Transmission structure of walking wheel and cleaning turntable

Abstract

The transmission structure of walking wheels and cleaning turntable relates to the technical field of intelligent cleaning equipment. In the transmission structure, a chamber is arranged in the cleaning turntable, and the walking wheels are arranged in the chamber. The transmission structure comprises: a power output gear connected with a power source; an inner gear ring coaxially arranged with the power output gear and fixedly arranged at the top opening of the chamber of the cleaning turntable; a cleaning turntable transmission assembly for transmitting power between the power output gear and the inner gear ring to drive the cleaning turntable to rotate; and a bevel gear assembly for transmitting power between the power output gear and the walking wheels to drive the walking wheels to rotate. The utility model realizes the decoupling of the walking wheels and the cleaning turntable, avoids the problem that the walking speed of the walking wheels fluctuates due to the change of the rotating speed of the cleaning turntable, is beneficial to simplifying the walking control of the cleaning robot, and improves the walking stability.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning equipment technology, and in particular to a transmission structure between a walking wheel and a cleaning turntable. Background Technology

[0002] Chinese patent document CN117484524A discloses a cleaning robot. In this document, the transmission between the walking wheels and the cleaning turntable adopts a series transmission link. The motor first drives the gear ring to rotate, and the cleaning turntable, which is fixedly connected to the gear ring, then drives the walking wheels to rotate through a bevel gear set. Specifically, the motor output shaft first drives the cleaning turntable with the gear ring to rotate at a relatively low speed through a reduction gear set, and then the cleaning turntable transmits power to the walking wheels through an acceleration gear set (the aforementioned bevel gear set). This transmission method of first decelerating and then accelerating increases energy loss during power transmission and reduces mechanical efficiency. In addition, since the walking wheels are driven by the cleaning turntable, the rotational speed of the walking wheels will change when the rotational speed of the cleaning turntable changes. When the amount of water accumulated in different areas of the glass surface is different, the frictional resistance experienced by the cleaning turntable in different areas will vary significantly. The change in frictional resistance during operation may cause the rotational speed of the cleaning turntable to change, which in turn causes fluctuations in the walking speed of the walking wheels, affecting walking stability and making the walking control of the cleaning robot more complex. Utility Model Content

[0003] The purpose of this invention is to provide a transmission structure between the walking wheel and the cleaning turntable to improve transmission efficiency and walking stability of the cleaning robot.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a transmission structure between a walking wheel and a cleaning turntable, wherein the cleaning turntable has a cavity, the walking wheel is disposed in the cavity, and the transmission structure includes:

[0005] The power output gear is connected to the power source.

[0006] An internal gear ring is coaxially mounted with the power output gear and is fixedly mounted at the top opening of the chamber of the cleaning turntable.

[0007] A cleaning turntable transmission assembly is used to transmit power between the power output gear and the internal gear ring to drive the cleaning turntable to rotate;

[0008] A bevel gear assembly is used to transmit power between the power output gear and the traveling wheel to drive the traveling wheel to rotate.

[0009] Furthermore, the bevel gear assembly includes:

[0010] The first bevel gear is fixedly connected to the traveling wheel on the same axis.

[0011] The second bevel gear is coaxially arranged with the power output gear and is configured to rotate synchronously with the power output gear;

[0012] The first bevel gear meshes with the second bevel gear to transmit the rotational motion of the second bevel gear to the traveling wheel, driving the traveling wheel to rotate.

[0013] Furthermore, the bevel gear assembly includes:

[0014] The drive shaft is coaxially and fixedly connected between the power output gear and the second bevel gear; the drive shaft passes through the central area of ​​the internal gear ring and maintains a clearance fit with the internal gear ring.

[0015] Furthermore, the cleaning turntable transmission assembly includes:

[0016] The connecting gear is coaxially arranged with the power output gear and configured to rotate synchronously with the power output gear;

[0017] An intermediate gear is rotatably disposed on the outside of the connecting gear and meshes with the connecting gear;

[0018] The outer side of the intermediate gear meshes with the inner teeth of the internal gear ring to transmit the rotational motion of the connecting gear to the internal gear ring, thereby driving the cleaning turntable to rotate.

[0019] Furthermore, the connecting gear is coaxially and fixedly connected to the power output gear.

