Window cleaning robot

Abstract

The utility model relates to a window cleaning robot, include: organism, be equipped with first cleaning structure for wiping the surface to be cleaned, at least one fall detection component, can swingly be arranged at the edge of organism, fall detection component is equipped with elastic structure and guide wheel, elastic structure links to each other with organism to provide elastic recovery force for fall detection component, the part of guide wheel protrudes from the outer contour of organism, so that guide wheel can contact with the frame of surface to be cleaned ahead of organism, wherein, the second cleaning structure is set on guide wheel, is used in wiping the frame when guide wheel contacts with the frame. The utility model discloses fall detection component has the detection and cleaning function, effectively eliminates the cleaning dead angle, improves the overall cleaning coverage and effect. Meanwhile, the elastic structure can provide an elastic pre -tightening force to the frame for guide wheel and the second cleaning structure, ensure that the second cleaning structure keeps stable and close contact with the frame surface in the wiping process, thereby significantly improve the cleaning effect for the 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] Window cleaning robots, as intelligent equipment for modern cleaning operations, are popular in the market due to their automated, efficient, and safe operation. Their basic principle is to firmly fix the machine to the glass surface through vacuum adsorption, and then use a drive mechanism to move the cleaning module across the glass to complete the wiping and cleaning process.

[0003] However, those skilled in the art have found that existing window cleaning robots, whose main cleaning structure primarily covers the flat area beneath the machine, always leave gaps between the machine's structure and the window frame edges when the machine moves to these areas. This results in these edge areas not being effectively cleaned, creating stubborn cleaning dead zones. In particular, traditional window cleaning robots cannot reach the glass corners embedded inside the window frame at all, leaving obvious stain outlines on the glass edges after long-term use, severely affecting the overall cleaning effect. Utility Model Content

[0004] 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.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a window cleaning robot, comprising:

[0007] The main body is equipped with a first cleaning structure for wiping the surface to be cleaned;

[0008] At least one drop detection component is pivotally disposed on the edge of the body. The drop detection component is provided with an elastic structure and a guide wheel. The elastic structure is connected to the body to provide elastic restoring force to the drop detection component. A portion of the guide wheel protrudes from the outer contour of the body, so that the guide wheel can contact the edge of the surface to be cleaned before the body.

[0009] The guide wheel is equipped with a second cleaning structure for wiping the frame when the guide wheel comes into contact with the frame.

[0010] In the above technical solution, the second cleaning structure includes an annular cleaning wheel, and the guide wheel is provided with stop walls at both ends in the axial direction. The cleaning wheel is sleeved on the outer circumferential surface of the guide wheel and is limited and matched with the stop walls.

[0011] In any of the above technical solutions, the second cleaning structure further includes an annular cleaning plate, and the guide wheel has an annular mounting groove at one end facing the surface to be cleaned, and a portion of the cleaning plate is embedded in the annular mounting groove.

[0012] In any of the above technical solutions, the height of the outer ring wall of the annular mounting groove is less than the height of the inner ring wall of the annular mounting groove.

[0013] In any of the above technical solutions, the cleaning wheel is made of soft rubber, fabric, or a combination of soft rubber and fabric; and / or

[0014] The outer surface of the cleaning wheel has several raised ridges; and / or

[0015] The cleaning wheel and the guide wheel are tightly fitted together.

[0016] In any of the above technical solutions, the drop detection component includes:

[0017] The swing arm has a swing arm structure. One end of the swing arm is provided with a connecting part that is rotatably connected to the machine body. The elastic structure is connected to the connecting part. The swing arm swings relative to the machine body, causing the elastic structure to elastically deform. The other end of the swing arm is provided with a connecting shaft. The guide wheel is sleeved on the connecting shaft and can rotate along the connecting shaft.

[0018] In any of the above technical solutions, the body includes a base plate, the base plate is provided with a rotating shaft and a clearance opening, the swing arm is located inside the body, the connecting part is rotatably connected to the rotating shaft, and the connecting shaft passes through the clearance opening and out of the body;

[0019] The guide wheel protrudes from the two adjacent sides of the base plate, and the clearance opening is elongated and extends obliquely toward the two adjacent sides of the base plate.

