Cleaning robot

Abstract

A cleaning robot includes a main frame, a cleaning mechanism, a steering mechanism, and a walking mechanism. The walking mechanism includes a first walking component and a second walking component mounted on opposite sides of the main frame. The cleaning mechanism is mounted on the main frame. The steering mechanism includes a drive member, a rotating component, and transmission components located on opposite sides of the rotating component. The rotating component is rotatable under the drive of the drive member, and has an axis and includes positioning portions on opposite sides of the axis. The transmission component is connected to one of the positioning portions and to the corresponding first or second walking component. This invention reduces the failure rate of the cleaning robot during direction changes and subsequent operation.

Description

Technical Field

[0001] This invention relates to the field of solar photovoltaics, and in particular to a cleaning robot. Background Technology

[0002] Cleaning robots in the solar photovoltaic field typically clean the photovoltaic roof vertically first. Then, when cleaning the ridge or eaves, they need to switch from vertical to horizontal cleaning. After cleaning the ridge or eaves, they switch back from horizontal to vertical to clean the next row of photovoltaic roofs, continuing this process until the entire roof is cleaned. Existing cleaning robots include left and right walking mechanisms. Whether moving vertically or horizontally, the left and right walking mechanisms must move in unison. That is, they need to simultaneously change direction to move vertically or horizontally for cleaning. However, in existing technology, the left and right walking mechanisms are driven independently for direction changes, inevitably leading to operational malfunctions due to inconsistent direction changes.

[0003] Therefore, it is necessary to provide a new cleaning robot to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a cleaning robot that reduces the failure rate during operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A cleaning robot includes a main frame, a cleaning mechanism, a steering mechanism, and a walking mechanism. The walking mechanism includes a first walking component and a second walking component mounted on opposite sides of the main frame. The cleaning mechanism is mounted on the main frame. The steering mechanism includes a driving component, a rotating component, and transmission components located on opposite sides of the rotating component. The rotating component is rotatable under the drive of the driving component. The rotating component has an axis and includes positioning portions on opposite sides of the axis. The transmission component is connected to the positioning portion on one side and is connected to the first walking component or the second walking component on the corresponding side.

[0007] As a further improved technical solution of the present invention, the main frame includes a frame extending laterally in the left-right direction and a support extending longitudinally in the front-back direction. There are two supports, which are located on the left and right sides of the frame, respectively. The first walking component and the second walking component are rotatably connected to the support on the corresponding side through a first rotating shaft.

[0008] As a further improved technical solution of the present invention, the transmission component on each side includes an inner rod, an outer rod, and an intermediate connecting rod located between the inner rod and the outer rod. The first walking component and the second walking component have a first state of synchronous walking and a second state of synchronous walking. When the first walking component and the second walking component switch between the first state and the second state simultaneously, the intermediate connecting rod moves in the lateral direction, and the inner rod and the outer rod rotate relative to the intermediate connecting rod.

[0009] As a further improved technical solution of the present invention, the inner rod on each side includes a first end and a second end arranged in opposite directions along its extension direction, the outer rod on each side includes a third end and a fourth end arranged in opposite directions along its extension direction, and the intermediate connecting rod on each side includes an inner end and an outer end arranged in opposite directions along its extension direction; the second end of the inner rod is rotatably connected to the inner end of the intermediate connecting rod on the corresponding side through a third rotating shaft, and the third end of the outer rod is rotatably connected to the outer end of the intermediate connecting rod on the corresponding side through another third rotating shaft; the first walking assembly or the second walking assembly is rotatably connected to the fourth end of the outer rod on the corresponding side through a second rotating shaft.

[0010] As a further improvement of the present invention, the intermediate connecting rod includes a rod portion and a sleeve portion that are separately arranged. The sleeve portion is sleeved on the rod portion to become part of the intermediate connecting rod. The sleeve portion is provided with a plurality of adjustment holes, which can adjust the total length from the inner end to the outer end.

[0011] As a further improved technical solution of the present invention, the height of the first rotating shaft is greater than the height of the second rotating shaft, and the transmission member on each side drives the second rotating shaft from a first position on one side of the bracket to a symmetrical second position on the other side of the bracket along an arc trajectory.

[0012] As a further improvement of the present invention, each of the first walking component and the second walking component includes a driving element, wherein the driving element and the driving component do not work simultaneously.

