Driving wheel of autonomous cleaning robot and autonomous cleaning robot

Abstract

The present disclosure provides a drive wheel for an autonomous cleaning robot, the drive wheel may manipulate the robot on a floor surface, comprising: a tire having a circular shape, the tire having opposing first and second outer edges, and a shoulder extending between the first and second outer edges, the outside surface of the shoulder forming a groove, the groove comprises a first groove which extends from the first outer edge to the middle part of the shoulder part and is vertical to the first outer edge and the second outer edge, and a second groove which extends from the second outer edge to the middle part of the shoulder part and is vertical to the first outer edge and the second outer edge; the circumferential width of the second groove along the circular shape is greater than the circumferential width of the first groove along the circular shape. The utility model further provides the autonomous cleaning robot.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a drive wheel of an autonomous cleaning robot and an autonomous cleaning robot. BACKGROUND

[0002] This section provides background information only and can not necessarily be prior art.

[0003] An autonomous cleaning robot can autonomously perform a cleaning task in an environment such as a home. The autonomous cleaning robot can autonomously move on a surface to be cleaned, and while the robot moves on the surface to be cleaned, the robot also operates a dry cleaning member that can attract and direct debris toward a vacuum airflow generated by the robot. Additionally, the autonomous cleaning robot can perform a wet cleaning of the surface to be cleaned and operate a rotating cleaning member carried by the robot to dislodge stubborn stains by applying a liquid agitation on the surface to be cleaned.

[0004] An autonomous cleaning robot can navigate on a floor surface and avoid obstacles while mopping the floor surface to remove debris and stains on the floor surface. The cleaning robot can include a cleaning member to wet clean the floor surface. The cleaning member wipes the floor surface and collects debris as the cleaning robot moves on the floor surface. The cleaning member wiping the floor surface with cleaning liquid or water can cause the robot to lack maneuverability. SUMMARY

[0005] The present disclosure provides a drive wheel of an autonomous cleaning robot and an autonomous cleaning robot.

[0006] According to one aspect of the present disclosure, a drive wheel for an autonomous cleaning robot is provided, the drive wheel maneuverable on a floor surface, the drive wheel comprising: a tire having a circular shape, the tire having opposing first and second outer edges and a shoulder extending between the first and second outer edges, an outer lateral surface of the shoulder forming a groove, the groove comprising: a first groove extending from the first outer edge to an intermediate portion of the shoulder and perpendicular to the first and second outer edges, and a second groove extending from the second outer edge to the intermediate portion of the shoulder and perpendicular to the first and second outer edges, a circumferential width of the second groove along the circular shape being greater than a circumferential width of the first groove along the circular shape.

[0007] According to one example of the present disclosure, a radial depth of the second groove along the circular shape is greater than a radial depth of the first groove along the circular shape.

[0008] According to one example of the present disclosure, the outer lateral surface of the shoulder forms a plurality of tread lug sets spaced along the circular shape, each tread lug set formed between adjacent second grooves.

[0009] According to one example of the present disclosure, each of the plurality of groups of tread protrusions includes at least one third groove extending from the first outer edge to the shoulder intermediate portion and perpendicular to the first and second outer edges.

[0010] According to one example of the present disclosure, the second groove is in communication with the at least two first grooves at the shoulder intermediate portion.

[0011] According to one example of the present disclosure, the third groove is through the first groove in a direction from the first outer edge to the second outer edge.

[0012] According to one example of the present disclosure, further comprising a first counterbore extending from the first outer edge to the shoulder intermediate portion, the first counterbore being located below the first groove.

[0013] According to one example of the present disclosure, further comprising a second counterbore extending from the second outer edge to the shoulder intermediate portion, the second counterbore being located below the third groove.

[0014] According to one example of the present disclosure, the tire is formed of a polymeric material.

