Tire, running wheel, cleaning device and cleaning system

Abstract

The application is suitable for the technical field of cleaning equipment, and provides a tire, a walking wheel, a cleaning equipment and a cleaning system. The tire is used for at least the cleaning equipment. A plurality of protruding parts are arranged on the outer peripheral side wall of the tire. The plurality of protruding parts are arranged at intervals along the circumferential direction of the tire. At least one side of the tire in the axial direction is concavely provided with a blind groove structure. The number of the blind groove structures is the same as that of the protruding parts and is arranged one by one. Any one of the blind groove structures comprises at least two hollowed-out grooves arranged along the circumferential direction of the tire. The tire provided by the application has the advantage of good walking stability.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment, and more specifically, relates to a tire, a wheel, a cleaning device, and a cleaning system. Background Technology

[0002] In related technologies, cleaning equipment has autonomous movement capabilities, allowing it to move independently on the surface to be cleaned and complete the cleaning work. Such autonomous movement cleaning equipment typically has driving wheels and driven wheels, enabling it to move along the surface under the drive of the driving wheels and clean the area to be cleaned in the process. Utility Model Content

[0003] This application aims to solve the problem of poor walking performance of tires used in cleaning equipment during operation, so as to improve the walking performance of tires to at least a certain extent and ultimately improve the user experience of cleaning equipment.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] In a first aspect, a tire is provided for use in at least a cleaning device. The tire has a plurality of protrusions on its outer peripheral sidewall, the protrusions being spaced apart circumferentially along the tire; at least one side of the tire's axial surface is recessed with blind groove structures, the number of blind groove structures being the same as the number of protrusions and arranged in a one-to-one correspondence.

[0006] Each of the blind groove structures includes at least two hollow grooves arranged along the circumferential direction of the tire.

[0007] In one feasible implementation, each of the hollowed-out grooves includes a first strip groove and a second strip groove arranged sequentially along the circumferential direction of the tire, wherein the first strip groove and the second strip groove intersect and form an intersection angle.

[0008] In one possible implementation, along the circumference of the tire, the intersection angle points between the two hollowed-out slots that constitute the blind groove structure.

[0009] In one possible implementation, the first groove extends circumferentially along the tire.

[0010] In one possible implementation, the second strip extends radially along the tire.

[0011] In one feasible implementation, the orthogonal projection of the blind groove structure in the tire axial direction is at least partially located within the orthogonal projection of the protrusion in the tire axial direction.

[0012] In one possible implementation, any one of the protrusions has a driving surface and a side surface, the driving surface being for contacting the working surface, and the side surface being connected to the end of the driving surface in the forward direction; wherein, in a plane perpendicular to the tire axial direction, the side surface points towards the middle of the tire.

[0013] In one possible implementation, the plane containing the side extends radially along the tire.

[0014] In one possible implementation, the number of sides is two and they are arranged opposite each other.

[0015] In one feasible embodiment, along the axial direction of the tire, the tire includes a connected first annular portion and a second annular portion, and the plurality of protrusions include a plurality of first protrusions disposed on the outer wall of the first annular portion and a plurality of second protrusions disposed on the outer wall of the second annular portion.

[0016] In the axial direction of the tire, the orthographic projections of adjacent first protrusions and second protrusions in the axial direction of the tire are staggered.

[0017] In one possible implementation, the orthographic projection of the first protrusion in the tire axial direction coincides with the orthographic projection of the two adjacent second protrusions in the tire axial direction.

[0018] In one feasible implementation, the dimension of the overlapping portion along the circumference of the tire is 0.5 to 1.5 mm.

[0019] In one feasible implementation, any one of the protrusions has an alternating first groove and a second groove on the side surface facing away from the tire axis, wherein the first groove extends along the axial direction of the tire and the second groove extends along the circumferential direction of the tire.

[0020] In one feasible implementation, both the first groove and the second groove include at least one of a wavy groove and a strip groove, and the number of at least one of the first groove and the second groove on any one of the protrusions is at least two.

[0021] In one feasible implementation, the two hollowed-out grooves of any one of the blind groove structures are arranged symmetrically along the circumferential direction of the tire.

[0022] In a second aspect, a travel wheel is provided for use with at least cleaning equipment. The travel wheel includes a hub and a tire as described in any of the preceding claims, the tire being mounted outside the hub.

[0023] In one feasible implementation, a limiting slot is provided on the circumferential inner sidewall of the tire, and the tire is connected to the wheel hub through the limiting slot.

[0024] In one feasible implementation, the wheel hub includes a first mounting plate and a second mounting plate connected together, wherein the first mounting plate is provided with a limiting plug that engages with the limiting slot;

[0025] The second mounting plate has a positioning block protruding on one side facing the first mounting plate. The positioning block has a first positioning hole, and the first mounting plate has a corresponding second positioning hole that cooperates with the first positioning hole.

[0026] In a third aspect, a cleaning device is provided, comprising a cleaning main unit and the wheels described in any of the preceding claims, the wheels being connected to a drive motor of the cleaning device to rotate under the drive of the drive motor.

[0027] In one feasible implementation, the number of the walking wheels is at least two and they are located at the bottom of the cleaning unit.

