Electric balcony lifting window

By fixedly installing the electric drive device and balancing the weight of the movable window sash with a lift balancer, the existing electric balcony lift windows are solved, and the existing electric balcony lift windows are easy to store and assemble separately, reducing installation costs and extending service life.

CN112854969BActive Publication Date: 2025-05-09GUANGZHOU HAODI DOOR & WINDOW
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Patent Information

Application Number
CN202110252875.0
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2021-03-08
Publication Date
2025-05-09
Estimated Expiration
2041-03-08

AI Technical Summary

Technical Problem

The existing electric balcony lifting windows have complex structures and are difficult to install, resulting in high storage, transportation and installation costs, and the circuit structure is prone to fatigue and damage, and the service life is short.

Method used

Design an electric balcony lifting window, and by fixedly installing an electric drive device on the fixed window sash or window frame, the lifting balancer is used to balance the weight of the movable window sash, realizing split storage and split assembly, which is convenient for on-site assembly and reduces installation costs.

Benefits of technology

It reduces the storage, transportation and installation costs of electric pull-up windows, simplifies the structure, avoids fatigue and damage to the circuit structure, extends service life, and increases the upper limit of the size of the balcony pull-up windows.

✦ Generated by Eureka AI based on patent content.

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Abstract

The present invention relates to the field of door and window technology, and specifically to an electric balcony lifting window, comprising a window frame, a movable window sash, a fixed window sash, a lifting balancer and an electric driving device. A lifting balancer is respectively installed in the vertical slide grooves on both sides of the window frame to balance the weight of the movable window sash. The electric driving device comprises a driving part and a transmission part. The transmission part comprises a transmission shaft, a plurality of balancing brackets and two racks. The driving part, the transmission shaft and the balancing bracket are installed on the fixed window sash or the window frame. The two racks are vertically installed on the movable window sash. The gears at both ends of the transmission shaft are meshed with the two racks, so that the driving part can drive the movable window sash to move back and forth up and down in the window frame through the transmission part. The electric balcony lifting window of this patent is convenient for split storage and transportation, and then split assembly is performed on site. It is easy to install and maintain and has a long service life. The use of a lifting balancer to balance the weight of the movable window sash can greatly increase the upper limit of the size of the balcony lifting window.
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Description

Technical Field

[0001] The invention relates to the technical field of doors and windows, and in particular to an electric balcony lifting window. Background Art

[0002] The balcony sliding window is opened by pulling up and down, which has the advantages of good ventilation effect, good air tightness, no space occupation, and easy cleaning. The balcony sliding window can be controlled by electric means to further improve the portability of the sliding window. However, the existing electric balcony sliding window usually installs the driving device on the movable window sash. When the movable window sash moves up and down, it will drive the power line, control line and other circuit structures of the driving device to move back and forth. It is necessary to set a wire winding or avoidance structure on the sliding window; or install the driving device above the window frame, and use a wire rope, chain or synchronous belt to drive the movable window sash to move. The overall structure of the electric balcony sliding window is relatively complicated and bloated, and it has high requirements for installation technicians and is difficult to install. There is no way to perform split assembly at the installation site. The entire electric balcony sliding window must be assembled and debugged in the factory, and then transported to the installation site for overall installation. This leads to the storage and transportation of the electric balcony sliding window. The transportation and installation costs are very high, especially for the electric balcony lifting windows as balcony windows of high-rise residential buildings. Due to the large size and complex structure of the lifting windows, the entire electric balcony lifting windows need to be hoisted to the installation site of the high-rise residential building, which greatly increases the installation cost and difficulty; moreover, due to the complex structure of the electric balcony lifting windows, the loading and unloading are difficult, the production cost and the subsequent maintenance cost are relatively high, and the subsequent maintenance is difficult to implement for high-rise balcony scenes; at the same time, when the movable window sash moves up and down, it will drive the power line, control line and other circuit structures of the driving device to move back and forth, which will cause the circuit structure to be repeatedly bent and easily cause fatigue damage, shorten the service life, and affect the safety and stability. Summary of the invention

[0003] In order to overcome the defects existing in the prior art, the task of the present invention is to provide an electric balcony lifting window, which is convenient for split storage and transportation, and then split assembly on site, which can greatly reduce the storage, transportation and installation costs of the electric lifting window, and the electric drive device is convenient for loading and unloading and maintenance. The power line, control line and other circuit structures of the electric drive device will not interfere with the transportation of the movable window sash, and are not easy to be damaged by fatigue and have a long service life. Using a lifting balancer to balance the weight of the movable window sash can greatly increase the upper limit of the size of the balcony lifting window.

