Window cleaning robot

Abstract

This utility model relates to a window cleaning robot, comprising: a main body configured to adhere to and move along the surface to be cleaned; a squeegee disposed on the side of the main body, the main body being configured to move toward the location of the squeegee to allow the squeegee to remove liquid from the surface to be cleaned, wherein one end of the squeegee extending in the direction of rotation is rotatably connected to the main body, and the other end is rotatable relative to the main body around the rotatable connection point, allowing the squeegee to move closer to or further away from the side wall of the main body; and a drive system connected to the squeegee and configured to drive the squeegee to rotate relative to the side wall of the main body. The squeegee provided by this utility model can flexibly move closer to or further away from the side wall of the main body and can actively adjust its tilt angle according to the distance to the window frame, thereby allowing the squeegee to reach into the edge of the window frame, especially for corners on the cleaning surface, achieving a more comprehensive and thorough cleaning effect, particularly improving the cleanliness of the area around the window frame.

Description

Technical Field

[0001] This utility model relates to the field of window cleaning robots, and in particular to a window cleaning robot. Background Technology

[0002] Most mainstream window cleaning robots currently clean glass by wiping it with a rotating cloth at the bottom. During operation, in order to ensure the cleaning effect, the cloth needs to be washed frequently to avoid secondary pollution of the glass by the already dirty cloth. This results in low cleaning efficiency, cumbersome operation, and poor user experience.

[0003] To address the above issues, existing technology proposes a window cleaning robot equipped with a squeegee. The squeegee scrapes away cleaning liquid and stains from the glass surface to achieve the purpose of cleaning the glass. This eliminates the need for frequent washing of the cloth, is less likely to leave watermarks, provides better cleaning results, and is more convenient to operate.

[0004] However, how to better clean the edges of these window cleaning robots equipped with squeegees remains a pressing issue. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a window cleaning robot, which aims to solve at least one of the problems of the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a window cleaning robot, comprising:

[0008] The main body of the machine is configured to adhere to the surface to be cleaned and move along the surface to be cleaned.

[0009] A wiping section is provided on the side of the main body. The main body is configured to move toward the location of the wiping section so that the wiping section can remove liquid from the surface to be cleaned. One end of the wiping section is rotatably connected to the main body, and the other end can rotate relative to the main body about the rotatable connection point, so that the wiping section as a whole moves closer to or further away from the side wall of the main body.

[0010] A drive system, connected to the wiper unit, is configured to drive the wiper unit to rotate relative to the side wall of the machine body.

[0011] In any of the above technical solutions, one of the machine body and the wiper part is provided with an arc-shaped guide structure, and the other is provided with a guide fitting structure. The arc-shaped guide structure and the guide fitting structure are slidably fitted to guide the rotation of the wiper part.

[0012] In any of the above technical solutions, the arc-shaped guide structure includes an arc-shaped guide groove, and the guide mating structure includes an arc-shaped protrusion, the arc-shaped protrusion being located within the arc-shaped guide groove and capable of sliding along the arc-shaped guide groove.

[0013] In any of the above technical solutions, the arc-shaped guide structure is provided with a limiting stop structure, and the guide mating structure and the limiting stop structure cooperate to restrict the wiper part from continuing to rotate.

[0014] In any of the above technical solutions, the drive system includes:

[0015] The driving component has an output shaft;

[0016] A transmission gear is connected to the output shaft, and the wiper part has a rack structure, with the transmission gear meshing with the rack structure.

[0017] The above-mentioned technical solutions also include:

[0018] The bottom of the machine body is equipped with a cleaning cloth, and the machine body is also equipped with a lifting structure. The squeegee works in conjunction with the lifting structure to move closer to or away from the surface to be cleaned.

[0019] In any of the above technical solutions, the lifting structure includes a protruding structure disposed on the machine body. At least a portion of the top surface of the protruding structure is configured as a first inclined surface extending downward toward the wiping part. The wiping part includes a wiping part body and an extension arm connected to the wiping part body. The wiping part body is rotatably connected to the machine body. The extension arm slides in cooperation with the first inclined surface, so that the wiping part can be raised or lowered relative to the surface to be cleaned.

[0020] In any of the above technical solutions, the top surface of the protruding structure has a plane at one or both ends in the extension direction of the first inclined surface.

