Plane glass cleaning robot

Abstract

The invention provides a plain glass cleaning robot. The robot comprises a chassis, a water storage tank and a cleaning module, wherein the cleaning module is connected to the chassis through a first four-bar mechanism; the first torsional spring is connected to the first four-connecting-rod mechanism, and the first torsional spring is configured to form pressing force on the cleaning module; the scraping strip module comprises a first scraping strip and a second scraping strip, and the scraping strip module is connected to the chassis through a second four-bar mechanism; the second torsional spring is configured to form pressing force on the scraping strip module, so that the first scraping strip and the second scraping strip are attached to the plain glass; the water return tank is connected with the suction mechanism, the suction mechanism is used for sucking the fluid mixture between the first scraping strip and the second scraping strip into the water return tank, and the water return tank is configured to be capable of performing water-gas separation on the fluid mixture; and the walking mechanism is used for driving the robot to walk. According to the robot, the engineering cleaning requirement can be met, and the requirement for frequent cleaning and maintenance of a plane glass face is met.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to a flat glass cleaning robot. Background Art

[0002] There is no cleaning equipment specifically for flat glass such as awnings, canopies and domes on the market. Conventional cleaning only involves cleaning workers cleaning flat glass surfaces when facade glass needs cleaning, and the charges for flat glass surfaces are generally higher than those for facade glass surfaces. This is because flat glass has a different structure and is often unable to be hung or the flat glass surface is aged and cannot support people stepping on it, so it is more dangerous and has a higher cleaning cost than facade glass. Flat glass surfaces are more prone to stains and dirt than facade glass, and are often heavily dusted within two weeks after cleaning.

[0003] There are facade cleaning robots on the market that are used to clean flat glass surfaces. However, the facade cleaning robots use suction cups for suction, which will become an obstacle when cleaning flat surfaces, making it impossible to overcome obstacles or causing greater resistance to advance. Due to the large difference in the degree of dirtiness between facades and flat glass, the amount of cleaning water and the force of the roller brush will also be greater. In terms of cleaning effect, it is difficult to achieve the desired effect of customers using facade cleaning robots. In addition, the flat glass surface is different from the facade in structure. There are often larger height differences in the glass, larger glass glue seam width, and larger glass angles. There are also some nails or decorative strips for reinforcement, etc. The maximum obstacle height of the facade cleaning robot is within 5mm, which cannot meet the requirements for most flat glass surfaces. The facade cleaning robot considers that water is not often added and low water volume is used in circulation. For heavy pollution, the recycling of the return water tank will cause the box or filter cotton to be blocked due to excessive stains. Summary of the invention

[0004] The present disclosure provides a flat glass cleaning robot to at least solve one of the technical problems existing in the prior art.

[0005] According to a first aspect of the present disclosure, there is provided a flat glass cleaning robot, comprising:

[0006] Chassis;

[0007] A water storage tank, detachably connected to the chassis;

[0008] A cleaning module, comprising a roller brush for cleaning the flat glass, wherein the cleaning module is connected to the chassis via a first four-bar linkage;

[0009] a first torsion spring connected to the first four-bar linkage, wherein the first torsion spring is configured to form a pressing force on the cleaning module so that the roller brush is pressed against the flat glass;

[0010] A scraper bar module, comprising a first scraper bar and a second scraper bar arranged in a front-to-rear orientation along a traveling direction of the robot, wherein the scraper bar module is connected to the chassis via a second four-bar linkage;

[0011] a second torsion spring connected to the second four-bar linkage, wherein the second torsion spring is configured to form a pressing force on the scraper module so that the first scraper and the second scraper are attached to the flat glass;

[0012] A return water tank connected to the suction mechanism, the suction mechanism is used to suck the fluid mixture between the first scraper strip and the second scraper strip into the return water tank, and the return water tank is configured to separate water and gas from the fluid mixture;

[0013] The walking mechanism is connected to the chassis and is used to drive the robot to walk.

[0014] In one embodiment, the cleaning module further comprises:

[0015] A cleaning module main frame, wherein the cleaning module main frame is connected to the chassis via a first four-bar linkage;

[0016] A first driving mechanism is installed on the main frame of the cleaning module;

[0017] A synchronous pulley set is connected to the first end of the roller brush and the output end of the first driving mechanism, and is driven by the first driving mechanism to synchronously drive the roller brush to rotate;

[0018] Wherein, the second end of the roller brush is rotatably mounted on the main frame of the cleaning module.

[0019] In one embodiment, the second end of the roller brush is connected to the main frame of the cleaning module through a quick release mechanism; the quick release mechanism includes a support bearing, a support shaft, a quick release part, a compression spring and a quick release fixing seat;

[0020] The support bearing is installed on the second end of the roller brush, the inner ring of the support bearing is fixedly connected to the support shaft, a quick release part is installed on the support shaft and the compression spring is provided between the quick release part and the support shaft, the quick release part is fixed on the quick release fixing seat, and the quick release fixing seat is fixed on the main frame of the cleaning module.

[0021] In one embodiment, the cleaning module further includes:

[0022] A water pump, wherein a first end of the water pump is connected to a water tank outlet interface of the water storage tank;

[0023] a nozzle connected to the second end of the water pump;

[0024] The first ultrasonic detection mechanism is installed on both sides of the cleaning module main frame and is located at the front end of the robot's moving direction. The first ultrasonic detection mechanism is used for cliff detection when the robot is moving forward.

[0025] In one embodiment, the scraper strip module further includes:

[0026] A scraper module main frame, on which the first scraper and the second scraper are mounted, and the first scraper is provided with a plurality of water outlets, so that a cavity with the water outlets is formed between the first scraper and the second scraper;

[0027] A fluid channel for the fluid mixture to flow is formed in the main frame of the scraper module, the first end of the fluid channel is a suction port, the suction port is arranged in the cavity, and the second end of the fluid channel is connected to the first fluid inlet of the return tank;

[0028] The second ultrasonic detection mechanism is installed on both sides of the scraper module main frame and is located at the rear end of the robot's moving direction. The second ultrasonic detection mechanism is used for cliff detection when the robot retreats.

[0029] In one possible implementation manner, it also includes an obstacle-crossing guide wheel, which is installed on the scraper module main frame, and the obstacle-crossing guide wheel is used to adaptively lift the scraper module when the robot moves forward.

