Tire and cleaning robot

Abstract

The utility model discloses a tire and cleaning robot, and the anti-skid convex is distributed in the outer circumferential interval around the axis on the tread, so as to increase the ground adhesion on the tread, and make the cleaning robot stable and advance. Since the anti-skid convex of one group in at least two adjacent convex groups and the anti-skid convex of another group are mutually staggered in the direction of the axis, therefore, the noise produced by the anti-skid convex between the two adjacent convex groups is mutually staggered in the peak value, and the synthesized frequency spectrum is more gentle, so that the noise energy distribution is balanced. Through the irregularity of the anti-skid convex distribution on the tread, the superposition of the same frequency noise is reduced, the noise produced in the advancing process is weakened, and the cleaning experience of the user is improved under the premise of ensuring good ground adhesion.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning equipment technology, specifically relating to tires and cleaning robots. Background Technology

[0002] With the rapid development of cleaning technology, more and more intelligent cleaning robots are appearing on the market, such as sweeping robots, mopping robots, and floor scrubbers. To ensure the grip of these cleaning robots, tread patterns are usually designed on their tires. However, this tire design can lead to significant noise during operation, affecting the user's cleaning experience. Utility Model Content

[0003] Therefore, the technical problem to be solved by this utility model is that the tires of traditional cleaning robots increase the noise of movement while ensuring grip.

[0004] To solve the above-mentioned technical problems, this utility model provides a tire for a cleaning robot. The tire includes: a tread, which is arranged around the outer periphery of the tire axis; and a plurality of anti-slip protrusions, at least some of which are distributed at intervals around the axis on the outer periphery of the tread to form protrusion groups. The protrusion groups include at least two groups, and each protrusion group is distributed sequentially along the direction of the axis. In at least one pair of adjacent protrusion groups, the projection of at least some of the anti-slip protrusions in one group along the direction of the axis is offset from or partially overlaps with the projection of the corresponding anti-slip protrusions in the other group along the direction of the axis.

[0005] Optionally, in the above-mentioned tire, an anti-slip groove is formed between two adjacent anti-slip protrusions in the protrusion group. The anti-slip groove includes a first end and a second end opposite to each other in the direction of the axis. The projection of the first end along the direction of the axis and the projection of the second end along the direction of the axis are offset or partially overlap.

[0006] Optionally, in the above-mentioned tire, the angle between the direction of the anti-skid groove extending from the first end to the second end and the direction of the axis is denoted as θ, where 35°≤θ≤55°.

[0007] Optionally, in the above-described tire, the angle θ between the direction of the anti-skid groove extending from the first end to the second end and the direction of the axis is 42°.

[0008] Optionally, in the above-mentioned tire, in the protrusion group, each of the anti-slip protrusions and the anti-slip grooves adjacent to it form a combined unit. The combined unit includes a first combined unit, a second combined unit, and a third combined unit. The circumferential dimension of the second combined unit along the axis is greater than the circumferential dimension of the first combined unit along the axis and smaller than the circumferential dimension of the third combined unit along the axis. The first combined unit, the second combined unit, and the third combined unit are randomly distributed around the outer periphery of the axis.

[0009] Optionally, in the above-described tire, the ratio between the circumferential dimension of the first assembly unit along the axis, the circumferential dimension of the second assembly unit along the axis, and the circumferential dimension of the third assembly unit along the axis is []. ~2): [2~ ): [ ~ ].

[0010] Optionally, in the above-described tire, the ratio between the circumferential dimension of the first assembly unit along the axis, the circumferential dimension of the second assembly unit along the axis, and the circumferential dimension of the third assembly unit along the axis is... :2: .

[0011] Optionally, in the tire described above, each of the protrusion groups has several distribution areas that are sequentially distributed around the outer periphery of the axis, and each of the distribution areas has the first combination unit, the second combination unit, and the third combination unit arranged around the outer periphery of the axis.

[0012] Optionally, in the above-described tire, the protrusion group includes at least four, and the tire surface is provided with a symmetrical line surrounding the outer periphery of the axis, and each of the protrusion groups is symmetrically distributed on the tire surface about the symmetrical line.

[0013] Optionally, in the above-described tire, on at least one side of the symmetry line along the axis, the distance between two adjacent groups of protrusions is denoted as D1, where 0.7mm≤D1≤0.8mm.

