Windscreen cleaning robot for vehicle windscreens

Abstract

Windscreen cleaning robot (1) for vehicle windscreens, comprising - a basic body (2), - propulsion means (6) attached to the base body (2), which are designed to propel the base body (2) along a disc of a vehicle, - adhesive means (18) arranged in and / or on the base body (2), which are designed to generate a contact force of the base body (2) against a disk, and - at least one cleaning element (16) which is arranged in and / or on the base body (2) and which is configured to transfer a mechanical cleaning power to a disc on which the disc cleaning robot (1) is attached, wherein the base body (2) - an outer housing (4) comprising a plurality of housing segments (4a) which are movably mounted relative to each other, wherein - at least some of these housing segments (4a) are arranged to be partially slidable below or above each other, and / or - at least some of these housing segments (4a) are arranged to tilt relative to each other at their respective adjacent edges (10), and / or - at least some adjacent housing segments (4a) are each mounted in a way that allows them to be separated from one another.

Description

[0001] The invention relates to a windshield cleaning robot for vehicle windshields, comprising a base body, propulsion means attached to the base body for propelling the base body along a windshield, adhesion means arranged in or on the base body for generating a contact force of the base body against a windshield and at least one cleaning element for transmitting a mechanical cleaning power to a windshield.

[0002] Robots (so-called windshield cleaning robots) can be used to clean vehicle windows, especially the windows of a motor vehicle. These windshield cleaning robots have one or more cleaning elements (e.g., cleaning felts or lips) designed to transfer mechanical cleaning power to the window on which the robot is positioned. This mechanical cleaning action then enables the mechanical removal of contaminants from the window, specifically by wiping or a similar movement of the respective cleaning element.

[0003] To achieve the necessary contact pressure against the glass during cleaning, the glass cleaning robot preferably incorporates adhesive agents that "press" (or similarly) the robot to the glass, thus improving the transfer of the mechanical cleaning power of the cleaning elements. Such adhesive agents can be provided, for example, by one or more vacuum motors that draw the cleaning robot to the glass by means of a vacuum they generate, or by first magnetic elements arranged within the cleaning robot. These first magnetic elements, in conjunction with second magnetic elements (of opposite polarity) positioned on the other side of the glass, are held in place by the magnetic force generated by the first and second magnetic elements.

[0004] The curvature of vehicle windows, which can be a double curvature and vary in strength, poses a particular challenge for the application of window cleaning robots. This is because the curvature means the cleaning robot does not have a consistent contact surface on the window and can have different distances to the vehicle window at different points, which can significantly hinder adhesion to the window by the aforementioned adhesive agents.

[0005] German patent application DE 10 2018 008 748 A1 discloses a cleaning robot designed for cleaning curved glass. It proposes a flexible seal for the suction tract of a vacuum motor, designed to meet the glass. Furthermore, it proposes the use of flexible cleaning elements, such as wiper lips that can be pressed against the curvature and thus adapt to it. Such flexible cleaning elements are also mentioned in German patent application DE 10 2018 222 651 A1 for a glass cleaning robot.

[0006] From WO 2019 / 179 772 A1 further mentions a windshield cleaning robot that is equipped with external, spring-loaded skids that can adapt to the curvature of a windshield.

[0007] CN 1 08 478 091 A describes a window cleaning robot. The window cleaning robot consists of a robot body, a central control unit, a walking module, a cleaning module, and a communication module. The robot body has a water outlet on a protrusion. A mechanical arm is located on one side of the robot body, with a vacuum suction cup at its rear end. The robot is also equipped with a dust collector, a wiping plate, and a magnetic plate on its underside, as well as an internal water tank. The water tank consists of a water reservoir and a cleaning fluid container and is connected to the water outlet via a water hose. The communication module maintains an intelligent sensor connection with a user remote control.

