Driving wheel, driving wheel assembly and cleaning equipment

Abstract

The present invention relates to a driving wheel, a driving wheel assembly and a cleaning device, wherein the driving wheel is rotatably mounted on the cleaning device, the central axis of the driving wheel extends in a first direction, the driving wheel has an outer end face, an inner end face and an outer circumferential surface, the outer end face and the inner end face are spaced apart in the first direction, the outer circumferential surface is connected between the outer end face and the inner end face and surrounds the outer end face and the inner end face in a circumferential direction; wherein the outer end face is provided with an outer end face anti-skid portion to form a concave-convex surface. For the above-mentioned driving wheel, since the outer end face forms a concave-convex surface by providing the outer end face anti-skid portion, when the cleaning device adopts a special obstacle crossing strategy and is at the boundary of an obstacle, the driving wheel has a larger contact area and a larger friction force with the obstacle, thereby improving the obstacle crossing capability of the cleaning device in a critical state of obstacle crossing.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent electrical appliances, and in particular to a driving wheel, a driving wheel assembly and a cleaning device. Background Art

[0002] With the advancement of science and technology and the development of society, cleaning equipment such as sweeping robots, mopping robots or sweeping and mopping robots for indoor floor cleaning have gradually entered people's lives. These cleaning devices can automatically detect factors such as room size, furniture placement, floor cleanliness, and rely on built-in programs to formulate reasonable cleaning routes to clean the floor. They are loved by people and are increasingly widely used in people's lives, significantly reducing people's burden and bringing great convenience to people's lives.

[0003] However, there are often some obstacles on the surface of the object to be cleaned, and the obstacle-crossing performance of current cleaning equipment is limited, so it is difficult to climb over some higher obstacles, thereby narrowing the cleaning range of the cleaning equipment and bringing inconvenience to people's lives. Summary of the invention

[0004] In order to solve the problem of insufficient obstacle-crossing capability of cleaning equipment, the present invention provides a driving wheel, a driving wheel assembly and a cleaning equipment, which can achieve the technical effect of improving the obstacle-crossing capability.

[0005] According to one aspect of the present application, there is provided a driving wheel, the driving wheel having an axial direction and a circumferential direction relative to the axial direction;

[0006] The driving wheel has an outer end surface and an inner end surface spaced apart in the axial direction;

[0007] Wherein, the outer end surface is arranged with an outer end surface anti-slip portion to form a non-flat surface.

[0008] In one of the embodiments, the outer end surface anti-slip portions are configured to be arranged at intervals along the circumferential direction to form a concave-convex surface.

[0009] In one embodiment, the outer end surface anti-slip portion protrudes outward from the outer end surface along the axial direction; and / or

[0010] The outer end surface anti-slip portion is recessed inwardly from the outer end surface along the axial direction.

[0011] In one of the embodiments, the outer end surface anti-slip portion protrudes outward from the outer end surface along the axial direction, and the height difference between the outer end surface anti-slip portion and the outer end surface in the axial direction is 1mm-2mm.

[0012] In one embodiment, the driving wheel has a radial direction perpendicular to the axial direction, and each outer end surface anti-skid portion extends along the radial direction. The end portion of each outer end surface anti-skid portion facing the edge outer circumferential surface of the outer end surface has a first preset gap relative to the edge outer circumferential surface of the outer end surface, and the end portion of each outer end surface anti-skid portion facing the center of the outer end surface has a second preset gap relative to the center of the outer end surface.

[0013] In one embodiment, the outer end surface is provided with a plurality of first outer end surface anti-slip portions and a plurality of second outer end surface anti-slip portions, and the length of the first outer end surface anti-slip portion in the radial direction is greater than the length of the second outer end surface anti-slip portion in the radial direction.

[0014] In one embodiment, two first outer end surface anti-slip portions are disposed between two most adjacent second outer end surface anti-slip portions.

[0015] In one of the embodiments, in the rotation direction of the driving wheel, the length of the outer end surface anti-slip portion in the radial direction gradually decreases.

[0016] In one embodiment, the anti-slip portion on the outer end surface is V-shaped or triangular.

[0017] In one of the embodiments, the inner end surface is arranged with an inner end surface anti-slip portion to form a non-flat surface.

