Eccentric collision sensing mechanism

Abstract

The invention belongs to the technical field of window cleaning machines, and relates to an eccentric collision sensing mechanism which comprises a first fixed plate and a second fixed plate which are fixedly mounted on a base of a window cleaning machine, and a movable plate capable of eccentrically rotating relative to the axis of the first fixed plate. The obstacle pushes the movable plate to do eccentric rotation motion relative to the first fixed plate and the second fixed plate, the movable plate pushes the collision induction switch, and the trigger control system sends a stopping or steering instruction according to a signal output by the collision induction switch to complete recognition and avoidance of the window frame or the obstacle. Through a mechanical transmission and photoelectric feedback mechanism, collision between the window cleaning machine and a window frame or an obstacle can be accurately sensed, the inherent defects of slip misjudgment, response lag, environmental sensitivity and the like existing in an existing electronic sensing scheme are overcome, the reaction speed and accuracy of collision sensing are greatly improved, and the possibility of false alarm or missing alarm is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of window cleaning machines, and more particularly to an eccentric collision sensing mechanism. Background Art

[0002] Existing window cleaning robots generally adopt a motion mode of alternating support by two suction cups. By rotating the two adsorption units as fulcrums in turn, the window cleaning robot is driven to perform a step-by-step cleaning operation on the glass surface. When the suction cup moves to the edge of the window frame, the mechanical resistance increases, resulting in an increase in the motor current. The control system triggers a stop or steering command based on this, and determines whether the edge is touched by monitoring the change in the drive motor current. Such fault collisions mainly rely on electronic sensing technology for identification, which essentially stems from an indirect detection mechanism rather than directly sensing physical contact. When in a highly lubricated condition on the glass surface, such as after rain or on coated glass, the suction cup is prone to slipping. At this time, there is no obvious change in the load of the drive motor, and the current detection method cannot identify the real position deviation, resulting in the device continuously idling or deviating from the cleaning area; secondly, the window frame material or surface attachments, such as water stains and rubber strips, will change the friction coefficient, causing false touches or failures of the current threshold method. When the window cleaning robot is tilted, the gravity component will interfere with the load current of the drive motor, further reducing the detection reliability.

[0003] Therefore, there is an urgent need for an eccentric collision sensing mechanism that triggers a rigid signal transmission through physical contact, breaks through the environmental sensitivity bottleneck of electronic sensing, and improves the robustness and real-time performance of the boundary detection of the window cleaning machine to solve the above technical problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an eccentric collision sensing mechanism to solve the above technical problems.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An eccentric collision sensing mechanism of the present invention is installed on the base of the window cleaning machine, and a first fixing plate, a movable plate and a second fixing plate are sequentially arranged in the direction from the base to the window cleaning working surface;

[0007] A plurality of first through holes and a plurality of second through holes are circumferentially spaced on the first fixing plate, and the distance r1 from the first through hole to the axis is greater than the distance r2 from the second through hole to the axis;

[0008] The movable plate includes a coaxial annular inner ring and an annular outer ring. The annular inner ring and the annular outer ring are connected by a plurality of circumferentially arranged web members. A ring-shaped window wiping plate is fixedly connected to the outer peripheral edge of the annular outer ring. The ring-shaped window wiping plate protrudes beyond the edge of the window wiping machine. A window wiping cloth is provided on the side of the ring-shaped window wiping plate facing the window wiping working surface. On the inner peripheral edge of the annular inner ring, there are semi-open through holes having the same number and relative positions as the second through holes, and a plurality of spring limit blocks spaced apart from the semi-open through holes;

[0009] On the second fixing plate, there are first connecting rods having the same number and relative positions as the first through holes, and second connecting rods having the same number and relative positions as the second through holes. The first connecting rods are fixedly installed on the first through holes. The second connecting rods pass through the semi-open through holes and are fixedly installed on the second through holes. The outer diameter of the second connecting rods is smaller than the inner diameter of the semi-open through holes. An accommodation cavity is formed by enclosing the first fixing plate, the annular inner ring, and the second fixing plate. A plurality of return springs are provided in the accommodation cavity. One end of each return spring is fixed on the spring limit block, and the other end is fixed on the first connecting rod;

[0010] On the base of the window wiping machine, there are a plurality of collision induction switches electrically connected to the control system. The collision induction switches are circumferentially evenly distributed with the axis of the annular outer ring as the center and are arranged at a preset distance D around the outer peripheral edge of the annular outer ring.

