Driving device of cleaning robot and photovoltaic cleaning robot

Abstract

The utility model discloses a driving device of a cleaning robot and a photovoltaic cleaning robot. The driving device of the cleaning robot comprises an upper opening driving assembly and a lower opening driving assembly, and the upper opening driving assembly and the lower opening driving assembly are arranged at the two opposite ends of the cleaning robot respectively. The upper opening driving assembly comprises an upper opening installation base, a driving motor, an upper opening walking mechanism and an upper opening transmission mechanism, wherein the driving motor, the upper opening walking mechanism and the upper opening transmission mechanism are installed on the upper opening installation base. The upper opening transmission mechanism comprises an upper opening shaft transmission gear, an upper opening chain wheel and an upper opening chain. And the upper opening shaft transmission gear and a motor shaft of the driving motor are coaxially arranged. And the upper opening chain is annular. The upper opening chain wheel is connected to the inner side of the upper opening chain in a meshed mode, and the upper opening shaft transmission gear is connected to the outer side of the upper opening chain in a meshed mode. The rotating direction of the upper opening shaft transmission gear driven by the driving motor is opposite to the rotating direction of the upper opening chain wheel.

Description

Technical Field

[0001] This application relates to the field of photovoltaic cleaning technology, and in particular to a drive device for a cleaning robot and a photovoltaic cleaning robot. Background Technology

[0002] A photovoltaic (PV) cleaning robot is a device capable of automatically cleaning PV panels. Depending on the cleaning method, PV cleaning robots on the market currently include those that use scraper strips and those that use rolling brushes. In existing technologies, robots using rolling brushes typically employ separate motors to drive the robot's overall movement and the brush's rotation. This results in higher costs, more complex structures, and higher power consumption. Furthermore, if one motor experiences an abnormal speed, it will affect the ratio of the brush's rotational speed to the robot's overall movement speed, impacting the cleaning effect. Additionally, in existing technologies, the brush's rotation direction is usually the same as the robot's overall movement direction, causing the brush to sweep dust backwards and raise it. This method carries the risk of the raised dust falling back onto the cleaned PV panels, resulting in poor cleaning effectiveness.

[0003] Therefore, it is necessary to propose a technical solution to overcome the shortcomings of existing technologies. Summary of the Invention

[0004] This application provides a driving device for a cleaning robot and a photovoltaic cleaning robot, which has a simple structure, low power consumption, and good cleaning effect.

[0005] This application is achieved through the following technical solution: a driving device for a cleaning robot, comprising an upper driving assembly and a lower driving assembly, wherein the upper driving assembly and the lower driving assembly are respectively disposed at opposite ends of the cleaning robot; the upper driving assembly includes an upper mounting base, and a driving motor, an upper walking mechanism, and an upper transmission mechanism mounted on the upper mounting base; 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 driving motor; the upper chain is annular; the upper sprocket is meshed with the inner side of the upper chain; the upper shaft transmission gear is meshed with the outer side of the upper chain; and the driving motor drives the upper shaft transmission gear to rotate in the opposite direction to the rotation direction of the upper sprocket.

[0006] As a further improvement to the technical solution of this application, the upper shaft transmission gear abuts against the upper chain to cause the upper chain to bend and tension.

[0007] As a further improvement of the technical solution of this application, the upper transmission mechanism includes an upper guide wheel, the upper guide wheel and the upper shaft transmission gear are correspondingly arranged, and a through gap is formed between them, through which the upper chain passes.

[0008] As a further improvement of the technical solution of this application, the upper guide wheel abuts against the upper chain to make the upper chain bend and tension, and the upper guide wheel and the upper shaft transmission gear abut and tension the upper chain to the same side.

[0009] As a further improvement to the technical solution of this application, the upper mouth walking mechanism includes an upper mouth front wheel, which is coaxially connected to the upper mouth sprocket so as to be driven to rotate by the upper mouth sprocket.

