Driving wheel and cleaning device

Abstract

The application provides a driving wheel and a cleaning device, and relates to the technical field of driving wheels. The driving wheel is used for a cleaning device, and comprises a tire including an annular body. Axial two end faces of the annular body are respectively a first end face and a second end face. When the tire is assembled on the cleaning device, the first end face is located on the inner side of the cleaning device. A plurality of first notches are formed on the first end face and are arranged at intervals along the circumferential direction of the annular body. A plurality of second notches are formed on the second end face and are arranged at intervals along the circumferential direction of the annular body. In the radial direction of the annular body, the first notches and the second notches are recessed from the outer circumferential surface of the annular body to the direction close to the center of the annular body. The size of the first notch in the axial direction of the annular body is greater than or equal to the size of the second notch in the axial direction of the annular body. The driving wheel provided in the application can solve the problem that the driving wheel of the cleaning device is difficult to reduce noise and improve obstacle crossing performance.

Description

[0001] This application claims priority to Chinese Patent Application No. 202511339850.9, filed on September 18, 2025, entitled "Drive Wheel and Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of tire technology, and more particularly to a drive wheel and cleaning device. Background Technology

[0003] With the continuous improvement of living standards, intelligent cleaning equipment such as robotic vacuum cleaners have become an indispensable part of modern families because they liberate people from tedious household cleaning chores. Users not only focus on the basic cleaning capabilities of these devices but also place high demands on performance indicators that affect the user experience, such as noise levels and obstacle-crossing ability. Among these, the drive wheels are the core components for the movement and obstacle-crossing of cleaning equipment; the structural design of their tires (or "tire sheaths") directly determines the noise level and obstacle-crossing ability of the equipment during operation.

[0004] However, it is difficult to simultaneously achieve both low noise and high obstacle-crossing capability in the two key performance indicators of drive wheel tires, creating a trade-off. Therefore, how to design a tire structure that can maintain quiet operation while still possessing excellent obstacle-crossing ability has become a pressing technical problem to be solved in this field. Utility Model Content

[0005] This application provides a drive wheel and a cleaning device to solve the problem in the related art where the drive wheel of the cleaning device is difficult to simultaneously reduce noise and improve obstacle crossing performance.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] A first aspect of this application provides a drive wheel for a cleaning device, the drive wheel comprising:

[0008] A tire includes an annular body, with a first end face and a second end face at its two axial ends, respectively. Multiple first notches are formed on the first end face, spaced apart circumferentially along the annular body. Multiple second notches are formed on the second end face, also spaced apart circumferentially along the annular body. In the radial direction of the annular body, both the first and second notches are recessed from the outer periphery of the annular body towards the center of the annular body. In the circumferential direction of the annular body, a first step is formed on both sides of each first notch, and a second step is formed on both sides of each second notch. The first and / or second steps are solid structures.

[0009] The drive wheel provided in this application embodiment has a notch design on both ends, which optimizes the structural stiffness distribution of the contact area between the tire and the area to be cleaned when the tire rolls normally on a flat surface. This reduces vibration and impact caused by uneven local deformation of the tread (the contact surface between the tire and the area to be cleaned), and can reduce noise when the drive wheel is moving.

[0010] By forming solid first steps and / or second steps on both sides of the first and second notches, respectively, robust boundary support is provided for each notch in the circumferential direction of the annular body. During obstacle crossing, when the notch area deforms under pressure to provide the necessary grip, the solid step structures on both sides of the notch area effectively limit the excessive expansion of deformation and prevent the disordered transmission of stress throughout the tire structure. This improves the tire's structural integrity and durability under extreme deformation, avoids tire tearing, ensures stable and controllable obstacle crossing every time, and effectively enhances the overall structural strength and durability of the tire.

[0011] In addition, during smooth operation, these solid stepped structures can enhance the rigidity of the tire and effectively suppress high-frequency vibrations and noise caused by the flexible vibration of the notch edge.

[0012] In summary, the solutions in this application demonstrate different structural advantages under obstacle-crossing and stable operation conditions, ultimately achieving a synergistic technical effect that balances excellent obstacle-crossing capability with low operating noise.

[0013] In one possible implementation, the dimension of the first step in the circumferential direction of the ring body is equal to the dimension of the second step in the circumferential direction of the ring body.

[0014] This design ensures that the tire has a consistent structural stiffness distribution on both sides of the axial direction. When the tire is subjected to lateral forces from different directions or obstacle crossing impacts, the deformation response and force transmission path on the inner and outer sides are symmetrical and synchronous. This effectively avoids problems such as deviation, abnormal wear or local stress concentration caused by uneven support strength on both sides, thereby improving the stability and durability of the drive wheel operation.

[0015] In one possible implementation, the dimension of the first notch in the axial direction of the annular body is greater than or the dimension of the second notch in the axial direction of the annular body.

[0016] By setting the axial dimension of the first notch on the first end face inside the cleaning device to be greater than or equal to the axial dimension of the second notch on the second end face outside, the larger first notch provides greater deformation space and better cushioning capacity for the inner side of the tire when crossing obstacles. This allows the tire to "wrap" or "fit" the edge of the obstacle through preferential and sufficient deformation of the inner side when encountering an obstacle, thereby generating greater grip and traction, effectively improving the success rate and stability of obstacle crossing.

[0017] In one possible implementation, the orthographic projection of the first notch onto the first plane and the orthographic projection of the second notch onto the first plane do not overlap; wherein the first plane is perpendicular to the axial direction of the annular body.

[0018] This design ensures that the tire's axial structural integrity is preserved to the greatest extent possible at any radial and circumferential position. This means that when deformation occurs at the first or second notch during obstacle crossing, the portion outside the notch always retains a continuous, uninterrupted structural material as a force-transfer framework. This provides more uniform and robust support, preventing structural collapse or abrupt changes in support force that could result from aligned inner and outer notches, thus making obstacle crossing smoother and more reliable. In terms of noise control, this staggered layout significantly improves the overall structural stiffness of the tire's grip area, effectively suppressing slapping vibrations caused by insufficient local stiffness, and reducing noise generation at its source.

[0019] In one possible implementation, the orthographic projections of the first notch and the second notch on the first plane are sequentially arranged along the circumference of the annular body and are adjacent to each other.

[0020] In this configuration, the first and second notches are sequentially arranged circumferentially and adjacent to each other, forming a continuous or nearly continuous circumferential groove layout, with their orthogonal projections onto the first plane. This structure enhances the tire's flexibility and ground adaptability, allowing the tire to better conform to the ground through elastic deformation of the notch areas when encountering uneven surfaces, thereby improving the obstacle-crossing ability and cleaning efficiency of the cleaning equipment. Furthermore, the adjacent projection design expands the effective drainage or dust removal path on the tire surface, facilitating rapid media removal in wet or dry cleaning scenarios, preventing slippage or clogging, and improving equipment reliability.

[0021] In one possible implementation, the outer circumferential surface of the annular body is provided with a plurality of teeth extending along the axial direction of the annular body; wherein the plurality of teeth are spaced apart circumferentially along the annular body, and a tooth groove is formed between two adjacent teeth; the teeth include a tooth tip surface for contacting the surface to be cleaned; in the radial direction of the annular body, the top surface of the first step is a first tangent surface, the top surface of the second step is a second tangent surface, the first tangent surface and the second tangent surface are lower than the tooth tip surface and higher than the bottom of the tooth groove; and / or, the second tangent surface is lower than the tooth tip surface and higher than the bottom of the tooth groove.