[0020] In any of the above technical solutions, the base plate is provided with a slot, and the elastic structure includes a spring piece, one end of which is connected to the connecting part, and the other end extends into the slot;

[0021] The spring sheet has a bending structure.

[0022] In any of the above technical solutions, the drop detection component further includes:

[0023] The probe rod is hollow, and the connecting shaft is hollow. The probe rod passes through the connecting shaft and can move along its axial direction.

[0024] A sensor, mounted on the machine body, is used to detect the axial position of the probe rod.

[0025] In any of the above technical solutions, the connecting shaft is constructed with a connecting ring, and the bottom end of the connecting ring is provided with a plurality of connecting arms spaced apart circumferentially, and the bottom end of the connecting arm is bent outward to form a hook.

[0026] The inner ring surface of the guide wheel is provided with an annular convex wall, and the guide wheel passes through the several connecting arms, with the annular convex wall and the hook engaging to limit axial movement.

[0027] This invention utilizes a second cleaning structure mounted on the guide wheels to wipe hard-to-reach areas such as frame edges. The drop detection component combines detection and cleaning functions, allowing the window cleaning robot to not only buffer and detect when approaching the frame but also simultaneously clean areas that the first cleaning structure cannot effectively reach. This effectively eliminates cleaning blind spots and improves overall cleaning coverage and effectiveness. Simultaneously, the elastic structure provides a pre-tensioning force to the guide wheels and the second cleaning structure against the frame, ensuring stable and tight contact between the second cleaning structure and the frame surface during wiping, thus significantly improving the cleaning effect on the frame. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of a window cleaning robot proposed in one embodiment of the present invention;

[0029] Figure 2 This is a three-dimensional structural diagram of a window cleaning robot proposed in one embodiment of the present invention from another perspective;

[0030] Figure 3 This is a top view of a window cleaning robot according to an embodiment of the present invention.

[0031] Figure 4 This is a bottom view structural diagram of a window cleaning robot according to an embodiment of the present invention;

[0032] Figure 5 for Figure 3 The schematic diagram of the AA cross-sectional structure shown in the figure;

[0033] Figure 6 This is a schematic diagram of the structure of the base plate and the drop detection component in one embodiment of the present invention;

[0034] Figure 7 This is a partially enlarged structural diagram of the base plate and drop detection component in one embodiment of the present invention;

[0035] Figure 8 This is a partially enlarged structural diagram of the base plate and drop detection component in one embodiment of the present invention;

[0036] Figure 9 This is a top view of the base plate in one embodiment of the present invention;

[0037] Figure 10 This is a three-dimensional structural diagram of a drop detection component according to an embodiment of the present invention;

[0038] Figure 11 This is an exploded structural diagram of a drop detection component according to an embodiment of the present invention;

[0039] Figure 12 This is a partial cross-sectional view of a drop detection component according to an embodiment of the present invention.

[0040] Figure 13 This is a three-dimensional structural diagram of the guide wheel and the second cleaning structure proposed in an embodiment of the present invention;

[0041] Figure 14 This is a cross-sectional view of the guide wheel and the second cleaning structure proposed in one embodiment of the present invention;

[0042] Figure 15 This is a three-dimensional structural diagram of the guide wheel proposed in one embodiment of the present invention;

[0043] Figure 16 This is a three-dimensional structural diagram of the guide wheel proposed in one embodiment of the present invention.

[0044] The correspondence between the reference numerals and the component names is as follows:

[0045] 10. Window cleaning robot; 100. Body; 110. Housing; 111. Base plate; 1111. Rotating shaft; 1112. Clearance opening; 1113. Slot; 120. Adsorption unit; 130. Walking unit; 140. Spraying unit; 150. First cleaning structure; 200. Drop detection component; 210. Elastic structure; 211. Bending structure; 220. Guide wheel; 221. Stop wall; 222. Inner ring; 2221. Annular convex wall; 223. Outer ring; 224. Bottom wall; 225. Reinforcing rib; 226. Annular mounting groove; 227. Protruding wall; 230. Second cleaning structure; 231. Cleaning wheel; 232. Cleaning plate; 240. Swing rod; 241. Swing arm; 242. Connecting part; 243. Connecting shaft; 2431. Connecting ring; 2432. Connecting arm; 2433. Hook; 250. Detector rod; 260. Sensor; 261. Transmitter; 262. Receiver. Detailed Implementation

[0046] 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.