[0013] As a further improvement of the present invention, each of the first walking component and the second walking component includes a walking track; when the first walking component and the second walking component are in a first state, the extension direction of the walking track is consistent with the lateral direction, and when the first walking component and the second walking component are in a second state, the extension direction of the walking track is consistent with the longitudinal direction.

[0014] As a further improvement of the present invention, the walking mechanism further includes auxiliary wheels, which together with the first walking component and the second walking component support the main frame.

[0015] As a further improvement of the present invention, the driving component includes a cylinder and a push rod. The push rod extends or retracts relative to the cylinder to drive one of the transmission components and, through the rotating component, drive the other transmission component, thereby realizing the reverse movement of the two transmission components.

[0016] Compared to existing technologies, the drive mechanism of the cleaning robot of the present invention enables the transmission components on both sides to move simultaneously, and the transmission components on both sides move synchronously and in opposite directions. This ensures that the first walking component on the left and the second walking component on the right maintain consistency in the timing and speed of their changes, except that the directions of the changes are opposite. In other words, the two walking components change direction in real time in a mirror-symmetrical manner, thereby reducing the failure rate of the cleaning robot of the present invention during the direction change process and subsequent operation. Attached Figure Description

[0017] Figure 1 This is a three-dimensional assembly diagram of the cleaning robot of the present invention;

[0018] Figure 2 yes Figure 1 Enlarged view of section A;

[0019] Figure 3 yes Figure 1 Enlarged view of section B;

[0020] Figure 4 yes Figure 1 Enlarged view of section C;

[0021] Figure 5 This is a partial three-dimensional assembly diagram of the cleaning robot of the present invention;

[0022] Figure 6 This is a partial three-dimensional assembly diagram of the steering mechanism in the cleaning robot of the present invention;

[0023] Figure 7 This is a partial exploded perspective view of the steering mechanism in the cleaning robot of this invention;

[0024] Figure 8 This is a partial three-dimensional assembly diagram of the transmission components in the cleaning robot of this invention;

[0025] Figure 9 This is a three-dimensional combined view of the walking mechanism, support frame and transmission components of the cleaning robot of the present invention;

[0026] Figure 10 yes Figure 9A three-dimensional assembly diagram of the central components;

[0027] Figure 11 The brushes, rubber strips, and part of the frame in the cleaning robot of this invention are from... Figure 1 A three-dimensional exploded view of the separated parts;

[0028] Figure 12 yes Figure 11 Enlarged view of section D;

[0029] Figure 13 yes Figure 11 Enlarged view of section E in the middle;

[0030] Figure 14 yes Figure 11 Enlarged view of section F in the middle;

[0031] Figure 15 yes Figure 11 Enlarged view of section G in the middle;

[0032] Figure 16 yes Figure 1 Top view;

[0033] Figure 17 yes Figure 16 Enlarged view of section H in the middle;

[0034] Figure 18 This is a schematic diagram showing the switching of the walking mechanism in the cleaning robot of the present invention from vertical walking to horizontal walking;

[0035] Figure 19 This is a three-dimensional assembly diagram of the walking mechanism in the cleaning robot of the present invention;

[0036] Figure 20 This is an exploded perspective view of the walking mechanism in the cleaning robot of the present invention. Detailed Implementation

[0037] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, the features in these embodiments may be mutually exclusive unless otherwise specified. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings denote the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0038] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” as used in the specification and claims of this invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this invention are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" encompasses the element following "comprising" or "including" and its equivalents, but this does not preclude the element preceding "comprising" or "including" from also including other elements. In this invention, the term "several" means two or more.

[0040] Please refer to Figures 1 to 20A cleaning robot includes a main frame 1, a cleaning mechanism 4, a steering mechanism 2, and a walking mechanism 3. The walking mechanism 3 includes a first walking component 301 and a second walking component 302 mounted on opposite sides of the main frame 1. The cleaning mechanism 4 is mounted below the main frame 1. The steering mechanism 2 includes a drive member 21, a rotating component 22 driven by the drive member 21, and transmission components 23 located on opposite sides of the rotating component 22. The rotating component 22 has a shaft 220 and includes positioning portions 221 on opposite sides of the shaft 220. The transmission component 23 is connected to one of the positioning portions 221 and is connected to the first walking component 301 or the second walking component 302 on the corresponding side. The drive member 21 drives the rotating component 22 to rotate around the shaft 220, causing the transmission components 23 on both sides of the rotating component 22 to move synchronously in opposite directions. The first walking component 301 and the second walking component 302 have a first state of synchronized walking and a second state of synchronized walking. The synchronous reverse movement of the transmission component 23 enables the first walking component 301 and the second walking component 302 to switch simultaneously between the first state and the second state. In the cleaning robot of the present invention, the first walking component 301 on the left and the second walking component 302 on the right maintain consistency in their changes, thereby reducing the failure rate of the cleaning robot during the direction-changing process and subsequent operation. By changing direction in opposite directions but with consistent timing and speed, the first walking component 301 and the second walking component 302 of the cleaning robot of the present invention enable the cleaning robot to change direction in a consistent manner, resulting in a good cleaning effect on the surface to be cleaned.

