Window cleaning robot

Abstract

The invention provides a window cleaning robot, and relates to the technical field of cleaning equipment, a main body comprises a base and a rag, the base comprises a first surface, the rag is arranged on the first surface, the rag is used for cleaning the surface of glass, a scraping mechanism is arranged on the periphery of the rag, and the scraping mechanism is used for scraping the surface of the glass along the cleaning path of the window cleaning robot, when the scraping mechanism abuts against the surface of the glass, a gap is formed between the scraping mechanism and the cleaning cloth, the driving mechanism is movably connected with the scraping mechanism and used for driving the scraping mechanism to descend and abut against the surface of the glass or driving the scraping mechanism to ascend and break away from the surface of the glass, and the liquid spraying device is used for spraying cleaning liquid to the surface of the glass in the gap. According to the window cleaning robot, the cleaning effect on stubborn stains can be improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to a window cleaning robot. Background Technology

[0002] Window cleaning robot technology is widely used in window cleaning operations in high-rise buildings, commercial office buildings, and residential glass curtain walls. With accelerating urbanization, the area of ​​glass curtain walls in high-rise buildings continues to expand, and traditional manual cleaning methods suffer from high risks, low efficiency, and high costs associated with working at heights. Window cleaning robots use adsorption technology (such as magnetic attraction and vacuum adsorption) to fix themselves to the glass surface and use cleaning components (such as cloths and squeegees) to complete automatic cleaning, significantly improving cleaning efficiency and safety.

[0003] However, the window cleaning robots mentioned above are not very effective at cleaning stubborn stains. Summary of the Invention

[0004] This application provides a window cleaning robot to solve the technical problem that window cleaning robots in the above-mentioned related technologies have poor cleaning effect on stubborn stains.

[0005] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0006] This application provides a window cleaning robot, which includes:

[0007] The main body includes a base and a wiping cloth, the base includes a first surface, the wiping cloth is disposed on the first surface, and the wiping cloth is used to wipe the surface of glass.

[0008] A scraping mechanism is disposed on the outer periphery of the wiping cloth and along the cleaning path of the window cleaning robot. The scraping mechanism is used to scrape the glass surface. When the scraping mechanism comes into contact with the glass surface, there is a gap between the scraping mechanism and the wiping cloth.

[0009] A drive mechanism, movably connected to the scraping mechanism, is used to drive the scraping mechanism to descend and abut against the glass surface, or to drive the scraping mechanism to rise and detach from the glass surface;

[0010] A spraying device for spraying cleaning liquid onto the glass surface within the interval.

[0011] This application provides a window cleaning robot. During the robot's movement, the pre-reserved structural gap between the scraping mechanism and the cleaning cloth serves as a targeted application area for cleaning fluid. Combined with the precise lifting and lowering control of the scraping mechanism by the drive mechanism and the synchronous start and stop of the spraying device, the cleaning fluid completes the local wetting and dissolution of corners and dried stains before the scraping action occurs. Because the scraping mechanism can be raised and lowered, continuous contact friction during unnecessary periods is avoided, reducing energy consumption and wear. Because the spraying position is strictly limited to the glass surface area corresponding to the gap, problems such as slippage, short circuits, or cleaning blind spots caused by liquid diffusion to non-target areas are eliminated. Because the cleaning cloth and scraping mechanism are decoupled in space and function, both the basic wiping quality and the ability to tackle stubborn stains are guaranteed.

[0012] Based on the above technical solution, the following improvements can be made to this application.

[0013] In one possible implementation, the liquid spraying device includes:

[0014] A liquid storage structure is disposed on the base;

[0015] The first spray nozzle is connected to the liquid storage structure, and sprays cleaning liquid toward the glass surface within the interval.

[0016] In one possible implementation, the spraying device further includes a spraying pipeline and a nozzle;

[0017] One end of the spray pipe is connected to the first spray port, and the other end of the spray pipe is connected to the nozzle, which is used to spray cleaning fluid toward the glass surface within the interval.

[0018] In one possible implementation, the scraping mechanism has a flow channel for liquid flow and a second spray port communicating with the flow channel;

[0019] The flow channel is connected to the spraying device, and the second spray nozzle is used to spray cleaning liquid toward the glass surface within the interval.

[0020] In one possible implementation, the scraping mechanism includes:

[0021] A support plate is connected to the drive mechanism, and the support plate extends along a second direction, which intersects with the first direction;

[0022] A scraper, connected to the support plate and used to scrape the glass surface, has the aforementioned gap between the scraper and the cloth;

[0023] The support plate has the flow channel inside, and the support plate is provided with the second liquid spray port.

[0024] In one possible implementation, there are multiple second spray nozzles, which are spaced apart on the support plate along the second direction, and each of the second spray nozzles is in communication with the flow channel.

[0025] In one possible implementation, the second spray nozzle is located at one end of the support plate facing the glass surface;

[0026] The scraper includes a connecting part and a scraping part. The connecting part is connected to one end of the support plate facing the glass surface, and the connecting part has a third spray hole communicating with the second spray nozzle.

[0027] The scraping part is used to scrape the glass surface.

[0028] In one possible implementation, the scraping mechanism is inclined relative to the surface where the cloth is located, so that the end of the scraping mechanism used to abut against the glass is positioned away from the cloth and forms the gap.

[0029] In one possible implementation, the spraying device sprays cleaning liquid toward a side away from the rag.

[0030] In one possible implementation, the spray path of the cleaning fluid ejected by the spraying device forms an angle with the inclined extension direction of the scraping mechanism;

[0031] The included angle is greater than or equal to 0° and less than or equal to 45°.

[0032] In one possible implementation, the window cleaning robot includes two scraping mechanisms, which are respectively disposed at opposite ends of the cloth along a third direction upward, and there is a gap between the two scraping mechanisms and the cloth;

[0033] The window cleaning robot includes two drive mechanisms, each of which drives one of the scraping mechanisms.

[0034] The spraying device is used to spray cleaning liquid onto the glass surfaces within the two said intervals.

[0035] In one possible implementation, the window cleaning robot includes two spraying devices, each corresponding to one of the scraping mechanisms, and is used to spray cleaning fluid onto the glass surface within the corresponding interval.

[0036] In one possible implementation, the window cleaning robot includes a collision plate;

[0037] There is a gap between the impact plate and the wiping cloth. When the scraping mechanism comes into contact with the glass surface, the outer edge of the scraping mechanism is flush with the outer edge of the impact plate, or the gap between the scraping mechanism and the wiping cloth is equal to the gap between the impact plate and the wiping cloth.

[0038] A second aspect of this application also provides a window cleaning robot, comprising:

[0039] The main body includes a base and a wiping cloth, wherein the base includes a first surface and the wiping cloth is disposed on the first surface for wiping the surface of glass;

[0040] A scraping mechanism, which can be raised and lowered on the main body, is used to scrape the glass surface;

[0041] A drive mechanism, connected to the scraping mechanism, is used to drive the scraping mechanism to move up and down;

[0042] Spraying assembly;

[0043] The spraying component is configured to spray cleaning fluid directionally onto the glass surface area to be scraped by the scraping mechanism before or simultaneously with the drive mechanism driving the scraping mechanism to descend and perform scraping.

[0044] In one possible implementation, the scraping mechanism is disposed on the outer periphery of the cloth, and when the scraping mechanism descends to abut against the glass, a gap is formed between it and the cloth; the spraying assembly is used to spray cleaning liquid onto the glass surface within the gap.

[0045] In one possible implementation, the spraying assembly includes a liquid storage structure and a spray nozzle communicating therewith, the spray nozzle facing the interval.

[0046] In one possible implementation, the scraping mechanism has a flow channel and a spray nozzle communicating with the flow channel, the flow channel being used to connect to a cleaning liquid source.

[0047] In one possible implementation, the scraping mechanism is arranged at an angle relative to the plane on which the rag is located.

[0048] In one possible implementation, the cleaning liquid sprayed by the spraying assembly is in the form of an atomized liquid.

[0049] A third aspect of this application provides a window cleaning robot, comprising:

[0050] The main body includes a base, a cleaning cloth, and a moving mechanism;

[0051] The first scraping mechanism and the second scraping mechanism are respectively disposed on both sides of the main body along the cleaning path direction;

[0052] The first drive mechanism and the second drive mechanism are used to independently drive the first scraping mechanism and the second scraping mechanism to rise and fall.

[0053] The first liquid spraying assembly and the second liquid spraying assembly are respectively provided corresponding to the first scraping mechanism and the second scraping mechanism;

[0054] The window cleaning robot is configured to: in response to a trigger signal on one side, control the scraping mechanism located on that side to descend, and control the corresponding spraying component to start.

