Transmission structure of cleaning robot

Abstract

A transmission structure of a cleaning robot, the cleaning robot comprising an upper end assembly corresponding to the upper end of a photovoltaic panel, the upper end assembly comprising a walking driving shaft, a walking driven shaft and a cleaning roller driving shaft; the transmission structure comprising a driving gear, a driven gear, a linkage gear and a power isolation sleeve, the driving gear being fixed to the walking driving shaft, the driven gear being fixed to the walking driven shaft, the power isolation sleeve comprising an inner sleeve body and an outer sleeve body with coinciding axes, the inner sleeve body being fixed to the cleaning roller driving shaft, the outer sleeve body being able to rotate around the cleaning roller driving shaft, the linkage gear being fixed to the outer sleeve body and being in transmission connection with the driving gear and the driven gear. The linkage gear is substantially in the middle of the space between the driving gear and the driven gear, does not extend out of the space, and the walking wheel and the cleaning roller do not interfere with each other, and the rotation direction of the cleaning roller can be switched as needed without being limited by the walking direction.

Description

Technical Field

[0001] This invention relates to a cleaning robot for photovoltaic power plants, and more specifically, to a transmission structure for a cleaning robot. Background Technology

[0002] Some existing cleaning robots include an upper component corresponding to the upper edge of the photovoltaic panel, a lower component corresponding to the lower edge of the photovoltaic panel, and a cleaning roller between the upper and lower components. The upper and lower components are equipped with wheels. When working, the wheels move on the upper and lower edges of the photovoltaic panel, driving the cleaning robot to pass through the photovoltaic panel. During this process, the cleaning roller works to automatically clean the photovoltaic panel.

[0003] The upper and lower components each include a front and a rear walking wheel. One of these wheels is connected to a walking motor and is called the driving wheel. The other wheel is driven by the driving wheel through a transmission structure and is called the driven wheel. Some existing cleaning robots use belt drives, which suffer from drawbacks such as easy belt stretching, rapid wear of the belt teeth, and high maintenance costs. Other cleaning robots use gear drives, which include a driving gear, a driven gear, and a linkage gear. The driving gear is located on the driving shaft, and the driven gear is located on the driven shaft. The driving gear transmits power to the driven gear through the linkage gear. Depending on the installation position of the linkage gear, this gear drive structure is divided into two types: one where the linkage gear is located on the cleaning roller driving shaft, and the other where it is not. In the former case, the cleaning roller and the walking wheel interfere with each other, while the latter has the drawback of occupying a large amount of space. Overall, it is necessary to optimize the transmission structure of cleaning robots. Summary of the Invention

[0004] In view of this, the present invention provides a transmission structure for a cleaning robot.

[0005] According to the present invention, a transmission structure for a cleaning robot is provided, wherein the cleaning robot includes an upper component corresponding to the upper edge of a photovoltaic panel, and the upper component includes a walking drive shaft, a walking driven shaft, and a cleaning roller drive shaft;

[0006] The transmission structure includes a drive gear, a driven gear, a linkage gear, and a power isolation sleeve. The drive gear is fixed to the drive shaft, the driven gear is fixed to the driven shaft, and the power isolation sleeve includes an inner sleeve and an outer sleeve with overlapping axes. The inner sleeve is fixed to the drive shaft of the sweeping roller, and the outer sleeve can rotate around the drive shaft of the sweeping roller. The linkage gear is fixed to the outer sleeve and is connected to the drive gear and the driven gear in a transmission manner.

[0007] In some embodiments, an intermediate gear is connected between the linkage gear and the driving gear, and an intermediate gear is connected between the linkage gear and the driven gear.

[0008] In some embodiments, the upper component includes an upper plate and a cover plate. The upper plate includes an annular wall panel. The traveling drive shaft, the traveling driven shaft, and the cleaning roller drive shaft pass through the upper plate and are disposed within the installation space formed by the annular wall panel. The cover plate is disposed at the opening of the installation space.

