Low-power-consumption cleaning robot

Abstract

The invention discloses a low-power-consumption cleaning robot. The low-power-consumption cleaning robot comprises an upper opening driving assembly, a lower opening driving assembly, a walking beam and a brush assembly. The upper opening driving assembly comprises an upper opening mounting seat, a driving motor, an upper opening walking mechanism and an upper opening transmission mechanism, and the driving motor drives the upper opening walking mechanism to move through the upper opening transmission mechanism; the lower opening driving assembly comprises a lower opening mounting seat, a lower opening input shaft assembly, a lower opening walking mechanism and a lower opening transmission mechanism, and the lower opening input shaft assembly drives the lower opening walking mechanism to move through the lower opening transmission mechanism; two ends of the walking beam are respectively connected with the upper opening mounting seat and the lower opening mounting seat; the upper end of the brush assembly is connected with the driving motor to be driven by the driving motor to rotate, and the lower end of the brush assembly is connected with the lower opening input shaft assembly to drive the lower opening input shaft assembly to rotate. And the walking direction of the upper opening walking mechanism and the lower opening walking mechanism driven by the upper opening transmission mechanism and the lower opening transmission mechanism is consistent with the tangential direction when the brush assembly rotates and is in rolling contact with the photovoltaic array.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic cleaning technology, and in particular to a low-power cleaning robot. Background Art

[0002] A photovoltaic power station is a device that converts solar energy into electrical energy. The power generation efficiency and service life of a photovoltaic power station are greatly affected by dirt, so it is particularly important to clean the photovoltaic power station regularly or on demand. In order to facilitate the cleaning of photovoltaic power stations, the industry has developed cleaning equipment such as photovoltaic cleaning robots. In the prior art, there is a brush-type cleaning robot that uses a brush to roll on the photovoltaic panel to lift the dust on the photovoltaic panel backwards and drop it to achieve cleaning. However, in the photovoltaic cleaning robot of the prior art, the overall movement of the cleaning robot and the rolling of the brush need to be driven by motors respectively, which makes the cost high, the structure complex, and the power consumption large. Moreover, the cleaning method of the brush lifting the dust backwards in the prior art has the risk of the lifted dust falling again on the cleaned photovoltaic panel, and the cleaning effect is not good.

[0003] Based on this, it is necessary to propose a technical solution to overcome the shortcomings of the existing technology. Summary of the invention

[0004] The present application provides a low-power cleaning robot, which has low power consumption, simple and reliable structure and good cleaning effect.

[0005] The present application is implemented through the following technical solution: a low-power cleaning robot, used to move on a photovoltaic array to clean the photovoltaic array, the cleaning robot comprises an upper drive component, a lower drive component, a walking beam and a brush component, wherein: The upper drive assembly includes an upper mounting seat, and a drive motor, an upper travel mechanism and an upper transmission mechanism installed on the upper mounting seat, wherein the drive motor drives the upper travel mechanism to move through the upper transmission mechanism; The lower port driving assembly includes a lower port mounting seat, and a lower port input shaft assembly, a lower port travel mechanism and a lower port transmission mechanism installed on the lower port mounting seat, and the lower port input shaft assembly drives the lower port travel mechanism to move through the lower port transmission mechanism; The two ends of the walking beam are respectively connected to the upper mounting seat and the lower mounting seat; The brush assembly comprises an upper end and a lower end, the upper end of the brush assembly is connected to the driving motor to be driven to rotate by the driving motor, and the lower end of the brush assembly is connected to the lower port input shaft assembly to drive the lower port input shaft assembly to rotate; Among them, the upper transmission mechanism and the lower transmission mechanism are configured so that the walking direction of the upper walking mechanism and the lower walking mechanism driven by them is consistent with the tangential direction when the brush assembly rotates and rolls in contact with the photovoltaic array.

