A walking mechanism and a photovoltaic cleaning robot

Abstract

This application discloses a walking mechanism and a photovoltaic cleaning robot, relating to the field of photovoltaic technology. The mechanism includes a drive motor, a first transmission assembly, and a walking assembly. The first transmission assembly includes a housing connected to the drive motor and a right-angle transmission unit located within the housing. The right-angle transmission unit includes a first transmission shaft and a second transmission shaft arranged perpendicularly to each other, connected via a first bevel gear set. The drive motor is connected to one of the first and second transmission shafts. The walking assembly is connected to a second transmission shaft, which drives the walking assembly to move on a support surface. The walking mechanism provided in this application, with the right-angle transmission unit connecting the drive motor and the walking assembly respectively, has a simpler and more stable structure. Furthermore, placing the right-angle transmission unit within the housing provides better sealing and protection, thus achieving a lightweight walking mechanism while ensuring the stability of the photovoltaic cleaning robot's operation.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and more specifically, to a walking mechanism and a photovoltaic cleaning robot. Background Technology

[0002] Because photovoltaic cleaning robots are used outdoors, they require high stability. In addition, the weight bearing capacity of photovoltaic modules is limited, which places high demands on the weight of the photovoltaic cleaning robot running on the photovoltaic modules. This makes it necessary for the walking mechanism of the photovoltaic cleaning robot to be lightweight to meet the weight bearing requirements of the photovoltaic modules.

[0003] Therefore, how to achieve lightweight walking mechanism while ensuring the stability of photovoltaic cleaning robot operation has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a walking mechanism that can achieve lightweight walking mechanism while ensuring the stability of photovoltaic cleaning robot operation.

[0005] Another objective of this application is to provide a photovoltaic cleaning robot having the aforementioned walking mechanism.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A walking mechanism, comprising:

[0008] Drive motor;

[0009] The first transmission assembly includes a housing that can be connected to the drive motor and a right-angle transmission unit located within the housing. The right-angle transmission unit includes a first transmission shaft and a second transmission shaft that are perpendicular to each other, and the first transmission shaft and the second transmission shaft are connected by a first bevel gear set. The drive motor is connected to one of the first transmission shaft and the second transmission shaft.

[0010] A walking assembly is connected to a second drive shaft, which can drive the walking assembly to move on a support surface.

[0011] Optionally, in the above-mentioned walking mechanism, the first bevel gear set includes first bevel teeth located on the first drive shaft and the second drive shaft respectively, the first drive shaft and the second drive shaft are connected by the first bevel teeth, and the first bevel teeth are fixed in the housing by the first bearing.

[0012] Optionally, in the above-mentioned walking mechanism, the walking component includes a limiting wheel and a walking wheel arranged perpendicularly to each other. The limiting wheel is connected to the second transmission shaft through a second transmission component, and the walking wheel is connected to the second transmission shaft so that the second transmission shaft drives the limiting wheel and the walking wheel to rotate synchronously.

[0013] Optionally, in the above-mentioned walking mechanism, the second transmission component includes a third transmission shaft and a second bevel gear set, one end of the third transmission shaft is connected to the second transmission shaft through the second bevel gear set, and the other end of the third transmission shaft is connected to the limiting wheel.

[0014] Optionally, in the above-mentioned walking mechanism, the second bevel gear set includes second bevel teeth located on the second drive shaft and the third drive shaft respectively. The second drive shaft and the third drive shaft are connected by the second bevel teeth, and the second bevel teeth are fixed in the housing by a second bearing. A seal is provided on the side of the second bearing away from the second bevel teeth.

[0015] Optionally, in the above-mentioned walking mechanism, there are two first transmission components, and the housing of one of the first transmission components is connected to the drive motor, and the housing of the other first transmission component is connected to the drive motor through a flange; or, the housing of one of the first transmission components is connected to the drive motor, and the housing of the first transmission component is connected to the housing of the other first transmission component through the flange; the walking component is adapted to the first transmission component.

[0016] Optionally, in the above-described walking mechanism, the first drive shafts of the two first transmission components are connected by a bushing to enable the two walking components to rotate synchronously.