[0004] The task of the present invention is achieved through the following technical solutions:

[0005] An electric balcony lifting window comprises: a window frame fixedly mounted on a wall, a movable window sash movably mounted in the window frame and capable of reciprocating up and down, and a fixed window sash fixedly mounted in the window frame and located at the lower part of the window frame, and also comprises an electric drive device and two lifting balancers, wherein the lifting balancer is a lifting balancer monomer or a combined lifting balancer formed by connecting more than two (including two) lifting balancer monomers in a horizontally stacked manner, wherein the lifting balancer monomer comprises a mutually independent coil spring seat and a slider, wherein at least one coil spring is mounted in the coil spring seat, and a free end of the coil spring extends out and is connected to the slider, wherein the slider is movably mounted in vertical slide grooves on both sides of the window frame and is connected to the movable window sash, wherein the coil spring seat is fixedly mounted in the vertical slide grooves on both sides of the window frame, or the coil spring seat is fixedly mounted in the window frame Or on a fixed window sash and support and guide the turning part of the coil spring through a guide wheel, so that the weight of the movable window sash can be balanced by the elastic force of the coil spring; an electric drive device, including a driving part and a transmission part, the driving part is fixedly installed on the fixed window sash or window frame, and the transmission part includes: a transmission shaft, at least two balancing brackets and two racks, each balancing bracket is installed at intervals on the fixed window sash or window frame and is located on both sides of the driving part, and the two racks are respectively vertically fixed on the two side frames of the movable window sash, the transmission shaft horizontally passes through the bearings arranged in each balancing bracket and can be driven to rotate by the driving part, and a gear is fixedly provided at each end of the transmission shaft, and the two gears are respectively engaged with the two racks, so that the driving part can drive the movable window sash to move back and forth up and down in the window frame through the transmission part.

[0006] Preferably, the driving part includes a lifting motor, a reducer, a clutch and an output gear box which are connected in series in sequence, and the output gear box is connected to the transmission shaft and can drive the transmission shaft to rotate.

[0007] Preferably, the lifting balancer is a combined lifting balancer, which is composed of at least two lifting balancer monomers stacked laterally, and each lifting balancer monomer includes a coil spring seat and a slider.

[0008] Preferably, the movable window sash is located outside the fixed window sash, and the window frame is further provided with a window frame-integrated protective baffle on the outside of the movable window sash for preventing the movable window sash from falling out of the window frame.

[0009] Preferably, partitions are provided in the vertical slide grooves on both sides of the window frame to divide the slide grooves into two layers of slide grooves, namely an inner slide groove and an outer slide groove, and the inner slide groove and the outer slide groove are connected through an opening in the middle of the partition plate, wherein the inner slide groove is used to place the lifting balancer, and the outer slide groove is used to place matching guide blocks, and each guide block is respectively connected to the movable window sash.

[0010] Preferably, an avoidance groove is provided on the frame of the fixed window sash at a position corresponding to the rack.

[0011] Preferably, a transverse support frame is fixedly mounted on the window frame, the support frame corresponds to the position of the upper frame of the fixed window sash, and the support frame is a hollow structure so that the power line and / or control line of the electric drive device can be arranged inside.

[0012] Preferably, a protective cover is provided on the outer side of the electric drive device.

[0013] Preferably, the electric balcony sliding window also includes a control device, which includes a controller and a communication module, as well as a remote controller and / or a remote control terminal. The control device can control the working state of the driving part, thereby controlling the opening or closing of the movable window sash.

