A cleaning device, a cleaning base station and a control method

Abstract

The application provides a cleaning device, a cleaning base station and a control method, and belongs to the technical field of cleaning equipment. The cleaning device comprises a shell, a driving device, a lead screw, a protection switch, a first connecting pipe and a second connecting pipe. The output shaft of the driving device is in transmission connection with the lead screw through a gear box. The lead screw and the second connecting pipe are arranged in the interior of the shell. One end of the first connecting pipe is slidably sleeved with the second connecting pipe to form an extension pipe. The first limiting switch and the second limiting switch are electrically connected with the driving device to limit the first connecting pipe. The lead screw is sleeved with a lead screw nut, and the first connecting pipe is connected with the lead screw nut. The protection switch is arranged on the gear box, and the protection switch is electrically connected with the driving device. There is a space between the lead screw and the protection switch. Through the arrangement of the protection switch, the driving device can be controlled to stop running, so as to form a protection effect on the cleaning device, and the safety and stability of the cleaning device in the use process are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning device, a cleaning base station and a control method. BACKGROUND

[0002] In the existing cleaning device, the drain pipe cannot control the extension direction or the extension length according to the actual situation during the extension process. For example, when a child touches the drain pipe due to curiosity, the drain pipe is still extending, which may cause damage to the child's hand and easily cause safety hazards. In addition, when the drain pipe encounters an obstacle during the extension process, if it does not stop running in time, it is easy to cause damage to the cleaning device and exist safety hazards. SUMMARY

[0003] Therefore, the present application aims to overcome the deficiencies in the prior art and provide a cleaning device, a cleaning base station and a control method.

[0004] The present application provides the following technical scheme: a cleaning device, comprising a shell, a driving device, a lead screw, a protection switch, a first connecting pipe and a second connecting pipe; the output shaft of the driving device is drivingly connected with the lead screw through a gear box; the lead screw and the second connecting pipe are respectively arranged in the interior of the shell, one end of the first connecting pipe is slidingly sleeved on the second connecting pipe to form an extension pipe; the interior of the shell is provided with a first limit switch and a second limit switch which are spaced apart, the first limit switch and the second limit switch are respectively electrically connected to the driving device to limit the first connecting pipe; the lead screw is sleeved with a lead screw nut, the first connecting pipe is connected with the lead screw nut; the protection switch is arranged on the gear box, the protection switch is electrically connected to the driving device, and the lead screw and the protection switch have a gap therebetween; when the first connecting pipe drives the lead screw to move towards the protection switch under the action of an external force and triggers the protection switch, the driving device stops running or controls the lead screw to drive the first connecting pipe to move towards the protection switch.

[0005] In some embodiments of the present application, a bearing and a first return spring are sleeved on one end of the lead screw close to the protection switch, one end of the first return spring abuts against the bearing, and the other end of the first return spring abuts against the external thread of the lead screw.

[0006] Further, one end of the lead screw close to the protection switch is provided with a push rod, the lead screw and one end of the push rod are respectively arranged in a limit gear in the gear box, and the push rod and the lead screw have a gap therebetween, and the other end of the push rod has a gap with the protection switch.

[0007] Further, the distance from the end of the push rod close to the protection switch to the protection switch is less than the distance from the end of the external thread in the screw rod close to the bearing to the bearing.

[0008] Further, the screw rod and the push rod are coaxially arranged, and the protection switch is located on the extension line of the axis of the screw rod.

[0009] Further, the push rod is provided with a limiting ring in the circumferential direction, the inner wall of the limiting gear is provided with a receiving table to form a limit through the receiving table and the limiting ring; the push rod is provided with a second reset spring, the second reset spring is located between the limiting gear and the push rod, one end of the second reset spring abuts against the limiting ring, and the other end of the second reset spring contacts the protection switch.

[0010] Further, the side of the first connecting pipe close to the first limiting switch and the second limiting switch is provided with a protrusion, and the protrusion can trigger the first limiting switch and the second limiting switch.

[0011] Further, a sealing rubber sleeve is arranged between the first connecting pipe and the second connecting pipe, the sealing rubber sleeve is arranged on the inner wall of the first connecting pipe, and the sealing rubber sleeve abuts against the outer wall of the second connecting pipe.

[0012] Further, the end of the second connecting pipe away from the driving device is provided with a sealing ring, the sealing ring is arranged on the outer wall of the second connecting pipe, and the sealing ring abuts against the inner wall of the first connecting pipe.

[0013] Some embodiments of the present application provide a cleaning base station, comprising a base station body and the cleaning device; the cleaning device is arranged in the base station body; the base station body comprises a sewage suction pump, a first liquid storage tank and a second liquid storage tank, the second connecting pipe communicates with the second liquid storage tank through a flow guide pipe; and the sewage suction pump communicates with the flow guide pipe.

