Crawler walking device and photovoltaic cleaning robot

Abstract

The utility model belongs to the technical field of photovoltaic cleaning robots, and discloses a crawler walking device and a photovoltaic cleaning robot, an air escape valve of the crawler walking device comprises an air inlet sleeve, a valve rod and an elastic piece, an air inlet is formed in the top of the air inlet sleeve, and the valve rod is arranged in the air inlet sleeve in an axial moving mode. A gap is formed between the inner sleeve wall of the air inlet sleeve and the outer side wall of the valve rod to form an air inlet channel, one end of the air inlet channel communicates with the negative pressure channel, and the elastic piece is arranged in the air inlet sleeve and exerts elastic force on the valve rod so that the valve rod can always have the movement trend of moving towards the direction of the blocked air inlet. The valve rod has a closed state with the top blocking the air inlet and an air release state far away from the air inlet, in the air release state, air flow pushes the top end face of the valve rod to move in the direction far away from the air inlet, and the other end of the air inlet channel communicates with the air inlet. According to the arrangement, the air release valve enables the negative pressure channel to keep proper negative pressure intensity, the moving speed of the valve rod is high, and the walking stability of the photovoltaic cleaning robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robot technology, and in particular to a tracked walking device and a photovoltaic cleaning robot. Background Technology

[0002] A photovoltaic (PV) cleaning robot is an automated device specifically designed to clean dust, dirt, and other impurities from the surface of PV panels. Some PV cleaning robots employ a tracked walking module with suction capabilities to increase the contact area with the PV panel and improve walking stability. The tracked walking module has numerous suction holes on its tracks, and a vacuum pump creates a negative pressure chamber connecting these holes, resulting in negative pressure at the suction holes and thus a more secure adhesion to the PV panel surface.

[0003] During the operation of the tracked walking module, the vacuum pump is always in operation, which may cause excessive pressure in the negative pressure chamber, creating walking resistance at the suction port, or cause the vacuum pump to overheat and malfunction due to excessive heat generated when operating at full load under high pressure. Utility Model Content

[0004] One objective of this utility model is to address one of the aforementioned technical problems. To achieve this objective, this utility model adopts the following technical solution:

[0005] A tracked traveling device is provided, including a chassis frame and at least two sets of tracked traveling assemblies disposed on the chassis frame. Each tracked traveling assembly includes at least two spaced-apart wheel hubs and a track fitted onto the at least two wheel hubs. The track has a plurality of suction holes arranged circumferentially, which are capable of adhering to the traveling surface. The tracked traveling device further includes:

[0006] A vacuum motor is mounted on the chassis frame;

[0007] The suction pipe has one end connected to the vacuum motor and the other end connected to the track walking assembly. The suction pipe has a negative pressure channel that connects to part of the suction hole.

[0008] A vent valve is provided in the suction pipeline. The vent valve includes an inlet sleeve, a valve stem, and an elastic element. An inlet is provided at the top of the inlet sleeve. The valve stem is axially movable inside the inlet sleeve. A gap is provided between the inner wall of the inlet sleeve and the outer wall of the valve stem to form an inlet channel. One end of the inlet channel is connected to the negative pressure channel. The elastic element is provided inside the inlet sleeve. The elastic element applies a spring force to the valve stem so that the valve stem always has a tendency to move towards blocking the inlet.

[0009] The valve stem has a closed state where the top of the valve stem blocks the air inlet and a venting state where the valve stem is away from the air inlet. In the venting state, the airflow pushes the top surface of the valve stem to move away from the air inlet. The other end of the air intake channel away from the negative pressure channel is connected to the air inlet.

[0010] In one embodiment, the cross-sectional area of ​​the air intake passage along the axial direction perpendicular to the valve stem is greater than or equal to the area of ​​the air intake port.

[0011] In one embodiment, the cross-sectional area of ​​the air intake channel is S1, and the area of ​​the air intake port is S2, where S1:S2 = T, and 1 ≤ T < 5.

