CN117442096A - Side brush cleaning structure and window cleaning machine - Google Patents

Abstract

The invention belongs to the field of cleaning technical equipment, and particularly relates to a side brush cleaning structure and a window cleaning machine. The side brush cleaning structure comprises: the device comprises an edge brush mechanism, a trigger rod, a sensor and an elastic piece, wherein the edge brush mechanism is contacted with and used for cleaning a wall body, the trigger rod is connected with the edge brush mechanism in a sliding mode, the sensor is used for sensing the sliding of the trigger rod and is connected with the edge brush mechanism, the elastic piece is provided with elastic restoring force, one end of the elastic piece is connected with the trigger rod, and the other end of the elastic piece is connected with the edge brush mechanism; the side brush mechanism is provided with a first position state contacting the wall body and a second position state at least partially separated from the wall body; when the side brush mechanism is in a first position state, the trigger rod is separated from the sensing range of the sensor and compresses the elastic piece; when the side brush mechanism is in the second position state, the elastic piece drives the trigger rod to slide, so that the trigger rod is located in the sensing range of the sensor. According to the invention, the trigger rod is matched with the sensor, so that the aim of detecting the contact condition of the side brush cleaning structure and the wall body can be fulfilled.

Description

Side brush cleaning structure and window cleaning machine

Technical Field

The invention belongs to the field of cleaning technical equipment, and particularly relates to a side brush cleaning structure and a window cleaning machine.

Background

With the improvement of the living standard of people, high-tech products are deeply integrated into our daily lives. The window cleaning robot brings great convenience to the family life of people, realizes the freedom of both hands, and avoids the danger possibly brought by cleaning the window.

The window cleaning robot comprises a shell, a driving assembly for driving the shell to move, a control assembly and a side brush cleaning structure connected with the shell. Through drive assembly, the robot can remove in a flexible way on glass curtain wall to under the effect of limit brush clean structure, the high-efficient cleanness of accomplishing glass curtain wall.

However, current window cleaning robots suffer from a number of deficiencies in the cleaning process. The existing side brush cleaning structure only has a cleaning function, when the cleaning structure reaches the right angle position of the two-sided curtain wall of a building or the edge position of the curtain wall, the cleaning structure cannot timely feed back information on the suspension position of the Bian Shuaqing cleaning structure to the control assembly, so that the control assembly cannot timely adjust the steering of the driving assembly, and the robot is separated from the edge or the right angle position to fall off.

Disclosure of Invention

An aim of the embodiment of the application is to provide a side brush cleaning structure, which aims at solving the problem of how to detect the contact state of the side brush cleaning structure with a wall body.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows:

in a first aspect, there is provided a side brush cleaning structure comprising: the device comprises a side brush mechanism, a trigger rod, a sensor and an elastic piece, wherein the side brush mechanism is contacted with and used for cleaning a wall body, the trigger rod is connected with the side brush mechanism in a sliding manner, the sensor is used for sensing the sliding of the trigger rod and is connected with the side brush mechanism, the elastic piece is provided with elastic restoring force, one end of the elastic piece is connected with the trigger rod, and the other end of the elastic piece is connected with the side brush mechanism; the side brush mechanism has a first position state contacting the wall and a second position state at least partially separated from the wall; when the side brush mechanism is in the first position state, the trigger rod is separated from the sensing range of the sensor and compresses the elastic piece; when the side brush mechanism is in the second position state, the elastic piece drives the trigger rod to slide, so that the trigger rod is located in the sensing range of the sensor.

In some embodiments, the sensor is a photoelectric sensor having a sensing groove, the trigger lever portion being located in the sensing groove when the side brush mechanism is in the first position state; when the side brush mechanism is in the second position state, the trigger rod is separated from the induction groove.

In some embodiments, the triggering rod comprises a triggering head for triggering the sensor, a butt joint made of flexible materials and a rod body in sliding connection with the side brush mechanism, the butt joint and the triggering head are respectively connected with two ends of the rod body, and the elastic piece is connected with the rod body; when the side brush mechanism is in the first position state, the abutting joint abuts against the wall body.

In some embodiments, the elastic element is a tube spring, and the tube spring is sleeved outside one end of the rod body, where the abutting joint is arranged.

