Window cleaning machine

Abstract

The invention discloses a window cleaning machine, which is used for cleaning a to-be-cleaned surface, and comprises a machine body, a first cleaning element, a second cleaning element, a negative pressure device and a driving device, the first cleaning element and the second cleaning element are rotatably arranged on the machine body, the first cleaning element is used for forming a first space with a to-be-cleaned surface, and the second cleaning element is used for forming a second space with the to-be-cleaned surface; the negative pressure device is used for extracting air in at least one of the first space and the second space; the driving device is used for driving at least one of the first cleaning element and the second cleaning element to generate displacement on the surface to be cleaned; in a first preset time period, the driving device drives the machine body to swing around the first cleaning element, and the second cleaning element and the machine body can rotate around the first cleaning element together. When the window cleaning machine walks, the power loss is small.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning robots, and in particular to a window cleaning machine. Background Art

[0002] In recent years, the rapid popularization of window cleaning machines has greatly facilitated consumers' daily home life.

[0003] In the related art, a window cleaning machine has two cleaning discs and a connecting arm, wherein the connecting arm is connected between the two cleaning discs. During the window cleaning operation, the window cleaning machine drives a cleaning disc to rotate through a driving device, so that a torque is generated between the cleaning disc and the connecting arm, and the connecting arm is swung by the torque, thereby achieving walking on the surface to be cleaned.

[0004] During the travel control process of the window cleaning machine, transmission is carried out through components such as the cleaning disc. Due to the friction between the cleaning disc and the surface to be cleaned, the friction force will consume part of the power. In addition, the friction may cause the cleaning disc to heat up and consume energy, resulting in a large power loss. Not only will the travel speed of the machine slow down, affecting work efficiency, but it may also make it difficult for the machine to maintain accurate movement direction and position, affecting movement accuracy. Summary of the invention

[0005] The main purpose of the present invention is to provide a window cleaning machine, aiming to solve the technical problem that the current window cleaning machine causes a large power loss due to transmission through components such as a cleaning disk.

[0006] To achieve the above-mentioned object, the present invention provides a window cleaning machine for cleaning a surface to be cleaned, the window cleaning machine comprising a body, a first cleaning element, a second cleaning element, a negative pressure device and a driving device;

[0007] The first cleaning element and the second cleaning element are both rotatably disposed on the body, the first cleaning element is used to form a first space with the surface to be cleaned, and the second cleaning element is used to form a second space with the surface to be cleaned;

[0008] The negative pressure device is used to extract air from at least one of the first space and the second space, so that the body is adsorbed on the surface to be cleaned;

[0009] The driving device is used to drive at least one of the first cleaning element and the second cleaning element to move on the surface to be cleaned;

[0010] In a first preset time period, the driving device drives the body to swing around the first cleaning element, and the second cleaning element can rotate around the first cleaning element together with the body.

[0011] In some embodiments, the driving device includes a first driving device, and the first driving device is arranged corresponding to the first cleaning element;

[0012] Wherein, the driving device drives the body to swing around the first cleaning element, comprising:

[0013] The first driving device drives the body to swing around the first cleaning element.

[0014] In some embodiments, the drive device includes a second drive device, and the second drive device is arranged corresponding to the second cleaning element;

[0015] Wherein, the driving device drives the body to swing around the first cleaning element, including at least one of the first situation, the second situation and the third situation;

[0016] The first type of situation includes: the second driving device drives the body to swing around the first cleaning element;

[0017] The second situation includes: the second driving device drives the body to swing around the first cleaning element, and the second driving device drives the second cleaning element to rotate at the same time;

[0018] The third situation includes: the second driving device drives the second cleaning element to rotate, and the second cleaning element drives the body to swing around the first cleaning element.

[0019] In some embodiments, the driving device includes a first driving device and a second driving device, the first driving device is arranged corresponding to the first cleaning element, and the second driving device is arranged corresponding to the second cleaning element;

[0020] At least one of the first driving device and the second driving device drives the body to swing around the first cleaning element.

[0021] In some embodiments, the second cleaning element rotates together with the body around the first cleaning element, comprising:

[0022] The first cleaning element itself does not rotate, and the second cleaning element rotates together with the body around the first cleaning element; or,

[0023] The first cleaning element rotates by itself, the first cleaning element and the second cleaning element rotate in the same direction but at different speeds, and the second cleaning element rotates together with the body around the first cleaning element.

[0024] In some embodiments, the driving device drives the body to swing around the first cleaning element, and the second cleaning element and the body rotate together around the first cleaning element, including:

[0025] When the second cleaning element does not rotate itself and the first cleaning element does not rotate itself, the driving device drives the body to swing around the first cleaning element, and the second cleaning element and the body rotate together around the first cleaning element.

[0026] In some embodiments, the driving device drives the body to swing around the first cleaning element, comprising:

[0027] When the second cleaning element is not installed, the driving device drives the body to swing around the first cleaning element.

[0028] In some embodiments, the driving device drives the body to swing around the first cleaning element, comprising:

[0029] When the second cleaning element is not installed and the first cleaning element does not rotate, the driving device drives the body to swing around the first cleaning element.

[0030] In some embodiments, the driving device comprises a first part and a second part, the first part is drivingly connected to the second part, at least a part of the structure of the first part is connected to the body, and at least a part of the structure of the second part is connected to the first cleaning element;

[0031] The first cleaning element itself does not rotate, and the driving device drives the body to swing around the first cleaning element, comprising:

[0032] When the body is driven to swing around the first cleaning element, the first part rotates relative to the second part, so that the body swings around the first cleaning element when the first cleaning element does not rotate.

[0033] In some embodiments, during the second preset time period, the driving device drives the body to swing around the second cleaning element, and the first cleaning element can rotate around the second cleaning element together with the body.

