High transmission photovoltaic cleaning robot

Abstract

The application relates to a high-transmission photovoltaic cleaning robot which comprises a vehicle body assembly, a walking wheel assembly, a guide wheel assembly, a rolling brush assembly and a speed reduction transmission assembly, the vehicle body assembly comprises a vehicle body, an inner gear ring and a motor; the walking wheel assembly comprises a walking wheel shaft and a walking wheel; the guide wheel assembly comprises a guide wheel shaft and a guide wheel; the rolling brush assembly comprises a rolling brush shaft; the speed reduction transmission assembly comprises an eccentric shaft, a small-tooth-difference planetary gear and an output disc, the output disc drives the walking wheel shaft to rotate, and the eccentric shaft drives the rolling brush shaft to rotate. The disclosed high-transmission photovoltaic cleaning robot has the advantages that: on one hand, one motor simultaneously drives the walking wheel shaft and the rolling brush shaft to rotate, the transmission mode is simple, the structure is compact, production cost is saved, the integration of the photovoltaic cleaning robot is improved, and on the other hand, the rolling brush shaft and the walking wheel shaft have a large speed ratio relationship, can efficiently perform cleaning work, and improve the working efficiency of the photovoltaic cleaning robot.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a high-transmission photovoltaic cleaning robot. Background Technology

[0002] With my country's development, clean energy has gradually become an important development direction, and solar energy, as a clean energy source, is highly valued. During the operation of photovoltaic power stations, dust accumulation on the photovoltaic panels significantly reduces power generation efficiency. Existing large-scale photovoltaic power stations are generally built in areas with harsh environments, where land costs are lower and sunlight conditions are better, but dust accumulation is also higher. Therefore, photovoltaic cleaning robots are designed and applied. These robots need to regularly clean dust, fallen leaves, and other stains adhering to the photovoltaic glass panels to maintain cleanliness and normal power generation efficiency. Currently, most photovoltaic cleaning robots suffer from complex transmission methods, low efficiency, high cost, large size, and low integration. Summary of the Invention

[0003] Therefore, the present invention provides a high-transmission photovoltaic cleaning robot with simple transmission method, high efficiency, low cost, small size and high integration.

[0004] To solve the above-mentioned technical problems, the present invention provides a high-transmission photovoltaic cleaning robot, comprising:

[0005] The vehicle body assembly includes a vehicle body, an internal gear ring, and a motor, wherein the internal gear ring is fixed relative to the vehicle body, and the stator of the motor is fixed relative to the vehicle body.

[0006] The walking wheel assembly includes a walking wheel axle rotatably connected to the vehicle body assembly and a walking wheel connected to the walking wheel axle, the walking wheel being used to drive the photovoltaic cleaning robot to move.

[0007] The guide wheel assembly includes a guide wheel axle rotatably connected to the vehicle body assembly and a guide wheel connected to the guide wheel axle, the guide wheel being used to guide the photovoltaic cleaning robot to move.

[0008] A roller brush assembly includes a roller brush shaft rotatably connected to the vehicle body assembly, the roller brush shaft being used to mount roller brushes for cleaning photovoltaic modules;

[0009] A speed reduction transmission assembly includes an eccentric shaft, a planetary gear with a small tooth difference, and an output disk. The eccentric shaft is driven to the rotor of the motor, and the planetary gear with a small tooth difference is driven to the eccentric shaft. The planetary gear with a small tooth difference meshes with the internal gear ring. The output disk is rotatably connected to the vehicle body assembly and is driven to the planetary gear with a small tooth difference. The output disk drives the walking wheel axle to rotate, and the eccentric shaft drives the roller brush shaft to rotate.

[0010] Furthermore, the eccentric shaft includes a first rotating shaft portion and a second rotating shaft portion located at different axial positions and relatively fixed. The central axis of the first rotating shaft portion is parallel to the central axis of the second rotating shaft portion. The outer diameter of the second rotating shaft portion is larger than the outer diameter of the first rotating shaft portion. The first rotating shaft portion is connected to the rotor of the motor and the brush shaft. The planetary gear with a small tooth difference is rotatably connected to the second rotating shaft portion.