In some embodiments, the side brush mechanism comprises a reduction gearbox, a fixed bracket connected with the reduction gearbox, a side brush head rotatably connected with the reduction gearbox and used for cleaning the wall body, and a driving component used for driving the side brush head to rotate and connected with the reduction gearbox, the trigger rod is slidably connected with the reduction gearbox, and the sensor is positioned on the fixed bracket.

In some embodiments, the reduction gearbox is provided with a through hole, the side brush head is provided with a rotation hole, the side brush head is rotationally connected with the reduction gearbox through the rotation hole, the trigger rod is slidably arranged in the through hole in a penetrating manner and extends into the rotation hole, and the abutting joint abuts against the wall body when the side brush mechanism is in the first position state.

In some embodiments, the side brush mechanism further comprises a steering ring rotatably connected to the surface of the reduction gearbox facing the wall, one end of the side brush head is inserted into the steering ring, and the steering ring is located between the reduction gearbox and the cleaning end of the side brush head.

In some embodiments, the driving assembly comprises a driver connected with the reduction gearbox and a gear transmission chain positioned in the reduction gearbox, the side brush head is rotatably connected with one end of the gear transmission chain, and the other end of the gear transmission chain is connected with the driver.

In some embodiments, the reduction gearbox is rotatably disposed relative to the fixed support, and the plane determined by the rotation track of the reduction gearbox is parallel to the wall body, and the side brush cleaning structure further includes a tact switch connected to the fixed support and used for sensing rotation of the reduction gearbox, a limit shaft connected to the tact switch and used for limiting rotation of the reduction gearbox, and an elastic head disposed on the limit shaft.

In a second aspect, a window cleaning apparatus is provided that includes the side brush cleaning structure.

The beneficial effects of this application lie in: when the side brush mechanism is in the first position state, the side brush mechanism is kept in contact with the wall body, the trigger rod is separated from the sensing range of the sensor, and the sensor feeds back that the side brush mechanism is in the range of the wall body, so that the falling risk is avoided; when the side brush mechanism is switched to the second position state, the elastic piece drives the trigger rod to slide relative to the side brush mechanism, and the trigger rod is positioned in the sensing range of the sensor, so that the sensor is triggered, the sensor senses that the side brush mechanism is in a state separated from or being separated from a wall body, and the aim of detecting the contact condition of the side brush cleaning structure and the wall body can be fulfilled through the cooperation of the trigger rod and the sensor.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required for the description of the embodiments or exemplary techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a schematic perspective view of an edge brush cleaning structure provided in an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of the trigger lever of the side brush cleaning structure of FIG. 1 disengaged from the sensing range of the sensor;

FIG. 3 is a schematic cross-sectional view of the trigger lever of the side brush cleaning structure of FIG. 1 in the sensing range of the sensor;

FIG. 4 is an exploded schematic view of the side brush cleaning structure of FIG. 1;

FIG. 5 is a schematic perspective view of a window cleaning machine according to another embodiment of the present disclosure;

fig. 6 is a schematic top view of the window cleaning of fig. 5.

Wherein, each reference sign in the figure:

100. a side brush cleaning structure; 110. a side brush mechanism; 101. a fixed bracket; 102. a reduction gearbox; 103. a side brush head; 104. a drive assembly; 1041. a driver; 1042. a gear train; 300. a sensor; 200. a trigger lever; 401. touching the switch; 402. a limiting shaft; 301. an induction tank; 302. a receiving end; 303. a transmitting end; 1023. a transmission cavity; 210. an elastic member; 403. a steering ring; 404. a rotating sleeve; 4041. an avoidance groove; 405. an elastic head; 1026. a through hole; 600. a window cleaning machine; 601. a housing; 602. a running structure; 1011. avoidance holes;

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, are for convenience of description only, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application, and the specific meaning of the terms described above may be understood by those of ordinary skill in the art as appropriate. The terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.

Referring to fig. 1 and 5, the embodiment of the present application provides a brush cleaning structure 100 and a window cleaning machine 600 having the same, where the brush cleaning structure 100 is used for cleaning a wall, and the wall is an outer surface of a building, and it is understood that the brush cleaning structure 100 may also be used for cleaning outer surfaces of other objects, which is not limited herein, and may be selected according to practical situations. The wall may be a glass curtain wall, which is typically composed of large glass panels, structural frames of aluminum or steel, and sealing materials. The glass curtain wall has edges, and the intersection of the two glass curtain walls can also form corner edges.