[0034] In some embodiments, a plurality of first preset time periods and a plurality of second preset time periods are respectively provided, and a plurality of first preset time periods are alternately connected with a plurality of second preset time periods so that the body of the window cleaning machine can move in a twisting manner on the surface to be cleaned when the window cleaning machine is running.

[0035] The window cleaning machine of the present invention is used in cleaning scenes such as window cleaning, and a first space is formed between the first cleaning element and the surface to be cleaned, and a second space is formed between the second cleaning element and the surface to be cleaned, and the air in at least one of the first space and the second space can be extracted by a negative pressure device, so that a negative pressure is generated between the corresponding cleaning element and the surface to be cleaned so as to be adsorbed on the surface to be cleaned. In the operation of the window cleaning machine, within a first preset time period, the driving device drives the body to swing around the first cleaning element, and the second cleaning element can rotate around the first cleaning element together with the body, that is, the driving device directly drives the body to swing to realize the movement of the window cleaning machine on the surface to be cleaned. Compared with the prior art, the power loss is small, which not only helps to improve the walking speed of the machine and ensure work efficiency, but also enables the machine to maintain accurate movement direction and position operation, thereby ensuring movement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a window cleaning machine in one embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the modules of the window cleaning machine structure in one embodiment of the present invention;

[0038] Figure 3 A schematic diagram of the movement of a window cleaning machine according to an embodiment of the present invention;

[0039] Figure 4 It is a structural schematic diagram of a window cleaning machine in another embodiment of the present invention;

[0040] Figure 5 A schematic diagram of the internal structure of a window cleaning machine in one embodiment of the present invention;

[0041] Figure 6 for Figure 5 A schematic structural diagram of the window cleaning machine in another embodiment;

[0042] Figure 7 A schematic diagram of the movement of a window cleaning machine in another embodiment of the present invention;

[0043] Figure 8 The figure is a schematic diagram of the movement of the window cleaning machine in another embodiment of the present invention. DETAILED DESCRIPTION

[0044] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a 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.

[0045] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0046] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] The embodiment of the present invention provides a window cleaning machine for cleaning a surface to be cleaned, referring to Figures 1 to 3 , the window cleaning machine includes a body 100, a first cleaning element 210, a second cleaning element 220, a negative pressure device, a driving device 300 and a control device 400;

[0049] The first cleaning element 210 and the second cleaning element 220 are both rotatably disposed on the body 100. The first cleaning element 210 is used to form a first space with the surface to be cleaned, and the second cleaning element 220 is used to form a second space with the surface to be cleaned.

[0050] The negative pressure device is used to extract air from at least one of the first space and the second space so that the body 100 is adsorbed on the surface to be cleaned;

[0051] The driving device 300 is used to drive at least one of the first cleaning element 210 and the second cleaning element 220 to move on the surface to be cleaned;

[0052] In the first preset time period, the driving device 300 drives the main body 100 to swing around the first cleaning element 210 , and the second cleaning element 220 can rotate around the first cleaning element 210 together with the main body 100 .

[0053] The window cleaning machine involved in this embodiment is used to perform cleaning operations on the surface to be cleaned. Based on its cleaning scenario, the surface to be cleaned can correspond to window glass, including but not limited to this. The window cleaning machine has an adsorption function. When it is necessary to clean window glass, wall surface, ceiling, etc., it can rely on adsorption force to adhere to the surface to be cleaned for cleaning.

[0054] In the cleaning machine, the shape of the body 100 can be a disc, an elliptical disc, etc. The body 100 has an outer shell, and an installation cavity is formed in the outer shell. The installation cavity can be used to set other components of the cleaning machine, such as a negative pressure device and a control device 400, etc., including but not limited to these.

[0055] There are two cleaning elements, namely a first cleaning element 210 and a second cleaning element 220, and both are rotatably disposed on the body 100. Specifically, the first cleaning element 210 and the second cleaning element 220 are relatively disposed on a side of the body 100 facing the surface to be cleaned (which can be called the bottom surface of the body 100), and the first cleaning element 210 and the second cleaning element 220 can be symmetrical with each other about the central axis of the body 100.

[0056] When the window cleaning machine is placed on the surface to be cleaned, the first cleaning element 210 and the second cleaning element 220 respectively come into contact with the surface to be cleaned, so as to clean the surface to be cleaned.

[0057] The cleaning form of the cleaning element (the first cleaning element 210 or the second cleaning element 220) may include:

[0058] 1. The cleaning element itself does not rotate, but moves on the surface to be cleaned to clean the surface;

[0059] Second, the cleaning element rotates itself and at the same time moves or does not move on the surface to be cleaned to clean the surface.

[0060] The first cleaning element 210 and the second cleaning element 220 involved may be turntable cleaning elements. Furthermore, the cleaning element may be a single-disc structure or a multi-disc structure, which is configured according to structural requirements. When the cleaning element is a single-disc structure, the cleaning element cleans the surface to be cleaned through a single disk; when the cleaning element is a multi-disc structure, the disks are sequentially sleeved, and the cleaning element cleans the surface to be cleaned through at least a portion of the disks. As a preferred design, the cleaning element is sleeved or glued with a material with a large friction coefficient on the contact portion with the surface to be cleaned, which may be silicone, rubber, etc., so that there is sufficient friction between the cleaning element and the surface to be cleaned, thereby ensuring the cleaning effect.

