An eccentric collision sensing mechanism

Abstract

This invention discloses an eccentric collision sensing mechanism, belonging to the field of window cleaning machine technology. It includes a first fixed plate and a second fixed plate fixedly mounted on the base of the window cleaning machine, and a movable plate that can rotate eccentrically relative to the axis of the first fixed plate. When the annular window cleaning plate on the movable plate touches the window frame or an obstacle, the obstacle pushes the movable plate to rotate eccentrically relative to the first and second fixed plates. The movable plate then pushes a collision sensing switch, triggering the control system to issue a stop or turn command based on the signal output by the collision sensing switch, thus completing the identification and avoidance of the window frame or obstacle. This invention, through mechanical transmission and photoelectric feedback mechanisms, can accurately sense the collision between the window cleaning machine and the window frame or obstacle, overcoming the inherent defects of existing electronic sensing solutions such as slippage, false judgment, delayed response, and environmental sensitivity. It significantly improves the reaction speed and accuracy of collision sensing, reducing the possibility of false alarms or missed alarms.

Description

Technical Field

[0001] This invention relates to the field of window cleaning machine technology, and more specifically, to an eccentric collision sensing mechanism. Background Technology

[0002] Current window cleaning robots generally employ a dual-suction-cup alternating support motion mode. Two suction units take turns acting as fulcrums, driving the robot to perform step-by-step cleaning operations on the glass surface. When the suction cup moves to the edge of the window frame, increased mechanical resistance causes a rise in motor current. The control system triggers a stop or turn command accordingly, judging whether it has touched the edge by monitoring changes in the drive motor current. This type of collision detection mainly relies on electronic sensing technology, essentially stemming from an indirect detection mechanism rather than direct physical contact sensing. Under highly lubricated conditions on the glass surface, such as after rain or on coated glass, the suction cup is prone to slippage. In this case, the drive motor load does not change significantly, and the current detection method cannot identify the actual positional shift, causing the device to continuously idle or deviate from the cleaning area. Secondly, the window frame material or surface deposits, such as water stains or adhesive strips, can change the coefficient of friction, causing false triggers or failures in the current threshold method. When the window cleaning robot tilts, the gravitational component interferes with the drive motor's load current, further reducing detection reliability.

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

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

[0005] To achieve the above objectives, the present invention provides the following technical solution:

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

[0007] The first fixing plate is provided with a plurality of first through holes and a plurality of second through holes spaced apart along the circumference, 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 an inner annular ring and an outer annular ring arranged coaxially. The inner annular ring and the outer annular ring are connected by a number of circumferentially arranged web rods. An annular window cleaning plate is fixedly connected to the outer periphery of the outer annular ring. The annular window cleaning plate protrudes from the edge of the window cleaning machine. A window cleaning cloth is provided on the side of the annular window cleaning plate facing the window cleaning working surface. The inner periphery of the inner annular ring is provided with a number of semi-open through holes that are the same as the number of the second through holes and are opposite in position, and a number of spring limiting blocks that are spaced apart from the semi-open through holes.

[0009] The second fixing plate is provided with a first connecting rod with the same number of holes as the first through holes and a second connecting rod with the same number of holes as the second through holes and a second connecting rod with the same number of holes and a second connecting rod with the same number of holes. The first connecting rod is fixedly installed on the first through hole, and the second connecting rod passes through the semi-open through hole and is fixedly installed on the second through hole. The outer diameter of the second connecting rod is smaller than the inner diameter of the semi-open through hole. The first fixing plate, the annular inner ring, and the second fixing plate surround to form a receiving cavity. A plurality of return springs are provided in the receiving cavity. One end of the return spring is fixed on the spring limiting block, and the other end is fixed on the first connecting rod.

[0010] The base of the window cleaning machine is equipped with several collision sensing switches that are electrically connected to the control system. The collision sensing switches are evenly distributed around the axis of the outer ring and are set at a preset distance D around the outer periphery of the outer ring.

