Glass wiping device and wiping head

Abstract

The invention relates to a glass wiping device and a wiping head, the wiping device comprises a rack, a wiping cloth feeding mechanism and a wiping pressure head assembly are arranged on the rack, and the wiping cloth feeding mechanism comprises a driving winding drum, a driven winding drum and a belt wheel set; the wiping pressing head assembly comprises a telescopic mechanism stretching towards the wiping section and a wiping head installed at the telescopic end of the telescopic mechanism, and the wiping pressing head presses and bends wiping cloth up and down in the width direction to be provided with a wiping part corresponding to the upper surface of the glass edge and a wiping part corresponding to the side face of the glass edge. According to the wiping mechanism, the function of wiping and cleaning edges and corners of glass with complex shapes can be achieved, and the wiping efficiency and the product yield are improved.

Description

Technical Field

[0001] The invention relates to the technical field of wiping and cleaning, in particular to a glass wiping device and a wiping head. Background Art

[0002] With the upgrading of consumer demand in the automobile industry, the customized production and operation model driven by user orders has become more and more prominent. Therefore, a mixed flow, multi-variety, and small batch production method with multiple models in any order has emerged. The specifications and shapes of the window glass used in these models are different, and there are many types.

[0003] Before installation, the window glass of a vehicle often needs to be trimmed, cleaned, and other processing steps. An existing technical solution for cleaning the window glass of a vehicle is a wiping mechanism disclosed in the Chinese utility model patent application with the authorization announcement number CN221157772U, which includes a base and a material unwinding roll, a material receiving roll, a cleaning belt driving module, i.e., a wiping cloth feeding mechanism, and a cleaning belt pressing and wiping module, i.e., a wiping head assembly, which are arranged on the base. A plurality of the cleaning belt guide wheels are used to support the cleaning belt to form a conveying path from the unwinding roll to the material receiving roll, and a wiping section is provided in the conveying path for being pressed down by the cleaning belt pressing and wiping module to wipe the glass. When in use, the glass is located below the wiping section, and the cleaning belt pressing and wiping module presses the wiping section down to make it stick to the upper side of the glass, and then the glass is moved relative to the wiping section to wipe the surface of the glass.

[0004] However, this wiping mechanism is only used to clean the surfaces of both sides of the glass. When the glass is bonded to the car body, it is often necessary to apply glue to the surface and side of the edge of the glass, so these two surfaces also need to be wiped. The above wiping mechanism can only wipe the surface of the glass, while the wiping of the side is often done manually, which results in a large workload for wiping the side of a variety of glass types and high labor costs. Summary of the invention

[0005] The object of the present invention is to provide a wiping head for a glass wiping device, so as to solve the problem that the existing glass wiping mechanism can only wipe the surface of the glass but cannot wipe the side of the glass, and the manual wiping is labor-intensive. At the same time, the object of the present invention is also to provide a glass wiping device, including the wiping head of the present invention, so as to solve the same problem.

[0006] To achieve the above-mentioned purpose, the technical solution of a wiping head of a glass wiping device of the present invention is: a wiping head of a glass wiping device, including a wiping pressure head, the wiping pressure head having a parallel pressure surface parallel to the wiping cloth, and also having a vertical pressure surface on one side of the parallel pressure surface in the width direction of the wiping cloth, so that when the telescopic mechanism drives the wiping pressure head to extend toward the wiping cloth, the wiping cloth is pressed downward in the width direction and bent to have a wiping portion corresponding to the upper surface of the glass edge and a wiping portion corresponding to the side of the glass edge.

[0007] Furthermore, the wiping pressure head includes a vertical main body, the lower end of which is fixedly connected with a horizontal pressing block and a vertical pressing block, respectively. The horizontal pressing block has two side surfaces in the length direction of the wiping cloth and a lower side surface parallel to the wiping cloth, and the lower side surface constitutes a parallel pressure surface. The vertical pressing block has a part extending downward from the lower side surface, and the side surface of the part constitutes a vertical pressure surface.

[0008] Furthermore, rounded corners are provided between the two side surfaces and the lower side surface of the horizontal pressing block.

[0009] Furthermore, the lower end of the vertical pressing block is a pointed end or an arc-shaped end.

[0010] Furthermore, the lower end of the vertical body has a connection portion protruding downward in the width direction of the wiping cloth, and the horizontal pressing block and the vertical pressing block are locked in parallel on the connection portion by bolts extending in the width direction of the wiping cloth.