[0011] As a preferred technical solution of the present invention, the collision induction switch includes a rotating pivot, an elastic return rod, and an induction switch. The rotating pivot is hinged to the base through a rotating shaft and rotates around the rotating shaft. The rotating pivot includes a triggering end and a signal end. The triggering end extends to the edge area of the annular outer ring. A contact guide wheel is provided at the end of the triggering end. The contact guide wheel touches the annular outer ring and rotates in a circular motion. The signal end extends into the window wiping machine. A baffle is provided at the end of the signal end. Corresponding to the base, a photoelectric position sensor electrically connected to the control system is fixedly installed. The photoelectric position sensor is aligned with the movement trajectory of the baffle. The baffle and the photoelectric position sensor together constitute the induction switch. The control system receives and analyzes the signal sent by the induction switch to identify whether a collision has occurred. One end of the elastic return rod is fixedly installed on the base, and the other end is hinged to the triggering end of the rotating pivot, which is used to maintain the normal position of the rotating pivot and return the rotating pivot after a collision.

[0012] As a preferred technical solution of the present invention, a guiding groove is provided on the base at a position opposite to the contact guide wheel. The contact guide wheel passes through the guiding groove and protrudes from the surface of the base. The guiding groove is used to guide the movement trajectory of the contact guide wheel.

[0013] As a preferred technical solution of the present invention, the photoelectric position sensor is one of an optical coupling sensor, a Hall sensor, an infrared reflection sensor, and a reed switch sensor.

[0014] As a preferred technical solution of the present invention, two of the collision induction switches are provided in one eccentric collision induction mechanism.

[0015] As a preferred technical solution of the present invention, the semi-open through hole includes an axial hole passing through the thickness of the annular inner ring and a radial opening communicating with the axial channel. The radial opening is arranged towards the central axis. A plurality of arc-shaped limiting blocks are provided on the lower surface of the base. The arc-shaped limiting blocks are circumferentially evenly distributed with the axis of the annular outer ring as the center and are arranged at intervals of a preset distance L around the outer periphery of the annular outer ring. The distance L ≥ the distance D. The arc-shaped limiting blocks are used to limit the movement range of the annular outer ring.

[0016] As a preferred technical solution of the present invention, the annular window cleaning plate is in the shape of a concentric disc, and its cross section is a multi-stage stepped structure, expanding layer by layer from the inner periphery at the rotation axis to the outer periphery.

[0017] As a preferred technical solution of the present invention, the first through holes are circumferentially evenly distributed on the first fixing plate at intervals of 90° and there are four of them. The number of the semi-open through holes and the second through holes is the same as that of the first through holes and they are circumferentially aligned one by one. Two spring limiting blocks are provided between every two adjacent semi-open through holes. The circumferential positions of the spring limiting blocks are offset relative to the first through holes, forming a staggered distribution structure. Two reset springs symmetrically arranged along the axis of the first link are sleeved on each first link. The end of one of the reset springs is sleeved on the spring limiting block on the left side of the semi-open through hole aligned with the current first through hole, and the end of the other reset spring is sleeved on the spring limiting block on the right side of the same semi-open through hole, constituting a double-spring radially symmetric traction mechanism.

[0018] As a preferred technical solution of the present invention, two of the reset springs are sleeved on each of the two adjacent links, and the remaining links remain empty.

