CN209966260U

CN209966260U - Window cleaning robot

Info

Publication number: CN209966260U
Application number: CN201920092252.XU
Authority: CN
Inventors: 陈爱兵
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2020-01-21
Anticipated expiration: 2029-01-21

Abstract

The utility model provides a window-cleaning robot, contains robot body and safety device, safety device contains winder and safety rope, the winder sets up on the robot body, the one end winding of safety rope is on the winder, and the other end is used for connecting the stiff end. The utility model discloses a set up the winder on robot to set up the wire hole into can be rotatory around the rotation axis, the resistance that receives when having reduced the walking of window-cleaning robot has solved the safety rope and probably takes place winding problem, and only locking mechanism can prevent the wire reel to continue to rotate the very first time, prevents to wipe the window robot and continues to fall, thereby the effectual safety of protecting window-cleaning robot.

Description

Window cleaning robot

Technical Field

The utility model relates to a window-cleaning robot belongs to small household electrical appliances and makes technical field.

Background

The window cleaning robot is adsorbed on a vertical adsorbable interface (glass, a wall, a ceramic tile and the like) by virtue of atmospheric negative pressure, certain potential safety hazards exist during working, and the possibility of falling is realized. Most of products in the existing market adopt a safety rope to protect a window cleaning robot, and the current protection modes include three types: the first is to fix the elastic safety rope at two ends of the power line, the second is to fix the other end on the sucker or other objects after connecting one end of the safety rope with the whole machine, and the other is to fix the other end on the sucker or other objects through the coil winder after connecting one end of the safety rope with the whole machine.

The existing protection mode can not play a role in protecting the window cleaning robot at the first time when the window cleaning robot drops. For example, the first and second aspects can protect the window cleaning robot by the safety rope only when the falling height of the window cleaning robot exceeds the length of the safety rope, and shortening the length of the safety rope limits the cleaning area of the window cleaning robot. The third scheme is because the winder sets up on the sucking disc, and the safety rope is walked around window glass and is connected with the robot of cleaning the window, and when the robot of cleaning the window took place to drop, the safety rope can be with window glass frame or window frame frictional contact, and the tensile first stress point that produces when falling promptly is window glass frame or window frame, and the frictional force between safety rope and window glass frame or the window frame makes the winder unable taut safety rope in the very first time.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that not enough to prior art provides a window cleaning robot, through setting up the winder on the robot body to set up the wire hole into can be rotatory around the rotation axis, reduced the resistance that receives when the window cleaning robot walks, solved safety rope and probably taken place winding problem, and only locking mechanism can prevent the wire reel to continue to rotate the very first time, prevent that the window cleaning robot from continuing to fall, thereby the effectual safety of protecting the window cleaning robot.

The utility model discloses the technical problem that solve is realized through following technical scheme:

the utility model provides a window-cleaning robot contains robot body and safety device, safety device contains winder and safety rope, the winder sets up on the robot body, the one end winding of safety rope is on the winder, and the other end is used for connecting the stiff end.

In order to prevent the window cleaning robot from turning when walking, the safety rope is wound on the robot body, the winder comprises a shell provided with a wire outlet hole, and the shell is rotatably arranged at the top of the robot body.

Preferably, the safety rope extends out of the window cleaning robot through the wire outlet hole, and a rotating shaft, a wire spool rotating around the rotating shaft, a wire winding device driving the wire spool to rotate, and a locking mechanism are arranged in the housing.

Preferably, the wire winding device is a coil spring, one end of the coil spring is fixed on the rotating shaft, the other end of the coil spring is fixed on the wire spool, the locking mechanism comprises a lock tongue arranged on the wire spool and a ratchet wheel arranged on the shell and matched with the lock tongue, the rotating end of the lock tongue is rotatably fixed on the wire spool, and the free end of the lock tongue can be inserted into the ratchet wheel for positioning.

