Window cleaning robot and side brush assembly

Abstract

The utility model relates to a window cleaning robot and a side brush assembly. The window cleaning robot comprises a machine body and the side brush assembly. A cleaning piece is arranged on the machine body, and the cleaning piece is configured to be used for cleaning the working face; the side brush assembly comprises a side brush body arranged at the edge of the machine body and a driving mechanism at least used for driving the side brush body to move between a first position and a second position; when located at the first position, the side brush body is configured to make contact with the working face so as to clean the working face together with the cleaning piece. And when in the second position, the side brush body is configured to be separated from the working surface. According to the side brush assembly with the lifting function, areas, such as frames and corners, which cannot be covered by a traditional window cleaning robot can be cleaned. The side brush assembly can move between the first position and the second position according to different working scenes, so that pollution of the side brush body is reduced to the maximum extent, the service life of the side brush assembly is prolonged, and secondary pollution to the working face is avoided.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of cleaning equipment, in particular to a window cleaning robot; the present disclosure also relates to a side brush assembly. BACKGROUND

[0002] With the improvement of living standards, automatic cleaning equipment is deeply integrated into people's daily life. The advent of window cleaning robots brings great convenience to people's home life, liberates users' hands, and avoids the danger that may be caused by cleaning high-rise windows.

[0003] In the prior art, the edge and corner positions of the window cleaning robot are often not covered by cleaning elements, which makes it easy to miss the edge and corner positions when cleaning framed glass, and thus causes dust accumulation in the edge and corner positions. To solve this problem, additional cleaning elements such as side brushes can be added to the edge and corner positions of the window cleaning robot. However, this design can increase the driving resistance of the window cleaning robot. Moreover, since the edge and corner positions of the window are naturally prone to dust accumulation, the side brushes specially designed for cleaning the edge and corner positions can easily bring dirt to other positions of the window, thereby causing secondary pollution. In addition, the service life of small-volume side brushes is short, and users need to clean the side brushes frequently to ensure cleaning effect, which results in poor user experience. CONTENT OF THE UTILITY MODEL

[0004] The present disclosure provides a window cleaning robot and a side brush assembly to solve the problems in the prior art.

[0005] According to a first aspect of the present disclosure, a window cleaning robot is provided, comprising:

[0006] a body, wherein a cleaning element is arranged on the body, and the cleaning element is configured to clean a working surface;

[0007] a side brush assembly, comprising a side brush body arranged at an edge position of the body, and a driving mechanism configured to drive the side brush body to move between a first position and a second position;

[0008] When located at the first position, the side brush body is configured to be in contact with the working surface to clean the working surface together with the cleaning element.

[0009] When located at the second position, the side brush body is configured to be separated from the working surface.

[0010] In an embodiment of the present disclosure, the window cleaning robot has an edge-following working mode for working along the edge of the working surface, and a normal working mode for working at a non-edge position of the working surface; the window cleaning robot is configured to control the side brush assembly to move to the first position to clean the working surface together with the cleaning element at least in the edge-following working mode.

[0011] In one embodiment of the present disclosure, the edge brush assembly further comprises a transmission mechanism; the transmission mechanism comprises a lifting seat connected with the edge brush body, and the lifting seat is provided with helically distributed sliding grooves in the circumferential direction; one end of the sliding groove adjacent to the working surface is referred to as the first end, and the other end away from the working surface is referred to as the second end; the output shaft of the driving mechanism is provided with a flange for cooperating with the sliding groove;

[0012] During the rotation of the output shaft in the first direction, the flange drives the lifting seat to move towards the working surface until the second end of the sliding groove cooperates with the flange, so that the lifting seat drives the edge brush body to move to the first position.

[0013] During the rotation of the output shaft in the second direction, the flange drives the lifting seat to move away from the working surface until the first end of the sliding groove cooperates with the flange, so that the lifting seat drives the edge brush body to move to the second position.

[0014] In one embodiment of the present disclosure, the second end of the sliding groove has a movement space for the flange to move in the axial direction of the lifting seat; the edge brush assembly further comprises a first elastic member pre-pressed on the lifting seat, and the lifting seat is configured to have a tendency to drive the edge brush body to move in the direction of the first position under the elastic force of the first elastic member.

[0015] In one embodiment of the present disclosure, the flange and the sliding groove are provided with two respectively, the extension directions of the two flanges are opposite, and the two sliding grooves are located on opposite sides of the lifting seat; the lifting seat is provided with a through hole, and the output shaft is configured to extend into the lifting seat through the through hole, so that the two flanges extend into the corresponding sliding grooves respectively.

[0016] In one embodiment of the present disclosure, the edge brush assembly comprises a base, the transmission mechanism comprises a sleeve rotatably connected to the base through a one-way bearing, the lifting seat is configured to be guided and matched in the sleeve and is configured to be able to move in the axial direction of the sleeve and drive the sleeve to rotate;

[0017] When the edge brush body is located at the first position, the output shaft continues to rotate in the first direction, and the flange is configured to push the second end of the sliding groove, so that the lifting seat drives the sleeve to rotate in the first direction relative to the base under the action of the one-way bearing.

[0018] In one embodiment of the present disclosure, the outer wall of the lifting seat has at least one first matching part extending in the axial direction thereof, the inner wall of the sleeve has a second matching part extending in the axial direction thereof, and the second matching part is configured to cooperate with the first matching part, so that the lifting seat and the sleeve do not rotate relative to each other.

[0019] In one embodiment of the present disclosure, the edge brush assembly further comprises a sensor, and a trigger mechanism movable relative to the sensor; the trigger mechanism comprises a ball head and a second elastic member, the second elastic member is configured to pre-press the ball head on a working surface; in the case that the window cleaning robot moves out of the working surface, the ball head is configured to move to trigger the sensor under the action of the second elastic member.

