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 a first toothed portion. Each transmission component on each side has a second toothed portion that meshes with the first toothed portion, and the transmission components on both sides are respectively connected to the first or second walking component on the corresponding side. 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 a first toothed portion. Each transmission component on each side has a second toothed portion that meshes with the first toothed portion. The transmission components on both sides are respectively 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, each of the transmission components includes an inner rod and an 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 at the same time, the inner rod moves in the lateral direction and the outer rod rotates relative to the inner 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, and the outer rod on each side includes a third end and a fourth end arranged in opposite directions along its extension direction. The second toothed portion is disposed at the first end of the inner rod, and the third end of the outer rod is rotatably connected to the second end of the inner rod through a third rotating shaft. The first walking component or the second walking component 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 inner rod further includes a rod portion and a sleeve portion that are separately disposed, the sleeve portion being sleeved on the rod portion to become part of the inner rod; the sleeve portion is provided with a plurality of adjustment holes to adjust the total length from the first end to the second 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 an auxiliary wheel, which together with the first walking component and the second walking component supports 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, drives the other transmission component, thereby realizing the reverse movement of the two transmission components.

[0016] Compared to existing technologies, the drive unit of the cleaning robot of the present invention can make the transmission components on both sides move simultaneously, and the transmission components on both sides move synchronously and in opposite directions. This makes the first walking component on the left and the second walking component on the right maintain the consistency of the moment of change and the consistency of the speed of change, except that the direction of change is opposite. That is, 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 composite diagram of the first embodiment 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 three-dimensional assembly diagram of the steering mechanism in the cleaning robot of the present 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 diagram of the walking mechanism, support frame, and outer rod of the cleaning robot of the present invention;

[0026] Figure 10 This is a three-dimensional exploded view of the walking mechanism, support frame, inner rod, and outer rod of the cleaning robot of the present invention;

[0027] Figure 11 yes Figure 10 A three-dimensional assembly diagram of the central traveling mechanism;

[0028] Figure 12 yes Figure 10 Exploded view of the traveling mechanism;

[0029] Figure 13 yes Figure 1 Top view;

[0030] Figure 14 yes Figure 13 Enlarged view of section D;

[0031] Figure 15 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;

[0032] Figure 16 This is a three-dimensional assembly diagram of the second embodiment of the cleaning robot of the present invention;

[0033] Figure 17 yes Figure 16 Enlarged view of part A' in the middle;

[0034] Figure 18 yes Figure 16 Enlarged view of part B';

[0035] Figure 19 yes Figure 16 Enlarged view of part C' in the middle;

[0036] Figure 20 This is a perspective view of the rotating component 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 20 A 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 a first toothed portion 221 outside the shaft 220. Each side of the transmission component 23 has a second toothed portion 2310 that meshes with the first toothed portion 221. The transmission components 23 on both sides are respectively connected to the first walking component 301 or the second walking component 302 on the corresponding side. The driving component 21 drives the rotating component 22 to rotate around the axis 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 synchronous walking and a second state of synchronous walking. The synchronous reverse movement of the transmission components 23 causes 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 and the second walking component 302 on the left and right sides maintain consistency in their changes, thereby reducing the failure rate of the cleaning robot during the direction change 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] The following will be the main reference. Figures 1 to 15 The first embodiment of the present invention will be introduced here.

[0042] Example 1:

[0043] Please refer to Figures 1 to 15 And combined Figure 20 The transmission members 23 on the left and right sides respectively mesh with the rotating member 22 on the front and rear sides and are respectively connected to one of the first walking components 301 and the second walking components 302 on the left and right sides. The driving member 21 drives one of the transmission members 23 (e.g., the right transmission member 2302) and drives the other transmission member 23 (e.g., the left transmission member 2301) through the rotating member 22, so that the transmission members 23 on both sides move in opposite directions. The first walking component 301 and the second walking component 302 have a first state of synchronous walking and a second state of synchronous walking. The "first state" is the vertical walking state, and the corresponding "second state" is the horizontal walking state; the "first state" is the horizontal walking state, and the corresponding "second state" is the vertical walking state. Therefore, the reverse movement of the transmission members 23 causes the first walking component 301 and the second walking component 302 to switch simultaneously between the first state and the second state. 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. That is, the driving component 21 drives the transmission components 23 to achieve synchronous and opposite movements. These 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, except for opposite directions of change, meaning the change time and speed are consistent. Specifically, in this embodiment, 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 between the first and second states simultaneously, the failure rate of the cleaning robot during the change of direction and subsequent operation is reduced. The first walking component 301 and the second walking component 302 of the cleaning robot can change direction by operating in different directions, which can effectively adapt to complex surfaces to be cleaned, such as the roof of a BIPV (Building Integrated Photovoltaic) system.