[0010] As a further improvement to the technical solution of this application, the upper mouth walking mechanism includes an upper mouth side wheel, and the upper mouth sprocket drives the upper mouth side wheel to rotate through a vertically meshing upper mouth bevel gear set.

[0011] As a further improvement to this application, the rotational speed of the upper shaft transmission gear is greater than the rotational speed of the upper sprocket.

[0012] As a further improvement of the technical solution of this application, the lower port drive assembly includes a lower port mounting base, and a lower port input shaft assembly, a lower port traveling mechanism and a lower port transmission mechanism mounted on the lower port mounting base. The lower port input shaft assembly drives the lower port traveling mechanism to move through the lower port transmission mechanism.

[0013] As a further improvement of the technical solution of this application, the lower transmission mechanism includes a lower shaft transmission gear, a lower sprocket and a lower chain. The lower shaft transmission gear is coaxially arranged with the lower input shaft assembly. There are at least two lower sprockets that are meshed and connected to the inner side of the lower chain. The lower shaft transmission gear is meshed and connected to the outer side of the lower chain.

[0014] This application also achieves this through the following technical solution: a photovoltaic cleaning robot, including a brush roller and a driving device as described above, wherein the driving device simultaneously drives the photovoltaic cleaning robot to move and the brush roller to rotate.

[0015] The driving device for the cleaning robot provided in this application configures the upper transmission mechanism as including 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, the upper chain is circular, the upper sprocket is meshed with the inner side of the upper chain, and the upper shaft transmission gear is meshed with the outer side of the upper chain. The drive motor drives the upper shaft transmission gear to rotate in the opposite direction to the rotation of the upper sprocket. Thus, when the upper shaft transmission gear is coaxially connected to cleaning components such as brush rollers, and the upper sprocket is connected to the walking mechanism, only one drive motor can simultaneously drive the cleaning robot to move and the brush rollers to rotate. This results in low power consumption, simple structure, good synchronization between movement and cleaning, and the fact that the direction of rotation of the brush rollers is opposite to the direction of rotation of the walking wheels of the walking mechanism pushes the dust on the photovoltaic array forward in the direction of movement of the cleaning robot, resulting in better cleaning effect. Attached Figure Description

[0016] Figure 1 This is a three-dimensional assembly diagram of an embodiment of the photovoltaic cleaning robot of this application.

[0017] Figure 2 This is a perspective view of another embodiment of the photovoltaic cleaning robot of this application.

[0018] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0019] Figure 4 This is a partial enlarged view of the lower drive component in one embodiment of the photovoltaic cleaning robot of this application.

[0020] Figure 5 This is a three-dimensional exploded view of an embodiment of the photovoltaic cleaning robot of this application.

[0021] The attached diagrams are labeled as follows: 100, Photovoltaic Cleaning Robot; 1, Walking Beam; 2, Upper Drive Assembly; 21, Upper Mounting Base; 22, Drive Motor; 231, Upper Front Wheel; 232, Upper Side Wheel; 241, Upper Shaft Drive Gear; 242, Upper Sprocket; 243, Upper Chain; 244, Upper Guide Wheel; 245, Upper Bevel Gear Set; 3, Lower Drive Assembly; 31, Lower Mounting Base; 321, Lower Drive Gear... 322. Tapered roller bearing; 331. Lower front wheel; 332. Lower side wheel; 341. Lower shaft drive gear; 342. Lower sprocket; 343. Lower chain; 344. Lower guide wheel; 345. Lower bevel gear set; 4. Brush roller; 41. Shaft cylinder; 42. Brush cylinder; 43. Middle connecting shaft; 44. Middle support component; 45. Upper connecting pipe; 451. Long strip sliding groove; 5. Control box. Detailed Implementation

[0022] To provide a clearer understanding of the technical features, objectives, and effects of this application, the specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise specified, the technical features in the following embodiments can be combined with each other. The embodiments described below are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0024] Please see Figures 1 to 5 As shown, this application provides a drive device for a cleaning robot and a photovoltaic cleaning robot 100. The photovoltaic 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 drive device includes an upper drive assembly 2 and a lower drive assembly 3, which are respectively disposed at opposite ends of the cleaning robot. The photovoltaic cleaning robot 100 includes the drive device, as well as a walking beam 1, a brush roller 4, and a control box 5.