[0009] In some embodiments, the drive shaft includes a first end portion away from the drive wheel, the first end portion includes a first shaft hole, the center line of the first shaft hole coincides with the center line of the drive shaft, the first end portion is disposed through the cover plate, the drive motor is mounted on the side of the cover plate away from the upper end plate, and the shaft of the drive motor is inserted into the first shaft hole.

[0010] The sweeping roller drive shaft includes a second end away from the sweeping roller. The second end includes a second shaft hole. The center line of the second shaft hole coincides with the center line of the sweeping roller drive shaft. The second end is disposed through the cover plate. The sweeping motor is installed on the side of the cover plate away from the upper end plate. The rotating shaft of the sweeping motor is inserted into the second shaft hole.

[0011] In some embodiments, the sweeping roller drive shaft includes a sweeping roller connecting shaft and a sweeping motor connecting shaft that are aligned and interlocked. The sweeping roller connecting shaft is rotatably connected to the upper end plate, and the sweeping motor connecting shaft is rotatably connected to the cover plate.

[0012] In some embodiments, a bearing is provided between the cleaning roller connecting shaft and the upper end plate, and a dust baffle is provided at the end of the upper end plate corresponding to the bearing.

[0013] In some embodiments, the wall panel is provided with a secondary wheel shaft corresponding to the driving shaft and the driven shaft, respectively. The secondary wheel shaft is set at an angle to the corresponding driving shaft or driven shaft and is connected by a bevel gear.

[0014] In some embodiments, the cover plate includes a first sub-plate corresponding to the driving gear, a second sub-plate corresponding to the linkage gear, and a third sub-plate opposite to the driven gear, each sub-plate being independent of the others.

[0015] In some embodiments, the power isolation sleeve consists of multiple bearings connected in series.

[0016] In some embodiments, the drive shaft of the cleaning roller is provided with a connecting hole that radially penetrates the end of the cleaning roller.

[0017] In some embodiments, the sweeping roller drive shaft is provided with a tapered guide at the end of the sweeping roller, and the diameter of the tapered guide gradually decreases along the direction close to the sweeping roller.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects:

[0019] Compared to belt drive structures, this cleaning robot uses a gear-based transmission structure, which improves the synchronization between the driven and driven wheels, resulting in smoother movement, less wear, and a longer maintenance cycle.

[0020] Compared to existing gear transmission structures, this application sets the linkage gear and the sweeping roller coaxially and provides a power isolation sleeve. The power isolation sleeve includes an inner sleeve and an outer sleeve with overlapping axes. The inner sleeve is fixed to the drive shaft of the sweeping roller, and the outer sleeve can rotate around the drive shaft of the sweeping roller. The linkage gear is fixed to the outer sleeve and is connected to the drive gear and the driven gear. This ensures that the linkage gear is approximately in the middle of the space between the drive gear and the driven gear and does not extend out of the space. Moreover, the traveling wheel and the sweeping roller do not interfere with each other, and the rotation direction of the sweeping roller can be switched as needed without being restricted by the traveling direction. Attached Figure Description

[0021] Figure 1 This is a structural diagram of a cleaning robot;

[0022] Figure 2 This is a schematic diagram of the upper component.

[0023] Figure 3 This is a schematic diagram of the transmission structure;

[0024] Figure 4 This is a diagram showing the state after the cover plate and the upper end plate have separated.

[0025] Figure 5 This is a diagram showing the state after the cover plate and the upper end plate are joined together;

[0026] Figure 6 This is a diagram showing the state after the motor is installed;

[0027] Figure 7 This is a schematic diagram of the structure of the cleaning roller drive shaft;

[0028] Figure 8 This is an exploded view of the sweeping roller drive shaft;

[0029] Figure 9 This is a schematic diagram of a dust baffle.