[0044] Please refer to Figure 5 , Figure 8 and Figure 9The cleaning robot 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 laterally 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. Each transmission component 23 includes an inner rod 231 with a second toothed portion 2310 and an outer rod 232 connected to the inner rod 231. That is, each side of the transmission component 23 includes two parts: an inner rod 231 and an outer rod 232, and a rotatable connection is formed between the two parts of each side of the transmission component 23. 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 outer rod 232 rotates relative to the inner rod 231.

[0045] 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, and each outer rod 232 on each side includes a third end 2321 and a fourth end 2322 arranged in opposite directions of extension. A second toothed portion 2310 is formed at the first end 2311 of the inner rod 231, and the third end 2321 of the outer rod 232 is rotatably connected to the second end 2312 of the inner rod 231 via the third rotating shaft 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 the second rotating shaft 6, and each walking mechanism 3 on each side is rotatably connected to the corresponding bracket 12 via a first rotating shaft 5. Correspondingly, the bracket 12 is provided with a first through hole 50 through which the first rotating shaft 5 passes, the fourth end 2322 is provided with a second through hole 60 through which the second rotating shaft 6 passes, and the third end 2321 is provided with a third through hole 70 through which the third rotating shaft 7 passes. The first rotating shaft 5 is offset from the extension line of the movement trajectory of the inner rod 231, that is, the first rotating shaft 5 is not located on the extension line of the movement trajectory of the inner rod 231 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 position 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 has three positions of rotating shaft 5, second rotating shaft 6, and third rotating shaft 7, 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 configuration ensures that the first walking component 301 and the second walking component 302 can smoothly switch between vertical walking state and horizontal walking state.

[0046] Please refer to Figure 14 and Figure 15 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. Figure 15When 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.

[0047] Please refer to Figure 11 and Figure 12 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.

[0048] Please continue to refer to this. Figure 11 and Figure 12Each 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.

[0049] 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 right-side transmission component 2302; however, in other embodiments, the connector 24 can also be fixedly connected to the left-side transmission component 2301. 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 2302 on the right) 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.

[0050] In 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 should be noted 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.

[0051] 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, and the rotating member 22 is sleeved on the positioning shaft 1310 to be rotatable. The side wall 132 is provided with a pair of opposing first through holes 1320, and the second toothed portions 2310 of the inner rod 231 pass through these opposing first through holes 1320 to move left and right. The cylinder of the driving member 1 is mounted on the side wall 132 of the support seat 13. The support seat 13 also serves to position the rotating member 22 and the two second toothed portions 2310 on the front and rear sides, ensuring that the leftward and rightward translational movements of the second toothed portions 2310 do not deviate from a straight line during the forward and reverse rotation of the rotating member 22. Please refer to [reference needed]. Figure 3 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 inner rod 231, excluding the second toothed portion 2310, passes through the second through hole 140 of the support frame 14 for positioning. The function of the support frame 14 is to further reinforce and ensure that the leftward and rightward translation of the second toothed portion 2310 does not deviate from a straight line.

[0052] The working principle of this invention is as follows: the driving component 21 (electric cylinder for changing direction) and the driving element 31 (motor for driving the walking track 32) cannot work simultaneously. When the cleaning robot is in normal cleaning operation, its movement is powered by the driving element 31 (motor). The motor rotates, driving the walking track 32 to move, thereby driving the cleaning robot to move vertically or laterally. When a change of direction is required, the driving element 31 (motor) stops working, the driving component 21 (electric cylinder) is energized, and the push rod 212 moves linearly, thereby driving the inner rod 231 in the right transmission component 2302 to move linearly. The inner rod 231 pushes the rotating component 22 to rotate, thereby driving the inner rod 231 in the left transmission component 2301 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 move linearly along the length direction of the cleaning robot, i.e., the left and right direction, and the two outer rods 232 will 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 rod 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 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.

[0053] It should be emphasized that the two inner rods 231 in the left-side transmission component 2301 and the right-side transmission component 2302 move synchronously and in opposite directions in a linear motion. However, the two outer rods 232 in the left-side transmission component 2301 and the right-side transmission component 2302 need to rotate symmetrically and in opposite directions by a certain angle. The reason is: Please refer to... Figure 14 and Figure 15The 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 two outer rods 232 in the left transmission member 2301 and the right transmission member 2302 will rotate slightly during the pushing process, and will not move in a straight line. That is, in the specific embodiment of the present invention, both the left transmission member 2301 and the right transmission member 2302 must include two parts: the inner rod 231 with straight movement and the outer rod 232 with slight rotation; otherwise, they will not be able to rotate (if the outer rod 232 also maintains the same straight movement as the inner rod 231, point b, representing the second pivot 6, will not be able to reach point b').

