window wiper

Abstract

The application discloses a window cleaning machine for cleaning a surface to be cleaned, which 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 the surface to be cleaned, and the second cleaning element is used for forming a second space with the surface to be cleaned; the negative pressure device is used for extracting air in at least one of the first space and the second space; and the driving device is used for driving at least one of the first cleaning element and the second cleaning element to displace 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 can rotate around the first cleaning element together with the machine body. The window cleaning machine has small power loss when walking.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a window cleaning machine. Background Technology

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

[0003] In related technologies, window cleaning machines have two cleaning discs and a linkage arm. The linkage arm is connected between the two cleaning discs. During window cleaning operations, the window cleaning machine drives one cleaning disc to rotate through a drive device, so that the cleaning disc and the linkage arm generate torque. The torque causes the linkage arm to swing, thereby enabling it to move on the surface to be cleaned.

[0004] During the movement control process, the window cleaning machine is driven by components such as the cleaning disc. Friction occurs between the cleaning disc and the surface to be cleaned, which consumes some power. Furthermore, the friction may cause the cleaning disc to heat up and consume energy, resulting in significant power loss. This not only slows down the machine's movement speed and affects work efficiency, but may also make it difficult for the machine to maintain accurate movement direction and position, affecting movement precision. Summary of the Invention

[0005] The main objective of this invention is to propose a window cleaning machine that addresses the technical problem of significant power loss caused by the current window cleaning machines relying on components such as cleaning discs for transmission.

[0006] To achieve the above objectives, the present invention proposes a window cleaning machine for cleaning surfaces to be cleaned. The window cleaning machine includes a machine body, a first cleaning element, a second cleaning element, a negative pressure device, and a drive device.

[0007] Both the first cleaning element and the second cleaning element are rotatably mounted on the machine 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 can be adsorbed onto 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 generate displacement on the surface to be cleaned;

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

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

[0012] The driving device drives the machine body to swing around the first cleaning element, including:

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

[0014] In some embodiments, the driving device includes a second driving device, which is disposed corresponding to the second cleaning element;

[0015] The driving device drives the machine body to swing around the first cleaning element, including at least one of the first type, the second type, and the third type.

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

[0017] The second type of scenario includes: the second driving device drives the machine body to swing around the first cleaning element, and the second driving device simultaneously drives the second cleaning element to rotate;

[0018] The third scenario includes: the second driving device drives the second cleaning element to rotate, and the second cleaning element causes the machine 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, wherein the first driving device is configured corresponding to the first cleaning element and the second driving device is configured corresponding to the second cleaning element;

[0020] At least one of the first drive device and the second drive 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, including:

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

[0023] The first cleaning element rotates on its own. The first cleaning element and the second cleaning element rotate in the same direction but at different speeds. The second cleaning element and the machine body rotate together around the first cleaning element.

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

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

[0026] In some embodiments, the drive device drives the body to oscillate around the first cleaning element, including:

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

[0028] In some embodiments, the drive device drives the body to oscillate around the first cleaning element, including:

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

[0030] In some embodiments, the drive device has a first part and a second part, the first part and the second part being drively connected, at least a portion of the structure of the first part being connected to the body, and at least a portion of the structure of the second part being connected to the first cleaning element;

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

[0032] When the body is driven to swing around the first cleaning element, the first portion rotates relative to the second portion, such that the body swings around the first cleaning element when the first cleaning element is not rotating.

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

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

[0035] This invention relates to a window cleaning machine. When applied to window cleaning and other cleaning scenarios, a first cleaning element forms a first space with the surface to be cleaned, and a second cleaning element forms a second space with the surface to be cleaned. A negative pressure device can extract air from at least one of the first and second spaces, creating negative pressure between the corresponding cleaning element and the surface to be cleaned, thus adhering to the surface. During operation, within a first preset time period, the drive unit drives the machine body to swing around the first cleaning element. The second cleaning element can rotate around the first cleaning element together with the machine body. This direct drive unit swings the machine body to move the window cleaning machine across the surface to be cleaned. Compared to existing technologies, this method results in less power loss, which not only helps improve machine speed and ensures work efficiency but also allows the machine to maintain accurate direction and position, thus ensuring motion precision. Attached Figure Description

