CN117382348A - Cleaning device and running wheel - Google Patents

Cleaning device and running wheel Download PDF

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Publication number
CN117382348A
CN117382348A CN202311499334.3A CN202311499334A CN117382348A CN 117382348 A CN117382348 A CN 117382348A CN 202311499334 A CN202311499334 A CN 202311499334A CN 117382348 A CN117382348 A CN 117382348A
Authority
CN
China
Prior art keywords
groove
running
running wheel
wheel
cleaning device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311499334.3A
Other languages
Chinese (zh)
Inventor
宋伟
都晓锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to CN202311499334.3A priority Critical patent/CN117382348A/en
Publication of CN117382348A publication Critical patent/CN117382348A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/0327—Tread patterns characterised by special properties of the tread pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/12—Tread patterns characterised by the use of narrow slits or incisions, e.g. sipes
    • B60C11/1236—Tread patterns characterised by the use of narrow slits or incisions, e.g. sipes with special arrangements in the tread pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/12—Tread patterns characterised by the use of narrow slits or incisions, e.g. sipes
    • B60C11/1272—Width of the sipe
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C2200/00—Tyres specially adapted for particular applications

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Tires In General (AREA)

Abstract

The present disclosure relates to a cleaning apparatus and a running wheel, the cleaning apparatus including a running wheel for running, a groove structure being provided on a tread of the running wheel at intervals in a circumferential direction; the groove structure includes a first groove adjacent one side of the road wheel and a second groove adjacent the opposite side of the road wheel and spaced from the first groove to form a circumferentially continuous running surface between the first and second grooves. According to the driving wheel, the driving surfaces which are continuous in the circumferential direction are formed on the driving wheel by arranging the first grooves and the second grooves, the obstacle crossing capacity of the driving wheel is improved, and the contact area between the driving surfaces and the working surfaces is increased. The friction force and the ground grabbing force of the running wheels are improved, and the running wheels are prevented from skidding in the running process.