[0011] As a preferred embodiment of the present invention, the collision sensing switch includes a rotating pivot, an elastic reset rod, and a sensing switch. The rotating pivot is hinged to the base via a pivot and rotates around the pivot. The rotating pivot includes a trigger end and a signal end. The trigger end extends to the edge region of the annular outer ring, and a contact guide wheel is provided at the end of the trigger end. The contact guide wheel contacts the annular outer ring and rotates in a circular motion. The signal end extends into the interior of the window cleaning machine, and a baffle is provided at the end of the signal end. 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 trajectory of the baffle. The baffle and the photoelectric position sensor together constitute the sensing switch. The control system receives and analyzes the signal emitted by the sensing switch to identify whether a collision has occurred. One end of the elastic reset rod is fixedly installed on the base, and the other end is hinged to the trigger end of the rotating pivot. It is used to maintain the normal position of the rotating pivot and to return the rotating pivot to its original position after a collision.

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

[0013] As a preferred embodiment 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 embodiment of the present invention, an eccentric collision sensing mechanism is provided with two collision sensing switches.

[0015] As a preferred embodiment of the present invention, the semi-open through hole includes an axial channel penetrating the thickness of the inner annular ring and a radial opening communicating with the axial channel. The radial opening is oriented toward the central axis. The lower surface of the base is provided with a plurality of arc-shaped limiting blocks. The arc-shaped limiting blocks are evenly distributed circumferentially around the axis of the outer annular ring and are arranged around the outer periphery of the outer annular ring at a predetermined distance L, wherein the distance L ≥ the distance D. The arc-shaped limiting blocks are used to limit the range of motion of the outer annular ring.

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

[0017] As a preferred embodiment of the present invention, four first through holes are evenly distributed circumferentially on the first fixed plate at 90° intervals. The number of semi-open through holes and the second through holes are the same as the number of first through holes and are circumferentially aligned. Two spring limiting blocks are provided between every two adjacent semi-open through holes. The spring limiting blocks are offset relative to the circumferential position of the first through holes to form an interlaced distribution structure. Two return springs are sleeved on each first connecting rod and arranged symmetrically along the axis of the first connecting rod. The end of one of the return 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 return spring is sleeved on the spring limiting block on the right side of the same semi-open through hole, thus forming a double-spring radially symmetrical traction mechanism.

[0018] As a preferred embodiment of the present invention, two reset springs are fitted on each of the two adjacent connecting rods, while the remaining connecting rods remain unloaded.

[0019] As a preferred embodiment of the present invention, the window cleaning machine is provided with two or more adsorption mechanisms. The base has a central adsorption port and an annular adsorption belt corresponding to the suction end of the adsorption mechanism. The annular adsorption belt extends circumferentially around the central adsorption port. A first fixing plate is fixedly arranged around the outer circumferential edge of the central adsorption port. The first fixing plate has a central through hole coaxially aligned with the central adsorption port, and the central through hole is tangent to the outside of each of the first through holes. A second fixing plate has a central connecting rod coaxially inserted into the central through hole, and the central connecting rod contains a continuous... The negative pressure channel has a central connecting rod whose outer wall is sealed to the inner wall of the central through hole. The adsorption mechanism sequentially draws air from the window cleaning surface through the central adsorption port, the central through hole, and the negative pressure channel to form a central negative pressure zone. The annular adsorption band is positioned opposite to the web rod, and the radial width of the annular adsorption band covers the circumferentially distributed range of the web rod. The adsorption mechanism sequentially draws air from the window cleaning surface through the annular adsorption band and the gaps between each pair of web rods to form an annular negative pressure zone. The annular negative pressure zone is connected to the central negative pressure zone, forming 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:

[0021] This invention, through mechanical transmission and photoelectric feedback mechanisms, can accurately sense collisions between the window cleaning machine and window frames or obstacles. It overcomes the inherent defects of existing electronic sensing solutions, such as slippage misjudgment, response lag, and environmental sensitivity, significantly improving the reaction speed and accuracy of collision sensing, reducing the possibility of false alarms or missed alarms. The coordinated work of the collision sensing switch and the control system enables the window cleaning machine to automatically adjust its movement trajectory according to the collision situation, reducing the need for manual intervention. The control system can provide real-time feedback and handle abnormal situations, improving work efficiency and reducing the risk of human error. Attached Figure Description

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

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

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

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

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

[0027] Figure 6This is a schematic diagram of the installation of the collision sensing switch and the movable plate of the present invention;

[0028] Figure 7 This is a schematic diagram of the first fixing plate of the present invention;

[0029] Figure 8 This is a schematic diagram of the movable plate of the present invention;

[0030] Figure 9 This is a three-dimensional schematic diagram of the movable plate of the present invention;

[0031] Figure 10 This is a schematic diagram of the installation of the movable plate and the annular window cleaning plate of the present invention;

[0032] Figure 11 This is a schematic diagram of the second fixing plate of the present invention;

[0033] Figure 12 This is a schematic diagram showing the positional relationship between the first through hole and the second through hole in this invention;

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

[0035] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for illustration and explanation only and are not intended to limit the present invention.