[0014] Optionally, in the above-mentioned tire, the distance D1 between two adjacent bulge groups is 0.75 mm.

[0015] Optionally, in the above-mentioned tire, the number of the bulge groups is even, and the distance between the bulge groups located on both sides of the line of symmetry is denoted as D2, where 1mm≤D2≤2mm.

[0016] Optionally, in the above-mentioned tire, the spacing D2 between the protrusion groups on both sides of the symmetry line is 1.5 mm.

[0017] Optionally, the tire described above includes a tire body and a bracket disposed within the tire body, the bracket being used to connect to the drive assembly of the cleaning robot, and the tire tread being disposed on the surface of the tire body facing away from the bracket.

[0018] Optionally, in the above-mentioned tire, the inner diameter of the tire body facing the bracket is denoted as D3, and the diameter of the curved surface formed by the surfaces of each anti-slip protrusion facing away from the tread is denoted as D4, wherein 1 < D4 / D3 ≤ 1.3.

[0019] Optionally, the tire described above has a diameter D4 to inner diameter D3 ratio of 37.25:30.75.

[0020] Optionally, in the above-mentioned tire, the bracket and the tire body are an integrated structure.

[0021] Optionally, the width of the tire along its own axis is denoted as W, where 15mm ≤ W ≤ 25mm.

[0022] Optionally, the width W of the tire along its own axis is 20 mm.

[0023] This utility model also provides a cleaning robot, which includes the tire described in any of the above claims.

[0024] The technical solution provided by this utility model has the following advantages:

[0025] 1. The tire provided by this utility model has anti-slip protrusions distributed at intervals around the outer periphery of the tire tread to increase the grip on the tire tread, enabling the cleaning robot to move forward stably. Since the anti-slip protrusions of one group are staggered from those of the other group in the axial direction, the noise generated by the anti-slip protrusions between adjacent groups during movement is offset in peak value, resulting in a smoother composite spectrum and a more balanced noise energy distribution. This design, while ensuring good grip, reduces the superposition of noise of the same frequency by increasing the irregularity of the distribution of anti-slip protrusions on the tire tread, weakening the noise generated during movement and improving the user's cleaning experience.

[0026] 2. The tire provided by this utility model has the anti-slip groove between the anti-slip protrusions tilted relative to the axis, which prolongs the suction of air in the anti-slip groove, thereby reducing the amplitude of sound pressure and further reducing noise.

[0027] 3. The tire provided by this utility model has different sizes for the first combined unit, the second combined unit and the third combined unit, and the first combined unit, the second combined unit and the third combined unit are randomly distributed around the outer periphery of the axis. This can further increase the irregularity of the distribution of anti-skid protrusions on the tire surface, reduce the peak noise spectrum and sound energy during the driving process, and make the noise energy distribution more balanced.

[0028] 4. The tire provided by this utility model has each protrusion group symmetrically distributed about the line of symmetry, which helps to weaken the lateral force generated during tire movement, so that the lateral forces within a tire cancel each other out and reduce unnecessary energy loss. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the tire structure provided for an embodiment of this utility model;

[0031] Figure 2 This is a schematic diagram of the unfolded tire tread structure provided in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure in the distribution area provided in the embodiment of this utility model;

[0033] Figure 4 This is a schematic diagram of the tire and drive assembly provided in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100. Tire; 10. Tread; 11. Distribution area; 12. Symmetry line; 20. Anti-skid protrusion; 21. Anti-skid groove; 211. First end; 212. Second end; 22. Protrusion group; 2a. Combination unit; 23. First combination unit; 24. Second combination unit; 25. Third combination unit; 30. Tire body; 31. Bracket; 32. Perforation; 40. Axle; 200. Drive assembly. Detailed Implementation

[0036] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The present utility model will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0038] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0039] In some embodiments, please refer to Figure 1 This application provides a tire 100 for use in a cleaning robot. The tire 100 includes a tread 10 and a plurality of anti-slip protrusions 20. The tread 10 is arranged around the outer periphery of the axis 40 of the tire 100. At least some of the anti-slip protrusions 20 are distributed at intervals around the axis 40 on the outer periphery of the tread 10 to form protrusion groups 22. The protrusion groups 22 include at least two groups, and each protrusion group 22 is distributed sequentially along the direction of the axis 40. In at least one pair of adjacent protrusion groups 22, the projection of at least some of the anti-slip protrusions 20 in one group along the direction of the axis 40 is offset from or partially overlaps with the projection of the corresponding anti-slip protrusions 20 in the other group along the direction of the axis 40.

