A fixed track walking conveying device capable of realizing vertical lifting and angle flipping

Abstract

The present invention discloses a fixed track walking and conveying device capable of realizing vertical lifting and angle flipping, and relates to the technical field of track walking and conveying devices, including a support frame, a walking mechanism, a lifting mechanism, a cleaning robot bearing seat and a flipping mechanism; the walking mechanism is suitable for walking on the fixed track; the lifting mechanism and the flipping mechanism are used to adjust the height and tilt angle of the cleaning robot bearing seat. When the walking mechanism walks on the fixed track to one side of a photovoltaic panel to be cleaned, the cleaning robot bearing seat can be adjusted to be coplanar with the photovoltaic panel through the lifting mechanism and the flipping mechanism, so that the cleaning robot can walk to the photovoltaic panel. After the cleaning of the photovoltaic panel is completed, the cleaning robot returns to the cleaning robot bearing seat, and after the cleaning robot bearing seat is adjusted to a horizontal level, it moves to the side of the next photovoltaic panel to be cleaned through the walking mechanism, thereby conveying the cleaning robot to the next photovoltaic panel to be cleaned until the entire cleaning process is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of track travel conveying devices, and in particular to a fixed track travel conveying device capable of realizing vertical lifting and angle flipping. Background Art

[0002] Photovoltaic panels in a photovoltaic power station are prone to dust accumulation after being placed for a long time. Dust-accumulated photovoltaic panels are usually cleaned automatically by cleaning robots. Before cleaning the photovoltaic panels, it is usually necessary to manually place the cleaning robot on the photovoltaic panel, wait for the photovoltaic panel to be cleaned, and then manually place the cleaning robot on another photovoltaic panel until all photovoltaic panels are cleaned. The entire cleaning process requires workers to wait on the side, which is inconvenient. Therefore, a conveying device is needed to transport the cleaning robot between each photovoltaic panel. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a fixed track walking conveying device that can realize vertical lifting and angle flipping. The specific technical solution is as follows:

[0004] A fixed track walking and conveying device capable of realizing vertical lifting and angle flipping is used for walking on a fixed track to convey a photovoltaic panel cleaning robot. The fixed track walking and conveying device capable of realizing vertical lifting and angle flipping comprises:

[0005] Support frame;

[0006] A walking mechanism, arranged at the bottom of the supporting frame;

[0007] A lifting mechanism is arranged on the supporting frame;

[0008] A cleaning robot bearing seat, located above the support frame and connected to the lifting mechanism;

[0009] A turning mechanism, arranged on the supporting frame and connected to the cleaning robot supporting seat;

[0010] The lifting mechanism comprises:

[0011] A horizontal movable frame, slidably connected to the supporting frame;

[0012] A vertical movable frame, slidably connected to the supporting frame, wherein the top of the vertical movable frame is connected to the cleaning robot bearing seat;

[0013] A linkage assembly connected between the horizontal moving frame and the vertical moving frame, and used for converting the horizontal movement of the horizontal moving frame into the vertical movement of the vertical moving frame;

[0014] The driving member is arranged transversely along the supporting frame and connected to the horizontal moving frame, and is used for driving the horizontal moving frame to move horizontally.

[0015] Preferably, the linkage component comprises:

[0016] A guide groove is provided on the vertical movable frame, and the guide groove extends obliquely along the length direction of the vertical movable frame toward the height direction thereof;

[0017] The guide block is arranged on the horizontal movable frame and is slidably connected in the guide groove.

[0018] Preferably, the lifting mechanism further comprises:

[0019] A horizontal track is arranged at the inner bottom of the support frame;

[0020] A horizontal slide, disposed at the bottom of the horizontal moving frame, slidably matched with the horizontal track;

[0021] A vertical slide seat, arranged on the inner side wall of the support frame;

[0022] The vertical track is arranged on the side of the vertical moving frame and slidably cooperates with the vertical slide seat.

[0023] Preferably, the flipping mechanism comprises:

[0024] A first hinged seat connected to the vertical moving frame;

[0025] A second hinged seat, disposed at the bottom of the cleaning robot supporting seat;

[0026] The telescopic rod is arranged along the horizontal direction of the support frame and tilted toward the height direction thereof, with one end connected to the first hinge seat and the other end connected to the second hinge seat.

[0027] Preferably, the walking mechanism comprises:

[0028] A driving motor is arranged on the supporting frame;

[0029] A driving shaft, rotatably connected to the support frame;

[0030] Driving wheels, arranged at both ends of the driving shaft;

[0031] A transmission assembly is transmission-connected between the drive motor and the drive shaft.

