A window cleaning robot with edge detection function

Abstract

The present invention discloses a window cleaning robot with an edge detection function, comprising: a window cleaning robot, wherein the four corners of the bottom end of the window cleaning robot are all provided with a rotating groove; a positioning block, wherein the positioning block is arranged inside the inner cavity of the rotating groove; a pressure sensor, wherein the number of the pressure sensors is eight, and the eight pressure sensors are arranged on the left and right sides of the four positioning blocks respectively; and a rotating rod, wherein the top end of the rotating rod is rotatably arranged at the top end of the inner cavity of the rotating groove through a bearing. This device effectively solves the problems of poor adaptability of the safety rope of the existing window cleaning robot, which is easy to cause shaking or cleaning blind spots. It not only ensures the stability and safety of the robot during work, but also can quickly lock the safety rope even in extreme cases to prevent falling accidents. While avoiding the problem of cleaning blind spots, it avoids reducing cleaning efficiency or increasing operating difficulty due to improper length of the safety rope, and significantly improves user experience and overall cleaning effect.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent robots, and in particular to a window cleaning robot with an edge detection function. Background Art

[0002] In the field of smart home and cleaning equipment, window cleaning robots, as an innovative invention, have greatly facilitated window cleaning work in homes and commercial places, especially showing their unique value in the maintenance of glass curtain walls of high-rise buildings. Through precise mechanical design and intelligent control technology, these robots can achieve autonomous movement and efficient cleaning on vertical or inclined glass surfaces, greatly reducing the difficulty and risk of manual operation.

[0003] Window cleaning robots usually adopt the design concept of adsorption, movement and cleaning. The core lies in its powerful adsorption ability. Through the built-in vacuum pump or magnetic suction system, the robot can be firmly attached to the glass surface. Even in windy and rainy weather or when working on high floors, it can remain stable and not fall. On the basis of stable adsorption, the robot uses the built-in drive motor and precise walking mechanism, such as crawler, wheel or bionic suction cup, to move flexibly on the glass to cover the entire area to be cleaned. At the same time, it is equipped with efficient cleaning systems, such as microfiber cloth, water spray device and wiper strip, to achieve deep cleaning of windows.

[0004] Although window cleaning robots have made significant technological progress, in actual applications, they are usually used with safety ropes to ensure safety. This is mainly because, although the adsorption system has been carefully designed, there is still a risk of accidental fall-off in extreme cases (such as power exhaustion, system failure, severe contamination of the adsorption surface, etc.). The safety rope, as the last line of defense, can effectively prevent the robot from falling and protect the safety of people and property below.

[0005] However, the safety rope in the prior art often has adaptability issues. Due to windows of different sizes and the subjective judgment of users during installation, it is difficult to accurately match the length of the safety rope. If the safety rope is too long, it may cause the robot to shake unnecessary during work, affecting the cleaning effect, and even causing accidents due to entanglement or dragging in some cases; if the safety rope is too short, it may limit the robot's range of movement and fail to completely cover all corners of the window, causing cleaning blind spots. In addition, inappropriate length may also increase the difficulty of operation and reduce user experience. Summary of the invention

[0006] The object of the present invention is to provide a window cleaning robot with an edge detection function, so as to at least solve the problem in the prior art that the safety rope is prone to being too long or too short.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a window-cleaning robot with an edge detection function, comprising: a window-cleaning robot, wherein the four corners of the bottom end of the window-cleaning robot are provided with a rotating groove; a positioning block is arranged on the inner side of the inner cavity of the rotating groove; the number of pressure sensors is eight, and the eight pressure sensors are respectively arranged on the left and right sides of the four positioning blocks; the top end of the rotating rod is rotatably arranged at the top end of the inner cavity of the rotating groove through a bearing; a coil spring is sleeved on the top end of the outer wall of the rotating rod, one end of the coil spring is clamped on the outer wall of the rotating rod, and the other end of the coil spring is clamped on the inner wall of the rotating groove; a rotating plate is fixedly sleeved on the outer wall of the rotating rod, and the outer end of the rotating plate extends out of the inner cavity of the rotating groove; the two ends of the ring are respectively arranged on the left and right sides of the rotating plate, and the center of the ring and the rotating The centers of the rotating rods are the same, and the middle part of the outer wall of the collar can be slidably fitted and inserted into the inner cavity of the positioning block; there are eight first pressure plates, and the eight first pressure plates are respectively arranged on the left and right sides of the outer walls of the four collars; there are eight first springs, and the eight first springs are respectively sleeved on the left and right sides of the outer walls of the four collars, and one end of the first spring is clamped on the outer wall of the first pressure plate; there are eight second pressure plates, and the eight second pressure plates can be slidably fitted and inserted into the left and right sides of the outer walls of the four collars, and the first spring is located between the first pressure plate and the second pressure plate, and the other end of the first spring is clamped on the outer wall of the second pressure plate, and the second pressure plate is in contact with the pressure sensor; the optical coupling sensor is arranged on the outer side of the bottom end of the rotating plate; the anti-fall mechanism is arranged on the rear side of the window cleaning robot.

