(19)
(11)EP 3 482 665 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
22.07.2020 Bulletin 2020/30

(21)Application number: 18215925.1

(22)Date of filing:  29.09.2013
(51)International Patent Classification (IPC): 
A47L 1/02(2006.01)
A47L 1/03(2006.01)
A47L 3/00(2006.01)

(54)

GLASS-WIPING ROBOT

GLASWISCHROBOTER

ROBOT ESSUIE-GLACE


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(30)Priority: 29.09.2012 CN 201210375133

(43)Date of publication of application:
15.05.2019 Bulletin 2019/20

(62)Application number of the earlier application in accordance with Art. 76 EPC:
13841329.9 / 2910162

(73)Proprietor: Ecovacs Robotics Co., Ltd.
Wuzhong District Suzhou, Jiangsu 215168 (CN)

(72)Inventor:
  • LV, Xiaoming
    Suzhou City Jiangsu 215168 (CN)

(74)Representative: Viering, Jentschura & Partner mbB Patent- und Rechtsanwälte 
Am Brauhaus 8
01099 Dresden
01099 Dresden (DE)


(56)References cited: : 
WO-A1-2008/096974
CN-Y- 2 882 055
CN-U- 202 051 655
DE-C1- 19 958 890
  
      
    Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


    Description

    Field of the Invention



    [0001] The present invention relates to the technical field of manufacturing of small appliances, and particularly relates to a glass-wiping robot.

    Background art



    [0002] For a glass-wiping robot available in the market, the body thereof is usually connected to a power cord for supplying power to the operating of the glass-wiping robot. Generally, the other end of the power cord is connected to a safety buckle, and the safety buckle is stuck between the glass and the frame in order to prevent the glass-wiping robot from being damaged by accidental falling. However, the machine may sway during falling, and the window may be pushed open when the glass-wiping robot sways to the side of the glass, resulting in that the safety buckle cannot be stuck between the glass and the frame and then falls off together with the glass-wiping robot. Or, the glass may be accidentally opened by the user due to his/her negligence, and the safety buckle may also escape from the glass and the frame, and fall off together with the robot, which will damage the glass-wiping robot or cause unexpected dangers.

    [0003] WO-A-2008/096974 discloses a robot for cleaning the outer surface of a window comprising a body, a power cable and a fall-preventing safety device comprising a window frame engaging member. CN-U-202051655 discloses a gripping robot comprising a body and a power adapter connectable to an AC power source. DE 199 58 890 C1 discloses a method for a glass-wiping robot with a safety line and suction cup.

    Summary of the Invention



    [0004] It is a technical objective of the present invention to provide a glass-wiping robot having a safety buckle with a suction cup to overcome the deficiencies in the prior art. The disclosed glass-wiping robot can effectively prevent the robot from accidental falling, and is convenient to carry.

    [0005] The technical objective of the present invention is realized through the following technical solutions:
    A glass-wiping robot comprises a robot main body, a power cord and a safety buckle, wherein the power cord is connected to the robot main body and winds onto the safety buckle, and the safety buckle is provided with a suction cup through which the safety buckle sucks on the glass.

    [0006] Further, the safety buckle comprises a first end face and a second end face connected by a central pillar, and at least one of the first and second end faces is provided with a first threading hole and a second threading hole.

    [0007] When the suction cup is provided at the first end face, the power cord threads into the first threading hole of the second end face, and winds on the central pillar, and then threads out the second threading hole of the second end face.

    [0008] When the suction cup is provided at the second end face, the power cord threads into the first threading hole of the first end face, and winds on the central pillar, and then threads out the second threading hole of the first end face.

    [0009] A through hole is provided at the center of the central pillar for facilitating the threading.

    [0010] Preferably, the first threading hole and the second threading hole are axisymmetrically provided with respect to the central pillar.

    [0011] The glass-wiping robot with a safety buckle of the present invention has the following advantages:
    When inadvertently falling off the window, the glass-wiping robot of the present invention provides double protection and improved safety effects. On one hand, the suction cup can bear the weight of the safety buckle, which serves as the first protection. On the other hand, if the suction cup fails, the safety buckle will still be stuck between the glass and the frame, which serves as the second protection.

    [0012] The glass-wiping robot of the present invention is convenient to carry, since it allows for conveniently fixing or moving the safety buckle.

