 and rotate in the opposite direction relative to the main support 100, following the first actuator 200. The second actuator 300 can rotate in both the forward and reverse directions relative to the main support 100, preventing excessive compression and damage to the first and second actuators 200, 300, due to positional errors or failure to detect the first actuator 200 reaching its highest position in a timely manner. This also prevents overloading of the power assembly 400.

In some embodiments, as shown in Figure 7 , the drive mechanism further includes a first detection unit. The first detection unit is connected to the main support body 100 and is used to detect whether the first actuator 200 has reached a preset uppermost position. When the first actuator 200 reaches the preset uppermost position, the first detection unit generates a raised position signal, indicating that the first actuator 200 has been raised. Upon receiving the raised position signal, the movement of the first actuator 200 can be immediately stopped. The first detection part can be a first micro switch, such as a combination of a spring and a touch sensor. When the first actuator 200 does not reach the preset height position, the spring is separated from the touch sensor. When the first actuator 200 continues to rise, the first actuator 200 will squeeze the spring, so that the spring is close to the touch sensor until the first actuator 200 reaches the preset height position. The first detection unit may be a light-blocking device, such as a combination of a first photoelectric transmitter 910 and a first light receiver 920. The first photoelectric transmitter 910 and the first light receiver 920 are arranged opposite to each other, and the first light receiver 920 is used to receive the photoelectric signal emitted by the first photoelectric transmitter 910, such as an infrared signal. When the first transmission member 200 has not reached the preset height position, there is no shielding 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. When the first transmission member 200 reaches the preset height position, the top structure enters between the first photoelectric emitter 910 and the first light receiver 920, and then shields the light of the first photoelectric emitter 910. The first light receiver 920 then generates The top structure can be the actuator 212, which will be described in detail below. Alternatively, the first detection unit can be a first magnetic sensor, such as a Hall effect sensor. The first actuator 200 or the cleaning member 500 is equipped with a first magnetic element that matches the Hall effect sensor. When the first actuator 200 moves into position, or when the first actuator 200 drives the cleaning member 500 into position, the first magnetic element enters the detection range of the Hall effect sensor. The Hall effect sensor detects the magnetism and generates a signal indicating the position has been reached. The first detection unit can also be of other forms, designed to detect the position of the first actuator 200. It is sufficient that the signal is generated when the first actuator 200 reaches a preset uppermost position. The first detection unit, on the one hand, allows the first actuator 200 to rotate synchronously with the second actuator 300 after it has reached its designated position. This would cause the second actuator 300 to idle in vain. The addition of the first detection unit allows the second actuator 300 to stop moving immediately after the first actuator 200 has reached its designated position, thus avoiding energy consumption and mechanical damage to the second actuator 300 and wasting time during the raising and lowering of the first actuator 200. Furthermore, it can promptly detect failures of the first actuator 200 to ascend, such as due to jamming or mechanical failure. If no signal indicating the actuator has reached its designated position is received within a certain period of time after the first actuator 200 has ascended, an alarm can be issued.

In some other embodiments, as shown in FIG7 , the drive mechanism further includes a second detection portion, which can be connected to the main support body 100 or mounted 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 a fully installed signal, which indicates that the cleaning member 500 has been installed, and the next step, such as cleaning, can be performed. This avoids the possibility that the cleaning member 500 is forgotten to be installed or not installed successfully, resulting in a failure to achieve normal cleaning. The second detection portion 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 and the touch sensor are disengaged. When the cleaning member 500 is installed, the cleaning member 500 will squeeze the spring, causing the spring to contact the touch sensor, thereby generating a mounting position signal; alternatively, the second detection portion can 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 being arranged opposite to each other, and the second light receiver being 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 barrier between the second photoelectric emitter and the second light receiver. When the cleaning member 500 is mounted, part 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 mounted properly. The second detection unit can be the area where the cleaning member 500 extends into the mounting cavity defined by the first actuator 200. Alternatively, the second detection unit can be a second magnetic sensor 930, such as a Hall effect sensor. The cleaning member 500 is equipped with a second magnetic element that matches the Hall effect sensor. Once the cleaning member 500 is properly installed, the second magnetic element enters the detection range of the Hall effect sensor, which detects the magnetism and generates a signal indicating that the cleaning member 500 is properly installed. The second detection unit can also be of other forms, designed to detect whether the cleaning member 500 is properly installed. When the cleaning member 500 is properly installed on the first actuator 200, a signal indicating that the cleaning member 500 is properly installed is generated. The provision of the second detection unit can prevent the cleaning member 500 from being missed and prevent ineffective cleaning due to the cleaning device not carrying the cleaning member 500.

