A cleaning robot that includes a drive motor; a housing that encloses the drive motor; a brushing element; and a transmission coupled between the brushing element and the drive motor, the transmission is arranged to convert a rotary movement induced by the drive motor to a combination of (a) a rotary movement of the brushing element about a brushing element axis, and (b) a reciprocal movement of the brushing element in parallel to the brushing element axis.