CN215128049U - Driving wheel, driving wheel assembly and cleaning equipment - Google Patents

Abstract

The utility model relates to a drive wheel, driving wheel subassembly and cleaning device, the drive wheel is rotationally installed on cleaning device, the central axis of drive wheel extends along the first direction, the drive wheel has outer terminal surface, interior terminal surface and outer periphery, outer terminal surface and interior terminal surface interval set up in the first direction, the outer periphery is connected between outer terminal surface and interior terminal surface and encircles outer terminal surface and interior terminal surface along circumference; wherein the outer end face is provided with an outer end face non-slip portion to form a concave-convex surface. According to the driving wheel, the outer end face is provided with the outer end face skid-proof part to form the concave-convex surface, so that when the cleaning equipment adopts a special obstacle crossing strategy to be positioned at the boundary of an obstacle, the driving wheel and the obstacle have larger contact area and larger friction force, and the obstacle crossing capability of the cleaning equipment in an obstacle crossing critical state is improved.

Description

Driving wheel, driving wheel assembly and cleaning equipment

Technical Field

The utility model relates to an intelligence electrical apparatus technical field especially relates to a drive wheel, drive wheel subassembly and cleaning equipment.

Background

With the progress of science and technology and the development of society, cleaning equipment such as a floor sweeping robot, a floor mopping robot or a mopping and sweeping integrated robot for cleaning indoor floors gradually enter the lives of people. The cleaning equipment can automatically detect factors such as room size, furniture placement and ground cleanliness, and a reasonable cleaning route is formulated by means of a built-in program to clean the ground, so that the cleaning equipment is popular with people, is more and more widely applied to the life of people, obviously reduces the burden of people, and brings great convenience to the life of people.

However, some obstacles often exist on the surface of an object to be cleaned, and the obstacle crossing performance of the existing cleaning equipment is limited, so that the existing cleaning equipment is difficult to cross some higher obstacles, the cleaning range of the cleaning equipment is reduced, and inconvenience is brought to life of people.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the not enough problem of obstacle crossing ability of cleaning device, provide a drive wheel, drive wheel subassembly and cleaning device, this drive wheel, drive wheel subassembly and cleaning device can reach the technological effect that promotes obstacle crossing ability.

According to one aspect of the present application, there is provided a drive wheel having an axial direction and a circumferential direction relative to the axial direction;

the driving wheel is provided with an outer end surface and an inner end surface which are arranged at intervals in the axis direction;

wherein the outer end face is arranged with an outer end face non-slip portion to form a non-flat surface.

In one embodiment, the outer end surface antiskid portions are configured to be arranged at intervals in the circumferential direction to form a concave-convex surface.

In one embodiment, the outer end surface non-slip portion projects outwardly from the outer end surface in the axial direction; and/or

The outer end surface antiskid portion is recessed inward from the outer end surface in the axial direction.

In one embodiment, the outer end surface antiskid portion protrudes outward from the outer end surface in the axial direction, and the height difference between the outer end surface antiskid portion and the outer end surface in the axial direction is 1mm-2 mm.

In one embodiment, the driving wheel has a radial direction perpendicular to the axial direction, each outer end surface antiskid portion extends in the radial direction, an end of each outer end surface antiskid portion facing the outer edge outer circumferential surface of the outer end surface has a first preset gap with respect to the outer edge outer circumferential surface of the outer end surface, and an end of each outer end surface antiskid portion facing the center of the outer end surface has a second preset gap with respect to the center of the outer end surface.

In one embodiment, the outer end face is provided with a plurality of first outer end face antiskid portions and a plurality of second outer end face antiskid portions, and the length of the first outer end face antiskid portions in the radial direction is larger than the length of the second outer end face antiskid portions in the radial direction.

In one embodiment, two first outer end surface antiskid portions are arranged between two adjacent second outer end surface antiskid portions.

In one embodiment, the length of the outer end surface antiskid portion in the radial direction is gradually reduced in the rotation direction of the drive wheel.

In one embodiment, the outer end surface non-slip portion is V-shaped or triangular.

In one of the embodiments, the inner end face is arranged with an inner end face non-slip portion to form a non-flat surface.