[0014] Preferably, the control device also includes one or more sensors for detecting rain, sunlight and / or ambient humidity, and the sensors are communicatively connected to the controller, so that the automatic opening or closing of the movable window sash can be controlled by the control device based on the signals detected in real time by the sensors.

[0015] The window frame comprises a window frame body and a center support fixedly installed on the window frame.

[0016] Compared with the prior art, the electric balcony lifting window of the present invention has the following advantages: 1. The electric drive device (except the rack) is fixedly installed on the fixed window sash or window frame, and the movable window sash is driven by the electric drive device to move up and down in the window frame. Therefore, there is no need to set up a wire winding and avoidance structure, and the installation requirements are low, so that the electric balcony lifting window of the present invention is convenient for split storage and transportation, and then the split assembly is carried out on site, which can greatly reduce the storage, transportation and installation costs of the electric lifting window; 2. Since the electric drive device is installed on the fixed window sash or window frame, it is convenient for loading and unloading, so the later disassembly and maintenance costs are lower; 3. Since the movable window sash of the electric balcony lifting window of the present invention moves up and down, it will not drive the power cord and control line of the electric drive device ④ By using a lifting balancer to balance the weight of the movable window sash, the lifting motor of the electric drive device does not need a large power to drive the lifting of the movable window sash, and a small current DC motor can be used as a lifting motor to drive the lifting of the movable window sash. Therefore, the size and power of the electric drive device can be very small. On the other hand, the upper limit of the size of the balcony lifting window can be greatly improved. High; moreover, by using the combined lifting balancer, without increasing the longitudinal length of the lifting balancer, it is possible to provide greater elastic force to balance heavier and larger movable window sashes, thereby further increasing the upper limit of the size of the balcony lifting window; ⑤ By arranging a window frame integrated protective baffle, the window frame integrated protective baffle and the fixed window sash are respectively located on the inner and outer sides of the movable window sash, so that the movable window sash can be fully protected, which can prevent the movable window sash from falling off from the outer side of the window frame and from falling off from the inner side of the window frame, and has good safety; ⑥ By arranging inner and outer sliding grooves in the vertical sliding grooves on both sides of the window frame, and arranging matching guide blocks in the outer sliding grooves, the up and down reciprocating motion of the movable window sash can be better guided, so that the movable window The reciprocating motion of the sash is more stable and not easy to shake, which is conducive to increasing the user experience and service life of the electric lifting window of the present invention, and the lifting balancer no longer has to play a guiding role or only plays an auxiliary guiding role, so that the matching accuracy requirements of the lifting balancer and the inner slide groove can be greatly reduced, which can save the manufacturing cost and installation cost; ⑦ By setting the avoidance groove, the gear and the rack can be meshed, and the gap between the fixed window sash and the movable window sash can be smaller, which is conducive to increasing the sealing performance of the electric balcony lifting window of the present invention, and there is no redundant structure, saving space; ⑧ By setting the support frame, the structural strength of the entire balcony window can be strengthened, and the inside of the support frame can also be used for wiring. In addition, the support frame can also be used as a storage platform;⑨By setting a protective cover plate on the outside of the electric drive device, it can play a protective role, increase the service life of the electric drive device, and make the balcony window more simple and beautiful; ⑩By setting a control device, the movable window sash can be controlled short-range or remotely, which is easy to operate; by adding various sensors to the control device, the opening or closing of the balcony lifting window can be automatically controlled, realizing the intelligence of the balcony lifting window. ;

[0017] The concept, specific structure and effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the electric balcony lifting window of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the electric balcony lifting window of the present invention after the support frame and the protective cover plate are hidden;

[0020] Figure 3 yes Figure 2 A partial enlarged view of middle A;

[0021] Figure 4 is Figure 2 A schematic diagram of the structure behind the hidden movable window sash;

[0022] Figure 5 is Figure 4 A schematic diagram of the structure after the upper frame of the window frame is hidden on the basis;

[0023] Figure 6 It is a structural schematic diagram of a lifting balancer unit in the electric balcony lifting window of the present invention;

[0024] Figure 7 It is a structural schematic diagram of a combined lifting balancer in the electric balcony lifting window of the present invention.