[0020] Furthermore, the traveling wheel is fixedly connected to a connecting shaft coaxial with it, and an auxiliary wheel is rotatably mounted on the connecting shaft, the outer diameter of the auxiliary wheel being approximately the same as the outer diameter of the traveling wheel. Alternatively, the traveling wheel is fixedly connected to a connecting shaft coaxial with it, and an auxiliary wheel is fixedly mounted on the connecting shaft, the outer diameter of the auxiliary wheel being approximately the same as the outer diameter of the traveling wheel.

[0021] Furthermore, the walking wheel includes:

[0022] The walking wheel body constitutes the main support structure of the walking wheel, and its outer periphery is provided with a first annular mounting groove;

[0023] The elastic tire portion of the walking wheel is fitted into the first annular mounting groove and contacts the surface to be cleaned.

[0024] The cross-sectional dimension of the first annular mounting groove is larger than the cross-sectional dimension of the elastic tire part of the walking wheel, so as to reserve a clearance for the elastic tire part of the walking wheel to deform under pressure.

[0025] Furthermore, the auxiliary wheel includes:

[0026] The auxiliary wheel body constitutes the main support structure of the auxiliary wheel, and a second annular mounting groove is provided on its outer periphery;

[0027] The auxiliary wheel's elastic part is fitted into the second annular mounting groove and contacts the surface to be cleaned.

[0028] The cross-sectional dimension of the second annular mounting groove is larger than that of the elastic part of the auxiliary wheel, so as to reserve a clearance for the elastic part of the auxiliary wheel to deform under pressure.

[0029] Furthermore, the transmission structure also includes:

[0030] A support bracket, disposed between the walking wheel and the cleaning turntable, includes:

[0031] The body connection part is used to fix and connect the cleaning robot body;

[0032] A wheel support for rotatably supporting the wheel;

[0033] A turntable support is provided for rotatably supporting the cleaning turntable.

[0034] This invention employs a parallel transmission architecture. Power is split into two transmission paths after passing through the power output gear: one path drives the walking wheel to roll on the glass surface via a bevel gear assembly; the other path drives the internal gear ring via the cleaning turntable transmission assembly, thereby causing the cleaning turntable to rotate relative to the glass surface. This design decouples the walking wheel from the cleaning turntable, placing them in independent transmission paths. This avoids fluctuations in the walking wheel's speed caused by changes in the cleaning turntable's rotational speed (due to variations in the glass surface's frictional resistance), simplifying the robot's movement control and improving its stability. Furthermore, because this invention directly drives the walking wheel through a bevel gear pair, it avoids the deceleration and acceleration process, shortening the transmission path and reducing power loss during transmission. This results in higher mechanical efficiency for the entire transmission mechanism. Attached Figure Description

[0035] Figure 1 A three-dimensional representation of the walking wheels, cleaning turntable, and their transmission structure. Figure 1 .

[0036] Figure 2 A three-dimensional representation of the walking wheels, cleaning turntable, and their transmission structure. Figure 2 .

[0037] Figure 3 This is a cross-sectional view of the traveling wheels, the cleaning turntable, and their transmission structure.

[0038] Figure 4 Disassembly of the traveling wheels, cleaning turntable, and their transmission structure Figure 1 .

[0039] Figure 5 Disassembly of the traveling wheels, cleaning turntable, and their transmission structure Figure 2 .

[0040] Figure 6 Disassembly of the body connecting parts, connecting gears, and intermediate gears Figure 1 .

[0041] Figure 7 Disassembly of the body connecting parts, connecting gears, and intermediate gears Figure 2 .

[0042] Figure 8 This is a 3D view of a cleaning robot.

[0043] Figure 9 This is an exploded view of a cleaning robot.

[0044] In the picture:

[0045] 1—Cleaning turntable, 1a—Cavity, 2—Walking wheel, 2a—Walking wheel body, 2a1—First annular mounting groove, 2b—Walking wheel elastic part, 3—Power output gear, 4—Transmission shaft, 5—Internal gear ring, 6a—First bevel gear, 6b—Second bevel gear, 7a—Connecting gear, 7b—Intermediate gear, 8—Connecting shaft, 9—Auxiliary wheel, 9a—Auxiliary wheel body, 9a1—Second annular mounting groove, 9b—Auxiliary wheel elastic part, 10—Support bracket, 10a—Machine body connection part, 10b—Walking wheel support part, 10c—Turntable support part, 11—Motor, 12—Worm gear, 13—Machine body, 14—Surface bearing, 15—Bearing. Detailed Implementation

[0046] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, the following description, in conjunction with embodiments and accompanying drawings, will provide a further explanation.