[0017] Optionally, in the above-described walking mechanism, the two first transmission components share one first transmission shaft.

[0018] Optionally, in the above-described walking mechanism, the drive motor has a hollow output shaft, which is sleeved on the outside of the first transmission shaft and connected to the first transmission shaft via a key; or,

[0019] The output shaft of the drive motor is connected to the end of the second transmission shaft away from the walking component.

[0020] A photovoltaic cleaning robot includes a walking mechanism as described in any of the preceding claims.

[0021] The walking mechanism provided in this application is connected to one of the first and second transmission shafts of a right-angle transmission unit via a drive motor. The walking component is connected to the second transmission shaft, and the first and second transmission shafts are connected via a first bevel gear set. This allows the drive motor to rotate the first transmission shaft, and the second transmission shaft to move the walking component on the support surface. Furthermore, the right-angle transmission unit can be located within the housing of the first transmission component, providing better sealing and protection, and improving the protection against impurities and wind. As can be seen from the above example, the walking mechanism provided in this application, where the drive motor is connected to the walking component via a right-angle transmission unit, has a simpler and more stable structure compared to chain or belt drives. Simultaneously, placing the right-angle transmission unit within the housing provides better sealing and protection, thus achieving a lightweight walking mechanism while ensuring the stability of the photovoltaic cleaning robot's operation.

[0022] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 An isometric view of the walking mechanism provided in Embodiment 1 of this application;

[0025] Figure 2 A front view of the walking mechanism provided in Embodiment 1 of this application;

[0026] Figure 3 Provided for Embodiment 1 of this application Figure 2 Sectional view of AA in the middle;

[0027] Figure 4 This is a side view of the walking mechanism provided in Embodiment 1 of this application;

[0028] Figure 5 This is a top view of the walking mechanism provided in Embodiment 1 of this application;

[0029] Figure 6 Provided for Embodiment 1 of this application Figure 5 Cross-sectional view of the middle section (BB);

[0030] Figure 7 Provided for Embodiment 1 of this application Figure 5 CC section view;

[0031] Figure 8 An isometric view of the right-angle transmission unit provided in Embodiment 1 of this application;

[0032] Figure 9 This is a front view of the right-angle transmission unit provided in Embodiment 1 of this application;

[0033] Figure 10 Provided for Embodiment 1 of this application Figure 9 DD cross-section view in the middle;

[0034] Figure 11 Provided for Embodiment 1 of this application Figure 9 EE cross-section diagram;

[0035] Figure 12 This is a top view of the right-angle transmission unit provided in Embodiment 1 of this application;

[0036] Figure 13 This is an isometric view of the walking mechanism provided in Embodiment 2 of this application;

[0037] Figure 14 This is a front view of the walking mechanism provided in Embodiment 2 of this application;

[0038] Figure 15 Provided for Embodiment 2 of this application Figure 15 AA section view in the middle;

[0039] Figure 16 Provided for Embodiment 2 of this application Figure 15 BB cross-section diagram in the middle;

[0040] Figure 17 This is a top view of the walking mechanism provided in Embodiment 2 of this application;

[0041] Figure 18 This is a first-view assembly diagram of the photovoltaic cleaning robot provided in an embodiment of this application;

[0042] Figure 19 This is a second-view assembly diagram of the photovoltaic cleaning robot provided in the embodiments of this application;

[0043] Figure 20 This is a third-view assembly diagram of the photovoltaic cleaning robot provided in the embodiments of this application.

[0044] Wherein, 100 is the walking mechanism, 10 is the drive motor, 20 is the first transmission component, 30 is the walking component, and 40 is the second transmission component;

[0045] 11 is a hollow output shaft, and 12 is an output shaft;

[0046] 21 is the housing, 22 is the right-angle transmission unit, 221 is the first transmission shaft, 2211 is the bushing, 222 is the second transmission shaft, 223 is the first bevel gear set, 2231 is the first bevel gear, 2232 is the first bearing, and 23 is the flange.

[0047] 31 is the limit wheel, and 32 is the travel wheel;

[0048] 41 is the third drive shaft, 42 is the second bevel gear set, 421 is the second bevel gear, 422 is the second bearing, and 423 is the seal.

