Wheel assembly and cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and provides a wheel assembly and a cleaning robot. The wheel assembly comprises a hub and a tire, the tire comprises a tire body, a first tooth set and a second tooth set, the tire body is arranged outside the hub in a sleeving mode and fixed to the hub, and the first tooth set and the second tooth set are both arranged on the periphery of the tire body and arranged side by side in the axial direction of the tire body. The first tooth group comprises a plurality of first convex teeth arranged in the circumferential direction of the tire body at intervals, the second tooth group comprises a plurality of second convex teeth arranged in the circumferential direction of the tire body at intervals, and the first convex teeth and the second convex teeth are alternately arranged in the circumferential direction of the tire body. Based on the structure, the wheel assembly can stably and normally walk on the ground, especially can stably and normally walk on the smooth ground and the ground with water stains, the risk that the wheel assembly slips can be reduced, and the walking reliability and walking stability of the wheel assembly can be improved.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning equipment, and particularly relates to a wheel assembly and a cleaning robot. Background Art

[0002] Cleaning robots such as floor sweepers, mopping and sweeping all-in-ones, floor scrubbers, and floor washers usually move on the ground through a wheel assembly. However, the wheel assemblies of existing cleaning robots are prone to slipping when moving on smooth or water-stained ground, and the walking reliability is poor. Utility Model Content

[0003] An embodiment of this application provides a wheel assembly and a cleaning robot, aiming to solve the problem that the wheel assembly of an existing cleaning robot is prone to slipping when moving on smooth or water-stained ground, and the walking reliability is poor.

[0004] To achieve the above object, the technical solution adopted in the embodiment of this application is:

[0005] In a first aspect, a wheel assembly is provided, including:

[0006] A hub;

[0007] A tire, including a tire body, a first tooth group, and a second tooth group. The tire body is sleeved outside the hub and fixed to the hub. The first tooth group and the second tooth group are both arranged on the outer circumference of the tire body and are arranged side by side along the axial direction of the tire body. The first tooth group includes a plurality of first convex teeth arranged at intervals along the circumferential direction of the tire body, the second tooth group includes a plurality of second convex teeth arranged at intervals along the circumferential direction of the tire body, and the first convex teeth and the second convex teeth are alternately arranged along the circumferential direction of the tire body.

[0008] In some embodiments, at least one of the outer side surfaces of the first convex tooth and the second convex tooth facing away from the tire body is provided with a pattern.

[0009] In some embodiments, the pattern includes a first texture and a second texture. The first texture includes a plurality of first convex lines arranged in sequence along the circumferential direction of the tire body, the second texture includes a plurality of second convex lines arranged in sequence along the circumferential direction of the tire body, both the first convex lines and the second convex lines are angular, the sharp corners of the first convex lines face counterclockwise, and the sharp corners of the second convex lines face clockwise.

[0010] In some embodiments, in the pattern, the first texture and the second texture are alternately arranged along the axial direction of the tire body.

[0011] In some embodiments, the first tooth group and the second tooth group are arranged at intervals.

[0012] In some embodiments, along the circumferential direction of the tire body, the width of the first convex teeth is greater than or equal to the spacing between two adjacent first convex teeth;

[0013] And / or, along the circumferential direction of the tire body, the width of the second convex teeth is greater than or equal to the spacing between two adjacent second convex teeth.

[0014] In some embodiments, a plurality of shock-absorbing holes penetrate through the end face of the tire body, and the plurality of shock-absorbing holes are arranged at intervals along the circumferential direction of the tire body.

[0015] In some embodiments, the plurality of shock-absorbing holes include first shock-absorbing holes and second shock-absorbing holes arranged alternately. The width of the first shock-absorbing holes is tapered along the direction close to the center of the tire body, and the width of the second shock-absorbing holes is tapered along the direction away from the center of the tire body.

[0016] In some embodiments, the shape of the shock-absorbing holes is an isosceles trapezoid.

[0017] In some embodiments, the tire includes a connecting ring provided on the inner circumference of the tire body. The hub includes a hub seat and a hub cap connected to each other, and the hub seat and the hub cap sandwich the connecting ring therebetween.

[0018] In some embodiments, the connecting ring is provided with limiting holes in a penetrating manner, and the hub is provided with limiting blocks, and the limiting blocks are arranged in one-to-one correspondence with the limiting holes and are in limiting cooperation.

[0019] In a second aspect, a cleaning robot is provided, including the wheel assembly provided in the embodiments of the present application.