[0022] By incorporating multiple teeth with adjacent teeth forming a tooth groove, the teeth and groove constitute the primary driving surface, ensuring basic grip and cleaning effectiveness on both flat and complex surfaces like carpets. By setting the height of the first and / or second sectional surfaces between the tooth tip and the tooth groove, a secondary functional contact surface is created at these surfaces. During obstacle crossing, when the teeth deform significantly due to climbing obstacles, and the tooth tip may temporarily lose contact, these appropriately positioned first and second sectional surfaces can promptly contact the obstacle, providing auxiliary support and propulsion, significantly improving the reliability and stability of obstacle crossing and preventing slippage or jamming. During smooth operation, these first and second sectional surfaces, lower than the tooth tip, normally do not contact the surface to be cleaned, thus avoiding frictional noise caused by excessive contact area. Furthermore, the inclusion of first and second sectional surfaces reduces tire weight and material usage, thereby lowering costs.

[0023] In one possible implementation, the dimension of the first notch in the axial direction of the annular body is the same as the dimension of the first cut surface in the axial direction of the annular body; and / or, the dimension of the second notch in the axial direction of the annular body is the same as the dimension of the second cut surface in the axial direction of the annular body.

[0024] This configuration ensures that the deformation space provided by the notches (first and second notches) and the auxiliary support function provided by the cut surfaces (first and second cut surfaces) are perfectly aligned axially, forming an effective "deformation-support" collaborative unit. When the tire overcomes an obstacle, stress can be smoothly transferred between the notch deformation area and the cut surface support area, avoiding stress concentration or local bending caused by dimensional misalignment, thus improving the tire's structural durability and the continuity of obstacle-crossing action.

[0025] Furthermore, from a manufacturing process perspective, this greatly simplifies the complexity of the mold. The axial boundary of the notch and the axial boundary of the cut surface can be coplanar or formed in one step by the same mold structure. This not only reduces the number of mold components and assembly tolerances, but also significantly reduces the difficulty of demolding, improves tire manufacturing precision and batch consistency, and is beneficial for cost control and quality stability.

[0026] In one possible implementation, the first step spans at least two gear teeth in the circumferential direction of the annular body; and / or, the second step spans at least two gear teeth in the circumferential direction of the annular body.

[0027] This design enhances the structural stability and impact resistance of the drive wheels during obstacle crossing. The reinforced support provided by the first or second step covers a larger circumferential area. When the tire encounters an obstacle and impacts, the wide step spanning multiple teeth effectively disperses concentrated stress over a larger contact area, preventing tire deformation or damage caused by localized stress concentration. Under the complex stress conditions faced by the cleaning equipment during obstacle crossing, by enhancing the rigidity of key tire components, sufficient structural strength is ensured to withstand impact loads. The cooperation of the first or second notch maintains the tire's necessary flexible deformation capacity, thereby extending the service life of the drive wheels while ensuring obstacle crossing performance.

[0028] In one possible implementation, the tooth tip surface is provided with multiple groove structures spaced apart along the axial direction of the annular body.

[0029] By incorporating grooves on the tooth tip, the actual contact area and surface roughness between the tooth tip and the surface to be cleaned (especially smooth, hard surfaces) can be effectively increased. This significantly enhances the tire's coefficient of friction and grip, preventing the drive wheels from slipping or spinning during start-up, acceleration, or obstacle crossing, ensuring efficient power transmission and driving stability for the cleaning equipment. The spaced grooves create elastic groove areas on the tooth tip. When the drive wheels drive over small obstacles or ground seams, these grooves can undergo slight deformation, providing additional cushioning and helping to smoothly traverse obstacles, reducing bumps and impacts.

[0030] In addition, the multiple spaced grooves effectively divide the contact area between the tire tooth tip and the ground, breaking the airflow adsorption and vacuum pumping effects that may occur on continuous contact surfaces. This reduces aerodynamic noise during high-speed rolling. Furthermore, these grooves, acting as tiny deformation units, can absorb and buffer high-frequency vibrations generated when the tire contacts microscopic unevenness in the ground, further suppressing noise generation at its source.

[0031] In one possible implementation, a central groove is provided on the tooth tip surface, and the central groove is located in the middle of the annular body in the axial direction; wherein, the dimension of the central groove in the axial direction of the annular body is greater than the dimension of any one of the multiple groove structures in the axial direction of the annular body; the dimension of the central groove in the radial direction of the annular body is the same as the dimension of the multiple groove structures in the radial direction of the annular body.

[0032] By incorporating a large central groove in the middle of the tooth top surface, a primary deformation zone is created in the center of the tire. When traversing obstacles or requiring strong traction, this area preferentially deforms, enhancing the tire's grip on obstacles or surfaces to be cleaned, thus improving passability and driving force. The smaller grooves on either side provide auxiliary deformation and stable edge support. Furthermore, from a cleaning and drainage perspective, all the grooves together form an efficient drainage and debris removal network. In particular, the large central groove, acting as the main channel, quickly guides water and fine particles to the sides, effectively preventing the tire from slipping on wet surfaces and avoiding dirt adhering to the tire tread, thus improving grip and cleaning effectiveness.

[0033] In one possible implementation, the tooth tip surfaces of multiple gear teeth have the same axial dimension in the annular body, and the two ends of the tooth tip surfaces of multiple gear teeth in the annular body are aligned with each other in the axial direction.

[0034] By aligning the top surfaces of multiple gear teeth with consistent axial dimensions and their ends, a continuous, flat, and effective contact surface is formed. This ensures that the pressure is evenly distributed when the drive wheel contacts the ground, preventing localized wear caused by uneven pressure or vibration of the cleaning equipment, thus providing smooth, efficient, and reliable drive performance.

[0035] In one possible implementation, the annular body has a perforated structure extending along the axial direction of the annular body in the region of the non-solid structure; wherein the perforated structure corresponding to the first step is connected to the second notch; and the perforated structure corresponding to the second step is connected to the first notch.

[0036] This design, by introducing axial perforated structures in the first and second steps, significantly reduces material usage, lowers manufacturing costs, and reduces the rotational inertia of the drive wheels. This facilitates agile response during start-up and shutdown of the cleaning equipment and reduces energy consumption. By connecting the perforated structures with the external first or second notch, an acoustic damping structure can be formed. When the tire rolls and rubs against the ground or impacts obstacles, generating vibrations and noise, these interconnected cavities effectively block and attenuate the propagation path of sound waves, converting sound energy into heat energy from air vibrations and dissipating it. This significantly reduces the noise generated by the drive wheels during operation, improving the quiet operation experience of the cleaning equipment.

[0037] In one possible implementation, along the axial direction of the annular body, the bottom surface of the perforated structure corresponding to the first step is configured as the top surface of the solid structure at the first step; along the radial direction of the annular body, the top surface of the first step is a first sectional surface, and the top surface of the second step is a second sectional surface; the dimension of the solid structure at the first step along the axial direction of the annular body is greater than or equal to the dimension of the first sectional surface along the axial direction of the annular body; and / or, along the axial direction of the annular body, the bottom surface of the perforated structure corresponding to the second step is configured as the top surface of the solid structure at the second step; the dimension of the solid structure at the second step along the axial direction of the annular body is greater than or equal to the dimension of the second sectional surface along the axial direction of the annular body.

[0038] By configuring the bottom surface of the perforated structure corresponding to the first step as the top surface of the solid structure at the first step, and the axial dimension of the solid structure is greater than or equal to the dimension of the first cross section (similarly applicable to the second step), the local thickening and reinforcement of the tire in the critical load-bearing areas (at the first and second steps) can improve the structural stiffness and impact resistance at the first and second steps, and prevent stress concentration caused by the setting of notches or perforated structures.