[0049] 200 is the photovoltaic cleaning robot, 201 is the cleaning mechanism, 202 is the self-charging mechanism, and 203 is the control module;

[0050] 300 refers to photovoltaic modules. Detailed Implementation

[0051] The core of this application lies in providing a self-locking electrical connection structure to ensure the stability of the operation of the photovoltaic cleaning robot while achieving a lightweight walking mechanism.

[0052] Another core aspect of this application is to provide a high-voltage switchgear having the aforementioned self-locking electrical connection structure.

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] like Figures 18 to 20 As shown, the dry-hanging photovoltaic cleaning robot 200 is a special cleaning device used to clean the surface of photovoltaic modules 300. It generally consists of a walking mechanism 100, a cleaning mechanism 201, a self-charging mechanism 202, and a control module 203. It uses the frame of the photovoltaic module 300 as the track for the movement of the photovoltaic cleaning robot 200. The walking mechanism 100 and the cleaning mechanism 201 move back and forth on the surface of the photovoltaic module 300 to achieve the purpose of cleaning.

[0055] Since the photovoltaic cleaning robot 200 is usually used outdoors, there are high requirements for its stability. In addition, the photovoltaic module 300 has a limited weight bearing capacity, which places high demands on the weight of the photovoltaic cleaning robot 200 running on the photovoltaic module 300. This makes it necessary for the walking mechanism 100 of the photovoltaic cleaning robot 200 to be lightweight to meet the weight bearing requirements of the photovoltaic module 300.

[0056] Therefore, such as Figure 1 As shown in the figure, this application discloses a walking mechanism 100 including a drive motor 10, a first transmission assembly 20, and a walking assembly 30. The drive motor 10 is connected to the walking assembly 30 through the right-angle transmission unit 22 of the first transmission assembly 20. Compared with chain or belt transmission, the structure is simpler and more stable. At the same time, the right-angle transmission unit 22 is set inside the housing 21, which can play a better sealing and protection role, thereby achieving the lightweight of the walking mechanism 100 while ensuring the stability of the photovoltaic cleaning robot operation.

[0057] The following will combine Figures 1 to 17 The walking mechanism 100 disclosed in the embodiments of this application will be explained and described in detail.

[0058] like Figure 1 and Figure 3 As shown, the first transmission assembly 20 may include a housing 21 and a right-angle transmission unit 22 located within the housing 21. The housing 21 can be connected to the drive motor 10 via bolts or other fasteners. The housing 21 also has mounting holes for easy connection to the photovoltaic cleaning robot 200, allowing the walking mechanism 100 to be directly mounted onto the photovoltaic cleaning robot 200 using bolts or other fasteners. This reduces redundant support design and results in a more compact structure. Furthermore, the walking mechanism 100 adopts a modular design, allowing for assembly and replacement as a whole powertrain of the photovoltaic cleaning robot 200, reducing installation and maintenance labor costs. Additionally, the right-angle transmission unit 22, located within the housing 21, provides better sealing and protection, improving impurity and wind resistance.

[0059] like Figure 3 As shown, the right-angle transmission unit 22 may include a first transmission shaft 221 and a second transmission shaft 222 arranged perpendicularly to each other. The first transmission shaft 221 and the second transmission shaft 222 are connected by a first bevel gear set 223, and the walking component 30 can be connected to the second transmission shaft 222. The drive motor 10 can be connected to either the first transmission shaft 221 or the second transmission shaft 222, so that the drive motor 10 drives the walking component 30 to rotate via the second transmission shaft 222, thereby achieving movement on the support surface. Figure 3As shown, the drive motor 10 can be connected to the first drive shaft 221, and the first drive shaft 221 and the second drive shaft 222 are driven by the first bevel gear set 223, thereby driving the second drive shaft 222 to rotate, and in turn driving the walking assembly 30 to rotate. Figure 16 As shown, the drive motor 10 is connected to the second drive shaft 222, causing the second drive shaft 222 to rotate, which in turn drives the walking assembly 30 to rotate. It should be noted that in the above embodiment, the supporting surface can be the surface of the photovoltaic module or other planes that can support the walking mechanism 100.