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

[0037] Figure 2 This is a schematic diagram of the modular components of a window cleaning machine in one embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the movement of the window cleaning machine in one embodiment of the present invention;

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

[0040] Figure 5 This is a schematic diagram of the internal structure of a window cleaning machine according to an embodiment of the present invention;

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

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

[0043] Figure 8 This is a schematic diagram of the movement of the window cleaning machine in another embodiment of the present invention. Detailed Implementation

[0044] The solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0046] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0047] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0048] This invention provides a window cleaning machine for cleaning surfaces, as described in the following embodiments. 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 drive device 300, and a control device 400.

[0049] Both the first cleaning element 210 and the second cleaning element 220 are rotatably mounted 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 and second spaces so that the body 100 can adhere to 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 generate displacement on the surface to be cleaned;

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

[0053] The window cleaning machine involved in this embodiment is used to perform cleaning operations on surfaces to be cleaned. Based on the 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, walls, ceilings, etc., it can rely on adsorption force to adhere to the surface to be cleaned and perform cleaning work.

[0054] In the cleaning machine, the shape of the body 100 can be disc-shaped, elliptical disc-shaped, etc. The body 100 has an outer shell, and an installation cavity is formed inside the outer shell. The installation cavity can be used to install other components of the cleaning machine, such as negative pressure device and 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, both of which are rotatably disposed on the body 100. Specifically, the first cleaning element 210 and the second cleaning element 220 are disposed opposite to each other on the side of the body 100 facing the surface to be cleaned (which may be referred to as the bottom surface of the body 100), and the first cleaning element 210 and the second cleaning element 220 are symmetrical 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 in order to clean the surface.

[0057] The cleaning methods of the cleaning element (first cleaning element 210 or 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] 2. The cleaning element rotates itself and simultaneously moves or does not move on the surface to be cleaned, so as to clean the surface.

[0060] The first cleaning element 210 and the second cleaning element 220 involved can be rotary cleaning elements. Furthermore, the cleaning element can be a single-disc structure or a multi-disc structure, depending on structural requirements. When the cleaning element is a single-disc structure, it cleans the surface to be cleaned through a single disc; when the cleaning element is a multi-disc structure, the discs are nested sequentially, and the cleaning element cleans the surface to be cleaned through at least a portion of the discs. Preferably, the contact area between the cleaning element and the surface to be cleaned is fitted or adhered with a material with a high coefficient of friction, such as silicone or rubber, to ensure sufficient friction between the cleaning element and the surface to be cleaned, thereby guaranteeing the cleaning effect.

[0061] The cleaning element itself has a negative pressure chamber, and a negative pressure device is mounted on the body 100 and connected to the negative pressure chamber of the cleaning element. When the cleaning element comes into contact with the surface to be cleaned, the negative pressure chamber forms an adsorption space. 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 air from the first space and / or the second space. Optionally, the air extraction from the first space and the second space can be controlled independently. For example, the first space and the second space can be connected to the negative pressure device through a connecting pipe, and the connecting pipe is equipped with an air path switching structure (such as a control valve). The air path can be switched through the air path switching structure, so that the negative pressure device can be connected to one of the first space and the second space, or to the other of the first space and the second space, or to both of the first space and the second space. Thus, when the negative pressure device is working, it can extract air from one of the first space and the second space, or extract air from the other of the first space and the second space, or extract air from both the first space and the second space simultaneously. This is merely illustrative and not restrictive. Alternatively, the air extraction from the first and second spaces can be uniformly controlled. The first and second spaces are connected to the negative pressure device via connecting pipes. When the negative pressure device is working, it simultaneously extracts air from both the first and second spaces. The negative pressure device may include a fan, air pump, or vacuum pump, etc. It is easy to understand that when the window cleaning machine is placed on the surface to be cleaned, and the negative pressure device is working and extracting air from at least one of the first and second spaces, an adsorption force is generated, causing the window cleaning machine to adhere to the surface. This can be applied to cleaning scenarios where the surface to be cleaned is vertical or inclined. When facing a cleaning scenario where the surface to be cleaned is horizontal, the negative pressure device can be controlled to not operate. Optionally, the negative pressure device can adjust the magnitude of the adsorption force by controlling the amount of air it extracts from the adsorption space.