[0030] In one possible implementation manner, it also includes a scraper bar lifting mechanism, which includes a rotating servo, a servo rotating disk, a contact bearing, a rotating member and a rotating adapter. The rotating servo is fixed on the chassis, and a servo rotating disk is installed on the rotating end of the rotating servo. The servo rotating disk is connected to the contact bearing, and the contact bearing is in linear contact with the rotating member. The rotating member is connected to the rotating adapter, and the rotating adapter is connected to the second four-bar linkage.

[0031] In one embodiment, the return water tank comprises:

[0032] A water return box, wherein a first fluid inlet is provided on the water return box;

[0033] A separator, the separator is arranged in the water return tank body, and the separator is spaced apart from the top of the water return tank body; the separator has a second fluid inlet, a gas-liquid separation port, and a separation cavity connected to the second fluid inlet and the gas-liquid separation port, and the lower end of the second fluid inlet extends downward into the gas-liquid separation port;

[0034] A one-way duckbill valve, wherein the one-way duckbill valve is sealingly mounted on the separation member, and the upper end of the one-way duckbill valve is sealingly connected to the lower end of the gas-liquid separation port, and the lower end of the one-way duckbill valve is exposed in the return water tank;

[0035] The suction mechanism comprises a fan, and an air inlet end of the fan is sealed and connected to the separation chamber.

[0036] In one embodiment, a guide plate is provided inside the return water box along its length direction, in front of the separator and close to the first fluid inlet, and both ends of the guide plate are spaced from the wall of the return water box;

[0037] The cross-sectional area of ​​the upper end portion of the gas-liquid separation port is larger than the cross-sectional area of ​​the lower end portion of the second fluid inlet.

[0038] In one possible implementation manner, the water return tank is detachably connected to the chassis via a snap-fit ​​structure;

[0039] The walking mechanism comprises:

[0040] a second driving mechanism;

[0041] A crawler power wheel connected to the output end of the second driving mechanism and driven to rotate by the second driving mechanism;

[0042] A crawler driven wheel; connected to the output end of the second driving mechanism and driven to rotate by the second driving mechanism;

[0043] The rubber crawler is sleeved on the outside of the crawler power wheel and the crawler driven wheel;

[0044] The supporting wheel is rotatably mounted on the chassis, and the supporting wheel is used to support the rubber track.

[0045] Compared with the prior art, the advantages of the present application are: 1) The flat glass cleaning robot of the present application supports the cleaning pressure of the cleaning module through the weight of the cleaning module main frame, and adopts a hard-made bristle brush to meet the cleaning requirements of strong dirt. 2) The present application meets the cleaning requirements when passing through the height difference of the glass or the angle of the glass through the adaptable traceless scraper module. 3) Since the cleaning module and the adaptable traceless scraper module of the present application are fixed to the chassis through a four-bar mechanism, they can move along and overcome obstacles during cleaning. 4) The robot of the present application removes the traditional suction mechanism and water circulation system, increases the water storage capacity of the water tank, and optimizes the return water air path into a dedicated mode, increasing the amount of water that can be returned by the return water tank. 5) The robot of the present application can meet the requirements of engineering cleaning and meet the needs of frequent cleaning and maintenance of flat glass surfaces. In addition, the robot of the present application meets the cleaning requirements of multiple scenarios and various flat glass surfaces.

[0046] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0048] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0049] Figure 1 A complete structural schematic diagram of a flat glass cleaning robot according to an embodiment of the present disclosure is shown;

[0050] Figure 2 A schematic diagram showing a partial structure of a flat glass cleaning robot according to an embodiment of the present disclosure Figure 1 ;

[0051] Figure 3 A schematic diagram showing a partial structure of a flat glass cleaning robot according to an embodiment of the present disclosure Figure 2 ;

[0052] Figure 4 A schematic diagram showing a partial structure of a flat glass cleaning robot according to an embodiment of the present disclosure Figure 3 ;

[0053] Figure 5 The cross-sectional structure of the flat glass cleaning robot according to the embodiment of the present disclosure is shown. Figure 1 ;

[0054] Figure 6 The cross-sectional structure of the flat glass cleaning robot according to the embodiment of the present disclosure is shown. Figure 2 ;

[0055] Figure 7 A schematic structural diagram of a cleaning module of a flat glass cleaning robot according to an embodiment of the present disclosure is shown;

[0056] Figure 8 A cross-sectional schematic diagram of a cleaning module of a flat glass cleaning robot according to an embodiment of the present disclosure is shown;

[0057] Fig. 9 A schematic structural diagram of a scraper module of a flat glass cleaning robot according to an embodiment of the present disclosure is shown;

[0058] Fig.10 A schematic structural diagram of a scraper lifting mechanism of a flat glass cleaning robot according to an embodiment of the present disclosure is shown;

[0059] Fig.11 Schematic diagram showing the explosion of the return water tank of the flat glass cleaning robot according to the embodiment of the present disclosure Figure 1 ;

[0060] Fig.12 Schematic diagram showing the explosion of the return water tank of the flat glass cleaning robot according to the embodiment of the present disclosure Figure 2 ;

[0061] Fig.13 A cross-sectional view of a return water tank of a flat glass cleaning robot according to an embodiment of the present disclosure is shown. Figure 1 ;

[0062] Fig.14 A cross-sectional view of a return water tank of a flat glass cleaning robot according to an embodiment of the present disclosure is shown. Figure 2 ;

[0063] Fig.15 A cross-sectional view of a return water tank of a flat glass cleaning robot according to an embodiment of the present disclosure is shown. Figure 3 ;

[0064] Fig.16 A cross-sectional view of a return water tank of a flat glass cleaning robot according to an embodiment of the present disclosure is shown. Figure 4 ;

[0065] Fig.17 A schematic diagram showing a buckle structure of a flat glass cleaning robot according to an embodiment of the present disclosure is shown;

[0066] Fig.18 An exploded schematic diagram of the buckle structure of the flat glass cleaning robot according to an embodiment of the present disclosure is shown.