[0040] The aforementioned tire 100 has anti-slip protrusions 20 spaced around the outer periphery of the axis 40 on the tread 10 to increase the grip on the tread 10, enabling the cleaning robot to move forward stably. Since at least one set of anti-slip protrusions 20 in at least two adjacent sets of protrusions 22 is staggered with the other set along the axis 40, the noise generated by the anti-slip protrusions 20 between adjacent sets of protrusions 22 during movement has a staggered peak, resulting in a smoother composite spectrum and a more balanced noise energy distribution. This design, while ensuring good grip, reduces the superposition of noise of the same frequency by increasing the irregularity of the distribution of anti-slip protrusions 20 on the tread 10, thus weakening the noise generated during movement and improving the user's cleaning experience.

[0041] It should be noted that the tread 10 refers to the surface of the tire 100 that contacts the cleaning area. Providing several anti-slip protrusions 20 on the tread 10 enhances the grip between the tread 10 and the cleaning area, allowing the cleaning robot to move stably. Because there are gaps between the spaced anti-slip protrusions 20, air flows in and out of these gaps during movement, generating pumping noise. If the noise at each gap at the same frequency is superimposed, it will produce even greater noise, affecting the user experience.

[0042] Therefore, in this embodiment, at least some of the anti-slip protrusions 20 between at least two adjacent protrusion groups 22 are completely offset or partially overlapped along the axis 40. This makes the noise peaks generated between the two adjacent protrusion groups 22 staggered, reduces the superposition of noise of the same frequency, and obtains a smoother synthesized spectrum, effectively weakening the noise during the movement.

[0043] In each of two adjacent groups of protrusions 22, the anti-slip protrusions 20 in one group are staggered or partially overlapped with the corresponding anti-slip protrusions 20 in the other group; conversely, some anti-slip protrusions 20 in one group are staggered or partially overlapped with the corresponding anti-slip protrusions 20 in the other group. Specifically, in at least one pair of adjacent groups of protrusions 22, the projections of the anti-slip protrusions 20 in one group along the axis 40 are staggered or partially overlapped with the projections of the corresponding anti-slip protrusions 20 in the other group along the axis 40. It should be explained that "corresponding" in this embodiment refers to the corresponding arrangement order of the anti-slip protrusions 20 in the protrusion group 22. For example, the first anti-slip protrusion 20 in one group is staggered or partially overlapped with the first anti-slip protrusion 20 in the other group; the second anti-slip protrusion 20 in one group is staggered or partially overlapped with the second anti-slip protrusion 20 in the other group, etc. Since the tire 100 has a circular structure, in order to understand the first anti-skid protrusion 20 in the protrusion group 22, a line can be drawn at any position on the tread 10 along the direction of the axis 40 as the same starting line. The first one encountered from the starting line in a counterclockwise or clockwise direction can be regarded as the first anti-skid protrusion 20 in the protrusion group 22.

[0044] On the tread 10, at least one pair of adjacent anti-skid protrusions 20 between two groups of protrusions 22 can be completely staggered, that is, the projection of the anti-skid protrusion 20 of one group of protrusions 22 along the axis 40 does not coincide with the projection of the anti-skid protrusion 20 of the other group of protrusions 22 along the axis 40; they can also partially overlap. At the same time, among the protrusion groups 22 distributed along the axis 40, the anti-skid protrusions 20 in any two adjacent groups of protrusions 22 are staggered; of course, in some other embodiments, at least one pair of adjacent groups of protrusions 22 may have anti-skid protrusions 20 directly opposite each other in the direction of the axis 40.

[0045] Furthermore, within the same group of protrusions 22, the shape or size of each anti-skid protrusion 20 may or may not be consistent. When the shape or size of each anti-skid protrusion 20 is consistent, the molding process of the anti-skid protrusion 20 on the tread 10 can be simplified. Simultaneously, the shape of the anti-skid protrusion 20 can be designed in various ways, such as, but not limited to, triangles, quadrilaterals, pentagons, etc. Of course, the anti-skid protrusion 20 can be a complete structure or formed by a combination of multiple triangles or other shapes.

