CN212066636U

CN212066636U - Side wheel mechanism for cleaning robot

Info

Publication number: CN212066636U
Application number: CN202020245866.XU
Authority: CN
Inventors: 郑小群
Original assignee: Dalingshan Branch Of Dongguan Xinsu Technology Co ltd
Current assignee: Dalingshan Branch Of Dongguan Xinsu Technology Co ltd
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2020-12-04
Anticipated expiration: 2030-03-03

Abstract

The utility model discloses a driving wheel, which comprises a rim, wherein the outer circumference of the rim is provided with an annular groove, the inner wall of the annular groove is provided with a clamping groove, and the rim is formed by detachably combining a first rim body and a second rim body; the tire is provided with an inner circumferential ring provided with an engaging part extending towards the axis direction of the tire, and the end part of the engaging part is provided with a lug extending along the axis direction of the tire; the tire is connected to the annular groove of the rim, the tire is clamped between the first rim body and the second rim body, and the convex earplugs are arranged in the clamping grooves. The engagement portion is provided on the inner circumferential ring of the tire and the lug is provided on the engagement portion, so that the frictional force between the tire and the rim can be increased, and relative slip is less likely to occur.

Description

Side wheel mechanism for cleaning robot

Technical Field

The utility model relates to an intelligence cleaning device field especially relates to a limit wheel mechanism for cleaning machines people.

Background

A cleaning robot is an intelligent cleaning device capable of automatically cleaning a floor, and the cleaning robot is purchased and used by more and more families because of the automatic floor cleaning. In order to expand the cleaning range of the cleaning robot, a general cleaning robot is provided with a driving device for driving the cleaning robot to move, the driving device comprises a universal wheel mechanism for guiding and an edge wheel mechanism for driving the cleaning robot to advance and cross obstacles, and the edge wheel mechanism is an important part of the movement of the cleaning robot.

The applicant found in research that the existing driving wheels have the following disadvantages:

the side wheel mechanism of the existing cleaning robot usually adopts a solid tire, the hardness of the solid tire is higher, the requirement on the size of a rim is higher, and relative slip is easy to occur when the installation size deviation of the tire and the rim occurs.

SUMMERY OF THE UTILITY MODEL

The technical defect who appears skidding relatively between tire and the rim in order to overcome above-mentioned current drive wheel, the utility model provides a drive wheel that difficult emergence was skidded between tire and the rim.

In order to solve the above problem, the utility model discloses realize according to following technical scheme:

a drive wheel, include:

the rim is formed by detachably combining a first rim body and a second rim body;

the tire is provided with an engaging part extending towards the axle center of the tire on the inner circumference of the tire, and the end part of the engaging part is provided with a lug extending along the direction of the axis of the tire;

the tire is connected to the annular groove of the rim, the tire is clamped between the first rim body and the second rim body, and the lug is plugged in the clamping groove;

a drive mechanism connected to the rim;

the mounting plate is fixedly connected with the cleaning robot and movably connected with the driving mechanism;

and one end of the return spring is connected with the driving mechanism, and the other end of the return spring is connected with the cleaning robot.

Preferably, the end of the engaging portion has two lugs.

Specifically, the cross section of the clamping part is T-shaped, and the two lugs extend towards opposite directions.

Preferably, a raised convex part is arranged in the middle of the inner wall of the annular groove, the inner wall of the annular groove is in a step shape due to the convex part so as to form the clamping groove, and a limiting part is formed above the step shape.

Preferably, the driving mechanism comprises a motor and a gear box, and the helical gear sleeve head is sleeved on an output shaft of the motor.

Further, the outer surface of the gear case has a hinge portion, and the driving mechanism is hinged to the mounting plate by the hinge portion.

Further, the gear box has a hanging part on the opposite surface of the hinge part, and the driving mechanism is connected with the return spring through the hanging part.

Preferably, the outer circumference of the tire is provided with a plurality of lugs, and the lugs are arranged around the outer circumference of the tire in a staggered manner in turn.

Further, the lug is arranged to be a trapezoidal block, and the width of the lug is gradually reduced from the middle of the tire to two sides.