[0067] Explanation of the reference numerals in the figure: 1-chassis, 2-cleaning module, 3-water storage tank, 4-water return tank, 5-scraper module, 6-water storage tank cover, 7-water return tank cover, 9-buckle structure, 11-first fluid inlet, 12-pipe joint, 13-traveling mechanism, 51-scraper module main frame, 101-main frame, 106-first connecting rod fixing seat, 107-first cleaning module connecting rod, 108-second cleaning module connecting rod, 117-second connecting rod fixing seat, 124-first scraper connecting rod, 125-second scraper connecting rod, 126-water tank guide, 12 8-water tank outlet interface, 131-track power wheel, 132-track driven wheel, 133-support wheel, 141-second torsion spring, 142-first torsion spring, 145-rotation adapter, 150-second drive mechanism, 153-rubber track, 165-drive plate, 167-fan, 168-battery, 179-water tank fixing part, 185-circuit board, 187-wireless power module, 193-rotating steering gear, 195-steering gear rotating disk, 196-rotating part, 199-contact bearing, 201-cleaning module main frame, 20 2-roller brush, 203-spray head, 204-roller brush rotating fixed end, 205-synchronous pulley set, 210-guide wheel set, 211-support shaft, 212-quick release fixing seat, 213-quick release part, 217-first drive mechanism, 222-support bearing, 223-compression spring, 228-adapter, 229-water pump, 231-first ultrasonic detection mechanism, 232-cleaning connecting rod fixing seat, 401-one-way duckbill valve, 402-separator, 403-sealing pad, 404-return water box, 405-blower sealing rubber , 406-guide plate, 407-fluid outlet, 504-first scraper, 505-second scraper, 506-second ultrasonic detection mechanism, 507-downward pressure guide wheel, 515-scraper air outlet joint, 517-scraper connecting rod fixing seat, 520-obstacle guide wheel, 901-unfastening pressure piece, 902-snapping fixing seat, 903-snapping, 904-spring, 4021-separation chamber, 4022-second fluid inlet, 4023-gas-liquid separation port, 4024-threaded hole, 4041-mounting port, 4042-mounting surface. DETAILED DESCRIPTION

[0068] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0069] According to one embodiment of the present disclosure, the present application provides a flat glass cleaning robot, such as Figure 1-18 As shown, including,

[0070] Chassis 1;

[0071] A water storage tank 3 is detachably connected to the chassis 1;

[0072] A cleaning module 2, comprising a roller brush 202 for cleaning the flat glass, the cleaning module being connected to the chassis via a first four-bar linkage;

[0073] A first torsion spring 142, connected to the first four-bar linkage, the first torsion spring is configured to form a pressing force on the cleaning module so that the roller brush is pressed against the flat glass;

[0074] The scraper module 5 includes a first scraper 504 and a second scraper 505 arranged in a front-to-rear direction along the moving direction of the robot, and the scraper module is connected to the chassis through a second four-bar linkage;

[0075] A second torsion spring 141 is connected to the second four-bar linkage, and is configured to form a pressing force on the scraper module so that the first scraper and the second scraper are attached to the flat glass;

[0076] A return water tank 4 is connected to a suction mechanism, the suction mechanism is used to suck the fluid mixture between the first scraper strip and the second scraper strip into the return water tank, and the return water tank is configured to separate water and gas from the fluid mixture;

[0077] The walking mechanism 13 is connected to the chassis and is used to drive the robot to walk.

[0078] In this embodiment, chassis 1 is the frame of the robot, which is used to fix various modules, modules and drive tracks. Chassis 1 is composed of a main frame 101, which serves as a frame to connect various parts. Battery 168, wireless power module 187 and circuit board 185 are installed on chassis 1. The battery 168 has a power of 16AH and a rated supply voltage of 24V, which can meet the continuous cleaning of the equipment for 1 hour. It can meet wireless remote control operation, and the wireless communication distance is 100 meters.

[0079] like Figure 2-3 As shown, a plurality of water tank guides 126 are provided on the chassis 1, and the water tank guides 126 are used for guiding the water storage tank 3 and the return water tank 4 during installation.

[0080] For example, Figure 1-3As shown, the water tank 3 is provided with a water tank cover 6, and the water tank 3 is fixed to the chassis 1 by transverse plugging, and the water tank fixing part 179 limits the freedom, and the return water tank 4 limits the freedom of removal. The water tank fixing part 179 is fixed to the chassis 1, and the water tank fixing part 179 has a card protrusion, and correspondingly, a card slot adapted to the card protrusion can be provided on the water tank 3, so that the detachable connection between the two is achieved by the cooperation of the card protrusion and the card slot. The water tank 3 is detachably installed on the chassis by adopting a quick-release method. The quick-release of the water tank is mainly convenient for adding water, and there is no need to hold the entire robot to take out water. For example, the water tank mainly provides water for robot cleaning. The robot of this application integrates a 3.5L water tank, which can be quickly disassembled to replace a new water tank, and can also be quickly filled with water. It supports adding water on the robot, and also supports adding water after taking out the water tank 3.

[0081] For example, Figure 7-8 As shown, the cleaning module 2 supports the cleaning pressure of the cleaning module 2 through the weight of the cleaning module main frame 201. A hard brush with a single hair thickness of 0.3mm is used. A star-shaped cross-brush method is used, and the hair length is 35mm. The compression amount is ensured to be 5-10mm during cleaning, and the cross-brush can leave no cleaning gaps. The roller brush is installed on the cleaning module by quick release, which is convenient for subsequent maintenance, self-cleaning and replacement. At the same time, the rotation speed of the cleaning roller brush is increased to 500 rpm, and the water volume control is increased to meet the cleaning requirements of strong dirt.

[0082] For example, Figure 2-6 As shown, the cleaning module 2 is connected to the chassis 1 through a first four-bar linkage, and the first four-bar linkage includes a first linkage fixing seat 106, a first cleaning module linkage 107, a second cleaning module linkage 108 and a cleaning linkage fixing seat 232. The first linkage fixing seat 106 is fixedly connected to the chassis 1, and the cleaning linkage fixing seat 232 is fixedly installed on the cleaning module main frame 201. The first cleaning module linkage 107 and the second cleaning module linkage 108 are arranged in parallel; the two ends of the first cleaning module linkage 107 are respectively rotatably connected to the first linkage fixing seat 106 and the cleaning linkage fixing seat 232, and the two ends of the second cleaning module linkage 108 are respectively rotatably connected to the first linkage fixing seat 106 and the cleaning linkage fixing seat 232.