[0047] like Figure 1-7As shown, this embodiment provides a transmission structure for a walking wheel and a cleaning turntable. The cleaning turntable 1 has a chamber 1a (typically located at the center of the cleaning turntable 1, with openings at both the top and bottom), and the walking wheel 2 is disposed within this chamber 1a. The transmission structure mainly includes the following components: a power output gear 3, an internal gear ring 5, a cleaning turntable transmission assembly, and a bevel gear assembly. The power output gear 3 and the internal gear ring 5 are coaxially arranged. The power output gear 3 is connected to a power source, responsible for receiving driving force and rotating. The internal gear ring 5 is fixedly disposed at the top opening of the chamber 1a of the cleaning turntable 1. The cleaning turntable transmission assembly is used to transmit power between the power output gear 3 and the internal gear ring 5 to drive the cleaning turntable 1 to rotate. The bevel gear assembly is used to transmit power between the power output gear 3 and the walking wheel 2 to drive the walking wheel 2 to rotate.

[0048] In this embodiment, the power source is preferably a motor 11 or a geared motor with a reduction function. The motor 11 can be fixedly mounted on the body of the cleaning robot. A worm gear 12 is mounted on the output shaft of the motor 11, and the power output gear 3 is configured as a worm wheel meshing with it. (See also...) Figure 1 .

[0049] In this embodiment, the bevel gear assembly consists of the following parts (see...). Figure 3-5 The first bevel gear 6a is coaxially and fixedly connected to the traveling wheel 2; the second bevel gear 6b ​​is coaxially set with the power output gear 3 and rotates synchronously with the power output gear 3. Through the meshing between the first bevel gear 6a and the second bevel gear 6b, the rotational motion of the second bevel gear 6b ​​can be transmitted to the traveling wheel 2, thereby driving the traveling wheel 2 to rotate. The first bevel gear 6a and the traveling wheel 2 can be coaxially and fixedly connected in any of the following ways: (1) the first bevel gear 6a is directly fixedly installed on the end face of the traveling wheel 2; (2) the first bevel gear 6a and the traveling wheel 2 are jointly fixedly installed on the same connecting shaft. The second bevel gear 6b ​​and the power output gear 3 are coaxially and fixedly connected, including but not limited to mechanical connection methods such as integral molding, welding, key connection, pin connection or indirect fixed connection through a transmission shaft to achieve synchronous rotation. In this embodiment, the second bevel gear 6b ​​and the power output gear 3 achieve coaxial synchronous rotation through the transmission shaft 4. The connection method between the transmission shaft 4 and the two includes: a fixed connection method, such as welding or interference fit; or a detachable limiting structure connection method, such as keyway fit or pin connection.

[0050] In this embodiment, the cleaning turntable drive assembly consists of the following parts (see...). Figure 3-5The connecting gear 7a is coaxially arranged with the power output gear 3 and rotates synchronously with it. The intermediate gear 7b is rotatably disposed outside the connecting gear 7a and meshes with it. Through the meshing between the outer side of the intermediate gear 7b and the inner side of the internal gear ring 5, the rotational motion of the connecting gear 7a can be transmitted to the internal gear ring 5, thereby driving the cleaning turntable 1 to rotate. The internal gear ring 5 is a ring gear structure or a cup gear structure, with multiple teeth distributed circumferentially on its inner side. The intermediate gear 7b also has multiple teeth distributed circumferentially on its outer side, and the two mesh. The connecting gear 7a and the power output gear 3 are coaxially fixedly connected, including but not limited to mechanical connection methods such as integral molding, welding, key connection, pin connection, or indirect fixed connection through a transmission shaft to achieve synchronous rotation. In this embodiment, the connecting gear 7a and the power output gear 3 are integrally molded structures.

[0051] In this embodiment, a connecting gear 7a and a second bevel gear 6b ​​are coaxially mounted on the drive shaft 4, arranged vertically along the axial direction of the drive shaft 4; the second bevel gear 6b ​​is fixedly connected to the drive shaft 4. Since the connecting gear 7a is integrally connected to the power output gear 3, it is also actually coaxially fixedly connected to the drive shaft 4. The drive shaft 4 passes through the central region of the internal gear ring 5 and maintains a clearance fit with it. Specifically, if the internal gear ring 5 is a ring gear structure, a through hole is formed in its middle, through which the drive shaft 4 passes; if the internal gear ring 5 is a cup-shaped gear structure, a clearance hole is provided at its bottom center, through which the drive shaft 4 passes. There is only a mechanical clearance fit between the drive shaft 4 and the internal gear ring 5, without power transmission. Of course, the connecting gear 7a can be located above the central region of the internal gear ring 5, or it can pass through the central region of the internal gear ring 5 (e.g., through the through hole or clearance hole), just like the drive shaft 4.