[0021] In any of the above technical solutions, the extension arm is provided with a second inclined surface that is adapted to the first inclined surface.

[0022] The above-mentioned technical solutions also include:

[0023] A pressing structure is configured to cooperate with the extension arm to press the extension arm toward the protruding structure.

[0024] In any of the above technical solutions, the clamping structure includes:

[0025] A pressure plate is disposed on the machine body and located above the protruding structure, and there is a gap between the pressure plate and the protruding structure for the extension arm to pass through;

[0026] An elastic element is disposed on the pressure plate, the elastic element being configured to apply a force toward the protruding structure to the pressure plate.

[0027] In any of the above technical solutions, the machine body is provided with a first fixed shaft and a second fixed shaft on both sides of the protruding structure, and the first fixed shaft and the second fixed shaft are respectively provided with a protruding cap;

[0028] The pressure plate is provided with a first through hole and a second through hole that correspond one-to-one with the first fixed shaft and the second fixed shaft and are fitted therein. The inner wall surfaces of the first through hole and the second through hole are respectively formed with stepped surfaces, and the elastic element is provided between each of the convex caps and the corresponding stepped surfaces.

[0029] In any of the above technical solutions, the machine body is provided with a rotating shaft, and one end of the wiper part is provided with a shaft hole structure. The shaft hole structure is provided on the rotating shaft and can rotate around the rotating shaft.

[0030] The shaft hole structure has a range of motion in the height direction of the rotating shaft, allowing the shaft hole structure to move along the height direction of the rotating shaft.

[0031] In any of the above technical solutions, the extension arm is located in the middle of the wiper body.

[0032] This utility model discloses a window cleaning robot. One end of the wiping unit is rotatably connected to the main body, while the other end can rotate around the connection point under the action of the drive system. This allows the wiping unit to flexibly move closer to or further away from the side wall of the main body. The rotatable and adjustable wiping unit can actively adjust its tilt angle according to the distance to the window frame during wiping operations, allowing the wiping unit to reach into the edge of the window frame, especially for cleaning corners on the surface. Compared with robots with fixed wiping unit positions, this utility model greatly reduces cleaning dead angles caused by interference with the window frame, improves the fit and coverage of the wiping unit in the window frame edge area, and overcomes the defect of incomplete cleaning at the window frame of fixed structures. The drive system allows the wiping unit to adjust its extension angle and position in real time according to different window frame conditions, enhancing the robot's adaptability and cleaning ability in complex edge environments. This makes the product more automated and intelligent, achieving a more comprehensive and thorough cleaning effect, especially improving the cleanliness of the area around the window frame. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of a window cleaning robot according to an embodiment of the present invention;

[0034] Figure 2 This is another three-dimensional structural diagram of the window cleaning robot proposed in one embodiment of the present invention;

[0035] Figure 3This is a three-dimensional structural diagram of a window cleaning robot according to an embodiment of the present invention;

[0036] Figure 4 This is a three-dimensional structural diagram of another part of the window cleaning robot proposed in one embodiment of the present invention;

[0037] Figure 5 This is a three-dimensional structural diagram of a portion of the main body of the machine according to an embodiment of the present invention;

[0038] Figure 6 For example Figure 5 A schematic diagram of the enlarged structure of part A;

[0039] Figure 7 This is a cross-sectional structural diagram of a portion of the main body of the machine according to an embodiment of the present invention;

[0040] Figure 8 This is a three-dimensional structural diagram of the wiper unit according to an embodiment of the present invention;

[0041] Figure 9 This is an exploded structural diagram of the wiper unit according to an embodiment of the present invention.

[0042] The correspondence between the reference numerals and the component names is as follows:

[0043] 10. Window cleaning robot; 100. Main body; 110. Housing; 120. Adsorption system; 130. Walking system; 140. Guiding and fitting structure; 150. Protruding structure; 151. First inclined surface; 152. Plane; 160. Rotating shaft; 171. First fixed shaft; 172. Second fixed shaft; 173. Protruding cap; 200. Wiper; 210. Mounting carrier; 211. First housing; 212. Second... Housing; 220, wiper blade; 230, convex-concave structure; 240, arc-shaped guide structure; 241, limit stop structure; 250, rack and pinion structure; 260, extension arm; 261, second inclined surface; 270, shaft hole structure; 300, drive system; 310, drive component; 320, transmission gear; 400, cleaning cloth; 510, nozzle assembly; 600, clamping structure; 610, pressure plate; 620, elastic element. Detailed Implementation

[0044] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0046] The following is a reference to the appendix. Figure 1 To be continued Figure 9 This invention describes a window cleaning robot 10 according to some embodiments of the present invention.