[0083] For example, Figure 6As shown, the first torsion spring 142 acts as a clamping force to ensure that the roller brush and the glass are always kept at a certain pressure. The first torsion spring 142 is compressed and connected to the first four-bar linkage. Specifically, the first torsion spring 142 is arranged at the connection position of the second cleaning module connecting rod 108 and the cleaning connecting rod fixing seat 232. The two elastic legs of the first torsion spring 142 are respectively abutted against the second cleaning module connecting rod 108 and the cleaning connecting rod fixing seat 232, forming a clamping force on the cleaning module 2 so that the roller brush 202 is pressed against the flat glass. Therefore, the cleaning module 2 keeps the roller brush of the cleaning module in a compressed state through the cooperation of the first four-bar linkage and the first torsion spring 142. When encountering a concave glass, the cleaning module will be compressed on the new glass surface.

[0084] The first four-bar linkage is a four-bar linkage of the cleaning module 2. It is measured that the first torsion spring 142 can clean heavy stains under a pressure of 3kg-4kg. The range of motion of the first four-bar linkage can reach 50mm up and down, and the pre-compression amount is 25mm. When cleaning, the bristles can compress themselves when encountering obstacles, so the obstacles can be overcome smoothly.

[0085] In the present application, when the robot moves forward, the cleaning module 2 can be adaptively lifted by the first torsion spring 142. This is because, when the cleaning module 2 encounters an obstacle, the robot has the power to move forward, so that when the cleaning module 2 is against the obstacle, the first torsion spring is compressed, the angle between the two elastic legs of the first torsion spring is reduced, and the cleaning module main frame 201 is lifted upward, thereby completing the adaptive lifting of the cleaning module 2. When the robot moves backward and encounters an obstacle, the cleaning module 2 is lifted upward by the first four-bar linkage to complete the obstacle crossing. Of course, since the bristles of the roller brush can be compressed when encountering an obstacle during cleaning, for the cleaning module, whether it is moving forward or backward and encountering an obstacle, the obstacle crossing will be very smooth.

[0086] For example, Fig. 9 As shown, the scraper module 5 includes a scraper module main frame 51, on which a first scraper 504 and a second scraper 505 are mounted. The first scraper 504 and the second scraper 505 are arranged in parallel and along the length direction of the scraper module main frame 51.

[0087] For example, Figure 2 , Figure 4 , Fig. 9As shown, the scraper module 5 is connected to the chassis 1 through a second four-bar linkage, wherein the second four-bar linkage includes a second link fixing seat 117, a first scraper link 124, a second scraper link 125 and a scraper link fixing seat 517. The second link fixing seat 117 is fixedly mounted on the chassis 1, and the scraper link fixing seat 517 is fixedly mounted on the scraper module main frame 51 of the scraper module 5. The first scraper link 124 and the second scraper link 125 are arranged in parallel, and the two ends of the first scraper link 124 are rotatably connected to the second link fixing seat 117 and the scraper link fixing seat 517, respectively, and the two ends of the second scraper link 125 are rotatably connected to the second link fixing seat 117 and the scraper link fixing seat 517, respectively.

[0088] For example, Figure 6 As shown, the second torsion spring 141 acts as a clamping force to keep the first / second scraper strip always in contact with the glass surface; the second torsion spring 141 is compressively connected to the second four-bar linkage, specifically, the second torsion spring 141 is arranged at the connecting position of the second scraper strip link 125 and the scraper strip link fixing seat 517, one of the elastic legs of the second torsion spring 141 abuts against the second scraper strip link 125, and the other elastic leg of the second torsion spring 141 abuts against the connecting shaft of the first scraper strip link 124 and the scraper strip link fixing seat 517.

[0089] The adaptable scraper module 5 is connected to the chassis 1 through the second four-bar linkage, and is compressed by the second torsion spring 141 to ensure that the scraper always maintains a certain pressure on the glass during cleaning. The fan 167 sucks the air outlet connected to the scraper, so that the scraper can suck the stains into the return water tank while scraping. The second four-bar linkage has an active amount of 50mm and a pre-compression amount of 20mm, which is used to adapt to different glass drops or angles. After actual measurement, when the downward pressure of the scraper module is 4-5kg, there can be no traces after cleaning and the suction effect of the scraper can be completed, and there is no trace on the glass surface after cleaning.

[0090] For example, the return water tank 4 uses a suction mechanism to suck the fluid mixture (including stains and gas) between the first scraper 504 and the second scraper 505 into the return water tank, and the return water tank separates the water and gas in the fluid mixture, collects the separated stains in the return water tank body, and discharges the separated gas out of the return water tank 3.

[0091] For example, the traveling mechanism 13 is driven by double crawlers.

[0092] The flat glass cleaning robot of the present application is a cleaning device specially designed for flat glass such as awnings, canopies and domes. Among them, the cleaning pressure of the cleaning module is supported by the weight of the main frame of the cleaning module, and a hard-made bristle brush is used. At the same time, the rotation speed of the cleaning roller brush is increased to 500 rpm, and the water volume control is increased to meet the cleaning requirements of strong dirt. The present application meets the cleaning requirements when passing through the height difference of the glass or the angle of the glass through an adaptable traceless scraper module. Since the cleaning module 2 and the adaptable traceless scraper module are fixed to the chassis (main frame) through a four-bar mechanism, they can move with the movement to overcome obstacles during cleaning. The robot of the present application removes the traditional suction mechanism and water circulation system, enlarges the water storage tank, and optimizes the return water air path into a dedicated mode to increase the amount of water that can be returned to the return water tank.

[0093] The total height of the robot of the present invention is 150mm. This height is because the flat glass surface often has some connecting diagonal ribs. If the equipment height is too high, it may not be passable or cannot be cleaned. Only when it is not higher than 150mm can most of the glass surfaces be cleaned. However, this condition will also make it difficult to separate the water and gas in the return water tank, and the height difference is too small. Therefore, this application has found a new water and gas separation structure, that is, this application has made innovative improvements to the return water tank to enable the return water tank 4 to achieve water and gas separation.