[0019] As a preferred technical solution of the present invention, two or more adsorption mechanisms are provided inside the window cleaning machine. A central adsorption port and an annular adsorption belt corresponding to the suction end position of the adsorption mechanism are provided on the base. The annular adsorption belt extends circumferentially with the central adsorption port as the center of the circle. The first fixing plate is fixedly arranged around the circumferential outer edge of the central adsorption port. A central through hole coaxially aligned with the central adsorption port is provided on the first fixing plate. The central through hole is externally tangent to each of the first through holes. A central connecting rod coaxially inserted and matched with the central through hole is provided on the second fixing plate. A through-long negative pressure channel is provided inside the central connecting rod. The outer wall of the central connecting rod is hermetically connected to the inner wall of the central through hole. The adsorption mechanism sequentially sucks the air on the window cleaning working surface through the central adsorption port, the central through hole, and the negative pressure channel to form a central negative pressure area; the annular adsorption belt is opposite to the position of the abdominal rod, and the radial width of the annular adsorption belt covers the circumferential uniform distribution range of the abdominal rod. The adsorption mechanism sequentially sucks the air on the window cleaning working surface through the annular adsorption belt and the gaps between two adjacent abdominal rods to form an annular negative pressure area. The annular negative pressure area is communicated with the central negative pressure area to form an adsorption force field continuously distributed from the center to the edge.

[0020] In summary, compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] Through the mechanical transmission and photoelectric feedback mechanism, the present invention can accurately sense the collision between the window cleaning machine and the window frame or obstacles, overcome the inherent defects of the existing electronic sensing solutions such as slip misjudgment, response lag, and environmental sensitivity, greatly improve the reaction speed and accuracy of collision sensing, reduce the possibility of false alarms or missed alarms. The collaborative work of the collision sensing switch and the control system enables the window cleaning machine to automatically adjust the movement trajectory according to the collision situation, reduces the need for manual operation intervention, and the control system can real-time feedback and handle abnormal situations, improve work efficiency, and reduce the risk of human operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the window cleaning machine of the present invention;

[0023] Figure 2 is a top view of the window cleaning machine of the present invention;

[0024] Figure 3 is an installation schematic diagram of the first fixing plate and the first fixing plate of the present invention;

[0025] Figure 4 is a schematic diagram of the base of the present invention;

[0026] Figure 5 is a cross-sectional view of the window cleaning machine of the present invention;

[0027] Figure 6Schematic diagram of the installation of the collision induction switch and the movable plate of the present invention;

[0028] Figure 7 Schematic diagram of the first fixed plate of the present invention;

[0029] Figure 8 Schematic diagram of the movable plate of the present invention;

[0030] Figure 9 Three-dimensional schematic diagram of the movable plate of the present invention;

[0031] Figure 10 Schematic diagram of the installation of the movable plate and the annular window cleaning plate of the present invention;

[0032] Figure 11 Schematic diagram of the second fixed plate of the present invention;

[0033] Figure 12 Schematic diagram of the positional relationship between the first through hole and the second through hole of the present invention;

[0034] Among them, 1 - first fixed plate, 11 - first through hole, 12 - second through hole, 13 - central through hole, 2 - movable plate, 21 - annular inner ring, 22 - annular outer ring, 23 - web member, 24 - annular window cleaning plate, 25 - semi-open through hole, 26 - spring limit block, 3 - second fixed plate, 31 - first connecting rod, 32 - second connecting rod, 33 - central connecting rod, 331 - negative pressure channel, 4 - return spring, 5 - collision induction switch, 51 - rotating pivot, 511 - trigger end, 512 - signal end, 513 - contact guide wheel, 514 - retaining piece, 515 - photoelectric position sensor, 52 - elastic reset rod, 53 - induction switch, 6 - base, 61 - guide groove, 62 - arc limit block, 63 - central adsorption port, 64 - annular adsorption belt, 7 - adsorption mechanism. Detailed description of the specific implementation

[0035] The following is a detailed description of the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments given here are only used to illustrate and explain the present invention and cannot be used to limit the present invention.

[0036] As Figures 1 to 12 shown, an eccentric collision induction mechanism is installed on the base 6 of the window cleaning machine, and a first fixed plate 1, a movable plate 2 and a second fixed plate 3 are sequentially arranged in the direction from the base 6 to the window cleaning working surface;

[0037] As Figure 7 shown, a plurality of first through holes 11 and a plurality of second through holes 12 are circumferentially spaced on the first fixed plate 1, and the distance r1 from the first through hole 11 to the axis is greater than the distance r2 from the second through hole 12 to the axis;

[0038] The axes of the first through holes 11 and the axes of the second through holes 12 both pass through the center of the first fixing plate 1, forming a coaxial distribution, such that the first through holes 11 and the second through holes 12 are respectively located on concentric circumferences with different radii.