[0047] like Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present invention proposes a window cleaning robot 10, which includes a body 100, a wiping unit 200, and a drive system 300.

[0048] The main body 100 can adhere to the surface to be cleaned (such as windows, walls, etc.) and move along the surface. More specifically, as... Figure 1 , Figure 2 and Figure 3 As shown, the robot body 100 includes a housing 110, an adsorption system 120, and a walking system 130. The adsorption system 120 is located inside the housing 110 and can employ any adsorption method, such as negative pressure adsorption, magnetic adsorption, or adhesive adsorption, as long as the robot body 100 is adsorbed onto a vertical or inclined surface to be cleaned. The walking system 130 is located at the bottom of the housing 110 and includes walking execution components and a walking drive system for driving these components. The walking execution components can employ any walking method, such as tracks or wheels, and, driven by the corresponding walking drive system, enable the robot to walk or turn along the surface to be cleaned.

[0049] The wiping unit 200 is disposed on the side of the main body 100. The main body 100 is configured to move toward the direction of the wiping unit 200 so that the wiping unit 200 can scrape away liquid from the surface to be cleaned. Understandably, the main body 100 has six positions: front, back, left, right, up, and down. The lower position of the main body 100 faces the surface to be cleaned. The wiping unit 200 can be disposed in any position of the main body 100, including front, back, left, and right. When the window cleaning robot 10 is located on the surface to be cleaned, the wiping unit 200 is configured to rest against the surface to be cleaned. The walking system 130 can drive the main body 100 to move on the surface to be cleaned, thereby causing the wiping unit 200 to also move on the surface to be cleaned, so as to scrape away cleaning liquid, dirt, and dust from the surface to be cleaned.

[0050] One end of the wiper unit 200 is rotatably connected to the main body 100 in the extending direction, and the other end can rotate relative to the main body 100 around the rotatable connection point, so that the wiper unit 200 as a whole moves closer to or further away from the side wall of the main body 100. The drive system 300 is connected to the wiper unit 200 and is configured to drive the wiper unit 200 to rotate relative to the side wall of the main body 100.

[0051] The window cleaning robot 10 of this invention has a squeegee 200, one end of which is rotatably connected to the main body 100, and the other end which can rotate around the rotatable connection point under the action of the drive system 300. This allows the squeegee 200 to flexibly move closer to or further away from the side wall of the main body 100. The rotatable and adjustable squeegee 200 can actively adjust its tilt angle according to the distance to the window frame during squeegeeing operations, allowing it to reach into the edge of the window frame, especially for cleaning corners on the surface. This is significantly more efficient than a squeegee 200 with a fixed position. This robot significantly reduces cleaning dead angles caused by interference with window frames, improves the fit and coverage of the squeegee 200 in the window frame edge area, overcomes the shortcomings of fixed structures in cleaning window frames, and the drive system 300 enables the squeegee 200 to adjust its extension angle and position in real time according to different window frame conditions, enhancing the robot's adaptability and cleaning ability in complex edge environments, making the product more automated and intelligent, achieving a more comprehensive and thorough cleaning effect, especially improving the cleanliness of the area around the window frame.

[0052] Furthermore, in this embodiment, one end of the wiper section 200 is rotatably connected to the main body 100 in the extension direction, while the other end is a free end that can rotate around the rotatable connection point. Compared to the scheme where the rotatable connection point is located in the middle of the wiper section 200, this wiper section 200 has a relatively larger rotation angle and can fit more closely to the main body 100.

[0053] Furthermore, in areas other than the window frame edge, the wiper 200 can also be driven to rotate around the rotating connection point in a direction away from the side wall of the main body 100. The wiper 200 is tilted outwards relative to the side wall of the main body 100. When the walking system 130 drives the window cleaning robot 10 to move in a generally lateral direction, the extension direction of the wiper 200 is tilted in the direction of gravity. This allows the wiper 200 to apply an upward force to the cleaning liquid that is sliding downwards along the surface to be cleaned due to gravity when it moves forward. This causes the droplets to migrate in the opposite direction along the tilted surface to the working area of ​​the wiper 200. In this way, the cleaning liquid that is sliding down due to gravity is guided and collected by the guide structure to the wiping area of ​​the wiper 200. This not only improves the utilization rate of the cleaning liquid and thus improves the cleaning effect of the product, but also avoids the disorderly diffusion of liquid and the contamination of the window frame and other surrounding areas, thus improving the user experience of the product.