[0008] Preferably, a first roller is rotatably provided on the outer side of the top end of the rotating plate via a bearing.

[0009] Preferably, in order to store the safety rope, the anti-fall mechanism includes: a box body, limit grooves are provided on both sides of the top of the box body, first slide grooves are provided on both sides of the top of the rear side of the box body, and a second slide groove is provided in the middle of the rear side of the box body in the up and down directions; the left and right ends of the rotating drum are rotatably arranged at the rear ends of the left and right sides of the box body through bearings, and the right end of the rotating drum can be rotatably extended out of the right side of the box body; one end of the safety rope is provided with the outer wall of the rotating drum, the outer wall of the safety rope is wrapped around the outer wall of the rotating drum, the outer wall of the safety rope passes through the inner cavity of the box body, and the other end of the safety rope is arranged at the middle of the rear side of the window cleaning robot; the crank is arranged at the right end of the rotating drum; the left and right ends of the reversing roller are rotatably arranged at the top of the left and right sides of the box body through bearings, and the outer wall of the safety rope is overlapped with the outer wall of the reversing roller.

[0010] Preferably, when the window-wiping robot falls, the gear plate is prompted to rotate, and the anti-fall mechanism also includes: a screw rod, the number of the screw rods is two, the inner ends of the two screw rods are rotatably arranged on the inner sides of the inner cavities of the two limit grooves through bearings, and the outer ends of the two screw rods are rotatably extended out of the left and right sides of the box body; the limit block is slidably adapted and inserted into the inner side of the inner cavity of the limit groove, and the limit block is screwed to the outer wall of the screw rod; the front end of the first connecting rod is rotatably arranged on the front side of the limit block through a bearing, and the rear end of the first connecting rod is rotatably extended out of the second roller on the rear side of the limit block, the second roller is sleeved on the outer wall of the first connecting rod, and is locked by a top screw, and the outer wall of the second roller is in contact with the safety rope; the turntable is sleeved on the first connecting rod The rear side of the outer wall of the rod is locked; the number of first claws is several, and several first claws are equally divided into two groups, and the two groups of first claws are rotatably arranged on the rear sides of the two turntables through pins at equal distances along the circumference; the number of second springs is several, and several second springs are equally divided into two groups, one end of the two groups of second springs is respectively clamped on the rear sides of the two turntables at equal distances along the circumference, and the other end of the second spring is clamped on the outer wall of the first claw corresponding to its position; the gear plate is rotatably sleeved on the rear side of the outer wall of the first connecting rod through a bearing, and the turntable is located in the inner cavity of the gear plate; the number of first clamping blocks is several, and several first clamping blocks are respectively arranged on the inner side of the inner cavity of the gear plate at equal distances along the circumference, and the first claws and the first clamping blocks match.

[0011] Preferably, in order to fix the second rack, the anti-fall mechanism also includes: a first guide rod, the left and right ends of the first guide rod are respectively arranged on the left and right sides of the inner cavity of the first slide groove; the first slider can be slidably adapted and inserted into the inner side of the inner cavity of the first slide groove, and the first slider can be slidably sleeved on the outer wall of the first guide rod; the first rack is arranged on the rear side of the first slider, and the first rack is meshed with the gear plate; the second claw is arranged at the bottom end of the first rack, and the two second claws are arranged opposite to each other.

[0012] Preferably, in order to lock and fix the safety rope, the anti-fall mechanism also includes: a second guide rod, the upper and lower ends of the second guide rod are respectively arranged on the upper and lower sides of the inner cavity of the second slide groove; the second slider can be slidably adapted and inserted in the top end of the inner cavity of the second slide groove, and the second slider can be slidably sleeved on the outer wall of the second guide rod; the second rack is arranged on the rear side of the second slider; the top end of the positioning rod is arranged on the rear side of the top end of the box body, and the positioning rod can be slidably adapted and inserted in the inner cavity of the second rack; the third spring is sleeved on the outer wall of the positioning rod, the top end of the third spring is clamped on the top end of the box body, and the bottom end of the third spring is clamped on the bottom end of the inner cavity of the second rack; the number of second clamping blocks is two, and the two second clamping blocks They are respectively arranged on the top of the left and right sides of the second rack, and the bottom end of the second block and the top end of the second claw are in contact; the handle is arranged on the top of the rear side of the second rack; there are two second connecting rods, and the front ends of the two second connecting rods are rotatably arranged on the bottom of the left and right ends of the front side of the inner cavity of the box body through bearings, and the rear end of the second connecting rod can be rotatably extended out of the rear side of the box body; the gear is sleeved on the rear side of the outer wall of the second connecting rod and locked by a top screw, and the two gears are meshed with the second rack; the eccentric wheel is sleeved on the front side of the outer wall of the second connecting rod and locked by a top screw, the eccentric wheel is located in the inner cavity of the box body, the safety rope is located between the two eccentric wheels, and the eccentric wheel does not contact the safety rope.

[0013] Preferably, the length from the outer side of the first sliding block to the outer side of the first sliding groove is greater than the contact length between the second claw and the second clamping block.