[0030] Figure 10 This is a schematic diagram showing the combination of the driving shaft, driven shaft, auxiliary wheel shaft, and auxiliary traveling wheel;

[0031] Figure 11This is a schematic diagram showing the connection between the auxiliary wheel axle and the wall panel;

[0032] Figure label:

[0033] 100. Upper component; 200. Lower component; 300. Cleaning roller;

[0034] 101. Driven wheel; 102. Driven shaft; 103. Cleaning roller drive shaft; 104. Drive wheel; 105. Drive shaft; 106. Drive gear; 107. Intermediate gear; 108. Power isolation sleeve; 109. Linkage gear; 110. Driven gear; 111. Upper end plate; 112. Wall panel; 113. Installation space; 114. Sealing ring; 115. Cover plate; 116. First end; 117. First shaft hole; 118. Second end; 119. Second shaft hole; 120. Travel motor; 121. Sweeping motor; 122. Sweeping roller connecting shaft; 123. Sweeping motor connecting shaft; 124. First bearing; 125. Second bearing; 126. Connecting hole; 127. Conical guide; 128. Dust baffle; 129. First bevel gear pair; 130. First auxiliary wheel axle; 131. First auxiliary traveling wheel; 132. Second bevel gear pair; 133. Second auxiliary wheel axle; 134. Second auxiliary traveling wheel; 135. Bearing mounting chamber; 1151. First sub-plate; 1152. Second sub-plate; 1153. Third sub-plate. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] Figure 1 The diagram illustrates the structure of a cleaning robot. (For example...) Figure 1 As shown, the cleaning robot includes an upper component 100, a lower component 200, and a cleaning roller 300. Both the upper component 100 and the lower component 200 are equipped with wheels. During operation, the wheels of the upper component 100 travel along the upper edge of the photovoltaic panel, while the wheels of the lower component 200 travel along the lower edge of the photovoltaic panel, propelling the cleaning robot across the photovoltaic panel. During this process, the cleaning roller 300 rotates, automatically cleaning the photovoltaic panel.

[0037] like Figure 2 As shown, the upper component 100 includes a drive shaft 105, a driven shaft 102, and a sweeping roller drive shaft 103. The drive shaft 105 is used to mount the drive wheel 104 and to receive power from the drive motor to drive the drive wheel 104. The driven shaft 102 is used to mount the driven wheel 101. The sweeping roller drive shaft 103 is used to mount the sweeping roller and to receive power from the sweeping motor to drive the sweeping roller.

[0038] In this application, the transmission structure of the cleaning robot refers to the transmission structure used to transmit the power of the driving drive wheel 104 to the driven drive wheel 101. Under the action of this transmission structure, both the driven drive wheel 101 and the driving drive wheel 104 are power wheels. When one of the driven drive wheel 101 and the driving drive wheel 104 slips, the other can still drive the robot to move, thereby better driving the cleaning robot to move.

[0039] See Figure 3 The transmission structure includes a drive gear 106, a driven gear 110, a linkage gear 109, and a power isolation sleeve 108. The drive gear 106 is fixed to the travel drive shaft 105, and the driven gear 110 is fixed to the travel driven shaft 102. The power isolation sleeve 108 includes an inner sleeve and an outer sleeve. The inner sleeve is fixed to the sweeping roller drive shaft 103, and the axis of the outer sleeve coincides with the axis of the inner sleeve. The outer sleeve can rotate around the sweeping roller drive shaft 103. The linkage gear 109 is fixed to the outer sleeve and is connected to the drive gear 106 and the driven gear 110 in a transmission connection.

[0040] For example, the power isolation sleeve 108 adopts a rolling bearing, the inner ring of the rolling bearing constitutes the inner sleeve of the power isolation sleeve 108, and the outer ring of the rolling bearing constitutes the outer sleeve of the power isolation sleeve 108.

[0041] For example, the power isolation sleeve 108 adopts a sliding bearing, the inner ring of the sliding bearing constitutes the inner sleeve of the power isolation sleeve 108, and the outer ring of the sliding bearing constitutes the outer sleeve of the power isolation sleeve 108.

[0042] For example, the power isolation sleeve 108 is composed of multiple bearings connected in series, thus allowing the power isolation sleeve 108 to be constructed using standard bearing components. See also Figure 8 In one specific example, the power isolation sleeve 108 is composed of two bearings connected in series.

[0043] Compared to belt drive structures, the transmission structure of this cleaning robot uses gears, which improves the synchronization between the driven wheel 101 and the driving wheel 104, resulting in smoother movement, less wear, and a longer maintenance cycle.