In one embodiment, the inner end surface antiskid portions are configured to be arranged at intervals in the circumferential direction to form a concave-convex surface.

In one embodiment, the inner end surface non-slip portion protrudes outward in the axial direction from the inner end surface; and/or

The inner end surface anti-slip portion is recessed inward from the inner end surface in the axial direction.

In one embodiment, the driving wheel has a radial direction perpendicular to the axial direction, each inner end surface anti-slip portion extends in the radial direction of the driving wheel, an end portion of each inner end surface anti-slip portion facing the outer end surface peripheral surface has a third preset gap with respect to the outer end surface peripheral surface, and an end portion of each inner end surface anti-slip portion facing the center of the outer end surface has a fourth preset gap with respect to the center of the outer end surface.

In one embodiment, the length of the inner end surface antiskid portion in the radial direction of the drive wheel is gradually reduced in the rotational direction of the drive wheel.

In one embodiment, the inner end surface anti-slip portion is V-shaped or triangular.

In one embodiment, the driving wheel includes a hub and a tire detachably mounted on the hub, a central axis of the hub extends along the axial direction, the tire is wrapped around the central axis of the hub outside the hub, and the outer end surface anti-slip portion is provided on the tire.

According to another aspect of the present application, there is provided a cleaning apparatus comprising the drive wheel described above.

In one embodiment, the cleaning device is a sweeping robot, a mopping robot or a sweeping-all-in-one robot.

According to the driving wheel, the outer end face is provided with the outer end face skid-proof part to form the concave-convex surface, so that when the cleaning equipment adopts a special obstacle crossing strategy to be positioned at the boundary of an obstacle, the driving wheel and the obstacle have larger contact area and larger friction force, and the obstacle crossing capability of the cleaning equipment in an obstacle crossing critical state is improved.

Drawings

Fig. 1 is a schematic structural view of a driving wheel assembly according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a drive wheel of the drive wheel assembly of FIG. 1;

FIG. 3 is a schematic view of the drive wheel of FIG. 2 from another perspective;

fig. 4 is an exploded view of a driving wheel according to an embodiment of the present invention;

fig. 5 is a cross-sectional view of a drive wheel according to an embodiment of the present invention;

fig. 6 is a side view of a drive wheel assembly according to an embodiment of the present invention.

Description of reference numerals:

100. a drive wheel assembly; 20. a support; 40. a drive motor; 60. a drive wheel; 61. a hub; 612. a hub end wall; 614. a hub sidewall; 63. a tire; 632. an outer end wall of the tire; 634. a tire inner end wall; 636. A tire sidewall; 65. an outer end surface anti-slip part; 652. a first outer end surface anti-slip portion; 654. a second outer end surface anti-slip portion; 67. an inner end surface antiskid part.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Fig. 1 shows a schematic structural view of a drive wheel assembly in an embodiment of the invention; fig. 2 shows a schematic structural view of a driving wheel in an embodiment of the present invention; fig. 3 is a schematic structural diagram of another view angle of the driving wheel in an embodiment of the present invention.

The utility model discloses a cleaning device for along the object surface that needs to clean remove in order to clean object surface (for example ground). The following describes the structure of the cleaning device in the present application, taking the cleaning device as an example of a sweeping and mopping integrated robot. The present embodiment is described as an example, and the technical scope of the present application is not limited thereto. It is understood that in other embodiments, the cleaning device may also be embodied as other devices, such as a floor mopping robot, and the like, without limitation.

Referring to fig. 1 to 3, the cleaning apparatus includes a main housing, a driving wheel assembly 100 mounted on the main housing, a dust suction assembly, and a power supply assembly (not shown). The driving wheel assembly 100 is used for driving the cleaning device to move on the surface of an object, the dust collection assembly is used for adsorbing dust and sundries on the surface of the object, and the power supply assembly is used for providing working electric energy for the driving wheel assembly 100 and the dust collection assembly. It will be appreciated that the particular configuration of the cleaning device is not limited and may be arranged as desired.