[0014] The window cleaning robot with edge detection function proposed by the present invention has the following beneficial effects:

[0015] 1. The present invention utilizes a window-cleaning robot to wipe windows. When the window-cleaning robot moves to the edge of a frameless window, an optical coupling sensor can be used to detect that the robot has moved to the edge of the window, thereby transmitting information to the window-cleaning robot to change its route. When the window-cleaning robot moves to the edge of a frameless window, a first roller first contacts the edge of the window. As the window-cleaning robot moves, the two rotating plates at the top or the two rotating plates at the bottom can be squeezed to rotate outward. The rotation of the rotating plates can stretch the coil spring to cause elastic deformation and drive the sleeve ring to rotate. The rotation of the sleeve ring can utilize the first pressure plate to squeeze the first spring to cause elastic deformation, thereby utilizing the first spring to squeeze the pressure sensor through the second pressure plate. The distance between the edge of the window-cleaning robot and the edge of the window can be determined by detecting the pressure value sensed by the pressure sensor.

[0016] 2. The present invention utilizes a safety rope to safely pull the window-cleaning robot and utilizes a rotating drum to store the safety rope. When the window-cleaning robot falls, the safety rope can be pulled to move rapidly downward in the inner cavity of the box under the gravity factor of the window-cleaning robot, thereby prompting the second roller to drive the turntable to rotate through the first connecting rod. The centrifugal force generated by the rapid rotation of the turntable can prompt the first clamping claw to rotate outward until the first clamping claw is engaged with the first clamping block, thereby the turntable can be used to drive the gear plate to rotate. The rotation of the gear plate can prompt the first rack to drive the second clamping claw to move outward, thereby releasing the fixation of the second rack, and under the elastic force of the third spring, the second rack can be pushed to move downward. The downward movement of the second rack can prompt the gear to drive the eccentric wheel to rotate through the second connecting rod, thereby utilizing the two eccentric wheels to clamp and fix the safety rope to prevent the safety rope from continuing to move downward along the inner cavity of the box, thereby towing the window-cleaning robot to prevent the window-cleaning robot from continuing to fall.

[0017] 3. This device effectively solves the problem of poor adaptability of the safety rope of existing window cleaning robots, which is easy to cause shaking or cleaning blind spots. It not only ensures the stability and safety of the robot during work, but also can quickly lock the safety rope even in extreme cases to prevent falling accidents. While avoiding the problem of cleaning blind spots, it avoids reducing cleaning efficiency or increasing operating difficulty due to improper length of the safety rope, significantly improving user experience and overall cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the window cleaning robot;

[0020] Figure 3 This is an exploded view of the window cleaning robot;

[0021] Figure 4 It is a structural schematic diagram of the anti-fall mechanism;

[0022] Figure 5 is a schematic structural diagram of the second roller;

[0023] Figure 6 It is a structural schematic diagram of the eccentric wheel;

[0024] Figure 7 This is the exploded view of the fall prevention mechanism;

[0025] Figure 8 is a schematic diagram of the structure of the turntable;

[0026] Fig. 9 for Figure 2 A magnified image of point A;

[0027] Fig.10 for Figure 3 The enlarged view of point B;

[0028] Fig.11 for Figure 7 Enlarged view of point C;

[0029] Fig.12 for Figure 7 The enlarged view of point D;

[0030] Fig.13 for Figure 7 Enlarged view of point E.