[0041] In a specific implementation, the "first state" is a vertical walking state, and correspondingly, the "second state" is a horizontal walking state; conversely, the "first state" is a horizontal walking state, and correspondingly, the "second state" is a vertical walking state. Therefore, compared to existing technologies, the cleaning robot of this invention uses a single driving component 21 to drive one transmission component 23, which in turn drives the other transmission component 23 to move. That is, the driving component 21 drives the transmission component 23 to achieve synchronous and opposite movements. The synchronous and opposite movements between the transmission components 23 ensure that the first walking component 301 and the second walking component 302 on the left and right sides maintain consistency in their changes, i.e., the timing and speed of their changes are consistent, except that their directions of change are opposite. In other words, in the specific implementation, when the first walking component 301 on the left changes from a vertical walking state to a horizontal walking state counterclockwise, the second walking component 302 on the right changes from a vertical walking state to a horizontal walking state clockwise; conversely, when the first walking component 301 on the left changes from a horizontal walking state to a vertical walking state clockwise, the second walking component 302 on the right changes from a horizontal walking state to a vertical walking state counterclockwise. Because the first walking component 301 on the left and the second walking component 302 on the right switch simultaneously between the first and second states, the failure rate of the cleaning robot during the direction-changing process and subsequent operation is reduced. The first walking component 301 and the second walking component 302 of the cleaning robot, through direction-changing operation, enable the cleaning robot to change direction and move, providing excellent adaptability to complex surfaces to be cleaned, such as the roof of a BIPV (Building Integrated Photovoltaic) system.

[0042] Please refer to Figure 3 , Figure 5 and Figures 8 to 10The cleaning robot 100 of the present invention has a first rotating shaft 5, a second rotating shaft 6, and a third rotating shaft 7. The main frame 1 includes two frames 11 extending laterally in the left-right direction and arranged front-back, and two supports 12 extending longitudinally in the front-back direction and arranged left-right. The supports 12 are fixedly connected to the frames 11 and are located on the left and right sides of the frames 11, respectively. Because the dimension of the frames 11 in the left-right direction (i.e., the lateral direction) is larger than the dimension of the supports 12 in the front-back direction (i.e., the longitudinal direction), it is usually referred to as: the main frame 1 is arranged horizontally as a whole. The first walking component 301 and the second walking component 302 are each rotatably connected to the corresponding support 12 via a first rotating shaft 5. The transmission component 23 on each side includes three parts: an inner rod 231, an outer rod 232, and an intermediate connecting rod 233 located between the inner rod 231 and the outer rod 232. The three parts of the transmission component 23 are connected at two rotatable points. Therefore, when the first walking component 301 and the second walking component 302 switch simultaneously between the first state and the second state, the inner rod 231 moves in the lateral direction, and the inner rod 231 and the outer rod 232 each rotate relative to the intermediate connecting rod 233.