[0008] A glass cleaning robot is known from CN 1 09 528 068 A. This robot consists of a housing with running mechanisms and mechanical cleaning arms arranged on both lateral sides, each with a rotatable cleaning disc at its end. Cleaning roller brushes are arranged on the bottom of the housing, each with scraper strips on its front and back. Each running mechanism comprises a motor, a drive gear driven by the motor, and a driven gear, which is set in rotation by the drive gear. Ring-shaped tracks engage with the outer surfaces of the drive and driven gears. Several suction cups are spaced at intervals on the ring-shaped tracks, and each suction cup is connected to an air distribution disc that rotates synchronously.

[0009] CN 1 11 839 338 A describes a cleaning robot for glass facades. The cleaning robot consists of a tilting plate assembly and two suction roller assemblies. The tilting plate assembly comprises two tilting plates, two connecting shafts, a telescopic air cylinder, and two pull shafts. The two connecting shafts are coaxially aligned and serve to rotatably connect them to the two tilting plates. Mounting edges are formed on the opposite sides of the two tilting plates. Output shafts are arranged at the two opposite ends of the telescopic air cylinder, and the two pull shafts are each connected to the two output shafts of the telescopic air cylinder.

[0010] CN 1 16 636 767 A discloses a combined tracked robot for window cleaning, consisting of two robot bodies, an adsorption mechanism, and a double-foot movement mechanism. The double-foot movement mechanism includes a rotary arm assembly in its center. A first rotary joint is arranged between and connected to the first robot body and the rotary arm assembly. A second rotary joint is arranged in the center of the rotary arm assembly and connected to it. A third rotary joint is arranged between and connected to a second robot body and the rotary arm assembly. The adsorption mechanism increases the adsorption force of the tracked robot, thus improving operational stability. The rotary arm assembly and the three rotary joints are installed in such a way that the tracked robot can overcome window frame-like obstacles on the glass surface of a window while simultaneously ensuring operational stability.

[0011] However, all of the aforementioned concepts have in common that the problems described above, namely the difficulty of adhesion due to curvature, do not represent the core of the problem they are intended to solve.

[0012] The invention is therefore based on the objective of providing a windshield cleaning robot which is particularly well suited for use on especially doubly curved vehicle windshields, and which in particular enables high adhesion there.

[0013] The aforementioned problem is solved according to the invention by a windshield cleaning robot for vehicle windshields, comprising a base body, propulsion means attached to the base body which are configured to propel the base body along a windshield of a vehicle, adhesion means arranged in and / or on the base body which are configured to generate a contact force of the base body against a windshield, and at least one cleaning element which is arranged in and / or on the base body and which is configured to transfer a mechanical cleaning power to a windshield on which the windshield cleaning robot is attached, and wherein the base body comprises an outer housing which has a plurality of housing segments which are movably mounted relative to one another and which are in particular hard or rigid.

[0014] It is provided that at least some of these housing segments are arranged to be partially slidable above or below one another, and / or at least some of these housing segments are arranged to be tiltable relative to one another at their respective adjacent edges, and / or at least some adjacent housing segments are mounted to be separably separated from one another. Advantageous and, in some cases, inventive embodiments are the subject of the dependent claims and the following description.

[0015] A windshield cleaning robot is defined here as any device designed and configured to clean a motor vehicle window, and in particular to provide all the mechanical forces necessary for the cleaning process itself and for the robot to adhere to the vehicle window (hereinafter also referred to as "windshield"). In particular, the windshield cleaning robot is also designed for cleaning vertical or substantially vertical vehicle windows (with an angle of inclination greater than 70° and preferably greater than 80°, preferably also with an overhang at an angle of inclination of at least 100°, preferably at least 110°) as well as vehicle windows with a simple and, more preferably, multiple surface curvature.In particular, as already described, the disk can also exhibit simple or multiple curvature, as long as it has a clearly defined tangent plane everywhere. Simple (surface) curvature means that a disk touches its tangent planes (at least) along a straight line, while multiple curvature means that a disk touches its tangent planes at a single point.

