Take-up and pay-off device and cleaning base station with same

Abstract

The invention provides a take-up and pay-off device and a cleaning base station with the take-up and pay-off device, and the take-up and pay-off device comprises a wire bearing structure used for taking up and releasing a wire; and the self-adaptive speed adjusting mechanism is used for carrying out self-adaptive adjustment according to the movement speed of the wire rod, so that the movement speed of the wire rod is within a preset speed range. Through cooperative work of the self-adaptive speed regulating mechanism and the wire bearing structure, real-time dynamic regulation and control of the wire movement speed are achieved, it is ensured that the wire winding and unwinding process is always stabilized within a preset speed range, the reliability and safety of device operation are greatly improved, the problem that the speed of a traditional winding and unwinding device is prone to being out of control is effectively solved, and the service life of the device is prolonged. And the defects of wire breakage, non-uniform winding and the like caused by too high speed are avoided.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a cable take-up and drop-off device and a cleaning base station having the same. Background Technology

[0002] Cable reeling and unloading devices are widely used in various equipment that require automated cable reeling and unloading, such as window cleaning robots cleaning base stations. Their core function is to recycle and release cables through a cable-bearing structure to coordinate with the operation of the main equipment.

[0003] However, in the existing technology, the winding speed of the winding and unwinding device is difficult to control.

[0004] Therefore, there is an urgent need for a take-up and release device that can control the take-up speed to solve the above-mentioned technical problems.

[0005] Application content In view of this, this application proposes a cable take-up and drop-off device and a clean base station having the same, to solve at least one of the above problems, and the specific solution is as follows: A take-up and undo device, characterized in that it comprises: Wire support structure for retracting and releasing the wire; A power element is used to generate reserve power during the release of the wire, and to release the reserve power to recover the wire; An adaptive speed control mechanism is used to adaptively adjust the speed of the wire according to its movement speed, so that the movement speed of the wire is within a preset speed range.

[0006] In some specific embodiments, the wire-bearing structure is rotated to wind and retract or release the wire; the adaptive speed control mechanism is used to adaptively adjust according to the rotation speed of the wire-bearing structure so that the movement speed of the wire is within a preset speed range.

[0007] In some specific embodiments, the adaptive speed regulation mechanism includes: A movable separator is used to centrifugally move closer to or further away from the wire-bearing structure according to the rotational speed of the wire-bearing structure.

[0008] In some specific embodiments, when the rotational speed of the wire-bearing structure increases to a speed greater than a preset speed, the movable separator moves to fit against the wire-bearing structure and restricts the rotation of the wire-bearing structure to reduce the rotational speed of the wire-bearing structure.

[0009] In some specific embodiments, the adaptive speed regulation mechanism further includes: A guide component is mounted on the wire-bearing structure and rotates with the wire-bearing structure. The movable separator is used to move along the guide according to the rotational speed of the wire-bearing structure.

[0010] In some specific embodiments, the adaptive speed regulation mechanism further includes: A reset element is used to provide a reset force to the movable separator toward the rotation center of the wire-bearing structure.

[0011] In some specific embodiments, the adaptive speed regulation mechanism includes: Stator assembly; The rotor assembly is used to follow the rotation of the wire-bearing structure to cut the magnetic lines of the stator assembly, thereby generating a force that opposes the rotation of the wire-bearing structure and restricts its rotation.

[0012] A clean base station includes a main body and a cable take-up and delivery device as described in any of the preceding claims. The cable is connected to the window cleaning robot; Once the window cleaning robot is housed within the main body and during the cable retrieval process, the cable reeling device adaptively adjusts according to the cable's movement speed to ensure that the cable's speed remains within a preset speed range. This preset speed range can be flexibly set based on the actual cable retrieval speed.

[0013] In some specific embodiments, when the length of the unrecovered wire is less than a preset length, the wire recovery speed is reduced to less than the preset speed range under the action of the main body or the combined action of the main body and the wire take-up and unwinding device.

[0014] Beneficial effects: This application provides a cable rewinding device and a cleaning base station incorporating it. Through the coordinated operation of an adaptive speed control mechanism and a cable-bearing structure, real-time dynamic control of the cable's movement speed is achieved, ensuring that the cable rewinding process remains stable within a preset speed range. This significantly improves the reliability and safety of the device, effectively solving the problem of speed control issues common in traditional cable rewinding devices and avoiding defects such as cable breakage and uneven winding caused by excessive speed. The diverse designs of the adaptive speed control mechanism adapt to different application scenarios. The centrifugal friction structure eliminates the need for complex electronic control components, relying on physical characteristics to achieve adaptive braking. It is simple, reliable, and has low maintenance costs. The electromagnetic damping type offers advantages such as wear-free operation and long service life, and can achieve stepless speed regulation through magnetic force adjustment, enhancing the device's adaptability. The entire technical solution requires no additional external control unit, achieving adaptive functionality solely through mechanical structure or physical characteristics. It is easy to operate and highly efficient, reducing manufacturing costs while improving comfort and safety during use. It can be widely applied in various scenarios requiring stable cable rewinding, such as window cleaning robot base stations, drone cable rewinding, and lifting platforms, demonstrating strong practicality and promotional value. Attached Figure Description

[0015] Figure 1 Yes, this is an example diagram of the overall structure of the wire take-up and unwinding device; Figure 2 This is a structural example diagram of a centrifugal wire take-up and unwinding device; Figure 3 This is a three-dimensional structural diagram of the friction ring and friction block; Figure 4 This is a structural disassembly example diagram of a centrifugal wire take-up and unwinding device; Figure 5 This is a schematic diagram of the cross-section of a centrifugal wire take-up and unwinding device; Figure 6 yes Figure 5 A schematic diagram showing the state where the friction ring and friction block in region A are not in contact; Figure 7 yes Figure 5 A schematic diagram showing the contact state between the friction ring and the friction block in region A; Figure 8 This is a cross-sectional schematic diagram of a magnetically adjustable take-up and untake-up device; Figure 9 This is a structural disassembly example diagram of a magnetically adjustable take-up and untake-down device; Figure 10 This is a schematic diagram showing the connection between the cleaning base station and the robot; Figure 11 This is a schematic diagram of the structure disassembly of a clean base station.