[0032] Preferably, it also includes a height detection element arranged on the support frame.

[0033] Preferably, it also includes a battery and a control component arranged on the support frame, and the control component includes an electrical control box, a touch screen, a power switch and an emergency stop switch. The electrical control box is electrically connected to the battery, touch screen, power switch, emergency stop switch and height detection element.

[0034] Preferably, a plurality of shield plates are arranged around the circumference of the support frame, and an accordion cover is arranged between the shield plates and the cleaning robot supporting seat.

[0035] Preferably, slide grooves are provided on both sides of the support frame, and the cleaning robot bearing seat includes:

[0036] A load-bearing plate, one end of which is hinged to the vertical movable frame at the bottom, and the other end of which is provided with the second hinged seat at the bottom;

[0037] A protective cover is located above the carrying plate, and a baffle is provided at the bottom of both ends of the protective cover;

[0038] A first connecting rod, a first end of which is hinged to the side of the protective cover, and a second end of which is hinged to the side of the bearing plate;

[0039] The second connecting rod is arranged parallel to the first connecting rod, one end of which is hinged to the side of the protective cover, and the other end is slidably arranged in the sliding groove. The second connecting rod is hinged to the side of the bearing plate relative to the second end position of the first connecting rod.

[0040] The present invention arranges a lifting mechanism and a flipping mechanism on a supporting frame, and connects the lifting mechanism and the flipping mechanism to a supporting seat of the cleaning robot to adjust the height and the tilt angle of the supporting seat of the cleaning robot. When the walking mechanism at the bottom of the supporting frame walks on a fixed track to one side of the photovoltaic panel to be cleaned, the supporting seat of the cleaning robot can be adjusted to be coplanar with the photovoltaic panel through the lifting mechanism and the flipping mechanism, so that the cleaning robot can walk to the photovoltaic panel. After cleaning the photovoltaic panel, the cleaning robot returns to the supporting seat of the cleaning robot, and after the supporting seat of the cleaning robot is adjusted to be horizontal, it moves to the side of the next photovoltaic panel to be cleaned through the walking mechanism, thereby transporting the cleaning robot to the next photovoltaic panel to be cleaned until the entire cleaning process is completed, thereby solving the problem that staff need to wait on the side when the cleaning robot cleans the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of the three-dimensional structure of a fixed track travel conveying device and a fixed track that can realize vertical lifting and angle flipping provided in an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the three-dimensional structure of a fixed track travel conveying device capable of realizing vertical lifting and angle flipping provided in an embodiment of the present invention;

[0044] Figure 3 An internal structural diagram of a fixed track travel conveying device capable of realizing vertical lifting and angle flipping provided in an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of the three-dimensional structure of a lifting mechanism provided in an embodiment of the present invention;

[0046] Figure 5 A sectional side view of a fixed track travel conveying device capable of realizing vertical lifting and angle flipping provided in an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of the three-dimensional structure of a walking mechanism provided in an embodiment of the present invention;

[0048] Figure 7 A side view of a fixed-track traveling conveying device capable of vertical lifting and angle flipping provided in another embodiment of the present invention.

[0049] 1-support frame; 11-shield plate; 12-bellows cover; 13-slide; 2-travel mechanism; 21-drive motor; 22-drive shaft; 23-drive wheel; 24-transmission assembly; 3-lifting mechanism; 31-horizontal moving frame; 32-vertical moving frame; 33-linkage assembly; 331-guide groove; 332-guide block; 34-drive member; 35-horizontal track; 36-horizontal slide; 37-vertical slide; 38-vertical track; 4-carrying seat of cleaning robot; 41-carrying plate; 42-protective cover; 421-baffle; 43-first connecting rod; 44-second connecting rod; 5-flipping mechanism; 51-first articulated seat; 52-second articulated seat; 53-telescopic rod; 6-height detection element; 7-battery; 8-control assembly; 81-electric control box; 82-touch screen; 83-power switch; 84-emergency stop switch. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the protection scope of the present invention.

[0051] It should be noted that similar reference numerals denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

[0052] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invented product is usually placed when in use, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0053] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0054] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] See also Figures 1 to 7 This embodiment provides a fixed-track walking and conveying device that can achieve vertical lifting and angular flipping, which is used to walk on a fixed track 100 to transport a photovoltaic panel cleaning robot. The fixed-track walking and conveying device that can achieve vertical lifting and angular flipping includes a support frame 1, a walking mechanism 2, a lifting mechanism 3, a cleaning robot bearing seat 4 and a flipping mechanism 5.