In order to judge whether the window cleaning robot falls or not more accurately, the locking mechanism comprises a speed measuring device, and the speed measuring device is used for measuring the rotating speed of the wire spool or the stretching speed of the safety rope.

Preferably, the winder includes a housing provided with a wire outlet, the safety rope extends to the outside of the window cleaning robot through the wire outlet, a rotating shaft, a wire spool rotating around the rotating shaft, a wire winding device driving the wire spool to rotate and a locking mechanism are arranged in the housing, and the wire outlet is arranged to be rotatable around the rotating shaft.

Preferably, the housing includes a fixed portion fixed to the robot body and a rotating portion rotatable with respect to the fixed portion, and the outlet hole is provided in the rotating portion.

Preferably, the robot body is provided with a rotating part, the rotating part is provided with a threading channel, one end of the safety rope is wound on the winder, and the other end of the safety rope penetrates through the threading channel and then is connected with the fixed end.

Preferably, the rotating part is an L-shaped rotating handle, and the short edge of the rotating handle is vertically arranged at the top of the robot body.

The utility model also provides a window cleaning robot, which comprises a robot body and a safety device, wherein the safety device comprises a coil winder and a safety rope,

the winder is arranged on the robot body, one end of the safety rope is wound on the winder, and the other end of the safety rope is connected with the fixed end;

or, the winder sets up outside the robot body, be equipped with the rotating member on the robot body, the one end winding of safety rope is on the winder, and the other end is connected the rotating member.

To sum up, the utility model arranges the winder on the robot body and arranges the wire outlet hole to rotate around the rotating shaft, thus reducing the resistance suffered by the window cleaning robot when walking, solving the problem that the safety rope is likely to be wound, and the locking mechanism can prevent the wire reel from continuing to rotate in the first time, preventing the window cleaning robot from continuing to fall off, thereby effectively protecting the safety of the window cleaning robot; or, set up the winder outside the robot, be equipped with the rotating member on the robot, through the rotation of rotating member, the position of wire hole changes, effectively prevents or reduces the safety rope winding robot.

The above summary and the following embodiments are provided to further illustrate the technical means and achieve the effects of the present invention, but the embodiments and the drawings are only provided for the purpose of illustration and are not intended to limit the present invention.

The technical solution of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art to obtain other embodiments and drawings based on the embodiments shown in the drawings without any inventive work.

Fig. 1 is a schematic top view of the window cleaning robot of the present invention;

FIG. 2 is a schematic structural view of the window cleaning robot during adsorption;

FIG. 3 is a schematic structural view of the window cleaning robot of the present invention;

FIG. 4 is a schematic view of the window-cleaning robot after the wire hole is rotated;

FIG. 5 is a sectional view of the window cleaning robot of the present invention;

fig. 6 is a cross-sectional view of the window-cleaning robot after the wire hole rotates.

[ description of reference ]

Robot body 10

Safety device 20

Safety rope 21

Outer casing 22

Wire outlet hole 23

Rotating shaft 24

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor necessarily requiring or implying any actual such relationship or order between such entities or operations.

In the present invention, the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for convenience of description and simplification of description, and do not indicate or imply that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Fig. 1 is a schematic top view of the window cleaning robot of the present invention; FIG. 2 is a schematic structural view of the window cleaning robot during adsorption; FIG. 3 is a schematic structural view of the window cleaning robot of the present invention; FIG. 4 is a schematic view of the window-cleaning robot after the wire hole is rotated; FIG. 5 is a sectional view of the window cleaning robot of the present invention; fig. 6 is a cross-sectional view of the window-cleaning robot after the wire hole rotates. As shown in fig. 1 to 6, the utility model provides a window cleaning robot contains robot body 10 and sets up safety device 20 on robot body 10, safety device 20 contains winder and safety rope 21, the one end winding of safety rope 21 is on the winder, and the other end is used for connecting the stiff end, the stiff end can be for fixing things such as glass or indoor sucking disc or fixed column to make safety rope 21's one end firmly fixed, robot body 10 can connect at a relatively safe stiff end with the help of safety rope 21 of safety device 20, receives the damage when preventing robot body 10 from taking place to drop.