[0016] Reference numerals: 1-Wire take-up and unwinding device; 2-Wire carrying structure; 3-Adaptive speed control mechanism; 4-Wire; 5-Guide component; 6-Modible separator; 7-Cleaning base station; 8-Body; 9-Window cleaning robot; 11-Pre-tightening adjustment cover; 12-Friction block; 13-Friction ring; 14-Wire reel fixing frame; 15-Power element; 16-First wire reel; 17-Conductive slip ring; 20-Stator assembly; 21-Rotor assembly; 22-Fixed housing; 23-Permanent magnet fixing adapter; 24-Permanent magnet fixing plate; 25-Permanent magnet; 26-Conductor; 27-Conductor fixing component; 28-Second wire reel; 29-Adapter knob. Detailed Implementation

[0017] The various embodiments disclosed herein will be described more fully below. This application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed herein to the specific embodiments disclosed herein, but rather this application should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments disclosed herein.

[0018] This application proposes a wire take-up and unwinding device that can adaptively adjust according to the wire's movement speed, ensuring that the wire's movement speed is always within a reasonable range, significantly improving the adaptability and stability of the device in speed control. The structure of the wire take-up and unwinding device is shown in the attached figure. Figure 1-9 As shown. The specific solution is as follows: A take-up and undo device 1, comprising: The wire support structure 2 is used to retract the wire 4 and to release the wire 4; The adaptive speed control mechanism 3 is used to adaptively adjust the speed of the wire 4 according to the speed of the wire 4 so that the speed of the wire 4 is within the preset speed range.

[0019] The wire take-up and release device 1 includes two key parts: the wire carrying structure 2 and the adaptive speed regulation mechanism 3. The two work together to achieve stable wire take-up and release and speed control functions.

[0020] Appendix Figure 1 A cable take-up and untake-down device 1 with cable 4 was shown. Figure 2The demonstration showcases a take-up and undo device 1 without the wire 4. When take-up or undo operation begins, the wire-bearing structure 2 first performs the take-up and undo actions, causing the wire 4 to begin moving. Simultaneously, the adaptive speed control mechanism 3 activates speed sensing to continuously monitor changes in the wire 4's speed. If changes in the external environment cause the wire 4's speed to deviate from the preset range, the adaptive speed control mechanism 3 responds immediately and adjusts by dynamically changing the resistance or auxiliary power to the wire-bearing structure 2, correcting the wire 4's speed in real time to ensure that the wire 4 is always taken up and undoed at a stable speed. This collaborative working method effectively solves the problem of speed loss control in traditional take-up and undo devices 1, avoiding problems such as wire 4 breakage and uneven winding due to excessive speed, or wire 4 slack and equipment obstruction due to excessive speed, ultimately achieving stability and reliability in the take-up and undo process of the wire 4.

[0021] In some specific embodiments, the wire-carrying structure 2 rotates to wind and retract or release the wire 4, and the adaptive speed control mechanism 3 is used to adaptively adjust according to the rotation speed of the wire-carrying structure 2 so that the movement speed of the wire 4 is within a preset speed range. The winding and unwinding of the wire is achieved through the coordinated action of the rotation of the wire-carrying structure 2 and the speed adjustment of the adaptive speed control mechanism 3.

[0022] Among them, the wire-bearing structure 2 typically adopts a structural form with a cylindrical or conical winding surface. (Attached) Figure 3 In this structure, the wire-carrying structure 2 is the first reel 16, along which the wire 4 can be wound in an orderly manner. When it is necessary to retract the wire 4, the wire-carrying structure 2 rotates in a preset direction, and the friction between the winding surface and the wire 4 causes the wire 4 to gradually wind around the winding surface, causing the wire 4 to be gathered from the outside to the inside of the device. When it is necessary to release the wire 4, the wire-carrying structure 2 rotates in the opposite direction, and the wire 4 on the winding surface gradually detaches from the winding surface under the action of external tension or its own gravity, realizing the extension of the wire 4 from the inside of the device to the outside. The core function of this structure is to provide a stable carrier for the wire 4, ensuring that the wire 4 always has a clear movement path during the winding and releasing process, and preventing the wire 4 from scattering randomly.

[0023] The adaptive speed control mechanism 3 is the core control component that ensures the stable movement speed of the wire 4 within the preset range. Its core function is to monitor the movement speed of the wire 4 in real time and actively adjust it based on the monitoring results. First, the mechanism senses the movement speed of the wire 4 in real time. This sensing method can be achieved by indirectly detecting the rotational speed of the wire-bearing structure 2 or directly detecting the linear movement speed of the wire 4 itself. When the mechanism senses that the movement speed of the wire 4 exceeds the upper limit of the preset range, it will actively generate a force to hinder the movement of the wire 4. For example, by increasing the rotational resistance of the wire-bearing structure 2, it will slow down its rotational rate, thereby reducing the winding and unwinding speed of the wire 4. When the mechanism senses that the movement speed of the wire 4 is below the lower limit of the preset range, it will reduce the hindering force or provide additional power to increase the rotational rate of the wire-bearing structure 2, so that the movement speed of the wire 4 returns to the preset range.