[0043] Please refer to Figure 7 , Figure 8 and Figure 9Each inner rod 231 on each side includes a first end 2311 and a second end 2312 arranged in opposite directions of extension. Each outer rod 232 on each side includes a third end 2321 and a fourth end 2322 arranged in opposite directions of extension. Each intermediate connecting rod 233 on each side includes an inner end 2331 and an outer end 2332 arranged in opposite directions of extension. The second end 2312 of the inner rod 231 is rotatably connected to the inner end 2331 of the corresponding intermediate connecting rod 233 via a third pivot 7. The third end 2321 of the outer rod 232 is rotatably connected to the outer end 2332 of the corresponding intermediate connecting rod 233 via another third pivot 7. The first walking assembly 301 or the second walking assembly 302 is rotatably connected to the fourth end 2322 of the corresponding outer rod 232 via a second pivot 6. Each walking mechanism 3 on each side is rotatably connected to the corresponding bracket 12 via a first pivot 5. Correspondingly, the bracket 12 is provided with a first through hole 50 for the first rotating shaft 5 to pass through, the fourth end 2322 is provided with a second through hole 60 for the second rotating shaft 6 to pass through, and the second end 2312, the third end 2321, the inner end 2331, and the outer end 2332 are all provided with a third through hole 70 for the third rotating shaft 7 to pass through. The first rotating shaft 5 is offset from the extended line of the movement trajectory of the intermediate connecting rod 233, that is, the first rotating shaft 5 is not located on the extended line of the movement trajectory of the intermediate connecting rod 233 to avoid jamming and inability to change direction. The first rotating shaft 5, the second rotating shaft 6, and the third rotating shaft 7 can all be regarded as bolts. Furthermore, a nut 8 is also required to cooperate with the bolts. The cooperation between the bolt and the nut 8 ensures that the rotational connection does not loosen. A washer 9 can also be provided between the bolt and the nut 8. This invention ensures that each of the left and right sides of the cleaning robot 100 has the positions of the first rotating shaft 5, the second rotating shaft 6, and the third rotating shaft 7 rotating, realizing symmetrical and opposite direction changes of the first walking component 301 and the second walking component 302 on the left and right sides. This arrangement ensures smooth switching between vertical and horizontal walking states for the first walking component 301 and the second walking component 302.

[0044] Please refer to Figure 9 and Figure 10 The height of the first rotating shaft 5 is greater than the height of the second rotating shaft 6, and the outer rod 232 is inserted between the bracket 12 and the traveling mechanism 3 in the vertical direction. Please refer to this carefully. Figures 16 to 18When changing from a vertical to a horizontal walking state, the transmission component 23 drives the second rotating shaft 6 from the first position (position b) on the right side of the bracket 12 along an arc trajectory to the symmetrical second position (position b') on the left side of the bracket 12. When changing from a horizontal to a vertical walking state, the transmission component 23 drives the second rotating shaft 6 from the second position (position b') on the left side of the bracket 12 back to the symmetrical first position (position b) on the right side of the bracket 12 along an arc trajectory. The second rotating shaft 6 can rotate unimpeded below the bracket 12 from one side of the first rotating shaft 5 to the other side of the first rotating shaft 5, which also ensures that the switching between the first walking component 301 and the second walking component 302 on the left and right sides is smooth and without jamming.

[0045] Please refer to Figure 5 , Figure 19 and Figure 20 Each of the first walking assembly 301 and the second walking assembly 302 includes a drive element 31, a walking track 32, and two pulleys 33. Each pulley 33 includes a driving pulley 331 and a driven pulley 332. The walking track 32 is wound around the outside of the driving pulley 331 and the driven pulley 332. The drive element 31 is a motor, and the motor's output shaft 310 is connected to the driving pulley 331. The drive element 31 is responsible for the movement of the first walking assembly 301 and the second walking assembly 302. Because the drive member 21 is responsible for changing the direction of the first walking assembly 301 and the second walking assembly 302, the drive element 31 can only drive the driving pulley 331 when the drive member 21 is not working. In other words, the first walking assembly 301 and the second walking assembly 302 do not move when changing direction, and do not change direction when moving; that is, the drive element 31 and the drive member 21 do not work simultaneously to ensure that each movement step of the walking mechanism 3 is error-free. It should be noted that in the first state, the extension direction of the walking track 32 is consistent with the longitudinal direction, and in the second state, the extension direction of the walking track 32 is consistent with the transverse direction. That is to say, the walking state of the first walking component 301 and the second walking component 302 is called the vertical walking state only when the extension direction of the walking track 32 is perpendicular to the overall transversely arranged main frame 1, and the walking state of the first walking component 301 and the second walking component 302 is called the transverse walking state only when the extension direction of the walking track 32 changes to be consistent with the overall transversely arranged main frame 1.

