Walking unit, walking mechanism and cleaning robot

Abstract

The utility model relates to the technical field of cleaning equipment, and discloses a walking unit, a walking mechanism and a cleaning robot, in the walking unit, a mounting seat comprises a first side wall and a second side wall which are intersected and perpendicular to each other; the first walking wheel assembly is in transmission connection with the first side wall and is used for walking on the first surface; the second walking wheel assembly is located on the outer side of the second side wall and used for walking on the second face. The first driving motor and the transmission assembly are both arranged on the mounting base, an output shaft of the first driving motor is in transmission connection with the transmission assembly, and the transmission assembly is in transmission connection with the first walking wheel assembly and the second walking wheel assembly. The first walking wheel assembly and the second walking wheel assembly can walk in the same direction under the action of the first driving motor and the transmission assembly. According to the scheme, the problems that in the walking module of the photovoltaic cleaning device, internal parts are stacked disorderly and concentrated, assembling is complex, and the assembling efficiency is low are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning equipment technical field, especially walking unit, walking mechanism and cleaning robot of a kind of. BACKGROUND

[0002] In photovoltaic power generation system, the surface of photovoltaic module is easy to deposit dust and other impurities, and a photovoltaic cleaning device needs to be set to clean the photovoltaic module. The commonly used photovoltaic cleaning device mainly includes a frame, a walking module and a cleaning module. The walking module and the cleaning module are arranged in the frame. The walking module is used to drive the entire device to walk, so that the cleaning module can clean the photovoltaic module during walking. At present, the main problem of the photovoltaic cleaning device is that the internal parts of the walking module are disordered and concentrated, the assembly is complex, and the assembly efficiency is low. SUMMARY

[0003] The utility model provides a kind of walking unit, walking mechanism and cleaning device, for improving the problem of walking module of photovoltaic cleaning device, internal part disordered and concentrated, assembly is complex, and assembly efficiency is low.

[0004] To achieve the above purpose, the utility model provides the following technical scheme:

[0005] A walking unit is used to walk on the surface of a plate body. The plate body includes a first face and a second face that are adjacent and perpendicular to each other. The walking unit includes:

[0006] A mounting seat includes a first side wall and a second side wall that intersect and are perpendicular to each other.

[0007] A first walking wheel assembly and a second walking wheel assembly are provided. The first walking wheel assembly is in transmission connection with the first side wall and is used to walk on the first face. The second walking wheel assembly is located outside the second side wall and is used to walk on the second face.

[0008] A first drive motor and a transmission assembly are provided. The first drive motor and the transmission assembly are arranged in the mounting seat. The output shaft of the first drive motor is in transmission connection with the transmission assembly. The transmission assembly is in transmission connection with the first walking wheel assembly and the second walking wheel assembly, so that the first walking wheel assembly and the second walking wheel assembly can walk in the same direction under the action of the first drive motor and the transmission assembly.

[0009] Optionally, the first walking wheel assembly includes a first walking wheel and a first transmission shaft perpendicular to the first side wall. The first transmission shaft is rotatably arranged in the first side wall and is in transmission connection with the transmission assembly and can be rotated under the driving of the transmission assembly. The first walking wheel is fixedly sleeved on one end of the first transmission shaft.

[0010] Optionally, the second walking wheel assembly comprises a second walking wheel, a box, a second transmission shaft, a third transmission shaft, a first bevel gear and a second bevel gear, the box is fixed to the second side wall of the mounting base, the second transmission shaft and the third transmission shaft are both rotationally arranged in the box, and the second transmission shaft and the third transmission shaft are both partially located in the box;

[0011] An axis of the second transmission shaft is parallel to an axis of the first walking wheel, the second transmission shaft is in driving connection with the transmission assembly, the first bevel gear is fixedly sleeved on the part of the second transmission shaft located in the box, an axis of the third transmission shaft is perpendicular to the axis of the second transmission shaft and parallel to the second side wall, the second bevel gear is fixedly sleeved on the part of the third transmission shaft located in the box, the first bevel gear and the second bevel gear can be in meshing transmission, and the second walking wheel is fixedly sleeved on an end of the third transmission shaft exposed from the box.