[0014] Some embodiments of the present application provide a control method of a cleaning base station, using the cleaning base station, comprising the following steps: acquiring the current position of the first connecting pipe, judging whether the first limiting switch is triggered or not; if yes, the cleaning device maintains the current state; if no, the driving device controls the rotation of the screw rod, the first connecting pipe is moved by the screw rod, and the first limiting switch is triggered.

[0015] Further, the control method comprises acquiring a control signal; if no, the cleaning device maintains the current state; if yes, the driving device drives the telescopic pipe to elongate, the telescopic pipe stops moving when the first connecting pipe triggers the second limiting switch, and the sewage suction is performed through the cleaning device.

[0016] Further, the control method comprises judging whether the sewage suction is completed; if yes, the cleaning device stops the sewage suction, and the telescopic pipe is controlled to retract by the driving device; if no, the cleaning device maintains the current sewage suction state.

[0017] Further, the control method comprises judging whether the external pushing force or resistance received by the first connecting pipe is greater than X, wherein the value range of X is 7N≤X≤15N; if yes, the first connecting pipe stops moving or the telescopic pipe retracts; if no, the cleaning device maintains the current operation state.

[0018] The embodiments of the present application have the following advantages: by arranging the first limit switch and the second limit switch in the interior of the shell, the first connecting pipe can trigger the first limit switch or the second limit switch during the movement along the axial direction, so as to limit the movement of the first connecting pipe, and improve the stability of the telescopic pipe during the extension or retraction.

[0019] Meanwhile, the protection switch is arranged on the gear box, and the protection switch is electrically connected to the driving device; when the first connecting pipe drives the lead screw to move towards the protection switch under the action of the external force and triggers the protection switch, the protection switch can control the driving device to stop running or control the driving device to drive the first connecting pipe to move towards the protection switch during the running, so as to form the protection effect on the cleaning device, avoid the damage of the telescopic pipe in the cleaning device caused by the obstacles during the extension, and avoid the damage of the external objects caused by the telescopic pipe during the extension, so as to improve the safety and stability of the cleaning device during the use.

[0020] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 Fig. 1 shows a perspective view of the structure of a cleaning device according to some embodiments of the present application;

[0023] Figure 2 Fig. 1 shows a perspective view of the structure of a cleaning device according to some embodiments of the present application;

[0024] Figure 3 FIG. 6 shows a structural schematic diagram of another perspective view of a cleaning device according to some embodiments of the present application;

[0025] Figure 4 FIG. 7 shows a sectional view of the A-A portion in FIG. 6; Figure 3

[0026] Figure 5 FIG. 8 shows a structural schematic diagram of a perspective view of the connection between a lead screw and a gear box in a cleaning device according to some embodiments of the present application;

[0027] Figure 6 FIG. 9 shows a sectional view of the B-B portion in FIG. 8; Figure 5

[0028] Figure 7 FIG. 10 shows an enlarged view of the C portion in FIG. 9; Figure 6

[0029] FIG. 11 shows a structural schematic diagram of a perspective view of a lead screw in a cleaning device according to some embodiments of the present application; Figure 8

[0030] FIG. 12 shows a flow chart of a first control method in a control method according to some embodiments of the present application; Figure 9

[0031] FIG. 13 shows a flow chart of a second control method in a control method according to some embodiments of the present application; Figure 10

[0032] FIG. 14 shows a flow chart of a third control method in a control method according to some embodiments of the present application; Figure 11

[0033] FIG. 15 shows a flow chart of a fourth control method in a control method according to some embodiments of the present application. Figure 12 Main element symbol explanation:

[0034] 10 - housing; 20 - driving device; 30 - lead screw; 40 - protection switch; 50 - telescopic tube; 501 - first connecting tube; 502 - second connecting tube; 60 - gear box; 601 - limiting gear; 70 - first limiting switch; 80 - second limiting switch; 90 - lead screw nut; 100 - bearing; 110 - first reset spring; 120 - push rod; 130 - limiting ring; 140 - receiving platform; 150 - second reset spring; 160 - protrusion; 170 - sealing rubber sleeve; 180 - sealing ring; 190 - flow guide tube.

[0035] DETAILED DESCRIPTION

[0036] ​​​Embodiments of the present application are described in detail below with reference to several drawings. The embodiments of the application described below are exemplary and are not intended to limit the application, as interpreted by the appended claims, and equivalents thereof. Embodiments of the application will be described below with reference to the attached drawings, in which like elements share like reference numerals.

[0037] It is to be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. Like numbers refer to like elements throughout.