[0055] In one possible implementation, the trigger signal is generated by a strike plate located on the side of the main body.

[0056] In one possible implementation, in response to the trigger signal, the scraping mechanism located on the rear side of the movement direction is controlled to lift.

[0057] In one possible implementation, the spraying assembly is configured to spray cleaning fluid into the space between the descending scraping mechanism and the rag.

[0058] In one possible implementation, in response to the trigger signal, the body is controlled to move in a direction away from the trigger side.

[0059] A fourth aspect of this application provides a liquid spraying and scraping module for a window cleaning robot, comprising:

[0060] The scraping mechanism has a scraper for scraping the glass;

[0061] The spray nozzle is disposed on the scraping mechanism;

[0062] The spray nozzle is configured to face the area between the scraping mechanism and a cloth of the window cleaning robot when the scraping mechanism is installed on the window cleaning robot.

[0063] In one possible implementation, the scraping mechanism has a flow channel inside, and the liquid spray nozzle communicates with the flow channel.

[0064] In one possible implementation, a liquid supply interface is also included, which is disposed on the scraping mechanism for connecting an external liquid source and communicating with the flow channel. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a schematic diagram of the structure of a window cleaning robot provided in an embodiment of this application;

[0067] Figure 2 This is a structural schematic diagram of a window cleaning robot provided in an embodiment of this application from another angle;

[0068] Figure 3 This is a schematic diagram of the internal structure of a window cleaning robot provided in an embodiment of this application;

[0069] Figure 4 This is a partial structural diagram of the internal structure of a window cleaning robot provided in an embodiment of this application;

[0070] Figure 5 A schematic diagram of the scraping mechanism of a window cleaning robot provided in an embodiment of this application;

[0071] Figure 6 for Figure 5 A schematic diagram of the scraping mechanism from another angle.

[0072] 10. Glass surface;

[0073] 100. Main body;

[0074] 110. Base; 120. Cleaning cloth;

[0075] 111. First page;

[0076] 200. Scraping mechanism;

[0077] 210. Support plate; 220. Scraper strip;

[0078] 221. Connecting part; 222. Scraping part; 223. Third spray hole;

[0079] 300. Drive mechanism;

[0080] 400. Spraying device;

[0081] 410. Second injection nozzle; 420. Flow channel;

[0082] 500, impact board. Detailed Implementation

[0083] As described in the background section, the window cleaning robots in the aforementioned related technologies are ineffective at cleaning stubborn stains. This problem arises because existing window cleaning robots are not very effective at cleaning window corners and hardened, stubborn stains. Traditional squeegees can only remove surface dust and are ineffective against dried stains; the stains must be wetted before squeegeing, but the overall water spray position is uncertain, failing to accurately cover corner areas, resulting in incomplete local cleaning, high repetition rates, and low cleaning efficiency.

[0084] To address the aforementioned technical problems, this application provides a window cleaning robot. During the robot's movement, the pre-existing structural gap between the scraping mechanism and the cleaning cloth serves as a targeted application area for the cleaning fluid. Combined with precise lifting control of the scraping mechanism by the drive mechanism and synchronized start and stop of the spraying device, the cleaning fluid effectively wets and dissolves corners and dried stains before the scraping action occurs. Because the scraping mechanism can be raised and lowered, continuous contact friction during unnecessary periods is avoided, reducing energy consumption and wear. Since the spraying position is strictly limited to the glass surface area corresponding to the gap, problems such as slippage, short circuits, or cleaning blind spots caused by liquid diffusion to non-target areas are eliminated. Because the cleaning cloth and scraping mechanism are decoupled in space and function, basic wiping quality is ensured while enhancing the ability to tackle stubborn stains. Therefore, the technical problems of incomplete corner cleaning and difficulty in effectively removing dried stains mentioned in the background art are solved, achieving the technical effects of increasing single-cleaning coverage, shortening the cleaning cycle, and reducing the frequency of manual intervention.

[0085] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0086] Example 1

[0087] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a window cleaning robot, which may include a main body 100, a scraping mechanism 200, a driving mechanism 300, and a spraying device 400.

[0088] The main body 100 may include a base 110 and a cleaning cloth 120. The base 110 may include a first surface 111, and the cleaning cloth 120 is disposed on the first surface 111. The cleaning cloth 120 is used to wipe the surface of the glass. A scraping mechanism 200 is disposed on the outer periphery of the cleaning cloth 120 and is used to scrape the glass surface 10 along the cleaning path of the window cleaning robot. When scraping the glass surface, there is a gap between the scraping mechanism 200 and the cleaning cloth 120. A drive mechanism 300 is movably connected to the scraping mechanism 200 and is used to drive the scraping mechanism 200 along a first direction (e.g., ...). Figure 4 The device (in the Z direction) descends and abuts against the glass surface 10, or drives the scraping mechanism 200 to rise and detach from the glass surface 10. The spraying device 400 is used to spray cleaning fluid onto the glass surface 10 within the interval.

[0089] The main body 100 serves as the functional foundation of the entire machine, while the base 110 is a rigid support platform. It is typically made of lightweight, high-strength engineering plastic through a single injection molding process, but die-cast aluminum alloy can also be used to balance strength and weight reduction. The first surface 111 of the base 110 is the working surface facing the glass. The cleaning cloth 120 is fixed to the first surface 111 and can be a removable fabric layer (such as microfiber cloth), a replaceable non-woven pad, or a gel sponge with liquid storage function. It can be quickly installed and removed via clips, magnets, or elastic strips.

[0090] The scraping mechanism 200 is located around the outer periphery of the cloth 120, that is, around the edge of the cloth 120, and its physical position is downstream of the cleaning trajectory of the cloth 120. When the robot moves along the predetermined path, the scraping mechanism 200 is always located behind the cloth 120 and adjacent to the boundary of the area to be cleaned. An axial gap of 0.5mm-8mm is maintained between the scraping mechanism 200 and the cloth 120, which is the target space for the cleaning liquid spray.

[0091] The drive mechanism 300 and the scraping mechanism 200 are connected by a sliding joint. Typical structures include a linear motor + guide rail, a stepper motor + lead screw and nut pair, or a miniature cylinder + floating joint. The drive mechanism 300 is mounted on the base 110, and its output end is connected to the support base of the scraping mechanism 200 via a connecting rod, swing arm, or flexible transmission belt. Its stroke is sufficient to support the scraping mechanism 200 to smoothly descend from a completely detached state to a completely adhered state. The drive mechanism 300 is controlled by the main control unit, and its action sequence is strictly synchronized with the start / stop of the spraying device 400 and the robot's walking commands, ensuring a logical closed loop where the second spraying port 410 first lowers and scrapes, then sprays liquid, and finally scrapes the second spraying port 410.

[0092] The spraying device 400 is independent of the water supply system of the wiping cloth 120 and is specifically designed to spray cleaning fluid onto the glass surface 10 area corresponding to the gap between the scraping mechanism 200 and the wiping cloth 120. Its fluid supply source can be a built-in micro-reservoir, a pluggable medicine box, or a branch pipeline connected to the main unit's water tank. The spraying actuators include a micro-diaphragm pump, a piezoelectric ceramic nozzle, or a capillary siphon valve, with a flow control accuracy of ±0.02 mL / s. The spray direction is directly facing the interval projection area.

[0093] The above-mentioned components work together as follows: When the robot reaches the edge of the window frame or detects a high-reflectivity stain signal, the drive mechanism 300 first drives the scraping mechanism 200 to descend, causing the end of its elastic scraper 220 to lightly press against the glass surface 10; at the same time, the spraying device 400 is activated, forming a wet band in the glass area directly in front of the gap between the scraping mechanism 200 and the wiping cloth 120; this wet band is located before the starting point of the scraping path, so that the subsequent scraping action directly acts on the softened stain layer; as the robot moves forward, the scraping mechanism 200 pushes the dissolved stain forward, and finally guides it into the area of ​​the wiping cloth 120 in front to complete the adsorption and recycling; the whole process does not require any additional stops, realizing dynamic, continuous, and fixed-point composite cleaning.