Description

Cleaning device and running wheel
Technical Field
The disclosure relates to the technical field of cleaning, in particular to cleaning equipment; the present disclosure also relates to a running wheel that can be applied to the above cleaning apparatus.
Background
Along with the continuous development and mature application of intelligent technology, traditional home is gradually transformed towards the intelligent home direction, and the sweeping robot is one of intelligent home appliances, and can be called an automatic sweeping machine, an intelligent dust collector, a robot dust collector, a sweeping machine and the like, and can automatically move in a room and complete ground cleaning work by means of certain artificial intelligence.
In indoor cleaning situations, where there are some thresholds, steps or uneven floors, wheeled cleaning devices can face certain difficulties when climbing the steps. The existing cleaning equipment is often designed with complex patterns and lines on the surface of a tire, the contact area between the tire and the ground is reduced due to excessive patterns on the tire, the ground grabbing force is insufficient, the obstacle crossing capability is poor, and the problems of slipping, tire noise and the like are easy to occur in a wet and slippery cleaning scene.
Disclosure of Invention
The present disclosure provides a cleaning apparatus and a travel wheel in order to solve the problems existing in the prior art.
According to a first aspect of the present disclosure, there is provided a cleaning apparatus including a running wheel for running, the tread of the running wheel being provided with groove structures at intervals in a circumferential direction; the groove structure includes a first groove adjacent one side of the road wheel and a second groove adjacent the opposite side of the road wheel and spaced from the first groove to form a circumferentially continuous running surface between the first and second grooves.
In one embodiment of the present disclosure, the orthographic projections of the first and second grooves in the axial direction of the running wheel are staggered to form a running surface that is continuous in the axial direction at a position between adjacent first and second grooves.
In one embodiment of the present disclosure, the first groove and the second groove are spaced apart in the axial direction of the running wheel by a width set to be greater than 1/4 of the total width of the running wheel.
In one embodiment of the present disclosure, the widths L of the first and second grooves in the axial direction of the running wheel 1 Is set to 0.325 to 0.36 times the total width of the running wheel.
In one embodiment of the present disclosure, the length H of the first groove, the second groove in the running wheel circumferential direction 1 Is set to be smaller than L 1 Is 0.8 times as large as the above.
In one embodiment of the present disclosure, the first groove, the second groove are spaced apart in the running wheel circumferential direction by a length H 2 Set to H 1 From 0.15 to 0.3 times.
In one embodiment of the present disclosure, two sides of the first groove and the second groove in the circumferential direction are respectively denoted as a first side edge and a second side edge; the first side edge of the first groove and the second side edge of the second groove are configured to be in transitional connection with the running surface, the second side edge is configured to be concave relative to the running surface, and a step surface extending in the radial direction is formed between the second side edge and the running surface.
In one embodiment of the present disclosure, the first groove and the second groove are configured to extend from the first side edge to the second side edge gradually deviating from the direction of the running surface to form an arc surface; the curvature of the arc surface is larger than that of the running surface.
In one embodiment of the present disclosure, the circular arc surface is configured to be gradually inclined toward the axial direction of the running wheel from the running surface to the outside thereof.
In one embodiment of the present disclosure, the second side of the circular arc surface is configured to form a drain groove with the step surface.
In one embodiment of the present disclosure, the diameter D of the bottom of the drain tank is about the axis of the running wheel 2 Set to the diameter D of the running wheel 3 From 0.86 to 0.9 times.
In one embodiment of the present disclosure, an included angle is formed between a line connecting the bottom of the drain groove and the axle center of the running wheel and the step surface.
In one embodiment of the present disclosure, the second sides of the first and second grooves are configured to be arc-shaped, which gradually extends from a position connected to the first side to the outside of the running wheel in a direction away from the first side.
In one embodiment of the present disclosure, the length H of the first groove and the second groove in the circumferential direction of the running wheel 1 Width L in axial direction 1 Two right-angle sides respectively serving as right-angle triangles and hypotenuse D 1 2 ＝L 1 2 +H 1 2 The method comprises the steps of carrying out a first treatment on the surface of the The midpoint of the second side edge is configured to be opposite to the oblique side D 1 Distance W between 1 Furthest, W 1 Set to H 1 From 0.15 to 0.25 times.
In one embodiment of the present disclosure, adjacent first and second grooves are configured to be centrosymmetric.