[0094] The robot of the present application can meet the requirements of engineering cleaning and can satisfy the needs of frequent cleaning and maintenance of flat glass surfaces. In addition, the robot of the present application can meet the cleaning requirements of multiple scenarios and various flat glass surfaces.

[0095] In one embodiment, Figure 7-8 As shown, the cleaning module 2 also includes:

[0096] A cleaning module main frame 201, the cleaning module main frame 201 is connected to the chassis via a first four-bar linkage;

[0097] The first driving mechanism 217 is installed on the cleaning module main frame 201;

[0098] The synchronous pulley set 205 is connected to the first end of the roller brush 202 and the output end of the first driving mechanism 217, and is driven by the first driving mechanism to synchronously drive the roller brush to rotate;

[0099] The second end of the roller brush 202 is rotatably mounted on the cleaning module main frame 201 .

[0100] Specifically, the cleaning module main frame 201 serves as the main frame of the cleaning module 2, and is used to install some parts such as the roller brush and the first driving mechanism 217. The cleaning module main frame 201 is fixedly connected to the cleaning link fixing seat 232 of the first four-bar linkage. The first driving mechanism 217 is a motor, which is fixedly installed on the cleaning module main frame 201. The first driving mechanism 217 has a rotatable output end, which can synchronously drive the roller brush to rotate through the synchronous pulley group 205. The synchronous pulley group 205 is an existing conventional design, including two synchronous pulleys and a synchronous belt wound around the two synchronous pulleys, and the two synchronous pulleys are respectively fixedly connected to the output end of the first driving mechanism and the first end of the roller brush.

[0101] Furthermore, the first end of the roller brush 202 can be connected to the synchronous pulley set 205 through the roller brush rotation fixed end 204, and the roller brush rotation fixed end 204 and the roller brush 202 have a degree of freedom in the fixing method.

[0102] Among them, Figure 8 As shown, the second end of the roller brush 202 is connected to the cleaning module main frame 201 through a quick release mechanism; specifically, the quick release mechanism includes a support bearing 222, a support shaft 211, a quick release part 213, a compression spring 223 and a quick release fixing seat 212; a support bearing 222 is installed on the second end of the roller brush 202, the inner ring of the support bearing 222 is fixedly connected to the support shaft 211, the quick release part 213 is installed on the support shaft 211, the support shaft 211 is provided with an outwardly protruding convex portion, and a compression spring 223 is provided between the convex portion of the support shaft 211 and the quick release part 213, the quick release part is fixedly connected to the quick release fixing seat 212, and the quick release fixing seat 212 is fixedly connected to the cleaning module main frame 201. Since a compression spring 223 is added when the quick release part 213 is connected to the support shaft 211, a certain amount of activity adaptation is ensured between the two. The function is that if the length of the roller brush 202 is large and the length of the cleaning module main frame 201 is large, the compression spring can be used to ensure that the roller brush 202 is fitted at the fixing part and the self-locking property of the quick release part 213 is ensured, and there will be no left and right shaking. The quick release part 213 is sleeved on the support shaft 211, and the quick release part 213 is fixed on the quick release fixing seat 212. It can be locked by twisting 90°. When the roller brush needs to be replaced or maintained, it can be twisted in the opposite direction by 90° to remove the roller brush.

[0103] Further, such as Figure 7 As shown, the cleaning module 2 also includes:

[0104] A water pump 229, a first end of the water pump is connected to the water tank outlet interface 128 of the water tank;

[0105] A nozzle 203, which is connected to the second end of the water pump;

[0106] The first ultrasonic detection mechanism 231 is installed on both sides of the cleaning module main frame 201 and is located at the front end of the robot's moving direction. The first ultrasonic detection mechanism is used for cliff detection when the robot is moving forward.

[0107] For example, the first ultrasonic detection mechanism 231 is symmetrically installed and used for cliff detection. Specifically, the first ultrasonic detection mechanism 231 is wired to the circuit board 185. The first ultrasonic detection mechanism 231 is used to detect the cleaning surface (flat glass surface) in real time, and send the detection data to the circuit board in real time. The circuit board 185 controls the movement of the robot according to the detection data received in real time. That is, when the robot runs to the edge of the glass during cleaning, the ultrasonic wave will not detect the cleaning surface. At this time, the feedback value will become larger, and the robot will be restricted from moving forward through the circuit board control. The role of the dual ultrasonic wave is that when the robot runs obliquely when it reaches the edge, the cliff detection can be satisfied by the single-sided ultrasonic wave.

[0108] The nozzle 203 is a fan-shaped spray with a large coverage area. At the same time, part of the nozzle directly acts on the roller brush, ensuring the cleaning effect, and the roller brush will not accumulate too much stains. The water pump 229 is an electromagnetic pump, which can effectively prevent water from siphoning and dripping, and can well control the water volume, using different water spray volumes for different scenes. Furthermore, the water pump 229 is connected to the nozzle 203 through the adapter 228.

[0109] Furthermore, the cleaning module 2 also includes a guide wheel group 210, which is symmetrically installed on the cleaning module main frame 201, serving as a limit guide during cleaning to prevent the wall or high obstacles from hitting the equipment, and at the same time allows the equipment to be cleaned better against the wall.

[0110] In one embodiment, Fig. 9 As shown, the scraper strip module 5 also includes:

[0111] A scraper module main frame 51, on which a first scraper 504 and a second scraper 505 are mounted, and the first scraper 504 is provided with a plurality of water outlets, so that a cavity with water outlets is formed between the first scraper and the second scraper;

[0112] A fluid channel for the fluid mixture to flow is formed in the main frame 51 of the scraper module. The first end of the fluid channel is a suction port, which is arranged in the cavity. The second end of the fluid channel is connected to the first fluid inlet 11 of the return tank.

[0113] The second ultrasonic detection mechanism 506 is installed on both sides of the scraper module main frame 51 and is located at the rear end of the robot's moving direction. The second ultrasonic detection mechanism is used for cliff detection when the robot retreats.

[0114] The first scraper strip 504 is a front scraper strip, and the second scraper strip 505 is a rear scraper strip. When the first scraper strip contacts the glass, several water holes are left, while the second scraper strip contacts the glass surface completely without any gap. The two scrapers form a sealed environment with only a small hole in the middle, and when the fan 167 sucks, the dirt here will be brought into the return water box 404 through the air path.