[0094] Through the above technical solution, this application achieves the following: During the movement of the window cleaning robot, the pre-reserved structural gap between the scraping mechanism 200 and the cloth 120 serves as the targeted application area for cleaning fluid. Combined with the precise lifting and lowering control of the scraping mechanism 200 by the drive mechanism 300 and the synchronous start and stop of the spraying device 400, the cleaning fluid completes the local wetting and dissolution of corners and dried stains before the scraping action occurs. Because the scraping mechanism 200 can be raised and lowered, continuous contact friction during unnecessary periods is avoided, reducing energy consumption and wear. Because the spraying position is strictly limited to the glass surface 10 area corresponding to the gap, the problems of slippage, short circuit, or cleaning blind spots caused by liquid diffusion to non-target areas are eliminated. Because the cloth 120 and the scraping mechanism 200 are decoupled in space and function, the basic wiping quality is guaranteed, and the ability to tackle stubborn stains is enhanced. Thus, the technical problems of incomplete cleaning of corners and the difficulty in effectively removing dried stains are solved, achieving the technical effects of increasing the coverage of a single cleaning, shortening the cleaning cycle, and reducing the frequency of manual intervention.

[0095] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 In some embodiments, the spraying device 400 may include a liquid storage structure and a first spray nozzle (not shown in the figure). The liquid storage structure is disposed on the base 110, and the first spray nozzle is in communication with the liquid storage structure, spraying cleaning liquid toward the glass surface 10 within the interval.

[0096] The liquid spraying device 400 includes a liquid storage structure and a first liquid spraying nozzle; the liquid storage structure is located inside the base 110 or fixed on the outer periphery of the base 110, and is used to contain and temporarily store the cleaning liquid; the first liquid spraying nozzle and the liquid storage structure are fluidly connected through an embedded flow channel 420, a hose or a rigid connector, and its liquid outlet direction is precisely configured to point to the interval area formed between the scraping mechanism 200 and the wiping cloth 120, ensuring that the cleaning liquid directly covers the corners and the glass surface 10 where the dried stains are located.

[0097] The liquid storage structure is a detachable or built-in container made of food-grade polypropylene (PP), high-density polyethylene (HDPE), or medical-grade silicone, possessing corrosion resistance and anti-aging properties. During robot operation, the liquid storage structure is fixed to the base 110 via clips, screws, or elastic clamping structures, positioned to avoid the movement trajectory of the drive mechanism 300 and the installation area of ​​the cleaning cloth 120, ensuring structural stability and spatial compatibility. As an optional implementation, the liquid storage structure can also be integrated into the housing of the base 110, integrally injection molded with the base 110, communicating only with the first spray port through a reserved channel, thereby further improving the overall compactness and waterproof rating of the machine.

[0098] The first spray nozzle can be a circular orifice, a slit-shaped nozzle, or a micro-orifice array structure. As an alternative implementation, the first spray nozzle can also be replaced with a piezoelectric micro-nozzle or a thermal foaming nozzle, which, in conjunction with a micro-pump, achieves pulsed quantitative spraying, thereby adapting to the required liquid volume control precision for different types of stains.

[0099] The second spray nozzle 410 sprays cleaning fluid toward the glass surface 10 within the interval. The second spray nozzle 410 refers to the area within the gap formed by the projection of the central axis of the first spray nozzle onto the edge of the scraping mechanism 200 closest to the wiping cloth 120 and the edge of the wiping cloth 120 closest to the scraping mechanism 200. As the robot moves along the cleaning path, this spray area is always located in the transition zone between the leading edge of the scraping mechanism 200 that is about to contact the glass and the trailing edge of the wiping cloth 120 that has already been wiped, ensuring that the cleaning fluid is fully wetted and penetrated before the scraping action occurs.

[0100] As an optional implementation, the first spray nozzle can be equipped with a micro angle adjustment bracket, so that its spray direction can be manually or automatically finely adjusted within a certain angle range relative to the reference surface of the base 110, in order to adapt to the installation deviation caused by different thickness window frames or glass curvatures.

[0101] Through the above technical solution, this application achieves the following: before the scraping mechanism 200 contacts the glass surface 10, the cleaning liquid is precisely injected into the gap area between the scraping mechanism 200 and the wiping cloth 120 through the first spray nozzle; since the liquid storage structure is located on the base 110, the structure layout is compact, the center of gravity is stable, and there is no interference with the motion system of the robot body 100; the fluid communication between the first spray nozzle and the liquid storage structure ensures that the liquid supply path is short, the response is fast, and there is no air resistance; and its directional spray design towards the gap area enables the cleaning liquid to efficiently cover the corners and the base of the window frame, areas that are difficult for traditional wiping cloth 120 and scraper 220 to fully function.

[0102] refer to Figure 3 , Figure 4 , Figure 5 and Figure 6 The window cleaning robot includes a ramming plate, and there is a gap between the ramming plate and the cleaning cloth 120. When the scraping mechanism 200 abuts against the glass surface 10, the outer edge of the scraping mechanism 200 is flush with the outer edge of the ramming plate, or the gap between the scraping mechanism 200 and the cleaning cloth 120 is equal to the gap between the ramming plate and the cleaning cloth 120.

[0103] With the above technical solution, when the scraping mechanism 200 comes into contact with the glass surface 10, the outer edge of the scraping mechanism 200 is flush with the outer edge of the impact plate, or the distance between the scraping mechanism 200 and the wiping cloth 120 is equal to the distance between the impact plate and the wiping cloth 120. This allows the scraping mechanism 200 to scrape the stains in the gap between the impact plate and the wiping cloth 120, avoiding the situation where there is a gap between the scraping mechanism 200 and the wiping cloth 120 when the scraping mechanism 200 comes into contact with the glass surface 10, which would prevent the stains in the gap between the impact plate and the scraping mechanism 200 from being scraped and cleaned, thus improving the cleaning effect of the window cleaning robot.

[0104] In some embodiments, the spraying device may further include a spraying line and a nozzle, one end of the spraying line being connected to a first spray port and the other end of the spraying line being connected to the nozzle, the nozzle being used to spray cleaning fluid toward the glass surface within the interval.

[0105] The spray piping refers to the flexible or rigid fluid channel structure used to deliver the cleaning fluid. Materials can include food-grade silicone, TPU, PFA, or stainless steel capillary tubes, ensuring resistance to chemical corrosion, adaptability to bending installation, and pressure-resistant sealing. One end of the spray piping is fixedly connected to the first spray port via a quick-connect fitting or threaded sealing interface, while the other end extends near the scraping mechanism and the cloth, achieving a reliable fluid connection with the nozzle. This piping allows the spray outlet to be decoupled from the liquid storage structure, enabling spatial decoupling and improving the nozzle's positioning freedom and directional adjustability within confined spaces.

[0106] The nozzle is an end-effector that directs the cleaning fluid in a controlled manner (such as fan-shaped atomization, columnar jet, or conical diffusion). Its structure includes, but is not limited to, orifice-type fan nozzles, micro-orifice array nozzles, or multi-orifice linear nozzles. The nozzle is installed at the distal end of the spray line. The nozzle is detachable, facilitating the replacement with different flow rates or atomization particle sizes to suit various cleaning fluid viscosities and stain types.

[0107] The connection between one end of the spray pipe and the first spray port, and the other end of the spray pipe and the nozzle, forms a one-way closed liquid transmission link: the cleaning liquid enters the spray pipe from the storage structure through the first spray port, flows along the pipe under the pressure of the pump or gravity, and is finally released in a directional manner by the nozzle.

[0108] Through the above technical solution, this application achieves the following: when the window cleaning robot moves to the corner area of ​​the window frame, the drive mechanism drives the scraping mechanism to descend and contact the glass, and at the same time, the spraying device is activated. Cleaning fluid is sequentially delivered from the storage structure through the first spray nozzle and the spraying pipeline to the nozzle, which then sprays it into the gap between the scraping mechanism and the cleaning cloth. Because the nozzle is close to the leading edge of the scraping action, the cleaning fluid quickly wets the dried stains at the corners. Subsequently, the scraping mechanism, driven by the drive mechanism, moves along the cleaning path, scraping the softened stains off the glass surface and guiding them to the cleaning cloth area for absorption and recovery. Because the spraying pipeline provides structural redundancy and spatial flexibility, the nozzle can be precisely positioned at the optimal spraying position, thereby improving the efficiency of targeted dissolution of stubborn stains and the structural adaptability within the window cleaning robot.

[0109] refer to Figures 3 to 6 In some embodiments, the scraping mechanism 200 has a flow channel 420 for liquid flow and a second spray nozzle 410 communicating with the flow channel 420. The flow channel 420 is in communication with the spraying device 400, and the second spray nozzle 410 is used to spray cleaning fluid toward the glass surface 10 within the interval.

[0110] The scraping mechanism 200 is an integral structure, and its internal space is formed into a through cavity by molding or embedded channel processing, constituting the flow channel 420. The cross-section of the flow channel 420 is circular, elliptical or rectangular.