[0044] Because the linkage gear 109 of this transmission structure is coaxially arranged with the sweeping roller 300, and a power isolation sleeve 108 is provided, the power isolation sleeve 108 includes an inner sleeve and an outer sleeve with overlapping axes. The inner sleeve is fixed to the sweeping roller drive shaft 103, and the outer sleeve can rotate around the sweeping roller drive shaft 103. The linkage gear 109 is fixed to the outer sleeve and is connected to the drive gear 106 and the driven gear 110 for transmission. This makes the linkage gear 109 approximately located in the middle of the space between the drive gear 106 and the driven gear 110, and it will not extend out of the space. Moreover, the traveling wheel and the sweeping roller 300 do not interfere with each other, and the rotation direction of the sweeping roller 300 can be switched as needed without being restricted by the traveling direction.

[0045] See Figure 3 Furthermore, an intermediate gear 107 is connected between the linkage gear 109 and the driving gear 106, and an intermediate gear 107 is connected between the linkage gear 109 and the driven gear 110. The driving gear 106 drives the linkage gear 109 to rotate through the intermediate gear 107 between itself and the linkage gear 109, and the linkage gear teeth drive the driven gear 110 to rotate through the intermediate gear 107 between itself and the driven gear 110, thereby transmitting the power of the driving shaft 105 to the driven shaft 102.

[0046] By setting intermediate gears 107 between the linkage gear 109 and the driving gear 106, and between the linkage gear 109 and the driven gear 110, the diameters of the linkage gear 109, the driving gear 106, and the driven gear 110 can be made smaller, thereby reducing the overall size of the transmission structure in the height direction.

[0047] In this embodiment, there are two intermediate gears 107 between the linkage gear 109 and the driving gear 106, and two intermediate gears 107 between the linkage gear 109 and the driven gear 110. The number of intermediate gears 107 between the linkage gear 109 and the driving gear 106, and between the linkage gear 109 and the driven gear 110, can also be one or three, etc., as long as the rotation direction of the driven gear is the same as that of the driving gear. The number of intermediate gears 107 is not limited.

[0048] See Figure 4The upper component 100 includes an upper plate 111 and a cover plate 115. The upper plate 111 is approximately perpendicular to the photovoltaic panel. The upper plate 111 includes an annular wall plate 112, and the interior of the annular wall plate 112 forms an installation space 113 for the transmission structure. The drive shaft 105, the driven shaft 102, and the cleaning roller drive shaft 103 pass through the upper plate 111 and are disposed within the installation space 113. The cover plate 115 is disposed at the opening of the installation space 113, enclosing the installation space 113. The drive shaft 105, the driven shaft 102, and the cleaning roller drive shaft 103 are each connected to the upper plate 111 and the cover plate 115 via bearings. The annular wall plate 112 and the cover plate 115 constitute a relatively enclosed installation space 113. The transmission structure is enclosed within this installation space 113, making it difficult for dust from the environment to enter the transmission structure, thus reducing the impact of dust on the transmission structure.

[0049] To further improve the dustproof effect, a sealing ring 114 is provided between the cover plate 115 and the annular wall plate 112. The sealing ring 114 is made of soft rubber or silicone.

[0050] See Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The drive shaft 105 includes a first end 116 away from the drive wheel. The first end 116 includes a first shaft hole 117. The center line of the first shaft hole 117 coincides with the center line of the drive shaft 105. The first end 116 passes through the cover plate 115. The drive motor 120 is mounted on the side of the cover plate 115 away from the upper end plate 111. The shaft of the drive motor 120 is inserted into the first shaft hole 117. When the drive motor 120 needs to be replaced due to malfunction or other reasons, the drive motor 120 is removed from the cover plate 115. The drive motor 120 is pulled outward along the direction perpendicular to the cover plate 115, and the shaft of the drive motor 120 is pulled out of the first shaft hole 117. The drive motor 120 can then be removed. Since the removal and installation of the drive motor 120 does not require removing the cover plate 115, the replacement is convenient.

