Window cleaning robot and edge brush assembly

Abstract

The present disclosure relates to a window-cleaning robot and an edge brush assembly. The window-cleaning robot comprises a robot body and an edge brush assembly arranged at an edge position of the robot body. The edge brush assembly comprises an edge brush housing, a transmission mechanism, an edge brush body and a detection mechanism. The transmission mechanism is configured as an output shaft rotatably connected to the edge brush housing, and the output shaft has a hollow inner cavity. The edge brush body is detachably connected to the output shaft. The detection mechanism comprises a transmission rod, a trigger ball head at one end of the transmission rod, and a sensor cooperating with the transmission rod. The trigger ball head is arranged on the edge brush body and can move the transmission rod in the axial direction of the output shaft when subjected to force to trigger the sensor. When the edge brush body reaches the service life, the user does not need to replace the entire edge brush assembly, but only needs to replace the edge brush body alone, thereby improving the convenience of use.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment, specifically to a window cleaning robot and a side brush assembly. Background Technology

[0002] With the improvement of living standards, automatic cleaning equipment has been deeply integrated into people's daily lives. Among them, the advent of window cleaning robots has brought great convenience to people's home life, freeing up users' hands and avoiding the dangers that may be caused by cleaning high-rise windows.

[0003] In existing technologies, side brush components can be installed at the edges and corners of window cleaning robots to avoid missing any corners and achieve thorough cleaning. However, the small size of the side brush components is prone to wear and tear and has a short lifespan. Users need to clean the side brush components frequently to ensure cleaning effectiveness, resulting in a poor user experience. Utility Model Content

[0004] This disclosure provides a window cleaning robot and a side brush assembly to address the problems existing in the prior art.

[0005] According to a first aspect of this disclosure, a window cleaning robot is provided, including a body and a side brush assembly, wherein the side brush assembly is disposed at the edge of the body, and the side brush assembly includes: Side brush housing; A transmission mechanism, wherein the transmission mechanism is configured to be rotatably connected to the side brush housing, the output shaft having a hollow inner cavity; A side brush body, wherein the side brush body is configured to be detachably connected to the output shaft; The detection mechanism includes a transmission rod, a trigger ball located at one end of the transmission rod, and a sensor that cooperates with the transmission rod, wherein: The trigger ball head is disposed on the side brush body and can cause the transmission rod to move axially along the output shaft when subjected to force, thereby triggering the sensor.

[0006] In one embodiment of this disclosure, the transmission rod includes a first rod located in the hollow cavity of the output shaft and a second rod disposed on the trigger ball head. The side brush body includes a through hole and a receiving cavity for accommodating the second rod. When the side brush body is connected to the output shaft, the first rod extends into the receiving cavity.

[0007] In one embodiment of this disclosure, the distance by which the trigger ball moves axially along the output shaft is less than the axial extension length of the receiving cavity.

[0008] In one embodiment of this disclosure, the diameter of the second rod is larger than the diameter of the first rod.

[0009] In one embodiment of this disclosure, the inner diameter of the receiving cavity is larger than the diameter of the second rod.

[0010] In one embodiment of this disclosure, the end of the second rod away from the trigger ball is located within the receiving cavity and is configured to be movably connected to the side brush body by a screw; the inner diameter of the through hole is larger than the diameter of the second rod, and the diameter of the screw head is larger than the inner diameter of the through hole.

[0011] In one embodiment of this disclosure, a buffer is provided at the end of the first rod, the buffer being configured to abut against the screw.

[0012] In one embodiment of this disclosure, the first rod is configured to pre-compress the second rod under the action of an elastic device, and the trigger ball is configured to, after the loss of external force, push the second rod under the action of the elastic device and extend the trigger ball relative to the side brush housing.

[0013] In one embodiment of this disclosure, the total axial length of the output shaft and the side brush body is configured to be less than the length of the drive rod.

[0014] According to a second aspect of this disclosure, a brush component is also provided, comprising: Side brush housing; A transmission mechanism, wherein the transmission mechanism is configured to be rotatably connected to the side brush housing, the output shaft having a hollow inner cavity; A side brush body, wherein the side brush body is configured to be detachably connected to the output shaft; The detection mechanism includes a transmission rod, a trigger ball located at one end of the transmission rod, and a sensor that cooperates with the transmission rod, wherein: The trigger ball head is disposed on the side brush body and can cause the transmission rod to move axially along the output shaft when subjected to force, thereby triggering the sensor.

[0015] One beneficial effect of this disclosure is that the side brush body and the output shaft are detachably connected. When the side brush body experiences reduced cleaning effectiveness due to wear or reaches the end of its service life, the user does not need to replace the entire side brush assembly; only the side brush body needs to be replaced. This reduces the inconvenience of frequent maintenance and improves ease of use. Furthermore, because the trigger ball head is connected to the side brush body, the side brush body and the trigger ball head form a detachable integrated structure. The trigger ball head can be removed simultaneously when disassembling the side brush body. This avoids the problem of a large trigger ball head obstructing the disassembly and assembly path of the side brush body and also improves the convenience of after-sales maintenance of the trigger ball head.

[0016] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0018] Figure 1 This is a schematic diagram of the structure of a window cleaning robot provided in one embodiment of the present disclosure; Figure 2 This is a cross-sectional view of a side brush assembly provided in an embodiment of this disclosure; Figure 3 This is a cross-sectional view of the side brush assembly in a disassembled state according to an embodiment of this disclosure; Figure 4 This is an exploded view of a side brush component provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the output shaft structure provided in an embodiment of the present disclosure; Figure 6 This is a schematic diagram of a lifting seat structure provided in an embodiment of the present disclosure; Figure 7 This is a schematic diagram of the lifting seat structure from another angle according to an embodiment of this disclosure; Figure 8 This is a schematic diagram of the internal structure of the sleeve provided in an embodiment of this disclosure; Figure 9 This is a cross-sectional view of the side brush body, trigger ball head, and second rod provided in an embodiment of this disclosure.