[0020] In one embodiment of the present disclosure, the trigger mechanism further comprises a connecting rod slidingly connected to the base, one end of the connecting rod is provided with the ball head, and the other end is provided with a trigger member for cooperating with the sensor, the trigger member is moved to trigger the sensor under the action of the connecting rod.

[0021] In one embodiment of the present disclosure, the edge brush assembly further comprises a roller; in the case that the window cleaning robot is in the edge working mode, the roller is configured to roll and rub against the frame; the roller, the edge brush body, and the ball head are coaxially installed, the edge brush body is sleeved on the outside of the ball head, and the roller is configured to be sleeved on the outside of the edge brush body.

[0022] In one embodiment of the present disclosure, the edge brush body is configured to be located at a corner position of the machine body; in the travel direction of the window cleaning robot, the edge brush body at least partially overlaps with the projection of the cleaning member.

[0023] In one embodiment of the present disclosure, the machine body is configured to be square; four edge brush assemblies are provided, and the edge brush bodies of the four edge brush assemblies are respectively located at the four corner positions of the machine body.

[0024] According to a second aspect of the present disclosure, an edge brush assembly is provided, comprising:

[0025] a base;

[0026] an edge brush body movably connected to the base;

[0027] a driving mechanism provided on the base and configured to at least drive the edge brush body to move between a first position and a second position;

[0028] when located at the first position, the edge brush body is configured to contact a working surface to clean the working surface;

[0029] when located at the second position, the edge brush body is configured to be separated from the working surface.

[0030] One beneficial effect of the present disclosure is to provide a side brush assembly with a lifting function. Specifically, the driving mechanism can drive the side brush body to move between the first position and the second position, so as to contact or separate from the working surface. Since the side brush body is arranged at the edge of the window cleaning robot body, it can clean the areas such as the side frame and the corner that cannot be covered by the conventional window cleaning robot, thereby improving the cleaning area of the window cleaning robot.

[0031] In addition, the side brush assembly can move between the first position and the second position according to different working scenarios. For example, the side brush body can be controlled to move to the first position only when the window cleaning robot drives to the edge or corner position, so as to minimize the pollution of the side brush body, thereby prolonging the service life of the side brush assembly and reducing the frequency of cleaning the side brush body by the user. Moreover, the side brush body will not carry dirt to other positions, avoiding secondary pollution to the working surface.

[0032] Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] Figure 1 is a schematic view of a window cleaning robot structure provided by an embodiment of the present disclosure;

[0035] Figure 2 is a bottom view of a window cleaning robot located at a side frame corner according to an embodiment of the present disclosure;

[0036] Figure 3 is a schematic view of a side brush assembly structure provided by an embodiment of the present disclosure;

[0037] Figure 4 is a sectional view of a side brush assembly provided by an embodiment of the present disclosure;

[0038] Figure 5 is a schematic view of a lifting seat structure provided by an embodiment of the present disclosure; Figure 4 is a local enlarged view of the position of the sliding groove in the driving mechanism;

[0039] Figure 6 is an exploded view of a side brush assembly provided by an embodiment of the present disclosure;

[0040] Figure 7 is a schematic view of an output shaft structure provided by an embodiment of the present disclosure;

[0041] Figure 8 is a schematic view of an output shaft structure provided by an embodiment of the present disclosure;

[0042] Figure 9 is a sectional view of the sleeve according to an embodiment of the present disclosure;

[0043] Figure 10 is a bottom view of a window-cleaning robot in the prior art when located at a corner of the frame.

[0044] Figures 1 to 10 The one-to-one correspondence between the names of the components and the reference numerals in the drawings is as follows:

[0045] 100, brush assembly; 1, brush body; 21, motor; 22, speed reducer; 23, output shaft; 231, flange; 3, lifting seat; 31, sliding groove; 311, first end; 312, second end; 32, first plane; 33, through hole; 41, one-way bearing; 42, sleeve; 421, second plane; 5, fixing seat; 6, roller; 61, rolling bearing; 7, first elastic member; 81, sensor; 82, trigger member; 83, ball head; 84, connecting rod; 85, second elastic member; 9, base; 200, machine body; 300, cleaning member; 400, frame. DETAILED DESCRIPTION

[0046] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0047] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the disclosure and its applications or uses.

[0048] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the description if appropriate.

[0049] Note that similar reference numerals and letters indicate similar items throughout the drawings, and thus, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0050] In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used to describe relative positions between the relevant parts, and do not limit the absolute positions of the relevant parts.

[0051] In this document, "first", "second", and the like are used to distinguish between the relevant parts from each other, and do not indicate importance and order, and a prerequisite for each other.

[0052] In the present text, "equal", "identical" and the like are not to be understood as a strict mathematical and / or geometrical restriction, but also include tolerances which can be understood by a person skilled in the art and which are allowed for manufacture or use.

[0053] The present disclosure provides a window-cleaning robot, comprising a body and a side brush assembly. The body is configured to carry components of the window-cleaning robot, and an adsorption surface is arranged on the body. The adsorption surface can be attached to and adsorbed to a work surface such as a window, a glass, a wall, a mirror, etc., so that the window-cleaning robot can work on the work surface. A cleaning element is arranged on the body and configured to clean the work surface. The cleaning element can be a cloth, a brush, etc., and is arranged on the adsorption surface of the body, so that the cleaning element can be attached to the work surface and clean the work surface during the movement of the window-cleaning robot.

[0054] The side brush assembly comprises a side brush body arranged at an edge position of the body, and a driving mechanism configured to drive the side brush body to move between a first position and a second position. When located at the first position, the side brush body is configured to contact the work surface to clean the work surface together with the cleaning element. When located at the second position, the side brush body is configured to be separated from the work surface. The side brush body can be bristles, a cloth, soft rubber, etc. Since the side brush body is arranged at the edge position of the body of the window-cleaning robot, it can clean areas such as the frame and the corner that cannot be covered by a conventional window-cleaning robot, thereby improving the cleaning area of the window-cleaning robot.

