Window cleaning robot

Abstract

This application discloses a window cleaning robot, comprising: a main unit, including a body and a first suction cup and a cleaning component mounted on the body; a first movable base, movably mounted on the body along a first direction; a first driving device for driving the first movable base to move relative to the body along the first direction; a first swing arm, swayably mounted on the first movable base about a first swing center line; a second driving device for driving the first swing arm to swing relative to the body about the first swing center line; a second suction cup, movably mounted on the first swing arm along the first direction, the second suction cup including a second suction cup body and a third driving device for driving the second suction cup body to rotate relative to the first swing arm; and a fourth driving device for driving the second suction cup to move relative to the first swing arm along the first direction. The aforementioned window cleaning robot, with the help of the first swing arm, automatically overcomes obstacles such as window frames, improving cleaning efficiency and enhancing the user experience.

Description

Technical Field

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

[0002] Window cleaning robots are widely used in everyday homes as a safe window cleaning tool. However, traditional window cleaning robots cannot overcome obstacles such as window frames. After cleaning one pane of glass, the robot needs to be moved manually, resulting in low cleaning efficiency and a poor user experience. Utility Model Content

[0003] In view of this, this application provides a window cleaning robot to solve the problem that window cleaning robots cannot cross obstacles such as window frames.

[0004] The first aspect of this application proposes a window cleaning robot, comprising:

[0005] The main unit includes a body and a first suction cup and a cleaning component disposed on the body;

[0006] A first movable base is movably mounted on the body along a first direction;

[0007] A first driving device is disposed between the body and the first movable seat, and the first driving device is used to drive the first movable seat to move relative to the body along the first direction.

[0008] A first swing arm is swayably mounted on a first movable seat about a first swing center line, the first swing center line extending along the first direction;

[0009] A second driving device is disposed between the first movable seat and the first swing arm. The second driving device is used to drive the first swing arm to swing relative to the body around the first swing center line.

[0010] The second suction cup is movably mounted on the first swing arm along the first direction. The second suction cup includes a second suction cup body and a third driving device for driving the second suction cup body to rotate relative to the first swing arm.

[0011] A fourth driving device is disposed between the third driving device and the first swing arm, and the fourth driving device is used to drive the second suction cup to move relative to the first swing arm along the first direction.

[0012] The beneficial effects of the window cleaning robot provided in this application embodiment are as follows: During normal use, the main unit adheres to the glass via a first suction cup and cleans the glass using cleaning components. When the main unit needs to cross the window frame after cleaning a piece of glass, the first drive device first drives the first moving seat to move relative to the body along a first direction, so that the first moving seat moves away from the glass; the second drive device then drives the first swing arm to swing relative to the body around a first swing center line, so that the second suction cup crosses the window frame. Afterwards, the fourth drive device drives the second suction cup to move relative to the body along the first direction until the second suction cup contacts and adheres to the glass. After the second suction cup is firmly adhered, the first suction cup releases its adhesion, and the first drive device again drives the first moving seat to move relative to the body along the first direction, so that the body moves away from the glass. Then, the second drive device drives the first swing arm to swing relative to the body around the first swing center line, and the third drive device drives the second suction cup body to rotate relative to the first swing arm, so that the body crosses the window frame, ultimately achieving obstacle crossing for the window cleaning robot. After cleaning a piece of glass, the above-mentioned window cleaning robot can automatically cross obstacles such as window frames, improving cleaning efficiency and enhancing the user experience.

[0013] In some embodiments, when the first swing arm is retracted onto the body, one side of the first swing arm facing the body is adapted to the outer side of the body.

[0014] In some embodiments, the side of the first swing arm facing the body and the outer side of the body are both V-shaped or curved surfaces.

[0015] In some embodiments, the side of the second suction cup body facing the body is adapted to the outer side of the body.

[0016] In some embodiments, the first swing arm is a box structure with a first opening, which faces the glass when the window cleaning robot is attached to it; at least a portion of the second suction cup can be accommodated within the first swing arm.

[0017] In some embodiments, the window cleaning robot further includes:

[0018] The second swing arm is swayably mounted on the first movable seat about the second swing center line, which extends along the first direction;

[0019] A fifth driving device is disposed between the first movable seat and the second swing arm. The fifth driving device is used to drive the second swing arm to swing relative to the body around the second swing center line.

[0020] A third suction cup is movably mounted on the second swing arm along the first direction. The third suction cup includes a third suction cup body and a sixth driving device that drives the third suction cup body to rotate relative to the second swing arm.

[0021] A seventh driving device is disposed between the sixth driving device and the second swing arm. The seventh driving device is used to drive the third suction cup to move relative to the second swing arm along the first direction.