[0012] In one embodiment, one of the air intake sleeve and the valve stem is provided with a guide groove, and the other is provided with a guide protrusion. The length of the guide groove extends along the axial direction of the vent valve, and the guide protrusion is movably embedded in the guide groove.

[0013] In one embodiment, the guide protrusion is disposed on the inner wall of the intake sleeve, the guide groove is formed on the outer peripheral wall of the valve stem, and the protrusion height of the guide protrusion is greater than the depth of the guide groove so that there is a gap between the intake sleeve and the valve stem.

[0014] In one embodiment, the inner wall of the air intake sleeve is provided with a plurality of guide protrusions, and the outer peripheral wall of the valve stem is provided with a plurality of guide grooves. The plurality of guide grooves are evenly spaced along the circumferential direction of the valve stem, and the plurality of guide grooves and the plurality of guide protrusions correspond one-to-one.

[0015] In one embodiment, the vent valve further includes a valve seat, which is sealed to one end of the air inlet sleeve away from the air inlet. The valve seat has a connecting port that connects to the air inlet channel. One end of the elastic element is connected to the valve seat, and the other end is connected to the valve stem.

[0016] In one embodiment, the valve stem has a through-cavity at one end, the cavity extending axially along the valve stem, and the elastic element is connected to the bottom wall of the cavity.

[0017] And / or, a sealing ring is provided between the end face of the cylinder wall of the air intake sleeve and the valve seat;

[0018] And / or, the area of ​​the connecting port is greater than or equal to the area of ​​the air inlet.

[0019] In one embodiment, a sealing gasket is provided on the top surface of the valve stem;

[0020] And / or, the top surface of the valve stem has a raised sealing ring, which, in the closed state, seals against the inner top wall of the air intake sleeve.

[0021] Another objective of this utility model is to address one of the aforementioned problems. To achieve this objective, this utility model employs the following technical solution in another aspect:

[0022] A photovoltaic cleaning robot is provided, including the tracked walking device as described above. The photovoltaic cleaning robot also includes a cleaning device, which is disposed on the chassis frame of the tracked walking device.

[0023] The beneficial effects of this utility model are:

[0024] The tracked walking device provided by this utility model has a vent valve installed in the suction pipe. The vent valve includes an air inlet sleeve, a valve stem, and an elastic element. The top of the air inlet sleeve has an air inlet. The valve stem is axially movable inside the air inlet sleeve. There is a gap between the inner wall of the air inlet sleeve and the outer wall of the valve stem to form an air inlet channel. One end of the air inlet channel is connected to a negative pressure channel. The elastic element is installed inside the air inlet sleeve. The elastic element applies elastic force to the valve stem so that the valve stem always has a tendency to move towards blocking the air inlet. The valve stem has a closed state with the top blocking the air inlet and a venting state away from the air inlet. In the venting state, the airflow pushes the top surface of the valve stem to move away from the air inlet. The other end of the air inlet channel away from the negative pressure channel is connected to the air inlet. In the closed state, the negative pressure and atmospheric pressure within the negative pressure channel exert a force on the valve stem that is less than the elastic force exerted by the elastic element on the valve stem, maintaining the seal of the negative pressure channel. As the vacuum motor operates for an extended period, the negative pressure within the negative pressure channel gradually increases until it reaches the preset pressure. At this point, the combined force of the negative pressure and atmospheric pressure on the valve stem exceeds the elastic force exerted by the elastic element, allowing the airflow to push the top surface of the valve stem away from the air inlet. Once the air inlet is opened, the other end of the air inlet channel away from the negative pressure channel connects to the air inlet, allowing air to enter the negative pressure channel. Because the top surface of the valve stem is planar, compared to a spherical valve core, the top surface increases the contact area with the airflow, thereby increasing the thrust of the airflow on the valve stem. This allows the valve stem to move more quickly and open the air inlet, increasing the flow rate of air into the air inlet, rapidly reducing the negative pressure within the negative pressure channel, preventing excessive pressure at the suction port from creating resistance, and reducing the risk of the vacuum motor overheating and malfunctioning under high pressure and full load operation. When the negative pressure in the negative pressure channel decreases to a level where the force exerted on the valve stem by atmospheric pressure is less than the elastic force exerted on the valve stem by the elastic element, the valve stem re-blocks the air inlet, forming a closed state to ensure that the suction hole can continuously adsorb the traveling surface. Due to the relatively fast movement speed of the valve stem and the rapid state transition, a relatively suitable negative pressure is maintained in the negative pressure channel.