[0020] The beneficial effects of the wheel assembly provided in the present application are as follows:

[0021] The wheel assembly provided by the embodiments of the present application can, during rolling contact with the ground, alternately and in turn directly contact the ground via first and second protruding teeth arranged alternately along the circumference of the tire body, so that there is always a protruding tooth in direct contact with the ground. Furthermore, due to the deformation space provided by the first and second gaps around the protruding teeth, the protruding teeth can also elastically deform when in contact with the ground to increase the contact area with the ground, thereby increasing the friction and grip between the tire and the ground. Furthermore, during rolling contact, the first and second gaps around the protruding teeth can also form drainage channels with the ground to facilitate drainage and squeeze out water stains between the protruding teeth and the ground, allowing the protruding teeth to closely contact the ground, thereby improving the tire's drainage and anti-skid performance and increasing the tire's grip with the ground. This allows the wheel assembly to smoothly and normally travel on the ground, particularly on smooth and water-stained surfaces, reduces the risk of the wheel assembly slipping, and improves the wheel assembly's reliability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A perspective schematic diagram of a wheel assembly provided in some embodiments of the present application;

[0024] Figure 2 for Figure 1 A top view of the wheel assembly is provided;

[0025] Figure 3 for Figure 1 Exploded view of the wheel assembly is provided.

[0026] Among them, the reference numerals in the figures are:

[0027] 10-wheel hub, 11-wheel hub seat, 12-wheel hub cover, 13-limiting block, 20-tire, 21-tire body, 211-shock-absorbing hole, 211a-first shock-absorbing hole, 211b-second shock-absorbing hole, 22-first tooth group, 221-first convex tooth, 222-first gap, 23-second tooth group, 231-second convex tooth, 232-second gap, 24-pattern, 241-first texture, 2411-first convex pattern, 242-second texture, 2421-second convex pattern, 25-connecting ring, 251-limiting hole. DETAILED DESCRIPTION

[0028] In order to clearly understand the technical problems to be solved, technical solutions and beneficial effects of the present application, the present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Without special instructions, all embodiments and optional embodiments of the present application can be combined with each other to form a new technical solution. Without special instructions, all technical features and optional technical features of the present application can be combined with each other to form a new technical solution.

[0029] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0030] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "plurality" is two or more, unless otherwise specifically defined.

[0031] In the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0032] In the present application, "axial direction" refers to the extension direction of the central axis of the corresponding structure, "circumferential direction" refers to the circumferential direction of the outer peripheral surface of the corresponding structure, and "radial direction" refers to any diameter direction of the corresponding structure.

[0033] Cleaning robots such as floor sweepers, sweep-and-mop integrated machines, floor scrubbers, and floor washers usually move on the ground through wheel assemblies. However, the wheel assemblies of existing cleaning robots are prone to slipping when moving on smooth ground or ground with water stains, and the walking reliability is poor, resulting in the cleaning effect of the cleaning robot being affected, and the use performance, use reliability, and use experience of the cleaning robot being poor.

[0034] Accordingly, the embodiments of the present application provide a wheel assembly that can walk smoothly and normally on the ground, especially on smooth ground and ground with water stains, can reduce the risk of slipping, can improve the walking reliability and walking stability, thereby improving the performance, reliability, and user experience of the cleaning robot, and can maintain the cleaning effect of the cleaning robot.

[0035] The following describes the specific implementation of the present application in detail in conjunction with specific embodiments:

[0036] Please refer to Figure 1 and Figure 2 Figure 3 In some embodiments of the present application, a wheel assembly is provided, including a wheel hub 10 and a tire 20. The tire 20 includes a tire body 21, a first tooth group 22, and a second tooth group 23. The tire body 21 is sleeved outside the wheel hub 10 and fixed to the wheel hub 10. The first tooth group 22 and the second tooth group 23 are both provided on the outer circumference of the tire body 21 and are arranged side by side along the axial direction of the tire body 21. The first tooth group 22 includes a plurality of first convex teeth 221 arranged at intervals along the circumferential direction of the tire body 21. The second tooth group 23 includes a plurality of second convex teeth 231 arranged at intervals along the circumferential direction of the tire body 21. The first convex teeth 221 and the second convex teeth 231 are arranged alternately along the circumferential direction of the tire body 21.

[0037] It should be noted that the wheel hub 10 is a rigid structure, and the main function of the wheel hub 10 is to install and carry the tire 20. The tire 20 is an elastic product (such as an elastic rubber product). The tire 20 is installed on the outer circumference of the wheel hub 10, and the main function of the tire 20 is to roll and contact the ground. The tire 20 is fixed to the wheel hub 10 so that the tire 20 and the wheel hub 10 can roll synchronously (i.e., rotate circumferentially) to realize walking on the ground. Among them, the specific structure, specific material, specific size, etc. of the wheel hub 10 can be flexibly set as needed, and the specific size, specific material, etc. of the tire 20 can be flexibly set as needed.

[0038] It should also be noted that the tire 20 includes a tire body 21, a first tooth group 22, and a second tooth group 23.

[0039] The tire body 21 is annular and is sleeved on the outer circumference of the wheel hub 10. The tire body 21 and the wheel hub 10 can be fixed to each other through a detachable connection method (such as screw connection, snap connection, etc.) or a fixed connection method (such as welding, fusion welding, riveting, bonding, etc.), so that the axial position and circumferential position of the tire body 21 relative to the wheel hub 10 are both stable, so that the tire body 21 is restricted from deflecting relative to the wheel hub 10, so that the tire body 21 is restricted from detaching from the wheel hub 10, so that the tire 20 and the wheel hub 10 can roll synchronously.