According to a second aspect of the present disclosure, there is also provided a running wheel having a tread provided with groove structures at intervals in a circumferential direction; the groove structure comprises a first groove near one side of the running wheel and a second groove near the other side opposite to the running wheel and separated from the first groove, so that a running surface which is continuous in the circumferential direction is formed between the first groove and the second groove; the orthographic projections of the first groove and the second groove in the axial direction of the running wheel are staggered so as to form running surfaces which are continuous in the axial direction at positions between the adjacent first groove and second groove.
The beneficial effects of the present disclosure lie in that, through setting up the groove structure at the interval on the driving wheel, make the driving wheel can cross the obstacle of uneven height on the working face and climb the step better. In addition, through the positions of the first groove and the second groove, the running surface which is continuous in the circumferential direction is formed on the running wheel, so that the contact area between the running surface and the working surface is increased, the friction force and the grabbing force of the running wheel are improved, and the running wheel is prevented from skidding in the running process.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural view of a cleaning apparatus chassis assembly of the present disclosure;
FIG. 2 is a schematic illustration of the cleaning apparatus chassis assembly of the present disclosure with a step up;
FIG. 3 is a schematic structural view of a travel wheel of the present disclosure;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a front view and partial enlarged view of the disclosed travel wheel;
FIG. 6 is a partially enlarged, size-coded side view of the travel wheel of the present disclosure;
fig. 7 is a front elevational view of the disclosed travel wheel.
The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 7 is as follows:
100. chassis assembly, 10, running wheel, 11, running surface, 20, groove structure, 21, first recess, 22, second recess, 201, first side, 202, second side, 23, circular arc surface, 24, step surface, 25, water drainage tank, 300, step.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.
Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.
Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.
The present disclosure provides a cleaning apparatus, which may be a self-moving cleaning robot, a floor washer, a sweeping robot, a sweeping and mopping robot, etc., and which may be used to clean a working surface requiring cleaning, such as a floor, a sofa, a carpet, etc. The cleaning device comprises running wheels for running, which can be rotated by a driving force, so that the cleaning device can run on the working surface. In the walking process of the cleaning equipment, the working surface can be cleaned by the cleaning device, and the cleaning device can be a wiping disc, a roller, a sweeping brush and the like.
The tire tread of the running wheel is provided with the groove structures at intervals along the circumferential direction, the groove structures are equivalent to tire patterns on the running wheel, and the friction between the running wheel and the working surface can be enhanced by the aid of the groove structures, so that the running wheel is prevented from slipping. In addition, the cleaning device is required to pass through some obstacles during operation, such as steps on the ground, carpets, furniture feet, sliding door rails, etc. in a home setting, which can cause obstacles to the running wheels of the cleaning device. The cleaning device can surmount the obstacle through the groove structure, for example, in a scene of a step on the cleaning device, when the running wheel rotates to form a certain angle with the step, the step can just interfere with the inner wall of the groove structure, so that the cleaning device can climb up the step.
The specific shape and arrangement of the groove structure can directly influence the ground grabbing force, friction force, step-up capability, tire noise and the like of the running wheel. The groove structure in the present disclosure includes a first groove near one side of the road wheel and a second groove near the opposite side of the road wheel and spaced apart from the first groove to form a circumferentially continuous running surface between the first groove and the second groove.
The first groove and the second groove are respectively arranged on two opposite sides of the running wheel, so that a running surface with continuous circumference is formed on the surface of the running wheel. The running wheel has a larger running surface, so that the contact area with the ground is increased, the friction force of the running wheel is improved, and the running wheel is prevented from slipping in the running process. In addition, the contact area of the running wheels and the ground is increased, so that the obstacle crossing capacity of the cleaning equipment can be improved, and the cleaning equipment can easily cross a threshold and climb up a step.
The groove structures are arranged on the running wheels at intervals, so that the running wheels can better cross the uneven obstacle and climbing steps on the working surface. In addition, through the positions of the first groove and the second groove, the running surface which is continuous in the circumferential direction is formed on the running wheel, so that the contact area between the running surface and the working surface is increased, the friction force and the ground grabbing force of the running wheel are improved, and the running wheel is prevented from skidding in the running process.
Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.