[0016] The window cleaning robot can operate fully automatically, meaning it can independently detect the areas of the window to be cleaned using optical sensors (and associated image capture) without an external control unit. Alternatively, it can be designed and configured to be controlled remotely via a wireless or wired remote control. The cleaning robot can be powered by a battery or an external power supply cable.

[0017] The term "base body" of the windshield cleaning robot refers in particular to any mechanically self-contained and / or compact unit that contains essential components of the windshield cleaning robot. In particular, the base body is at least partially enclosed by the outer housing. Preferably, the adhesion agents are also at least partially enclosed by the outer housing.

[0018] An adhesive means in particular any device which is designed and configured to generate a force in the normal direction of the disc and directed towards it, by which the base body is pushed or sucked towards the disc, so that the resulting contact pressure of the base body against the disc prevents unwanted displacement and in particular slippage of the base body along the disc caused by gravity.The adhesive means can include, in particular, one or more vacuum motors which draw the windshield cleaning robot to the windshield by means of a vacuum they generate, or first magnetic elements arranged in the windshield cleaning robot which, in conjunction with second magnetic elements (of opposite polarity) positioned on the other side of the windshield, generate the aforementioned contact pressure through the resulting magnetic forces and thus hold the windshield cleaning robot to the windshield.

[0019] In this context, a propulsion element is understood to mean, in particular, any mechanical element designed and configured to transmit a force to the vehicle disc for a relative movement of the base body with respect to the disc, i.e., in particular a roller / wheel, a track with associated drive wheels, or a mechanical leg. The propulsion elements may be attached to the outside of the base body and, in particular, outside the outer housing (possibly up to and including control elements). However, the propulsion elements may also be largely integrated into the base body, i.e., in particular up to contact surfaces with the disc, so that, in particular, only a roller segment and / or one side of a track protrudes beyond the base body and / or the housing. In particular, the propulsion elements may be designed for a relative movement of the base body with respect to a (even multiply) curved vehicle disc.

[0020] A cleaning element, in this context, refers in particular to any mechanical device designed and configured to transfer said mechanical cleaning power to the disc and thereby remove contaminants from the disc. Mechanical cleaning power is understood to mean, in particular, the power that said mechanical device performs to remove contaminants from the disc by applying a push, pull, and / or shear force. The at least one cleaning element transmits the aforementioned mechanical force, provided by said device, to the disc and the contaminants deposited thereon. The mechanical device can, in particular, be designed with a rigid frame, for example, as a brush with flexible bristles or similar, or as an oscillating plate with a cleaning fleece attached underneath.However, the cleaning element can also be a cloth which is set into a wiping and / or rotating motion by an actuator.

[0021] The basic body comprises an outer housing which at least partially encloses the essential components of the windshield cleaning robot (such as the adhesion agents, a motor for driving the at least one cleaning element and / or one or more motors for operating the propulsion means), and thereby protects in particular against the ingress of contaminants that are loosened from the windshield during the cleaning process by the windshield cleaning robot, as well as against other mechanical influences and damage.

[0022] In particular, the outer casing is also designed to provide mechanical stability to the main body. Additionally or alternatively, the main body includes a support structure which is designed and configured to provide mechanical stability to the main body.

[0023] According to the invention, the outer housing has a plurality of housing segments that are movable relative to each other, and / or the support structure has a plurality of support elements that are movable relative to each other.

[0024] This means, firstly, that the basic body, for mechanical stability, comprises an outer housing and, if applicable, a support structure in addition to the outer housing. In the first case, the outer housing has the aforementioned housing segments that are movably mounted relative to each other; in the second case, the support structure may have support elements that are movably mounted relative to each other.

