A walking and adsorbing mechanism of a window cleaning machine

Abstract

The application relates to a walking and adsorbing mechanism of a window cleaning machine, which comprises a partition box body, the top of the partition box body is fixedly connected with a gravity driving mechanism, the side of the partition box body is provided with a pre-tightening mechanism, the bottom of the pre-tightening mechanism is provided with an adsorbing head, the gravity driving mechanism comprises a sealing box body, the top of the sealing box body is covered with a sealing cover plate, the inside bottom side of the sealing box body is provided with a gas storage bag, the top of the gas storage bag is provided with a counterweight pressing block, the counterweight pressing block is vertically slidably arranged along the sealing box body, the adsorbing head comprises an outer sandwich sleeve, the lower end of the outer sandwich sleeve is sealingly connected with a double-layer rubber suction disc, the inside of the outer sandwich sleeve is coaxially sleeved with a middle layer pipe and an inner pipe, a pressure sensing plug plate is slidingly and sealingly arranged in the cavity between the middle layer pipe and the inner pipe. The application does not need an additional vacuum pump and electric control element in the whole process, walking is always kept adsorbed and fixed by at least one group of suction discs, high-altitude sliding and falling hidden dangers are fundamentally eliminated, and the operation reliability of the equipment is improved.

Description

Technical Field

[0001] This invention relates to the field of building cleaning and maintenance equipment technology, specifically to a walking and adsorption mechanism for a window cleaning machine. Background Technology

[0002] The walking suction head of the window cleaning machine is the core load-bearing device for cleaning, inspection and maintenance of the exterior facade of high-rise building curtain walls. It undertakes the functions of moving the whole machine on the facade, suction fixation and supporting the working load. It is widely used in maintenance scenarios of various high-rise and super high-rise glass curtain walls and stone exterior walls. Its operational stability and safety redundancy directly determine the safety level of high-altitude operations.

[0003] Existing window cleaning machine facade walking adsorption devices generally use electric vacuum pumps to provide adsorption negative pressure air source, and use electrical control systems to regulate the on and off sequence of each set of suction cups, and use walking wheel drive components to achieve facade walking step by step. The generation of negative pressure and the coordination of adsorption-walking sequence of this type of solution both rely on the electrical system drive. In high-altitude open environment, electrical components are susceptible to temperature difference, moisture and dust corrosion and failure. Once the electrical control fails, there is a risk of adsorption interruption and the whole machine slipping and falling, and the inherent safety performance has a core shortcoming. Summary of the Invention

[0004] The purpose of this invention is to provide a walking adsorption mechanism for a window cleaning machine, which aims to improve the problem in the prior art where electrical components are susceptible to malfunctions caused by temperature differences, moisture, and dust corrosion in open-air environments, leading to adsorption interruptions and the entire machine slipping and falling.