The winder comprises a shell 22 provided with a wire outlet hole 23, and the safety rope 21 extends out of the window cleaning robot through the wire outlet hole 23. The housing 22 is provided with a rotating shaft 24, a wire spool rotating around the rotating shaft 24, a wire winding device driving the wire spool to rotate, and a locking mechanism for preventing the wire spool from rotating when the window cleaning robot drops.

The utility model discloses a set up the winder on robot to set up the wire hole into can be rotatory around the rotation axis, the resistance that receives when having reduced the walking of window-cleaning robot has solved the safety rope and probably takes place winding problem, and only locking mechanism can prevent the wire reel to continue to rotate the very first time, prevents to wipe the window robot and continues to fall, thereby the effectual safety of protecting window-cleaning robot.

The specific structure of the window cleaning robot is described below, and the robot body includes, but is not limited to, a control unit, an adsorption unit, a cleaning unit, a detection unit, a power supply unit, a traveling unit, a driving unit, and other components.

The control unit is arranged on a circuit main board in the robot body and comprises a memory, a processor and the like.

The memory may be a hard disk, flash memory, random access memory, etc. The memory is used for storing a control program.

The processor may be a central processing unit, an application processor, etc., and the processor may be in communication with a plurality of components (such as a function unit, a detection unit, a walking unit, etc.) disposed on the window-cleaning robot, and may control the window-cleaning robot to operate by using a program stored in the memory according to detection information of the plurality of components.

Furthermore, the control unit can be provided with a map navigation module which comprises a map generation unit and a map storage unit and is used for constructing and storing a working map of the working area of the window-cleaning robot so as to optimize the path planning of the window-cleaning robot.

The adsorption unit can adopt various mechanisms or devices to realize the adsorption of the window cleaning robot on the working surface, but generally, the adsorption unit adopts negative pressure adsorption, such as a suction cup or a negative pressure chamber surrounded by a cleaning cloth.

Particularly, the sucking disc is the type back taper structure of no apex angle, the sucking disc passes through the hose connection to the vacuum pump, and vacuum pump work makes and forms the negative pressure in the sucking disc. For example, when the window cleaning robot is adsorbed on the surface of the glass to be cleaned, the space enclosed by the sucker and the surface of the glass forms an inner chamber, and the inner chamber forms an inner negative pressure chamber through vacuum suction, so that the window cleaning robot is adsorbed on the working surface.

The cleaning unit is usually arranged at the bottom of the window cleaning robot, and may be a sponge, a cleaning rag or a scouring pad. In order to facilitate the disassembly and cleaning of the cleaning unit, the cleaning unit further comprises a cleaning piece support, and the cleaning piece support is detachably arranged on the robot body. For example, the cleaning element holder may be velcro, magnet, or the like.

The detection unit includes an obstacle sensor, a surface defect detection sensor, and the like.

The surface defect detection sensor comprises a detection rod movably arranged on the robot body, the lower end of the detection rod is a free end, and the free end is in a spherical shape. The robot body is provided with an accommodating space, the position and the shape of the accommodating space are arranged corresponding to those of the detection rod, and a stop part is convexly arranged on the inner wall of the accommodating space towards the inner cavity. The detection rod is sleeved with a spring, and the spring is positioned between the stop part and the inner side of the spherical surface. The surface defect detection sensor also comprises a sensor for detecting the position of the detection rod, and whether a descending step or a pit and the like exist on the working surface is judged by acquiring the position of the detection rod.

The obstacle sensor may include a bumper, an infrared sensor, an ultrasonic sensor, and the like.