[0025] Among them: window frame 1, slide groove 11, inner slide groove 111, outer slide groove 112, partition 113, window frame integrated protective baffle 12, support frame 13, protective cover 14, movable window sash 2, side frame body 21, fixed window sash 3, upper frame body 31, avoidance groove 311, lifting balancer unit 4, coil spring seat 41, slider 42, coil spring 411, driving part 5, lifting motor 51, planetary reducer 52, automatic clutch 53, transmission part 6, transmission shaft 61, gear 611, balance bracket 62, rack 63. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0027] It should be noted that when an element is referred to as being "connected" to another element, it may be directly connected to the other element or indirectly connected through an intermediate element. In addition, the terms "upper", "lower", "left", "right", "inner", "outer" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0028] like Figure 1-6 As shown, an electric balcony lifting window includes: a window frame 1 fixedly mounted on a wall, a movable window sash 2 movably mounted in the window frame 1 and capable of reciprocating up and down, and a fixed window sash 3 fixedly mounted in the window frame 1 and located at the lower part of the window frame 1, and also includes two lifting balancers and an electric drive device.

[0029] like Figure 6 As shown, the lifting balancer is a lifting balancer monomer 4, including a coil spring seat 41 and a slider 42 that are independent of each other. A plurality of coil springs 411 are installed in the coil spring seat 41. The free end of each coil spring 411 extends downward and is connected to the slider 42 located below the coil spring seat 41. Two lifting balancers are respectively installed in the vertical slide grooves 11 on both sides of the window frame 1, wherein the coil spring seat 41 is fixedly connected to the slide groove 11, and the slider 42 is movably installed in the slide groove 11 and connected to the movable window sash 2. The weight of the movable window sash 2 can be balanced by the elastic force of the coil spring 411. The electric balcony lifting window of this patent uses a lifting balancer to balance the weight of the movable window sash 2, so that the lifting motor of the electric drive device does not need a large power to drive the lifting of the movable window sash 2. A low-current DC motor can be used as a lifting motor to drive the lifting of the movable window sash 2. Therefore, the size and power of the electric drive device can be very small. On the other hand, the upper limit of the size of the balcony lifting window can also be greatly improved.

[0030] like Figure 2-3As shown, the electric drive device includes a driving part 5 and a transmission part 6. The driving part 5 includes a lifting motor 51, a planetary reducer 52, an automatic clutch 53 and an output gear box which are connected in series in sequence. The driving part 5 is fixedly installed on the upper frame 31 of the fixed window sash 3. The transmission part 6 includes: a transmission shaft 61, four balancing brackets 62 and two racks 63. Each balancing bracket 62 is installed at intervals on the upper frame 31 of the fixed window sash 3 and is located on both sides of the driving part 5. The two racks 63 are respectively vertically fixed on the two side frames 21 of the movable window sash 2. The driving shaft 61 horizontally passes through the output gear box and the bearings arranged in each balancing bracket 62 and can be driven to rotate by the output gear box. A gear 611 is fixedly provided at each end of the driving shaft 61. The two gears 611 are respectively meshed with the two racks 63, so that the driving part 5 can drive the movable window sash 2 to move back and forth up and down in the window frame 1 through the transmission part 6. The electric balcony lifting window of the present invention is characterized in that the electric driving device (except the rack 63) is fixedly installed at the position of the fixed window sash 3, the rack 63 is installed on the movable window sash 2, and the movable window sash 2 is driven by the electric driving device to move up and down in the window frame 1. Therefore, there is no need to set a wire winding and avoidance structure, and the installation requirements are low, so that the electric balcony lifting window of the present invention is convenient for split storage and transportation, and then the split assembly is performed on site, which can greatly reduce the storage, transportation and installation costs of the electric lifting window; because the electric driving device is installed on the fixed window sash 3, it is convenient for loading and unloading, so the later disassembly and maintenance costs are lower; because the movable window sash 2 of the electric balcony lifting window of the present invention reciprocates up and down, it will not drive the power line, control line and other circuit structures of the electric driving device to move with the reciprocating motion, thereby avoiding fatigue damage of the power line, control line and other circuit structures of the driving motor due to repeated bending, and the power line, control line and other circuit structures of the electric driving device will not interfere with the transportation of the movable window sash 2, so there is no need to set an additional wire winding and avoidance structure, so that the structure of the electric balcony lifting window of the present invention is more stable and simple.