[0040] ​The first tooth group 22 and the second tooth group 23 are both provided on the outer periphery of the tire body 21. The first tooth group 22 and the second tooth group 23 are arranged side by side along the axial direction of the tire body 21. Along the axial direction of the tire body 21, the first tooth group 22 and the second tooth group 23 can be arranged at intervals or adjacent to each other.

[0041] The first tooth set 22 includes a plurality of first protruding teeth 221, which are formed to protrude from the outer circumference of the tire body 21. The first protruding teeth 221 are designed to directly contact the ground and generate friction and grip. The shape of the first protruding teeth 221 can be customized (e.g., rectangular). Along the circumference of the tire body 21, the first protruding teeth 221 of the first tooth set 22 are spaced evenly or unevenly. The gap between two adjacent first protruding teeth 221 is a first gap 222. The first gap 222 is used for drainage and also provides deformation space for the first and second protruding teeth 221, 231, located circumferentially therefrom.

[0042] Similarly, the second tooth set 23 includes a plurality of second protruding teeth 231, which are formed to protrude from the outer circumference of the tire body 21. The second protruding teeth 231 are used to directly contact the ground and generate friction and grip. The shape of the second protruding teeth 231 can be customized (e.g., rectangular), and the shape of the second protruding teeth 231 can be the same as or different from the shape of the first protruding teeth 221. Along the circumference of the tire body 21, the second protruding teeth 231 of the second tooth set 23 are spaced at equal or unequal intervals. The gap between two adjacent second protruding teeth 231 is a second gap 232. The second gap 232 can be used for drainage and also provides deformation space for the first and second protruding teeth 221, 231 located on its circumference.

[0043] The first protruding teeth 221 and the second protruding teeth 231 are arranged alternately along the circumference of the tire body 21. That is, a first gap 222 between two adjacent first protruding teeth 221 corresponds to a second protruding tooth 231 along the axial direction of the tire body 21, and a second gap 232 between two adjacent second protruding teeth 231 corresponds to a first protruding tooth 221 along the axial direction of the tire body 21. The first protruding teeth 221 and the second protruding teeth 231 are staggered along the axial direction of the tire body 21. Accordingly, the first gaps 222 and the second gaps 232 are also arranged alternately along the circumference of the tire body 21.

[0044] Based on this, the wheel assembly provided in the embodiment of the present application can, during the rolling contact of the tire 20 with the ground, alternately and in turn directly contact the ground via the first protruding teeth 221 and the second protruding teeth 231 arranged alternately along the circumference of the tire body 21, so that there is always a protruding tooth (referring to the first protruding tooth 221 and the second protruding tooth 231) in direct contact with the ground. Furthermore, due to the deformation space provided by the first gaps 222 and the second gaps 232 on the circumferential side of the protruding teeth, the protruding teeth can also undergo elastic deformation when in contact with the ground to increase the contact area with the ground, thereby increasing the friction and grip of the tire 20 with the ground. Furthermore, during this period, the first gaps 222 and the second gaps 232 on the circumferential side of the protruding teeth can also enclose a drainage channel with the ground to facilitate drainage, squeeze out water stains between the protruding teeth and the ground, and ensure that the protruding teeth are in close contact with the ground, thereby improving the drainage and anti-skid performance of the tire 20 and increasing the grip of the tire 20 with the ground. In this way, the wheel assembly can move smoothly and normally on the ground, especially on smooth and water-stained ground, which can reduce the risk of the wheel assembly slipping and improve the walking reliability and walking stability of the wheel assembly, thereby improving the performance, reliability and user experience of the cleaning robot using the wheel assembly and maintaining the cleaning effect of the cleaning robot using the wheel assembly.

[0045] like Figure 1 、 Figure 3 As shown, in some embodiments, tire 20 is an integrally molded structure. This configuration facilitates assembly of tire 20 and improves processing convenience, assembly convenience, and structural reliability of tire 20. Of course, in other embodiments, tire 20 may be a structure formed by connecting multiple components separately and then assembling them together.

[0046] See also Figure 1 、 Figure 2 In some embodiments of the present application, a pattern 24 is provided on the outer side of at least one of the first protruding tooth 221 and the second protruding tooth 231 facing away from the tire body 21 .

[0047] It should be noted that if Figure 1 、 Figure 2 As shown, in some embodiments, the outer side surfaces of both the first protruding teeth 221 and the second protruding teeth 231 facing away from the tire body 21 are provided with patterns 24. In other embodiments, only the outer side surfaces of the first protruding teeth 221 facing away from the tire body 21 are provided with patterns 24. In still other embodiments, only the outer side surfaces of the second protruding teeth 231 facing away from the tire body 21 are provided with patterns 24.