[0111] The flow channel 420 is a continuous liquid guiding channel built into the body of the scraping mechanism 200. Its axial direction is basically consistent with the extension direction of the scraping mechanism 200. One end is connected to the output end of the spraying device 400 through a quick-connect connector or O-ring sealing structure, and the other end is closed or equipped with a one-way valve to prevent backflow. The flow channel 420 is located inside the rigid body 100 of the scraping mechanism 200 throughout and is not exposed to the working environment to avoid pipe detachment, leakage or blockage caused by robot walking vibration, collision or dust adhesion.

[0112] The second spray nozzle 410 is a liquid outlet hole formed on the surface of the scraping mechanism 200 and directly connected to the flow channel 420. Its opening direction is vertical or inclined towards the glass surface 10 to ensure that the droplets / atomized liquid jet can accurately fall into the gap area between the scraper 220 and the cloth 120. The spray nozzle can be a single hole or a multi-hole structure.

[0113] The second spray nozzle 410 is used to spray cleaning fluid toward the glass surface 10 within the interval, indicating that the spraying area is strictly limited to the dynamic gap area formed between the scraping mechanism 200 and the wiping cloth 120.

[0114] Through the above technical solution, this application achieves the following: when the scraping mechanism 200 and the cloth 120 are cleaning the glass surface 10, and encounter stubborn stains that cannot be removed from the glass surface 10, the spraying device 400 is activated. The cleaning liquid is precisely and continuously sprayed into the interval area in front of the scraper 220 via the path of the spraying device 400 → flow channel 420 → second spray nozzle 410. Subsequently, the scraper 220 immediately follows up with scraping, pushing the dissolved stains into the absorption area of ​​the cloth 120 for recycling. The flow channel 420 is built into the scraping mechanism 200, eliminating the interference risk and visual disjointedness caused by external pipelines, and improving the overall structural integrity and user acceptance.

[0115] refer to Figures 3 to 6 In some embodiments, the scraping mechanism 200 may include a support plate 210 and a scraper 220. The support plate 210 is connected to the drive mechanism 300, and the support plate 210 is along a second direction (e.g., Figure 5 Extending from the Y direction in the middle, the second direction is the same as the first direction (e.g., the Y direction in the middle). Figure 4 The scraper 220 is connected to the support plate 210 and is used to scrape the glass surface 10. There is a gap between the scraper 220 and the cloth 120. The support plate 210 has a flow channel 420 and a second spray nozzle 410 is provided on the support plate 210.

[0116] The support plate 210 is the core load-bearing and fluid integration component of the scraping mechanism 200, serving a triple function of structural support, motion transmission, and cleaning fluid diversion. The support plate 210 is made of rigid materials, such as reinforced polypropylene, aluminum alloy, or stainless steel, to balance lightweight, bending stiffness, and corrosion resistance.

[0117] The support plate 210 extends along a second direction perpendicular to the first direction, allowing it to cover a wider lateral cleaning width during robot movement and adapt to different window widths and frame structures. One end of the support plate 210 is connected to the output end of the drive mechanism 300 via a hinge shaft or slide rail pair to ensure reliable transmission of lifting motion; the other end extends towards the glass surface 10, forming a scraping area. The support plate 210 contains a flow channel 420, a through-type hollow cavity that can be cylindrical, elliptical, or rectangular in cross-section, extending continuously along the length of the support plate 210. Both ends connect to an external liquid supply interface and a second spray nozzle 410, ensuring low-resistance, non-retention delivery of the cleaning fluid to the spray position. The flow channel 420 can be achieved through integral molding, metal tube injection molding, or CNC milling of the inner cavity; integral molding is optional to ensure reliable sealing. The support plate 210 has a second spray nozzle 410, which serves as the final discharge interface for the cleaning liquid. Its position is located at the edge area of ​​the support plate 210 facing the glass surface 10, ensuring that the sprayed droplets directly act on the glass surface 10 to be treated in front of the squeegee 220, and avoid being absorbed by the wiping cloth 120 in advance or splashing away.

[0118] The squeegee 220 is a functional component that performs physical scraping. It is rigidly or elastically connected to the support plate 210 and is used to adhere to the glass surface 10 and apply scraping pressure. The main body 100 of the squeegee 220 is made of an elastic polymer material, such as thermoplastic polyurethane (TPU), silicone, or natural rubber. The length of the squeegee 220 is consistent with that of the support plate 210, and it is arranged along the full length of the second direction, or it can be segmented to meet the needs of localized enhanced scraping. A gap is maintained between the squeegee 220 and the cloth 120, which is sufficient to accommodate the wet area formed by the sprayed liquid, and also prevents the squeegee 220 from interfering with the cloth 120 during movement or the liquid from being absorbed prematurely.

[0119] The second spray nozzle 410 is located on the support plate 210 and communicates with the internal flow channel 420. It serves as the outlet for the cleaning fluid to enter the open environment from the closed flow channel 420. The second spray nozzle 410 can be a single-hole or multi-hole structure. When it is multi-hole, the holes are equidistantly arranged along the length of the support plate 210. The hole shape can be circular, elliptical, or slit-shaped.

[0120] Through the above technical solution, this application achieves the following: when the drive mechanism 300 drives the support plate 210 to descend and the scraper 220 abuts against the glass surface 10, the cleaning liquid is stably delivered to the second spray nozzle 410 through the flow channel 420 and sprayed at a controllable angle to the interval area in front of the scraper 220; because the support plate 210 extends along the second direction and intersects with the first direction, its overhanging structure can form a continuous spray band in the transverse direction; because a clear interval is maintained between the scraper 220 and the wiping cloth 120, the sprayed cleaning liquid will not be absorbed by the wiping cloth 120 in time, but will form a local wet area on the glass surface 10, specifically softening the corners and dried stains; subsequently, the scraper 220 scrapes the dissolved stains away from the glass and guides them to the area of ​​the wiping cloth 120 for recycling during movement. This structural configuration deeply integrates fluid delivery functionality into the scraping support structure without adding external piping or complex controls. It solves the problem of low cleaning efficiency caused by uncertain spray position and inability to accurately target corners and dried areas, and significantly improves the ability to target and remove stubborn stains in areas near window frames.

[0121] refer to Figures 3 to 6 In some embodiments, there are multiple second spray nozzles 410, which are arranged at intervals along the second direction on the support plate 210, and all the second spray nozzles 410 are connected to the flow channel 420.

[0122] The second spray nozzle 410 has at least two orifice-shaped outlets for spraying cleaning liquid, which are opened at one end of the support plate 210 facing the glass surface 10. Each second spray nozzle 410 is independently formed and physically isolated from each other, but shares the same internal flow channel 420 as a liquid source channel. The number of nozzles can be adapted according to the actual extension length of the support plate 210 along the second direction and the width of the typical scraping path.

[0123] Through the above technical solution, the cleaning fluid is evenly distributed through the common flow channel 420 to multiple second spray nozzles 410 arranged at intervals along the second direction. Because the spray points are distributed along the scraping path, there is always a fresh wetted area in front of the scraper 220 throughout its movement along the second direction. The dried stains are continuously and evenly softened and dissolved, solving the problem of insufficient local wetting of the scraping path caused by single-point spraying. This significantly improves the consistency of cleaning stubborn stains in linear areas such as long window frames and vertical corners and the success rate of cleaning in one go. The design of the multi-nozzle common flow channel 420 also simplifies the internal fluid structure while ensuring performance, reducing the manufacturing complexity and assembly error of the support plate 210.

[0124] refer to Figures 3 to 6In some embodiments, the second spray nozzle 410 is located at the end of the support plate 210 facing the glass surface 10. The scraper 220 may include a connecting portion 221 and a scraping portion 222. The connecting portion 221 is connected to the end of the support plate 210 facing the glass surface 10 and has a third spray hole 223 communicating with the second spray nozzle 410. The scraping portion 222 is used to scrape the glass surface 10.

[0125] The second spray nozzle 410 is located at the end of the support plate 210 facing the glass surface 10, meaning that the spray nozzle is located on the outermost end face of the support plate 210 along the first direction. The scraper 220 includes a connecting portion 221 and a scraping portion 222, meaning that the scraper 220 adopts a dual-function structure, either separate or integrally formed: the connecting portion 221 serves both fluid reception and mechanical connection functions. By providing a third spray hole 223 on the connecting portion 221 that communicates with the second spray nozzle 410, cleaning fluid can be sprayed out from the connecting portion 221 on the scraper 220.