[0115] For example, further, Fig. 9 As shown, the second end of the fluid channel is connected to a scraper air outlet joint 515, and the scraper air outlet joint 515 is connected to the return water box through an air duct.

[0116] For example, the scraper strip module 5 further includes a downward pressing guide wheel 507 rotatably mounted on the scraper strip module main frame 51 .

[0117] For example, the second ultrasonic detection mechanism 506 is electrically connected to the circuit board 185 by wire, and the second ultrasonic detection mechanism 506 is used to detect the cleaning surface (flat glass surface) in real time, and send the detection data to the circuit board in real time, and the circuit board 185 controls the walking of the robot according to the detection data received in real time. The second ultrasonic detection mechanism 506 is used for cliff detection when the robot retreats, which is consistent with the ultrasonic usage of the cleaning module and has the same function.

[0118] In one embodiment, Fig. 9 As shown, the flat glass cleaning robot also includes an obstacle-crossing guide wheel 520, which is mounted on the scraper module main frame 51, and is used to adaptively lift the scraper module 5 when the robot moves forward. The function of the obstacle-crossing guide wheel 520 is to be able to adaptively lift when the robot moves forward. When the robot moves backward, the scraper is in a downward pressure state, which affects the cleaning. Specifically, when the robot moves backward, the scraper is supported by rubber, which will affect the retreat, and the scraper does not need to be used when moving backward, so it is necessary to design a scraper lifting mechanism that does not affect the adaptation and controls the scraper to be lifted when moving backward.

[0119] Specifically, Fig.10 As shown, the scraper strip lifting mechanism includes a rotating servo 193, a servo rotating disk 195, a contact bearing 199, a rotating member 196 and a rotating adapter 145. The rotating servo 193 is fixed on the chassis. The rotating end of the rotating servo 193 is equipped with a servo rotating disk 195. The servo rotating disk 195 is connected to the contact bearing 199. The contact bearing 199 is in linear contact with the rotating member 196. The rotating member 196 is connected to the rotating adapter 145. The rotating adapter 145 is connected to the first scraper strip connecting rod 124 of the second four-bar linkage.

[0120] Among them, the rotating servo 193 is electrically connected to the circuit board. When the robot moves backward, the circuit board controls the rotating servo 193 to work, and its rotating end drives the servo rotating disk 195 to rotate, thereby synchronously driving the contact bearing 199 to rotate, thereby driving the rotating member 196 that is in linear contact with it to rotate, and the rotating member 196 synchronously drives the rotating connecting member 145 rigidly connected to it to rotate, and the rotating connecting member 145 drives the first scraper connecting rod 124 to rotate, thereby driving the scraper module 5 to lift.

[0121] In one embodiment, Figure 11-18 As shown, the return water tank 4 includes:

[0122] A water return box 404, wherein a first fluid inlet 11 is provided on the water return box 404;

[0123] The separator 402 is disposed in the return water tank 404 and is spaced apart from the top of the return water tank; the separator 402 has a second fluid inlet 4022, a gas-liquid separation port 4023, and a separation chamber 4021 connected to the second fluid inlet and the gas-liquid separation port, and the lower end of the second fluid inlet 4022 extends downward into the gas-liquid separation port 4023;

[0124] A one-way duckbill valve 401 is sealed and installed on the separator 402, and the upper end of the one-way duckbill valve 401 is sealed and connected to the lower end of the gas-liquid separation port 4023, and the lower end of the one-way duckbill valve 401 is exposed in the return water box 404;

[0125] The suction mechanism includes a fan 167 , and an air inlet end of the fan 167 is sealed and connected to the separation chamber 4021 .

[0126] The setting of the return water tank in this embodiment solves the problem that the flat glass cleaning robot is difficult to separate water and gas in the return water tank due to the small height difference when recycling sewage due to its height limitation. Therefore, the use of the return water tank of this application can effectively separate water and gas in sewage.

[0127] Furthermore, a guide plate 406 is provided inside the return water box 404 along its length direction, in front of the separator 402 and close to the first fluid inlet 11, and both ends of the guide plate are spaced from the wall of the return water box.

[0128] like Figure 11-18 As shown, the return water box 404 is a shell structure with a cavity inside, and an opening is formed on the upper surface of the return water box 404 and a return water box cover 7 is threadedly connected to the opening. A separator 402 is provided inside the return water box 404, and the separator 402 is generally a flat structure. The separator 402 is a shell structure with a separation cavity 4021 inside, and the upper shell of the separator 402 is spaced apart from the top of the return water box 404.

[0129] like Figure 13-16 As shown, the upper shell of the separator 402 is provided with a plurality of second fluid inlets 4022, which extend downward from the upper shell surface of the separator 402 to the separator chamber 4021; directly below the second fluid inlets, the lower shell of the separator 402 is provided with gas-liquid separation ports 4023 equal in number to the second fluid inlets 4022, which extend upward from the lower shell surface of the separator 402 to the separator chamber 4021, and the lower end of the second fluid inlet 4022 extends into the gas-liquid separation port 4023. Fig.16 It can be seen that the second fluid inlet 4022 is an inverted cone hole structure, and the gas-liquid separation port 4023 is also an inverted cone hole structure, and the cross-sectional area of ​​the upper end of the gas-liquid separation port 4023 is larger than the cross-sectional area of ​​the lower end of the second fluid inlet 4022, so that the second fluid inlet and the gas-liquid separation port 4023 are spaced apart.

[0130] A one-way duckbill valve 401 is provided below the lower end of each gas-liquid separation port 4023, the upper end of the one-way duckbill valve is sealedly connected to the lower end of the gas-liquid separation port, and the lower end of the one-way duckbill valve is provided in the return water tank.

[0131] Among them, Figure 13-15 As shown, in order to facilitate the installation of the separation element 402 and the fan 167, a mounting surface 4042 is further formed in the return water box body, and a portion of the lower shell of the separation element 402 fits tightly on the mounting surface 4042 of the shell body, and a fluid outlet 407 running through the two is provided at the joint of the two, and a sealing gasket 403 is provided on the outside of the fluid outlet 407; the fluid outlet 407 is connected to the separation chamber and the air inlet end of the fan.

[0132] A threaded hole 4024 is formed on the separation member 402 , and the threaded hole 4024 is fixed to the mounting surface 4042 of the return water tank 404 through a threaded member.