    Description of attached drawings



    [0013] 

    Fig. 1 is a schematic illustration of a part of the structure of a glass-wiping robot with a safety buckle according to the present invention;

    Fig. 2 is a schematic illustration of a glass-wiping robot with a safety buckle (a suction cup is provided on a first end face) sucking on a glass, according to the present invention;

    Fig. 3 is a top view of a safety buckle of the present invention;

    Fig. 4 is a cross-sectional view along line A-A of Fig. 3;

    Fig. 5 is a cross-sectional view along line B-B of Fig. 3; and

    Fig. 6 is a perspective view of a safety buckle of the present invention.

    Description of reference numbers in the figures:
    1. robot main body 2. suction cup 3. safety buckle
    4. power cord 5. glass 31. first end face
    32. second end face 33. central pillar 331. through hole
    311. a first threading hole of the first end face  
    312. a second threading hole of the first end face  
    321. a first threading hole of the second end face  
    322. a second threading hole of the second end face  

    Detailed Description of Preferred Embodiments



    [0014] The present invention is further described in detail with reference to the drawings and embodiments.

    [0015] Fig. 1 is schematic illustration of a part of the structure of a glass-wiping robot with a safety buckle according to the present invention. The part of the structure comprises a safety buckle 3 with a suction cup 2 thereon and a power cord 4 winding into the safety buckle 3.

    [0016] Fig. 2 is a schematic illustration of a glass-wiping robot with a safety buckle (a suction cup is provided on a first end face) sucking on the glass, according to the present invention; Fig. 3 is a top view of the safety buckle; and Fig. 6 is a perspective view of the safety buckle. As shown in Figs. 2 and 3 with reference to Fig. 6, a glass-wiping robot comprises a robot main body 1, a power cord 4 and a safety buckle 3, the power cord 4 is connected to the robot main body 1, a part of the power cord 4 winds onto the safety buckle, and the safety buckle 3 is provided with a suction cup 2 thereon to suck the safety buckle 3 on a glass 5. The suction force of the suction cup can at least bear the weight of the safety buckle 3 and the power cord 4 winding onto the safety buckle, which facilitates the safety buckle to be conveniently fixed on the glass. Preferably, the suction force of the suction cup can also support the weight of the glass-wiping robot body, In this way, the prevention of the glass-wiping robot from accidental falling can be better. The suction cup is adopted to suck and fix the safety buckle on the glass, such that the safety buckle is convenient to use and to carry.

    [0017] The falling prevention principle of the safety buckle with the suction cup is described below in detail with reference to Fig. 2.

    [0018] When the glass-wiping robot main body 1 inadvertently falls off a window, it can be well prevented from being damaged upon falling due to the suction cup 2, if the suction force of the suction cup 2 is greater than the impact force of the glass-wiping robot main body 1 when falling. While if the suction force of the suction cup 2 is not enough to resist the great impact force of the glass-wiping robot main body 1 when falling, and the suction cup 2 together with the safety buckle 3 separates from the glass 5, the suction cup 2 and the safety buckle 3 can still be stuck in the gap of the glass and the frame, which serves as a second protection. Particularly, the suction cup 2 together with the safety buckle 3 is fixed on the window glass 5 by sucking on the glass, and the window will not be pushed open by the sway of the power cord 4, even if a greater pushing force is applied to the window glass 5 when the falling glass-wiping robot main body 1 sways to the lowest point. This is because the suction cup 2 sucks on the glass 5 such that the suction cup 2 and the glass 5 become a whole. That is, although the power cord 4 applies a side pushing force on the window, the suction force of the suction cup 2 pulls glass 5 towards the frame, and the two forces are neutralized so that the window glass is hardly be pushed open. Further, the suction force of the suction cup 2 on glass 5 can effectively release the great impact force generated by the falling of the glass-wiping robot main body 1. When the suction cup 2 and the safety buckle 3 are stuck in the gap between the glass 5 and the frame after falling off the glass 5, the impact force of the swaying glass-wiping robot main body 1 is subsequently and correspondingly reduced, resulting in that the window glass is hardly pushed open. In this case, the following situation occurred if only the safety buckle 3 stuck between the glass 5 and the frame is used can be effectively prevented: when the glass 5 is pushed by a sway pushing force or other factors, the safety buckle 3 will escape from the glass 5 and the frame, resulting in the damage of the glass-wiping robot main body 1.