[0039] As Figures 8 to 9 shown, the movable plate 2 includes a coaxial annular inner ring 21 and an annular outer ring 22. The annular inner ring 21 and the annular outer ring 22 are connected by a plurality of circumferentially arranged web members 23. A ring-shaped window wiping plate 24 is fixedly connected to the outer peripheral edge of the annular outer ring 22. The ring-shaped window wiping plate 24 protrudes from the edge of the window wiping machine. A window wiping cloth is provided on the side of the ring-shaped window wiping plate 24 facing the window wiping working surface. On the inner peripheral edge of the annular inner ring 21, there are semi-open through holes 25 having the same number and relative positions as the second through holes 12, and a plurality of spring limiting blocks 26 spaced apart from the semi-open through holes 25;

[0040] As Figure 11 shown, the second fixing plate 3 is provided with first connecting rods 31 having the same number and relative positions as the first through holes 11 and second connecting rods 32 having the same number and relative positions as the second through holes 12. The first connecting rods 31 are fixedly installed on the first through holes 11. The second connecting rods 32 pass through the semi-open through holes 25 and are fixedly installed on the second through holes 12. The outer diameter of the second connecting rods 32 is smaller than the inner diameter of the semi-open through holes 25. The first fixing plate 1, the annular inner ring 21, and the second fixing plate 3 enclose a receiving cavity. A plurality of return springs 4 are provided in the receiving cavity. One end of each return spring 4 is fixed on the spring limiting block 26, and the other end is fixed on the first connecting rod 31;

[0041] On the base 6 of the window wiping machine, there are a plurality of collision induction switches 535 electrically connected to the control system. The collision induction switches 535 are circumferentially evenly distributed with the axis of the annular outer ring 22 as the center and are arranged at a preset distance D around the outer peripheral edge of the annular outer ring 22.

[0042] A plurality of collision induction switches 535 are arranged on the annular outer ring 22 to form a uniform induction array, which can timely feedback collision information when the window wiping machine touches the window frame. Each induction switch 53 can independently judge the position of the device and timely send a signal to the control system to ensure that when the window wiping machine approaches the edge of the window frame, it can quickly make a reaction and adjust the movement direction or stop running.

[0043] As a preferred embodiment of the present invention, the collision induction switch 535 includes a rotating pivot 51, an elastic reset rod 52, and an induction switch 53. The rotating pivot 51 is hinged to the base 6 through a rotating shaft and rotates around the rotating shaft. The rotating pivot 51 includes a trigger end 511 and a signal end 512. The trigger end 511 extends to the edge area of the annular outer ring 22. A contact guide wheel 513 is provided at the end of the trigger end 511. The contact guide wheel 513 touches the annular outer ring 22 and rotates in a circular motion. The signal end 512 extends into the window cleaning machine. A blocking piece 514 is provided at the signal end. Correspondingly, a photoelectric position sensor 515 electrically connected to the control system is fixedly installed on the base 6. The photoelectric position sensor 515 is aligned with the movement track of the blocking piece 514. The blocking piece 514 and the photoelectric position sensor 515 together form the induction switch 53. The control system receives and analyzes the signal sent by the induction switch 53 to identify whether a collision occurs. One end of the elastic reset rod 52 is fixedly installed on the base 6, and the other end continuously acts on the trigger end 511 of the rotating pivot 51 to maintain the normal position of the rotating pivot 51 and return the rotating pivot 51 after a collision.

[0044] The mechanical transmission system and the photoelectric sensing system adopted are combined, having strong anti-interference ability. It is especially suitable for complex environments and can still work reliably in the presence of interference factors such as dust and moisture. Through the rotating pivot 51 and the elastic reset rod 52, it is ensured that the movable plate 2 can be quickly returned to its position after each collision, enhancing the reliability of the system.

