Tire and Cleaning Robots

Abstract

This application discloses a tire and a cleaning robot. The tire includes at least two treads, each tread comprising teeth and grooves, with a groove formed between adjacent teeth. Each tooth has a tooth contact surface. On a projection plane perpendicular to the tire's axial direction, the projections of the tooth contact surfaces of at least two treads are discontinuous along the tire's circumference. This design, where the projections of the tooth contact surfaces of at least two treads are discontinuous along the tire's circumference on a projection plane perpendicular to the tire's axial direction, allows for the formation of gaps between adjacent treads at the discontinuities. These gaps provide the frictional resistance needed for climbing, facilitating the crossing of obstacles and preventing tire slippage. Specifically, when crossing obstacles, these gaps can accommodate at least part of the obstacle, allowing the teeth to grip and climb over it, resulting in smoother movement. Furthermore, the discontinuous tooth contact surfaces allow each tooth contact surface to deform independently, providing better cushioning and shock absorption.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to a tire and a cleaning robot. Background Technology

[0002] With the continuous development of technology, cleaning robots are widely used. For example, sweeping robots are used in people's lives. Sweeping robots can automatically sweep, vacuum and mop the floor.

[0003] To prevent cleaning robots from slipping during movement, their tires are typically equipped with teeth and grooves between the teeth to increase their grip. However, in some technologies, the tooth structure on the tires is poorly designed, resulting in poor climbing ability for the cleaning robots. Utility Model Content

[0004] This application provides a tire and a cleaning robot to improve the problem in related technologies where the unreasonable arrangement of the tooth structure on the tire leads to poor climbing ability of the cleaning robot.

[0005] This application provides a tire, including: for use in a cleaning robot, the tire comprising: At least two treads are arranged side by side along the axial direction of the tire, and the treads include teeth and grooves; The teeth protrude from the tire tread and are spaced apart along the circumference of the tire, with a groove formed between adjacent teeth; The tire teeth have a tooth contact surface, and on a projection plane perpendicular to the tire's axial direction, the projections of the tooth contact surfaces of at least two treads are discontinuous along the tire's circumference.

[0006] In this embodiment of the tire, the contact patch of the tooth is the portion of the tooth that contacts the ground. Designed on a projection plane perpendicular to the tire's axial direction, the projections of the contact patches of at least two treads are discontinuous along the tire's circumference. Compared to a continuous projection, this allows gaps to form between adjacent treads at the discontinuities. These gaps provide the frictional resistance needed for climbing, facilitating the crossing of obstacles and preventing tire slippage. Specifically, when crossing obstacles, these gaps can accommodate at least part of the obstacle, allowing the tooth to grip and climb over it, making travel smoother. Furthermore, the discontinuous contact patch allows each tooth to deform independently, resulting in better cushioning and shock absorption.

[0007] In some of these embodiments, the projections of at least two tread teeth contact surfaces do not overlap on a projection plane perpendicular to the tire's axial direction.

[0008] Based on the above embodiments, and considering that the projections of the contact surfaces of at least two tread teeth on a projection plane perpendicular to the tire's axial direction are discontinuous along the tire's circumference, the contact surfaces of the teeth on adjacent treads will be staggered. In this way, a gap can be formed between each contact surface of a tooth and the adjacent contact surface of another tooth on the same tread. This ensures that when the tire rotates around its central axis, regardless of which tooth contacts the ground, the aforementioned gap exists on both sides of that tooth, improving the tire's climbing ability and preventing slippage.

[0009] In some embodiments, the teeth are evenly distributed on the tire tread along the circumference of the tire.

[0010] Based on the above embodiments, on the one hand, when the tire rotates around its central axis, no matter which part is close to the ground, there will be a corresponding tooth of the wheel contacting the ground, thus improving grip; on the other hand, it is beneficial to make the gap between the adjacent teeth of two adjacent tire treads roughly the same, so that the grip and climbing ability of each part when in contact with the ground is roughly the same.

[0011] In some embodiments, at least two treads include a left tread and a right tread, which are arranged side by side along the axial direction of the tire, with the teeth on one tread adjacent to the grooves on the other tread.