[0054] Regarding the structure of the wiper unit 200, as follows: Figure 9As shown in detail, the wiping unit 200 includes a mounting carrier 210 and a wiping strip 220. The mounting carrier 210 is movably connected to the main body 100, and the wiping strip 220 is disposed on the mounting carrier 210. The wiping strip 220 is made of soft rubber, such as silicone or rubber. The soft rubber has a certain elastic deformation ability, which can better resist the surface to be cleaned and can wipe away liquids (water, cleaning fluid, stains, etc.) from the surface to be cleaned, leaving less watermarks and stains, and achieving better cleaning results. The wiper blade 220 has an abutting end facing the surface to be cleaned and a connecting end opposite to the abutting end. The mounting carrier 210 is connected to the connecting end to provide support for the wiper blade 220, preventing the wiper blade 220 from deforming under force during machine movement and affecting the wiping effect. The abutting end extends out of the mounting carrier 210, so that when the wiper blade 220 abuts against the surface to be cleaned, there is a gap between the mounting carrier 210 and the surface to be cleaned. This avoids the mounting carrier 210 from creating resistance to the robot's movement and also avoids the mounting carrier 210 from scratching or contaminating the surface to be cleaned and generating noise.

[0055] Furthermore, the wiper unit 200 also includes a convex-concave structure 230 disposed on the mounting carrier 210. The convex-concave structure 230 is located in front of the wiper strip 220 and has a gap between it and the wiper strip 220. For example, the end of the convex-concave structure 230 facing the surface to be cleaned is wavy, serrated, or has an array of protrusions. In this way, when the wiper unit 200 abuts against the surface to be cleaned, a portion of the protrusions in the convex-concave structure 230 can abut against the surface to be cleaned, and a portion of the concave part has a gap between it and the surface to be cleaned. Thus, during the robot's movement, combined with the effect of gravity, the liquid can be separated into multiple streams by the protrusions in the convex-concave structure 230 and then pass through the concave part of the convex-concave structure 230 and the wiper strip 220 structure, realizing the sorting and dispersion of the cleaning liquid by the convex-concave structure. This allows the liquid to be more evenly distributed in the area corresponding to the wiper strip 220, avoiding uneven spraying of cleaning liquid and the situation where cleaning liquid accumulates on the surface to be cleaned, further improving the cleaning effect of the wiper strip 220.

[0056] In some embodiments, such as Figure 6 and Figure 8 As shown, one of the body 100 and the wiper unit 200 is provided with an arc-shaped guide structure 240, and the other is provided with a guide engagement structure 140. The arc-shaped guide structure 240 and the guide engagement structure 140 slide to guide the rotation of the wiper unit 200. In this way, when the drive system 300 drives the wiper unit 200 to rotate, the arc-shaped guide structure 240 and the guide engagement structure 140 achieve constraint and guidance on the rotation trajectory of the wiper unit 200 through sliding contact, thereby preventing the wiper unit 200 from shaking.

[0057] In some specific embodiments, the arc-shaped guide structure 240 includes an arc-shaped guide groove, and the guide mating structure 140 includes an arc-shaped protrusion. The arc-shaped protrusion is located within the arc-shaped guide groove and can slide along the arc-shaped guide groove. The structure is simple, the guidance is reliable, and the arc shape can better match the rotation trajectory of the wiper unit 200. Understandably, the arc-shaped protrusion and the arc-shaped guide groove are adapted to each other, so that the arc-shaped protrusion can slide smoothly within the arc-shaped guide groove.

[0058] For more detailed examples, the main body 100 can be designed with an arc-shaped protrusion and the wiper part 200 can be designed with an arc-shaped guide groove, or the main body 100 can be designed with an arc-shaped guide groove and the wiper part 200 can be designed with an arc-shaped protrusion.