[0048] The pattern 24 is a series of concave and convex textures designed on the surface of the convex teeth. The pattern, concave and convex depth, arrangement, etc. of the pattern 24 can be flexibly set as needed.

[0049] By adopting the above solution, by providing a tread pattern 24 on the outer side surface of at least one of the first convex teeth 221 and the second convex teeth 231 facing away from the tire body 21, it is convenient to increase the contact area between the corresponding convex teeth (i.e., the convex teeth provided with the tread pattern 24) and the ground through the tread pattern 24, prompting the corresponding convex teeth to form a large number of minute biting points with the ground and generating a relatively strong frictional force. Moreover, the grooves in the tread pattern 24 can also serve as additional drainage channels, acting together with the first gap 222 and the second gap 232 on the periphery of the corresponding convex teeth to quickly drain the water stains between the tire 20 and the ground, so as to reduce the influence of the water film on the grip. Based on this, the frictional force and grip between the tire 20 and the ground can be increased, the drainage and anti-slip performance of the tire 20 can be improved, thereby prompting the wheel assembly to walk smoothly and normally, reducing the slipping phenomenon, and improving the walking reliability and walking stability of the wheel assembly.

[0050] Moreover, the tread pattern 24 can also slow down the wear rate of the tire 20 by dispersing the pressure when the tire 20 contacts the ground, reducing the wear and damage of the tread surface of the tire 20, thereby extending the service life of the tire 20 and the wheel assembly.

[0051] Please refer to Figure 1 、 Figure 2 , in some embodiments of the present application, the tread pattern 24 includes a first texture 241 and a second texture 242. The first texture 241 includes a plurality of first ridges 2411 arranged in sequence along the circumferential direction of the tire body 21. The second texture 242 includes a plurality of second ridges 2421 arranged in sequence along the circumferential direction of the tire body 21. Both the first ridges 2411 and the second ridges 2421 are angular. The sharp corners of the first ridges 2411 face counterclockwise, and the sharp corners of the second ridges 2421 face clockwise.

[0052] It should be noted that the tread pattern 24 includes a first texture 241 and a second texture 242, and the arrangement manner of the first texture 241 and the second texture 242 along the axial direction of the tire body 21 can be flexibly set.

[0053] The first texture 241 includes a plurality of first ridges 2411, and the first ridges 2411 of the first texture 241 are arranged in sequence along the circumferential direction of the tire body 21. The first ridges 2411 are angular (such as acute-angled, right-angled, obtuse-angled) ridges. The sharp corners of the first ridges 2411 of the first texture 241 all face counterclockwise, and the openings of the first ridges 2411 of the first texture 241 all face clockwise. Among them, "clockwise" and "counterclockwise" are relative concepts.

[0054] The second texture 242 includes a plurality of second ridges 2421, and the second ridges 2421 of the second texture 242 are arranged in sequence along the circumferential direction of the tire body 21. The second ridges 2421 are angular (such as acute-angled, right-angled, obtuse-angled) ridges, the sharp corners of the second ridges 2421 of the second texture 242 all face the clockwise direction, and the openings of the second ridges 2421 of the second texture 242 all face the counterclockwise direction.

[0055] Based on the settings of this embodiment, since the angular first ridges 2411 and second ridges 2421 can form more biting points when contacting the ground, and these biting points can generate friction with the ground at different angles, therefore, the contact area, friction force and grip of the tire 20 with the ground can be increased. Also, since the sharp corners of the first ridges 2411 and second ridges 2421 face in opposite directions (the sharp corners of the first ridges 2411 face counterclockwise and the sharp corners of the second ridges 2421 face clockwise), therefore, whether the tire 20 rotates forward or backward, it can contact the ground well and reliably based on the ridges whose sharp corners face the same direction as the rotation direction of the tire 20 and form effective biting, so as to promote the tire 20 to have strong grip in both forward and reverse rotation situations. Thus, it can promote the wheel assembly to walk smoothly and normally, reduce the slipping phenomenon, and improve the walking reliability and walking stability of the wheel assembly.

[0056] Moreover, the gaps between two adjacent first ridges 2411, the gaps between two adjacent second ridges 2421, and the gaps between the first texture 241 and the second texture 242 can form a plurality of small drainage channels, which are convenient for quickly discharging the water stains between the tire 20 and the ground, so as to reduce the influence of the water film on the grip, thereby improving the drainage and anti-slip performance of the tire 20.

[0057] In addition, the angular first ridges 2411 and second ridges 2421 can provide strong lateral support force when the tire 20 turns or changes direction, so as to facilitate the precise control of the walking direction of the wheel assembly and improve the walking controllability of the wheel assembly.

[0058] Of course, in other embodiments, the pattern 24 can adopt other pattern designs. For example, the pattern 24 can be a stripe pattern, a sheep's horn pattern, a composite pattern, a block pattern, an asymmetric pattern, a single-direction pattern, etc.

[0059] Please refer to Figure 1 、 Figure 2 , in some embodiments of the present application, in the pattern 24, the first texture 241 and the second texture 242 are arranged alternately along the axial direction of the tire body 21.