[0025] The photovoltaic cleaning robot provided by this utility model includes the aforementioned tracked walking device. It maintains a suitable negative pressure in the negative pressure channel through a venting valve. The top surface of the valve stem increases the contact area with the airflow, allowing the valve stem to move more quickly and open the air inlet. This increases the flow rate of airflow into the air inlet, rapidly reducing the negative pressure in the negative pressure channel. This prevents excessive pressure at the suction port from causing walking resistance and also reduces the risk of the vacuum motor overheating and malfunctioning under high pressure. This improves the walking stability and operational reliability of the photovoltaic cleaning robot. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the tracked walking device provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the vent valve provided in this embodiment of the utility model;

[0028] Figure 3 This is a structural disassembly diagram of the vent valve provided in this embodiment of the utility model;

[0029] Figure 4 This is a structural cross-sectional view of the vent valve provided in this embodiment of the utility model;

[0030] Figure 5 This is a schematic diagram of the structure of the air intake sleeve provided in this embodiment of the utility model;

[0031] Figure 6 This is a structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention.

[0032] In the picture:

[0033] 1. Chassis frame; 2. Tracked travel assembly; 21. Wheel hub; 22. Track; 221. Suction port; 3. Vacuum motor; 4. Suction pipeline; 41. Adapter pipe; 5. Vent valve; 50. Air intake channel; 51. Air intake sleeve; 511. Air inlet; 512. Guide protrusion; 52. Valve stem; 521. Top surface; 522. Guide groove; 523. Receiving cavity; 524. Sealing ring; 525. Guide ring; 53. Elastic element; 54. Valve seat; 541. Connecting port; 55. Sealing ring; 56. Sealing gasket;

[0034] 100. Cleaning device. Detailed Implementation

[0035] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0036] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0039] like Figures 1 to 4As shown, this embodiment first provides a tracked traveling device, which includes a chassis frame 1 and at least two sets of tracked traveling assemblies 2 mounted on the chassis frame 1. Each tracked traveling assembly 2 includes at least two spaced-apart hubs 21 and tracks 22 fitted onto the at least two hubs 21. The tracks 22 have multiple suction holes 221 arranged circumferentially. During the rotation of the hubs 21, the tracks 22 rotate, causing the chassis frame 1 to move. During the rotation of the tracks 22, some of the suction holes 221 contact the traveling surface and can adhere to it.