[0005] The objective of this invention is achieved through the following technical solution: a walking adsorption mechanism for a window cleaning machine, comprising a partition box, a gravity drive mechanism fixedly connected to the top of the partition box, a pre-tightening mechanism provided on the side of the partition box, and an adsorption head provided at the bottom of the pre-tightening mechanism; The gravity drive mechanism includes a sealed box, a sealing cover plate on the top of the sealed box, an air storage bladder on the bottom inside the sealed box, a counterweight block above the air storage bladder, and the counterweight block is slidably arranged vertically along the sealed box. The adsorption head includes an outer jacketed sleeve, with a double-layered rubber suction cup sealed to the lower end of the outer jacketed sleeve. A middle layer tube and an inner tube are coaxially sleeved inside the outer jacketed sleeve. A pressure-sensing plug plate is slidably and sealed in the cavity between the middle layer tube and the inner tube. A piston rod is fixedly connected to the top of the pressure-sensing plug plate, and the piston rod is slidably connected inside the inner tube. A return spring is provided between the top of the piston rod and the top of the inner tube. A one-way valve is provided at the top of the inner tube. The cavity at the top of the piston rod is connected to the jacketed cavity of the outer jacketed sleeve. As a further description of the above technical solution: The outer side of the adsorption head is provided with a main pipeline, which includes a connecting pipe and an air storage bag. The air outlet of the air storage bag is connected to an air storage box through the connecting pipe. The air storage box is fixedly installed at the bottom of the pre-tightening mechanism. An air inlet pipe is fixedly connected between the air outlet of the air storage box and the cavity of the middle layer tube of each adsorption head. The pressure relief pipe is connected to the bottom cavity of the middle layer tube and the outside atmosphere, so that the sensing plug plate can slide. An exhaust valve is provided on the outer side of the main pipeline. As a further description of the above technical solution: The lower part of the partition box is rotatably equipped with a differential travel assembly, which includes a main rotating shaft. A drive sleeve is coaxially rotatably sleeved on the outer side of the main rotating shaft. A transmission plate two is fixed on the outer wall of the main rotating shaft, and a transmission plate one is fixed on the inner wall of the drive sleeve. There is a rotation angle difference between the transmission plate one and the transmission plate two, and they can abut against each other for transmission. A cam is fixedly installed on the main rotating shaft, and the lower part of the cam abuts against the top of the exhaust valve. The exhaust valve is connected to the air passage between the gravity drive mechanism and the adsorption head. As a further description of the above technical solution: The exhaust valve assembly includes a branch pipe, a valve seat, a valve body, a second return spring, a guide shaft, a third return spring, an exhaust port, and a lifting pressure plate. The branch pipe is connected to the side of the connecting pipe, the valve seat is fixed to the end of the branch pipe, the valve body is slidably sealed inside the valve seat, the second return spring is supported between the valve body and the valve seat, the guide shaft is slidably inserted inside the valve body, the third return spring is sleeved on the outside of the guide shaft, the exhaust port is opened on the side wall of the guide shaft, and the lifting pressure plate is fixedly connected to the top of the guide shaft. The top surface of the lifting pressure plate has a pressure groove adapted to the cam. As a further description of the above technical solution: The bottom of the drive sleeve is equipped with a bearing wheel. When the main shaft rotates, it first drives the cam to rotate synchronously. After rotating through the angle difference, the first transmission plate and the second transmission plate abut against each other. Then the main shaft drives the drive sleeve and the bearing wheel to rotate synchronously, realizing the differential timing of first exhausting and desorption, and then moving forward. As a further description of the above technical solution: The pre-tightening mechanism includes a connecting pile, a fixed sleeve, a telescopic boss, and a pre-tightening spring. The fixed sleeve is fixedly connected to the side of the partition box through the connecting pile. The telescopic boss is vertically slidable along the fixed sleeve. The pre-tightening spring is located inside the fixed sleeve and supports the top of the telescopic boss. The top of the outer jacket sleeve of the adsorption head is fixedly connected to the lower end of the telescopic boss. As a further description of the above technical solution: The partition box is equipped with a control host inside, and a controller is also installed on the top of the partition box. The controller is connected to the control host by signal. The partition box has a drawer-type segmented structure and can slide and extend relative to each other along the walking direction. As a further description of the above technical solution: The bottom of the partition box is also equipped with a cleaning mechanism, which includes a connecting block, a shaped frame and a window cleaning strip. The shaped frame is snapped into the bottom of the partition box by the connecting block, and the window cleaning strip is fixedly installed at the bottom of the shaped frame.

[0006] Compared with the prior art, the advantages of the present invention are as follows: 1. High-pressure gas is generated by the vertical sliding and compression of the air storage bladder by the counterweight block along the sealed box. The high-pressure gas is transported to the gas storage tank through the connecting pipe and then introduced into the middle tube cavity of each adsorption head through the air inlet pipe. With the preset rotation angle difference structure formed by the transmission plate one and transmission plate two between the main shaft and the drive sleeve, the cam is driven to rotate synchronously before the bearing walking wheel. The lifting pressure plate pushes and controls the timing of the opening and closing of the exhaust valve, realizing the effect of pure mechanical differential alternating adsorption walking. No additional vacuum pump or electrical control components are required throughout the process. The walking always maintains at least one set of suction cups adsorbing and fixing, fundamentally eliminating the risk of slippage and fall at high altitudes, and improving the reliability of equipment operation.

[0007] 2. The telescopic boss extends downwards to apply pressure, driven by a pre-tightening spring inside the fixed sleeve. This, combined with the layered chamber structure formed by the coaxial fitting of the outer, middle, and inner tubes, causes the pressure-sensing plug to slide according to changes in air pressure within the chamber. A piston rod and a one-way valve control the negative pressure generation of the double-layered rubber suction cups, which in turn activates the cleaning mechanism at the bottom of the separator, operating synchronously with the machine's movement. This achieves the beneficial effect of integrated suction, adaptive adhesion, and mobile cleaning. It can adapt to working surfaces with varying flatness, and the suction cups provide a stable and reliable seal. Simultaneously performing movement and cleaning operations, it effectively improves the machine's adaptability and operational efficiency. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the main body of an embodiment of the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 2 This is a schematic diagram of the gravity drive mechanism of the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 3 This is a schematic diagram of the controller for the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 4 This is a schematic diagram of the main rotating shaft of the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 5 This is a schematic diagram of the pre-tightening mechanism of the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 6 This is a schematic diagram of the adsorption head of the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 7 This is a schematic diagram of the exhaust valve of the walking adsorption mechanism of a window cleaning machine proposed in this invention; Figure 8 This is a schematic diagram of the cleaning mechanism of the walking adsorption mechanism of a window cleaning machine proposed in this invention.