[0038] In the present application, unless otherwise explicitly defined or limited, the terms "mounting", "connecting", "connecting", "fixing" and the like are to be construed broadly, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In addition, the terms "first", "second", etc. are used only for the purpose of description and should not be construed as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the specification of the template is only for the purpose of describing the specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0041] As Figure 1 , Figure 2 , Figure 4 and Figure 8As shown, some embodiments of the present application provide a cleaning device, mainly applied to the sewage in the sewage tank of the sweeping robot. The cleaning device comprises a shell 10, a driving device 20, a lead screw 30, a protection switch 40, a first connecting pipe 501 and a second connecting pipe 502.

[0042] It should be noted that the first connecting pipe 501 and the second connecting pipe 502 are respectively hard plastic pipes, stainless steel metal pipes, glass pipes or hard rubber pipes, etc., which can be specifically set according to actual conditions.

[0043] Among them, the driving device 20 can be any one of a driving motor and a stepping motor. In addition, the protection switch 40 is any one of a touch switch or a proximity switch, which can be specifically set according to actual conditions.

[0044] Specifically, the output shaft of the driving device 20 is transmissionally connected with the lead screw 30 through a gear box 60. It should be noted that in this embodiment, one end of the lead screw 30 is provided in a gear in the gear box 60 and is coaxially connected with the gear, and when the output shaft of the driving device 20 rotates, the gear in the gear box 60 is driven to rotate, and at the same time, the lead screw 30 is driven to rotate, so as to form the transmission connection of the output shaft of the driving device 20 with the lead screw 30 through the gear box 60.

[0045] In this embodiment, the lead screw 30 and the second connecting pipe 502 are arranged inside the shell 10. It should be noted that the axis of the lead screw 30 is parallel to the axis of the second connecting pipe 502.

[0046] At the same time, one end of the first connecting pipe 501 is slidably sleeved on the second connecting pipe 502 to form an extension pipe 50. Specifically, the first connecting pipe 501 is coaxially arranged with the second connecting pipe 502 to improve the stability of the first connecting pipe 501 during sliding along its axis.

[0047] In addition, a first limit switch 70 and a second limit switch 80 are arranged in the shell 10. Specifically, the first limit switch 70 and the second limit switch 80 are arranged at two ends of the lead screw 30, respectively, and the distance between the first limit switch 70 and the second limit switch 80 is not greater than the length of the first connecting pipe 501.

[0048] At the same time, the first limit switch 70 and the second limit switch 80 are electrically connected to the driving device 20, and the driving device 20 is controlled to stop through the first limit switch 70 and the second limit switch 80, so as to limit the movement of the first connecting pipe 501 through the first limit switch 70 and the second limit switch 80.

[0049] Specifically, during the movement of the first connecting pipe 501 along the axial direction thereof, when the first connecting pipe 501 moves away from the protection switch 40 and contacts the first limit switch 70, the first limit switch 70 is triggered, and the driving device 20 is turned off through the first limit switch 70, at this time, the screw rod 30 stops rotating, the first connecting pipe 501 stops moving, and the current position is kept.

[0050] When the first connecting pipe 501 moves towards the protection switch 40 and contacts the second limit switch 80, the second limit switch 80 is triggered, and the driving device 20 is turned off through the second limit switch 80, at this time, the screw rod 30 stops rotating, the first connecting pipe 501 stops moving, and the current position is kept. Thus, the limit of the first connecting pipe 501 is realized, and the stability of the first connecting pipe 501 during the movement is improved.

[0051] In the embodiment, the first limit switch 70 and the second limit switch 80 are respectively any one of a touch switch or a proximity switch, which can be specifically set according to the actual situation.

[0052] In the embodiment, the first limit switch 70 and the second limit switch 80 are respectively any one of a touch switch or a proximity switch, which can be specifically set according to the actual situation.

[0052] In the embodiment, the first limit switch 70 and the second limit switch 80 are respectively any one of a touch switch or a proximity switch, which can be specifically set according to the actual situation.

[0053] In the embodiment, the protection switch 40 is arranged on the gear box 60, and the protection switch 40 is electrically connected to the driving device 20, and the screw rod 30 has a spacing from the protection switch 40. Specifically, the protection switch 40 is located in the axial direction of the screw rod 30.

[0054] When the first connecting pipe 501 drives the screw rod 30 to move towards the protection switch 40 under the action of an external force and triggers the protection switch 40, the driving device 20 stops running or controls the screw rod 30 to drive the first connecting pipe 501 to move towards the protection switch 40.

[0055] Specifically, when the telescopic pipe 50 touches an external object during the process of elongation, since the screw rod 30 is still rotating in the clockwise direction under the driving of the driving device 20, i.e., the telescopic pipe 50 still has the tendency of elongation, at this time, the external object forms an obstruction to the telescopic pipe 50 during the process of elongation, so that the first connecting pipe 501 drives the screw rod 30 to move along the axis of the screw rod 30 to the direction close to the protection switch 40 under the action of the external object resistance, and triggers the protection switch 40 during the process of moving of the screw rod 30, at this time, the driving device 20 stops running or the driving device 20 controls the screw rod 30 to rotate in the counterclockwise direction, i.e., the telescopic pipe 50 contracts, so as to avoid that the telescopic pipe 50 causes damage to the external object during the process of elongation, thereby improving the safety of the cleaning device during the process of use.