[0040] The tracked walking device also includes a vacuum motor 3, a suction pipe 4, and a vent valve 5. The vacuum motor 3 is mounted on the chassis frame 1 and generates suction force during operation. One end of the suction pipe 4 is connected to the vacuum motor 3, and the other end is connected to the tracked walking assembly 2. The suction pipe 4 has a negative pressure channel that connects to a portion of the suction hole 221. The suction force of the vacuum motor 3 creates a negative pressure in the negative pressure channel, which allows the suction hole 221 to adhere to the walking surface, increasing the walking stability of the tracked walking assembly 2. The vent valve 5 is installed in the suction pipe 4. The vent valve 5 includes an inlet sleeve 51, a valve stem 52, and an elastic element 53. The top of the inlet sleeve 51 has an inlet port 511. The valve stem 52 is axially movable inside the inlet sleeve 51. There is a gap between the inner wall of the inlet sleeve 51 and the outer wall of the valve stem 52 to form an inlet channel 50. One end of the inlet channel 50 is connected to the negative pressure channel. The elastic element 53 is installed inside the inlet sleeve 51. The elastic element 53 applies elastic force to the valve stem 52 so that the valve stem 52 always has a tendency to move towards blocking the inlet port 511. The valve stem 52 has a closed state with the top blocking the inlet port 511 and a vented state away from the inlet port 511. In the vented state, the airflow pushes the top surface 521 of the valve stem 52 to move away from the inlet port 511. The other end of the inlet channel 50 away from the negative pressure channel is connected to the inlet port 511. In the closed state, the negative pressure formed in the negative pressure channel and the atmospheric pressure exerted on the valve stem 52 are less than the elastic force exerted on the valve stem 52 by the elastic element 53, thus maintaining the sealing of the negative pressure channel. As the vacuum motor 3 operates for a long time, the negative pressure in the negative pressure channel gradually increases until it reaches the preset pressure. At this time, the negative pressure formed in the negative pressure channel and the atmospheric pressure exerted on the valve stem 52 are greater than the elastic force exerted on the valve stem 52 by the elastic element 53, and the airflow can push the top surface 521 of the valve stem 52 to move away from the air inlet 511. After the air inlet 511 is opened, the other end of the air intake channel 50, away from the negative pressure channel, connects to the air inlet 511, allowing air to enter the negative pressure channel. Since the top surface 521 of the valve stem 52 is planar, compared to a spherical valve core, the top surface 521 increases the contact area with the airflow, thereby increasing the thrust of the airflow on the valve stem 52. This allows the valve stem 52 to move more quickly and open the air inlet 511, increasing the flow rate of air into the air inlet 511 and rapidly reducing the negative pressure in the negative pressure channel. This prevents excessive pressure at the suction hole 221 from creating travel resistance and also reduces the risk of the vacuum motor 3 overheating and malfunctioning under high pressure. When the negative pressure in the negative pressure channel decreases to a level where the force exerted on the valve stem 52 by the atmospheric pressure is less than the elastic force exerted on the valve stem 52 by the elastic element 53, the valve stem 52 re-blocks the air inlet 511, forming a closed state to ensure that the suction hole 221 can continuously adsorb the travel surface.Because the valve stem 52 moves at a relatively fast speed and changes state quickly, a suitable negative pressure is maintained in the negative pressure channel, which enables the tracked walking device to have both walking stability and adsorption reliability.

[0041] The specific data for the preset pressure can be selected and set according to the working parameters of the tracked walking device, and this embodiment does not impose any restrictions. In one embodiment, two sets of tracked walking components 2 share a set of suction pipes 4. The suction pipe 4 includes a pipe disposed within the chassis frame 1 and two adapter pipes 41 located outside the chassis frame 1. The two adapter pipes 41 are located at both ends of the pipe, and the pipe and the adapter pipes 41 are interconnected. The adapter pipes 41 extend to the tracked walking components 2 and are aligned with the suction holes 221 of the connecting portion to generate suction force at the suction holes 221. Each set of suction pipes 4 is provided with a vent valve 5, which is installed on the pipe on the chassis frame 1.

[0042] Along the axial direction of the vertical valve stem 52, the cross-sectional area of ​​the intake passage 50 is greater than or equal to the area of ​​the intake port 511. After the airflow enters the intake passage 50 through the intake port 511, since the cross-sectional area of ​​the intake passage 50 is not less than that of the intake port 511, it facilitates rapid airflow and reduces the risk of airflow blockage affecting the rapid movement of the valve stem 52.