[0006] As a further improved technical solution of the present application, the upper transmission mechanism includes an upper shaft transmission gear, an upper sprocket and an upper chain, the upper shaft transmission gear is coaxially arranged with the motor shaft of the drive motor, there are at least two upper sprockets, which are meshed and connected to the inner side of the upper chain, and the upper shaft transmission gear is meshed and connected to the outer side of the upper chain; and / or, The lower port transmission mechanism includes a lower port shaft transmission gear, a lower port sprocket and a lower port chain. The lower port shaft transmission gear is coaxially arranged with the lower port input shaft assembly. There are at least two lower port sprockets, which are meshed and connected to the inner side of the lower port chain. The lower port shaft transmission gear is meshed and connected to the outer side of the lower port chain.

[0007] As a further improved technical solution of the present application, the upper mouth transmission mechanism includes an upper mouth guide wheel, the upper mouth guide wheel is correspondingly arranged with the upper mouth shaft transmission gear, a penetration gap is formed between the two, and the upper mouth chain passes through the penetration gap; and / or, the lower mouth transmission mechanism includes a lower mouth guide wheel, the lower mouth guide wheel is correspondingly arranged with the lower mouth shaft transmission gear, a penetration gap is formed between the two, and the lower mouth chain passes through the penetration gap.

[0008] As a further improved technical solution of the present application, the upper guide wheel and the upper shaft transmission gear push the upper chain toward the same side for tensioning; and / or, the lower guide wheel and the lower shaft transmission gear push the lower chain toward the same side for tensioning.

[0009] As a further improved technical solution of the present application, the center axis of the upper sprocket is parallel to the center axis of the upper shaft transmission gear, and the rotation direction of the upper sprocket is opposite to the rotation direction of the upper shaft transmission gear; and / or, the center axis of the lower sprocket is parallel to the center axis of the lower shaft transmission gear, and the rotation direction of the lower sprocket is opposite to the rotation direction of the lower shaft transmission gear.

[0010] As a further improved technical solution of the present application, the upper walking mechanism includes an upper front wheel and an upper side wheel, the upper sprocket drives the upper front wheel to rotate through the upper front wheel axle, and the upper sprocket drives the upper side wheel to rotate through the vertically meshing bevel gear set and the upper side wheel axle; and / or, the lower walking mechanism includes a lower front wheel and a lower side wheel, the lower sprocket drives the lower front wheel to rotate through the lower front wheel axle, and the lower sprocket drives the lower side wheel to rotate through the vertically meshing bevel gear set and the lower side wheel axle.

[0011] As a further improved technical solution of the present application, the brush assembly includes a shaft cylinder and a brush cylinder located outside the shaft cylinder, and the motor shaft of the drive motor and the shaft cylinder are relatively fixed in the rotation direction of the motor shaft and can slide relatively in the axial direction of the motor shaft.

[0012] As a further improved technical solution of the present application, the motor shaft of the driving motor and the shaft tube of the brush assembly are connected via an upper connecting tube, and the motor shaft and the shaft tube are respectively connected to the upper connecting tube via studs, and the upper connecting tube is provided with a long sliding groove extending along its axial direction, and the stud connecting the motor shaft and the upper connecting tube or the stud connecting the shaft tube and the upper connecting tube can slide in the long sliding groove.

[0013] As a further improved technical solution of the present application, the lower input shaft assembly includes a lower input shaft and a bearing sleeved on the lower input shaft, one end of the lower input shaft is connected to the shaft cylinder, and the bearing is sleeved on the other end of the lower input shaft, wherein the bearing is a tapered roller bearing.

[0014] As a further improved technical solution of the present application, the brush assembly includes a multi-section shaft cylinder, which is connected by a middle connecting shaft. A middle support member is sleeved on the middle connecting shaft, and the upper end of the middle support member is fixed on the walking beam.

[0015] The low-power cleaning robot provided in the present application adopts an innovative structural design. A driving motor is used to drive the cleaning robot to move and the brush assembly to rotate. The tangential direction of the brush assembly when driving the rotation and rolling contact with the photovoltaic array is consistent with the moving direction of the cleaning robot, so that the dust on the photovoltaic array is swept forward in the moving direction of the cleaning robot. Compared with the traditional backward sweeping method, secondary dust falling can be avoided and the cleaning effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional combination diagram of an embodiment of the cleaning robot of the present application.

[0017] Figure 2 It is a partial enlarged view of the upper drive component in one embodiment of the cleaning robot of the present application.