[0025] The upper drive assembly 2 includes an upper mounting base 21, and a drive motor 22, an upper traveling mechanism, and an upper transmission mechanism mounted on the upper mounting base 21. The drive motor 22 drives the upper traveling mechanism to move through the upper transmission mechanism. The lower drive assembly 3 includes a lower mounting base 31, and a lower input shaft assembly, a lower traveling mechanism, and a lower transmission mechanism mounted on the lower mounting base 31. The lower input shaft assembly drives the lower traveling mechanism to move through the lower transmission mechanism. The two ends of the traveling beam 1 are respectively connected to the upper mounting base 21 and the lower mounting base 31. The brush roller 4 includes an upper end and a lower end. The upper end of the brush roller 4 is connected to the drive motor 22 to be driven to rotate by the drive motor 22, and the lower end of the brush roller 4 is connected to the lower input shaft assembly to drive the lower input shaft assembly to rotate. The upper and lower transmission mechanisms are configured such that the traveling directions of the upper and lower traveling mechanisms driven by them are consistent with the tangential direction when the brush roller 4 rotates and comes into rolling contact with the photovoltaic array.

[0026] Please see Figure 2 and Figure 3 As shown, the upper port drive assembly 2 includes an upper port mounting base 21, and a drive motor 22, an upper port walking mechanism, and an upper port transmission mechanism mounted on the upper port mounting base 21.

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

[0028] The upper transmission mechanism includes an upper shaft drive gear 241, an upper sprocket 242, and an upper chain 243. The upper shaft drive gear 241 is coaxially arranged with the motor shaft of the drive motor 22 and the rotation axis of the brush roller 4, and is relatively fixed to the motor shaft and brush roller 4 in the circumferential direction of rotation. The upper shaft drive gear 241 can be directly or indirectly connected to the motor shaft through splines, pins, D-type or polygonal post-hole connections, ensuring synchronous rotation driven by the motor shaft. There are at least two upper sprockets 242, meshing with the inner side of the upper chain 243, and the upper shaft drive gear 241 meshing with the outer side of the upper chain 243. The central axis of the upper sprocket 242 is parallel to the central axis of the upper shaft drive gear 241, and the two upper sprockets 242 are symmetrically located on both sides of the upper shaft drive gear 241. In this embodiment, the diameter of the upper shaft drive gear 241 is smaller than the diameter of the upper sprocket 242, and the rotational speed of the upper shaft drive gear 241 is greater than the rotational speed of the upper sprocket 242, thereby making the rotational speed of the brush roller 4 greater than the traveling speed, resulting in a better cleaning effect.

[0029] The upper transmission mechanism also includes an upper guide wheel 244, which is correspondingly arranged with the upper shaft transmission gear 241, forming a through gap between them. The upper chain 243 passes through the through gap. The upper guide wheel 244 and the upper shaft transmission gear 241 tension the upper chain 243 by pushing it together to the same side. One section of the upper chain 243 is clamped between the upper guide wheel 244 and the upper shaft transmission gear 241 and is tensioned by pushing it together, which can prevent the upper chain 243 from loosening and make the power transmission more reliable.

