CN219109307U - Driving wheel and small cleaning robot - Google Patents

Abstract

The utility model provides a driving wheel, which comprises a wheel body, a stator and a base, wherein the wheel body is used as a rotor and is provided with a rotating shaft, the base is provided with a rotating seat, the stator is fixedly sleeved with the rotating seat, the wheel body is sleeved with the stator and can be in rotating fit with the stator, the rotating shaft is rotationally connected with the rotating seat, one end of the rotating shaft, which is positioned at one side of the base, is provided with a first part of a sensor assembly, the back surface of the base is provided with a second part of the sensor assembly, the first part rotates along with the rotating shaft, the second part is used for detecting the rotation condition of the first part and outputting an electric signal, and a control unit of the driving wheel controls the wheel body to rotate around the stator according to the electric signal; the technical scheme has simple and compact structure, is beneficial to controlling the whole volume of the driving wheel, and is beneficial to providing a larger sensor installation space in a limited space, so that the control structure is beneficial to meeting the use requirement of the small cleaning robot, such as the precision requirement; a small cleaning robot is also proposed, employing the aforementioned drive wheel.

Description

Driving wheel and small cleaning robot

Technical Field

The utility model relates to the technical field of cleaning robots, in particular to a driving wheel and a small cleaning robot.

Background

The small cleaning robot mainly refers to a household sweeping robot and is characterized by small volume and capability of automatically bearing cleaning tasks in a household environment, and a mopping structure is also arranged on some sweeping robots.

The small cleaning robot has smaller volume, so that the volume of each component is required to be as small as possible, and the small cleaning robot can be smaller under the condition of realizing the same function, thereby being capable of running in a home environment more flexibly and reducing the limitation of volume factors on the action of the small cleaning robot. In the prior art, a direct-drive motor and a cleaning robot using the same are provided, wherein the national patent publication number is CN111600401A, and the Chinese patent publication mentions that the direct-drive motor is used for the cleaning robot and comprises an upper cover, a magnet assembly, a stator assembly and a base, wherein the upper cover is arranged outside the stator assembly, the magnet assembly is arranged on the inner wall of the upper cover, the upper cover is arranged on the base, the stator assembly is arranged in a cavity formed by the upper cover and the base, and an air gap for converting electromechanical energy exists between the magnet assembly and the stator assembly; when the upper cover is electrified to work, the upper cover rotates around the stator assembly under the action of magnetic force between the magnet assembly and the stator assembly. Further, the upper cover includes top surface and lateral wall, the top surface sets up the upper end of lateral wall, the top surface with stator module clearance fit, and still include the motor shaft, the one end of motor shaft with the top surface is connected, the upper cover passes through the motor shaft with stator module connects, and, the base includes bottom surface and center pin, the center pin is fixed on the bottom surface, stator module cover is established on the center pin, and, be equipped with the bearing room in the middle of the center pin, the motor shaft with form swing joint through the bearing between the bearing room, and, stator module includes iron core and copper line, the copper line twines on the iron core, the iron core cover is established on the center pin, magnet module's magnetic pole number is greater than the tooth's socket number of iron core. From the foregoing, these improvements have been found to optimize the structures and relative positional relationships of the upper cover, the motor shaft, the base, the central shaft, the iron core, etc., so that the direct drive motor can be applied to the related driving structure of the cleaning robot to meet the design requirement of the volume, such as the driving wheel, and the same applicant of the chinese patent application applies for a power wheel using the direct drive motor and another patent of the cleaning robot, which is disclosed in CN212785051U. However, under the requirement of small volume, how to set the control structure is not described, and related data in the prior art does not disclose or suggest how to set the control structure while being beneficial to controlling the whole volume of the driving wheel, and the problem has not been solved, and in the market, the product of actually applying the direct-drive motor to the small-sized cleaning robot has not been seen for a long time, which has difficulty in the prior art from a side reaction, and has hindered the practical application.

