Driving wheel assembly and sweeping machine

Abstract

The application relates to a driving wheel assembly and a sweeper, the sweeper comprising a machine body and two driving wheel assemblies respectively mounted on the two sides of the machine body, the driving wheel assembly comprising a fixing plate, a driving member, a leg assembly and a roller assembly. The leg assembly is connected with the driving member, the driving member is arranged on the fixing plate, and the fixing plate is used for being mounted on the machine body of the sweeper. The roller assembly is arranged on the leg assembly, the leg assembly can drive the roller assembly to make lifting movement relative to the fixing plate under the driving of the driving member, and the roller assembly is used for contacting the ground. The driving wheel assembly can actively adjust the height of the roller assembly through the lifting movement of the leg assembly, so that the sweeper provided with the driving wheel assembly can easily cross the threshold, steps and other obstacles, and the problem that the obstacle-crossing height of a traditional wheeled sweeper robot is limited is solved.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a drive wheel assembly and a sweeper. Background Technology

[0002] Traditional robotic vacuum cleaners typically use a wheeled drive system, which is suitable for cleaning tasks on flat surfaces.

[0003] However, these traditional robotic vacuum cleaners have limited obstacle-crossing ability and movement efficiency in confined spaces or complex terrains such as carpets, thresholds, or small steps.

[0004] The information disclosed above in the background art of this application is only used to understand the background of the concept of this application, and may contain information that does not constitute prior art. Utility Model Content

[0005] Therefore, it is necessary to provide a drive wheel assembly and a sweeping machine to address the above problems.

[0006] A drive wheel assembly for mounting to a sweeping machine, the drive wheel assembly comprising:

[0007] A fixing plate, the fixing plate being used to install onto the body of the sweeper;

[0008] A driving component, wherein the driving component is disposed on the fixed plate;

[0009] A leg assembly, the leg assembly being connected to the drive member; and

[0010] A roller assembly is provided on the leg assembly. The leg assembly can drive the roller assembly to move up and down relative to the fixed plate under the drive of the drive member. The roller assembly is used to contact the ground.

[0011] The aforementioned drive wheel assembly can achieve at least the following beneficial effects: The drive wheel assembly, through the lifting and lowering movement of the leg assembly, enables the roller assembly to actively adjust its height, allowing the sweeper equipped with this drive wheel assembly to easily cross obstacles such as thresholds and steps, solving the problem of limited obstacle-crossing height in traditional wheeled sweeping robots; the leg assembly can flexibly adjust its posture according to ground undulations, ensuring the roller assembly always maintains optimal ground contact, effectively handling complex terrains or confined spaces such as carpets, slopes, and uneven surfaces, preventing the sweeper from slipping or tipping over. Stable ground contact and smooth obstacle-crossing ability reduce the number of times the sweeper gets stuck and adjusts its path, ensuring the continuity and coverage of cleaning operations and improving overall work efficiency.

[0012] In some embodiments, the leg assembly includes a lower leg and a thigh. One end of the thigh is fixed to the drive member, and the other end of the thigh is connected to the lower leg. The end of the lower leg away from the thigh is connected to the roller assembly. Driven by the drive member, the thigh can move the roller assembly connected to the lower leg relative to the fixed plate in a vertical motion. By rotating the thigh through the drive member, the lower leg and roller assembly move vertically relative to the fixed plate, achieving vertical displacement adjustment of the drive wheel assembly. This allows the device to adapt to different ground heights or obstacles, improving the mobility and terrain adaptability of the mobile mechanism.

[0013] In some embodiments, the driving component is a motor, and the thigh is fixedly sleeved on the motor's drive shaft. The drive shaft can drive the thigh to rotate relative to the fixed plate, thereby causing the roller assembly connected to the lower leg to move up and down relative to the fixed plate. When the motor is powered on, the drive shaft directly drives the thigh to rotate around its axis, and then the lower leg converts the rotational motion into the vertical lifting motion of the roller assembly. The rotation angle of the thigh can be precisely adjusted by the motor, thereby achieving precise control of the height of the roller assembly, allowing it to flexibly adapt to different terrains and obstacle crossing requirements.