The drive mechanism, self-cleaning device, and self-cleaning system proposed in the disclosed embodiments drive the first drive member to rotate when driven by a power member. The interaction between the first and second drive members, as well as the interaction between the second drive member and the main support, drives the first and second drive members to move relative to each other, thereby raising or lowering the first drive member, thereby achieving the lifting and lowering of the cleaning member. When the relative position of the first drive member reaches the cleaning position, the interaction between the first and second drive members drives the first and second drive members to rotate synchronously, thereby achieving the lifting and rotating of the cleaning member by a single power member. This reduces the number of drive members, simplifies the structure of the self-cleaning device, and reduces production costs and drive burdens.

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.

The first transmission member 200 controls the rotation. Because the friction of the threaded connection between the first transmission member 200 and the second transmission member 300 is low, while the friction between the second transmission member 300 and the main support member 100 is high, the second transmission member 300 and the main support member 100 do not move relative to each other, or any relative movement is minimal. This allows the first transmission member 200 and the second transmission member 300 to move relative to each other more smoothly in the circumferential direction.

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 configured in a variety of ways, so that the movement of the second transmission member 300 drives the first transmission member 200 to move upward or downward.

If at least one of the first acting portion 211 and the second acting portion 311 includes an inclined acting surface, when the first actuator 200 rotates, the first acting portion 211 and the second acting portion 311 cooperate with each other via the inclined acting surfaces to cause the first actuator 200 to rise or fall.

The inclined surface provides both the first and second operating parts 211, 311 with a lifting or lowering force when the first and second operating parts 211, 311 move circumferentially relative to each other. Alternatively, it can be interpreted as an inclined surface that spirals upward or downward in the circumferential direction. Both the first and second operating parts 211, 311 may include an inclined surface, but with different lengths. Alternatively, one of the first and second operating parts 211, 311 may include an inclined surface, while the other may include a roller or a slider configured to roll or slide relative to the inclined surface. The roller may be a roller or a rollershaft, which, by rolling in connection with the inclined surface, further reduces the second friction force. Alternatively, the slider may be a block-shaped, columnar, or other protrusion.

In one embodiment, the number of first and second acting portions 211 and 311 can be one each. Alternatively, the number of first and second acting portions 211 and 311 can be the same, arranged in a one-to-one correspondence. Furthermore, multiple first and second acting portions 211 and 311 can be provided. The multiple first acting portions 211 are circumferentially distributed around the rotation axis of the first transmission member 200, and the multiple second acting portions 311 are circumferentially distributed around the rotation axis of the second transmission member 300. This ensures that the first and second acting portions 211 and 311 balance the forces acting on the first and second transmission members 200 and 300 in the circumferential direction, preventing skew.

In a more specific embodiment, one of the first actuating portion 211 and the second actuating portion 311 is threaded, and the other can be a chuck with an actuating bevel that fits between the helical surfaces. Alternatively, the other can be a smaller chuck without an actuating bevel. The first actuator 200 and the second actuator 300 are threadedly connected, with the first actuator 200 rotating relative to the second actuator 300 to move the first actuator 200 upward or downward via the thread.

Due to the arrangement of the threads, the circumferential movement will generate a vertical push, causing the first transmission member 200 to rise or fall.

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 configured to be embedded in the acting groove, and the acting inclined surface is a side wall of the acting groove.

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 operating portion 211, and the second sleeve 310 is provided with a second operating portion 311. The first sleeve 210 and the second sleeve 310 are sleeved together.

In embodiments where one of the first and second actuating portions 211 and 311 is threaded, and the number of threads is multiple, and the other is a chuck, the chuck engages with the thread after the first and second sleeves 210 and 310 are joined. The threads can be four, forming four rows of threads, with the chuck engaging one row of threads for each. This arrangement of multiple rows of threads ensures more stable movement between the first and second sleeves 210 and 310, preventing them from shaking. In the embodiments shown in Figures 2 to 4 and 6, the threads are provided on the outer wall of the first sleeve 210, while the chuck is provided on the inner wall of the second sleeve 310. Alternatively, the threads are provided on the inner wall of the second sleeve 310, while the chuck is provided on the outer wall of the first sleeve 210.

In one embodiment, one of the first and second actuating portions 211 and 311 is coupled to an actuating member 212. For example, in an embodiment where one of the first and second actuating portions 211 and 311 is threaded, 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, the inner wall opposite the actuating inclined surface.

The actuator 212 may be located at only one end of the thread, acting solely with the chuck to synchronize the rotation of the first actuator 200 when in the cleaning position. Alternatively, in some embodiments, the actuator 212 may be located at both ends of the thread, with one end configured to synchronize the rotation of the first actuator 200 and the second actuator 300 when in the cleaning position, and the other end configured to limit the maximum height to which the first actuator 200 can be raised.