[0019] Figures 1 to 9 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows: 100. Side brush assembly; 1. Side brush body; 11. Receiving cavity; 12. Through hole; 13. Stepped surface; 21. Motor; 22. Reducer; 23. Output shaft; 230. Hollow inner cavity; 231. Flange; 3. Lifting seat; 31. Sliding groove; 311. First end; 312. Second end; 32. Groove; 33. Through hole; 41. One-way bearing; 42. Sleeve; 421. Raised ridge; 5. Base; 6. Roller; 61. Rolling bearing; 7. Elastic element; 81. Sensor; 82. Trigger element; 83. Trigger ball head; 84. Transmission rod; 841. First rod; 842. Second rod; 85. Elastic device; 86. Buffer element; 87. Screw; 200. Body. Detailed Implementation

[0020] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0021] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0022] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0024] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0025] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0026] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0027] This disclosure provides a side brush assembly and a window cleaning robot. The window cleaning robot includes the side brush assembly. For ease of understanding, the following will refer to... Figures 1 to 8 The specific structure and working principle of the window cleaning robot disclosed herein will be described in detail with reference to one embodiment, and the specific structure and working principle of the side brush assembly will also be introduced at the same time.

[0028] refer to Figure 1 This disclosure provides a window cleaning robot, including a body 200 and a side brush assembly 100. The body 200 carries the various components of the window cleaning robot and has an adsorption surface that can adhere to and adsorb onto a work surface such as a window, glass, wall, or mirror, allowing the window cleaning robot to operate on that surface. Specifically, the body 200 may have a shape suitable for self-movement on work surfaces such as glass or walls, such as a circle, rectangle, ellipse, or other shapes well known to those skilled in the art. In one specific embodiment of this disclosure, as... Figure 1 As shown, the body 200 is constructed in a square shape.

[0029] A cleaning component is provided on the body 200, configured for cleaning the work surface. The cleaning component can be a cloth, brush, etc., and is positioned on the adsorption surface of the body 200, allowing it to directly contact the work surface and clean it during the robot's movement. In some existing window cleaning robots, the edges and corners of the body 200 are not covered by the cleaning component. This prevents the cleaning component from adhering to the edges of the work surface (such as window frames and corners) when cleaning framed glass, causing the robot to miss these areas and leading to dust accumulation near the edges. To address this issue, the window cleaning robot of this disclosure includes a side brush assembly 100.

[0030] refer to Figure 1 The side brush assembly 100 is located at the edge of the body 200. Specifically, the side brush assembly 100 includes a side brush body 1 located at the edge of the body 200. The side brush body 1 may include bristles, a cloth, soft rubber, etc. Since the side brush body 1 is located at the edge of the window cleaning robot body 200, it can clean areas that traditional window cleaning robots cannot cover, thereby increasing the cleaning area of ​​the window cleaning robot.

[0031] In one embodiment of this disclosure, the side brush assembly 100 can be disposed at the corner position of the body 200. Furthermore, since the body 200 in this embodiment is constructed as a square, four side brush assemblies 100 can be provided, with each of the four side brush assemblies 100 located at one of the four corner positions of the body 200. For scenarios involving cleaning framed windows, the window cleaning robot can clean the four corners of the window independently using the four side brush assemblies 100 without needing to turn, thereby simplifying the control logic.

[0032] In the direction of travel of the window cleaning robot, the projection of the side brush body 1 at least partially overlaps with that of the cleaning component; that is, the cleaning areas of the side brush body 1 and the cleaning component at least partially overlap. It is understood that if the projection of the side brush body 1 and the cleaning component does not overlap at all, then at least a portion of the working surface in the direction of travel of the window cleaning robot will be neither covered by the cleaning component nor by the side brush body 1, resulting in missed areas. This disclosure ensures comprehensive cleaning and avoids missed areas by positioning the side brush body 1 at a position that partially overlaps with the projection of the cleaning component.

[0033] The side brush assembly 100 also includes a side brush housing, a drive mechanism, a transmission mechanism, and a detection mechanism. The side brush housing serves as the mounting base for other components of the side brush assembly 100 and can be fixedly mounted on the body 200. (Reference) Figure 2 and Figure 5The drive mechanism may include a motor 21 and a reducer 22 that is driven by the motor 21. The drive mechanism is configured to have an output shaft 23 rotatably connected to the side brush housing, and the output shaft 23 is driven by the output end of the reducer 22. Under the drive of the motor 21, the reducer 22 can drive the output shaft 23 to rotate in a first direction or a second direction, the first direction being opposite to the second direction.

[0034] The output shaft 23 can be used to drive the side brush body 1 to rise and fall relative to the working surface. Specifically, under the transmission action of the output shaft 23, the side brush body 1 can move between a first position and a second position. When in the first position, the side brush body 1 is configured to contact the working surface to clean the working surface together with the cleaning component; when in the second position, the side brush body 1 is configured to detach from the working surface. The side brush assembly 100 can move between the first position and the second position according to different working scenarios. For example, the side brush body 1 can be controlled to move to the first position only when the window cleaning robot travels to the edge or corner position, thereby minimizing the contamination of the side brush body 1, thus extending the service life of the side brush assembly 100 and reducing the number of times the user cleans the side brush body 1; moreover, the side brush body 1 will not carry dirt to other positions, avoiding secondary contamination of the working surface.

[0035] In one specific embodiment of this disclosure, the side brush assembly 100 can be in the first position only in the edge-working mode. In the normal working mode, the side brush assembly 100 can move to the second position to detach from the working surface. In a specific application scenario, the window cleaning robot in the normal working mode can automatically travel along paths such as Z-shaped, N-shaped, zigzag, and bow-shaped paths to clean the working surface. Dirt on the working surface is easily scraped to the edge of the working surface by the cleaning components, causing dust accumulation in areas that the cleaning components cannot cover. To clean the dust accumulation, the window cleaning robot is controlled to execute the edge-working mode, and the side brush body 1 moves to the first position to clean the edge of the working surface. The side brush body 1 only works in the edge-working mode, thereby minimizing the contamination of the side brush body 1, reducing the wear of the side brush body 1, and extending the service life of the side brush body 1. Furthermore, when the side brush body 1 leaves the edge of the working surface (i.e., when the window cleaning robot is in normal working mode), the side brush body 1 can move to a second position and thus detach from the working surface. This prevents the dirt that the side brush body 1 picks up when cleaning the edge from being carried to other parts of the working surface, thereby avoiding secondary pollution.

[0036] refer to Figure 2 and Figure 4 A mating mechanism is provided between the output shaft 23 and the side brush body 1. The mating mechanism includes a lifting seat 3 with an installation cavity. During the rotation of the output shaft 23, the lifting seat 3 can move closer to or away from the working surface, thereby driving the side brush body 1 to rise and fall.