[0056] The walking mechanism 2 is arranged at the bottom of the supporting frame 1 .

[0057] The lifting mechanism 3 is arranged on the supporting frame 1 .

[0058] The cleaning robot bearing seat 4 is located above the supporting frame 1 and is connected to the lifting mechanism 3 .

[0059] The turning mechanism 5 is arranged on the supporting frame 1 and connected to the supporting seat 4 of the cleaning robot.

[0060] The lifting mechanism 3 includes a horizontal moving frame 31 , a vertical moving frame 32 , a linkage assembly 33 and a driving member 34 .

[0061] The horizontal moving frame 31 is slidably connected to the supporting frame 1 .

[0062] The vertical moving frame 32 is slidably connected to the supporting frame 1 , and the top end thereof is connected to the cleaning robot bearing seat 4 .

[0063] The linkage assembly 33 is connected between the horizontal moving frame 31 and the vertical moving frame 32 , and is used to convert the horizontal movement of the horizontal moving frame 31 into the vertical movement of the vertical moving frame 32 .

[0064] The driving member 34 is disposed transversely along the supporting frame 1 and connected to the horizontal moving frame 31 to drive the horizontal moving frame 31 to move horizontally.

[0065] Among them, the fixed track 100 can be arranged along one side of multiple photovoltaic panels, the cleaning robot supporting seat 4 can be used to carry the cleaning robot, and the walking mechanism 2 is suitable for walking on the fixed track 100. When walking to the position of the photovoltaic panel to be cleaned, the walking mechanism 2 stops; the photovoltaic panels are usually placed at an angle, and the lifting mechanism 3 can drive the cleaning robot supporting seat 4 to rise and fall to the same height as the side of the photovoltaic panel, and then drive the cleaning robot supporting seat 4 to tilt through the flipping mechanism 5, and adjust it to be coplanar with the photovoltaic panel. After the adjustment, a signal can be sent to the cleaning robot on the cleaning robot supporting seat 4, and the cleaning robot can walk to the photovoltaic panel for cleaning, and return to the cleaning robot supporting seat 4 after cleaning. The lifting mechanism 3 and the flipping mechanism 5 adjust the cleaning robot supporting seat 4 to a horizontal level and then transport the cleaning robot to the next photovoltaic panel to be cleaned until the entire cleaning process is completed.

[0066] The driving member 34 can be a pneumatic rod, a hydraulic rod or a linear motor. The driving member 34 is arranged horizontally along the support frame 1 to reduce the height of the support frame 1, thereby lowering the center of gravity of the walking conveying device, making it more stable when walking on the fixed track 100. When the driving member 34 drives the horizontal movable frame 31 to move horizontally, the linkage assembly 33 can synchronously drive the vertical movable frame 32 to move vertically, thereby driving the cleaning robot supporting seat 4 to rise and fall.

[0067] In this embodiment, a lifting mechanism 3 and a flipping mechanism 5 are arranged on the support frame 1, and the lifting mechanism 3 and the flipping mechanism 5 are connected to the cleaning robot supporting seat 4 to adjust the height and the tilt angle of the cleaning robot supporting seat 4. When the walking mechanism 2 at the bottom of the support frame 1 walks on the fixed track 100 to the side of the photovoltaic panel to be cleaned, the cleaning robot supporting seat 4 can be adjusted to be coplanar with the photovoltaic panel through the lifting mechanism 3 and the flipping mechanism 5, so as to facilitate the cleaning robot to walk to the photovoltaic panel. After the cleaning of the photovoltaic panel is completed, the cleaning robot returns to the cleaning robot supporting seat 4, and after the cleaning robot supporting seat 4 is adjusted to be horizontal, it moves to the side of the next photovoltaic panel to be cleaned through the walking mechanism 2, thereby transporting the cleaning robot to the next photovoltaic panel to be cleaned until the entire cleaning process is completed, thereby solving the problem of staff waiting on the side when the cleaning robot cleans the photovoltaic panel.

[0068] For further information, see Figure 4The linkage assembly 33 includes a guide groove 331 and a guide block 332 .

[0069] The guide groove 331 is disposed on the vertical moving frame 32 , and the guide groove 331 extends obliquely along the length direction of the vertical moving frame 32 toward the height direction thereof.