The driving wheel assembly 100 includes a mounting bracket 20, a driving motor 40 and a driving wheel 60, the driving motor 40 and the driving wheel 60 are respectively mounted on the mounting bracket 20, the driving motor 40 is connected to the driving wheel 60 in a transmission manner, and the driving motor 40 can drive the driving wheel 60 to rotate around its central axis so as to move the cleaning device on the surface of an object.

The drive wheel 60 has an axial direction, a circumferential direction around the axial direction, and a radial direction perpendicular to the axial direction, and the drive wheel 60 has a substantially circular outer end surface, a substantially circular inner end surface, and a substantially annular outer circumferential surface connected between and circumferentially surrounding the outer end surface and the inner end surface, the outer end surface and the inner end surface being spaced apart in the axial direction. When the cleaning device is moved on the object surface, a partial region of the outer circumferential surface is brought into contact with the object surface.

Note that the outer end surface of the driving wheel 60 is the end surface facing the outside of the screen in fig. 1, and the inner end surface of the driving wheel 60 is the end surface facing the outside of the screen in fig. 1. When the drive wheel 60 is mounted in the cleaning device, the outer end face faces the outside of the cleaning device and the inner end face faces the inside of the cleaning device. Specifically, the cleaning device includes two driving wheels 60, axes of the two driving wheels 60 are located on the same straight line, outer end surfaces of the two driving wheels 60 are disposed to face away from each other, and inner end surfaces of the two driving wheels 60 are disposed to face each other.

Referring to fig. 4 and 5, fig. 4 is an exploded view of a driving wheel according to an embodiment of the present invention; fig. 5 shows a cross-sectional view of a drive wheel in an embodiment of the invention.

Specifically, in some embodiments, the drive wheel 60 includes a hub 61 and a tire 63 removably mounted to the hub 61. The hub 61 is substantially a cylindrical structure having a central axis extending in the axial direction of the drive wheel 60, the hub 61 includes a hub end wall 612 and a hub side wall 614, the hub end wall 612 is a circular plate-like structure, and the hub side wall 614 extends from the edge of the hub end wall 612 in the axial direction of the drive wheel 60 toward one side of the hub 61 and circumferentially surrounds the hub end wall 612.

The tire 63 is generally hollow and annular in configuration and includes a tire outer end wall 632, a tire inner end wall 634, and a tire sidewall 636. A substantially circular ring-shaped tire outer end wall 632 and a substantially circular ring-shaped tire inner end wall 634 are provided at a distance in the axial direction of the drive wheel 60, and a tire side wall 636 is connected between the tire outer end wall 632 and the tire inner end wall 634 and circumferentially surrounds the tire outer end wall 632 and the tire inner end wall 634.

In this way, the tire 63 is wrapped around the center axis of the hub 61 outside the hub 61, the tire side wall 636 is wrapped around the hub side wall 614, and the tire outer end wall 632 is wrapped around the edge region of the hub end wall 612 in the circumferential direction. Thus, the tire outer end wall 632 and the hub end wall 612 together form an outer end surface of the drive wheel 60, the tire inner end wall 634 forms an inner end surface of the drive wheel 60, and the tire side wall 636 forms an outer circumferential surface of the drive wheel 60. Since the tire 63 is detachably mounted on the hub 61, when the tire 63 is worn, a new tire 63 can be replaced without replacing the hub 61.

It will be appreciated that in other embodiments, the drive wheel 60 may be integral at all times and not detachable, thereby providing greater integrity.

Further, the tire side wall 636 (i.e., the outer circumferential surface of the driving wheel 60) is a concave-convex surface provided with a regular pattern, thereby ensuring a frictional force between the tire 63 and the ground. Specifically, the tire side wall 636 is provided with an inwardly recessed groove to form a pattern, and the groove communicates the tire outer end wall 632 and the tire inner end wall 634.

As described in the background, the obstacle crossing performance of the current cleaning device is weak, and in order to improve the obstacle crossing performance, when the cleaning device of the present application faces a higher or larger obstacle in the process of climbing the obstacle, the cleaning device may adopt a special preset obstacle crossing strategy, that is, the cleaning device is controlled to swing back and forth at the boundary of the obstacle so that the driving wheel 60 forms a certain angle with the boundary to facilitate obstacle crossing.