[0031] As a preferred implementation method, Figure 7 As shown, the lifting balancer is a combined lifting balancer, which is formed by two or more lifting balancer monomers 4 connected in a horizontally stacked manner. By using the combined lifting balancer, without increasing the longitudinal length of the lifting balancer, a greater elastic force can be provided to balance a heavier and larger movable window sash 2, thereby further increasing the upper limit of the size of the balcony lifting window.

[0032] As a preferred implementation method, Figure 1-4As shown, the movable window sash 2 is located on the outside of the fixed window sash 3, and the window frame 1 is also provided with a window frame integrated protective baffle 12 on the outside of the movable window sash 2 for preventing the movable window sash 2 from falling out from the inside of the window frame 1. By providing the window frame integrated protective baffle 12, the window frame integrated protective baffle 12 and the fixed window sash 3 are respectively located on the inside and outside of the movable window sash 2, so that the movable window sash 2 can be fully protected, which can prevent the movable window sash 2 from falling off from the outside of the window frame 1, and can also prevent the movable window sash 2 from falling off from the inside of the window frame 1, and has good safety.

[0033] As a preferred implementation method, Figure 5 As shown, partitions 113 are provided in the vertical slide grooves 11 on both sides of the window frame 1, which divide the slide grooves 11 into two layers of slide grooves, namely an inner slide groove 111 and an outer slide groove 112. The inner slide groove 111 and the outer slide groove 112 are connected to each other through an opening in the middle of the partition plate 113, wherein the inner slide groove 111 is used to place the lifting balancer unit 4, and the outer slide groove 112 is used to place matching guide blocks (the guide blocks are not shown in the figure), each guide block is connected to the movable window sash 2 respectively, which can better guide the up and down reciprocating motion of the movable window sash 2, so that the reciprocating motion of the movable window sash 2 is more stable and not easy to shake, which is beneficial to increase the use experience and service life of the electric lifting window of this patent, and the lifting balancer no longer has a guiding role or only plays an auxiliary guiding role, so that the matching accuracy requirements of the lifting balancer unit 4 and the inner slide groove 111 can be greatly reduced, which can save the manufacturing cost and installation cost.

[0034] As a preferred implementation method, Figure 3 As shown, a clearance groove 311 is provided on the frame of the fixed window sash 3 at a position corresponding to the rack 63. By providing the clearance groove 311, the gear 611 and the rack 63 can be meshed, and the gap between the fixed window sash 3 and the movable window sash 2 can be reduced, which is beneficial to increasing the sealing performance of the electric balcony lifting window of the present patent, and there is no redundant structure, saving space.

[0035] As a preferred implementation method, Figure 1 As shown, a transverse support frame 13 is fixedly mounted on the window frame 1, and the support frame 13 corresponds to the upper frame 31 of the fixed window sash 3. The support frame 13 is a hollow structure so that the power line and control line of the electric drive device can be arranged inside. By setting the support frame 13, the structural strength of the entire balcony window can be strengthened, and the inside of the support frame 13 can also be used for wiring. In addition, the support frame 13 can also be used as a storage platform.

[0036] As a preferred implementation method, Figure 1As shown, the outer side of the electric drive device (including the rack 63) is provided with a protective cover plate 14. By providing the protective cover plate 14 on the outer side of the electric drive device, it can play a protective role, increase the service life of the electric drive device, and make the balcony window more simple and beautiful.

[0037] As a preferred embodiment, the electric balcony lifting window also includes a control device, which includes a controller and a communication module, as well as a remote controller and / or a remote control terminal. The control device can control the working state of the driving part, thereby controlling the opening or closing of the movable window sash. The control device also includes one or more sensors for detecting rain, sunlight and / or ambient humidity. The sensors are connected to the controller for communication, so that the automatic opening or closing of the movable window sash can be controlled by the control device according to the signal detected by the sensor in real time. By setting up the control device, the short-range or long-range control of the movable window sash can be realized, and the operation is convenient; by adding various sensors to the control device, the opening or closing of the balcony lifting window can be automatically controlled, and the intelligence of the balcony lifting window is realized. The controller, communication module, remote controller, remote control terminal (such as a mobile phone), and sensor belong to the prior art, so there is no need to further describe and limit the above structure and working principle in this article, and it is not shown in the drawings.