[0028] In one feasible implementation, the bottom of the cleaning device is also provided with at least one driven wheel;

[0029] The driven wheel is arranged at an interval from the traveling wheel and is located on one side of the traveling wheel's direction of travel.

[0030] In one feasible implementation, the driven wheel is a swivel wheel.

[0031] In a fourth aspect, a cleaning system is provided, comprising a cleaning base station and a cleaning device as described in any of the preceding claims, wherein the cleaning base station and the cleaning device are used in conjunction.

[0032] Compared with the prior art, this application includes at least the following beneficial effects:

[0033] The tire provided in this application embodiment is used for cleaning equipment. It includes multiple protrusions arranged at intervals on the outer peripheral sidewall and a blind groove structure located in the axial direction. The protrusions help to overlap with obstacles encountered during walking, thereby improving the tire's obstacle-crossing ability. The blind groove structure helps to reduce the tire's stiffness, thereby improving the tire's cushioning performance and grip performance. The two hollow grooves constituting the blind groove can better guide the tire's cushioning direction when compressed. Compared with related structures, the tire provided in this application embodiment has better obstacle-crossing performance and grip, which can effectively improve the problem of tires not walking smoothly. The walking wheel provided in this application embodiment includes the above-mentioned tire, and therefore the walking wheel also includes the beneficial effects of any one or more of the above-mentioned tires, which will not be elaborated here. The cleaning equipment provided in this application embodiment has the above-mentioned tire, and therefore the cleaning equipment also includes the beneficial effects of any one or more of the above-mentioned tires. At the same time, the cleaning equipment also has better walking performance, which can effectively improve the user experience and improve the cleaning effect of the cleaning equipment to a certain extent. The cleaning system provided in this application embodiment includes the above-mentioned cleaning equipment, and therefore the cleaning system includes the beneficial effects of any one or more of the above-mentioned cleaning equipment, which will not be elaborated here. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the tire structure provided in an embodiment of this application;

[0036] Figure 2 for Figure 1 Side view;

[0037] Figure 3 for Figure 2 Enlarged view of the structure of region A in the middle;

[0038] Figure 4 A schematic diagram of the axial projection of a tire provided in an embodiment of this application;

[0039] Figure 5 for Figure 4 Enlarged view of the structure of region B in the middle;

[0040] Figure 6 This is a schematic diagram of the structure of the walking wheel provided in an embodiment of this application;

[0041] Figure 7 An exploded view of the walking wheel provided in an embodiment of this application;

[0042] Figure 8 A front view of the walking wheel provided in an embodiment of this application;

[0043] Figure 9 for Figure 8 Schematic diagram of the AA-direction cross-section structure;

[0044] Figure 10 for Figure 8 Schematic diagram of the BB-direction cross-sectional structure in the middle;

[0045] Figure 11 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application;

[0046] Figure 12 This is a schematic diagram of the overall structure of the cleaning system provided in an embodiment of this application.

[0047] The following are the labeling elements in the figure:

[0048] 1000. Cleaning equipment; 100. Wheels; 200. Cleaning unit; 300. Driven wheels;

[0049] 10. Tire; 01. First annular portion; 010. First protrusion; 02. Second annular portion; 020. Second protrusion; 1. Protrusion; 101. Driving surface; 1011. First groove; 1012. Second groove; 102. Side; 2. Blind groove structure; 21. Hollow groove; 211. First strip groove; 212. Second strip groove; 213. Intersection angle; 3. Limiting slot;

[0050] 20. Wheel hub; 210. First mounting plate; 2101. Limiting plug; 2102. Second positioning hole; 220. Second mounting plate; 2201. Positioning block; 2202. First positioning hole; 230. Fastener. Detailed Implementation

[0051] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0052] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0053] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0055] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0056] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] This application provides a tire 10, a walking wheel 100, a cleaning device 1000, and a cleaning system, wherein the tire 10 is used at least in the cleaning device 1000, and the cleaning device 1000 can be a device with cleaning function that can move autonomously along a cleaning surface.

[0059] For example, cleaning equipment 1000 can be a device for cleaning the ground, where the cleaning surface is the ground, such as a sweeping robot, a sweeping and mopping robot, a floor scrubbing robot, etc.; or, cleaning equipment 1000 can be a device for cleaning window sashes, where the cleaning surface is the window sash surface, such as a window cleaning machine, etc.

[0060] In some embodiments, the cleaning device 1000 can be applied to a cleaning system with a cleaning base station. The cleaning base station can be a base station-type structure that cooperates with the cleaning device 1000 and has a charging function. For ease of explanation, the structure of the cleaning device 1000 and the cleaning system will be described below using the example of a robotic vacuum cleaner as the cleaning device 1000 and a base station that cooperates with the robotic vacuum cleaner.

[0061] The cleaning equipment 1000 can move along the cleaning surface by means of the wheels 100 with tires 10.