[0055] In addition, the side brush assembly can move between the first position and the second position according to different working scenarios. For example, the side brush body can be controlled to move to the first position only when the window-cleaning robot moves to an edge or a corner position, so as to minimize the pollution of the side brush body, thereby prolonging the service life of the side brush assembly and reducing the frequency of cleaning the side brush body by the user. In addition, the side brush body does not carry dirt to other positions, thereby avoiding secondary pollution of the work surface.

[0056] For the convenience of understanding, the specific structure of the window-cleaning robot of the present disclosure and the working principle thereof will be described in detail below with reference to Figures 1 to 10 It should be noted that the present disclosure also provides a side brush assembly. In order to keep the text concise, the side brush assembly will be described together when the window-cleaning robot is described herein, and will not be described separately.

[0057] With reference to Figure 1 , the present disclosure provides a window-cleaning robot, comprising a body 200 and a side brush assembly 100. The body 200 is configured to have a shape suitable for self-movement on a work surface such as a glass or a wall, such as a circular shape, a rectangular shape, an elliptical shape or other shapes known to those skilled in the art. In a specific embodiment of the present disclosure, as shown in Figure 1And Figure 2 As shown in the figure, the body 200 is configured as a square.

[0058] Referring to Figure 2 , the cleaning element 300 is arranged on the body 200, and the cleaning element 300 is configured for cleaning the work surface. The cleaning element 300 can be a cloth, a brush, etc., which is arranged on the side of the body 200 close to the work surface, so that the cleaning element 300 can be in close contact with the work surface and clean the work surface during the travel of the window cleaning robot.

[0059] Referring to Figure 10 , the edge and corner positions of the body 200 of the prior art window cleaning robot are often not covered by the cleaning element 300, so that when cleaning the framed glass, the cleaning element 300 cannot be attached to the frame 400, which makes the window cleaning robot miss the edge and corner positions, and thus causes the work surface near the frame 400 to be prone to dust accumulation. To solve this problem, the window cleaning robot of the present disclosure further comprises a side brush assembly 100.

[0060] Referring to Figure 4 , the side brush assembly comprises a side brush body 1 arranged at the edge position of the body, which can be bristles, a cloth, soft rubber, etc. Since the side brush body is arranged at the edge position of the body 200 of the window cleaning robot, it can clean the area that cannot be covered by the traditional window cleaning robot, thereby improving the cleaning area of the window cleaning robot.

[0061] In an embodiment of the present disclosure, as Figure 2 shown, the side brush body 1 is configured to be located at the corner position of the body 200. Further, since the body 200 in this embodiment is configured as a square, the side brush assembly 100 can be provided with four, and the side brush bodies 1 of the four side brush assemblies 100 are respectively located at the four corner positions of the body 200. For the scenario of cleaning framed windows, the window cleaning robot does not need to turn to clean the four corners of the window by the four side brush assemblies 100 respectively, thereby simplifying the control logic.

[0062] In the travel direction of the window cleaning robot, the projection of the side brush body 1 at least partially overlaps the cleaning element 300, that is, the cleaning range of the side brush body 1 and the cleaning element 300 at least partially overlaps. It can be understood that if the projection of the side brush body 1 and the cleaning element 300 does not overlap at all, there will be at least part of the work surface that is neither covered by the cleaning element 300 nor covered by the side brush body 1 in the travel direction of the window cleaning robot, thereby causing missed cleaning. The present disclosure ensures comprehensive cleaning by arranging the side brush body 1 at a position partially overlapping the projection of the cleaning element 300, thereby avoiding missed cleaning.

[0063] The edge brush assembly 100 further comprises a driving mechanism for driving the edge brush body 1 to move between the first position and the second position. When located at the first position, the edge brush body 1 is configured to contact the work surface to clean the work surface together with the cleaning member 300; when located at the second position, the edge brush body 1 is configured to be separated from the work surface. Referring to Figure 4 In the view direction, under the action of the driving mechanism, the edge brush body 1 can move downward to contact the work surface, so as to clean the work surface together with the cleaning member 300, and the edge brush body 1 can also move upward to the second position, so as to be separated from the work surface.

[0064] The edge brush assembly 100 can move between the first position and the second position according to different working scenarios, for example: the edge brush body 1 can be controlled to move to the first position only when the window cleaning robot drives to the edge or corner position, so as to minimize the pollution of the edge brush body 1, thereby prolonging the service life of the edge brush assembly 100 and reducing the frequency of cleaning the edge brush body 1 by the user; and the edge brush body 1 will not carry dirt to other positions, avoiding secondary pollution to the work surface.

[0065] In an embodiment of the present disclosure, the window cleaning robot has an edge working mode of working along the edge of the work surface, and a normal working mode of working at a position other than the edge of the work surface. The window cleaning robot is configured to control the edge brush assembly 100 to move to the first position at least in the edge working mode to clean the work surface together with the cleaning member 300. The edge position of the work surface is prone to dust accumulation, and controlling the edge brush assembly 100 to remain in the first position at least in the edge working mode enables the edge brush body 1 to at least clean the edge position of the work surface, achieving comprehensive cleaning.

[0066] In a specific embodiment of the present disclosure, the edge brush assembly 100 can be located at the first position not only in the edge working mode, but also in the normal working mode, so that the edge brush body 1 can clean the work surface together with the cleaning member 300, thereby improving the effective cleaning area of the window cleaning robot and further improving the cleaning efficiency.