Referring to fig. 2 and 3, the side brush cleaning structure 100 includes a side brush mechanism 110, a trigger lever 200, a sensor 300, and an elastic member 210. The side brush mechanism 110 contacts and is used for cleaning the wall, the trigger rod 200 is connected with the side brush mechanism 110 in a sliding manner along the direction perpendicular to the wall, and the trigger rod 200 can slide close to the wall or slide away from the wall under the action of external force. The elastic member 210 has an elastic restoring force, and the elastic member 210 can be elastically deformed by an external force. One end of the elastic piece 210 is connected with the trigger rod 200, and the other end of the elastic piece 210 is connected with the side brush mechanism 110; the side brush mechanism 110 has a first position state contacting the wall and a second position state at least partially clear of the wall; when the side brush mechanism 110 is in the first position state, the trigger lever 200 is separated from the sensing range of the sensor 300 and compresses the elastic member 210; when the side brush mechanism 110 is in the second position state, the elastic member 210 drives the trigger lever 200 to slide, so that the trigger lever 200 is located in the sensing range of the sensor 300. When the side brush mechanism 110 is in the first position, the side brush mechanism 110 is tightly attached to the wall, one end of the trigger rod 200 is also slidably abutted to the wall, and the wall slides the trigger rod 200 by a certain distance along the direction away from the wall by the reaction force, so that the trigger rod 200 compresses the elastic member 210 and the trigger rod 200 is separated from the sensing range of the sensor 300. The sensor 300 sends out the position information of the edge brush mechanism 110 in the wall body, and the edge brush mechanism 110 can move and clean the wall body under the drive of external power; when the edge brush mechanism 110 is in the second position state, the edge brush mechanism 110 moves to the edge of the wall body and at least partially breaks away from contact with the wall body, at this time, the elastic member 210 drives the trigger lever 200 to slide relative to the edge brush mechanism 110 and enables the trigger lever 200 to be located in the sensing range of the sensor 300, so as to trigger the sensor 300, and the sensor 300 sends the edge brush mechanism 110 out to be in a state of breaking away from the wall body and feeds back the position information of the edge brush mechanism 110 to the control structure of the window cleaning machine 600.

Referring to fig. 2 and 3, in the side brush cleaning structure 100 provided in the present embodiment, when the side brush mechanism 110 is in the first position state, the side brush mechanism 110 is kept in contact with the wall, the trigger lever 200 is separated from the sensing range of the sensor 300, and the sensor 300 detects that the side brush mechanism 110 is in the range of the wall, so that the risk of falling does not exist; when the side brush mechanism 110 is switched to the second position state, the elastic member 210 drives the trigger lever 200 to slide relative to the side brush mechanism 110, and the trigger lever 200 is located in the sensing range of the sensor 300, so as to trigger the sensor 300, so that the sensor 300 senses that the side brush mechanism 110 is in a state of being separated from or being separated from the wall, and the purpose of detecting the contact condition of the side brush cleaning structure 100 and the wall can be achieved through the cooperation of the trigger lever 200 and the sensor 300.

Referring to fig. 2 and 3, it can be understood that when the side brush mechanism 110 is in the second position state, the side brush mechanism 110 is at least partially in a suspended state relative to the wall, and the trigger lever 200 slides relative to the side brush mechanism 110 at the suspended position, so as to be located within the sensing range of the sensor 300.

It will be appreciated that when the sensor 300 is not triggered, indicating that the side brush mechanism 110 is in the first position, the sensor 300 may also feed back this position information to the control structure of the window cleaning machine 600.

It is understood that when the side brush mechanism 110 is in the first position, the front projections of the side brush mechanism 110 on the wall are all located in the wall, and the side brush mechanism 110 is stressed in balance. When the side brush mechanism 110 is in the second position state, the side brush mechanism 110 is at least partially separated from the wall, i.e. the side brush mechanism 110 is partially suspended or integrally suspended along the direction perpendicular to the wall, the stress balance of the side brush mechanism 110 is broken when the trigger rod 200 is separated, and the elastic member 210 drives the trigger rod 200 to move.