[0051] Similarly, the sweeping roller drive shaft 103 includes a second end 118 away from the sweeping roller. The second end 118 includes a second shaft hole 119, the center line of which coincides with the center line of the sweeping roller drive shaft 103. The second end 118 is disposed through the cover plate 115. The sweeping motor 121 is installed on the side of the cover plate 115 away from the upper end plate 111. The rotating shaft of the sweeping motor 121 is inserted into the second shaft hole 119. When the sweeping motor 121 needs to be replaced due to malfunction or other reasons, the sweeping motor 121 is removed from the cover plate 115. The sweeping motor 121 is pulled outward along the direction perpendicular to the cover plate 115, and the rotating shaft of the sweeping motor 121 is pulled out of the second shaft hole 119. The sweeping motor 121 can then be removed. Since the removal and installation of the sweeping motor 121 does not require removing the cover plate 115, the replacement is convenient.

[0052] See Figure 7 , Figure 8 , Figure 4 and Figure 5 The sweeping roller drive shaft 103 includes a sweeping roller connecting shaft 122 and a sweeping motor connecting shaft 123 with their axes overlapping and interlocking. The sweeping motor connecting shaft 123 is provided with a first bearing 124, and the sweeping roller connecting shaft 122 is provided with a second bearing 125. The linkage gear 109 is provided on the sweeping roller connecting shaft 122.

[0053] The first bearing 124 is fitted with the cover plate 115, and the second bearing 125 is fitted with the upper end plate 111, supporting the cleaning roller drive shaft 103 on the upper end plate 111 and the cover plate 115.

[0054] In this embodiment, the sweeping roller drive shaft 103 is supported by two bearings, the first bearing 124 and the second bearing 125, which can support the sweeping roller more stably. The sweeping roller drive shaft 103 is composed of two shaft segments connected together. The two shaft segments are respectively mounted on the upper end plate 111 and the cover plate 115 through bearings. When it is necessary to repair the transmission structure, after removing the cover plate 115 from the upper end plate 111, the two shaft segments of the sweeping roller drive shaft 103 are separated. Therefore, the gear on the sweeping roller drive shaft 103 can be removed without removing the bearings, making maintenance more convenient.

[0055] The use of bearings to rotatably connect the sweeping roller connecting shaft 122 and the sweeping motor connecting shaft 123 to the upper end plate 111 and the cover plate 115 can reduce the rotational resistance of the shafts. Alternatively, bearings can be omitted, and the sweeping motor connecting shaft 123 can be directly rotatably connected to the cover plate 115, and the sweeping roller connecting shaft 122 can be directly rotatably connected to the upper end plate 111.

[0056] See again Figure 3 and Figure 4In this embodiment, the cover plate 115 includes three independent sub-plates: a first sub-plate 1151, a second sub-plate 1152, and a third sub-plate 1153. The first sub-plate 1151 corresponds to the driving gear 106, the second sub-plate 1152 corresponds to the linkage gear 109, and the third sub-plate 1153 corresponds to the driven gear 110. In this embodiment, since the cover plate 115 is composed of three sub-plates, when maintenance is required, only the sub-plate corresponding to the fault point needs to be removed, while the other sub-plates do not need to be removed, making maintenance more convenient.

[0057] Similar to the above-mentioned sweeping roller drive shaft 103, the travel drive shaft 105 can also be composed of two shaft segments connected together.

[0058] See Figure 7 and Figure 9 A dust baffle 128 is provided at the end of the upper end plate 111 corresponding to the second bearing 125. The dust baffle 128 can prevent dust in the environment from entering the installation space of the transmission structure from the second bearing 125, reducing the impact of environmental dust on the transmission structure. In this embodiment, the dust baffle 128 is integrally formed with the upper end plate 111. The dust baffle 128 can also be an independent plate with a shaft hole in the middle and a connecting structure around the periphery of the plate. The connecting structure allows the plate to be detachably connected to the mounting seat of the second bearing 125 of the upper end plate 111. The connecting structure can be similar to the structure on a bottle cap for connecting to the bottle mouth, and can be connected by screws, clips, etc.