[0037] In one embodiment of this disclosure, reference is made to Figures 5 to 7 The lifting seat 3 has a spirally distributed sliding groove 31 on its circumference. The end of the sliding groove 31 adjacent to the working surface is designated as the first end 311, and the end away from the working surface is designated as the second end 312. The output shaft 23 has a flange 231 for engaging with the sliding groove 31. The flange 231 can extend into the sliding groove 31, and can slide along the sliding groove 31 during the rotation of the output shaft 23. It can be understood that since the output shaft 23 is immovable in the axial direction, the flange 231 on the output shaft 23 also cannot move in the axial direction. Therefore, during the rotation of the output shaft 23, the lifting seat 3 will be displaced in the axial direction so that the flange 231 can maintain engagement with the spirally extended sliding groove 31.

[0038] Initially, the side brush body 1 can be located in the second position, at which point the flange 231 is located at the first end 311 of the sliding groove 31. When it is necessary to control the side brush body 1 to move to the first position, the motor 21 can drive the output shaft 23 to rotate along the first direction. During the rotation of the output shaft 23 along the first direction, the flange 231 drives the lifting seat 3 to move towards the working surface until the second end 312 of the sliding groove 31 engages with the flange 231, so that the lifting seat 3 drives the side brush body 1 to move to the first position. Since there is a relative rotational distance in the circumferential direction and a relative movement distance in the axial direction between the first end 311 and the second end 312 of the sliding groove 31, and the flange 231 cannot move in the axial direction, as the output shaft 23 rotates along the first direction, the lifting seat 3 can move towards the working surface, so that the flange 231 slides from the first end 311 to the second end 312 in the sliding groove 31. The side brush body 1, installed at the bottom of the lifting seat 3, can move towards the working surface under the driving action of the lifting seat 3 until it reaches the first position.

[0039] When the side brush body 1 moves to the first position, it can clean the working surface. At this time, the flange 231 is located at the second end 312 of the sliding groove 31. During the rotation of the output shaft 23 in the second direction, the flange 231 drives the lifting seat 3 to move away from the working surface until the first end 311 of the sliding groove 31 engages with the flange 231, so that the lifting seat 3 drives the side brush body 1 to the second position. Since there is a relative rotational distance in the circumferential direction and a relative movement distance in the axial direction between the second end 312 and the first end 311 of the sliding groove 31, and the flange 231 cannot move in the axial direction, as the output shaft 23 rotates in the second direction, the lifting seat 3 can move away from the working surface, so that the flange 231 slides from the second end 312 to the first end 311 in the sliding groove 31. The side brush body 1, installed at the bottom of the lifting seat 3, can move away from the working surface under the action of the lifting seat 3 until it reaches the second position.

[0040] In one specific embodiment of this disclosure, reference is made to Figure 5 and Figure 7 Two flanges 231 and two sliding grooves 31 are provided, with the two flanges 231 extending in opposite directions and the two sliding grooves 31 located on opposite sides of the lifting seat 3. The lifting seat 3 has a through hole 33, through which the output shaft 23 extends into the mounting cavity of the lifting seat 3, allowing the two flanges 231 to extend into their respective sliding grooves 31. The symmetrical arrangement of the flanges 231 and sliding grooves 31 ensures a stable connection between the output shaft 23 and the lifting seat 3. Under the constraint of the two flanges 231, the output shaft 23 will not disengage from the lifting seat 3, but will maintain a stable fit during movement.

[0041] In one embodiment of this disclosure, such as Figure 6 As shown, the second end 312 of the sliding groove 31 has a movable space for the flange 231 to move axially in the lifting seat 3. The diameter of the second end 312 of the sliding groove 31 can be larger than the diameter of other positions on the sliding groove 31. When the flange 231 slides in other positions in the sliding groove 31, the flange 231 and the inner wall of the sliding groove 31 are tightly fitted, and the flange 231 does not have a movable space to move axially. However, when the flange 231 moves to the position of the second end 312, due to the increase in the diameter of the sliding groove 31, the flange 231 is no longer tightly fitted to the inner wall of the sliding groove 31, and therefore has a movable space to move axially.

[0042] refer to Figure 2 and Figure 4 The side brush assembly 100 also includes an elastic element 7 pre-pressed onto the lifting seat 3. The lifting seat 3 is configured to tend to move the side brush body 1 towards the first position under the elastic force of the elastic element 7. Specifically, the elastic element 7 can be a spring, see reference. Figure 2In the view direction, the upper end of the elastic element 7 can abut against the bottom wall of the reducer 22, and its lower end can be pre-pressed on the lifting seat 3, thereby continuously providing a downward elastic force to the lifting seat 3, so that the lifting seat 3 has a tendency to move towards the working surface.

[0043] When in the first position, the side brush body 1 can contact the working surface for cleaning. To facilitate control of the positive pressure applied by the side brush body 1 to the working surface during cleaning, thereby avoiding excessive pressure leading to excessive friction and glass abrasion, and insufficient pressure leading to poor cleaning effect, this disclosure designs the side brush body 1 in the first position to be able to elastically float relative to the working surface. The elastic element 7 can press the side brush body 1 onto the working surface. When the positive pressure is too high, since the flange 231 has room for movement at the second end 312 of the sliding groove 31, the lifting seat 3 can drive the side brush body 1 to float away from the working surface, while simultaneously compressing the elastic element 7, thus ensuring the dynamic balance of the positive pressure of the side brush body 1 on the working surface. The system does not need to control the adjustment of the positive pressure of the side brush body 1 through complex logic, but can achieve adaptive floating of the side brush body 1 relative to the working surface through the above structural design, thereby ensuring that the positive pressure applied by the side brush body 1 to the working surface is neither too high nor too low.

[0044] In one embodiment of this disclosure, reference is made to Figure 2 and Figure 4 The side brush housing includes a base 5, which is fixedly mounted on the body 200 and serves to support the various components of the side brush assembly 100. Specifically, in this embodiment, the base 5 can be part of the reducer 22, and it can be constructed as a hollow cylinder to accommodate structures such as the output shaft 23 and the lifting seat 3. Figure 2 As shown, the mating mechanism also includes a sleeve 42 rotatably connected to the base 5 via a one-way bearing 41. The one-way bearing 41 is a bearing that can rotate freely in one direction and is locked in the other direction. Under the restriction of the one-way bearing 41, the sleeve 42 can only rotate in a single direction. The one-way bearing 41 and the sleeve 42 of this disclosure are both constructed to rotate only in the first direction and are locked in the second direction.