[0070] The guide block 332 is disposed on the horizontal moving frame 31 and is slidably connected in the guide groove 331 .

[0071] Specifically, along the length direction of the vertical moving frame 32, the guide groove 331 can be tilted upward or downward. When the horizontal moving frame 31 moves horizontally, the guide block 332 moves synchronously. Since the guide block 332 slides in the guide groove 331, the guide block 332 moves in the horizontal direction and can push the vertical moving frame 32 upward or pull it downward. The tilting direction of the guide groove 331 determines the corresponding relationship between the horizontal movement direction of the horizontal moving frame 31 and the vertical movement direction of the vertical moving frame 32. The specific corresponding relationship can be designed according to actual needs. In order to reduce the friction between the guide block 332 and the guide groove 331, a roller can be hinged on the outer side of the guide block 332, and the radial width of the roller can be smaller than the width of the guide groove 331.

[0072] For further information, please see Figure 4 The lifting mechanism 3 also includes a horizontal track 35, a horizontal slide 36, a vertical slide 37 and a vertical track 38.

[0073] The horizontal track 35 is arranged at the inner bottom of the support frame 1 .

[0074] The horizontal slide 36 is disposed at the bottom of the horizontal moving frame 31 and slidably cooperates with the horizontal track 35 , thereby reducing the friction between the horizontal moving frame 31 and the supporting frame 1 .

[0075] The vertical slide 37 is disposed on the inner wall of the support frame 1 .

[0076] The vertical rail 38 is disposed on the side of the vertical moving frame 32 and slidably cooperates with the vertical slide 37 , thereby reducing the friction between the vertical moving frame 32 and the supporting frame 1 .

[0077] For further information, see Figure 5 The flipping mechanism 5 includes a first hinge seat 51 , a second hinge seat 52 and a telescopic rod 53 .

[0078] The first hinge seat 51 is connected to the vertical moving frame 32 .

[0079] The second hinged seat 52 is disposed at the bottom of the cleaning robot supporting seat 4 .

[0080] The telescopic rod 53 is arranged to be inclined along the horizontal direction of the support frame 1 toward the height direction thereof, with one end thereof connected to the first hinge seat 51 and the other end thereof connected to the second hinge seat 52 .

[0081] Among them, the telescopic rod 53 can be a pneumatic rod, a hydraulic rod or a linear motor. The lifting and lowering of the vertical moving frame 32 can drive the first articulated seat 51 to lift and lower synchronously. The bottoms of both ends of the cleaning robot supporting seat 4 can be respectively connected to the second articulated seat 52 and the vertical moving frame 32. When the vertical moving frame 32 is lifted and lowered, the cleaning robot supporting seat 4 can maintain horizontal lifting to adjust its height. After the height is adjusted, the telescopic rod 53 can be controlled to extend and retract, thereby lifting or pulling back the second articulated seat 52 to adjust the inclination angle of the cleaning robot supporting seat 4.

[0082] For further information, see Figure 6 The walking mechanism 2 includes a driving motor 21, a driving shaft 22, a driving wheel 23 and a transmission assembly 24.

[0083] The driving motor 21 is arranged on the supporting frame 1 .

[0084] The driving shaft 22 is rotatably connected to the supporting frame 1 .

[0085] The driving wheels 23 are disposed at both ends of the driving shaft 22 .

[0086] The transmission assembly 24 is transmission-connected between the driving motor 21 and the driving shaft 22 .

[0087] Specifically, the transmission assembly 24 can be a reducer and a transmission belt. The reducer can be connected to the output end of the drive motor 21. After the output end of the drive motor 21 is reduced in speed by the reducer, the power is transmitted to the drive shaft 22 through the transmission belt, thereby driving the drive wheel 23 to rotate.

[0088] For further information, see Figure 3 , and also includes a height detection element 6 arranged on the support frame 1. The height detection element 6 can be a position sensor, which can detect the distance between the photovoltaic panel to be cleaned and the cleaning robot supporting seat 4. Of course, a sensor for detecting the parallelism between the photovoltaic panel to be cleaned and the cleaning robot supporting seat 4 can also be arranged on the support frame 1 to ensure that it is coplanar with the photovoltaic panel to be cleaned when adjusting the height and inclination angle of the cleaning robot supporting seat 4.