[0060] In some embodiments, such as Figure 1 As shown, there can be two first transmission components 20, and the walking component 30 is adapted to the first transmission component 20, that is, each first transmission component 20 corresponds to one walking component 30. Furthermore, the housing 21 of one first transmission component 20 is connected to the drive motor 10, and the housing 21 of the other first transmission component 20 is connected to the drive motor 10 via a flange 23. Meanwhile, as... Figure 3 As shown, the drive motor 10 may have a hollow output shaft 11. The hollow output shaft 11 of the drive motor 10 is sleeved on the outside of the first transmission shaft 221 and is connected to the first transmission shaft 221 via a flat key. One end of the first transmission shaft 221 is connected to the second transmission shaft 222 via a first bevel gear set 223. The other end of the first transmission shaft 221 is connected to the first transmission shaft 221 of another first transmission component 20 via a bushing 2211. This enables the drive motor 10 to simultaneously drive the right-angle transmission units 22 of the two first transmission components 20 to rotate, and the right-angle transmission units 22 of the two first transmission components 20 drive the two walking components 30 to rotate synchronously.

[0061] Of course, such as Figure 13 As shown, the housing 21 of one of the first transmission components 20 can be connected to the drive motor 10, and the housing 21 of the first transmission component 20 can also be connected to the housing 21 of another first transmission component 20 via a flange 23. At this time, as... Figure 16 As shown, the output shaft 12 of the drive motor 10 can be connected to the end of the second transmission shaft 222 away from the walking assembly 30, and simultaneously... Figure 15 As shown, the first transmission shafts 221 of the two first transmission components 20 can be connected by bushings 2211, thereby enabling the right-angle transmission units 22 of the two first transmission components 20 to rotate simultaneously by the drive motor 10, and the right-angle transmission units 22 of the two first transmission components 20 to drive the two walking components 30 to rotate synchronously.

[0062] In some embodiments, when the output shaft 12 of the drive motor 10 is connected to the end of the second transmission shaft 222 away from the walking component 30, the two first transmission components 20 can also share a first transmission shaft 221, thereby enabling the drive motor 10 to simultaneously drive the right-angle transmission units 22 of the two first transmission components 20 to rotate, and the right-angle transmission units 22 of the two first transmission components 20 to drive the two walking components 30 to rotate synchronously.

[0063] In some embodiments, such as Figure 3 , Figure 7 and Figure 15 As shown, the first bevel gear set 223 may include first bevel teeth 2231 located on the first drive shaft 221 and the second drive shaft 222 respectively, and as... Figure 11 As shown, the first drive shaft 221 and the second drive shaft 222 are connected by a first bevel gear 2231. Specifically, the two first bevel gears 2231 can be fixed by interference fit with the first drive shaft 221 and the second drive shaft 222, respectively. Simultaneously, the first bevel gears 2231 mesh with the first drive shaft 221 and the second drive shaft 222, thereby transmitting the torque of the drive motor 10. Furthermore, first bearings 2232 are respectively fitted onto the first drive shaft 221 and the second drive shaft 222, and the first bearings 2232 are fixed inside the housing 21. The first bearings 2232 limit the movement of the first drive shaft 221, the second drive shaft 222, and the first bevel gear 2231, ensuring the stability of the right-angle transmission unit 22.

[0064] In some embodiments, such as Figure 3 As shown, the first bevel teeth 2231 on the second drive shafts 222 of the two first transmission components 20 are located on different sides of the first bevel teeth 2231 on the first drive shaft 221, that is, the first bevel teeth 2231 on the second drive shafts 222 of the two first transmission components 20 are located on both sides of the first bevel teeth 2231 on the first drive shaft 221, thereby making the torque distribution more uniform and ensuring the stability of the walking mechanism 100.