[0046] It should also be noted that cleaning robots typically weigh less than 5 kg and travel at a speed of 0.1 m / s to 0.3 m / s. Therefore, in this embodiment, the anti-slip protrusions 20 in adjacent groups of protrusions 22 are staggered, which allows the relatively lightweight and slow-moving cleaning robot to achieve a better noise reduction effect and improve the user experience.

[0047] Further, please refer to Figure 1 and Figure 2 In the protrusion group 22, an anti-slip groove 21 is formed between two adjacent anti-slip protrusions 20. The anti-slip groove 21 includes a first end 211 and a second end 212 opposite to each other in the direction of the axis 40. The projection of the first end 211 along the direction of the axis 40 and the projection of the second end 212 along the direction of the axis 40 are offset or partially overlapped. It can be seen that the extension direction of the anti-slip groove 21 is at a certain angle to the direction of the axis 40, which is conducive to prolonging the suction of air in the anti-slip groove 21, thereby reducing the amplitude of sound pressure and further reducing noise.

[0048] It should be noted that, in two adjacent groups of protrusions 22, because the anti-slip protrusions 20 are misaligned, the anti-slip grooves 21 between adjacent groups of protrusions 22 are also misaligned accordingly. For example, the first end 211 of the anti-slip groove 21 in one group of protrusions 22 is misaligned with the second end 212 of the anti-slip groove 21 in the other group of protrusions 22. In this way, the peak noise generated in the anti-slip grooves 21 between adjacent groups of protrusions 22 is misaligned, resulting in a more balanced distribution of noise energy.

[0049] Meanwhile, the projection of the first end 211 along the axis 40 is offset from or partially overlaps with the projection of the second end 212 along the axis 40, indicating that the first end 211 and the second end 212 are misaligned. This results in the anti-slip groove 21 extending from the first end 211 to the second end 212 in an inclined direction, meaning the extension direction of the anti-slip groove 21 is inclined relative to the axis 40, which helps to prolong the suction of air within the anti-slip groove 21. Specifically, in some examples, the sidewall of each anti-slip protrusion 20 facing the adjacent anti-slip groove 21 can be designed as an inclined wall relative to the axis 40, and the sidewalls of two adjacent anti-slip protrusions 20 facing the anti-slip groove 21 are parallel to each other.

[0050] In addition, the dimensions of the anti-slip groove 21 can be designed in various ways. For example, the depth of the anti-slip groove 21 can be, but is not limited to, 2mm to 3mm. In some specific examples, the depth of the anti-slip groove 21 can be 2.55mm. At the same time, in the same protrusion group 22, the circumferential dimensions of each anti-slip groove 21 along the axis 40 can be consistent or inconsistent.

[0051] Furthermore, please refer to Figure 2 The angle between the direction of the anti-slip groove 21 extending from the first end 211 to the second end 212 and the direction of the axis 40 is denoted as θ, where 35°≤θ≤55°. It can be seen that since the cleaning robot's movement speed is relatively slow, such as 0.1m / s~0.3m / s; and since the surfaces the cleaning robot walks on are mostly wooden floors or tiles, which are smoother than cement or asphalt roads used by vehicles, if the angle θ is designed to be too large, a large lateral force will be easily generated during movement, causing the robot's path to easily deviate or slip. If the angle θ is designed to be too small, the time for air to flow through the anti-slip groove 21 is relatively short, resulting in a relatively large sound pressure amplitude; at the same time, the stress is also more concentrated when the anti-slip protrusions 20 are made.

[0052] Therefore, in this embodiment, the angle θ can be controlled between 35° and 55°, for example, but not limited to 35°, 36°, 37°, 38°, 39°, 40°, 42°, 44°, 46°, 48°, 50°, 52°, 54°, 55°, etc. This satisfies the requirement for stable movement of the cleaning robot and also reasonably prolongs the time for airflow through the anti-slip groove 21, reducing the sound pressure amplitude and lowering noise.

[0053] In some embodiments, the angle θ between the direction of the anti-slip groove 21 extending from the first end 211 to the second end 212 and the direction of the axis 40 is 42°. It can be seen that designing the tilt angle of the anti-slip groove 21 relative to the axis 40 to be 42° can more effectively balance the stability of the cleaning robot's movement and the noise reduction effect during the movement.