[0047] 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.

[0048] The following is a reference to the appendix. Figure 1 To be continued Figure 16 This invention describes a window cleaning robot 10 according to some embodiments of the present invention.

[0049] like Figure 1 and Figure 2 As shown, this utility model proposes a window cleaning robot 10. The window cleaning robot 10 includes a body 100 and at least one drop detection component 200. In detail, the body 100 includes a housing 110, an adsorption unit 120, a walking unit 130, a control unit, etc. The housing 110 serves as the main body of the device, used to support and accommodate the various components. The walking unit 130 and the adsorption unit 120 are located at the bottom of the housing 110. The walking unit 130 provides mobility and may include wheels or track wheels, etc. The adsorption unit 120 is used to fix the body 100 to the surface to be cleaned, usually using vacuum adsorption, generating negative pressure through a fan or vacuum pump, and maintaining a seal by relying on sealing strips or sealing skirts. Some models also have a spray unit 140 for spraying liquid, which includes a liquid tank, a water pump, and nozzles. The control unit is used to control the operation of the entire machine, including a processor, etc.

[0050] The body 100 is provided with a first cleaning structure 150 for wiping the surface to be cleaned. For example, the first cleaning structure 150 is detachably provided at the bottom of the housing 110, and the first cleaning structure 150 is a cleaning cloth.

[0051] like Figure 4 As shown, the drop detection component 200 is located at the bottom of the body 100 and is used to detect whether the window cleaning robot 10 is on the edge or border of the surface to be cleaned, so as to prevent the machine from falling. Furthermore, the drop detection component 200 is located at the edge of the body 100. In a specific embodiment, the body 100 is square and a drop detection component 200 is provided at each of the four corners of the body 100 to detect the position of the body 100 in each direction and reduce the risk of the machine falling.

[0052] Furthermore, such as Figure 6As shown, the drop detection component 200 is oscillatingly disposed at the edge. The drop detection component 200 is provided with an elastic structure 210 and a guide wheel 220. The elastic structure 210 is connected to the body 100 to provide elastic restoring force for the drop detection component 200. For example, the elastic structure 210 includes, but is not limited to, elements that can undergo elastic deformation and provide restoring force, such as torsion springs, compression springs, tension springs, spring sheets, or elastic rubber bodies. The guide wheel 220 is rotatably disposed around its own axis. When the guide wheel 220 comes into contact with the edge or obstacle of the surface to be cleaned, it can provide a smooth guiding function through rolling friction and effectively reduce the movement resistance of the product. A portion of the guide wheel 220 protrudes from the outer contour of the body 100, allowing the guide wheel 220 to contact the edge of the surface to be cleaned before the body 100. Thus, when the window cleaning robot 10 approaches the edge during cleaning, the protruding guide wheel 220 will contact the edge before other parts of the body 100, thereby avoiding direct collision between the body 100 and the edge. This effectively prevents wear or damage caused by hard collisions between the body 100 and the edge. At the same time, the contact between the guide wheel 220 and the edge and obstacles causes the drop detection component 200 to swing relative to the body 100, which in turn causes the elastic structure 210 to undergo corresponding elastic deformation. The deformation of the elastic structure 210 absorbs the impact energy, providing effective cushioning for the entire body 100, thereby reducing the vibration caused by the collision and making the machine's operation more stable and reliable.

[0053] Among them, such as Figure 3 and Figure 5 As shown, a second cleaning structure 230 is fitted onto the guide wheel 220, used to wipe the frame when the guide wheel 220 contacts the frame. Specifically, the second cleaning structure 230 moves together with the guide wheel 220. As the guide wheel 220 rolls along the frame of the cleaning surface, the second cleaning structure 230 simultaneously wipes the frame surface. In this way, the drop detection component 200 has both detection and cleaning functions, enabling the window cleaning robot 10 to not only buffer and detect when approaching the frame, but also simultaneously clean areas of the frame that the first cleaning structure 150 cannot effectively reach, effectively eliminating cleaning dead spots and improving the overall cleaning coverage and effect. At the same time, the elastic structure 210 provides an elastic pre-tightening force pressing against the frame for the guide wheel 220 and the second cleaning structure 230, ensuring that the second cleaning structure 230 maintains stable and tight contact with the frame surface during wiping, thereby significantly improving the cleaning effect on the frame.