For example, the buffer may reduce damage to the window cleaning robot caused by the obstacle through self-deformation when the window cleaning robot collides, preferably, the buffer may further send collision information to the control unit, and the control unit controls the window cleaning robot to avoid the obstacle after receiving the collision information sent by the buffer; the infrared sensor and the ultrasonic sensor can avoid collision between the window cleaning robot and the obstacle by measuring the distance between the obstacle and the window cleaning robot.

When the obstacle sensor detects an obstacle, the control unit controls the window cleaning robot to execute obstacle avoidance action.

The obstacle can be understood as a non-passable area which comprises a collision obstacle such as a window frame, a falling obstacle such as a descending step and a pit, and a plane medium which is not passable.

When an obstacle is in front of the window cleaning robot, the window cleaning robot can perform backward walking, if all the driving wheels rotate at a constant speed, the window cleaning robot can move backward at a constant speed, or the window cleaning robot rotates 180 degrees and then moves forward.

When obstacles exist in a plurality of directions around the window cleaning robot, the window cleaning robot can rotate to the direction without the obstacles and then move forwards, specifically, after the window cleaning robot collects obstacle information within the range of 360 degrees through autorotation, the maximum clearance between the obstacles is judged according to the angle and the obstacle information, the control unit controls the window cleaning robot to rotate, and the window cleaning robot moves forwards after being aligned to the central position of the maximum clearance; or the window cleaning robot realizes arc-shaped walking by controlling the speed difference between a plurality of driving wheels/driving tracks, so that the robot can directly walk to the maximum gap. The utility model discloses not regard this as the limit, keep away the purpose of barrier walking and keep away from the barrier for making window-cleaning robot to when preventing to carry out the work task, take place to drop the collision and cause the damage, the barrier-avoiding walking method among the prior art all can use on the window-cleaning robot.

The power supply unit comprises a rechargeable battery, and the rechargeable battery can comprise a nickel-hydrogen battery, a lithium battery or the like. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, a battery under-voltage monitoring circuit and the like, and the charging control circuit, the battery pack charging temperature detection circuit, the battery under-voltage monitoring circuit and the control unit are electrically connected.

The walking unit and the driving unit can be respectively a driving wheel and a driving motor.

In order to better drive the window cleaning robot to walk, the walking unit can comprise a crawler belt and crawler wheels which are positioned at the left side and the right side of the robot, and the driving unit comprises a driving motor. The crawler belt is a closed chain formed by a plurality of crawler belt unit sections which are connected with each other, crawler wheels are respectively arranged at two ends of the inner side of the closed chain, the teeth of the crawler wheels are inserted into the gaps between every two adjacent crawler belt units, and the driving unit is connected with the crawler wheels. The driving unit drives the crawler wheel to rotate under the control of the control unit, the crawler wheel drives the crawler to move, and the sections of the crawler unit continuously and alternately contact the surface of the glass to provide enough static friction force for the window cleaning robot to move. Synchronous movement and differential movement are realized through independent driving of each crawler. The synchronous motion can make the driving machine advance or retreat; the differential motion may cause the robot to effect rotation.

Further, the window cleaning robot can also realize twisting travel by arranging the alternately rotating adsorption turntables. Specifically, the control unit is respectively connected with the two adsorption rotating discs through the driving unit, the control unit respectively controls the size and the direction of power output on the two adsorption rotating discs, and the pair of adsorption rotating discs are driven to rotate or stand still by taking a vertical shaft vertical to the surface of glass as a center, so that the adsorption rotating discs and the vertical shaft alternately become a high-speed end or a low-speed end to form a rotating speed difference, and the window cleaning robot can twist and walk.

In order to prevent the dirt on the working surface from influencing the walking and the adsorption of the window wiping robot, the window wiping robot can also be provided with a closed scraping strip at the bottom, and the closed scraping strip is arranged around the sucker, so that the influence of the dirt on the sucker is reduced.

The utility model discloses do not restrict the type of winder, technical personnel in the field can select suitable winder according to actual need.

