Movable wheel set and cleaning robot

Abstract

The utility model discloses a movable wheel set and a cleaning robot, and belongs to the technical field of photovoltaics. The movable wheel set comprises a first walking wheel, a second walking wheel and a transmission connecting part, the transmission connecting part comprises a first transmission part and a second transmission part, the first transmission part is connected with the first walking wheel, the second transmission part is connected with the second walking wheel, one of the first transmission part and the second transmission part is provided with a connecting component, and the other one is provided with a sliding component. The sliding component is suitable for sliding relative to the connecting component in the circumferential direction of the first walking wheel, so that the first walking wheel and the second walking wheel are suitable for relative rotation under the condition that the first walking wheel rotates, and the second walking wheel can continue to rotate relative to the first walking wheel when the first walking wheel possibly stops or slows down rotation due to contact with an obstacle. And the second walking wheel can rotate conveniently, so that the movable wheel set can rotate back, and the whole wheel set is helped to quickly cross the obstacle.

Description

Technical Field

[0001] The present application belongs to the technical field of photovoltaic systems, and in particular, relates to a movable wheel set and a cleaning robot. Background Art

[0002] The accumulation of dust on photovoltaic panels will reduce the power generation efficiency. In order to increase the solar radiation of the panels and the power generation of the photovoltaic system, a cleaning robot is usually set up to clean the dust on the photovoltaic panels. However, the two running wheels of the cleaning robot are rigidly connected by a transmission shaft, resulting in the same rotation speed between the two running wheels. In this way, when the cleaning robot needs to overcome obstacles, it will repeatedly overcome obstacles at the obstacle position, which will not only cause the robot to get stuck and unable to overcome obstacles, but also cause the running wheels of the photovoltaic cleaning robot to idle for a long time, causing rapid wear of the running wheel surface. In addition, the robot repeatedly overcomes obstacles, which consumes a lot of battery power and seriously affects the cleaning efficiency. Utility Model Content

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a movable wheel set and a cleaning robot, which aims to enable the left and right wheels of the cleaning robot to have the function of automatically adjusting the rotation speed so that the cleaning robot can quickly cross obstacles.

[0004] In a first aspect, the present application provides a movable wheel set, comprising:

[0005] A first traveling wheel and a second traveling wheel;

[0006] The transmission connection part includes a first transmission part and a second transmission part, the first transmission part is connected to the first walking wheel, the second transmission part is connected to the second walking wheel, one of the first transmission part and the second transmission part is provided with a connecting component, and the other is provided with a sliding component, the sliding component is suitable for sliding relative to the connecting component along the circumference of the first walking wheel, so that when the first walking wheel rotates, the first walking wheel and the second walking wheel are suitable for relative rotation.

[0007] According to the cleaning robot of the present application, since the first transmission part and the second transmission part realize relative rotation through the connecting part and the sliding part, the first running wheel and the second running wheel have the function of automatically adjusting the rotation speed. The first running wheel may temporarily stop or slow down the rotation due to contact with an obstacle, while the second running wheel can continue to rotate relative to the first running wheel, which is convenient for the second running wheel to rotate, so that the movable wheel group can realize backward rotation and help the entire wheel group to quickly cross the obstacle. This design enables the wheel group to have better obstacle crossing ability when facing irregular terrain or obstacles. The sliding design of the sliding part along the circumference of the first running wheel can reduce the jamming and damage caused by hard contact when the wheel group crosses obstacles. This flexible connection method can absorb impact to a certain extent and protect the wheel group and transmission parts from damage.

[0008] According to one embodiment of the present application, one of the sliding component and the connecting component includes a slide groove, which is extended along the circumference of the first walking wheel, and the other of the sliding component and the connecting component includes a slide platform adapted to the slide groove.

[0009] According to an embodiment of the present application, the first transmission part includes a first transmission rod and a first boss protruding from a side wall of the first transmission rod, and the first boss is provided with the slide groove;

[0010] The second transmission part includes a second transmission rod and a second boss protruding from a side of the second transmission rod, and the second boss is provided with the slide.

[0011] According to an embodiment of the present application, the slide groove penetrates the first boss along the length direction of the first transmission rod;

[0012] The second boss has a mounting hole extending along the length direction of the second transmission rod, a first screw connection member is inserted into the mounting hole, a threaded section of the screw connection member passes through the slide groove and is threadedly connected to the nut, and the screw connection member forms the slide.

[0013] According to an embodiment of the present application, the first boss and / or the second boss are both arranged to extend along the circumference of the first running wheel.

[0014] According to an embodiment of the present application, the first transmission part includes a sleeve, and the sleeve is provided with the slide groove;

[0015] The second transmission part comprises a third transmission rod, and the third transmission rod is provided with the slide, wherein when the third transmission rod is inserted into the sleeve, the slide is suitable for sliding cooperation with the slide groove.

[0016] According to an embodiment of the present application, the third transmission rod is provided with a penetration hole along its radial direction;

[0017] The slide groove is arranged to penetrate the sleeve along the radial direction of the sleeve, and a connecting piece is inserted in the slide groove, wherein, when the slide groove is connected with the penetration hole, the locking end of the connecting piece is suitable for passing through the penetration hole and the slide groove and lockingly cooperating with the locking piece, and the connecting piece forms the slide table.