Referring to fig. 1, the present disclosure provides a cleaning apparatus that may include a chassis assembly 100, where the chassis assembly 100 may be used to mount, carry, and other structures such as a cleaning device, which may be a wiper, a roller, a sweeper, etc.
The cleaning apparatus includes running wheels 10 for walking, and the running wheels 10 are mounted on the chassis assembly 100, and in particular, the running wheels 10 may be provided in two, and the two running wheels 10 may be mounted on both left and right sides of the chassis assembly 100, respectively. The running wheel 10 can be rotated by a driving force so that the cleaning apparatus can travel on the work surface, and the cleaning apparatus can clean the work surface by the cleaning device mounted on the chassis assembly 100 during the traveling. The running wheel 10 may be made of a material having a certain elasticity, such as rubber or the like. When the hardness of the material of the running wheel 10 is high, jolting occurs when the running wheel encounters obstacles, and smooth running is not facilitated; when the material of the running wheel 10 is softer, it is advantageous to run smoothly when encountering obstacles, better to surmount obstacles.
In one embodiment of the present disclosure, the bottom of the chassis assembly 100 may also be fitted with a plurality of unpowered wheels, such as: universal wheels, auxiliary wheels, etc. The castor and/or auxiliary wheels can be supported on the floor together with the running wheels 10 to promote the stability of the running of the cleaning apparatus.
Referring to fig. 1 and 2, groove structures 20 are provided on the tread of the running wheel 10 at intervals in the circumferential direction, the groove structures 20 correspond to tire patterns on the running wheel 10, and the provision of the groove structures 20 can enhance friction between the running wheel 10 and the running surface to prevent the running wheel 10 from slipping. In addition, the cleaning device is required to pass through some obstacles, such as steps on the ground, carpets, furniture feet, sliding door rails, etc. in a home scene, which may cause an obstacle to the running wheel 10 of the cleaning device. The cleaning device may be surmounted by the groove structure 20, for example, in the case of a step on the cleaning device, as shown in fig. 2, when the running wheel 10 rotates to an angle with the step 300, the step 300 just interferes with the inner wall of the groove structure 20, so that the cleaning device can climb up the step 300.
The specific configuration and arrangement of the groove structure 20 directly affects the grip, friction, step-up capability, and tire noise level of the running wheel 10. Referring to fig. 3, the groove structure 20 in the present disclosure includes a first groove 21 near one side of the running wheel 10 and a second groove 22 near the opposite side of the running wheel 10 and spaced apart from the first groove 21 to form a running surface 11 continuous in the circumferential direction between the first groove 21 and the second groove 22.
The first groove 21 and the second groove 22 are provided on opposite sides of the running wheel, respectively, so that a circumferentially continuous running surface 11 is formed on the surface of the running wheel 10. As shown in fig. 3, the continuous running surface 11 in the circumferential direction on the running wheel 10 is located between the first groove 21 and the second groove 22.
This results in a larger running surface 11 of the running wheel 10, thereby increasing the contact area with the ground, improving the friction of the running wheel 10, and avoiding slipping of the running wheel 10 during running. In addition, the present disclosure increases the contact area of the running wheel 10 with the step 300 in a unit area, thereby improving the obstacle surmounting ability of the cleaning device so that it can more easily pass over a threshold and climb up the step.
The present disclosure enables the road wheel 10 to better ride over uneven obstacles and climbing steps on the work surface by providing the groove structures 20 on the road wheel 10 at intervals. In addition, by arranging the positions of the first groove 21 and the second groove 22, the running surface 11 which is continuous in the circumferential direction is formed on the running wheel 10, so that the contact area between the running surface 11 and the working surface is increased, the friction and the gripping force of the running wheel 10 are improved, and the running wheel 10 is prevented from slipping in the running process.
In one embodiment of the present disclosure, the orthographic projections of the first groove 21 and the second groove 22 in the axial direction of the running wheel 10 are staggered to form a running surface 11 that is continuous in the axial direction at a position between adjacent first and second grooves 21, 22. As shown in fig. 3, the running surface 11, which is continuous in the axial direction on the running wheel 10, is located between every two sets of the first grooves 21, the second grooves 22. This allows the running surface 11 to remain continuous not only in the circumferential direction but also in the axial direction, thereby further increasing the contact area of the running surface 11 with the running surface and further improving the friction and grip of the running wheel 10.
In one embodiment of the present disclosure, as shown in fig. 3, the first groove 21 and the second groove 22 may be provided as grooves having identical shapes and sizes, and adjacent first grooves 21 and second grooves 22 are configured to be center-symmetrical. Specifically, the adjacent first groove 21 and second groove 22 are in a central symmetrical structure with each other, and the center of symmetry is located on the center line of the running wheel 10. The first grooves 21 and the second grooves 22 are arranged on both sides of the running wheel 10 with the center line of the running wheel 10 as an axis, and are arranged symmetrically in center. This facilitates even distribution of friction and reduces wear on the road wheel 10.