[0054] In some embodiments, please refer to Figure 2 and Figure 3In the protrusion group 22, each anti-slip protrusion 20 and its adjacent anti-slip groove 21 form a combination unit 2a. Combination unit 2a includes a first combination unit 23, a second combination unit 24, and a third combination unit 25. The circumferential dimension of the second combination unit 24 along the axis 40 is larger than that of the first combination unit 23 along the axis 40, but smaller than that of the third combination unit 25 along the axis 40. The first combination unit 23, the second combination unit 24, and the third combination unit 25 are randomly distributed around the outer periphery of the axis 40. Therefore, in the same protrusion group 22, there are at least three different sizes of combination units, namely the first combination unit 23, the second combination unit 24, and the third combination unit 25, and these three combination units can be randomly distributed around the outer periphery of the axis 40, increasing the irregularity of the distribution position and size of the anti-slip protrusions 20 on the tread 10. This reduces the noise spectrum peak and sound energy caused by the anti-slip protrusions 20, making the noise energy distribution more balanced and reducing the discomfort caused to the user by the sound of the tire 100 during driving.

[0055] It should be noted that the first combination unit 23, the second combination unit 24 and the third combination unit 25 are randomly distributed around the outer periphery of the axis 40. This can be understood as: there is at least one first combination unit 23, the second combination unit 24 and the third combination unit 25 on the outer periphery of the axis 40. The distribution method and number of the first combination unit 23, the second combination unit 24 and the third combination unit 25 are not limited.

[0056] For easier understanding, please refer to Figure 3 In the first combined unit 23, the dimension of the anti-slip protrusion 20 is denoted as A1, the dimension of the anti-slip groove 21 is denoted as A2, and the dimension A0 of the first combined unit 23 is A1+A2; in the second combined unit 24, the dimension of the anti-slip protrusion 20 is denoted as B1, the dimension of the anti-slip groove 21 is denoted as B2, and the dimension B0 of the second combined unit 24 is B1+B2; in the third combined unit 25, the dimension of the anti-slip protrusion 20 is denoted as C1, the dimension of the anti-slip groove 21 is denoted as C2, and the dimension C0 of the third combined unit 25 is C1+C2. At this time, the distribution of the first combined unit 23, the second combined unit 24, and the third combined unit 25 can be, but is not limited to: A0B0C0B0C0A0C0A0B0C0B0A0; A0B0A0C0B0A0C0A0B0C0B0C0; A0B0A0C0A0B0A0C0B0C0B0C0.

[0057] In addition, the dimensions A0 of the first combination unit 23, B0 of the second combination unit 24, and C0 of the third combination unit 25 decrease sequentially. Therefore, in addition to their random distribution, the dimensions of the three are also different, which can effectively increase the irregularity of the anti-slip protrusions 20.

[0058] It should also be noted that the circumferential dimensions of the first assembly unit 23, the second assembly unit 24, and the third assembly unit 25 along the axis 40 refer to the arc dimensions of the first assembly unit 23, the second assembly unit 24, and the third assembly unit 25 along the axis 40. Of course, the tire 100 can also be fully unfolded into a plane, and then the straight-line dimensions of the first assembly unit 23, the second assembly unit 24, and the third assembly unit 25 can be measured along the length of the unfolded plane.

[0059] Further, please refer to Figure 3 The ratio between the circumferential dimensions of the first assembly unit 23 along the axis 40, the circumferential dimensions of the second assembly unit 24 along the axis 40, and the circumferential dimensions of the third assembly unit 25 along the axis 40 of the aforementioned tire 100 is []. ~2): [2~ ): [ ~ This design, which sets the ratio of each combined unit to an irregular ratio, can reduce the peak noise spectrum and sound energy generated during movement, making the noise energy distribution more balanced and thus improving noise reduction.

[0060] It should be noted that, [ ~2) can be understood as the first term of the ratio. The "[" in the first term indicates that the endpoint values ​​are included, and ")" indicates that the endpoint values ​​are not included. That is, the range of values ​​for the first term can be... (Inclusive) ~ 2 (exclusive). Similarly, the second term of the ratio can range from 2 (inclusive) to... (Excluding). By taking these values, it can be ensured that the dimensions A0 of the first combined unit 23, B0 of the second combined unit 24, and C0 of the third combined unit 25 decrease sequentially.