[0011] Furthermore, the vertical body is provided with a cleaning liquid flow channel extending in the width direction of the wiping cloth, and the side of the vertical body in the length direction of the wiping cloth is provided with an outlet hole connected to the cleaning liquid flow channel. In the length direction of the wiping cloth, the size of the horizontal pressing block is larger than the size of the vertical body, and the top surface of the horizontal pressing block is an inclined surface so that the cleaning liquid flowing out of the outlet hole flows downward.

[0012] The present invention provides a new wiping head. By increasing the vertical pressure surface on the wiping cloth, compared with the original wiping head, the wiping head of the present invention can make the wiping cloth be bent downward in the width direction to have a wiping part corresponding to the upper surface of the glass edge and a wiping part corresponding to the side of the glass edge. It can wipe the edges and sides of the glass installation part at the same time, reducing labor costs.

[0013] The glass wiping device of the present invention comprises a frame, on which a wiping cloth feeding mechanism and a wiping head assembly are arranged, the wiping cloth feeding mechanism comprises an active reel, a passive reel and a pulley group, the pulley group comprises a pair of flattening rollers, the wiping cloth between the flattening rollers is a wiping section for wiping the glass, the wiping head assembly comprises a telescopic mechanism that telescopes toward the wiping section and a wiping head installed at the telescopic end of the telescopic mechanism, the wiping head comprises a wiping head, the wiping head has a parallel pressure surface parallel to the wiping cloth, and also has a vertical pressure surface on one side of the parallel pressure surface in the width direction of the wiping cloth, so that when the telescopic mechanism drives the wiping head to extend toward the wiping cloth, the wiping cloth is pressed downward in the width direction and bent to have a wiping portion corresponding to the upper surface of the glass edge and a wiping portion corresponding to the side of the glass edge.

[0014] Furthermore, the wiping pressure head includes a vertical main body, the lower end of which is fixedly connected with a horizontal pressing block and a vertical pressing block, respectively. The horizontal pressing block has two side surfaces in the length direction of the wiping cloth and a lower side surface parallel to the wiping cloth, and the lower side surface constitutes a parallel pressure surface. The vertical pressing block has a part extending downward from the lower side surface, and the side surface of the part constitutes a vertical pressure surface.

[0015] Furthermore, rounded corners are provided between the two side surfaces and the lower side surface of the horizontal pressing block.

[0016] Furthermore, the lower end of the vertical pressing block is a pointed end or an arc-shaped end.

[0017] Furthermore, the lower end of the vertical body has a connection portion protruding downward in the width direction of the wiping cloth, and the horizontal pressing block and the vertical pressing block are locked in parallel on the connection portion by bolts extending in the width direction of the wiping cloth.

[0018] Furthermore, the vertical body is provided with a cleaning liquid flow channel extending in the width direction of the wiping cloth, and the side of the vertical body in the length direction of the wiping cloth is provided with an outlet hole connected to the cleaning liquid flow channel. In the length direction of the wiping cloth, the size of the horizontal pressing block is larger than the size of the vertical body, and the top surface of the horizontal pressing block is an inclined surface so that the cleaning liquid flowing out of the outlet hole flows downward.

[0019] Furthermore, a positioning piece is provided on the frame at the lower side of the vertical pressure surface. The positioning piece is located on the side of the vertical pressure surface facing away from the horizontal pressure surface and is used to accurately position the glass against the side before wiping.

[0020] Furthermore, the abutment positioning member is reliably mounted on the frame in the up-down direction.

[0021] Furthermore, the frame includes a fixed base frame for fixing to the robot, a vertical floating frame is installed on the fixed base frame for guiding in the up and down directions, a horizontal floating frame is installed on the vertical floating frame for guiding in the width direction of the wiping cloth, the wiping cloth feeding mechanism and the wiping pressure head assembly are both installed on the horizontal floating frame, and a pulling elastic member is connected between the vertical floating frame and the fixed base frame; a horizontal elastic member is arranged between the horizontal floating frame and the vertical floating frame and is provided to the horizontal floating frame in the width direction of the wiping cloth so that the vertical pressure surface can be close to the side of the glass.

[0022] Furthermore, the fixed base frame is an inverted L-shaped frame including a top horizontal portion and a side vertical portion, the top horizontal portion is used to be fixedly connected to the robot, the side vertical portion is provided with a vertical guide rail, the vertical floating frame is float-mounted on the fixed base frame via the vertical guide rail, the vertical floating frame includes a horizontal bracket extending in a direction away from the side vertical portion, the horizontal bracket is provided with a horizontal guide rail, and the horizontal floating frame is float-mounted on the horizontal bracket via the horizontal guide rail.