[0043] The cross-sectional area of ​​the intake channel 50 is S1, and the area of ​​the intake port 511 is S2, where S1:S2 = T, and 1 ≤ T < 5. Optionally, in one embodiment, T is 1, in which case the cross-sectional area of ​​the intake channel 50 and the area of ​​the intake port 511 are equal. In other embodiments, T can be 2, 3, or 4.5, and this embodiment does not impose specific limitations. The cross-sectional area of ​​the intake channel 50 is less than 5 times the area of ​​the intake port 511 to avoid the radial dimension of the vent valve 5 being too large.

[0044] One of the intake sleeve 51 and the valve stem 52 is provided with a guide groove 522, and the other is provided with a guide protrusion 512. The length of the guide groove 522 extends along the axial direction of the vent valve 5, and the guide protrusion 512 is movably embedded in the guide groove 522. The cooperation between the guide groove 522 and the guide protrusion 512 can constrain the axial movement of the valve stem 52 and prevent the valve stem 52 from deflecting during movement.

[0045] In one embodiment, a guide protrusion 512 is disposed on the inner wall of the intake sleeve 51, and a guide groove 522 is formed on the outer peripheral wall of the valve stem 52. The protrusion height of the guide protrusion 512 is greater than the depth of the guide groove 522 to create a gap between the intake sleeve 51 and the valve stem 52. The cooperation between the guide groove 522 and the guide protrusion 512 not only constrains the axial movement of the valve stem 52, but also forms a gap between the intake sleeve 51 and the valve stem 52, ensuring smooth airflow in the intake passage 50.

[0046] Optionally, the inner wall of the intake sleeve 51 is provided with multiple guide protrusions 512, and the outer peripheral wall of the valve stem 52 is provided with multiple guide grooves 522. The multiple guide grooves 522 are evenly spaced along the circumference of the valve stem 52, and the multiple guide grooves 522 correspond one-to-one with the multiple guide protrusions 512. For example, as shown... Figure 5 As shown in the figure, the inner wall of the intake sleeve 51 is provided with four guide protrusions 512, and the outer peripheral wall of the valve stem 52 is provided with four guide grooves 522. The four guide grooves 522 are evenly distributed at 90° intervals along the circumference of the valve stem 52. The evenly distributed guide grooves 522 and guide protrusions 512 cooperate to ensure that the intake sleeve 51 and the valve stem 52 are coaxially arranged, and the cross-sectional dimensions of the intake channel 50 are uniform in the circumferential direction of the valve stem 52.

[0047] In one embodiment, the vent valve 5 further includes a valve seat 54, which is sealed to one end of the air inlet sleeve 51 away from the air inlet 511. The valve seat 54 has a connecting port 541 that connects to the air inlet passage 50. One end of the elastic element 53 is connected to the valve seat 54, and the other end is connected to the valve stem 52. The valve seat 54 serves to restrain the elastic element 53 and the valve stem 52 without affecting the connection between the air inlet passage 50 and the negative pressure passage.

[0048] Specifically, the area of ​​the connecting port 541 is greater than or equal to the area of ​​the air inlet 511 to avoid the connecting port 541 affecting the smoothness of airflow. In order to further improve the smoothness of airflow of the connecting port 541, the valve seat 54 adopts a hollow structure, with multiple hollows forming the connecting port 541, which makes the airflow more dispersed.

[0049] The valve stem 52 has a through-hole cavity 523 extending along the axial direction of the valve stem 52. An elastic element 53 is connected to the bottom wall of the cavity 523 and is partially housed within it. The hollow structure of the valve stem 52 reduces its weight, and under the same top surface 521, the thrust generated by the airflow enables the valve stem 52 to move at a faster speed to open the air inlet 511.

[0050] In one embodiment, the elastic element 53 is a compression spring. To improve the deformation reliability of the compression spring, a guide ring 525 is provided on the bottom wall of the receiving cavity 523. The guide ring 525 extends along the axial direction of the receiving cavity 523, and the elastic element 53 is fitted around the outer periphery of the guide ring 525.