Based on the obstacle crossing strategy described above, in order to further improve the obstacle crossing capability of the driving wheel 60, the outer end face of the driving wheel 60 of the present application is provided with an outer end face skid-proof portion 65 to form an uneven surface. In this manner, when the cleaning apparatus is positioned at the boundary of an obstacle to adopt the above-mentioned special obstacle crossing strategy, the driving wheel 60 has a larger contact area with the obstacle and a larger frictional force, thereby improving the obstacle crossing capability of the cleaning apparatus in the above-mentioned critical state.

Specifically, in some embodiments, the outer end surface antiskid portion 65 is provided in an edge region where the outer end surface of the driving wheel 60 is connected to the outer circumferential surface, and a plurality of the outer end surface antiskid portions 65 are arranged at intervals along the circumferential direction of the driving wheel 60 to form a concave-convex surface, so that each region of the driving wheel 60 in the circumferential direction has good obstacle crossing capability. More specifically, a plurality of outer end surface antiskid portions 65 are provided on the tire side wall 636 of the tire 63, and the plurality of outer end surface antiskid portions 65 are arranged at intervals in the circumferential direction of the tire side wall 636.

Further, each outer end surface antiskid portion 65 extends in the radial direction of the drive wheel 60, an end of each outer end surface antiskid portion 65 facing the edge of the outer end surface of the drive wheel 60 has a first preset gap with respect to the edge of the outer end surface, and an end of each outer end surface antiskid portion 65 facing the center of the circle of the outer end surface has a second preset gap with respect to the center of the circle of the outer end surface. As such, the length of the outer end surface antiskid portion 65 in the radial direction of the drive wheel 60 is proportional to the radial dimension of the outer end surface of the drive wheel 60 corresponding thereto. Wherein the first and second preset clearances are as small as possible, so as to increase the length of the outer end surface antiskid portion 65 in the radial direction of the drive wheel 60 as much as possible, thereby further improving the obstacle crossing capability of the drive wheel 60.

Specifically, in an embodiment, the outer circumferential surface of the driving wheel 60 is provided with grooves communicated with the outer circumferential surface, so that the diameters of the outer circumferential surface of the driving wheel 60 are different, the outer circumferential surface is provided with a plurality of first outer end surface anti-slip portions 652 and a plurality of second outer end surface anti-slip portions 654, the length of each first outer end surface anti-slip portion 652 in the radial direction of the driving wheel 60 is greater than the length of each second outer end surface anti-slip portion 654 in the radial direction of the driving wheel 60, and two first outer end surface anti-slip portions 652 arranged at intervals are arranged between two adjacent second outer end surface anti-slip portions 654.

In this way, first outer end surface antiskid portions 652 and second outer end surface antiskid portions 654 which are different in length are arranged in a staggered manner, first outer end surface antiskid portions 652 are provided in regions of the outer end surfaces which are larger in diameter, and second outer end surface antiskid portions 654 are provided in regions of the outer end surfaces which are smaller in diameter, so that the contact area between the driving wheel 60 and the obstacle and the friction force between the driving wheel 60 and the obstacle are increased as much as possible by making full use of the diameters of the outer end surfaces.

In some embodiments, the length of the outer end surface antiskid portion 65 in the radial direction of the drive wheel 60 gradually decreases in the rotational direction of the drive wheel 60 in order to cause the cleaning apparatus to climb over obstacles. Preferably, the outer end surface non-slip portion 65 has a V-shape or an isosceles triangle shape having a sharp tip. In this manner, the indication direction of the tip of the outer end surface antiskid portion 65 coincides with the rotation direction of the driving wheel 60, thereby facilitating the driving wheel 60 to come into normal contact with an obstacle and receive a force. It will be appreciated that the shape of the outer end surface anti-slip portion 65 is not limited and may be configured as desired to meet different requirements.

Referring to fig. 6, fig. 6 shows a side view of a drive wheel assembly in an embodiment of the present invention.