[0067] In another specific embodiment of the present disclosure, the edge brush assembly 100 can be in the first position only in the edge-following mode, and in the normal mode, the edge brush assembly 100 can be moved to the second position to be disengaged from the working surface. In one specific use scenario, the window-cleaning robot in the normal mode can automatically travel along the working surface to clean the working surface, for example, along an S-shaped, arch-shaped or the like path, dirt on the working surface is easily scraped to the edge of the working surface by the cleaning member 300, causing the area that cannot be covered by the cleaning member 300 to be dusty. To clean the dust, the window-cleaning robot is controlled to perform the edge-following mode, and the driving mechanism drives the edge brush body 1 to move to the first position to clean the edge of the working surface. The edge brush body 1 only works in the edge-following mode, thereby minimizing the pollution of the edge brush body 1, reducing the wear of the edge brush body 1, prolonging the service life of the edge brush body 1, and the user does not need to clean the edge brush body 1 frequently, thereby improving the user experience. In addition, when the edge brush body 1 is away from the edge of the working surface (i.e., when the window-cleaning robot performs the normal mode), the driving mechanism can drive the edge brush body 1 to move to the second position to be disengaged from the working surface, so that the dirt adhered by the edge brush body 1 when cleaning the edge position will not be further brought to other positions of the working surface, thereby avoiding secondary pollution.

[0068] The specific structure and movement mode of the edge brush assembly 100 will be described in detail below.

[0069] In one embodiment of the present disclosure, referring to Figure 4 and Figure 6 , the driving mechanism can include a motor 21 and a speed reducer 22 in transmission connection with the motor 21, and the output end of the speed reducer 22 is provided with an output shaft 23, and the motor 21 can drive the output shaft 23 to rotate in the first direction or the second direction. Referring to Figures 4 to 8 , the edge brush assembly 100 includes a transmission mechanism, and the transmission mechanism includes a lifting seat 3 connected with the edge brush body 1. Specifically, referring to Figure 4 the view direction, the edge brush body 1 can be fixedly connected to the bottom of the lifting seat 3.

[0070] As shown in Figure 7 , the lifting seat 3 is provided with a spiral sliding groove 31 in the circumferential direction, and one end adjacent to the working surface of the sliding groove 31 is referred to as the first end 311, and the other end away from the working surface is referred to as the second end 312. The output shaft 23 of the driving mechanism is provided with a flange 231 for cooperation with the sliding groove 31. As Figure 5As shown, the flange 231 is capable of extending into the sliding groove 31, and during the rotation of the output shaft 23, the flange 231 is capable of sliding along the sliding groove 31. It can be understood that since the output shaft 23 is not movable in the axial direction, the flange 231 arranged on the output shaft 23 is also not movable in the axial direction, and therefore during the rotation of the output shaft 23, the lifting seat 3 will be displaced in the axial direction to enable the flange 231 to be matched with the helically extending sliding groove 31.

[0071] The brush body 1 can be initially located at the second position, and at this time, the flange 231 is located at the first end 311 of the sliding groove 31. When it is required to control the brush body 1 to move to the first position, the motor 21 can drive the output shaft 23 to rotate in the first direction. During the rotation of the output shaft 23 in the first direction, the flange 231 drives the lifting seat 3 to move towards the working surface to enable the second end 312 of the sliding groove 31 to be matched with the flange 231, so that the lifting seat 3 drives the brush body 1 to move to the first position. As shown, Figure 5 and Figure 7 As shown, since there is a relative rotation distance in the circumferential direction and a relative movement distance in the axial direction between the first end 311 and the second end 312 of the sliding groove 31, and the flange 231 is not movable in the axial direction, as the output shaft 23 rotates in the first direction, the lifting seat 3 is capable of moving towards the working surface to enable the flange 231 to slide in the sliding groove 31 from the first end 311 to the second end 312. The brush body 1 mounted on the bottom of the lifting seat 3 is capable of moving towards the working surface under the driving action of the lifting seat 3 until reaching the first position.

[0072] The brush body 1 moved to the first position is capable of cleaning the working surface, and at this time, the flange 231 is located at the second end 312 of the sliding groove 31. When it is required to control the brush body 1 to move back to the second position, the motor 21 can drive the output shaft 23 to rotate in the second direction. During the rotation of the output shaft 23 in the second direction, the flange 231 drives the lifting seat 3 to move away from the working surface to enable the first end 311 of the sliding groove 31 to be matched with the flange 231, so that the lifting seat 3 drives the brush body 1 to move to the second position. As shown, Figure 5 and Figure 7 As shown, since there is a relative rotation distance in the circumferential direction and a relative movement distance in the axial direction between the second end 312 and the first end 311 of the sliding groove 31, and the flange 231 is not movable in the axial direction, as the output shaft 23 rotates in the second direction, the lifting seat 3 is capable of moving away from the working surface to enable the flange 231 to slide in the sliding groove 31 from the second end 312 to the first end 311. The brush body 1 mounted on the bottom of the lifting seat 3 is capable of moving away from the working surface under the driving action of the lifting seat 3 until reaching the second position.

[0073] In one specific embodiment of the present disclosure, two flanges 231 and two sliding grooves 31 are respectively arranged, the extending directions of the two flanges 231 are opposite, and the two sliding grooves 31 are respectively arranged on opposite sides of the lifting seat 3. The lifting seat 3 is provided with a through hole 33, and the output shaft 23 is configured to extend into the lifting seat 3 through the through hole 33, so that the two flanges 231 extend into the corresponding sliding grooves 31. The symmetrical arrangement of the flanges 231 and the sliding grooves 31 makes the connection and cooperation between the output shaft 23 and the lifting seat 3 stable. Under the limiting action of the two flanges 231, the output shaft 23 will not come out of the lifting seat 3, but will always be stably matched with the lifting seat 3 during movement.

[0074] In one embodiment of the present disclosure, as shown in Figure 7 , the second end 312 of the sliding groove 31 has a movement space for the flange 231 to move in the axial direction of the lifting seat 3. The diameter of the second end 312 of the sliding groove 31 can be larger than the diameter of other positions of the sliding groove 31. When the flange 231 slides at other positions of the sliding groove 31, the flange 231 and the inner wall of the sliding groove 31 are tightly fitted, and the flange 231 does not have a movement space in the axial direction. When the flange 231 moves to the position of the second end 312, due to the increase of the diameter of the sliding groove 31, the flange 231 is no longer tightly fitted with the inner wall of the sliding groove 31, and thus has a movement space in the axial direction.