[0039] Furthermore, through precise control of the solid structure dimensions, a good balance was achieved between lightweighting and ensuring structural strength, avoiding vibrations caused by excessively thin walls or inertial impacts caused by excessively thick walls, thus suppressing vibrations at the source of noise. This synergistic effect resulted in low-noise and smooth operation of the drive wheels, significantly improving the quietness and comfort of the cleaning equipment.

[0040] A second aspect of this application provides a cleaning device, including a device body and a drive wheel as described in any of the first aspects above. Attached Figure Description

[0041] 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a drive wheel provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the structure of a tire for a drive wheel provided in an embodiment of this application;

[0044] Figure 3 A schematic diagram of the structure of a tire for a drive wheel from another angle, provided as an embodiment of this application;

[0045] Figure 4 A schematic diagram of the structure of a tire for a drive wheel from another angle, provided as an embodiment of this application;

[0046] Figure 5 for Figure 4 An enlarged structural diagram of point A on the tire shown in the image;

[0047] Figure 6 A schematic diagram of the structure of a tire for a drive wheel from another angle, provided as an embodiment of this application;

[0048] Figure 7 for Figure 6 An enlarged structural diagram of point B on the tire shown;

[0049] Figure 8 A schematic diagram of the structure of a tire for a drive wheel from another angle, provided as an embodiment of this application;

[0050] Figure 9 A cross-sectional structural diagram of a tire for a drive wheel provided in an embodiment of this application;

[0051] Figure 10 for Figure 9 A schematic diagram of another angle of the cross-sectional view shown.

[0052] Explanation of reference numerals in the attached figures:

[0053] 100 - Drive wheel; 10 - Tire; 11 - Ring-shaped main body;

[0054] 111 - First end face; 112 - Second end face; 12 - Gear tooth;

[0055] 121 - First side surface; 122 - Second side surface; 123 - Tooth tip surface;

[0056] 124 - Groove structure; 125 - Hole-like structure; 126 - Central groove;

[0057] 13-Gate; 141-First notch; 142-Second notch;

[0058] 143 - First step; 1431 - First cross-section; 144 - Second step;

[0059] 1441 - Second cut surface; 15 - Tread; 20 - Wheel hub. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0061] The drive wheels are the core components for the movement and obstacle crossing of cleaning equipment. The structural design of their tires (or "tire skin") directly determines the noise level and obstacle crossing ability of the equipment during operation. Tires in related technologies typically have numerous and deep grooves on their outer circumference to form treads. This design provides deformation space through the grooves, allowing the tires to effectively deform and assist the equipment in climbing over obstacles such as thresholds and carpet strips, thus providing relatively good obstacle crossing performance.

[0062] However, when the tire rolls on a hard surface, this design results in significant running noise due to the frequent contact and impact between the tire tread and the ground, as well as the compression and release of air in the grooves, leading to a poor user experience.

[0063] To address the aforementioned noise issues, related technologies increase the effective contact area between the tire and the ground by densifying the tire tread and reducing or shrinking the grooves, resulting in smoother tire rolling and thus reducing operating noise to some extent. However, this also weakens the tire's deformation capacity, significantly reducing the obstacle-crossing performance of the cleaning equipment and making it difficult to handle low obstacles commonly found in home environments.

[0064] To address the aforementioned technical problems, embodiments of this application provide a drive wheel and a cleaning device. The drive wheel is used in the cleaning device. By providing an asymmetrical notch structure on the inner and outer sides of the tire of the drive wheel, noise can be reduced and the obstacle-crossing ability of the cleaning device can be improved.

[0065] The drive wheel and cleaning equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0066] Figure 1 This is a schematic diagram of a drive wheel provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a tire for a drive wheel provided in an embodiment of this application. Figure 3 This is a structural schematic diagram of a tire for a drive wheel, provided as an embodiment of this application, from another angle. Figure 3 This is the front view of the tire.

[0067] It should be noted that, for ease of description, in the embodiments of this application, the axial direction of the annular body of the tire is represented as the x-direction, and the circumferential direction of the annular body of the tire is represented as the b-direction.

[0068] like Figure 1 As shown, this application embodiment provides a drive wheel 100 for cleaning equipment. The drive wheel 100 may include a tire 10 and a hub 20. The tire 10 is fitted onto the outer side of the hub 20.

[0069] like Figure 1 and Figure 2 As shown, the drive wheel 100 may include a tire 10, and the tire 10 may include an annular body 11. The outer circumferential surface of the annular body 11 is provided with a plurality of teeth 12 extending along the axial direction (x direction) of the annular body 11. These teeth 12 are spaced apart along the circumferential direction (b direction) of the annular body 11, and a tooth groove 13 is formed between two adjacent teeth 12.

[0070] The annular body 11 has two axial (x-direction) end faces, namely a first end face 111 and a second end face 112. When the tire 10 is mounted on the cleaning equipment, the first end face 111 is located inside the cleaning equipment. That is, when the drive wheel 100 is mounted on the cleaning equipment, the first end face 111 faces the center of the cleaning equipment, and the second end face 112 is located near the outer side of the cleaning equipment.

[0071] Understandably, the drive wheels 100 are usually used in pairs, with the two drive wheels 100 arranged opposite each other and their first end faces 111 arranged opposite each other. This allows the drive wheels 100 to be symmetrically arranged on the cleaning equipment, improving the operational stability of the cleaning equipment.

[0072] Combination Figure 2 and Figure 3 As shown, a plurality of first notches 141 are formed on the first end face 111, and the plurality of first notches 141 are spaced apart along the circumferential direction (b direction) of the annular body 11. Correspondingly, a plurality of second notches 142 are formed on the second end face 112, and the plurality of second notches 142 are spaced apart along the circumferential direction (b direction) of the annular body 11. Viewed radially from the annular body 11, both the plurality of first notches 141 and the plurality of second notches 142 are recessed from the outer periphery of the annular body 11 towards the center of the annular body 11. Wherein, the dimension L1 of the first notch 141 in the axial direction (x direction) of the annular body 11 is greater than or equal to the dimension L2 of the second notch 142 in the axial direction (x direction) of the annular body 11 (i.e., L1 ≥ L2).

[0073] It should be noted that "radial direction of the annular body 11" refers to the radial direction in a plane perpendicular to the central axis of the tire 10. In the embodiments of the application, it refers to the thickness or height direction of the tire 10. For example, the height of the tooth 12 protruding outward from the surface of the annular body 11 and the depth of the notch structure recessed inward are both measured and defined along the radial direction of the annular body 11.

[0074] The drive wheel 100 provided in this application embodiment can achieve a synergistic improvement in low noise and high obstacle crossing performance by setting the size L1 of the first notch 141 in the axial direction (x direction) of the annular body 11 to be greater than or equal to the size L2 of the second notch 142 in the axial direction (x direction) of the annular body 11.

[0075] Specifically, by setting the axial dimension of the first notch 141 on the first end face 111 on the inner side of the cleaning device to be greater than or equal to the axial dimension of the second notch 142 on the second end face 112 on the outer side, the larger first notch 141 provides greater deformation space and better cushioning capacity for the inner side of the tire 10 when crossing obstacles. This allows the tire 10 to "wrap" or "fit" the edge of the obstacle through preferential and sufficient deformation on the inner side when encountering an obstacle, thereby generating greater grip and traction, effectively improving the success rate and stability of obstacle crossing.

[0076] Furthermore, this design with notches on both ends optimizes the structural stiffness distribution of the contact area between the tire 10 and the area to be cleaned when the tire 10 rolls normally on a flat surface, reducing vibration and impact caused by uneven local deformation of the tread 15 (the contact surface between the tire 10 and the area to be cleaned). In particular, when the second notch 142 is small, it can maintain the structural integrity of the outer side of the tire 10 to a certain extent, suppressing excessive lateral vibration and noise radiation, thereby significantly reducing the overall noise level of the drive wheel 100 during normal operation.