[0018] In one of the embodiments, the inner end surface anti-slip portions are configured to be arranged at intervals along the circumferential direction to form a concave-convex surface.

[0019] In one embodiment, the inner end surface anti-slip portion protrudes outward from the inner end surface along the axial direction; and / or

[0020] The inner end surface anti-slip portion is recessed inwardly from the inner end surface along the axial direction.

[0021] In one embodiment, the driving wheel has a radial direction perpendicular to the axial direction, each inner end surface anti-slip portion extends along the radial direction of the driving wheel, the end portion of each inner end surface anti-slip portion facing the edge outer circumferential surface of the outer end surface has a third preset gap relative to the edge outer circumferential surface of the outer end surface, and the end portion of each inner end surface anti-slip portion facing the center of the outer end surface has a fourth preset gap relative to the center of the outer end surface.

[0022] In one of the embodiments, in the rotation direction of the driving wheel, the length of the inner end surface anti-slip portion in the radial direction of the driving wheel gradually decreases.

[0023] In one embodiment, the inner end surface anti-slip portion is V-shaped or triangular.

[0024] In one embodiment, the driving wheel includes a wheel hub and a tire that can be detachably mounted on the wheel hub, the central axis of the wheel hub extends along the axial direction, the tire is wrapped around the central axis of the wheel hub and outside the wheel hub, and the outer end surface anti-slip portion is provided on the tire.

[0025] According to another aspect of the present application, a cleaning device is provided, comprising the above-mentioned driving wheel.

[0026] In one embodiment, the cleaning device is a sweeping robot, a mopping robot, or a mopping and sweeping robot.

[0027] The above-mentioned driving wheel has a concave-convex surface formed by the outer end surface anti-slip portion. Therefore, when the cleaning equipment adopts a special obstacle crossing strategy and is at the obstacle boundary, the driving wheel has a larger contact area and greater friction with the obstacle, thereby improving the obstacle crossing ability of the cleaning equipment in the critical state of obstacle crossing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic structural diagram of a driving wheel assembly according to an embodiment of the present invention;

[0029] Figure 2 for Figure 1 A schematic structural diagram of a driving wheel of the driving wheel assembly shown;

[0030] Figure 3 for Figure 2 A schematic structural diagram of the driving wheel from another perspective;

[0031] Figure 4 It is an exploded schematic diagram of a driving wheel according to an embodiment of the present invention;

[0032] Figure 5 is a cross-sectional view of a driving wheel according to an embodiment of the present invention;

[0033] Figure 6 FIG. 4 is a side view of a driving wheel assembly according to an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 100. driving wheel assembly; 20. bracket; 40. driving motor; 60. driving wheel; 61. wheel hub; 612. wheel hub end wall; 614. wheel hub side wall; 63. tire; 632. tire outer end wall; 634. tire inner end wall; 636. tire side wall; 65. outer end face anti-skid portion; 652. first outer end face anti-skid portion; 654. second outer end face anti-skid portion; 67. inner end face anti-skid portion. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0042] Figure 1 A schematic structural diagram of a driving wheel assembly in an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of a driving wheel in an embodiment of the present invention is shown; Figure 3 A schematic structural diagram of a driving wheel in an embodiment of the present invention from another perspective is shown.

[0043] The cleaning device of one embodiment of the present invention is used to move along the surface of an object to be cleaned to clean the surface of the object (e.g., the ground). The structure of the cleaning device in the present application is described below by taking the cleaning device as a sweeping and mopping robot as an example. This embodiment is only used as an example and does not limit the technical scope of the present application. It is understood that in other embodiments, the cleaning device may also be specifically other devices, such as a mopping robot, etc., which is not limited here.

[0044] See also Figures 1 to 3 The cleaning device includes a main housing and a driving wheel assembly 100, a dust collection assembly, and a power supply assembly (not shown) mounted on the main housing. The driving wheel assembly 100 is used to drive the cleaning device to move on the surface of an object, the dust collection assembly is used to absorb dust and debris on the surface of the object, and the power supply assembly is used to provide power for the driving wheel assembly 100 and the dust collection assembly. It can be understood that the specific structure of the cleaning device is not limited and can be set according to needs.