In one embodiment of the present disclosure, referring to fig. 4 and 5, both sides of the first groove 21 and the second groove 22 in the circumferential direction are denoted as a first side 201 and a second side 202, respectively. For example, referring to the view direction of fig. 4, the upper side is the second side 202, and the lower side is the first side 201; with reference to the view direction of the enlarged view in fig. 5, the right side is the first side 201, and the left side is the second side 202.
The first side 201 of the first recess 21, the second recess 22 is configured to be in transitional connection with the running surface 11, and the second side 202 is configured to be concave relative to the running surface 11, which forms a step surface 24 extending in the radial direction with the running surface 11. The step surface 24 does not come into contact with the horizontally disposed running surface during the rolling of the running wheel 10. In the process of ascending the steps of the running wheel 10, the running wheel 10 is extruded and deformed, and the steps 300 can scratch the step surface 24 in a certain first groove 21 or a certain second groove 22, so that friction force is increased, the ascending of the steps of the running wheel 10 is better assisted, and the obstacle surmounting capability of the running wheel 10 is improved.
In detail, since the adjacent first groove 21 and second groove 22 are configured to be center-symmetrical, the directions of the step surface 24 in the first groove 21 and the step surface 24 in the second groove 22 are opposite on each running wheel 10, for example: when the stepped surface 24 in the first groove 21 is located on the front side in the traveling direction, the stepped surface 24 in the second groove 22 is located on the rear side in the traveling direction. Each cleaning device comprises two running wheels 10, and the two running wheels 10 may be configured to be symmetrically arranged on the chassis assembly 100. In this way, in the process of ascending the steps of the cleaning device, the step surfaces 24 on the left traveling wheel 10 and the right traveling wheel 10 are respectively interfered with the steps 300, so that the ascending step capacity of the whole cleaning device is improved. In addition, the corresponding step surface 24 on the road wheel 10 can interfere with the step 300 when the cleaning apparatus is in backward reversing running, so that the cleaning apparatus still has the step climbing capability when in reversing.
In an actual cleaning scenario, water stains, cleaning liquid, etc. on the working surface may cause the running wheel 10 to slip, and the groove wall of the step surface 24 may puncture the water film on the working surface during the rotation of the running wheel 10. Specifically, the step surface 24 is disposed in the radial direction of the running wheel 10, and forms a relatively sharp groove wall at a position close to the running surface 11, and when the running surface 11 presses against the running surface, the sharp groove wall can puncture a water film, so that the friction coefficient between the running surface 11 and the running surface is ensured not to be greatly reduced, and the running wheel 10 is prevented from slipping.
In one embodiment of the present disclosure, referring to fig. 4 and 5, the first and second grooves 21, 22 are configured to extend from the first side 201 to the second side 202 gradually deviating from the direction of the running surface 11 to form an arc surface 23. The curvature of the arc surface 23 is greater than the curvature of the running surface 11, that is, the degree of curvature of the arc surface 23 is greater than the running surface 11. The arc surface 23 is configured to gradually incline from the running surface 11 to the outside thereof toward the axial direction of the running wheel 10. The arc surface 23 is smoothly connected with the running surface 11 in a transitional manner, and is configured to gradually incline from outside to inside.
In the process of ascending the steps of the running wheel 10, the groove structure 20 at the side edge of the running wheel 10 can enable the steps 300 to smoothly transition to the step surface 24 along the arc surface 23 of the first groove 21 or the second groove 22. The arc surface 23 directly plays a role in transitional connection between the running surface 11 and the step surface 24, so that noise generated by unstable jump of the running wheel 10 in the process of ascending the step is reduced, and the tire noise is effectively reduced by arranging the arc surface 23, and the user experience is improved.
In one embodiment of the present disclosure, referring to fig. 4 and 5, the second side 202 of the circular arc surface 23 is configured to form a drain groove 25 with the stepped surface 24. During the rolling of the running wheel 10, water stains, cleaning liquid, oil stains and other liquids on the working surface, dust, soil, small-volume impurities and other particles all flow from the running surface 11 to the circular arc surface 23 and flow to the drainage groove 25 along the circular arc surface 23. The liquid can flow along the drain grooves 25 to the outside of the running wheel 10, thereby discharging the surface of the running wheel 10. Specifically, the running wheel 10 can rapidly throw out liquid or particulate matter from the drain groove 25 during the high-speed rotation, and since the adjacent first groove 21 and second groove 22 are configured to be center-symmetrical, the liquid or particulate matter can be thrown out during both the forward rotation and the reverse rotation of the running wheel 10. The provision of the drain grooves 25 increases the friction coefficient between the running wheel 10 and the running surface, avoiding slipping of the running wheel 10.