[0065] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the walking component 30 may include a limiting wheel 31 and a walking wheel 32 arranged perpendicularly to each other. The limiting wheel 31 can abut against the side wall of the supporting surface such as the photovoltaic module 300, thereby limiting the cleaning path of the photovoltaic cleaning robot 200 and preventing the photovoltaic cleaning robot 200 from deviating during cleaning. Simultaneously, the walking wheel 32 can contact the supporting surface such as the photovoltaic module 300 to drive the photovoltaic cleaning robot 200 to move on the supporting surface such as the photovoltaic module 300. Figure 6 , Figure 7 and Figure 10As shown, the limiting wheel 31 can be connected to the second transmission shaft 222 via the second transmission assembly 40, and the walking wheel 32 is connected to the second transmission shaft 222, so that the second transmission shaft 222 drives the limiting wheel 31 and the walking wheel 32 to rotate synchronously, so that both the limiting wheel 31 and the walking wheel 32 have rotational power, enabling the photovoltaic cleaning robot 200 to easily overcome small obstacles when it encounters them on the running side of the limiting wheel 31.

[0066] In some embodiments, such as Figure 6 , Figure 7 and Figure 10 As shown, the second transmission assembly 40 may include a third transmission shaft 41 and a second bevel gear set 42. One end of the third transmission shaft 41 is connected to the second transmission shaft 222 via the second bevel gear set 42, while the other end of the third transmission shaft 41 is connected to the limiting wheel 31. This allows the second transmission shaft 222 to drive the third transmission shaft 41 to rotate, thereby driving the limiting wheel 31 to rotate synchronously.

[0067] In some embodiments, such as Figure 6 , Figure 7 and Figure 10 As shown, the second bevel gear set 42 may include second bevel teeth 421 located on the second drive shaft 222 and the third drive shaft 41, respectively. The second drive shaft 222 and the third drive shaft 41 are connected by the second bevel teeth 421, that is, the second bevel teeth 421 can be fixedly connected to the second drive shaft 222 and the third drive shaft 41 by interference fit. At the same time, the second bevel teeth 421 on the second drive shaft 222 and the third drive shaft 41 mesh, thereby enabling the second drive shaft 222 to drive the third drive shaft 41 to rotate, and in turn, drive the limiting wheel 31 to rotate. Meanwhile, second bearings 422 are respectively sleeved on the second drive shaft 222 and the third drive shaft 41, and the second bearings 422 are fixed in the housing 21 to limit the second drive shaft 222, the third drive shaft 41 and the second bevel teeth 421, so as to ensure the stability of power transmission between the second drive shaft 222 and the third drive shaft 41. Furthermore, a seal 423 may be provided on the side of the second bearing 422 away from the second bevel tooth 421 to achieve a sealing effect inside the housing 21 and prevent impurities from entering the housing 21. It should be noted that the seal 423 may be a rubber gasket or the like.

[0068] It should be noted that in this application, the first bevel tooth 2231 and the second bevel tooth 421 can also be connected to the first drive shaft 221, the second drive shaft 222 and the third drive shaft 41 by splines, and be axially limited and fixed by snap rings, or a combination of interference fit and the above connection methods can be used, that is, a partial interference fit and a partial spline and snap ring connection method. This is not limited here.

[0069] The walking mechanism 100 disclosed in this application is connected to one of the first drive shaft 221 and the second drive shaft 222 of the right-angle transmission unit 22 via a drive motor 10. The walking component 30 is connected to the second drive shaft 222. Simultaneously, the first drive shaft 221 and the second drive shaft 222 are connected via a first bevel gear set 223. This allows the drive motor 10 to drive the first drive shaft 221 to rotate, and the second drive shaft 222 to drive the walking component 30 to move on the support surface. Furthermore, the right-angle transmission unit 22 can be located within the housing 21 of the first transmission component 20, providing better sealing and protection, and improving the protection against impurities and wind.

[0070] The walking mechanism 100 disclosed in this application embodiment is driven by a motor 10 connected to the walking component 30 via a right-angle transmission unit 22. Compared with chain or belt transmission, the structure is simpler and more stable. At the same time, the right-angle transmission unit 22 is set inside the housing 21, which can play a better sealing and protection role, thereby achieving the lightweighting of the walking mechanism 100 while ensuring the stability of the photovoltaic cleaning robot operation.