[0045] The driving wheel assembly 100 includes a mounting bracket 20, a driving motor 40 and a driving wheel 60. The driving motor 40 and the driving wheel 60 are respectively mounted on the mounting bracket 20. The driving motor 40 is transmission-connected to the driving wheel 60. The driving motor 40 can drive the driving wheel 60 to rotate around its own central axis to move the cleaning device on the surface of the object.

[0046] The driving wheel 60 has an axial direction, a circumferential direction surrounding the axial direction, and a radial direction perpendicular to the axial direction. The driving wheel 60 has a substantially circular outer end face, a substantially circular inner end face, and a substantially annular outer circumferential surface. The outer end face and the inner end face are spaced apart in the axial direction. The outer circumferential surface is connected between the outer end face and the inner end face and surrounds the outer end face and the inner end face in the circumferential direction. When the cleaning device moves on the surface of an object, a portion of the outer circumferential surface contacts the surface of the object.

[0047] It should be noted that the outer end surface of the driving wheel 60 is Figure 1 The end surface of the driving wheel 60 is toward the outside of the screen. Figure 1 When the driving wheel 60 is installed in the cleaning device, the outer end face faces the outside of the cleaning device, and the inner end face faces the inside of the cleaning device. Specifically, the cleaning device includes two driving wheels 60, the axes of the two driving wheels 60 are located on the same straight line, the outer end faces of the two driving wheels 60 are arranged to face each other, and the inner end faces of the two driving wheels 60 are arranged to face each other.

[0048] Combination Figure 4 and Figure 5 As shown, Figure 4 An exploded schematic diagram of a driving wheel in an embodiment of the present invention is shown; Figure 5 A cross-sectional view of a driving wheel in an embodiment of the present invention is shown.

[0049] Specifically in some embodiments, the driving wheel 60 includes a wheel hub 61 and a tire 63 detachably mounted on the wheel hub 61. The wheel hub 61 is generally a cylindrical structure with a central axis extending along the axial direction of the driving wheel 60. The wheel hub 61 includes a wheel hub end wall 612 and a wheel hub side wall 614. The wheel hub end wall 612 is a circular plate-like structure. The wheel hub side wall 614 extends from the edge of the wheel hub end wall 612 along the axial direction of the driving wheel 60 toward one side of the wheel hub 61 and surrounds the wheel hub end wall 612 in the circumferential direction.

[0050] The tire 63 is a generally hollow annular structure, including a tire outer end wall 632, a tire inner end wall 634, and a tire sidewall 636. The generally annular tire outer end wall 632 and the generally annular tire inner end wall 634 are spaced apart in the axial direction of the driving wheel 60, and the tire sidewall 636 is connected between the tire outer end wall 632 and the tire inner end wall 634 and surrounds the tire outer end wall 632 and the tire inner end wall 634 in the circumferential direction.

[0051] In this way, the tire 63 is wrapped around the central axis of the wheel hub 61, the tire sidewall 636 covers the outside of the wheel hub sidewall 614, and the tire outer end wall 632 covers the edge area of ​​the wheel hub end wall 612 along the circumferential direction. Therefore, the tire outer end wall 632 and the wheel hub end wall 612 together form the outer end surface of the driving wheel 60, the tire inner end wall 634 forms the inner end surface of the driving wheel 60, and the tire sidewall 636 forms the outer circumferential surface of the driving wheel 60. Since the tire 63 is detachably mounted on the wheel hub 61, when the tire 63 is worn, a new tire 63 can be replaced without replacing the wheel hub 61.

[0052] It can be understood that in some other embodiments, the driving wheel 60 may also always be an integral whole and cannot be separated, so as to have higher integrity.

[0053] Furthermore, the tire sidewall 636 (i.e., the outer circumferential surface of the driving wheel 60) is a concave-convex surface with a regular pattern, so as to ensure the friction between the tire 63 and the ground. Specifically, the tire sidewall 636 is provided with an inwardly recessed groove to form a pattern, and the groove connects the tire outer end wall 632 and the tire inner end wall 634.