[0022] In some embodiments, the window cleaning robot further includes:

[0023] The second movable seat is movably mounted on the body along the first direction;

[0024] An eighth driving device is disposed between the body and the second movable seat, and the eighth driving device is used to drive the second movable seat to move relative to the body along the first direction;

[0025] The second swing arm is swayably mounted on the second movable seat about the second swing center line, which extends along the first direction;

[0026] The fifth driving device is disposed between the second movable seat and the second swing arm and is used to drive the second swing arm to swing around the second swing center line;

[0027] A third suction cup is movably mounted on the second swing arm along the first direction. The third suction cup includes a third suction cup body and a sixth driving device that drives the third suction cup body to rotate relative to the second swing arm.

[0028] A seventh driving device is disposed between the sixth driving device and the second swing arm. The seventh driving device is used to drive the third suction cup to move relative to the second swing arm along the first direction.

[0029] In some embodiments, the first swing arm and the second swing arm are symmetrically arranged on the body.

[0030] In some embodiments, when the second swing arm is retracted onto the body, one side of the second swing arm facing the body is adapted to the outer side of the body.

[0031] In some embodiments, the side of the first swing arm facing the body and the outer side of the body are both V-shaped or curved surfaces.

[0032] In some embodiments, the side of the third suction cup body facing the body is adapted to the outer side of the body.

[0033] In some embodiments, the second swing arm is a box structure with a second opening, which faces the glass when the window cleaning robot is attached to it; at least a portion of the third suction cup can be accommodated within the second swing arm.

[0034] In some embodiments, the outer side of the body is provided with a protrusion, and when the first swing arm and the second swing arm are retracted onto the body, the free ends of the first swing arm and the free ends of the second swing arm are located on both sides of the protrusion.

[0035] In some embodiments, a groove is provided on the outer side of the body, and a slide rail extending along the first direction is provided on the groove wall, and the first movable seat is slidably mounted on the slide rail.

[0036] In some embodiments, the host machine further includes a walking mechanism disposed on the machine body, wherein the walking mechanism is a tracked walking mechanism.

[0037] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a window cleaning robot provided in some embodiments of this application;

[0040] Figure 2 yes Figure 1 The diagram shows a structural schematic of the window cleaning robot from another perspective.

[0041] Figure 3 yes Figure 2 A schematic diagram of the structure of the first movable seat after it has moved relative to the body;

[0042] Figure 4 yes Figure 1 A schematic diagram of the second and fifth drive devices is shown on the first movable seat.

[0043] Figure 5 yes Figure 1 A schematic diagram of the third and fourth drive devices is shown on the first swing arm.

[0044] Figure 6 yes Figure 1 The second swing arm shows a structural schematic diagram of the sixth and seventh drive devices;

[0045] Figure 7 This is a schematic diagram of the window cleaning robot in normal operation according to the embodiments of this application;

[0046] Figure 8 yes Figure 7 A schematic diagram of the structure where the first and second swing arms are away from the glass.

[0047] Figure 9 yes Figure 8 A schematic diagram of the unfolded structure of the first and second swing arms;

[0048] Figure 10 yes Figure 9 A schematic diagram of the structure of the second and third suction cup bodies near the glass;

[0049] Figure 11 yes Figure 10 A schematic diagram of the structure of the middle body away from the glass;

[0050] Figure 12 yes Figure 11 A structural diagram illustrating the first stage of the obstacle crossing process of the medium-sized organism;

[0051] Figure 13 yes Figure 11 A schematic diagram of the second process of the organism overcoming obstacles;

[0052] Figure 14 yes Figure 11 A schematic diagram of the third process of obstacle crossing in the middle body;

[0053] Figure 15 yes Figure 14 A schematic diagram of the structure of the machine body near the glass;

[0054] Figure 16 This is a structural schematic diagram of a window cleaning robot provided in some other embodiments of this application.

[0055] The markings in the diagram mean:

[0056] 100. Window cleaning robot;

[0057] 10. Host computer;

[0058] 11. Body; 111. Groove; 112. Slide rail; 113. Protrusion;

[0059] 12. First suction cup;

[0060] 13. Walking mechanism;

[0061] 14. Cleaning parts;

[0062] 20. First movable seat; 21. First driving device;

[0063] 30. First swing arm; 31. Second drive unit;

[0064] 40. Second suction cup; 41. Third driving device; 411. Fourth driving device; 42. Second suction cup body;

[0065] 50. Second swing arm; 51. Fifth drive unit;

[0066] 60. Third suction cup; 61. Sixth driving device; 611. Seventh driving device; 62. Third suction cup body;

[0067] 70. Second movable seat; 71. Eighth drive unit. Detailed Implementation

[0068] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0070] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0071] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0072] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0073] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0074] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0075] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0076] As people's demand for safe and clean windows in high-rise buildings increases, window cleaning robots are gradually gaining widespread attention.