[0015] According to another aspect of the present disclosure, there is provided an autonomous cleaning robot, comprising: a robot body comprising a front portion and a rear portion;

[0016] a cleaning assembly on the robot body;

[0017] a drive system for maneuvering the robot body across a floor surface, the drive system comprising: a wheel hub; and a drive wheel mounted on the wheel hub, the drive wheel being configured to maneuver the robot across the floor surface, the drive wheel comprising: a tire having a circular shape, the tire having opposing first and second outer edges and a shoulder extending between the first and second outer edges, an outer surface of the shoulder forming a groove, the groove comprising: a first groove extending from the first outer edge to an intermediate portion of the shoulder and perpendicular to the first and second outer edges, and a second groove extending from the second outer edge to the intermediate portion of the shoulder and perpendicular to the first and second outer edges, the second groove having a circumferential width along the circular shape that is greater than a circumferential width of the first groove along the circular shape. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

[0019] Figure 1 is a side view schematic of an autonomous cleaning robot according to one example of the present disclosure.

[0020] Figure 2 is a perspective view of a drive tire of an autonomous cleaning robot according to one example of the present disclosure.

[0021] Figure 3 is a side side view of a drive tire of an autonomous cleaning robot according to one example of the present disclosure.

[0022] Figure 4 is a front view of a drive tire of an autonomous cleaning robot according to one example of the present disclosure. DETAILED DESCRIPTION

[0023] The present disclosure will be further described in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are merely exemplary and are not intended to limit the disclosure. In addition, it should be noted that only parts related to the present disclosure are shown in the drawings for ease of description.

[0024] It should be noted that the embodiments and features in the embodiments in the present disclosure can be combined with each other without conflict. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0025] Unless otherwise specified, the exemplary embodiments / examples shown will be understood to provide exemplary features of various details that can implement the technical concepts of the present disclosure in practice. Therefore, unless otherwise specified, the features of various embodiments / examples can be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of the present disclosure.

[0026] In the drawings, cross-hatching and / or shading are generally used to make the boundaries of adjacent components clear. Thus, unless otherwise specified, the presence of cross-hatching or shading does not convey or imply any preference or requirement for specific material, material properties, dimensions, proportions, commonality of the illustrated components, and / or any other characteristic, attribute, property, or the like of the components. In addition, in the drawings, the size and relative sizes of components can be exaggerated for clarity and / or descriptive purposes. When exemplary examples can be implemented differently, a specific process sequence can be performed in a different order than described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. In addition, the same reference numbers represent the same components.

[0027] When a component is referred to as being "on", "connected to", or "coupled to" another component, it can be directly on, connected, or coupled to the other component, or intervening components can be present. When a component is referred to as being "directly on", "directly connected to", or "directly coupled to" another component, there are no intervening components present. For example, the term "connected" can refer to physical or electrical connection, etc., with or without intervening components.

[0028] For descriptive purposes, the disclosure can use spatially relative terms, such as "beneath", "below", "lower", "under", "above", "upper", "over", and "on" to describe the relative position of one component to another as illustrated in the figures. Unless otherwise specified, these spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. Moreover, the device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0029] The terminology used herein is for the purpose of describing particular examples only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "including", "includes", "having", "has", "with", or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising". It is also to be noted that the term "or" as used herein is intended to mean "and / or", unless explicitly stated otherwise. Also, as used herein, the term "exemplary" is intended to mean "an example of.

[0030] Autonomous cleaning robots add floor washing functionality to a conventional mobile cleaning robot. The washing robot can include dry and / or wet cleaning elements (e.g., a washing roller or a washing pad) so that the robot can perform a dry suction cleaning operation only or a dry suction and wet floor washing operation simultaneously, or a mopping operation only. When performing a mopping operation, the autonomous cleaning robot often slips on the wheels when working on a wet and slippery surface, which affects the mobility and the ability to climb over obstacles.

[0031] The present disclosure introduces a cleaning robot whose drive system is equipped with wheels at the bottom for maneuvering the robot on a floor surface. The wheels have tread patterns that reduce slippage and improve traction and climbing ability, especially on wet and slippery surfaces.