[0018] According to one embodiment of the present application, the second transmission part includes a movable part and a connecting part, one end of the connecting part is connected to the second walking wheel, the other end of the connecting part and one of the movable part are provided with the connecting component, and the other is provided with the sliding component.

[0019] In a second aspect, the present application further provides a cleaning robot, the cleaning robot comprising:

[0020] frame;

[0021] As described above, the movable wheel set is mounted on the frame.

[0022] According to the cleaning robot of the present application, the movable wheel set is installed on the frame. In this way, due to the use of the movable wheel set designed above, the cleaning robot has excellent mobility. Whether on flat ground or in complex terrain, the movable wheel set can provide stable and flexible movement, allowing the robot to easily cope with various cleaning scenarios. The stability and flexibility of the movable wheel set ensure that the cleaning robot can maintain a stable travel trajectory during work, so as to better cover the cleaning area and reduce omissions. At the same time, the differential rotation function of the wheel set makes the robot faster and smoother when traveling over obstacles, further enhancing the cleaning effect and obstacle crossing ability. By directly installing the movable wheel set on the frame, the overall structure of the cleaning robot is simplified. This design not only reduces the manufacturing cost of the robot, but also improves its reliability and durability, and reduces the possible failure points due to the complex structure. The design of the movable wheel set enables the cleaning robot to better adapt to different environments and working conditions. Since the movable wheel set is modularly designed, it can be easily maintained and replaced when the movable wheel set is worn or damaged. This modular design reduces maintenance costs and time, and improves the efficiency and life of the cleaning robot.

[0023] According to an embodiment of the present application, at least two movable wheel groups are provided, and the at least two movable wheel groups are arranged at intervals along the width direction of the frame.

[0024] In a third aspect, the present application further provides a cleaning robot, the cleaning robot comprising:

[0025] frame;

[0026] The movable wheel set as described above is installed on the frame, along the length direction of the frame, the first walking wheel is installed at one end of the frame, and the second walking wheel is installed in the middle of the frame;

[0027] The third walking wheel is installed on the other end of the frame.

[0028] According to the cleaning robot of the present application, by installing the first walking wheel and the second walking wheel at one end and the middle of the frame respectively, and installing the third walking wheel at the other end of the frame, this layout provides good stability and balance for the cleaning robot. Whether on a flat road or an uneven terrain, the robot can maintain a stable traveling posture, reducing the risk of shaking or tipping caused by center of gravity offset or terrain changes. In addition, this design can also enable the cleaning robot to better adapt to different cleaning needs during the cleaning process. In particular, when the robot needs to perform edge cleaning or special angle cleaning, this layout design can provide a more flexible cleaning path and a more uniform cleaning force, thereby improving the cleaning effect. Due to the reasonable distribution of the positions of the first walking wheel, the second walking wheel and the third walking wheel on the frame, the cleaning robot can better cross or bypass when encountering obstacles. This design enables the robot to move more freely in a complex environment, reducing stagnation or failure caused by obstacles. By installing the walking wheel group on the frame according to a specific position, the overall structure of the cleaning robot is simplified. This layout not only reduces manufacturing costs, but also makes the maintenance and upkeep of the robot more convenient. At the same time, the connection and coordination between the various components are also tighter and more stable, which improves the durability and reliability of the robot.

[0029] According to an embodiment of the present application, the movable wheel set and the third walking wheel together constitute a walking unit, at least two of the walking units are provided, and the at least two walking units are arranged at intervals along the width direction of the frame.

[0030] According to one embodiment of the present application, it also includes two third roller groups, which are arranged on the side opposite to the third walking wheel and the first walking wheel, and each of the third roller groups includes at least one roller, and each of the rollers is rotatably installed on the frame around an up-and-down axis, and the rollers are used to abut against the side edges of the photovoltaic panels.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 This is one of the structural schematic diagrams of the movable wheel set provided in the embodiment of the present application;

[0034] Figure 2 yes Figure 1 A partial enlarged schematic diagram of

[0035] Figure 3 yes Figure 2 Schematic cross-sectional view at AA in the middle;

[0036] Figure 4 yes Figure 2 A schematic cross-sectional view of the middle BB;

[0037] Figure 5 This is the second structural schematic diagram of the movable wheel set provided in the embodiment of the present application;

[0038] Figure 6 This is one of the structural schematic diagrams of the cleaning robot provided in the embodiment of the present application;

[0039] Figure 7 yes Figure 6 A schematic diagram of the main view of the cleaning robot;

[0040] Figure 8 This is the second structural schematic diagram of the cleaning robot provided in the embodiment of the present application;

[0041] Fig. 9 yes Figure 6 Schematic diagram of the structure of the photovoltaic cleaning robot cleaning photovoltaic panels.

[0042] Reference numerals:

[0043] Movable wheel set 100;

[0044] A first running wheel 110a and a second running wheel 110b;

[0045] A first transmission part 121, a first transmission rod 1211, a first boss 1212, and a sleeve 1213;

[0046] The second transmission part 122, the second transmission rod 1221, the second boss 1222, the mounting hole 12221, the screw connection member 12222, the nut 12223, the third transmission rod 1223, the penetration hole 12231, the connecting member 12232, the locking member 12234, the movable part 1224, and the connecting part 1225;

[0047] Slide 133, slide 134;

[0048] Cleaning robot 1000;

[0049] Rack 200;

[0050] The third roller group 300, the roller 310;

[0051] The third traveling wheel 400;

[0052] Cleaning assembly 500, roller brush 501;

[0053] Photovoltaic panels 2000. DETAILED DESCRIPTION

[0054] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0055] Reference below Figure 1-Figure 9 Describe the movable wheel set and cleaning robot according to the embodiments of the present application.