[0054] More preferably, the drop detection component 200 also includes a pressure detection component to detect the pressure exerted on the guide wheel 220 when it contacts the frame. The control unit can identify whether the window cleaning robot 10 is approaching or has already contacted the frame based on the signal fed back by the pressure detection component. Based on this detection result, the control unit can plan a new route in advance, such as controlling the window cleaning robot 10 to perform obstacle avoidance actions like turning or retreating, thereby enabling it to actively and intelligently avoid edges; or, controlling the window cleaning robot 10 to follow a cleaning path along the frame, thereby performing targeted cleaning of the frame and its adjacent corner areas.

[0055] In some embodiments, such as Figure 13 and Figure 14 As shown, the second cleaning structure 230 includes an annular cleaning wheel 231. The guide wheel 220 has stop walls 221 at both ends in the axial direction. The cleaning wheel 231 is sleeved on the outer circumferential surface of the guide wheel 220 and is limitedly fitted by the stop walls 221. For example, as... Figure 15 As shown, the guide wheel 220 has an inner ring 222 and an outer ring 223 coaxially arranged, and a bottom wall 224 connecting the inner ring 222 and the outer ring 223. The outer edge of the bottom wall 224 protrudes outward relative to the outer ring 223 to form one of the stop walls 221, and the end of the outer ring 223 away from the bottom wall 224 protrudes outward to form the other stop wall 221. Preferably, a plurality of reinforcing ribs 225 are provided between the inner ring 222 and the outer ring 223 to increase the strength of the guide wheel 220 and prevent the guide wheel 220 from deforming or being damaged in contact with the frame.

[0056] By using two stop walls 221 to limit the axial movement of the cleaning wheel 231 on both sides, it is possible to effectively prevent the cleaning wheel 231 from shifting or deviating axially on the guide wheel 220, ensuring the stability of the cleaning wheel 231 during the wiping process in contact with the frame. Furthermore, the structure with the limiting mechanism not only ensures a stable axial installation and effectively prevents the cleaning wheel 231 from accidentally loosening, but also facilitates the installation and removal of the cleaning wheel 231. This allows users to easily remove or install the cleaning wheel 231 from the guide wheel 220 when cleaning or replacing it, thus balancing maintenance convenience and reliability.

[0057] Furthermore, the stop wall 221 is provided with a clearance notch, which provides the operator with space to apply force or use tools, making it easier to push or pry the cleaning wheel 231 off the guide wheel 220, thereby greatly simplifying the disassembly process of the cleaning wheel 231 and facilitating subsequent cleaning or replacement maintenance.

[0058] In some embodiments, such as Figure 15 and Figure 16As shown, the second cleaning structure 230 also includes an annular cleaning plate 232. The guide wheel 220 has an annular mounting groove 226 at its end facing the surface to be cleaned, and a portion of the cleaning plate 232 is embedded within the annular mounting groove 226. For example, the cleaning plate 232 is made of soft rubber, fabric, or a combination of both. By adding an annular cleaning plate 232 to the end of the guide wheel 220 facing the surface to be cleaned, the drop detection component 200, in addition to the cleaning wheel 231, gains an extra cleaning end face directly facing the surface to be cleaned. Thus, when the guide wheel 220 approaches or moves along the frame, the cleaning plate 232 can directly contact and wipe the corner areas of the frame and adjacent small vertical surfaces, working in conjunction with the cleaning wheel 231 to achieve multi-angle, three-dimensional cleaning of the frame. This further eliminates cleaning dead zones that may be left by a single cleaning wheel 231, enhancing the cleaning ability and effect on complex corner structures.