[0032] Figure 1 A side view of an autonomous cleaning robot 100 is shown. The autonomous cleaning robot 100 is configured to navigate a floor surface. The autonomous mobile robot 100 is for automatic cleaning of a floor surface, and can navigate and clean the floor surface. The robot 100 can include a main body 110 supported by a drive system that can maneuver the robot 100 across the floor surface. In some embodiments, the main body 110 of the robot 100 is circular. However, the main body 110 can also have other shapes, including but not limited to rectangular or a combination of rectangular and circular, or a longitudinal symmetric combination of any of the above shapes, etc. The main body 110 of the robot 100 has a front portion and a rear portion. The main body 110 also includes a bottom portion and a top portion. The drive system can include wheels 120 for supporting and maneuvering the robot 100. The wheels 120 include tires 130 mounted on a hub.

[0033] The bottom portion of the main body 110 of the robot 100 supports a cleaning element 140. In examples, the cleaning element 140 can extend to the edge of the main body 110 or beyond the width of the main body 110, so that the robot 100 can place the outer edge of the cleaning element 140 against a wall surface or into a gap. For example, the robot 100 can maneuver the cleaning element 140 to clean near the intersection of a wall and a floor with the extended edge of the cleaning element 140 while the robot 100 also follows the wall movement. By extending the cleaning element 140 beyond the width of the main body 110, the robot 100 can clean gaps and crevices that are inaccessible to the main body 110 of the robot 100. In some embodiments, the cleaning element 140 does not extend beyond the edge of the main body 110 of the robot 100.

[0034] Robot 100 may include a fluid dispenser (not shown). The fluid dispenser may have a single fluid outlet or multiple fluid outlets. Multiple fluid outlets are configured to apply cleaning fluid to the cleaning component 140 according to the functional mode of the cleaning component 140. The fluid outlets discharge fluid outward, dripping or spraying the fluid onto the cleaning component 140.

[0035] like Figures 2 to 4 As shown, wheel 120 may include a wheel body 122 configured to contact the ground surface to be cleaned; and a hub (not shown) mounted in the wheel body 122 and configured to receive driving force from a drive motor.

[0036] The wheel body 122 can form a tire 130. The wheel body 122 may include a tread 123 configured to contact the target surface to be cleaned. That is, the tread 123 may be the surface of the tire 130 configured to contact the target surface to be cleaned. The tread 123 may be the outer circumferential surface of the wheel body 122.

[0037] The wheel body 122 may include a first outer edge 1231 and a second outer edge 1232 disposed on two side surfaces of the tread 123. The first outer edge 1231 and the second outer edge 1232 may be provided as a pair and disposed on one side surface of the tread 123 respectively. The wheel body 122 may include a shoulder 124, at which the first outer edge 1231 and the second outer edge 1232 are connected to the tread 123. That is, the shoulder 124 may be an edge of the tread 123 or an edge of the first outer edge 1231 and the second outer edge 1232.

[0038] The wheel body 122 may include tread patterns formed on the tread 123 to connect in the circumferential direction. When the tread patterns are formed on the tread 123, the tread patterns can be part of the tread 123 since they are in contact with the target surface to be cleaned. The tread patterns may be formed by a plurality of grooves 126 recessed into the tread 123. Since the tread patterns configured to contact the target surface to be cleaned are formed on the tread 123 to connect in the circumferential direction, the wheel 120 can always be in contact with the target surface to be cleaned. Therefore, even when the coefficient of friction between the wheel 120 and the target floor is low, the robot 100 cleaner can provide high mobility. That is, since the wheel 120 is always in contact with the target floor to be cleaned through the tread patterns, even when slipping due to water on the target floor, the robot 100 cleaner can have high mobility.

[0039] When the robot 100 is used for wet cleaning, the target surface is slippery due to water, reducing the coefficient of friction and potentially causing the wheels 120 to slip. However, because the tread pattern formed on the tread 123 is connected to the target floor in the circumferential direction, the wheels 120 remain in contact with the target floor, allowing the robot 100 to move without slipping.

[0040] The wheel body 122 may include a plurality of grooves 126 formed recessed into the tread 123. The plurality of grooves 126 may be formed to be recessed in the radial direction of the wheel body 122. Each of the plurality of grooves 126 may be formed as a rectangular groove. The tread pattern formed on the tread 123 by the plurality of grooves 126 may have a shape that connects to a first outer edge 1231 and a second outer edge 1232 respectively provided on the two side surfaces near the wheel body 122.