[0012] Based on the above embodiments, when the tire rotates around its central axis, regardless of which part is close to the ground, a tooth on the tire tread will contact the ground, thus improving grip.

[0013] In some embodiments, the tooth further includes a tooth shoulder disposed on both sides adjacent to the tooth groove, the tooth groove having a groove bottom surface, and in the radial direction of the tire, the distance between the tooth shoulder and the groove bottom surface is less than the distance between the tooth contact surface and the groove bottom surface.

[0014] Based on the above embodiments, the tooth shoulder can prevent the tooth grooves of two adjacent treads from being misaligned, thus preventing the formation of a narrow gap at the junction that could easily trap foreign objects.

[0015] In some embodiments, along the radial direction of the tire, the distance between the tooth shoulder and the bottom of the tooth groove is less than or equal to 80% of the distance between the tooth contact surface and the bottom of the tooth groove.

[0016] Based on the above embodiments, the protrusion height of the wheel tooth contact surface relative to the tooth shoulder can be appropriate, and the depth of the gap formed between the contact surfaces of two adjacent wheel teeth on two adjacent treads can be appropriate, making it easy to grab road obstacles without causing the tire to be too large.

[0017] In some of these embodiments, on a projection plane perpendicular to the tire's axial direction, the projections of the shoulders of adjacent treads in at least two treads at least partially overlap.

[0018] Based on the above embodiments, the close arrangement of the teeth between adjacent treads ensures that when the tire rotates around its central axis, regardless of which part is close to the ground, a tooth on one tread will contact the ground, thus improving grip.

[0019] In some embodiments, the shoulders of adjacent treads are connected to each other.

[0020] Based on the above embodiments, the shoulders of adjacent teeth on two adjacent treads are connected to each other, while the contact surfaces of the teeth are separated from each other. The interconnected shoulders increase the strength and rigidity of the teeth, making them less prone to deformation and slippage during climbing; the separated contact surfaces create gaps between adjacent teeth, facilitating climbing over obstacles.

[0021] In some embodiments, the tooth is provided with a cavity, the tooth extends axially along the tire and has a first end and a second end distributed axially, the cavity extends axially along the tire and passes through the first end and the second end of the tooth.

[0022] Based on the above embodiments, the cavity enables the gear teeth to provide both support and easy deformation to provide shock absorption.

[0023] In some embodiments, the cavity has a trapezoidal cross-section perpendicular to the tire's axial direction. In the tire's radial direction, the distance between the upper base of the trapezoid and the tooth contact surface is greater than the distance between the tooth shoulder and the tooth contact surface, and the distance between the lower base of the trapezoid and the tooth contact surface is greater than the distance between the tooth groove bottom and the tooth contact surface.

[0024] Based on the above embodiments, the cavity is positioned away from the tooth contact surface. Since the portion of the tooth adjacent to the tooth contact surface has a small circumferential dimension in the tire, the cavity is positioned away from the tooth contact surface to provide sufficient space on the gear to form the cavity and to ensure the structural strength at the tooth contact surface.

[0025] Secondly, embodiments of this application also provide a cleaning robot, including a robot body and the aforementioned tires, wherein the tires are rotatably connected to the robot body.

[0026] The cleaning robot of this application embodiment includes the tires described above and has at least all the beneficial effects brought about by the technical solutions of the above embodiments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, 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.

[0028] Figure 1 This is a three-dimensional structural schematic diagram of a tire provided in some embodiments of this application; Figure 2 yes Figure 1 Enlarged schematic diagram of the structure at point A; Figure 3 yes Figure 1 The diagram shows the main view of the tire structure. Figure 4 yes Figure 3 Enlarged schematic diagram of the structure at point B.