More specifically, if the first acting portion 211 is a thread, the second acting portion 311 is a chuck, the outer wall of the first sleeve 210 is provided with a thread, and the first sleeve 210 is used for lifting, as shown in Figures 2 to 4 and 6, the acting member 212 can be located only at the end of the thread far away from the cleaning member 500, or the acting member 212 can be located at the uppermost end of the thread 211, and then at the first sleeve 210. As one sleeve 210 descends, the actuator 212 moves toward the upper chuck. When the first and second actuators 200, 300 are in the clean position, the actuator 212 contacts the upper chuck. As the first sleeve 210 continues to rotate in the same direction, it stops descending and the actuator 212 pushes the chuck, driving the second sleeve 310 to rotate synchronously. In some embodiments, the actuator 212 may be positioned at the lowest end of the thread. As the first sleeve 210 ascends, the actuator 212 moves toward the lower chuck. When the first sleeve 210 reaches its highest position, the actuator 212 at the lower end contacts the chuck, preventing the first sleeve 210 from rising excessively and acting as a position limiter.

In another embodiment, the second acting portion 311 is a thread, and 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 end of the thread close to the cleaning member 500, or in other words, the acting member 212 is located at the lowest end of the thread. Then, during the descending process of the first sleeve 210, the chuck moves toward the acting member 212 located below. When the first transmission member 200 and the second transmission member 300 are in the cleaning position, the chuck will contact the acting member 212 located below. Then, when the first sleeve 210 continues to rotate in the same direction, the first sleeve 210 will not descend, and the chuck will push the acting member 212 located below, driving the second sleeve 310 to rotate synchronously. In some embodiments, the uppermost end of the thread 211 may also be provided with an actuating member 212. As the first sleeve 210 ascends, the chuck moves toward the actuating member 212 above. When the first sleeve 210 reaches its highest position, the chuck contacts the actuating member 212 above, preventing the first sleeve 210 from ascending excessively and acting as a limiter.

It will be appreciated that in embodiments where there are four chucks 311 and the threads 211 may be four-threaded, an actuating member 212 is disposed at the terminus of each of the four threads. The actuating member 212 may 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, to which the actuating member 212 is connected. The upper cover 2121 is then connected to the first sleeve 210, such that the actuating member 212 is located at the terminus of the threads, facilitating processing.

In the aforementioned embodiment where the first detection unit includes the first photoemitter 910 and the first light receiver 920, the upper cover 2121 is snapped onto the top edge of the first sleeve 210, thereby blocking light from the first photoemitter 910 and the first light receiver 920 when the first actuator 200 is at the correct height.

During use, the power assembly 400 drives the first transmission member 200 to rotate relative to the main support body 100 in a forward rotational direction, such as the forward rotation of the motor of the power assembly 400. Since the second transmission member 300 remains stationary (this is due to the friction between the second transmission member 300 and the main support body 100 being greater than the friction between the first and second actuating portions 211, 311), the second actuating portion 311 moves relative to the first actuating portion 211. In embodiments where one of the first and second actuating portions 211, 311 is threaded, the chuck moves relative to the thread and depresses the thread, thereby driving the first transmission member 200 vertically downward 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 its 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 in the forward direction relative to the main support body 100. The chuck will interact with the actuating member 212 at the lower end of the thread, thereby hindering the chuck and the thread from continuing to move relative to each other. 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 ground. That is, during the lowering and cleaning process, the rotation direction of the first transmission member 200 does not reverse. Then, when cleaning is complete, or upon receiving a user instruction, or upon detecting an obstacle, 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 in a reverse direction relative to the main support body 100, which is opposite to the forward rotation direction. This can be achieved by, for example, reversing the rotation of the motor of the power assembly 400. Since the second actuator 300 remains stationary (due to the friction between the second actuator 300 and the main support 100 being greater than the friction between the chuck and the thread), the chuck moves in the opposite direction, disengaging from the actuator 212. The chuck then moves relative to the thread, lifting the thread and, in turn, driving the first actuator 200 vertically upward relative to the main support 100, thereby raising the cleaning member 500. When the cleaning member 500 reaches its highest position, the action member 212 at the upper end of the thread and the chuck may act to prevent further relative movement of the chuck and the thread. This creates a rigid thrust force on the first and second transmission members 200 and 300, which causes the second transmission member 300 to overcome the friction between the second transmission member 300 and the main support body 100, resulting in synchronous movement of the first and second transmission members 200 and 300. It will be understood that at this point, the cleaning member 500 is in its stowed position, or in other words, rotates at a higher position, until the programmed time expires and the power assembly 400 stops driving the first transmission member 200. Alternatively, in the aforementioned embodiment including the first detection unit, which includes the first photoemitter 910 and the first light receiver 920, when the first actuator 200 is raised into position, the light between the first photoemitter 910 and the first light receiver 920 is blocked, thereby directly stopping the rotation of the first actuator 200. This avoids wasted energy and wear on the second actuator 300 and the main support 100 due to damping.