[0126] In this embodiment, by arranging the second spray nozzle 410 at the end of the support plate 210 closest to the glass surface 10, and by allowing the cleaning fluid to be discharged through the spray hole inside the connecting part 221 to the starting area of ​​the scraping part 222, the cleaning fluid is precisely delivered close to the starting point of the scraping action in space, thereby shortening the liquid action delay and improving the instant dissolution efficiency of corners and dried stubborn stains.

[0127] refer to Figures 3 to 6 In some embodiments, the scraping mechanism 200 is inclined relative to the surface where the wiping cloth 120 is located, so that the end of the scraping mechanism 200 used to abut against the glass is positioned away from the wiping cloth 120 and forms a gap.

[0128] The second spray nozzle 410 is inclined, meaning that the overall installation posture of the scraping mechanism 200 is not parallel to the first surface 111 of the base 110 (i.e., the surface where the cloth 120 is located), but is deflected around a certain axis, so that it extends obliquely in space; the second spray nozzle 410 is used to abut against the glass; the second spray nozzle 410 specifically refers to the functional end of the scraping mechanism 200 that actually contacts the glass surface 10 after performing the descent action, and this end is located outside the projection area of ​​the cloth 120 in the inclined arrangement; the second spray nozzle 410 is far away from the glass. The second spray nozzle 410 of the cleaning cloth 120 emphasizes that the functional end is spatially separated from the cleaning cloth 120 in the first direction (i.e., the direction perpendicular to the glass surface 10) and / or the second direction (i.e., the direction extending along the base 110), thereby ensuring that there is an open gap between them that can be filled with cleaning liquid and is not blocked; the second spray nozzle 410 forms an interval. The second spray nozzle 410 indicates that the interval is not accidentally generated by elastic deformation, temporary displacement or control timing difference, but is a stable spatial relationship that can be repeatedly reproduced and determined by the fixed tilt angle of the rigid structure.

[0129] By using the geometric inclination relationship between the plane where the scraping mechanism 200 and the rag 120 are located, a structurally inherent and non-temporary physical interval is naturally and stably constructed. This interval provides a clear spatial target area for the targeted spraying of cleaning liquid, avoids motion interference between the scraping mechanism 200 and the rag 120, and ensures that the scraping force is transmitted in the effective direction.

[0130] refer to Figures 3 to 6 In some embodiments, the spraying device 400 sprays cleaning fluid toward the side away from the rag 120. The spray path of the cleaning fluid sprayed by the spraying device 400 forms an angle with the inclined extension direction of the scraping mechanism 200 (e.g., Figure 4 (The angle α in the equation). The included angle is greater than or equal to 0° and less than or equal to 45°.

[0131] The core of this technical solution lies in achieving efficient wetting and directional guidance of the cleaning liquid in corners and areas with dried stains by limiting the geometric relationship between the spray direction and the physical extension direction of the scraping mechanism 200.

[0132] The spray path refers to the main trajectory line of the cleaning liquid in the initial stage after it is ejected from the spray nozzle (including the second spray nozzle 410 or the nozzle); the inclined extension direction of the scraping mechanism 200 refers to the straight line direction determined by the structure of its main body 100 (especially the axial line of the support plate 210 extending along the second direction) when it is inclined toward the glass surface 10 in space. This direction is uniquely defined by the inclination angle between the support plate 210 and the first surface 111 of the base 110, and is not parallel to the plane where the wiping cloth 120 is located. The included angle is the acute angle formed by the two spatial straight lines in the same vertical plane containing their projections. Its value range is strictly limited to 0° to 45°, covering both the extreme case of being completely in the same direction (0°) and the optional range of moderate forward tilt (such as 15°, 30°), but excluding steep forward tilt or reverse backward tilt greater than 45°.

[0133] When the included angle is too small (approaching 0°), although the liquid can spread closely in front of the scraper 220, the coverage width is insufficient due to the lack of radial component; when the included angle is too large (>45°), the vertical component of the droplet kinetic energy is significantly enhanced, which leads to an increased risk of rebound splashing, an increased probability of liquid film breakage, and weakens the synergy of the liquid moving forward with the scraper 220.

[0134] refer to Figures 3 to 6 In some embodiments, the window cleaning robot may include two scraping mechanisms 200, which are respectively disposed along the edge of the cleaning cloth 120 (e.g., Figure 3The window cleaning robot has gaps between each of the two scraping mechanisms 200 and the cleaning cloth 120 at opposite ends in the X direction. The robot may include two drive mechanisms, each driving one scraping mechanism 200. A spraying device 400 is used to spray cleaning fluid onto the glass surfaces 10 within the two gaps.

[0135] The window cleaning robot may include a scraping mechanism 200, which is symmetrically arranged on the first surface 111 of the robot base 110, with the cleaning cloth 120 as the center, on opposite sides along a third direction. This third direction can be the direction of travel of the window cleaning robot. This dual-sided arrangement ensures that regardless of whether the robot moves forward or backward, one side of the scraping mechanism 200 is always located behind the current direction of movement, thus always being in an effective working position for cleaning corners and edges, improving the cleaning effect on the glass surface 10. Each scraping mechanism 200 is independently equipped with a drive mechanism 300, and they do not share the same drive source or transmission chain to avoid mutual interference; its structural form can be a flexible cantilever type, a linkage swing type, or a linear sliding type. A micro motor can be used to drive a lead screw pair to drive the scraping mechanism to rise and fall in a direction perpendicular to the glass surface 10 to achieve precise and controllable contact and disengagement actions.

[0136] There is a gap between each of the two scraping mechanisms 200 and the cloth 120. The gap is a narrow slit-like space extending along the first direction (i.e., perpendicular to the thickness direction of the glass surface 10). This ensures that the cleaning liquid forms a local wet area on the glass surface 10, and prevents excessive liquid from overflowing onto the cloth 120 body, causing water saturation or drag marks. The geometry of the gap can dynamically change with the posture of the scraping mechanism 200. For example, when the scraping mechanism 200 is tilted, the gap is wedge-shaped, narrower on the side closer to the cloth 120 and wider on the side farther away, which helps to guide the cleaning liquid to spread directionally along the scraping trajectory.

[0137] The spraying device 400 is used to spray cleaning liquid onto the glass surface 10 in two intervals, indicating that the spraying device 400 has dual output capability. Its internal flow channel 420 is branched and leads to the two interval areas respectively. The spraying control logic is linked with the drive mechanism: the spraying passage of the corresponding interval is only opened after a certain scraping mechanism 200 completes its descent and stably contacts the glass surface 10.

[0138] refer to Figures 3 to 6 In some embodiments, the window cleaning robot may include a spraying device 400, each spraying device 400 corresponding to a scraping mechanism 200, and used to spray cleaning fluid onto the glass surface 10 within the corresponding interval.

[0139] This embodiment addresses the issues of independence and precision in liquid spray control under a dual-sided scraping configuration by proposing a symmetrical dual-loop liquid supply structure. The core of this structure is that when the window cleaning robot travels along a third direction to the edge of the window frame, only the scraping mechanism 200 and its associated liquid spraying device 400 on one side, which is about to contact the corner area, need to be activated, while the other side remains in standby mode. This design avoids the problems of unnecessary consumption of cleaning fluid, excessive wetting of the glass surface, and premature saturation of the cleaning cloth 120 caused by mis-triggered activation during the turning or boundary recognition phases of traditional single-spray systems.

[0140] The second spray nozzle 410 of the window cleaning robot includes two spray devices 400. The second spray nozzle 410 refers to two mutually isolated liquid delivery subsystems symmetrically arranged inside the base 110 or along two sides in a third direction. Each subsystem has an independent liquid storage chamber, a pressurization unit (such as a micro diaphragm pump or pneumatic chamber), a flow regulating valve, and an outlet passage. The two spray devices 400 do not share pipelines, valve bodies, or nozzles in their physical structure, nor do they share control signal cables; that is, the electrical and fluid channels are completely separated. In some embodiments, the two spray devices 400 can share a single water tank.

[0141] Example 2

[0142] Recombined Figures 1 to 6 Furthermore, Embodiment 2 is a further development based on the above embodiments.

[0143] A second aspect of this application also provides a window cleaning robot, including a main body 100, a scraping mechanism 200, a drive mechanism 300, and a spraying assembly.