[0075] Referring to Figure 5 and Figure 6 , the brush assembly 100 further comprises a first elastic member 7 pre-pressed on the lifting seat 3, and the lifting seat 3 is configured to have a tendency to move the brush body 1 in the direction of the first position under the elastic force of the first elastic member 7. Specifically, the first elastic member 7 can be a spring, and referring to Figure 5 the view direction, the upper end face of the first elastic member 7 can abut against the bottom wall of the speed reducer 22, and the lower end face thereof is pre-pressed on the lifting seat 3, thereby continuously providing the lifting seat 3 with downward elastic force, so that the lifting seat 3 has a tendency to move in the direction of the working surface.

[0076] When the brush body 1 is in the first position, the brush body 1 can contact the work surface for cleaning. In order to conveniently control the normal pressure applied by the brush body 1 to the work surface during the cleaning process, so as to avoid that the normal pressure is too large to cause too large friction and glass abrasion, and avoid that the normal pressure is too small to cause poor cleaning effect, the brush body 1 in the first position is designed to be elastically floating relative to the work surface. The first elastic member 7 can press the brush body 1 on the work surface. When the normal pressure is too large, the lifting seat 3 can drive the brush body 1 to float away from the work surface and compress the first elastic member 7 at the same time, because the flange 231 has a moving space at the second end 312 of the sliding groove 31, thereby ensuring the dynamic balance of the normal pressure of the brush body 1 to the work surface. The system does not need to control the adjustment of the normal pressure of the brush body 1 through complex logic, but can make the brush body 1 adaptively float relative to the work surface through the above structure design, so as to ensure that the normal pressure applied by the brush body 1 to the work surface is not too large or too small.

[0077] In one embodiment of the present disclosure, referring to Figures 3 to 7 , Figure 9 , the brush assembly 100 includes a base 9, which is fixedly arranged on the machine body 200 and is used to carry various components of the brush assembly 100. Specifically, as shown in Figure 6 , the base 9 in the embodiment can be a part of the speed reducer 22, which can be configured as a hollow cylindrical shape to accommodate the output shaft 23, the lifting seat 3 and other structures. As shown in Figure 4 , the transmission mechanism includes a sleeve 42 rotatably connected to the base 9 through a one-way bearing 41. The one-way bearing 41 is a bearing that can freely rotate in one direction and is locked in the other direction. Under the restriction of the one-way bearing 41, the sleeve 42 can also only rotate in a single direction. The one-way bearing 41 and the sleeve 42 of the present disclosure are configured to only rotate in the first direction and be locked in the second direction.

[0078] The lifting seat 3 is configured to be guided and fitted in the sleeve 42 and is configured to move along the axial direction of the sleeve 42 and drive the sleeve 42 to rotate. In one specific embodiment of the present disclosure, referring to Figure 7 and Figure 9 , the outer wall of the lifting seat 3 has at least one first matching part extending in the axial direction thereof; the inner wall of the sleeve 42 has a second matching part extending in the axial direction thereof, which is configured to match with the first matching part to make the lifting seat 3 and the sleeve 42 not rotate relative to each other. In the present embodiment, as shown in Figure 7 , the first matching part includes a first plane 32, and a plurality of first planes 32 can be provided, for example, six first planes 32 extending in the axial direction can be uniformly provided on the outer wall of the lifting seat 3 in the circumferential direction. As shown in Figure 9As shown, the second matching part includes a second plane 421, and a plurality of second planes 421 can be provided, each corresponding to a first plane 32. In this embodiment, six second planes 421 extending in the axial direction are uniformly provided on the inner wall of the sleeve 42 in the circumferential direction. The shape and arrangement of the first matching part and the second matching part are not specifically limited in the present disclosure, and in addition to the hexagonal design adopted in this embodiment, the first matching part and the second matching part can also be matched by, for example, a key groove clamping structure.

[0079] As described above, since the sleeve 42 can only rotate in the first direction under the restriction of the one-way bearing 41, the lifting seat 3 can also only rotate in the first direction under the restriction of the sleeve 42 and is locked in the second direction. In the case where the brush body 1 is located at the first position, the output shaft 23 continues to rotate in the first direction, and the flange 231 is configured to push the second end 312 of the sliding groove 31 to drive the lifting seat 3 to rotate in the first direction relative to the base 9 under the action of the sleeve 42. It can be understood that the rotation of the brush body 1 in the first position can improve the cleaning effect of its cleaning surface, and the driving mechanism is used to drive the rotation of the brush body 1 in this embodiment.

[0080] Specifically, in the case where the brush body 1 is located at the first position, the flange 231 of the output shaft 23 is located at the second end 312 of the sliding groove 31, and when the output shaft 23 continues to rotate in the first direction under the driving action of the motor 21, the flange 231 can abut against the inner wall of the second end 312 of the sliding groove 31 and thereby push the lifting seat 3 to rotate together in the first direction. Since the one-way bearing 41 can rotate in the first direction, the lifting seat 3 will not be resisted by the sleeve 42 during rotation in the first direction, but can drive the sleeve 42 and the one-way bearing 41 to rotate together in the first direction. The present disclosure realizes the rotation of the brush body 1 driven by one driving mechanism and the linear motion of the brush body 1 in the axial direction. It should be noted that during the movement of the brush body 1 from the second position to the first position, there is a friction force between the lifting seat 3 and the output shaft 23. In the case where the friction force is large, the brush body 1 may first move linearly to the first position and then start to rotate after being moved in place; while in the case where the friction force is small, the brush body 1 may rotate during the movement to the first position, which is not specifically limited in the present disclosure.