[0023] Furthermore, a cleaning liquid bottle is installed on the side vertical portion at a side facing away from the horizontal floating frame.

[0024] Furthermore, the horizontal floating frame includes a transverse frame body that slides with the horizontal guide rail and a T-shaped vertical frame connected to the end of the transverse frame body. The active reel and the passive reel are respectively installed at the two ends of the horizontal part of the T-shaped vertical frame. The vertical part of the T-shaped vertical frame is equipped with a telescopic structure, and the wiping head assembly is installed at the lower end of the telescopic mechanism.

[0025] The glass wiping device of the present invention transforms the existing glass wiping device, especially improves the wiping head device. By increasing the vertical pressure surface on the wiping cloth, during wiping, the wiping head can press and bend the wiping cloth downward in the width direction to have a wiping portion corresponding to the upper surface of the glass edge and a wiping portion corresponding to the side of the glass edge. Compared with the original glass wiping mechanism, the wiping device can wipe the edges and sides of the glass installation part at the same time, thereby reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the glass wiping device of the present invention; Figure 2 It is a schematic diagram showing the wiping head assembly in the glass wiping device of the present invention; Figure 3 A schematic diagram of a wiping pressure head of a glass wiping device of the present invention; Figure 4 It is a schematic diagram of the assembly structure between the vertical floating frame and the fixed base frame of the glass wiping device of the present invention; Figure 5It is a schematic diagram of the assembly structure between the vertical floating frame and the T-shaped vertical frame of the glass wiping device of the present invention; Figure 6 It is a rear view of the overall structure of the glass wiping device of the present invention; Figure 7 It is an enlarged view of the glass wiping device of the present invention when it is against the positioning member.

[0027] In the figure: 1, frame; 2, wiping cloth feeding mechanism; 22, active reel; 21, passive reel; 23, guide tension wheel; 3, wiping cloth pressure head assembly; 31, telescopic mechanism; 32, wiping head; 33, abutting positioning member; 34, flattening roller; 35, wiping section; 331, long hole extending up and down; 332, positioning mounting bracket; 321, vertical main body; 322, horizontal pressing block; 323, vertical pressing block; 324, outflow Hole; 325, parallel pressure surface; 326, vertical pressure surface; 327, connecting part; 328, inclined surface; 35, wiping section; 51, fixed base frame; 511, top horizontal part; 512, side vertical part; 52, vertical floating frame; 53, vertical guide rail; 54, pulling elastic member; 61, horizontal floating frame; 62, horizontal guide rail; 63, horizontal elastic member; 64, horizontal frame; 7, cleaning liquid bottle; 8, T-shaped stand. DETAILED DESCRIPTION

[0028] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0029] The glass wiping device of the present invention is mainly aimed at glass wiping devices that cannot wipe the edges and corners and sides of the glass installation part. The wiping pressure head of the glass wiping device has a parallel pressure surface parallel to the wiping cloth, and also has a vertical pressure surface on one side of the parallel pressure surface in the width direction of the wiping cloth. When wiping the glass, the wiping cloth is pressed down in the width direction and bent to have a wiping part corresponding to the upper surface of the glass edge and a wiping part corresponding to the side of the glass edge, so as to wipe the edges and corners and sides of the glass installation part.

[0030] Based on the above main concepts, different embodiments are provided below for illustration.

[0031] In Example 1, Figure 1 The glass wiping device includes a frame 1, on which a wiping cloth feeding mechanism 2 and a wiping head assembly 3 are arranged. The wiping cloth feeding mechanism 2 includes an active reel 22, a passive reel 21 and a pulley group. The pulley group includes a pair of flattening rollers 34. The wiping cloth 4 between the flattening rollers 34 is a wiping section 35 for wiping the glass. The wiping head assembly 3 includes a telescopic mechanism 31 that is telescopic toward the wiping section and a wiping head 32 installed at the telescopic end of the telescopic mechanism.

[0032] The wiping head 32 includes a wiping pressure head, such as Figure 2 The wiping head has a parallel pressure surface 325 parallel to the wiping cloth 4, and also has a vertical pressure surface 326 on one side of the parallel pressure surface 325 in the width direction of the wiping cloth 4, so that when the telescopic mechanism 31 drives the wiping head to extend toward the wiping cloth 4, the wiping cloth 4 is pressed downward in the width direction and bent to have a wiping portion corresponding to the upper surface of the glass edge and a wiping portion corresponding to the side of the glass edge.