Preferably, the first rim body further comprises a spoke and a hub, and the spoke and the hub are integrally formed with the first rim body.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses creatively establishes block portion at the interior circumference ring of the tire of limit wheel mechanism, and the rim is formed by the removable combination of first rim body and second rim body, and the outer circumference of rim sets up annular groove, and block portion block is in annular groove to make the tire press from both sides and establish between first rim body and second rim body. In order to further stabilize the connection between the tire and the rim, the end part of the clamping part is provided with a lug extending in the axial direction, the inner wall of the annular groove is provided with a clamping groove matched with the lug, and the friction area between the tire and the rim is increased by a connection mode of plugging the lug into the clamping groove, so that the slip between the tire and the rim is effectively reduced. When there is the deviation in installation between tire and the rim, the setting of block portion can stabilize the connection of tire and rim.

Drawings

The following detailed description of embodiments of the invention is provided with reference to the accompanying drawings, in which:

FIG. 1 is a schematic structural view of a side wheel mechanism of the present invention;

FIG. 2 is an exploded view of the side wheel mechanism of the present invention;

fig. 3 is a schematic structural view of the driving wheel of the present invention;

fig. 4 is an exploded view of the driving wheel of the present invention;

fig. 5 is a schematic sectional view of the driving wheel of the present invention;

fig. 6 is a schematic sectional structure of the tire of the present invention;

figure 7 is a schematic structural view of a first rim body of the present invention;

figure 8 is a schematic structural view of a second rim body according to the present invention;

fig. 9 is a schematic structural view of the rim of the present invention;

fig. 10 is a schematic sectional structure view of the rim of the present invention;

FIG. 11 is a schematic view of the internal structure of the gear box of the present invention;

in the figure:

10-wheel rim, 11-first rim body, 111-wheel spoke, 112-wheel hub, 12-second rim body, 13-annular groove, 14-clamping groove, 15-limiting part and 16-driving shaft;

20-tire, 21-snap, 211-lug, 22-lug;

30-a drive mechanism;

40-mounting a plate;

50-return spring.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

As shown in figures 1-11, it is the preferable structure of the side wheel mechanism for cleaning robot of the present invention.

Example 1

As shown in fig. 1-4, the side wheel mechanism for cleaning robot of the present invention comprises a rim 10, a tire 20, a driving shaft 16, a driving mechanism 30, a mounting plate 40 and a return spring 50, wherein the rim 10 is formed by detachably combining a first rim body 11 and a second rim body 12, a reversing groove is provided on the outer circumference of the rim 10, and a clamping portion 21 is provided on the inner circumference of the tire 20.

In this embodiment, the first rim body 11 is connected with the second rim body 12 through a bolt, and the first rim body 11 of the first rim body 11 is connected with a driving device. The tire 20 is sleeved on the first rim body 11 on the outer circumference of the rim 10, the clamping part 21 of the tire 20 is clamped in the annular groove 13, the end part of the driving shaft 16 is embedded in the axle center part of the first rim body 11, and the driving shaft 16 and the first rim body 11 are integrally molded. The driving mechanism 30 is connected with the rim 10, the driving mechanism 30 transmits power to the rim 10 through the driving shaft 16, the mounting plate 40 is fixedly connected with the cleaning robot, the driving mechanism 30 is connected with the mounting plate 40 to fix the wheels, the driving mechanism 30 is further connected with the return spring 50, and the other end of the return spring 50 is connected with the cleaning robot to return the side wheel mechanism.

As shown in fig. 6, the inner circumference of the tire 20 is provided with an engaging portion 21, the engaging portion 21 is provided around the entire inner circumference of the tire 20, and the engaging portion 21 extends toward the axial center of the tire 20. The engaging portion 21 has two lugs 211, the cross section of the engaging portion 21 is T-shaped, and the two lugs 211 extend in opposite directions along the axial direction at the end of the engaging portion 21. The engagement part 21 is additionally arranged on the inner surface of the tire 20, so that the friction area between the tire 20 and the rim 10 can be increased, and further the friction force can be increased, when the tire 20 and the rim 10 have assembly deviation, the engagement part 21 can provide the friction force, the connection between the tire 20 and the rim 10 is stable, and the tire 20 is not easy to slip relatively.