[0014] In some embodiments, the leg assembly further includes a pull rod. One end of the lower leg, away from the roller assembly, is rotatably connected to one end of the pull rod, and the other end of the pull rod is rotatably connected to the fixed plate. The end of the thigh, away from the drive member, is rotatably connected to the middle of the lower leg. Driven by the drive member, the thigh synchronously drives the pull rod and the lower leg to rotate, thereby raising and lowering the roller assembly. When the thigh rotates under the action of the drive member, it pushes the lower leg to swing through its hinge point with the middle of the lower leg. Simultaneously, the pull rod constrains the motion trajectory of the upper end of the lower leg, allowing the roller assembly to smoothly rise and fall along a predetermined path. This linkage mechanism converts the single-degree-of-freedom rotation of the drive member into the raising and lowering motion of the roller assembly, achieving motion decoupling while ensuring structural rigidity and avoiding jamming during the raising and lowering process.

[0015] In some embodiments, the leg assembly further includes a first fastener and a second fastener. One end of the pull rod is rotatably connected to the fixed plate via the first fastener, and the other end of the pull rod is rotatably connected to the end of the lower leg away from the roller assembly via the second fastener. The first and second fasteners can be bolted to ensure stability of the connection during long-term movement, while allowing flexible rotation between the pull rod and the fixed plate, and between the pull rod and the lower leg. This connection method not only ensures the freedom of movement of the mechanism but also effectively distributes the force, improving the reliability and durability of the overall structure.

[0016] In some embodiments, the leg assembly further includes a third fastener, through which the end of the thigh furthest from the drive member is rotatably connected to the middle of the lower leg. The third fastener may be a bolt structure, ensuring that the hinge point between the thigh and lower leg can rotate flexibly while withstanding dynamic loads during movement. This connection method allows the rotational motion of the thigh to be efficiently transmitted to the lower leg, and, in conjunction with the constraint of the pull rod, enables the roller assembly to move stably up and down along a preset trajectory.

[0017] In some embodiments, one end of the lower leg is provided with a mounting portion, through which the lower leg is fixed to the roller assembly. This mounting portion is rigidly connected to the roller assembly via a quick-release structure such as bolts. Specifically, the mounting portion can be designed as a slot or flange structure, matching and positioning with the roller assembly to achieve reliable fixation. This structure ensures connection rigidity while facilitating quick disassembly and maintenance of the roller assembly.

[0018] In some embodiments, the roller assembly includes a hub motor located at the mounting portion and a rotating wheel sleeved on the hub motor. The rotating wheel is rotatable under the drive of the hub motor and is used to contact the ground. The rotating wheel is sleeved on the outer periphery of the hub motor and can actively rotate under the drive of the hub motor, so as to drive the sweeper to actively propel itself when the rotating wheel contacts the ground. The rotating wheel may be made of highly elastic rubber or polyurethane material to enhance grip, wear resistance, and shock absorption performance. The outer peripheral surface of the rotating wheel may also be provided with anti-slip patterns or grooves to further improve grip performance on wet or loose surfaces.

[0019] In some embodiments, the drive wheel assembly further includes a cover plate that covers the side of the thigh facing away from the fixed plate.

[0020] This application also provides a sweeping robot, which includes a body and two drive wheel assemblies as described in any of the above embodiments, respectively mounted on both sides of the body.

[0021] Since the aforementioned sweeping machine includes the drive wheel assembly described in any of the above embodiments, it also has at least the following beneficial effects: the drive wheel assembly of the sweeping machine enables the roller assembly to actively adjust its height through the lifting and lowering movement of the leg assembly, allowing the sweeping machine equipped with the drive wheel assembly to easily cross obstacles such as thresholds and steps, solving the problem of limited obstacle-crossing height of traditional wheeled sweeping robots; the leg assembly can flexibly adjust its posture according to the undulation of the ground, ensuring that the roller assembly always maintains the best grounding state, effectively dealing with complex terrains or narrow spaces such as carpets, slopes, and uneven ground, preventing the sweeping machine from slipping or tipping over. The stable grounding state and smooth obstacle-crossing ability can reduce the number of times the sweeping machine gets stuck and adjusts its path, ensuring the continuity and coverage of the cleaning operation and improving the overall work efficiency. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology 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.

[0023] Figure 1 This is a schematic diagram of a drive wheel assembly provided in one embodiment of the present invention.

[0024] Figure 2 This is another structural schematic diagram of a drive wheel assembly provided in one embodiment of the present invention.

[0025] Figure 3 This is another structural schematic diagram of a drive wheel assembly provided in one embodiment of the present invention.