For example, in an embodiment in which the first transmission member 200 is raised and lowered, if the second transmission member 300 is only circumferentially connected to the main support body 100 and is axially or vertically limited, the second transmission member 300 cannot be raised or lowered. However, the first transmission member 200 requires a vertically movable connection with the power assembly 400. Since the power assembly 400 drives the first transmission member 200 in rotation, the first transmission member 200 and the power assembly 400 must be circumferentially limited. Several embodiments of raising and lowering the first transmission member 200 will be described in more detail below.

The first transmission member 200 and the power assembly 400 have a circumferential transmission relationship and move relative to each other in the axial, or vertical, direction. This can be achieved by having the power assembly 400's output shaft extend vertically and equipped with a vertically extending first meshing tooth. The first transmission member 200 is equipped with a second meshing tooth. The power assembly 400 engages the first transmission member 200 via the first and second meshing teeth. Rotation of the output shaft drives the first transmission member 200 to rotate. Because both the first and second meshing teeth extend vertically, the first transmission member 200 can move vertically relative to the power assembly 400, thereby achieving lifting and lowering. Alternatively, in another embodiment, as shown in Figures 7 to 9 , the power assembly 400 includes a power member 410 and a third transmission member 420. The power member 410 and the third transmission member 420 are transmission-connected. For example, the power member 410 may be a motor, with the motor's output shaft extending horizontally. The motor's output shaft may be directly geared to the third transmission member 420, or indirectly transmission-connected to the third transmission member 420 via additional gears. The third transmission member 420 is axially slidably connected to the first transmission member 200 and is circumferentially limited.

The provision of the third transmission member 420 allows the power member 410 to extend horizontally, fully utilizing the internal space of the self-cleaning device. Furthermore, 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 portion includes a stopper 220, which is connected to the first sleeve 210 and sleeved around the outer periphery of the third transmission member 420. Alternatively, the third transmission member 420 sleeves around the outer periphery of the stopper 220. Taking the third transmission member 420 as an example, which is sleeved on the outer circumference of the limiting portion 220, the third transmission member 420 comprises a cylindrical structure. The inner wall of the third transmission member 420 has a plurality of first limiting surfaces 421 distributed circumferentially. The first limiting surfaces 421 can be convex arcuate surfaces. The outer contour of the limiting portion 220 is a rod-shaped structure. The outer wall of the limiting portion 220 has a plurality of second limiting surfaces 221 distributed circumferentially, which are compatible with 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 they can have other shapes, such as teeth. The limiting portion 220 is inserted into the cylindrical structure of the third actuator 420. The first limiting surface 421 and the second limiting surface 221 slide in contact, achieving circumferential limit locking while allowing relative axial sliding. By fitting the third actuator 420 onto the outer circumference of the limiting portion 220, external force exerted on the limiting portion 220 to rotate it is applied more evenly around the circumference. This allows the limiting portion 220 to move only in the vertical direction, thus serving as a guide for the limiting portion 220, or the first actuator 200, during raising and lowering, preventing the first actuator 200 from shaking. The implementation of fitting the limiting portion 220 onto the outer circumference of the third actuator 420 can be found in the same manner as the third actuator 420 fitting onto the outer circumference of the limiting portion 220, and will not be further elaborated.

The transmission connection between the power member 410 and the third transmission member 420 can be implemented in a variety of ways. As shown in Figure 9 , the power assembly 400 further includes an intermediate transmission member 430. This intermediate transmission member 430 can be one or more gears, positioned 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 via one or more gears, thereby achieving a transmission connection.

In embodiments where the first transmission member 200 is raised and lowered relative to the main support member 100, the second transmission member 300 is axially limited and circumferentially damped in connection with the main support member 100. The friction between the second transmission member 300 and the main support member 100 is greater than the friction between the first transmission member 200 and the second transmission member 300. This refers to the circumferential friction between the second transmission member 300 and the main support member 100, which is greater than the friction between the chuck 311 and the thread 211 in the direction of the thread 211. The damped connection between the second transmission member 300 and the main support member 100 can be implemented in various ways. In one embodiment, the drive mechanism further includes a damping bearing. The second transmission member 300 is connected to the main support member 100 via the 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 axially fixedly connected to both the second transmission member 300 and the main support body 100. In other embodiments, as shown in Figures 2 to 4 and 6, the drive mechanism further includes a friction assembly 800. The second transmission member 300 includes a flange 320. The flange 320 is connected to the second sleeve 310 of the second transmission member 300 and protrudes from the side wall of the second sleeve 310. The flange 320 is connected to the friction assembly 800. The flange 320 extends horizontally, and the friction assembly 800 cooperates with the flange 320 to axially limit the flange 320, preventing axial movement of the second sleeve 310.