[0054] As described in the background technology, the obstacle crossing performance of current cleaning equipment is relatively weak. In order to improve the obstacle crossing performance, when the cleaning equipment of the present application faces higher or larger obstacles during the process of climbing obstacles, the cleaning equipment can adopt a special preset obstacle crossing strategy, that is, controlling the cleaning equipment to swing back and forth at the obstacle boundary so that the drive wheel 60 is at a certain angle to the boundary to facilitate obstacle crossing.

[0055] Based on the above obstacle crossing strategy, in order to further improve the obstacle crossing capability of the driving wheel 60, the outer end surface of the driving wheel 60 of the present application is provided with an outer end surface anti-slip portion 65 to form an uneven surface. In this way, when the cleaning device is at the boundary of an obstacle and adopts the above special obstacle crossing strategy, the driving wheel 60 has a larger contact area and a larger friction force with the obstacle, thereby improving the obstacle crossing capability of the cleaning device in the above critical state.

[0056] Specifically, in some embodiments, the outer end surface anti-skid portion 65 is provided at the edge area where the outer end surface of the driving wheel 60 is connected to the outer circumferential surface, and a plurality of outer end surface anti-skid portions 65 are arranged at intervals along the circumference of the driving wheel 60 to form a concave-convex surface, so that each area of ​​the driving wheel 60 in the circumferential direction has good obstacle crossing ability. More specifically, a plurality of outer end surface anti-skid portions 65 are provided on the tire sidewall 636 of the tire 63, and a plurality of outer end surface anti-skid portions 65 are arranged at intervals along the circumference of the tire sidewall 636.

[0057] Furthermore, each outer end surface anti-skid portion 65 extends in the radial direction of the driving wheel 60, and the end of each outer end surface anti-skid portion 65 facing the edge of the outer end surface of the driving wheel 60 has a first preset gap relative to the edge of the outer end surface, and the end of each outer end surface anti-skid portion 65 facing the center of the outer end surface has a second preset gap relative to the center of the outer end surface. In this way, the length of the outer end surface anti-skid portion 65 in the radial direction of the driving wheel 60 is proportional to the radial size of the outer end surface of the driving wheel 60 corresponding thereto. Among them, the first preset gap and the second preset gap are as small as possible, so as to increase the length of the outer end surface anti-skid portion 65 in the radial direction of the driving wheel 60 as much as possible, thereby further improving the obstacle crossing capability of the driving wheel 60.

[0058] Specifically in one embodiment, since the outer circumferential surface of the driving wheel 60 is provided with a groove connecting the outer end surface, the diameter of the outer end surface of the driving wheel 60 is different, and therefore the outer end surface is provided with a plurality of first outer end surface anti-slip portions 652 and a plurality of second outer end surface anti-slip portions 654, the length of each first outer end surface anti-slip portion 652 in the radial direction of the driving wheel 60 is greater than the length of each second outer end surface anti-slip portion 654 in the radial direction of the driving wheel 60, and two first outer end surface anti-slip portions 652 arranged at intervals are provided between the two most adjacent second outer end surface anti-slip portions 654.

[0059] In this way, the first outer end surface anti-slip portion 652 and the second outer end surface anti-slip portion 654 of different lengths are arranged alternately, the first outer end surface anti-slip portion 652 is provided in the area with a larger diameter on the outer end surface, and the second outer end surface anti-slip portion 654 is provided in the area with a smaller diameter on the outer end surface, thereby making full use of the diameter of the outer end surface to maximize the contact area between the driving wheel 60 and the obstacle and the friction between the two.

[0060] In some embodiments, in the rotation direction of the driving wheel 60 that enables the cleaning device to climb over the obstacle, the length of the outer end surface anti-skid portion 65 in the radial direction of the driving wheel 60 gradually decreases. Preferably, the outer end surface anti-skid portion 65 is in a V-shape or an isosceles triangle with a tip. In this way, the pointing direction of the tip of the outer end surface anti-skid portion 65 is consistent with the rotation direction of the driving wheel 60, so that the driving wheel 60 is in positive contact with the obstacle and is subjected to force. It can be understood that the shape of the outer end surface anti-skid portion 65 is not limited and can be set as needed to meet different requirements.

[0061] Combination Figure 6 As shown, Figure 6 A side view of a drive wheel assembly in one embodiment of the present invention is shown.