[0060] It should be noted that the first texture 241 and the second texture 242 of the same pattern 24 are arranged alternately along the axial direction of the tire body 21, that is, they are arranged in the way of "the first texture 241, the second texture 242, the first texture 241..." (or "the second texture 242, the first texture 241, the second texture 242...") along the axial direction of the tire body 21.

[0061] By adopting the above scheme, by making the first texture 241 and the second texture 242 of the same pattern 24 arranged alternately along the axial direction of the tire body 21, the arrangement layout of the first texture 241 and the second texture 242 of the same pattern 24 can be balanced and optimized. Based on this, whether the tire 20 rotates forward or backward, the convex patterns with the same sharp corner orientation as the rotation direction of the tire 20 and evenly distributed can be in good and reliable contact with the ground, so that the grip of the tire 20 in the forward and reverse rotation cases can be evenly improved, the bidirectional adaptability and walking reliability of the wheel assembly can be improved, and the slipping phenomenon can be reduced.

[0062] Moreover, the alternately arranged first texture 241 and second texture 242 contribute to evenly dispersing the pressure and vibration when the pattern 24 contacts the ground, so that the generation of noise and the wear speed of the tire 20 can be reduced, and the service life of the tire 20 and the wheel assembly can be extended.

[0063] Of course, in other embodiments, along the axial direction of the tire body 21, the first texture 241 and the second texture 242 of the same pattern 24 can adopt other arrangement methods. For example, the first texture 241 and the second texture 242 of the same pattern 24 can be symmetrically distributed on both sides along the axial direction of the tire body 21.

[0064] Please refer to Figure 1 、 Figure 2 , in some embodiments of the present application, the first tooth group 22 and the second tooth group 23 are arranged at intervals.

[0065] It should be noted that along the axial direction of the tire body 21, the first tooth group 22 and the second tooth group 23 are arranged side by side at intervals. The distance between the first tooth group 22 and the second tooth group 23 can be flexibly set as required.

[0066] By adopting the above solution, by arranging the first tooth group 22 and the second tooth group 23 at intervals, on the one hand, it is convenient to utilize the annular gap space between the first tooth group 22 and the second tooth group 23 to provide a deformation space for the first tooth group 22 and the second tooth group 23. Based on this, it is convenient for the first tooth group 22 and the second tooth group 23 to adaptively elastically deform when contacting the ground to increase the contact area with the ground, thereby increasing the friction and grip between the tire 20 and the ground. On the other hand, it is convenient to utilize the annular gap space between the first tooth group 22 and the second tooth group 23 to form a drainage channel between the first tooth group 22 and the second tooth group 23. Based on this, it is convenient to squeeze out the water stains between the first tooth group 22 and the ground and between the second tooth group 23 and the ground, and it is convenient for the first tooth group 22 and the second tooth group 23 to fit and closely contact the ground, thereby improving the drainage and anti-slip performance of the tire 20. Thus, the slipping phenomenon can be reduced, and the walking reliability and walking stability of the wheel assembly can be improved.

[0067] Of course, in other embodiments, along the axial direction of the tire body 21, the first tooth group 22 and the second tooth group 23 can be arranged adjacent to each other, that is, without an interval.

[0068] Please refer to Figure 1 、 Figure 2 , in some embodiments of the present application, along the circumferential direction of the tire body 21, the width d1 of the first convex tooth 221 is greater than or equal to the distance d2 between two adjacent first convex teeth 221.

[0069] By adopting the above solution, on the basis of maintaining an appropriate distance between two adjacent first convex teeth 221 for drainage, the width d1 of the first convex tooth 221 can be appropriately enlarged, and the contact area between the first convex tooth 221 and the ground can be appropriately increased. Based on this, it is beneficial to increase the friction and grip between the tire 20 and the ground.

[0070] Such as Figure 1 、 Figure 2 As shown, in some embodiments, along the circumferential direction of the tire body 21, the first convex teeth 221 of the first tooth group 22 can be arranged at equal intervals. By setting like this, the distribution of the first convex teeth 221 of the first tooth group 22 can be balanced, and the friction and grip between the tire 20 and the ground can be balanced and optimized. On this basis, the first convex teeth 221 can be equally divided into a fixed number. For example, the number of the first convex teeth 221 can be set to 20, and the 20 first convex teeth 221 are arranged in an equal-angle circular arrangement along the circumferential direction of the tire body 21.

[0071] Of course, in other embodiments, along the circumferential direction of the tire body 21, the first convex teeth 221 of the first tooth group 22 can be arranged at unequal intervals.

[0072] Please refer to Figure 1 、 Figure 2, in some embodiments of the present application, along the circumferential direction of the tire body 21, the width d3 of the second convex teeth 231 is greater than or equal to the spacing d4 between two adjacent second convex teeth 231.