[0061] Furthermore, please refer to Figure 3 The ratio between the circumferential dimension of the first assembly unit 23 along axis 40, the circumferential dimension of the second assembly unit 24 along axis 40, and the circumferential dimension of the third assembly unit 25 along axis 40 is: :2: This design controls the ratio of each combined unit to... :2: This more effectively reduces the peak noise spectrum and sound energy generated during travel, further contributing to noise reduction.

[0062] In some embodiments, please refer to Figure 2Each protrusion group 22 has several distribution areas 11 arranged sequentially around the outer periphery of the axis 40. In each distribution area 11, a first combination unit 23, a second combination unit 24, and a third combination unit 25 are arranged around the outer periphery of the axis 40. This design effectively enhances the irregularity of the distribution of the anti-slip protrusions 20 and reduces the peak noise spectrum and sound energy generated during movement.

[0063] It should be noted that in this embodiment, the first combination unit 23, the second combination unit 24, and the third combination unit 25 constitute a combination, which is distributed sequentially around the outer periphery of the axis 40. The distribution of the first combination unit 23, the second combination unit 24, and the third combination unit 25 within the combination can be random, for example: first combination unit 23, second combination unit 24, third combination unit 25; or, first combination unit 23, third combination unit 25, second combination unit 24; or, second combination unit 24, first combination unit 23, third combination unit 25; or, second combination unit 24, third combination unit 25, second combination unit 24; or, third combination unit 25, first combination unit 23, second combination unit 24; or, third combination unit 25, second combination unit 24, first combination unit 23.

[0064] Meanwhile, the distribution pattern of each distribution area 11 can be consistent or inconsistent. In addition, the number of distribution areas 11 can be determined according to the actual size of the tire 100. For example, the number of distribution areas 11 can be two, three, four or more.

[0065] In some embodiments, please refer to Figure 1 and Figure 2 The protrusion group 22 includes at least four, and the tread 10 is provided with a symmetrical line 12 surrounding the outer periphery of the axis 40. Each protrusion group 22 is symmetrically distributed on the tread 10 about the symmetrical line 12. It can be seen that the symmetrical distribution of each protrusion group 22 about the symmetrical line 12 helps to weaken the lateral force generated during the tire 100's movement, so that the lateral forces within a tire 100 cancel each other out, reducing unnecessary energy loss.

[0066] It should be noted that the protrusion groups 22 are symmetrically distributed about the line of symmetry 12. There are two distribution patterns: for example, when the number of protrusion groups 22 is even, half of the protrusion groups 22 are distributed on one side of the line of symmetry 12, and the other half are distributed on the other side. When the number of protrusion groups 22 is odd, one protrusion group 22 is located on the line of symmetry 12, and the remaining protrusion groups 22 are distributed on opposite sides of the line of symmetry 12.

[0067] On either side of the symmetry line 12 along the axis 40, at least one pair of adjacent protrusion groups 22 have their anti-slip protrusions 20 staggered, resulting in noise peaks that are offset from each other, producing a smoother synthesized spectrum and a more balanced noise energy distribution. Specifically, in some examples, on either side of the symmetry line 12 along the axis 40, the protrusion groups 22 in each pair of adjacent protrusion groups 22 are staggered. Furthermore, due to the staggered distribution of the anti-slip protrusions 20 in each protrusion group 22, the misalignment distance between the positions of the first anti-slip protrusion 20 in each protrusion group 22 can be 8mm to 10mm; specifically, the misalignment distance between the positions of the first anti-slip protrusion 20 in each protrusion group 22 can be 9mm. To understand the first anti-skid protrusion 20 in the protrusion group 22, a line can be drawn along the direction of axis 40 at any position on the tread 10 as the same starting line. The first one encountered from the starting line in a counterclockwise or clockwise direction can be regarded as the first anti-skid protrusion 20 in the protrusion group 22.

[0068] In addition, in this example, the number of protrusion groups 22 is designed to be at least four, which increases the number of anti-slip protrusions 20 along the axis 40, further improving the cleaning robot's grip. At the same time, with the same tire width of 100, increasing the number of protrusion groups 22 along the axis 40 can also enhance the irregularity along the axis 40, which is beneficial to improving the noise reduction effect.