In one embodiment of the present disclosure, the second sides 202 of the first and second grooves 21, 22 are configured to be arc-shaped, which gradually extend from a position connected with the first side 201 to the outside of the running wheel 10 in a direction away from the first side 201. The first groove 21 and the second groove 22 can be similar to a knife back shape of a side knife, wherein the arc surface 23 is in transitional connection with the relatively straight first side 201, so that a smooth transition is formed; the step surface 24 and the drain groove 25 are positioned on the arcuate second side 202, and the liquid can naturally flow out along the groove wall under the action of gravity when in the arcuate drain groove 25.
Next, various dimensional parameters of the groove structure 20 will be defined proportionally with reference to fig. 6 and 7, so as to ensure that the grip, friction, climbing capability, etc. of the running wheel 10 meet the requirements of actual use.
In one embodiment of the present disclosure, referring to fig. 6, the width of the first groove 21 and the second groove 22 spaced in the axial direction of the running wheel 10 is set to be greater than 1/4 of the total width of the running wheel 10. The presence of the first grooves 21 and the second grooves 22 may cause the running wheel 10 to easily jump during rolling, and not be smooth enough, and if the widths of the first grooves 21 and the second grooves 22 are too large, the area of the running surface 11 may be reduced accordingly. Therefore, the width of the interval between the first groove 21 and the second groove 22 needs to be at least 1/4 greater than the total width of the running wheel 10, so that the continuity of contact between the running wheel 10 and the working surface is ensured, excessive tire noise generated by jumping when the running wheel 10 rolls is avoided, and the area of the running surface 11 and the grip force are also ensured.
In one embodiment of the present disclosure, the widths L of the first groove 21, the second groove 22 in the axial direction of the running wheel 10 1 Not less than 1/4 of the total width of the running wheel 10. Specifically, L 1 Is set to 0.325 to 0.36 times the total width of the running wheel 10. As shown in fig. 5, half of the total width of the running wheel 10 is defined as L 2 Width L of first groove 21 and second groove 22 1 Is L 2 From 0.65 to 0.72 times. This ensures that the first recess 21, the second recess 22 are of sufficient size to fit the working surface or the step surface. If the width L 1 Undersize of (2) will result in undersize of the step face 24When it rubs against the step 300, a sufficient friction force cannot be generated. If the width L 1 An excessively large size of (a) may result in a corresponding decrease in the area of the running surface 11, resulting in insufficient grip of the running wheel 10. Therefore, L is required to be 1 The width of the running wheel 10 is set to be 0.325 to 0.36 times of the total width of the running wheel, so that the first groove 21 and the second groove 22 have the most suitable width, and the friction force between the running wheel 10 and the ground and the step surface is ensured.
In one embodiment of the present disclosure, with continued reference to fig. 6, the length H of the first groove 21, the second groove 22 in the circumferential direction of the running wheel 10 1 Is set to be smaller than L 1 Is 0.8 times as large as the above. This defines the aspect ratio of the first grooves 21, the second grooves 22, and thus the shape ratio and size of the groove structures 20. If H 1 Too long of the first groove 21 and the second groove 22 occupy too large areas in the circumferential direction, so that the area of the running surface 11 is reduced, and the grip is lowered. Therefore, H is required to be 1 Is set to be smaller than L 1 The first groove 21 and the second groove 22 have the most suitable length by 0.8 times, so that the area of the running surface 11 is ensured to be large enough, and the running wheel 10 has enough grip.
In one embodiment of the present disclosure, with continued reference to fig. 6, the first groove 21, the second groove 22 are spaced apart in the circumferential direction of the road wheel 10 by a length H 2 Set to H 1 From 0.15 to 0.3 times. This defines the relative positional relationship of the first recess 21 and the second recess 22. If the interval length H 2 Too large, the first groove 21, the second groove 22 are caused to be spaced too far apart in the circumferential direction, resulting in a decrease in the ability of the running wheel 10 to climb a step; if the interval length H 2 Too small may cause the first groove 21 and the second groove 22 to be spaced too closely or even without spacing in the circumferential direction, which may cause the running surfaces 11 of the first groove 21 and the second groove 22 in the axial direction to be too narrow or even to form a continuous running surface 11. Therefore, H is required to be 2 Set to H 1 Is preferably between 0.15 and 0.3 times, thereby ensuring that a continuous and sufficiently large running surface 11 can be formed in the axial direction, the running wheel 10 having a sufficient extentAnd has sufficient step climbing capability.