[0056] Reference Figures 1 to 5 The movable wheel set 100 includes a first running wheel 110a, a second running wheel 110b and a transmission connection part.

[0057] The transmission connection part includes a first transmission part 121 and a second transmission part 122 , wherein the first transmission part 121 is connected to the first running wheel 110 a , and the second transmission part 122 is connected to the second running wheel 110 b .

[0058] It should be noted that there are multiple ways to connect the first transmission part 121 to the first travel wheel 110a. For example, in one embodiment, the first transmission part 121 can be welded and fixed to the rotating shaft of the first travel wheel 110a. In another embodiment, a keyway or spline groove can be machined on the shaft of the first travel wheel 110a, and a corresponding key or spline is provided on the first transmission part 121. The connection between the first transmission part 121 and the first travel wheel 110a is achieved through the cooperation of the key or spline. In addition, the present application does not limit the connection method between the first transmission part 121 and the first travel wheel 110a.

[0059] In addition, there are many ways to connect the second transmission part 122 to the second running wheel 110b. For example, in one embodiment, the second transmission part 122 can be welded and fixed to the rotating shaft of the second running wheel 110b. In another embodiment, a keyway or a spline groove can be machined on the shaft of the second running wheel 110b, and a corresponding key or spline is provided on the second transmission part 122. The connection between the second transmission part 122 and the second running wheel 110b is achieved through the cooperation of the key or the spline. In addition, the present application does not limit the connection method between the second transmission part 122 and the second running wheel 110b.

[0060] One of the first transmission part 121 and the second transmission part 122 is provided with a connecting component, and the other is provided with a sliding component, and the sliding component is suitable for sliding relative to the connecting component along the circumference of the first walking wheel 110a, so that when the first walking wheel 110a rotates, the first walking wheel 110a and the second walking wheel 110b are suitable for relative rotation. In this way, when encountering an obstacle, the movable wheel group 100 is stuck and cannot rotate. At this time, the sliding component is suitable for sliding relative to the connecting component along the circumference of the first walking wheel 110a, so that the speeds of the first walking wheel 110a and the second walking wheel 110b are different, so that the first walking wheel 110a and the second walking wheel 110b can rotate at differential speeds to overcome obstacles, thereby improving the obstacle-overcoming ability of the movable wheel group 100.

[0061] According to the movable wheel set 100 of the present application, since the first transmission part 121 and the second transmission part 122 realize relative rotation through the connecting part and the sliding part, the first running wheel 100a and the second running wheel 100b have the function of automatically adjusting the rotation speed. When the wheel set encounters an obstacle, the first running wheel 110a may temporarily stop or slow down the rotation due to contact with the obstacle, while the second running wheel 110b can continue to rotate relative to the first running wheel 110a, so that the second running wheel 110b can rotate, so that the movable wheel set 100 can realize the backward rotation, helping the entire wheel set to quickly cross the obstacle. This design enables the wheel set to have better obstacle crossing ability when facing irregular terrain or obstacles. The sliding design of the sliding part along the circumference of the running wheel enables the wheel set to reduce the jamming and damage caused by hard contact when crossing obstacles. This flexible connection method can absorb impact to a certain extent and protect the wheel set and transmission parts from damage.

[0062] Reference Figure 1 and Figure 5In one embodiment, one of the sliding component and the connecting component includes a slide groove 133, and the slide groove 133 is arranged to extend along the circumference of the first walking wheel 110a. The other of the sliding component and the connecting component includes a slide 134 adapted to the slide groove 133, so that the slide groove 133 provides a clear guide for the slide 134, ensuring the stability and accuracy of the slide 134 during the sliding process. The adaptive design of the slide 134 and the slide groove 133 can prevent deviation or shaking during the sliding process, thereby ensuring the accuracy and reliability of the entire movable wheel set 100. Through the close fit of the slide groove 133 and the slide 134, energy and power can be effectively transmitted. The sliding connection between the sliding component and the connecting component allows relative rotation when needed, while reducing the energy loss caused by friction, and improving the efficiency of the entire movable wheel set 100. The adaptive design of the slide groove 133 and the slide 134 makes the assembly process simpler and more intuitive. At the same time, this structure also facilitates subsequent maintenance and overhaul work, reducing maintenance costs and difficulty.

[0063] It should be noted that the materials of the slide groove 133 and the slide table 134 are usually specially treated and have high wear resistance and corrosion resistance. This design can reduce the wear caused by long-term friction and extend the service life of the sliding parts and the connecting parts.

[0064] Reference Figures 1 to 4 In one embodiment, the first transmission part 121 includes a first transmission rod 1211 and a first boss 1212 protruding from the side wall of the first transmission rod 1211, and the first boss 1212 is provided with the slide groove 133. In this way, the first boss 1212 is directly protruded from the side wall of the first transmission rod 1211. This integrated design makes the entire first transmission part 121 compact, reduces additional connectors 12232 and assembly steps, and improves the efficiency and reliability of the overall structure. The design of the first boss 1212 increases the connection area and improves the rigidity and stability of the first transmission part 121.