[0059] In some specific embodiments, the arc-shaped guide structure 240 is provided with a limiting stop structure 241. The guide mating structure 140 and the limiting stop structure 241 cooperate to restrict the continued rotation of the wiper part 200. For example, the arc-shaped guide structure 240 is an arc-shaped guide groove, with both ends of the arc-shaped guide groove being closed. The arc-shaped protrusion is located within the arc-shaped guide groove and can be stopped and limited by any one or both end walls of the arc-shaped guide groove. In this way, the limiting stop structure 241 prevents the wiper part 200 from rotating excessively, thus avoiding damage to the product's service life.

[0060] Of course, the above is only a preferred embodiment of the present invention. In other embodiments, the stop and limit structure can also be designed to be independent of the arc-shaped guide structure 240. That is, the main body 100 is provided with a stop and limit structure for limiting the rotation of the wiper part 200.

[0061] In some embodiments, as shown in FIG. 4, the drive system 300 includes a drive member 310 and a transmission gear 320. The drive member 310 has an output shaft, and the transmission gear 320 is connected to the output shaft. The wiper unit 200 has a rack structure 250, and the transmission gear 320 meshes with the rack structure 250. In one specific embodiment, the wiper unit 200 is provided with an arc-shaped extension arm 260, the extension arm 260 is provided with an arc-shaped guide groove, and one outer side wall of the extension arm 260 is constructed with a rack structure 250, thus making the structure more compact.

[0062] The rotation of the wiper unit 200 is achieved through the cooperation of the transmission gear 320 and the rack and pinion structure 250. The structure is simple and the control is reliable. Furthermore, the rotation angle of the wiper unit 200 can be controlled by controlling the output power of the drive unit 310, so that the wiper unit 200 can maintain any angle and is more flexible. On the one hand, the rotation angle of the wiper unit 200 can be adjusted according to the working posture of the machine body 100 so that the wiper unit 200 can guide the sliding liquid more effectively. On the other hand, the rotation angle of the wiper unit 200 can be adjusted according to the distance from the window frame so that the wiper unit 200 can avoid obstacles in time and wipe the edge of the window frame more effectively.

[0063] In some embodiments, the bottom of the main body 100 is provided with a cleaning cloth 400, and the main body 100 is also provided with a lifting structure. The squeegee 200 cooperates with the lifting structure to move closer to or away from the surface to be cleaned.

[0064] A cleaning cloth 400 is provided at the bottom of the main body 100. On the one hand, the cleaning cloth 400 can wipe the surface to be cleaned after being scraped by the squeegee 200, so as to avoid leaving water marks on the surface to be cleaned and improve the cleaning power of the product. On the other hand, it is understandable that the adsorption chamber of the adsorption system 120 is usually located at the bottom of the main body 100. The cleaning cloth 400 can be distributed around the adsorption chamber to play a certain role in water absorption and sealing, thereby preventing water from being drawn into the adsorption system 120.

[0065] In one application scenario, after the squeegee 200 has completely wiped the surface to be cleaned, the lifting structure can be used to lift the squeegee 200 away from the surface, allowing the cleaning cloth 400 to perform the overall drying work. By lifting the squeegee 200, a gap is created between the squeegee 200 and the surface to be cleaned. This completely eliminates friction between the squeegee 200 and the surface, preventing the squeegee 200 from creating additional resistance to the robot's movement and interfering with the robot's adsorption stability and path accuracy. Secondly, the squeegee 200 will not come into contact with the cleaned area, fundamentally preventing secondary pollution of the cleaned area and improving the cleaning effect of the window cleaning robot 10. At the same time, the squeegee 200 will not vibrate or make noise due to friction, improving the user experience of the product.

[0066] In one specific embodiment, the lifting structure includes a protruding structure 150 disposed on the main body 100. At least a portion of the top surface of the protruding structure 150 is configured as a first inclined surface 151 extending downward toward the wiping part 200. The wiping part 200 includes a wiping part body and an extension arm 260 connected to the wiping part body. The wiping part body is rotatably connected to the main body 100, and the extension arm 260 is slidably engaged with the first inclined surface 151, so that the wiping part 200 can be raised or lowered relative to the surface to be cleaned.