In one embodiment of the present disclosure, with continued reference to fig. 6, the length H of the first groove 21, the second groove 22 in the circumferential direction of the running wheel 10 is set to 1 Width L in axial direction 1 Two right-angle sides respectively serving as right-angle triangles and hypotenuse D 1 2 ＝L 1 2 +H 1 2 . The midpoint of the second side 202 is configured to be located opposite the oblique side D 1 Distance W between 1 Furthest, W 1 Set to H 1 From 0.15 to 0.25 times. Wherein the midpoint of the second side 202 is the deepest recess in the drain groove 25, and is defined with the bevel D 1 Distance W between 1 I.e. to limit the depth of the drain groove 25 relative to the arc surface 23. The connection position of the step surface 24 and the arc surface 23 is provided with a drain groove 25, so that the concave depth of the drain groove 25 is limited, and the angle of the step surface 24 is indirectly influenced. The present disclosure will W 1 Set to H 1 Is 0.15 to 0.25 times as large as the water discharge capacity of the water discharge groove 25, while also ensuring the climbing step capacity of the step surface 24.
In one embodiment of the present disclosure, referring to fig. 7, diameter D of the bottom of drain groove 25 is set at the bottom of drain groove 25 with the center of the axle center of running wheel 10 as the center 2 Is set to the diameter D of the running wheel 10 3 From 0.86 to 0.9 times. Limit D 2 That is, if the bottom of the drain groove 25 is too deep, the connection position between the step surface 24 and the arc surface 23 is too steep, which is not beneficial for the traveling wheel 10 to climb the step. If the bottom of the drain groove 25 is too shallow, the liquid cannot be discharged out of the running wheel 10 along the drain groove 25. Therefore, D is required 2 Is arranged as the outer diameter D of the running wheel 10 3 From 0.86 to 0.9 times, thereby ensuring the drainage capacity of the drain tank 25, and the step climbing capacity of the running wheel 10.
In one embodiment of the present disclosure, with continued reference to fig. 7, the drain 25 has a groove bottom positioned at an angle to the step surface 24, along with the axis of the road wheel 10. Specifically, the angle of the included angle may be set to 11.5 °, the included angle defining the inclination angle of the step surface 24. The inclination angle of the step surface 24 directly affects the ability of the running wheel 10 to climb a step, if the angle is too large, the step surface 24 is too slow, and if the angle is too small, the step surface 24 is too steep, which is not beneficial to the cooperation of the step surface 24 and the side wall of the step 300. Setting the included angle to 11.5 ° enables the step surface 24 to be at an optimal angle, thereby ensuring the ability of the running wheel 10 to climb a step.
The present disclosure also provides a running wheel that can be applied to a cleaning apparatus, the running wheel 10 having a tread provided with groove structures 20 circumferentially spaced apart, the groove structures 20 comprising a first groove 21 adjacent one side of the running wheel 10 and a second groove 22 adjacent the opposite side of the running wheel 10 and spaced apart from the first groove 21 to form a circumferentially continuous running surface 11 between the first and second grooves 21, 22.
The specific structure and principle of the running wheel of the present disclosure refer to the running wheel of the cleaning device, and the disclosure is not repeated herein.
The following describes the technical scheme adopted by the present disclosure in connection with a specific application scenario, so as to help understanding.
Application scenario one
In a home cleaning scenario, the cleaning device may be a sweeping robot that walks over the floor via a travel wheel 10 mounted on the chassis assembly 100 and cleans the floor via a cleaning means such as a sweeper.
The tread of the running wheel 10 is provided with groove structures 20 at intervals along the circumferential direction, which correspond to tire patterns on the running wheel 10, and the groove structures 20 are provided to enhance friction between the running wheel 10 and the working surface and prevent the running wheel 10 from slipping. In addition, the robot may also need to pass through some obstacles during the working process, such as steps on the ground, carpets, furniture legs, sliding door rails, etc., which may cause an obstacle to the running wheel 10 of the robot. The robot may surmount the obstacle through the groove structure 20, and specifically, the steps may be caught in the groove structure 20 and interfere with the inner wall thereof.
The groove structure 20 includes a first groove 21 near one side of the running wheel 10, and a second groove 22 near the opposite side of the running wheel 10 and spaced apart from the first groove 21 to form a running surface 11 continuous in the circumferential direction between the first groove 21 and the second groove 22; the orthographic projections of the first groove 21 and the second groove 22 in the axial direction of the running wheel 10 are staggered to form a running surface 11 that is continuous in the axial direction at a position between adjacent first and second grooves 21, 22.
The first groove 21 and the second groove 22 can be similar to the shape of a knife back and are respectively arranged on two opposite sides of the running wheel in a central symmetry mode and are separated and staggered. The running surface 11 can be kept continuous in both the circumferential direction and the axial direction.
This results in a larger running surface 11 of the running wheel 10, thereby increasing the contact area with the ground, improving the friction of the running wheel 10, and avoiding slipping of the running wheel 10 during running. In addition, the contact area of the traveling wheel 10 and the step 300 is increased, so that the obstacle surmounting capability of the sweeping robot is improved, and the sweeping robot can easily cross a threshold and climb up the step.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (16)