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

[0037] like Figure 7 As shown, the first fixing plate 1 is provided with a plurality of first through holes 11 and a plurality of second through holes 12 spaced apart along the circumference. 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 second through holes 12 both pass through the center of the first fixed plate 1, forming a coaxial distribution, so that the first through holes 11 and the second through holes 12 are located on concentric circles of different radii.

[0039] like Figures 8 to 9 As shown, the movable plate 2 includes an inner annular ring 21 and an outer annular ring 22 arranged coaxially. The inner annular ring 21 and the outer annular ring 22 are connected by several circumferentially arranged web rods 23. An annular window cleaning plate 24 is fixedly connected to the outer periphery of the outer annular ring 22. The annular window cleaning plate 24 protrudes from the edge of the window cleaning machine. A window cleaning cloth is provided on the side of the annular window cleaning plate 24 facing the window cleaning working surface. The inner periphery of the inner annular ring 21 is provided with semi-open through holes 25 in the same number and opposite positions as the second through holes 12, and several spring limit blocks 26 spaced apart from the semi-open through holes 25.

[0040] like Figure 11 As shown, the second fixing plate 3 is provided with a first connecting rod 31, which is the same number as the first through hole 11 and is positioned opposite to it, and a second connecting rod 32, which is the same number as the second through hole 12 and is positioned opposite to it. The first connecting rod 31 is fixedly installed on the first through hole 11, and the second connecting rod 32 passes through the semi-open through hole 25 and is fixedly installed on the second through hole 12. The outer diameter of the second connecting rod 32 is smaller than the inner diameter of the semi-open through hole 25. The first fixing plate 1, the annular inner ring 21 and the second fixing plate 3 surround to form a receiving cavity. A plurality of return springs 4 are provided in the receiving cavity. One end of the return spring 4 is fixed on the spring limiting block 26 and the other end is fixed on the first connecting rod 31.

[0041] The base 6 of the window cleaning machine is equipped with several collision sensing switches 535 that are electrically connected to the control system. The collision sensing switches 535 are evenly distributed around the axis of the outer ring 22 and are set at a preset distance D around the outer periphery of the outer ring 22.

[0042] Multiple collision sensing switches 535 are arranged on the outer ring 22 to form a uniform sensing array, which can promptly provide collision information when the window cleaning machine comes into contact with the window frame. Each sensing switch 53 can independently determine the position of the equipment and send a signal to the control system in a timely manner, ensuring that when the window cleaning machine approaches the edge of the window frame, it can quickly react and adjust its movement direction or stop running.

[0043] In a preferred embodiment of the present invention, the collision sensing switch 535 includes a rotating pivot 51, an elastic reset rod 52, and a sensing switch 53. The rotating pivot 51 is hinged to the base 6 via 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 region of the annular outer ring 22, and 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 interior of the window cleaning machine, and a baffle 514 is provided at the end of the signal end. A photoelectric position sensor 515 electrically connected to the control system should be fixedly installed on the base 6. The photoelectric position sensor 515 is aligned with the movement trajectory of the baffle 514. The baffle 514 and the photoelectric position sensor 515 together constitute an inductive switch 53. The control system receives and analyzes the signal emitted by the inductive switch 53 to identify whether a collision has occurred. 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 to return the rotating pivot 51 to its original position after a collision.

[0044] The combination of mechanical transmission system and photoelectric sensing system has strong anti-interference ability and is particularly suitable for complex environments. It can still work reliably even in the presence of dust, moisture and other interference factors. The rotating pivot 51 and elastic reset rod 52 ensure that the movable plate 2 can quickly return to its original position after each collision, which enhances the reliability of the system.

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

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

[0047] In a preferred embodiment of the present invention, an eccentric collision sensing mechanism is provided with two collision sensing switches 535.

[0048] In 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 facing the central axis. The lower surface of the base 6 is provided with a plurality of arc-shaped limiting blocks 62. The arc-shaped limiting blocks 62 are evenly distributed circumferentially around the axis of the annular outer ring 22 and are arranged around the outer periphery of the annular outer ring 22 at a predetermined distance L, where distance L ≥ distance D. The arc-shaped limiting blocks 62 are used to limit the range of motion of the annular outer ring 22.