[0046] Please continue to refer to this. Figure 19 and Figure 20Each of the first walking assembly 301 and the second walking assembly 302 includes a housing 34, which has a positioning hole 3411 and a positioning post 3412. The output shaft 310 of the motor passes through the positioning hole 3411 and is positioned and connected to the axle of the driving pulley 331. The positioning post 3412 extends into the axle of the driven pulley 332 and is positioned and connected thereto. The housing 34 includes a side plate 341 and a top plate 342. The positioning hole 3411 and the positioning post 3412 are located on the side plate 341. The first rotating shaft 5 and the second rotating shaft 6 are integrally formed with the top plate 342. In this invention, the housing 34 primarily serves a connecting function. On one hand, the housing 34 not only fixes the positions of the driving pulley 331 and the driven pulley 332 through the distance between the positioning hole 3411 and the positioning post 3412, thus ensuring that the track 32, wound between the driving pulley 331 and the driven pulley 332, can be fully supported by the two pulleys 33 for normal movement; on the other hand, the housing 34 also connects to the bracket 12 and the transmission component 23 respectively through two rotating shafts 4 and 5 mounted thereon. The transmission component 23 drives the housing 34, thereby simultaneously changing the direction of the first walking assembly 301 and the second walking assembly 302. Therefore, this invention has the advantage of a simple and compact structure.

[0047] Please refer to Figures 5 to 7The driving component 21 is an electric cylinder; in other embodiments, it can also be a pneumatic cylinder or a push rod assembly. The driving component 21 includes a cylinder body 211 and a push rod 212. The push rod 212 extends or retracts relative to the cylinder body 211 to drive one of the transmission components 23 and, via a rotating component 22, to drive the other transmission component 23. Specifically, the push rod 212 extends or retracts in a left-right direction along the transmission component 23. Therefore, the steering mechanism 2 includes a connector 24 connecting the push rod 212 and one of the transmission components 23. Specifically, the connector 24 is fixedly connected to the left-side transmission component 2301; however, in other embodiments, the connector 24 can also be fixedly connected to the right-side transmission component 2302. The connector 24 includes an integrally formed first connecting portion 241 and a second connecting portion 242. The first connecting portion 241 is disposed on one of the transmission components 23, and the second connecting portion 242 is disposed on the push rod 212. The function of the connecting member 24 is to convert the power of the driving member 2 into the power of the transmission member 23, thus playing a transmission role. One of the transmission members 23 (e.g., the transmission member 2301 on the left) passes through the first connecting part 241, and the second connecting part 242 is connected to the push rod 212. The connection between the second connecting part 242 and the push rod 212 can be a fixed connection or a movable connection. In a specific embodiment, the push rod 212 is movably connected to the second connecting part 242. Preferably, the connecting member 24 is provided with a limiting groove to accommodate the push rod 212. The limiting groove is an open groove 2420. Compared with a closed groove, the open groove 2420 is more conducive to installation and facilitates disassembly or replacement during maintenance. After the push rod 212 is limited in the open groove 2420, it is connected to the connecting member 24 through a positioning pin 10. The bottom of the positioning pin 10 is also limited by a clip. This design provides a certain amount of movement space for the push rod 212, making the change of direction smoother.

[0048] Please refer to Figure 5In addition to the first walking component 301 and the second walking component 302, the walking mechanism 3 also includes auxiliary wheels 303 that provide balance and support. In a preferred embodiment, the auxiliary wheels 303 are omnidirectional wheels. It is particularly important to note that the auxiliary wheels 303 do not require electrical drive; they move along with the first walking component 301 and the second walking component 302, that is, they move forward as the cleaning robot moves forward and backward as the cleaning robot moves backward. The number and position of the auxiliary wheels 303 can be selected as needed. For example, when there is one auxiliary wheel 303, it is positioned on the vertical center line of the left and right sides of the main frame 1; when there are two auxiliary wheels 303, one auxiliary wheel 303 is positioned on the left side of the main frame 1 together with the first walking component 301, and the other auxiliary wheel 303 is positioned on the right side of the main frame 1 together with the second walking component 302. The structure and working principle of the auxiliary wheels 303 are well-known to those skilled in the art, and will not be described in detail here.

[0049] Please refer to Figure 4 , Figure 6 and Figure 7 The main frame 1 also includes a support seat 13 fixed between the front and rear frames 11. The support seat 13 includes a bottom wall 131 and side walls 132 extending upwards from the bottom wall 131. The bottom wall 131 is provided with a positioning shaft 1310. Therefore, the function of the support seat 13 is to allow the rotating member 22 to be fitted onto the positioning shaft 1310 for rotation. Please refer to [reference needed]. Figure 5 The main frame 1 also includes two support frames 14 fixed to the frame 11, each support frame 14 having a second through hole 140. The intermediate connecting rod 233 passes through and is positioned through the second through hole 140 of the support frame 14. Therefore, the function of the support frame 14 is to further reinforce and ensure that the intermediate connecting rod 233 does not deviate when translated to the left and right.