[0065] The second transmission part 122 includes a second transmission rod 1221 and a second boss 1222 protruding from the side of the second transmission rod 1221, and the second boss 1222 is provided with the slide 134. In this way, the second boss 1222 is directly protruded from the side of the second transmission rod 1221, and is integrated with the slide 134, so that the entire second transmission part 122 is compact, and the additional connector 12232 and assembly steps are reduced, and the efficiency and reliability of the overall structure are improved. The slide 134 on the second boss 1222 forms a sliding fit with the slide groove 133 in the first transmission part 121, ensuring that the second transmission part 122 can slide smoothly relative to the first transmission part 121. This stable sliding fit helps to reduce the energy loss caused by friction and resistance, and improves the transmission efficiency. The design of the second boss 1222 increases the connection area between the second transmission part 122 and the second transmission rod 1221, and improves the strength of the overall structure. This helps to resist external shocks and vibrations and maintain the stability and reliability of the movable wheel group 100. The slide 134 is directly arranged on the second boss 1222, making the installation process easier. At the same time, the matching relationship between the slide 134 and the slide slot 133 is also convenient for fine-tuning and calibration during the debugging process to ensure the accuracy and stability of the transmission connection part.

[0066] Reference Figures 2 to 4In one embodiment, the slide groove 133 penetrates the first boss 1212 along the length direction of the first transmission rod 1211, and the second boss 1222 penetrates a mounting hole 12221 along the length direction of the second transmission rod 1221, and a first screw 12222 is inserted in the mounting hole 12221, and the threaded section of the first screw 12222 passes through the slide groove 133 and is threadedly connected with the first nut 12223, and the first screw 12222 forms the slide 134. In this way, the slide groove 133 penetrates the first boss 1212 along the length direction of the first transmission rod 1211, so that the slide groove 133, the first transmission rod 1211, and the first boss 1212 form an integrated structure, which reduces the number of components and simplifies the overall structure. At the same time, the design of the mounting hole 12221 on the second boss 1222 allows the first screw 12222 to be directly inserted and fixed, forming the slide 134, further realizing the integration of components. The design of the first screw connector 12222 allows the slide 134 to be easily inserted into the mounting hole 12221 and fixed by threaded connection with the first nut 12223. This installation method is simple and fast, does not require complicated tools or steps, and greatly improves the efficiency of installation and disassembly. The threaded section of the first screw connector 12222 is connected with the first nut 12223 to ensure the stable fit between the slide 134 and the slide slot 133, and prevent the slide 134 from falling off the slide slot 133. At the same time, this design enhances the stability of the connection between the first transmission part 121 and the second transmission part 122, and improves the reliability of the transmission. The matching relationship between the first screw connector 12222 and the slide slot 133 allows fine adjustment to a certain extent. By rotating the first nut 12223, the position of the first screw connector 12222 in the slide slot 133 can be adjusted, thereby achieving accurate alignment and calibration between the slide 134 and the slide slot 133. The design of the first screw connector 12222 makes the replacement and maintenance of the slide 134 simple. When the slide 134 is worn or damaged, it is only necessary to loosen the first nut 12223, remove the old first screw connector 12222, and then insert a new first screw connector 12222 and re-fix it. This maintenance method reduces maintenance costs and time and improves overall use efficiency.

[0067] It should be noted that, in other embodiments, a pin can also be installed in the mounting hole 12221, the tail end of the pin passes through the slide slot 133 and is connected to the clamp, and the pin forms the slide 134. In this way, the connection between the pin, the slide slot 133 and the clamp makes it easier to install and adjust the slide 134. By adjusting the position and angle of the pin, the motion trajectory and speed of the slide 134 can be easily adjusted to meet different work requirements.

[0068] Reference Figure 1 and Figure 2In one embodiment, the first boss 1212 and / or the second boss 1222 are both arranged along the circumferential extension of the first running wheel 110a. In this way, when the first boss 1212 is arranged along the circumferential extension of the first running wheel 110a, the connection area between the first boss 1212 and the first transmission rod 1211 is increased, thereby improving the structural stability of the entire transmission connection. This design helps to reduce deformation and damage caused by vibration and impact, and improves the durability and reliability of the entire transmission connection. The circumferential extension of the first boss 1212 enables the force to be more evenly distributed on the first transmission rod 1211, optimizing the force transmission effect. This helps to reduce stress concentration and wear caused by uneven force, and improves transmission efficiency and service life. When the first boss 1212 extends in the circumferential direction, the slide groove 133 can also be extended accordingly, which can increase the sliding stroke of the first transmission part 121 relative to the second transmission part 122, and improve the obstacle crossing ability and steering ability of the movable wheel group 100.

[0069] In addition, when the second boss 1222 is arranged along the circumferential extension of the first walking wheel 100a, the connection area between the second boss 1222 and the second transmission rod 1221 is increased, thereby improving the structural stability of the entire transmission connection. This design helps to reduce deformation and damage caused by vibration and impact, and improves the durability and reliability of the entire transmission connection. The circumferential extension of the second boss 1222 enables the force to be more evenly distributed on the second transmission rod 1221, optimizing the force transmission effect. This helps to reduce stress concentration and wear caused by uneven force, and improves transmission efficiency and service life.