[0033] On the basis of the above-mentioned embodiments, in one embodiment, the wiping pressure head comprises a vertical body 321, the lower end of the vertical body 321 is connected to an L-shaped block, the L-shaped block has a horizontal part and a vertical part, the lower side of the horizontal part constitutes a parallel pressure surface 325, and the vertical part has a vertical pressure surface 326 facing the horizontal part. In one embodiment, as Figure 3 The wiping pressure head includes a vertical main body 321, and the lower end of the vertical main body 321 is fixedly connected with a horizontal pressing block 322 and a vertical pressing block 323, respectively. The horizontal pressing block 322 has two side surfaces in the length direction of the wiping cloth 4 and a lower side surface parallel to the wiping cloth 4. The lower side surface of the horizontal pressing block 322 constitutes a parallel pressure surface 325, and the vertical pressing block 323 has a part extending downward from the lower side surface of the vertical pressing block 323, and the side surface of the part constitutes a vertical pressure surface 326. In a preferred embodiment, in order to prevent the pressing block from hanging on and scratching the wiping cloth, rounded corners are provided between the two side surfaces and the lower side surface of the horizontal pressing block 322.

[0034] On the basis of the above-mentioned embodiments, in one embodiment, the lower end of the vertical pressing block 323 is a pointed end. In a preferred embodiment, in order to prevent the pressing block from hanging on and scratching the wiping cloth 4 of the wiping section 35 where the wiping cloth 4 wipes the glass, the lower end of the vertical pressing block 323 is arc-shaped or parallel to the plane of the wiping section 35.

[0035] On the basis of the above-mentioned embodiment, in one embodiment, the vertical pressing block 323 and the horizontal pressing block 322 are welded to the vertical body 321. In a preferred embodiment, in order to facilitate installation and disassembly, as shown in FIG. Figure 3 The lower end of the vertical main body 321 has a downwardly protruding connecting portion 327 in the width direction of the wiping cloth 4, and the horizontal pressing block 322 and the vertical pressing block 321 are locked in parallel on the connecting portion by bolts extending in the width direction of the wiping cloth 4.

[0036] On the basis of the above-mentioned embodiments, in one embodiment, the cleaning belt spraying assembly sprays the cleaning liquid onto the wiping cloth 4 at the wiping position, which is the same as the structure of the wiping device in the authorization announcement number CN221157772U. In a preferred embodiment, in order to reduce costs and reduce the amount of cloth used, a cleaning liquid flow channel extending in the width direction of the wiping cloth 4 is provided on the vertical main body 321, and the side of the vertical main body 321 in the length direction of the wiping cloth 4 is provided with an outflow hole 324 connected to the cleaning liquid flow channel. In the length direction of the wiping cloth 4, the size of the horizontal pressing block 322 is larger than the size of the vertical main body 321, and the top surface of the horizontal pressing block 322 is an inclined surface 328 so that the cleaning liquid flowing out of the outflow hole 324 flows downward.

[0037] Based on the above embodiments, in one embodiment, the glass wiping device is fixedly arranged beside the glass conveyor line, and the position of its wiping head is relatively determined to the position of the glass. During the conveying of the glass through the conveyor line, the parallel pressure surface 325 and the vertical pressure surface 326 can maintain a suitable positional relationship with the corresponding surface of the glass edge, so that the wiping cloth can stably wipe the glass. In a preferred embodiment, the glass wiping device can be installed on the robot's mechanical arm, and the robot drives the mechanical arm to find the glass and determine the wiping position, such as Figure 7 , abutment positioning member 33 is provided on the frame at the lower side of the vertical pressure surface, such as Figure 6 The positioning piece 33 is reliably mounted on the frame in the up and down directions through the positioning mounting bracket 332, and is located on the side of the vertical pressure surface that is opposite to the horizontal pressure surface. The position can be adjusted up and down through the long hole 331 extending up and down, and is used to accurately position the side of the glass before wiping. After positioning, the position of the corners and sides of the glass to be wiped is accurately determined according to the preset position of the positioning piece 33 and the wiping head, and the parallel pressure surface 325 and the vertical pressure surface 326 are moved to the position that needs to be wiped by further adjusting the robotic arm.