[0025] An outer housing with housing segments movably mounted relative to each other is understood to mean, in particular, that the outer housing, which forms a kind of "outer wall" of the base body (and, as described, at least partially encloses the essential components of the window cleaning robot), has individual, rigid or largely rigid parts (the aforementioned housing segments) that are mechanically connected to each other directly or indirectly, i.e., directly, for example, via hinges or other movable retaining elements such as flexible hoses, etc., or indirectly through further mechanical elements (such as retaining rods and joints attached to them, etc.) between the respective housing segments. The aforementioned mechanical connection between each pair of housing segments is such that the two housing segments can be moved relative to each other, i.e., can be tilted relative to each other at adjacent edges (e.g., by means of a hinge).by means of a connection through a number of hinges at the relevant edges) and / or can be rotated against each other at adjacent corners (e.g. by means of a connection through a swivel joint at the relevant corners) and / or can be offset against each other in height at adjacent surfaces (e.g. by an indirect connection via a number of telescopic rods).

[0026] The outer housing can be formed entirely by the aforementioned housing segments, which are movably mounted relative to one another, such that, in particular, all surface elements oriented in different spatial directions are each defined by housing segments, each of which is movably mounted relative to at least one other surface element (and thus housing segment). However, the outer housing can also have individual groups of surface elements that are rigidly mounted relative to one another, such that at least two groups of surface elements are movably mounted relative to one another, and thus the movably mounted housing segments are defined by the adjacent surface elements of the two groups.

[0027] These specifications apply analogously to the support structure with its movably mounted support elements. This includes, in particular, that the support structure forms a kind of "internal skeleton" of the base body (to which, or by means of which, the essential components of the window cleaning robot are fixed), and comprises individual, rigid or largely rigid parts (the aforementioned support elements) that are mechanically connected to one another directly or indirectly. This connection can be direct, for example, via hinges or other movable retaining elements such as ball joints, or indirectly via further mechanical elements (such as support rods and joints attached to them) between the respective support elements. The mechanical connection between each pair of support elements is such that they can be moved relative to one another, i.e., tilted and / or rotated relative to each other at adjacent ends (e.g., by means of a hinge).by means of a hinge and / or a swivel or ball joint) and / or can be adjusted in length against each other (e.g. by means of a telescopic connection).

[0028] The supporting structure can be formed entirely by the aforementioned load-bearing elements, which are movably mounted relative to one another, such that, in particular, all adjacent load-bearing elements of the supporting structure are movably mounted relative to each other (e.g., by hinges or ball joints). However, the supporting structure can also have individual rigid groups of load-bearing elements, such that at least two groups of load-bearing elements are movably mounted relative to each other, and thus the load-bearing elements that are movably mounted relative to each other are defined by the respective adjacent load-bearing elements of the two groups.

[0029] The design, in which the housing features movably mounted housing segments, allows the base body to adapt to the curvature of the glass. The outer wall of the base body is no longer rigid; instead, individual components of the glass cleaning robot, arranged within the base body, can be moved relative to each other in such a way that the distance to the glass remains minimal. This allows, in particular, the underside of the base body facing the glass to adapt to the curvature of the glass. This prevents parts of this underside from having an excessive distance from the glass, thereby improving the effectiveness of the adhesion agents.

[0030] Preferably, if the base body comprises a support structure with said support elements movably mounted relative to one another, at least some of these support elements are connected to one another by at least one hinge and / or a telescopic suspension and / or a ball joint, and / or the base body is covered at least partially by an elastic outer shell. The aforementioned connections ensure, in particular, mechanical stability against movements in an undesired direction (e.g., shear movements along the axis of a hinge). Covering the base body with an elastic outer shell can be particularly advantageous if the base body has no outer housing beyond the support structure, so that the elastic outer shell can protect the aforementioned components of the windshield cleaning robot from contaminants (detached from the windshield).

[0031] Because housing segments are arranged to be partially slidable above or below one another, the outer housing can change its dimensions, for example, by reducing its base area (and thus its underside). This can be particularly advantageous for better adhesion to a more curved disc. The tilting arrangement of adjacent housing segments, achieved primarily through hinges, allows the base body to adapt directly to the curvature of a disc, enabling the underside to maintain a comparatively small distance from the disc (which is particularly, but not exclusively, advantageous for the adhesion of one or more vacuum motors under a vacuum).