[0077] In other words, the drive wheel 100 provided in this embodiment of the application has different structural advantages under obstacle crossing conditions and stable operation conditions, and finally achieves a synergistic technical effect that balances excellent obstacle crossing ability and low operating noise.

[0078] See also Figure 2 and Figure 3 As shown in the embodiment of this application, the dimension L1 of the first notch 141 in the axial direction (x direction) of the annular body 11 is greater than the dimension L2 of the second notch 142 in the axial direction (x direction) of the annular body 11.

[0079] In other words, the first notch 141 is deeper in the x-direction. Thus, during asynchronous obstacle crossing, when the cleaning equipment rotates and a single drive wheel 100 contacts the obstacle first, the inner side (first end face 111) of the tire 10 that contacts the obstacle later becomes the primary area of ​​force and grip. By increasing the axial (x-direction) depth of the inner first notch 141, the gripping force at the first notch 141 is significantly increased. This generates greater traction to assist the cleaning equipment in smoothly climbing over obstacles, effectively preventing the drive wheel 100 from slipping or stalling on obstacles. This allows the drive wheel 100 to adapt to asynchronous obstacle crossing scenarios, improving the success rate and smoothness of the cleaning equipment crossing obstacles such as thresholds, power lines, and carpet edges by enhancing the grip and impact resistance of the inner side.

[0080] During smooth operation, the outer side (second end face 112) can maintain relatively high radial stiffness due to the smaller size of the second notch 142. The high stiffness of the outer side effectively suppresses abnormal deformation and high-frequency vibration of the tire 10 grip imprint edge, reducing the generation of operating noise from the source.

[0081] Of course, in other embodiments, the dimension L1 of the first notch 141 in the axial (x-direction) direction of the annular body 11 can be set equal to the dimension L2 of the second notch 142 in the axial (x-direction) direction of the annular body 11 (not shown in the figure). That is, the depth of the first notch 141 and the second notch 142 in the x-direction is the same, which can further reduce noise.

[0082] See also Figure 2 and Figure 3 As shown, the orthographic projections of the first notch 141 and the second notch 142 on the first plane do not overlap. The first plane is perpendicular to the axial direction (x-direction) of the annular body 11, and is parallel to the first end face 111 and the second end face 112.

[0083] It should be noted that "the orthographic projection of the first notch 141 on the first plane and the orthographic projection of the second notch 142 on the first plane do not overlap" can specifically mean that the orthographic projection of the first notch 141 on the first plane and the orthographic projection of the second notch 142 on the first plane are separate from each other, or that the orthographic projection of the first notch 141 on the first plane and the orthographic projection of the second notch 142 on the first plane are adjacent to each other.

[0084] This arrangement ensures that the axial (x-direction) solid structure of the tire 10 is preserved to the greatest extent possible at any radial and circumferential (b-direction) position of the tire 10. That is, where the first notch 141 is provided on the first end face 111, the corresponding second end face 112 does not have a second notch 142, and vice versa. The first notch 141 and the second notch 142 are alternately arranged along the circumference of the annular body 11.

[0085] In this way, when deformation occurs at the first gap 141 or the second gap 142 during obstacle crossing, the part outside the first gap 141 and the second gap 142 always has a continuous solid material that is not completely cut off by the gap as a skeleton for force transmission, thus providing a more uniform and solid support force, avoiding structural collapse or sudden change in support force that may be caused by the alignment of the inner and outer gaps, making the obstacle crossing process more stable and reliable.

[0086] In terms of noise control, this staggered layout significantly improves the overall structural stiffness of the tire's grip area, effectively suppressing slapping vibrations caused by insufficient local stiffness, and reducing noise generation at its source.

[0087] In some embodiments, the orthographic projections of the first notch 141 and the second notch 142 on the first plane are sequentially arranged along the circumferential direction (b direction) of the annular body 11 and are adjacent to each other.

[0088] In this configuration, the first notch 141 and the second notch 142 are sequentially arranged and adjacent to each other along the circumferential direction (direction b) on the first plane, forming a continuous or nearly continuous circumferential groove layout. This structure enhances the flexibility and ground adaptability of the tire 10, allowing it to better conform to the ground through the elastic deformation of the notch areas (first notch 141, second notch 142) when encountering uneven ground, thereby improving the obstacle-crossing ability and cleaning efficiency of the cleaning equipment. Furthermore, the adjacent projection design expands the effective drainage or dust removal path on the surface of the tire 10, facilitating rapid media removal in wet or dry cleaning scenarios, preventing slippage or clogging, and improving equipment reliability.

[0089] Figure 4 This is a structural schematic diagram of a tire of a drive wheel from another angle, provided as an embodiment of this application. Figure 5 for Figure 4 The diagram shows an enlarged view of the tire at point A.

[0090] See Figure 4 and Figure 5As shown, the dimension L3 of the first notch 141 in the circumferential direction (b direction) of the annular body 11 is equal to the dimension L4 of the second notch 142 in the circumferential direction (b direction) of the annular body 11.

[0091] This allows the tire 10 to form a regular and symmetrical force transmission path in the radial direction. When the tire 10 deforms during obstacle crossing, the inner and outer first notches 141 and second notches 142 can generate coordinated deformation responses, avoiding abnormal twisting or stress concentration caused by mismatch in circumferential (b direction) deformation, and ensuring the stability and structural reliability of the drive wheel 100 when climbing obstacles. At the same time, this regular geometry also helps the tire 10 maintain uniform contact and separation with the ground when rolling, reducing vibration and noise caused by irregular impacts.

[0092] Of course, in some other embodiments, the size L3 of the first notch 141 in the circumferential direction (b direction) of the annular body 11 can be set to be larger than the size L4 of the second notch 142 in the circumferential direction (b direction) of the annular body 11. This can further enlarge the size of the first notch 141 in the b direction. In this way, when asynchronously crossing obstacles (the body of the cleaning device first faces the obstacle, then rotates the body to put on one drive wheel 100, and then put on another drive wheel 100), the tire 10 of the first drive wheel 100 contacts the obstacle on the outside, and the tire 10 of the second drive wheel 100 contacts the obstacle on the inside. Therefore, by making the size of the first notch 141 located on the inside larger in the circumferential direction, stronger grip can be obtained, thereby improving the obstacle crossing ability.

[0093] In this embodiment of the application, the size relationship between the first notch 141 in the circumferential direction (b direction) of the annular body 11 and the second notch 142 in the circumferential direction (b direction) of the annular body 11 is not further limited.

[0094] Figure 6 This is a structural schematic diagram of a tire of a drive wheel from another angle, provided as an embodiment of this application. Figure 7 for Figure 6 The diagram shows an enlarged view of the tire at point B.

[0095] like Figure 6 and Figure 7 As shown, in the circumferential direction (direction b) of the annular body 11, a first step 143 is formed on both sides of each first notch 141, and a second step 144 is formed on both sides of each second notch 142. Both the first step 143 and the second step 144 are solid structures. That is, viewed from the first end face 111, the first notch 141 and the first step 143 are alternately arranged. Viewed from the second end face 112, the second notch 142 and the second step 144 are alternately arranged.

[0096] For example, the first step 143 and / or the second step 144 are solid structures. That is, at least one of the first step 143 and the second step 144 is a solid structure. For example, the first step 143 and the second step 144 are solid structures.

[0097] By forming a first step 143 on both sides of each first gap 141 and a second step 144 on both sides of each second gap 142 in the circumferential (b direction) direction of the annular body 11, and by forming a first step 143 and a second step 144 on both sides of each second gap 142, and by forming both the first step 143 and the second step 144 as solid structures, a strong boundary support can be provided for each gap in the circumferential (b direction) direction of the annular body 11.