[0038] Based on the above embodiments, in one embodiment, the wiping device is mounted on a base. When working, the wiping device is fixed, the glass is placed on a conveyor belt and moves with the conveyor belt, and the wiping head presses down to wipe the edges and sides of the glass. In another embodiment, the wiping device is mounted on a mechanical arm, the glass is fixed, and the wiping device moves with the mechanical arm and finds the correct position by abutting against the positioning member 33. In this embodiment, in order to increase the buffer between the wiping device and the glass, Figure 4 The frame 1 is mounted on the robot, and the frame 1 includes a fixed base frame 51 for fixing with the robot, and a vertical floating frame 52 is installed on the fixed base frame 51 in the up and down directions. Figure 5A horizontal floating frame 61 is installed on the vertical floating frame 52 to guide the wiping cloth 4 in the width direction. The wiping cloth feeding mechanism 2 and the wiping pressure head assembly 3 are both installed on the horizontal floating frame 61. A pulling elastic member 54 is connected between the vertical floating frame 52 and the fixed base frame 51. A horizontal elastic member 63 is provided between the horizontal floating frame 61 and the vertical floating frame 52 and is provided to the horizontal floating frame 61 in the width direction of the wiping cloth 4 so that the vertical pressure surface can be close to the side of the glass. The horizontal elastic member 63 presses the wiping head to the side of the glass, so that the wiping part of the wiping cloth 4 corresponding to the side of the edge of the glass is close to the side of the glass for wiping.

[0039] Based on the above-mentioned embodiments, in one embodiment, the fixed base frame 51 is an inverted L-shaped frame including a top horizontal portion 511 and a side vertical portion 512, the top horizontal portion 511 is used to be fixedly connected to the robot, the side vertical portion 512 is provided with a vertical guide rail 53, the vertical floating frame 52 is floatingly installed on the fixed base frame 51 through the vertical guide rail 53, the vertical floating frame 52 includes a horizontal bracket 55 extending in a direction away from the side vertical portion, the horizontal bracket 55 is provided with a horizontal guide rail 62, and the horizontal floating frame 61 is floatingly installed on the horizontal bracket 55 through the horizontal guide rail 62.

[0040] On the basis of the above-mentioned embodiment, in one embodiment, the cleaning liquid bottle 7 is installed above the horizontal floating frame 61, and the cleaning liquid bottle 7, the horizontal floating frame 61, the wiping cloth feeding mechanism 2 and the wiping pressure head assembly 3 all rely on the pulling elastic member 54 and the vertical guide rail 53 to move up and down. In a preferred embodiment, in order to reduce the pulling force of the pulling elastic member 54 and make the whole more balanced, as shown in FIG. Figure 6 The side vertical part of the fixed base frame 51 is equipped with a cleaning liquid bottle 7 on the side facing away from the horizontal floating frame 61. The horizontal floating frame 61 includes a transverse frame body 64 that slides with the horizontal guide rail 62 and a T-shaped frame 8 connected to the end of the transverse frame body. The active reel 22 and the passive reel 21 are respectively installed at both ends of the horizontal part of the T-shaped frame 8. The vertical part of the T-shaped frame 8 is equipped with the above-mentioned wiping head assembly. The cleaning liquid bottle 7 has a hose connected to the cleaning liquid flow channel to supply cleaning liquid during wiping. The motor is installed on the horizontal floating frame 61. When the wiping cloth needs to be fed, the motor starts to drive the active reel 22 to rotate. The active reel 22 reels and the passive reel 21 unwinds to recover the dirty wiping cloth and release the clean wiping cloth.

[0041] When wiping the glass, the glass wiping device of the present invention relies on the movement of the mechanical arm. When the positioning piece is pressed against the edge of the glass, it is adjusted again so that the parallel pressure surface of the wiping cloth presses the upper edge of the glass, and the vertical pressure surface of the wiping cloth presses the side surface of the glass. At this time, the wiping cloth feeding mechanism stops running, and the cleaning liquid is supplied from the cleaning liquid bottle and flows down along the horizontal downward pressure block to soak the wiping cloth of the wiping section. The mechanical arm drives the wiping device to wipe, and when wiping stops, the wiping cloth feeding mechanism runs to replace the dirty wiping cloth of the wiping section through the active reel to receive the material.

[0042] The embodiment of the wiping head of the glass wiping device of the present invention is consistent with the wiping head of the glass wiping device, and will not be described in detail herein.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. A wiping head for a glass wiping device, characterized in that: The wiping head comprises a parallel pressure surface parallel to the wiping cloth, and a vertical pressure surface located on one side of the parallel pressure surface in the width direction of the wiping cloth, so that when the telescopic mechanism drives the wiping head to extend toward the wiping cloth, the wiping cloth is pressed downward in the width direction and bent to have a wiping portion corresponding to the upper surface of the glass edge and a wiping portion corresponding to the side of the glass edge.