[0029] Explanation of reference numerals in the attached figures: 1. Tire; 1a. First side; 1b. Second side; 10. Tire body; 10a. Left tread; 10b. Right tread; 11. Gear tooth; 11m. Gear tooth; 11n. Gear tooth; 11p. Gear tooth; 11q. Gear tooth; 11a. First end; 11b. Second end; 111. Gear tooth contact surface; 112. Tooth shoulder; 113. Cavity; 114. First outer sidewall; 115. Second outer sidewall; 12. Tooth groove; 121. Bottom surface of tooth groove; X, axial direction; S, circumferential direction. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0031] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] With the continuous development of technology, cleaning robots are widely used. For example, sweeping robots are used in people's lives. Sweeping robots can automatically sweep, vacuum and mop the floor.

[0033] To prevent cleaning robots from slipping during movement, their tires are typically equipped with teeth and grooves between the teeth to increase their grip. However, in some technologies, the tooth structure on the tires is poorly designed, resulting in poor climbing ability for the cleaning robots.

[0034] For example, in related technologies, the teeth on the left and right treads are staggered and projected continuously. When in contact with the ground, the teeth on the left and right treads remain continuous, resulting in poor grip.

[0035] Based on this, please refer to Figures 1 to 4 This application provides a tire 1, which includes at least two treads 10. The at least two treads 10 are arranged side-by-side along the axial direction X of the tire 1, and each tread 10 includes teeth 11 and grooves 12. The teeth 11 protrude from the treads 10 and are spaced apart along the circumferential direction S of the tire 1, with a groove 12 formed between adjacent teeth 11. Each tooth 11 has a tooth contact surface 111, and on a projection plane perpendicular to the axial direction X of the tire 1, the projections of the tooth contact surfaces 111 of the at least two treads 10 are discontinuous along the circumferential direction S of the tire 1.

[0036] The tooth contact surface 111 is the part of the tooth 11 that contacts the ground. In the above design, on the projection plane perpendicular to the axial direction X of the tire 1, the projections of the tooth contact surfaces 111 of at least two treads 10 are discontinuous along the circumferential direction S of the tire 1. Compared to continuous projections, this allows adjacent treads 10 to form gaps at the discontinuities. These gaps provide the frictional resistance needed for climbing, facilitating the crossing of obstacles and preventing the tire 1 from slipping. Specifically, when crossing obstacles, these gaps can accommodate at least part of the obstacle, allowing the tooth 11 to grip and climb over it, making travel smoother. Furthermore, the discontinuity of the tooth contact surfaces 111 allows each tooth contact surface 111 to have independent deformation capabilities, resulting in better cushioning and shock absorption.

[0037] The tread 10 is roughly in the shape of a toroidal surface, with multiple teeth 11 distributed around the circumference of the toroidal surface. This ensures that when the tire 1 rotates around its central axis, there will always be a tooth of the tooth 11 in contact with the ground 111, which improves the tire 10's climbing ability and prevents slippage.

[0038] It should be noted that the above-mentioned projection of at least two tread 10 tooth contact surfaces 111 on the projection plane perpendicular to the axial direction X of the tire 1 is discontinuous along the circumferential direction S of the tire 1, including: on the projection plane perpendicular to the axial direction X of the tire 1, the projections of at least two tread 10 tooth contact surfaces 111 at least partially overlap; and on the projection plane perpendicular to the axial direction X of the tire 1, the projections of at least two tread 10 tooth contact surfaces 111 do not overlap.

[0039] In this embodiment, on the projection plane perpendicular to the axial direction X of the tire 1, the projections of the tooth contact surfaces 111 of at least two treads 10 do not overlap. Combined with the fact that the projections of the tooth contact surfaces 111 of at least two treads 10 are discontinuous along the circumferential direction S of the tire 1 on the projection plane perpendicular to the axial direction X of the tire 1, the tooth contact surfaces 111 of adjacent treads will be staggered. Thus, a gap can be formed between each tooth contact surface 111 and the adjacent tooth contact surface 111 of another adjacent tread 10, ensuring that when the tire 1 rotates around its central axis, regardless of which tooth 11 contacts the ground, the aforementioned gap exists on both sides of that tooth 11, improving the tire 10's climbing ability and preventing slippage.