[0073] By adopting the above solution, on the basis of maintaining an appropriate spacing between two adjacent second convex teeth 231 for drainage, the width d3 of the second convex teeth 231 can be appropriately enlarged, and the contact area between the second convex teeth 231 and the ground can be appropriately increased. Based on this, it is beneficial to increase the friction and grip between the tire 20 and the ground.

[0074] As Figure 1 , Figure 2 shown, in some embodiments, along the circumferential direction of the tire body 21, the second convex teeth 231 of the second tooth group 23 can be arranged at equal intervals. With such an arrangement, the distribution of the second convex teeth 231 of the second tooth group 23 can be balanced, and the friction and grip between the tire 20 and the ground can be balanced and optimized. On this basis, the second convex teeth 231 can be equally divided into a fixed number. For example, the number of the second convex teeth 231 can be set to 20, and the 20 second convex teeth 231 are arranged in an equiangular circular pattern along the circumferential direction of the tire body 21.

[0075] Of course, in other embodiments, along the circumferential direction of the tire body 21, the second convex teeth 231 of the second tooth group 23 can be arranged at unequal intervals.

[0076] Please refer to Figure 1 , Figure 3 , in some embodiments of the present application, a plurality of shock-absorbing holes 211 penetrate through the end face of the tire body 21, and the plurality of shock-absorbing holes 211 are arranged at intervals along the circumferential direction of the tire body 21.

[0077] It should be noted that shock-absorbing holes 211 are provided on the end face of the tire body 21 along its axial direction, and the shock-absorbing holes 211 penetrate through the tire body 21 along the axial direction of the tire body 21. There are a plurality of shock-absorbing holes 211, and the plurality of shock-absorbing holes 211 are arranged at equal intervals or unequal intervals along the circumferential direction of the tire body 21. The shock-absorbing holes 211 can provide a deformation space for the elastic deformation of the tire body 21 along its radial direction. Among them, the shape, size, number, arrangement method, etc. of the shock-absorbing holes 211 can be flexibly set as required.

[0078] By adopting the above solution, during the walking process of the wheel assembly, the shock-absorbing holes 211 can absorb and disperse the vibration and impact force generated by the tire 20 during rolling contact with the ground, thereby reducing the bumpiness and noise during the walking of the wheel assembly, improving the performance of the cleaning robot using the wheel assembly, reducing the damage caused to the cleaning robot using the wheel assembly due to long-term vibration, and extending the service life of the cleaning robot using the wheel assembly.

[0079] By adopting the above solution, a deformation space can be provided for the elastic deformation of the tire body 21 along its own radial direction based on the shock absorption holes 211, so that the tire body 21 can adaptively generate elastic deformation along its own radial direction when contacting the ground. Based on this, on the one hand, when the wheel assembly encounters an obstacle during walking, it is convenient for the tire body 21 to adaptively generate elastic deformation along its own radial direction, so as to enable the wheel assembly to easily and smoothly cross the obstacle, thereby improving the obstacle-crossing ability of the wheel assembly and reducing the risk of the wheel assembly being stuck by the obstacle. On the other hand, since the tire body 21 can adaptively generate elastic deformation along its own radial direction when contacting the ground, the contact area between the tire 20 and the ground can be increased, and the friction and grip between the tire 20 and the ground can be increased, thereby improving the walking reliability and walking stability of the wheel assembly.

[0080] Of course, in other embodiments, the shock absorption holes 211 may be blind holes opened on one end face of the tire body 21, or may include two blind holes disposed oppositely along the axial direction of the tire body 21 and respectively opened on both end faces of the tire body 21.

[0081] Please refer to Figure 1 、 Figure 3 , in some embodiments of the present application, the plurality of shock absorption holes 211 include alternately arranged first shock absorption holes 211a and second shock absorption holes 211b. The width of the first shock absorption hole 211a is tapered in the direction close to the center of the tire body 21, and the width of the second shock absorption hole 211b is tapered in the direction away from the center of the tire body 21.

[0082] It should be noted that the plurality of shock absorption holes 211 are divided into first shock absorption holes 211a and second shock absorption holes 211b, and the first shock absorption holes 211a and the second shock absorption holes 211b are alternately arranged along the circumferential direction of the tire body 21, that is, arranged in the manner of "first shock absorption hole 211a, second shock absorption hole 211b, first shock absorption hole 211a..." (or "second shock absorption hole 211b, first shock absorption hole 211a, second shock absorption hole 211b...").

[0083] The width of the first shock absorption hole 211a is the width of the first shock absorption hole 211a along the circumferential direction of the tire body 21, and the width of the first shock absorption hole 211a is tapered in the direction close to the center of the tire body 21. The width of the second shock absorption hole 211b is the width of the second shock absorption hole 211b along the circumferential direction of the tire body 21, and the width of the second shock absorption hole 211b is tapered in the direction away from the center of the tire body 21. Based on this, along the direction close to the center of the tire body 21, the variation law of the width of the first shock absorption hole 211a is opposite to the variation law of the width of the second shock absorption hole 211b.