[0018] Figure 3 This is a partial enlarged view of the lower port drive assembly in one embodiment of the cleaning robot of the present application.

[0019] Figure 4 It is a three-dimensional exploded view of an embodiment of the cleaning robot of the present application.

[0020] The accompanying drawings are marked as follows: 100, cleaning robot; 1, walking beam; 2, upper drive assembly; 21, upper mounting seat; 22, drive motor; 231, upper front wheel; 232, upper side wheel; 241, upper shaft transmission gear; 242, upper sprocket; 243, upper chain; 244, upper guide wheel; 245, upper bevel gear set; 3, lower drive assembly; 31, lower mounting seat; 321, lower input shaft ; 322, tapered roller bearing; 331, lower front wheel; 332, lower side wheel; 341, lower shaft transmission gear; 342, lower sprocket; 343, lower chain; 344, lower guide wheel; 345, lower bevel gear set; 4, brush assembly; 41, shaft cylinder; 42, brush cylinder; 43, middle connecting shaft; 44, middle support; 45, upper connecting pipe; 451, long sliding groove; 5, control box. DETAILED DESCRIPTION

[0021] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings.

[0022] The technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The technical features in the following embodiments may be combined with each other without conflict. The embodiments described below are only part of the embodiments of the present application, not all of them. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present application belong to the scope of protection of this application.

[0023] See also Figures 1 to 4 As shown, the present application provides a low-power cleaning robot 100. The cleaning robot 100 is placed on a photovoltaic array and is used to move on the photovoltaic array to clean dust, debris, etc. on the photovoltaic array. The cleaning robot 100 includes an upper drive component 2, a lower drive component 3, a walking beam 1, a brush component 4, and a control box 5.

[0024] The upper drive assembly 2 includes an upper mounting seat 21, and a driving motor 22, an upper travel mechanism and an upper transmission mechanism installed on the upper mounting seat 21, and the driving motor 22 drives the upper travel mechanism to move through the upper transmission mechanism. The lower drive assembly 3 includes a lower mounting seat 31, and a lower input shaft assembly, a lower travel mechanism and a lower transmission mechanism installed on the lower mounting seat 31, and the lower input shaft assembly drives the lower travel mechanism to move through the lower transmission mechanism. The two ends of the walking beam 1 are respectively connected to the upper mounting seat 21 and the lower mounting seat 31. The brush assembly 4 includes an upper end and a lower end, the upper end of the brush assembly 4 is connected to the driving motor 22 to be driven to rotate by the driving motor 22, and the lower end of the brush assembly 4 is connected to the lower input shaft assembly to drive the lower input shaft assembly to rotate. The upper transmission mechanism and the lower transmission mechanism are configured so that the travel directions of the upper travel mechanism and the lower travel mechanism driven thereby are consistent with the tangential direction of the brush assembly 4 when it rotates and rolls in contact with the photovoltaic array.

[0025] The low-power cleaning robot 100 provided in the present application adopts an innovative structural design. A driving motor 22 is used to drive the cleaning robot 100 to move and the brush assembly 4 to rotate. The brush assembly 4 is driven to rotate through a unique upper and lower transmission mechanism so that the tangent direction of the rolling contact with the photovoltaic array is consistent with the moving direction of the cleaning robot 100, so that the dust on the photovoltaic array is swept forward in the moving direction of the cleaning robot 100. Compared with the traditional backward sweeping method, secondary dust falling can be avoided and the cleaning effect is better.

[0026] See also Figure 2 As shown, the upper drive assembly 2 includes an upper mounting seat 21, and a drive motor 22, an upper walking mechanism and an upper transmission mechanism installed on the upper mounting seat 21.

[0027] The upper mounting seat 21 can be a bracket or frame composed of one or more mounting plates, which is used for mounting the drive motor 22, the upper travel mechanism and the upper transmission mechanism. The present application does not limit the specific structure of the upper mounting seat 21.