[0045] The lifting seat 3 is configured to guide and fit within the sleeve 42, and is configured to move axially along the sleeve 42 and drive the sleeve 42 to rotate. In a specific embodiment of this disclosure, the outer wall of the lifting seat 3 has at least one first mating portion extending axially therein, and the inner wall of the sleeve 42 has a second mating portion extending axially therein, the second mating portion being configured to engage with the first mating portion so that the lifting seat 3 and the sleeve 42 do not rotate relative to each other. In this embodiment, reference is made to... Figure 7 and Figure 8The first mating part includes a groove 32 formed on the lifting seat 3, and multiple grooves 32 can be provided; the second mating part includes a protrusion 421 provided on the inner wall of the sleeve 42, and multiple protrusions 421 can be provided, with each protrusion 421 corresponding to a groove 32. The grooves 32 extend into each other, thereby forming a keyway mating structure, which enables the lifting seat 3 to rotate synchronously with the sleeve 42.

[0046] As mentioned above, since the sleeve 42 can only rotate in the first direction under the constraint of the one-way bearing 41, the lifting seat 3 can also only rotate in the first direction under the constraint of the sleeve 42, and is locked in the second direction. When the side brush body 1 is in the first position, the output shaft 23 continues to rotate in the first direction, and the flange 231 is configured to push the second end 312 of the sliding groove 31, so that the lifting seat 3 drives the sleeve 42 to rotate relative to the side brush housing in the first direction under the action of the one-way bearing 41. It can be understood that the rotation of the side brush body 1 in the first position can improve its cleaning effect on the working surface. In this embodiment, a drive mechanism is used to drive the rotation of the side brush body 1.

[0047] Specifically, when the side brush body 1 is in the first position, the flange 231 of the output shaft 23 is located at the second end 312 of the sliding groove 31. When the output shaft 23 continues to rotate in the first direction under the drive of the motor 21, the flange 231 can abut against the inner wall of the second end 312 of the sliding groove 31, thereby pushing the lifting seat 3 to rotate together in the first direction. Since the one-way bearing 41 can rotate in the first direction, the lifting seat 3 will not be subject to resistance from the sleeve 42 during the rotation in the first direction, but can drive the sleeve 42 and the one-way bearing 41 to rotate together in the first direction. This disclosure realizes the use of the same drive mechanism to drive the side brush body 1 to rotate, and to drive the side brush body 1 to perform linear motion in the axial direction.

[0048] When the output shaft 23 rotates in the second direction, the lifting seat 3, under the limiting action of the one-way bearing 41 and the sleeve 42, can only move linearly along the axial direction, thereby driving the side brush body 1 to the second position, without rotating along the second direction with the output shaft 23. When it is necessary to control the side brush body 1 to move to the second position, the motor 21 needs to be reversed to make the output shaft 23 rotate in the second direction, thereby driving the lifting seat 3 and the side brush body 1 to leave the working surface. During the linear movement, neither the lifting seat 3 nor the side brush body 1 will rotate. After the side brush body 1 moves to the second position, the flange 231 on the output shaft 23 reaches the first end 311 of the sliding groove 31. When the motor 21 continues to reverse, since the lifting seat 3 cannot rotate in the second direction under the action of the one-way bearing 41, the flange 231 stuck at the first end 311 will increase the current of the motor 21. The control unit can confirm that the side brush body 1 has moved to the second position by detecting the magnitude of the current of the motor 21 and control the motor 21 to stop rotating.

[0049] In one embodiment of this disclosure, a window cleaning robot can be used to clean framed surfaces such as windows. During edge cleaning, the side brush assembly 100 may rub against the frame, causing wear and tear on both the side brush assembly 100 and the frame. To address the above problem, refer to... Figure 2 and Figure 4 The side brush housing also includes rollers 6, which are configured to roll and rub against the frame when the window cleaning robot is in edge-to-edge working mode. Rollers 6 are mounted on the base 5 via rolling bearings 61, thereby forming the side brush housing together with the base 5. By providing rollers 6, this disclosure reduces the friction between the side brush assembly 100 and the frame, thereby reducing wear on both the side brush assembly 100 and the frame.

[0050] The roller 6 is constructed as a hollow cylinder and is coaxially sleeved on the outside of the side brush body 1 via a rotating bearing 61. This allows the roller 6 to act as a barrier between the side brush body 1 and the edge when the side brush body 1 is cleaning along the edge, preventing contact between them. Thus, the roller 6 sleeved on the outside of the side brush body 1 prevents wear on both the side brush body 1 and the edge, ensuring that the contact between the window cleaning robot and the edge is through the roller 6 and the interaction force is rolling friction.

[0051] In one embodiment of this disclosure, the window cleaning robot can also be used to clean frameless surfaces such as glass curtain walls. When the window cleaning robot reaches the right angle between two curtain walls or the edge of the curtain wall, it is difficult to promptly provide feedback to the control unit regarding the suspended position of the side brush assembly 100. This causes the control unit to be unable to control the window cleaning robot to brake or turn in time, resulting in the window cleaning robot falling off the edge or right angle. To solve this problem, the side brush assembly 100 of this disclosure is provided with a detection mechanism.

[0052] refer to Figure 2 and Figure 4 The detection mechanism includes a transmission rod 84, a trigger ball head 83 located at one end of the transmission rod 84, and a sensor 81 that cooperates with the transmission rod 84. The trigger ball head 83 is configured to cause the transmission rod 84 to move axially along the output shaft 23 when force is applied, thereby triggering the sensor 81. Specifically, the sensor 81 can be located on the transmission rod 84 away from the trigger ball head 83. During the cleaning process, the trigger ball head 83 can be pre-pressed onto the working surface. When the window cleaning robot moves outside the working surface, the trigger ball head 83 suddenly becomes suspended, thereby triggering the sensor 81 at the other end via the transmission rod 84. Specifically, a trigger element 82 for cooperating with the sensor 81 can be provided at the end of the transmission rod 84 away from the trigger ball head 83. The trigger element 82 moves to trigger the sensor 81 under the action of the transmission rod 84.

[0053] Sensor 81 can be fixedly mounted on the side brush housing. In one specific embodiment, sensor 81 can be an infrared sensor, and trigger 82 can be a baffle. When trigger 82 moves to a position away from sensor 81, the infrared light is not blocked by trigger 82, so sensor 81 can receive infrared light signals normally. At this time, sensor 81 is in a normal state where it is not triggered. However, when trigger 82 moves to a position that cooperates with sensor 81, the infrared light of sensor 81 is blocked by trigger 82. At this time, sensor 81 cannot receive infrared light signals, and the sudden change in light signal causes sensor 81 to be triggered.