[0045] As a preferred embodiment of the present invention, a guide groove 61 opposite to the position of the contact guide wheel 513 is opened on the base 6. The contact guide wheel 513 passes through the guide groove 61 and protrudes from the surface of the base 6. The guide groove 61 is used to guide the movement track of the contact guide wheel 513.

[0046] As a preferred embodiment of the present invention, the photoelectric position sensor 515 is one of an optocoupler sensor, a Hall sensor, an infrared sensor, and a reed switch sensor.

[0047] As a preferred embodiment of the present invention, two collision induction switches 535 are provided in one eccentric collision induction mechanism.

[0048] As a preferred embodiment of the present invention, the semi-open through hole 25 includes an axial channel penetrating the thickness of the annular inner ring 21 and a radial opening communicating with the axial channel. The radial opening is arranged towards the central axis. A plurality of arc-shaped limit blocks 62 are provided on the lower surface of the base 6. The arc-shaped limit blocks 62 are circumferentially evenly distributed with the axis of the annular outer ring 22 as the center and are arranged at a preset distance L around the outer peripheral edge of the annular outer ring 22. The distance L ≥ the distance D. The arc-shaped limit blocks 62 are used to limit the movement range of the annular outer ring 22.

[0049] The arc-shaped limit block 62 is arranged on the lower surface of the base 6 and evenly surrounds the outer peripheral edge of the annular outer ring 22, being circumferentially distributed along the axis of the annular outer ring 22. The shape of each limit block is arc-shaped, aiming to provide a boundary and a limiting effect on the annular outer ring 22, avoiding its excessive deviation from the predetermined trajectory or excessive eccentric movement, thereby driving the semi-open through hole 25 away from the second connecting rod 32, being able to ensure that the rotation or displacement of the annular outer ring 22 remains within a reasonable range, effectively preventing component damage caused by the annular outer ring 22 exceeding the limit during movement. In addition, the arc-shaped limit block 62 can also provide a spring-back effect after a collision to help restore to the preset normal movement range. By limiting the maximum offset of the annular outer ring 22, it is ensured that the device can quickly return to the working state after a collision occurs. The spacing distance L between the arc-shaped limit block 62 and the outer peripheral edge of the annular outer ring 22 is greater than or equal to the spacing distance D between the collision induction switch 535 and the outer peripheral edge of the annular outer ring 22, indicating that when the annular outer ring 22 rotates eccentrically, the collision induction switch 535 is triggered first, and then the arc-shaped limit block 62 is contacted, reducing the problem that the deviation of the annular outer ring 22 from the normal trajectory is not detected in time, improving the sensitivity of collision detection, ensuring that the window cleaning machine can respond at the earliest stage, and preventing excessive movement of the annular outer ring 22.

[0050] As a preferred embodiment of the present invention, the annular window cleaning plate 24 is in the shape of a concentric disc, and its cross-section is a multi-stage stepped structure, gradually expanding from the inner peripheral edge at the rotation axis to the outer peripheral edge.

[0051] As a preferred embodiment of the present invention, the first through holes 11 are circumferentially evenly distributed on the first fixing plate 1 at 90° intervals and there are four. The number of the semi-open through holes 25 and the second through holes 12 is the same as that of the first through holes 11 and they are circumferentially aligned one by one. Two spring limit blocks 26 are arranged between every two adjacent semi-open through holes 25. The circumferential position of the spring limit blocks 26 is offset relative to the first through holes 11, forming a staggered distribution structure. Two reset springs 4 are sleeved on each first connecting rod 31 and are symmetrically arranged along the axis of the first connecting rod 31. The end of one reset spring 4 is sleeved on the spring limit block 26 on the left side of the semi-open through hole 25 aligned with the current first through hole 11, and the end of the other reset spring 4 is sleeved on the spring limit block 26 on the right side of the same semi-open through hole 25, constituting a double-spring radially symmetric traction mechanism.

[0052] In the double-spring radially symmetric traction mechanism, the pre-tightening force directions of the two reset springs 4 are opposite and the components of the resultant force along the first connecting rod 31 cancel each other out, only retaining the radial elastic constraint. When the movable plate 2 is deflected by an external force, the reset springs 4 drive the annular inner ring 21 to automatically reset around the axis through the synchronous stretching or compression of the left and right spring limit blocks 26.