[0062] As the cleaning device 1000 travels along a cleaning surface using its wheels 100 equipped with tires 10, its adaptability varies across different cleaning surfaces. This can lead to slippage or jamming on certain surfaces, impacting the user experience. For example, due to the surface topography, the cleaning device 1000 may get stuck on surfaces with bumps, slopes, or other obstacles because the tires 1000 lack sufficient obstacle-crossing ability. Conversely, on surfaces with water stains or that are too smooth, the tires 1000 may slip or experience uneven movement due to insufficient grip. These issues result in relatively poor adaptability and stability of the cleaning device 1000 on different cleaning surfaces, affecting its walking performance and cleaning efficiency.

[0063] Figure 1 This is a schematic diagram of the structure of the tire 10 provided in an embodiment of this application. Figure 2 for Figure 1 Side view, Figure 3 for Figure 2 Enlarged view of the structure of region A in the middle. Figure 4 This is a schematic diagram of the axial projection of the tire 10 provided in an embodiment of this application. Figure 5 for Figure 4 Enlarged view of the structure of region B in the middle.

[0064] Please see Figures 1-5 This application provides a tire 10 for use on a cleaning device 1000. The tire 10 can be mounted on the wheels 100 of the cleaning device 1000 to help improve the walking performance of the wheels 100 on the cleaning surface. Of course, the tire 10 can also be applied to other equipment that requires the installation of wheels 100 to improve the walking stability of the corresponding equipment.

[0065] Specifically, the tire 10 has an overall ring structure, and its outer sidewall in the circumferential direction is provided with multiple protrusions 1. Please refer to [link / reference]. Figure 1 The surface of any protrusion 1 facing the radially outer side of the tire 10 is non-smooth to provide a certain anti-slip function. Multiple protrusions 1 are spaced apart circumferentially around the tire 10, which enables the tire 10 to have a certain climbing ability.

[0066] The tire 10 can be made of rubber material, and the protrusion 1 protrudes from the tire surface of the tire 10. Of course, the tire 10 can also be made of other molding materials disclosed in other related technologies, such as resin, etc. This embodiment does not specifically limit the molding material.

[0067] In this embodiment, the axial and radial dimensions of the tire 10 can be adaptively adjusted according to the actual needs of the equipment. In some embodiments, without changing the radial dimension of the tire 10, the axial dimension of the tire 10 can be increased to increase the contact area between the tire 10 and the ground, thereby increasing the friction between the tire 10 and the ground and helping to improve the walking stability of the cleaning equipment 1000 equipped with the tire 10. As for the hardness of the tire 10, a higher hardness can be set to reduce the wear rate of the tire 10, or a lower hardness can be set to ensure sufficient contact area between the tire 10 and the ground and prevent slippage. The specific parameters can be set according to actual needs. Of course, to improve the grip of the cleaning equipment 1000, the tire 10 can be set to have a relatively low hardness while still meeting the supporting force of the tire 10 on the cleaning host 200 of the cleaning equipment 1000.

[0068] To improve the grip and friction of the tire 10 when in contact with the ground, and to help improve the stability of the tire 10 during use, in some embodiments, the tire 10 includes a connected first annular portion 01 and a second annular portion 02 along the axial direction of the tire 10. (See also...) Figure 1 and Figure 2 The plurality of protrusions 1 include a plurality of first protrusions 010 disposed on the outer wall of the first annular portion 01 and a plurality of second protrusions 020 disposed on the outer wall of the second annular portion 02. In the axial direction of the tire 10, the orthographic projections of adjacent first protrusions 010 and second protrusions 020 in the axial direction of the tire 10 are staggered.

[0069] The number of first protrusions 010 on any one of the first annular portions 01 is the same as the number of second protrusions 020 on the second annular portion 02. In this embodiment, there are 20 first protrusions 010, and correspondingly, there are also 20 second protrusions 020. When the number of first protrusions 010 is increased or decreased according to design needs, the number of second protrusions 020 is also adjusted synchronously.

[0070] Of course, in other similar embodiments, the number of the first annular portion 01 and the second annular portion 02 can be one, two, or even more. For example, the number of first annular portions 01 can be two, respectively located on both sides of the second annular portion 02 in the axial direction; or, the number of second annular portions 02 can be two, respectively located on both sides of the first annular portion 01 in the axial direction. This embodiment only describes the structure of the tire 10 with the number of both the first annular portion 01 and the second annular portion 02 being one.

[0071] The first annular portion 01 and the second annular portion 02 are arranged sequentially and connected along the axial direction of the tire 10, thereby helping to increase the circumferential contact area between the tire 10 and the ground. Furthermore, the staggered arrangement of the first protrusion 010 and the second protrusion 020 provides better grip to the tire 10. When the tire 10 rotates and moves, the first protrusion 010 on the adjacent first annular portion 01 and the second protrusion 020 on the adjacent second annular portion 02 can sequentially generate friction with the ground, extending the time for the tire 10 to contact the ground and generate friction, reducing the possibility of the tire 10 slipping during movement, and also ensuring that the tire 10 has sufficient friction to drive the corresponding cleaning equipment 1000, thereby improving the obstacle avoidance capability of the cleaning equipment 1000. In addition, the staggered arrangement of the first protrusion 010 and the second protrusion 020 reduces the bumps experienced by the tire 10 during movement, thereby improving the stability of the cleaning equipment 1000 during movement relative to the cleaning surface.