[0084] By adopting the above solution, by making the gradient law of the width of the first shock-absorbing hole 211a opposite to that of the width of the second shock-absorbing hole 211b in the direction close to the center of the tire body 21, and by arranging the first shock-absorbing hole 211a and the second shock-absorbing hole 211b alternately along the circumferential direction of the tire body 21, it is convenient to compactly and incrementally arrange the first shock-absorbing hole 211a and the second shock-absorbing hole 211b alternately. Thus, the number and layout of the shock-absorbing holes 211 can be optimized, the mutual influence between adjacent first shock-absorbing holes 211a and second shock-absorbing holes 211b during elastic deformation can be reduced, sufficient deformation space can be provided for adjacent first shock-absorbing holes 211a and second shock-absorbing holes 211b during elastic deformation, and uniform elastic deformation of the tire 20 can be facilitated. Therefore, the shock-absorbing performance, obstacle-crossing ability, walking reliability and walking stability of the wheel assembly can be improved.

[0085] Of course, in other embodiments, the shape, size, number, arrangement method, etc. of the shock-absorbing holes 211 can be flexibly set as needed. For example, the width of the shock-absorbing holes 211 can be equally set in the direction close to the center of the tire body 21, or first tapered and then expanded, or first expanded and then tapered.

[0086] Please refer to Figure 1 、 Figure 3 , in some embodiments of the present application, the shape of the shock-absorbing holes 211 is an isosceles trapezoid. That is, along the axial direction of the tire body 21, the projected shape of the shock-absorbing holes 211 is an isosceles trapezoid.

[0087] By adopting the above solution, by setting the shape of the shock-absorbing holes 211 as an isosceles trapezoid, it can be promoted that the shock-absorbing holes 211 can adaptively and uniformly deform when the tire body 21 elastically deforms along its own radial direction, and it can be promoted that the shock-absorbing holes 211 can effectively absorb and disperse vibration and impact force. Therefore, the shock-absorbing performance, obstacle-crossing ability, walking reliability and walking stability of the wheel assembly can be improved. Moreover, on the basis of providing sufficient deformation space for the shock-absorbing holes 211, the isosceles trapezoid design of the shock-absorbing holes 211 can also improve the structural stability of the shock-absorbing holes 211, balance the internal pressure distribution of the shock-absorbing holes 211, reduce local stress concentration, thereby reducing the risk of excessive deformation or damage of the tire 20 under external force, and extending the service life of the tire 20 and the wheel assembly.

[0088] Of course, in other embodiments, the shock-absorbing holes 211 can adopt other shapes, such as isosceles triangles, semi-circles, etc.

[0089] Please refer to Figure 1 、 Figure 3In some embodiments of the present application, the tire 20 includes a connecting ring 25 provided on the inner periphery of the tire body 21, and the wheel hub 10 includes a hub seat 11 and a hub cover 12 connected to each other, and the hub seat 11 and the hub cover 12 sandwich the connecting ring 25 therebetween.

[0090] It should be noted that the connecting ring 25 is provided on the inner circumference of the tire body 21 , and the connecting ring 25 is a portion of the tire 20 used to connect and fix to the wheel hub 10 .

[0091] The wheel hub 10 includes a hub seat 11 and a hub cover 12. The hub seat 11 and hub cover 12 are sleeved within the tire body 21 and located on opposite sides of a connecting ring 25 along its axial direction. The hub seat 11 and hub cover 12 are interconnected, sandwiching the connecting ring 25 therebetween. The connection between the hub seat 11 and hub cover 12 can be achieved by, but is not limited to, screws.

[0092] By adopting the above solution, the wheel hub 10 can be connected and secured to the tire 20 by the hub seat 11 and the hub cover 12, which are sleeved within the tire body 21 and are located on opposite sides of the connecting ring 25 and connected to each other, sandwiching the connecting ring 25 therebetween. This improves the convenience, tightness, and stability of the connection between the tire 20 and the wheel hub 10, allowing the tire 20 and the wheel hub 10 to form a structurally stable and reliable wheel assembly, and facilitating synchronous rolling of the tire 20 and the wheel hub 10.

[0093] Of course, in other embodiments, the wheel hub 10 may adopt other structures, and the wheel hub 10 may be connected and fixed to the tire 20 in other ways.

[0094] See also Figure 1 、 Figure 3 In some embodiments of the present application, the connecting ring 25 is provided with a limiting hole 251 therethrough, and the wheel hub 10 is provided with a limiting block 13. The limiting block 13 is arranged in a one-to-one correspondence with the limiting hole 251 and is limitedly matched.

[0095] It should be noted that the connecting ring 25 is provided with a limiting hole 251, which extends axially through the connecting ring 25. The limiting hole 251 can be rectangular, circular, or otherwise. The wheel hub 10 is provided with a limiting block 13 at a position corresponding to the limiting hole 251. The limiting block 13 corresponds to each limiting hole 251, and the shape and size of the limiting block 13 can correspond to the shape and size of the corresponding limiting hole 251. The limiting block 13 is pluggable and engages with the corresponding limiting hole 251 to provide a positional fit. The limiting block 13 can be provided on either the hub seat 11 or the hub cover 12.