[0059] See Figure 10 The wall panel 112 is equipped with a first auxiliary wheel axle 130 corresponding to the drive shaft 105. The first auxiliary wheel axle 130 is set at an angle to the drive shaft 105, and a first bevel gear pair 129 connects the first auxiliary wheel axle 130 and the drive shaft 105, which can transmit the power of the drive shaft 105 to the first auxiliary wheel axle 130. The drive shaft 105 is used to mount the drive wheel 104, and the first auxiliary wheel axle 130 is used to mount the first auxiliary wheel 131. The drive wheel 104 engages with the front side of the photovoltaic panel frame, and the first auxiliary wheel 131 engages with the outer side of the photovoltaic panel frame, enabling the cleaning robot to walk along the photovoltaic panel frame without deviating from it. In this embodiment, the angle between the first auxiliary wheel axle 130 and the drive shaft 105 is approximately 90 degrees. This angle can also be other angles, specifically determined based on the angle between the front and outer sides of the photovoltaic panel frame.

[0060] The wall panel 112 is equipped with a second auxiliary wheel axle 133 corresponding to the driven shaft 102. The second auxiliary wheel axle 133 is set at an angle to the driven shaft 102, and a second bevel gear pair 132 connects the second auxiliary wheel axle 133 and the driven shaft 102, which can transmit the power of the driven shaft 102 to the second auxiliary wheel axle 133. The driven shaft 102 is used to install the driven wheel, and the second auxiliary wheel axle 133 is used to install the second auxiliary wheel 134. The driven wheel engages with the front side of the photovoltaic panel frame, and the second auxiliary wheel 134 engages with the outer side of the photovoltaic panel frame, enabling the cleaning robot to walk along the photovoltaic panel frame without deviating from it. In this embodiment, the angle between the second auxiliary wheel axle 133 and the driven shaft 102 is approximately 90 degrees. This angle can also be other angles, specifically determined based on the angle between the front and outer sides of the photovoltaic panel frame.

[0061] See Figure 11 Specifically, a bearing mounting chamber 135 is provided in the wall panel 112, and a third bearing is provided in the bearing mounting chamber 135 to support the aforementioned auxiliary wheel axle on the wall panel 112.

[0062] See again Figure 7 The cleaning roller drive shaft 103 has a radially penetrating connecting hole 126 at the end of the cleaning roller. When installing the cleaning roller, the cleaning roller drive shaft 103 is inserted into the shaft hole at the end of the cleaning roller, and the connecting pin is inserted into the connecting hole 126 after passing through the cleaning roller, so that the cleaning roller and the cleaning roller drive shaft 103 are connected as one unit, and the cleaning roller can rotate under the drive of the cleaning roller drive shaft 103.

[0063] In this embodiment, the end of the sweeping roller drive shaft 103 corresponding to the sweeping roller is also provided with a tapered guide portion 127. The diameter of the tapered guide portion 127 gradually decreases along the direction close to the sweeping roller. When installing the sweeping roller, the smaller diameter end of the tapered guide portion 127 first enters the shaft hole on the sweeping roller. Under the guidance of the guide portion, the sweeping roller drive shaft 103 is gradually inserted into the shaft hole on the sweeping roller. The tapered guide portion 127 makes it easier for the sweeping roller drive shaft 103 to be aligned and inserted into the shaft hole on the sweeping roller.

[0064] It should be noted that, unless otherwise specified, the terms "first," "second," and similar terms used above are used to distinguish different devices with the same name and should not be interpreted as implying order, hierarchy, or degree of importance.

[0065] The present invention has been described in detail above through specific embodiments. These detailed descriptions are only intended to help those skilled in the art understand the content of the present invention and should not be construed as limiting the scope of protection of the present invention. Various modifications and equivalent transformations made by those skilled in the art to the above solutions under the concept of the present invention should be included within the scope of protection of the present invention.