[0030] Please continue reading. Figure 2 and Figure 3As shown, when the drive motor 22 operates and the motor shaft rotates, the motor shaft drives the upper shaft transmission gear 241 and the brush roller 4 to rotate synchronously. The upper shaft transmission gear 241 drives the upper sprocket 242 to rotate via the upper chain 243, and the upper sprocket 242 drives the photovoltaic cleaning robot 100 to move forward. The rotation direction of the upper sprocket 242 is opposite to the rotation direction of the upper shaft transmission gear 241; that is, the rotation direction of the brush roller 4 is opposite to the rotation direction of the upper sprocket 242. Thus, when the upper sprocket 242 rotates in the forward direction to drive the photovoltaic cleaning robot 100 forward, the brush roller 4 rotates in the reverse direction. The tangential direction of the contact surface of the reverse-rotating brush roller 4 when it rolls into contact with the photovoltaic array is forward, causing the dust on the photovoltaic array to be pushed forward and swept away. Furthermore, the contact between the brush roller 4 and the photovoltaic array creates a force that hinders the forward movement of the photovoltaic cleaning robot 100. This resistance helps the brush roller 4 to create a sliding shearing effect at the contact point with the photovoltaic array, resulting in a cleaner and more thorough cleaning of the dust on the photovoltaic array. The dust and debris pushed forward eventually fall off from the gaps between the photovoltaic panels or from the edges of the outermost photovoltaic panels.

[0031] Please continue reading. Figure 3 As shown, the upper-entry 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 provide lateral pressure and hanging, preventing the photovoltaic cleaning robot 100 from sliding down the inclined photovoltaic array. In one embodiment, both the upper-front wheel 231 and the upper-side wheel 232 are rubber wheels. The upper-entry sprocket 242 drives the upper-front wheel 231 to rotate via the upper-front wheel axle, and the upper-entry sprocket 242 drives the upper-side wheel 232 to rotate via a vertically meshing upper-entry bevel gear set 245 and the upper-side wheel axle. The upper-entry bevel gear set 245 includes two meshing bevel gears, i.e., bevel gears, which can realize power transmission in the vertical direction.

[0032] Please see Figure 4 As shown, the lower port drive assembly 3 includes a lower port mounting base 31, and a lower port input shaft assembly, a lower port traveling mechanism, and a lower port transmission mechanism mounted on the lower port mounting base 31. The lower port input shaft assembly drives the lower port traveling mechanism to move through the lower port transmission mechanism.

[0033] The composition of the lower drive assembly 3 is roughly similar to that of the upper drive assembly 2. The main difference is that the lower drive assembly 3 does not include a drive motor 22. The lower drive assembly 3 is driven by the brush roller 4. Specifically, the lower transmission mechanism includes a lower shaft drive gear 341, a lower sprocket 342, and a lower chain 343. The lower shaft drive gear 341 is coaxially arranged with the lower input shaft assembly. There are at least two lower sprockets 342, which are meshed with the inner side of the lower chain 343, and the lower shaft drive gear 341 is meshed with the outer side of the lower chain 343. The central axis of the lower sprocket 342 is parallel to the central axis of the lower shaft drive gear 341, and the rotation direction of the lower sprocket 342 is opposite to the rotation direction of the lower shaft drive gear 341. The lower drive mechanism includes a lower guide wheel 344, which is correspondingly arranged with the lower shaft drive gear 341, forming a through gap between them. The lower chain 343 passes through the through gap. The lower guide wheel 344 and the lower shaft drive gear 341 tension the lower chain 343 by pushing it together to the same side. The lower travel mechanism includes a lower front wheel 331 and a lower side wheel 332. The lower sprocket 342 drives the lower front wheel 331 to rotate via the lower front wheel axle. The lower sprocket 342 drives the lower side wheel 332 to rotate via a vertically meshing lower bevel gear set 345 and the lower side wheel axle. Other parts of the lower drive assembly 3 not mentioned above can be understood by referring to the upper drive assembly 2.

[0034] The overall movement process of the machine is as follows: The movement of the photovoltaic cleaning robot 100 is controlled by the control box 5, which controls the drive motor 22 to work. The motor shaft rotates, and the motor shaft drives the upper shaft transmission gear 241, the brush roller 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. The upper sprocket 242 and the lower sprocket 342 drive the photovoltaic cleaning robot 100 to move forward. Since the rotation direction of the brush roller 4 is opposite to the forward direction when the photovoltaic cleaning robot 100 moves forward as a whole, the tangential direction of the contact surface of the counter-rotating brush roller 4 when it rolls into contact with the photovoltaic array is forward, which pushes the dust on the photovoltaic array forward. Furthermore, the contact between the brush roller 4 and the photovoltaic array creates a force that hinders the forward movement of the photovoltaic cleaning robot 100. This resistance helps the brush roller 4 to create a sliding shearing effect at the contact point with the photovoltaic array, resulting in a cleaner and more thorough cleaning of the dust on the photovoltaic array. The dust and debris pushed forward eventually fall off from the gaps between the photovoltaic panels or from the edges of the outermost photovoltaic panels.