[0031] In the figure: 1, window cleaning robot; 2, rotating groove; 3, positioning block; 4, pressure sensor; 5, rotating rod; 6, coil spring; 7, anti-fall mechanism; 71, safety rope; 72, rotating drum; 73, crank; 74, box; 75, limiting groove; 76, screw rod; 77, limiting block; 78, second roller; 79, first connecting rod; 710, rotating disk; 711, first clamping claw; 712, second spring; 713, gear plate; 714, first clamping block; 715, first slide groove; 716, second slide groove; 717, first A guide rod; 718, a second guide rod; 719, a first slider; 720, a first rack; 721, a second claw; 722, a positioning rod; 723, a third spring; 724, a second slider; 725, a second rack; 726, a second block; 727, a handle; 728, a second connecting rod; 729, a gear; 730, an eccentric wheel; 731, a reversing roller; 8, a rotating plate; 9, a collar; 10, a first pressure plate; 11, a first spring; 12, a second pressure plate; 13, an optical coupler sensor; 14, a first roller. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-13The present invention provides a technical solution for a window cleaning robot with an edge detection function, comprising: a window cleaning robot 1, a rotating groove 2, a positioning block 3, a pressure sensor 4, a rotating rod 5, a coil spring 6, an anti-falling mechanism 7, a rotating plate 8, a collar 9, a first pressure plate 10, a first spring 11, a second pressure plate 12, an optical coupling sensor 13 and a first roller 14. The four corners of the bottom end of the window cleaning robot 1 are all provided with a rotating groove 2. The window cleaning robot 1 is a prior art and will not be described in detail herein. The window cleaning robot 1 is used for wiping windows. The positioning block 3 is arranged on the inner side of the inner cavity of the rotating groove 2. The number of the pressure sensors 4 is eight, and the eight pressure sensors 4 are respectively arranged on the left and right sides of the four positioning blocks 3. The pressure sensors 4 are a prior art and will not be described in detail herein. It is used to judge the distance between the window cleaning robot 1 and the edge of the window according to the pressure value detected by the pressure sensor 4. The top of the rotating rod 5 is rotatably arranged on the top of the inner cavity of the rotating groove 2 through a bearing. The coil spring 6 is sleeved on the top of the outer wall of the rotating rod 5. One end of the coil spring 6 is clamped on the outer wall of the rotating rod 5, and the other end of the coil spring 6 is clamped on the inner wall of the rotating groove 2. The coil spring 6 undergoes elastic deformation after being squeezed or stretched by an external force, and returns to its initial state after the external force is removed. The coil spring 6 is used here to drive the rotating plate 8 to return to its initial position. The rotating plate 8 is fixedly sleeved on the outer wall of the rotating rod 5, and the outer end of the rotating plate 8 extends out of the inner cavity of the rotating groove 2. When the rotating plate 8 contacts the edge of the window, the window cleaning robot 1 continues to move to cause the rotating plate 8 to rotate. The first roller 1 4 is rotatably arranged on the outer side of the top end of the rotating plate 8 through a bearing, and the first roller 14 can reduce the friction between the rotating plate 8 and the edge of the window. The two ends of the collar 9 are respectively arranged on the left and right sides of the rotating plate 8, and the center of the collar 9 is the same as the center of the rotating rod 5. The middle part of the outer wall of the collar 9 can be slidably adapted and inserted into the inner cavity of the positioning block 3. The number of the first pressing plates 10 is eight, and the eight first pressing plates 10 are respectively arranged on the left and right sides of the outer walls of the four collars 9. The number of the first springs 11 is eight, and the eight first springs 11 are respectively sleeved on the left and right sides of the outer walls of the four collars 9. One end of the first spring 11 is clamped on the outer wall of the first pressing plate 10. The first spring 11 is a rotating spring, which is elastically deformed after being squeezed or stretched by external force, and after the external force is removed Restore to the initial state, the first spring 11 is used to push the second pressure plate 12 to squeeze the pressure sensor 4, the number of the second pressure plates 12 is eight, and the eight second pressure plates 12 are slidably adapted to be matched to the left and right sides of the outer walls of the four rings 9, respectively, the first spring 11 is located between the first pressure plate 10 and the second pressure plate 12, the other end of the first spring 11 is clamped on the outer wall of the second pressure plate 12, the second pressure plate 12 is in contact with the pressure sensor 4, the second pressure plate 12 is used to squeeze the pressure sensor 4, the optical coupling sensor 13 is arranged on the outer side of the bottom end of the rotating plate 8, the optical coupling sensor 13 is a prior art, and no further description is given here, the optical coupling sensor 13 is used here for edge detection when wiping frameless glass, the anti-fall mechanism 7 is arranged on the rear side of the window cleaning robot 1,The anti-fall mechanism 7 is used to prevent the window cleaning robot 1 from accidentally falling.