[0077] Traditional window cleaning robots rely primarily on simple suction and movement mechanisms, making them unable to automatically clean across windows. While recent window cleaning robots have window-crossing capabilities, their complex structures significantly increase their weight and size, reducing cleaning flexibility and greatly increasing the risk of injury from falls.

[0078] To address the aforementioned issues, this application proposes a window cleaning robot.

[0079] Please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 The window cleaning robot 100 includes a main unit 10, a first movable seat 20, a first drive device 21, a first swing arm 30, a second drive device 31, a second suction cup 40, and a fourth drive device 411.

[0080] The main unit 10 includes a body 11, a first suction cup 12, and a cleaning component 14 disposed on the body 11. That is, the body 11 can be adsorbed onto the glass via the first suction cup 12, and the glass can be cleaned using the cleaning component 14. The first suction cup 12 is a sliding suction cup, meaning it can slide on the glass while adsorbing, ensuring that the main unit 10 remains adsorbed on the glass when moving on it. It should be noted that the working principle of the sliding suction cup is prior art and will not be specifically described in this application.

[0081] The shape of the first suction cup 12 is not limited in this application. For example, the shape of the first suction cup 12 can be rectangular, circular, elliptical or other shapes.

[0082] The first movable base 20 is movably mounted on the body 11 along the first direction X. Exemplarily, the first movable base 20 is guided and mounted on the body 11 along the first direction X.

[0083] When the main unit 10 is attached to the glass, the first direction X is perpendicular to the glass. That is, when the main body 11 is attached to the glass by the first suction cup 12, the first moving seat 20 can move in a direction closer to or further away from the glass.

[0084] The first driving device 21 is disposed between the body 11 and the first movable seat 20. The first driving device 21 is used to drive the first movable seat 20 and the body 11 to move relative to each other along the first direction X.

[0085] In some scenarios, the first driving device 21 drives the first movable seat 20 to move relative to the body 11 along the first direction X. That is, when the body 11 is fixed, the first driving device 21 can drive the first movable seat 20 to move in a direction closer to or away from the glass. In other scenarios, the first driving device 21 drives the body 11 to move relative to the first movable seat 20 along the first direction X. That is, when the first movable seat 20 is fixed, the first driving device 21 can drive the body 11 to move in a direction closer to or away from the glass.

[0086] The structure of the first driving device 21 is not limited in this application. For example, the first driving device 21 may include a drive motor and a lead screw and nut mechanism. The drive motor is fixed on the machine body 11, and the lead screw and nut mechanism includes a lead screw and a nut threaded onto the lead screw. The output shaft of the drive motor is connected to the lead screw, and the nut is fixed on the first movable seat 20. The lead screw extends along the first direction X. The drive motor drives the lead screw to rotate, thereby driving the nut to move along the first direction X, thus realizing the relative movement of the first movable seat 20 and the machine body 11 along the first direction X. Of course, the first driving device 21 may also be an electric push rod, a cylinder, a hydraulic cylinder, etc.

[0087] The first swing arm 30 is oscillatingly mounted on the first movable seat 20 around a first swing center line A, which extends along a first direction X. This can be understood as follows: one end of the first swing arm 30 is rotatably connected to the first movable seat 20, and the other end of the first swing arm 30 is a free end. The first swing arm 30 can move along the first direction X with the first movable seat 20.

[0088] The second drive device 31 is located between the first movable seat 20 and the first swing arm 30. The second drive device 31 is used to drive the first swing arm 30 to swing relative to the body 11 around the first swing center line A.

[0089] The second drive device 31 drives the first swing arm 30 to swing relative to the body 11. It can be understood that the second drive device 31 can drive the first swing arm 30 to extend, that is, the free end of the first swing arm 30 moves away from the body 11; or, the second drive device 31 can also drive the first swing arm 30 to retract, that is, the free end of the first swing arm 30 moves closer to the body 11.

[0090] The structure of the second drive device 31 is not limited in this application. For example, the second drive device 31 may include a drive motor and a gear mechanism; or, the second drive device 31 may include a drive motor and a worm gear mechanism; or, the second drive device 31 may include a drive motor, a worm gear mechanism, and a gear mechanism, wherein the worm gear mechanism is connected between the drive motor and the gear mechanism. Exemplarily, the second drive device 31 is a second servo motor.

[0091] The second suction cup 40 is movably mounted on the first swing arm 30 along the first direction X. The fourth driving device 411 drives the second suction cup 40 to move relative to the first swing arm 30 along the first direction X, that is, the fourth driving device 411 can drive the second suction cup 40 to move closer to or away from the glass along the first direction X.