[0081] When the output shaft 23 rotates in the second direction, the lifting seat 3 can only move linearly along the axial direction under the limiting action of the one-way bearing 41 and the sleeve 42, thereby driving the brush body 1 to the second position without rotating in the second direction along with the output shaft 23. When it is needed to control the brush body 1 to move to the second position, the motor 21 needs to be controlled to reverse, so that the output shaft 23 rotates in the second direction, thereby driving the lifting seat 3 and the brush body 1 to move away from the working surface. During the linear movement, neither the lifting seat 3 nor the brush body 1 rotates. After the brush body 1 moves to the second position, the flange 231 on the output shaft 23 reaches the first end 311 of the sliding groove 31. When the motor 21 continues to reverse, the flange 231 stuck at the first end 311 will cause the current of the motor 21 to increase, and the control unit can confirm that the brush body 1 has moved to the second position by detecting the current of the motor 21, and control the motor 21 to stop rotating.

[0082] In one embodiment of the present disclosure, the window-cleaning robot can be used to clean a frameless working surface such as a glass curtain wall. The window-cleaning robot in the prior art has difficulty in timely feeding information about the overhanging position of the brush assembly 100 to the control unit when it reaches a right angle of a two-sided curtain wall or an edge position of the curtain wall, resulting in the control unit being unable to timely control the window-cleaning robot to brake or turn, so that the window-cleaning robot falls off the edge or the right angle.

[0083] To solve the above problems, with reference to Figure 3 、 Figure 4 and Figure 6 , the brush assembly 100 of the present disclosure further comprises a sensor 81 and a trigger mechanism movable relative to the sensor 81. The trigger mechanism comprises a ball head 83 and a second elastic member 85, and the second elastic member 85 is configured to pre-press the ball head 83 against the working surface. When the window-cleaning robot moves out of the working surface, the ball head 83 is configured to move to trigger the sensor 81 under the action of the second elastic member 85. Specifically, as shown in Figure 4 , the trigger mechanism further comprises a connecting rod 84 slidingly connected to the base 9, one end of the connecting rod 84 is provided with the ball head 83, and the other end is provided with a trigger piece 82 for cooperating with the sensor 81, and the trigger piece 82 moves to trigger the sensor 81 under the driving action of the connecting rod 84.

[0084] As shown in Figure 4As shown, the sensor 81 can be fixedly arranged on the housing of the decelerator 22. In one specific embodiment, the sensor 81 can be an infrared sensor, and the trigger 82 can be a baffle. When the trigger 82 moves to a position away from the sensor 81, the infrared light is not blocked by the trigger 82, and thus the sensor 81 can normally receive the infrared light signal, and the sensor 81 is in a normal state without being triggered. When the trigger 82 moves to a position cooperating with the sensor 81, the infrared light of the sensor 81 is blocked by the trigger 82, and thus the sensor 81 cannot receive the infrared light signal, and the light signal is suddenly changed to trigger the sensor 81.

[0085] The ball head 83 is used to detect the edge of the working surface. When the window-cleaning robot normally adsorbs on the surface of the working surface to work, the ball head 83 will be extruded by the working surface, so as to compress the second elastic member 85, and the ball head 83 drives the connecting rod 84 and the trigger 82 at the other end of the connecting rod 84 to rise together, so as to make the trigger 82 away from the sensor 81, and the sensor 81 will not be triggered. When the window-cleaning robot moves to the edge position of the working surface, the ball head 83 moves to a position outside the working surface and loses support. The ball head 83 is popped out under the action of the second elastic member 85, and drives the connecting rod 84 and the trigger 82 to descend together, and the trigger 82 reaches the position cooperating with the sensor 81, so as to trigger the sensor 81. Based on the triggering signal of the sensor 81, the control unit can know that the window-cleaning robot has moved to the edge position of the working surface, and thus can re-plan the driving path of the window-cleaning robot, or control the window-cleaning robot to brake urgently, or can also send an alarm signal to prompt the user. The present disclosure sets the sensor 81 and the triggering mechanism, so as to ensure the working safety of the window-cleaning robot, and make the window-cleaning robot not fall off when cleaning the frameless working surface.

[0086] In one embodiment of the present disclosure, the window-cleaning robot can also be used to clean the framed working surface such as a window. When the edge cleaning, the edge brush assembly 100 can rub against the frame 400, causing the edge brush assembly 100 and the frame 400 to be worn. To solve the above problem, referring to Figures 2 to 4 , the edge brush assembly 100 further comprises a roller 6. When the window-cleaning robot is in the edge driving mode, the roller 6 is configured to roll and rub against the frame 400. Specifically, as shown in Figure 4 , the roller 6 is installed on the fixed seat 5 through a rolling bearing 61. The present disclosure sets the roller 6, so as to reduce the friction between the edge brush assembly 100 and the frame 400, thereby reducing the wear of the edge brush assembly 100 and the frame 400.

[0087] Furthermore, the roller 6, the side brush body 1, and the ball head 83 are configured to be coaxially mounted, with the side brush body 1 fitted onto the outside of the ball head 83, and the roller 6 fitted onto the outside of the side brush body 1. As mentioned earlier, the side brush body 1 is driven by the lifting seat 3, which is driven by the output shaft 23, and all three rotate coaxially. Figure 4 As shown, the side brush body 1, output shaft 23, and lifting seat 3 are all constructed as hollow structures. The connecting rod 84 passes through the side brush body 1, output shaft 23, and lifting seat 3 along its axis, thus achieving coaxial mounting of the ball head 83. If the ball head 83 is mounted on the outer side of the side brush body 1, it will move to a position detached from the working surface before the side brush body 1 has moved to the edge, resulting in some areas of the working surface edge being missed during cleaning. If the ball head 83 is mounted on the inner side of the side brush body 1, it will remain supported on the working surface even after the side brush body 1 has moved beyond it, and the sensor 81 will not be triggered, posing a risk of the window cleaning robot falling. Therefore, the coaxial mounting of the ball head 83 with the side brush body 1 in this disclosure helps to accurately detect the edge of the working surface while ensuring comprehensive cleaning.