[0012] Optionally, the box is of a closed structure, and the box is provided with an oil injection hole which can be opened and closed.

[0013] Optionally, a first direction is perpendicular to the axis of the first walking wheel and the axis of the second walking wheel, the mounting base comprises two second side walls opposite in the first direction, the walking unit comprises two first walking wheel assemblies and two second walking wheel assemblies, the two first walking wheel assemblies are arranged at intervals in the first direction on the first side wall, and the two second walking wheel assemblies are arranged outside the two second side walls respectively.

[0014] Optionally, the transmission assembly comprises a chain, two first sprockets, two second sprockets and two reversing sprockets, the two first sprockets are coaxial with the two first walking wheels and fixedly connected respectively, one of the first sprockets is fixedly sleeved on the output shaft of the first driving motor, the two second sprockets are in driving connection with the two second walking wheels respectively, and the two first sprockets and the two second sprockets are rotationally arranged in the mounting base and have axes perpendicular to the first side wall.

[0015] In a direction parallel to the axis of the second walking wheel, the first sprocket and the second sprocket are spaced apart, and there is one reversing sprocket between each pair of the first sprocket and the second sprocket; the chain is sleeved on the outer periphery of the two first sprockets and the two second sprockets, and the two reversing sprockets are located outside the chain and in meshing transmission with the chain.

[0016] The utility model also provides a kind of walking mechanism, the walking device includes frame body and two walking units, two the walking unit is separately arranged at the first end and the second end of the frame body, wherein, the first end is opposite with the second end;One the walking unit is any one of the walking unit provided in the above technical solution, the axis of the first walking wheel is parallel to the direction of the first end pointing to the second end;

[0017] Two the walking unit can walk in the same direction.

[0018] Optionally, the walking unit provided in the above technical solution is the first walking unit, another the walking unit is the second walking unit, the second walking unit includes base and the second drive motor and third walking wheel assembly arranged on the base, the third walking wheel assembly includes third walking wheel, the axis of the third walking wheel is parallel to the axis of the walking wheel in the first walking wheel assembly, and the third walking wheel is used to walk on the first surface;The output shaft of the second drive motor is drivingly connected with the third walking wheel.

[0019] Optionally, the second walking unit includes two the third walking wheel assemblies, and the two third walking wheels are drivingly connected with the output shaft of the second drive motor.

[0020] The utility model also provides a kind of cleaning robot, the cleaning robot includes cleaning roller and any one of the walking mechanism provided in the above technical solution, the axis direction of the cleaning roller is parallel to the direction of the first end pointing to the second end, and the two ends of the cleaning roller are respectively rotationally connected with the first end and second end.

[0021] In the scheme, the first walking wheel assembly 2 and the second walking wheel assembly 3 are separated in space, that is, the structure of the walking unit is divided in space. After division, the number of parts of each part is less than the total number of parts before division, so that the problem of concentrated and disordered accumulation of internal parts of the walking unit can be improved, and the assembly of the walking unit is simplified and more efficient.

[0022] In addition, the second walking wheel assembly 3 can be installed as an independent module, and the modular design can realize the generalization of different models. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A structure diagram of a walking unit provided by the utility model embodiment (wherein the plate body is also shown) is shown;

[0024] Figure 2 For Figure 1 The structure diagram of the walking unit shown in the figure is omitted part structure;

[0025] Figure 3 is a partial sectional view; Figure 1 is a partial sectional view;

[0026] Figure 4 is a structure schematic view of a second walking wheel assembly in a walking unit provided by an embodiment of the utility model;

[0027] Figure 5 is a structure schematic view of a second walking wheel assembly provided by an embodiment of the utility model; Figure 4 is a structure schematic view of a second walking wheel assembly provided by an embodiment of the utility model;

[0028] Figure 6 is a structure schematic view of a walking mechanism provided by an embodiment of the utility model;

[0029] Figure 7 is a structure schematic view of a second walking unit in a walking mechanism provided by an embodiment of the utility model.