[0092] The structure of the fourth drive device 411 is not limited in this application. For example, the fourth drive device 411 may include a drive motor and a lead screw and nut mechanism. The drive motor is fixed on the first swing arm 30, and the lead screw and nut mechanism includes a lead screw and a nut threaded onto the lead screw. The output shaft of the drive motor is connected to the lead screw, and the nut is fixed on the third drive device 41. The lead screw extends along the first direction X. The drive motor drives the lead screw to rotate, thereby driving the nut to move along the first direction X, thus realizing the movement of the second suction cup 40 relative to the first swing arm 30 along the first direction X. Of course, the fourth drive device 411 may also be an electric push rod, a cylinder, a hydraulic cylinder, etc.

[0093] The second suction cup 40 includes a second suction cup body 42 and a third driving device 41 that drives the second suction cup body 42 to rotate relative to the first swing arm 30. The third driving device 41 is guided and mounted on the first swing arm 30 along the first direction X, and the second suction cup body 42 can move together with the third driving device 41 along the first direction X, that is, the second suction cup body 42 can move closer to or further away from the first swing arm 30 in the first direction X.

[0094] For example, the second suction cup body 42 is a fixed suction cup, that is, the second suction cup body 42 can be attached to the glass but will not slide on the glass.

[0095] The structure of the third drive device 41 is not limited in this application. For example, the third drive device 41 may include a drive motor and a gear mechanism; or, the third drive device 41 may include a drive motor and a worm gear mechanism; or, the third drive device 41 may include a drive motor, a worm gear mechanism, and a gear mechanism, wherein the worm gear mechanism is connected between the drive motor and the gear mechanism. Exemplarily, the third drive device 41 is a third servo motor.

[0096] The fourth driving device 411 is located between the third driving device 41 and the first swing arm 30 to drive the second suction cup 40 to move relative to the first swing arm 30 along the first direction X.

[0097] For example, the cleaning component 14 can be a mop. It is understood that the shape and position of the cleaning component 14 are not limited, as long as the main unit 10 can clean the window when it moves on the glass.

[0098] For example, when the window cleaning robot 100 does not need to cross obstacles, the first swing arm 30 retracts and approaches the body 11 to reduce the impact of the first swing arm 30 on the normal cleaning of the main unit 10.

[0099] For example, during normal cleaning, the gap between the first swing arm 30 and the glass at the closest point is greater than zero, so as to avoid affecting the movement of the host 10.

[0100] The beneficial effects of the window cleaning robot 100 provided in this embodiment are as follows: During normal use, the main unit 10 is attached to the glass by the first suction cup 12. When the main unit 10 needs to cross the window frame after cleaning a piece of glass, the first drive device 21 first drives the first moving seat 20 to move relative to the body 11 along the first direction X, so that the first moving seat 20 is away from the glass; the second drive device 31 then drives the first swing arm 30 to swing relative to the body 11 around the first swing center line A, so that the second suction cup 40 crosses the window frame. Afterwards, the fourth drive device 411 drives the second suction cup 40 to move relative to the body 11 along the first direction X to approach the glass, until the second suction cup 40 contacts and is attached to the glass. After the second suction cup 40 is firmly attached, the first suction cup 12 is released from attachment, and the first drive device 21 then drives the body 11 to move relative to the first moving seat 20 along the first direction X, so that the body 11 is away from the glass. Then, the second drive device 31 drives the body 11 to swing relative to the first swing arm 30, and the third drive device 41 drives the first swing arm 30 to rotate relative to the second suction cup body 42, so that the body 11 can pass over the window frame, ultimately achieving obstacle crossing for the window cleaning robot 100. Then, the first drive device 21 drives the body 11 to move along the first direction X to approach the glass until the first suction cup 12 adheres to the glass. Then, the second suction cup 40 releases its adhesion, the fourth drive device 411 drives the second suction cup 40 away from the glass along the first direction X, the third drive device 41 drives the second suction cup body 42 to reset, and the second drive device 31 drives the first swing arm 30 to reset, so as to proceed with cleaning the next piece of glass. After completing the cleaning of one piece of glass, the window cleaning robot 100 can automatically cross obstacles such as window frames, improving cleaning efficiency and enhancing the user experience.

[0101] Please refer to Figure 2 In some embodiments, when the first swing arm 30 is retracted onto the body 11, the side of the second suction cup body 42 facing the body 11 is adapted to the outer side of the body 11.

[0102] For example, the side of the second suction cup body 42 facing the body 11 and the outer side of the body 11 can both be V-shaped surfaces, arc surfaces, etc.