[0034] As a preferred embodiment, further, the anti-fall mechanism 7 includes: a safety rope 71, a rotating drum 72, a crank handle 73, a box body 74, a limiting groove 75, a screw 76, a limiting block 77, a second roller 78, a first connecting rod 79, a rotating disk 710, a first clamping claw 711, a second spring 712, a gear plate 713, a first clamping block 714, a first slide groove 715, a second slide groove 716, a first guide rod 717, a second guide rod 718, a first slider 719, a first rack 720, a second clamping claw 721, a positioning rod 722, a third spring 723, a second slider 724, a second rack 725, a second clamping block 726, a handle 727, a second connecting rod 728, a gear 729, an eccentric wheel 730 and a reversing roller 731. Limiting grooves 75 are provided on both right and left sides, first sliding grooves 715 are provided on both left and right sides of the top rear side of the box body 74, and a second sliding groove 716 is provided in the middle of the rear side of the box body 74 along the up and down directions. The left and right ends of the rotating drum 72 are rotatably arranged at the rear ends of the left and right sides of the box body 74 through bearings respectively, and the right end of the rotating drum 72 can rotatably extend out of the right side of the box body 74. The rotating drum 72 is used to store the safety rope 71, and one end of the safety rope 71 is provided with the outer wall of the rotating drum 72, and the outer wall of the safety rope 71 is wound around the outer wall of the rotating drum 72, and the outer wall of the safety rope 71 passes through the inner cavity of the box body 74. The other end of the safety rope 71 is arranged at the middle of the rear side of the window cleaning robot 1, and the safety rope 71 is used to pull the window cleaning robot. The crank 73 is arranged at the right end of the rotating drum 72, and the crank 73 is used to shake The drum 72 rotates, and the left and right ends of the reversing roller 731 are rotatably arranged on the left and right top ends of the box body 74 through bearings. The outer wall of the safety rope 71 is overlapped on the outer wall of the reversing roller 731. There are two screw rods 76. The inner ends of the two screw rods 76 are rotatably arranged on the inner sides of the inner cavities of the two limiting grooves 75 through bearings. The outer ends of the two screw rods 76 are rotatably extended out of the left and right sides of the box body 74. The rotational force generated by rotating the screw 76 can prompt the limiting block 77 to move. The limiting block 77 can be slidably adapted and inserted into the inner side of the inner cavity of the limiting groove 75. The limiting block 77 is screwed to the outer wall of the screw 76. The limiting block 77 is used to support the second roller 78 and drive the second roller 78 to move. The front end of the first connecting rod 79 is The bearing is rotatably arranged on the front side of the limit block 77, and the rear end of the first connecting rod 79 is rotatably extended out of the rear side of the limit block 77. The second roller 78 is sleeved on the outer wall of the first connecting rod 79 and locked by a top screw. The outer wall of the second roller 78 is in contact with the safety rope 71. When the second roller 78 is in contact with the safety rope 71, when the safety rope 71 moves, the friction between the safety rope 71 and the second roller 78 can cause the second roller 78 to drive the first connecting rod 79 to rotate. The turntable 710 is sleeved on the rear side of the outer wall of the first connecting rod 79 and locked. The centrifugal force generated by the rotation of the turntable 710 can cause the first clamping claw 711 to rotate. The number of first clamping claws 711 is several, and several first clamping claws 711 are equally divided into two groups.The two groups of first claws 711 are rotatably arranged on the rear sides of the two rotating disks 710 through pins at equal intervals along the circumference. When the first claw 711 rotates due to centrifugal force to engage with the first block 714, the rotation of the rotating disk 710 can drive the gear plate 713 to rotate. There are several second springs 712, and several second springs 712 are equally divided into two groups. One ends of the two groups of second springs 712 are respectively engaged with the rear sides of the two rotating disks 710 at equal intervals along the circumference, and the other ends of the second springs 712 are engaged with the outer wall of the first claw 711 corresponding to its position. The second spring 712 is a rotation spring, which undergoes elastic deformation after being squeezed or stretched by external force, and returns to its initial state after the external force is removed. The second spring 712 is used here to pull the first claw 711, prevent the first claw 711 from rotating at will, the gear plate 713 is rotatably sleeved on the rear side of the outer wall of the first connecting rod 79 through a bearing, the turntable 710 is located in the inner cavity of the gear plate 713, and the rotation of the gear plate 713 can prompt the first rack 720 to move, the number of the first clamping blocks 714 is several, and the several first clamping blocks 714 are respectively arranged on the inner side of the inner cavity of the gear plate 713 at equal distances along the circumferential direction, the first claw 711 and the first clamping block 714 match, and the first clamping block 714 and the first claw 711 cooperate to prompt the turntable 710 to drive the gear plate 713 to rotate, and the left and right ends of the first guide rod 717 are respectively arranged on the left and right sides of the inner cavity of the first slide groove 715, and the first guide rod 717 can prevent the first slider 719 from detaching from the first slide groove The first slider 719 can be slidably adapted to be inserted into the inner side of the inner cavity of the first slide groove 715, the first slider 719 can be slidably sleeved on the outer wall of the first guide rod 717, the first rack 720 is arranged on the rear side of the first slider 719, the first rack 720 and the gear plate 713 are meshed, the second claw 721 is arranged at the bottom end of the first rack 720, the two second claws 721 are arranged oppositely, the second claw 721 and the second block 726 can cooperate to fix the second rack 725, the upper and lower ends of the second guide rod 718 are respectively arranged on the upper and lower sides of the inner cavity of the second slide groove 716, the second guide rod 718 can prevent the second slider 724 from escaping from the inner cavity of the second slide groove 716, and the second slider 724 can be slidably adapted to be inserted into The second slider 724 is slidably connected to the outer wall of the second guide rod 718 at the top of the inner cavity of the second slide groove 716. The second rack 725 is arranged on the rear side of the second slider 724. The movement of the second rack 725 can prompt the gear 729 to drive the eccentric wheel 730 to rotate through the second connecting rod 728. The top of the positioning rod 722 is arranged on the rear side of the top of the box body 74. The positioning rod 722 can be slidably adapted to be inserted into the inner cavity of the second rack 725. The third spring 723 is connected to the outer wall of the positioning rod 722. The top of the third spring 723 is clamped on the top of the box body 74. The bottom end of the third spring 723 is clamped on the bottom end of the inner cavity of the second rack 725. The third spring 723 is a rotation spring, which is elastically deformed after being squeezed or stretched by external force.After the external force is removed, it returns to the initial state. The third spring 723 is used to push the second rack 725 to move downward. There are two second clamping blocks 726, and the two second clamping blocks 726 are respectively arranged at the top ends of the left and right sides of the second rack 725. The bottom end of the second clamping block 726 contacts the top end of the second claw 721. The second rack 725 can be fixed by the cooperation between the second clamping block 726 and the second claw 721. The length between the outer side of the first sliding block 719 and the outer side of the first sliding groove 715 is greater than the contact length of the second claw 721 and the second clamping block 726, ensuring that the second claw 721 and the second clamping block 726 can be separated. The handle 727 is set at the top end of the rear side of the second rack 725, and the handle 727 is used to pull the second rack 72 5 moves upward, the number of the second connecting rods 728 is two, the front ends of the two second connecting rods 728 are rotatably arranged at the bottom of the left and right ends of the front side of the inner cavity of the box body 74 through bearings, and the rear end of the second connecting rod 728 is rotatably extended out of the rear side of the box body 74, the gear 729 is sleeved on the rear side of the outer wall of the second connecting rod 728 and locked by a top screw, the two gears 729 are meshed with the second rack 725, the eccentric wheel 730 is sleeved on the front side of the outer wall of the second connecting rod 728 and locked by a top screw, the eccentric wheel 730 is located in the inner cavity of the box body 74, the safety rope 71 is located between the two eccentric wheels 730, and the eccentric wheel 730 does not contact the safety rope 71, and the two eccentric wheels 730 rotate inward synchronously to clamp and fix the safety rope 71.