[0062] The window cleaning machine may also include a control device 400. As the core component of the cleaning machine, the control device 400 can control the window cleaning machine to complete certain actions or tasks based on instructions and sensor information. The control device 400 may include a control circuit board, which is electrically connected to the drive device 300 to control its operation. The drive device 300 can be connected to the machine body 100, the first cleaning element 210, and the second cleaning element 220, and can drive the movement of any one of them.

[0063] The drive device 300 may include multiple drive components (e.g., three drive components) correspondingly disposed with the body 100, the first cleaning element 210, and the second cleaning element 220 to drive the body 100, the first cleaning element 210, and the second cleaning element 220 respectively. According to the control commands issued by the control device 400, each drive component may operate or not operate accordingly. Accordingly, one, multiple, or all of the body 100, the first cleaning element 210, and the second cleaning element 220 may be driven. Alternatively, the drive device 300 may include a single drive component, which is connected to the body 100, the first cleaning element 210, and the second cleaning element 220 respectively via multiple transmission components (e.g., three transmission components) to drive the body 100, the first cleaning element 210, and the second cleaning element 220 respectively. Furthermore, each transmission component can have a structural transformation function. Through structural transformation, the transmission component can establish or disconnect the transmission connection between the drive component and its corresponding part (such as the body 100, the first cleaning element 210, or the second cleaning element 220). According to the control commands issued by the control device 400, the drive component operates, and each transmission component can correspondingly undergo structural transformation to establish or disconnect the transmission connection between the drive component and its corresponding part (such as the body 100, the first cleaning element 210, or the second cleaning element 220). Accordingly, one, multiple, or all of the first cleaning element 210 and the second cleaning element 220 may be driven. The embodiments described above are merely exemplary and not restrictive. Other structural configurations of the drive device 300 can also be adopted, and this embodiment does not limit this.

[0064] The window cleaning machine's operation process corresponds to a working / running time. This working / running time is configured to have a first preset time period. This first preset time period can be a specific segment of the working / running time, such as the first 5 seconds of a 10-second running time, or the last 10 seconds of a 20-second running time, and is not limited to a specific point in time. Besides this first preset time period, the window cleaning machine can also be configured to have other preset time periods. Furthermore, this first preset time period can be a user-defined setting, or it can be automatically generated based on the window cleaning machine's planned path according to the cleaning scene map, including but not limited to these options.

[0065] During the first preset time period, the drive unit 300 drives the machine body 100 to oscillate around the first cleaning element 210, such as... Figure 3As shown, with the first cleaning element 210 as the center, the machine body 100 swings under the drive of the drive device 300. The window cleaning machine moves on the surface to be cleaned by swinging the machine body 100. This movement can be a twisting or turning motion. Optionally, the drive device 300 directly drives the machine body 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 swinging of the machine body 100 comes directly from the drive device 300, without passing through the first cleaning element 210 or the second cleaning element 220. Of course, in other implementations, the force can be transmitted through the first cleaning element 210 or the second cleaning element 220.

[0066] When the machine body 100 swings around the first cleaning element 210, the second cleaning element 220 can rotate together with the machine body 100 around the first cleaning element 210. The first cleaning element 210 does not displace on the surface to be cleaned, while the second cleaning element 220 does displace on the surface to be cleaned. This displacement can occur because the second cleaning element 220 is mounted on the machine body 100, and under the influence of the machine body 100, it rotates around the first cleaning element 210, thus displacing itself on the surface to be cleaned. During this rotation, the second cleaning element 220 itself may remain stationary or rotate. Alternatively, the second cleaning element 220 may rotate and generate friction with the surface to be cleaned, causing it to rotate together with the machine body 100 around the first cleaning element 210, thus displacing itself on the surface to be cleaned.

[0067] The second cleaning element 220, as defined, 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, then 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 drive device 300 drives the body 100 to swing around the first cleaning element 210, that is, there is no second cleaning element 220 and body 100 rotating together around the first cleaning element 210.