[0103] Please refer to Figure 7 and Figure 9 In some embodiments, when the first swing arm 30 is retracted onto the body 11, the side of the first swing arm 30 facing the body 11 is adapted to the outer side of the body 11. This allows the first swing arm 30 to be arranged close to the body 11, which helps to reduce the size of the window cleaning robot 100 and ensures the safety and flexibility of the window cleaning robot 100.

[0104] For example, the side of the first swing arm 30 facing the body 11 and the outer side of the body 11 can both be V-shaped surfaces, arc surfaces, etc.

[0105] Please refer to Figure 4 and Figure 5 In some embodiments, the first swing arm 30 is a box structure with a first opening, and at least a portion of the second suction cup 40 can be accommodated within the first swing arm 30. When the window cleaning robot 100 is attached to the glass, the first opening faces the glass.

[0106] It is understandable that the second suction cup 40 can be fully accommodated within the first swing arm 30, or the second suction cup 40 can be partially accommodated within the first swing arm 30.

[0107] For example, the third drive device 41 is fully housed within the first swing arm 30, and a portion of the second suction cup body 42 is housed within the first swing arm 30.

[0108] By designing the first swing arm 30 as a box structure, the weight of the first swing arm 30 can be reduced, which helps to reduce the overall weight of the window cleaning robot 100 and ensures the stability of the window cleaning robot 100 when cleaning windows.

[0109] Please refer to Figure 1 , Figure 4 and Figure 6 In some embodiments, the window cleaning robot 100 further includes a second swing arm 50, a fifth drive device 51, a third suction cup 60, a sixth drive device 61, and a seventh drive device 611.

[0110] The second swing arm 50 is oscillatingly mounted on the first movable seat 20 around the second swing center line B, wherein the second swing center line B extends along the first direction X.

[0111] This can be understood as follows: one end of the second swing arm 50 is rotatably connected to the first movable seat 20, and the other end of the second swing arm 50 is a free end.

[0112] The second swing arm 50 and the first swing arm 30 move together along the first direction X with the first moving seat 20.

[0113] The fifth drive device 51 is located between the first movable seat 20 and the second swing arm 50. The fifth drive device 51 is used to drive the second swing arm 50 to swing relative to the body 11 around the second swing center line B.

[0114] The fifth drive device 51 drives the second swing arm 50 to swing relative to the body 11. It can be understood that the fifth drive device 51 can drive the second swing arm 50 to extend, that is, the free end of the second swing arm 50 moves away from the body 11; or, the fifth drive device 51 can also drive the second swing arm 50 to retract, that is, the free end of the second swing arm 50 moves closer to the body 11.

[0115] The structure of the fifth drive device 51 is not limited in this application. For example, the fifth drive device 51 may include a drive motor and a gear mechanism; or, the fifth drive device 51 may include a drive motor and a worm gear mechanism; or, the fifth drive device 51 may include a drive motor, a worm gear mechanism, and a gear mechanism, wherein the worm gear mechanism is connected between the drive motor and the gear mechanism. Exemplarily, the fifth drive device 51 is a fifth servo motor.

[0116] The third suction cup 60 is movably mounted on the second swing arm 50 along the first direction X. The seventh driving device 611 drives the third suction cup 60 to move relative to the second swing arm 50 along the first direction X, that is, the seventh driving device 611 can drive the third suction cup 60 to move closer to or away from the glass along the first direction X.

[0117] The structure of the seventh drive device 611 is not limited in this application. For example, the seventh drive device 611 may include a drive motor and a lead screw and nut mechanism. The drive motor is fixed on the second swing arm 50, and the lead screw and nut mechanism includes a lead screw and a nut threaded onto the lead screw. The output shaft of the drive motor is connected to the lead screw, and the nut is fixed on the sixth drive device 61. The lead screw extends along the first direction X. The drive motor drives the lead screw to rotate, thereby driving the nut to move along the first direction X, thus realizing the movement of the third suction cup 60 relative to the second swing arm 50 along the first direction X. Of course, the seventh drive device 611 can also be an electric push rod, a cylinder, a hydraulic cylinder, etc.

[0118] The third suction cup 60 includes a third suction cup body 62 and a sixth driving device 61 that drives the third suction cup body 62 to rotate relative to the second swing arm 50. The sixth driving device 61 is guided and mounted on the second swing arm 50 along the first direction X, and the third suction cup body 62 can move together with the sixth driving device 61 along the first direction X, that is, the third suction cup body 62 can move closer to or further away from the second swing arm 50 in the first direction X.

[0119] For example, the third suction cup body 62 is a fixed suction cup, that is, the third suction cup body 62 can be attached to the glass but will not slide on the glass.