[0030] Figure: 1 - mounting seat; 11 - first side wall; 12 - second side wall; 13 - support; 2 - first walking wheel assembly; 21 - first walking wheel; 22 - first transmission shaft; 3 - second walking wheel assembly; 31 - second walking wheel; 32 - box body; 33 - second transmission shaft; 34 - third transmission shaft; 35 - first bevel gear; 36 - second bevel gear; 4 - first drive motor; 5 - transmission assembly; 51 - chain; 52 - first sprocket; 53 - second sprocket; 54 - reversing sprocket; 61 - base; 62 - second drive motor; 63 - third walking wheel assembly; 64 - deviation rectifying assembly; 100 - frame body; 200 - plate body. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0032] Figure 1 is a structure schematic view of a walking unit provided by the embodiment (wherein the plate body 200 is also shown), Figure 2 is a structure schematic view of a walking unit provided by the embodiment (wherein the plate body 200 is also shown), Figure 1 is a structure schematic view of a walking unit provided by the embodiment (wherein the plate body 200 is also shown), Figure 1 and Figure 2As shown, the walking unit includes a mounting base 1, a first walking wheel assembly 2, a second walking wheel assembly 3, a transmission assembly 5, and a first drive motor 4. The mounting base 1 includes a first sidewall 11 and a second sidewall 12 that are perpendicular to each other and intersect. The first walking wheel assembly 2 is drivenly connected to the first sidewall 11 of the mounting base 1 and is used to walk on the first surface a of the plate 200. The second walking wheel assembly 3 is located outside the second sidewall 12 of the mounting base 1 and is used to walk on the second surface b of the plate 200. The first drive motor 4 and the transmission assembly 5 are both mounted on the mounting base 1. The output shaft of the first drive motor 4 is drivenly connected to the transmission assembly 5. The transmission assembly 5 is drivenly connected to both the first walking wheel assembly 2 and the second walking wheel assembly 3, so that the first walking wheel assembly 2 and the second walking wheel assembly 3 can walk in the same direction under the action of the first drive motor 4 and the transmission assembly 5.

[0033] In this scheme, the first traveling wheel assembly 2 and the second traveling wheel assembly 3 are spatially separated, that is, the structure of the traveling unit is spatially divided. After the division, the number of parts in each part is less than the total number of parts before the division. Therefore, it can improve the problem of concentrated and disorderly stacking of parts inside the traveling unit. At the same time, it makes the assembly of the traveling unit simpler and more efficient.

[0034] In addition, the second traveling wheel assembly 3 can be installed as an independent module, and the modular design can achieve universality for different models.

[0035] When the walking unit is a walking unit of the photovoltaic cleaning device, the photovoltaic module is the aforementioned plate 200, the top surface of the photovoltaic module is the aforementioned first surface a, and the side surface of the photovoltaic module is the aforementioned second surface b. During the operation of the photovoltaic cleaning device, the first side wall 11 of the mounting base 1 is parallel to the side surface of the photovoltaic module, and the second side wall 12 of the mounting base 1 is perpendicular to the top surface and the aforementioned side surface of the photovoltaic module.

[0036] Figure 3 for Figure 1 A partial sectional view, such as Figure 3 As shown, in one possible implementation, the first traveling wheel assembly 2 includes a first traveling wheel 21 and a first drive shaft 22 perpendicular to the first sidewall 11. The first drive shaft 22 is rotatably mounted on the first sidewall 11 of the mounting base 1 and is connected to the transmission assembly 5, and can rotate under the drive of the transmission assembly 5. The first traveling wheel 21 is fixedly sleeved on one end of the first drive shaft 22.