[0144] The main body 100 includes a base 110 and a cleaning cloth 120. The base 110 includes a first surface 111, and the cleaning cloth 120 is disposed on the first surface 111 for wiping the glass surface. A scraping mechanism 200 is vertically and vertically disposed on the main body 100 for scraping the glass surface 10. A drive mechanism 300 is connected to the scraping mechanism 200 and is used to drive the scraping mechanism 200 to move up and down. The spraying assembly is configured to spray cleaning fluid directionally onto the area of ​​the glass surface 10 to be scraped by the scraping mechanism 200 before or simultaneously with the drive mechanism 300 driving the scraping mechanism 200 to descend for scraping.

[0145] This solution achieves targeted application of cleaning fluid through strict timing control (spraying before / at the same time as descent) and spatial control (the area to be scraped), allowing the scraping action to directly act on the softened stains, significantly improving the removal rate of stubborn deposits such as bird droppings and dry glue.

[0146] Because the spraying mechanism 200 is activated only at the moment it is about to start working, ineffective spraying or premature evaporation of the cleaning fluid in non-working areas is avoided, saving consumables. At the same time, directional spraying ensures that stains are scraped off immediately after softening, preventing secondary pollution caused by the disorderly diffusion of dissolved wastewater on the glass surface 10.

[0147] refer to Figures 1 to 6 In some embodiments, the scraping mechanism 200 is disposed on the outer periphery of the wiping cloth 120, and when the scraping mechanism 200 descends to abut against the glass, a gap is formed between it and the wiping cloth 120; the spraying assembly is used to spray cleaning liquid onto the glass surface 10 within the gap.

[0148] During the movement of the window cleaning robot, the pre-reserved structural gap between the scraping mechanism 200 and the cloth 120 is used as the targeted application area for cleaning liquid. Combined with the precise lifting and lowering control of the scraping mechanism 200 by the drive mechanism 300 and the synchronous start and stop of the spraying device 400, the cleaning liquid completes the local wetting and dissolution of corners and dried stains before the scraping action occurs.

[0149] refer to Figures 1 to 6 In some embodiments, the spraying assembly includes a liquid storage structure and a first spray nozzle in communication therewith, the first spray nozzle being oriented toward the gap.

[0150] By aligning the first spray nozzle with the spacing, it can be ensured that the droplets / atomized liquid jets can accurately fall into the gap area between the scraper 220 and the cloth 120, thus ensuring the spraying effect.

[0151] refer to Figures 1 to 6 In some embodiments, the scraping mechanism 200 has a flow channel 420 and a second spray nozzle 410 communicating with the flow channel 420, the flow channel 420 being used to connect to a cleaning liquid source.

[0152] By aligning the second spray nozzle 410 with the spacing, it is ensured that the droplets / atomized liquid jets can accurately fall into the gap area between the scraper 220 and the cloth 120, thus ensuring the spraying effect.

[0153] refer to Figures 1 to 6 In some embodiments, the scraping mechanism 200 is inclined relative to the plane on which the rag 120 is located.

[0154] By using the geometric inclination relationship between the plane where the scraping mechanism 200 and the rag 120 are located, a structurally inherent and non-temporary physical interval is naturally and stably constructed. This interval provides a clear spatial target area for the targeted spraying of cleaning liquid, avoids motion interference between the scraping mechanism 200 and the rag 120, and ensures that the scraping force is transmitted in the effective direction.

[0155] refer to Figures 1 to 6In some embodiments, the cleaning fluid sprayed by the spray assembly is in atomized form.

[0156] By atomizing the cleaning fluid sprayed by the liquid component, the atomized droplets are more likely to adhere to and spread on the vertical glass surface 10 and are less likely to flow than the liquid column. This significantly improves the uniformity of the cleaning fluid coverage and the residence time on the glass surface 10, thereby enhancing the softening and cleaning effect on stains.

[0157] Example 3

[0158] Recombined Figures 1 to 6 Furthermore, Embodiment 3 is a further development based on the above embodiments.

[0159] A third aspect of this application provides a window cleaning robot, which may include a main body 100. The window cleaning robot may include two scraping mechanisms 200, which can be a first scraping mechanism and a second scraping mechanism. The window cleaning robot may include two driving mechanisms 300, which can be a first driving mechanism and a second driving mechanism. The window cleaning robot may also include two spraying assemblies, which can be defined as a first spraying assembly and a second spraying assembly, respectively.

[0160] The main body 100 includes a base 110, a cleaning cloth 120, and a moving mechanism. A first scraping mechanism and a second scraping mechanism are respectively disposed on both sides of the main body 100 along the cleaning path. A first drive mechanism and a second drive mechanism are used to independently drive the first and second scraping mechanisms to rise and fall. A first spraying assembly and a second spraying assembly are respectively disposed corresponding to the first and second scraping mechanisms. The window cleaning robot is configured to: in response to a trigger signal on one side, control the scraping mechanism 200 located on that side to descend and control the corresponding spraying assembly to start.

[0161] The first and second scraping mechanisms are respectively arranged on the front and rear sides of the wiping cloth 120 along the cleaning path. They have the same or equivalent structure, both including a scraper 220 and a support structure connected thereto. The scraper 220 is used to scrape off water stains and dirt when it comes into contact with the glass surface 10. The first and second driving mechanisms are mechanically connected to the corresponding scraping mechanism 200 and are independently controlled. They can drive the corresponding scraping mechanism 200 to move up and down in a direction perpendicular to the glass surface 10. The first and second spraying components are respectively integrated near or inside the corresponding scraping mechanism 200. Each spraying component includes a liquid storage cavity, a liquid supply channel and a spray nozzle. The spray nozzle is directed towards the gap area formed between the corresponding scraping mechanism 200 and the wiping cloth 120, and is used to spray cleaning liquid onto the glass surface 10 within the gap.

[0162] As the window cleaning robot moves along the cleaning path, a trigger signal is generated when the side of the main body 100 touches the edge of the window frame. Based on the real-time movement direction of the moving mechanism, it determines whether the trigger side is in front or behind, and immediately sends a descent command to the corresponding drive mechanism 300, causing the scraping mechanism 200 on that side to move downwards until it contacts the glass surface 10. Simultaneously, a start command is sent to the corresponding spraying component, causing it to begin spraying cleaning fluid into the gap between the scraping mechanism 200 and the cleaning cloth 120. At this time, the scraping mechanism 200 on that side performs a scraping action on the glass surface 10 as it continues to move with the main body 100. Cleaning fluid is supplied before or simultaneously with scraping to ensure the scraped area is moist. The scraping mechanism 200 on the other side remains in an elevated state to avoid unnecessary friction or interference with the glass surface 10. After the robot completes cleaning the boundary of that side and continues moving forward, if the collision plate 500 on the other side is triggered again, the above logic is repeated, achieving on-demand alternating activation of both sides.

[0163] Through the above technical solution, this application achieves the following: The window cleaning robot is equipped with a scraping mechanism 200, a drive mechanism 300, and a spraying component independently set on both sides along the cleaning path direction. It is configured to activate only the corresponding component on one side in response to a trigger signal on one side. Therefore, when it reaches the window frame boundary, the corresponding side cleaning action can be started immediately, avoiding cleaning interruption caused by waiting for turning instructions. The trigger signal is directly generated by physical collision, without relying on image recognition or high-precision positioning modules, thus reducing the computational load and response latency of the main control system. The scraping and spraying actions are strictly bound to the trigger side and are only activated when needed. Therefore, compared with the all-time dual-side operation mode, the consumption of cleaning fluid and mechanical wear are significantly reduced, and the overall energy efficiency ratio and operational sustainability are improved.

[0164] refer to Figures 1 to 6 In some embodiments, the trigger signal is generated by a strike plate 500 located on the side of the main body 100.

[0165] The impact plate 500 is a mechanical elastic component set on both sides of the main body 100 along the cleaning path direction. The impact plate 500 maintains its initial position when it is not subjected to external force. When the window cleaning robot moves along the glass surface 10 and contacts the window frame or obstacle, the impact plate 500 triggers the micro switch or Hall sensor set on its mounting base through displacement to generate a trigger signal. The impact plate 500 is installed on the side of the main body 100 and protrudes beyond the outline of the main body 100.

[0166] The triggering process of the impact plate 500 is coupled with the movement control logic of the window cleaning robot: when the main body 100 moves along the cleaning path to the edge of the window frame, the impact plate 500, located in front of the movement direction, first contacts and deforms the window frame, triggering a micro switch to output a high-level signal. This signal is recognized by the controller as a trigger signal; the controller then activates the corresponding side drive mechanism 300, causing the scraping mechanism 200 on that side to descend and abut against the glass surface 10, while simultaneously controlling the corresponding spraying component to spray cleaning liquid into the interval area. The triggering action of the impact plate 500 does not rely on external power supply, image recognition, or laser ranging; it only relies on mechanical contact and elastic feedback to complete signal generation, possessing strong environmental adaptability and high reliability.