[0072] For example, when there are obstacles on the ground, the first protrusion 010 and the second protrusion 020, which are staggered in the circumferential direction of the tire 10, can respectively contact the outer surface of the obstacle and engage with the obstacle (for example, the obstacle is a step) to help the tire 10 overcome resistance and pass over the obstacle smoothly, reducing the interruption of the journey caused by the obstacle; when the ground is relatively smooth, the staggered first protrusion 010 and the second protrusion 020 can also effectively prevent the tire 10 from slipping, ensuring that the cleaning equipment 1000 can travel smoothly along the set path.

[0073] Please see Figure 3 The orthographic projection of the first protrusion 010 on the axial direction of the tire 10 partially overlaps with the orthographic projections of the two adjacent second protrusions 020 on the axial direction of the tire 10. The overlapping areas are shown in the figure. Figure 3 The region referred to by L1.

[0074] The aforementioned overlapping structural design not only helps to increase the contact area between the tire 10 and the ground, and increase the friction and driving stability between the tire 10 and the ground, but also enhances the connection between the first protrusion 010 and the second protrusion 020, thereby helping to extend the durability and service life of the tire 10.

[0075] It should be noted that when the size of the overlapping area in the circumferential direction of the tire 10 is too large, it will cause the distance between two adjacent first protrusions 010 to decrease. Similarly, the distance between two adjacent second protrusions 020 will also decrease, which will affect the obstacle crossing ability of the tire 10 to a certain extent. When the size of the overlapping area in the circumferential direction of the tire 10 is too large, it will cause the durability and friction of the tire 10 to decrease to a certain extent.

[0076] In this embodiment, the orthographic projections of any two adjacent first protrusions 010 and second protrusions 020 on the axial direction of the tire 10 partially overlap, and the overlapping area has a size of 0.5 to 1.5 mm in the circumferential direction of the tire 10.

[0077] Specifically, the dimension of the overlapping area on the 10th circumference of the tire can be any value among 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, 1.0mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, 1.5mm, etc.

[0078] Any protrusion 1 facing away from the axis of the tire 10 (i.e., the surface of the protrusion 1 pointing radially outward from the tire 10) is the driving surface 101, which is used to contact the working surface (i.e., the cleaning surface). To improve the adaptability of the tire 10 to wet and slippery surfaces without affecting the tire 10's friction, in this embodiment, please refer to... Figure 1 A groove is provided on the driving surface 101.

[0079] The grooves formed on the driving surface 101 are interlaced to create a complex pattern on the surface. This pattern helps the tire 10 achieve better water drainage when driving on wet and slippery surfaces, thereby improving the tire 10's driving performance and reducing the possibility of tire slippage. Furthermore, compared to the dotted or block-shaped raised patterns disclosed in related technologies, this structure effectively improves the wear resistance of the driving surface 101 formed by the interlaced grooves, thus helping to extend the tire 10's service life.

[0080] Specifically, the grooves include staggered first grooves 1011 and second grooves 1012, wherein the first grooves 1011 extend axially along the tire 10, and the second grooves 1012 extend circumferentially along the tire 10. On any protrusion 1, the first groove 1011 can penetrate and connect all the second grooves 1012, and similarly, the second grooves 1012 can penetrate and connect all the first grooves 1011. The connection between the first grooves 1011 and the second grooves 1012 can greatly improve the drainage performance of the tire 100's tread surface 101.

[0081] In some embodiments, the first groove 1011 includes at least one of a wavy groove and a strip groove, and the second groove 1012 also includes at least one of a wavy groove and a strip groove.

[0082] Please see Figure 2 and Figure 3The first groove 1011 includes a wavy groove, and the second groove 1012 includes a strip-shaped groove. The wavy groove can be formed by connecting multiple straight grooves in sequence. Please refer to [link / reference]. Figure 3 The wavy groove in the figure can be an N-shaped or similar structure. Similarly, the wavy groove can also be a V-shaped, W-shaped, M-shaped, or other similar structure. In order to further improve the anti-slip and drainage performance of the protrusion 1, in some embodiments, the number of first grooves 1011 on any protrusion 1 can be at least two, and / or the number of second grooves 1012 can be at least two.

[0083] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 In addition to the driving surface 101, each protrusion 1 also has a side surface 102, which is connected to the end of the driving surface 101 in the forward direction. Considering that the tire 10 can have at least two different driving directions depending on the direction of movement (e.g., forward and backward), each protrusion 1 has two side surfaces 102, and the two side surfaces 102 are respectively located at both ends of the driving surface 101 along the circumference of the tire 10. The two side surfaces 102 are arranged opposite to each other.

[0084] Specifically, one end of any side surface 102 is used to connect with the driving surface 101, and the other end points towards the center of the tire 10, thus forming a block-shaped protrusion 1. It should be noted that at this time, there is an angle between the side surface 102 and the driving surface 101, and this angle is a right angle or an acute angle close to a right angle. At this time, the circumferential dimension of the protrusion 1 formed by the side surface 102 and the driving surface 101 remains essentially unchanged. When the tire 10 rotates and comes into contact with an obstacle protruding relative to the ground, two adjacent protrusions 1 can better engage with the obstacle through the side surface 102, and further surround and close the obstacle during further travel, helping to increase the contact area between the protrusion 1 and the obstacle. Simultaneously, the cooperation of the two protrusions 1 increases the grip on the obstacle, further improving the obstacle-crossing ability of the tire 10.