[0056] Preferably, in some embodiments of the present application, during the process of elongation of the telescopic pipe 50, when the first connecting pipe 501 encounters an obstruction, the resistance that the first connecting pipe 501 receives at this time is defined as X.

[0057] The value range of X is: 7N≤X≤15N, i.e., the value of X can be any value in 7N, 8N, 9N, 10N, 11N, 12N, 13N, 14N and 15N.

[0058] Specifically, when the resistance that the first connecting pipe 501 receives is greater than X, at this time, the first connecting pipe 501 drives the screw rod 30 to move towards the protection switch 40 under the action of the resistance, and triggers the protection switch 40. Avoiding that the telescopic pipe 50 causes damage to the driving device 20 or the telescopic pipe 50 when encountering an obstruction during the process of elongation, so as to improve the safety and stability of the cleaning device during the process of running.

[0059] When the resistance that the first connecting pipe 501 receives is not greater than X, at this time, the first connecting pipe 501 can maintain the current moving state and continue to move, i.e., the telescopic pipe 50 can maintain the current elongation state.

[0060] For example, when the telescopic pipe 50 in the cleaning device needs to be inserted into the sewage tank in the sweeping robot, during the process of elongation of the telescopic pipe 50, the first connecting pipe 501 abuts against the tank cover on the sewage tank, and the resistance that the tank cover forms to the first connecting pipe 501 is less than X, so that the telescopic pipe 50 can open the tank cover on the sewage tank during the process of elongation, so that the first connecting pipe 501 can be inserted into the sewage tank to suck the sewage in the sewage tank, thereby improving the utilization rate and stability of use of the cleaning device.

[0061] For example, when the telescopic pipe 50 in the cleaning device needs to be inserted into the sewage tank in the sweeping robot, during the process of elongation of the telescopic pipe 50, the first connecting pipe 501 abuts against the tank cover on the sewage tank, and the resistance that the tank cover forms to the first connecting pipe 501 is less than X, so that the telescopic pipe 50 can open the tank cover on the sewage tank during the process of elongation, so that the first connecting pipe 501 can be inserted into the sewage tank to suck the sewage in the sewage tank, thereby improving the utilization rate and stability of use of the cleaning device. Figures 5 to 7As shown in the drawings, in some embodiments of the present application, the lead screw 30 is sleeved with a bearing 100 and a first reset spring 110 at one end close to the protection switch 40, and one end of the first reset spring 110 is in abutment with the bearing 100, and the other end of the first reset spring 110 is in abutment with the external thread of the lead screw 30.

[0062] It should be noted that the bearing 100 is installed on the inner wall of the shell 10, so that the lead screw 30 drives the bearing 100 to rotate while rotating. At the same time, the end of the lead screw 30 away from the bearing 100 is rotationally connected with the shell 10, so as to form the rotation of the lead screw 30 relative to the shell 10, avoiding the rotation of the shell 10 driven by the lead screw 30 in the process of rotation.

[0063] In this embodiment, the protection switch 40 is arranged in the axial direction of the lead screw 30, so that the protection switch 40 can be triggered in the process of moving the lead screw 30 along the axial direction thereof.

[0064] Specifically, through the arrangement of the first reset spring 110, when the lead screw 30 moves towards the protection switch 40 under the action of an external force, the first reset spring 110 is compressed, at this time, the first reset spring 110 stores elastic potential energy, and when the external force acting on the lead screw 30 is removed, the first reset spring 110 pushes the lead screw 30 to move away from the protection switch 40 under the action of the elastic force, and restores the initial position of the lead screw 30, and at the same time, the second protection switch 40 is disconnected.

[0065] As shown in the drawings, Figure 6 and Figure 7 As shown in the drawings, in some embodiments of the present application, the lead screw 30 is provided with a push rod 120 at one end close to the protection switch 40, one end of the push rod 120 is sleeved in a limiting gear 601 in the gear box 60, so that the output shaft of the driving device 20 drives the gear in the gear box 60 to rotate, and at the same time, the limiting gear 601 drives the lead screw 30 to rotate synchronously. It can be understood that the limiting gear 601 is one gear in the gear box 60, and the axis of the limiting gear 601 coincides with the axis of the lead screw 30.

[0066] It should be noted that, as shown in the drawings, Figure 7 In order to improve the stability of the connection between the lead screw 30 and the limiting gear 601, and avoid the phenomenon of lead screw slipping between the limiting gear 601 in the process of rotation, one end of the lead screw 30 is sleeved in the limiting gear 601, and the end of the lead screw 30 close to the limiting gear 601 is a polygonal prism structure, which is consistent with the inner wall of the limiting gear 601.