[0070] Reference Figure 5In one embodiment, the first transmission part 121 includes a sleeve 1213, and the sleeve 1213 is provided with the slide 133. The second transmission part 122 includes a third transmission rod 1223, and the third transmission rod 1223 is provided with the slide 134. When the third transmission rod 1223 is inserted into the sleeve 1213, the slide 134 is suitable for slidingly cooperating with the slide 133. Thus, by designing the slide 133 and the slide 134 on the sleeve 1213 and the third transmission rod 1223 respectively, this design enables each component to be manufactured and replaced separately, greatly simplifies the assembly process, and also facilitates subsequent maintenance and overhaul work. The design of the slide 133 and the slide 134 enables the sleeve 1213 and the third transmission rod 1223 to be tightly combined when inserted, without the need for an additional connector 12232, thereby achieving a compact structure and saving space. The sliding fit design between the slide groove 133 and the slide table 134 ensures that the relative movement between the two is accurate and stable. This design reduces energy loss and wear caused by friction and vibration, and improves transmission efficiency and service life. Since the design of the slide groove 133 and the slide table 134 allows a certain relative sliding, this transmission connection can adapt to different working conditions and requirements. Whether it is necessary to fine-tune the position or deal with external impact, this design can provide sufficient flexibility and adaptability.

[0071] Reference Figure 5In one embodiment, the third transmission rod 1223 is provided with a through hole 12231 along its radial direction, the slide groove 133 is provided along the radial direction of the sleeve 1213, and a connecting piece 12232 is inserted in the slide groove 133. When the slide groove 133 is connected with the through hole 12231, the locking end of the connecting piece 12232 is suitable for passing through the through hole 12231 and the slide groove 133 is locked with the locking piece 12234, and the connecting piece 12232 forms the slide table 134. In this way, by providing the slide groove 133 along the radial direction of the sleeve 1213 and providing the through hole 12231 on the third transmission rod 1223, the connecting piece 12232 can pass through the slide groove 133 and the through hole 12231 at the same time to form the slide table 134. This design reduces additional connecting parts, makes the overall structure more compact, and improves the integration. The design of the connecting member 12232 makes the installation and removal of the slide 134 simple and quick. By inserting the connecting member 12232 into the slide groove 133, passing it through the penetration hole 12231, and then locking it with the locking member 12234, the slide 134 can be quickly fixed. This installation method does not require complicated tools or steps, which improves work efficiency. The locking cooperation between the connecting member 12232 and the locking member 12234 ensures a stable connection between the slide 134 and the sleeve 1213. This connection method has high stability, can withstand large forces and vibrations, prevents the slide 134 from shaking or falling off during work, and improves the reliability of transmission. The design of the slide groove 133 and the penetration hole 12231 allows the connecting member 12232 to be fine-tuned within a certain range. By adjusting the position of the connecting member 12232 in the slide groove 133, the relative position between the slide 134 and the sleeve 1213 can be changed to adapt to different work requirements. This design flexibility makes the transmission connection more flexible and changeable in practical applications. When the slide 134 is worn or damaged, it is only necessary to loosen the locking member 12234, remove the old connecting member 12232, and then insert a new connecting member 12232 and re-lock it. This maintenance method is simple and convenient, reducing maintenance costs and time.

[0072] It should be noted that there are many types of the connecting member 12232 and the locking member 12234. For example, in one embodiment, the connecting member 12232 may include a pin, and the locking member 12234 may include a clip that matches the pin. In other embodiments, the connecting member 12232 may include a second screw connection, and the locking member 12234 may include a second nut that is threadedly connected to the second screw connection. Specifically, the present application does not limit the types of the connecting member 12232 and the locking member 12234.

[0073] In one embodiment, the through hole 12231, the slide groove 133, the connecting member 12232 and the locking member 12234 together constitute a sliding unit, and at least two sliding units are provided, and the at least two sliding units are arranged at intervals along the length direction of the sleeve 1213. In this way, by providing at least two sliding units and arranging them at intervals along the length direction of the sleeve 1213, the connection points between the sleeve 1213 and the third transmission rod 1223 can be increased, thereby improving the stability of the entire transmission connection. This multi-point connection design helps to reduce deformation and damage caused by vibration or impact, and enhances the durability of the transmission connection. The distribution of the at least two sliding units can share the transmission force more evenly, reduce the situation where a single point is subjected to excessive force, and thus improve the transmission efficiency. This design makes the transmission process smoother, reduces energy loss and wear, and improves the overall performance. When one of the sliding units fails or is damaged, the other sliding units can still continue to work and maintain the basic functions of the transmission connection. This design improves the fault tolerance of the transmission connection and reduces the risk of paralysis of the entire movable wheel set 100 due to a single point failure.

[0074] Reference Figure 1 and Figure 5 In one embodiment, the second transmission part 122 includes a movable part 1224 and a connecting part 1225, one end of the connecting part 1225 is connected to the second running wheel 110b, the other end of the connecting part 1225 and one of the movable part 1224 are provided with the connecting part, and the other is provided with the sliding part, the sliding part is suitable for sliding relative to the connecting part along the circumference of the first running wheel 110a, so that when the first running wheel 110a rotates, the second running wheel 110b is suitable for rotating relative to the first running wheel 110a, so that since the sliding part can slide relative to the connecting part along the circumference of the first running wheel 110a, this design enables differential rotation between the first running wheel 110a and the second running wheel 110b. This differential rotation function facilitates the movable wheel set 100 to cross obstacles on complex terrain. Through the cooperation of the sliding part and the connecting part, the differential function can be achieved without adding a complex transmission mechanism. This design simplifies the structure of the transmission system and reduces the manufacturing cost and maintenance difficulty. The sliding fit between the sliding parts and the connecting parts can ensure the smoothness of transmission and reduce vibration and noise caused by poor transmission or impact.