[0120] The structure of the sixth drive device 61 is not limited in this application. For example, the sixth drive device 61 may include a drive motor and a gear mechanism; or, the sixth drive device 61 may include a drive motor and a worm gear mechanism; or, the sixth drive device 61 may include a drive motor, a worm gear mechanism, and a gear mechanism, wherein the worm gear mechanism is connected between the drive motor and the gear mechanism. Exemplarily, the sixth drive device 61 is a sixth servo motor.

[0121] The seventh drive device 611 is located between the sixth drive device 61 and the second swing arm 50 to drive the third suction cup 60 to move relative to the second swing arm 50 along the first direction X.

[0122] When the first swing arm 30 and the second swing arm 50 work together to overcome obstacles, please refer to... Figure 7 In normal operation, the first arm 30 and the second arm 50 of the window cleaning robot 100 are retracted, the second suction cup 40 and the third suction cup 60 are not adsorbed on the glass, the main unit 10 is adsorbed on the glass by the first suction cup 12 and moves on the glass by the walking mechanism 13, while cleaning the glass by the cleaning component 14.

[0123] When the window cleaning robot 100 reaches the edge of the glass, please refer to... Figure 8 The first drive unit 21 drives the first swing arm 30 and the second swing arm 50 away from the glass along the first direction X until the first swing arm 30 and the second swing arm 50 exceed the height of the window frame. Afterwards, please refer to... Figure 9 The second drive device 31 and the fifth drive device 51 respectively drive the first swing arm 30 and the second swing arm 50 to swing, causing the first swing arm 30 and the second swing arm 50 to cross over the window frame. After successful crossing, please refer to... Figure 10 The fourth driving device 411 and the seventh driving device 611 respectively drive the second suction cup body 42 and the third suction cup body 62 to approach the glass along the first direction X until the second suction cup body 42 and the third suction cup body 62 contact and adhere to the glass. After confirming that the second suction cup body 42 and the third suction cup body 62 are firmly adhered, please refer to... Figure 11 The first suction cup 12 releases its adsorption, and the first driving device 21 drives the body 11 away from the glass along the first direction X until the body 11 exceeds the height of the first swing arm 30 and the second swing arm 50, so as to avoid interference between the body 11 and the first swing arm 30 and the second swing arm 50 when the body 11 crosses the obstacle. Please refer to Figures 12 to 14 Using the second drive device 31, the third drive device 41, the fifth drive device 51, and the sixth drive device 61 according to the four-bar linkage law, the machine body 11 is moved over the window frame and finally positioned between the first swing arm 30 and the second swing arm 50 to avoid interference between the machine body 11 and the first swing arm 30 and the second swing arm 50 when it approaches the glass. Please refer to... Figure 15 The first driving device 21 drives the body 11 to approach the glass along the first direction X until the first suction cup 12 on the body 11 contacts and adheres to the glass. After the first suction cup 12 is firmly adhered, the second suction cup body 42 and the third suction cup body 62 release their adhesion. Finally, the first swing arm 30, the second suction cup 40, the second swing arm 50, and the third suction cup 60 return to their original positions. Please refer to... Figure 7 Then you can proceed with cleaning the next piece of glass.

[0124] Based on the above technical solution, the stability of the window cleaning robot 100 during obstacle crossing can be improved by the cooperation of the first swing arm 30 and the second swing arm 50.

[0125] Please refer to Figure 16In some embodiments, based on the presence of a first swing arm 30 and a second swing arm 50, the window cleaning robot 100 further includes a second movable seat 70 and an eighth drive device 71.

[0126] The second movable base 70 is movably mounted on the body 11 along the first direction X. Exemplarily, the second movable base 70 is guided and mounted on the body 11 along the first direction X. That is, when the body 11 is attached to the glass by the first suction cup 12, the second movable base 70 can move towards or away from the glass.

[0127] The eighth drive device 71 is located between the body 11 and the second movable seat 70. The eighth drive device 71 is used to drive the second movable seat 70 and the body 11 to move relative to each other along the first direction X.

[0128] In some scenarios, the eighth drive device 71 drives the second movable seat 70 to move relative to the body 11 along the first direction X. That is, when the body 11 is fixed, the eighth drive device 71 can drive the second movable seat 70 to move in a direction closer to or away from the glass. In other scenarios, the eighth drive device 71 drives the body 11 to move relative to the second movable seat 70 along the first direction X. That is, when the second movable seat 70 is fixed, the eighth drive device 71 can drive the body 11 to move in a direction closer to or away from the glass.