[0062] Preferably, in one embodiment, the outer end surface anti-skid portion 65 protrudes outward from the outer end surface, and the height difference a between the outer end surface anti-skid portion 65 and the outer end surface in the axial direction of the driving wheel 60 is 1mm-2mm. In this way, the outer end surface anti-skid portion 65 effectively increases the contact area and friction between the driving wheel 60 and the obstacle, while avoiding the excessive width of the driving wheel 60 in the axial direction and interfering with other parts of the cleaning equipment. Moreover, the raised outer end surface anti-skid portion 65 is not easy to accumulate dirt, so that a good obstacle crossing effect can be maintained for a long time. It can be understood that the height difference between the outer end surface anti-skid portion 65 and the outer end surface in the axial direction of the driving wheel 60 can be set as needed to meet different requirements.

[0063] In some other embodiments, the outer end surface anti-slip portion 65 is recessed inward from the outer end surface, which can also play a role in increasing the contact area and friction between the driving wheel 60 and the obstacle.

[0064] In some embodiments, in order to further improve the obstacle-crossing capability of the driving wheel 60 , an inner end surface anti-slip portion 67 is arranged on the inner end surface of the driving wheel 60 to form an uneven surface.

[0065] Similar to the outer end surface anti-skid portion 65, the inner end surface anti-skid portion 67 is provided at the edge area where the inner end surface of the driving wheel 60 is connected to the outer circumferential surface, and a plurality of inner end surface anti-skid portions 67 are arranged at intervals along the circumference of the driving wheel 60 to form a concave-convex surface. Each inner end surface anti-skid portion 67 extends in the radial direction of the driving wheel 60, and the end of each inner end surface anti-skid portion 67 facing the edge of the outer end surface of the driving wheel 60 has a third preset gap relative to the edge of the outer end surface of the driving wheel 60, and the end of each inner end surface anti-skid portion 67 facing the center of the outer end surface has a fourth preset gap relative to the center of the outer end surface. The third preset gap and the fourth preset gap are as small as possible, so as to increase the length of the outer end surface anti-skid portion 65 in the radial direction of the driving wheel 60 as much as possible, thereby further improving the obstacle crossing capability of the driving wheel 60.

[0066] In the rotation direction of the driving wheel 60, the length of the inner end surface anti-skid portion 67 in the radial direction of the driving wheel 60 gradually decreases. Preferably, the inner end surface anti-skid portion 67 is V-shaped or triangular. In this way, the pointing direction of the tip of the inner end surface anti-skid portion 67 is consistent with the rotation direction of the driving wheel 60, so that the driving wheel 60 is in positive contact with the obstacle and is subjected to force. It can be understood that the shape of the inner end surface anti-skid portion 67 is not limited and can be set as needed to meet different requirements.

[0067] Preferably, in one embodiment, the inner end surface anti-skid portion 67 protrudes outward from the outer end surface of the driving wheel 60, and the height difference between the inner end surface anti-skid portion 67 and the inner end surface in the axial direction of the driving wheel 60 is 1mm-2mm. In this way, the inner end surface anti-skid portion 67 effectively increases the contact area and friction between the driving wheel 60 and the obstacle, while avoiding the excessive width of the driving wheel 60 in the axial direction of the driving wheel 60 and interfering with other parts of the cleaning equipment. Moreover, the raised inner end surface anti-skid portion 67 is not easy to accumulate dirt, so that a good obstacle crossing effect can be maintained for a long time. It can be understood that the height difference between the inner end surface anti-skid portion 67 and the inner end surface in the axial direction of the driving wheel 60 can be set as needed to meet different requirements.

[0068] In some other embodiments, the inner end surface anti-slip portion 67 is recessed inward from the inner end surface of the driving wheel 60 , which can also serve to increase the contact area and friction between the driving wheel 60 and the obstacle.

[0069] The above-mentioned driving wheel 60 and the cleaning equipment equipped with it, by setting the outer end face and the inner end face of the driving wheel 60 as concave and convex surfaces, effectively improves the contact area and friction force between the driving wheel 60 and the obstacle in the critical state of obstacle crossing, thereby effectively improving the obstacle crossing ability of the driving wheel 60, thereby improving the performance of the cleaning equipment and expanding the scope of application of the cleaning equipment.