[0053] As a preferred embodiment of the present invention, two reset springs 4 are sleeved on each of the two adjacent linkages, and the remaining linkages are kept in a vacant state.

[0054] As a preferred embodiment of the present invention, two or more adsorption mechanisms 7 are provided inside the window cleaning machine. A central adsorption port 63 and an annular adsorption band 64 corresponding to the suction end position of the adsorption mechanism 7 are opened on the bottom plate. The annular adsorption band 64 extends circumferentially with the central adsorption port 63 as the center of the circle. The first fixing plate 1 is fixedly arranged around the circumferential outer edge of the central adsorption port 63. A central through hole 13 coaxially aligned with the central adsorption port 63 is provided on the first fixing plate 1. The central through hole 13 is externally tangent to each first through hole 11. A central connecting rod 33 coaxially inserted and matched with the central through hole 13 is provided on the second fixing plate 3. A through-long negative pressure channel 331 is provided inside the central connecting rod 33. The outer wall of the central connecting rod 33 is hermetically connected to the inner wall of the central through hole 13. The adsorption mechanism 7 sequentially sucks the air on the window cleaning working surface through the central adsorption port 63, the central through hole 13, and the negative pressure channel 331 to form a central negative pressure area; the annular adsorption band 64 is opposite to the position of the web member 23, and the radial width of the annular adsorption band 64 covers the circumferential uniform distribution range of the web member 23. The adsorption mechanism 7 sequentially sucks the air on the window cleaning working surface through the annular adsorption band 64 and the gaps between the two web members 23 to form an annular negative pressure area. The annular negative pressure area is communicated with the central negative pressure area to form an adsorption force field continuously distributed from the center to the edge.

[0055] The present invention designs multiple adsorption mechanisms 7. Through the synergistic effect of the central negative pressure area and the annular negative pressure area, a continuously distributed adsorption force field is constructed, which can provide uniform and strong adsorption force to ensure that the window cleaning machine firmly adheres to the glass surface. The central adsorption port 63 is communicated with the annular adsorption band 64 through the gap of the web member 23 to form an air flow channel covering the entire area of the device, and at the same time, it avoids the device from shifting or falling off due to collision.

[0056] The working principle of an eccentric collision induction mechanism of the present invention: When the window cleaning machine is operating normally, the adsorption mechanism 7 establishes a negative pressure field through the central adsorption port 63 and the annular adsorption band 64 to ensure that the window cleaning machine is firmly attached to the glass surface. At this time, the radial components of the reset springs 4 inside the accommodation cavity cancel each other out, keeping the movable plate 2 in a stable central position, ensuring that the axis of the movable plate 2 coincides with the axes of the first fixing plate 1 and the second fixing plate 3. The control system drives the first fixing plate 1, the second fixing plate 3, and the movable plate 2 to perform coaxial self-rotation movements, driving the window cleaning cloth on the annular window cleaning plate 24 to complete a spiral cleaning path on the window cleaning working surface;

[0057] When the window cleaning machine runs to the edge of the window frame, the annular window cleaning plate 24 first makes physical contact with the window frame. The window frame generates a reaction force on the annular window cleaning plate 24, and the reaction force is transmitted through a rigid force transmission path - from the annular outer ring 22 through the web member 23 to the annular inner ring 21, driving the movable plate 2 to eccentrically rotate relative to the axes of the first fixed plate 1 and the second fixed plate 3. During this process, the return spring 4 is stretched or compressed, and the semi-open through hole 25 slides around the second connecting rod 32. This change is reflected in the collision induction switch 535 through mechanical transmission. The annular outer ring 22 pushes the contact guide wheel 513 to slide along the guide groove 61. The sliding of the contact guide wheel 513 drives the rotation pivot 51 to rotate around the rotation shaft. The tab 514 of the signal end 512 of the rotation pivot 51 cuts into the photoelectric position sensor 515. The photoelectric position sensor 515 sends a signal to the control system according to the position change of the tab 514 to indicate whether a collision has occurred. If a collision is sensed, the control system will trigger a stop or reverse instruction according to the set logic to avoid excessive impact between the window cleaning machine and the window frame, ensuring the safety and reliability of the equipment;