[0037] Figure 4 This is a schematic diagram of the structure of the second walking wheel assembly in a walking unit provided in this embodiment. Figure 5 for Figure 4 The diagram shown is a partial representation of the second traveling wheel assembly. Figure 4 and Figure 5As shown in FIG. 1, in one possible implementation, the second walking wheel assembly 3 includes a second walking wheel 31, a box 32, a second transmission shaft 33, a third transmission shaft 34, a first bevel gear 35, and a second bevel gear 36. The box 32 is fixed to the second side wall 12 of the mounting base 1. The second transmission shaft 33 and the third transmission shaft 34 are both rotatably arranged in the box 32, and both of them are partially located in the box 32. The axis of the second transmission shaft 33 is parallel to the axis of the first walking wheel 21. The second transmission shaft 33 is in transmission connection with the transmission assembly 5, so as to be able to rotate under the driving of the transmission assembly 5. The first bevel gear 35 is fixedly sleeved on the part of the second transmission shaft 33 located in the box 32. The axis of the third transmission shaft 34 is perpendicular to the axis of the second transmission shaft 33 and parallel to the second side wall 12. The second bevel gear 36 is fixedly sleeved on the part of the third transmission shaft 34 located in the box 32. The first bevel gear 35 and the second bevel gear 36 can be in meshing transmission. The second walking wheel 31 is fixedly sleeved on the end of the third transmission shaft 34 exposed from the box 32. Thus, the transmission assembly 5 can drive the third transmission shaft 34 and the second walking wheel 31 to rotate through the second transmission shaft 33 and the first bevel gear 35 and the second bevel gear 36, so as to realize the walking of the second walking wheel 31.

[0038] In specific implementation, the box 32 can be a closed structure, and an oil injection hole capable of being opened and closed can be arranged on the box 32. In this scheme, the first bevel gear 35 and the second bevel gear 36 are both located in the box 32. When the first bevel gear 35 and the second bevel gear 36 need to be lubricated, the oil injection hole can be opened to provide lubricating oil to at least one of the first bevel gear 35 and the second bevel gear 36, so as to realize the lubrication of the first bevel gear 35 and the second bevel gear 36. In addition, the box 32 is a sealed mechanism, which can prevent foreign matters from the outside from damaging the meshing transmission between the first bevel gear 35 and the second bevel gear 36. It should be noted that the connection between the box 32 and the second transmission shaft 33 and the third transmission shaft 34 can be sealed by a sealing ring or the like.

[0039] In one possible implementation, the first direction is perpendicular to the axis of the first walking wheel 21 and the axis of the second walking wheel 31. Figure 1 Figure 2 As shown in FIG. 1, the mounting base 1 includes two second side walls 12 opposite in the first direction. The walking unit includes two first walking wheel assemblies 2 and two second walking wheel assemblies 3. The two first walking wheel assemblies 2 are arranged at intervals along the first direction on the first side wall 11. The two second walking wheel assemblies 3 are arranged outside the two second side walls 12, respectively. This scheme can make the walking of the walking unit more stable.

[0040] Please continue to refer to Figure 2 ​In a possible implementation, the transmission assembly 5 includes a chain 51, two first sprockets 52, two second sprockets 53, and two reversing sprockets 54, which are rotationally arranged on the mounting base 1 and have axes perpendicular to the first side wall 11. The two first sprockets 52 are coaxially and fixedly connected with the two first walking wheels 21, respectively, and the two second sprockets 53 are drivingly connected with the two second walking wheels 31, respectively. One of the first sprockets 52 is fixedly sleeved on the output shaft of the first driving motor 4. Specifically, in a direction parallel to the axis of the second walking wheel 31, the first sprocket 52 is spaced from the second sprocket 53, and one reversing sprocket 54 is arranged between each pair of first sprocket 52 and second sprocket 53. The chain 51 is sleeved on the outer periphery of the two first sprockets 52 and the two second sprockets 53, and the two reversing sprockets 54 are located outside the chain 51 and meshed with the chain 51. That is, in this scheme, only one power source (i.e., the first driving motor 4) is used to drive the two first walking wheels 21 and the two second walking wheels 31, and such an arrangement is conducive to cost saving and compactness of the walking unit structure. In addition, the reversing sprocket 54 can not only play a role in tensioning the chain 51, making the meshing transmission between the chain 51 and each sprocket more reliable, but also can change the direction of the chain 51, realizing the walking of the first walking wheel 21 and the second walking wheel 31 in the same direction.