As shown in fig. 9, an annular groove 13 is formed in the middle of the outer circumference of the rim 10, the annular groove 13 is disposed around the entire outer circumference of the rim 10, and the inner walls of the two sides of the annular groove 13 are further provided with protrusions, the protrusions are annular bumps disposed around the axis of the rim 10, and the protrusions and the inner walls of the annular groove 13 are stepped to form clamping grooves 14 adapted to the lugs 211, so that the two lugs 211 of the clamping portion 21 on the tire 20 can be respectively plugged into the clamping grooves 14 on the two sides. The tire 20 is fitted over the outer circumference of the rim 10, and the engaging portion 21 of the tire 20 is engaged in the annular groove 13 of the rim 10. A stopper 15 is formed above the projection in a step shape with the annular groove 13.

As shown in fig. 7 to 9, the rim 10 is formed by detachably combining a first rim body 11 and a second rim body 12, and the first rim body 11 and the second rim body 12 are connected by bolts. The side edge of the outer circumference of the first rim body 11 is provided with a limiting part 15, the side edge of the inner circumference of the tire 20 is provided with a stepped notch matched with the limiting part 15, when the tire 20 is installed, the tire 20 is sleeved in one side of the first rim body 11 until the outer side of the tire 20 is sleeved on the limiting part 15, the lug 211 of the clamping part 21 is plugged in the clamping groove 14 of the first rim body 11, and the outer side of the tire 20 is limited by the limiting part 15.

The rim 10 is made of plastic.

The end of the driving shaft 16 is connected with the axial center of the first rim body 11, and the driving shaft 16 and the first rim body 11 are integrally formed, so that the use of connecting pieces is reduced, the structure of the rim 10 is simple, and the driving shaft 16 and the first rim body 11 can be prevented from slipping relatively.

In the present embodiment, there is preferably a gap between the top end of the lug 211 and the bottom of the card slot 14, and the lug 211 contacts the card slot 14 at the upper surface and the lower surface parallel to the outer circumference of the tire 20 and generates a frictional force.

As shown in fig. 8, the second rim body 12 is provided with a raised convex portion in the middle of the inner wall of the annular groove 13, and the convex portion makes the inner wall of the annular groove in a step shape to form the clamping groove 14. And a limiting part 15 is formed above the convex part, when the tire 20 is sleeved on the first rim body 11 in installation, the annular groove 13 on the second rim body 12 is aligned with the clamping part 21 to be clamped, the lug 211 of the clamping part 21 is plugged in the clamping groove 14 of the second rim body 12, and the other side surface of the tire 20 is limited by the limiting part 15 of the second rim body 12, so that the tire 20 and the rim 10 are fixed in position.

As shown in fig. 5, after the second rim body 12 is connected to the first rim body 11, both sides of the tire 20 are stopped by the stoppers 15. Set up spacing portion 15 on first rim body 11 and second rim body 12 and make the suit process of tire 20 simpler and easier, when the wheel rotates, tire 20 can receive left right direction's power, if spacing not, the block portion 21 of tire 20 probably damages because of the atress, the phenomenon of block portion 21 and tire 20 separation even appears, set up spacing portion 15 and can prevent the block portion 21 of tire 20 to damage effectively, can effectively increase the life of tire 20, can also guarantee the rigidity of tire 20 in the wheel traveles.

On the other hand, the installation method of the present embodiment is to first fit the tire 20 on the first rim body 11, then connect the second rim body 12 with the first rim body 11, and simultaneously engage the engaging portion 21 of the tire 20, and the two sides of the tire 20 are respectively limited by the limiting portions 15 after being pressed. The positioning mode of the limiting part 15 is adopted, so that the installation and the positioning are simpler and easier, and the sleeving of the tire 20 is easier to realize. In the existing installation mode, the interference connection that the excircle radius of the rim 10 is slightly larger than the radius of the inner surface of the tire 20 is adopted, the tire 20 needs to be firstly expanded and then sleeved into the rim 10, and the tire 20 is connected with the rim 10 by glue after the tire 20 is sleeved into the rim, so that the assembly and disassembly are inconvenient.

In order to ensure that the bottom end part of the clamping part 21 with the T-shaped cross section has enough installation space, the outer side height of the clamping groove 14 of the second rim body 12 is lower than the inner side height of the second clamping groove 14, so as to reserve the installation space of the bottom end of the clamping part 21.