[0024] In some specific embodiments, a power element 15 is also included. The power element 15 is used to generate reserve power during the release of the wire 4, and to release the reserve power to recover the wire 4. Exemplarily, the power element 15 includes structures such as a spring or a motor. The power element 15 is connected to the wire-bearing structure 2 via a transmission component, and its operation is divided into two key stages: power storage and power release. (See attached...) Figure 3 In the middle, the power element 15 is a coil spring assembly.

[0025] During the release phase of wire 4, when an external force drives wire 4 to move, wire 4 synchronously drives the wire-bearing structure 2 to rotate in the release direction. At this time, the power element 15 connected to the bearing structure will perform an energy storage action as the bearing structure rotates. For example, if the power element 15 is a spring-loaded energy storage component, the rotation of the bearing structure will gradually wind the spring to store elastic potential energy; if the power element 15 is a motor with reverse energy storage function, the rotation of the bearing structure will drive the motor rotor to rotate in the opposite direction, converting mechanical energy into electrical energy and storing it in the energy storage module. The amount of energy stored by the power element 15 will accumulate accordingly with the increase of the release length of wire 4, and the energy storage process will not hinder the normal release of wire 4, but will only be completed synchronously through the rotation of the bearing structure.

[0026] During the wire 4 recycling stage, the power element 15 actively releases the previously stored energy. For example, the spring-loaded assembly drives the output shaft to rotate by restoring the deformation of the spring, while the energy storage motor releases the stored electrical energy to drive the rotor to rotate in the forward direction. This released power is transmitted to the wire carrying structure 2 through the transmission components, causing the wire carrying structure 2 to rotate stably in the recycling direction, thereby gradually winding the external wire 4 onto the wire carrying structure 2 to achieve recycling.

[0027] The addition of the power element 15 not only reduces reliance on external power, making the recovery process more energy-efficient and faster in response, but also provides a stable driving force to the wire-bearing structure 2 by steadily releasing energy, preventing the wire 4 from recovering too slowly due to insufficient power or experiencing speed fluctuations due to sudden changes in power. Simultaneously, the power element 15, in conjunction with the adaptive speed control mechanism 3, can more efficiently control the wire 4 recovery speed within a preset range, further improving the stability and reliability of the wire winding and unwinding process, ensuring that the wire 4 will neither exceed the speed limit due to excessive power nor become slack due to insufficient power during recovery.

[0028] In some specific embodiments, the adaptive speed control mechanism 3 includes a movable separator 6; the movable separator 6 is used to centrifugally move closer to or further away from the wire-bearing structure 2 according to the rotational speed of the wire-bearing structure 2. (See attached...) Figure 4 In the middle, the movable separator 6 includes multiple friction blocks 12, which are distributed around the friction ring 13. Under the action of centrifugal force, the friction of the friction ring 13 is restricted by the radial movement of the friction blocks 12.

[0029] By linking the rotational speed with the wire-bearing structure 2, the change in position provides a basis for speed control. The movable separator 6 of the adaptive speed control mechanism 3 is usually mounted on an assembly that rotates coaxially with the wire-bearing structure 2. This movable separator 6 has a certain mass to ensure the effect of centrifugal force.

[0030] Taking the rotatable first reel 16 as an example, the wire-carrying structure 2 rotates stably around its own axis when winding and unwinding the wire 4. The movable separator 6 has the freedom to slide along the radial direction of the first reel 16 and is initially positioned away from the outer peripheral wall of the first reel 16. When the wire-carrying structure 2 starts to rotate, the movable separator 6 will synchronously acquire a circular motion tendency with the rotation of the first reel 16, thereby generating centrifugal force. The magnitude of this centrifugal force is positively correlated with the rotational speed of the first reel 16.

[0031] The lower the rotational speed of the first reel 16, the smaller the centrifugal force on the movable separator 6. At this time, the movable separator 6 remains in a position far away from the first reel 16 because the centrifugal force is insufficient to overcome the initial constraint, and will not interfere with the rotation of the first reel 16, ensuring that the wire 4 can be normally wound and unwound. As the rotational speed of the first reel 16 gradually increases, the centrifugal force on the movable separator 6 increases accordingly. When the centrifugal force reaches a certain value, it will push the movable separator 6 to slide radially towards the outer peripheral wall of the first reel 16. The higher the rotational speed, the greater the centrifugal force, and the closer the movable separator 6 is to the outer peripheral wall of the first reel 16.

[0032] When the movable separator 6 approaches the first pulley 16, it means that the speed of the first pulley 16 has reached the critical state that needs to be controlled, preparing for subsequent speed limitation through contact or other means; when the speed of the first pulley 16 decreases, the centrifugal force decreases, and the movable separator 6 will gradually move away from the first pulley 16 under the initial constraint and return to the non-intervention position, thereby achieving dynamic matching between position and speed, laying the structural foundation for the entire adaptive speed regulation process.

[0033] In some specific embodiments, after the rotational speed of the wire support structure 2 increases to a speed greater than a preset speed, the movable separator 6 moves to engage with the wire support structure 2 and restricts its rotation, thereby reducing its rotational speed. The preset speed is a speed threshold that can be flexibly set according to actual needs. (Appendix) Figure 5 A cross-sectional schematic diagram of the cable take-up and drop-off device 1 in a clean base station is shown, with attached... Figure 6 and 7 Each is attached Figure 5 An enlarged schematic diagram of region A in the middle. (See attached diagram.) Figure 6 In the middle, the friction block 12 and the friction ring 13 are in a separated state. At this time, the friction block 12 is completely embedded in the groove and does not contact the friction ring 13. (The rest of the text appears to be incomplete and requires further context.) Figure 7 In the process, the friction block 12 contacts the friction ring 13, at which point the friction block 12 extends out of the groove but is not fully embedded in it. Through the coordinated contact of multiple friction blocks 12, the frictional resistance torque on the friction ring 13 is increased.