Referring to fig. 4, in some embodiments, the sensor 300 is a photoelectric sensor, and the photoelectric sensor has a sensing groove 301, and when the side brush mechanism 110 is in the first position state, the trigger lever 200 is partially located in the sensing groove 301; when the side brush mechanism 110 is in the second position state, the trigger lever 200 is separated from the sensing groove 301.

Optionally, the photo sensor (Photoelectric Sensor) is an element that uses optical signals to effect detection and measurement. The photoelectric sensor has the following characteristics:

non-contact detection: the photo sensor is a non-contact sensor 300 that does not require direct contact with the target object and therefore does not cause damage or wear to the object.

High precision: the photo sensor is generally capable of providing high accuracy detection and measurement results, and can detect minute objects or position changes.

Fast response time: the photoelectric sensor has quick response time, can detect the change of an object in millisecond-level time, and is suitable for applications requiring quick response.

The reliability is high: the photoelectric sensor has high reliability and can work under severe environmental conditions, such as high temperature, low temperature, humidity, dust and the like.

Good environmental adaptability: the photo-sensor can generally be adapted to different environmental conditions, such as different illumination intensities, colors, reflectivities, etc.

Referring to fig. 4, it can be understood that the photoelectric sensor has a transmitting end 303 capable of generating an optical signal and a receiving end 302 opposite to the transmitting end 303 and configured to receive the optical signal, where the transmitting end 303 and the receiving end 302 together form an induction slot 301, and when the side brush mechanism 110 is in the first position state, the trigger lever 200 is partially located in the induction slot 301, and the trigger lever 200 blocks the optical signal from being transmitted from the transmitting end 303 to the receiving end 302; when the side brush mechanism 110 is in the second position state, the trigger rod 200 is separated from the sensing groove 301, and the optical signal can be transmitted from the transmitting end 303 to the receiving end 302, so that the triggering of the photoelectric sensor is realized, the photoelectric sensor indirectly detects that the side brush mechanism 110 is separated from the wall, the window cleaning machine 600 is positioned at the edge of the wall, the falling risk exists, the photoelectric sensor feeds back the position information to the control structure of the window cleaning machine 600, the control structure controls the running structure 602 of the window cleaning machine 600 to run reversely, and the window cleaning machine 600 is prevented from falling from the edge.

In some embodiments, the trigger lever 200 includes a trigger head for triggering the sensor 300, an abutment made of a flexible material, and a lever body slidingly connecting the side brush mechanism 110, the abutment and the trigger head being respectively connected to two ends of the lever body, and the elastic member 210 being connected to the lever body; when the side brush mechanism 110 is in the first position state, the abutting joint abuts against the wall body.

Referring to fig. 2 and 3, alternatively, when the side brush mechanism 110 is in the first position, the trigger head is separated from the sensing range of the sensor 300, and the low joint is in contact with the wall, and when the side brush mechanism 110 is in the second position, the abutment joint is at least partially separated from contact with the wall, so that the rod body can slide relative to the side brush mechanism 110, so that the trigger head is located in the sensing range of the sensor 300. Optionally, the abutting joint is hemispherical and made of silica gel material or rubber material, the abutting joint can generate elastic deformation when abutting against the wall body, and when the side brush mechanism 110 is switched from the first position state to the second position state, the abutting joint does not need to be integrally separated from the wall body, and can slide relative to the side brush mechanism 110 through elastic deformation of the abutting joint, so that the triggering head is located in the sensing range of the sensor 300, and the sensitivity and reliability of detection are improved.

Referring to fig. 2 and 3, in some embodiments, the elastic member 210 is a tube spring, the tube spring is sleeved on one end of the rod body, where the end of the tube spring is provided with an abutment, the one end of the tube spring abuts against the abutment, and the other end of the tube spring is connected to the side brush mechanism 110. The tube spring drives the rod opposite side brush mechanism 110 to slide by elastic deformation.

In some embodiments, the end of the rod body provided with the trigger head is also provided with a tube spring, one end of the tube spring is connected or abutted against the edge brush mechanism 110, and the other end of the tube spring is connected with the rod body or abutted against the hair head. The elastic deformation of the tube spring at the position is opposite to that of the tube spring at the abutting joint, namely, when the edge brush mechanism 110 is in the first position state, the tube spring is stretched and deformed.