[0075] It should be noted that, in addition, in the above embodiment, the first transmission part 121 and the second transmission part 122 are slidably connected via a connecting part and a sliding part, and the movable part 1224 and the connecting part 1225 are slidably connected via a connecting part and a sliding part, so that when one of the first walking wheel 110a and the second walking wheel 110b rotates one circle, the other can rotate half a circle. In this way, the structure is simple and the ability of the cleaning robot 1000 to avoid obstacles is greatly improved.

[0076] Refer to 6 to Figure 8 In the second aspect, the present application also provides a cleaning robot 1000, including a frame 200 and a movable wheel set 100 as described above, wherein the movable wheel set 100 is installed on the frame 200. Thus, due to the use of the movable wheel set 100 of the above design, the cleaning robot 1000 has excellent mobility. Whether on flat ground or in complex terrain, the movable wheel set 100 can provide stable and flexible movement, allowing the robot to easily cope with various cleaning scenarios. The stability and flexibility of the movable wheel set 100 ensure that the cleaning robot 1000 can maintain a stable moving trajectory during the working process, thereby better covering the cleaning area and reducing omissions. At the same time, the differential rotation function of the wheel set makes the robot smoother when crossing obstacles, further enhancing the cleaning effect and obstacle crossing ability. By directly installing the movable wheel set 100 on the frame 200, the overall structure of the cleaning robot 1000 is simplified. This design not only reduces the manufacturing cost of the robot, but also improves its reliability and durability, and reduces the possible failure points due to the complex structure. The design of the movable wheel set 100 enables the cleaning robot 1000 to better adapt to different environments and working conditions. Since the movable wheel set 100 is modularly designed, when the movable wheel set 100 is worn or damaged, it can be easily maintained and replaced. This modular design reduces maintenance costs and time, and improves the use efficiency and life of the cleaning robot 1000.

[0077] In one embodiment, at least two movable wheel groups 100 are provided, and the at least two movable wheel groups 100 are arranged at intervals along the width direction of the frame 200. In this way, by providing at least two movable wheel groups 100 and arranging them at intervals along the width direction of the frame 200, the cleaning robot 1000 can obtain better stability. This design enables the robot to better disperse the weight during movement, reduce the shaking or tilting caused by the center of gravity offset or uneven ground, thereby ensuring the smooth progress of the cleaning operation. Multiple movable wheel groups 100 are distributed under the frame 200 and can jointly bear the weight and load of the robot. This distribution method makes the pressure on each wheel group relatively uniform, reduces the risk of overloading a single wheel group, and improves the carrying capacity of the entire robot. The movable wheel groups 100 arranged at intervals enable the cleaning robot 1000 to better adapt to different terrains. When the robot encounters obstacles or terrain changes, the intervals between the wheel groups can allow the robot to make flexible adjustments to better adapt to terrain changes and maintain a stable traveling state. The multiple movable wheel sets 100 share the task of moving the robot, which can disperse the wear and tear and extend the service life of each wheel set. Compared with a single wheel set, the design of multiple wheel sets can reduce the wear and damage caused by long-term use and reduce maintenance costs.

[0078] Reference Fig. 9In one embodiment, the cleaning robot 1000 further includes two third roller groups 300, which are arranged on the opposite sides of the first walking wheel 110a and the second walking wheel 110b, and each of the third roller groups 300 includes at least one roller 310, and each of the rollers 310 is rotatably mounted on the frame 200 around the vertical axis, and the rollers 310 are used to abut against the side edge of the photovoltaic panel 2000. In this way, the third roller group 300 abuts against the side edge of the photovoltaic panel 2000, providing additional support for the cleaning robot 1000. This design enhances the stability of the robot during the cleaning process, especially when the surface of the photovoltaic panel 2000 is uneven or tilted, it can prevent the robot from sliding or tipping over, and ensure the smooth progress of the cleaning operation. Through the abutment of the rollers 310 with the side edge of the photovoltaic panel 2000, the friction and scratching of the robot on the photovoltaic panel 2000 during movement is reduced. Compared with other contact methods, the design of the roller 310 can more effectively protect the surface of the photovoltaic panel 2000, reduce damage and scratches, and extend the service life of the photovoltaic panel 2000. The setting of the third roller group 300 enables the robot to fit more closely to the side edge of the photovoltaic panel 2000 during the cleaning process, ensuring the accuracy and continuity of the cleaning path. This helps to reduce the blind spots of cleaning, improve cleaning efficiency, and enable the robot to complete the cleaning task more quickly. The third roller group 300 is directly mounted on the frame 200 without the need for a complex transmission mechanism or control system. This design simplifies the overall structure of the robot, reduces manufacturing costs and maintenance difficulties, and improves the reliability and durability of the robot.