    [0019] As shown in Fig. 2 to Fig. 5, the safety buckle 3 comprises a first end face 31 and a second end face 32 that have the same shape and are connected by a central pillar 33. The central pillar 33 has a certain length and forms a stuck section between the first end face 31 and the second end face 32, and the stuck section is configured to be stuck between the glass 5 and frame. A first threading hole and a second threading hole are provided on at least one end face of the first end face 31 and the second end face 32 to facilitate wire wrapping. Obviously, first threading holes 311, 321 and second threading holes 312, 322 may be symmetrically provided on the first end face and the second end face, respectively. Preferably, the first threading hole and the second threading hole are axisymmetrically provided with respect to the central pillar 33. Further, a through hole 331 may be provided at the center of the central pillar 33A, which may be used for threading.

    [0020] When the suction cup 2 is provided at the first end face 31, the power cord 4 threads into the first threading hole 321 of the second end face 32, and winds on the central pillar 33, and then threads out the second threading hole 322 of the second end face 32.

    [0021] In another example, the suction cup 2 may be provided at the second end face 32. In this case, the power cord 4 threads into the first threading hole 311 of the first end face 31, and winds on the central pillar 33, and then threads out the second threading hole 312 of the first end face 31.

    [0022] When cleaning a glass in practice, the glass-wiping robot body is disposed at the outer side of the glass for the cleaning work, the safety buckle with a suction cup sucks on the inner side of the glass, and there is only a gap between the glass and the frame for the power cord to pass through. It is to be noted that the power cord of the present invention shall be comprehended as comprising a safety rope or a safety power rope, or other ropes for preventing the glass-wiping robot from accidental falling. The shape of the safety buckle and the manner of winding a wire on the safety buckle are not limited to those described in the above embodiments, and all glass-wiping robots having the structure of a safety buckle with a suction cup should fall into the scope of the claims of the present invention.


    Claims

    1. A glass-wiping robot comprising a robot main body (1), a power cord (4) connected to the robot main body (1), characterized by a safety buckle (3) wound by the power cord (4), wherein a suction cup (2) is provided on said safety buckle (3) for sucking the safety buckle (3) onto a glass.
     
    2. The glass-wiping robot of claim 1, characterized in that,
    said safety buckle (3) comprises a first end face (31) and a second end face (32) connected by a central pillar (33).
     
    3. The glass-wiping robot of claim 2, characterized in that,
    at least one of the first face (31) and the second end face (32) is provided with a first threading hole and a second threading hole.
     
    4. The glass-wiping robot of claim 3, characterized in that,
    said suction cup (2) is provided at the first end face (31), and the power cord (4) threads into the first threading hole (321) of the second end face, and winds on the central pillar (33), and then threads out the second threading hole (322) of the second end face.
     
    5. The glass-wiping robot of claim 3, characterized in that,
    said suction cup (2) is provided at the second end face (32), and the power cord (4) threads into the first threading hole (311) of the first end face, and winds on the central pillar (33), and then threads out the second threading hole (312) of the first end face.
     
    6. The glass-wiping robot of claim 2, characterized in that,
    a through hole (331) is provided at the center of the central pillar.
     
    7. The glass-wiping robot of claim 3, characterized in that,
    the first threading hole and the second threading hole are axisymmetrically provided with respect to the central pillar (33).
     
    8. The glass-wiping robot of claim 1, characterized in that,
    in a glass cleaning, the robot main body (1) is disposed at a first side of the glass, and the suction cup (2) sucks on a second side of the glass; wherein the first side of the glass is opposite to the second side of the glass.
     
    9. The glass-wiping robot of claim 8, characterized in that,
    the first side of the glass is an outer side of the glass and the second side of the glass is an inner side of the glass.
     
    10. The glass-wiping robot of claim 2, characterized in that,
    a stuck section is formed between the first end face (31) and the second end face (32); wherein when the suction cup (2) fails, the stuck section is stuck between the glass and a frame.
     
    11. A glass cleaning system, characterized in that, comprising a glass-wiping robot of any claims of 1-10, and a glass.
     
    12. A glass cleaning method, with the step of disposing a robot main body of a glass-wiping robot at a first side of a glass, characterized in that sucking a suction cup of a safety buckle on a second side of the glass, wherein the robot main body connects to the safety buckle via a power cord.
     