As shown in fig. 6, a cross-sectional structure of the tire 20 is schematically illustrated. The tire 20 is a solid structure tire 20 made of plastic. The tyre 20 is provided with lugs 22 on its tread, the lugs 22 having a width equal to half the width of the outer surface of the tyre 20, the lugs 22 being arranged alternately in succession in two equal regions of the outer surface of the tyre 20, the rotating tyre 20 being rubbed against the ground by the lugs 22 during the running of the wheel. The present embodiment preferably provides the projection 22 as a trapezoidal block, and the width of the projection 22 is gradually reduced from the middle of the tire 20 to both sides. When the tire 20 rotates, the inclined edge of the trapezoidal block contacts with the ground, the lug 22 is arranged on the tire 20, so that the friction force between the tire 20 and the ground can be increased, the driving wheel can have enough friction force on the uneven ground to drive the cleaning robot to move, and the lug 22 is arranged in a staggered mode in an overlapping mode, so that the bump in the movement of the cleaning robot can be reduced. The projections 22 are formed as trapezoidal blocks because the contact time of the inclined sides of the trapezoidal blocks with the ground is increased, thereby increasing the time for generating friction force, avoiding point contact and surface contact, and reducing the slip of the tire 20 with the ground.

In the present embodiment, two areas of the lugs 22 of the tire 20 uniformly distributed on the outer circumference of the tire 20 are taken as an example for explanation, and the number of the distributed areas of the lugs 22 is not limited, and in another example, the outer circumference of the tire 20 may be divided into three, four or more areas.

As shown in fig. 7, the first rim body 11 further includes spokes 111 and a hub 112, the spokes 111 and the hub 112 are integrally formed with the first rim body 11, in this embodiment, eight spokes 111 are uniformly distributed on the circular plate on the side surface of the rim 10, the hub 112 is disposed at the axial center position of the first rim body 11, the hub 112 is used for connecting with the driving shaft 16 of the driving assembly, and the spokes 111 are disposed to increase the bearing capacity of the first rim body 11.

As shown in fig. 7, the drive shaft 16 is inserted into the hub 112 and is integrally molded with the hub 112, and therefore, the first rim body 11 is integrally molded with the spoke 111, the hub 112 and the drive shaft 16. The driving shaft 16 is made of metal, the first rim body 11 is made of plastic, in the embodiment, the first rim body 11 is integrally molded by wrapping the outer periphery of the metal with the plastic, and the outer periphery of the end part of the driving shaft 16 is wrapped and covered by the molded first rim body 11. The end of the drive shaft 16 is further provided with an annular groove to further secure the connection of the first rim body 11 to the drive shaft 16, and the other end of the drive shaft 16 is connected to the drive mechanism 30. Adopt integrated into one piece's mode can reduce the use of connecting piece, and connect stably, can effectively prevent the not hard up and the phenomenon of skidding between first rim body 11 and the drive shaft 16, be favorable to drive shaft 16 to first rim body 11 transmission power.

Further, a positioning step part is arranged at the position of the spoke 111 adjacent to the axle center, the positioning steps of the eight spokes 111 form a circular positioning step, the positioning step is matched with the inner circumference of the second rim body 12, and the inner circle of the second rim body 12 is arranged on the positioning step. As shown in fig. 9 and 10, the step protrusion serves to position the second rim body 12, so that the second rim body 12 is automatically aligned when being pressed on the first rim body 11, and the step protrusion does not need to be easily aligned when the second rim body 12 is connected and installed with the first rim body 11.

As shown in fig. 7, the side surface of the first rim body 11 is provided with a plurality of mounting posts, and the mounting posts are provided with threaded holes, in this embodiment, preferably, the side surface of the first rim body 11 is provided with four uniformly distributed mounting posts, and between the four mounting posts, two smaller threaded holes are further provided, and the positions of the threaded holes are opposite to each other. And a through hole corresponding to the threaded hole in the first rim body 11 is formed in the second rim body 12, a screw passes through the through hole in the second rim body 12 and is connected with the threaded hole in the first rim body 11, and after the screw is screwed down, the second rim body 12 and the first rim body 11 are fixed and pressed. The screw connection mode is adopted, the assembly and disassembly are convenient, and the installation and the replacement of the tire 20 are facilitated.