[0040] For example, Figure 2 and Figure 4 In the tire, at least two treads 10 include a left tread 10a and a right tread 10b. The teeth 11 of the left tread 10a include adjacent teeth 11m and teeth 11n. The teeth 11 of the right tread 10b include adjacent teeth 11p and teeth 11q. On the projection plane perpendicular to the axial direction X of the tire 1, the tooth contact surface 111 of tooth 11p is located between the tooth contact surface 111 of tooth 11m and the tooth contact surface 111 of tooth 11n. On the projection plane perpendicular to the axial direction X of the tire 1, the tooth contact surface 111 of tooth 11p and the tooth contact surface 111 of tooth 11m are separated from each other and their projections do not overlap. The tooth contact surface 111 of tooth 11p and the tooth contact surface 111 of tooth 11n are separated from each other and their projections do not overlap.

[0041] The teeth 11 are evenly distributed on the tread 10 along the circumference S of the tire 1. This arrangement serves two purposes: firstly, it ensures that when the tire 1 rotates around its central axis, regardless of which part is close to the ground, a corresponding tooth 11 will have a tooth contacting the ground, thus improving grip; secondly, it helps to ensure that the gap between adjacent tooth contacting the ground 111 of adjacent treads 10 is approximately the same, resulting in approximately consistent grip and climbing ability when each part contacts the ground.

[0042] Along the circumferential direction S of tire 1, each wheel contact surface 111 in each tread 10 is approximately centered between adjacent wheel contact surfaces 111 in an adjacent tread 10. For example, Figure 2 and Figure 4 In the projection plane perpendicular to the axial direction X of tire 1, the tooth contact surface 111 of tooth 11p is approximately centered between the tooth contact surface 111 of tooth 11m and the tooth contact surface 111 of tooth 11n; for example, Figure 2In this configuration, the tooth contact surface 111 of tooth 11n is approximately centered between the tooth contact surface 111 of tooth 11p and the tooth contact surface 111 of tooth 11q. This ensures that the gap between adjacent tooth contact surfaces 111 of adjacent treads 10 is approximately the same, and the grip and climbing ability of each part when in contact with the ground is approximately the same.

[0043] The left tread 10a and the right tread 10b are arranged side by side along the axial direction X of the tire 1, with the tooth 11 on one tread 10 adjacent to the tooth groove 12 on the other tread 10. In this way, when the tire 1 rotates around its central axis, no matter which part is close to the ground, a tooth 11 on one tread 10 will contact the ground with its tooth 111, thereby improving grip.

[0044] All treads 10 are seamless along the axial direction of the tire 1. Thus, in the axial direction X of the tire 1, there are no gaps between the teeth 11 of two adjacent treads 10, preventing the accumulation of particulate matter and reducing the risk of slipping and scratching the floor, while improving climbing ability.

[0045] The spacing between two adjacent teeth 11 in each tread 10 is large enough to facilitate water drainage and prevent the accumulation of fine particles. The spacing between two adjacent teeth 11 in each tread 10 can be designed according to requirements and is not limited thereto.

[0046] The tooth 11 also includes a shoulder 112, which is disposed on both sides adjacent to the tooth groove 12. The tooth groove 12 has a bottom surface 121. In the radial direction of the tire 1, the distance between the shoulder 112 and the bottom surface 121 is less than the distance between the tooth contact surface 111 and the bottom surface 121. The shoulder 112 can prevent the tooth grooves 12 of two adjacent treads 10 from being misaligned and forming a narrow gap at the junction, which could easily trap foreign objects.

[0047] On the projection plane perpendicular to the axial direction X of the tire 1, the projections of the tooth shoulders 112 of at least two adjacent treads 10 at least partially overlap. Thus, the arrangement of adjacent teeth 11 of adjacent treads 10 is close, ensuring that when the tire 1 rotates around its central axis, regardless of which part is near the ground, a tooth 11 on one tread 10 will always have a tooth contacting the ground, thus improving grip.