[0026] Figure 4 This is another structural schematic diagram of a drive wheel assembly provided in one embodiment of the present invention.

[0027] Figure 5 This is another structural schematic diagram of a drive wheel assembly provided in one embodiment of the present invention.

[0028] Figure 6 This is another structural schematic diagram of a drive wheel assembly provided in one embodiment of the present invention.

[0029] Figure label:

[0030] 10. Drive wheel assembly; 100. Fixing plate; 200. Drive component; 300. Leg assembly; 310. Lower leg; 311. Mounting part; 320. Thigh; 330. Pull rod; 341. First fastener; 342. Second fastener; 343. Third fastener; 350. Cover plate; 400. Roller assembly; 410. Hub motor; 420. Rotating wheel. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0032] Please see Figure 1 and Figure 2 In some embodiments, this application provides a drive wheel assembly 10 for mounting to a sweeping machine. The drive wheel assembly 10 includes a fixed plate 100, a drive member 200, a leg assembly 300, and a roller assembly 400. The leg assembly 300 is connected to the drive member 200, which is disposed on the fixed plate 100 for mounting to the body of the sweeping machine. The roller assembly 400 is disposed on the leg assembly 300 and, driven by the drive member 200, can move the roller assembly 400 up and down relative to the fixed plate 100. The roller assembly 400 is used to contact the ground.

[0033] The aforementioned drive wheel assembly 10 can achieve at least the following beneficial effects: the drive wheel assembly 10, through the lifting and lowering movement of the leg assembly 300, enables the roller assembly 400 to actively adjust its height, allowing the sweeper equipped with the drive wheel assembly 10 to easily cross obstacles such as thresholds and steps, solving the problem of limited obstacle-crossing height of traditional wheeled sweeping robots; the leg assembly 300 can flexibly adjust its posture according to the undulations of the ground, ensuring that the roller assembly 400 always maintains the best grounding state, effectively dealing with complex terrains or narrow spaces such as carpets, slopes, and uneven ground, preventing the sweeper from slipping or tipping over. The stable grounding state and smooth obstacle-crossing ability can reduce the number of times the sweeper gets stuck and adjusts its path, ensuring the continuity and coverage of the cleaning operation and improving the overall work efficiency.

[0034] like Figure 1 and Figure 2 As shown, in some embodiments, the leg assembly 300 includes a lower leg 310 and a thigh 320. One end of the thigh 320 is fixed to the drive member 200, and the other end of the thigh 320 is connected to the lower leg 310. The end of the lower leg 310 away from the thigh 320 is connected to the roller assembly 400. Under the drive of the drive member 200, the thigh 320 can drive the roller assembly 400 connected to the lower leg 310 to move up and down relative to the fixed plate 100. By driving the thigh 320 to rotate through the drive member 200, the lower leg 310 and the roller assembly 400 can move up and down relative to the fixed plate 100, realizing the vertical displacement adjustment function of the drive wheel assembly 10. This allows the device to adapt to ground or obstacles of different heights, improving the passability and terrain adaptability of the mobile mechanism.

[0035] like Figure 1 and Figure 2As shown, in some embodiments, the driving component 200 is a motor, and the thigh 320 is fixedly sleeved on the drive shaft of the motor. The drive shaft can drive the thigh 320 to rotate relative to the fixed plate 100, thereby causing the roller assembly 400 connected to the lower leg 310 to move up and down relative to the fixed plate 100. When the motor is powered on, the drive shaft directly drives the thigh 320 to rotate around its axis, and then the rotational motion is converted into the vertical lifting motion of the roller assembly 400 through the lower leg 310. The rotation angle of the thigh 320 can be precisely adjusted by the motor, thereby achieving precise control of the height of the roller assembly 400, enabling it to flexibly adapt to different terrains and obstacle crossing requirements. The motor can adopt a bidirectional rotation design, that is, the motor can achieve the raising and lowering functions of the roller assembly 400 by rotating forward and in reverse, respectively. For example, when the motor rotates forward, the drive shaft drives the thigh 320 to rotate, and through the linkage of the lower leg 310, the roller assembly 400 is raised; when the motor rotates in reverse, the drive shaft drives the thigh 320 to rotate in the opposite direction, and through the linkage of the lower leg 310, the roller assembly 400 is lowered. Secondly, by controlling the rotation direction and number of rotations of the motor, the rotation angle of the thigh 320 can be precisely adjusted, thereby achieving precise control over the lifting height of the roller assembly 400. For example, each rotation of the motor corresponds to a specific angle rotation of the thigh 320 (e.g., 30°), and each certain angle rotation of the thigh 320 (e.g., 1°) corresponds to a specific height rise or fall of the roller assembly 400 (e.g., 0.5mm). This design allows the sweeper to flexibly adjust the roller height according to actual terrain requirements, actively raising to overcome obstacles and smoothly lowering to maintain machine stability. Furthermore, by combining feedback from encoders or Hall sensors, the system can monitor the motor's rotation position in real time, ensuring the accuracy and reliability of height adjustment.