[0009] Label Explanation: 1. Controller; 101. Partition Box; 102. Control Host; 103. Main Shaft; 104. Drive Sleeve; 105. Transmission Plate 1; 106. Transmission Plate 2; 107. Cam; 107. Bearing Wheel; 2. Gravity Drive Mechanism; 201. Sealed Box; 202. Sealing Cover; 203. Air Storage Bag; 204. Counterweight Block; 3. Pre-tightening Mechanism; 301. Connecting Pile; 302. Fixing Sleeve; 303. Telescopic Boss; 304. Pre-tightening Spring; 4. Adsorption Head; 401. Outer Layer Sleeve; 402. Double-Layer Rubber Suction Cup; 40 3. Middle layer pipe; 404. Inner pipe; 405. Pressure-sensing plug plate; 406. Piston rod; 407. Return spring one; 408. One-way valve; 409. Air inlet pipe; 410. Pressure discharge pipe; 5. Main pipeline; 51. Air storage tank; 52. Connecting pipe; 53. Exhaust valve; 531. Branch pipe; 532. Valve seat; 533. Valve body; 534. Return spring two; 535. Air guide shaft; 536. Return spring three; 537. Exhaust port; 538. Lifting pressure plate; 539. Pressure groove; 6. Cleaning mechanism; 601. Connecting block; 602. Shaping frame; 603. Window cleaning strip. Detailed Implementation

[0010] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 8The diagram shows an embodiment of the walking and adsorption mechanism of a window cleaning machine provided by the present invention. The walking and adsorption mechanism includes a partition box 101, which provides a mounting base for the various functional components of the machine, enclosing an internal protective space to isolate the internal components from external environmental corrosion. A control host 102 is installed inside the partition box 101, providing power output and logic drive for the machine's walking motion, and regulating the operating timing and speed of each differential walking component. A controller 1 is also installed on the top of the partition box 101, which inputs the machine's operating parameters and regulates its operating status, transmitting control commands to the control host 102 to achieve human-machine interaction. The controller 1 is signal-connected to the control host 102. The partition box 101 has a drawer-type segmented structure, allowing for relative extension and retraction along the walking direction, adapting to alternating stepping walking logic, and ensuring continuous and stable displacement of the entire machine. A gravity drive mechanism 2 is fixedly connected to the top of the partition box 101. The gravity drive mechanism 2 uses its own weight as a power source to generate high-pressure gas, providing pure mechanical pneumatic power to the adsorption system without the need for an additional electrical pneumatic source. A pre-tightening mechanism 3 is provided on the side of the partition box 101. The pre-tightening mechanism 3 provides continuous pre-tightening pressure to the adsorption head 4, ensuring a tight seal between the suction cup and the working surface. The adsorption head 4 is located at the bottom of the pre-tightening mechanism 3. The adsorption head 4 generates negative pressure through internal air pressure changes, achieving adsorption and fixation of the entire machine on the working surface.

[0011] The gravity-driven mechanism 2 includes a sealed housing 201, which forms a closed counterweight movement cavity, providing installation space and sliding guidance for the air reservoir 203 and the counterweight block 204. A sealing cover 202 covers the top of the sealed housing 201, sealing the top opening and providing protection for the internal cavity. The cover can be opened for inspection and maintenance of the internal components. An air reservoir 203 is located on the bottom inside the sealed housing 201. When compressed, the air reservoir 203's internal volume decreases and its pressure increases, converting mechanical pressure into gas pressure and outputting high-pressure gas as the gas source for the adsorption system. A counterweight block 204 is located above the air reservoir 203. The counterweight block 204 slides vertically along the sealed housing 201 under its own weight, applying continuous pressure to the air reservoir 203, converting gravitational potential energy into gas pressure energy, thus achieving purely mechanical gas generation. The counterweight block 204 is vertically slidable along the sealed box 201.