[0048] The shoulders 112 of two adjacent treads 10 are connected to each other. That is, the shoulders 112 of two adjacent teeth 11 of two adjacent treads 10 are connected to each other, while the contact surfaces 111 of the teeth are separated from each other. The connection of the shoulders 112 increases the strength and rigidity of the teeth 11, making it less prone to deformation and slippage when climbing; the separation of the contact surfaces 111 of the teeth creates a gap between the contact surfaces 111 of two adjacent teeth 11, which is beneficial for climbing over obstacles.

[0049] The smooth connection of the tooth shoulders 112 of two adjacent treads 10 makes the bottom wall of the gap between the tooth contact surface 111 of one wheel tooth 11 and the adjacent tooth contact surface 111 of another adjacent wheel tooth 11 flat, making it less likely to trap garbage, etc.

[0050] Along the radial direction of tire 1, the distance H1 between the tooth shoulder 112 and the bottom surface 121 of the tooth groove is less than or equal to the distance H2 between 80% of the tooth contact surface 111 and the bottom surface 121 of the tooth groove. In this way, the protrusion height H3 of the tooth contact surface 111 relative to the tooth shoulder 112 can be appropriate, and the depth of the gap formed between the adjacent tooth contact surfaces 111 of two adjacent treads 10 is appropriate, which makes it easy to grab obstacles and does not make the tire 1 too large.

[0051] Along the radial direction of tire 1, the protrusion height of the tooth contact surface 111 relative to the tooth shoulder 112 is H3, and tire 1 satisfies: 0.7mm ≤ H3 ≤ 1.9mm. By reasonably limiting H3, the depth of the gap formed between the contact surfaces 111 of adjacent teeth of two adjacent treads 10 can be made appropriate, which facilitates the gripping of obstacles and does not cause the tire 1 to be too large. Among them, H3 can be 0.7mm, 1.0mm, 1.3mm, 1.6mm, 1.9mm, etc., and is not limited thereto.

[0052] Along the circumferential direction S of the tire 1, the tooth contact surface 111 is set approximately in the center between the two tooth shoulders 112, so that the support capacity of each part of the tooth contact surface 111 is approximately equal.

[0053] The tooth 11 has two second outer sidewalls 115 facing each other along the circumferential direction S of the tire 1. The second outer sidewalls 115 connect the tooth contact surface 111 and the tooth shoulder 112. The tooth contact surfaces 111 of adjacent teeth 11 of adjacent treads 10 are spaced apart from each other on the second outer sidewalls 115, forming the aforementioned gap. For example, Figure 4 In the middle, the tooth contact surface 111 of tooth 11p is separated from the tooth contact surface 111 of tooth 11m on the second outer side wall 115 side on the left, and the tooth contact surface 111 of tooth 11p is separated from the tooth contact surface 111 of tooth 11n on the second outer side wall 115 side on the right.

[0054] Along the radial direction of the tire 1 and from the center of the tire 1 outwards, the distance between the two second outer sidewalls 115 of the tooth 11 gradually decreases. Thus, the side of the tooth 11 closer to the shoulder 112 is larger, increasing the strength and rigidity of the tooth 11 and making it less prone to deformation and slippage during climbing. The side of the tooth 11 farther from the shoulder 112 is smaller, allowing the gap formed between the contact surfaces 111 of adjacent teeth on adjacent treads 10 to be larger on the open side, facilitating gripping of obstacles and making walking smoother.

[0055] In some embodiments, along the circumferential direction S of the tire 1, the minimum distance between two adjacent teeth 11 of two adjacent treads 10 is W1, and the tire 1 satisfies: 0 < W1 ≤ 0.5 mm. By reasonably limiting W1, a gap can be maintained between two adjacent teeth 11 of two adjacent treads 10, facilitating gripping of obstacles, while also ensuring a tighter arrangement of adjacent teeth 11 of two adjacent treads 10, thus improving slippage. The aforementioned W1 can correspond to... Figure 4 The distance between the second outer sidewall 115 of the middle gear tooth 11p and the second outer sidewall 115 of the gear tooth 11n at one end near the central axis of the tire 1. W1 can be 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, etc., and is not limited thereto.