Referring to fig. 2 to 4, in some embodiments, the side brush mechanism 110 includes a reduction gearbox 102, a fixed bracket 101 connected to the reduction gearbox 102, a side brush head 103 rotatably connected to the reduction gearbox 102 and used for cleaning a wall, and a driving assembly 104 used for driving the side brush head 103 to rotate and connected to the reduction gearbox 102, a trigger lever 200 is slidably connected to the reduction gearbox 102, and a sensor 300 is located on the fixed bracket 101.

Optionally, the fixing bracket 101 has a positioning cavity, and the reduction gearbox 102 is at least partially located in the positioning cavity, so as to reduce the size of the side brush mechanism 110, which is beneficial to compact the structure.

Referring to fig. 2 to 4, in some embodiments, a through hole 1026 is formed in the reduction gearbox 102, a rotation hole is formed in the side brush head 103, the side brush head 103 is rotatably connected to the reduction gearbox 102 through the rotation hole, the trigger rod 200 is slidably disposed through the through hole 1026 and extends into the rotation hole, and when the side brush mechanism 110 is in the first position state, the low joint abuts against the wall.

Referring to fig. 2 to 4, optionally, the reduction gearbox 102 includes an upper cover and a lower cover covering the upper cover, the upper cover and the lower cover together form a transmission cavity 1023, a through hole 1026 penetrates the upper cover and the lower cover, the side brush head 103 is rotatably disposed at the lower cover, and the sensor 300 is disposed near the upper cover.

In some embodiments, the side brush mechanism 110 further includes a diverter ring 403, the diverter ring 403 rotatably connects the wall facing surface of the reduction gearbox 102, one end of the side brush head 103 is inserted into the diverter ring, and the diverter ring 403 is located between the reduction gearbox and the cleaning end of the side brush head 103.

Optionally, when the wall body is convexly provided with a frame, when the side brush cleaning structure 100 cleans the wall body with the frame, the ring side surface of the steering ring 403 abuts against the frame and rolls on the frame, so that the steering of the side brush head 103 can be assisted, and the flexibility and convenience of using the side brush cleaning structure 100 are improved.

Referring to fig. 2 to 4, in some embodiments, the driving assembly 104 includes a driver 1041 connected to the reduction gearbox 102 and a gear train 1042 located in the reduction gearbox 102, the side brush head 103 is rotatably connected to one end of the gear train 1042, and the other end of the gear train 1042 is connected to the driver 1041.

Optionally, the fixing support 101 is provided with an avoidance hole 1011 communicated with the placement cavity, the driver 1041 is connected with the reduction gearbox 102 through the avoidance hole 1011, the driver 1041 may be a Servo Motor, and the Servo Motor (Servo Motor) is a Motor capable of providing accurate control.

It will be appreciated that the gear train 1042 comprises a plurality of sequentially engaged gears, which may be helical gears, with the axis of rotation of the drive 1041 engaging one end of the gear train 1042 and the brushhead 103 being connected to the other end of the gear train 1042, thereby enabling the drive 1041 to drive the brushhead 103 in rotation.

Optionally, the gear at the extreme end of the gear driving chain 1042 is sleeved outside the rod body, and the edge brush 103 is connected with the gear, so that the gear rotates with the rod body as a rotation axis and drives the edge brush 103 to rotate together, so that the whole structure is compact.

Referring to fig. 2 to 4, optionally, a rotating sleeve 404 is convexly disposed on the surface of the reduction gearbox, the rotating sleeve 404 is communicated with the interior of the reduction gearbox 102, and a plurality of avoidance grooves 4041 are circumferentially formed in the rotating sleeve 404, so that the rotating sleeve 404 has a reducing end, and can elastically shrink to facilitate the outer sleeve of the steering ring 403 on the reducing end to the rotating sleeve 404, thereby improving the convenience of mounting or dismounting the steering ring 403.

It will also be appreciated that the driver 1041 may be provided on the reduction gearbox 102 or on the fixed support 101, and may be selected according to the circumstances without limitation.