[0069] Further, please refer to Figure 2 On at least one side of the symmetry line 12 along the axis 40, the distance between two adjacent groups of protrusions 22 is denoted as D1, where 0.7mm ≤ D1 ≤ 0.8mm. This design controls the distance between adjacent protrusion groups 22 to between 0.7mm and 0.8mm, ensuring sufficient spacing between each protrusion group 22 and improving the tire 100's grip. Simultaneously, while maintaining grip, the distance is minimized to increase the number of protrusion groups 22.

[0070] It should be noted that the spacing D1 can be between 0.7mm and 0.8mm, such as, but not limited to, 0.7mm, 0.72mm, 0.74mm, 0.76mm, 0.78mm, 0.8mm, etc.

[0071] Specifically, the distance D1 between two adjacent groups of protrusions 22 is 0.75 mm.

[0072] In some embodiments, please refer to Figure 2 The number of protrusion groups 22 is even, and the distance between the protrusion groups 22 located on both sides of the line of symmetry 12 is denoted as D2, where 1mm≤D2≤2mm. In this way, the lateral forces generated by the protrusion groups 22 on both sides can be better canceled out, reducing unnecessary energy loss.

[0073] It should be noted that the spacing between the protrusions 22 located on both sides of the symmetry line 12 can be between 1mm and 2mm, for example, but not limited to 1mm, 1.2mm, 1.4mm, 1.6mm, 1.8mm, 2mm, etc.

[0074] Specifically, the spacing D2 between the protrusions 22 located on both sides of the line of symmetry 12 is 1.5 mm.

[0075] In some embodiments, please refer to Figure 4 The tire 100 includes a tire body 30 and a bracket 31 disposed within the tire body 30. The bracket 31 is used to connect with the drive assembly 200 of the cleaning robot. The tread 10 is disposed on the surface of the tire body 30 facing away from the bracket 31. In this way, the tire 100 is stably mounted on the drive assembly 200 through the bracket 31.

[0076] The drive assembly 200 refers to the component that drives the tire 100 to rotate, thereby propelling the cleaning robot forward. There are several ways to mount the bracket 31 on the drive assembly 200, such as: providing a through hole 32 inside the bracket 31, inserting the drive assembly 200 into the through hole 32, and then fitting the bracket 31 onto the drive assembly 200.

[0077] In some embodiments, please refer to Figure 1 The inner diameter of the tire body 30 facing the bracket 31 is denoted as D3, and the diameter of the curved surface formed by the surfaces of each anti-skid protrusion 20 facing away from the tread 10 is denoted as D4, where 1 < D4 / D3 ≤ 1.3. Therefore, the ratio of diameter D4 to inner diameter D3 can be between 1 and 1.3, for example: 1.1, 1.2, 1.21, 1.22, 1.23, 1.26, 1.8, 1.3, etc. This design maintains a suitable thickness for the wheel body.

[0078] Specifically, the ratio of diameter D4 to inner diameter D3 is 37.25:30.75.

[0079] In one embodiment, please refer to Figure 1 The bracket 31 and the tire body 30 are an integrated structure. This ensures that the tire 100 structure is more stable.

[0080] In one embodiment, please refer to Figure 1 The width of the tire 100 along its own axis 40 is denoted as W, where 15mm ≤ W ≤ 25mm. This ensures that the tread 10 has a suitable width to achieve effective grip.

[0081] The width W can be between 15mm and 25mm, for example, but not limited to 15mm, 16mm, 17mm, 18mm, 19mm, 20mm, 21mm, 22mm, 23mm, 24mm, 25mm, etc.

[0082] Of course, in other embodiments, the width of the tire 100 along its own axis 40 may be other values.

[0083] Specifically, the width W of the tire 100 along its own axis 40 is 20mm.

[0084] In some embodiments, this application also provides a cleaning robot, which includes the tire 100 of any of the above.

[0085] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the protection scope of this utility model.

Claims

1. A tire, characterized in that, For use in a cleaning robot, the tires include: The tread (10) is arranged around the outer periphery of the axis (40) of the tire; A plurality of anti-skid protrusions (20), at least some of the anti-skid protrusions (20) are distributed at intervals around the axis (40) on the outer periphery of the tread (10) and form a protrusion group (22). The protrusion group (22) includes at least two groups. Each of the protrusion groups (22) is distributed sequentially along the direction of the axis (40). In at least one pair of adjacent protrusion groups (22), the projection of at least some of the anti-skid protrusions (20) in one group along the direction of the axis (40) is offset from or partially overlaps with the projection of the corresponding anti-skid protrusions (20) in the other group along the direction of the axis (40).