[0058] After the control system issues a reverse instruction, the window cleaning machine moves away from the window frame and continues the cleaning work. At this time, the return spring 4 will restore the movable plate 2 to the coaxial position during normal operation, ensuring that the axes of the movable plate 2 and the first fixed plate 1 and the second fixed plate 3 are realigned again. At the same time, the rotation pivot 51 maintains its original position through the elastic return rod 52. The combined action of the return spring 4 and the elastic return rod 52 enables the movable plate 2 and the rotation pivot 51 to quickly return to the initial state. The timely response and adaptive adjustment ability of the mechanism ensure the reliability and efficiency of the window cleaning machine in a complex environment. The eccentric collision induction mechanism of the present invention realizes an efficient and reliable collision induction function by combining mechanical transmission and photoelectric quantization feedback. The collaborative work of the collision induction switch 535 and the control system enables the window cleaning machine to automatically adjust the movement trajectory according to the collision situation, reducing the need for manual operation intervention. The control system can provide real-time feedback and handle abnormal situations, improving work efficiency and reducing the risk of human operation errors.

[0059] It should be understood that the above embodiments are one or more embodiments of the present invention. Based on the present invention, there are many other embodiments and their deformations. When ordinary technicians in this industry do not make pioneering innovations, the deformations and modifications made through the present invention all fall within the protection scope of the present invention.

Claims

1. An eccentric collision sensing mechanism is installed on the base of the window cleaning machine, and is characterized in that: A first fixed plate, a movable plate, and a second fixed plate are successively arranged in the direction from the base to the window cleaning working surface; A plurality of first through holes and a plurality of second through holes are circumferentially spaced on the first fixed plate, and the distance r1 from the first through hole to the axis is greater than the distance r2 from the second through hole to the axis; The movable plate includes a coaxial annular inner ring and an annular outer ring. The annular inner ring and the annular outer ring are connected by a plurality of circumferentially arranged web members. A ring-shaped window cleaning plate is fixedly connected to the outer peripheral edge of the annular outer ring. The ring-shaped window cleaning plate protrudes from the edge of the window cleaning machine. A window cleaning cloth is provided on the side of the ring-shaped window cleaning plate facing the window cleaning working surface. On the inner peripheral edge of the annular inner ring, there are semi-open through holes having the same number and relative positions as the second through holes, and a plurality of spring limit blocks spaced from the semi-open through holes; On the second fixed plate, there are first connecting rods having the same number and relative positions as the first through holes and second connecting rods having the same number and relative positions as the second through holes. The first connecting rods are fixedly installed on the first through holes. The second connecting rods pass through the semi-open through holes and are fixedly installed on the second through holes. The outer diameter of the second connecting rods is smaller than the inner diameter of the semi-open through holes. The first fixed plate, the annular inner ring, and the second fixed plate enclose a containing cavity. A plurality of return springs are arranged in the containing cavity. One end of the return spring is fixed on the spring limit block, and the other end is fixed on the first connecting rod; A plurality of collision induction switches electrically connected to the control system are arranged on the base of the window cleaning machine. The collision induction switches are circumferentially evenly distributed with the axis of the annular outer ring as the center and are arranged at intervals of a preset distance D around the outer peripheral edge of the annular outer ring.

2. The eccentric collision induction mechanism according to claim 1, wherein: The collision induction switch includes a rotating pivot, an elastic return rod, and an induction switch. The rotating pivot is hinged to the base through a rotating shaft and rotates around the rotating shaft. The rotating pivot includes a trigger end and a signal end. The trigger end extends to the edge area of the annular outer ring. A contact guide wheel is provided at the end of the trigger end. The contact guide wheel touches the annular outer ring and rotates in a circular motion. The signal end extends into the window cleaning machine. A stop piece is provided at the end of the signal end. Corresponding to this, a photoelectric position sensor electrically connected to the control system is fixedly installed on the base. The photoelectric position sensor is aligned with the movement track of the stop piece. The stop piece and the photoelectric position sensor together constitute the induction switch. The control system receives and analyzes the signal sent by the induction switch to identify whether a collision occurs. One end of the elastic return rod is fixedly installed on the base, and the other end is hinged to the trigger end of the rotating pivot, which is used to maintain the normal position of the rotating pivot and return the rotating pivot after a collision.