[0028] The upper transmission mechanism includes an upper shaft transmission gear 241, an upper sprocket wheel 242 and an upper chain 243. The upper shaft transmission gear 241 is coaxially arranged with the motor shaft of the drive motor 22 and the rotation axis of the brush assembly 4, and the upper shaft transmission gear 241 is relatively fixed with the motor shaft and the brush assembly 4 in the circumferential direction of rotation. The upper shaft transmission gear 241 can be directly or indirectly connected to the motor shaft by spline, pin, D-type or polygonal column hole matching and other connection methods, ensuring that it can be driven by the motor shaft to rotate synchronously. There are at least two upper sprocket wheels 242, which are meshed and connected to the inner side of the upper chain 243, and the upper shaft transmission gear 241 is meshed and connected to the outer side of the upper chain 243. The central axis of the upper sprocket wheel 242 is parallel to the central axis of the upper shaft transmission gear 241, and the two upper sprocket wheels 242 are symmetrically located on both sides of the upper shaft transmission gear 241.

[0029] The upper transmission mechanism further includes an upper guide wheel 244, which is arranged corresponding to the upper shaft transmission gear 241, and a gap is formed between the two, and the upper chain 243 passes through the gap. The upper guide wheel 244 and the upper shaft transmission gear 241 push the upper chain 243 toward the same side for tensioning. A section of the upper chain 243 is sandwiched between the upper guide wheel 244 and the upper shaft transmission gear 241, and is pushed against and tensioned, which can prevent the upper chain 243 from loosening, making the power transmission more reliable.

[0030] Please continue reading Figure 2 As shown, when the driving motor 22 is working and the motor shaft rotates, the motor shaft drives the upper shaft transmission gear 241 and the brush assembly 4 to rotate synchronously, and the upper shaft transmission gear 241 drives the upper sprocket 242 to rotate through the upper chain 243, and the upper sprocket 242 drives the cleaning robot 100 to move forward. The rotation direction of the upper sprocket 242 is opposite to that of the upper shaft transmission gear 241; that is, the rotation direction of the brush assembly 4 is opposite to that of the upper sprocket 242. In this way, when the upper sprocket 242 rotates forward to drive the cleaning robot 100 to move forward as a whole, the brush assembly 4 rotates in the reverse direction, and the tangent direction of the contact surface of the reversely rotating brush assembly 4 when rolling in contact with the photovoltaic array is forward, so that the dust on the photovoltaic array is swept forward. Moreover, the contact between the brush assembly 4 and the photovoltaic array has a certain force that hinders the cleaning robot 100 from moving forward, and this resistance is conducive to the brush assembly 4 forming a sliding shearing effect at the contact point with the photovoltaic array, so that the dust on the photovoltaic array is cleaned more thoroughly. The dust, debris, etc. pushed forward will eventually fall from the gap between the photovoltaic panels of the photovoltaic array or the edge of the photovoltaic panel at the end.

[0031] Please continue reading Figure 2 As shown, the upper walking mechanism includes an upper front wheel 231 and an upper side wheel 232. The upper front wheel 231 is a wheel that rolls on the front of the upper part of the photovoltaic array, and the upper side wheel 232 is a wheel that rolls on the side of the upper part of the photovoltaic array. The upper side wheel 232 can play a role of side pressure and hanging to prevent the cleaning robot 100 from sliding down on the tilted photovoltaic array. In one embodiment, the upper front wheel 231 and the upper side wheel 232 are both rubber wheels. The upper sprocket 242 drives the upper front wheel 231 to rotate through the upper front wheel shaft, and the upper sprocket 242 drives the upper side wheel 232 to rotate through the upper bevel gear set 245 and the upper side wheel shaft that are vertically meshed. The upper bevel gear set 245 includes two mutually meshing bevel gears, that is, bevel gears, which can realize power transmission in the vertical direction.

[0032] See also Figure 3 As shown, the lower mouth driving assembly 3 includes a lower mouth mounting seat 31, and a lower mouth input shaft assembly, a lower mouth walking mechanism and a lower mouth transmission mechanism installed on the lower mouth mounting seat 31. The lower mouth input shaft assembly drives the lower mouth walking mechanism to move through the lower mouth transmission mechanism.