[0085] The aforementioned included angle refers to the angle between the plane containing the side surface 102 and the plane containing the end of the driving surface 101 pointing towards the side surface 102. When the driving surface 101 is a plane, the included angle between the plane containing the side surface 102 and the plane containing the driving surface 101 is a right angle or approximately a right angle; when the driving surface 101 is an arc surface, the driving surface 101 has an intersection line with the side surface 102, and the included angle between the plane containing the side surface 102 and the tangent plane of the driving surface 101 at the intersection line is a right angle or approximately a right angle.

[0086] Specifically, in this embodiment, in a plane perpendicular to the axial direction of the tire 10, one end of the sidewall 102 points towards the center of the tire 10. For example, the plane containing the sidewall 102 can extend radially along the tire 10 and pass through the meridional plane of the tire 10. In this case, the angle between the sidewall 102 and the tangent of the driving surface 101 near the end of the sidewall 102 is a right angle or approximately a right angle. Alternatively, the plane containing the sidewall 102 can be set to be parallel to the axis of the tire 10, and the distance between the plane containing the sidewall 102 and the axis of the tire 10 can be small.

[0087] Please see Figure 1 The tire 10 provided in this application embodiment also includes a blind groove structure 2, which is opened on at least one side of the tire 10 in the axial direction to provide a certain space for the deformation of the protrusion 1.

[0088] When the tire 10 is applied to the cleaning equipment 1000, the driving surface 101 of the protrusion 1 is in contact with the ground, and under the pressure of the gravity of the cleaning equipment 1000, it is compressed towards the inside of the tire 10 through the blind groove structure 2, so as to further increase the friction between the driving surface 101 and the ground.

[0089] Specifically, at least one side of the surface of the tire 10 is recessed inward along its axial direction to form the aforementioned blind groove structure 2. The number of blind groove structures 2 is the same as the number of protrusions 1 and they are arranged in a one-to-one correspondence. When the tire 10 is subjected to external force (for example, when the tire 10 is subjected to the gravity of the cleaning equipment 1000), the blind groove structure 2 can provide a certain space for the compression of the tire 10 in the direction of gravity, and at the same time provide the tire 10 with elasticity similar to a tubeless tire, thereby helping to improve the shock absorption effect of the tire 10 and giving the tire 10 better cushioning performance. In addition, the blind groove structure 2 can also reduce the vibration problem of the tire 10 caused by uneven ground or climbing obstacles, and improve the adhesion of the tire 10 to obstacles, making the movement of the cleaning equipment 1000 with the tire 10 more stable.

[0090] In some embodiments, the orthographic projection of the blind groove structure 2 in the axial direction of the tire 10 is at least partially located within the orthographic projection of the protrusion 1 in the axial direction of the tire 10.

[0091] Please see Figure 4 and Figure 5 The orthographic projection of the blind groove structure 2 in the axial direction of the tire 10 is located within the orthographic projection of the protrusion 1 in the axial direction of the tire 10, and part of it is located on the side of the orthographic projection of the protrusion 1 in the axial direction of the tire 10 closer to the wheel axle axis. This structural design can increase the size and distribution range of the blind groove structure 2 to a certain extent, so as to further improve the cushioning and shock absorption performance of the tire 10.

[0092] In this embodiment, any blind groove structure 2 includes at least two hollow grooves 21 arranged along the circumferential direction of the tire 10. (See also...) Figure 4 , Figure 4 and Figure 5 The blind groove structure 2 includes two symmetrically arranged hollow grooves 21. One end of any hollow groove 21 is connected to the axial sidewall of the tire 10, and the other end is located inside the tire 10 and remains closed. In this embodiment, the hollow groove 21 is a groove-shaped structure that opens from one side surface of the tire 10 in the axial direction and extends into the tire 10 in a direction parallel to the axial direction of the tire 10 without being open.

[0093] The two symmetrically arranged hollow grooves 21 not only make the compression direction of the protrusion 1 more controllable, so as to avoid the situation that the tire 10 is not stable enough in supporting the cleaning equipment 1000 due to random compression direction, but also reduce the possibility of tangential deformation of the tire 10 under the action of friction.

[0094] To further improve the stability of the tire 10 when it is compressed, in some embodiments, the slot 21 is parallel to the axial direction of the tire 10.

[0095] In some embodiments, along the circumference of the tire 10, any hollow groove 21 includes a first strip groove 211 and a second strip groove 212 arranged sequentially, the first strip groove 211 and the second strip groove 212 intersecting to form an intersection angle 213.

[0096] Specifically, the first stripe 211 and the second stripe 212 can intersect perpendicularly or at a certain angle. Please refer to [link / reference]. Figure 5 At this time, the first strip groove 211 and the second strip groove 212 intersect perpendicularly and form an L-shaped structure. When the protrusion 1 is squeezed by an external force, the protrusion 1 will preferentially be compressed along the extension direction of the first strip groove 211 and the second strip groove 212, and exhibit a deformation trend similar to a "+" direction, thereby guiding the protrusion 1 to be compressed in the expected direction.