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 and lower friction members 810 and 820 abut against the flanges 320 on either side of the second actuator 300 in the axial direction. This increases friction and prevents the second actuator 300 from rotating as the first actuator 200 is raised or lowered.

In one embodiment, the friction assembly 800 further includes an elastic member 830, which is connected to at least one of the upper friction member 810 and the lower friction member 820. The elastic member 830 is used to apply an elastic force to the upper friction member 810 and/or the lower friction member 820 to move closer to the flange 320. The elastic member 830 can be a spring. If the spring is connected only between the lower friction member 820 and the main support body 100, the spring causes the lower friction member 820 and the upper friction member 810 to squeeze the flange 320 with moderate pressure. When the lower friction member 820 and the upper friction member 810 wear, 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 as the first transmission member 200 rises or falls.

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

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 reduces wear on the side of the flange 320 facing the action wheel 840.

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 its bottom surface, while the action wheel 840 is in rolling contact with the top surface of the flange 320. During the cleaning process, the cleaning member 500 will interfere with the ground, generating an upward reaction force on the cleaning member 500. This in turn applies 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 the upper friction member 810 is used, the flange 320 will press upward against the upper friction member 810, increasing the friction force on the flange 320. This will increase the rotational burden of the second transmission member 300, increase the driving burden of the power member 410, and increase energy consumption. However, the use of the action wheel 840 in place of the upper friction member 810, which is connected to the flange 320 in a rolling manner, does not increase the force on the second transmission member 300 when the pressure between the flange 320 and the action wheel 840 increases, thereby ensuring the endurance of the power member 410.

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

For example, there can be two actuating wheels 840, arranged on opposite radial sides of the second transmission member 300. Alternatively, there can be three, four, or more actuating wheels 840, which can ensure that the second transmission member 300 is evenly stressed in the circumferential direction and is less likely to skew or jam.

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 integral roller, which is rotatably connected to the main support body 100 directly or via a bearing. Alternatively, the action wheel 840 includes a wheel body and a rotating shaft. The rotating shaft is connected to the main support body 100, which may be fixedly connected, such as by plugging. The wheel body is rotatably connected to the rotating shaft, which may be connected to the rotating shaft via one or more bearings, or the wheel body is directly rotatably connected to the rotating shaft.

In one embodiment, a wear-resistant layer is provided on at least one of the contact surfaces between the action wheel 840 and the flange 320. The wear-resistant layer can be a thin coating with a certain degree of flexibility, thereby providing vibration damping and anti-wear between the action wheel 840 and the flange 320.

In one embodiment, the main support body 100 is provided with a mounting cavity 101. The two ends of the actuating wheel 840 are connected to opposite side walls of the mounting cavity 101. The actuating wheel 840 partially extends outside the mounting cavity 101 to abut against the flange 320.

As shown in Figure 12, the main support body 100 is provided with a mounting cavity 101, which has at least a bottom opening. Each operating wheel 840 may correspond to a mounting cavity 101. The operating wheel 840 is secured by the inner wall of the mounting cavity 101, thereby ensuring axial support and stable position. Part of the structure of the operating wheel 840 extends from the bottom opening of the mounting cavity 101 and then interacts with the flange 320.

In the embodiment where the lower friction member 820 and the operating wheel 840 cooperate, the lower friction member 820 can be connected to the elastic member 830. When the lower friction member 820 wears, the spring arrangement ensures that the lower friction member 820 continues to provide effective friction, thereby preventing the second transmission member 300 from rotating as the first transmission member 200 rises or falls.

In the aforementioned embodiment of the 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. Because 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. Subsequently, the chuck will interact with the thread, driving the first transmission member 200 to descend vertically relative to the main support body 100. When the chuck and the actuator 212 at the lower end of the thread engage, the first and second actuators 200 and 300 generate a rigid thrust, which causes the second actuator 300 to overcome the friction between the lower and upper friction members 820 and 810, causing the flange 320 to slide relative to the lower and upper friction members 820 and 810. Subsequently, the first and second actuators 200 and 300 rotate synchronously. When the cleaning member 500 needs to be moved upward for storage or to avoid obstacles, the first actuator 200 rotates in the opposite direction relative to the main support 100. Because the lower friction member 820 and the upper friction member 810 squeeze the flange 320, the second actuator 300 remains stationary. The chuck moves relative to the thread and pulls it upward, driving the first actuator 200 vertically upward relative to the main support 100, thereby raising the cleaning member 500. When the cleaning member 500 reaches its highest position, if the first detection portion is not provided, the chuck and the actuating member 212 at the upper end of the thread will interact, generating a rigid thrust on the first and second transmission members 200 and 300. This thrust causes the second transmission member 300 to overcome the friction between the lower and upper friction members 820 and 810, causing the flange 320 to slide relative to the lower and upper friction members 820 and 810, resulting in synchronous movement of the first and second transmission members 200 and 300.