[0061] The cleaning element itself is constructed with a negative pressure chamber, and the negative pressure device is arranged on the fuselage 100 and is connected to the negative pressure chamber of the cleaning element. After the cleaning element contacts the surface to be cleaned, the negative pressure chamber is formed into an adsorption space accordingly. For example, a first space can be formed between the first cleaning element 210 and the surface to be cleaned, and a second space can be formed between the second cleaning element 220 and the surface to be cleaned. The negative pressure device is used to extract the air in the first space and / or the second space, wherein, optionally, the air extraction of the first space and the second space is independently controlled, for example, the first space and the second space are connected to the negative pressure device through a connecting pipeline, and an air path switching structure (such as a control valve, etc.) is provided on the connecting pipeline, and the air path switching structure can be used to switch the air path, so that the negative pressure device is connected to one of the first space and the second space, or is connected to the other of the first space and the second space, or is connected to both the first space and the second space. In this way, when the negative pressure device is working, it can be to extract the air of one of the first space and the second space, or it can be to extract the air of the other of the first space and the second space, or it can be to extract the air of the first space and the second space at the same time. This is only exemplary and not restrictive. Alternatively, the air extraction of the first space and the second space is uniformly controlled, and the first space and the second space are connected to the negative pressure device through a connecting pipe. When the negative pressure device is working, it extracts the air in the first space and the second space at the same time. Among them, the negative pressure device may include a fan, an air pump or a vacuum pump, etc. It is easy to understand that when the window cleaning machine is placed on the surface to be cleaned, when the negative pressure device is working and extracts the air in at least one of the first space and the second space, an adsorption force can be generated so that the window cleaning machine is adsorbed on the surface to be cleaned, which can be applied to cleaning scenes where the surface to be cleaned is vertical or inclined. When facing a cleaning scene where the surface to be cleaned is horizontal, the negative pressure device can be controlled to not work accordingly. Optionally, the negative pressure device can adjust the size of the adsorption force by controlling the amount of air it extracts from the adsorption space.

[0062] The window cleaning machine may further include a control device 400, which, as the core part of the cleaning machine, may control the window cleaning machine to complete certain actions or tasks according to instructions and sensor information. The control device 400 may include a control circuit board, which is electrically connected to the driving device 300 to control the operation of the driving device 300. The driving device 300 may be connected to the body 100, the first cleaning element 210, and the second cleaning element 220, and may drive any one of them to move.

[0063] The driving device 300 may include a plurality of driving components, and the plurality of driving components (for example, three driving components) are arranged corresponding to the body 100, the first cleaning element 210, and the second cleaning element 220, so as to drive the body 100, the first cleaning element 210, and the second cleaning element 220, respectively. According to the control instruction issued by the control device 400, each driving component may be operated or not operated accordingly, and accordingly, one of the body 100, the first cleaning element 210, and the second cleaning element 220 may be driven, or more than one of them may be driven, or all of them may be driven. Alternatively, the driving device 300 may include a driving component, and the driving component is connected to the body 100, the first cleaning element 210, and the second cleaning element 220 through a plurality of transmission components (for example, three transmission components), respectively, so as to drive the body 100, the first cleaning element 210, and the second cleaning element 220, respectively. Furthermore, each transmission component may have a structural transformation function, and the transmission component may establish or disconnect a transmission connection relationship between the drive component and the corresponding component (such as the body 100 or the first cleaning element 210 or the second cleaning element 220) through structural transformation. According to the control instruction issued by the control device 400, the drive component operates, and each transmission component may perform structural transformation accordingly to establish or disconnect a transmission connection relationship between the drive component and the corresponding component (such as the body 100 or the first cleaning element 210 or the second cleaning element 220). Accordingly, one of the first cleaning element 210 and the second cleaning element 220 may be driven, or more than one may be driven, or all may be driven. The above-described embodiments are exemplary only and not restrictive. The structural setting of the drive device 300 may also adopt other structures, which are not limited in this embodiment.

[0064] The working / operating process of the window cleaning machine corresponds to the working / operating time, wherein the working / operating time of the window cleaning machine is configured to have a first preset time period, and the first preset time period may be a certain period of time in the working / operating time of the window cleaning machine, such as the first 5 seconds of the 10 seconds operating time, the last 10 seconds of the 20 seconds operating time, etc., and may not be limited to a specific time point. In addition to this first preset time period, the window cleaning machine may also be configured to have other preset time periods. Moreover, the first preset time period may be a user-defined setting, or the window cleaning machine may be automatically generated according to the walking path after planning the walking path based on the cleaning scene map, including but not limited to this.

[0065] In the first preset time period, the driving device 300 drives the body 100 to swing around the first cleaning element 210, such as Figure 3As shown, the fuselage 100 swings under the drive of the driving device 300 with the first cleaning element 210 as the center. The window cleaning machine walks on the surface to be cleaned by the swing of the fuselage 100. The walking scene can be that the window cleaning machine twists and walks, or turns and walks. Optionally, the driving device 300 directly drives the fuselage 100 to swing around the first cleaning element 210 without passing through the first cleaning element 210 or the second cleaning element 220. That is, the force of the swing of the fuselage 100 comes directly from the driving device 300, without passing through the first cleaning element 210 or the second cleaning element 220. Of course, in other implementations, it can also be passed through the transmission of the first cleaning element 210 or the second cleaning element 220.

[0066] When the body 100 swings around the first cleaning element 210, the second cleaning element 220 can rotate around the first cleaning element 210 together with the body 100, the first cleaning element 210 does not generate displacement on the surface to be cleaned, and the second cleaning element 220 generates displacement on the surface to be cleaned. Among them, it may be that the second cleaning element 220 is arranged on the body 100, and the second cleaning element 220 is driven by the body 100 and rotates around the first cleaning element 210, thereby generating displacement on the surface to be cleaned, and during this rotation process, the second cleaning element 220 itself may not rotate or rotate. Alternatively, it may also be that the second cleaning element 220 rotates and generates friction with the surface to be cleaned, and under the action of the friction, it rotates around the first cleaning element 210 together with the body 100, thereby generating displacement on the surface to be cleaned.