Alternatively, the drive 1041 may be a brushless motor that performs commutation of the current through an electronic controller without a conventional mechanical brush, thereby reducing friction and wear and improving the life of the motor.

In some embodiments, the reduction gearbox 102 is rotatably disposed relative to the fixed support 101, and the plane defined by the rotation track of the reduction gearbox 102 is parallel to the wall, and the side brush cleaning structure 100 further includes a tact switch 401 connected to the fixed support 101 and used for sensing rotation of the reduction gearbox 102, a limit shaft 402 connected to the tact switch 401 and used for limiting rotation of the reduction gearbox 102, and an elastic head 405 disposed on the limit shaft 402.

Referring to fig. 2 to 4, alternatively, two tact switches 401 are respectively disposed on two opposite side surfaces of the side brush mechanism 110. When the tact switch 401 collides with an obstacle protruding on a wall body, information can be fed back to the control structure, and the driving structure 602 is controlled to rotate through the control structure, so that other areas can be cleaned, and the reliability of the side brush cleaning structure 100 is improved.

Optionally, the elastic heads 405 have elastic restoring force, the two limiting shafts 402 are respectively located at two sides of the reduction gearbox 102, the reduction gearbox 102 has a certain deflection range along the direction parallel to the wall body relative to the fixed support 101, one of the elastic heads 405 is compressed in the deflection process caused by the obstacle, and after the side brush cleaning structure 100 is turned, the elastic heads 405 are restored to the original state and correct the position of the reduction gearbox 102, so that the reduction gearbox 102 is reset.

Alternatively, the resilient head 405 may be made of rubber.

Referring to fig. 5 to fig. 6, the present invention further provides a window cleaning machine 600, where the window cleaning machine 600 includes a side brush cleaning structure 100, and the specific structure of the side brush cleaning structure 100 refers to the above embodiment, and since the window cleaning machine 600 adopts all the technical solutions of all the embodiments, all the beneficial effects brought by the technical solutions of the embodiments are also provided, and will not be described in detail herein.

Referring to fig. 5 to 6, in some embodiments, the window cleaning apparatus 600 further includes a housing 601, and the plurality of side brush cleaning structures 100 are disposed, and each side brush cleaning structure 100 is disposed at intervals around the circumference of the housing 601.

Optionally, the window cleaning machine 600 further comprises a running structure 602 connected to the housing 601 and a control structure located in the housing 601 for controlling the running structure 602, the control structure receiving information from the sensor 300 and the tact switch 401 and controlling the running structure 602 according to the corresponding information, wherein the running structure 602 may be a crawler-type running structure 602.

Referring to fig. 5 to 6, the casing 601 adsorbs a wall or glass surface to be cleaned by a vacuum blower, an air pressure hole is formed in the surface of the casing 601 that adsorbs the wall, the casing 601 further incorporates an air pressure sensor, when the casing 601 is in a suspended state, air pressure in the air pressure hole changes, the air pressure sensor is used for detecting air pressure change in the air pressure hole and transmitting change information to a control structure, thereby effectively preventing the window cleaning machine 600 from falling due to air leakage from the edge when the window cleaning machine is driven.

Referring to fig. 5 to 6, when the window cleaning machine 600 travels to the edge position, one of the edge brush mechanisms 110 is driven by the driver 1041 to clean the edge position, and the glass curtain wall or the wall with a frame touches the tact switch 401, a signal is fed back to the control structure, and the traveling structure 602 controls the window cleaning machine 600 to turn to clean other areas;

when the window cleaning machine 600 cleans borderless glass and walls, the side brush mechanism 110 is in a first position state during normal running, each side brush head 103 and the abutting joint are in an extrusion state, the photoelectric sensor 300 is not triggered, the photoelectric sensor 300 gives a normal use signal to the control structure, when one side brush mechanism 110 of the window cleaning machine 600 walks to the edge of the wall, the abutting joint part or the whole abutting joint part is separated from the wall, the running structure 602 is still positioned on the wall, the corresponding elastic piece 210 is restored to a natural state, the rod opposite side brush mechanism 110 slides, the receiving end 302 of the photoelectric sensor receives the signal from the transmitting end 303, thereby giving a position signal to the control structure, the control structure controls the running structure 602 to reversely move, the phenomenon that the window cleaning machine 600 is dropped due to the fact that the whole side brush head 103 exceeds the edge is avoided, the position part of the side brush head 103 can clean the edge and simultaneously control the cliff detection, and the problem of cleaning blind areas and the machine dropping is solved.