2. The wiping head of the glass wiping device according to claim 1, characterized in that: The wiping pressure head includes a vertical main body, and the lower end of the vertical main body is fixedly connected with a horizontal pressing block and a vertical pressing block, respectively. The horizontal pressing block has two side surfaces in the length direction of the wiping cloth and a lower side surface parallel to the wiping cloth, and the lower side surface constitutes a parallel pressure surface. The vertical pressing block has a part extending downward from the lower side surface, and the side surface of the part constitutes a vertical pressure surface.

3. The wiping head of the glass wiping device according to claim 2, characterized in that: Rounded corners are arranged between the two side surfaces and the lower side surface of the horizontal pressing block.

4. The wiping head of the glass wiping device according to claim 2, characterized in that: The lower end of the vertical pressing block is a pointed end or an arc-shaped end.

5. The wiping head of the glass wiping device according to claim 2, characterized in that: The lower end of the vertical body has a connection portion protruding downward in the width direction of the wiping cloth, and the horizontal pressing block and the vertical pressing block are locked on the connection portion in parallel by bolts extending in the width direction of the wiping cloth.

6. The wiping head of the glass wiping device according to claim 2, characterized in that: A cleaning liquid flow channel extending in the width direction of the wiping cloth is provided on the vertical main body, and an outflow hole connected to the cleaning liquid flow channel is provided on the side of the vertical main body in the length direction of the wiping cloth. In the length direction of the wiping cloth, the size of the horizontal pressing block is larger than that of the vertical main body, and the top surface of the horizontal pressing block is an inclined surface so that the cleaning liquid flowing out of the outflow hole can flow downward.

7. A glass wiping device, comprising a frame, on which a wiping cloth feeding mechanism and a wiping head assembly are arranged, the wiping cloth feeding mechanism comprises an active reel, a passive reel and a pulley assembly, the pulley assembly comprises a pair of flattening rollers, the wiping cloth between the flattening rollers is a wiping section for wiping the glass, the wiping head assembly comprises a telescopic mechanism that telescopes toward the wiping section and a wiping head installed at the telescopic end of the telescopic mechanism, characterized in that: The wiping head is the wiping head according to any one of claims 1 to 6.

8. The glass wiping device according to claim 7, characterized in that: A positioning piece is provided on the frame at the lower side of the vertical pressure surface. The positioning piece is located on the side of the vertical pressure surface facing away from the horizontal pressure surface and is used for accurately positioning against the side of the glass before wiping.

9. The glass wiping device according to claim 8, characterized in that: The abutment positioning piece is securely mounted on the frame in the up and down directions.

10. The glass wiping device according to claim 7, characterized in that: The frame includes a fixed base frame for fixing to the robot, a vertical floating frame is installed on the fixed base frame for guiding in the up and down directions, a horizontal floating frame is installed on the vertical floating frame for guiding in the width direction of the wiping cloth, the wiping cloth feeding mechanism and the wiping pressure head assembly are installed on the horizontal floating frame, and a pulling elastic member is connected between the vertical floating frame and the fixed base frame; a horizontal elastic member is arranged between the horizontal floating frame and the vertical floating frame and is provided to the horizontal floating frame in the width direction of the wiping cloth so that the vertical pressure surface can be close to the side of the glass.

11. The glass wiping device according to claim 10, characterized in that: The fixed base frame is an inverted L-shaped frame including a top horizontal part and a side vertical part. The top horizontal part is used to be fixedly connected to the robot. The side vertical part is provided with a vertical guide rail. The vertical floating frame is float-mounted on the fixed base frame through the vertical guide rail. The vertical floating frame includes a horizontal bracket extending in a direction away from the side vertical part. The horizontal bracket is provided with a horizontal guide rail. The horizontal floating frame is float-mounted on the horizontal bracket through the horizontal guide rail.

12. The glass wiping device according to claim 11, characterized in that: A cleaning liquid bottle is mounted on the side vertical portion at a side facing away from the horizontal floating frame.

13. The glass wiping device according to claim 11, characterized in that: The horizontal floating frame includes a transverse frame body that slides with the horizontal guide rail and a T-shaped vertical frame connected to the end of the transverse frame body. The active reel and the passive reel are respectively installed at the two ends of the horizontal part of the T-shaped vertical frame. The vertical part of the T-shaped vertical frame is equipped with a telescopic structure, and the wiping head assembly is installed at the lower end of the telescopic mechanism.

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