[0033] The composition of the lower mouth drive assembly 3 is roughly similar to that of the upper mouth drive assembly 2. The main difference is that the lower mouth drive assembly 3 does not include a drive motor 22. The lower mouth drive assembly 3 is driven by the brush assembly 4 to move. Specifically, the lower mouth transmission mechanism includes a lower mouth shaft transmission gear 341, a lower mouth sprocket 342 and a lower mouth chain 343. The lower mouth shaft transmission gear 341 is coaxially arranged with the lower mouth input shaft assembly. There are at least two lower mouth sprockets 342, which are meshed and connected to the inner side of the lower mouth chain 343, and the lower mouth shaft transmission gear 341 is meshed and connected to the outer side of the lower mouth chain 343. The central axis of the lower mouth sprocket 342 is parallel to the central axis of the lower mouth shaft transmission gear 341, and the rotation direction of the lower mouth sprocket 342 is opposite to the rotation direction of the lower mouth shaft transmission gear 341. The lower port transmission mechanism includes a lower port guide wheel 344, which is arranged correspondingly to the lower port shaft transmission gear 341, and a gap is formed between the two, and the lower port chain 343 passes through the gap. The lower port guide wheel 344 and the lower port shaft transmission gear 341 push the lower port chain 343 to the same side to tighten. The lower port walking mechanism includes a lower port front wheel 331 and a lower port side wheel 332, and the lower port sprocket wheel 342 drives the lower port front wheel 331 to rotate through the lower port front wheel shaft, and the lower port sprocket wheel 342 drives the lower port side wheel 332 to rotate through the vertically meshed lower port bevel gear set 345 and the lower port side wheel shaft. Other unmentioned parts of the lower port drive assembly 3 can be understood with reference to the upper port drive assembly 2.

[0034] The movement process of the whole machine is as follows: the movement of the cleaning robot 100 is controlled by the control box 5, which controls the driving motor 22 to work, the motor shaft rotates, and the motor shaft drives the upper shaft transmission gear 241, the brush assembly 4, and the lower shaft transmission gear 341 to rotate synchronously; the upper shaft transmission gear 241 drives the upper sprocket 242 to rotate through the upper chain 243, and the lower shaft transmission gear 341 drives the lower sprocket 342 to rotate through the lower chain 343, and the upper sprocket 242 and the lower sprocket 342 drive the cleaning robot 100 to move forward. Since the rotation direction of the brush assembly 4 is opposite to the forward direction when the cleaning robot 100 moves forward as a whole, the tangent direction of the contact surface of the reversely rotating brush assembly 4 when rolling in contact with the photovoltaic array is forward, so that the dust on the photovoltaic array is swept forward. Moreover, the contact between the brush assembly 4 and the photovoltaic array has a certain force that hinders the cleaning robot 100 from moving forward, and this resistance is conducive to the brush assembly 4 forming a sliding shearing effect at the contact point with the photovoltaic array, so that the dust on the photovoltaic array is cleaned more thoroughly. The dust, debris, etc. pushed forward will eventually fall from the gap between the photovoltaic panels of the photovoltaic array or the edge of the photovoltaic panel at the end.

[0035] See also Figure 4 As shown, in actual use, the photovoltaic array is usually tilted to match the solar altitude angle to maximize the acquisition of solar energy. The cleaning robot is also tilted on the photovoltaic array, wherein the upper end is the upper opening, and the lower end is the lower opening. In this embodiment, the brush assembly 4 is configured to float toward the lower opening under the action of gravity, that is, the brush assembly 4 and the drive motor 22 in the upper drive assembly 2 can slide relative to each other in the axial direction to avoid the brush assembly 4 applying a downward pulling force to the drive motor 22, causing the drive motor 22 to be complicated in force, resulting in poor transmission reliability of the drive motor 22 and affected service life. In this embodiment, the motor shaft of the drive motor 22 is not subjected to the axial pulling force of the brush assembly 4, and it only applies a single rotational force in the circumferential direction, so that the force is single and the transmission reliability is better. Specifically, the brush assembly 4 includes a shaft cylinder 41 and a brush cylinder 42 located outside the shaft cylinder 41. The motor shaft of the drive motor 22 and the shaft cylinder 41 are relatively fixed in the rotation direction of the motor shaft and can slide relatively in the axial direction of the motor shaft. In this embodiment, the motor shaft of the drive motor 22 and the shaft cylinder 41 of the brush assembly 4 are connected through an upper connecting tube 45. The motor shaft and the shaft cylinder 41 are respectively connected to the upper connecting tube 45 by studs. The upper connecting tube 45 is provided with an elongated sliding groove 451 extending along its axial direction. The stud connecting the motor shaft and the upper connecting tube 45 or the stud connecting the shaft cylinder 41 and the upper connecting tube 45 can slide in the elongated sliding groove 451.