[0067] In this embodiment, the end of the lead screw 30 near the limiting gear 601 is a triangular prism structure to improve the stability of the lead screw 30 during rotation with the limiting gear 601.

[0068] In addition, the axis of the push rod 120 coincides with the axis of the limiting gear 601, and there is a gap between the push rod 120 and the lead screw 30, and the other end of the push rod 120 has a gap with the protection switch 40.

[0069] Specifically, by setting a push rod 120 between the lead screw 30 and the limit switch, the lead screw 30 will come into contact with the push rod 120 as it moves toward the protection switch 40 under the action of external force, and push the push rod 120 toward the protection switch 40, so that the push rod 120 comes into contact with the protection switch 40 and triggers the protection switch 40, thereby stopping the operation of the drive device 20, that is, stopping the rotation of the lead screw 30, or driving the lead screw 30 to rotate through the drive device 20, and driving the telescopic rod to retract, that is, driving the first connecting pipe 501 to move closer to the protection switch 40.

[0070] like Figure 7 As shown, in some embodiments of the present invention, the push rod 120 is provided with a limiting ring 130 in the circumferential direction, and the push rod 120 is sleeved with a second reset spring 150. The second reset spring 150 is located between the limiting gear 601 and the push rod 120. One end of the second reset spring 150 abuts against the limiting ring 130, and the other end of the second reset spring 150 contacts the protection switch 40.

[0071] It should be noted that, in this embodiment, a receiving platform 140 is provided on the inner wall of the limiting gear 601, so as to form a limit with the limiting ring 130 through the receiving platform 140, and to provide support for the push rod 120 through the receiving platform 140, so as to prevent the push rod 120 from sliding out of the limiting gear 601, thereby improving the stability of the push rod 120 in the limiting gear 601.

[0072] The push rod 120 and the lead screw 30 have a gap to prevent the lead screw 30 from driving the push rod 120 to rotate during rotation, thereby improving the stability of the lead screw 30 during rotation.

[0073] In addition, the second reset spring 150 is arranged to enable the push rod 120 to press the second reset spring 150 during movement towards the protection switch 40, at which time the second reset spring 150 stores elastic potential energy during compression, and when the external force acting on the lead screw 30 is removed, the second reset spring 150 pushes the push rod 120 to return to the initial position under the action of the elastic force, while the second protection switch 40 is disconnected, and at the same time, the first reset spring 110 pushes the lead screw 30 to move away from the protection switch 40 under the action of the elastic force, and the lead screw 30 returns to the initial position.

[0074] As shown in Figure 2 and Figure 5 In some embodiments of the present application, the first connecting pipe 501 is provided with a protrusion 160 on one side close to the first limit switch 70 and the second limit switch 80, and the protrusion 160 can trigger the first limit switch 70 and the second limit switch 80.

[0075] Specifically, when the first connecting pipe 501 moves towards the protection switch 40, and the protrusion 160 arranged on the side wall of the first connecting pipe 501 abuts against the first limit switch 70, the first limit switch 70 is triggered, at which time the driving device 20 is controlled to stop running by the first limit switch 70, i.e. the lead screw 30 stops rotating, and the first connecting pipe 501 stops moving. In addition, when the first connecting pipe 501 moves away from the protection switch 40, and the protrusion 160 on the side wall of the first connecting pipe 501 abuts against the second limit switch 80, the second limit switch 80 is triggered, at which time the driving device 20 is controlled to stop running by the second limit switch 80, i.e. the lead screw 30 stops rotating, and the second connecting pipe 502 stops moving.

[0076] It should be noted that the distance between the first limit switch 70 and the second limit switch 80 is not greater than the length of the lead screw 30.

[0077] As shown in Figure 3 , Figure 4 and Figure 6 In some embodiments of the present application, a sealing rubber sleeve 170 is arranged between the first connecting pipe 501 and the second connecting pipe 502, specifically, the sealing rubber sleeve 170 is arranged at one end of the first connecting pipe 501 close to the protection switch 40, and the sealing rubber sleeve 170 is embedded in the inner wall of the first connecting pipe 501 to improve the stability of the sealing rubber sleeve 170 on the first connecting pipe 501, and at the same time, the sealing rubber sleeve 170 abuts against the outer wall of the second connecting pipe 502, so that the sealing quality of the first connecting pipe 501 during movement on the second connecting pipe 502 is improved, thereby preventing sewage from leaking out of the space between the first connecting pipe 501 and the second connecting pipe 502 during extraction of sewage through the telescopic pipe 50.