In one embodiment, the first transmission member 200 may comprise only a connected stopper 220 and a first sleeve 210, with the first sleeve 210 being a straight cylindrical structure. Alternatively, in other embodiments, as shown in Figures 2 to 4 , the first transmission member 200 further comprises a third sleeve 230. The first end of the first sleeve 210 of the first transmission member 200 faces the cleaning member 500, and the third sleeve 230 is connected to the first end of the first sleeve 210, with a gap between the third sleeve 230 and the first sleeve 210. The second sleeve 310 of the second transmission member 300 is embedded between the third sleeve 230 and the first sleeve 210, with a gap between the third sleeve 230 and 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 element 500. The end of the third sleeve 230 distal to the cleaning element 500 is located farther from the cleaning element 500 than the first end of the first sleeve 210. This ensures that even when the first transmission member 200 is at its lowest position, the top of the third sleeve 230 is higher than the bottom of the first sleeve 210. This protects the gap between the second sleeve 310 and the first sleeve 210, preventing dust, hair, and other debris from entering the gap and affecting their relative movement.

Furthermore, as shown in Figures 1 to 6, the main support body 100 includes a fourth sleeve 110, which is spaced apart from the second sleeve 310. The third sleeve 230 is embedded between the fourth sleeve 110 and the second sleeve 310, with a gap between the third sleeve 230 and the fourth sleeve 110.

The fourth sleeve 110 covers the outer periphery of the third sleeve 230. The end of the third sleeve 230 farther from the cleaning element 500 is located further from the cleaning element 500 than the end of the fourth sleeve 110 closer to the cleaning element 500. This ensures that even when the first transmission member 200 is at its lowest position, the bottom of the fourth sleeve 110 is higher than the top of the third sleeve 230. This protects the gap between the third sleeve 230 and the second sleeve 310, preventing dust, hair, and other particles from entering the gap and affecting the relative movement of the second sleeve 310 and the third sleeve 230.

In one embodiment, the drive mechanism further includes a magnetic member 900 connected to the first transmission member 200 and configured to magnetically connect to the magnetic member of the cleaning member 500. Alternatively, the drive mechanism further includes a magnetic member connected to the first transmission member 200 and configured to magnetically connect to the magnetic member of the cleaning member 500.

The magnetic element 900 can be a metal that can be magnetically attracted, such as iron. The magnetic element can be a magnet.

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 is fixed to the magnetic member 900 by adsorption.

For example, in an embodiment where the first detection unit includes a Hall sensor, the cleaning member 500 is connected to a magnetic member to detect whether the cleaning member 500 is connected, thereby preventing the cleaning member 500 from falling off and not being detected in time.

On the other hand, the present disclosure provides a self-cleaning device comprising any of the aforementioned drive mechanisms and a device body, wherein the drive mechanism is disposed on the device body.

The drive mechanism can be one, two, or more, as needed. The power assembly 400 can be used solely for the lifting and rotation of the cleaning member 500. Alternatively, in some embodiments, a more complex structure can be provided to achieve horizontal swinging of the cleaning member 500. The self-cleaning device includes any of the aforementioned drive mechanisms, including the advantages of any of the aforementioned drive mechanisms, which will not be further elaborated here.

In another aspect, the present disclosure provides a self-cleaning system comprising the aforementioned self-cleaning device and a cleaning base station. The self-cleaning device is configured to selectively dock at the cleaning base station. In some embodiments, the cleaning base station includes a docking space, and the self-cleaning device can be moved to the docking space to perform operations such as cleaning, replacing, refilling, and charging the cleaning element 500. The self-cleaning system includes the aforementioned self-cleaning device, and its advantages are not further elaborated here.

FIG13 shows a self-cleaning system 1 including a self-cleaning device 10 and a cleaning base station 20 according to the present disclosure.

Figure 14 illustrates a perspective view of a self-cleaning device 10 according to the present disclosure, and Figure 15 is a perspective view of the internal structure of the device body 12 provided in an embodiment of the present disclosure. As shown in Figures 14 and 15 , the self-cleaning device 10 includes the aforementioned drive mechanism 14 and the device body 12, which is comprised of a housing 11 and a housing 13. The drive mechanism 14 is mounted on the device body 12 of the self-cleaning device 10, specifically within the mounting space formed by the housings 11 and 13.