[0098] When crossing obstacles, as the gap area deforms under pressure to provide the necessary grip, the solid step structure on both sides of the gap area can effectively limit the excessive expansion of deformation and prevent the stress from being transmitted disorderly throughout the tire 10 structure. This can improve the structural integrity and durability of the tire 10 under extreme deformation, avoid the problem of tire 10 tearing, and ensure that every obstacle crossing action is stable and controllable.

[0099] In addition, during smooth operation, these solid stepped structures can enhance the rigidity of the tire 10 and effectively suppress high-frequency vibrations and noise caused by the flexible vibration of the notch edge.

[0100] For example, the first notch 141 spans at least two teeth 12 in the circumferential direction (b direction) of the annular body 11. And / or, the second notch 142 spans at least two teeth 12 in the circumferential direction (b direction) of the annular body 11. For example, both the first notch 141 and the second notch 142 span two, three, or four teeth 12 in the circumferential direction (b direction) of the annular body 11.

[0101] With this design, when the tire 10 contacts the edge of the obstacle during obstacle crossing, the relatively large notches (first notch 141 and second notch 142) can simultaneously guide multiple wheel teeth 12 to produce coordinated deformation, thereby forming a larger contact and wrapping surface between the tire 10 and the obstacle. This enhances the adhesion during climbing, effectively prevents individual wheel teeth 12 from slipping due to excessive force, and makes the obstacle crossing process smoother and more continuous, significantly improving the ability and success rate of the drive wheel 100 to cope with higher obstacles.

[0102] In addition, the long notches (first notch 141 and second notch 142) spanning multiple teeth 12 can deform and recover in an orderly manner with a lower frequency and a larger amplitude when the tire 10 rolls. Compared with the high frequency and rapid slapping of a single tooth 12, this low-frequency deformation mode produces less working noise and a deeper sound quality that is less likely to cause offense.

[0103] In the above embodiments, it is described that the number of teeth 12 spanned by the first notch 141 in the circumferential direction (b direction) of the annular body 11 is the same as the number of teeth 12 spanned by the second notch 142 in the circumferential direction (b direction) of the annular body 11.

[0104] Of course, in other embodiments, the number of teeth 12 spanned by the first notch 141 in the circumferential direction (b direction) of the annular body 11 may differ from the number of teeth 12 spanned by the second notch 142 in the circumferential direction (b direction) of the annular body 11. For example, the first notch 141 may span three teeth 12 in the circumferential direction (b direction) of the annular body 11, and the second notch 142 may span two teeth 12 in the circumferential direction (b direction) of the annular body 11. In the embodiments of this application, the number of teeth 12 spanned by the first notch 141 in the circumferential direction (b direction) of the annular body 11 and the number of teeth 12 spanned by the second notch 142 in the circumferential direction (b direction) of the annular body 11 are not limited.

[0105] In some embodiments, the first step 143 spans at least two teeth 12 in the circumferential (b direction) direction of the annular body 11. And / or, the second step 144 spans at least two teeth 12 in the circumferential (b direction) direction of the annular body 11. For example, the first step 143 and the second step 144 each span two, three, or four teeth 12 in the circumferential (b direction) direction of the annular body 11.

[0106] This design enhances the structural stability and impact resistance of the drive wheel 100 during obstacle crossing. The reinforcing support provided by the first step 143 or the second step 144 covers a larger circumferential area. When the tire 10 encounters an obstacle and impacts, the wide step spanning multiple teeth 12 effectively disperses concentrated stress over a larger contact area, preventing tire deformation or damage caused by localized stress concentration. Under the complex stress conditions faced by the cleaning equipment during obstacle crossing, by enhancing the rigidity of key parts of the tire 10, sufficient structural strength is ensured to withstand impact loads. The necessary flexible deformation capacity of the tire 10 is maintained through the cooperation of the first notch 141 or the second notch 142, thereby extending the service life of the drive wheel while ensuring obstacle crossing performance.

[0107] In the above embodiments, it is described that the number of teeth 12 that the first step 143 traverses in the circumferential direction (b direction) of the annular body 11 is the same as the number of teeth 12 that the second step 144 traverses in the circumferential direction (b direction) of the annular body 11.

[0108] Of course, in other embodiments, the number of teeth 12 that the first step 143 traverses in the circumferential direction (b direction) of the annular body 11 may differ from the number of teeth 12 that the second step 144 traverses in the circumferential direction (b direction) of the annular body 11. For example, the first step 143 may traverse three teeth 12 in the circumferential direction (b direction) of the annular body 11, and the second step 144 may traverse two teeth 12 in the circumferential direction (b direction) of the annular body 11. In the embodiments of this application, the number of teeth 12 traversed by the first step 143 in the circumferential direction (b direction) of the annular body 11 and the number of teeth 12 traversed by the second step 144 in the circumferential direction (b direction) of the annular body 11 are not limited.

[0109] In some embodiments, see Figure 5 and Figure 7 As shown, the dimension L5 of the first step 143 in the circumferential direction (b direction) of the annular body 11 is equal to the dimension L6 of the second step 144 in the circumferential direction (b direction) of the annular body 11. This ensures that the tire 10 has a consistent structural stiffness distribution on both sides in the axial direction (x direction). When the tire 10 is subjected to lateral forces or obstacle-crossing impacts from different directions, the deformation response and force transmission path of the inner and outer sides are symmetrical and synchronous. This effectively avoids problems such as deviation, abnormal wear, or local stress concentration caused by uneven support strength on both sides, thereby improving the stability and durability of the drive wheel 100.

[0110] Of course, in some embodiments, the dimension L5 of the first step 143 in the circumferential direction (b direction) of the annular body 11 can be set to be larger than the dimension L6 of the second step 144 in the circumferential direction (b direction) of the annular body 11. That is, the dimension of the first step 143 of the solid structure located on the inner side in the circumferential direction (b direction) of the annular body 11 is larger.

[0111] Under the impact load of asynchronous obstacle crossing, the inner side of the upper rear drive wheel 100 bears greater torque. The larger circumferential solid first step 143 enhances the rigidity and torsional resistance of the inner hub 20 structure, better resisting obstacle crossing impacts and preventing structural damage. The outer side maintains a relatively compact structure, balancing lightweight design with stability during daily driving. This differentiated design based on actual stress conditions optimizes the load distribution of the drive wheel 100, improving its overall durability and service life.

[0112] For example, the dimensions L3 of the first notch 141 in the circumferential direction (b direction) of the annular body 11, the dimensions L4 of the second notch 142 in the circumferential direction (b direction) of the annular body 11, the dimensions L5 of the first step 143 in the circumferential direction (b direction) of the annular body 11, and the dimensions L6 of the second step 144 in the circumferential direction (b direction) of the annular body 11 can all be the same.

[0113] This simplifies the design and manufacturing of tire molds. The mold cores used to form these notches and steps can be designed and manufactured with identical dimensions, which significantly reduces mold complexity, manufacturing costs, and assembly time. It also eliminates product quality fluctuations caused by the accumulation of multiple dimensional tolerances, thereby improving product quality.

[0114] From a structural mechanics perspective, this design creates regular and symmetrical "deformation-support" periodic units in the circumferential direction of the tire 10. Each periodic unit consists of alternating "deformation zones" (notches) and "rigid zones" (steps) of identical size. This symmetry ensures that the tire 10 maintains a consistent period of stiffness change at ground contact while rolling, regardless of its rotation angle. This improves the motion stability of the cleaning equipment, effectively avoids vibration and noise caused by abrupt changes in periodic stiffness, and makes the equipment operate more quietly and smoothly.