[0011] Furthermore, the reduction transmission assembly also includes a first transmission gear and a second transmission gear, the first transmission gear being connected to the output disc, the second transmission gear being connected to the travel wheel axle, and the second transmission gear meshing with the first transmission gear.

[0012] Furthermore, the output disk also drives the guide wheel shaft to rotate.

[0013] Furthermore, the reduction transmission assembly also includes a third transmission gear and a fourth transmission gear, both of which are bevel gears. The third transmission gear is connected to the travel wheel axle, and the fourth transmission gear is connected to the guide wheel axle. The third transmission gear and the fourth transmission gear mesh with each other.

[0014] Furthermore, the reduction transmission assembly also includes a fifth transmission gear and a sixth transmission gear. The fifth transmission gear is connected to the eccentric shaft, and the sixth transmission gear is connected to the brush shaft. The fifth transmission gear and the sixth transmission gear mesh with each other.

[0015] Furthermore, the planetary gear with a small tooth difference has one less tooth than the internal gear ring.

[0016] Furthermore, the motor is an external rotor motor, the stator of the motor is located inside the rotor, the internal gear ring is connected and fixed to the stator of the motor or the internal gear ring and the stator of the motor are an integral structure, and the output disk is rotatably connected to the stator of the motor.

[0017] Furthermore, the teeth of the internal gear ring are cylindrical and cycloidal, or the teeth of the internal gear ring and the small tooth difference planetary gear are both trapezoidal, or the teeth of the internal gear ring and the small tooth difference planetary gear are both cylindrical, or the teeth of the internal gear ring and the small tooth difference planetary gear are both involute, or the teeth of the internal gear ring and the small tooth difference planetary gear are both semicircular, or the teeth of the internal gear ring and the small tooth difference planetary gear are both equidistant.

[0018] Furthermore, the vehicle body is a shell, and the reduction transmission assembly is located inside the shell.

[0019] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: The high-transmission photovoltaic cleaning robot of the present invention, on the one hand, drives the walking wheel shaft and the roller brush shaft to rotate simultaneously through a single motor, which is simple in transmission, compact in structure, saves production costs, and improves the integration of the photovoltaic cleaning robot; on the other hand, there is a large speed ratio between the roller brush shaft and the walking wheel shaft, which can perform cleaning work efficiently and improve the working efficiency of the photovoltaic cleaning robot. Attached Figure Description

[0020] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the transmission principle of the present invention;

[0022] Figure 2 This is a schematic diagram showing the connection between the vehicle body assembly and the reduction transmission assembly in the high-speed photovoltaic cleaning robot of the present invention;

[0023] Figure 3 This is a schematic diagram showing the connection between the reduction transmission component and the walking wheel axle and the roller brush shaft of the high-transmission photovoltaic cleaning robot in this invention;

[0024] Figure 4 This is a schematic diagram of the transmission between the traveling wheel axle and the guide wheel axle in this invention;

[0025] Figure 5 This is a schematic diagram showing the connection between the motor and the speed reduction transmission assembly in this invention.

[0026] Explanation of reference numerals in the accompanying drawings: 11. Car body; 12. Internal gear ring; 121. Needle roller; 13. Stator; 14. Rotor; 21. Traveling wheel axle; 22. Traveling wheel; 31. Guide wheel axle; 32. Guide wheel; 41. Brush roller shaft; 51. Eccentric shaft; 511. First rotating shaft; 512. Second rotating shaft; 52. Planetary gear with small tooth difference; 53. Output disc; 531. Pin; 54. First transmission gear; 55. Second transmission gear; 56. Third transmission gear; 57. Fourth transmission gear; 58. Fifth transmission gear; 59. Sixth transmission gear. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0028] See Figures 1 to 5 As shown, this invention provides an embodiment of a high-transmission photovoltaic cleaning robot.

[0029] The aforementioned high-transmission photovoltaic cleaning robots include:

[0030] The vehicle body assembly includes a vehicle body 11, an internal gear ring 12, and a motor, wherein the internal gear ring 12 is fixed relative to the vehicle body 11, and the stator 13 of the motor is fixed relative to the vehicle body 11.