[0067] The defined second cleaning element 220 can rotate around the first cleaning element 210 together with the body 100, including the following situations:

[0068] When the second cleaning element 220 is installed on the body 100, if the driving device 300 drives the body 100 to swing around the first cleaning element 210, the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210;

[0069] When the second cleaning element 220 is not installed on the body 100 , if the driving device 300 drives the body 100 to swing around the first cleaning element 210 , the second cleaning element 220 and the body 100 do not rotate around the first cleaning element 210 together.

[0070] The window cleaning machine involved in this embodiment directly drives the body 100 to swing through the driving device 300 to realize the movement of the window cleaning machine on the surface to be cleaned. Compared with the existing technology, the power loss is small, which not only helps to improve the machine's walking speed and ensure work efficiency, but also allows the machine to maintain accurate movement direction and position, thereby ensuring movement accuracy.

[0071] In some embodiments, reference Figure 2 , the driving device 300 includes a first driving device 310, and the first driving device 310 is arranged corresponding to the first cleaning element 210;

[0072] The driving device 300 drives the body 100 to swing around the first cleaning element 210, including:

[0073] The first driving device 310 drives the body 100 to swing around the first cleaning element 210 .

[0074] Specifically, the driving device 300 adopts a first driving device 310, and the first driving device 310 is located at a position / area corresponding to the first cleaning element 210. Based on the driving device 300 driving the body 100 to swing around the first cleaning element 210, when the body 100 swings around the first cleaning element 210, the first driving device 310 may provide driving power to drive the body 100 to swing. Optionally, the first driving device 310 may directly provide driving power to drive the body 100 to swing.

[0075] The structure of the first driving device 310 can be as follows:

[0076] The first driving device 310 includes a first driving motor, and the first driving motor forms a driving relationship with the main body 100. The first driving device 310 can output power through the first driving motor to drive the main body 100 to swing around the first cleaning element 210.

[0077] Among them, as an embodiment, the first drive motor can be arranged on the fuselage 100. When the first drive motor is arranged on the fuselage 100, the body of the first drive motor is arranged in the fuselage 100 and is fixedly connected to the fuselage 100, and the output shaft of the first drive motor passes through the fuselage 100 and is connected to the first cleaning element 210. When the first drive motor is running, the output shaft of the first drive motor can be limited to rotate by means of the friction between the first cleaning element 210 and the surface to be cleaned, so that the body of the first drive motor rotates relative to the output shaft to drive the fuselage 100 to swing around the first cleaning element 210. Or, as another embodiment, the first drive motor can also be arranged on the first cleaning element 210, specifically, the body of the first drive motor is accommodated in the first cleaning element 210 and is fixedly connected to the first cleaning element 210, and the output shaft of the first drive motor passes through the first cleaning element 210 and is connected to the fuselage 100. When the first drive motor is running, the output shaft of the first drive motor rotates to drive the fuselage 100 to swing around the first cleaning element 210.

[0078] In addition, it can also be: Figure 4As shown, the first driving device 310 also includes a first driving wheel Q1, which is located on the peripheral side of the first cleaning element 210, and specifically can be located on the side of the first cleaning element 210 adjacent to the second cleaning element 220. The output shaft of the first driving motor is in transmission connection with the first driving wheel Q1, and the travel direction of the first driving wheel Q1 is along the tangent direction of a circle with the center of the first cleaning element 210 as the center. When the first driving motor is running, the first driving wheel Q1 is driven to roll on the surface to be cleaned, so as to drive the body 100 to swing around the first cleaning element 210.

[0079] In addition to the above-mentioned structures, the first driving device 310 may also adopt other structures, as long as it is arranged corresponding to the first cleaning element 210 and can drive the body 100 to swing around the first cleaning element 210 .

[0080] In some embodiments, reference Figure 2 , the driving device 300 includes a second driving device 320, and the second driving device 320 is arranged corresponding to the second cleaning element 220;

[0081] The driving device 300 drives the body 100 to swing around the first cleaning element 210, including at least one of the first situation, the second situation and the third situation;

[0082] The first type of situation includes: the second driving device 320 drives the body 100 to swing around the first cleaning element 210;

[0083] The second situation includes: the second driving device 320 drives the body 100 to swing around the first cleaning element 210, and the second driving device 320 drives the second cleaning element 220 to rotate at the same time;

[0084] The third situation includes: the second driving device 320 drives the second cleaning element 220 to rotate, and the second cleaning element 220 drives the body 100 to swing around the first cleaning element 210 .

[0085] Specifically, the driving device 300 uses a second driving device 320, and the second driving device 320 is located at the position / area where the second cleaning element 220 is located. Based on the driving device 300 driving the body 100 to swing around the first cleaning element 210, when the body 100 swings around the first cleaning element 210, it can be one or more of the first, second and third situations.

[0086] The first situation is that the second driving device 320 drives the body 100 to swing around the first cleaning element 210, that is, the second driving device 320 provides driving power to drive the body 100 to swing. Optionally, the second driving device 320 directly provides driving power to drive the body 100 to swing.

[0087] The structure of the second driving device 320 can be as follows:

[0088] The second driving device 320 includes a second driving motor, and the second driving motor forms a driving relationship with the main body 100. The second driving device 320 can output power through the second driving motor to drive the main body 100 to swing around the first cleaning element 210.