[0036] Since the brush assembly 4 does not apply axial pulling force to the drive motor 22, the brush assembly 4 can slide downward freely under the action of gravity, so that a part of the gravity force of the brush assembly 4 falls on the lower input shaft assembly connected to the lower end of the brush assembly 4. In order to better bear this part of the force, the lower input shaft assembly includes a lower input shaft 321 and a bearing sleeved on the lower input shaft 321, one end of the lower input shaft 321 is connected to the shaft cylinder 41, and the bearing is sleeved on the other end of the lower input shaft 321, wherein the bearing is a tapered roller bearing 322. By setting the tapered roller bearing 322, the axial pressure from the brush assembly 4 can be well borne, while the commonly used deep groove ball bearings and the like are easily damaged by derailment in this embodiment.

[0037] Please continue reading Figure 4As shown, in this embodiment, the brush assembly 4 includes a multi-section shaft cylinder 41, and the multi-section shaft cylinder 41 is connected by a middle connecting shaft 43. A middle support member 44 is sleeved on the middle connecting shaft 43, and the upper end of the middle support member 44 is fixed to the walking beam 1. In this embodiment, two sections of the shaft cylinder 41 are taken as an example. In other embodiments, there may be more sections. In this implementation, the brush cylinder 42 is fixed to the shaft cylinder 41 by a pin component. In other embodiments, the brush cylinder 42 and the shaft cylinder 41 may be an integral part.

[0038] Through the above description of the specific embodiment, it can be seen that the low-power cleaning robot 100 provided by the present application adopts an innovative structural design, and drives the cleaning robot to move and the brush assembly 4 to rotate through a driving motor 22, with a simple structure, low power consumption, and good synchronization. In addition, the tangential direction of the driving brush assembly 4 when rotating and rolling in contact with the photovoltaic array is consistent with the moving direction of the cleaning robot, so that the dust on the photovoltaic array is pushed and swept forward in the moving direction of the cleaning robot, which can avoid secondary dust falling compared to the traditional backward sweeping method, and the cleaning effect is better.

[0039] The present application is described by several specific embodiments, and those skilled in the art should understand that various changes and equivalent substitutions can be made to the present application without departing from the scope of the present application. In addition, various modifications can be made to the present application for specific situations or specific circumstances without departing from the scope of the present use model. Therefore, the present application is not limited to the specific embodiments disclosed, but should include all implementation methods falling within the scope of the claims of the present application.

Claims

1. A low-power cleaning robot, used to move on a photovoltaic array to clean the photovoltaic array, the cleaning robot comprises an upper drive assembly, a lower drive assembly, a walking beam and a brush assembly, characterized in that: The upper drive assembly includes an upper mounting seat, and a drive motor, an upper travel mechanism and an upper transmission mechanism installed on the upper mounting seat, wherein the drive motor drives the upper travel mechanism to move through the upper transmission mechanism; The lower port driving assembly includes a lower port mounting seat, and a lower port input shaft assembly, a lower port travel mechanism and a lower port transmission mechanism installed on the lower port mounting seat, and the lower port input shaft assembly drives the lower port travel mechanism to move through the lower port transmission mechanism; The two ends of the walking beam are respectively connected to the upper mounting seat and the lower mounting seat; The brush assembly comprises an upper end and a lower end, the upper end of the brush assembly is connected to the driving motor to be driven to rotate by the driving motor, and the lower end of the brush assembly is connected to the lower port input shaft assembly to drive the lower port input shaft assembly to rotate; Among them, the upper transmission mechanism and the lower transmission mechanism are configured so that the walking direction of the upper walking mechanism and the lower walking mechanism driven by them is consistent with the tangential direction when the brush assembly rotates and rolls in contact with the photovoltaic array.