[0041] Each of the plurality of grooves 126 may be formed to extend from the first outer edge 1231 or the second outer edge 1232 toward the middle portion of the shoulder 124. That is, in one side surface of the wheel body 122, each of the plurality of grooves 126 may be formed such that one side opens at the first outer edge 1231 or the second outer edge 1232, while the other side is not closed at the middle portion of the shoulder 124 of the wheel body 122. In one example, each of the plurality of grooves 126 may be formed such that the axial length of the wheel body 122 is equal to half the width of the tread 123.

[0042] like Figure 2 and 4 As shown, according to the axial direction of the wheel body 122, the plurality of grooves 126 may include a first groove 1261 extending from the first outer edge 1231 to the middle portion of the shoulder 124 and perpendicular to the first outer edge 1231 and the second outer edge 1232, and a second groove 1262 extending from the second outer edge 1232 to the middle portion of the shoulder 124 and perpendicular to the first outer edge 1231 and the second outer edge 1232.

[0043] Each of the plurality of first grooves 1261 may include a first opening 1271 on a first outer edge 1231 that opens toward the first outer edge 1231. Each of the plurality of first grooves 1261 may be formed such that the opposite side of the first opening 1271 extends along the axial direction of the wheel body 122 toward and is substantially located in the middle portion of the shoulder 124. Each of the plurality of second grooves 1262 may include a second opening 1272 on a second outer edge 1232 that opens toward the second outer edge 1232. Each of the plurality of second grooves 1262 may be formed such that the opposite side of the second opening 1272 extends along the axial direction of the wheel body 122 toward and is substantially located in the middle portion of the shoulder 124.

[0044] The second opening 1272 of each of the plurality of second grooves 1262 can form a large circumferential arc to encompass the arc corresponding to the first opening 1271 of the plurality of consecutively distributed first grooves 1261.

[0045] To make it easier for the robot cleaner 100 to climb over obstacles such as thresholds, it is advantageous for the tread pattern on the tire 123 to have a wider arc. When the robot cleaner 100 climbs over an obstacle, it may experience reaction forces from the obstacle in both the horizontal and vertical directions. For the robot cleaner 100 to climb over the obstacle, the grip of the wheel 122 should be greater than the horizontal reaction force of the obstacle. If the grip of the robot cleaner 100's wheel 122 in the horizontal direction is not greater than the reaction force of the obstacle, the wheel 122 will slip in place, and therefore the robot cleaner 100 may have difficulty climbing over the obstacle. When the tread pattern formed on the tread 123 has a wider arc in the circumferential direction, when the robot cleaner 100 climbs over an obstacle, it can ensure that the part of the obstacle (such as a threshold) can more easily embed into the tread pattern. Therefore, the grip of the tread pattern on the wheel 122 is increased, so the robot cleaner 100 can easily climb over the obstacle.

[0046] As described above, when the robot cleaner 100 is used for wet cleaning, it is desirable to form the sipes so as to be connected in the circumferential direction of the tread 123 more closely to improve the non-slip traveling performance, and thus, when the robot cleaner 100 climbs over an obstacle such as a threshold, in order to achieve a balance between the non-slip and the obstacle climbing, the large circumferential curvature grooves (second grooves 1262) and the small circumferential curvature grooves (first grooves 1261) can be formed in the wheel body 122 at the same time. That is, when the robot cleaner 100 climbs over an obstacle such as a threshold, since the obstacle is partially received in one of the plurality of second grooves 1262, the reaction force formed at the position corresponding to the groove in which the obstacle is partially received forms a good obstacle climbing performance. At the same time, at the position in which the first grooves 1261 are formed in the axial direction of the wheel body 122, the effect of forming the sipes connected in the circumferential direction of the entire tread 123 can be generated to reduce the slip. That is, when the robot cleaner 100 climbs over an obstacle, the width of the groove in which the obstacle is received is set to be significantly greater than the width of the groove in which the obstacle is not received, and thus, the sipes are formed to have both the effect of being connected in the circumferential direction and the effect of being disconnected in the circumferential direction. Accordingly, the robot cleaner 100 can easily climb over an obstacle such as a threshold. In order to make the robot cleaner 100 more easily climb over an obstacle such as a threshold, it is also advantageous that the sipes formed in the tread 123 are formed to have a depth that is relatively deep. As described above, when the robot cleaner 100 climbs over an obstacle, the robot cleaner 100 can receive the reaction force from the obstacle in the horizontal direction and the vertical direction, respectively. In order to make the robot cleaner 100 form a more sufficient reaction force from the obstacle, in one example, the radial depth of the second grooves 1262 is greater than the radial depth of the first grooves 1261 along the circular shape, to ensure that the obstacle is more easily received by the second grooves 1262 in priority to form the grip.