[0070] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A driving wheel, characterized in that: The driving wheel has an axial direction, a circumferential direction relative to the axial direction, and a radial direction perpendicular to the axial direction; The driving wheel has an outer end surface and an inner end surface spaced apart in the axial direction; The outer end surface is provided with an outer end surface anti-slip portion (65) to form a non-flat surface, the outer end surface anti-slip portion (65) protrudes outward from the outer end surface along the axial direction, each of the outer end surface anti-slip portions (65) extends along the radial direction, and in the rotation direction of the driving wheel, the length of the outer end surface anti-slip portion (65) in the radial direction gradually decreases.

2. The driving wheel according to claim 1, characterized in that: The outer end surface anti-slip portions (65) are configured to be arranged at intervals along the circumferential direction to form a concavo-convex surface.

3. The driving wheel according to claim 1, characterized in that: The height difference between the outer end surface anti-slip portion (65) and the outer end surface in the axial direction is 1 mm to 2 mm.

4. The driving wheel according to claim 1, characterized in that: The end of each outer end surface anti-slip portion (65) facing the outer circumferential surface of the edge of the outer end surface has a first preset gap relative to the outer circumferential surface of the edge of the outer end surface, and the end of each outer end surface anti-slip portion (65) facing the center of the circle of the outer end surface has a second preset gap relative to the center of the circle of the outer end surface.

5. The driving wheel according to claim 4, characterized in that: The outer end surface is provided with a plurality of first outer end surface anti-slip portions (652) and a plurality of second outer end surface anti-slip portions (654), and the length of the first outer end surface anti-slip portion (652) in the radial direction is greater than the length of the second outer end surface anti-slip portion (654) in the radial direction.

6. The driving wheel according to claim 5, characterized in that: Two of the first outer end surface anti-slip portions (652) are disposed between the two most adjacent second outer end surface anti-slip portions (654).

7. The driving wheel according to claim 1, characterized in that: The outer end surface anti-slip portion (65) is V-shaped or triangular.

8. The driving wheel according to claim 1, characterized in that: The inner end surface is provided with an inner end surface anti-slip portion (67) to form a non-flat surface.

9. The driving wheel according to claim 8, characterized in that: The inner end surface anti-slip portions (67) are configured to be arranged at intervals along the circumferential direction to form a concavo-convex surface.

10. The driving wheel according to claim 9, characterized in that: The inner end surface anti-slip portion (67) protrudes outward from the inner end surface along the axial direction; and / or The inner end surface anti-slip portion (67) is recessed inwardly from the inner end surface along the axial direction.

11. The driving wheel according to claim 10, characterized in that: The driving wheel has a radial direction perpendicular to the axial direction, and each inner end surface anti-skid portion (67) extends along the radial direction of the driving wheel. The end of each inner end surface anti-skid portion (67) facing the edge outer circumferential surface of the outer end surface has a third preset gap relative to the edge outer circumferential surface of the outer end surface, and the end of each inner end surface anti-skid portion (67) facing the center of the outer end surface has a fourth preset gap relative to the center of the outer end surface.

12. The driving wheel according to claim 11, characterized in that: In the rotation direction of the driving wheel, the length of the inner end surface anti-slip portion (67) in the radial direction of the driving wheel gradually decreases.

13. The driving wheel according to claim 12, characterized in that: The inner end surface anti-slip portion (67) is V-shaped or triangular.

14. The driving wheel according to any one of claims 1 to 13, characterized in that: The driving wheel comprises a wheel hub (61) and a tire (63) detachably mounted on the wheel hub (61); the central axis of the wheel hub (61) extends along the axial direction; the tire (63) wraps around the central axis of the wheel hub (61) and is wrapped around the outside of the wheel hub (61); and the outer end surface anti-slip portion (65) is provided on the tire (63).

15. A driving wheel assembly, characterized in that: Comprising a driving wheel as claimed in any one of claims 1 to 14.

16. A cleaning device, characterized in that: Comprising a driving wheel as claimed in any one of claims 1 to 14.

17. The cleaning device according to claim 16, characterized in that The cleaning device is a sweeping robot, a mopping robot or a sweeping and mopping robot.

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