For example, the winding device may be a coil spring, one end of the coil spring is fixed on the rotating shaft 24, and the other end of the coil spring is fixed on the wire spool, when the window cleaning robot travels in a direction away from the fixed end, the safety rope 21 is pulled out against the elastic force of the coil spring to drive the wire spool to rotate, the coil spring deforms and stores the elastic force, so that the safety rope 21 is in a tensioned state, and when the window cleaning robot travels in a direction close to the fixed end, the wire spool drives the safety rope 21 to wind on the wire spool under the elastic force of the coil spring, so that the safety rope 21 is also in a tensioned state.

At this time, the structure of the locking mechanism is similar to that of the car seat belt, that is, the locking mechanism is not operated when the safety rope 21 (seat belt) is slowly drawn out, and is operated when the safety rope 21 (seat belt) is rapidly drawn out, the spool is prevented from rotating, and thus the safety rope 21 (seat belt) is prevented from being drawn out.

Specifically, locking mechanism contains a setting spring bolt on the wire reel, and sets up on shell 22 with spring bolt complex ratchet, the spring bolt contains free end and rotatory end, the rotatable fixing of rotatory end is on the wire reel, the free end can be rotatory around rotatory end, and can insert location in the ratchet, when wiping window robot normal walking, the centrifugal force that the spring bolt received is less, and the spring bolt does not take place or takes place small rotation, and when wiping window robot takes place to drop, the speed of free fall is very fast, causes the wire reel fast revolution, and the spring bolt receives great centrifugal force to make the free end card of spring bolt in the gear of ratchet, prevent that the wire reel is rotatory.

The winder can also be in other structures, for example, the winding device of the winder can be a motor, and the motor drives the wire spool to rotate. In order to more accurately judge whether the window cleaning robot drops, the locking mechanism may further include a speed measuring device, the speed measuring device measures the rotation speed of the wire spool or the extension speed of the safety rope 21 to judge whether the window cleaning robot drops, and when the window cleaning robot drops, the speed measuring device directly controls the motor to stop rotating, or controls other components such as a brake pad and a lock tongue to act, so as to prevent the wire spool from rotating.

Traditional safety device is owing to set up on sucking disc or other subassemblies, when the robot of wiping the window walks, the pulling safety rope motion, and the safety rope can take place the friction with window glass frame or window frame, the resistance of the robot of wiping the window walking is great, and simultaneously, when the robot of wiping the window takes place to drop, the tensile first stress point that produces when falling is window glass frame or window frame, frictional force between safety rope and window glass frame or the window frame makes the winder that sets up on sucking disc or other subassemblies unable at the very first time action, robot body drop time is longer, the impact force of production is great, cause the potential safety hazard easily. The utility model discloses in because safety device 20 sets up on robot 10, when the robot walking of wiping the window, safety rope 21 is by the robot department of wiping the window outwards extending, make the part of safety rope 21 and window glass frame or window frame contact not take place relative motion, the unnecessary resistance that receives when having reduced the robot walking of wiping the window, and when the robot takes place to drop of wiping the window, safety rope 21 directly drives the wire reel rotation on the robot of wiping the window, locking mechanism can prevent the wire reel continuation to rotate the very first time, prevent that the robot of wiping the window from continuing to fall, thereby the safety of effectual protection robot of wiping the window.

Further, in order to prevent the safety rope 21 from being wound around the robot body 10 and interfering with the traveling of the window cleaning robot when the window cleaning robot is steered in the traveling direction, the outlet hole 23 is provided to be rotatable about the rotation shaft 24, so that the opening direction of the outlet hole 23 can be changed.

The outlet hole 23 rotatable around the rotation axis 24 may be implemented by various structures, for example, the housing 22 may be rotatably disposed at the top of the robot body 10, and the housing 22 may be driven to rotate by the pressure generated when the safety rope 21 contacts the outlet hole 23, or the housing 22 may include a fixing portion fixed to the robot body 10 and a rotating portion rotatable with respect to the fixing portion, and the outlet hole 23 may be opened at the rotating portion.