Preferably, in one embodiment, the outer end surface antiskid portion 65 protrudes outward from the outer end surface, and the height difference a between the outer end surface antiskid portion 65 and the outer end surface in the axial direction of the driving wheel 60 is 1mm to 2 mm. In this way, the outer end surface anti-slip portion 65 prevents the driving wheel 60 from having an excessively large width in the axial direction to interfere with other components of the cleaning apparatus while effectively increasing the contact area and frictional force between the driving wheel 60 and an obstacle. And the convex outer end surface anti-slip part 65 is not easy to accumulate dirt, thereby keeping good obstacle crossing effect for a long time. It is understood that the difference in height between the outer end surface antiskid portion 65 and the outer end surface in the axial direction of the drive wheel 60 may be set as required, thereby satisfying different requirements.

In other embodiments, the outer end surface anti-slip portion 65 is recessed inwardly from the outer end surface and may also function to increase the contact area and friction between the drive wheel 60 and an obstacle.

In some embodiments, to further improve the obstacle surmounting capability of the drive wheel 60, the inner end face of the drive wheel 60 is arranged with an inner end face skid-proof portion 67 to form an uneven surface.

Similar to the outer end surface antiskid portion 65, the inner end surface antiskid portion 67 is provided in an edge region where the inner end surface of the drive wheel 60 joins the outer circumferential surface, and a plurality of inner end surface antiskid portions 67 are arranged at intervals in the circumferential direction of the drive wheel 60 to form a concave-convex surface. Each inner end surface antiskid portion 67 extends in the radial direction of the drive wheel 60, an end portion of each inner end surface antiskid portion 67 facing the edge of the outer end surface of the drive wheel 60 has a third predetermined gap with respect to the edge of the outer end surface of the drive wheel 60, and an end portion of each inner end surface antiskid portion 67 facing the center of the circle of the outer end surface has a fourth predetermined gap with respect to the center of the circle of the outer end surface. Wherein the third and fourth preset clearances are as small as possible, so as to increase the length of the outer end surface antiskid portion 65 in the radial direction of the drive wheel 60 as much as possible, thereby further improving the obstacle crossing capability of the drive wheel 60.

The length of the inner end surface antiskid portion 67 in the radial direction of the drive wheel 60 gradually decreases in the rotational direction of the drive wheel 60. Preferably, the inner end surface non-slip portion 67 has a V-shape or a triangular shape. Thus, the indication direction of the tip of the inner end surface antiskid portion 67 coincides with the rotation direction of the drive wheel 60, thereby facilitating the drive wheel 60 to come into normal contact with an obstacle and receive a force. It is understood that the shape of the inner end surface antiskid portion 67 is not limited, and may be set as needed to meet different requirements.

Preferably, in one embodiment, the inner end surface antiskid portion 67 protrudes outward from the outer end surface of the driving wheel 60, and the difference in height between the inner end surface antiskid portion 67 and the inner end surface in the axial direction of the driving wheel 60 is 1mm to 2 mm. Thus, the inner end surface anti-slip portion 67 prevents the driving wheel 60 from having an excessively large width in the axial direction of the driving wheel 60 to interfere with other components of the cleaning apparatus while effectively increasing the contact area and frictional force between the driving wheel 60 and the obstacle. Further, the projecting inner end surface anti-slip portion 67 is less likely to accumulate dirt, so that a good obstacle surmounting effect can be maintained for a long time. It is understood that the difference in height between the inner end surface antiskid portion 67 and the inner end surface in the axial direction of the drive wheel 60 may be set as required, thereby satisfying different requirements.

In other embodiments, the inner end surface anti-slip portion 67 is recessed inward from the inner end surface of the driving wheel 60, and may also function to increase the contact area and friction between the driving wheel 60 and an obstacle.

According to the driving wheel 60 and the cleaning equipment with the driving wheel 60, the outer end face and the inner end face of the driving wheel 60 are arranged to be concave-convex surfaces, so that the contact area and the friction force between the driving wheel 60 and an obstacle in an obstacle crossing critical state are effectively increased, the obstacle crossing capability of the driving wheel 60 is effectively improved, the performance of the cleaning equipment is improved, and the application range of the cleaning equipment is enlarged.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (19)

1. A drive wheel, characterized in that the drive wheel has an axial direction and a circumferential direction relative to the axial direction;

the driving wheel is provided with an outer end surface and an inner end surface which are arranged at intervals in the axis direction;

wherein the outer end face is arranged with an outer end face non-slip portion (65) to form a non-flat surface.