[0133] Furthermore, in order to stabilize the gas-liquid separation ports 4023 , the upper end edges of the gas-liquid separation ports 4023 are connected together.

[0134] like Fig.15 As shown, a fan 167 is provided outside the return water box 404, and the fan 167 has an air inlet end and an air outlet end, and the air inlet end of the fan is sealed and connected to the fluid outlet 407 through a fan sealing rubber 405. Furthermore, a filter plate is provided between the air inlet end of the fan and the fluid outlet 407.

[0135] For example, the first fluid inlet 11 is an air duct joint, which is connected to the scraper air outlet joint 515 through the air duct, and then connected to the fluid channel of the scraper module main frame 51. When the fan 167 sucks the fluid mixture of dirt and gas in the first scraper and the second scraper through the first fluid inlet, the air duct, the scraper air outlet joint 515, and the suction port of the fluid channel, the fluid mixture will hit the guide plate 406 inside the return water tank, which will reduce the speed of the mixed gas and liquid (i.e., the fluid mixture). The mixed gas and liquid will be divided into two parts and move to both sides. The function here is mainly to reduce the speed, but the wind pressure will not be too great, and the negative pressure value will not change much. The mixed gas and liquid will move to the corners of the two sides of the return water tank through the guide plate 406, and then after another deceleration, turn to move to the middle. A small part will move to the middle in the middle, but it will not affect the movement. When all the mixed gas and liquid move to the middle, the speed is reduced. Due to the different densities of gas and liquid, most of the liquid sinks to the bottom of the return water tank due to gravity. Only a small part of the liquid mixed with the gas enters the second fluid inlet 4022 of the separator from above the separator 402. Since the second fluid inlet 4022 is an inverted cone hole structure, the mixed gas and liquid can be accelerated, and the gas is reversely sucked at the end of the inverted cone hole (that is, the gas is reversely sucked from the lower end of the second fluid inlet along the upper end of the gas-liquid separation port toward the fluid outlet 407), but the liquid will enter the one-way duckbill valve 401 due to inertia and sink to the bottom of the return water tank. Finally, all the gas will be sucked out of the robot by the fan through the fluid outlet. The return water tank integrates a water-gas separation device, and its main function is to separate the dirt and gas entering the return water tank. The gas is discharged through the fan, while the dirt remains in the return water tank.

[0136] The measured suction capacity of the return water tank is 3.5L, which can fully meet the water output of the water tank. The water tank is 3.5L, but the suction loss is 20%, so the actual amount of water that can be pumped back is 2.8L.

[0137] In one embodiment, Figure 17-18As shown, the return water tank 4 is detachably connected to the chassis 1 through a buckle structure 9; wherein the buckle structure 9 comprises a release pressure piece 901, a buckle fixing seat 902, a buckle 903 and a spring 904. The buckle fixing seat 902 is fixedly installed on the chassis, and a mounting cavity is formed in the buckle fixing seat 902. Two buckles 903 arranged opposite to each other are arranged in the mounting cavity of the buckle fixing seat 902. The buckles 903 are connected by a spring 904. A first inclined surface is formed on the buckle 903, and a second inclined surface is formed at both ends of the release buckle 901, and the second inclined surface contacts the first inclined surface. When the return water tank is pressed downward, the buckle 903 will move inward and compress the spring 904 at the same time; when the return water tank is pressed downward to the final position, the buckle will pop out and press the return water tank body, restricting the removal of the return water tank. When the return water tank needs to be taken out, the release pressure piece 901 is pressed downward, so that the second inclined surface of the release pressure piece 901 moves downward along the first inclined surface of the buckle, which will drive the buckles 903 on both sides to move inward and compress the spring 904 at the same time. At this time, the return water tank can be taken out.

[0138] Among them, Fig.13 As shown, the left and right sides of the upper end of the return water tank 404 are respectively connected to a pipe joint 12, and the two sides of the return water tank 404 are provided with mounting openings 4041, and the buckle structure 9 is arranged in the mounting openings 4041. The buckle structure 9 enables the return water tank to be quickly disassembled, and the quick disassembly of the return water tank is mainly for convenient discharge of sewage and self-cleaning after cleaning.

[0139] In one embodiment, Figure 2 As shown, the walking mechanism 13 includes: a second driving mechanism 150;

[0140] The crawler power wheel 131 is connected to the output end of the second driving mechanism and is driven to rotate by the second driving mechanism;

[0141] The crawler driven wheel 132 is connected to the output end of the second driving mechanism 150 and is driven to rotate by the second driving mechanism;

[0142] The rubber crawler 153 is sleeved on the outside of the crawler power wheel and the crawler driven wheel;

[0143] The support wheel 133 is rotatably mounted on the chassis, and the support wheel 133 is used to support the rubber track.

[0144] The second driving mechanism 150 is a driving motor, and the second driving mechanism 150 is fixedly mounted on the chassis 1. The output end of the second driving mechanism is connected to the track power wheel and the track driven wheel, driving the track power wheel and the track driven wheel to rotate, thereby driving the rubber track to walk on the glass surface. The walking mechanism 13 is a track drive system, and the track drive system is directly driven by the driving motor. The track power wheel 131 drives the rubber track 153, and the support wheel 133 and the track driven wheel 132 are track supports, which can ensure that the track and the glass surface are in a plane contact, providing a more stable driving force. At the same time, the rubber track is made of 50-degree natural rubber material with low hardness, thereby providing higher static friction. Among them, a drive plate 165 is also installed on the chassis of the present application, and the drive plate 165 is used to drive whether the motor is working.

[0145] This application uses a dual-drive crawler with a pulley diameter of 103mm and a roller brush diameter of 105mm, which can meet the obstacle crossing requirements of less than 30mm. The crawler adopts a rubber crawler with a large contact surface with the glass. At the same time, when the rubber hard bottom is low, the friction is also greater, which can meet the needs in terms of movement.