[0032] Adjacent housing segments are mounted in a way that allows them to be separated, particularly if this mounting allows them to move away from each other, creating a gap between the adjacent housing segments. This gap can preferably be covered by an elastic outer shell. This design of the separable housing segments can be particularly advantageous if the windshield cleaning robot is required to have a high degree of spatial flexibility, enabling it, for example, to automatically change the windshield over an A-pillar or C-pillar (or D-pillar) without having to stop.

[0033] Preferably, the base body has a variable base area by means of a plurality of housing segments movably mounted relative to one another and / or by means of a plurality of support elements movably mounted relative to one another. As already described, a variable base area can improve adhesion to more curved discs, whereas a larger base area can improve adhesion to less curved discs, thus reducing the contact force required by the adhesives and potentially leading to energy savings during operation.

[0034] Advantageously, the housing segments and / or support elements, which are mounted to move relative to each other, can be moved relative to each other by a number of actuators. This means, in particular, that some of the housing segments and / or support elements are directly mechanically actuated to move relative to the other housing segments or support elements, and that the relative movement is not merely the result of a passive adaptation response to a curvature of the disk, which would require a comparatively high contact force from the adhesives to produce such a response. Thus, the adhesives can be designed to be comparatively smaller.

[0035] Advantageously, these actuators operate hydraulically and / or pneumatically and / or electromechanically and / or using shape memory alloys. These actuators (also: Actuators are preferably rigidly connected to the respective housing segments or support elements. An electromechanical actuator is, in particular, an electric motor. A hydraulic or pneumatic actuator may, in particular, have a cylinder with an associated piston, such that the actuator can provide linear motion via the piston in the cylinder.

[0036] In an advantageous embodiment, the propulsion means comprise a plurality of wheels and / or rollers and / or a plurality of crawler tracks, each with associated conveyor wheels and / or a plurality of support legs. Crawler tracks offer particularly good grip, especially on vehicle windows that are still dirty (e.g., dusty). Furthermore, crawler tracks are particularly adaptable to the curvature of curved vehicle windows. Wheels and rollers, in turn, offer exceptional flexibility.

[0037] Preferably, at least one pair of wheels from the majority of wheels has a variable wheelbase, and / or the conveyor wheels of at least one of the crawler tracks preferably have a variable wheelbase, and / or at least some of the support legs are preferably extendable and / or elastically suspended. A variable wheelbase of the wheels or the conveyor wheels of a crawler track increases the adaptability of the windshield cleaning robot to windshield curvature. Extendable or elastically suspended support legs increase the range of applications for the support legs.

[0038] Advantageously, the adhesion agent includes at least a vacuum motor with an associated intake tract and / or at least a first magnetic element and / or a number of suction cups.

[0039] In the first case, the vacuum motor(s) is preferably at least partially enclosed by the outer housing (in particular, except for openings for air inlet and / or outlet). Specifically, the housing encloses an air duct to an underside of the housing (here and in the following: referring to the intended operating position of the disc robot on a disc), through which air can be drawn from the underside of the housing to generate a vacuum on the disc, or forms such an air duct. A vacuum motor is understood to be, in particular, any motor that is designed and configured to provide a suction force or a pressure force of the base body against the disc during operation of the disc cleaning robot when the base body is positioned as intended on the disc.The vacuum motor can, in particular, have one or more rotors or other movable elements, the movement of which preferably generates the contact force or suction force during operation of the window cleaning robot. The vacuum motor is, in particular, an electrically operated motor, the power supply being provided by a battery preferably positioned on or in the base body (especially in the housing) and / or via a power cable (so).

[0040] Preferably, in the case that at least one vacuum motor is included as an adhesion agent, the associated intake tract is designed flexibly so that it can adapt in particular to the changes in shape of the base body caused by the housing segments or support elements which are movable relative to each other.

[0041] In the case that at least one first magnetic element is included as an adhesive, the windshield cleaning robot is preferably held to the windshield by the magnetic force generated by the first and second magnetic elements in conjunction with at least one second magnetic element (of opposite polarity) positioned on the other side of the windshield. The suction cups as adhesives can, in particular, be arranged on a track which simultaneously acts as a propulsion element.