[0088] The roller 6 is constructed as a hollow cylinder and is coaxially sleeved on the outside of the side brush body 1 via a rotating bearing 61. This allows the roller 6 to act as a barrier between the side brush body 1 and the frame 400 when the side brush body 1 is cleaning along the frame 400, preventing contact between them. Thus, the roller 6 sleeved on the outside of the side brush body 1 prevents wear on both the side brush body 1 and the frame 400, ensuring that the contact between the window cleaning robot and the frame 400 is through the roller 6 and the interaction force is rolling friction.

[0089] This disclosure integrates both rollers 6 and ball heads 83 on the side brush assembly 100, thereby enabling the window cleaning robot of this disclosure to be applicable to both frameless working surfaces (such as glass curtain walls) and framed working surfaces (such as windows), thus broadening the application scenarios of the window cleaning robot and enriching its functions.

[0090] This disclosure also provides a side brush assembly 100, including: a base 9, a side brush body 1, and a drive mechanism. The side brush body 1 is movably connected to the base 9; the drive mechanism is disposed on the base 9 and configured to drive the side brush body 1 to move between a first position and a second position. In the first position, the side brush body 1 is configured to contact the working surface to clean it; in the second position, the side brush body 1 is configured to detach from the working surface. The specific structure and principle of the side brush assembly 100 of this disclosure are described in the above-mentioned side brush assembly 100 of the window cleaning robot and will not be repeated here.

[0091] The technical solutions adopted by the present disclosure will be described below in combination with specific application scenarios to help understanding.

[0092] Application scenario one

[0093] When the window-cleaning robot provided by the present disclosure is used to clean a framed window, the user adsorbs the window-cleaning robot on the glass, and the window-cleaning robot will first clean the glass in the normal working mode, at this time, the side brush body 1 is kept in the second position away from the glass. The cleaning member 300 cannot clean the window comprehensively, specifically, the glass in the edge and corner positions of the window is not cleaned, and in the cleaning process, the dirt originally in other positions of the glass will be pushed to the edge position by the cleaning member 300.

[0094] After the normal working mode ends, the window-cleaning robot will clean the edge and corner positions of the window in the edge-following working mode. The motor 21 is rotated forward to drive the output shaft 23 to rotate in the first direction, the flange 231 drives the lifting seat 3 to move to the glass to make the second end 312 of the sliding groove 31 cooperate with the flange 231, and the lifting seat 3 drives the side brush body 1 to move to the first position.

[0095] The side brush body 1 contacts the glass, and the motor 21 continues to rotate forward to drive the output shaft 23 to continue rotating in the first direction, the flange 231 abuts against the second end 312 of the sliding groove 31 and applies a rotating force to the lifting seat 3, so that the lifting seat 3 drives the side brush body 1 to rotate in the first direction together, to enhance the cleaning effect of the side brush body 1 on the glass.

[0096] In the process of edge-following working, the window-cleaning robot travels along the window frame, and since the side brush assembly 100 is arranged at each of the four corners of the window-cleaning robot, the window-cleaning robot does not need to turn when working along the edge, and the four side brush bodies 1 can clean the four corners of the window respectively after the window-cleaning robot travels to the position. At the same time, in the process of traveling of the window-cleaning robot, the rollers 6 sleeved outside the side brush bodies 1 can abut against the window frame, and the rollers 6 rotate under the friction of the window frame, thereby reducing the friction between the window frame and the side brush assembly 100, and avoiding abrasion.

[0097] After the edge-following working ends, in order to avoid that the side brush body 1 brings dirt to other positions, and to reduce pollution and abrasion of the side brush body 1, the side brush body 1 needs to be lifted back to the second position. The motor 21 is reversed to drive the output shaft 23 to rotate in the second direction, the flange 231 drives the lifting seat 3 to move away from the glass to make the first end 311 of the sliding groove 31 cooperate with the flange 231, and the lifting seat 3 drives the side brush body 1 to move to the second position.

[0098] After the brush body 1 moves to the second position, the flange 231 on the output shaft 23 reaches the position of the first end 311 of the sliding groove 31. When the motor 21 continues to reverse, the lifting seat 3 cannot rotate in the second direction due to the effect of the one-way bearing 41, so the flange 231 clamped at the first end 311 will cause the current of the motor 21 to increase. The control unit confirms that the brush body 1 has moved to the second position by detecting the current of the motor 21, and controls the motor 21 to stop rotating.

[0099] Application scenario two

[0100] When the window cleaning robot provided by the present disclosure is used to clean a frameless glass curtain wall, the user adsorbs the window cleaning robot on the glass, and the window cleaning robot self-moves to perform cleaning work. The window cleaning robot will first clean the large surface of the glass in the normal working mode, and then clean the edge and corner positions of the window in the edge working mode.

[0101] When the window cleaning robot normally adsorbs on the surface of the glass curtain wall to work, the ball head 83 will be extruded by the glass curtain wall, so as to compress the second elastic member 85. The ball head 83 drives the connecting rod 84 and the trigger member 82 at the other end of the connecting rod 84 to rise together, so as to make the trigger member 82 away from the sensor 81, and at this time the sensor 81 will not be triggered.

[0102] When the window cleaning robot moves to the edge position of the glass curtain wall, the ball head 83 runs to a position outside the glass curtain wall and loses support; the ball head 83 is popped out under the action of the second elastic member 85 and drives the connecting rod 84 and the trigger member 82 to descend together, and the trigger member 82 reaches the position matched with the sensor 81, so as to make the sensor 81 be triggered. The control unit can know that the window cleaning robot has run to the edge position of the glass curtain wall based on the trigger signal of the sensor 81, so as to re-plan the driving path of the window cleaning robot, or control the window cleaning robot to brake urgently, or also can send an alarm signal to prompt the user, so as to ensure the working safety of the window cleaning robot and make it not exist the risk of falling when cleaning the glass curtain wall.