[0096] By adopting the above solution, while the hub 10 clamps the connecting ring 25 therebetween through the hub seat 11 and the hub cap 12 to promote the relative axial position stability between the hub 10 and the tire 20, the relative circumferential position between the hub 10 and the tire 20 can also be promoted to be stable by the one-to-one limiting fit between the limiting block 13 and the limiting hole 251, thereby restricting the deflection of the tire 20 relative to the hub 10. Thus, the connection convenience, connection reliability, and connection stability between the tire 20 and the hub 10 can be improved, the relative axial position and circumferential position of the tire 20 relative to the hub 10 can be made stable, and the synchronous rolling of the tire 20 and the hub 10 can be facilitated.

[0097] Of course, in other embodiments, the connecting ring 25 can be provided with the limiting block 13, and the hub 10 can be provided with the limiting hole 251. In other embodiments, other means can be adopted to make the relative circumferential position between the hub 10 and the tire 20 stable. For example, the connecting member between the hub seat 11 and the hub cap 12 can pass through the connecting ring 25.

[0098] Please refer to Figure 1 , some embodiments of the present application provide a cleaning robot, including the wheel assembly provided by the embodiments of the present application.

[0099] It should be noted that the cleaning robot can be a household or commercial cleaning robot such as a sweeper, a mopping and sweeping integrated machine, a floor mopping machine, or a floor washing machine. The cleaning robot includes a main body (not shown in the figure), and a wheel assembly connected to the main body, and the wheel assembly adopts the wheel assembly provided by the embodiments of the present application.

[0100] By adopting the above solution, the cleaning robot can improve the use performance, use reliability, use experience, and maintain the cleaning effect by applying the wheel assembly provided by the embodiments of the present application.

[0101] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, or improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A wheel assembly, characterized in that, Comprising: Wheel hub; A tire, comprising a tire body, a first tooth group and a second tooth group. The tire body is sleeved outside the wheel hub and fixed to the wheel hub. The first tooth group and the second tooth group are both arranged on the outer circumference of the tire body and arranged side by side along the axial direction of the tire body. The first tooth group includes a plurality of first convex teeth arranged at intervals along the circumferential direction of the tire body. The second tooth group includes a plurality of second convex teeth arranged at intervals along the circumferential direction of the tire body. The first convex teeth and the second convex teeth are arranged alternately along the circumferential direction of the tire body.

2. The wheel assembly according to claim 1, wherein, At least one of the outer side surfaces of the first convex teeth and the second convex teeth facing away from the tire body is provided with a tread pattern.

3. The wheel assembly according to claim 2, wherein, The tread pattern includes a first texture and a second texture. The first texture includes a plurality of first convex ridges arranged in sequence along the circumferential direction of the tire body. The second texture includes a plurality of second convex ridges arranged in sequence along the circumferential direction of the tire body. Both the first convex ridges and the second convex ridges are angular. The sharp corners of the first convex ridges face counterclockwise, and the sharp corners of the second convex ridges face clockwise.

4. The wheel assembly according to claim 3, characterized in that In the tread pattern, the first texture and the second texture are arranged alternately along the axial direction of the tire body.

5. The wheel assembly according to claim 1, wherein, The first tooth group and the second tooth group are arranged at intervals; And / or, along the circumferential direction of the tire body, the width of the first convex teeth is greater than or equal to the distance between two adjacent first convex teeth; And / or, along the circumferential direction of the tire body, the width of the second convex teeth is greater than or equal to the distance between two adjacent second convex teeth.

6. The wheel assembly according to any one of claims 1-5, characterized in that, A plurality of shock-absorbing holes penetrate through the end face of the tire body, and the plurality of shock-absorbing holes are arranged at intervals along the circumferential direction of the tire body.

7. The wheel assembly according to claim 6, wherein, The plurality of shock-absorbing holes include first shock-absorbing holes and second shock-absorbing holes arranged alternately. The width of the first shock-absorbing holes is tapered in the direction close to the center of the tire body, and the width of the second shock-absorbing holes is widened in the direction close to the center of the tire body.

8. The wheel assembly according to claim 6, wherein, The shape of the shock-absorbing holes is an isosceles trapezoid.

9. The wheel assembly according to any one of claims 1-5, characterized in that, The tire includes a connecting ring arranged on the inner circumference of the tire body. The wheel hub includes a connected wheel hub seat and a wheel hub cover. The wheel hub seat and the wheel hub cover sandwich the connecting ring therebetween; The connecting ring is provided with a limiting hole in a penetrating manner, and the wheel hub is provided with a limiting block. The limiting blocks and the limiting holes are arranged in one-to-one correspondence and are in limiting cooperation.

10. A cleaning robot, characterized in that, Including the wheel assembly according to any one of claims 1-9.

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