[0067] The sliding cooperation between the first inclined surface 151 of the protruding structure 150 and the extension arm 260 of the wiper 200 realizes the lifting and lowering movement of the wiper 200. The structure is simple. When the drive system 300 drives the wiper 200 to swing outward around the rotation connection point, the extension arm 260 slides down along the first inclined surface 151, forcing the wiper 200 to fall synchronously and closely adhere to the surface to be cleaned. When the drive system 300 drives the wiper 200 to retract inward, the extension arm 260 slides up along the first inclined surface 151, forcing the wiper 200 to rise synchronously and move away from the surface to be cleaned. The lifting action effectively eliminates the contact friction between the wiper blade 220 and the surface to be cleaned. The lifting displacement is realized at the same time as the rotation of the wiper 200 through the inclined surface linkage. There is no need to set up additional lifting drive components, which simplifies the overall structure and reduces energy consumption.

[0068] Furthermore, the top surface of the protruding structure 150 has a plane 152 at one or both ends in the extension direction of the first inclined surface 151. That is, the top surface of the protruding structure 150 forms a plane segment and an inclined segment. The plane segment can be designed to be provided at the downward extension end of the inclined segment, or at the upward extension end of the inclined segment, or the plane segment can be provided at both ends in the extension direction of the inclined segment, with a smooth transition between the plane segment and the inclined segment. The extension arm 260 slides from the first inclined surface 151 into the area where the plane 152 is located, increasing the support contact area between the extension arm 260 and the protruding structure 150, and improving the stability of the wiper part 200.

[0069] Preferably, the extension arm 260 is provided with a second inclined surface 261 that is adapted to the first inclined surface 151. The second inclined surface 261 of the extension arm 260 is adapted to the first inclined surface 151 of the protruding structure 150. The two always maintain surface contact during the sliding process, which significantly increases the force-bearing area and makes the force more uniform, thereby improving the posture stability of the wiper part 200 during the lifting process.

[0070] In some embodiments, the window cleaning robot 10 further includes a pressing structure 600 configured to cooperate with the extension arm 260 to press the extension arm 260 against the protruding structure 150. By continuously applying pressure to the extension arm 260 through the pressing structure 600, the wiping section 200 can be pressed more firmly against the surface to be cleaned, preventing partial suspension of the wiping section 200 due to manufacturing tolerances or uneven window surfaces, thus ensuring the effective wiping performance of the wiping section 200.

[0071] Furthermore, the pressing structure 600 includes a pressure plate 610 and an elastic member 620. The pressure plate 610 is disposed on the machine body 100 and located above the protruding structure 150, with a gap between them for the extension arm 260 to pass through. The elastic member 620 is disposed on the pressure plate 610 and is configured to apply a force toward the protruding structure 150 to the pressure plate 610. The elastic force generated by the deformation of the elastic member 620 itself presses the wiper part 200 toward the surface to be cleaned, resulting in a simple and reliable structure.

[0072] Furthermore, the machine body 100 has a first fixed shaft 171 and a second fixed shaft 172 on both sides of the protruding structure 150. The first fixed shaft 171 and the second fixed shaft 172 are respectively provided with a convex cap 173. The pressure plate 610 is provided with a first through hole and a second through hole that correspond one-to-one with the first fixed shaft 171 and the second fixed shaft 172 and are fitted therein. The inner wall surfaces of the first through hole and the second through hole are respectively formed with stepped surfaces. An elastic element 620 is provided between each convex cap 173 and the corresponding stepped surface.

[0073] In some embodiments, such as Figure 5 As shown, the main body 100 is provided with a rotating shaft 160, and one end of the wiper unit 200 is provided with a shaft hole structure 270. The shaft hole structure 270 is provided on the rotating shaft 160 and can rotate around the rotating shaft 160. The shaft hole structure 270 has a range of motion in the height direction of the rotating shaft 160, allowing the shaft hole structure 270 to move along the height direction of the rotating shaft 160. The range of motion of the shaft hole structure 270 in the height direction of the rotating shaft 160 allows the wiper unit 200 to float freely along the axial direction of the rotating shaft 160. When the drive system 300 drives the wiper unit 200 to swing outward, the wiper unit 200 as a whole synchronously descends. When the drive system 300 drives the wiper unit 200 to swing inward, the wiper unit 200 as a whole synchronously rises. In this way, when encountering protruding obstacles, the wiper unit 200 is allowed to avoid and rise along the axial direction of the rotating shaft 160, and the situation where the wiper unit 200 is bent, twisted, deformed, or structurally damaged due to unilateral force at the rotating connection is avoided.