[0089] For further information, see Figure 2 and Figure 3 , and also includes a battery 7 and a control assembly 8 arranged on the support frame 1. The control assembly 8 includes an electric control box 81, a touch screen 82, a power switch 83 and an emergency stop switch 84. The electric control box 81 is electrically connected to the battery 7, the touch screen 82, the power switch 83, the emergency stop switch 84 and the height detection element 6. The battery 7 is used to power the various components of the walking conveying device. The electric control box 81 can be written with a program in advance. The touch screen 82, the power switch 83 and the emergency stop switch 84 can be used to control the start and stop of the walking conveying device.

[0090] Furthermore, a plurality of shield plates 11 are arranged around the supporting frame 1 to form an outer shell. An accordion cover 12 is arranged between the shield plates 11 and the cleaning robot supporting seat 4 to prevent dust from entering the inner part of the outer shell.

[0091] For further information, see Figure 7 In another embodiment provided in this implementation manner, slide grooves 13 are provided on both sides of the support frame 1, and the cleaning robot supporting seat 4 includes a supporting plate 41, a protective cover 42, a first connecting rod 43 and a second connecting rod 44.

[0092] The bottom of one end of the carrying plate 41 is hinged to the vertical moving frame 32 , and the bottom of the other end is provided with a second hinge seat 52 .

[0093] The protective cover 42 is located above the supporting plate 41 , and a baffle 421 is respectively disposed at the bottom of both ends of the protective cover 42 .

[0094] A first end of the first connecting rod 43 is hinged to a side of the protective cover 42 , and a second end of the first connecting rod 43 is hinged to a side of the supporting plate 41 .

[0095] The second connecting rod 44 is arranged parallel to the first connecting rod 43 , one end of which is hinged to the side of the protective cover 42 , and the other end is slidably arranged in the slide slot 13 . The second connecting rod 44 is hinged to the side of the bearing plate 41 relative to the second end of the first connecting rod 43 .

[0096] Among them, the carrying plate 41, the protective cover 42, the first connecting rod 43 and the second connecting rod 44 form a parallelogram structure, so that the protective cover 42 can move parallel to the carrying plate 41, and the other end of the second connecting rod 44 is slidably set in the slide groove 13. When the carrying plate 41 is lifted or lowered relative to the support frame 1, the second connecting rod 44 can swing relative to the carrying plate 41, thereby controlling the lifting or lowering of the protective cover 42 relative to the carrying plate 41, so that the protective cover 42 and the carrying plate 41 can be lifted or lowered synchronously. When the carrying plate 41 is lowered, the protective cover 42 is lowered, and the baffles 421 at both ends of the protective cover 42 block the cleaning robot, thereby preventing the cleaning robot from sliding off the carrying plate 41 when the walking conveying device is walking. When the carrying plate 41 is raised, the protective cover 42 is raised synchronously, and the baffles 421 no longer block the cleaning robot. After the carrying plate 41 adjusts its height and inclination angle, the cleaning robot can walk from the carrying plate 41 to the photovoltaic panel to be cleaned.

[0097] Working principle:

[0098] The fixed track 100 can be arranged along one side of multiple photovoltaic panels, the cleaning robot supporting seat 4 can be used to carry the cleaning robot, and the walking mechanism 2 is suitable for walking on the fixed track 100. When walking to the position of the photovoltaic panel to be cleaned, the walking mechanism 2 stops; the photovoltaic panels are usually placed at an angle, and the lifting mechanism 3 can drive the cleaning robot supporting seat 4 to rise and fall to the same height as the side of the photovoltaic panel, and then drive the cleaning robot supporting seat 4 to tilt through the flipping mechanism 5, and adjust it to be coplanar with the photovoltaic panel. After the adjustment, a signal can be sent to the cleaning robot on the cleaning robot supporting seat 4, and the cleaning robot can walk to the photovoltaic panel for cleaning, and return to the cleaning robot supporting seat 4 after cleaning. The lifting mechanism 3 and the flipping mechanism 5 adjust the cleaning robot supporting seat 4 to a horizontal level and then transport the cleaning robot to the next photovoltaic panel to be cleaned until the entire cleaning process is completed.