[0103] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A window cleaning robot characterized by, The window cleaning robot comprises: a machine body (200) provided with a cleaning member (300) configured to clean a work surface; a side brush assembly (100) comprising a side brush body (1) arranged at an edge of the machine body (200) and a driving mechanism configured to drive the side brush body (1) to move between a first position and a second position; when in the first position, the side brush body (1) is configured to contact the work surface to clean the work surface together with the cleaning member (300); when in the second position, the side brush body (1) is configured to be separated from the work surface.

2. The window-cleaning robot according to claim 1, characterized in that The window cleaning robot has an edge-following mode of working along an edge of the work surface and a normal mode of working at a non-edge position of the work surface; the window cleaning robot is configured to control the side brush assembly (100) to move to the first position to clean the work surface together with the cleaning member (300) at least in the edge-following mode.

3. The window-cleaning robot according to claim 1, characterized in that, The side brush assembly (100) further comprises a transmission mechanism; the transmission mechanism comprises a lifting seat (3) connected with the side brush body (1), the lifting seat (3) is provided with a plurality of sliding grooves (31) arranged in a spiral manner in a circumferential direction of the lifting seat (3); one end of the sliding groove (31) adjacent to the work surface is referred to as a first end (311), and one end of the sliding groove (31) away from the work surface is referred to as a second end (312); the output shaft (23) of the driving mechanism is provided with a flange (231) configured to cooperate with the sliding groove (31); during rotation of the output shaft (23) in a first direction, the flange (231) drives the lifting seat (3) to move towards the work surface to a position where the second end (312) of the sliding groove (31) cooperates with the flange (231), so that the lifting seat (3) drives the side brush body (1) to move to the first position; during rotation of the output shaft (23) in a second direction, the flange (231) drives the lifting seat (3) to move away from the work surface to a position where the first end (311) of the sliding groove (31) cooperates with the flange (231), so that the lifting seat (3) drives the side brush body (1) to move to the second position.

4. The window-cleaning robot according to claim 3, characterized in that The second end (312) of the sliding groove (31) has a movement space for the flange (231) to move in an axial direction of the lifting seat (3); the side brush assembly (100) further comprises a first elastic member (7) pre-pressed on the lifting seat (3), and the lifting seat (3) is configured to have a tendency to drive the side brush body (1) to move in a direction to the first position under the elastic force of the first elastic member (7).

5. The window-cleaning robot according to claim 3, characterized in that The flanges (231) and the sliding grooves (31) are respectively provided with two, the extension direction of the two flanges (231) is opposite, and the two sliding grooves (31) are respectively located on opposite sides of the lifting seat (3); the lifting seat (3) is provided with a through hole (33), and the output shaft (23) is configured to extend into the lifting seat (3) through the through hole (33), so that the two flanges (231) extend into the corresponding sliding grooves (31) respectively.

6. The window cleaning robot according to claim 3, wherein The side brush assembly (100) comprises a base (9), and the transmission mechanism comprises a sleeve (42) rotationally connected to the base (9) through a one-way bearing (41), the lifting seat (3) is configured to be guided and fitted in the sleeve (42) and configured to be capable of moving along the axial direction of the sleeve (42) and driving the sleeve (42) to rotate; When the side brush body (1) is located at the first position, the output shaft (23) continues to rotate in the first direction, and the flange (231) is configured to push the second end (312) of the sliding groove (31), so that the lifting seat (3) drives the sleeve (42) to rotate in the first direction relative to the base (9) under the action of the one-way bearing (41).

7. The window-cleaning robot according to claim 6, characterized in that The outer wall of the lifting seat (3) has at least one first matching part extending in the axial direction thereof, and the inner wall of the sleeve (42) has a second matching part extending in the axial direction thereof, the second matching part is configured to match with the first matching part, so that the lifting seat (3) and the sleeve (42) do not rotate relative to each other.

8. The window-cleaning robot according to claim 6, characterized in that The side brush assembly (100) further comprises a sensor (81) and a trigger mechanism movable relative to the sensor (81); the trigger mechanism comprises a ball head (83) and a second elastic member (85), the second elastic member (85) is configured to pre-press the ball head (83) on a working surface; when the window cleaning robot moves to outside the working surface, the ball head (83) is configured to move to trigger the sensor (81) under the action of the second elastic member (85).

9. The window-cleaning robot according to claim 8, characterized in that The trigger mechanism further comprises a connecting rod (84) slidingly connected to the base (9), one end of the connecting rod (84) is provided with the ball head (83), and the other end is provided with a trigger piece (82) for matching with the sensor (81), the trigger piece (82) moves to trigger the sensor (81) under the driving action of the connecting rod (84).

10. The window-cleaning robot according to claim 9, characterized in that The side brush assembly (100) further comprises a roller (6); in the edge working mode, the roller (6) is configured to roll and rub with the frame (400); the roller (6), the side brush body (1) and the ball head (83) are coaxially installed, the side brush body (1) is sleeved outside the ball head (83), and the roller (6) is configured to be sleeved outside the side brush body (1).

11. The window cleaning robot according to claim 1, characterized in that, The edge brush body (1) is configured to be located at a corner position of the machine body (200); in the travel direction of the window cleaning robot, the edge brush body (1) at least partially overlaps with the projection of the cleaning member (300).

12. The window-cleaning robot according to claim 11, characterized in that The machine body (200) is configured to be square; the edge brush assembly (100) is provided with four, and the edge brush bodies (1) of the four edge brush assemblies (100) are respectively located at the four corner positions of the machine body (200).

13. A side brush assembly, characterized in that Comprise: a base (9); an edge brush body (1) movably connected to the base (9); a driving mechanism provided on the base (9) and configured to at least drive the edge brush body (1) to move between a first position and a second position; when located at the first position, the edge brush body (1) is configured to be in contact with a working surface to clean the working surface; when located at the second position, the edge brush body (1) is configured to be separated from the working surface.

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