[0034] When the rotational speed of the first spool 16 exceeds the preset speed, the centrifugal force generated by the movable separator 6 is just enough to allow it to overcome the initial constraint and slide to a position where it is completely in contact with the outer peripheral wall of the first spool 16. The contact surface of the movable separator 6 can be made of a material with a high coefficient of friction, such as rubber or wear-resistant friction pads. When the rotational speed of the first spool 16 exceeds the preset speed due to changes in external load, the centrifugal force on the movable separator 6 quickly reaches the threshold, causing it to slide radially and tightly contact the outer peripheral wall of the first spool 16. At this time, significant sliding friction or static friction will be generated between the movable separator 6 and the first spool 16. The direction of this friction is opposite to the rotation direction of the first spool 16, forming a braking torque that opposes the rotation of the first spool 16.

[0035] As the braking torque is applied, the rotational speed of the first spool 16 gradually decreases, and the winding and unwinding speed of the wire 4 also decreases accordingly. When the rotational speed of the first spool 16 returns to the preset speed range, the centrifugal force on the movable separator 6 decreases to below the threshold. Under the initial constraint, it gradually separates from the outer peripheral wall of the first spool 16, the braking torque disappears, the first spool 16 resumes normal rotational speed, and the winding and unwinding speed of the wire 4 also stabilizes within the preset range.

[0036] The entire speed control process requires no external control signal intervention. It relies entirely on the synergistic effect of centrifugal force and friction to achieve adaptive braking. It can quickly respond to changes in rotational speed and effectively avoid problems such as wire breakage and uneven winding caused by excessive rotational speed of the first reel 16. This ensures the stability of the wire 4 during winding and unwinding. At the same time, the structure is simple and reliable, requiring no complex electronic control components, and is suitable for the basic speed control needs of various winding and unwinding scenarios.

[0037] Specifically, attached Figure 1-7 The take-up and undo device 1 adjusts the take-up and undo speed based on the frictional torque generated by centrifugal force. The wire carrying structure 2 includes a wire reel fixing frame 14, a power element 15, and a first wire reel 16. Among them, the power element 15 is a coil spring assembly used to provide driving force for wire retrieval; the first wire reel 16 is used to wind the wire; the support structure formed by the wire reel fixing frame 14 undertakes the support function of the housing.

[0038] The core of this take-up and unwinding device 1 lies in the adaptive speed regulation mechanism 3, which includes a friction block 12 and a friction ring 13. The friction block 12 is mounted on the first reel 16 and is used to rotate with the first reel 16; the friction ring 13 is mounted on the reel fixing frame 14; the movable friction block 12 can move radially along the first reel 16 and correspond to the friction ring 13.

[0039] In the initial or low-speed recovery state, such as Figure 6 As shown, the coil spring assembly drives the first reel 16 to rotate to recycle the wire 4. At this time, the first reel 16 rotates at a low speed, and the centrifugal force on the friction block 12 is small, which is insufficient to overcome its own restoring force. The friction block 12 and the friction ring 13 are basically not in contact or only slightly in contact, and the resulting frictional resistance is extremely small, which will not affect the normal recycling speed of the wire 4.

[0040] As the recycling process progresses, especially when the end wire 4 shortens and its inertia decreases, the rotational speed of the first reel 16 increases rapidly, and the centrifugal force on the friction block 12 increases significantly. When the centrifugal force exceeds the restoring force, the friction block 12 moves radially outward, and its movement trajectory is constrained by the guide structure on the reel fixing frame 14. The outwardly moving friction block 12 presses against the friction ring 13, generating sliding friction between them, such as... Figure 7 As shown. This frictional force will generate a resistance torque that hinders the rotation of the first pulley 16, and the preload adjustment cover 11 can help control the initial reset state of the friction block 12 by adjusting the assembly preload.

[0041] This process forms a speed negative feedback mechanism: the higher the rotation speed of the first reel 16, the greater the centrifugal force of the friction block 12, the stronger the clamping force on the friction ring 13, and the greater the corresponding friction force and resistance torque. This automatically and dynamically suppresses the further increase in the rotation speed of the first reel 16, realizes adaptive control of the wire 4 recovery speed, and ensures that the wire 4 movement speed is within a preset reasonable range.

[0042] In the final stage of retrieval, even though the coil spring assembly, which serves as the power element 15, still has reserve energy, the aforementioned significant frictional resistance will significantly reduce the rotational speed of the first reel 16, allowing the wire 4 and connector to retract onto the first reel 16 at a relatively gentle speed. This effectively reduces the impact and noise at the end of retrieval, improving safety and comfort. When retrieval is complete, or when an external force pulls the wire 4 to rotate the first reel 16 in the opposite direction to release the wire 4, the rotational speed of the first reel 16 decreases, the centrifugal force of the friction block 12 decreases, and the reset force pulls it back to its original position, disengaging from or reducing contact with the friction ring 13, preparing for the next action. The take-up and unwind device 1 also includes a conductive slip ring 17, which ensures stable transmission of electrical signals in the wire 4 during the rotation of the take-up and unwind device 1.