[0041] In specific implementation, as shown in Figures 1-3 the mounting base 1 can be a cuboid-shaped shell having the first side wall 11 and the second side wall 12. Specifically, the first walking wheel assembly 2 is rotationally arranged on the first side wall 11 of the shell, and the second walking wheel assembly 3 is arranged outside the second side wall 12 of the shell. The first side wall 11 of the mounting base 1 is fixed with bearings through bolt assemblies, and a Z-shaped bracket is further arranged in the mounting base 1. One bearing is mounted on the bracket 13 through a bolt assembly, and the first driving shaft 22 connected with the first driving motor 4 is inserted into the inner rings of the two bearings. The first walking wheel 21 and the first sprocket 52 are both fixed on the first driving shaft 22 through keys and retaining rings, and the first walking wheel 21 and the first sprocket 52 are arranged at two ends of the first driving shaft 22, respectively.

[0042] The second walking wheel assembly 3 is a separate module, which can be assembled and then mounted on the mounting base 1. In the second walking wheel assembly 3, the box body 32 can be connected by multiple components, and the first bevel gear 35 and the second bevel gear 36 are both located in the box body 32 and fixed on the corresponding second driving shaft 33 and third driving shaft 34 through keys and retaining rings. The second driving shaft 33 and the third driving shaft 34 are both rotationally connected with the box body 32 through bearings, and the position of the second driving shaft 33 relative to the box body 32 can be fixed through a retaining ring. The second walking wheel 31 is fixed on one end of the third driving shaft 34 outside the box body 32 through a key and a retaining ring. The second sprocket 53 is installed at the end of the second driving shaft 33 and fixed on the second driving shaft 33 through a key.

[0043] Figure 6 This is a structural schematic diagram of a walking mechanism provided in this embodiment, as shown below. Figure 6 As shown, the walking mechanism provided in this embodiment includes a frame 100 and two walking units. The frame 100 has a first end and a second end opposite to each other. The two walking units are respectively disposed at the first end and the second end of the frame 100, and one of the walking units is the walking unit mentioned above (hereinafter referred to as the first walking unit A, and the other walking unit as the second walking unit B). The axis of the first walking wheel 21 of the walking unit is parallel to the direction from the first end of the frame 100 to the second end. The two walking units can walk in the same direction to realize the walking mechanism.

[0044] Figure 7 This is a schematic diagram of the structure of the second walking unit B in a walking mechanism provided in this embodiment, as shown below. Figure 7 As shown, in some possible implementations, the second walking unit B includes a base 61, a second drive motor 62 disposed on the base 61, and a third walking wheel assembly 63. The third walking wheel assembly 63 includes a third walking wheel, the axis of which is parallel to the axis of the walking wheel in the first walking wheel assembly (i.e., the first walking wheel 21). The output shaft of the second drive motor 62 is driven by the third walking wheel to drive the third walking wheel to move on the first surface a of the plate 200. Exemplarily, the second walking unit B includes two third walking wheel assemblies 63, both of which are driven by the output shaft of the second drive motor 62, thereby making the walking mechanism move more smoothly.