[0050] The working principle of this invention is as follows: the driving component 21, i.e., the electric cylinder for changing direction, and the driving element 31, i.e., the motor for driving the walking track 32, cannot work simultaneously. When the cleaning robot 100 is in normal cleaning operation, its movement is powered by the driving element 31, i.e., the motor. The motor rotates and drives the walking track 32 to move, thereby driving the cleaning robot 100 to move vertically or horizontally. When it is necessary to change direction, the driving element 31, i.e., the motor, stops working, the driving component 21 is energized, i.e., the electric cylinder works, the push rod 212 moves linearly, thereby driving the inner rod 231 in the left transmission component 2301 to move linearly. The inner rod 231 pushes the rotating component 22 to rotate, thereby driving the inner rod 231 in the right transmission component 2302 to move synchronously in the opposite direction. That is, the transmission components 23 on both sides extend and retract with the extension and retraction of the electric cylinder. When the transmission components 23 on both sides extend or retract relative to each other, the two inner rods 231 first rotate slightly in opposite directions under the drive of the rotating component 21. Then, the middle connecting rod 233 moves in a straight line in opposite directions along the length direction of the cleaning robot, i.e., the left and right directions. Finally, the two outer rods 232 also rotate slightly around the third rotating shaft 7. Since the walking components 301 and 302 on each side of the walking mechanism 3 are rotatably connected to the outer rods 232 through the second rotating shaft 6 and rotatably connected to the bracket 12 through the first rotating shaft 5, and the bracket 12 is fixed on the frame 11, the above three-stage movement of the transmission component 23 will drive the walking components 301 and 302 on each side of the walking mechanism 3 to rotate around the first rotating shaft 5. When the walking components 301 and 302 on each side of the walking mechanism 3 rotate 90 degrees in the forward direction, the walking components 301 and 302 on each side of the walking mechanism 3 rotate from the vertical movement state to the horizontal movement state. At this time, the electric cylinder is de-energized and stops working, and the motor starts, driving the walking components 301 and 302 on each side of the walking mechanism 3 to move horizontally. When the walking components 301 and 302 on each side of the walking mechanism 3 rotate 90 degrees in the reverse direction, the walking components 301 and 302 on each side of the walking mechanism 3 rotate from the horizontal movement state to the vertical movement state. At this time, the electric cylinder is de-energized and stops working, and the motor starts, driving the walking components 301 and 302 on each side of the walking mechanism 3 to move vertically.

[0051] It should be emphasized that in the left-side transmission component 2301 and the right-side transmission component 2302, only the two intermediate connecting rods 233 move synchronously and in opposite directions in a linear motion. However, the two inner rods 231 and the two outer rods 232 in both the left-side and right-side transmission components 2301 and 2302 need to rotate symmetrically and in opposite directions by a certain angle. The reason is: Please refer to... Figure 17 and Figure 18The position of the first axis of rotation 5 is marked as point a, and the position of the second axis of rotation 6 is marked as point b. Point a is vertically downward and point b is horizontally to the left, intersecting at point c. This can be visualized as follows: Line segment ac represents the vertical extension direction of the track 32, indicating the vertical movement of the walking components 301 and 302 on each side of the entire walking mechanism 3. Line segment bc represents the lateral extension direction of the drive element 31, i.e., the motor. Line segments ab, ac, and bc form a triangle represented by solid lines. When the walking components 301 and 302 on each side of the entire walking mechanism 3 switch from the vertical movement state to the lateral movement state, the second rotating shaft 6 moves from the first position (point b) on one side of the support 12 along an arc trajectory to the symmetrical second position (point b') on the other side of the support 12. At this time, line segment ac' represents the lateral extension direction of the track 32, indicating the lateral movement of the walking components 301 and 302 on each side of the entire walking mechanism 3. Line segment bc' represents the vertical extension direction of the drive element 31, i.e., the motor. Line segments ab', ac', and b'c' form a triangle represented by solid lines. Figure 15 The triangle is represented by the dashed line. Because point b will move along the arc trajectory to the second symmetrical position, point b', on the other side of the support 12, the transmission components 2301 on the left and 2302 on the right require not only the two inner rods 231 but also the two outer rods 232 to rotate slightly during the pushing process to ensure the linear movement of the two intermediate connecting rods 233. That is, in the specific embodiment of the present invention, the transmission components 2301 on the left and 2302 on the right must each include three parts: the linearly moving intermediate connecting rod 233 and the slightly rotating inner rod 231 and outer rod 232; otherwise, it will not be able to rotate (if the inner rod 231 and outer rod 232 also maintain the same linear movement as the intermediate connecting rod 233, point b, representing the second rotating shaft 6, will not be able to reach point b').