[0035] Please see Figure 5 As shown, in actual use, the photovoltaic array is usually tilted to match the solar altitude angle and maximize solar energy acquisition. The photovoltaic cleaning robot is also tilted on the photovoltaic array, with the upper end being the upper opening and the lower end being the lower opening. In this embodiment, the brush roller 4 is configured to float towards the lower opening under gravity, meaning that the brush roller 4 and the drive motor 22 in the upper opening drive assembly 2 can slide relative to each other axially. This avoids the brush roller 4 exerting a downward pulling force on the drive motor 22, which would cause complex force distribution on the drive motor 22, resulting in poor transmission reliability and reduced service life. In this embodiment, the motor shaft of the drive motor 22 is not subjected to the axial pulling force of the brush roller 4; it only applies a rotational force in the circumferential direction, resulting in a single force distribution and better transmission reliability. Specifically, the brush roller 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 is relatively fixed to the shaft cylinder 41 in the rotational direction of the motor shaft, but can slide relative to it 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 roller 4 are connected by an upper connecting pipe 45. The motor shaft and the shaft cylinder 41 are respectively connected to the upper connecting pipe 45 by studs. The upper connecting pipe 45 has an elongated sliding groove 451 extending along its axial direction. The studs connecting the motor shaft and the upper connecting pipe 45 or the studs connecting the shaft cylinder 41 and the upper connecting pipe 45 can slide within the elongated sliding groove 451.

[0036] Since the brush roller 4 does not apply axial tension to the drive motor 22, it can slide freely downwards under gravity. This causes a portion of the brush roller 4's weight to fall on the lower input shaft assembly connected to its lower end. To better bear this component 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 sleeve 41, and the bearing is sleeved on the other end of the lower input shaft 321. The bearing is a tapered roller bearing 322. By using a tapered roller bearing 322, the axial pressure from the brush roller 4 can be effectively supported, whereas commonly used deep groove ball bearings are prone to slippage and damage in this embodiment.

[0037] Please continue reading. Figure 5As shown, in this embodiment, the brush roller 4 includes multiple sections of shaft cylinder 41, which are connected by a central connecting shaft 43. A central support member 44 is sleeved on the central connecting shaft 43, and the upper end of the central support member 44 is fixed to the traveling beam 1. This embodiment uses two sections of shaft cylinder 41 as an example; in other embodiments, there may be more sections. In this embodiment, 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 a single piece.

[0038] As can be seen from the above description of the specific embodiments, the driving device for the cleaning robot provided in this application, by configuring the upper transmission mechanism to include an upper shaft transmission gear 241, an upper sprocket 242, and an upper chain 243, wherein the upper shaft transmission gear 241 is coaxially arranged with the motor shaft of the drive motor 22, the upper chain 243 is annular, the upper sprocket 242 is meshed with the inner side of the upper chain 243, and the upper shaft transmission gear 241 is meshed with the outer side of the upper chain 243, and the drive motor 22 drives the upper shaft transmission gear 241 to rotate. The direction of rotation is opposite to that of the upper sprocket 242; thus, when the upper shaft drive gear 241 is coaxially connected to the brush roller 4 and other cleaning components, and the upper sprocket 242 is connected to the walking mechanism, only one drive motor 22 can simultaneously drive the cleaning robot to move and the brush roller 4 to rotate. This results in low power consumption, simple structure, good synchronization between movement and cleaning, and the direction of rotation of the brush roller 4 is opposite to the direction of rolling of the walking wheel of the walking mechanism, which pushes the dust on the photovoltaic array forward in the direction of movement of the cleaning robot, resulting in better cleaning effect.