[0074] Preferably, the extension arm 260 is located in the middle of the wiper body. Compared to the solution where the extension arm 260 is located at the end of the wiper body 200, this embodiment transmits the force applied to the extension arm 260 by the first inclined surface 151 along the center of the wiper body to both sides, avoiding the force imbalance caused by the offset of the force point. When the extension arm 260 slides along the inclined surface, the force point in the middle synchronously drives the two ends of the wiper blade 220 to rise and fall at the same amplitude, ensuring that the distance between each point of the wiper blade 220 and the surface to be cleaned changes at approximately the same height throughout the entire length of the wiper blade 220, avoiding the situation where local lifting or lowering failure is caused by unilateral warping or tilting.

[0075] In one specific embodiment, the extension arm 260 is constructed in an arc shape, and the extension arm 260 is provided with an arc-shaped guide structure 240 and a rack structure 250. In this way, the extension arm 260 has the functions of transmission connection with the drive system 300, cooperation with the lifting structure, and guidance, further simplifying the number of parts of the product and realizing lightweight design.

[0076] In some embodiments, a wiping section 200 is provided at two opposite positions on the main body 100. More specifically, a wiping section 200 is provided on the front side of the main body 100 and a wiping section 200 is provided on the rear side of the main body 100, so that only the corresponding wiping section 200 can perform the corresponding cleaning work when the main body 100 moves forward or backward.

[0077] By setting wiping units 200 at two opposite positions on the main body 100, the window cleaning robot 10 can achieve bidirectional continuous cleaning without turning. When the robot moves forward, the wiping unit 200 located at the front of the movement direction performs the wiping operation. When the robot moves backward, the original rear wiping unit 200 automatically switches to the front working position to continue wiping. This simplifies the mechanical structure of the product, requiring only two wiping units 200 to cover the entire direction of travel, avoiding component redundancy. In addition, the corresponding wiping unit 200 can be activated immediately in both directions of movement, eliminating the time loss of turning around and making the cleaning efficiency higher.

[0078] In some embodiments, the window cleaning robot 10 also includes a water spraying system that automatically sprays liquid to accurately cover the area to be wiped, eliminating the need for manual water spraying and avoiding problems such as spray deviation or uneven coverage caused by manual operation.

[0079] For a further example, the robot body 100 has wiper sections 200 in at least two locations, and the rotation of each wiper section 200 is relatively independent. The water spraying system has multiple water outlet positions, each corresponding to one of the wiper sections 200 and located in front of their respective working directions. The water spraying system can selectively spray towards one of the water outlet positions to achieve automatic cleaning fluid dispensing. When a certain wiper section 200 of the robot moves in a certain direction, the water spraying system only sprays liquid towards the water outlet position corresponding to that direction, ensuring that the cleaning fluid accurately covers the area to be wiped, eliminating the need for manual watering operations and avoiding... The system eliminates issues of spray deviation or uneven coverage caused by manual operation or fixed nozzles. Furthermore, the correlation between the water spraying action and the robot's movement path ensures that the liquid evenly wets the window surface stains before the squeegee reaches the surface without excessive residue. This reduces liquid waste through on-demand supply and avoids unrestrained diffusion caused by premature or misaligned spraying, lowering the risk of liquid dripping and contaminating the window frame and surrounding environment. It achieves a highly efficient closed-loop cleaning process of directional spraying and immediate squeegee removal, improving automation while optimizing cleaning fluid utilization and environmental cleanliness, resulting in a better user experience.

[0080] Regarding the water spray system, in some embodiments, the water spray system may include a rotatable nozzle assembly 510 and a water spray drive system connected to the nozzle assembly 510. The water spray drive system drives the nozzle assembly 510 to rotate to any water outlet position. Through the design of a single rotatable nozzle assembly 510 in conjunction with the water spray drive system, multi-directional precise water spraying is achieved with a simple hardware structure. The rotatable nozzle can cover all water outlet positions, significantly reducing the number of nozzles and connecting pipes, significantly improving system compactness and reliability, while reducing manufacturing costs and failure risks.

[0081] In other embodiments, the water spraying system may also include a plurality of nozzle assemblies 510, with a nozzle assembly 510 provided at the position corresponding to each wiper part 200.