[0047] As Figure 2 and 3 shown, the wheel body 122 can include a plurality of deformable recesses 128 (the deformable recesses 128 include first recesses and second recesses) formed by partially cutting the wheel body 122 in the axial direction of the wheel body 122. When the robot cleaner 100 climbs over an obstacle such as a threshold, since the obstacle is partially received in one of the plurality of tread 123 grooves, the wheel body 122 is deformed by the deformable recesses 128 formed at the position corresponding to the tread 123 groove in which the obstacle is partially received, and thus, the wheel body 122 can easily climb over the obstacle. The amount of deformation of the wheel body 122 can be limited within the height range of the deformable recesses 128.

[0048] In one example, a plurality of deformable holes 128 can be formed in the first outer rim 1231 and the second outer rim 1232 at positions axially offset from the plurality of treads 123 of the wheel body 122. That is, the plurality of deformable holes 128 can be formed in the first outer rim 1231 and the second outer rim 1232 at positions corresponding to the first grooves 1261 in the axial direction of the wheel body 122. Since the depth of the second grooves 1262 is set to be significantly greater than that of the first grooves, no grooves are formed at the second grooves 1262. That is, among the plurality of groove patterns, the plurality of first grooves 1261 are shallow grooves each corresponding to one deformable hole 128, and the plurality of second grooves 1262 are deep grooves not corresponding to deformable holes. The shallow grooves and the deep grooves are connected to each other in the middle of the shoulder 124, and the plurality of deformable holes 128 can be formed on both side surfaces of the wheel body 122. Thus, when the robot cleaner 100 climbs over an obstacle such as a threshold, the wheel body 122 can be deformed toward only one of the two side surfaces of the wheel body 122 where the deformable holes 128 are formed.

[0049] The plurality of deformable holes 128 can be formed to extend in the axial direction of the wheel body 122 with a length shorter than half the width of the wheel body 122. That is, since the plurality of deformable holes 128 are formed at positions corresponding to the plurality of shallow grooves in the axial direction of the wheel body 122, the plurality of deformable holes 128 can be formed to have a length shorter than half the width of the wheel body 122 since the plurality of grooves 126 are formed to extend longer than half the width of the wheel body 122. Each of the plurality of deformable holes 128 can be formed to have a quadrangular cross-section. That is, each of the plurality of deformable holes 128 can be formed as a rectangular groove when viewed from the side surface of the wheel 120.

[0050] A tread protrusion 125 can be formed in a square shape between the side portions of each of the plurality of grooves 126 (including the plurality of first grooves 1261 and the plurality of second grooves 1262) in the circumferential direction of the wheel body 122, so that the support force and the frictional force of the obstacle supporting the wheel 120 when the robot cleaner 100 climbs over the obstacle such as a threshold are increased. Since the plurality of tread protrusions 125 are formed between adjacent grooves of the plurality of second grooves 1262, the tread protrusions 125 formed between the second grooves 1262 have circumferential discontinuity compared to the tread protrusions 125 formed between the first grooves 1261 when viewed in the circumferential direction. These discontinuous tread protrusions 125 can ensure the wheel 120 to have good obstacle climbing ability.