[0056] In some embodiments, along the circumferential direction S of the tire 1, the maximum distance between two adjacent teeth 11 of two adjacent treads 10 is W2, and the tire 1 satisfies: 2mm ≤ W2 ≤ 3.1mm. By reasonably limiting W2, the gap opening side between two adjacent teeth 11 of two adjacent treads 10 can be sufficiently large to facilitate gripping of obstacles, while the arrangement of two adjacent teeth 11 of two adjacent treads 10 can be made more compact, improving slippage. The above W2 can correspond to... Figure 4 The distance between the second outer sidewall 115 of the middle gear tooth 11p and the second outer sidewall 115 of the gear tooth 11n at the end away from the central axis of the tire 1. W2 can be 2mm, 2.3mm, 2.6mm, 2.9mm, 3.1mm, etc., and is not limited thereto.

[0057] If the tooth 11 extends approximately along the axial direction X of the tire 1, the two second outer sidewalls 115 of the tooth 11 are inclined relative to the first reference surface, and the distance between the two second outer sidewalls 115 of the tooth 11 and the first reference surface gradually decreases along the radial direction of the tire 1 and from the center of the tire 1 to the outer edge. The central axis of the tire 1 is located within the first reference surface, and the two second outer sidewalls 115 of the tooth 11 are distributed on both sides of the first reference surface. That is, the second outer sidewalls 115 of the tooth 11 are inclined surfaces, with a regular structure, which is beneficial for processing and manufacturing.

[0058] Furthermore, the two second outer sidewalls 115 are symmetrical about the first reference plane, so that the tooth contact surface 111 will be approximately symmetrical about the first reference plane, making the tire 1's climbing ability comparable when moving forward and backward, and making forward and backward movement smoother.

[0059] The tooth shoulder 112 is generally planar and symmetrical about the first reference plane to simplify the manufacturing process and reduce production costs.

[0060] The tooth 11 has two first outer sidewalls 114 opposite each other in the circumferential direction S of the tire 1, and the first outer sidewalls 114 are connected between the tooth shoulder 112 and the bottom surface 121 of the tooth groove.

[0061] Along the radial direction of the tire 1 and from the center of the tire 1 to the outer edge, the distance between the two first outer sidewalls 114 remains approximately constant, increasing the strength and rigidity of the tooth 11.

[0062] If the tooth 11 extends approximately along the axial direction X of the tire 1, the two first outer sidewalls 114 can be located on both sides of the first reference surface and parallel to the first reference surface.

[0063] The tooth 11 is provided with a cavity 113 extending along the axial direction X of the tire 1, so that the tooth 11 can provide support force and is easy to deform to provide shock absorption force.

[0064] In some embodiments, the tooth 11 extends along the axial direction X of the tire 1 and has a first end 11a and a second end 11b distributed along the axial direction. The cavity 113 extends along the axial direction X of the tire 1 and passes through the first end 11a and the second end 11b of the tooth 11. That is, the cavity 113 passes through the corresponding tooth 11 along the axial direction X of the tire 1.

[0065] In other embodiments, the tire 1 has a first side 1a and a second side 1b opposite each other along the axial direction X. At least two treads 10 include a left tread 10a adjacent to the first side 1a and a right tread 10b adjacent to the second side 1b. The teeth 11 in the left tread 10a are provided with cavities 113, and the teeth 11 in the right tread 10b are provided with cavities 113. Providing cavities 113 in the teeth 11 of the side treads 10 facilitates processing and shaping.

[0066] In the left tread 10a, the cavity 113 of the tooth 11 extends along the extension direction of the tooth 11 and penetrates the tooth 11 on the first side 1a, but does not penetrate the tooth 11 at the end of the tooth 11 away from the first side 1a. In the right tread 10b, the cavity 113 of the tooth 11 extends along the extension direction of the tooth 11 and penetrates the tooth 11 on the second side 1b, but does not penetrate the tooth 11 at the end of the tooth 11 away from the second side 1b. That is, the cavity 113 on the tooth 11 only penetrates the side of the tire 1, and does not penetrate the middle part, which can ensure the strength and rigidity of the middle part and provide sufficient support.