[0035] The detailed connection means are well-known in the art. The following mainly introduces the working principle and process. The specific work is as follows.

[0036] Step 1. During use, the screw 76 is rotated. The rotational force generated by the rotation of the screw 76 can prompt the limit block 77 to drive the first connecting rod 79 and the second roller 78 to move until the two second rollers 78 are firmly fitted with the safety rope 71. The window cleaning robot 1 is started and placed on the window. The window is wiped by the window cleaning robot. If the window to be wiped is a frameless window, when the window cleaning robot 1 moves to the edge, the rotating plate 8 is protruding compared to the edge of the window cleaning robot 1. Then, when the optical coupling sensor 13 at the bottom of the rotating plate 8 is separated from the window, the optical coupling sensor 13 can be used to transmit a signal to the window cleaning robot 1, thereby prompting the window cleaning robot 1 to change its route. If the window cleaning robot 1 wipes a framed window, when the window cleaning robot 1 moves to the edge of the window, the rotating plate 8 is protruding compared to the edge of the window cleaning robot 1. , thereby causing the two first rollers 14 located at the front side or the two first rollers 14 located at the rear side to contact the edge of the window first, and the window-cleaning robot 1 continues to move to squeeze the rotating plate 8 to rotate, and the rotation of the rotating plate 8 can drive the rotating rod 5 and the ring 9 to rotate with the rotating rod 5 as the center of the circle, and the rotation of the rotating rod 5 can stretch the coil spring 6 to elastically deform, and the rotation of the ring 9 can drive the first pressing plate 10 to rotate, and then the first pressing plate 10 is used to squeeze the first spring 11 to elastically deform, so that the first spring 11 can be used to squeeze the pressure sensor 4 through the second pressing plate 12. As the degree of squeezing of the first spring 11 increases, its resilience increases, and thus the pressure value applied to the pressure sensor 4 by the second pressing plate 12 increases, and then the distance between the edge of the window-cleaning robot 1 and the edge of the window can be determined by the pressure value detected by the pressure sensor 4;

[0037] Step 2. As the moving distance of the window-cleaning robot 1 becomes longer and longer, the window-cleaning robot 1 can be used to pull the safety rope 71 to release the line, thereby prompting the safety rope 71 to move downward along the inner cavity of the box body 74. The safety rope 71 moves downward along the inner cavity of the box body 74, and the friction between the safety rope 71 and the second roller 78 can be used to prompt the second roller 78 to drive the turntable 710 to rotate through the first connecting rod 79. When the window-cleaning robot 1 accidentally falls, the safety rope 71 can be pulled to move rapidly downward along the inner cavity of the box body 74 under the gravity factor of the window-cleaning robot 1, thereby prompting The second roller 78 drives the rotating disk 710 to rotate rapidly through the first connecting rod 79. The centrifugal force generated by the rapid rotation of the rotating disk 710 can cause the first claw 711 to rotate around the portion connected to the rotating disk 710 pin as the center, and stretch the second spring 712 to elastically deform until the first claw 711 rotates to be engaged with the first clamping block 714. At this time, the rotation of the rotating disk 710 can drive the gear plate 713 to rotate through the first claw 711 and the first clamping block 714, and the rotation of the gear plate 713 can drive the first rack 720 to drive the second claw 721 outward The first slider 719 moves sideways until the first slider 719 moves to contact the outer side of the inner cavity of the first slide groove 715. At this time, the first rack 720 cannot continue to move outward, and the second claw 721 and the second block 726 are separated. Since the first rack 720 cannot continue to move outward, the gear plate 713 cannot rotate, so the gear plate 713 is used to fix the rotating disk 710 through the first block 714 and the first claw 711, and the rotating disk 710 is fixed to the second roller 78 through the first connecting rod 79. Since the second roller 78 cannot rotate, the second roller 78 and the safety can be increased. The friction force between the ropes 71 is used to initially brake the safety rope 71. At the same time, due to the separation of the second claw 721 and the second clamping block 726, the second rack 725 can be pushed downward by the elastic force of the third spring 723. The downward movement of the second rack 725 can drive the eccentric wheel 730 to rotate inwardly through the gear 729 and the second connecting rod 728. The inward rotation of the eccentric wheel 730 can use the protruding thorns on the outer wall of the eccentric wheel 730 to clamp and brake the safety rope 71, thereby preventing the safety rope 71 from continuing to move downward, and further preventing the window cleaning robot 1 from continuing to fall.