[0059] More in detail, such as Figure 14 and Figure 15 As shown, the guide wheel 220 has an inner ring 222 and an outer ring 223 arranged coaxially, and a bottom wall 224 connecting the inner ring 222 and the outer ring 223. The outer edge of the bottom wall 224 protrudes outward relative to the outer ring 223 to form one of the stop walls 221. The end of the outer ring 223 away from the bottom wall 224 protrudes outward to form the other stop wall 221. The outer edge and the inner edge of the bottom wall 224 extend axially downward to form convex walls 227. The bottom wall 224 and the two convex walls 227 together define an annular mounting groove 226.

[0060] Furthermore, such as Figure 14 As shown, the height of the outer ring 223 wall of the annular mounting groove 226 is less than the height of the inner ring 222 wall of the annular mounting groove 226. This ensures that the cleaning plate 232 can be securely embedded in the mounting groove while its side edge is fully exposed. When the cleaning plate 232 contacts the frame, the exposed side edge can directly contact and wipe the side walls of the frame, further improving the three-dimensional cleaning effect on the corner areas.

[0061] In some embodiments, the cleaning wheel 231 is made of soft rubber, fabric, or a combination of soft rubber and fabric. In this way, the cleaning wheel 231 has good scraping and adsorption functions, or has elasticity and dust holding capacity, so as to adapt to the cleaning needs of different frame materials and stain types.

[0062] In some embodiments, the outer surface of the cleaning wheel 231 is formed with a plurality of protruding ridges. For example, the protruding ridges can be any shape such as vertical ridges, oblique ridges, or wavy ridges. This can effectively scrape away stubborn stains during wiping, increase the coefficient of friction during the cleaning process, prevent slipping on the edge, ensure thoroughness and stability of cleaning, and further improve the cushioning capacity.

[0063] In some embodiments, the cleaning wheel 231 and the guide wheel 220 are tightly fitted together, which can effectively prevent the cleaning wheel 231 from spinning freely on the guide wheel 220 or from sliding relative to the guide wheel 220, ensuring that the rolling of the guide wheel 220 can be effectively transmitted to the cleaning wheel 231, so as to achieve a stable and synchronous wiping action.

[0064] In some embodiments, such as Figure 10 , Figure 11 and Figure 13 As shown, the drop detection component 200 includes a swing arm 240, which is constructed with a swing arm 241. One end of the swing arm 241 is provided with a connecting part 242 that is rotatably connected to the body 100. An elastic structure 210 is connected to the connecting part 242. The swing arm 240 swings relative to the body 100, causing the elastic structure 210 to elastically deform. The other end of the swing arm 241 is provided with a connecting shaft 243. A guide wheel 220 is sleeved on the connecting shaft 243 and can rotate along the connecting shaft 243.

[0065] For example, such as Figure 7 and Figure 8 As shown, the connecting part 242 is one of the rotating shaft 1111 and the rotating hole. The body 100 is provided with the other of the rotating shaft 1111 and the rotating hole. The rotating shaft 1111 extends into the rotating hole, so that the swing arm 240 can rotate around the axis of the rotating shaft 1111. Then the connecting shaft 243 can rotate around the rotating shaft 1111 with the swing arm 241 as the rotation radius, so as to realize the swing arm 240 swinging relative to the body 100.

[0066] By setting up a swing rod 240 including a swing arm 241, and using the connecting part 242 and the connecting shaft 243 to achieve rotational connection with the body 100 and load bearing on the guide wheel 220 respectively, a stable and reliable lever transmission mechanism is formed. When the guide wheel 220 contacts the frame, the force is transmitted to the swing arm 241 through the connecting shaft 243, and drives the entire swing rod 240 to swing around the connecting part 242. This swing can be sensed by the elastic structure 210 and absorbed and buffered by its deformation, converting the impact on the guide wheel 220 into the swing of the swing rod 240 and the deformation of the elastic structure 210. This not only achieves effective buffering and reset, but also makes the triggering of drop detection more sensitive and reliable.