[0042] In an advantageous embodiment, the at least one cleaning element has a variable size and / or a variable geometry and / or a flexible suspension. The variable size can be achieved, in particular, by a corresponding design of the aforementioned rigid frame (e.g., as an extendable brush). The variable geometry can be achieved by the rigid frame (e.g., a variable surface area of ​​the oscillating plate) or by a cloth with a variable shape (by actuators in a hem at the edges, e.g., using shape-memory alloys).

[0043] It is further advantageous if a support structure is attached to the base body, designed to support and / or anchor the windshield cleaning robot to a part of the vehicle. In particular, the support structure can be used to allow the windshield cleaning robot to brace itself against the A-pillar or the instrument panel and move slowly from a "base position" there. The support structure can include and / or utilize one or more of the aforementioned support legs.

[0044] An embodiment of the invention is explained in more detail below with reference to the drawings. The drawings schematically depict: Fig. 1. A top view of a window cleaning robot, Fig. 2 shows the underside of the window cleaning robot. Fig. 1, Fig. 3 a side view of the window cleaning robot after Fig. 1, Fig. 4 a front view of the windshield cleaning robot after Fig. 1, and Fig. 5 in a top view a support structure of the window cleaning robot according to Fig. 1.

[0045] Corresponding parts and sizes are marked with the same reference symbols in all figures.

[0046] In Fig. Figure 1 schematically shows a top view of a windshield cleaning robot 1 for vehicle windshields (not shown in detail). The windshield cleaning robot 1 comprises a base body 2, which in turn comprises an outer housing 4 that at least partially encloses the essential components of the windshield cleaning robot 1. Such components may include, in particular, adhesion agents (to be described later) for generating contact pressure against a windshield, a motor for driving a cleaning element (to be described later), and / or one or more motors for operating propulsion means 6.

[0047] The propulsion means 6 are provided in this case by crawler tracks 6a attached laterally to the base body and associated conveyor wheels 6b, which keep the crawler tracks 6a under tension and set them in motion during operation of the disc cleaning robot 1. However, a plurality of wheels and / or rollers are also possible as alternative propulsion means 6. During operation of the disc cleaning robot 1, the propulsion means 6 ensure its automatic propulsion along a disc to which it adheres by means of the adhesion agents to be described below.

[0048] A support structure 8, comprising several support legs 8a, is arranged at one end of the base body 2. The support structure 8 can serve to brace the windshield cleaning robot 1 against a part of the vehicle (e.g., the dashboard) or to assist the windshield cleaning robot 1 in moving across an A-pillar to the next windshield to be cleaned. The support legs 8a can also form part of the propulsion means 6. It is advantageous if the support legs 8a are telescopically extendable or elastically suspended from the base body 2 (not shown).

[0049] The outer housing 4 has individual housing segments 4a which are movably mounted against each other at the respective adjacent edges 10 in a manner yet to be described, so that the outer housing can change its shape and in particular adapt to a curvature of a vehicle window on which the window cleaning robot 1 sits.

[0050] In Fig. Figure 2 is schematically a bottom side of the window cleaning robot 1 according to Fig. Figure 1 shows the outer housing 4, which also has individual housing segments 4a on its underside. These segments are movably mounted relative to each other at their respective adjacent edges 10. This can be achieved, for example, by hinges 14, which connect some of the housing segments 4a. The arrangement of the hinges 14 allows the outer housing 4 to adapt along a first and a second axis A1, A2, respectively, which correspond to the curvature of a disc. Furthermore, the disc cleaning robot 1 has cleaning elements 16 on its underside. These cleaning elements are each provided by oscillating plates 16a, each covered with a cleaning fleece (not shown in detail), and are variable in size (e.g., in the direction of axis A1, or in the direction of both axes A1, A2).(through corresponding extendable elements of the respective plate), so that the covering (i.e., the cleaning fleece) adapts to the respective size of the vibrating plate 16a. Cleaning elements also include, in particular, movable brushes and / or wipers with a corresponding sealing lip (not shown).