Claims

1. A transmission structure for a cleaning robot, characterized in that, The cleaning robot includes an upper component (100) corresponding to the upper edge of the photovoltaic panel, and the upper component (100) includes a walking drive shaft (105), a walking driven shaft (102), and a cleaning roller drive shaft (103). The transmission structure includes a drive gear (106), a driven gear (110), a linkage gear (109), and a power isolation sleeve (108). The drive gear (106) is fixed to the travel drive shaft (105), and the driven gear (110) is fixed to the travel driven shaft (102). The power isolation sleeve (108) includes an inner sleeve and an outer sleeve with overlapping axes. The inner sleeve is fixed to the sweeping roller drive shaft (103), and the outer sleeve can rotate around the sweeping roller drive shaft (103). The linkage gear (109) is fixed to the outer sleeve and is connected to the drive gear (106) and the driven gear (110) in a transmission connection. The upper component (100) includes an upper plate (111) and a cover plate (115). The upper plate (111) includes an annular wall plate (112). The walking drive shaft (105), the walking driven shaft (102), and the cleaning roller drive shaft (103) pass through the upper plate (111) and are disposed in the installation space (113) formed by the annular wall plate (112). The cover plate (115) is disposed at the opening of the installation space (113). The sweeping roller drive shaft (103) includes a sweeping roller connecting shaft (122) and a sweeping motor connecting shaft (123) with their axes overlapping and interlocking. The sweeping motor connecting shaft (123) is provided with a first bearing (124), and the sweeping roller connecting shaft (122) is provided with a second bearing (125). The power isolation sleeve (108) is provided on the sweeping roller connecting shaft (122). The first bearing (124) cooperates with the cover plate (115), and the second bearing (125) cooperates with the upper end plate (111), supporting the sweeping roller drive shaft (103) on the upper end plate (111) and the cover plate (115). The walking drive shaft (105) includes a first end (116) away from the walking wheel, the first end (116) includes a first shaft hole (117), and the shaft of the walking motor (120) is inserted into the first shaft hole (117).

2. The transmission structure of the cleaning robot according to claim 1, characterized in that, An intermediate gear (107) is connected between the linkage gear (109) and the driving gear (106), and an intermediate gear (107) is connected between the linkage gear (109) and the driven gear (110).

3. The transmission structure of the cleaning robot according to claim 1, characterized in that, The centerline of the first shaft hole (117) coincides with the centerline of the walking drive shaft (105), the first end (116) is disposed through the cover plate (115), and the walking motor (120) is mounted on the side of the cover plate (115) away from the upper end plate (111). The sweeping roller drive shaft (103) includes a second end (118) away from the sweeping roller (300). The second end (118) includes a second shaft hole (119). The center line of the second shaft hole (119) coincides with the center line of the sweeping roller drive shaft (103). The second end (118) is disposed through the cover plate (115). The sweeping motor (121) is installed on the side of the cover plate (115) away from the upper end plate (111). The rotating shaft of the sweeping motor (121) is inserted into the second shaft hole (119).

4. The transmission structure of the cleaning robot according to claim 1, characterized in that, A bearing is provided between the cleaning roller connecting shaft (122) and the upper end plate (111), and a dust baffle (128) is provided at the end of the upper end plate (111) corresponding to the bearing.

5. The transmission structure of the cleaning robot according to claim 1, characterized in that, The wall panel (112) is provided with a secondary wheel shaft corresponding to the walking drive shaft (105) and the walking driven shaft (102). The secondary wheel shaft is set at an angle to the corresponding walking drive shaft (105) or walking driven shaft (102) and is connected by a bevel gear.

6. The transmission structure of the cleaning robot according to claim 1, characterized in that, The cover plate (115) includes a first sub-plate (1151) corresponding to the driving gear (106), a second sub-plate (1152) corresponding to the linkage gear (109), and a third sub-plate (1153) opposite to the driven gear (110), and each sub-plate is independent of the others.

7. The transmission structure of the cleaning robot according to claim 1, characterized in that, The power isolation sleeve (108) is composed of multiple bearings connected in series.

8. The transmission structure of the cleaning robot according to claim 1, characterized in that, The cleaning roller drive shaft (103) is provided with a radially penetrating connection hole (126) at the end corresponding to the cleaning roller (300); and / or The cleaning roller drive shaft (103) is provided with a tapered guide (127) at the end of the cleaning roller (300), and the diameter of the tapered guide (127) gradually decreases along the direction close to the cleaning roller (300).

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