[0012] The adsorption head 4 includes an outer jacketed sleeve 401, which forms an outer annular cavity, creating an independent, sealed chamber for negative pressure generation. A double-layered rubber suction cup 402 is sealed to the lower end of the outer jacketed sleeve 401. The double-layered rubber suction cup 402 adheres to the working surface to form a sealed interface, relying on internal negative pressure to achieve overall adsorption and fixation. The double-layered lip structure improves sealing reliability and reduces leakage risk. Inside the outer jacketed sleeve 401, a middle layer tube 403 and an inner tube 404 are coaxially fitted, forming a layered chamber structure that separately constructs a pneumatic drive chamber and a negative pressure generation chamber, achieving functional zoning of the air path. A pressure-sensing plug plate 405 is slidably sealed within the cavity between the middle layer tube 403 and the inner tube 404. Driven by changes in air pressure within the middle layer tube 403 cavity, the pressure-sensing plug plate 405 slides along the cavity wall, converting pressure energy into linear mechanical motion of the piston rod 406. A piston rod 406 is fixedly connected to the top of the pressure-sensing plug plate 405. The piston rod 406 slides synchronously with the pressure-sensing plug plate 405, changing the internal rod cavity volume, and cooperating with the one-way valve 408 to complete the evacuation action of the interlayer cavity. The piston rod 406 is slidably connected inside the inner tube 404. A return spring 407 is installed between the top of the piston rod 406 and the top of the inner tube 404. When the air pressure in the middle tube 403 decreases, the return spring 407 releases its elastic deformation force, causing the piston rod 406 and the pressure-sensing plug plate 405 to return downwards, thus releasing the negative pressure in the interlayer cavity. A one-way valve 408 is installed at the top of the inner tube 404. The one-way valve 408 controls the unidirectional flow of the air path, allowing only the gas in the interlayer cavity to be discharged outwards, and cutting off the flow in the reverse direction to maintain the stability of the negative pressure in the interlayer cavity. The top cavity of the piston rod 406 is connected to the interlayer cavity of the outer interlayer sleeve 401, forming an air extraction passage, so that the movement of the piston rod 406 can pump air from the interlayer cavity and generate negative pressure.

[0013] A main pipeline 5 is provided on the outside of the adsorption head 4. The main pipeline 5 forms a gas delivery path between the gravity drive mechanism 2 and the adsorption head 4, realizing the transmission, stabilization, and distribution of gas pressure. The main pipeline 5 includes a connecting pipe 52 and an air storage bladder 203. The connecting pipe 52 connects the air storage bladder 203 and the gas storage tank 51, realizing the directional delivery of high-pressure gas. The outlet end of the air storage bladder 203 is connected to the gas storage tank 51 through the connecting pipe 52. The gas storage tank 51 temporarily stores high-pressure gas and plays a stabilizing role, evenly distributing gas pressure to each group of adsorption heads 4 and stabilizing gas pressure fluctuations. The gas storage tank 51 is fixedly installed at the bottom of the pre-tightening mechanism 3, supplying gas to the adsorption head 4 nearby, shortening the gas path length, and reducing gas pressure loss. An air inlet pipe 409 is fixedly connected between the outlet of the air storage tank 51 and the cavity of the middle layer tube 403 of each adsorption head 4. The air inlet pipe 409 connects the air storage tank 51 and the cavity of the middle layer tube 403, introducing high-pressure gas into the drive chamber of the adsorption head 4 to provide pneumatic power for the movement of the pressure-sensing plug plate 405. The pressure relief pipe 410 connects the bottom cavity of the middle layer tube 403 to the outside atmosphere, ensuring the air pressure balance in the lower chamber during the sliding of the pressure-sensing plug plate 405, eliminating motion air resistance, and thus enabling the pressure-sensing plug plate to slide. An exhaust valve 53 is provided on the outside of the main pipeline 5. The exhaust valve 53 controls the switching of the air path, realizing the timing control of the generation and release of negative pressure in the adsorption head 4.