[0043] In some specific embodiments, the adaptive speed control mechanism 3 further includes: a guide member 5; the guide member 5 is disposed on the wire support structure 2 and rotates with the wire support structure 2; a movable separator 6 is used to move along the guide member 5 according to the rotational speed of the wire support structure 2. The guide member 5, the wire support structure 2, and the movable separator 6 cooperate to ensure the stability and accuracy of the movement of the movable separator 6 by limiting its movement trajectory. The guide member 5 is shown in the attached figure. Figure 4 As shown, it can provide a guiding structural constraint for the friction block 12, which is a movable separator 6. (See attached diagram.) Figure 4 In the middle, the friction block 12 is sleeved on the guide member 5 and can move along the guide member 5, and the friction ring 13 is located around the friction block 12.

[0044] Taking the wire-bearing structure 2 as a first wire wheel 16 that can rotate around its own axis as an example, the guide 5 is fixedly set on the moving trajectory of the movable separator 6. Its structure can be set as a slide rail or a guide post, and the extension direction of the slide rail / guide post is completely consistent with the radial direction of the first wire wheel 16. The movable separator 6 forms a sliding fit with the guide 5 through a sliding hole or a slot, so that the movable separator 6 can only move along the extension direction of the guide 5 and cannot produce circumferential or axial offset.

[0045] When the wire-bearing structure 2 starts to rotate, the guide 5 will rotate synchronously with the first wire wheel 16. The movable separator 6 will also have a tendency to move in a circular motion under the drive of the guide 5, thereby generating a centrifugal force in the radial direction. At this time, under the action of centrifugal force, the movable separator 6 will slide along the guide 5 in a direction away from the center of the first wire wheel 16 and close to the outer peripheral wall of the first wire wheel 16. Since the guide 5 limits the movement trajectory, the movable separator 6 will not deviate or get stuck due to inertia during the rotation process, and the movement path will always remain stable. When the speed of the first wire wheel 16 decreases, the centrifugal force decreases, and the movable separator 6 will move back along the guide 5 in a direction close to the center of the first wire wheel 16 under the action of its own gravity or subsequent possible reset force.

[0046] The core function of the guide member 5 is to provide precise motion constraints for the movable separator 6, to prevent the movable separator 6 from failing to cooperate with the first pulley 16 due to loss of control of its motion direction, and to ensure that the movable separator 6 can always move stably in the radial direction, thereby reliably reflecting the speed change of the first pulley 16 through position changes.

[0047] In some specific embodiments, the adaptive speed control mechanism 3 further includes a reset member, used to provide a reset force to the movable separator 6 toward the center of the wire-bearing structure 2. The reset member can be an elastic structure or a magnetic structure, and the reset force can be a mechanical form such as elastic force, magnetic force, or gravity. By providing a directional reset force, the reset member forms a dynamic balance with the centrifugal force, precisely controlling the rhythm of the position change of the movable separator 6.

[0048] For example, the wire carrying structure 2 is still a rotatable first wire reel 16. One end of the reset member is fixedly connected to the central region of the first wire reel 16, and the other end is fixedly connected to the movable separator 6. Its structure can be a tension spring or a compression spring, and in the initial state, the reset member is in a slightly stretched or compressed state, continuously applying a reset force toward the center of the first wire reel 16 to the movable separator 6.

[0049] When the rotational speed of the first spool 16 is low, the centrifugal force generated by the movable separator 6 is small and insufficient to overcome the resetting force of the reset component. At this time, the movable separator 6 remains in its initial position close to the center of the first spool 16 and away from the outer peripheral wall of the first spool 16 under the constraint of the resetting force, without interfering with the rotation of the first spool 16, and the wire 4 can be wound and unwound normally. As the rotational speed of the first spool 16 gradually increases, the centrifugal force of the movable separator 6 increases synchronously. When the centrifugal force is greater than the resetting force, the movable separator 6 will overcome the resetting force and move radially towards the outer peripheral wall of the first spool 16. The higher the rotational speed, the greater the difference between the centrifugal force and the resetting force, the farther the movable separator 6 moves, and the closer it is to the outer peripheral wall of the first spool 16. When the rotational speed of the first spool 16 decreases, the centrifugal force decreases accordingly, and the resetting force gradually becomes dominant, pushing the movable separator 6 back towards the center of the first spool 16 until the centrifugal force and the resetting force are rebalanced, and the movable separator 6 stops at a stable position at the corresponding rotational speed.

[0050] The core function of the reset component is to provide initial positioning and return force for the movable separator 6. On the one hand, it prevents the movable separator 6 from moving arbitrarily due to slight vibrations when the first pulley 16 rotates at low speed or is stationary, ensuring the stability of the initial state. On the other hand, through dynamic balance with centrifugal force, the positional change of the movable separator 6 can accurately match the rotational speed change of the first pulley 16. When the reset function is integrated into the guide component 5, the guide component 5 can be set as an elastic slide rail structure. The slide rail extends radially along the first pulley 16 and has a built-in elastic component. One end of the elastic component is fixed to the end of the slide rail near the center of the first pulley 16, and the other end is connected to the movable separator 6. The groove structure of the slide rail restricts the movable separator 6 to move only radially, avoiding circumferential offset. At this time, the guide component 5 not only undertakes the basic function of guiding the motion trajectory, but also directly provides a reset force towards the center of the first pulley 16 through the built-in elastic component. When the reset function is separated from the guide 5, the guide 5 is a normal rigid slide rail, which is only responsible for limiting the radial movement trajectory of the movable separator 6. The reset function is realized by an independent reset component. One end of the tension spring is fixed to the fixed seat in the center area of ​​the first pulley 16, and the other end is connected to the movable separator 6. It is set parallel to the guide 5 and works together on the movable separator 6.