[0051] Furthermore, the base body 2 comprises adhesive means 18 on its underside, which are designed to generate a contact force during operation of the disc cleaning robot 1. This contact force presses the base body against a usually vertical (or nearly vertical) disc, holding it in position against gravity. The adhesive means 18 are provided in this case by a plurality of vacuum motors 18a, each of which has a rotor 18b and an intake tract (not shown), the intake tract extending perpendicularly into the plane of the image.

[0052] In a manner to be described later, the outer housing 4 can also be configured, by means of the housing segments 4a which are movably mounted relative to each other, to modify, in particular, a base surface 20 of the base body 2. Furthermore, the conveyor wheels 6b of the crawler tracks 6a can also be designed such that they are positioned further or closer to the base body 2, for example via extendable axles or similar means.

[0053] In Fig. Figure 3 schematically represents the window cleaning robot 1 according to Fig. Figure 1 shows a side view in the direction of axis A2. The base body 2 is "folded" along the hinge 14 (which runs perpendicular to the image plane) to better adapt to the curvature of the disk. The hinge 14 connects the housing segments 4a of the underside. Fig. 2 together. Due to this design, the lateral housing segments 4a are also movably mounted relative to each other, so that a gap forms between the edges 10 due to the displacement. In the view of Fig. Figure 3 shows a suggested support structure 30 in this gap, which includes support elements to be described in more detail, and which can be moved by actuators, e.g. electromechanical and / or hydraulic and / or pneumatic, in order to... Fig. 3 to cause the deformation of the base body shown. The curvature of the lower section of the caterpillar track 6a in Fig. 3 is achieved here by a disc curvature. In particular, the conveyor wheels 6b can have a variable wheelbase to keep the crawler belt 6a under tension (as can be seen in the upper section). The cleaning elements 16 according to Fig. 2 are for the purpose of simplifying the presentation in Fig. 3 not shown.

[0054] In Fig. Figure 4 schematically depicts the window cleaning robot 1 according to Fig. 1 is shown in a frontal view in the direction of axis A1. The basic body 2 is now shown in the representation of the Fig. 4 is again “folded” along hinge 14 (which runs perpendicular to the image plane) to better conform to the curvature of the disk. However, the direction of this fold is perpendicular to the direction of the fold in the base body according to Fig. 3. Here too, the hinge 14 connects the housing segments 4a of the underside. Fig. 2 together. This design also extends the frontal housing segments 4a to Fig. 4 are mounted so that they can move relative to each other, such that the displacement creates a gap between the edges 10, allowing the supporting structure 30 to be seen again in this gap. Furthermore, in Fig. 4 the support legs 8a can be seen, which are arranged at the front end of the base body 2 corresponding to the direction of the image.

[0055] In Fig. Figure 5 schematically depicts the support structure 30 of the base body 2 in a top view. The housing segments 4a of the outer housing 4 and the crawler tracks 6a with their associated conveyor wheels 6b are indicated by dashed lines. The support structure 30 comprises support elements 30a, at least some of which are movably mounted relative to one another by means of hinges and / or ball joints (not shown) and / or telescopic suspensions; that is, individual, adjacent support elements 30a are movably mounted relative to one another in the manner described (at least for some such pairs of support elements 30a).

[0056] In this arrangement, the support elements 30a of a first group Ga are connected to the support elements 30a of a second group Gb by first hinges 14a to enable movement about the first axis A1. The support elements 30a of the second group Gb are also connected to a central element 32 by second hinges 14b to enable movement about the second axis A2. The respective support elements 30a can be controlled by actuators for these movements as described. The housing segments 4a of the outer housing 4 are preferably rigidly connected to individual support elements 30a. Alternatively, the housing segments 4a can be moved by actuators, so that the support elements 30a of the support structure are moved via the aforementioned rigid connection.

[0057] As described above, the basic body can also consist of only the outer housing 4 (without support structure 30) or only the support structure 30 (without outer housing 4).