2. A drive wheel according to claim 1, wherein the outer end face skid portions (65) are configured to be arranged at intervals in the circumferential direction to form a concave-convex surface.

3. A drive wheel according to claim 1, wherein the outer end face non-slip portion (65) is convex outward in the axial direction from the outer end face; and/or

The outer end surface non-slip portion (65) is recessed inward in the axial direction from the outer end surface.

4. A drive wheel according to claim 1, wherein the outer end face non-slip portion (65) protrudes outward in the axial direction from the outer end face, and a difference in height between the outer end face non-slip portion (65) and the outer end face in the axial direction is 1mm to 2 mm.

5. A drive wheel according to claim 4, wherein the drive wheel has a radial direction perpendicular to the axial direction, each outer end face skid-proof portion (65) extends in the radial direction, an end of each outer end face skid-proof portion (65) facing the outer end face peripheral outer circumferential face has a first preset clearance with respect to the outer end face peripheral outer circumferential face, and an end of each outer end face skid-proof portion (65) facing the outer end face center has a second preset clearance with respect to the outer end face center.

6. A drive wheel according to claim 5, characterized in that the outer end face is provided with a plurality of first outer end face non-slip portions (652) and a plurality of second outer end face non-slip portions (654), the length of the first outer end face non-slip portions (652) in the radial direction being greater than the length of the second outer end face non-slip portions (654) in the radial direction.

7. A drive wheel according to claim 6, characterized in that two first outer end surface antiskid portions (652) are provided between each of the most adjacent two second outer end surface antiskid portions (654).

8. A drive wheel according to claim 5, characterized in that the length of the outer end surface non-slip portion (65) in the radial direction is gradually reduced in the rotational direction of the drive wheel.

9. A driving wheel according to claim 8, characterized in that the outer end surface non-slip portion (65) is V-shaped or triangular.

10. A driving wheel according to claim 1, characterized in that the inner end face is arranged with an inner end face skid (67) to form a non-flat surface.

11. A drive wheel according to claim 10, wherein the inner end surface non-slip portions (67) are configured to be arranged at intervals in the circumferential direction to form a concave-convex surface.

12. The drive wheel according to claim 11, wherein the inner end surface non-slip portion (67) is convex outward in the axial direction from the inner end surface; and/or

The inner end surface anti-slip portion (67) is recessed inward from the inner end surface in the axial direction.

13. A drive wheel according to claim 12, wherein the drive wheel has a radial direction perpendicular to the axial direction, each inner end surface non-slip portion (67) extends in the radial direction of the drive wheel, an end portion of each inner end surface non-slip portion (67) facing the peripheral outer circumferential surface of the outer end surface has a third preset clearance with respect to the peripheral outer circumferential surface of the outer end surface, and an end portion of each inner end surface non-slip portion (67) facing the center of the outer end surface has a fourth preset clearance with respect to the center of the outer end surface.

14. A driving wheel according to claim 13, characterized in that the length of the inner end surface non-slip portion (67) in the radial direction of the driving wheel is gradually reduced in the rotational direction of the driving wheel.

15. A driving wheel according to claim 14, characterized in that said inner end surface non-slip portion (67) is V-shaped or triangular.

16. A driving wheel according to any one of claims 1 to 15, characterized in that the driving wheel comprises a hub (61) and a tire (63) detachably attached to the hub (61), the center axis of the hub (61) extends in the axial direction, the tire (63) is wrapped around the center axis of the hub (61) outside the hub (61), and the outer end surface skid prevention portion (65) is provided on the tire (63).

17. A drive wheel assembly comprising a drive wheel according to any one of claims 1 to 16.

18. A cleaning device comprising a drive wheel according to any one of claims 1 to 16.

19. The cleaning apparatus of claim 18, wherein the cleaning apparatus is a sweeping robot, a mopping robot, or a sweeping all-in-one robot.

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