[0054] The trigger ball head 83 is used to detect the edge of the working surface. When the window cleaning robot is normally adsorbed on the working surface, the trigger ball head 83 will be squeezed by the working surface. The trigger ball head 83 drives the transmission rod 84 and the trigger element 82 at the other end of the transmission rod 84 to rise, thereby moving the trigger element 82 away from the sensor 81. At this time, the sensor 81 will not be triggered. When the window cleaning robot moves to the edge of the working surface, the trigger ball head 83 moves to a position outside the working surface and loses support. The trigger ball head 83 drives the transmission rod 84 and the trigger element 82 to descend together. The trigger element 82 reaches the position to cooperate with the sensor 81, thereby triggering the sensor 81. Based on the trigger signal from the sensor 81, the control unit can know that the window cleaning robot has moved to the edge of the working surface. Therefore, it can replan the travel path of the window cleaning robot, control the window cleaning robot to brake suddenly, or issue an alarm signal to remind the user. This disclosure ensures the working safety of the window cleaning robot by setting up a detection mechanism, so that there is no risk of it falling when cleaning frameless working surfaces.

[0055] In one embodiment of this disclosure, the trigger ball head 83, the roller 6, and the side brush body 1 can be coaxially mounted, with the side brush body 1 sleeved on the outside of the trigger ball head 83, and the roller 6 configured to sleeve on the outside of the side brush body 1. As previously described, the side brush body 1 is driven by the lifting seat 3, which is driven by the output shaft 23, and all three rotate coaxially. Figure 2 As shown, the side brush body 1, output shaft 23, and lifting seat 3 are all constructed as hollow structures. The transmission rod 84 passes through the side brush body 1, output shaft 23, and lifting seat 3 along the axis, thereby achieving coaxial mounting of the trigger ball head 83. This disclosure coaxially mounts the trigger ball head 83 with the side brush body 1, which helps to accurately detect the edge of the working surface while ensuring thorough cleaning.

[0056] In the prior art, the small-volume side brush body 1 is prone to wear and has a short service life. Users need to clean the side brush body 1 frequently to ensure the cleaning effect, resulting in a poor user experience. The side brush body 1 of this disclosure is constructed to be detachably connected to the output shaft 23, so that the side brush body 1 can be directly replaced without frequent cleaning.

[0057] Specifically, the output shaft 23 has a hollow inner cavity 230, and the transmission rod 84 includes a first rod 841 located in the hollow inner cavity 230 of the output shaft 23, and a second rod 842 disposed on the trigger ball head 83. The second rod 842 is used to cooperate with the first rod 841 so that when the trigger ball head 83 is subjected to force, the transmission rod 84 can move along the axial direction of the output shaft 23 to trigger the sensor 81. The hollow inner cavity 230 provides a through path for the first rod 841. The upper end of the first rod 841 is used for fixed installation with the trigger member 82, and the lower end is used to cooperate with the second rod 842, thereby forming a stable transmission path (trigger ball head 83-second rod 842-first rod 841-sensor 81), so that the sensor 81 can be triggered in time when the trigger ball head 83 is suspended. The second rod 842 connects the trigger ball head 83 to the side brush body 1 to form a detachable integral structure, so that the trigger ball head 83 can be removed together when disassembling the side brush body 1.

[0058] The side brush body 1 and output shaft 23 of this disclosure are detachably connected. When the cleaning effect of the side brush body 1 decreases due to wear or reaches its service life, the user does not need to replace the entire side brush assembly 100, but only needs to replace the side brush body 1. This reduces the trouble of frequent maintenance for the user and improves the ease of use. In addition, for easy disassembly, the transmission rod 84 of the detection mechanism is split into a first rod 841 and a second rod 842. The first rod 841 is placed in the hollow inner cavity 230 of the output shaft 23, and the second rod 842 is fixed to the trigger ball head 83. When the trigger ball head 83 is subjected to force, it can drive the second rod 842 and the first rod 841 to move, thereby triggering the sensor 81. Thus, the detection function can still be realized normally in the detachable structure.

[0059] Furthermore, since the output shaft 23 of the side brush is in a cantilever beam configuration, in the prior art, when cleaning along the edge, the outer wall of the side brush body 1 contacts the window frame. This causes the output shaft 23 to rotate eccentrically near the side brush body 1 under external force, resulting in friction and collision between the transmission rod 4 and the inner wall of the hollow cavity 230. This not only reduces lifespan and makes it prone to damage but also generates noise. This disclosure solves this problem by splitting the transmission rod 84 into a first rod 841 and a second rod 842. During edge cleaning, the side brush body 1 only drives the second rod 842 to become eccentric, without simultaneously driving the first rod 841. The first rod 841 maintains its position within the hollow cavity 230, avoiding friction and collision with the inner wall of the hollow cavity 230, thereby extending its service life and reducing operating noise.

[0060] However, the trigger ball head 83 will obstruct the disassembly and assembly path of the side brush body 1. It is understandable that the trigger ball head 83 should be large enough to slide smoothly on the working surface, but a larger trigger ball head 83 will block the disassembly and assembly path of the side brush body 1. Therefore, when disassembling the side brush body 1, the user needs to remove the trigger ball head 83 together, which is troublesome.

[0061] To address the aforementioned issues, the trigger ball head 83 of this disclosure is mounted on the side brush body 1 and, when subjected to force, enables the transmission rod 84 to move axially along the output shaft 23 to trigger the sensor 81. Since the trigger ball head 83 is connected to the side brush body 1, the side brush body 1, the trigger ball head 83, and the second rod 842 form a detachable overall structure. When disassembling the side brush body 1, the trigger ball head 83 and the second rod 842 can be removed simultaneously. This avoids the problem of the large-sized trigger ball head 83 obstructing the disassembly and assembly path of the side brush body 1, and also improves the convenience of after-sales maintenance of the trigger ball head 83.

[0062] In one embodiment of this disclosure, the first rod 841 is configured to pre-compress the second rod 842 under the action of the elastic device 85, and the trigger ball 83 is configured such that, after the loss of external force, the first rod 841 pushes the second rod 842 under the action of the elastic device 85, and the trigger ball 83 extends relative to the side brush housing. Specifically, the elastic device 85 may be a spring sleeved on the first rod 841, and the elastic device 85 is used to pre-compress the trigger ball 83 onto the working surface. Figure 2 As shown, under normal conditions without external force, the trigger ball head 83 can maintain its extended position relative to the roller 6 under the elastic force of the elastic device 85. During the operation of the window cleaning robot, the trigger ball head 83 abuts against the working surface, and the working surface compresses the trigger ball head 83 to a position not exceeding the bottom end of the side brush body 1. The trigger ball head 83 drives the second rod 842 and the first rod 841 to compress the elastic device 85. When the window cleaning robot moves outside the working surface, the elastic force stored in the elastic device 85 is released, thereby pushing the first rod 841, the second rod 842, and the trigger ball head 83 to move outward, thereby triggering the sensor 81 located at the top, thus realizing the edge detection function and avoiding the risk of the window cleaning robot falling.