[0014] A differential travel assembly is rotatably mounted on the lower part of the partition box 101. This assembly uses a rotational angle difference structure to achieve a timing difference between the exhaust and travel actions, establishing a differential logic of desorption followed by travel. The differential travel assembly includes a main shaft 103, which transmits rotational power, driving the cam 107 and the second transmission plate 106 to rotate synchronously. A drive sleeve 104 is coaxially mounted on the outer side of the main shaft 103, transmitting torque to the carrying travel wheel 107 to achieve travel drive output. A second transmission plate 106 is fixed to the outer wall of the main shaft 103, and a first transmission plate 105 is fixed to the inner wall of the drive sleeve 104. The first transmission plate 105 and the second transmission plate 106 cooperate to form a preset rotational angle difference, establishing an idle stroke and achieving timing differential. A difference in rotation angle exists between transmission plate 105 and transmission plate 106, allowing them to mutually abut each other and drive each other. This achieves the timing logic where the main shaft 103 first drives the cam 107 to complete the exhaust action, and then drives the drive sleeve 104 to output walking power. A cam 107 is fixedly mounted on the main shaft 103. The cam 107 rotates synchronously with the main shaft 103, converting the rotational motion into linear thrust through the lifting and lowering motion of its protrusion, thus controlling the opening and closing of the exhaust valve 53. The lower part of the cam 107 abuts against the top of the exhaust valve 53, converting the rotational motion of the cam 107 into the linear opening and closing action of the exhaust valve 53, precisely controlling the exhaust timing. The exhaust valve 53 is connected to the air passage between the gravity drive mechanism 2 and the adsorption head 4. By opening and closing, it controls the flow of air, thereby controlling the negative pressure state of the adsorption head 4.

[0015] The exhaust valve group 53 includes a branch pipe 531, a valve seat 532, a valve body 533, a second return spring 534, a guide shaft 535, a third return spring 536, an exhaust port 537, and a lifting pressure plate 538. The branch pipe 531 branches and connects to the connecting pipe 52 and the valve seat 532, forming an independent exhaust branch. The valve seat 532 is fixed to the end of the branch pipe 531, providing a sliding mounting base and sealing mating surface for the valve body 533, limiting the sliding stroke of the valve body 533. The valve body 533 is slidably sealed inside the valve seat 532, sliding along the valve seat 532 to switch the air passage on and off, controlling the opening and closing of the exhaust passage. The second return spring 534 is supported between the valve body 533 and the valve seat 532, providing an upward return force after the exhaust pressure disappears, pushing the valve body 533 upward to close the air passage, achieving a normally closed state. The air guide shaft 535 slides through the inside of the valve body 533, opening or blocking the exhaust passage and guiding high-pressure gas outward. A return spring 536 is sleeved on the outside of the air guide shaft 535, providing a return force after the pressure from the cam 107 disappears, causing the air guide shaft 535 and the lifting pressure plate 538 to return upward, closing the exhaust port 537. The exhaust port 537 is located on the side wall of the air guide shaft 535. When the air guide shaft 535 moves down to a preset position, it connects with the internal air passage, discharging the high-pressure gas from the cavity of the middle layer pipe 403 and releasing the negative pressure. The lifting pressure plate 538 is fixedly connected to the top of the air guide shaft 535, receiving the downward pressure from the cam 107 and causing the air guide shaft 535 to move downward synchronously, triggering the exhaust action. The top surface of the lifting pressure plate 538 is provided with a pressure groove 539 that matches the cam 107. The groove is adapted to the contour of the cam 107, which improves the transmission stability between the cam 107 and the lifting pressure plate 538 and prevents slippage.

[0016] The bottom drive of the drive sleeve 104 is equipped with a bearing travel wheel 107, which rolls in contact with the working surface, driving the machine body to move step by step. When the main shaft 103 rotates, it first drives the cam 107 to rotate synchronously. After rotating through the angle difference, the transmission plate one 105 and the transmission plate two 106 abut against each other. The main shaft 103 then drives the drive sleeve 104 and the bearing travel wheel 107 to rotate synchronously, realizing the differential timing of first exhausting and desorption, and then moving forward. This ensures that the corresponding side suction cup is desorbed before the walking action is performed during the walking process, and at least one side suction cup remains attached throughout the process, eliminating the risk of slippage and falling.

[0017] The pre-tightening mechanism 3 includes a connecting pin 301, a fixed sleeve 302, a telescopic boss 303, and a pre-tightening spring 304. The fixed sleeve 302 is fixedly connected to the side of the partition box 101 via the connecting pin 301. The connecting pin 301 fixes the pre-tightening mechanism 3 to the side of the partition box 101, transmitting the load and ensuring connection strength. The telescopic boss 303 slides vertically along the fixed sleeve 302, transmitting the pre-tightening force to the suction head 4 and adaptively adjusting the extension amount. The pre-tightening spring 304 is located inside the fixed sleeve 302 and supports the telescopic boss 303, providing a continuous downward pre-tightening force to push the telescopic boss 303 out, adapting to working surfaces with different flatness and ensuring suction cup fit. The top of the outer sleeve 401 of the suction head 4 is fixedly connected to the lower end of the telescopic boss 303, evenly transmitting the pre-tightening force to the suction cup structure and improving the sealing fit.