[0078] In addition, in order to further improve the sealing quality of the telescopic pipe 50, a sealing ring 180 is arranged at the end of the second connecting pipe 502 away from the driving device 20, wherein the sealing ring 180 is arranged in the outer wall of the second connecting pipe 502 and abuts against the inner wall of the first connecting pipe 501 through the sealing ring 180, so as to form a sealing between the first connecting pipe 501 and the second connecting pipe 502.

[0079] It can be understood that through the design of the sealing rubber sleeve 170 and the sealing ring 180, a double sealing structure is formed between the first connecting pipe 501 and the second connecting pipe 502, so as to further improve the sealing quality between the first connecting pipe 501 and the second connecting pipe 502 and improve the sealing quality of the telescopic pipe 50.

[0080] In some embodiments of the present application, the distance from the end of the push rod 120 close to the protection switch 40 to the protection switch 40 is less than the distance from the end of the external thread in the lead screw 30 close to the bearing 100 to the bearing 100. It should be noted that when the lead screw 30 moves close to the protection switch 40, the push rod 120 is pushed by the lead screw 30 to move towards the protection switch 40, so that the push rod 120 can abut against the protection switch 40 and trigger the protection switch 40, thereby forming protection for the cleaning device.

[0081] In addition, in some embodiments of the present application, the end of the second connecting pipe 502 close to the protection switch 40 is communicated with one end of a flow guide pipe 190, and the other end of the flow guide pipe 190 is used to be communicated with a sewage pump, so as to perform sewage suction through the sewage pump. Specifically, when the first connecting pipe 501 is inserted into sewage, the sewage pump is started, and the sewage is pumped out through the telescopic pipe 50 and the flow guide pipe 190.

[0082] In some embodiments of the present application, a cleaning base station is also provided, which comprises a base station body and the cleaning device of any one of the above embodiments, and the cleaning device is arranged in the base station body.

[0083] Specifically, the telescopic direction of the telescopic pipe 50 of the cleaning device is perpendicular to the horizontal plane.

[0084] The cleaning base station body comprises a sewage pump, a first liquid storage tank and a second liquid storage tank, the first liquid storage tank is used to store clean liquid, and the second liquid storage tank is used to store sewage.

[0085] At the same time, the second connecting pipe 502 is communicated with the second liquid storage tank through the flow guide pipe 190, so that the sewage pumped out through the telescopic pipe 50 can flow into the second liquid storage tank through the flow guide pipe 190.

[0086] The sewage suction pump is communicated with the flow guide pipe 190 to provide sewage suction power for the cleaning device by the sewage suction pump, so that the cleaning device can suck the sewage into the second liquid storage tank through the telescopic pipe 50 and the flow guide pipe 190.

[0087] As Figure 9 shown, some embodiments of the present application also provide a control method of the cleaning base station, comprising the following steps:

[0088] In step S100, the current position of the first connecting pipe 501 is obtained, and it is judged whether the first limit switch 70 is triggered.

[0089] It should be noted that by obtaining the current position of the first connecting pipe 501, it is judged whether the first connecting pipe 501 is located in the cleaning base station, that is, whether the telescopic pipe 50 is in the retracted state, so as to avoid the first connecting pipe 501 extending out of the cleaning base station, improve the space utilization rate, and facilitate the cleaning robot connected with the cleaning base station through wireless signal to enter the cleaning base station.

[0090] In step S101, if yes, the cleaning device maintains the current state.

[0091] It can be understood that when the first connecting pipe 501 triggers the first limit switch 70, the first connecting pipe 501 keeps the current position, that is, the telescopic pipe 50 is in the retracted state. In this embodiment, the position of the first connecting pipe 501 when the telescopic pipe 50 is in the retracted state is defined as the initial position.

[0092] In step S102, if no, the driving device 20 controls the rotation of the lead screw 30, the first connecting pipe 501 is moved by the lead screw 30, and the first limit switch 70 is triggered.

[0093] Specifically, when the first connecting pipe 501 does not trigger the first limit switch 70, the lead screw 30 is driven to rotate by the driving device 20, and the first connecting pipe 501 is moved to the protection switch 40 by the lead screw nut 90 in the process of rotation. When the first connecting pipe 501 triggers the first limit switch 70, the driving device 20 stops running, and the first connecting pipe 501 keeps the current position, that is, the first connecting pipe 501 is reset.

[0094] It should be noted that in this embodiment, the reset of the first connecting pipe 501 refers to the position of the first connecting pipe 501 when the first limit switch 70 is triggered, that is, the telescopic pipe 50 is retracted.

[0095] As Figure 10 shown, in some embodiments of the present application, the control method further comprises step S200 of obtaining a control signal.

[0096] It should be noted that the control signal can be a control signal issued by a robotic vacuum cleaner connected to a base station via a wireless signal, or a control signal issued by a mobile terminal connected to a base station via a wireless signal. Specifically, this control signal is a suction signal.