[0070] The window cleaning machine involved in this embodiment directly drives the machine body 100 to swing through the drive device 300 to achieve 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 machine's walking speed and ensure work efficiency, but also enables the machine to maintain accurate movement direction and position, thereby ensuring movement accuracy.

[0071] In some embodiments, refer to Figure 2 The drive device 300 includes a first drive device 310, which is correspondingly disposed with the first cleaning element 210;

[0072] The drive unit 300 drives the machine body 100 to swing around the first cleaning element 210, including:

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

[0074] Specifically, the drive device 300 employs a first drive device 310, which corresponds to the location / area of ​​the first cleaning element 210. Based on the drive device 300 driving the machine body 100 to swing around the first cleaning element 210, the driving power for the machine body 100 to swing can be provided by the first drive device 310. Optionally, the driving power can be directly provided by the first drive device 310 to swing the machine body 100.

[0075] The first driving device 310 can be configured in a manner such as:

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

[0077] In one embodiment, the first drive motor can be mounted on the body 100. When the first drive motor is mounted on the body 100, the motor body is housed within and fixedly connected to the body 100, and the output shaft of the first drive motor extends through the body 100 and connects to the first cleaning element 210. When the first drive motor is running, the friction between the first cleaning element 210 and the surface to be cleaned can be used to restrict the rotation of the output shaft, thereby causing the motor body to rotate relative to the output shaft, thus driving the body 100 to swing around the first cleaning element 210. Alternatively, in another embodiment, the first drive motor can also be mounted on the first cleaning element 210. Specifically, the motor body is housed within and fixedly connected to the first cleaning element 210, and the output shaft of the first drive motor extends through the first cleaning element 210 and connects to the body 100. When the first drive motor is running, the output shaft rotates, causing the body 100 to swing around the first cleaning element 210.

[0078] In addition to this, it can also be: such as Figure 4As shown, the first driving device 310 also includes a first driving wheel Q1, which is located on the periphery of the first cleaning element 210, specifically 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 connected to the first driving wheel Q1, and the first driving wheel Q1 travels along the tangent of a circle centered on the center of the first cleaning element 210. When the first driving motor is running, it drives the first driving wheel Q1 to roll on the surface to be cleaned, thereby causing the machine body 100 to swing around the first cleaning element 210.

[0079] In addition to the above-mentioned structural forms, the first drive device 310 can also adopt other forms, as long as it is set in accordance with the first cleaning element 210 and can drive the body 100 to swing around the first cleaning element 210.

[0080] In some embodiments, refer to Figure 2 The drive device 300 includes a second drive device 320, which is disposed corresponding to the second cleaning element 220;

[0081] The drive unit 300 drives the body 100 to swing around the first cleaning element 210, including at least one of the first type, the second type, and the third type.

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

[0083] The second type of situation includes: the second drive device 320 drives the body 100 to swing around the first cleaning element 210, and the second drive device 320 simultaneously drives the second cleaning element 220 to rotate.

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

[0085] Specifically, the drive device 300 adopts a second drive device 320, which corresponds to the position / area where the second cleaning element 220 is located. Based on the drive device 300, the machine body 100 is driven to swing around the first cleaning element 210. When the machine body 100 swings around the first cleaning element 210, it can be one or more of the first type, the second type, and the third type.

[0086] The first scenario involves the second drive device 320 driving the body 100 to swing around the first cleaning element 210. Specifically, the second drive device 320 can provide driving power to cause the body 100 to swing. Alternatively, the second drive device 320 can directly provide driving power to cause the body 100 to swing.

[0087] The second drive unit 320 can be configured as follows:

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

[0089] It could be: such as Figure 4 As shown, the second drive device 320 also includes a second drive wheel Q2, which is located on the periphery of the second cleaning element 220, specifically on the side of the second cleaning element 220 opposite to the first cleaning element 210. The output shaft of the second drive motor is connected to the second drive wheel Q2, and the second drive wheel Q2 travels along the tangent to a circle with the center of the first cleaning element 210 as its axis. When the second drive motor is running, it drives the second drive wheel Q2 to roll on the surface to be cleaned, thereby causing the machine body 100 to swing around the second cleaning element 220.