In order to keep the window-cleaning robot balanced and facilitate the walking of the window-cleaning robot, the rotating shaft 24 is located at the center of the safety device 20, and the central axes of the robot body 10 and the safety device 20 are coincident.

Besides, it is also possible to prevent the safety rope 21 from being entangled by providing a rotating member on the robot body. At this time, the reel may be placed inside or outside the robot body. For example, the rotating member is provided with a threading channel, one end of the safety rope is wound on the winder, and the other end of the safety rope passes through the threading channel and then is connected with the fixed end. Optionally, the rotating member is an L-shaped rotating handle, a short side of the rotating handle is vertically arranged at the top of the robot body, a long side of the rotating handle is perpendicular to the short side, that is, when the window cleaning robot works on glass, the short side of the rotating handle is perpendicular to the glass, and the long side of the rotating handle can rotate in a plane parallel to a plane where the glass is located by using the short side as the rotating shaft 24. Obviously, because the long limit of rotatory handle exists, the outlet on the threading passageway is higher apart from the distance on glass surface, and makes the outlet and the outer fringe of robot housing apart from littleer, and the probability that the safety rope blocked the robot body reduces greatly. It should be noted that the present invention is not limited thereto, and those skilled in the art can also change the shape of the rotating member according to actual needs as long as the rotating member can prevent the safety rope 21 from being twisted.

The utility model discloses still can change the position that sets up of winder, the winder also can not set up on the robot body, but sets up outside the robot body. For example, the reel may be provided on a safety device at the fixed end, and the safety device including a suction cup will be described as an example. The winder sets up on adsorbing the sucking disc at safe position, be equipped with the rotating member on the robot body, at this moment, the one end winding of safety rope is on the winder, and the other end is connected the rotating member. When the window cleaning robot cleans glass, although the window cleaning robot can turn for many times, due to the existence of the rotating piece, namely the rotating piece rotates relative to the robot body, the outlet direction of the threading channel on the rotating piece is ensured to always face the safety device, so that the safety rope cannot be wound on the robot body.

The structure and operation of the present invention will be described with reference to the following embodiments.

Example one

In this embodiment, the window cleaning robot includes a robot body 10 and a safety device 20 disposed on the robot body 10, the safety device 20 includes a cord winder and a safety rope 21, the cord winder includes a housing 22 with a wire outlet 23, and the housing 22 is rotatably disposed on the top of the robot body 10. The safety rope 21 extends out of the window cleaning robot through the wire outlet hole 23, and a rotating shaft 24, a wire spool rotating around the rotating shaft 24, a wire winding device driving the wire spool to rotate, and a locking mechanism are further arranged in the housing 22. The winding device is a coil spring, one end of the coil spring is fixed on the rotating shaft 24, the other end of the coil spring is fixed on the wire spool, the locking mechanism comprises a spring bolt arranged on the wire spool and a ratchet wheel arranged on the shell and matched with the spring bolt, the rotating end of the spring bolt is rotatably fixed on the wire spool, and the free end of the spring bolt can be inserted into the ratchet wheel for positioning.

When the glass outside the shopping mall needs to be cleaned, before the window cleaning robot is used for cleaning, firstly, one end of the safety rope 21 far away from the window cleaning robot is fixedly connected with an indoor fixed end, for example, the safety rope 21 is fixed on a heating pipeline, a wall or a stair handrail, then, a switch of the window cleaning robot is opened, components such as an adsorption unit, a walking unit and the like are enabled to work, and the window cleaning robot is adsorbed on the glass wall outside the shopping mall to clean dirt such as dust on the glass wall.