[0051] In some embodiments, the guide member 5 has a reset function, forming a reset guide member 5. The reset function can be integrated into the guide member 5 or separate from it. Through the synergistic effect of guiding and resetting, the rotational speed of the movable separator 6 and the wire-bearing structure 2 is dynamically matched. (See attached...) Figure 3 In the middle, the guide 5 is shown as the pre-tightening adjustment cover 11. The pre-tightening adjustment cover 11 can help control the initial reset state of the friction block 12, which is a movable separator 6, by adjusting the assembly pre-tightness.

[0052] In some embodiments, the guide 5 can be tilted to optimize the motion response of the movable separator 6 by utilizing the combined effect of gravity and centrifugal force. (See attached...) Figure 6 and 7 In this configuration, the guide member 5 has an inclination angle α relative to the first spool 16. When the first spool 16 is stationary or rotating at low speed, the movable separator 6, under its own weight and a slight restoring force, rests at the lower end near the center of the first spool 16, maintaining a distance from the outer peripheral wall and generating no frictional resistance. When the rotational speed of the first spool 16 increases, the centrifugal force on the movable separator 6 generates a component force along the inclined direction of the slide rail. Part of this component force is used to overcome gravity and the restoring force, while the other component force pushes the movable separator 6 to slide rapidly towards the upper end of the inclined slide rail. Compared to the guide member 5, which is set horizontally or radially, the inclined structure makes the effective work efficiency of the centrifugal force higher, and the movement response of the movable separator 6 is faster. When the movable separator 6 slides to the upper end of the slide rail, it just happens to be in contact with the outer peripheral wall, generating a frictional resistance torque to suppress the rotational speed of the first spool 16.

[0053] In some specific embodiments, the adaptive speed control mechanism 3 includes: a stator assembly 20; and a rotor assembly 21, used to follow the rotation of the wire-bearing structure 2 to cut the magnetic lines of force of the stator assembly 20, forming a force that opposes the rotation of the wire-bearing structure 2, thereby limiting the rotation of the wire-bearing structure 2. The adaptive speed control mechanism 3 uses the principle of electromagnetic induction to achieve speed control. The damping generated by the cutting of magnetic lines of force acts on the rotation process of the wire-bearing structure 2, realizing adaptive speed limitation. (See attached...) Figure 3 In this configuration, the stator assembly 20 contains multiple magnets, and the rotor assembly 21 is fixed to the second wheel 28 and can rotate with the second wheel 28. This type of adaptive speed control mechanism 3 forms a magnetically adjustable take-up and unwind device 1. Figure 8 This is a cross-sectional schematic diagram of the cable take-up and drop-off device 1 in a clean base station, with attached... Figure 9 A structural disassembly diagram of this type of wire take-up and unwinding device 1 is shown.

[0054] The stator assembly 20 is a fixed component, mounted on the inner wall of the device housing or on a fixed bracket, and does not rotate with the wire-bearing structure 2. The core structure of the stator assembly 20 is a ring-shaped array of magnets, with the magnetic poles of adjacent magnets alternately arranged to form a stable magnetic field uniformly distributed along the circumference. Magnetic field lines extend radially or axially within the stator assembly 20, covering the motion area of ​​the rotor assembly 21. The stator assembly 20 and rotor assembly 21 are shown in the attached figure. Figure 9 As shown.

[0055] When the wire-bearing structure 2 starts to rotate, the rotor assembly 21 rotates synchronously. At this time, the conductive part of the rotor assembly 21 continuously cuts the magnetic field lines in the magnetic field of the stator assembly 20. According to the principle of electromagnetic induction, when the conductor cuts the magnetic field lines, an induced current is generated inside. The current-carrying conductor in the magnetic field is subjected to the Ampere force of the magnetic field. The direction of the Ampere force is opposite to the rotation direction of the rotor assembly 21, forming an electromagnetic resistance torque that opposes the rotation of the rotor assembly 21. This resistance torque is transmitted to the wire-bearing structure 2 through the shaft, thereby slowing down the rotation speed of the turntable.

[0056] The magnitude of the electromagnetic resistance torque is positively correlated with the rotational speed of the wire-bearing structure 2: when the turntable speed increases, the rotor assembly 21 cuts the magnetic field lines faster, the intensity of the induced current increases, and the electromagnetic resistance torque also strengthens, making the resistance to the turntable more obvious, causing the turntable speed to decrease rapidly, and thus causing the winding and unwinding speed of the wire 4 to drop; when the turntable speed decreases to the preset range, the rotor assembly 21 cuts the magnetic field lines slower, the induced current weakens, the electromagnetic resistance torque decreases accordingly, the resistance to the turntable weakens, and the turntable can maintain a stable speed, ensuring that the winding and unwinding speed of the wire 4 remains stable within the preset range. The entire process does not require active control from an external electronic control unit, relying entirely on the physical characteristics of electromagnetic induction to achieve adaptive speed regulation. This not only provides a fast response speed and real-time response to speed changes, but also avoids wear problems caused by mechanical friction, improving the service life of the mechanism. At the same time, by adjusting the magnetic field strength of the stator assembly 20, it can flexibly adapt to the preset speed range requirements of different wires 4, making it more adaptable.