[0018] A cleaning mechanism 6 is also installed at the bottom of the partition box 101, which operates synchronously with the machine to clean the working surface. The cleaning mechanism 6 includes a connecting block 601, a shaping frame 602, and a window cleaning strip 603. The shaping frame 602 is snapped onto the bottom of the partition box 101 by the connecting block 601, which allows for detachable snap-fit ​​fixing of the cleaning mechanism 6 to the partition box 101, facilitating disassembly and replacement. The shaping frame 602 provides an installation carrier for the window cleaning strip 603, maintaining its working shape and contact angle. The window cleaning strip 603 is fixedly installed at the bottom of the shaping frame 602, and synchronously contacts the working surface as the machine moves, scraping away surface stains to complete the cleaning operation.

[0019] Working Principle: The walking suction head 4 of the window cleaning machine is placed on the vertical surface of the high-altitude operation. After the entire mechanism is in place, the counterweight block 204 inside the sealed box 201 slides vertically downward along the inner wall of the sealed box 201 under its own weight. During the downward movement of the counterweight block 204, it compresses the air storage bag 203 below. After the air storage bag 203 is compressed, the internal gas pressure increases, and the high-pressure gas is transported to the air storage tank 51 for temporary storage through the connecting pipe 52. At this time, the exhaust valve 53 is in the closed state, and the high-pressure gas in the air storage tank 51 is transported through the air inlet pipe 409 to the cavity between the middle tube 403 and the inner tube 404 of each set of suction heads. The high-pressure gas entering the cavity of the middle tube 403 acts on the lower surface of the pressure-sensing plate 405, pushing the pressure-sensing plate 405 along the cavity between the middle tube 403 and the inner tube 404. As the piston slides upward, the pressure-sensitive plug plate 405 synchronously drives the piston rod 406 to slide upward along the inner tube 404. During the upward sliding of the piston rod 406, the return spring 407 is compressed. At the same time, the volume of the rod cavity inside the piston rod 406 changes. Through the one-way valve 408, the air is pumped out of the interlayer cavity inside the outer interlayer sleeve 401, reducing the amount of gas and lowering the air pressure in the interlayer cavity. This creates a negative pressure inside the double-layer rubber suction cup 402. Under the action of the negative pressure, the double-layer rubber suction cup 402 is tightly attached to the working surface, completing the adsorption and fixation of the entire machine. During this process, the pre-tightening spring 304 inside the fixing sleeve 302 releases the pre-tightening force, pushing the telescopic boss 303 to extend downward along the fixing sleeve 302. The telescopic boss 303 applies downward pressure to the suction head 4 below, ensuring that the double-layer rubber suction cup 402 always adheres to the working surface.

[0020] When the window cleaning machine needs to move along the working facade, the controller 1 issues a command, and the main control unit 102 drives the two sets of main rotating shafts 103 in the corresponding direction of travel to start rotating. In the initial stage of the rotation of the main rotating shaft 103, due to the preset angle difference between the transmission plate 106 on the outer wall of the main rotating shaft 103 and the transmission plate 105 on the inner wall of the drive sleeve 104, the main rotating shaft 103 first rotates idly, while the drive sleeve 104 and the carrying wheel 107 remain stationary. During the rotation of the main rotating shaft 103, the cam 107 fixed on it rotates synchronously. The protrusion of the cam 107 gradually rotates downward, forming downward pressure on the lifting pressure plate 538 of the lower exhaust valve 53, pushing the lifting pressure plate 538 downward. 8 drives the air guide shaft 535 to slide downward along the inside of the valve body 533. The return spring 3 536 on the outside of the air guide shaft 535 is compressed. During the downward movement of the air guide shaft 535, it pushes the valve body 533 to slide downward along the inside of the valve seat 532. The return spring 2 534 inside the valve body 533 is compressed. When the valve body 533 slides to the preset position, the through hole on the side wall of the valve body 533 is aligned and connected with the internal passage of the branch pipe 531. At the same time, the exhaust hole 537 on the side wall of the air guide shaft 535 is connected with the internal cavity of the valve body 533. The high pressure gas in the cavity of the middle layer pipe 403 enters the internal cavity of the valve body 533 and the air guide shaft 535 through the connecting pipe 52 and the branch pipe 531, and is finally discharged to the outside atmosphere through the exhaust hole 537.