[0049] Arc-shaped limiting blocks 62 are disposed on the lower surface of the base 6 and are evenly distributed around the outer periphery of the annular outer ring 22 along the axis of the annular outer ring 22. Each limiting block is arc-shaped, designed to provide a boundary and restriction for the annular outer ring 22, preventing it from deviating excessively from the predetermined trajectory or from having excessive eccentric movement, thereby causing the semi-open through hole 25 to disengage from the second connecting rod 32. This ensures that the rotation or displacement of the annular outer ring 22 is kept within a reasonable range, effectively preventing damage to components caused by the annular outer ring 22 moving beyond its limits. In addition, the arc-shaped limiting blocks 62 can also provide a rebound effect after a collision, helping to restore the device to the preset normal movement range. By limiting the maximum offset of the annular outer ring 22, it ensures that the device can quickly return to the working state after a collision. The distance L between the arc-shaped limiting block 62 and the outer periphery of the annular outer ring 22 is greater than or equal to the distance D between the collision sensing switch 535 and the outer periphery of the annular outer ring 22. This means that when the annular outer ring 22 rotates eccentrically, the collision sensing switch 535 is triggered first, and then the arc-shaped limiting block 62 is contacted. This reduces the problem of the annular outer ring 22 deviating from its normal trajectory and not being detected in time, improves the sensitivity of collision detection, ensures that the window cleaning machine can react at the earliest stage, and prevents the annular outer ring 22 from moving excessively.

[0050] In a preferred embodiment of the present invention, the annular window cleaning plate 24 is in the shape of a concentric disk, and its cross-section is a multi-level stepped structure, which expands layer by layer from the inner periphery at the center of rotation to the outer periphery.

[0051] In a preferred embodiment of the present invention, four first through holes 11 are evenly distributed circumferentially on the first fixed plate 1 at 90° intervals. The number of semi-open through holes 25 and the number of second through holes 12 are the same as those of the first through holes 11 and are circumferentially aligned. Two spring limiting blocks 26 are provided between every two adjacent semi-open through holes 25. The spring limiting blocks 26 are offset relative to the circumferential position of the first through holes 11 to form an interlaced distribution structure. Two return springs 4 are sleeved on each first connecting rod 31 and arranged symmetrically along the axis of the first connecting rod 31. The end of one return spring 4 is sleeved on the spring limiting 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 return spring 4 is sleeved on the spring limiting block 26 on the right side of the same semi-open through hole 25, thus forming a double-spring radially symmetrical traction mechanism.

[0052] In the double-spring radially symmetrical traction mechanism, the preload of the two return springs 4 is in opposite directions and the resultant force along the first connecting rod 31 cancels each other out, leaving only radial elastic constraint. When the movable plate 2 is deflected by an external force, the return spring 4 drives the 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] In a preferred embodiment of the present invention, two return springs 4 are fitted on each of the two adjacent connecting rods, while the other connecting rods remain unloaded.

[0054] In a preferred embodiment of the present invention, the window cleaning machine is provided with two or more adsorption mechanisms 7. A central adsorption port 63 and an annular adsorption band 64, corresponding to the suction end of the adsorption mechanism 7, are provided on the bottom plate. The annular adsorption band 64 extends circumferentially around the central adsorption port 63. A first fixing plate 1 is fixedly disposed around the outer circumferential edge of the central adsorption port 63. The first fixing plate 1 is provided with a central through hole 13 coaxially aligned with the central adsorption port 63, and the central through hole 13 is tangent to the outside of each first through hole 11. A second fixing plate 3 is provided with a central connecting rod 33 coaxially inserted into the central through hole 13. The central connecting rod 33 contains a continuous... The negative pressure channel 331, the outer wall of the central connecting rod 33 is sealed to the inner wall of the central through hole 13, the adsorption mechanism 7 sequentially draws air from the window cleaning surface through the central adsorption port 63, the central through hole 13 and the negative pressure channel 331 to form a central negative pressure zone; the annular adsorption band 64 is positioned opposite to the abdominal rod 23, and the radial width of the annular adsorption band 64 covers the circumferentially distributed range of the abdominal rod 23, the adsorption mechanism 7 sequentially draws air from the window cleaning surface through the annular adsorption band 64 and the gap between the two abdominal rods 23 to form an annular negative pressure zone, the annular negative pressure zone is connected to the central negative pressure zone to form an adsorption force field continuously distributed from the center to the edge.