[0052] In an optional embodiment, the intermediate connecting rod 233 further includes a separately configured rod portion and a sleeve portion 234, with the sleeve portion 234 fitted onto the rod portion of the intermediate connecting rod 233 to become part of the intermediate connecting rod 233. One of the inner end portion 2331 and the outer end portion 2332 is formed on the sleeve portion 234, and the other of the inner end portion 2331 and the outer end portion 2332 is formed on the rod portion of the intermediate connecting rod 233. Specifically, the inner end portion 2331 is formed on the sleeve portion 234, and the outer end portion 2332 is formed on the rod portion of the intermediate connecting rod 233. The sleeve portion 234 is provided with multiple adjustment holes 2340 to adjust the total length of the intermediate connecting rod 233, i.e., the total length from the inner end portion 2331 to the outer end portion 2332. That is, the function of the adjustment holes 2330 is to adjust the overall size of the transmission component 23 in the left-right direction as needed, compensating for installation or manufacturing errors. This allows for the cleaning of photovoltaic modules of different sizes and specifications, meaning that photovoltaic modules of different widths can be cleaned.

[0053] It should be noted that in a specific embodiment, the driving component 21 is an electric cylinder, and the driving element 31 is a motor. In another embodiment, the electric cylinder of the driving component 21 can be replaced by a motor, which drives the rotating component 22 to rotate, and the rotating component 22 then drives the transmission component 23 to move in the opposite direction. In summary, the key feature of this invention is the inclusion of a transmission component 23 capable of reversing the rotation of the rotating component 22 or other rotating elements or devices. The reverse movement of the transmission component 23 drives the first walking assembly 301 and the second walking assembly 302 on both sides to simultaneously switch between the first and second states. How the driving component 21 drives the rotating component 22 and drives the synchronous reverse movement of the transmission component 23, and whether the driving component 21 is an electric cylinder or a motor, are not specifically limited.

[0054] It can be seen that the first walking component 301 and the second walking component 302 are arranged in a mirror-symmetrical manner with respect to the longitudinal direction of the axis 220 in the left-right direction; when switching simultaneously between the first state and the second state, the first walking component 301 and the second walking component 302 turn in opposite directions. The simultaneous switching in this invention includes the same magnitude of the rotational angular velocity and the same start / end time, that is, except for the opposite direction of the change of direction, the two maintain the consistency of the change time and the consistency of the change speed.

[0055] The cleaning mechanism 4 of the cleaning robot 100 of the present invention is specifically installed below the main frame 1, and typically includes a brush 41 fixedly connected to the main frame 1; in an optional embodiment, the cleaning mechanism 4 may also include a scraper 42 for further cleaning dust, in addition to the brush 41. However, the cleaning mechanism 4 is not the focus of the present invention, and will not be described in detail here.

[0056] The cleaning robot 100 of this invention uses a drive component 21 to drive one of the transmission components 23, which in turn drives the other transmission component 23 to move. That is, the transmission components 23 on both sides move synchronously and in opposite directions. The first walking component 301 on the left and the second walking component 302 on the right simultaneously change from a vertical walking state to a horizontal walking state, or simultaneously change from a horizontal walking state to a vertical walking state. Except for the opposite direction of the change, the two maintain consistency in the timing and speed of the change, thereby reducing the failure rate of the cleaning robot during the change of direction and in subsequent operation.