As described above, the engagement portion 21 added to the driving wheel of the present embodiment can increase the frictional force between the tire 20 and the first rim body 11, and can effectively prevent a slip; on the other hand, the rim 10 is formed by detachably combining the first rim body 11 and the second rim body 10, so that the mounting and pressing of the clamping part 21 can be better matched, the mounting and dismounting are simple and convenient, the two sides of the tire 20 are limited by the limiting parts 15, and the use performance of the tire 20 is not influenced under the condition of realizing convenient mounting and dismounting.

The driving mechanism 30 comprises a motor and a gear box, wherein an output shaft of the motor is sleeved with a helical gear sleeve head, a gear on the helical gear sleeve head is a helical gear, an output shaft of the motor is connected with the gear box, and the helical gear sleeve head is meshed with a gear in the gear box.

As shown in fig. 11, the gear box includes a gear box body, a gear box cover and a gear set, the gear set is installed inside the gear box body, the gear box cover is connected with the gear box body, the gear set is isolated from the outside by the sealed gear box, the influence of external dust and the like on the rotation of the gear is reduced, and the service life of the gear is prolonged.

The gear set includes an input gear, a first intermediate gear, a second intermediate gear, and an output gear. The input gear, the first intermediate gear and the second intermediate gear are duplex sliding gears, and the duplex sliding gears comprise two gears which are overlapped and have different sizes. The smaller gear of the input gear is engaged with the helical gear sleeve head of the motor output shaft, the larger gear of the input gear is engaged with the smaller gear of the first intermediate gear, the smaller gear of the first intermediate gear is engaged with the larger gear of the second intermediate gear, the smaller gear of the second intermediate gear is engaged with the output gear, and the output gear is connected with the driving shaft 16. The motor transmits power to the wheels through the gear box, and the gear box adjusts the rotating speed of the motor and outputs the rotating speed suitable for the rotation of the wheels.

When the cleaning robot moves and passes through the ground and has the bulge, the edge wheel mechanism can be automatically pressed inwards to smoothly pass through the bulge on the ground, the back edge wheel mechanism can reset, rotatable wheels and a reset spring are arranged in the edge wheel mechanism to achieve the inward contraction and the reset of the edge wheel, and the design also has a certain shock-absorbing effect.

The mounting panel is a plate body fixedly connected with the cleaning robot main body through bolts.

As shown in fig. 11, the outer surface of the gear box main body is provided with a hinge portion and a hanging portion, the surface of the gear box main body facing the ground direction is provided with a hinge portion, the hinge portion is hinged with the bottom of the mounting plate, the wheels and the gear box can rotate around the hinge portion to the inside of the cleaning robot, and when the gear presses down the raised ground or articles, the gear automatically rotates to enable the wheels to be folded inwards. The gear box main part sets up the portion of closing with the relative surface on articulated portion place surface, and the portion of closing is a couple, and reset spring transversely sets up, and reset spring's one end is hung and is leaned on in the portion of closing, and reset spring's the other end and the cleaning machines people main part are connected, and when the wheel was adducted, the wheel can drive the gear box and rotate around articulated portion, and reset spring is tensile this moment, and reset spring has a spring force of tightening up, and the spring shrink after the wheel was through the arch on ground, the wheel will automatic re-setting.

A theory of operation for cleaning machines people's limit wheel mechanism be:

the utility model discloses creatively establishes block portion 21 at the circumference ring in the tire 20 of limit wheel mechanism, and block portion 21 extends to the 20 axle centers of tire, and rim 10 is formed by the removable combination of first rim body 11 and second rim body 12, and the outer circumference of rim 10 sets up annular groove 13, and block portion 21 block is in annular groove 13 to make tire 20 press from both sides and establish between first rim body 11 and second rim body 12. In order to further stabilize the connection between the tire 20 and the rim 10, an axially extending lug 211 is provided at the end of the engaging portion 21, a slot 14 adapted to the lug 211 is opened on the inner wall of the annular groove 13, and the lug 211 is inserted into the slot 14, so that when there is a mounting deviation between the tire 20 and the rim 10, a friction force is generated between the lug 211 and the slot 14, a friction area between the tire 20 and the rim 10 is increased, and a slip between the tire 20 and the rim 10 is effectively reduced.