[0089] It can be: Figure 4 As shown, the second driving device 320 also includes a second driving wheel Q2, which is located on the peripheral side of the second cleaning element 220, and specifically can be located on the side of the second cleaning element 220 away from the first cleaning element 210. The output shaft of the second driving motor is in driving connection with the second driving wheel Q2, and the travel direction of the second driving wheel Q2 is along the tangent direction of a circle with the center of the first cleaning element 210 as a circle. When the second driving motor is running, the second driving wheel Q2 is driven to roll on the surface to be cleaned, so as to drive the body 100 to swing around the second cleaning element 220.

[0090] In addition to the above-mentioned structural forms, the second driving device 320 may also adopt other structures, as long as it is arranged corresponding to the second cleaning element 220 and can drive the body 100 to swing around the second cleaning element 220 .

[0091] The second type of situation is: the second driving device 320 drives the body 100 to swing around the first cleaning element 210, and the second driving device 320 drives the second cleaning element 220 to rotate at the same time, that is, the second driving device 320 provides driving power to drive the body 100 to swing, and at the same time drives the second cleaning element 220 to rotate. Optionally, the second driving device 320 directly provides driving power to drive the body 100 to swing, and the second driving device 320 directly drives the second cleaning element 220 to rotate at the same time.

[0092] The second driving device 320 may be structured as follows:

[0093] The second driving device 320 includes a second driving motor, which forms a driving relationship with the body 100 and the second cleaning element 220. The second driving device 320 can output power through the second driving motor to drive the body 100 to swing around the first cleaning element 210 and drive the second cleaning element 220 to rotate.

[0094] The second driving motor can transmit power to the body 100 and the second cleaning element 220 respectively through two sets of transmission structures to achieve simultaneous movement of the two.

[0095] The structural form of the second driving motor driving the body 100 can refer to the structural design of the second driving wheel Q2 mentioned above, and will not be repeated here. As for the second cleaning element 220, the second cleaning element 220 can be rotatably arranged on the body 100 through a rotating shaft, and the output shaft of the second driving motor is connected to the rotating shaft by transmission (for example, through a gear set, etc.), so that the second driving motor can drive the second cleaning element 220 to rotate by driving the rotating shaft. That is, when the second driving motor is running, it drives the second driving wheel to roll on the surface to be cleaned, so as to drive the body 100 to swing around the first cleaning element 210, and at the same time drives the rotating shaft to rotate, so as to drive the second cleaning element 220 to rotate.

[0096] The third situation is that the second driving device 320 drives the second cleaning element 220 to rotate, and the second cleaning element 220 drives the body 100 to rotate around the first cleaning element 210. That is, the second driving device 320 provides driving power, and the second cleaning element 220 drives the body 100 to swing.

[0097] The second driving device 320 includes a second driving motor, which is connected to the second cleaning element 220 and forms a driving relationship with the body 100. The second driving device 320 can output power through the second driving motor to drive the body 100 to swing around the first cleaning element 210 through the second cleaning element 220.

[0098] It can be that: the second cleaning element 220 is rotatably disposed on the body 100 via a rotating shaft, and the output shaft of the second driving motor is drivingly connected to the rotating shaft (for example, through a gear set, etc.), so that the second driving motor can drive the rotating shaft to rotate to drive the second cleaning element 220 to rotate. That is, when the second driving motor is running, the second cleaning element 220 is driven to rotate on the surface to be cleaned, so as to drive the body 100 to swing around the first cleaning element 210.

[0099] In some embodiments, reference Figure 2 The driving device 300 includes a first driving device 310 and a second driving device 320, wherein the first driving device 310 is arranged corresponding to the first cleaning element 210, and the second driving device 320 is arranged corresponding to the second cleaning element 220;

[0100] At least one of the first driving device 310 and the second driving device 320 drives the body 100 to swing around the first cleaning element 210 .

[0101] Specifically, the driving device 300 uses a first driving device 310 and a second driving device 320, the first driving device 310 is located at the position / area of ​​the first cleaning element 210, and the second driving device 320 is located at the position / area of ​​the second cleaning element 220. Based on the driving device 300 driving the body 100 to swing around the first cleaning element 210, when the body 100 swings around the first cleaning element 210, the driving power can be provided only by the first driving device 310 or the second driving device 320, or the driving power can be provided by the first driving device 310 and the second driving device 320 at the same time to drive the body 100 to swing. In actual operation, according to the control instruction issued by the control device 400, the first driving device 310 and / or the second driving device 320 of the driving device 300 operate accordingly to drive the body 100 to swing around the first cleaning element 210.

[0102] The structures of the first driving device 310 and the second driving device 320 involved may refer to the aforementioned implementation, and will not be described in detail in this embodiment.

[0103] In some embodiments, the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210, including the following two:

[0104] The first type: the first cleaning element 210 does not rotate itself, and the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together; or,

[0105] The second type: the first cleaning element 210 rotates by itself. The first cleaning element 210 and the second cleaning element 220 rotate in the same direction but at different speeds. The second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together.

[0106] When the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together, the first cleaning element 210 may have different working states. The working states of the first cleaning element 210 include: not rotating itself or rotating itself.

[0107] Therefore, it is possible that the first cleaning element 210 itself does not rotate, that is, the first cleaning element 210 is not driven by the driving device 300 or the force of the driving device 300 driving the first cleaning element 210 is less than or equal to the adsorption force acting on the first cleaning element 210, and it has no rotation speed on the surface to be cleaned and remains stationary, while the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together.

[0108] So it can also be, Figure 3As shown, the first cleaning element 210 rotates itself, that is, the first cleaning element 210 is driven by the driving device 300, and has a rotation speed on the surface to be cleaned, and keeps the rotation state, while the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210. Moreover, when the first cleaning element 210 rotates itself, the first cleaning element 210 and the second cleaning element 220 have the same direction and different rotation speeds.