[0051] A sealing ring 55 is provided between the end face of the cylinder wall of the air intake sleeve 51 and the valve seat 54 to reduce airflow leakage between the end face of the cylinder wall of the air intake sleeve 51 and the valve seat 54, and to ensure that the airflow flows through the connecting port 541.

[0052] In one embodiment, to improve the sealing performance of the valve stem 52 in the closed state, a sealing gasket 56 is provided on the top surface 521 of the valve stem 52. The sealing gasket 56 abuts against the inner top wall of the air inlet sleeve 51 to prevent air leakage from affecting the operating parameters of the negative pressure channel.

[0053] In another embodiment, the top surface 521 of the valve stem 52 has a raised sealing ring 524, which, in the closed state, seals against the inner top wall of the intake sleeve 51. Compared to planar contact, a better seal can be formed between the sealing ring 524 and the inner top wall of the intake sleeve 51.

[0054] This utility model embodiment further provides a photovoltaic cleaning robot, which includes the tracked walking device as described in any of the above embodiments. The photovoltaic cleaning robot also includes a cleaning device 100, which is disposed on the chassis frame 1 of the tracked walking device, as shown in the previous embodiment. Figure 6 As shown. In the deflated state, the airflow pushes the top surface 521 of the valve stem 52 of the tracked walking device away from the air inlet 511. The other end of the air inlet channel 50 away from the negative pressure channel is connected to the air inlet 511. In the closed state, the negative pressure formed in the negative pressure channel and the atmospheric pressure exerted on the valve stem 52 are less than the elastic force exerted on the valve stem 52 by the elastic element 53, maintaining the sealing of the negative pressure channel. As the vacuum motor 3 operates for a long time, the negative pressure in the negative pressure channel gradually increases until it reaches the preset pressure. At this time, the negative pressure formed in the negative pressure channel and the atmospheric pressure exerted on the valve stem 52 are greater than the elastic force exerted on the valve stem 52 by the elastic element 53, and the airflow can push the top surface 521 of the valve stem 52 away from the air inlet 511. After the air inlet 511 is opened, the other end of the air intake channel 50, away from the negative pressure channel, connects to the air inlet 511, allowing air to enter the negative pressure channel. Since the top surface 521 of the valve stem 52 is planar, compared to a spherical valve core, the top surface 521 increases the contact area with the airflow, thereby increasing the thrust of the airflow on the valve stem 52. This allows the valve stem 52 to move more quickly and open the air inlet 511, increasing the flow rate of air into the air inlet 511 and rapidly reducing the negative pressure in the negative pressure channel. This prevents excessive pressure at the suction hole 221 from creating travel resistance and also reduces the risk of the vacuum motor 3 overheating and malfunctioning under high pressure. When the negative pressure in the negative pressure channel decreases to a level where the force exerted on the valve stem 52 by the atmospheric pressure is less than the elastic force exerted on the valve stem 52 by the elastic element 53, the valve stem 52 re-blocks the air inlet 511, forming a closed state to ensure that the suction hole 221 can continuously adsorb the travel surface. Because the valve stem 52 moves at a high speed and changes state quickly, it improves the walking stability and working reliability of the photovoltaic cleaning robot.