[0129] The structure of the eighth drive device 71 is not limited in this application. For example, the eighth drive device 71 may include a drive motor and a lead screw and nut mechanism. The drive motor is fixed to the machine body 11, and the lead screw and nut mechanism includes a lead screw and a nut threaded onto the lead screw. The output shaft of the drive motor is connected to the lead screw, and the nut is fixed to the second movable seat 70. The lead screw extends along the first direction X. The drive motor drives the lead screw to rotate, thereby driving the nut to move along the first direction X, thus realizing the movement of the second movable seat 70 relative to the machine body 11 along the first direction X. Of course, the eighth drive device 71 may also be an electric push rod, a cylinder, a hydraulic cylinder, etc.

[0130] The second swing arm 50 is swayably mounted on the second movable seat 70 around the second swing center line B, wherein the second swing center line B extends along the first direction X.

[0131] This can be understood as the first swing arm 30 moving along the first direction X with the first moving seat 20, and the second swing arm 50 moving along the first direction X with the second moving seat 70, that is, the first swing arm 30 and the second swing arm 50 rise and fall independently.

[0132] In some embodiments, when the window cleaning robot 100 does not need to overcome obstacles, the second swing arm 50 retracts and approaches the body 11 to reduce the impact of the second swing arm 50 on the normal cleaning of the main unit 10.

[0133] In some embodiments, during normal cleaning, the gap between the second swing arm 50 and the glass at the closest point is greater than zero, so as to avoid affecting the movement of the host 10.

[0134] Please refer to Figure 1 and Figure 2 In some embodiments, the first swing arm 30 and the second swing arm 50 are symmetrically arranged on the body 11.

[0135] Based on the above technical solution, it is beneficial for the first swing arm 30 and the second swing arm 50 to cooperate in overcoming obstacles, while also improving the aesthetics of the window cleaning robot 100.

[0136] Please refer to Figure 2 , Figure 5 and Figure 6 In some embodiments, when the second swing arm 50 is retracted onto the body 11, the side of the third suction cup body 62 facing the body 11 is adapted to the outer side of the body 11.

[0137] For example, the side of the third suction cup body 62 facing the body 11 and the outer side of the body 11 can both be V-shaped surfaces, curved surfaces, etc.

[0138] Please refer to Figure 7 and Figure 9 In some embodiments, when the second swing arm 50 is retracted onto the body 11, the side of the second swing arm 50 facing the body 11 is adapted to the outer side of the body 11. This allows the second swing arm 50 to be arranged close to the body 11, which helps to reduce the size of the window cleaning robot 100 and ensures the safety and flexibility of the window cleaning robot 100.

[0139] For example, the side of the second swing arm 50 facing the body 11 and the outer side of the body 11 can both be V-shaped surfaces, arc surfaces, etc.

[0140] Please refer to Figure 4 and Figure 6 In some embodiments, the second swing arm 50 is a box structure with a second opening, and at least a portion of the third suction cup 60 can be accommodated within the second swing arm 50. When the window cleaning robot 100 is attached to the glass, the second opening faces the glass.

[0141] It is understandable that the third suction cup 60 can be fully accommodated within the second swing arm 50, or the third suction cup 60 can be partially accommodated within the second swing arm 50.

[0142] For example, the sixth drive device 61 can be fully housed within the second swing arm 50, and a portion of the third suction cup body 62 is housed within the second swing arm 50.

[0143] By designing the second swing arm 50 as a box structure, the weight of the second swing arm 50 can be reduced, which helps to reduce the overall weight of the window cleaning robot 100 and ensures the stability of the window cleaning robot 100 when cleaning windows.

[0144] Please refer to Figure 2 In some embodiments, the outer side of the body 11 is provided with a protrusion 113. When the first swing arm 30 and the second swing arm 50 are retracted onto the body 11, the free ends of the first swing arm 30 and the second swing arm 50 are located on both sides of the protrusion 113.

[0145] The side of the protrusion 113 away from the body 11 may be higher than the side of the free end of the first swing arm 30 away from the body 11 and the side of the free end of the second swing arm 50 away from the body 11; or, the side of the protrusion 113 away from the body 11 may be lower than the side of the free end of the first swing arm 30 away from the body 11 and the side of the free end of the second swing arm 50 away from the body 11; or, the side of the protrusion 113 away from the body 11 may be at the same height as the side of the free end of the first swing arm 30 away from the body 11 and the side of the free end of the second swing arm 50 away from the body 11.

[0146] Please refer to Figure 3 In some embodiments, a groove 111 is provided on the outer side of the body 11, and a slide rail 112 extending along the first direction X is provided on the groove wall of the groove 111. The first movable seat 20 is slidably mounted on the slide rail 112. In this way, the space of the body 11 can be fully utilized, and the compactness of the window cleaning robot 100 can be improved.

[0147] It is understandable that there can be one slide rail 112 or multiple slide rails.

[0148] Please refer to Figure 2 In some embodiments, the host 10 further includes a walking mechanism 13 disposed on the body 11, and the walking mechanism 13 is a tracked walking mechanism.