[0067] The cavity 113 has a trapezoidal cross-section along the axial direction X perpendicular to the tire 1. In the radial direction of the tire 1, the distance between the upper base of the trapezoid and the tooth contact surface 111 is greater than the distance between the tooth shoulder 112 and the tooth contact surface 111, and the distance between the lower base of the trapezoid and the tooth contact surface 111 is greater than the distance between the bottom surface 121 of the tooth groove and the tooth contact surface 111. That is, the cavity 113 is located away from the tooth contact surface 111. Since the portion of the tooth 11 adjacent to the tooth contact surface 111 has a small dimension in the circumferential direction S of the tire 1, the cavity 113 is located away from the tooth contact surface 111 to provide sufficient space on the gear 11 to form the cavity 113 and to ensure the structural strength at the tooth contact surface 111.

[0068] This application also provides a traveling wheel, which includes a hub and the aforementioned tire 1, with the tire 1 connected to the hub. The tire 1 is based on the above embodiments. Since the traveling wheel adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0069] This application also provides a cleaning robot, which includes a robot body and the aforementioned tire 1, the tire 1 being rotatably connected to the robot body; or, the cleaning robot includes a robot body and the aforementioned wheels, the wheels being rotatably connected to the robot body. That is, the cleaning robot includes the aforementioned tire 1. Referring to the above embodiments, since the cleaning robot adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here.

[0070] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" means at least two, for example, two, three, four, etc. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0071] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A tire, characterized in that, The tires, used in cleaning robots, include: At least two treads are arranged side by side along the axial direction of the tire, and the treads include teeth and grooves; The teeth protrude from the tire tread and are spaced apart along the circumference of the tire, with a groove formed between two adjacent teeth; The tooth has a tooth contact surface, and on a projection plane perpendicular to the axial direction of the tire, the projections of the tooth contact surfaces of the at least two treads are discontinuous along the circumference of the tire.

2. The tire according to claim 1, characterized in that, On a projection plane perpendicular to the axial direction of the tire, the projections of the contact surfaces of the at least two treads do not overlap.

3. The tire according to claim 2, characterized in that, The teeth are evenly distributed on the tire surface along the circumference of the tire.

4. The tire according to claim 3, characterized in that, The at least two treads include a left tread and a right tread, the left tread and the right tread are arranged side by side along the axial direction of the tire, and the tooth on one tread is arranged adjacent to the tooth groove on the other tread.

5. The tire according to claim 1, characterized in that, The tooth also includes a tooth shoulder, which is disposed on both sides adjacent to the tooth and the tooth groove. The tooth groove has a bottom surface. In the radial direction of the tire, the distance between the tooth shoulder and the bottom surface of the tooth groove is less than the distance between the tooth contact surface and the bottom surface of the tooth groove.

6. The tire according to claim 5, characterized in that, Along the radial direction of the tire, the distance between the tooth shoulder and the bottom surface of the tooth groove is less than or equal to 80% of the distance between the wheel tooth contact surface and the bottom surface of the tooth groove.

7. The tire according to claim 5, characterized in that, On a projection plane perpendicular to the axial direction of the tire, the projections of the shoulders of adjacent treads of the at least two treads at least partially overlap.

8. The tire according to claim 7, characterized in that, The shoulders of two adjacent treads are connected to each other.

9. The tire according to claim 5, characterized in that, The tooth is provided with a cavity, the tooth extends along the axial direction of the tire and has a first end and a second end distributed along the axial direction, the cavity extends along the axial direction of the tire and passes through the first end and the second end of the tooth.

10. The tire according to claim 9, characterized in that, The cavity has a trapezoidal cross-section perpendicular to the tire's axial direction. In the tire's radial direction, the distance between the upper base of the trapezoid and the tooth contact surface is greater than the distance between the tooth shoulder and the tooth contact surface, and the distance between the lower base of the trapezoid and the tooth contact surface is greater than the distance between the bottom surface of the tooth groove and the tooth contact surface.

11. A cleaning robot, characterized in that, It includes a robot body and a tire as described in any one of claims 1 to 10, wherein the tire is rotatably connected to the robot body.

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