[0067] Furthermore, such as Figure 6 and Figure 9 As shown, the body 100 includes a base plate 111, the base plate 111 is provided with a rotating shaft 1111 and a clearance opening 1112, the swing arm 241 is located inside the body 100, the connecting part 242 is rotatably connected to the rotating shaft 1111, and the connecting shaft 243 passes through the clearance opening 1112 and out of the body 100. By setting the swing arm 241 inside the body 100 and using the rotating shaft 1111 on the base plate 111 to achieve rotatable connection, the overall structure is more compact and the internal space of the body 100 is effectively utilized.

[0068] like Figure 4 and Figure 9 As shown, the guide wheel 220 protrudes from the two adjacent sides of the base plate 111, and the clearance opening 1112 is elongated and extends obliquely towards the two adjacent sides of the base plate 111. The connecting shaft 243 passes through the elongated clearance opening 1112 and exits the body 100. The clearance opening 1112 provides the necessary swing space for the connecting shaft 243 and the guide wheel 220, and the clearance opening 1112 extends obliquely towards the two adjacent sides of the base plate 111. This allows the guide wheel 220 to protrude from the two adjacent sides of the base plate 111, thereby enabling a single drop detection component 200 to simultaneously detect and clean the edges of two adjacent sides of the body 100, greatly improving the functional coverage of a single component and the space utilization efficiency of the entire machine.

[0069] In some embodiments, such as Figure 3 and Figure 5 As shown, the base plate 111 is provided with a slot 1113. The elastic structure 210 includes a spring sheet. One end of the spring sheet is connected to the connecting part 242, and the other end extends into the slot 1113. By using a spring sheet as the elastic structure 210, and connecting one end of it to the connecting part 242, and extending the other end into the slot 1113 provided in the base plate 111, a simple and easy-to-assemble elastic reset solution is provided. The spring sheet can make a sensitive elastic response to the small displacement of the swing arm 240, which is especially suitable for the working scenario of the window cleaning robot 10. It can ensure that the guide wheel 220 and the second cleaning structure 230 always adhere to the edge surface with gentle and stable pressure when walking along the edge, thereby improving the cleaning effect. In the event of a collision, it can effectively absorb the impact through large deformation and provide reliable buffering and reset for the body 100.

[0070] Better, such as Figure 10 As shown, the spring has a bending structure 211. For example, the bending structure 211 can be a V-shape, U-shape, or S-shape formed by bending the spring. The bending structure 211 effectively increases the deformation capability and elastic stroke of the spring in a limited space, enabling it to absorb more impact energy through its own bending deformation. At the same time, the bending structure 211 can accurately guide and control the deformation path and direction of the spring when it is subjected to force, thereby achieving optimized design of the elastic restoring force and stroke. This allows the spring to provide a more ideal and controllable buffering and restoring capability for the drop detection component 200, further improving its smoothness and reliability.

[0071] In some embodiments, the drop detection component 200 further includes a detection rod 250 and a sensor 260. The connecting shaft 243 is a hollow structure, and the detection rod 250 passes through the connecting shaft 243 and can move axially. The sensor 260 is disposed on the body 100 and is used to detect the axial position of the detection rod 250. For example, the sensor 260 can be any structure such as a Hall sensor 260, a photoelectric sensor 260, or a micro switch, etc., which will not be listed here. In one specific embodiment, the sensor 260 includes a transmitter 261 and a receiver 262. One of the transmitter 261 and receiver 262 is disposed at the top of the detection rod 250, and the other is correspondingly disposed on the swing arm 241. When the guide wheel 220 rolls on a flat surface, the detection rod 250 contacts the surface to be cleaned under the action of the auxiliary elastic element. When the detection rod 250 touches the edge or slips, the detection rod 250 undergoes a corresponding axial displacement. The change in its axial position is detected in real time by the sensor 260 and converted into an electrical signal. This detection method is highly sensitive and responds quickly, enabling it to identify edges or obstacles earlier and more accurately, thereby greatly improving the accuracy of the anti-fall system of the window cleaning robot 10.

[0072] Furthermore, such as Figure 11 and Figure 12 As shown, the connecting shaft 243 is constructed with a connecting ring 2431. The bottom end of the connecting ring 2431 is provided with a plurality of connecting arms 2432 spaced apart circumferentially. The bottom end of the connecting arm 2432 is bent outward to form a hook 2433. The inner ring 222 surface of the guide wheel 220 is provided with an annular convex wall 2272221. The guide wheel 220 passes through the plurality of connecting arms 2432 and the annular convex wall 2272221 and the hook 2433 are engaged to limit axial positioning.