[0045] In one specific implementation, such as Figure 7 As shown, the third traveling wheel assembly 63 includes a fourth drive shaft, and the third traveling wheel is fixedly sleeved on the fourth drive shaft. Sprockets are fitted onto the ends of both fourth drive shafts away from the third traveling wheel. Simultaneously, a tensioning wheel is rotatably mounted on the base 61. A chain 51 is sleeved on the outer circumference of the two sprockets, and the tensioning wheel is located outside the chain 51, serving to tension the chain 51. The output shaft of the second drive motor 62 is coaxial with and fixedly connected to one of the sprockets. Similarly, in this design, each sprocket can also be fixed to its corresponding drive shaft by a retaining ring and a key on the corresponding drive shaft.

[0046] In some possible implementation manners, two deviation rectifying assemblies 64 can also be arranged on the base 61, the deviation rectifying assembly 64 comprising a deviation rectifying shaft and a deviation rectifying wheel for walking on the second face b of the plate body 200 (that is, the axis of the deviation rectifying wheel is parallel to the axis of the second walking wheel 31), the deviation rectifying wheel being arranged at one end of the deviation rectifying shaft through a bearing shaft, and the deviation rectifying shaft being connected with the base 61 through an elastic member, the axis of the elastic member being parallel to the axis of the third walking wheel. When the walking mechanism normally walks, the lengths of the elastic members in the two deviation rectifying assemblies are the same. When the lengths of the elastic members in the two deviation rectifying assemblies are different, it indicates that the walking mechanism is deviated, and the rotation speeds of the corresponding walking wheels are adjusted through the corresponding first driving motor 4 or the second driving motor 62, so that the rotation speeds of the walking wheels are the same, that is, the deviation rectification of the walking mechanism is realized.

[0047] The cleaning robot provided in the embodiment comprises a cleaning roller and the walking mechanism, the axis direction of the cleaning roller is parallel to the direction in which the first end of the frame body 100 points to the second end, and the two ends of the cleaning roller are rotationally connected with the first end and the second end, respectively. Exemplarily, the two ends of the cleaning roller are rotationally connected with the first end and the second end of the frame body 100 through bearings. In this scheme, the first walking wheel assembly 2 and the second walking wheel assembly 3 are separated in space, that is, the structure of the walking unit is divided in space, and the number of parts of each part after the division is less than the total number of parts before the division. Therefore, the problem of concentrated and disordered accumulation of parts in the walking unit can be improved, and the assembly of the walking unit is simplified and more efficient.

[0048] In addition, the second walking wheel assembly 3 can be installed as an independent module, and the modular design can realize the generalization of different models.

[0049] During work, in the first walking unit A, the first driving motor 4 drives the first walking wheel 21 to rotate, and simultaneously drives the second walking wheel 31 to rotate through the transmission assembly 5 and the like. In the second walking unit B, the second driving motor 62 drives the third walking wheel to rotate. Through calculation of the transmission ratio, the rotation speeds of the first walking wheel 21 and the second walking wheel 31 can be the same, so that the movement of the walking mechanism is realized.

[0050] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technologies thereof, the present application also intends to include these modifications and variations.

Claims

1. A walking unit for walking on a plate surface, said plate comprising adjacent and mutually perpendicular first and second surfaces, characterized in that, The walking unit includes: The mounting base includes intersecting and mutually perpendicular first and second sidewalls; A first traveling wheel assembly and a second traveling wheel assembly, wherein the first traveling wheel assembly is drivenly connected to the first sidewall and is used for traveling on the first surface; the second traveling wheel assembly is located on the outside of the second sidewall and is used for traveling on the second surface; A first drive motor and a transmission assembly are both mounted on the mounting base. The output shaft of the first drive motor is connected to the transmission assembly, and the transmission assembly is connected to both the first and second walking wheel assemblies, so that the first and second walking wheel assemblies can move in the same direction under the action of the first drive motor and the transmission assembly.