    13. The glass cleaning method of claim 12, characterized in that,
    when the suction cup fails, stucking a stuck section between the glass and a frame; wherein the stuck section is formed between a first end face and a second end face of the safety buckle.
     


    Ansprüche

    1. Glaswischroboter, welcher einen Roboterhauptkörper (1) und ein Stromkabel (4), welches mit dem Roboterhauptkörper (1) verbunden ist, aufweist und gekennzeichnet ist durch
    ein Sicherheitsteil (3), welches von dem Stromkabel (4) umwickelt ist, wobei
    ein Saugnapf (2) an dem Sicherheitsteil (3) bereitgestellt ist zum Ansaugen des Sicherheitsteiles (3) an ein Glas.
     
    2. Glaswischroboter gemäß Anspruch 1, dadurch gekennzeichnet, dass besagtes Sicherheitsteil (3) eine erste Endfläche (31) und eine zweite Endfläche (32) aufweist, welche mittels einer zentralen Säule (33) verbunden sind.
     
    3. Glaswischroboter gemäß Anspruch 2, dadurch gekennzeichnet, dass
    mindestens eine von der ersten Fläche (31) und der zweiten Endfläche (32) mit einem ersten Auffädelloch und einem zweiten Auffädelloch versehen ist.
     
    4. Glaswischroboter gemäß Anspruch 3, dadurch gekennzeichnet, dass
    besagter Saugnapf (2) an der ersten Endfläche (31) bereitgestellt ist, und wobei das Stromkabel (4) in das erste Auffädelloch (321) der zweiten Endfläche eingefädelt ist und auf der zentralen Säule (33) aufgewickelt ist und dann aus dem zweiten Auffädelloch (322) der zweiten Endfläche herausgefädelt ist.
     
    5. Glaswischroboter gemäß Anspruch 3, dadurch gekennzeichnet, dass
    besagter Saugnapf (2) an der zweiten Endfläche (32) bereitgestellt ist, und das Stromkabel (4) in das erste Auffädelloch (311) der ersten Endfläche eingefädelt ist und auf der zentralen Säule (33) aufgewickelt ist und dann aus dem zweiten Auffädelloch (312) der zweiten Endfläche herausgefädelt ist.
     
    6. Glaswischroboter gemäß Anspruch 2, dadurch gekennzeichnet, dass
    ein Durchgangsloch (331) in der Mitte der zentralen Säule bereitgestellt ist.
     
    7. Glaswischroboter gemäß Anspruch 3, dadurch gekennzeichnet, dass das erste Auffädelloch und das zweite Auffädelloch achsensymmetrisch bereitgestellt sind in Bezug auf die zentrale Säule (33).
     
    8. Glaswischroboter gemäß Anspruch 1, dadurch gekennzeichnet, dass bei einem Glasreinigungsvorgang der Roboterhauptkörper (1) an einer ersten Seite des Glases angeordnet ist und der Saugnapf (2) sich an eine zweite Seite des Glases ansaugt, wobei die erste Seite des Glases der zweiten Seite des Glases gegenüberliegt.
     
    9. Glaswischroboter gemäß Anspruch 8, dadurch gekennzeichnet, dass
    die erste Seite des Glases eine Außenseite des Glases ist und die zweite Seite des Glases eine Innenseite des Glases ist.
     
    10. Glaswischroboter gemäß Anspruch 2, dadurch gekennzeichnet, dass
    ein Halteabschnitt zwischen der ersten Endfläche (31) und der zweiten Endfläche (32) gebildet ist, wobei, wenn der Saugnapf (2) versagt, der Halteabschnitt zwischen dem Glas und einem Rahmen gehalten wird.
     
    11. Glasreinigungssystem, dadurch gekennzeichnet, dass es einen Glaswischroboter gemäß einem der Ansprüche 1-10 und ein Glas aufweist.
     
    12. Glasreinigungsverfahren, mit dem folgenden Schritt:

    Anordnen eines Roboterhauptkörpers eines Glaswischroboters an einer ersten Seite eines Glases, gekennzeichnet durch

    Ansaugen eines Saugnapfes eines Sicherheitsteiles an eine zweite Seite des Glases,

    wobei der Roboterhauptkörper über ein Stromkabel mit dem Sicherheitsteil verbunden ist.