[0079] Refer to 6 to Figure 8In the third aspect, the present application also provides a cleaning robot 1000, the cleaning robot 1000 includes a frame 200, a movable wheel group 100 as described above, and a third walking wheel 400, the movable wheel group 100 is installed on the frame 200, along the length direction of the frame 200, the first walking wheel 110a is installed at one end of the frame 200, the second walking wheel 110b is installed at the middle of the frame 200, and the third walking wheel 400 is installed at the other end of the frame 200, so that by installing the first walking wheel 110a and the second walking wheel 110b at one end and the middle of the frame 200 respectively, and installing the third walking wheel 400 at the other end of the frame 200, this layout provides the cleaning robot 1000 with good stability and balance. Whether on a flat road or an uneven terrain, the robot can maintain a stable moving posture, reducing the risk of shaking or tipping caused by center of gravity shift or terrain changes. The first running wheel 110a is distributed at different positions on the frame 200, so that the cleaning robot 1000 can better adapt to different cleaning needs during the cleaning process. In particular, when the robot needs to perform edge cleaning or special angle cleaning, this layout design can provide a more flexible cleaning path and a more uniform cleaning force, thereby improving the cleaning effect. Since the positions of the first running wheel 110a, the second running wheel 110b and the third running wheel 400 on the frame 200 are reasonably distributed, the cleaning robot 1000 can better cross or bypass when encountering obstacles. This design allows the robot to move more freely in a complex environment, reducing stagnation or failure caused by obstacles. By installing the running wheel group on the frame 200 according to a specific position, the overall structure of the cleaning robot 1000 is simplified. This layout not only reduces the manufacturing cost, but also makes the maintenance and maintenance of the robot more convenient. At the same time, the connection and coordination between the various components are also more compact and stable, which improves the durability and reliability of the robot.

[0080] Refer to 6 to Figure 8In one embodiment, the movable wheel set 100 and the third walking wheel 400 together constitute a walking unit, and at least two walking units are provided, and the at least two walking units are arranged at intervals along the width direction of the frame 200. In this way, by providing at least two walking units and arranging them at intervals along the width direction of the frame 200, the cleaning robot 1000 can obtain better stability when working. Each walking unit can share the weight and load of the robot, reducing the pressure on a single walking unit, thereby improving the load-bearing capacity and stability of the entire robot. This design enables the robot to remain stable under various terrains and working conditions, reducing failures or damage caused by bumps or imbalance. The design of multiple walking units enables the cleaning robot 1000 to have better obstacle-crossing capabilities when facing obstacles or uneven terrain. The interval arrangement between different walking units allows the robot to adapt to obstacles of different widths and cross or bypass obstacles by adjusting the walking states of different walking units. The coordinated work of multiple walking units makes the robot more flexible and stable in actions such as turning or crossing obstacles. This design improves the robot's handling performance, allowing the robot to better adapt to various complex cleaning tasks and environments. Multiple walking units share the robot's movement tasks, which can disperse wear and reduce the load of a single walking unit. Compared with the design of a single walking unit, this distributed layout can extend the service life of each walking unit and reduce wear and damage caused by long-term use. This reduces maintenance costs and time and increases the overall life of the robot.

[0081] Reference Fig. 9In one embodiment, the cleaning robot 1000 further includes two third roller groups 300, which are arranged on the side opposite to the third walking wheel 400 and the first walking wheel 110a, and each of the third roller groups 300 includes at least one roller 310, and each of the rollers 310 is rotatably mounted on the frame 200 around the vertical axis, and the rollers 310 are used to abut against the side edge of the photovoltaic panel 2000. In this way, the third roller group 300 abuts against the side edge of the photovoltaic panel 2000, providing additional support for the cleaning robot 1000. This design enhances the stability of the robot during the cleaning process, especially when the surface of the photovoltaic panel 2000 is uneven or tilted, it can prevent the robot from sliding or tipping over, and ensure the smooth progress of the cleaning operation. Through the abutment of the rollers 310 with the side edge of the photovoltaic panel 2000, the friction and scratching of the robot on the photovoltaic panel 2000 during movement is reduced. Compared with other contact methods, the design of the roller 310 can more effectively protect the surface of the photovoltaic panel 2000, reduce damage and scratches, and extend the service life of the photovoltaic panel 2000. The setting of the third roller group 300 enables the robot to fit more closely to the side edge of the photovoltaic panel 2000 during the cleaning process, ensuring the accuracy and continuity of the cleaning path. This helps to reduce the blind spots of cleaning, improve cleaning efficiency, and enable the robot to complete the cleaning task more quickly. The third roller group 300 is directly mounted on the frame 200 without the need for a complex transmission mechanism or control system. This design simplifies the overall structure of the robot, reduces manufacturing costs and maintenance difficulties, and improves the reliability and durability of the robot.

[0082] In addition, when encountering an obstacle, the robot can smoothly bypass the obstacle by adjusting the relative rotation between the first transmission part 121 and the second transmission part 122 without getting stuck or damaged, thereby avoiding the first walking wheel 110a and / or the third walking wheel 400 of the cleaning robot 1000 from idling for a long time, causing the wheel surface of the first walking wheel 110a and / or the third walking wheel 400 to wear quickly. In addition, the battery power loss of the cleaning robot 1000 can be reduced, thereby improving the cleaning effect. Due to the sliding connection between the connecting part and the sliding part, the cleaning robot 1000 can move more stably, reducing the possibility of rollover or sliding. This not only improves the safety of the cleaning robot 1000, but also makes the cleaning process more reliable. The setting of the movable wheel group 100 and the third walking wheel 400 can enable the cleaning robot 1000 to better adapt to various ground conditions during the cleaning process, so that the cleaning robot 1000 can achieve a more stable, fast and comprehensive cleaning effect during the cleaning process.