[0054] Please refer to Figures 16 to 19 The following is a brief description of Embodiment 2 of the present invention.

[0055] Embodiment 2 is basically the same as Embodiment 1, with the main difference being that the inner rod 231 further includes a separately configured rod portion and a sleeve portion 234. The sleeve portion 234 is fitted onto the rod portion of the inner rod 231 to become part of the inner rod 231. One of the first end portion 2311 and the second end portion 2312 is formed on the sleeve portion 234, and the other of the first end portion 2311 and the second end portion 2312 is formed on the rod portion of the inner rod 231. Specifically, the first end portion 2311 is formed on the sleeve portion 234, and the second end portion 2312 is formed on the rod portion of the inner rod 231. The sleeve portion 234 is provided with multiple adjustment holes 2340 to adjust the total length of the inner rod 231, that is, the total length from the first end portion 2311 to the second end portion 2312. In other words, the function of the adjustment holes 2340 is to adjust the overall size of the transmission component 23 in the left-right direction as needed to compensate 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.

[0056] It should be noted that in the specific embodiments of Embodiment 1 and Embodiment 2, 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. The rotating component 22 then drives the two transmission components 23 to move in opposite directions by meshing with the second toothed portions 2310 (equivalent to racks) on both sides. In summary, the focus of this invention is to include a transmission component 23 that can move in opposite directions during the rotation of the rotating component 22 or other components or devices that can achieve rotational motion. The reverse movement of the transmission component 23 drives the first walking assembly 301 and the second walking assembly 302 on the left and right sides to switch simultaneously between the first state and the second state. As for how the driving component 21 drives the synchronous reverse movement of the transmission component 23, whether the driving component 21 is an electric cylinder or a motor, and whether the rotating component 22 is a gear or a rotating component with partial toothed portions, no specific limitations are made.

[0057] Combining Embodiments 1 and 2, it can be seen that the first walking component 301 and the second walking component 302 are symmetrically arranged in the left-right direction relative to the longitudinal extension line where the axis 220 is located; 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, both maintain consistency in the timing and speed of change.

[0058] In Embodiments 1 and 2, the cleaning mechanism 4 of the cleaning robot 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 optional embodiments, 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 elaborated further.

[0059] The cleaning robot of this invention uses a drive component 21 to drive one transmission component 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, they maintain consistency in the timing and speed of the change, thereby reducing the failure rate of the cleaning robot of this invention during the change of direction and in subsequent operation.

[0060] 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 steering mechanism (2) includes a driving member (21), a rotating member (22), and transmission members (23) located on opposite sides of the rotating member (22). The rotating member (22) can rotate under the drive of the driving member (21). The rotating member (22) has a first toothed portion (221). Each side of the transmission member (23) has a second toothed portion (2310) that meshes with the first toothed portion (221). The driving member (21) drives the rotating member (22) to rotate, causing the opposite sides to rotate. The transmission components (23) on both sides perform synchronous and opposite telescopic movements. The transmission components (23) on opposite sides are respectively connected to the first walking component (301) or the second walking component (302) on the corresponding side. The first walking component (301) and the second walking component (302) change direction symmetrically and in opposite directions. Each transmission component (23) includes an inner rod (231) and an outer rod (232). The first walking component (301) and the second walking component (302) have a first state of synchronous walking and a second state of synchronous walking. When the first walking component (301) and the second walking component (302) switch between the first state and the second state at the same time, the inner rod (231) moves laterally and the outer rod (232) rotates relative to the inner rod (231).

2. The cleaning robot according to claim 1, characterized in that, The main frame (1) includes a frame (11) extending laterally in the left-right direction and a support (12) extending longitudinally in the front-back direction. There are two supports (12) 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 along its extension direction. The outer rod (232) on each side includes a third end (2321) and a fourth end (2322) arranged in opposite directions along its extension direction. The second toothed portion (2310) is disposed at the first end (2311) of the inner rod (231). The third end (2321) of the outer rod (232) is rotatably connected to the second end (2312) of the inner rod (231) via a third rotating shaft (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 rotating shaft (6).

4. The cleaning robot according to claim 3, characterized in that, The inner rod (231) further 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 inner rod (231). The sleeve portion (234) is provided with a plurality of adjustment holes (2340) to adjust the total length from the first end (2311) to the second end (2312).

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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