[0097] In other embodiments, the hollow groove 21 formed by the intersection of the first strip groove 211 and the second strip groove 212 can also be configured as a V-shaped structure.

[0098] Please see Figure 5 The first strip groove 211 extends circumferentially along the tire 10, and the second strip groove 212 extends radially along the tire 10. The intersection angle 213 formed by the first strip groove 211 and the second strip groove 212 is located between them and points between the two hollow grooves 21 that constitute the corresponding blind groove structure 2. At this time, the first strip groove 211 is located on the side of the second strip groove 212 closer to the axis of the tire 10.

[0099] This design allows the slot 21 to form a shape that is larger at one end and smaller at the other in the radial direction of the tire 10. This shape can also provide some guidance when the protrusion 1 is compressed, that is, guide the protrusion 1 to be compressed in the radial direction of the tire 10, so as to further ensure the reliability and stability of the tire 10 in motion.

[0100] It should be noted that the dimensions of the first groove 211 and the second groove 212 are the same or substantially the same along the axial direction of the tire 10.

[0101] Of course, in other similar embodiments, the structure of the cutout groove 21 can also be adjusted so that the intersection angle 213 points to the side of the cutout groove 21 with the intersection angle 213 away from the other cutout groove 21 that it cooperates with.

[0102] In addition to the above-described structure, the tire 10 provided in this embodiment also includes a limiting slot 3. Please refer to [link / reference]. Figure 1 and Figure 4 The limiting slot 3 is formed on the circumferential inner sidewall of the tire 10. The wheel hub 20 that mates with the tire 10 can be fixedly connected to the tire 10 through the limiting slot 3.

[0103] It is understood that the tire 10 provided in this application embodiment is used in a cleaning device 1000, including a plurality of protrusions 1 arranged at intervals on the outer peripheral sidewall, and a blind groove structure 2 located in the axial direction. The protrusions 1 help to connect with obstacles encountered during walking to improve the obstacle-crossing ability of the tire 10. The blind groove structure 2 helps to reduce the stiffness of the tire 10, thereby improving the cushioning performance and grip performance of the tire 10. The symmetrically arranged hollow grooves 21 constituting the blind groove can better guide the cushioning direction of the tire 10 when compressed. Compared with related structures, the tire 10 provided in this application embodiment has better obstacle-crossing performance and grip, which can effectively improve the problem of the tire 10's poor walking.

[0104] Based on the same concept, in a second aspect, embodiments of this application also provide a wheel 100 for at least cleaning equipment 1000. This wheel includes at least the tire 10 described in any of the preceding claims, and also includes a hub 20, with the tire 10 mounted on the outside of the hub 20.

[0105] Figure 6 This is a schematic diagram of the structure of the walking wheel 100 provided in the embodiment of this application. Figure 7 This is an exploded view of the walking wheel 100 provided in the embodiments of this application. Figure 8 This is a front view of the walking wheel 100 provided in an embodiment of this application. Figure 9 for Figure 8 A schematic diagram of the AA-direction cross-section structure. Figure 10 for Figure 8 A schematic diagram of the BB-direction cross-sectional structure.

[0106] Please see Figure 6 The traveling wheel 100 includes a hub 20 and a tire 10, with the tire 10 mounted on the outside of the hub 20. The specific structure of the tire 10 can be referred to in the above embodiments. Since this traveling wheel 100 adopts all the technical solutions of the above embodiments, it at least possesses the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated further here.

[0107] Please refer to Figure 7 A limiting slot 3 is provided on the inner circumferential sidewall of the tire 10, and the tire 10 can be connected to the wheel hub 20 through the limiting slot 3.

[0108] Specifically, the wheel hub 20 includes a first mounting plate 210 and a second mounting plate 220 connected together. The first mounting plate 210 and the second mounting plate 220 are fixedly connected, and one of them is inserted into the tire 10 through a limiting pin, thereby realizing a firm connection between the tire 10, the first mounting plate 210 and the second mounting plate 220.

[0109] Please see Figure 7 and Figure 8 The first mounting plate 210 is provided with a limiting plug 2101 that engages with the limiting slot 3. The second mounting plate 220 has a positioning block 2201 protruding from the side facing the first mounting plate 210. The positioning block 2201 has a first positioning hole 2202, and the first mounting plate 210 has a corresponding second positioning hole 2102 that engages with the first positioning hole 2202. After the first mounting plate 210 is connected to the tire 10 via the limiting plug 2101, the second mounting plate 220 can engage with the first mounting plate 210 via the positioning block 2201 with the first positioning hole 2202, and the first mounting plate 210 and the second mounting plate 220 are fixedly connected by fasteners 230 passing through the first positioning hole 2202 and the second positioning hole 2102.

[0110] by Figure 6 and Figure 7 Taking the orientation shown as an example, the first mounting plate 210 and the second mounting plate 220 are located on both sides of the tire 10 along the axial direction. The first positioning hole 2202 can be a blind hole with internal threads, the second positioning hole 2102 can be a through hole with internal threads, and the fastener 230 is a fastening bolt with external threads.