[0031] The walking wheel assembly includes a walking wheel axle 21 rotatably connected to the vehicle body assembly and a walking wheel 22 connected to the walking wheel axle 21, wherein the walking wheel 22 is used to drive the photovoltaic cleaning robot to walk.

[0032] The guide wheel assembly includes a guide wheel shaft 31 rotatably connected to the vehicle body assembly and a guide wheel 32 connected to the guide wheel shaft 31, wherein the guide wheel 32 is used to guide the photovoltaic cleaning robot to move.

[0033] The roller brush assembly includes a roller brush shaft 41 rotatably connected to the vehicle body assembly, the roller brush shaft 41 being used to mount a roller brush for cleaning photovoltaic modules.

[0034] The speed reduction transmission assembly includes an eccentric shaft 51, a planetary gear 52 with a small tooth difference, and an output disk 53. The eccentric shaft 51 is driven to the rotor 14 of the motor. The planetary gear 52 with a small tooth difference is driven to the eccentric shaft 51 and meshes with the internal gear ring 12. The output disk 53 is rotatably connected to the vehicle body assembly and is driven to the planetary gear 52 with a small tooth difference. The output disk 53 drives the walking wheel axle 21 to rotate, and the eccentric shaft 51 drives the roller brush shaft 41 to rotate.

[0035] The vehicle body 11 serves as a mounting base, connecting the photovoltaic cleaning robot into a single unit. It can be a frame or a shell. The aforementioned walking wheels 22 contact the photovoltaic modules. When the walking wheels 22 rotate with the walking wheel axle 21, friction causes them to roll on the photovoltaic modules, thus propelling the vehicle body forward. The aforementioned guide wheels 32 also contact the photovoltaic modules. As the vehicle moves, friction causes them to roll on the photovoltaic modules. The walking wheels 22 and guide wheels 32 contact different surfaces of the photovoltaic modules, while the roller brush contacts the photovoltaic modules to clean their surfaces. Specifically, in this embodiment, the walking wheels 22 roll on the large surface of the photovoltaic modules, the guide wheels 32 roll on the side surfaces of the photovoltaic modules, and the roller brush contacts the large surface of the photovoltaic modules. The axial direction of the aforementioned traveling wheel axle 21 is consistent with the width direction of the vehicle body, the axial direction of the aforementioned guide wheel axle 31 is consistent with the height direction of the vehicle body, the axial direction of the aforementioned roller brush axle 41 is consistent with the width direction of the vehicle body, the height direction of the vehicle body is perpendicular to the large surface of the photovoltaic module, and the width direction of the vehicle body is perpendicular to the height direction of the vehicle body and perpendicular to the direction of travel of the vehicle body.

[0036] The aforementioned internal gear ring 12, eccentric shaft 51, low-tooth-difference planetary gear 52, and output disk 53 constitute a low-tooth-difference planetary gear transmission. This transmission enables speed reduction, meaning the rotational speed of the output disk 53 is less than the rotational speed of the eccentric shaft 51. Specifically, in this embodiment, the internal gear ring 12 has needle rollers 121 in its tooth grooves, which contact the low-tooth-difference planetary gear 52. The low-tooth-difference planetary gear 52 has a ring of perforated structures, and the output disk 53 has corresponding perforated structures. They are connected by pins 531. When the low-tooth-difference planetary gear 52 rotates under the drive of the eccentric shaft 51, it transmits the motion to the output disk 53 through the perforated structures connected by the pins 531. The rotor 14 of the motor drives the eccentric shaft 51 to rotate, and the eccentric shaft 51 drives the planetary gear 52 with small tooth difference to perform eccentric motion. When the planetary gear 52 with small tooth difference performs eccentric motion, it meshes with the internal gear ring 12 and transmits the motion to the output disk 53. The output disk 53 rotates, and the output disk 53 drives the walking wheel shaft 21 to rotate. The eccentric shaft 51 drives the roller brush shaft 41 to rotate.

[0037] In use, two of the aforementioned photovoltaic cleaning robots are positioned near the two side edges of the photovoltaic module. The walking wheels make rolling contact with the large surface of the photovoltaic module, while the guide wheels make rolling contact with the side edges. Then, roller brushes are attached to the roller brush shafts of the two photovoltaic cleaning robots. The two photovoltaic robots move synchronously, ensuring that the roller brushes make rolling contact with the large surface of the photovoltaic module.