The above description is merely a specific implementation of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any modifications or substitutions that a person skilled in the art could easily conceive of within the technical scope disclosed in this disclosure should be covered by the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure shall be based on the scope of protection of the patent application.

100: Main support body

110: Fourth Sleeve

200: First transmission element

210: First Sleeve

211: First Action Section

212: Action Parts

220: Limiting part

230: Third Sleeve

300: Second transmission element

310: Second sleeve

311: Chuck/Second Action Section

320: Flanging

400: Powertrain components

410: Power Parts

420: Third transmission element

500: Cleaning Parts

800: Friction component

810: Upper friction member

820: Lower friction member

830: Elastic parts

900: Magnetic parts

Claims (39)

A driving mechanism for a self-cleaning device, comprising: a main support body (100); a first transmission member (200), wherein the first transmission member (200) comprises a first end and a second end, wherein the second end is used to connect to a cleaning member (500); a second transmission member (300), wherein the first transmission member (200) and the second transmission member (300) are movably connected, wherein the second transmission member (300) is movably connected to the main support body (100), and the second transmission member (300) is movably connected to the main support body (100). There is a first friction force between the transmission member (300) and the main support body (100); a power assembly (400), the power assembly (400) is transmission-connected to the first end, 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. A driving mechanism as described in 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. The driving mechanism as described in 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. The driving mechanism as described in claim 3, wherein: at least one of the first acting part (211) and the second acting part (311) includes an acting inclined surface, and when the first transmission member (200) rotates, the first acting part (211) and the second acting part (311) are used to cooperate with each other through the acting inclined surface to make the first transmission member (200) rise or fall. A driving mechanism as described in claim 4, wherein: the first acting part (211) and the second acting part (311) both include the acting inclined surface; or one of the first acting part (211) and the second acting part (311) includes the acting inclined surface, and the other of the first acting part (211) and the second acting part (311) includes a roller or a slider, and the roller or the slider is used to roll or slide relative to the acting inclined surface. A driving mechanism as described in claim 4, wherein: the number of the first acting part (211) and the second acting part (311) are the same, and the number of the first acting part (211) and the second acting part (311) is at least one. A driving mechanism as described in claim 6, wherein: there are multiple first acting parts (211) and multiple second acting parts (311), multiple first acting parts (211) are distributed circumferentially around the rotating shaft of the first transmission member (200), and multiple second acting parts (311) are distributed circumferentially around the rotating shaft of the second transmission member (300). A driving mechanism as described in claim 4, wherein: one of the first acting part (211) and the second acting part (311) is a thread; or at least one of the first acting part (211) and the second acting part (311) is an acting groove, and the other one of the first acting part (211) and the second acting part (311) is used to be embedded in the acting groove. The driving mechanism as described in claim 1, wherein: the second end portion includes a first sleeve (210), 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. A driving mechanism as described in claim 9, wherein: one of the first acting part (211) and the second acting part (311) is connected to an acting member (212), and when the first transmission member (200) is located in the cleaning position, the other of the first acting part (211) and the second acting part (311) abuts against the acting member (212), so that the first transmission member (200) drives the second transmission member (300) to rotate synchronously. A driving mechanism as described in 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. A driving mechanism as described in claim 1, wherein: the power assembly (400) includes a power member (410) and a third transmission member (420); the power member (410) is transmission-connected to the third transmission member (420), and the third transmission member (420) is axially slidingly connected to the first transmission member (200) and is circumferentially limited. A driving mechanism as described in claim 12, wherein: the second end portion includes a limiting portion (220), 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). The driving mechanism as described in claim 1, wherein: the second transmission member (300) and the main support body (100) are axially limited and circumferentially damped. The driving mechanism as described in claim 14 further includes: a damping bearing; the second transmission member (300) is connected to the main support body (100) through the damping bearing. The driving mechanism as described in claim 14 further includes: a friction assembly (800); the second transmission member (300) includes a flange (320), the flange (320) is connected to the second sleeve (310) of the second transmission member (300) and protrudes from the side wall of the second sleeve (310), and the flange (320) is connected to the friction assembly (800). A driving mechanism as described in claim 16, wherein: the friction assembly (800) includes an upper friction member (810) and a lower friction member (820), and the upper friction member (810) and the lower friction member (820) are respectively abutted against the flange (320) on both sides of the axial direction of the second transmission member (300) by the flange (320). A driving mechanism as described in claim 17, wherein: the friction assembly (800) further includes an elastic member (830), the elastic member (830) being connected to at least one of the upper friction member (810) and the lower friction member (820), and the elastic member (830) being