[0051] As Figure 3As shown, a plurality of discontinuous tread protrusions 125 are formed in a circumferential direction to evenly distribute a group of tread protrusions 1251. In one example, each of the group of tread protrusions 1251 also has a tread pattern. For example, in at least one group of tread protrusions 1251, there is a third groove 1263 extending from the second outer edge 1232 to the middle portion of the shoulder 124 and perpendicular to the first outer edge 1231 and the second outer edge 1232, and at least one of the third groove 1263 is included in each of the group of tread protrusions 1251. The third groove 1263 can be the same size (including the curvature and depth) as the first groove 1261 described above to achieve the same effect as the first groove 1261. The third groove 1263 can be formed to be in communication with the first groove 1261 in the axial direction of the wheel body 122. That is, the first groove 1261 and the third groove 1263 between the first outer edge 1231 and the second outer edge 1232 can be through to increase the drainage performance of the wheel 120.

[0052] In some examples, the tire 130 is formed of an elastic material, such as nitrile rubber, styrene butadiene rubber, or a polymeric material thereof.

[0053] In the description of the specification, the description with reference to the terms "one example / way", "some examples / ways", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the example / way or example are included in at least one example / way or example of the present application. In the description of the specification, the illustrative description of the above terms does not necessarily refer to the same example / way or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more examples / ways or examples. In addition, different examples / ways or examples described in the specification and the features of different examples / ways or examples can be combined and combined by those skilled in the art without contradiction.

[0054] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0055] Those skilled in the art should understand that the above embodiments are only for clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. Based on the above disclosure, other changes or modifications can also be made by those skilled in the art, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A drive wheel for an autonomous cleaning robot, the drive wheel being capable of maneuvering the robot on a floor surface, characterized in that, The drive wheel includes: a tire with a circular shape, the tire having opposing first and second outer edges, and a shoulder extending between the first and second outer edges, the outer surface of the shoulder forming a groove, the groove including: a first groove extending from the first outer edge to a middle portion of the shoulder and perpendicular to the first and second outer edges, and a second groove extending from the second outer edge to the middle portion of the shoulder and perpendicular to the first and second outer edges, the second groove having a circumferential width along the circular shape greater than the circumferential width of the first groove along the circular shape.

2. The drive wheel according to claim 1, characterized in that, The radial depth of the second groove along the circular shape is greater than the radial depth of the first groove along the circular shape.

3. The drive wheel according to claim 1, characterized in that, The outer surface of the shoulder is formed with a plurality of tread protrusions spaced apart along the circular shape, each tread protrusion being formed between adjacent second grooves.

4. The drive wheel according to claim 3, characterized in that, The tire includes a third groove extending from the second outer edge to the middle portion of the shoulder and perpendicular to the first and second outer edges, with at least one of the third grooves in each tread protrusion group.

5. The drive wheel according to claim 1, characterized in that, The second groove communicates with at least two first grooves in the middle portion of the shoulder.

6. The drive wheel according to claim 4, characterized in that, The third groove is connected to the first groove in the direction from the first outer edge to the second outer edge.

7. The drive wheel according to claim 1, characterized in that, It also includes a first countersunk hole extending from the first outer edge to the middle portion of the shoulder, the first countersunk hole being located below the first groove.

8. The drive wheel according to claim 4, characterized in that, It also includes a second countersunk hole extending from the second outer edge to the middle portion of the shoulder, the second countersunk hole being located below the third groove.

9. The drive wheel according to claim 1, characterized in that, The tire is made of a polymer material.

10. An autonomous cleaning robot, characterized in that, include: The robot body, including the front and rear sections; Cleaning components on the robot body; A drive system for maneuvering a robot body across a floor surface includes: a hub; and a drive wheel mounted on the hub, the drive wheel being configured to maneuver the robot across the floor surface. The drive wheel includes: a tire having a circular shape, the tire having opposing first and second outer edges, and a shoulder extending between the first and second outer edges. The outer surface of the shoulder forms a groove, the groove including: a first groove extending from the first outer edge to a middle portion of the shoulder and perpendicular to the first and second outer edges, and a second groove extending from the second outer edge to the middle portion of the shoulder and perpendicular to the first and second outer edges, the second groove having a circumferential width along the circular shape greater than the circumferential width of the first groove along the circular shape.

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