[0038] Through the above technical solution, on the one hand, a single motor drives both the walking wheel axle 21 and the roller brush axle 41 to rotate simultaneously, resulting in a simple transmission method, compact structure, reduced production costs, and improved integration of the photovoltaic cleaning robot. On the other hand, the roller brush axle 41 and the walking wheel axle 21 have a large speed ratio, enabling efficient cleaning and improving the working efficiency of the photovoltaic cleaning robot.

[0039] In a preferred embodiment of this invention, the eccentric shaft 51 includes a first rotating shaft portion 511 and a second rotating shaft portion 512 located at different axial positions and relatively fixed. The central axis of the first rotating shaft portion 511 is parallel to the central axis of the second rotating shaft portion 512. The outer diameter of the second rotating shaft portion 512 is larger than the outer diameter of the first rotating shaft portion 511. The first rotating shaft portion 511 is connected to the rotor 14 of the motor and the brush shaft 41. The planetary gear 52 with a small tooth difference is rotatably connected to the second rotating shaft portion 512.

[0040] Specifically, in this embodiment, the first rotating shaft portion 511 is configured as two segments, one segment of which is connected to the rotor of the motor, and the other segment is used for transmission connection with the brush shaft. The second rotating shaft portion 512 is connected between the two segments of the first rotating shaft portion 511.

[0041] Through the above technical solution: since the structure of the eccentric shaft 51 has no weak points, the strength of the eccentric shaft 51 is more reliable.

[0042] In a preferred embodiment of this invention, the aforementioned speed reduction transmission assembly further includes a first transmission gear 54 and a second transmission gear 55. The first transmission gear 54 is connected to the output disc 53, and the second transmission gear 55 is connected to the walking wheel axle 21. The second transmission gear 55 meshes with the first transmission gear 54.

[0043] The axis of the first transmission gear 54 is parallel to the axis of the walking wheel axle 21, and the axis of the second transmission gear 55 is parallel to the axis of the walking wheel axle 21. The first transmission gear 54 and the second transmission gear 55 mesh with each other to transmit the motion of the output disc 53 to the walking wheel axle 21. By designing the transmission ratio, the first transmission gear 54 and the second transmission gear 55 can obtain the required walking wheel axle speed.

[0044] Through the above technical solution, the transmission method in which the first transmission gear 54 and the second transmission gear 55 mesh with each other has a simple and reliable transmission structure, which can reduce the size of the photovoltaic module cleaning machine to a certain extent.

[0045] In this preferred embodiment, the output disk 53 also drives the guide wheel shaft 31 to rotate.

[0046] The output disk 53 drives the walking wheel shaft 21 and the guide wheel shaft 31 to rotate simultaneously. The guide wheel 32 guides the cleaning robot and assists the cleaning robot in walking.

[0047] In a preferred embodiment of this invention, the aforementioned speed reduction transmission assembly further includes a third transmission gear 56 and a fourth transmission gear 57. Both the third transmission gear 56 and the fourth transmission gear 57 are bevel gears. The third transmission gear 56 is connected to the traveling wheel axle 21, and the fourth transmission gear 57 is connected to the guide wheel axle 31. The third transmission gear 56 and the fourth transmission gear 57 mesh with each other.

[0048] The axis of the third transmission gear 56 is parallel to the axis of the traveling wheel axle 21, and the axis of the fourth transmission gear 57 is parallel to the axis of the guide wheel axle 31. The third transmission gear 56 and the fourth transmission gear 57 mesh with each other to transmit the motion of the traveling wheel axle 21 to the guide wheel axle 31. The third transmission gear 56 and the fourth transmission gear 57 have the same number of teeth, so that the traveling wheel axle 21 and the guide wheel axle 31 rotate at the same speed.

[0049] Through the above technical solution, the transmission method in which the third transmission gear 56 and the fourth transmission gear 57 mesh with each other has a simple and reliable transmission structure, which can reduce the size of the photovoltaic module cleaning machine to a certain extent.