[0099] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0100] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. The above are only preferred implementation methods of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements, modifications or changes can be made, and the above technical features can be combined in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A fixed track walking conveying device capable of vertical lifting and angle flipping, characterized in that: Used for walking on a fixed track (100) to transport a photovoltaic panel cleaning robot, the fixed track walking and transporting device capable of realizing vertical lifting and angle flipping comprises: A support frame (1), wherein slide grooves (13) are provided on both sides of the support frame (1); A walking mechanism (2) is arranged at the bottom of the supporting frame (1); A lifting mechanism (3) is arranged on the support frame (1); A cleaning robot bearing seat (4), located above the support frame (1) and connected to the lifting mechanism (3); A turning mechanism (5) is arranged on the support frame (1) and connected to the cleaning robot bearing seat (4); The lifting mechanism (3) comprises: A horizontal movable frame (31) slidably connected to the supporting frame (1); A vertical movable frame (32) is slidably connected to the supporting frame (1), and the top end of the vertical movable frame (32) is connected to the cleaning robot bearing seat (4); A linkage assembly (33) connected between the horizontal moving frame (31) and the vertical moving frame (32) and used for converting the horizontal movement of the horizontal moving frame (31) into the vertical movement of the vertical moving frame (32); A driving member (34) is arranged transversely along the support frame (1), connected to the horizontal moving frame (31), and used for driving the horizontal moving frame (31) to move horizontally; The turning mechanism (5) comprises: A first hinged seat (51) connected to the vertical movable frame (32); A second hinged seat (52) is arranged at the bottom of the cleaning robot supporting seat (4); A telescopic rod (53) is arranged along the horizontal direction of the support frame (1) and is inclined toward the height direction thereof, with one end connected to the first hinge seat (51) and the other end connected to the second hinge seat (52); The cleaning robot supporting base (4) comprises: A carrying plate (41), one end of which is hingedly connected to the vertical moving frame (32) at the bottom, and the other end of which is provided with the second hinge seat (52) at the bottom; A protective cover (42) is located above the carrying plate (41), and a baffle (421) is provided at the bottom of each end of the protective cover (42); A first connecting rod (43), a first end of which is hinged to a side of the protective cover (42), and a second end of which is hinged to a side of the bearing plate (41); The second connecting rod (44) is arranged parallel to the first connecting rod (43), one end of which is hinged to the side of the protective cover (42), and the other end of which is slidably arranged in the sliding groove (13), and the second connecting rod (44) is hinged to the side of the bearing plate (41) relative to the second end position of the first connecting rod (43).

2. The fixed track walking conveying device capable of vertical lifting and angle flipping according to claim 1 is characterized in that: The linkage component (33) comprises: A guide groove (331) is provided on the vertical movable frame (32), wherein the guide groove (331) extends obliquely along the length direction of the vertical movable frame (32) toward the height direction thereof; The guide block (332) is disposed on the horizontal movable frame (31) and is slidably connected in the guide groove (331).

3. The fixed track walking conveying device capable of realizing vertical lifting and angle flipping according to claim 1 is characterized in that: The lifting mechanism (3) further comprises: A horizontal track (35) is arranged at the inner bottom of the support frame (1); A horizontal slide seat (36) is disposed at the bottom of the horizontal movable frame (31) and is slidably matched with the horizontal track (35); A vertical slide seat (37) is arranged on the inner wall of the support frame (1); A vertical track (38) is provided on the side of the vertical moving frame (32) and is slidably matched with the vertical slide seat (37).

4. The fixed track traveling conveying device capable of vertical lifting and angle flipping according to any one of claims 1 to 3, characterized in that: The walking mechanism (2) comprises: A driving motor (21) is arranged on the supporting frame (1); A driving shaft (22) rotatably connected to the support frame (1); Driving wheels (23) are arranged at both ends of the driving shaft (22); A transmission assembly (24) is transmission-connected between the drive motor (21) and the drive shaft (22).

5. The fixed track traveling conveying device capable of vertical lifting and angle flipping according to any one of claims 1 to 3, characterized in that: It also includes a height detection element (6) arranged on the support frame (1).

6. The fixed track walking conveying device capable of realizing vertical lifting and angle flipping according to claim 5 is characterized in that: The device also includes a battery (7) and a control assembly (8) arranged on the support frame (1); the control assembly (8) includes an electric control box (81), a touch screen (82), a power switch (83), and an emergency stop switch (84); the electric control box (81) is electrically connected to the battery (7), the touch screen (82), the power switch (83), the emergency stop switch (84), and the height detection element (6).

7. The fixed track traveling conveying device capable of vertical lifting and angle flipping according to any one of claims 1 to 3, characterized in that: A plurality of shield plates (11) are arranged around the circumference of the support frame (1), and an accordion cover (12) is arranged between the shield plates (11) and the cleaning robot bearing seat (4).

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