[0071] like Figures 18 to 20 As shown in the illustration, this application also discloses a photovoltaic cleaning robot, which may include a walking mechanism 100, a cleaning mechanism 201, a self-charging mechanism 202, and a control module 203. The walking mechanism 100 is the same as the walking mechanism 100 disclosed in the above embodiments, and therefore possesses all the technical effects of the aforementioned walking mechanism 100, which will not be repeated here. The frame of the photovoltaic module 300 serves as the track for the photovoltaic cleaning robot 200. The walking mechanism 100 and the cleaning mechanism 201 move back and forth on the surface of the photovoltaic module 300, thereby achieving the purpose of cleaning the photovoltaic module 300.

[0072] The terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units may include steps or units not listed, but rather not listed.

[0073] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A walking mechanism, characterized in that, include: Drive motor (10); A first transmission assembly (20) includes a housing (21) that can be connected to the drive motor (10) and a right-angle transmission unit (22) located within the housing (21). The right-angle transmission unit (22) includes a first transmission shaft (221) and a second transmission shaft (222) that are perpendicular to each other. The first transmission shaft (221) and the second transmission shaft (222) are connected by a first bevel gear set (223). The drive motor (10) is connected by a drive shaft to one of the first transmission shaft (221) and the second transmission shaft (222). The walking assembly (30) is connected to the second drive shaft (222), which can drive the walking assembly (30) to move on the support surface.

2. The walking mechanism according to claim 1, characterized in that, The first bevel gear set (223) includes a first bevel tooth (2231) located on the first drive shaft (221) and the second drive shaft (222) respectively. The first drive shaft (221) and the second drive shaft (222) are connected by the first bevel tooth (2231), and the first bevel tooth (2231) is fixed in the housing (21) by the first bearing (2232).

3. The walking mechanism according to claim 1, characterized in that, The walking assembly (30) includes a limiting wheel (31) and a walking wheel (32) arranged perpendicularly to each other. The limiting wheel (31) is connected to the second transmission shaft (222) via the second transmission assembly (40). The walking wheel (32) is connected to the second transmission shaft (222) so that the second transmission shaft (222) drives the limiting wheel (31) and the walking wheel (32) to rotate synchronously.

4. The walking mechanism according to claim 3, characterized in that, The second transmission assembly (40) includes a third transmission shaft (41) and a second bevel gear set (42). One end of the third transmission shaft (41) is connected to the second transmission shaft (222) via the second bevel gear set (42), and the other end of the third transmission shaft (41) is connected to the limiting wheel (31).

5. The walking mechanism according to claim 4, characterized in that, The second bevel gear set (42) includes a second bevel tooth (421) located on the second drive shaft (222) and the third drive shaft (41) respectively. The second drive shaft (222) and the third drive shaft (41) are connected by the second bevel tooth (421) and the second bevel tooth (421) is fixed in the housing (21) by the second bearing (422). A seal (423) is provided on the side of the second bearing (422) away from the second bevel tooth (421).

6. The walking mechanism according to claim 1, characterized in that, There are two first transmission components (20), and the housing (21) of one of the first transmission components (20) is connected to the drive motor (10), and the housing (21) of the other first transmission component (20) is connected to the drive motor (10) through a flange (23), or, the housing (21) of one of the first transmission components (20) is connected to the drive motor (10), and the housing (21) of the first transmission component (20) and the housing (21) of the other first transmission component (20) are connected through the flange (23); the walking component (30) is adapted to the first transmission component (20).

7. The walking mechanism according to claim 6, characterized in that, The first drive shafts (221) of the two first drive components (20) are connected by bushings (2211) so that the two walking components (30) rotate synchronously.

8. The walking mechanism according to claim 6, characterized in that, The two first transmission components (20) share a first transmission shaft (221).

9. The walking mechanism according to any one of claims 1 to 8, characterized in that, The drive motor (10) has a hollow output shaft (11), which is sleeved on the outside of the first transmission shaft (221) and connected to the first transmission shaft (221) via a key; or, The output shaft (12) of the drive motor (10) is connected to the end of the second transmission shaft (222) away from the walking assembly (30).

10. A photovoltaic cleaning robot, characterized in that, Includes the walking mechanism (100) as described in any one of claims 1 to 9.

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