[0055] This invention designs multiple adsorption mechanisms 7. Through the synergistic effect of the central negative pressure zone and the annular negative pressure zone, a continuously distributed adsorption force field is constructed, which can provide uniform and strong adsorption force to ensure that the window cleaning machine is firmly attached to the glass surface. The central adsorption port 63 is connected to the annular adsorption belt 64 through the gap of the web rod 23 to form an airflow channel covering the entire area of ​​the equipment, while avoiding the equipment from shifting or falling off due to collision.

[0056] The working principle of the eccentric collision sensing mechanism of the present invention is as follows: When the window cleaning machine is running normally, the adsorption mechanism 7 establishes a negative pressure field with the annular adsorption belt 64 through the central adsorption port 63, ensuring that the window cleaning machine is firmly attached to the glass surface. At this time, the radial components of the reset spring 4 inside the accommodating 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 and aligns with the axis of the first fixed plate 1 and the second fixed plate 3. The control system drives the first fixed plate 1, the second fixed plate 3, and the movable plate 2 to perform coaxial rotation, thereby driving the window cleaning cloth on the annular window cleaning plate 24 to complete the spiral cleaning path of the window cleaning work surface.

[0057] When the window cleaning machine reaches the edge of the window frame, the annular cleaning plate 24 first makes physical contact with the window frame. The window frame generates a reaction force on the annular cleaning plate 24. This reaction force is transmitted through a rigid force transmission path—from the outer annular ring 22 through the web rod 23 to the inner annular ring 21—driving the movable plate 2 to rotate eccentrically 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 to the collision sensing switch 535 through mechanical transmission. The ring 22 pushes the contact guide wheel 513 to slide along the guide groove 61. The sliding of the contact guide wheel 513 causes the rotating pivot 51 to rotate around the pivot. The baffle 514 of the signal end 512 of the rotating 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 baffle 514 to indicate whether a collision has occurred. If a collision is detected, the control system will trigger a stop or reverse command according to the set logic to avoid excessive impact between the window cleaning machine and the window frame, and ensure the safety and reliability of the equipment.

[0058] After the control system issues a reverse command, the window cleaning machine moves away from the window frame and continues cleaning. At this time, the return spring 4 restores the movable plate 2 to its coaxial position during normal operation, ensuring that the movable plate 2 is realigned with the axes of the first fixed plate 1 and the second fixed plate 3. Simultaneously, the rotating pivot 51 maintains its original position through the elastic return rod 52. The synergistic effect of the return spring 4 and the elastic return rod 52 allows the movable plate 2 and the rotating pivot 51 to quickly return to their initial state. The timely response and adaptive adjustment capability of the mechanism ensure the reliability and efficiency of the window cleaning machine in complex environments. The eccentric collision sensing mechanism of this invention achieves efficient and reliable collision sensing function by combining mechanical transmission and photoelectric quantization feedback. The synergistic work of the collision sensing switch 535 and the control system enables the window cleaning machine to automatically adjust its movement trajectory according to the collision situation, reducing the need for manual intervention. The control system can provide real-time feedback and handle abnormal situations, improving work efficiency and reducing the risk of human error.

[0059] It should be understood that the above embodiments are one or more embodiments of the present invention. There are many other embodiments and variations based on the present invention. Any variations and modifications made by those skilled in the art without making pioneering innovations are within the protection scope of the present invention.

Claims

1. An eccentric collision sensing mechanism, mounted on the base of a window cleaning machine, characterized in that: A first fixed plate, a movable plate, and a second fixed plate are sequentially provided from the base to the window cleaning work surface; The first fixing plate is provided with a plurality of first through holes and a plurality of second through holes spaced apart along the circumference, 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 an inner annular ring and an outer annular ring arranged coaxially. The inner annular ring and the outer annular ring are connected by a number of circumferentially arranged web rods. An annular window cleaning plate is fixedly connected to the outer periphery of the outer annular ring. The annular window cleaning plate protrudes from the edge of the window cleaning machine. A window cleaning cloth is provided on the side of the annular window cleaning plate facing the window cleaning working surface. The inner periphery of the inner annular ring is provided with a number of semi-open through holes that are the same as the number of the second through holes and are opposite in position, and a number of spring limiting blocks that are spaced apart from the semi-open through holes. The second fixing plate is provided with a first connecting rod with the same number of holes as the first through holes and a second connecting rod with the same number of holes as the second through holes and a second connecting rod with the same number of holes and a second connecting rod with the same number of holes. The first connecting rod is fixedly installed on the first through hole, and the second connecting rod passes through the semi-open through hole and is fixedly installed on the second through hole. The outer diameter of the second connecting rod is smaller than the inner diameter of the semi-open through hole. The first fixing plate, the annular inner ring, and the second fixing plate surround to form a receiving cavity. A plurality of return springs are provided in the receiving cavity. One end of the return spring is fixed on the spring limiting block, and the other end is fixed on the first connecting rod. The base of the window cleaning machine is equipped with several collision sensing switches that are electrically connected to the control system. The collision sensing switches are evenly distributed around the axis of the outer ring and are set at a preset distance D around the outer periphery of the outer ring.