[0083] In one embodiment, the cleaning robot 1000 is further provided with a first driving component, which is used to drive the third walking wheel 400, so that the cleaning robot 1000 can walk on the surface of the photovoltaic panel 2000. In addition, the cleaning robot 1000 also includes a cleaning component 500, which is used to clean the photovoltaic panel 2000.

[0084] It should be noted that the cleaning assembly 500 includes a roller brush 501, which is rotatably mounted on the frame 200, thereby improving the cleaning efficiency. In addition, the technology of cleaning with the roller brush 501 is mature, and this application will not go into details here. The photovoltaic panel 2000 will have an end face error of a certain distance, and the reasons for this are different (loose component blocks; terrain settlement; installation errors, etc.). The cleaning robot 1000 needs to have the function of overcoming a certain distance of end face error, that is, the obstacle crossing function.

[0085] The following is an explanation of the specific work of the cleaning robot 1000:

[0086] When the cleaning robot 1000 encounters an obstacle while its roller 310 adjacent to the first walking wheel 100a is moving forward, the roller 310 adjacent to the first walking wheel 100a is stuck, and the cleaning robot 1000 will be completely stuck if it continues to move forward. At this time, the first walking wheel 100a and the second walking wheel 100b can be retracted, and the third walking wheel 400 stops rotating. After the first walking wheel 100a and the second walking wheel 100b have retracted a certain distance, the cleaning robot 1000 rotates with the roller 310 adjacent to the third walking wheel 400 as the retracting rotation center, so that the roller 310 adjacent to the first walking wheel 100a is lifted, thereby completing the obstacle crossing work.

[0087] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0088] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0089] In the description of this application, "first feature" or "second feature" may include one or more of the features.

[0090] In the description of the present application, “plurality” means two or more.

[0091] In the description of the present application, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0092] In the description of the present application, “above”, “over” and “above” a first feature to a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0094] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A movable wheel set, characterized in that: include: A first traveling wheel and a second traveling wheel; A transmission connection part, the transmission connection part includes a first transmission part and a second transmission part, the first transmission part is connected to the first walking wheel, the second transmission part is connected to the second walking wheel, one of the first transmission part and the second transmission part is provided with a connecting component, and the other is provided with a sliding component, the sliding component is suitable for sliding relative to the connecting component along the circumference of the first walking wheel, so that when the first walking wheel rotates, the first walking wheel and the second walking wheel are suitable for relative rotation.

2. The movable wheel assembly according to claim 1, characterized in that: One of the sliding component and the connecting component includes a slide groove, and the slide groove is extended along the circumference of the first walking wheel. The other of the sliding component and the connecting component includes a slide table adapted to the slide groove.

3. The movable wheel set according to claim 2, characterized in that: The first transmission part comprises a first transmission rod and a first boss protruding from a side wall of the first transmission rod, and the first boss is provided with the slide groove; The second transmission part includes a second transmission rod and a second boss protruding from a side of the second transmission rod, and the second boss is provided with the slide.

4. The movable wheel assembly according to claim 3, characterized in that: The slide groove passes through the first boss along the length direction of the first transmission rod; The second boss has a mounting hole extending along the length direction of the second transmission rod, a first screw connection member is inserted into the mounting hole, a threaded section of the first screw connection member passes through the slide groove and is threadedly connected to the first nut, and the first screw connection member forms the slide.

5. The movable wheel assembly according to claim 3, characterized in that: The first boss and / or the second boss are both extended along the circumference of the first running wheel.

6. The movable wheel assembly according to claim 2, characterized in that: The first transmission part comprises a sleeve, and the sleeve is provided with the slide groove; The second transmission part comprises a third transmission rod, and the third transmission rod is provided with the slide, wherein when the third transmission rod is inserted into the sleeve, the slide is suitable for sliding cooperation with the slide groove.

7. The movable wheel assembly according to claim 6, characterized in that: The third transmission rod is provided with a penetration hole along its radial direction; The slide groove is arranged to penetrate the sleeve along the radial direction of the sleeve, and a connecting piece is inserted in the slide groove, wherein, when the slide groove is connected with the penetration hole, the locking end of the connecting piece is suitable for passing through the penetration hole and the slide groove and lockingly cooperating with the locking piece, and the connecting piece forms the slide table.

8. The movable wheel assembly according to any one of claims 1 to 7, characterized in that: The second transmission part includes a movable part and a connecting part, one end of the connecting part is connected to the second walking wheel, the other end of the connecting part and one of the movable part are provided with the connecting component, and the other end is provided with the sliding component.

9. A cleaning robot, characterized in that: include: frame; The movable wheel set according to any one of claims 1 to 8, wherein the movable wheel set is mounted on the frame.

10. A cleaning robot, characterized in that: include: frame; The movable wheel set according to any one of claims 1 to 8, wherein the movable wheel set is mounted on the frame, and along the length direction of the frame, the first running wheel is mounted on one end of the frame, and the second running wheel is mounted on the middle of the frame; The third walking wheel is installed on the other end of the frame.

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