[0167] Through the above technical solution, this application achieves the following: using a collision plate 500 set on the side of the main body 100 as a physical triggering element, thus eliminating the need for additional optical or electromagnetic sensors, reducing hardware costs and system complexity.

[0168] refer to Figures 1 to 6 In some embodiments, in response to a trigger signal, the scraping mechanism 200 located on the rear side of the movement direction is controlled to lift.

[0169] Controlling the lifting of the scraping mechanism 200 located on the rear side of the movement direction can mean that when a trigger signal is detected, the control system analyzes the current movement direction and sends a lifting command to the drive mechanism 300 on the corresponding side, causing the scraping mechanism 200 on that side to rise in a direction perpendicular to the glass surface 10, disengaging from the contact state with the glass surface 10, while keeping the front scraping mechanism 200 in a descending state and continuing to scrape.

[0170] by Figure 2 Based on the orientation of the window cleaning robot, as an optional embodiment, the specific implementation of the solution in this application is as follows: The window cleaning robot moves vertically from bottom to top on the glass surface 10, with the current movement direction being upward. At this time, the upper side is the front side and the lower side is the rear side. When the upper impact plate 500 touches the top of the window frame, the control system recognizes the trigger signal and determines that the current movement direction is upward. Then, it controls the lower scraping mechanism 200 to rise, so that the lower scraping mechanism 200 is removed from the glass surface 10. Only the upper scraping mechanism 200 remains in a descending state and continues to scrape the adjacent area at the top of the window frame. At the same time, the spraying component synchronously sprays cleaning liquid onto the upper spaced areas to ensure that the scraping action and the wetting action are coordinated and consistent.

[0171] Through the above technical solution, this application achieves the following: in response to a trigger signal, the scraping mechanism 200 located on the rear side of the movement direction is raised, avoiding repeated scraping and dragging interference of the rear scraping mechanism 200 on the cleaned area, and improving the single directionality of the cleaning trajectory; only the front scraping mechanism 200 is kept working, reducing the total frictional resistance between the whole machine and the glass, and reducing the load and energy consumption of the drive mechanism 300; dynamically matching the movement direction and working side enhances the path adaptability and motion stability of the window cleaning robot in complex boundary environments.

[0172] refer to Figure 1 middle Figure 6 In some embodiments, the spraying assembly is configured to spray cleaning fluid into the space between the descending scraping mechanism 200 and the rag 120.

[0173] The spraying assembly is configured to spray cleaning fluid into the gap between the descending scraping mechanism 200 and the wiping cloth 120. This can mean that the spraying direction, spraying position, and spraying sequence of the spraying assembly are set such that the spraying assembly on that side is activated only when the scraping mechanism 200 on the corresponding side is controlled to descend and enter the working state of contacting the glass surface 10, so that all the cleaning fluid sprayed out falls into the gap between the scraping mechanism 200 and the wiping cloth 120.

[0174] Through the above technical solution, this application achieves the following: the spraying component is configured to spray cleaning liquid only into the interval area between the descending scraping mechanism 200 and the rag 120, and the distribution of the cleaning liquid has clear spatial directionality and action compliance; the spraying component on each side is strictly bound to the corresponding scraping mechanism 200, and the spraying timing is synchronized with the scraping action, avoiding misaligned spraying, area overlap or ineffective coverage of the cleaning liquid when both sides are running.

[0175] refer to Figures 1 to 6 In some embodiments, in response to a trigger signal, the control body 100 moves in a direction away from the trigger side.

[0176] The trigger signal is a mechanical or electrical signal generated when the impact plate 500 is physically touched by the window frame or an obstacle. This signal is collected by a sensor or micro switch located on the side of the main body 100 and transmitted to the controller. After receiving the signal, the controller immediately sends a motion command to the moving mechanism, causing the main body 100 to translate in the opposite direction to the trigger side.

[0177] The trigger side is one side of the window cleaning robot's cleaning path. When the trigger signal is generated by the upper impact plate 500, the direction away from the trigger side is downward; when the trigger signal is generated by the lower impact plate 500, the direction away from the trigger side is upward.

[0178] Through the above technical solution, this application achieves the technical effect of controlling the main body 100 to move in a direction away from the triggering side after responding to the trigger signal: since the main body 100 is driven to move in the opposite direction immediately after the collision plate 500 is triggered, the robot is prevented from stopping or repeatedly colliding at the window frame boundary.

[0179] Example 4

[0180] Recombined Figures 1 to 6 Furthermore, Embodiment 4 is a further development based on the above embodiments.

[0181] A fourth aspect of this application provides a liquid spraying and scraping module for a window cleaning robot, including a scraping mechanism 200 and a second liquid spraying port 410.

[0182] The wiping mechanism 200 has a wiping strip 220 for wiping glass, and a second spray nozzle 410 is disposed on the wiping mechanism 200. The second spray nozzle 410 is configured to face the area between the wiping mechanism 200 and a cleaning cloth 120 of the window cleaning robot when the wiping mechanism 200 is mounted on the window cleaning robot.

[0183] The second spray nozzle 410 is configured such that, after the scraping mechanism 200 is installed on the window cleaning robot, its liquid discharge direction always points towards the gap between the scraping mechanism 200 and the cleaning cloth 120. This ensures that the cleaning fluid is sprayed onto the area to be scraped before or simultaneously with the scraping action, preventing the cleaning fluid from spraying onto the cleaning cloth 120 and causing wetting and diffusion or interfering with the cleaning path of the cleaning cloth 120. The second spray nozzle 410 and the scraping mechanism 200 are integrated and fixedly connected. Both have undergone structural assembly, flow channel 420 sealing test, and spray direction calibration before leaving the factory.

[0184] Through the above technical solution, this application achieves the following: Since the second spray nozzle 410 is directly integrated on the body of the scraping mechanism 200, the independent bracket, pipeline adapter and multi-point sealing structure between the spraying device 400 and the scraping mechanism 200 in the traditional design are eliminated, thereby reducing the overall assembly complexity and interface failure rate; Since the orientation of the second spray nozzle 410 is strictly limited to the area between the scraping mechanism 200 and the wiping cloth 120, the cleaning liquid is prevented from being accidentally sprayed onto the wiping cloth 120 or other parts of the robot, thereby improving the controllability and consistency of the cleaning process.

[0185] refer to Figures 1 to 6 In some embodiments, the scraping mechanism 200 has a flow channel 420 inside, and the second spray nozzle 410 is connected to the flow channel 420.

[0186] The scraping mechanism 200 is a functional component made of rigid material, used to be installed on the main body 100 of the window cleaning robot and to perform scraping action on the glass surface 10. Its structural form is a strip-shaped, plate-shaped, or arc-shaped shell structure. The specific shape and size are set according to the curvature of the actual cleaning path and the contact requirements of the glass surface 10. This embodiment does not impose any special limitations on this. The flow channel 420 is an embedded channel with a circular, rectangular, or elliptical cross-sectional shape. Its opening position is flexibly adjusted according to the internal space layout of the scraping mechanism 200 and the arrangement of the liquid supply interface. For example, it can be located in the central area of ​​the scraping mechanism 200 body, on the side near the connecting end, or extend along the back of the scraping part 222.

[0187] The spray nozzle is a liquid outlet hole opened on the side of the scraping mechanism 200 facing the glass surface 10. There are one or more spray nozzles, and when there are multiple spray nozzles, they are arranged at intervals along the length of the scraping mechanism 200 to achieve uniform coverage of the interval area. The spray nozzle is connected to the flow channel 420. This means that the inlet end of the spray nozzle is directly connected to the end of the flow channel 420 without any intermediate joints, hoses or seals. This forms a fully enclosed internal liquid circuit. This connection can be achieved by molding in one step, or by welding, bonding or pressing after machining to form a sealed connection.

[0188] Through the above technical solution, this application achieves the following: Since the scraping mechanism 200 has a flow channel 420 inside and the spray nozzle is connected to the flow channel 420, the cleaning fluid delivery path is completely enclosed inside the rigid body of the scraping mechanism 200, eliminating the risk of leakage and detachment caused by external pipeline connection; Since the flow channel 420 and the scraping mechanism 200 are integrally formed, the overall sealing level and waterproof performance of the module are improved.

[0189] refer to Figures 1 to 6 In some embodiments, the window cleaning robot may also include a liquid supply interface, which is disposed on the scraping mechanism 200 and is used to connect an external liquid source and communicate with the flow channel 420.