[0057] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of this specification should be based on those skilled in the art. For example, the directional descriptions such as "front", "back", "left", "right", "up", and "down" are important. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify or make equivalent substitutions to the present invention. All technical solutions and improvements that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A cleaning robot, characterized in that, The system includes a main frame (1), a cleaning mechanism (4), a steering mechanism (2), and a walking mechanism (3). The walking mechanism (3) includes a first walking component (301) and a second walking component (302) mounted on opposite sides of the main frame (1). The cleaning mechanism (4) is mounted on the main frame (1). The main frame (1) includes a frame (11) extending laterally in the left-right direction. The steering mechanism (2) includes a drive member (21), a rotating member (22), and a transmission member (23) located on opposite sides of the rotating member (22). The rotating member (22) is rotatable under the drive of the drive member (21). The rotating member (22) has a shaft (220) and includes positioning portions (221) on opposite sides of the shaft (220). The transmission member (23) is connected to the first walking component (301) on one side of the rotating member (302). The positioning part (221) is connected, and the transmission member (23) is connected to the first walking assembly (301) or the second walking assembly (302) on the corresponding side. The transmission member (23) on each side includes an inner rod (231), an outer rod (232), and an intermediate connecting rod (233) located between the inner rod (231) and the outer rod (232). The first walking assembly (301) and the second walking assembly (302) have a first state of synchronous walking and a second state of synchronous walking. When the first walking assembly (301) and the second walking assembly (302) switch between the first state and the second state at the same time, the intermediate connecting rod (233) moves in the lateral direction, and the inner rod (231) and the outer rod (232) rotate relative to the intermediate connecting rod (233).

2. The cleaning robot according to claim 1, characterized in that, The main frame (1) includes a support (12) extending longitudinally in the front-back direction. There are two supports (12) and they are located on the left and right sides of the frame (11), respectively. The first walking component (301) and the second walking component (302) are rotatably connected to the support (12) on the corresponding side through a first pivot (5).

3. The cleaning robot according to claim 2, characterized in that, The inner rod (231) on each side includes a first end (2311) and a second end (2312) arranged in opposite directions of extension; the outer rod (232) on each side includes a third end (2321) and a fourth end (2322) arranged in opposite directions of extension; the intermediate connecting rod (233) on each side includes an inner end (2331) and an outer end (2332) arranged in opposite directions of extension; the second end (2312) of the inner rod (231) is connected by a third... The pivot (7) is rotatably connected to the inner end (2331) of the intermediate connecting rod (233) on the corresponding side. The third end (2321) of the outer rod (232) is rotatably connected to the outer end (2332) of the intermediate connecting rod (233) on the corresponding side through another third pivot (7). The first walking component (301) or the second walking component (302) is rotatably connected to the fourth end (2322) of the outer rod (232) on the corresponding side through a second pivot (6).

4. The cleaning robot according to claim 3, characterized in that, The intermediate connecting rod (233) includes a rod portion and a sleeve portion (234) that are separately arranged. The sleeve portion (234) is sleeved on the rod portion to become part of the intermediate connecting rod (233). The sleeve portion (234) is provided with a plurality of adjustment holes (2340), and the adjustment holes (2340) can adjust the total length from the inner end (2331) to the outer end (2332).

5. The cleaning robot according to claim 3, characterized in that, The height of the first rotating shaft (5) is greater than the height of the second rotating shaft (6). The transmission member (23) on each side drives the second rotating shaft (6) from a first position on one side of the bracket (12) to a symmetrical second position on the other side of the bracket (12) along an arc trajectory.

6. The cleaning robot according to claim 2, characterized in that, Each of the first walking assembly (301) and the second walking assembly (302) includes a driving element (31), which and the driving member (21) do not operate simultaneously.

7. The cleaning robot according to claim 2, characterized in that, Each of the first walking assembly (301) and the second walking assembly (302) includes a walking track (32); when the first walking assembly (301) and the second walking assembly (302) are in a first state, the extension direction of the walking track (32) is consistent with the lateral direction; when the first walking assembly (301) and the second walking assembly (302) are in a second state, the extension direction of the walking track (32) is consistent with the longitudinal direction.

8. The cleaning robot according to claim 2, characterized in that, The walking mechanism (3) also includes an auxiliary wheel (303), which together with the first walking component (301) and the second walking component (302) support the main frame (1).

9. The cleaning robot according to claim 1, characterized in that, The drive member (21) includes a cylinder (211) and a push rod (212). The push rod (212) extends or retracts relative to the cylinder (211) to drive one of the transmission members (23) and drive the other transmission member (23) through the rotating member (22), thereby realizing the opposite movement of the two transmission members (23).

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