2. The walking unit according to claim 1, characterized in that, The first traveling wheel assembly includes a first traveling wheel and a first drive shaft perpendicular to the first side wall. The first drive shaft is rotatably disposed on the first side wall and is connected to the transmission assembly for transmission, and can rotate under the drive of the transmission assembly. The first traveling wheel is fixedly sleeved on one end of the first drive shaft.

3. The walking unit according to claim 2, characterized in that, The second traveling wheel assembly includes a second traveling wheel, a housing, a second drive shaft, a third drive shaft, a first bevel gear, and a second bevel gear. The housing is fixed to the second side wall of the mounting base. The second drive shaft and the third drive shaft are both rotatably disposed in the housing, and both the second drive shaft and the third drive shaft are partially located in the housing. The axis of the second drive shaft is parallel to the axis of the first traveling wheel. The second drive shaft is connected to the transmission assembly. The first bevel gear is fixedly sleeved on the portion of the second drive shaft located in the housing. The axis of the third drive shaft is perpendicular to the axis of the second drive shaft and parallel to the second side wall. The second bevel gear is fixedly sleeved on the portion of the third drive shaft located in the housing. The first bevel gear and the second bevel gear can mesh and transmit power. The second traveling wheel is fixedly sleeved on one end of the third drive shaft that protrudes from the housing.

4. The walking unit according to claim 3, characterized in that, The box is a closed structure, and the box is provided with an oil filling hole that can be opened and closed.

5. The walking unit according to claim 4, characterized in that, The first direction is perpendicular to the axis of the first traveling wheel and the axis of the second traveling wheel; the mounting base includes two second sidewalls opposite each other in the first direction, and the traveling unit includes two first traveling wheel assemblies and two second traveling wheel assemblies. The two first traveling wheel assemblies are spaced apart on the first sidewalls along the first direction, and the two second traveling wheel assemblies are respectively disposed on the outer sides of the two second sidewalls.

6. The walking unit according to claim 5, characterized in that, The transmission assembly includes a chain, two first sprockets, two second sprockets, and two reversing sprockets, which are rotatably mounted on the mounting base and whose axes are perpendicular to the first sidewall. The two first sprockets are coaxial with and fixedly connected to the two first travel wheels, and one of the first sprockets is fixedly sleeved on the output shaft of the first drive motor. The two second sprockets are respectively connected to the two second traveling wheels via a transmission; In a direction parallel to the axis of the second traveling wheel, the first sprocket and the second sprocket are spaced apart, and there is a reversing sprocket between each pair of the first sprocket and the second sprocket; the chain is sleeved on the outer periphery of the two first sprockets and the two second sprockets, and the two reversing sprockets are located on the outside of the chain and mesh with the chain.

7. A walking mechanism, characterized in that, The device includes a frame and two walking units, which are respectively disposed at a first end and a second end of the frame, wherein the first end and the second end are opposite to each other; one of the walking units is the walking unit according to any one of claims 1 to 6, and the axis of the first walking wheel is parallel to the direction from the first end to the second end; The two walking units are able to walk in the same direction.

8. The walking mechanism according to claim 7, characterized in that, The first walking unit is the walking unit according to any one of claims 1 to 6, and the other walking unit is the second walking unit. The second walking unit includes a base and a second drive motor and a third walking wheel assembly disposed on the base. The third walking wheel assembly includes a third walking wheel, the axis of which is parallel to the axis of the walking wheel in the first walking wheel assembly. The third walking wheel is used to walk on the first surface. The output shaft of the second drive motor is connected to the third walking wheel for transmission.

9. The walking mechanism according to claim 8, characterized in that, The second walking unit includes two of the third walking wheel assemblies, both of which are connected to the output shaft of the second drive motor.

10. A cleaning robot, characterized in that, It includes a sweeping roller and a traveling mechanism as described in any one of claims 7 to 9, wherein the axial direction of the sweeping roller is parallel to the direction from the first end to the second end, and the two ends of the sweeping roller are respectively rotatably connected to the first end and the second end.

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