[0090] In addition to the above-mentioned structural form, the second drive device 320 can also adopt other forms, as long as it is set in accordance with the second cleaning element 220 and can drive the body 100 to swing around the second cleaning element 220.

[0091] The second scenario involves the second drive device 320 driving the machine body 100 to swing around the first cleaning element 210, while simultaneously driving the second cleaning element 220 to rotate. In other words, the second drive device 320 provides the driving power to cause the machine body 100 to swing and simultaneously drive the second cleaning element 220 to rotate. Optionally, the second drive device 320 directly provides the driving power to cause the machine body 100 to swing, and simultaneously directly drives the second cleaning element 220 to rotate.

[0092] The second drive unit 320 can be configured as follows:

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

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

[0095] The structure of the second drive motor driving the machine body 100 can be referenced from the aforementioned structural design of the second drive wheel Q2, and will not be repeated here. As for the second cleaning element 220, it can be rotatably mounted on the machine body 100 via a rotating shaft. The output shaft of the second drive motor is connected to the rotating shaft via a transmission connection (e.g., through a gear set). Thus, the second drive motor can drive the rotating shaft to rotate, thereby causing the second cleaning element 220 to rotate. That is, when the second drive motor is running, it drives the second drive wheel to roll on the surface to be cleaned, causing the machine body 100 to swing around the first cleaning element 210, and simultaneously drives the rotating shaft to rotate, thereby causing the second cleaning element 220 to rotate.

[0096] The third scenario is as follows: the second drive device 320 drives the second cleaning element 220 to rotate, and the second cleaning element 220 drives the machine body 100 to rotate around the first cleaning element 210. That is, the second drive device 320 provides driving power, and through the transmission of the second cleaning element 220, the machine body 100 is driven to swing.

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

[0098] This can be achieved by having the second cleaning element 220 rotatably mounted on the machine body 100 via a rotating shaft, and the output shaft of the second drive motor being connected to the rotating shaft via a transmission connection (e.g., through a gear set). In this way, the second drive motor can drive the rotating shaft to rotate, thereby causing the second cleaning element 220 to rotate. That is, when the second drive motor is running, it drives the second cleaning element 220 to rotate on the surface to be cleaned, thereby causing the machine body 100 to swing around the first cleaning element 210.

[0099] In some embodiments, refer to Figure 2 The drive device 300 includes a first drive device 310 and a second drive device 320. The first drive device 310 is provided corresponding to the first cleaning element 210, and the second drive device 320 is provided corresponding to the second cleaning element 220.

[0100] At least one of the first drive unit 310 and the second drive unit 320 oscillates the drive body 100 around the first cleaning element 210.

[0101] Specifically, the drive unit 300 employs a first drive unit 310 and a second drive unit 320. The first drive unit 310 is located at the position / area of ​​the first cleaning element 210, and the second drive unit 320 is located at the position / area of ​​the second cleaning element 220. The drive unit 300 drives the machine body 100 to swing around the first cleaning element 210. When the machine body 100 swings around the first cleaning element 210, driving power can be provided by either the first drive unit 310 or the second drive unit 320 alone, or simultaneously by both the first drive unit 310 and the second drive unit 320, to drive the machine body 100 to swing. In actual operation, according to the control commands issued by the control device 400, the first drive unit 310 and / or the second drive unit 320 of the drive unit 300 operate accordingly to drive the machine body 100 to swing around the first cleaning element 210.

[0102] The structural composition of the first driving device 310 and the second driving device 320 involved can be referred to the aforementioned implementation, and will not be repeated 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 types:

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

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

[0106] When the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210, the first cleaning element 210 can have different working states, including: not rotating or rotating.

[0107] Therefore, the first cleaning element 210 may 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. 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 together around the first cleaning element 210.