[0115] See also Figure 5 and Figure 7 As shown, the annular body 11 has a perforated structure 125 extending along the axial direction (x direction) of the annular body 11 in the non-solid structure region. Among them, the perforated structure 125 corresponding to the first step 143 is connected to the second notch 142, and the perforated structure 125 corresponding to the second step 144 is connected to the first notch 141.

[0116] For example, the cross-sectional shape of the hole structure 125 can be circular, rectangular, or polygonal. In this embodiment, the cross-sectional shape of the hole structure 125 is not further limited.

[0117] In the embodiments of this application, such as Figure 5 and Figure 7 As shown, the cross-sectional shape of the perforated structure 125 is a rectangular structure with rounded corners on all four sides.

[0118] By introducing axial (x-direction) hole structures 125 at locations such as the first step 143 and the second step 144, the amount of material used is significantly reduced, manufacturing costs are lowered, and the rotational inertia of the drive wheel 100 is reduced, which is beneficial for the agile response and energy consumption reduction when the cleaning equipment starts and stops. By connecting the hole structure 125 corresponding to the first step 143 to the second notch 142, and connecting the hole structure 125 corresponding to the second step 144 to the first notch 141, the processing difficulty can be reduced.

[0119] By connecting the perforated structure 125 with the external first notch 141 or second notch 142, an acoustic damping structure can be formed. When the tire 10 rolls and rubs against the ground or hits an obstacle, generating vibration and noise, these interconnected cavities can effectively block and attenuate the propagation path of sound waves and convert sound energy into heat energy from air vibration, thereby significantly reducing the noise generated by the drive wheel during operation and improving the quiet operation experience of the cleaning equipment.

[0120] In some embodiments, the size of the opening end of the hole structure 125 is larger than the size of the bottom end, so that a draft angle can be formed from the bottom end to the opening end of the hole structure 125, which can reduce the processing difficulty.

[0121] like Figure 8 As shown, the gear tooth 12 may include a tooth tip surface 123, which is used to contact the surface to be cleaned. For example, in the b direction, the two ends of the tooth tip surface 123 are a first side surface 121 and a second side surface 122, respectively. The first side surface 121 and the second side surface 122 are symmetrically arranged at the two ends of the tooth tip surface 123, and the first side surface 121 and the second side surface 122 are both arranged at an angle to the tooth tip surface 123, so that a tooth groove 13 is formed between two adjacent gear teeth 12.

[0122] Of course, in other embodiments, the first side surface 121 and the second side surface 122 may also be asymmetrical, for example, the included angles between the first side surface 121 and the second side surface 122 and the tooth tip surface 123 are different. In the embodiments of this application, the included angles between the tooth tip surface 123 and the first side surface 121 and the second side surface 122 are not further limited.

[0123] In some embodiments, the distance h from the bottom of the tooth groove 13 to the tooth tip 123 of the tooth 12 can be between 0.5 mm and 5 mm.

[0124] For example, the distance h from the bottom of the tooth groove 13 to the plane containing the top surface of the tooth 12 can be 0.5 mm, 1 mm, 1.5 mm, 2 mm, 2.5 mm, 3 mm, 3.5 mm, 4 mm, 4.5 mm, or 5 mm. In this embodiment, the specific value of the distance h from the bottom of the tooth groove 13 to the plane containing the top surface of the tooth 12 is not further limited.

[0125] By controlling the distance from the bottom of the tooth groove 13 to the top surface of the tooth 12 within the range of 0.5 mm to 5 mm, common ground obstacles (such as carpet fibers, threshold protrusions, or small debris) can be effectively accommodated, preventing foreign objects from getting stuck while maintaining the effective contact area between the tooth 12 and the ground. When crossing obstacles, the appropriate depth of the tooth groove 13 ensures that the tooth 12 has sufficient effective meshing height to provide strong grip, and also avoids stress concentration or structural strength reduction caused by excessively deep tooth grooves 13.

[0126] Furthermore, this depth range ensures that the tire 10 maintains multiple teeth in contact with the ground simultaneously when rolling on a flat surface, effectively distributing pressure and reducing vibration, thus balancing obstacle-crossing stability with smooth daily driving. This significantly improves the adaptability of the drive wheel 100 to complex ground environments, enabling the cleaning equipment to smoothly and efficiently traverse obstacles of varying heights.

[0127] Combination Figure 5 , Figure 7 and Figure 8 As shown, in the radial direction of the annular body 11, the top surface of the first step 143 is a first sectional surface 1431, and the top surface of the second step 144 is a second sectional surface 1441. The first sectional surface 1431 is lower than the tooth tip surface 123 and higher than the bottom of the tooth groove 13. And / or, the second sectional surface 1441 is lower than the tooth tip surface 123 and higher than the bottom of the tooth groove 13. In the embodiments of this application, the first sectional surface 1431 is always lower than the tooth tip surface 123 and always higher than the bottom of the tooth groove 13.

[0128] For example, the first cut surface 1431 and the second cut surface 1441 are located on an annular surface at the same distance from the axis of the drive wheel 100, that is, the first cut surface 1431 and the second cut surface 1441 are flush in the radial direction of the annular body 11. The first cut surface 1431 and the second cut surface 1441 can be located at the midpoint between the tooth tip surface 123 and the bottom of the tooth groove 13, that is, in the radial direction of the annular body 11, the distance from the first cut surface 1431 and the second cut surface 1441 to the tooth tip surface 123 is the same as the distance to the bottom of the tooth groove 13. Of course, they can also be set in other positions. In this embodiment, the specific position of the first cut surface 1431 and the second cut surface 1441 is not further limited.

[0129] By setting multiple teeth 12, with adjacent teeth 12 forming a tooth groove 13, the teeth 12 and tooth groove 13 can constitute the main driving surface, ensuring the basic grip and cleaning effect of the drive wheel 100 on flat ground and complex surfaces such as carpets. By setting the height of the first cut surface 1431 and the second cut surface 1441 between the tooth tip surface 123 and the tooth groove 13, a secondary functional contact surface can be formed at the first cut surface 1431 and the second cut surface 1441.

[0130] When overcoming obstacles, if the tooth 12 undergoes significant deformation due to climbing the obstacle and the tooth tip 123 may temporarily lose contact, the appropriately positioned first and second tangential surfaces 1431 and 1441 can promptly contact the obstacle, providing auxiliary support and propulsion, thereby significantly improving the reliability and stability of overcoming obstacles and preventing slippage or jamming.

[0131] During smooth operation, the first and second tangential surfaces 1431 and 1441, which are lower than the tooth tip surface 123, do not normally contact the surface to be cleaned, thus avoiding frictional noise caused by excessive contact area. In addition, by setting the first and second tangential surfaces 1431 and 1441, the weight of the tire 10 can be reduced, the amount of material used can be reduced, and thus the cost can be reduced.

[0132] See also Figure 7 As shown, the tooth tip surface 123 is provided with a plurality of groove structures 124 spaced apart along the axial direction (x direction) of the annular body 11. Exemplarily, the plurality of groove structures 124 are all identical in shape. Of course, in some other embodiments, the shapes of some of the plurality of groove structures 124 may be different. In the embodiments of this application, the shape of the plurality of groove structures 124 is not further limited.

[0133] By providing a groove structure 124 on the tooth tip surface 123, the actual contact area and surface roughness when the tooth tip surface 123 contacts the surface to be cleaned (especially smooth, hard surfaces) can be effectively increased. This can significantly enhance the friction coefficient and grip of the tire 10, preventing the drive wheel 100 from slipping or spinning during startup, acceleration, or obstacle crossing, ensuring the efficiency of power transmission and driving stability of the cleaning equipment. The spaced groove structures 124 form elastic groove areas on the tooth tip surface 123. When the drive wheel 100 runs over small obstacles or ground seams, these grooves can undergo slight deformation, providing additional cushioning, helping to smoothly cross obstacles, reducing bumps and impacts, not only improving the smoothness of equipment passage but also helping to protect the internal structure of the equipment from severe vibrations.