     
    13. Glasreinigungsverfahren gemäß Anspruch 12, gekennzeichnet durch,
    wenn der Saugnapf versagt, Halten eines Halteabschnitts zwischen dem Glas und einem Rahmen, wobei der Halteabschnitt zwischen einer ersten Endfläche und einer zweiten Endfläche des Sicherheitsteiles gebildet ist.
     


    Revendications

    1. Robot lave-vitre comprenant un corps principal de robot (1), un cordon d'alimentation (4) raccordé au corps principal de robot (1), caractérisé par une boucle de sécurité (3) enroulée par le cordon d'alimentation (4), dans lequel une ventouse (2) est prévue sur ladite boucle de sécurité (3) pour aspirer la boucle de sécurité (3) sur une vitre.
     
    2. Robot lave-vitre selon la revendication 1, caractérisé en ce que :
    ladite boucle de sécurité (3) comprend une première face d'extrémité (31) et une seconde face d'extrémité (32) raccordées par un pilier central (33).
     
    3. Robot lave-vitre selon la revendication 2, caractérisé en ce que :
    au moins l'une parmi la première face (31) et la seconde face d'extrémité (32) est prévue avec un premier trou d'enfilage et un second trou d'enfilage.
     
    4. Robot lave-vitre selon la revendication 3, caractérisé en ce que :
    ladite ventouse (2) est prévue au niveau d'une première face d'extrémité (31), et le cordon d'alimentation (4) est enfilé dans le premier trou d'enfilage (321) de la première face d'extrémité, et s'enroule sur le pilier central (33) et ressort ensuite par le second trou d'enfilage (322) de la seconde face d'extrémité.
     
    5. Robot lave-vitre selon la revendication 3, caractérisé en ce que :
    ladite ventouse (2) est prévue au niveau de la seconde face d'extrémité (32), et le cordon d'alimentation (4) est enfilé dans le premier trou d'enfilage (311) de la première face d'extrémité et s'enroule sur le pilier central (33) et ressort ensuite par le second trou d'enfilage (312) de la première face d'extrémité.
     
    6. Robot lave-vitre selon la revendication 2, caractérisé en ce que :
    un trou débouchant (331) est prévu au centre du pilier central.
     
    7. Robot lave-vitre selon la revendication 3, caractérisé en ce que :
    le premier trou d'enfilage et le second trou d'enfilage sont prévus de manière asymétrique par rapport au pilier central (33).
     
    8. Robot lave-vitre selon la revendication 1, caractérisé en ce que :
    lors d'un nettoyage de vitre, le corps principal de robot (1) est disposé sur un premier côté de la vitre, et la ventouse (2) aspire sur un second côté de la vitre ; dans lequel le premier côté de la vitre est opposé au second côté de la vitre.
     
    9. Robot lave-vitre selon la revendication 8, caractérisé en ce que :
    le premier côté de la vitre est un côté externe de la vitre et le second côté de la vitre est un côté interne de la vitre.
     
    10. Robot lave-vitre selon la revendication 2, caractérisé en ce que :
    une section collée est formée entre la première face d'extrémité (31) et la seconde face d'extrémité (32) ; dans lequel lorsque la ventouse (2) présente une défaillance, la section collée est collée entre la vitre et un bâti.
     
    11. Système de nettoyage de vitre, caractérisé en ce qu'il comprend un robot lave-vitre selon l'une quelconque des revendications 1 à 10 et une vitre.
     
    12. Procédé de nettoyage de vitre avec l'étape consistant à disposer un corps principal de robot d'un robot lave-vitre au niveau d'un premier côté d'une vitre, caractérisé par l'étape consistant à :

    aspirer un ventouse d'une boucle de sécurité sur un second côté de la vitre,

    dans lequel le corps principal de robot se raccorde à la boucle de sécurité via un cordon d'alimentation.


     
    13. Procédé de nettoyage de vitre selon la revendication 12, caractérisé par le fait de, lorsque la ventouse présente une défaillance, coller une section collée entre la vitre et un bâti ; dans lequel la section collée est formée entre une première face d'extrémité et une seconde face d'extrémité de la boucle de sécurité.
     




    Drawing














    Cited references

    REFERENCES CITED IN THE DESCRIPTION



    This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

    Patent documents cited in the description