In order to traverse the entire glass surface, in the present embodiment, the control unit controls the window wiping robot to perform a zigzag-shaped walk on the surface to be cleaned. Traditional window cleaning robot is because the winder does not set up on window cleaning robot, and when window cleaning robot walked, relative motion did not take place between safety rope and the window cleaning robot, and window cleaning robot takes safety rope to wait clean surface walking promptly, take place the friction with window glass frame and window frame during the safety rope motion, the resistance of window cleaning robot walking is great, not only causes the wearing and tearing of safety rope easily, and it is great to execute the power consumption of cleaning work, and single operating time is short. In the embodiment, the winder is arranged on the robot body 10, when the window cleaning robot walks, the position of one end of the safety rope bound on a heating pipeline or a stair handrail is unchanged, and the other end of the safety rope extends out or retracts back from the winder along with the walking of the window cleaning robot.

In addition, the window cleaning robot inevitably needs to perform multiple steering walking during walking, and the safety rope of the window cleaning robot in the prior art is wound on the robot body 10 after being steered for multiple times, so that the walking of the window cleaning robot is hindered. Because the shell 22 in this embodiment is rotatably disposed on the top of the robot body 10, the pulling force of the safety rope can drive the shell 22 to rotate when the robot turns, so as to change the direction of the wire outlet hole 23 and prevent the safety rope from being wound.

Although the utility model discloses wipe window robot has set up detecting element and has been used for preventing unexpected the emergence, still has the multiple situation that probably leads to wiping window robot to break away from its working surface in the reality, for example, detecting element breaks down, adsorbs the ageing gas leakage of unit, the condition such as reptile flying bird collision wipe window robot, outage suddenly even. At this moment, if the robot takes place to drop if wiping the window, the tensile first stress point that produces when the robot falls of wiping among the prior art is window glass frame or window frame, and the frictional force between safety rope and window glass frame or the window frame makes the winder that sets up on sucking disc or other subassemblies unable at the very first time action, and robot body drop time is longer, and the impact force of production is great, causes the potential safety hazard easily. And the utility model discloses in because safety device 20 sets up on robot 10, when the window-cleaning robot takes place to drop, safety rope 21 directly drives the wire reel rotation on the window-cleaning robot, and locking mechanism can prevent the wire reel continuation to rotate the very first time, prevents to wipe the window robot and continues to fall to the safety of window-cleaning robot is wiped in effectual protection.

This embodiment is through setting up the winder on robot, and has the rotatable setting of shell of wire hole at robot's top, and the resistance that receives when having reduced the walking of window-cleaning robot has solved the safety rope and probably has taken place winding problem, and only lock mechanism can prevent the wire reel to continue to rotate the very first time, prevents to wipe window robot and continues to fall to the effectual safety of protecting window-cleaning robot.

Example two

In this embodiment, window cleaning robot contains robot and the safety device of setting on robot, safety device contains winder and safety rope, be equipped with the rotating member on the robot, be equipped with a threading passageway on the rotating member, the one end winding of safety rope is on the winder, and the other end passes extend to window cleaning robot in the back in order to connect the stiff end, specifically, the rotating member is the rotatory handle of L type, the vertical setting of minor face at robot top of rotatory handle.

The robot body is also internally provided with a rotating shaft, a wire spool rotating around the rotating shaft, a wire coiling device driving the wire spool to rotate and a locking mechanism. The winding device is a coil spring, one end of the coil spring is fixed on the rotating shaft, the other end of the coil spring is fixed on the wire spool, the locking mechanism comprises a spring bolt arranged on the wire spool and a ratchet wheel arranged on the shell and matched with the spring bolt, the rotating end of the spring bolt is rotatably fixed on the wire spool, and the free end of the spring bolt can be inserted into the ratchet wheel for positioning.