[0190] The liquid supply interface is a through-type connection port set on the housing of the scraping mechanism 200. One end of it is directly connected to the flow channel 420 inside the scraping mechanism 200, and the other end is used to connect to an external liquid source. The structure of the liquid supply interface can be set according to the actual situation, such as a quick-connect interface, a threaded interface or a snap-fit ​​interface. This application embodiment does not make any special limitation on this.

[0191] Through the above technical solution, this application achieves the following: Since the liquid supply interface is directly connected to the flow channel 420, the module installation and replacement process is simplified. Because the liquid supply interface has a compact structure and is compatible with various pipeline interface specifications, the module's plug-and-play capability and industrialization adaptability as an independent functional unit are enhanced.

[0192] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0193] It should be noted that phrases such as "in specific implementations," "in some embodiments," "in this embodiment," and "exemplarily" in the specification indicate that the described embodiments may include specific features, structures, or characteristics, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0194] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0195] It should be readily understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0196] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A window cleaning robot, characterized in that, include: The main body includes a base and a wiping cloth, the base includes a first surface, the wiping cloth is disposed on the first surface, and the wiping cloth is used to wipe the surface of glass. A scraping mechanism is disposed on the outer periphery of the wiping cloth and along the cleaning path of the window cleaning robot. The scraping mechanism is used to scrape the glass surface. When the scraping mechanism comes into contact with the glass surface, there is a gap between the scraping mechanism and the wiping cloth. A drive mechanism, movably connected to the scraping mechanism, is used to drive the scraping mechanism to descend and abut against the glass surface, or to drive the scraping mechanism to rise and detach from the glass surface; A spraying device for spraying cleaning liquid onto the glass surface within the interval.

2. The window cleaning robot according to claim 1, characterized in that, The liquid spraying device includes: A liquid storage structure is disposed on the base; The first spray nozzle is connected to the liquid storage structure, and sprays cleaning liquid toward the glass surface within the interval.

3. The window cleaning robot according to claim 2, characterized in that, The liquid spraying device also includes a liquid spraying pipeline and a nozzle; One end of the spray pipe is connected to the first spray port, and the other end of the spray pipe is connected to the nozzle, which is used to spray cleaning fluid toward the glass surface within the interval.

4. The window cleaning robot according to claim 2, characterized in that, It also includes an adjustment bracket, which is disposed at the first spray nozzle and is used to adjust the spray direction of the first spray nozzle.

5. The window cleaning robot according to claim 1, characterized in that, The scraping mechanism has a flow channel for liquid flow and a second spray nozzle connected to the flow channel. The flow channel is connected to the spraying device, and the second spray nozzle is used to spray cleaning liquid toward the glass surface within the interval.

6. The window cleaning robot according to claim 5, characterized in that, The scraping mechanism includes: A support plate, connected to the drive mechanism, extends along a second direction; A scraper, connected to the support plate and used to scrape the glass surface, has the aforementioned gap between the scraper and the cloth; The support plate has the flow channel inside, and the support plate is provided with the second liquid spray port.

7. The window cleaning robot according to claim 6, characterized in that, The second spray nozzle has multiple nozzles, which are arranged at intervals along the second direction on the support plate, and each nozzle is connected to the flow channel.

8. The window cleaning robot according to claim 6, characterized in that, The second spray nozzle is located at one end of the support plate facing the glass surface; The scraper includes a connecting part and a scraping part. The connecting part is connected to one end of the support plate facing the glass surface, and the connecting part has a third spray hole communicating with the second spray nozzle. The scraping part is used to scrape the glass surface.

9. The window cleaning robot according to claim 1, characterized in that, The scraping mechanism is inclined relative to the surface where the cloth is located, so that the end of the scraping mechanism that abuts against the glass is positioned away from the cloth and forms the gap.

10. The window cleaning robot according to claim 9, characterized in that, The spraying device sprays cleaning liquid toward the side away from the rag.

11. The window cleaning robot according to claim 9, characterized in that, The spray path of the cleaning liquid sprayed by the spraying device forms an angle with the inclined extension direction of the scraping mechanism; The included angle is greater than or equal to 0° and less than or equal to 45°.

12. The window cleaning robot according to claim 1, characterized in that, The window cleaning robot includes two scraping mechanisms, which are respectively disposed at opposite ends of the cloth along a third direction, and each scraping mechanism has the interval with the cloth; The window cleaning robot includes two drive mechanisms, each of which drives one of the scraping mechanisms. The spraying device is used to spray cleaning liquid onto the glass surfaces within the two said intervals.

13. The window cleaning robot according to claim 12, characterized in that, The window cleaning robot includes two spraying devices, each of which corresponds to one of the scraping mechanisms and is used to spray cleaning fluid onto the glass surface within the corresponding interval.

14. The window cleaning robot according to claim 1, characterized in that, The window cleaning robot includes a collision plate; There is a gap between the impact plate and the wiping cloth. When the scraping mechanism comes into contact with the glass surface, the outer edge of the scraping mechanism is flush with the outer edge of the impact plate, or the gap between the scraping mechanism and the wiping cloth is equal to the gap between the impact plate and the wiping cloth.

15. A window cleaning robot, characterized in that, include: The main body includes a base and a wiping cloth, wherein the base includes a first surface and the wiping cloth is disposed on the first surface for wiping the surface of glass; A scraping mechanism, which can be raised and lowered on the main body, is used to scrape the glass surface; A drive mechanism, connected to the scraping mechanism, is used to drive the scraping mechanism to move up and down; Spraying assembly; The spraying component is configured to spray cleaning fluid directionally onto the glass surface area to be scraped by the scraping mechanism before or simultaneously with the drive mechanism driving the scraping mechanism to descend and perform scraping.

16. The window cleaning robot according to claim 15, characterized in that, The scraping mechanism is disposed on the outer periphery of the wiping cloth, and when the scraping mechanism descends to abut against the glass, a gap is formed between it and the wiping cloth; the spraying assembly is used to spray cleaning liquid onto the glass surface within the gap.

17. The window cleaning robot according to claim 16, characterized in that, The liquid spraying assembly includes a liquid storage structure and a liquid spraying port communicating with it, the liquid spraying port facing the interval.

18. The window cleaning robot according to claim 16, characterized in that, The scraping mechanism has a flow channel and a spray nozzle connected to the flow channel, and the flow channel is used to connect to a cleaning liquid source.

19. The window cleaning robot according to claim 15, characterized in that, The scraping mechanism is inclined relative to the plane on which the wiping cloth is located.

20. The window cleaning robot according to claim 15, characterized in that, The cleaning liquid sprayed by the spraying component is in atomized form.

21. A window cleaning robot, characterized in that, include: The main body includes a base, a cleaning cloth, and a moving mechanism; The first scraping mechanism and the second scraping mechanism are respectively disposed on both sides of the main body along the cleaning path direction; The first drive mechanism and the second drive mechanism are used to independently drive the first scraping mechanism and the second scraping mechanism to rise and fall. The first liquid spraying assembly and the second liquid spraying assembly are respectively provided corresponding to the first scraping mechanism and the second scraping mechanism; The window cleaning robot is configured to: in response to a trigger signal on one side, control the scraping mechanism located on that side to descend, and control the corresponding spraying component to start.

22. The window cleaning robot according to claim 21, characterized in that, The trigger signal is generated by the impact plate located on the side of the main body.

23. The window cleaning robot according to claim 21, characterized in that, In response to the trigger signal, the scraping mechanism located on the rear side of the movement direction is controlled to lift.

24. The window cleaning robot according to claim 21, characterized in that, The spraying assembly is configured to spray cleaning fluid into the space between the descending scraping mechanism and the rag.

25. The window cleaning robot according to claim 21, characterized in that, In response to the trigger signal, the main body is controlled to move in a direction away from the trigger side.

26. A liquid spraying and scraping module for a window cleaning robot, characterized in that, include: The scraping mechanism has a scraper for scraping the glass; The spray nozzle is disposed on the scraping mechanism; The spray nozzle is configured to face the area between the scraping mechanism and a cloth of the window cleaning robot when the scraping mechanism is installed on the window cleaning robot.

27. The liquid spraying and scraping module according to claim 26, characterized in that, The scraping mechanism has a flow channel inside, and the liquid spray nozzle is connected to the flow channel.

28. The liquid spraying and scraping module according to claim 27, characterized in that, It also includes a liquid supply interface, which is disposed on the scraping mechanism and is used to connect an external liquid source and communicate with the flow channel.

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