used to apply an elastic force to the upper friction member (810) and/or the lower friction member (820) to move close to the flange (320). A driving mechanism as described in claim 16, wherein: 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 axial direction of the second transmission member (300) by the flange (320). A driving mechanism as described in claim 19, wherein: the lower friction member (820) is closer to the cleaning member (500) than the action wheel (840). A driving mechanism as described in claim 19, wherein: there are multiple action wheels (840), and the multiple action wheels (840) are evenly arranged in the circumferential direction of the second transmission member (300). A driving mechanism as described in claim 19, wherein: the action wheel (840) is rotationally connected to the main support body (100); and/or, the action wheel (840) includes a wheel body and a rotating shaft, the rotating shaft is connected to the main support body (100), and the wheel body is rotationally connected to the rotating shaft; and/or, a wear-resistant layer is provided on at least one of the contact surfaces between the action wheel (840) and the flange (320); and/or, a mounting cavity (101) is provided on the main support body (100), 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). A driving mechanism as described in claim 19, wherein: the friction assembly (800) further includes an elastic member (830), the elastic member (830) is connected to the lower friction member (820), and the elastic member (830) is used to apply an elastic force to the lower friction member (820) to move close to the flange (320). The driving mechanism as described in claim 8, wherein: the first transmission member (200) includes a third sleeve (230), 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), 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). A driving mechanism as described in claim 24, wherein: when the first transmission member (200) is in the cleaning position, the end of the third sleeve (230) is farther away from the cleaning member (500) than the first end of the first sleeve (210) is farther away from the cleaning member (500). A driving mechanism as described in 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). A driving mechanism as described in claim 26, wherein: when the first transmission member (200) is in the cleaning position, the end of the third sleeve (230) that is far away from the cleaning member (500) is farther away from the cleaning member (500) than the end of the fourth sleeve (110) that is close to the cleaning member (500). The driving mechanism as described in claim 1 further includes: a magnetic member (900), the magnetic member (900) is connected to the first transmission member (200), and the magnetic member (900) is used to be magnetically connected to the magnetic member of the cleaning member (500); or, the driving mechanism further includes: a magnetic member, the magnetic member is connected to the first transmission member (200), and the magnetic member is used to be magnetically connected to the magnetic member of the cleaning member (500). The driving mechanism as described in claim 1, wherein: the cleaning element (500) includes at least one of a rotating mop and a side brush. The driving mechanism as described in claim 1 further includes: a first detection part, wherein the first detection part is used to generate a rising position signal when the first transmission member (200) rises to the highest position. The driving mechanism as described in claim 30, wherein: the first detection part includes a first photoelectric emitter (910) and a first light receiver (920), the first photoelectric emitter (910) and the first light receiver (920) are arranged opposite to each other, and when the first transmission member (200) rises to the highest position, the first transmission member (200) blocks the light between the first photoelectric emitter (910) and the first light receiver (920), so that the first light receiver (920) generates the rising position signal. A driving mechanism as described in claim 30, wherein: the first detection portion includes a first magnetic sensor, and the driving mechanism further includes a first magnetic member, the first magnetic member is arranged on the first transmission member (200) and/or the cleaning member (500), 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. The driving mechanism as described in claim 30, wherein: the first detection part includes 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 to cause the first micro switch to generate the rising position signal. The driving mechanism as described in claim 1 further includes: a second detection part, which is used to generate a mounting position signal when the cleaning member (500) is mounted on the first transmission member (200). The driving mechanism as described in claim 34, wherein: the second detection part includes a second photoelectric emitter and a second light receiver, the second photoelectric emitter and the second light receiver are arranged opposite to each other, and when the cleaning member (500) is installed on the first transmission member (200), the cleaning member (500) blocks the light between the second photoelectric emitter and the second light receiver, so that the second light receiver generates the installation position signal. A driving mechanism as described in 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 is arranged on the cleaning member (500), and when the cleaning member (500) is installed on the first transmission member (200), the second magnetic member enters the detection range of the second magnetic sensor (930), so that the second magnetic sensor (930) generates the installation position signal. The driving mechanism as described in claim 34, wherein: the second detection part includes a second micro switch, and when the cleaning member (500) is installed on the first transmission member (200), the cleaning member (500) triggers the second micro switch to cause the second micro switch to generate the installation position signal. A self-cleaning device comprises a driving mechanism (14) as described in any one of claims 1 to 37, and a device body (12), wherein the driving mechanism (14) is arranged on the device body (12). A self-cleaning system comprises a self-cleaning device (10) as described in claim 38, and a cleaning base station (20), wherein the self-cleaning device (10) can selectively dock at the cleaning base station (20).