[0111] It should be noted that in this embodiment, six limiting slots 3 are provided on the tire 10 and are evenly spaced along the circumference of the tire 10. A gap is formed between any two adjacent limiting slots 3 to accommodate the positioning block 2201 on the second mounting plate 220. The positioning block 2201 can contact the first mounting plate 210 through the gap, and the first mounting hole and the second mounting hole are positioned relative to each other. At this time, the limiting insert 2101 of the first mounting plate 210 can pass through the limiting slot 3 and point towards the second mounting plate 220.

[0112] Of course, the number of the aforementioned limit slots 3 can be adjusted according to design needs. For example, the number of limit slots 3 can be adjusted to four, five, seven, etc. Correspondingly, the number of corresponding limit plugs 2101 also needs to be adjusted to ensure that the number of limit slots 3 and limit plugs 2101 are the same and correspond one-to-one.

[0113] To further enhance the assembly efficiency of the first mounting plate 210 and the second mounting plate 220, a portion of the second mounting plate 220 opposite to the limiting plug 2101 is recessed to form a first limiting groove that mates with the limiting plug 2101. When the first mounting plate 210 and the second mounting plate 220 are assembled in place, the limiting plug 2101 passes through the limiting slot 3 and mates with the first limiting groove of the second mounting plate 220; and / or, a portion of the first mounting plate 210 opposite to the positioning block 2201 is recessed to form a second limiting groove that mates with the positioning block 2201. When the first mounting plate 210 and the second mounting plate 220 are assembled in place, the positioning block 2201 can be precisely embedded in the second limiting groove. At this time, the first mounting hole and the second mounting hole are positioned opposite each other. Please refer to [link to relevant documentation]. Figure 8 , Figure 9 and Figure 10 .

[0114] The above structure allows for a detachable and fixed connection between the wheel hub 20 and the tire 10, enabling easy installation and removal of the wheel hub 20 and the tire 10 without affecting the performance of the tire 10. When the wheel hub 20 rotates under external force, the tire 10 can also rotate synchronously.

[0115] Specifically, the wheel hub 20 can be made of plastic material.

[0116] It is understood that the walking wheel 100 provided in the embodiments of this application includes the above-mentioned tire 10, and therefore the walking wheel 100 also includes the beneficial effects of any one or more of the above-mentioned tires 10, which will not be repeated here.

[0117] Based on the same concept, in a third aspect, embodiments of this application also provide a cleaning device 1000, including a cleaning host 200 and a walking wheel 100 as described in any of the above claims. The walking wheel 100 is used to connect to the drive motor of the cleaning device 1000 so as to rotate under the drive of the drive motor.

[0118] Figure 11 This is a schematic diagram of the structure of the cleaning equipment 1000 provided in the embodiments of this application.

[0119] The cleaning device 1000 provided in this application embodiment can be any one of a sweeping robot, a sweeping-mopping robot, and a mopping robot. Please refer to... Figure 11 The following section uses the 1000 cleaning equipment as an example to explain its structure in detail.

[0120] Please see Figure 11 The cleaning device 1000 includes a cleaning main unit 200, and wheels 100 with tires 10 located below the cleaning main unit 200 on the side facing the cleaning surface, and connected to a drive motor mounted on the cleaning main unit 200. Driven by the drive motor, the wheels 100 rotate and drive the cleaning main unit 200 to move along the cleaning surface. It should be noted that... Figure 11 The shape of the walking wheel 100 is for illustration only and does not limit the actual structure of the walking wheel 100.

[0121] In this embodiment, the walking wheel 100 with the aforementioned tire 10 is applied to the cleaning host 200 of the cleaning equipment 1000. Taking a load of 1500g on the tire 10 as an example, when there is no water on the ground, the sliding friction between the tire 10 with the aforementioned first groove 1011 and second groove 1012 and the ground can reach 20N; when there is water on the ground, the sliding friction between the tire 10 with the aforementioned first groove 1011 and second groove 1012 and the ground can reach 14N.

[0122] In some embodiments, at least a portion of the drive motor is located within the cleaning unit 200, and the walking wheels 100 are rotatably disposed on the bottom of the cleaning unit 200 facing the cleaning surface via the drive motor, so as to contact the cleaning surface and form the cleaning unit 200.

[0123] Please see Figure 11 The number of wheels 100 is at least two and they are arranged at intervals. Specifically, along the traveling direction of the cleaning unit 200, the wheels 100 are arranged at intervals on the left and right sides of the bottom of the cleaning unit 200, that is, along the traveling direction perpendicular to the traveling direction of the cleaning unit 200, the arrangement direction of the multiple wheels 100 is perpendicular to the traveling direction of the cleaning unit 200.

[0124] Please see Figure 11The bottom of the cleaning equipment 1000 is also provided with driven wheels 300, which are located on the side of the cleaning host 200 facing the cleaning surface and are arranged at intervals from the walking wheels 100.

[0125] Along the direction of travel of the cleaning equipment 1000, the driven wheels 300 and the traveling wheels 100 are arranged at intervals.