[0052] The working principle of the transmission structure in this embodiment is as follows:

[0053] Motor 11 drives worm 12 to rotate, and worm 12 drives worm wheel (i.e., power output gear 3) to rotate. Worm wheel is fixedly connected to connecting gear 7a and transmission shaft 4, thereby driving connecting gear 7a and transmission shaft 4 to rotate. The power transmission path is divided into two branches:

[0054] 1. Cleaning turntable drive chain: The connecting gear 7a meshes with the internal gear ring 5 through the intermediate gear 7b, driving the internal gear ring 5 to rotate, thereby causing the cleaning turntable 1 to rotate accordingly.

[0055] 2. Walking wheel drive chain: The drive shaft 4 meshes with the first bevel gear 6a through the second bevel gear 6b, thereby driving the walking wheel 2 to rotate.

[0056] This design employs a single-motor drive, achieving synchronous operation of the cleaning turntable 1 and the walking wheels 2 via a branched transmission chain. Compared to traditional structures (which rely on the cleaning turntable to drive the walking wheels), this embodiment decouples the walking wheels 2 from the cleaning turntable 1, placing them in independent transmission paths. This avoids fluctuations in the walking speed of the walking wheels 2 caused by changes in the rotational speed of the cleaning turntable 1 (due to variations in the frictional resistance of the glass surface). This simplifies the walking control of the cleaning robot and improves its walking stability.

[0057] The chamber 1a of the cleaning turntable 1 can be equipped with either a single traveling wheel 2 or an additional auxiliary wheel 9. Specifically, the traveling wheel 2 is fixedly connected to a coaxial connecting shaft 8, and the auxiliary wheel 9, also coaxial with the traveling wheel 2, is mounted on the connecting shaft 8. The outer diameter of the auxiliary wheel 9 is approximately equal to (or the same as) that of the traveling wheel 2. The auxiliary wheel 9 can be installed in one of the following two configurations depending on actual needs:

[0058] 1. Free rotation mode (auxiliary wheel 9 is rotatably mounted on connecting shaft 8):

[0059] When the cleaning robot is performing horizontal wiping of glass, if the walking wheel 2 slips on water, the robot may fall downwards. In this situation, the auxiliary wheel 9 is in a free state, passively rotating only by the friction of the surface to be cleaned. When the walking wheel 2 slips, the auxiliary wheel 9 can form a static friction contact with the glass surface, thereby mitigating the problem of the robot falling sideways due to slippage.

[0060] 2. Synchronous rotation mode (auxiliary wheel 9 is fixedly mounted on connecting shaft 8):

[0061] The auxiliary wheel 9 rotates synchronously with the walking wheel 2, and together with the walking wheel 2, it drives the robot to move, enhancing walking stability and making it suitable for scenarios with high requirements for stability.

[0062] The surfaces to be cleaned in this embodiment include, but are not limited to, the surfaces of panels (such as upright glass windows, glass curtain walls, etc.).

[0063] In this embodiment, the structure of the traveling wheel 2 differs from the traditional design; it consists of a traveling wheel body 2a and a traveling wheel elastic tire part 2b. For example... Figure 3As shown, the traveling wheel 2a is mounted on the connecting shaft 8, serving as the main support structure. Its outer circumference has a first annular mounting groove 2a1, and the elastic tire part 2b of the traveling wheel is embedded in this groove, directly contacting the surface to be cleaned (such as glass), providing friction and cushioning. The key is the reserved deformation gap; the cross-sectional dimension of the first annular mounting groove 2a1 is larger than the cross-sectional dimension of the elastic tire part 2b of the traveling wheel, allowing the elastic tire part 2b to have deformable space under pressure, enabling it to deform appropriately. This reduces the required clamping force and lowers the reaction force on the overall machine. Simultaneously, elastic deformation enhances the adhesion between the traveling wheel 2a and the glass surface, improving adsorption stability and ensuring a smoother and more efficient cleaning operation. Furthermore, the first bevel gear 6a can be integrally connected to the traveling wheel 2a.