[0057] Appendix Figure 3 An exploded view of a magnetically adjustable take-up and unwind device is shown. The take-up and unwind device includes a transition knob 29, a fixed housing 22, a permanent magnet fixing adapter 23, a permanent magnet fixing plate 24, a permanent magnet 25, a conductor 26, a conductor fixing member 27, and a second reel 28. The rotor assembly 21 is coaxially fixed to the second reel 28 and rotates synchronously with it. It includes a conductor 26 and a conductor fixing member 27 (such as an aluminum or copper disc / ring). The conductor 26 is fixed above the second reel 28 by the conductor fixing member 27, ensuring that the conductor 26 can move synchronously when the second reel 28 rotates. The stator assembly 20 includes a permanent magnet 25 and a permanent magnet fixing plate 24, which are arranged opposite to the conductor 26 and maintain a small gap. The permanent magnet 25 is slidably mounted on the radial guide rail of the permanent magnet fixing plate 24. The permanent magnet fixing plate 24 is connected to the fixed housing 22 through the permanent magnet fixing adapter 23, ensuring that the stator assembly 20 is stationary relative to the housing and stably generates a magnetic field passing through the conductor 26.

[0058] When the second spool 28 rotates to rewind the wire 4, it drives the conductor 26 to rotate synchronously. The conductor 26 cuts the magnetic field lines of the permanent magnet 25, generating eddy currents within it, which in turn generate a braking torque that resists the rotation of the second spool 28. This braking torque acts as a damping force during the rewinding process, and its magnitude is positively correlated with the rotational speed of the second spool 28: the higher the rotational speed of the second spool 28, the faster the conductor 26 cuts the magnetic field lines, the stronger the eddy currents, and the greater the damping force, thereby preventing the rotational speed from increasing further. This achieves adaptive control of the rewinding speed of the wire 4, ensuring that the movement speed of the wire 4 remains within a preset range.

[0059] When the adapter knob 29 is adjusted, the permanent magnet fixing adapter 23 is driven, which in turn moves the permanent magnet 25 on the permanent magnet fixing plate 24, changing the distance between the permanent magnet 25 and the conductor 26. The closer the distance, the stronger the magnetic field strength of the stator assembly 20 on the conductor 26, the greater the eddy current damping force, and the slower the rewinding speed of the second reel 28; the farther the distance, the weaker the magnetic field, the smaller the damping force, and the faster the rewinding speed. This achieves stepless speed regulation from near-undamped fast rewinding to strongly damped slow rewinding, adapting to the rewinding speed requirements of different wires 4.

[0060] Adaptive speed regulation is achieved by utilizing the physical characteristics of eddy current damping. Combined with a magnetic adjustment device, the damping strength can be flexibly adjusted. This not only solves the problem of excessively fast wire rewinding speed, but also allows for speed adjustment according to actual needs, improving the adaptability and flexibility of the wire winding and unwinding device.

[0061] A cleaning base station 7 includes a body 8 and a cable retraction device 1 as described above. The cable 4 is connected to a window cleaning robot 9. When the window cleaning robot 9 is housed within the body 8, during the cable 4 retrieval process, the cable retraction device 1 adaptively adjusts the speed of the cable 4 according to its movement speed, ensuring that the speed of the cable 4 remains within a preset speed range. The cleaning base station 7 achieves stable retrieval of the cable 4 after the window cleaning robot 9 returns to its position through the cooperation of the body 8 and the aforementioned cable retraction device 1, ensuring that the speed of the cable 4 remains controllable throughout the retrieval process. The connection relationship between the cleaning base station 8 and the window cleaning robot 9 is shown in the attached figure. Figure 10 As shown in the attached diagram, the disassembly of the cleaning base station 8 is illustrated. Figure 11 As shown.

[0062] The main body 8 serves as the basic support and housing component of the cleaning base station 7, and its interior is equipped with a receiving cavity adapted to the shape of the window cleaning robot 9. The inner wall of the receiving cavity can be provided with positioning protrusions or guide ramps to guide the window cleaning robot 9 to accurately enter the cavity and stably stop after completing the cleaning operation, preventing the window cleaning robot 9 from shaking within the receiving cavity. Simultaneously, the side wall or top of the main body has a pre-reserved outlet for the cable 4, which is aligned with the output end of the cable 4 of the cable retraction device 1, ensuring that the cable 4 can smoothly pass through the main body and connect to the external window cleaning robot 9. Furthermore, a wear-resistant bushing can be provided at the edge of the outlet to reduce frictional wear between the cable 4 and the main body during cable retraction. In addition, the control unit of the main body 8 can electrically control the cable retraction device 1.

[0063] The wire take-up and release device 1 is fixedly installed on the main body 8. The axis of its wire carrying structure 2 is parallel to the wire 4 through-hole of the main body 8, ensuring that the wire 4 will not bend or jam during take-up and release. The adaptive speed adjustment mechanism 3 of the wire take-up and release device 1 is linked with the wire carrying structure 2 and is always in a ready-to-respond state, monitoring the movement speed of the wire 4 in real time. The adaptive speed adjustment mechanism of the wire take-up and release device 1 is fully adapted to the automated operation requirements of the cleaning base station 7, ensuring that the wire 4 retrieval process is stable and reliable after each window cleaning robot 9 returns to its position, preparing the wire 4 for the next operation of the window cleaning robot 9, and improving the overall coordination and operational stability of the cleaning base station 7 and the window cleaning robot 9.

[0064] Appendix Figure 5 A cross-sectional schematic diagram of the wire take-up and unwinding device based on centrifugal friction deceleration is shown in body 8, where region A is the area containing the friction block and friction ring. (Attached) Figure 8 A cross-sectional schematic diagram of the magnetically adjustable take-up and take-up device in the main body 8 is shown.