3. The eccentric collision sensing mechanism according to claim 2, characterized in that: A guide groove opposite to the position of the contact guide wheel is opened on the base. The contact guide wheel passes through the guide groove and protrudes from the surface of the base. The guide groove is used to guide the movement track of the contact guide wheel.

4. The eccentric collision induction mechanism according to claim 2, wherein: The photoelectric position sensor is one of an optical coupling sensor, a Hall sensor, an infrared reflection sensor, and a reed switch sensor.

5. An eccentric collision sensing mechanism according to claim 1, characterized in that: An eccentric collision sensing mechanism is provided with two said collision sensing switches.

6. The eccentric collision sensing mechanism according to claim 1, wherein: The semi-open through hole includes an axial channel penetrating the thickness of the annular inner ring and a radial opening communicating with the axial channel. The radial opening is arranged towards the central axis. A plurality of arc-shaped limiting blocks are provided on the lower surface of the base. The arc-shaped limiting blocks are circumferentially evenly distributed around the axis of the annular outer ring and are arranged at a preset distance L from the outer periphery of the annular outer ring at intervals. The distance L ≥ the distance D. The arc-shaped limiting blocks are used to limit the movement range of the annular outer ring.

7. An eccentric collision sensing mechanism according to claim 1, characterized in that: The annular window wiping plate is in the shape of a concentric disc, and its cross section is a multi-stage stepped structure, gradually expanding from the inner periphery at the rotation axis to the outer periphery.

8. An eccentric collision induction mechanism according to claim 1, characterized in that: The first through holes are circumferentially evenly distributed on the first fixing plate at 90° intervals and there are four of them. The number of the semi-open through holes and the second through holes is the same as that of the first through holes and they are circumferentially aligned one by one. Two spring limiting blocks are provided between every two adjacent semi-open through holes. The spring limiting blocks are offset from the circumferential position of the first through holes to form a staggered distribution structure. Two reset springs symmetrically arranged along the axis of the first connecting rod are sleeved on each first connecting rod. The end of one reset spring is sleeved on the spring limiting block on the left side of the semi-open through hole aligned with the current first through hole, and the end of the other reset spring is sleeved on the spring limiting block on the right side of the same semi-open through hole, constituting a double-spring radially symmetric traction mechanism.

9. The eccentric collision sensing mechanism according to claim 8, characterized in that: Two of the reset springs are sleeved on each of the two adjacent connecting rods, and the rest of the connecting rods remain empty.

10. A kind of eccentric collision induction mechanism according to claim 1, characterized in that: Two or more adsorption mechanisms are provided in the window wiping machine. A central adsorption port and an annular adsorption belt corresponding to the suction end position of the adsorption mechanism are opened on the base. The annular adsorption belt extends circumferentially with the central adsorption port as the center. The first fixing plate is fixedly arranged around the circumferential outer edge of the central adsorption port. A central through hole coaxially aligned with the central adsorption port is provided on the first fixing plate. The central through hole is externally tangent to each first through hole. A central connecting rod in plug-in fit with the central through hole is provided on the second fixing plate. A through-long negative pressure channel is provided in the central connecting rod. The outer wall of the central connecting rod is sealingly connected to the inner wall of the central through hole. The adsorption mechanism sequentially sucks the air on the window wiping working surface through the central adsorption port, the central through hole, and the negative pressure channel to form a central negative pressure area; the annular adsorption belt is opposite to the position of the abdominal rod, and the radial width of the annular adsorption belt covers the circumferential even distribution range of the abdominal rod. The adsorption mechanism sequentially sucks the air on the window wiping working surface through the annular adsorption belt and the gaps between every two abdominal rods to form an annular negative pressure area. The annular negative pressure area is communicated with the central negative pressure area to form an adsorption force field continuously distributed from the center to the edge.

Images