[0149] Of course, in other embodiments, the walking mechanism 13 may also be a wheeled walking mechanism.

[0150] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A window cleaning robot, characterized by, include: The main unit includes a body and a first suction cup and a cleaning component disposed on the body; A first movable base is movably mounted on the body along a first direction; A first driving device is disposed between the body and the first movable seat, and the first driving device is used to drive the first movable seat to move relative to the body along the first direction. A first swing arm is swayably mounted on a first movable seat about a first swing center line, the first swing center line extending along the first direction; A second driving device is disposed between the first movable seat and the first swing arm. The second driving device is used to drive the first swing arm to swing relative to the body around the first swing center line. The second suction cup is movably mounted on the first swing arm along the first direction. The second suction cup includes a second suction cup body and a third driving device for driving the second suction cup body to rotate relative to the first swing arm. A fourth driving device is disposed between the third driving device and the first swing arm, and the fourth driving device is used to drive the second suction cup to move relative to the first swing arm along the first direction.

2. The window cleaning robot according to claim 1, wherein When the first swing arm retracts onto the body, one side of the first swing arm facing the body is adapted to the outer side of the body.

3. The window-cleaning robot according to claim 2, wherein The side of the first swing arm facing the machine body and the outer side of the machine body are both V-shaped or arc-shaped surfaces.

4. The window-cleaning robot according to claim 2, wherein The side of the second suction cup body facing the body is adapted to the outer side of the body.

5. The window-cleaning robot according to claim 1, wherein The first swing arm is a box structure with a first opening, which faces the glass when the window cleaning robot is attached to it; at least a portion of the second suction cup can be accommodated within the first swing arm.

6. The window cleaning robot as described in claim 1, characterized in that, The window cleaning robot also includes: The second swing arm is swayably mounted on the first movable seat about the second swing center line, which extends along the first direction; A fifth driving device is disposed between the first movable seat and the second swing arm. The fifth driving device is used to drive the second swing arm to swing relative to the body around the second swing center line. A third suction cup is movably mounted on the second swing arm along the first direction. The third suction cup includes a third suction cup body and a sixth driving device that drives the third suction cup body to rotate relative to the second swing arm. A seventh driving device is disposed between the sixth driving device and the second swing arm. The seventh driving device is used to drive the third suction cup to move relative to the second swing arm along the first direction.

7. The window cleaning robot as described in claim 1, characterized in that, The window cleaning robot also includes: The second movable seat is movably mounted on the body along the first direction; An eighth driving device is disposed between the body and the second movable seat, and the eighth driving device is used to drive the second movable seat to move relative to the body along the first direction; The second swing arm is swayably mounted on the second movable seat about the second swing center line, which extends along the first direction; The fifth driving device is disposed between the second movable seat and the second swing arm and is used to drive the second swing arm to swing around the second swing center line; A third suction cup is movably mounted on the second swing arm along the first direction. The third suction cup includes a third suction cup body and a sixth driving device that drives the third suction cup body to rotate relative to the second swing arm. A seventh driving device is disposed between the sixth driving device and the second swing arm. The seventh driving device is used to drive the third suction cup to move relative to the second swing arm along the first direction.

8. The window cleaning robot as described in claim 6 or 7, characterized in that, The first swing arm and the second swing arm are symmetrically arranged on the body.

9. The window cleaning robot as described in claim 6 or 7, characterized in that, When the second swing arm retracts onto the body, one side of the second swing arm facing the body is adapted to the outer side of the body.

10. The window cleaning robot as described in claim 9, characterized in that, The side of the first swing arm facing the machine body and the outer side of the machine body are both V-shaped or arc-shaped surfaces.

11. The window cleaning robot as described in claim 9, characterized in that, The third suction cup body is adapted to the outer side of the machine body on one side facing the machine body.

12. The window cleaning robot as described in claim 6 or 7, characterized in that, The second swing arm is a box structure with a second opening, which faces the glass when the window cleaning robot is attached to it; at least a portion of the third suction cup can be accommodated within the second swing arm.

13. The window cleaning robot as described in claim 6 or 7, characterized in that, The outer side of the body is provided with a protrusion. When the first swing arm and the second swing arm are retracted onto the body, the free ends of the first swing arm and the second swing arm are located on both sides of the protrusion.

14. The window cleaning robot as described in any one of claims 1-6, characterized in that, The outer side of the body is provided with a groove, and the groove wall is provided with a slide rail extending along the first direction, and the first movable seat is slidably mounted on the slide rail.

15. The window cleaning robot as described in any one of claims 1-7, characterized in that, The host also includes a walking mechanism mounted on the body, which is a tracked walking mechanism.

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