2. The eccentric collision sensing mechanism according to claim 1, characterized in that: The collision sensing switch includes a rotating pivot, an elastic reset rod, and a sensing switch. The rotating pivot is hinged to the base via a pivot shaft and rotates around the pivot 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, and the end of the trigger end is provided with a contact guide wheel. The contact guide wheel contacts the annular outer ring and rotates in a circular motion. The signal end extends into the interior of the window cleaning machine, and the end of the signal end is provided with a baffle. Correspondingly, 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 trajectory of the baffle. The baffle and the photoelectric position sensor together constitute the sensing switch. The control system receives and analyzes the signal emitted by the sensing switch to identify whether a collision has occurred. One end of the elastic reset rod is fixedly installed on the base, and the other end is hinged to the trigger end of the rotating pivot. It is used to maintain the normal position of the rotating pivot and to return the rotating pivot to its original position after a collision.

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

4. The eccentric collision sensing mechanism according to claim 2, characterized in that: The photoelectric position sensor is one of the following: optical coupling sensor, Hall sensor, infrared reflection sensor, and reed switch sensor.

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

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

7. The eccentric collision sensing mechanism according to claim 1, characterized in that: The annular window cleaning plate is in the shape of a concentric disc, and its cross-section has a multi-level stepped structure, which expands layer by layer from the inner periphery at the center of rotation to the outer periphery.

8. The eccentric collision sensing mechanism according to claim 1, characterized in that: The first through holes are evenly distributed circumferentially on the first fixed plate at 90° intervals, and there are four of them. The number of the semi-open through holes and the second through holes are the same as the number of the first through holes and they are aligned circumferentially. Two spring limiting blocks are provided between every two adjacent semi-open through holes. The spring limiting blocks are offset relative to the circumferential position of the first through holes to form an interlaced distribution structure. Two return springs are sleeved on each of the first connecting rods and arranged symmetrically along the axis of the first connecting rod. The end of one of the return 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 return spring is sleeved on the spring limiting block on the right side of the same semi-open through hole, forming a double-spring radially symmetrical traction mechanism.

9. An eccentric collision sensing mechanism according to claim 8, characterized in that: Two return springs are fitted on each of the two adjacent connecting rods, while the other connecting rods remain unloaded.

10. An eccentric collision sensing mechanism according to claim 1, characterized in that: The window cleaning machine has two or more adsorption mechanisms. The base has a central adsorption port and an annular adsorption belt corresponding to the suction end of each adsorption mechanism. The annular adsorption belt extends circumferentially around the central adsorption port. A first fixing plate is fixedly installed around the outer circumferential edge of the central adsorption port. The first fixing plate has a central through hole coaxially aligned with the central adsorption port, and the central through hole is tangent to the outside of each of the first through holes. A second fixing plate has a central connecting rod coaxially inserted into the central through hole. The central connecting rod has a continuous negative pressure channel. The outer wall of the central connecting rod is sealed to the inner wall of the central through hole. The adsorption mechanism sequentially draws air from the window cleaning surface through the central adsorption port, the central through hole, and the negative pressure channel to form a central negative pressure zone. The annular adsorption band is positioned opposite to the web rod, and the radial width of the annular adsorption band covers the circumferentially distributed range of the web rod. The adsorption mechanism sequentially draws air from the window cleaning surface through the annular adsorption band and the gaps between each pair of web rods to form an annular negative pressure zone. The annular negative pressure zone is connected to the central negative pressure zone, forming an adsorption force field continuously distributed from the center to the edge.

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