2. The tire according to claim 1, characterized in that, In the protrusion group (22), an anti-slip groove (21) is formed between two adjacent anti-slip protrusions (20). The anti-slip groove (21) includes a first end (211) and a second end (212) opposite each other in the direction of the axis (40). The projection of the first end (211) along the direction of the axis (40) is offset from or partially overlaps the projection of the second end (212) along the direction of the axis (40).

3. The tire according to claim 2, characterized in that, The angle between the direction of the anti-slip groove (21) extending from the first end (211) to the second end (212) and the direction of the axis (40) is denoted as θ, where 35°≤θ≤55°.

4. The tire according to claim 3, characterized in that, The angle θ between the direction of the anti-slip groove (21) extending from the first end (211) to the second end (212) and the direction of the axis (40) is 42°.

5. The tire according to claim 2, characterized in that, In the protrusion group (22), each of the anti-slip protrusions (20) and the anti-slip groove (21) adjacent to it form a combination unit (2a). The combination unit (2a) includes a first combination unit (23), a second combination unit (24) and a third combination unit (25). The circumferential dimension of the second combination unit (24) along the axis (40) is greater than that of the first combination unit (23) along the axis (40) and smaller than that of the third combination unit (25) along the axis (40). The first combination unit (23), the second combination unit (24) and the third combination unit (25) are randomly distributed around the outer periphery of the axis (40).

6. The tire according to claim 5, characterized in that, The ratio between the circumferential dimension of the first assembly unit (23) along the axis (40), the circumferential dimension of the second assembly unit (24) along the axis (40), and the circumferential dimension of the third assembly unit (25) along the axis (40) is [ ~2): [2~ ): [ ~ ].

7. The tire according to claim 6, characterized in that, The ratio between the circumferential dimension of the first assembly unit (23) along the axis (40), the circumferential dimension of the second assembly unit (24) along the axis (40), and the circumferential dimension of the third assembly unit (25) along the axis (40) is... :2: .

8. The tire according to claim 5, characterized in that, Each of the protrusion groups (22) has several distribution areas (11) arranged sequentially around the outer periphery of the axis (40). In each of the distribution areas (11), the first combination unit (23), the second combination unit (24) and the third combination unit (25) are arranged around the outer periphery of the axis (40).

9. The tire according to any one of claims 1-8, characterized in that, The protrusion group (22) includes at least four, and the tread (10) is provided with a symmetrical line (12) surrounding the outer periphery of the axis (40), and each of the protrusion groups (22) is symmetrically distributed on the tread (10) about the symmetrical line (12).

10. The tire according to claim 9, characterized in that, In at least one side of the symmetry line (12) along the direction of the axis (40), the distance between two adjacent protrusion groups (22) is denoted as D1, where 0.7mm≤D1≤0.8mm.

11. The tire according to claim 9, characterized in that, The number of the protrusion groups (22) is even, and the distance between the protrusion groups (22) located on both sides of the symmetry line (12) is denoted as D2, where 1mm≤D2≤2mm.

12. The tire according to any one of claims 1-8, characterized in that, The tire includes a tire body (30) and a bracket (31) disposed within the tire body (30). The bracket (31) is used to connect with the drive assembly (200) of the cleaning robot. The tread (10) is disposed on the surface of the tire body (30) facing away from the bracket (31).

13. The tire according to claim 12, characterized in that, The inner diameter of the tire body (30) facing the bracket (31) is denoted as D3, and the diameter of the curved surface formed by the surfaces of each anti-slip protrusion (20) facing away from the tread (10) is denoted as D4, wherein 1 < D4 / D3 ≤ 1.3; and / or, The bracket (31) and the tire body (30) are an integrated structure.

14. The tire according to any one of claims 1-8, characterized in that, The width of the tire along its own axis (40) is denoted as W, where 15mm≤W≤25mm.

15. A cleaning robot, characterized in that, The cleaning robot includes the tire as described in any one of claims 1-14.

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