[0039] This application is illustrated through several specific embodiments. Those skilled in the art will understand that various modifications and equivalent substitutions can be made to this application without departing from its scope. Furthermore, various modifications can be made to this application for specific situations or circumstances without departing from the scope of this utility model. Therefore, this application is not limited to the specific embodiments disclosed, but should include all embodiments falling within the scope of the claims of this application.

Claims

1. A driving device of a cleaning robot, comprising an upper mouth driving assembly and a lower mouth driving assembly, the upper mouth driving assembly and the lower mouth driving assembly being arranged at opposite ends of the cleaning robot, characterized in that, The upper mouth driving assembly comprises an upper mouth mounting base, a driving motor mounted on the upper mouth mounting base, an upper mouth walking mechanism and an upper mouth transmission mechanism, the upper mouth transmission mechanism comprises an upper mouth shaft transmission gear, an upper mouth sprocket and an upper mouth chain, the upper mouth shaft transmission gear is coaxially arranged with a motor shaft of the driving motor, the upper mouth chain is annular, the upper mouth sprocket is meshingly connected to the inner side of the upper mouth chain, the upper mouth shaft transmission gear is meshingly connected to the outer side of the upper mouth chain, and the driving motor drives the upper mouth shaft transmission gear to rotate in a direction opposite to that of the upper mouth sprocket.

2. The driving device of the cleaning robot according to claim 1, wherein The upper mouth shaft transmission gear abuts against the upper mouth chain to make the upper mouth chain bend and be tensioned.

3. The driving device of the cleaning robot according to claim 2, wherein The upper mouth transmission mechanism comprises an upper mouth guide wheel, the upper mouth guide wheel is correspondingly arranged with the upper mouth shaft transmission gear, and a through gap is formed between the upper mouth guide wheel and the upper mouth shaft transmission gear, and the upper mouth chain passes through the through gap.

4. The driving device of the cleaning robot according to claim 3, wherein The upper mouth guide wheel abuts against the upper mouth chain to make the upper mouth chain bend and be tensioned, and the upper mouth guide wheel and the upper mouth shaft transmission gear abut against and tension the upper mouth chain to the same side.

5. The driving device of the cleaning robot according to claim 1, wherein The upper mouth walking mechanism comprises an upper mouth front wheel, the upper mouth front wheel is coaxially connected with the upper mouth sprocket to be driven to rotate by the upper mouth sprocket.

6. The driving device of the cleaning robot according to claim 5, wherein The upper mouth walking mechanism comprises an upper mouth side wheel, the upper mouth sprocket drives the upper mouth side wheel to rotate through vertically meshed upper conical gear sets.

7. The driving device of the cleaning robot according to claim 1, wherein The rotating speed of the upper mouth shaft transmission gear is greater than that of the upper mouth sprocket.

8. The driving device of the cleaning robot according to any one of claims 1 to 7, wherein The lower mouth driving assembly comprises a lower mouth mounting base, a lower mouth input shaft assembly, a lower mouth walking mechanism and a lower mouth transmission mechanism mounted on the lower mouth mounting base, and the lower mouth input shaft assembly drives the lower mouth walking mechanism to move through the lower mouth transmission mechanism.

9. The driving device of the cleaning robot according to claim 8, wherein The lower mouth transmission mechanism comprises a lower mouth shaft transmission gear, a lower mouth sprocket and a lower mouth chain, the lower mouth shaft transmission gear is coaxially arranged with the lower mouth input shaft assembly, and the lower mouth sprocket is at least two and is meshingly connected to the inner side of the lower mouth chain, and the lower mouth shaft transmission gear is meshingly connected to the outer side of the lower mouth chain.

10. A photovoltaic cleaning robot, characterized in that The driving device comprises a brush roller and any one of the driving devices as claimed in claims 1 to 9, and the driving device simultaneously drives the photovoltaic cleaning robot to travel and the brush roller to rotate.

Images