[0097] Step S201: If not, the cleaning device maintains its current state.

[0098] Specifically, if the cleaning base station does not receive a control signal, the cleaning device maintains its current state. At this time, the first connecting pipe 501 is in contact with the first limit switch 70, and the telescopic pipe 50 is in a retracted state.

[0099] In step S202, if so, the driving device 20 drives the telescopic tube 50 to extend. When the first connecting tube 501 triggers the second limit switch 80, the movement stops, and the cleaning device sucks up the dirt.

[0100] Specifically, when the cleaning base station receives a control signal from the sweeping robot or a control signal from the mobile terminal, the drive device 20 is activated and drives the telescopic tube 50 to extend, that is, controls the first connecting tube 501 to move away from the protection switch 40, so that the first connecting tube 501 extends into the sewage tank or sewage container and performs sewage suction.

[0101] For example, when the robotic vacuum cleaner returns to the cleaning base station provided by this invention, it sends a suction signal to the cleaning base station. Upon receiving this signal, the cleaning base station controls the extension tube 50 to extend. Specifically, the drive device 20 controls the first connecting tube 501 to move closer to the second limit switch 80, allowing it to extend into the robotic vacuum cleaner's wastewater tank. When the first connecting tube 501 comes into contact with the second limit switch 80, it stops moving. At this time, the suction tube in the cleaning base station is activated, and the extension tube 50 draws wastewater from the robotic vacuum cleaner's wastewater tank into the second storage tank, thus achieving the extraction of wastewater from the robotic vacuum cleaner's wastewater tank.

[0102] like Figure 11 As shown, in some embodiments of the present invention, the control method further includes: step S300, determining whether vacuuming has been completed.

[0103] It should be noted that, in this embodiment, whether the sewage suction is completed refers to whether the cleaning device installed in the cleaning base station has completed the suction of the sewage in the sewage tank of the sweeping robot that has moved to the cleaning base station.

[0104] Specifically, it determines whether there is still sewage in the sewage tank of the sweeping robot that has moved to the cleaning base station.

[0105] Step S301, if yes, the cleaning device stops sucking dirt, and the telescopic pipe 50 is controlled to retract by the driving device 20.

[0106] Specifically, when the cleaning device completes the dirt sucking work, i.e. moves to the sewage tank of the cleaning base station without sewage, the first connecting pipe 501 is controlled to move to the direction close to the protection switch 40 by the driving device 20, and the driving device 20 stops running when the first connecting pipe 501 abuts against the first limit switch 70, so as to reset the first connecting pipe 501, i.e. the telescopic pipe 50 retracts.

[0107] Step S302, if no, the cleaning device keeps the current dirt sucking state.

[0108] Specifically, if the cleaning device does not complete the dirt sucking work, i.e. moves to the sewage tank of the cleaning base station with sewage, the cleaning device keeps the current dirt sucking state.

[0109] As shown in the figure, in some embodiments of the present application, the control method further comprises: step S400, judging whether the external pushing force or resistance received by the first connecting pipe 501 is greater than X. Figure 12

[0110] Wherein, the value range of X is: 7N≤X≤15N.

[0111] Step S401, if yes, the first connecting pipe 501 stops moving or the telescopic pipe 50 retracts.

[0112] Specifically, when the external pushing force or resistance received by the first connecting pipe 501 is greater than X, the first connecting pipe 501 moves to the direction close to the protection switch 40 under the action of the external force, drives the lead screw 30 to move to the direction close to the protection switch 40, and pushes the push rod 120 to trigger the protection switch 40, and at the same time, the driving device 20 drives the lead screw 30 to rotate, and drives the first connecting pipe 501 to move to the direction close to the protection switch 40 through the lead screw 30.

[0113] Or in the process of driving the lead screw 30 to rotate by the driving device 20, the first connecting pipe 501 is driven to move to the direction away from the protection switch 40 by the lead screw nut 90, i.e. the telescopic pipe 50 extends, and when the first connecting pipe 501 collides with the obstacle in the moving process, at this time, since the first connecting pipe 501 still has a moving tendency under the driving of the lead screw 30, the lead screw 30 moves to the direction close to the protection switch 40 under the action of the obstacle, and at the same time, the push rod 120 is pushed to move and triggers the protection switch 40. At this time, the driving device 20 stops running or drives the first connecting pipe 501 to move to the direction close to the protection switch 40 for a distance, or drives the first connecting pipe 501 to abut against the first limit switch 70, so as to reset the first connecting pipe 501.​

[0114] Step S402, if no, the cleaning device maintains the current operating state.

[0115] It can be understood that, when the first connecting pipe 501 is subjected to external thrust or resistance not greater than X, if the protection switch 40 is not triggered, the cleaning device maintains the current working state.

[0116] In all the examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus other examples of the exemplary embodiments can have different values.