When the glass outside the shopping mall needs to be cleaned, before the window cleaning robot is used for cleaning, firstly, one end of the safety rope, far away from the window cleaning robot, is fixedly connected with the indoor fixed end, for example, the safety rope is fixed on a heating pipeline, a wall or a stair handrail, then, a switch of the window cleaning robot is opened, components such as an adsorption unit, a walking unit and the like are enabled to work, and the window cleaning robot is adsorbed on the glass wall outside the shopping mall and starts to clean dirt such as dust on the glass wall.

Compared with the first embodiment, the window cleaning robot has the advantages that the rotating piece is L-shaped, the safety rope penetrates through the rotating piece and then is connected to the fixed end, compared with a shell only provided with a wire outlet hole in the first embodiment, the L-shaped rotating piece is smaller in mass and larger in stress moment, and when the window cleaning robot turns to walk, the safety rope can drive the rotating piece to rotate very easily, so that the safety rope is prevented from being wound.

Other working processes of the window cleaning robot in this embodiment are similar to those in the first embodiment, and are not described herein again.

This embodiment is through setting up the winder on the robot to with safety rope rethread stiff end after passing the threading passageway in the rotatory handle of L type, it possesses the various advantages of embodiment, can also further reduce the possibility that safety rope takes place to twine.

To sum up, the utility model discloses a set up the winder on the robot to set up the wire hole into can rotating around the rotation axis, reduced the resistance that receives when wiping the walking of window robot, solved the safety rope and probably taken place winding problem, and only lock mechanism can prevent the wire reel for the very first time and continue to rotate, prevent to wipe the window robot and continue to fall, thereby the effectual safety of protecting the robot of wiping the window.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a window-cleaning robot, contains robot body and safety device, safety device contains winder and safety rope, its characterized in that, the winder sets up on the robot body, the one end winding of safety rope is on the winder, and the other end is used for connecting the stiff end.

2. The window-cleaning robot as claimed in claim 1, wherein the reel includes a housing having an outlet hole, the housing being rotatably disposed on the top of the robot body.

3. The window cleaning robot as claimed in claim 2, wherein the safety rope extends out of the window cleaning robot through the wire outlet hole, and a rotating shaft, a wire spool rotating around the rotating shaft, a wire winding device driving the wire spool to rotate, and a locking mechanism are provided in the housing.

4. The window cleaning robot as claimed in claim 3, wherein the wire winding device is a coil spring, one end of the coil spring is fixed on the rotating shaft, the other end of the coil spring is fixed on the wire spool, the locking mechanism comprises a lock tongue arranged on the wire spool and a ratchet wheel arranged on the shell and matched with the lock tongue, the rotating end of the lock tongue is rotatably fixed on the wire spool, and the free end of the lock tongue can be inserted into the ratchet wheel for positioning.

5. The window cleaning robot as claimed in claim 3, wherein the locking mechanism comprises a speed measuring device for measuring a rotation speed of the wire spool or a retraction speed of the safety rope.

6. The window-cleaning robot as claimed in claim 1, wherein the reel includes a housing having an outlet hole through which the safety rope extends to the outside of the window-cleaning robot, the housing having a rotation shaft, a spool rotating around the rotation shaft, a winding device for driving the spool to rotate, and a locking mechanism, the outlet hole being configured to rotate around the rotation shaft.

7. The window cleaning robot of claim 6, wherein the housing includes a fixed portion fixed to the robot body and a rotating portion rotatable with respect to the fixed portion, and the outlet hole is provided in the rotating portion.

8. The window-cleaning robot as claimed in claim 1, wherein the robot body is provided with a rotating member, the rotating member is provided with a threading passage, one end of the safety rope is wound on the winder, and the other end of the safety rope is connected to the fixing end after passing through the threading passage.

9. The window cleaning robot as claimed in claim 8, wherein the rotating member is an L-shaped rotating handle, and the short side of the rotating handle is vertically arranged on the top of the robot body.

10. A window-cleaning robot comprises a robot body and a safety device, wherein the safety device comprises a winder and a safety rope, and is characterized in that,