[0073] The connecting shaft 243 is formed by a connecting ring 2431, circumferentially spaced connecting arms 2432, and an end hook 2433. The hook 2433 engages with the annular protrusion 2272221 on the inner ring 222 surface of the guide wheel 220, thus achieving reliable axial positioning of the guide wheel 220 on the connecting shaft 243. This engagement structure allows the guide wheel 220 to be easily and quickly assembled and disassembled, while effectively preventing it from accidentally detaching from the connecting shaft 243 during operation.

[0074] 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.

[0075] 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 is equipped with a first cleaning structure for wiping the surface to be cleaned; At least one drop detection component is pivotally disposed on the edge of the body. The drop detection component is provided with an elastic structure and a guide wheel. The elastic structure is connected to the body to provide elastic restoring force to the drop detection component. A portion of the guide wheel protrudes from the outer contour of the body, so that the guide wheel can contact the edge of the surface to be cleaned before the body. The guide wheel is equipped with a second cleaning structure for wiping the frame when the guide wheel comes into contact with the frame.

2. The window cleaning robot according to claim 1, characterized in that, The second cleaning structure includes an annular cleaning wheel, and the guide wheel is provided with stop walls at both ends in the axial direction. The cleaning wheel is sleeved on the outer circumferential surface of the guide wheel and is limited and matched with the stop walls.

3. The window cleaning robot according to claim 2, characterized in that, The second cleaning structure also includes an annular cleaning plate, and the guide wheel has an annular mounting groove at one end facing the surface to be cleaned, with a portion of the cleaning plate embedded in the annular mounting groove.

4. The window cleaning robot according to claim 3, characterized in that, The height of the outer ring wall of the annular mounting groove is less than the height of the inner ring wall of the annular mounting groove.

5. The window cleaning robot according to any one of claims 2 to 4, characterized in that, The cleaning wheel is made of soft rubber, fabric, or a combination of soft rubber and fabric; and / or The outer surface of the cleaning wheel has several raised ridges; and / or The cleaning wheel and the guide wheel are tightly fitted together.

6. The window cleaning robot according to any one of claims 1 to 4, characterized in that, The drop detection component includes: The swing arm has a swing arm structure. One end of the swing arm is provided with a connecting part that is rotatably connected to the machine body. The elastic structure is connected to the connecting part. The swing arm swings relative to the machine body, causing the elastic structure to elastically deform. The other end of the swing arm is provided with a connecting shaft. The guide wheel is sleeved on the connecting shaft and can rotate along the connecting shaft.

7. The window cleaning robot according to claim 6, characterized in that, The body includes a base plate, the base plate is provided with a rotating shaft and a clearance opening, the swing arm is located inside the body, the connecting part is rotatably connected to the rotating shaft, and the connecting shaft passes through the clearance opening and out of the body; The guide wheel protrudes from the two adjacent sides of the base plate, and the clearance opening is elongated and extends obliquely toward the two adjacent sides of the base plate.

8. The window cleaning robot according to claim 7, characterized in that, The base plate is provided with a slot, and the elastic structure includes a spring piece, one end of which is connected to the connecting part, and the other end of which extends into the slot; The spring sheet has a bending structure.

9. The window cleaning robot according to claim 6, characterized in that, The drop detection component also includes: The probe rod is hollow, and the connecting shaft is hollow. The probe rod passes through the connecting shaft and can move along its axial direction. A sensor, mounted on the machine body, is used to detect the axial position of the probe rod.

10. The window cleaning robot according to claim 9, characterized in that, The connecting shaft is configured with a connecting ring, and the bottom end of the connecting ring is provided with a plurality of connecting arms spaced apart circumferentially, and the bottom end of the connecting arm is bent outward to form a hook. The inner ring surface of the guide wheel is provided with an annular convex wall, and the guide wheel passes through the several connecting arms, with the annular convex wall and the hook engaging to limit axial movement.

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