[0038] Step 3. This device effectively solves the problem of poor adaptability of the safety rope of existing window cleaning robots, which is easy to cause shaking or cleaning blind spots. It not only ensures the stability and safety of the robot during work, but also can quickly lock the safety rope even in extreme cases to prevent falling accidents. While avoiding the problem of cleaning blind spots, it avoids reducing cleaning efficiency or increasing operation difficulty due to improper length of the safety rope, significantly improving the user experience and overall cleaning effect.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A window cleaning robot with edge detection function, characterized in that: include: A window-cleaning robot (1), wherein four corners of the bottom end of the window-cleaning robot (1) are each provided with a rotating groove (2); A positioning block (3), the positioning block (3) being arranged on the inner side of the inner cavity of the rotating groove (2); Pressure sensors (4), the number of the pressure sensors (4) being eight, and the eight pressure sensors (4) being respectively arranged on the left and right sides of the four positioning blocks (3); A rotating rod (5), the top end of the rotating rod (5) being rotatably arranged at the top end of the inner cavity of the rotating groove (2) via a bearing; A coil spring (6), wherein the coil spring (6) is sleeved on the top end of the outer wall of the rotating rod (5), one end of the coil spring (6) is clamped on the outer wall of the rotating rod (5), and the other end of the coil spring (6) is clamped on the inner wall of the rotating groove (2); A rotating plate (8), the rotating plate (8) being fixedly sleeved on the outer wall of the rotating rod (5), and the outer end of the rotating plate (8) extending out of the inner cavity of the rotating groove (2); A collar (9), the two ends of which are respectively arranged on the left and right sides of the rotating plate (8), the center of the collar (9) is the same as the center of the rotating rod (5), and the middle part of the outer wall of the collar (9) can be slidably adapted to be inserted into the inner cavity of the positioning block (3); First pressing plates (10), the number of the first pressing plates (10) being eight, and the eight first pressing plates (10) being respectively arranged on the left and right sides of the outer walls of the four sleeve rings (9); A first spring (11), wherein the number of the first springs (11) is eight, and the eight first springs (11) are respectively sleeved on the left and right sides of the outer walls of the four collars (9), and one end of the first spring (11) is clamped on the outer wall of the first pressure plate (10); A second pressing plate (12), the number of the second pressing plates (12) is eight, the eight second pressing plates (12) are respectively slidably adapted to be matched with the left and right sides of the outer walls of the four collars (9), the first spring (11) is located between the first pressing plate (10) and the second pressing plate (12), the other end of the first spring (11) is clamped on the outer wall of the second pressing plate (12), and the second pressing plate (12) is in contact with the pressure sensor (4); An optical coupling sensor (13), wherein the optical coupling sensor (13) is arranged on the outer side of the bottom end of the rotating plate (8); An anti-falling mechanism (7) is arranged on the rear side of the window cleaning robot (1).

2. The window cleaning robot with edge detection function according to claim 1, characterized in that: A first roller (14) is rotatably provided on the outer side of the top end of the rotating plate (8) via a bearing.

3. The window cleaning robot with edge detection function according to claim 2, characterized in that: The anti-fall mechanism (7) comprises: A box body (74), wherein both left and right sides of the top of the box body (74) are provided with limit grooves (75), both left and right sides of the top of the rear side of the box body (74) are provided with first slide grooves (715), and a middle portion of the rear side of the box body (74) is provided with a second slide groove (716) in the up-down direction; A rotating drum (72), the left and right ends of the rotating drum (72) being rotatably disposed at the left and right rear ends of the box (74) respectively through bearings, and the right end of the rotating drum (72) being rotatably extended out of the right side of the box (74); a safety rope (71), one end of the safety rope (71) being provided with an outer wall of a rotating drum (72), the outer wall of the safety rope (71) being wound around the outer wall of the rotating drum (72), the outer wall of the safety rope (71) penetrating the inner cavity of the box body (74), and the other end of the safety rope (71) being provided at the middle of the rear side of the window cleaning robot (1); A crank (73), wherein the crank (73) is arranged at the right end of the rotating drum (72); A reversing roller (731), the left and right ends of the reversing roller (731) are rotatably arranged at the left and right top ends of the box body (74) through bearings respectively, and the outer wall of the safety rope (71) is overlapped with the outer wall of the reversing roller (731).