[0050] In a preferred embodiment of this invention, the aforementioned speed reduction transmission assembly further includes a fifth transmission gear 58 and a sixth transmission gear 59. The fifth transmission gear 58 is connected to the eccentric shaft 51, and the sixth transmission gear 59 is connected to the brush shaft 41. The fifth transmission gear 58 and the sixth transmission gear 59 mesh with each other.

[0051] The axis of the fifth transmission gear 58 is coaxial with the axis of the first rotating shaft 511, and the axis of the sixth transmission gear 59 is parallel to the axis of the roller brush shaft 41. The fifth transmission gear 58 and the sixth transmission gear 59 mesh with each other to transmit the motion of the first rotating shaft 511 to the roller brush shaft 41. By designing the transmission ratio, the fifth transmission gear 58 and the sixth transmission gear 59 can obtain the required roller brush shaft speed.

[0052] Through the above technical solution, the transmission method in which the fifth transmission gear 58 and the sixth transmission gear 59 mesh with each other has a simple and reliable transmission structure, which can reduce the size of the photovoltaic module cleaning machine to a certain extent.

[0053] In this preferred embodiment, the planetary gear 52 with a small tooth difference has one less tooth than the internal gear ring 12.

[0054] The number of teeth inside the aforementioned planetary gear 52 with a small tooth difference is one more than the number of teeth in the planetary gear 52 with a small tooth difference. Therefore, when the eccentric shaft 51 rotates once, the planetary gear 52 with a small tooth difference rotates one tooth.

[0055] In this preferred embodiment, the motor is an external rotor motor, the stator 13 of the motor is located inside the rotor 14, the internal gear ring 12 is connected and fixed to the stator 13 of the motor or the internal gear ring 12 and the stator 13 of the motor are an integral structure, and the output disk 53 is rotatably connected to the stator 13 of the motor.

[0056] When the motor is an external rotor motor, the stator of the motor is close to the reduction gear transmission assembly. Therefore, by making full use of the stator, the structure of the cleaning robot becomes simpler and more compact.

[0057] In this preferred embodiment, the teeth of the internal gear ring 12 are cylindrical and the teeth of the internal gear ring are cycloidal; or the teeth of the internal gear ring and the teeth of the planetary gear with small tooth difference are both trapezoidal; or the teeth of the internal gear ring and the teeth of the planetary gear with small tooth difference are both cylindrical; or the teeth of the internal gear ring and the teeth of the planetary gear with small tooth difference are both involute; or the teeth of the internal gear ring and the teeth of the planetary gear with small tooth difference are both semicircular; or the teeth of the internal gear ring and the teeth of the planetary gear with small tooth difference are both equidistant teeth.

[0058] The aforementioned internal gear ring 12 and the aforementioned planetary gear 52 with small tooth difference can be selected from various tooth profiles, depending on the needs.

[0059] In this preferred embodiment, the vehicle body 11 is a shell, and the speed reduction transmission assembly is disposed inside the shell.

[0060] Specifically, the following arrangement can be adopted: Part of the walking wheel axle 21 extends into the housing and part of it extends out of the housing. The walking wheel axle 21 is connected to the housing through a bearing. The walking wheel 22 is located outside the housing and is connected to the walking wheel axle 21. Part of the guide wheel axle 31 extends into the housing and part of it extends out of the housing. The guide wheel axle 31 is connected to the housing through a bearing. The guide wheel 32 is located outside the housing and is connected to the guide wheel axle 31. Part of the roller brush axle 41 extends into the housing and part of it extends out of the housing. The roller brush axle 41 is connected to the housing through a bearing. The roller brush is located outside the housing and is connected to the roller brush axle 41. The entire reduction transmission assembly is located inside the housing. A sealing ring is also provided between the walking wheel axle 21, the guide wheel axle 31, and the roller brush axle 41 and the housing to ensure that the inside of the housing is not easily contaminated.

[0061] The transmission principle of this invention is as follows: the motor drives the eccentric shaft 51, the eccentric shaft 51 drives the planetary gear 52 with a small tooth difference to rotate, the planetary gear 52 with a small tooth difference drives the first transmission gear 54 to rotate, thereby driving the walking wheel shaft 21 to rotate through the second transmission gear 55, and then driving the guide wheel shaft 31 to rotate through the meshing of the third transmission gear 56 and the fourth transmission gear 57. At the same time, the eccentric shaft 51 drives the roller brush shaft 41 to rotate through the meshing of the fifth transmission gear 58 and the sixth transmission gear 59.