[0038] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. An electric balcony lifting window, comprising: A window frame fixedly mounted on a wall, a movable window sash movably mounted in the window frame and capable of reciprocating up and down, and a fixed window sash fixedly mounted in the window frame, characterized in that it also includes: Two lifting balancers, the lifting balancer is a lifting balancer unit or a combined lifting balancer formed by connecting two or more lifting balancer units in a transverse stacking manner, the lifting balancer unit includes a coil spring seat and a slider that are independent of each other, at least one coil spring is installed in the coil spring seat, the free end of the coil spring extends out and is connected to the slider, the slider is movably installed in the vertical slide grooves on both sides of the window frame and is connected to the movable window sash, the coil spring seat is fixedly installed in the vertical slide grooves on both sides of the window frame, or the coil spring seat is fixedly installed on the window frame or the fixed window sash and supports and guides the turning part of the coil spring through the guide wheel, and the weight of the movable window sash can be balanced by the elastic force of the coil spring; The electric drive device comprises a driving part and a transmission part, wherein the driving part is fixedly mounted on the fixed window sash or window frame, and the transmission part comprises: a transmission shaft, at least two balancing brackets and two racks, wherein each balancing bracket is installed at intervals on the fixed window sash or window frame and is located on both sides of the driving part, and the two racks are respectively vertically fixedly mounted on the two side frames of the movable window sash, the driving shaft horizontally passes through the bearings arranged in each balancing bracket and can be driven to rotate by the driving part, and a gear is respectively fixedly arranged at the two ends of the driving shaft, and the two gears are respectively meshed with the two racks, so that the driving part can drive the movable window sash to reciprocate up and down in the window frame through the transmission part; A partition is provided in the vertical slide grooves on both sides of the window frame, dividing the slide groove into two layers of slide grooves, namely an inner slide groove and an outer slide groove, the inner slide groove and the outer slide groove are connected through an opening in the middle of the partition, wherein the inner slide groove is used to place the lifting balancer, and the outer slide groove is used to place matching guide blocks, and each guide block is respectively connected to the movable window sash; An avoidance groove is provided on the frame of the fixed window sash at a position corresponding to the rack, so that the gear and the rack can be meshed and the gap between the fixed window sash and the movable window sash can be reduced to increase the sealing performance of the electric balcony lifting window; A transverse support frame is also fixedly mounted on the window frame, the support frame corresponds to the upper frame position of the fixed window sash, and the support frame is a hollow structure so that the electric drive device and its power line and / or control line can be arranged inside.

2. The electric balcony lifting window according to claim 1, characterized in that: The driving part includes a lifting motor, a speed reducer, a clutch and an output gear box which are connected in series in sequence. The output gear box is connected to the transmission shaft and can drive the transmission shaft to rotate.

3. The electric balcony lifting window according to claim 1, characterized in that: The movable window sash is located on the outside of the fixed window sash, and the window frame is also provided with a window frame integrated protective baffle on the outside of the movable window sash for preventing the movable window sash from falling out of the window frame.

4. The electric balcony lifting window according to claim 1, characterized in that: A protective cover plate is provided on the outer side of the electric drive device.

5. The electric balcony lifting window according to claim 1, characterized in that: The electric balcony sliding window also includes a control device, which includes a controller and a communication module, as well as a remote controller and / or a remote control terminal. The control device can control the working state of the driving part, thereby controlling the opening or closing of the movable window sash.

6. The electric balcony lifting window according to claim 5, characterized in that: The control device also includes one or more sensors for detecting rain, sunlight and / or ambient humidity. The sensors are communicatively connected to the controller so that the automatic opening or closing of the movable window sash can be controlled by the control device based on the signals detected in real time by the sensors.

Citation Information

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