[0134] In addition, the multiple spaced groove structures 124 effectively divide the contact area between the tooth tip surface 123 and the ground, breaking the airflow adsorption and vacuum pumping effect that may occur on the continuous contact surface, thus reducing aerodynamic noise during high-speed rolling. Furthermore, these groove structures 124, as tiny deformation units, can absorb and buffer the high-frequency vibrations generated when the tire 10 contacts the microscopic unevenness of the ground, further suppressing noise generation at its source.

[0135] For example, in combination Figure 7 and Figure 9As shown, a central groove 126 is provided on the tooth tip surface 123, and the central groove 126 is located at the center of the annular body 11 in the axial (x-direction) direction. The dimension of the central groove 126 in the axial (x-direction) direction of the annular body 11 is larger than the dimension of any single groove structure 124 in the axial (x-direction) direction of the annular body 11. The radial dimension of the central groove 126 is the same as the radial dimension of the multiple groove structures 124 in the annular body 11.

[0136] By providing a large central groove 126 in the middle of the tooth top surface 123, a major deformation zone can be formed in the middle of the tire 10. When crossing obstacles or requiring strong traction, this area can preferentially deform moderately, enhancing the tire 10's "biting" action on obstacles or surfaces to be cleaned, improving passability and driving force. The smaller groove structures 124 on both sides can provide auxiliary deformation and stable edge support. In addition, from the perspective of cleaning and drainage, all grooves together form an efficient drainage and debris removal network. In particular, the large central groove 126, as the main channel, can quickly guide water and small particles to the sides, effectively preventing the tire 10 from slipping on wet surfaces and avoiding dirt adhering to the tread 15, affecting grip and cleaning effect.

[0137] See Figure 9 and Figure 10 As shown, the tooth tip surfaces 123 of the plurality of gear teeth 12 have the same dimension in the axial direction (x direction) of the annular body 11, and the two ends of the tooth tip surfaces 123 of the plurality of gear teeth 12 are aligned with each other in the axial direction (x direction) of the annular body 11. The tooth tip surfaces 123 of all gear teeth 12 form a surface on the outer peripheral surface of the annular body 11 that is configured as the tread 15 of the tire 10. In use, the tread 15 is used to contact the surface to be cleaned.

[0138] By aligning the tooth tip surfaces 123 of multiple gear teeth 12 with consistent dimensions in the axial (x-direction) direction and their ends aligned, a continuous, flat, and effective contact surface is formed. This ensures that the pressure is evenly distributed when the drive wheel 100 contacts the ground, avoiding localized wear caused by uneven pressure or vibration of the cleaning equipment, thus providing smooth, efficient, and reliable drive performance.

[0139] For example, the dimension L1 of the first notch 141 in the axial direction (x direction) of the annular body 11 is the same as the dimension T1 of the first cross-section 1431 in the axial direction (x direction) of the annular body 11. And / or, the dimension L2 of the second notch 142 in the axial direction (x direction) of the annular body 11 is the same as the dimension T2 of the second cross-section 1441 in the axial direction (x direction) of the annular body 11.

[0140] This configuration ensures that the deformation space provided by the notches (first notch 141 and second notch 142) and the auxiliary support function provided by the cut surfaces (first cut surface 1431 and second cut surface 1441) are perfectly aligned axially (x-direction), forming an effective "deformation-support" collaborative unit. When the tire 10 crosses an obstacle, stress can be smoothly transferred between the notch deformation area and the cut surface support area, avoiding stress concentration or local bending caused by dimensional misalignment, thus improving the structural durability of the tire 10 and the continuity of obstacle-crossing action.

[0141] Furthermore, from a manufacturing process perspective, this greatly simplifies the complexity of the mold. The axial (x-direction) boundary of the notch and the axial (x-direction) boundary of the cut surface can be coplanar or formed in one step by the same mold structure. This not only reduces the number of mold components and assembly tolerances, but also significantly reduces the difficulty of demolding, improves the manufacturing precision and batch consistency of tires, and is beneficial for cost control and quality stability.

[0142] In some embodiments, each tooth 12 may include a solid portion and a hollow portion. For example, if the end of the tooth 12 facing the first end face 111 is a hollow portion, then the end of the tooth 12 facing the second end face 112 is a solid portion. The solid portion is configured as a first step 143 or a second step 144, and the hollow portion corresponds to a first notch 141 or a second notch 142, respectively. By including both solid and hollow portions in the tooth 12, the load-bearing capacity of the tooth 12 can be guaranteed, and the weight of the tire 10 can be reduced, thereby saving costs.

[0143] The solid structures at the first step 143 and the second step 144 are described below.

[0144] like Figure 9 As shown, in the axial direction (x-direction) of the annular body 11, the bottom surface of the hole-like structure 125 corresponding to the first step 143 is configured as the top surface of the solid structure at the first step 143. And / or, in the axial direction (x-direction) of the annular body 11, the bottom surface of the hole-like structure 125 corresponding to the second step 144 is configured as the top surface of the solid structure at the second step 144. That is to say, the hole-like structure 125 is a blind hole, and the unopened part is the solid structure portion of the first step 143 or the second step 144.

[0145] For example, the dimension m1 of the solid structure at the first step 143 in the axial direction (x direction) of the annular body 11 is greater than or equal to the dimension T1 of the first cross-section 1431 in the axial direction of the annular body 11. And / or, the dimension m2 of the solid structure at the second step 144 in the axial direction of the annular body 11 is greater than or equal to the dimension T2 of the second cross-section 1441 in the axial direction of the annular body 11.

[0146] By configuring the bottom surface of the perforated structure 125 corresponding to the first step 143 as the top surface of the solid structure at the first step 143, and the axial dimension of the solid structure is greater than or equal to the dimension of the first cross-section 1431 (similarly applicable to the second step 144), the tire 10 is locally thickened and reinforced in the critical load-bearing areas (at the first step 143 and the second step 144), thereby improving the structural stiffness and impact resistance at the first step 143 and the second step 144 and preventing stress concentration caused by the setting of the notch or perforated structure 125.

[0147] Furthermore, through precise control of the solid structure dimensions, a good balance was achieved between lightweighting and ensuring structural strength, avoiding vibrations caused by excessively thin walls or inertial impacts caused by excessively thick walls, thus suppressing vibrations at the source of noise. This synergistic effect resulted in low-noise and smooth operation of the drive wheels, significantly improving the quietness and comfort of the cleaning equipment.

[0148] In some embodiments, combined with Figure 9 and Figure 10 As shown, the dimension m1 of the solid structure at the first step 143 in the axial direction of the annular body 11 is the same as the dimension T1 of the first cross-section 1431 in the axial direction (x direction) of the annular body 11. This ensures the strength of the first step 143 while minimizing the weight of the tire 10, thereby reducing costs.

[0149] For example, the difference between the dimension m1 of the solid structure at the first step 143 in the axial direction of the annular body 11 and the dimension T1 of the first cross-section 1431 in the axial direction (x direction) of the annular body 11 is less than or equal to 1 mm. This ensures the strength of the first step 143 and also ensures the noise reduction and vibration reduction effect of the perforated structure 125.

[0150] See also Figure 9 and Figure 10 As shown, the dimension m2 of the solid structure at the second step 144 in the axial direction of the annular body 11 is greater than the dimension T2 of the second sectional surface 1441 in the axial direction (x direction) of the annular body 11. This can improve the structural strength of the second step 144.