[0064] In this embodiment, the auxiliary wheel 9 also adopts the same structural design as the traveling wheel 2. The auxiliary wheel 9 consists of an auxiliary wheel body 9a and an auxiliary wheel elastic tire part 9b. Figure 3 As shown, the auxiliary wheel 9a is mounted on the connecting shaft 8, forming the main support structure of the auxiliary wheel 9. A second annular mounting groove 9a1 is provided on its outer circumference, and the elastic part 9b of the auxiliary wheel is embedded in this groove, directly contacting the surface to be cleaned (such as glass) to provide friction and cushioning. The key is the provision of a deformation gap; the cross-sectional dimension of the second annular mounting groove 9a1 is larger than the cross-sectional dimension of the elastic part 9b of the auxiliary wheel, allowing the elastic part 9b to have deformable space under pressure, enabling it to deform appropriately. This reduces the required clamping force and lowers the reaction force on the overall machine. Simultaneously, the elastic deformation enhances the adhesion between the auxiliary wheel 9 and the glass surface, improving adsorption stability and ensuring a smoother and more efficient cleaning operation.

[0065] Furthermore, the transmission structure of this embodiment also includes a support bracket 10, which is disposed between the traveling wheel 2 and the cleaning turntable 1 to provide structural support and connection. Figure 3-5 As shown, the support bracket 10 comprises three parts: a body connecting part 10a, a wheel support part 10b, and a turntable support part 10c, which are connected and fixed together by fasteners such as screws. The body connecting part 10a is used to fix the support bracket 10 to the body 13 of the cleaning robot; the wheel support part 10b is used to support the wheels 2 and allow them to rotate; the turntable support part 10c is used to support the cleaning turntable 1, also allowing it to rotate. The lower wall of the upper end of the chamber 1a of the cleaning turntable 1 is connected to the upper end of the turntable support part 10c via a plane bearing 14. When the robot adheres to the surface to be cleaned, the cleaning turntable 1 presses against the plane bearing 14. This ensures both stable support for the cleaning turntable 1 and its free rotation. The plane bearing 14 bears both axial pressure and provides rotational freedom.

[0066] In this embodiment, the intermediate gear 7b is rotatably mounted on the body connecting part 10a via a shaft, and there are three intermediate gears 7b in total. These three gears are evenly spaced along the circumference to ensure uniform distribution of transmission force and improve transmission smoothness. The connecting shaft 8 of the traveling wheel 2 can be mounted on the traveling wheel support part 10b via a bearing 15. The power output gear 3 and the connecting gear 7a adopt an integral structure, with a coaxial mounting hole between the two gears. The transmission shaft 4 passes through the mounting hole and is fixed by a limiting structure. The first bevel gear 6a is fixedly mounted on the bottom end of the transmission shaft 4. The above components (power output gear 3, connecting gear 7a, transmission shaft 4, and first bevel gear 6a) form a rigidly connected integral structure, and the components maintain synchronous rotation during operation. This design achieves efficient power transmission through rigid connection, simplifies the assembly process, and improves the overall reliability of the transmission system.

[0067] Figure 8 , 9 The diagram shows the overall structure of the walking wheels 2 and the cleaning turntable 1 in this embodiment, as well as the installation diagram and exploded view between them and the cleaning robot body 13.

[0068] In summary, this embodiment employs a parallel transmission architecture. Power, after passing through the power output gear 3, is divided into two transmission paths: one path drives the walking wheel 2 to roll on the glass surface via a bevel gear assembly; the other path drives the internal gear ring 5 via the cleaning turntable transmission assembly, thereby causing the cleaning turntable 1 to rotate relative to the glass surface. This design decouples the walking wheel 2 from the cleaning turntable 1, placing them in independent transmission paths. This avoids fluctuations in the walking speed of the walking wheel 2 caused by changes in the rotational speed of the cleaning turntable 1 (due to changes in the frictional resistance of the glass surface). This simplifies the walking control of the cleaning robot and improves its walking stability. Furthermore, because this embodiment directly drives the walking wheel 2 through the bevel gear pair via the power output gear 3, it avoids the transmission process of first decelerating and then accelerating, shortening the transmission path and reducing power loss during transmission to a certain extent. This results in higher mechanical efficiency for the entire transmission mechanism.