4. The window cleaning robot with edge detection function according to claim 3, characterized in that: The anti-falling mechanism (7) further comprises: Screw rods (76), the number of the screw rods (76) being two, the inner ends of the two screw rods (76) being rotatably disposed on the inner sides of the inner cavities of the two limiting grooves (75) through bearings, and the outer ends of the two screw rods (76) being rotatably extended out of the left and right sides of the box body (74); A limit block (77), the limit block (77) being slidably adapted to be inserted into the inner side of the inner cavity of the limit groove (75), and the limit block (77) being screwed to the outer wall of the screw rod (76); a first connecting rod (79), wherein the front end of the first connecting rod (79) is rotatably disposed on the front side of the limit block (77) via a bearing, and the rear end of the first connecting rod (79) is rotatably extended out of the rear side of the limit block (77); a second roller (78), the second roller (78) being sleeved on the outer wall of the first connecting rod (79) and being locked by a top screw, the outer wall of the second roller (78) being in contact with the safety rope (71); A rotating disk (710), wherein the rotating disk (710) is sleeved on the rear side of the outer wall of the first connecting rod (79) and is locked; First clamping claws (711), the number of the first clamping claws (711) is multiple, the multiple first clamping claws (711) are equally divided into two groups, and the two groups of first clamping claws (711) are rotatably arranged on the rear sides of the two rotating disks (710) at equal intervals along the circumferential direction through pins; Second springs (712), the number of the second springs (712) being multiple, the multiple second springs (712) being equally divided into two groups, one end of the two groups of second springs (712) being respectively clamped to the rear sides of the two rotating disks (710) at equal intervals along the circumferential direction, and the other end of the second spring (712) being clamped to the outer wall of the first clamping claw (711) corresponding to the position thereof; A gear plate (713), the gear plate (713) being rotatably sleeved on the rear side of the outer wall of the first connecting rod (79) via a bearing, and the rotating plate (710) being located in the inner cavity of the gear plate (713); A first clamping block (714), wherein the number of the first clamping blocks (714) is multiple, and the multiple first clamping blocks (714) are respectively arranged at equal intervals along the circumferential direction on the inner side of the inner cavity of the gear plate (713), and the first clamping claw (711) matches the first clamping block (714).

5. The window cleaning robot with edge detection function according to claim 4, characterized in that: The anti-falling mechanism (7) further comprises: A first guide rod (717), wherein left and right ends of the first guide rod (717) are respectively arranged on left and right sides of the inner cavity of the first slide groove (715); A first sliding block (719), the first sliding block (719) can be slidably adapted to be inserted into the inner side of the inner cavity of the first sliding groove (715), and the first sliding block (719) can be slidably sleeved on the outer wall of the first guide rod (717); A first rack (720), the first rack (720) being arranged on the rear side of the first sliding block (719), the first rack (720) being meshed with the gear plate (713); A second clamping claw (721), wherein the second clamping claw (721) is arranged at the bottom end of the first rack (720), and the two second clamping claws (721) are arranged opposite to each other.

6. The window cleaning robot with edge detection function according to claim 5, characterized in that: The anti-falling mechanism (7) further comprises: A second guide rod (718), wherein upper and lower ends of the second guide rod (718) are respectively disposed at upper and lower sides of the inner cavity of the second slide groove (716); A second sliding block (724), the second sliding block (724) can be slidably adapted to be inserted into the top end of the inner cavity of the second sliding groove (716), and the second sliding block (724) can be slidably sleeved on the outer wall of the second guide rod (718); a second rack (725), the second rack (725) being arranged on the rear side of the second sliding block (724); A positioning rod (722), the top end of which is arranged at the rear side of the top end of the box body (74), and the positioning rod (722) can be slidably adapted to be inserted into the inner cavity of the second rack (725); a third spring (723), wherein the third spring (723) is sleeved on the outer wall of the positioning rod (722), the top end of the third spring (723) is clamped on the top end of the box body (74), and the bottom end of the third spring (723) is clamped on the bottom end of the inner cavity of the second rack (725); A second clamping block (726), wherein the number of the second clamping blocks (726) is two, and the two second clamping blocks (726) are respectively arranged at the top ends of the left and right sides of the second rack (725), and the bottom end of the second clamping block (726) is in contact with the top end of the second claw (721); A handle (727), wherein the handle (727) is arranged at the rear top end of the second rack (725); A second connecting rod (728), the number of the second connecting rods (728) being two, the front ends of the two second connecting rods (728) being rotatably disposed at the bottom of the left and right ends of the front side of the inner cavity of the box body (74) through bearings, and the rear ends of the second connecting rods (728) being rotatably extended out of the rear side of the box body (74); A gear (729), wherein the gear (729) is sleeved on the rear side of the outer wall of the second connecting rod (728) and is locked by a top screw, and the two gears (729) are meshed with the second rack (725); An eccentric wheel (730), wherein the eccentric wheel (730) is sleeved on the front side of the outer wall of the second connecting rod (728) and is locked by a top screw, the eccentric wheel (730) is located in the inner cavity of the box body (74), the safety rope (71) is located between the two eccentric wheels (730), and the eccentric wheel (730) does not contact the safety rope (71).

7. The window cleaning robot with edge detection function according to claim 6, characterized in that: The length between the outer side of the first sliding block (719) and the outer side of the first sliding groove (715) is greater than the contact length between the second claw (721) and the second clamping block (726).

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