[0065] In some embodiments, when the length of the unrecovered wire 4 is less than a preset length, the recovery speed of the wire 4 is reduced to less than a preset speed range under the action of the main body 8, or under the combined action of the main body 8 and the adaptive speed control mechanism 3. Through the action of the main body 8 alone, or the synergistic action of the main body 8 and the wire take-up and untake-down device 1, the recovery speed of the wire 4 is further reduced to less than the preset speed range, thereby achieving precise buffered take-up at the end of the take-up wire.

[0066] The sole function of body 8: The accommodating cavity structure of body 8 and the wire 4 through-hole design create physical constraint resistance. When the remaining length of wire 4 is shorter than the preset length, the end connector of wire 4, which is connected to the window cleaning robot 9, will gradually approach the wire 4 through-hole of body 8. An elastic damping ring or a thickened wear-resistant bushing can be set at the edge of the through-hole. After the connector contacts the damping ring / bushing, sliding friction is generated. The direction of this friction is opposite to the wire 4 retraction direction, directly hindering the wire 4 from continuing to move, slowing down the retraction speed, and avoiding end impact.

[0067] The combined effect of the main body 8 and the take-up and unwinding device 1: When the remaining length of the wire 4 is less than the preset length, the physical resistance of the wire 4 at the exit of the main body 8 will cause the wire bearing structure 2 of the take-up and unwinding device 1 to bear an additional load, resulting in instantaneous fluctuations in the rotation speed; at the same time, the shortening of the remaining length of the wire 4 will significantly reduce the effective winding diameter of the first wire pulley 16, and the continuous power of the coil spring will drive the rotation speed of the first wire pulley 16 to increase further.

[0068] At this time, the adaptive speed regulation mechanism 3 of the take-up and unwind device 1 will respond synchronously: in the centrifugal friction mechanism, by actively adjusting the position of the friction block 12, or by providing the friction block 12 with a bias force toward the friction ring 13, the friction surface is pressed more tightly, generating a frictional resistance torque far exceeding that of the normal recovery stage; in the electromagnetic damping mechanism, the magnetic field strength can be adjusted to significantly enhance the eddy current damping force. The enhanced resistance torque generated by the speed regulation mechanism, combined with the physical constraint resistance provided by the body 8, acts together on the wire carrying structure 2, causing the wire 4 recovery speed to quickly drop below the preset speed range, and significantly lower than the speed reduction effect when the body 8 acts alone.

[0069] After the window cleaning robot 9 completes its cleaning task and returns to its preset path, finally fully entering the receiving cavity of the main body 8 and coming to a stable stop, the cord retraction device 1 initiates the cord 4 retrieval process. At this time, the cord carrying structure 2 begins to rotate in the retrieval direction, gradually pulling back the external cord 4 through a winding action, causing the cord 4 to converge towards the cord retraction device 1 along the outlet of the main body 8. The adaptive speed adjustment mechanism 3 adjusts the speed to stabilize the rotation speed of the cord carrying structure 2, ensuring that the cord 4 retrieval speed returns to a reasonable range. The connection relationship between the window cleaning robot 9 and the cleaning base station 7 is shown in the attached figure. Figure 11 As shown. In the appendix Figure 11 In the middle, the window cleaning robot 9 returns to the cleaning base station 7 by being pulled by the cable reeling device 1.

[0070] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0071] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A take-up and undo device, characterized in that, include: Wire support structure for retracting and releasing the wire; A power element is used to generate reserve power during the release of the wire, and to release the reserve power to recover the wire; An adaptive speed control mechanism is used to adaptively adjust the speed of the wire according to its movement speed, so that the movement speed of the wire is within a preset speed range.

2. The take-up and unwinding device according to claim 1, characterized in that, The wire is wound up or released by rotating the wire-bearing structure; the adaptive speed control mechanism is used to adaptively adjust the speed according to the rotation speed of the wire-bearing structure so that the speed of the wire is within a preset speed range.

3. The take-up and unwinding device according to claim 1, characterized in that, The adaptive speed control mechanism includes: A movable separator is used to centrifugally move closer to or further away from the wire-bearing structure according to the rotational speed of the wire-bearing structure.

4. The take-up and unwinding device according to claim 3, characterized in that, When the rotational speed of the wire support structure increases to a speed greater than the preset speed, the movable separator moves to fit against the wire support structure and restricts the rotation of the wire support structure to reduce the rotational speed of the wire support structure.

5. The take-up and unwinding device according to claim 3, characterized in that, The adaptive speed control mechanism further includes: A guide member is disposed on the wire support structure and rotates with the wire support structure; The movable separator is used to move along the guide according to the rotational speed of the wire-bearing structure.

6. The take-up and unwinding device according to claim 5, characterized in that, The adaptive speed control mechanism further includes: A reset element is used to provide a reset force to the movable separator toward the rotation center of the wire-bearing structure.

7. The take-up and unwinding device according to claim 1, characterized in that, The adaptive speed control mechanism includes: Stator assembly; The rotor assembly is used to follow the rotation of the wire-bearing structure to cut the magnetic lines of the stator assembly, thereby generating a force that opposes the rotation of the wire-bearing structure and restricts its rotation.

8. A clean base station, characterized in that, Includes the main body and the take-up and undo device as described in any one of claims 1-7. The cable is connected to the window cleaning robot; Once the window cleaning robot is housed within the main body and during the wire retrieval process, the wire take-up and release device is used to adaptively adjust according to the wire's movement speed so that the wire's movement speed remains within a preset speed range.

9. The clean base station according to claim 8, characterized in that, When the length of the unrecovered wire is less than a preset length, the wire recovery speed is less than the preset speed range due to the action of the main body or the combined action of the main body and the wire take-up and unwinding device.

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