[0109] For example, the driving device 300 drives the first cleaning element 210 and the second cleaning element 220 to rotate in the first direction, and the rotation speed of the second cleaning element 220 is greater than that of the first cleaning element 210. At the same time, the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210 in the second direction, and the second direction is opposite to the first direction. It is easy to understand that when the first cleaning element 210 serves as the rotation axis of the body 100 and the body 100 rotates around the first cleaning element 210, since the first cleaning element 210 is in a rotating state and the direction of the friction force generated between it and the surface to be cleaned is basically consistent with the rotation direction of the body 100, the first cleaning element 210 has a small hindering effect on the rotation of the body 100, which can make the body 100 rotate smoothly, improve the rotation effect of the body 100, and ensure the operation stability of the window cleaning machine.

[0110] In some embodiments, the driving device 300 drives the body 100 to swing around the first cleaning element 210, and the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together, including:

[0111] When the second cleaning element 220 and the first cleaning element 210 do not rotate, the driving device 300 drives the body 100 to swing around the first cleaning element 210 , and the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together.

[0112] Among them, the driving device 300 drives the body 100 to swing around the first cleaning element 210, and when the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together, the second cleaning element 220 and the first cleaning element 210 can have different working states, and the working states of the second cleaning element 220 and the first cleaning element 210 include: not rotating or rotating themselves.

[0113] Therefore, in this embodiment, it can be that when the driving device 300 drives the body 100 to swing around the first cleaning element 210 and the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together, the second cleaning element 220 and the first cleaning element 210 do not rotate, that is, the second cleaning element 220 and the first cleaning element 210 are not driven to rotate by the driving device 300, and the two have no rotation speed on the surface to be cleaned, and the driving device 300 drives the body 100 to swing around the first cleaning element 210, and the body 100 drives the second cleaning element 220 to swing accordingly during its swinging process, so that the second cleaning element 220 and the body 100 rotate around the first cleaning element 210 together, thereby causing displacement on the surface to be cleaned.

[0114] In addition, in other embodiments, when the driving device 300 drives the body 100 to swing around the first cleaning element 210, and the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210, it can also be:

[0115] The second cleaning element 220 and the first cleaning element 210 both rotate, that is, the second cleaning element 220 and the first cleaning element 210 are both driven to rotate by the driving device 300, and both have a rotation speed on the surface to be cleaned; or,

[0116] The second cleaning element 220 rotates, and the first cleaning element 210 does not rotate, that is, only the second cleaning element 220 is driven to rotate by the driving device 300, the second cleaning element 220 has a rotation speed on the surface to be cleaned, and the first cleaning element 210 has no rotation speed on the surface to be cleaned; or,

[0117] The second cleaning element 220 does not rotate, while the first cleaning element 210 rotates, that is, only the first cleaning element 210 is driven to rotate by the driving device 300, the first cleaning element 210 has a rotation speed on the surface to be cleaned, while the second cleaning element 220 has no rotation speed on the surface to be cleaned.

[0118] In some embodiments, the driving device 300 drives the body 100 to swing around the first cleaning element 210, including:

[0119] When the second cleaning element 220 is not installed, the driving device 300 drives the body 100 to swing around the first cleaning element 210 .

[0120] In the cleaning scene, the structural state of the window cleaning machine can be: the second cleaning element 220 is not installed. When the window cleaning machine is not assembled with the second cleaning element 220, the installation position on the fuselage 100 for installing the second cleaning element 220 can be sealed accordingly to ensure that the window cleaning machine will not release pressure. When the window cleaning machine does not have the second cleaning element 220, the fuselage 100 is driven by the driving device to swing around the first cleaning element 210, and the swing or walking of the fuselage 100 on the surface to be cleaned can also be realized. Moreover, during the swinging process of the fuselage 100, if the first cleaning element 210 is initially in a rotating state, it can be kept rotating continuously. It is easy to understand that during the cleaning operation of the window cleaning machine, if an unexpected situation such as the second cleaning element 220 falls off occurs, the fuselage 100 can also maintain walking for at least a period of time, which can reduce the impact on the walking of the fuselage 100.

[0121] In some embodiments, the driving device 300 drives the body 100 to swing around the first cleaning element 210, including:

[0122] When the second cleaning element 220 is not installed and the first cleaning element 210 does not rotate, the driving device 300 drives the body 100 to swing around the first cleaning element 210 .

[0123] In the cleaning scene, the structural state of the window cleaning machine can be: the second cleaning element 220 is not installed. When the window cleaning machine is not assembled with the second cleaning element 220, the installation position on the fuselage 100 for installing the second cleaning element 220 can be sealed accordingly to ensure that the window cleaning machine will not release pressure. When the window cleaning machine does not have the second cleaning element 220 and the first cleaning element 210 does not rotate, the fuselage 100 is driven by the driving device 300 to swing around the first cleaning element 210, and the fuselage 100 can also swing or walk on the surface to be cleaned. It is easy to understand that during the cleaning operation of the window cleaning machine, if an unexpected situation such as the second cleaning element 220 falls off occurs, the fuselage 100 can also maintain walking for at least a period of time, which can reduce the impact on the walking of the fuselage 100.

[0124] In some embodiments, reference Figure 5 and Figure 6 The driving device 300 comprises a first part 301 and a second part 302, the first part 301 and the second part 302 are drivingly connected, at least a part of the structure of the first part 301 is connected to the body 100, and at least a part of the structure of the second part 302 is connected to the first cleaning element 210;

[0125] The first cleaning element 210 itself does not rotate, and the driving device 300 drives the body 100 to swing around the first cleaning element 210, including:

[0126] When the main body 100 is driven to swing around the first cleaning element 210 , the first part 301 rotates relative to the second part 302 , so that the main body 100 swings around the first cleaning element 210 when the first cleaning element 210 does not rotate.