[0063] In one embodiment of this disclosure, the side brush body 1 is configured to be detachably connected to the mating mechanism, and the mating positions of the first member 841 and the second member 842 are configured to be within the range of the mating mechanism in the axial direction of the output shaft 23. As previously described, the mating mechanism includes a lifting seat 3, and the side brush body 1 can be installed in the mounting cavity of the lifting seat 3. The first member 841 is configured to extend from the hollow cavity 230 of the output shaft 23 into the mounting cavity and mat with the second member 842.

[0064] This disclosure concentrates the docking positions of the side brush body 1 and the lifting seat 3, as well as the docking positions of the first rod 841 and the second rod 842, within the axial range of the mating mechanism along the output shaft 23. This improves the convenience of disassembly and assembly, and also enhances the stability of the docking. Specifically, when disassembling and assembling the side brush body 1, the user can simultaneously complete the assembly / disassembly of the side brush body 1 and the lifting seat 3, and the docking / separation of the first rod 841 and the second rod 842 within the same operating space, thereby reducing the difficulty of disassembly and assembly. In addition, the above design also reduces the precision requirements for production and assembly. If the two docking positions are far apart, even a small dimensional error may cause the first rod 841 and the second rod 842 to fail to dock precisely after the side brush body 1 and the lifting seat 3 are assembled. This would necessitate strict control over the production precision of each component to avoid installation failure. However, this disclosure concentrates the two positions, limiting the impact of dimensional errors on docking precision to the same axial range. It eliminates the need to excessively pursue component precision, ensuring smooth docking, reducing manufacturing costs and assembly error tolerance, and making it more suitable for mass production needs.

[0065] In one embodiment of this disclosure, the total axial length of the output shaft 23 and the side brush body 1 is configured to be less than the length of the transmission rod 84. The sensor 81 and the side brush body 1 are located at opposite ends of the output shaft 23. The transmission rod 84 passes through the hollow cavity 230 of the output shaft 23. Due to the relatively long length of the transmission rod 84, its upper end can extend to the connecting trigger 82 to cooperate with the sensor 81; its lower end can extend from the bottom of the hollow cavity 230 to the connecting trigger ball head 83. This ensures that the length of the transmission rod 84 is sufficient, thereby ensuring that when the trigger ball head 83 leaves the working surface, it can fully drive the transmission rod 84 to move, thus triggering the sensor 81. This prevents the risk of missed detection due to insufficient travel of the transmission rod 84 and ensures the safety of the window cleaning robot from falling off the frameless working surface.

[0066] In one embodiment of this disclosure, after the side brush body 1 and the lifting seat 3 are installed in place, the first rod 841 is configured to abut against the second rod 842, and the trigger ball head 83 is configured to enable the second rod 842 to push the first rod 841 to move when force is applied. The abutment-type connection adopted in this embodiment is the simplest solution to adapt to the detachable characteristics of the side brush body 1, thus eliminating the need for additional complex coupling structures (such as rotary buckles, plug-in locking, etc.) for the transmission rod 84. When the user disassembles or assembles the side brush body 1, only the detachable connection between the side brush body 1 and the lifting seat 3 needs to be operated. The two rods naturally abut or separate as the side brush body 1 is installed or removed, thereby avoiding the decoupling problem that may be caused by using separate coupling structures for the side brush body 1 and the two rods.

[0067] The aforementioned contact-type design simplifies the structure while ensuring reliable force transmission. After the side brush body 1 and the lifting seat 3 are installed, the first rod 841 and the second rod 842 automatically engage to form a gapless transmission path. The trigger ball head 83, under force, can directly drive the transmission rod 84 to move as a whole. This satisfies the need for easy replacement of the side brush body 1, avoids complex coupling and decoupling structures, reduces the structural complexity of the side brush assembly 100, reduces the risk of component assembly errors, and makes the side brush assembly 100 lighter and easier to maintain, while ensuring the stable operation of the detection mechanism.

[0068] In one embodiment of this disclosure, a buffer 86 is provided between the first rod 841 and the second rod 842. The second rod 842 is configured to abut against the first rod 841 via the buffer 86. The buffer 86 can be made of flexible materials such as rubber or silicone. When the trigger ball head 83 moves on the working surface, the transmission rod 84 is prone to vibration due to gaps between it and other components, affected by factors such as differences in the flatness of the working surface and changes in the moving speed of the window cleaning robot. The buffer 86 can absorb the energy generated by the vibration of the transmission rod 84, weaken the intensity of vibration transmission, and reduce fatigue damage to the transmission rod 84 caused by vibration. The buffer 86 can absorb the impact force of the collision between the first rod 841 and the second rod 842, thereby reducing the generation of collision noise, making the side brush assembly 100 quieter during high-speed cleaning operation, and improving the comfort of users at home. Meanwhile, the buffer 86 also serves to protect the joint between the first rod 841 and the second rod 842, preventing wear caused by hard contact. Thus, while achieving vibration reduction and noise reduction, it further ensures the long-term stable operation of the testing mechanism.

[0069] In one specific embodiment of this disclosure, a buffer 86 is disposed at the end of the first rod 841. It should be noted that the side brush body 1, as a cleaning component that directly contacts the working surface, is a wear-prone consumable material and requires frequent disassembly and replacement depending on usage. The buffer 86, however, is only used for buffering at the joint between the first rod 841 and the second rod 842, has no cleaning wear, and has a long service life, allowing for long-term repeated use. Therefore, this disclosure places the buffer 86 on the first rod 841, which is fixed to the side brush housing along with the output shaft 23, and is not removed along with the side brush body 1. This eliminates the need to replace the buffer 86 simultaneously with the replacement of the side brush body 1, extending the service life of the buffer 86.

[0070] In one embodiment of this disclosure, reference is made to Figure 3 and Figure 9 The side brush body 1 includes a through hole 12 for accommodating the second rod 842 and a receiving cavity 11. When the side brush body 1 and the lifting seat 3 are installed in place, that is, when the side brush body 1 is connected to the output shaft 23, the first rod 841 is configured to extend into the receiving cavity 11. In this embodiment, both the second rod 842 and the first rod 841 are slender rod-shaped structures. The bottom of the second rod 842 can be fixedly connected to the trigger ball head 83 or integrally formed, and its top can extend into the receiving cavity 11 through the through hole 12, thereby abutting and cooperating with the first rod 841 extending into the receiving cavity 11.