[0082] By independently setting fixed nozzle assemblies 510 in each wiper section 200, direct control of multi-directional water spraying is achieved, simplifying the control logic. At the same time, the independent operation of each nozzle avoids mechanical rotation delay and achieves instantaneous response spraying.

[0083] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A window cleaning robot, characterized in that, include: The main body of the machine is configured to adhere to the surface to be cleaned and move along the surface to be cleaned. A wiping section is provided on the side of the main body. The main body is configured to move toward the location of the wiping section so that the wiping section can remove liquid from the surface to be cleaned. One end of the wiping section is rotatably connected to the main body, and the other end can rotate relative to the main body about the rotatable connection point, so that the wiping section as a whole moves closer to or further away from the side wall of the main body. A drive system, connected to the wiper unit, is configured to drive the wiper unit to rotate relative to the side wall of the machine body.

2. The window cleaning robot according to claim 1, characterized in that, One of the machine body and the wiper part is provided with an arc-shaped guide structure, and the other is provided with a guide fitting structure. The arc-shaped guide structure and the guide fitting structure are slidably engaged to guide the rotation of the wiper part.

3. The window cleaning robot according to claim 2, characterized in that, The arc-shaped guide structure includes an arc-shaped guide groove, and the guide mating structure includes an arc-shaped protrusion, which is located within the arc-shaped guide groove and can slide along the arc-shaped guide groove.

4. The window cleaning robot according to claim 2 or 3, characterized in that, The arc-shaped guide structure is provided with a limiting stop structure, and the guide mating structure and the limiting stop structure cooperate to restrict the wiper part from continuing to rotate.

5. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The drive system includes: The driving component has an output shaft; A transmission gear is connected to the output shaft, and the wiper part has a rack structure, with the transmission gear meshing with the rack structure.

6. The window cleaning robot according to any one of claims 1 to 3, characterized in that, Also includes: The bottom of the machine body is equipped with a cleaning cloth, and the machine body is also equipped with a lifting structure. The squeegee works in conjunction with the lifting structure to move closer to or away from the surface to be cleaned.

7. The window cleaning robot according to claim 6, characterized in that, The lifting structure includes a protruding structure disposed on the main body of the machine. At least a portion of the top surface of the protruding structure is configured as a first inclined surface extending downward toward the wiping part. The wiping part includes a wiping part body and an extension arm connected to the wiping part body. The wiping part body is rotatably connected to the main body of the machine. The extension arm is slidably engaged with the first inclined surface, so that the wiping part can be raised or lowered relative to the surface to be cleaned.

8. The window cleaning robot according to claim 7, characterized in that, The top surface of the protruding structure has a plane at one or both ends in the extension direction of the first inclined surface.

9. The window cleaning robot according to claim 7, characterized in that, The extension arm is provided with a second inclined surface that is adapted to the first inclined surface.

10. The window cleaning robot according to claim 7, characterized in that, Also includes: A pressing structure is configured to cooperate with the extension arm to press the extension arm toward the protruding structure.

11. The window cleaning robot according to claim 10, characterized in that, The clamping structure includes: A pressure plate is disposed on the machine body and located above the protruding structure, and there is a gap between the pressure plate and the protruding structure for the extension arm to pass through; An elastic element is disposed on the pressure plate, the elastic element being configured to apply a force toward the protruding structure to the pressure plate.

12. The window cleaning robot according to claim 11, characterized in that, The machine body is provided with a first fixed shaft and a second fixed shaft on both sides of the protruding structure, and the first fixed shaft and the second fixed shaft are respectively provided with a protruding cap; The pressure plate is provided with a first through hole and a second through hole that correspond one-to-one with the first fixed shaft and the second fixed shaft and are fitted therein. The inner wall surfaces of the first through hole and the second through hole are respectively formed with stepped surfaces, and the elastic element is provided between each of the convex caps and the corresponding stepped surfaces.

13. The window cleaning robot according to claim 7, characterized in that, The machine body is provided with a rotating shaft, and one end of the wiper part is provided with a shaft hole structure. The shaft hole structure is provided on the rotating shaft and can rotate around the rotating shaft. The shaft hole structure has a range of motion in the height direction of the rotating shaft, allowing the shaft hole structure to move along the height direction of the rotating shaft.

14. The window cleaning robot according to claim 13, characterized in that, The extension arm is located in the middle of the wiper body.

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