[0036] like Figure 1 and Figure 2As shown, in some embodiments, the leg assembly 300 further includes a pull rod 330. One end of the lower leg 310 away from the roller assembly 400 is rotatably connected to one end of the pull rod 330, and the other end of the pull rod 330 is rotatably connected to the fixed plate 100. The end of the thigh 320 away from the drive member 200 is rotatably connected to the middle of the lower leg 310. The thigh 320, driven by the drive member 200, synchronously drives the pull rod 330 and the lower leg 310 to rotate, thereby raising and lowering the roller assembly 400. When the thigh 320 rotates under the action of the drive member 200, it pushes the lower leg 310 to swing through its hinge point with the middle of the lower leg 310. Simultaneously, the pull rod 330 constrains the movement trajectory of the upper end of the lower leg 310, allowing the roller assembly 400 to smoothly rise and fall along a predetermined path. This linkage mechanism converts the single-degree-of-freedom rotation of the drive component 200 into the lifting motion of the roller assembly 400, achieving motion decoupling while ensuring structural rigidity and avoiding jamming during the lifting process.

[0037] like Figure 1 and Figure 2 As shown, in some embodiments, the leg assembly 300 further includes a first fastener 341 and a second fastener 342. One end of the pull rod 330 is rotatably connected to the fixed plate 100 via the first fastener 341, and the other end of the pull rod 330 is rotatably connected to the end of the lower leg 310 away from the roller assembly 400 via the second fastener 342. The first fastener 341 and the second fastener 342 can be bolted to ensure the connection remains stable during long-term movement, while allowing flexible rotation between the pull rod 330 and the fixed plate 100, and between the pull rod 330 and the lower leg 310. This connection method not only ensures the freedom of movement of the mechanism but also effectively distributes the force, improving the reliability and durability of the overall structure.

[0038] like Figure 3 and Figure 6 As shown, in some embodiments, the leg assembly 300 further includes a third fastener 343, through which the end of the thigh 320 away from the drive member 200 is rotatably connected to the middle of the lower leg 310. The third fastener 343 may be a bolt structure, ensuring that the hinge point between the thigh 320 and the lower leg 310 can rotate flexibly while withstanding dynamic loads during movement. This connection method allows the rotational motion of the thigh 320 to be efficiently transmitted to the lower leg 310, and, in conjunction with the constraint of the pull rod 330, enables the roller assembly 400 to rise and fall stably along a preset trajectory.

[0039] like Figure 4 , Figure 5 and Figure 6As shown, in some embodiments, one end of the lower leg 310 is provided with a mounting portion 311, and the lower leg 310 is fixed to the roller assembly 400 through the mounting portion 311. The mounting portion 311 is rigidly connected to the roller assembly 400 via a quick-release structure such as bolts. Specifically, the mounting portion 311 can be designed as a slot or flange structure, matching and positioning with the roller assembly 400 to achieve reliable fixation. This structure ensures connection rigidity while facilitating quick disassembly and maintenance of the roller assembly 400.

[0040] like Figure 1 As shown, in some embodiments, the roller assembly 400 includes a hub motor 410 disposed on the mounting portion 311 and a rotating wheel 420 sleeved on the hub motor 410. The rotating wheel 420 can rotate under the drive of the hub motor 410 and is used to contact the ground. The rotating wheel 420 is sleeved on the outer periphery of the hub motor 410 and can actively rotate under the drive of the hub motor 410, so as to drive the sweeper to actively propel itself when the rotating wheel 420 contacts the ground. The rotating wheel 420 can be made of high-elasticity rubber or polyurethane material to enhance grip, wear resistance and shock absorption performance. The outer peripheral surface of the rotating wheel 420 can also be provided with anti-slip patterns or grooves to further improve grip performance on wet or loose surfaces.