[0071] This disclosure provides an axial movement channel for the second rod 842 by providing a through hole 12 in the side brush body 1; and by providing a receiving cavity 11 in the side brush body 1, it provides a closed space for the docking of the first rod 841 and the second rod 842. This avoids the transmission rod 84 from being exposed, which could lead to contamination or collision damage. Simultaneously, the receiving cavity 11 guides the first rod 841 to extend into it, thereby ensuring precise docking with the second rod 842 and reducing positioning deviations during assembly. Furthermore, the closed receiving cavity 11 constrains the radial sway of the rod, ensuring a stable force transmission path and improving the response reliability of the detection mechanism.

[0072] Specifically, the inner diameter of the receiving cavity 11 is larger than the diameter of the second rod 842, and there is a clearance fit between the receiving cavity 11 and the second rod 842. This ensures that when the trigger ball 83 is subjected to force, the second rod 842 can slide smoothly within the receiving cavity 11, avoiding jamming due to the narrowness of the receiving cavity 11 and ensuring timely force transmission. At the same time, the clearance reduces friction between the second rod 842 and the inner wall of the receiving cavity 11, extending the service life of the component.

[0073] In one embodiment of this disclosure, the diameter of the second rod 842 is larger than the diameter of the first rod 841. When the side brush body 1 is assembled with the output shaft 23, the thinner first rod 841 can more easily align with the thicker driving second rod 842. Even if there is a slight axial or radial deviation during assembly, the larger diameter of the second rod 842 can provide a wider tolerance for the first rod 841, reducing assembly jamming caused by excessively high precision alignment requirements.

[0074] In one embodiment of this disclosure, the distance the trigger ball 83 moves along the axial direction of the output shaft 23 is less than the axial extension length of the receiving cavity 11. The receiving cavity 11 is the docking cavity for the first rod 841 and the second rod 842, and its axial dimension should be set based on the movable distance of the trigger ball 83. The receiving cavity 11 needs to reserve sufficient movement redundancy space for the trigger ball 83 and the connected second rod 842, thereby ensuring the docking stability of the first rod 841 and the second rod 842, and thus improving the detection stability.

[0075] Specifically, as mentioned earlier: when the window cleaning robot is cleaning along the edge, the contact between the side brush body 1 and the window frame will generate a lateral force on the output shaft 23, causing the part of the output shaft 23 near the side brush body 1 to rotate eccentrically, which in turn causes the first rod 841 in the hollow inner cavity 230 to tend to deviate. If the receiving cavity 11 is too short, when the trigger ball head 83 is pushed by force to move the first rod 841 axially to the limit position, the end of the first rod 841 away from the second rod 842 may fall out of the receiving cavity 11; after losing the radial constraint of the wall of the receiving cavity 11, the eccentrically rotating output shaft 23 is very likely to deviate the first rod 841, causing its docking position with the second rod 842 to be misaligned, resulting in the interruption of force transmission and the inability of the detection mechanism to be triggered normally.

[0076] In this embodiment, the large axial dimension of the container 11 ensures that the first rod 841 is always enclosed within the container cavity 11. Even under the condition of eccentric rotation of the output shaft 23, the wall of the container cavity 11 can continuously form a radial limit on the first rod 841, preventing it from shifting or falling out. This maintains the stable docking state of the first rod 841 and the second rod 842, ensuring that the testing mechanism can still work reliably in special scenarios such as edge cleaning, and avoiding the problem of anti-falling function failure caused by docking failure.

[0077] In one embodiment of this disclosure, reference is made to Figure 3 and Figure 9 The end of the second rod 842 furthest from the trigger ball 83 is located within the receiving cavity 11 and is configured to be movably connected to the side brush body 1 by a screw 87. The inner diameter of the through hole 12 is larger than the diameter of the second rod 842, and the diameter of the screw head 87 is larger than the inner diameter of the through hole 12. Figure 9 As shown, a stepped surface 13 is provided at the junction of the receiving cavity 11 and the through hole 12. When the second rod 842 moves downward to its limit position, the head of the screw 87 can abut against the stepped surface 13, thereby preventing the second rod 842 from falling out of the through hole 12. The diameter of the trigger ball 83 is larger than the inner diameter of the through hole 12. When the second rod 842 moves upward to its limit position, the trigger ball 83 can prevent the second rod 842 from falling out of the through hole 12. It can be seen that the screw 87 can play a limiting role, preventing the second rod 842 from falling out of the through hole 12, thus taking into account both movement requirements and connection reliability.

[0078] Furthermore, the screw 87 connection facilitates disassembly. When the trigger ball head 83 or the side brush body 1 needs repair or replacement, simply unscrewing the screw 87 allows for separation, improving maintenance convenience. It should be noted that the trigger ball head 83's primary function is to detect the edge of the working surface; its wear is far less than that of the side brush body 1, allowing for long-term use. When the user replaces the side brush body 1, the trigger ball head 83 does not need to be replaced simultaneously. The user only needs to remove the screw 87 securing the trigger ball head 83, remove the second rod 842 from the through hole 12 of the old side brush body 1, then install the trigger ball head 83 into the corresponding through hole 12 of the new side brush body 1 and re-secure the screw 87. This allows the trigger ball head 83 to continue to be used with the new side brush body 1 without needing to be discarded along with the side brush body 1 or to purchase a new trigger ball head 83, reducing the user's maintenance costs.

[0079] In one embodiment of this disclosure, a buffer 86 is provided at the end of the first member 841, and the buffer 86 is configured to abut against the connecting screw 87. The buffer 86 directly abuts against the screw 87, thereby absorbing the instantaneous impact force when the trigger ball head 83 is subjected to force, reducing hard contact wear between the first member 841 and the second member 842, protecting the screw 87 through buffering, extending its service life, and reducing vibration and collision noise.

[0080] In other embodiments of this disclosure, one of the first rod 841 and the second rod 842 is configured to have a sleeve structure, and the other is configured to extend into the sleeve structure after the side brush body 1 and the lifting seat 3 are installed in place. For example, the second rod 842 can be configured as a sleeve structure, and one end of the first rod 841 can be configured to extend into the sleeve structure. The sleeve structure is configured to have a clearance fit with the mounting cavity of the lifting seat 3. The design of installing the first rod 841 and the second rod 842 in a coaxial nested structure can ensure the docking accuracy. The nested fit between the sleeve and the rod structure can strictly limit the radial displacement of the first rod 841 and the second rod 842, ensuring that they are always coaxial, avoiding radial offset or jamming when the transmission rod 84 moves axially, making the force transmission smoother, and effectively preventing false detection or missed detection by the detection mechanism due to misalignment of the transmission rod 84.