[0062] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A high-transmission photovoltaic cleaning robot, characterized in that, include: The vehicle body assembly includes a vehicle body, an internal gear ring, and a motor, wherein the internal gear ring is fixed relative to the vehicle body, and the stator of the motor is fixed relative to the vehicle body. The walking wheel assembly includes a walking wheel axle rotatably connected to the vehicle body assembly and a walking wheel connected to the walking wheel axle, the walking wheel being used to drive the photovoltaic cleaning robot to move; The guide wheel assembly includes a guide wheel axle rotatably connected to the vehicle body assembly and a guide wheel connected to the guide wheel axle, the guide wheel being used to guide the photovoltaic cleaning robot to move. A roller brush assembly includes a roller brush shaft rotatably connected to the vehicle body assembly, the roller brush shaft being used to mount roller brushes for cleaning photovoltaic modules; The speed reduction transmission assembly includes an eccentric shaft, a planetary gear with a small tooth difference, and an output disk. The eccentric shaft is driven to the rotor of the motor, the planetary gear with a small tooth difference is driven to the eccentric shaft, and the planetary gear with a small tooth difference meshes with the internal gear ring. The output disk is rotatably connected to the vehicle body assembly and is driven to the planetary gear with a small tooth difference. The output disk drives the travel wheel shaft and the guide wheel shaft to rotate, and the eccentric shaft drives the roller brush shaft to rotate. The eccentric shaft includes a first rotating shaft portion and a second rotating shaft portion located at different axial positions and relatively fixed. The central axis of the first rotating shaft portion and the central axis of the second rotating shaft portion are parallel to each other. The outer diameter of the second rotating shaft portion is larger than the outer diameter of the first rotating shaft portion. The first rotating shaft portion is connected to the rotor of the motor and the brush shaft. The planetary gear with small tooth difference is rotatably connected to the second rotating shaft portion. The planetary gear with a small tooth difference has one less tooth than the internal gear ring; The motor is an external rotor motor, the stator of the motor is located inside the rotor, the internal gear ring is connected and fixed to the stator of the motor or the internal gear ring and the stator of the motor are an integral structure, and the output disk is rotatably connected to the stator of the motor.

2. The high-transmission photovoltaic cleaning robot according to claim 1, characterized in that, The speed reduction transmission assembly further includes a first transmission gear and a second transmission gear. The first transmission gear is connected to the output disc, and the second transmission gear is connected to the walking wheel axle. The second transmission gear meshes with the first transmission gear.

3. The high-transmission photovoltaic cleaning robot according to claim 1, characterized in that, The speed reduction transmission assembly further includes a third transmission gear and a fourth transmission gear, both of which are bevel gears. The third transmission gear is driven to the walking wheel axle, and the fourth transmission gear is driven to the guide wheel axle. The third transmission gear and the fourth transmission gear mesh with each other.

4. The high-transmission photovoltaic cleaning robot according to claim 1, characterized in that, The speed reduction transmission assembly further includes a fifth transmission gear and a sixth transmission gear. The fifth transmission gear is connected to the eccentric shaft, and the sixth transmission gear is connected to the brush shaft. The fifth transmission gear and the sixth transmission gear mesh with each other.

5. The high-transmission photovoltaic cleaning robot according to claim 1, characterized in that, The teeth of the internal gear ring are cylindrical and cycloidal, or the teeth of the internal gear ring and the small tooth difference planetary gear are both trapezoidal, or the teeth of the internal gear ring and the small tooth difference planetary gear are both cylindrical, or the teeth of the internal gear ring and the small tooth difference planetary gear are both involute, or the teeth of the internal gear ring and the small tooth difference planetary gear are both semicircular, or the teeth of the internal gear ring and the small tooth difference planetary gear are both equidistant.

6. The high-transmission photovoltaic cleaning robot according to claim 1, characterized in that, The vehicle body is a shell, and the reduction gear assembly is located inside the shell.

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