On the other hand, when there is a deviation in shape between the tire 20 and the rim 10 and the outer circumference of the tire 20 and the inner circumference of the rim 10 are not completely matched, the engaging portion 21 can stabilize the connection between the tire 20 and the rim 10, thereby increasing the versatility of the tire 20 and the rim 10 and reducing the requirement for fitting accuracy.

Example 2

The edge wheel mechanism for a cleaning robot in this embodiment 2 has the same principle as that in embodiment 1, except that a lug 211 is provided at an end of the engaging portion 21, and the lug 211 is inserted into the engaging groove 14 of the first rim body 11.

A lug 211 is provided at the end of the engagement portion 21, and the lug 211 extends in the axial direction toward the first rim body 11. When the tire 20 is sleeved on the first rim body 11, the lug 211 is plugged into the clamping groove 14 on the first rim body 11, the second rim body 12 is connected with the first rim body 11 in a pressing manner, and the clamping part 21 is clamped in the annular groove 13 formed between the first rim body 11 and the second rim body 12.

Only one lug 211 is arranged on the clamping part 21, so that the processing steps can be reduced, the processing difficulty can be reduced, the manufacturing cost can be saved, and the friction force enough for preventing the relative slip of the tire 20 and the rim 10 can be generated by only one lug 211.

Other structures of the edge wheel mechanism for the cleaning robot described in the present embodiment are referred to in the prior art.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.

Claims

1. An edge wheel mechanism for a cleaning robot, comprising:

the wheel rim comprises a wheel rim (10), wherein an annular groove (13) is formed in the outer circumference of the wheel rim, a clamping groove (14) is formed in the inner wall of the annular groove (13), and the wheel rim (10) is formed by detachably combining a first rim body (11) and a second rim body (12);

the tyre (20) is provided with an engaging part (21) extending towards the axle center of the tyre on the inner circumference of the tyre, the end part of the engaging part (21) is provided with a lug (211), and the lug (211) extends along the direction of the axis of the tyre;

the tire (20) is connected to an annular groove (13) of a rim (10), the tire (20) is clamped between the first rim body (11) and the second rim body (12), and the lug (211) is plugged in the clamping groove (14);

a drive mechanism (30) connected to the rim (10);

the mounting plate (40) is fixedly connected with the cleaning robot, and the mounting plate (40) is movably connected with the driving mechanism (30);

and one end of the return spring (50) is connected with the driving mechanism (30), and the other end of the return spring (50) is connected with the cleaning robot.

2. The edge wheel mechanism for a cleaning robot according to claim 1, wherein:

the end of the engaging part (21) is provided with two lugs (211).

3. The edge wheel mechanism for a cleaning robot according to claim 2, wherein:

the cross section of the clamping part (21) is T-shaped, and the two lugs (211) extend towards opposite directions.

4. The edge wheel mechanism for a cleaning robot according to claim 1, wherein:

a raised convex part is arranged in the middle of the inner wall of the annular groove (13), the inner wall of the annular groove is in a step shape due to the convex part, so that the clamping groove (14) is formed, and a limiting part (15) is formed above the step shape.

5. The edge wheel mechanism for a cleaning robot according to claim 1, wherein:

the driving mechanism (30) comprises a motor and a gear box, and a helical gear sleeve head is sleeved on an output shaft of the motor.

6. The edge wheel mechanism for a cleaning robot according to claim 5, wherein:

the outer surface of the gear box is provided with a hinge part, and the driving mechanism (30) is hinged with a mounting plate (40) through the hinge part.

7. The edge wheel mechanism for a cleaning robot according to claim 6, wherein:

the gear box is provided with a hanging part on the opposite surface of the hinged part, and the driving mechanism (30) is connected with the return spring through the hanging part.

8. The edge wheel mechanism for a cleaning robot according to claim 1, wherein:

the outer circumference of the tire (20) is provided with a plurality of lugs (22), and the lugs (22) are arranged on the outer circumference of the tire (20) in a staggered mode in sequence.

9. The edge wheel mechanism for a cleaning robot of claim 8, wherein:

the lug (22) is arranged to be a trapezoidal block body, and the width of the lug (22) is gradually reduced from the middle part of the tire (20) to two sides.

10. The edge wheel mechanism for a cleaning robot according to claim 1, wherein:

the first rim body (11) further comprises a spoke (111) and a hub (112), and the spoke (111) and the hub (112) are integrally formed with the first rim body (11).