[0041] like Figure 1 As shown, in some embodiments, the drive wheel assembly 10 further includes a cover plate 350 covering the side of the thigh 320 facing away from the fixing plate 100.

[0042] In addition, this application also provides a sweeping robot (not shown), which includes a body and two drive wheel assemblies 10 respectively mounted on both sides of the body as described in any of the above embodiments.

[0043] Since the above-mentioned sweeping machine includes the drive wheel assembly 10 described in any of the above embodiments, the sweeping machine also has at least the following beneficial effects: the drive wheel assembly 10 of the sweeping machine enables the roller assembly 400 to actively adjust its height through the lifting and lowering movement of the leg assembly 300, so that the sweeping machine equipped with the drive wheel assembly 10 can easily cross obstacles such as thresholds and steps, solving the problem of limited obstacle-crossing height of traditional wheeled sweeping robots; the leg assembly 300 can flexibly adjust its posture according to the undulation of the ground so that the roller assembly 400 always maintains the best grounding state, effectively dealing with complex terrains or narrow spaces such as carpets, slopes, and uneven ground, avoiding the sweeping machine from slipping or tipping over. The stable grounding state and smooth obstacle-crossing ability can reduce the number of times the sweeping machine gets stuck and adjusts its path, ensuring the continuity and coverage of the cleaning operation and improving the overall work efficiency.

[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

[0046] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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.

[0047] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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 or an electrical connection; 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.

[0049] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via 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. Similarly, "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.

[0050] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0051] In the description of this specification, references to terms such as "an embodiment," "another implementation," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

Claims

1. A drive wheel assembly for mounting to a sweeper, characterized in that, The drive wheel assembly includes: A fixing plate, the fixing plate being used to install onto the body of the sweeper; A driving component, wherein the driving component is disposed on the fixed plate; A leg assembly, the leg assembly being connected to the drive member; and A roller assembly is provided on the leg assembly. The leg assembly can drive the roller assembly to move up and down relative to the fixed plate under the drive of the drive member. The roller assembly is used to contact the ground.

2. The drive wheel assembly according to claim 1, characterized in that, The leg assembly includes a lower leg and a thigh. One end of the thigh is fixed to the drive member, and the other end of the thigh is connected to the lower leg. The end of the lower leg away from the thigh is connected to the roller assembly. The thigh can drive the roller assembly connected to the lower leg to move up and down relative to the fixed plate under the drive of the drive member.

3. The drive wheel assembly according to claim 2, characterized in that, The driving component is a motor, and the thigh is fixedly sleeved on the drive shaft of the motor. The drive shaft can drive the thigh to rotate relative to the fixed plate, thereby causing the roller assembly connected to the lower leg to move up and down relative to the fixed plate.

4. The drive wheel assembly according to claim 3, characterized in that, The leg assembly also includes a pull rod. The end of the lower leg away from the roller assembly is rotatably connected to one end of the pull rod, and the other end of the pull rod is rotatably connected to the fixed plate. The end of the thigh away from the drive member is rotatably connected to the middle of the lower leg. The thigh can synchronously drive the pull rod and the lower leg to rotate under the drive of the drive member to realize the lifting and lowering of the roller assembly.

5. The drive wheel assembly according to claim 4, characterized in that, The leg assembly further includes a first fastener and a second fastener. One end of the pull rod is rotatably connected to the fixed plate via the first fastener, and the other end of the pull rod is rotatably connected to the end of the lower leg away from the roller assembly via the second fastener.

6. The drive wheel assembly according to claim 4, characterized in that, The leg assembly also includes a third fastener, through which the end of the thigh away from the drive member is rotatably connected to the middle of the lower leg.

7. The drive wheel assembly according to any one of claims 2 to 6, characterized in that, One end of the lower leg is provided with a mounting part, and the lower leg is fixed to the roller assembly through the mounting part.

8. The drive wheel assembly according to claim 7, characterized in that, The roller assembly includes a hub motor located on the mounting portion and a rotating wheel sleeved on the hub motor. The rotating wheel can rotate under the drive of the hub motor and is used to contact the ground.

9. The drive wheel assembly according to any one of claims 2 to 6, characterized in that, The drive wheel assembly also includes a cover plate that covers the side of the thigh facing away from the fixed plate.

10. A sweeping machine, characterized in that, It includes a fuselage and two drive wheel assemblies as described in any one of claims 1 to 9, respectively mounted on both sides of the fuselage.

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