[0108] Therefore, it can also be, such as Figure 3As shown, the first cleaning element 210 rotates on its own, meaning it is driven by the driving device 300 and has a rotational speed on the surface to be cleaned, maintaining this rotational state. Simultaneously, the second cleaning element 220 and the machine body 100 rotate together around the first cleaning element 210. Furthermore, when the first cleaning element 210 rotates, it and the second cleaning element 220 rotate in the same direction but at different speeds.

[0109] For example, the drive device 300 drives both the first cleaning element 210 and the second cleaning element 220 to rotate along a first direction, with the second cleaning element 220 rotating at a higher speed than the first cleaning element 210. Simultaneously, the second cleaning element 220 and the machine body 100 rotate together around the first cleaning element 210 along a second direction, which 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 machine body 100, and the machine body 100 rotates around the first cleaning element 210, the friction force generated between the first cleaning element 210 and the surface to be cleaned is essentially in the same direction as the rotation of the machine body 100. This results in minimal resistance to the rotation of the machine body 100, allowing for smooth rotation, improving the rotation effect of the machine body 100, and ensuring the operational stability of the window cleaning machine.

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

[0111] When the second cleaning element 220 and the first cleaning element 210 do not rotate, the drive 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.

[0112] When the drive 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, the second cleaning element 220 and the first cleaning element 210 can have different working states. The working states of the second cleaning element 220 and the first cleaning element 210 include: not rotating or rotating.

[0113] Therefore, in this embodiment, the driving device 300 can drive the body 100 to swing around the first cleaning element 210. When the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210, neither the second cleaning element 220 nor the first cleaning element 210 rotates. That is, neither the second cleaning element 220 nor the first cleaning element 210 is driven to rotate by the driving device 300, and neither of them rotates on the surface to be cleaned. The driving device 300 drives the body 100 to swing around the first cleaning element 210. During its swing, the body 100 correspondingly drives the second cleaning element 220 to swing, so that the second cleaning element 220 and the body 100 rotate together around the first cleaning element 210, thereby generating displacement on the surface to be cleaned.

[0114] In addition, in other embodiments, when the drive 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] Both the second cleaning element 220 and the first cleaning element 210 rotate, meaning both are driven to rotate by the driving device 300, and both rotate on the surface to be cleaned; or...

[0116] The second cleaning element 220 rotates while 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 rotates on the surface to be cleaned, while the first cleaning element 210 does not rotate 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 rotational speed on the surface to be cleaned, while the second cleaning element 220 does not have a rotational speed on the surface to be cleaned.

[0118] In some embodiments, the drive unit 300 drives the body 100 to oscillate around the first cleaning element 210, including:

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

[0120] In a cleaning scenario, the window cleaning machine can be configured without the second cleaning element 220 installed. When the second cleaning element 220 is not installed, the mounting position on the machine body 100 for installing the second cleaning element 220 can be sealed to prevent pressure loss. Even without the second cleaning element 220, the window cleaning machine can still swing or move on the surface to be cleaned by driving the machine body 100 around the first cleaning element 210 via a drive device. Furthermore, if the first cleaning element 210 is initially rotating during the swinging process of the machine body 100, it can continue to rotate. 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 falling off occurs, the machine body 100 can still maintain movement for at least a period of time, reducing the impact on the movement of the machine body 100.

[0121] In some embodiments, the drive unit 300 drives the body 100 to oscillate around the first cleaning element 210, including:

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

[0123] In a cleaning scenario, the window cleaning machine can be configured without the second cleaning element 220 installed. When the second cleaning element 220 is not installed, the mounting position on the machine body 100 for installing the second cleaning element 220 can be sealed to prevent pressure loss. Even without the second cleaning element 220, and with the first cleaning element 210 not rotating, the machine body 100 can still swing around the first cleaning element 210 via the drive device 300, allowing it to swing or move on the surface to be cleaned. It is easy to understand that during the cleaning operation, if an unexpected situation such as the second cleaning element 220 falling off occurs, the machine body 100 can still maintain movement for at least a period of time, minimizing the impact on its movement.

[0124] In some embodiments, refer to Figure 5 and Figure 6 The drive unit 300 has a first part 301 and a second part 302, the first part 301 and the second part 302 are connected in a transmission manner, at least a portion of the structure of the first part 301 is connected to the body 100, and at least a portion 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 drive body 100 swings around the first cleaning element 210, the first part 301 rotates relative to the second part 302, so that when the first cleaning element 210 does not rotate, the body 100 swings around the first cleaning element 210.