[0021] After the gas in the cavity of the middle layer tube 403 is discharged, the air pressure decreases, and the return spring 407 gradually recovers its deformation, causing the piston rod 406 and the pressure-sensing plug plate 405 to slide downwards along the cavity. The air pressure in the cavity of the outer interlayer sleeve 401 rises, and the negative pressure inside the double-layer rubber suction cup 402 gradually decreases until it disappears. The double-layer rubber suction cup 402 at the corresponding position disengages from the working surface. The main rotating shaft 103 continues to rotate. After rotating past the preset angle difference, the side of the transmission plate 106 abuts against the side of the transmission plate 105. The torque of the main rotating shaft 103 is transmitted to the drive sleeve 104, and the drive sleeve 104 begins to rotate synchronously, thereby driving the bearing traveling wheel 107 to roll along the working surface. During the rolling of the bearing traveling wheel 107, the partition box 101... The drawer-type segmented structure expands and contracts relative to each other. The half-section of the box on the forward direction moves the control host 102 part forward a certain distance. The main shaft 103 continues to drive the cam 107 to rotate. When the protrusion of the cam 107 rotates away from the lifting pressure plate 538, the second return spring 534 and the third return spring 536 return to their deformation, respectively pushing the valve body 533 and the air guide shaft 535 to return upward. The passage between the exhaust port 537 and the branch pipe 531 is cut off, and the exhaust valve 53 returns to the closed state. The high-pressure gas in the air storage tank 51 enters the cavity of the middle layer pipe 403 again through the air inlet pipe 409, pushing the pressure-sensing plug plate 405 and the piston rod 406 to move, so that the double-layer rubber suction cup 402 at the corresponding position re-forms negative pressure and is once again adsorbed and fixed on the working surface.

[0022] After a single suction cup completes one cycle of adsorption, desorption, and adsorption and advances a certain distance, the main rotating shaft 103 on the other side and the differential walking assembly repeat the above action process. The cam 107 at the corresponding position first rotates to open the exhaust valve 53, causing the double-layer rubber suction cup 402 on the corresponding side to desorb. Then, the drive sleeve 104 drives the corresponding side bearing walking wheel 107 to roll, causing the other half of the partition box 101 to move forward. Then, the exhaust valve 53 closes and the suction cup re-adsorbs. The walking adsorption units on both sides alternately perform desorption, stepping, and adsorption actions, so that the whole machine moves forward continuously and smoothly along the working facade. During the movement of the whole machine, the cleaning mechanism 6 at the bottom of the partition box 101 moves synchronously with the whole machine. The window cleaning strip 603 at the bottom of the shaping frame 602 contacts the working facade to clean the working surface. Throughout the process, the pre-tensioning spring 304 of the pre-tensioning mechanism 3 continuously provides downward pre-pressure to ensure that the double-layer rubber suction cup 402 can fully adhere to the working facade during the adsorption stage and maintain a stable negative pressure adsorption state.

Claims

1. A walking adsorption mechanism for a window cleaning machine, comprising a partition box (101), characterized in that: The top of the partition box (101) is fixedly connected to a gravity drive mechanism (2), the side of the partition box (101) is provided with a pre-tightening mechanism (3), and the bottom of the pre-tightening mechanism (3) is provided with an adsorption head (4). The gravity drive mechanism (2) includes a sealed box (201), a sealing cover plate (202) covering the top of the sealed box (201), an air storage bag (203) provided on the bottom side inside the sealed box (201), a counterweight block (204) provided above the air storage bag (203), and the counterweight block (204) is vertically slidable along the sealed box (201); The adsorption head (4) includes an outer jacket sleeve (401), the lower end of which is sealed with a double-layer rubber suction cup (402). The inner layer sleeve (401) is coaxially fitted with a middle layer tube (403) and an inner tube (404). A pressure-sensing plug plate (405) is slidably and sealed in the cavity between the middle layer tube (403) and the inner tube (404). A piston rod (406) is fixedly connected to the top of the pressure-sensing plug plate (405), and the piston rod (406) is slidably connected to the inside of the inner tube (404). A reset spring (407) is provided between the top of the piston rod (406) and the top of the inner tube (404). A one-way valve (408) is provided at the top of the inner tube (404). The top cavity of the piston rod (406) is connected to the jacket cavity of the outer jacket sleeve (401).