[0069] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A transmission structure for a walking wheel and a cleaning turntable, wherein the cleaning turntable (1) has a chamber (1a) and the walking wheel (2) is disposed in the chamber (1a), characterized in that, include: The power output gear (3) is connected to the power source; The internal gear ring (5) is coaxially arranged with the power output gear (3) and fixedly installed at the top opening of the chamber (1a) of the cleaning turntable (1); The cleaning turntable transmission assembly is used to transmit power between the power output gear (3) and the internal gear ring (5) to drive the cleaning turntable (1) to rotate; A bevel gear assembly is used to transmit power between the power output gear (3) and the traveling wheel (2) to drive the traveling wheel (2) to rotate.

2. The transmission structure between the walking wheel and the cleaning turntable according to claim 1, characterized in that, The bevel gear assembly includes: The first bevel gear (6a) is coaxially and fixedly connected to the traveling wheel (2); The second bevel gear (6b) is coaxially arranged with the power output gear (3) and is configured to rotate synchronously with the power output gear (3); The first bevel gear (6a) meshes with the second bevel gear (6b) to transmit the rotational motion of the second bevel gear (6b) to the traveling wheel (2).

3. The transmission structure between the walking wheel and the cleaning turntable according to claim 2, characterized in that, The bevel gear assembly includes: The transmission shaft (4) is coaxially fixed between the power output gear (3) and the second bevel gear (6b); the transmission shaft (4) passes through the central area of ​​the internal gear ring (5) and maintains a clearance fit with the internal gear ring (5).

4. The transmission structure between the walking wheel and the cleaning turntable according to claim 1, characterized in that, The cleaning turntable transmission assembly includes: The connecting gear (7a) is coaxially arranged with the power output gear (3) and is configured to rotate synchronously with the power output gear (3); An intermediate gear (7b) is rotatably disposed outside the connecting gear (7a) and meshes with the connecting gear (7a); The outer side of the intermediate gear (7b) meshes with the inner teeth of the inner gear ring (5) to transmit the rotational motion of the connecting gear (7a) to the inner gear ring (5), thereby driving the cleaning turntable (1) to rotate.

5. The transmission structure between the walking wheel and the cleaning turntable according to claim 4, characterized in that: The connecting gear (7a) is coaxially and fixedly connected to the power output gear (3).

6. The transmission structure between the walking wheel and the cleaning turntable according to claim 1, characterized in that: The walking wheel (2) is coaxially fixedly connected to a connecting shaft (8), and an auxiliary wheel (9) is rotatably mounted on the connecting shaft (8). The outer diameter of the auxiliary wheel (9) is equivalent to the outer diameter of the walking wheel (2).

7. The transmission structure between the walking wheel and the cleaning turntable according to claim 1, characterized in that: The walking wheel (2) is coaxially fixedly connected to a connecting shaft (8), and an auxiliary wheel (9) is fixedly installed on the connecting shaft (8). The outer diameter of the auxiliary wheel (9) is equivalent to the outer diameter of the walking wheel (2).

8. The transmission structure between the walking wheel and the cleaning turntable according to claim 1, characterized in that, The traveling wheel (2) includes: The walking wheel body (2a) constitutes the main support structure of the walking wheel (2), and its outer periphery is provided with a first annular mounting groove (2a1). The elastic tire part (2b) of the walking wheel is fitted into the first annular mounting groove (2a1) and contacts the surface to be cleaned; The cross-sectional dimension of the first annular mounting groove (2a1) is larger than that of the elastic tire part (2b) of the walking wheel, so as to reserve a clearance for the elastic tire part (2b) of the walking wheel to deform under pressure.

9. The transmission structure between the walking wheel and the cleaning turntable according to claim 6 or 7, characterized in that, The auxiliary wheel (9) includes: The auxiliary wheel body (9a) constitutes the main support structure of the auxiliary wheel (9), and its outer periphery is provided with a second annular mounting groove (9a1). The auxiliary wheel elastic tire part (9b) is fitted into the second annular mounting groove (9a1) and contacts the surface to be cleaned; The cross-sectional dimension of the second annular mounting groove (9a1) is larger than that of the cross-sectional dimension of the auxiliary wheel elastic tire part (9b) to reserve a clearance for the auxiliary wheel elastic tire part (9b) to be deformed under pressure.

10. The transmission structure between the walking wheel and the cleaning turntable according to claim 1, characterized in that, Also includes: A support bracket (10), disposed between the walking wheel (2) and the cleaning turntable (1), includes: The body connection part (10a) is used to fix and connect the body of the cleaning robot; The walking wheel support (10b) is used to rotatably support the walking wheel (2). A turntable support (10c) is used to rotatably support the cleaning turntable (1).

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