[0055] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A tracked traveling device, comprising a chassis frame (1) and at least two sets of tracked traveling assemblies (2) disposed on the chassis frame (1), wherein each tracked traveling assembly (2) includes at least two wheel hubs (21) spaced apart and tracks (22) fitted onto the at least two wheel hubs (21), the tracks (22) having a plurality of suction holes (221) arranged circumferentially, the suction holes (221) being capable of adsorbing onto the traveling surface, characterized in that, The tracked walking device also includes: A vacuum motor (3) is mounted on the chassis frame (1); The suction pipe (4) is connected at one end to the vacuum motor (3) and at the other end to the track walking assembly (2). The suction pipe (4) has a negative pressure channel that connects to the suction hole (221). A vent valve (5) is provided in the suction pipe (4). The vent valve (5) includes an air inlet sleeve (51), a valve stem (52), and an elastic element (53). An air inlet (511) is provided at the top of the air inlet sleeve (51). The valve stem (52) is axially movable inside the air inlet sleeve (51). There is a gap between the inner wall of the air inlet sleeve (51) and the outer wall of the valve stem (52) to form an air inlet channel (50). One end of the air inlet channel (50) is connected to the negative pressure channel. The elastic element (53) is provided inside the air inlet sleeve (51). The elastic element (53) applies elastic force to the valve stem (52) so that the valve stem (52) always has a tendency to move towards blocking the air inlet (511). The valve stem (52) has a closed state where the top of the valve stem (511) is blocked and a venting state where the valve stem (511) is far away from the air inlet. In the venting state, the airflow pushes the top surface (521) of the valve stem (52) to move away from the air inlet (511). The other end of the air inlet channel (50) away from the negative pressure channel is connected to the air inlet (511).

2. The tracked walking device according to claim 1, characterized in that, Along the axial direction perpendicular to the valve stem (52), the cross-sectional area of ​​the air intake passage (50) is greater than or equal to the area of ​​the air intake port (511).

3. The tracked walking device according to claim 2, characterized in that, The cross-sectional area of ​​the air intake channel (50) is S1, and the area of ​​the air intake port (511) is S2, where S1:S2 = T, 1 ≤ T < 5.

4. The tracked walking device according to claim 1, characterized in that, One of the air intake sleeve (51) and the valve stem (52) is provided with a guide groove (522), and the other is provided with a guide protrusion (512). The length of the guide groove (522) extends along the axial direction of the vent valve (5), and the guide protrusion (512) is movably embedded in the guide groove (522).

5. The tracked walking device according to claim 4, characterized in that, The guide protrusion (512) is disposed on the inner wall of the air intake sleeve (51), and the guide groove (522) is opened on the outer peripheral wall of the valve stem (52). The protrusion height of the guide protrusion (512) is greater than the depth of the guide groove (522) so that there is a gap between the air intake sleeve (51) and the valve stem (52).

6. The tracked walking device according to claim 5, characterized in that, The inner wall of the air intake sleeve (51) is provided with a plurality of guide protrusions (512), and the outer peripheral wall of the valve stem (52) is provided with a plurality of guide grooves (522). The plurality of guide grooves (522) are evenly spaced along the circumferential direction of the valve stem (52), and the plurality of guide grooves (522) and the plurality of guide protrusions (512) correspond one-to-one.

7. The tracked walking device according to claim 1, characterized in that, The vent valve (5) also includes a valve seat (54), which is sealed to the end of the air inlet sleeve (51) away from the air inlet (511). The valve seat (54) has a connecting port (541) that connects to the air inlet channel (50). One end of the elastic element (53) is connected to the valve seat (54), and the other end is connected to the valve stem (52).

8. The tracked walking device according to claim 7, characterized in that, The valve stem (52) has a through cavity (523) at one end, the cavity (523) extends along the axial direction of the valve stem (52), and the elastic element (53) is connected to the bottom wall of the cavity (523). And / or, a sealing ring (55) is provided between the end face of the cylinder wall of the air intake sleeve (51) and the valve seat (54); And / or, the area of ​​the connecting port (541) is greater than or equal to the area of ​​the air inlet (511).

9. The tracked walking device according to any one of claims 1-8, characterized in that, A sealing gasket (56) is provided on the top surface (521) of the valve stem (52); And / or, the top surface (521) of the valve stem (52) has a raised sealing ring (524), which, in the closed state, seals against the inner top wall of the air intake sleeve (51).

10. A photovoltaic cleaning robot, characterized in that, Including the tracked walking device as described in any one of claims 1-9, the photovoltaic cleaning robot further includes a cleaning device (100) disposed on the chassis frame (1) of the tracked walking device.

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