[0081] In addition to using direct contact or sleeve snap-fit ​​to achieve the installation and engagement between the first rod 841 and the second rod 842, other docking methods such as magnetic attraction or elastic buckle can also be used in other embodiments of this disclosure. This disclosure does not specifically limit these methods.

[0082] The technical solutions adopted in this disclosure will be explained below in conjunction with specific application scenarios to aid understanding.

[0083] Application scenarios When using the window cleaning robot provided in this disclosure to clean frameless glass curtain walls, the user attaches the robot to the glass, and the robot moves automatically to perform the cleaning work. The window cleaning robot will first clean the large surface of the glass in normal working mode, and then clean the edges and corners of the window in edge working mode.

[0084] When the window cleaning robot is normally adsorbed on the surface of the glass curtain wall, the trigger ball head 83 will be squeezed by the glass curtain wall, thereby compressing the elastic device 85. The trigger ball head 83 drives the transmission rod 84 and the trigger element 82 at the other end of the transmission rod 84 to rise together, thereby making the trigger element 82 move away from the sensor 81. At this time, the sensor 81 will not be triggered.

[0085] When the window cleaning robot moves to the edge of the glass curtain wall, the trigger ball 83 moves outside the glass curtain wall and loses its support. The trigger ball 83 pops out under the action of the elastic device 85, driving the transmission rod 84 and the trigger element 82 to descend together. The trigger element 82 reaches the position to engage with the sensor 81, thereby triggering the sensor 81. Based on the trigger signal from the sensor 81, the control unit can know that the window cleaning robot has moved to the edge of the glass curtain wall. Therefore, it can replan the robot's travel path, control the robot to brake suddenly, or issue an alarm signal to alert the user, thus ensuring the safety of the window cleaning robot and eliminating the risk of it falling while cleaning the glass curtain wall.

[0086] After a period of use, the side brush body 1 will wear down during cleaning, requiring replacement. The user can manually disassemble the entire structure consisting of the side brush body 1, the second rod 842, and the trigger ball head 83. Then, by removing the screw 87, the trigger ball head 83 can be removed separately, and the old side brush body 1 can be discarded. Afterward, the user can install the trigger ball head 83 onto the new side brush body 1 using the screw 87. This allows the trigger ball head 83 to continue to be used with the new side brush body 1 without needing to be discarded along with the old body or to purchase a new one, thus reducing maintenance costs.

[0087] The user can manually install the integrated structure consisting of the new side brush body 1, the second rod 842, and the trigger ball head 83 back onto the window cleaning robot. Specifically, simply align the first rod 841 and insert it into the receiving cavity 11 of the side brush body 1, thereby engaging with the second rod 842. Simultaneously, snap the side brush body 1 onto the lifting seat 3. Once it is in place, the assembly operation is complete. At this point, the lifting seat 3 can drive the side brush body 1 to perform cleaning work under the drive of the output shaft 23.

[0088] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A window cleaning robot, comprising a body (200) and a side brush assembly (100), wherein the side brush assembly (100) is disposed at the edge of the body (200), characterized in that, The side brush assembly (100) includes: Side brush housing; A transmission mechanism is configured to be rotatably connected to an output shaft (23) on the side brush housing, the output shaft (23) having a hollow inner cavity (230). Side brush body (1), the side brush body (1) is configured to be detachably connected to the output shaft (23); The detection mechanism includes a transmission rod (84), a trigger ball (83) located at one end of the transmission rod (84), and a sensor (81) cooperating with the transmission rod (84), wherein: The trigger ball (83) is disposed on the side brush body (1) and, when subjected to force, enables the transmission rod (84) to move along the axial direction of the output shaft (23) to trigger the sensor (81).

2. The window cleaning robot according to claim 1, characterized in that, The transmission rod (84) includes a first rod (841) located in the hollow cavity (230) of the output shaft (23) and a second rod (842) disposed on the trigger ball head (83). The side brush body (1) includes a through hole (12) for accommodating the second rod and a receiving cavity (11). When the side brush body (1) is connected to the output shaft (23), the first rod (841) extends into the receiving cavity (11).

3. The window cleaning robot according to claim 2, characterized in that, The distance by which the trigger ball (83) moves axially along the output shaft (23) is less than the axial extension length of the receiving cavity (11).

4. The window cleaning robot according to claim 2, characterized in that, The diameter of the second member (842) is larger than the diameter of the first member (841).

5. The window cleaning robot according to claim 2, characterized in that, The inner diameter of the receiving cavity (11) is larger than the diameter of the second rod (842).

6. The window cleaning robot according to claim 2, characterized in that, The end of the second rod (842) away from the trigger ball (83) is located in the receiving cavity (11) and is configured to be movably connected to the side brush body (1) by a screw (87); the inner diameter of the through hole (12) is larger than the diameter of the second rod (842) and the diameter of the screw (87) head is larger than the inner diameter of the through hole (12).

7. The window cleaning robot according to claim 6, characterized in that, A buffer (86) is provided at the end of the first rod (841), the buffer (86) being configured to abut against the screw (87).

8. The window cleaning robot according to claim 2, characterized in that, The first rod (841) is configured to pre-press the second rod (842) under the action of the elastic device (85), and the trigger ball (83) is configured to push the second rod (842) and the trigger ball (83) to extend relative to the side brush housing under the action of the elastic device (85) after the external force is lost.

9. The window cleaning robot according to claim 1, characterized in that, The total axial length of the output shaft (23) and the side brush body (1) is configured to be less than the length of the transmission rod (84).

10. A side brush assembly, characterized in that, include: Side brush housing; A transmission mechanism is configured to be rotatably connected to an output shaft (23) on the side brush housing, the output shaft (23) having a hollow inner cavity (230). Side brush body (1), the side brush body (1) is configured to be detachably connected to the output shaft (23); The detection mechanism includes a transmission rod (84), a trigger ball (83) located at one end of the transmission rod (84), and a sensor (81) cooperating with the transmission rod (84), wherein: The trigger ball (83) is disposed on the side brush body (1) and, when subjected to force, enables the transmission rod (84) to move along the axial direction of the output shaft (23) to trigger the sensor (81).

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