[0058] Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples and other variations can be derived by the person skilled in the art without leaving the scope of protection of the invention. Reference symbol list 1 windshield cleaning robot 2 basic shapes 4 outer casing 4a Housing segments 6 propulsion equipment 6a Caterpillar tracks 6b Conveyor wheels 8 Support structure 8a Support legs 10 edges 14 hinge 14a / b first / second hinges 16 cleaning element 16a vibrating plate 18 Adhesives 18a Vacuum motors 18b Rotors 20 floor area 30 Support structure 30a Support elements 32 Central element A1 / 2 first / second axis Ga / b first / second group

Claims

[1] Windscreen cleaning robot (1) for vehicle windscreens, comprising - a basic body (2), - propulsion means (6) attached to the base body (2), which are designed to propel the base body (2) along a disc of a vehicle, - adhesive means (18) arranged in and / or on the base body (2), which are designed to generate a contact force of the base body (2) against a disk, and - at least one cleaning element (16) which is arranged in and / or on the base body (2) and which is configured to transfer a mechanical cleaning power to a disc on which the disc cleaning robot (1) is attached, wherein the base body (2) - an outer housing (4) comprising a plurality of housing segments (4a) which are movably mounted relative to each other, wherein - at least some of these housing segments (4a) are arranged to be partially slidable below or above each other, and / or - at least some of these housing segments (4a) are arranged to tilt relative to each other at their respective adjacent edges (10), and / or - at least some adjacent housing segments (4a) are each mounted in a way that allows them to be separated from one another. [2] Windscreen cleaning robot (1) according to claim 1, wherein the base body (2) comprises a support structure (30) which has a plurality of support elements (30a) which are movably mounted relative to each other. [3] Windscreen cleaning robot (1) according to claim 2, wherein - at least some of these support elements (30a) are connected to each other by at least one hinge (14, 14a, 14b) and / or a telescopic suspension and / or a ball joint, and / or - the basic body (2) is at least partially covered by an elastic outer shell. [4] Disc cleaning robot (1) according to one of the preceding claims, wherein the base body (2) has a variable base area (20) by means of the plurality of housing segments (4a) movably mounted relative to each other and / or by means of the plurality of support elements (30a) movably mounted relative to each other. [5] Disc cleaning robot (1) according to one of the preceding claims, wherein the housing segments (4a) and / or the support elements (30a) which are movably mounted relative to each other are movable relative to each other by a number of actuators. [6] Disc cleaning robot (1) according to claim 5, wherein the number of actuators operates hydraulically and / or pneumatically and / or electromechanically and / or by means of shape memory alloys. [7] Windscreen cleaning robot (1) according to one of the preceding claims, wherein the propulsion means (6) - a plurality of wheels and / or casters, and / or - a number of caterpillar tracks (6a) each with associated conveyor wheels (6b) and / or - comprises a plurality of support legs (8a). [8] Windscreen cleaning robot (1) according to claim 7, where at least one pair of wheels out of the majority of wheels has a variable wheelbase, and / or wherein the conveyor wheels (6b) at least one of the crawler tracks (6a) has a variable wheelbase, and / or wherein at least some of the support legs (8a) are extendable and / or elastically suspended. [9] Windscreen cleaning robot (1) according to one of the preceding claims, wherein the adhesive (18) - at least one vacuum motor (18a) with an associated intake tract and / or - at least one initial magnetic element and / or - includes a number of suction cups. [10] Windscreen cleaning robot (1) according to claim 9, wherein in the case that at least one vacuum motor (18a) is included as an adhesion agent (18), the associated suction tract is flexibly designed. [11] Windscreen cleaning robot (1) according to one of the preceding claims, wherein the at least one cleaning element (16) has a variable size and / or a variable geometry and / or a flexible suspension. [12] Windscreen cleaning robot (1) according to one of the preceding claims, wherein a support structure (8) is further arranged on the base body (2), which is designed to support and / or anchor the windscreen cleaning robot (1) to a part of a vehicle.

Images