[0127] In this embodiment, the driving device 300 may include a first part 301 and a second part 302, the two parts are respectively connected to the body 100 and the first cleaning element 210, and the two parts are transmission-connected. When the driving device 300 drives the body 100 to swing around the first cleaning element 210, the first part 301 rotates relative to the second part 302, so that the body 100 swings around the first cleaning element 210 when the first cleaning element 210 does not rotate.

[0128] Specifically, the driving device 300 can be generally divided into a driving part and a transmission part, the first part 301 can correspond to the driving part, and the second part 302 can correspond to the transmission part. Figure 5 and Figure 6 As shown, taking the driving part as a driving motor and the transmission part as a planetary gear assembly as an example, the driving motor can be correspondingly regarded as the first part 301 , and the planetary gear transmission assembly can be correspondingly regarded as the second part 302 .

[0129] The drive motor is fixedly mounted on the body 100 (equivalent to the first part 301 being connected to the body 100), the output shaft of the drive motor is meshedly connected to the input end of the planetary gear assembly (such as the sun gear 302A), and the output end of the planetary gear assembly is connected to the first cleaning element 210 (equivalent to the second part 302 being connected to the first cleaning element 210).

[0130] When the first cleaning element 210 is not rotating, at least a portion of the structure of the planetary gear assembly (second portion 302) is fixed, such as Figure 5 and Figure 6The partial structure connecting the planetary gear assembly (second part 302) and the drive motor (first part 301) shown in the figure is fixed, and the partial structure may be the sun gear 302A of the planetary gear assembly (second part 302). Then, in the process of the body 100 swinging around the first cleaning element 210, the drive motor (first part 301) drives the body 100 to rotate around the sun gear 302A of the planetary gear assembly (second part 302), and the positions of the body 100 and the drive motor (first part 301) are moved. If rotation occurs, the body 100 swings around the first cleaning element 210. In other embodiments, if the sun gear 302A of the planetary gear assembly (second part 302) rotates while the driving motor (first part 301) rotates around the sun gear of the planetary gear assembly (second part 302), other components in the planetary gear assembly (second part 302) will be caused to rotate. Other structures are also provided in the planetary gear assembly (second part 302) to achieve the conversion between rotation and stillness, such as bearings. The planetary gear assembly is connected to the first cleaning element 210 through a bearing, the outer ring of the bearing is connected to the planetary gear assembly, the inner ring of the bearing is connected to the first cleaning element 210, the outer ring of the bearing rotates with the other components of the planetary gear assembly, while the inner ring of the bearing and the first cleaning element 210 do not rotate.

[0131] In some embodiments, reference Figure 7 In the second preset time period, the driving device 300 drives the body 100 to swing around the second cleaning element 220 , and the first cleaning element 210 can rotate around the second cleaning element 220 together with the body 100 .

[0132] In this embodiment, the working / operating time of the window cleaning machine is also configured to have a second preset time period, which can be a certain period of time in the working / operating time of the window cleaning machine, such as the last 5 seconds of the 10s running time, the first 10 seconds of the 20s running time, etc., and is not limited to a specific time point. In addition, the second preset time period can be a user-defined setting, or the window cleaning machine can automatically generate it according to the walking path after planning the walking trajectory based on the cleaning scene map, including but not limited to this. The second preset time period can be before or after the first preset time period, and it can be connected or separated from the first preset time period, which is not limited in this embodiment.

[0133] In the second preset time period, the driving device 300 drives the fuselage 100 to swing around the second cleaning element 220, that is, the fuselage 100 swings under the drive of the driving device 300 with the second cleaning element 220 as the center. The window cleaning machine walks on the surface to be cleaned by the swinging of the fuselage 100. The walking scene can be a twisting walking of the window cleaning machine, or a reversing walking. Optionally, the driving device 300 directly drives the fuselage 100 to swing around the first cleaning element 210 without passing through the first cleaning element 210 or the second cleaning element 220. That is, the force of the swing of the fuselage 100 comes directly from the driving device 300, without passing through the first cleaning element 210 or the second cleaning element 220. Of course, in other implementations, it can also be passed through the transmission of the first cleaning element 210 or the second cleaning element 220.

[0134] When the body 100 swings around the second cleaning element 220, the first cleaning element 210 can rotate around the second cleaning element 220 together with the body 100, the second cleaning element 220 does not generate displacement on the surface to be cleaned, and the first cleaning element 210 generates displacement on the surface to be cleaned. Among them, it may be that the first cleaning element 210 is arranged on the body 100, and the first cleaning element 210 rotates around the second cleaning element 220 driven by the body 100, thereby generating displacement on the surface to be cleaned, and during this rotation process, the first cleaning element 210 itself may not rotate or rotate. Alternatively, it may also be that the first cleaning element 210 rotates and generates friction with the surface to be cleaned, and under the action of the friction, it rotates around the second cleaning element 220 together with the body 100, thereby generating displacement on the surface to be cleaned.

[0135] The first cleaning element 210 defined herein can rotate together with the body 100 around the second cleaning element 220, including the following situations:

[0136] When the first cleaning element 210 is installed on the body 100, if the driving device 300 drives the body 100 to swing around the second cleaning element 210, the first cleaning element 210 and the body 100 rotate together around the second cleaning element 220;

[0137] When the first cleaning element 210 is not installed on the body 100 , if the driving device 300 drives the body 100 to swing around the second cleaning element 220 , the first cleaning element 210 and the body 100 do not rotate together around the second cleaning element 220 .

[0138] The structure of the driving device 300 can be set with reference to the above-mentioned embodiment, and only the target object of the first cleaning element 210 needs to be replaced by the second cleaning element 220. The driving principle is similar to that, and this embodiment will not be described in detail.