[0127] In this embodiment, the driving device 300 may have a first part 301 and a second part 302, which are respectively connected to the body 100 and the first cleaning element 210, and are connected in a transmission manner to each other. 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, thereby causing the body 100 to swing around the first cleaning element 210 when the first cleaning element 210 is not rotating.

[0128] Specifically, the drive unit 300 can generally be divided into a drive section and a transmission section, with the first section 301 corresponding to the drive section and the second section 302 corresponding to the transmission section. For example... Figure 5 and Figure 6 As shown, taking a drive motor as the driving part and a planetary gear assembly as the transmission part as an example, the drive motor can be regarded as the first part 301 and the planetary gear transmission assembly can be 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 meshed with the input end of the planetary gear assembly (such as the sun gear 302A). 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 part 302) is fixed, such as... Figure 5 and Figure 6The structure connecting the planetary gear assembly (second part 302) and the drive motor (first part 301) shown is fixed. This part of the structure can be the sun gear 302A of the planetary gear assembly (second part 302). During the swinging of the machine body 100 around the first cleaning element 210, the drive motor (first part 301) drives the machine body 100 to rotate around the sun gear 302A of the planetary gear assembly (second part 302). The positions of the machine body 100 and the drive motor (first part 301) both move. If rotation occurs, that is, the machine 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 drive motor (first part 301) rotates around the sun gear of the planetary gear assembly (second part 302), it will cause other components in the planetary gear assembly (second part 302) to rotate. The planetary gear assembly (second part 302) is also provided with other structures to realize the conversion between rotation and stationary state, such as bearings. The planetary gear assembly is connected to the first cleaning element 210 through the bearings. The outer ring of the bearing is connected to the planetary gear assembly, and 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 does not rotate with the first cleaning element 210.

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

[0132] In this embodiment, the working / running time of the window cleaning machine is further configured to have a second preset time period. This second preset time period can be a specific segment of the window cleaning machine's working / running time, such as the last 5 seconds of a 10-second running time, or the first 10 seconds of a 20-second running time, and is not limited to a specific point in time. Furthermore, this second preset time period can be a user-defined setting, or it can be automatically generated based on the walking trajectory planned by the window cleaning machine according to the cleaning scene map, including but not limited to these methods. The second preset time period can be before or after the first preset time period, and it can be continuous with or spaced apart from the first preset time period; this embodiment does not impose any restrictions on this.

[0133] During the second preset time period, the drive device 300 drives the machine body 100 to swing around the second cleaning element 220. That is, with the second cleaning element 220 as the center, the machine body 100 swings under the drive of the drive device 300. The window cleaning machine moves on the surface to be cleaned by swinging the machine body 100. This movement can be a twisting movement or a reversing movement. Optionally, the drive device 300 directly drives the machine body 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 machine body 100 comes directly from the drive device 300 and is not transmitted through the first cleaning element 210 or the second cleaning element 220. Of course, in other implementations, the force can be transmitted through the first cleaning element 210 or the second cleaning element 220.

[0134] When the machine body 100 swings around the second cleaning element 220, the first cleaning element 210 can rotate together with the machine body 100 around the second cleaning element 220. The second cleaning element 220 does not displace on the surface to be cleaned, while the first cleaning element 210 does displace on the surface to be cleaned. This displacement could be due to the first cleaning element 210 being mounted on the machine body 100, rotating around the second cleaning element 220 under the influence of the machine body 100, thus displacing itself on the surface to be cleaned. During this rotation, the first cleaning element 210 itself may not rotate or may rotate. Alternatively, the first cleaning element 210 may rotate and generate friction with the surface to be cleaned, causing it to rotate together with the machine body 100 around the second cleaning element 220, thus displacing itself on the surface to be cleaned.

[0135] The first cleaning element 210, as defined, 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 220, then 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, that is, the first cleaning element 210 and the body 100 do not rotate together around the second cleaning element 220.