[0126] Specifically, the driven wheel 300 is a caster wheel or other wheel-shaped structure with a similar structure. The driven wheel 300 can rotate with the rotation of the traveling wheel 100 to guide the movement direction of the cleaning unit 200 in coordination with the traveling wheel 100.

[0127] In some embodiments, along the traveling direction of the traveling wheel 100, the driven wheel 300 is arranged at a distance from the traveling wheel 100 and is located in front of or behind the traveling wheel 100 in the traveling direction.

[0128] It is understood that the cleaning device 1000 provided in this application embodiment has better walking performance and a better user experience compared with other cleaning devices 1000 because it has walking wheels 100 with better walking stability.

[0129] Based on the same concept, in a fourth aspect, embodiments of this application also provide a cleaning system, including a cleaning base station and a cleaning device 1000 as described in any of the above claims, wherein the cleaning base station and the cleaning device 1000 are used in conjunction.

[0130] Figure 12 This is a schematic diagram of the overall structure of the cleaning system provided in an embodiment of this application. Please refer to... Figure 12 The cleaning system includes cleaning equipment 1000 and a cleaning base station that work together, with the cleaning base station having at least a charging function.

[0131] It is understood that cleaning equipment 1000 can be a device that automatically performs cleaning operations on a certain area to be cleaned; please refer to [link / reference]. Figure 12 When the cleaning equipment 1000 starts working, it can depart from the cleaning base station and perform the corresponding cleaning task. When the cleaning equipment 1000 completes the cleaning task or other situations require the cleaning task to be terminated, it can return to the cleaning base station to perform at least one or more of the following tasks: charging, water replenishment, cleaning, dust collection, etc.

[0132] The cleaning system provided in this application includes the cleaning equipment 1000 described above. Therefore, the beneficial effects of the cleaning system including any one or more of the cleaning equipment 1000 described above will not be repeated here.

[0133] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0134] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tire, characterized in that, At least for use in cleaning equipment, the tire has a plurality of protrusions on its outer peripheral sidewall, the plurality of protrusions being spaced apart circumferentially along the tire; at least one side of the tire's axial direction has a portion of a blind groove structure recessed therein, the number of blind groove structures being the same as the number of protrusions and arranged in a one-to-one correspondence; along the tire's axial direction, the tire includes a first annular portion and a second annular portion arranged sequentially and connected to each other, the side of the first annular portion being connected to the side of the second annular portion in the tire's axial direction, the plurality of protrusions including a plurality of first protrusions disposed on the outer sidewall of the first annular portion and a plurality of second protrusions disposed on the outer sidewall of the second annular portion, the orthogonal projection portions of adjacent first protrusions and second protrusions in the tire's axial direction being staggered; Each of the blind groove structures includes at least two hollow grooves symmetrically arranged along the circumferential direction of the tire.

2. The tire according to claim 1, characterized in that, Each of the hollowed-out grooves includes a first strip groove and a second strip groove arranged sequentially along the circumferential direction of the tire, wherein the first strip groove and the second strip groove intersect and form an intersection angle.

3. The tire according to claim 2, characterized in that, Along the circumference of the tire, the intersection angle points between the two hollowed-out grooves that constitute the blind groove structure; And / or, the first strip extends along the circumference of the tire; And / or, the second strip is provided to extend radially along the tire.

4. The tire according to claim 1, characterized in that, The orthographic projection of the blind groove structure in the axial direction of the tire is at least partially located within the orthographic projection of the protrusion in the axial direction of the tire.

5. The tire according to claim 1, characterized in that, Each of the protrusions has a driving surface and a side surface, the driving surface being for contacting the working surface, and the side surface being connected to the end of the driving surface in the forward direction; wherein, in a plane perpendicular to the tire axial direction, the side surface points towards the middle of the tire.

6. The tire according to claim 5, characterized in that, The plane containing the side extends radially along the tire; And / or, the number of the sides is two and they are arranged opposite each other.

7. The tire according to claim 1, characterized in that, The orthographic projection of the first protrusion on the tire axis coincides with the orthographic projection of the two adjacent second protrusions on the tire axis.

8. The tire according to claim 7, characterized in that, Along the circumference of the tire, the dimension of the overlapping portion is 0.5~1.5mm.

9. The tire according to claim 1, characterized in that, Each of the protrusions has a first groove and a second groove arranged in an alternating pattern on the side facing away from the tire axis, wherein the first groove extends along the axial direction of the tire and the second groove extends along the circumferential direction of the tire.

10. The tire according to claim 9, characterized in that, Both the first groove and the second groove include at least one of the wavy groove and the strip groove, and the number of at least one of the first groove and the second groove on any one of the protrusions is at least two.

11. A type of wheel, characterized in that, For use with at least cleaning equipment, the wheels include: Wheel hub; The tire is the tire according to any one of claims 1-10, said tire being mounted outside the rim.

12. A cleaning device, characterized in that, It includes a cleaning unit and the walking wheels as described in claim 11, the walking wheels being connected to a drive motor of the cleaning equipment to rotate under the drive of the drive motor.

13. A cleaning system, characterized in that, It includes a cleaning base station and a cleaning device, wherein the cleaning device is the cleaning device as described in claim 12, and the cleaning base station and the cleaning device are used together.

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