[0139] In some embodiments, reference Figure 8 The first preset time period and the second preset time period are respectively provided with a plurality of first preset time periods and a plurality of second preset time periods are alternately connected so that the fuselage 100 can move in a twisting manner on the surface to be cleaned when the window cleaning machine is running.

[0140] In the first preset time period, the body 100 is driven by the driving device 300 to swing around the first cleaning element 210, and the second cleaning element 220 can rotate around the first cleaning element 210 together with the body 100, that is, in the first preset time period, the body 100 and the second cleaning element 220 rotate with the first cleaning element 210 as the rotation axis;

[0141] In the second preset time period, the body 100 is driven by the driving device 300 to swing around the second cleaning element 220, and the first cleaning element 210 can rotate around the second cleaning element 220 together with the body 100, that is, in the second preset time period, the body 100 and the first cleaning element 210 rotate with the second cleaning element 220 as the rotation axis;

[0142] During the working / operating time of the window cleaning machine, multiple first preset time periods are alternately connected with multiple second preset time periods, for example, there is a second preset time period between any two first preset time periods, or there is a first preset time period between any two second preset time periods, wherein, in the first preset time period, the body 100 rotates with the first cleaning element 210 as the rotation axis, and when the second preset time period is reached, the body 100 switches to rotate with the second cleaning element 220 as the rotation axis, and so on, so that the rotation axis of the body 100 switches back and forth between the first cleaning element 210 and the second cleaning element 220, thereby controlling the body 100 to achieve twisting walking on the surface to be cleaned.

[0143] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A window cleaning machine, used for cleaning a surface to be cleaned, characterized in that: The window cleaning machine comprises a body, a first cleaning element, a second cleaning element, a negative pressure device and a driving device; The first cleaning element and the second cleaning element are both rotatably disposed on the body, the first cleaning element is used to form a first space with the surface to be cleaned, and the second cleaning element is used to form a second space with the surface to be cleaned; The negative pressure device is used to extract air from at least one of the first space and the second space, so that the body is adsorbed on the surface to be cleaned; The driving device is used to drive at least one of the first cleaning element and the second cleaning element to move on the surface to be cleaned; In a first preset time period, the driving device drives the body to swing around the first cleaning element, and the second cleaning element can rotate around the first cleaning element together with the body.

2. The window cleaning machine according to claim 1, characterized in that: The driving device comprises a first driving device, and the first driving device is arranged corresponding to the first cleaning element; Wherein, the driving device drives the body to swing around the first cleaning element, comprising: The first driving device drives the body to swing around the first cleaning element.

3. The window cleaning machine according to claim 1, characterized in that: The driving device includes a second driving device, and the second driving device is arranged corresponding to the second cleaning element; Wherein, the driving device drives the body to swing around the first cleaning element, including at least one of the first situation, the second situation and the third situation; The first type of situation includes: the second driving device drives the body to swing around the first cleaning element; The second situation includes: the second driving device drives the body to swing around the first cleaning element, and the second driving device drives the second cleaning element to rotate at the same time; The third situation includes: the second driving device drives the second cleaning element to rotate, and the second cleaning element drives the body to swing around the first cleaning element.

4. The window cleaning machine according to claim 1, characterized in that: The driving device comprises a first driving device and a second driving device, wherein the first driving device is arranged corresponding to the first cleaning element, and the second driving device is arranged corresponding to the second cleaning element; At least one of the first driving device and the second driving device drives the body to swing around the first cleaning element.

5. The window cleaning machine according to claim 1, characterized in that: The second cleaning element rotates together with the body around the first cleaning element, comprising: The first cleaning element itself does not rotate, and the second cleaning element rotates together with the body around the first cleaning element; or, The first cleaning element rotates by itself, the first cleaning element and the second cleaning element rotate in the same direction but at different speeds, and the second cleaning element rotates together with the body around the first cleaning element.

6. The window cleaning machine according to claim 1, characterized in that: The driving device drives the body to swing around the first cleaning element, and the second cleaning element can rotate around the first cleaning element together with the body, including: When the second cleaning element does not rotate itself and the first cleaning element does not rotate itself, the driving device drives the body to swing around the first cleaning element, and the second cleaning element and the body rotate together around the first cleaning element.

7. The window cleaning machine according to claim 1, characterized in that: The driving device drives the body to swing around the first cleaning element, comprising: When the second cleaning element is not installed, the driving device drives the body to swing around the first cleaning element.

8. The window cleaning machine according to claim 1, characterized in that: The driving device drives the body to swing around the first cleaning element, comprising: When the second cleaning element is not installed and the first cleaning element does not rotate, the driving device drives the body to swing around the first cleaning element.

9. The window cleaning machine according to claim 5, characterized in that: The driving device comprises a first part and a second part, the first part is in driving connection with the second part, at least a part of the structure of the first part is connected with the body, and at least a part of the structure of the second part is connected with the first cleaning element; The first cleaning element itself does not rotate, and the driving device drives the body to swing around the first cleaning element, comprising: When the body is driven to swing around the first cleaning element, the first part rotates relative to the second part, so that the body swings around the first cleaning element when the first cleaning element does not rotate.

10. The window cleaning machine according to claim 1, characterized in that: During the second preset time period, the driving device drives the body to swing around the second cleaning element, and the first cleaning element can rotate around the second cleaning element together with the body.

11. The window cleaning machine according to claim 10, characterized in that: A plurality of the first preset time periods and a plurality of the second preset time periods are respectively provided, and the plurality of the first preset time periods are alternately connected with the plurality of the second preset time periods, so that the machine body can move in a twisting manner on the surface to be cleaned when the window cleaning machine is running.

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