The foregoing is merely an alternative embodiment of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A side brush cleaning structure for cleaning a wall body, the side brush cleaning structure comprising: the device comprises a side brush mechanism, a trigger rod, a sensor and an elastic piece, wherein the side brush mechanism is contacted with and used for cleaning a wall body, the trigger rod is connected with the side brush mechanism in a sliding manner, the sensor is used for sensing the sliding of the trigger rod and is connected with the side brush mechanism, the elastic piece is provided with elastic restoring force, one end of the elastic piece is connected with the trigger rod, and the other end of the elastic piece is connected with the side brush mechanism; the side brush mechanism has a first position state contacting the wall and a second position state at least partially separated from the wall; when the side brush mechanism is in the first position state, the trigger rod is separated from the sensing range of the sensor and compresses the elastic piece; when the side brush mechanism is in the second position state, the elastic piece drives the trigger rod to slide, so that the trigger rod is located in the sensing range of the sensor.

2. The side brush cleaning structure according to claim 1, wherein: the sensor is a photoelectric sensor, the photoelectric sensor is provided with a sensing groove, and when the side brush mechanism is in the first position state, the trigger rod part is positioned in the sensing groove; when the side brush mechanism is in the second position state, the trigger rod is separated from the induction groove.

3. The side brush cleaning structure according to claim 1, wherein: the triggering rod comprises a triggering head for triggering the sensor, a butt joint made of flexible materials and a rod body in sliding connection with the side brush mechanism, the butt joint and the triggering head are respectively connected with two ends of the rod body, and the elastic piece is connected with the rod body; when the side brush mechanism is in the first position state, the abutting joint abuts against the wall body.

4. A brush cleaning structure according to claim 3, characterized in that: the elastic piece is a tube spring, and the tube spring is sleeved outside one end of the rod body, which is provided with the abutting joint.

5. The side brush cleaning structure according to any one of claims 1 to 4, wherein: the side brush mechanism comprises a speed reduction gearbox, a fixed support connected with the speed reduction gearbox, a side brush head rotationally connected with the speed reduction gearbox and used for cleaning a wall body, and a driving assembly used for driving the side brush head to rotate and connected with the speed reduction gearbox, the trigger rod is slidably connected with the speed reduction gearbox, and the sensor is located on the fixed support.

6. The side brush cleaning structure of claim 5, wherein: the gear box is characterized in that a through hole is formed in the gear box, a rotating hole is formed in the side brush head, the side brush head is connected with the gear box in a rotating mode through the rotating hole, the trigger rod penetrates through the through hole in a sliding mode and extends into the rotating hole, and when the side brush mechanism is in a first position state, the abutting joint abuts against the wall body.

7. The side brush cleaning structure of claim 5, wherein: the side brush mechanism further comprises a steering ring, the steering ring is rotationally connected with the surface of the reduction gearbox, which faces the wall body, one end of the side brush head is inserted into the steering ring, and the steering ring is located between the reduction gearbox and the cleaning end of the side brush head.

8. The side brush cleaning structure of claim 5, wherein: the driving assembly comprises a driver connected with the reduction gearbox and a gear transmission chain arranged in the reduction gearbox, the side brush head is rotationally connected with one end of the gear transmission chain, and the other end of the gear transmission chain is connected with the driver.

9. The side brush cleaning structure of claim 5, wherein: the speed reduction gearbox is arranged in a rotating mode relative to the fixed support, the plane determined by the rotation track of the speed reduction gearbox is parallel to the wall body, and the side brush cleaning structure further comprises a tact switch, a limiting shaft and an elastic head, wherein the tact switch is connected with the fixed support and used for sensing the rotation of the speed reduction gearbox, the limiting shaft is connected with the tact switch and used for limiting the rotation of the speed reduction gearbox, and the elastic head is arranged on the limiting shaft.

10. A window cleaning apparatus comprising a side brush cleaning structure as claimed in any one of claims 1 to 9.