[0151] For example, the difference between the dimension m2 of the solid structure at the second step 144 in the axial direction of the annular body 11 and the dimension T2 of the second cut surface 1441 in the axial direction (x direction) of the annular body 11 is less than or equal to 1 mm. This ensures the strength of the second step 144 and also ensures the noise reduction and vibration reduction effect of the perforated structure 125.

[0152] In some embodiments, the dimension of the solid structure at the first step 143 in the axial direction (x-direction) of the annular body 11 is greater than or equal to the dimension of the first notch 141 in the axial direction of the annular body 11. The dimension of the solid structure at the second step 144 in the axial direction (x-direction) of the annular body 11 is greater than or equal to the dimension of the second notch 142 in the axial direction of the annular body 11.

[0153] For example, such as Figure 10 As shown, the dimension m1 of the solid structure at the first step 143 in the axial direction of the annular body 11 is equal to the dimension L1 of the first notch 141 in the axial direction of the annular body 11.

[0154] Of course, in other embodiments, the axial dimension of the solid structure at the first step 143 in the annular body 11 can be set to be larger than the axial dimension of the first notch 141 in the annular body 11. In this embodiment, the relationship between the axial dimension of the solid structure at the first step 143 in the annular body 11 and the axial dimension of the first notch 141 in the annular body 11 is not further limited.

[0155] See also Figure 10 As shown, the dimension m2 of the solid structure at the second step 144 in the axial direction of the annular body 11 is greater than the dimension L2 of the second notch 142 in the axial direction of the annular body 11.

[0156] Of course, in other embodiments, the axial dimension of the solid structure at the second step 144 in the annular body 11 can be set to be equal to the axial dimension of the second notch 142 in the annular body 11. In this embodiment, the relationship between the axial dimension of the solid structure at the second step 144 in the annular body 11 and the axial dimension of the second notch 142 in the annular body 11 is not further limited.

[0157] In this embodiment, the dimension of the solid structure in the axial direction (x direction) of the annular body 11 can be set to be equal to the dimension of the notch in the axial direction of the annular body 11. Of course, in other embodiments, the dimension of the solid structure in the axial direction (x direction) of the annular body 11 can be set to be larger. This can widen the solid structure and provide a larger load-bearing cross section for the notch area. When the gear teeth 12 mesh with the obstacle, the impact load can be evenly distributed to the interior of the annular body 11 along the axial direction through the widened solid structure, avoiding local plastic deformation caused by stress concentration.

[0158] The increase in the size of the solid structure significantly improves the torsional stiffness of the tire 10 edge. When the drive wheel 100 is subjected to lateral torque during obstacle crossing (such as oblique contact with a step), the widened solid structure can effectively suppress circumferential torsional deformation, maintain the optimal meshing angle between the wheel teeth 12 and the obstacle, and reduce energy loss caused by torsional deformation.

[0159] This application also provides a cleaning device, including a device body and the drive wheel 100 as described in any of the above embodiments. The cleaning device can be a floor scrubber, sweeper, or vacuum cleaner, etc. In this application embodiment, the specific type of the cleaning device is not further limited.

[0160] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0161] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., 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.

[0162] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0163] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "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 direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A drive wheel, characterized in that, For use in cleaning equipment, the drive wheel includes: A tire includes an annular body, wherein the two axial end faces of the annular body are a first end face and a second end face, respectively; wherein, Multiple first notches are formed on the first end face, and the multiple first notches are spaced apart along the circumference of the annular body; A plurality of second notches are formed on the second end face; the plurality of second notches are spaced apart along the circumference of the annular body; In the radial direction of the annular body, both the first notch and the second notch are recessed from the outer periphery of the annular body toward the center of the annular body; In the circumferential direction of the annular body, a first step is formed on both sides of each first notch, and a second step is formed on both sides of each second notch; The first step and / or the second step are solid structures.

2. The drive wheel according to claim 1, characterized in that, The dimension of the first step in the circumferential direction of the annular body is equal to the dimension of the second step in the circumferential direction of the annular body.

3. The drive wheel according to claim 1, characterized in that, The dimension of the first notch in the axial direction of the annular body is greater than or equal to the dimension of the second notch in the axial direction of the annular body.

4. The drive wheel according to any one of claims 1-3, characterized in that, The orthographic projection of the first notch onto the first plane and the orthographic projection of the second notch onto the first plane do not overlap; wherein, The first plane is perpendicular to the axial direction of the annular body.

5. The drive wheel according to claim 4, characterized in that, The orthographic projection of the first notch on the first plane and the orthographic projection of the second notch on the first plane are arranged sequentially along the circumference of the annular body and are adjacent to each other.

6. The drive wheel according to any one of claims 1-3, characterized in that, The outer circumferential surface of the annular body is provided with multiple gear teeth extending along the axial direction of the annular body; wherein, Multiple gear teeth are spaced apart circumferentially along the annular body, and a tooth groove is formed between two adjacent gear teeth; The gear teeth include a tooth tip surface, which is used to contact the surface to be cleaned; In the radial direction of the annular body, the top surface of the first step is a first tangent, and the top surface of the second step is a second tangent; The first cut surface is lower than the tooth tip surface and higher than the bottom of the tooth groove; and / or, The second cut surface is lower than the tooth tip surface and higher than the bottom of the tooth groove.

7. The drive wheel according to claim 6, characterized in that, The dimension of the first notch in the axial direction of the annular body is the same as the dimension of the first cross-section in the axial direction of the annular body; and / or, The second notch has the same axial dimension as the second cut surface in the annular body.

8. The drive wheel according to claim 6, characterized in that, The first step spans at least two of the gear teeth in the circumferential direction of the annular body; and / or, The second step spans at least two of the gear teeth in the circumferential direction of the annular body.

9. The drive wheel according to claim 6, characterized in that, The tooth tip surface is provided with multiple groove structures spaced apart along the axial direction of the annular body.

10. The drive wheel according to claim 9, characterized in that, A central groove is provided on the tooth tip surface, and the central groove is located at the center of the annular body along its axial direction; wherein... The dimension of the central groove along the axial direction of the annular body is greater than the dimension of any one of the groove structures along the axial direction of the annular body. The central groove has the same radial dimension as the plurality of groove structures in the annular body.

11. The drive wheel according to claim 9, characterized in that, The tooth tip surfaces of the plurality of teeth have the same axial dimension in the annular body, and the two ends of the tooth tip surfaces of the plurality of teeth in the annular body are respectively aligned with each other in the axial direction.

12. The drive wheel according to any one of claims 1-3, characterized in that, The annular body has perforated structures extending along the axial direction of the annular body in areas other than the solid structure; wherein, The perforated structure corresponding to the first step is connected to the second notch; The perforated structure corresponding to the second step is connected to the first notch.

13. The drive wheel according to claim 12, characterized in that, Along the axial direction of the annular body, the bottom surface of the perforated structure corresponding to the first step is configured as the top surface of the solid structure at the first step; In the radial direction of the annular body, the top surface of the first step is a first tangent, and the top surface of the second step is a second tangent; The dimension of the solid structure at the first step in the axial direction of the annular body is greater than or equal to the dimension of the first cross-section in the axial direction of the annular body. And / or, Along the axial direction of the annular body, the bottom surface of the perforated structure corresponding to the second step is configured as the top surface of the solid structure at the second step; The dimension of the solid structure at the second step in the axial direction of the annular body is greater than or equal to the dimension of the second cross-section in the axial direction of the annular body.

14. A cleaning device, characterized in that, It includes the device body and the drive wheel as described in any one of claims 1-13.

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