[0138] The structure of the drive device 300 can be set with reference to the above embodiment. It is only necessary to replace the target object of the first cleaning element 210 with the second cleaning element 220. The driving principle is similar, and will not be described in detail in this embodiment.

[0139] In some embodiments, refer to Figure 8 Multiple first preset time periods and multiple second preset time periods are set, and the multiple first preset time periods and multiple second preset time periods are alternately connected so that the machine body 100 moves in a twisting motion on the surface to be cleaned when the window cleaning machine is running.

[0140] During the first preset time period, driven by the drive device 300, the body 100 swings 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, during the first preset time period, the body 100 and the second cleaning element 220 rotate around the first cleaning element 210 as the rotation axis.

[0141] During the second preset time period, driven by the drive device 300, the body 100 swings 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, during the second preset time period, the body 100 and the first cleaning element 210 rotate around the second cleaning element 220 as the rotation axis.

[0142] During the working / running time of the window cleaning machine, multiple first preset time periods and multiple second preset time periods alternate. For example, any two first preset time periods are followed by a second preset time period, or any two second preset time periods are followed by a first preset time period. During the first preset time period, the machine body 100 rotates around the first cleaning element 210 as the rotation axis. When the second preset time period is reached, the machine body 100 switches to rotating around the second cleaning element 220 as the rotation axis. This cycle repeats so that the rotation axis of the machine body 100 switches back and forth between the first cleaning element 210 and the second cleaning element 220, thereby controlling the machine body 100 to move in a twisting motion on the surface to be cleaned.

[0143] The above description is only a part or preferred embodiment of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A window cleaning machine for cleaning surfaces, characterized in that, The window cleaning machine includes a body, a first cleaning element, a second cleaning element, a negative pressure device, and a drive device; Both the first cleaning element and the second cleaning element are rotatably mounted on the machine 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 can be adsorbed onto 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 generate displacement on the surface to be cleaned; The driving device includes a first driving device and a second driving device, wherein the first driving device is configured corresponding to the first cleaning element and the second driving device is configured corresponding to the second cleaning element. At least one of the first drive device and the second drive device drives the body to swing around the first cleaning element; During a first preset time period, the first cleaning element itself does not rotate, the driving device drives the machine body to swing around the first cleaning element, and the second driving device simultaneously drives the second cleaning element to rotate; or, the second cleaning element does not rotate, but the second cleaning element and the machine body can rotate together around the first cleaning element.

2. The window cleaning machine according to claim 1, characterized in that, The driving device includes a first driving device, which is configured correspondingly to the first cleaning element; The driving device drives the machine body to swing around the first cleaning element, including: The first drive 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, which is configured corresponding to the second cleaning element; The driving device drives the machine body to swing around the first cleaning element, including at least one of the first type, the second type, and the third type. The first type of scenario includes: the second drive device drives the machine body to swing around the first cleaning element; The second type of scenario includes: the second driving device drives the machine body to swing around the first cleaning element, and the second driving device simultaneously drives the second cleaning element to rotate; The third scenario includes: the second driving device drives the second cleaning element to rotate, and the second cleaning element causes the machine body to swing around the first cleaning element.

4. 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, including: The first cleaning element rotates on its own. The first cleaning element and the second cleaning element rotate in the same direction but at different speeds. The second cleaning element and the machine body rotate together around the first cleaning element.

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

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

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

8. The window cleaning machine according to claim 4, characterized in that, The drive device has a first part and a second part, the first part and the second part are connected in a transmission manner, at least a portion of the structure of the first part is connected to the body, and at least a portion of the structure of the second part is connected to the first cleaning element; The first cleaning element itself does not rotate, and the driving device drives the machine body to swing around the first cleaning element, including: When the body is driven to swing around the first cleaning element, the first portion rotates relative to the second portion, such that the body swings around the first cleaning element when the first cleaning element is not rotating.

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

10. The window cleaning machine according to claim 9, characterized in that, Multiple first preset time periods and multiple second preset time periods are set, and the multiple first preset time periods and multiple second preset time periods are alternately connected so that the machine body moves in a twisting manner on the surface to be cleaned when the window cleaning machine is running.

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