[0117] It should be noted that like reference numerals and letters refer to like items throughout the several views, and as a result, once an item is defined in one view, it need not be further defined and explained in subsequent views.

[0118] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A cleaning device applied to pumping sewage in a sewage tank of a sweeping robot, characterized in that, The shell, the driving device, the screw rod, the protection switch, the first connecting pipe and the second connecting pipe are included. The output shaft of the driving device is in transmission connection with the screw rod through a gear box. The screw rod and the second connecting pipe are arranged in the interior of the shell respectively, one end of the first connecting pipe is sleeved with the second connecting pipe to form an extendable pipe. The interior of the shell is provided with the first limit switch and the second limit switch which are spaced apart, the first limit switch and the second limit switch are electrically connected with the driving device respectively to limit the first connecting pipe. The screw rod is sleeved with a screw rod nut, the first connecting pipe is connected with the screw rod nut. The protection switch is arranged on the gear box, the protection switch is electrically connected with the driving device, and the screw rod and the protection switch have a space therebetween. When the first connecting pipe drives the screw rod to move towards the protection switch under the action of an external force and triggers the protection switch, the driving device stops running or controls the screw rod to drive the first connecting pipe to move towards the protection switch.

2. The cleaning device of claim 1, wherein, The end of the screw rod close to the protection switch is sleeved with a bearing and a first reset spring, one end of the first reset spring abuts against the bearing, and the other end of the first reset spring abuts against the external thread of the screw rod.

3. The cleaning device of claim 2, wherein, The end of the screw rod close to the protection switch is provided with a push rod, the screw rod and one end of the push rod are respectively arranged in a limit gear in the gear box, the push rod and the screw rod have a gap therebetween, and the other end of the push rod has a gap with the protection switch.

4. The cleaning device of claim 3, wherein, The periphery of the push rod is provided with a limit ring, and the inner wall of the limit gear is provided with a receiving table to limit the limit ring through the receiving table. The push rod is sleeved with a second reset spring, the second reset spring is located between the limit gear and the push rod, one end of the second reset spring abuts against the limit ring, and the other end of the second reset spring abuts against the protection switch.

5. The cleaning device of claim 3, wherein, The distance from the end of the push rod close to the protection switch to the protection switch is less than the distance from the end of the external thread in the screw rod close to the bearing to the bearing.

6. The cleaning device of claim 3, wherein, The screw rod and the push rod are coaxially arranged, and the protection switch is located on the extension line of the axis of the screw rod.

7. The cleaning device of claim 1, wherein, The side of the first connecting pipe close to the first limit switch and the second limit switch is provided with a protrusion, and the protrusion can trigger the first limit switch and the second limit switch.

8. The cleaning device of claim 1, wherein, A sealing rubber sleeve is arranged between the first connecting pipe and the second connecting pipe, the sealing rubber sleeve is arranged on the inner wall of the first connecting pipe, and the sealing rubber sleeve abuts against the outer wall of the second connecting pipe.

9. The cleaning device of claim 1, wherein, The end of the second connecting pipe away from the driving device is provided with a sealing ring, the sealing ring is arranged on the outer wall of the second connecting pipe, and the sealing ring abuts against the inner wall of the first connecting pipe.

10. A cleaning base station, characterized by, The base station body includes a base station body and the cleaning device of any one of claims 1 to 9. The cleaning device is arranged in the base station body. The base station body includes a sewage suction pump, a first liquid storage tank and a second liquid storage tank, and the second connecting pipe is communicated with the second liquid storage tank through a flow guide pipe. The sewage pump is communicated with the flow guide pipe. 11.A control method of a cleaning base station, applied to the cleaning base station according to claim 10, characterized in that, The method comprises the following steps: Obtaining the current position of the first connecting pipe, and determining whether the first limit switch is triggered; If yes, the cleaning device maintains the current state; If no, the driving device controls the rotation of the lead screw, the first connecting pipe is moved by the lead screw, and the first limit switch is triggered.

12. The control method of claim 11, wherein, The control method comprises obtaining a control signal; If no, the cleaning device maintains the current state; If yes, the driving device drives the telescopic pipe to elongate, the telescopic pipe stops moving when the first connecting pipe triggers the second limit switch, and the cleaning device sucks sewage.

13. The control method of claim 11, wherein, The control method comprises determining whether the sewage suction is completed; If yes, the cleaning device stops sucking sewage, and the telescopic pipe is controlled to contract by the driving device; If no, the cleaning device maintains the current state of sucking sewage. 14.The control method of claim 11, wherein The control method comprises determining whether the external pushing force or resistance received by the first connecting pipe is greater than X, wherein the value range of X is 7N≤X≤15N; If yes, the first connecting pipe stops moving or the telescopic pipe contracts; If no, the cleaning device maintains the current running state.

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