2. The low-power cleaning robot according to claim 1, characterized in that: The upper transmission mechanism comprises an upper shaft transmission gear, an upper sprocket and an upper chain, wherein the upper shaft transmission gear is coaxially arranged with the motor shaft of the driving motor, the upper sprocket is at least two and meshedly connected to the inner side of the upper chain, and the upper shaft transmission gear is meshedly connected to the outer side of the upper chain; and / or, The lower port transmission mechanism includes a lower port shaft transmission gear, a lower port sprocket and a lower port chain. The lower port shaft transmission gear is coaxially arranged with the lower port input shaft assembly. There are at least two lower port sprockets, which are meshed and connected to the inner side of the lower port chain. The lower port shaft transmission gear is meshed and connected to the outer side of the lower port chain.

3. The low-power cleaning robot according to claim 2, characterized in that: The upper transmission mechanism includes an upper guide wheel, which is correspondingly arranged with the upper shaft transmission gear, forming a penetration gap between the two, and the upper chain passes through the penetration gap; and / or, the lower transmission mechanism includes a lower guide wheel, which is correspondingly arranged with the lower shaft transmission gear, forming a penetration gap between the two, and the lower chain passes through the penetration gap.

4. The low-power cleaning robot according to claim 3, characterized in that: The upper guide wheel and the upper shaft transmission gear push the upper chain toward the same side for tensioning; and / or the lower guide wheel and the lower shaft transmission gear push the lower chain toward the same side for tensioning.

5. The low-power cleaning robot according to claim 2, characterized in that: The central axis of the upper sprocket is parallel to the central axis of the upper shaft transmission gear, and the rotation direction of the upper sprocket is opposite to the rotation direction of the upper shaft transmission gear; and / or, the central axis of the lower sprocket is parallel to the central axis of the lower shaft transmission gear, and the rotation direction of the lower sprocket is opposite to the rotation direction of the lower shaft transmission gear.

6. The low-power cleaning robot according to claim 2, characterized in that: The upper travel mechanism includes an upper front wheel and an upper side wheel, the upper sprocket drives the upper front wheel to rotate via the upper front wheel axle, and the upper sprocket drives the upper side wheel to rotate via the vertically meshing bevel gear set and the upper side wheel axle; and / or, the lower travel mechanism includes a lower front wheel and a lower side wheel, the lower sprocket drives the lower front wheel to rotate via the lower front wheel axle, and the lower sprocket drives the lower side wheel to rotate via the vertically meshing bevel gear set and the lower side wheel axle.

7. The low-power cleaning robot according to claim 1, characterized in that: The brush assembly includes a shaft cylinder and a brush cylinder located outside the shaft cylinder. The motor shaft of the drive motor and the shaft cylinder are relatively fixed in the rotation direction of the motor shaft and can slide relatively in the axial direction of the motor shaft.

8. The low-power cleaning robot according to claim 7, characterized in that: The motor shaft of the driving motor and the shaft tube of the brush assembly are connected via an upper connecting tube, and the motor shaft and the shaft tube are respectively connected to the upper connecting tube via studs. The upper connecting tube is provided with a long sliding groove extending along its axial direction, and the stud connecting the motor shaft and the upper connecting tube or the stud connecting the shaft tube and the upper connecting tube can slide in the long sliding groove.

9. The low-power cleaning robot according to claim 7, characterized in that: The lower input shaft assembly includes a lower input shaft and a bearing sleeved on the lower input shaft, one end of the lower input shaft is connected to the shaft cylinder, and the bearing is sleeved on the other end of the lower input shaft, wherein the bearing is a tapered roller bearing.

10. The low-power cleaning robot according to claim 7, characterized in that: The brush assembly comprises a plurality of shaft cylinder sections, wherein the plurality of shaft cylinder sections are connected via a middle connecting shaft, a middle supporting member is sleeved on the middle connecting shaft, and an upper end of the middle supporting member is fixed on the walking beam.

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