1. Cleaning apparatus, characterized in that it comprises running wheels (10) for running, the tread of said running wheels (10) being provided with groove structures (20) at intervals in the circumferential direction; the groove structure (20) comprises a first groove (21) adjacent one of the running wheels (10) and a second groove (22) adjacent the opposite side of the running wheel (10) and spaced from the first groove (21) to form a circumferentially continuous running surface (11) between the first groove (21) and the second groove (22).
2. Cleaning device according to claim 1, characterized in that the orthographic projections of the first and second grooves (21, 22) in the axial direction of the running wheel (10) are staggered to form running surfaces (11) which are continuous in the axial direction at positions between adjacent first and second grooves (21, 22).
3. A cleaning device according to claim 1, characterized in that the first recess (21) and the second recess (22) are arranged with a width spaced in the axial direction of the running wheel (10) that is greater than 1/4 of the total width of the running wheel (10).
4. Cleaning device according to claim 2, characterized in that the first recess (21), the second recess (22) have a width L in the axial direction of the running wheel (10) 1 Is set to 0.325 to 0.36 times the total width of the running wheel (10).
5. Cleaning device according to claim 4, characterized in that the length H of the first groove (21), the second groove (22) in the circumferential direction of the running wheel (10) 1 Is set to be smaller than L 1 Is 0.8 times as large as the above.
6. Cleaning device according to claim 5, characterized in that the first groove (21), the second groove (22) are spaced apart by a length H in the circumferential direction of the running wheel (10) 2 Set to H 1 From 0.15 to 0.3 times.
7. A cleaning device according to claim 1, characterized in that the first recess (21), the second recess (22) are denoted as first side (201), second side (202) on both sides in the circumferential direction, respectively; the first side (201) of the first groove (21) and the second groove (22) is configured to be in transitional connection with the running surface (11), and the second side (202) is configured to be concave relative to the running surface (11), and a step surface (24) extending in the radial direction is formed between the second side and the running surface (11).
8. A cleaning device according to claim 7, characterized in that the first recess (21), the second recess (22) are configured to extend from a first side (201) to a second side (202) gradually deviating from the direction of the running surface (11) to form an arc surface (23); the curvature of the arc surface (23) is greater than the curvature of the running surface (11).
9. A cleaning apparatus according to claim 8, characterized in that the circular arc surface (23) is configured to be inclined gradually from the running surface (11) to the outside thereof toward the axial direction of the running wheel (10).
10. A cleaning device according to claim 7, characterized in that the second side (202) of the circular arc surface (23) is configured to form a drainage channel (25) with the step surface (24).
11. Cleaning apparatus according to claim 10, characterized in that the diameter D of the bottom of the drain groove (25) is about the axis of the running wheel (10) 2 Is set to the diameter D of the running wheel (10) 3 From 0.86 to 0.9 times.
12. Cleaning apparatus according to claim 11, characterized in that the line connecting the bottom of the drain channel (25) with the axle centre of the travelling wheel (10) forms an angle with the step surface (24).
13. A cleaning device according to claim 7, characterized in that the second side edges (202) of the first and second grooves (21, 22) are configured to be arc-shaped, which extend gradually from the position of connection with the first side edge (201) to the outside of the running wheel (10) in a direction away from the first side edge (201).
14. The cleaning apparatus of claim 7Characterized in that the length H of the first groove (21) and the second groove (22) in the circumferential direction of the running wheel (10) is used 1 Width L in axial direction 1 Two right-angle sides respectively serving as right-angle triangles and hypotenuse D 1 2 ＝L 1 2 +H 1 2 The method comprises the steps of carrying out a first treatment on the surface of the The midpoint of the second side (202) is configured to be located opposite the oblique side D 1 Distance W between 1 Furthest, W 1 Set to H 1 From 0.15 to 0.25 times.
15. A cleaning device according to claim 2, characterized in that adjacent first and second grooves (21, 22) are configured to be centrosymmetric.
16. A running wheel, characterized in that groove structures (20) are arranged on the tread of the running wheel (10) at intervals along the circumferential direction; the groove structure (20) comprises a first groove (21) adjacent one of the running wheels (10) and a second groove (22) adjacent the opposite side of the running wheel (10) and spaced from the first groove (21) to form a circumferentially continuous running surface (11) between the first groove (21) and the second groove (22).
CN202311499334.3A 2023-11-10 2023-11-10 Cleaning device and running wheel Pending CN117382348A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311499334.3A CN117382348A (en) 2023-11-10 2023-11-10 Cleaning device and running wheel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311499334.3A CN117382348A (en) 2023-11-10 2023-11-10 Cleaning device and running wheel

Publications (1)

Publication Number Publication Date
CN117382348A true CN117382348A (en) 2024-01-12

Family

ID=89435711

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311499334.3A Pending CN117382348A (en) 2023-11-10 2023-11-10 Cleaning device and running wheel

Country Status (1)

Country Link
CN (1) CN117382348A (en)

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