2. The walking adsorption mechanism of a window cleaning machine according to claim 1, characterized in that: The outer side of the adsorption head (4) is provided with a main pipeline (5), which includes a connecting pipe (52) and an air storage bag (203). The air outlet of the air storage bag (203) is connected to an air storage box (51) through the connecting pipe (52). The air storage box (51) is fixedly installed at the bottom of the pre-tightening mechanism (3). The air outlet of the air storage box (51) is fixedly connected to the cavity of the middle layer tube (403) of each adsorption head (4) with an air inlet pipe (409). The pressure discharge pipe (410) is connected to the bottom cavity of the middle layer tube (403) and the outside atmosphere, so that the sensing plug plate can slide. An exhaust valve (53) is provided on the outer side of the main pipeline (5).

3. The walking adsorption mechanism of a window cleaning machine according to claim 2, characterized in that: The lower part of the partition box (101) is rotatably equipped with a differential travel assembly, which includes a main shaft (103). A drive sleeve (104) is coaxially rotatably sleeved on the outer side of the main shaft (103). A transmission plate two (106) is fixed on the outer wall of the main shaft (103), and a transmission plate one (105) is fixed on the inner wall of the drive sleeve (104). There is an angle difference between the transmission plate one (105) and the transmission plate two (106), and they can drive each other. A cam (107) is fixedly installed on the main shaft (103). The lower part of the cam (107) abuts against the top of the exhaust valve (53). The exhaust valve (53) is connected to the air passage between the gravity drive mechanism (2) and the adsorption head (4).

4. The walking adsorption mechanism of a window cleaning machine according to claim 2, characterized in that: The exhaust valve (53) assembly includes a branch pipe (531), a valve seat (532), a valve body (533), a second return spring (534), an air guide shaft (535), a third return spring (536), an exhaust port (537), and a lifting pressure plate (538). The branch pipe (531) is connected to the side of the connecting pipe (52). The valve seat (532) is fixed to the end of the branch pipe (531). The valve body (533) is slidably sealed inside the valve seat (532). The second return spring... (534) is supported between the valve body (533) and the valve seat (532). The air guide shaft (535) slides through the inside of the valve body (533). The return spring three (536) is sleeved on the outside of the air guide shaft (535). The exhaust hole (537) is opened on the side wall of the air guide shaft (535). The lifting pressure plate (538) is fixedly connected to the top of the air guide shaft (535). The top surface of the lifting pressure plate (538) is provided with a pressure groove (539) that matches the cam (107).

5. The walking adsorption mechanism of a window cleaning machine according to claim 3, characterized in that: The bottom of the drive sleeve (104) is equipped with a carrying wheel (107). When the main shaft (103) rotates, it first drives the cam (107) to rotate synchronously. After rotating through the angle difference, the first transmission plate (105) and the second transmission plate (106) abut against each other. The main shaft (103) then drives the drive sleeve (104) and the carrying wheel (107) to rotate synchronously, realizing the differential timing of first exhausting and desorption, and then moving forward.

6. The walking adsorption mechanism of a window cleaning machine according to claim 1, characterized in that: The pre-tightening mechanism (3) includes a connecting post (301), a fixed sleeve (302), a telescopic boss (303), and a pre-tightening spring (304). The fixed sleeve (302) is fixedly connected to the side of the partition box (101) through the connecting post (301). The telescopic boss (303) is vertically slidable along the fixed sleeve (302). The pre-tightening spring (304) is located inside the fixed sleeve (302) and supports the telescopic boss (303). The top of the outer jacket sleeve (401) of the adsorption head (4) is fixedly connected to the lower end of the telescopic boss (303).

7. The walking adsorption mechanism of a window cleaning machine according to claim 1, characterized in that: The partition box (101) is equipped with a control host (102) inside, and a controller (1) is also provided on the top of the partition box (101). The controller (1) is connected to the control host (102) by signal. The partition box (101) is a drawer-type segmented structure that can slide relative to each other along the walking direction.

8. The walking adsorption mechanism of a window cleaning machine according to claim 1, characterized in that: The bottom of the partition box (101) is also provided with a cleaning mechanism (6). The cleaning mechanism (6) includes a connecting block (601), a shaping frame (602), and a window cleaning strip (603). The shaping frame (602) is connected to the bottom of the partition box (101) by the connecting block (601), and the window cleaning strip (603) is fixedly set at the bottom of the shaping frame (602).

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