[0146] It should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The description of the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory. The terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "connection", "direct connection", "indirect connection", "fixed connection", "installation" and "assembly" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; the terms "installation", "connection" and "fixed connection" can be a direct connection, or an indirect connection through an intermediate medium, or can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0147] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A flat glass cleaning robot, characterized in that: include, Chassis (1); A water storage tank (3) detachably connected to the chassis (1); A cleaning module (2), comprising a roller brush (202) for cleaning the flat glass, wherein the cleaning module is connected to the chassis via a first four-bar linkage; A first torsion spring (142) is connected to the first four-bar linkage, wherein the first torsion spring is configured to form a pressing force on the cleaning module so that the roller brush is pressed against the flat glass; A scraper bar module (5) comprising a first scraper bar (504) and a second scraper bar (505) arranged in a front-to-rear orientation along the travel direction of the robot, wherein the scraper bar module is connected to the chassis via a second four-bar linkage; A second torsion spring (141) is connected to the second four-bar linkage, wherein the second torsion spring is configured to form a pressing force on the scraper module so that the first scraper and the second scraper are attached to the flat glass; A water return tank (4) connected to a suction mechanism, the suction mechanism being used to suck the fluid mixture between the first scraper strip and the second scraper strip into the water return tank, the water return tank being configured to separate water and gas from the fluid mixture; The walking mechanism (13) is connected to the chassis and is used to drive the robot to walk.

2. The flat glass cleaning robot according to claim 1, characterized in that: The cleaning module (2) further comprises: A cleaning module main frame (201), wherein the cleaning module main frame (201) is connected to the chassis via a first four-bar linkage; A first driving mechanism (217) is mounted on the main frame of the cleaning module; A synchronous pulley group (205) connected to the first end of the roller brush (202) and the output end of the first driving mechanism (217), and driven by the first driving mechanism to synchronously drive the roller brush to rotate; Wherein, the second end of the roller brush (202) is rotatably mounted on the main frame of the cleaning module.

3. The flat glass cleaning robot according to claim 2, characterized in that: The second end of the roller brush (202) is connected to the cleaning module main frame (201) via a quick-release mechanism; the quick-release mechanism comprises a support bearing (222), a support shaft (211), a quick-release member (213), a compression spring (223) and a quick-release fixing seat (212); The support bearing is installed on the second end of the roller brush (202), the inner ring of the support bearing is fixedly connected to the support shaft, a quick release part is installed on the support shaft, and the compression spring is provided between the quick release part and the support shaft, the quick release part is fixed on the quick release fixing seat, and the quick release fixing seat is fixed on the main frame of the cleaning module.

4. The flat glass cleaning robot according to claim 2, characterized in that: The cleaning module (2) further comprises: A water pump (229), wherein a first end of the water pump is connected to a water tank outlet interface (128) of the water tank; A nozzle (203), the nozzle being connected to the second end of the water pump; The first ultrasonic detection mechanism (231) is installed on both sides of the cleaning module main frame (201) and is located at the front end of the robot's moving direction. The first ultrasonic detection mechanism is used for cliff detection when the robot is moving forward.

5. The flat glass cleaning robot according to claim 1, characterized in that: The scraper strip module (5) further comprises: A scraper module main frame (51), the first scraper and the second scraper are mounted on the scraper module main frame (51), the first scraper is provided with a plurality of water outlets, so that a cavity with the water outlets is formed between the first scraper and the second scraper; A fluid channel for the circulation of a fluid mixture is formed in the scraper module main frame (51), a first end of the fluid channel is a suction port, the suction port is arranged in the cavity, and a second end of the fluid channel is connected to a first fluid inlet of a return tank; A second ultrasonic detection mechanism (506), the second ultrasonic detection mechanism (506) is installed on both sides of the scraper module main frame (51) and is located at the rear end of the robot's moving direction, and the second ultrasonic detection mechanism is used for cliff detection when the robot retreats.

6. The flat glass cleaning robot according to claim 5, characterized in that: It also includes an obstacle-crossing guide wheel (520), which is mounted on the scraper module main frame (51), and is used to adaptively lift the scraper module (5) when the robot moves forward.

7. The flat glass cleaning robot according to claim 1, characterized in that: The invention also comprises a scraper lifting mechanism, wherein the scraper lifting mechanism comprises a rotating servo (193), a servo rotating disk (195), a contact bearing (199), a rotating member (196) and a rotating adapter (145), wherein the rotating servo is fixed on the chassis, a servo rotating disk is installed on the rotating end of the rotating servo, the servo rotating disk is connected to the contact bearing, the contact bearing is in linear contact with the rotating member, the rotating member is connected to the rotating adapter, and the rotating adapter is connected to the second four-bar linkage.

8. The flat glass cleaning robot according to claim 1, characterized in that: The return water tank (4) comprises: A water return box (404), wherein a first fluid inlet (11) is provided on the water return box; a separator (402), the separator being arranged in the water return tank and spaced apart from the top of the water return tank; the separator comprising a second fluid inlet, a gas-liquid separation port, and a separation cavity communicating with the second fluid inlet and the gas-liquid separation port, the lower end of the second fluid inlet extending downwardly into the gas-liquid separation port; a one-way duckbill valve (401), the one-way duckbill valve being sealingly mounted on the separation element, the upper end of the one-way duckbill valve being sealingly connected to the lower end of the gas-liquid separation port, and the lower end of the one-way duckbill valve being exposed in the return water tank; The suction mechanism comprises a fan (167), the air inlet end of the fan being in sealed communication with the separation chamber.

9. The flat glass cleaning robot according to claim 1, characterized in that: A guide plate (406) is provided inside the return water box (404) along its length direction, in front of the separator (402) and close to the first fluid inlet (11), and both ends of the guide plate are spaced apart from the wall of the return water box; The cross-sectional area of ​​the upper end portion of the gas-liquid separation port is larger than the cross-sectional area of ​​the lower end portion of the second fluid inlet.

10. The flat glass cleaning robot according to claim 1, characterized in that: The water return tank (4) is detachably connected to the chassis via a snap-fit ​​structure (9); The walking mechanism (13) comprises: A second driving mechanism (150); A crawler power wheel (131) is connected to the output end of the second driving mechanism and is driven to rotate by the second driving mechanism; A crawler driven wheel (132) connected to the output end of the second driving mechanism and driven to rotate by the second driving mechanism; A rubber crawler (153) is sleeved on the outside of the crawler power wheel and the crawler driven wheel; The supporting wheel (133) is rotatably mounted on the chassis, and the supporting wheel is used to support the rubber crawler track.

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