Although there are related studies in the patent literature referring to the application of the direct-drive motor to the driving wheel, in which some patents refer to the arrangement of the control structure, such techniques are applied to a large driving wheel, and the rotational speed range of the application is different from that of the small cleaning robot, and for the large driving wheel, the volume of which can satisfy the space conditions for installation, such as the installation structure and motor of the in-wheel motor encoder disclosed in chinese utility patent publication No. CN213661383U, which is applied to a mower, specifically, the motor 1000 of which includes the installation structure 400 of the in-wheel motor encoder, the bearing 100, the housing assembly 200, and the magnet 300; the mounting structure 400 of the in-wheel motor encoder comprises an encoder body 2 which is mounted and fixed on the driving wheel shaft 1, and can monitor the rotation speed of the driving wheel shaft 1 in real time, so that the rotation speed of the motor 1000 is conveniently monitored, and when the motor 1000 is applied to a mower, for example, the travelling mileage of the mower can be detected, so that the operation and the control of the mower are convenient; the small cleaning robot is in a more complex environment and has complex actions such as cleaning, obstacle avoidance and the like, so that the moving speed of the small cleaning robot is sometimes very slow and sometimes very fast, and the control structure can meet the use requirement of the small cleaning robot, and has higher requirements than the application scene of a large driving wheel, and meanwhile, the control of the whole volume of the driving wheel is also required to be met, so that the difficulty is very high.

From the foregoing, it can be seen that, the foregoing problem has not been solved by setting the control structure while being beneficial to controlling the overall size of the driving wheel, so that the applicant will continue to study and improve the control structure, and a new technical scheme of the driving wheel is provided, which has a simple and compact structure, so as to facilitate controlling the overall size of the driving wheel, and meanwhile, facilitate providing a larger sensor installation space in a limited space, so that the control structure is beneficial to meeting the use requirement, such as the precision requirement, of the small cleaning robot.

Disclosure of Invention

The technical problem to be solved by the utility model is to overcome the defects of the prior art, and provide a novel technical scheme of the driving wheel, which has a simple and compact structure, is beneficial to controlling the whole volume of the driving wheel, and is beneficial to providing a larger sensor installation space in a limited space, so that the control structure is beneficial to meeting the use requirement of a small cleaning robot, such as the precision requirement; a small cleaning robot is also proposed, employing the aforementioned drive wheel.

Compared with the prior art, the utility model provides a driving wheel, which comprises a wheel body, a stator and a base, wherein the wheel body is used as a rotor and is provided with a rotating shaft, the base is provided with a rotating seat, the stator is sleeved and fixed with the rotating seat, the wheel body is sleeved and can be in rotating fit with the stator, the rotating shaft is rotationally connected with the rotating seat, one end of the rotating shaft, which is positioned at one side of the base, is provided with a first part of a sensor assembly, the back of the base is provided with a second part of the sensor assembly, the first part rotates along with the rotating shaft, the second part is used for detecting the rotation condition of the first part and outputting an electric signal, and a control unit of the driving wheel controls the wheel body to rotate around the stator according to the electric signal.

As an improvement, the device also comprises a support arm, wherein the support arm is provided with a connecting hole which is transversely arranged, the base is fixedly connected with the connecting hole, and the second part is positioned in the connecting hole.

As an improvement, the connecting hole is set as a blind hole, and the bottom of the blind hole is fixedly connected with the back of the base through a first fastener so as to realize the fixed connection of the base and the connecting hole.

As a modification, the first fastener is screwed from outside to inside from the back of the support arm to connect to the back of the fixing base.

As an improvement, the back of the base is provided with a first connecting column and a second connecting column which are axially arranged, the second connecting column is used as a supporting column of the second part, and the overall height of the second connecting column is smaller than that of the first connecting column after the second connecting column is connected with the second part; the first connecting column is used for being fixedly connected with the connecting hole.

As an improvement, the second part comprises a circuit board fixedly connected with the second connecting columns through second fasteners, and the sensor of the second part is spanned between the second connecting columns through the circuit board.

As an improvement, the support arm includes the transverse setting and the inner is equipped with the normal running fit cover that blocks the part, and the connecting hole is located normal running fit cover, and this normal running fit cover cup joints and normal running fit with the wheel body, and this normal running fit cover is used for blocking the object and gets into the wheel body.

As an improvement, one end of the wheel body, which is positioned at one side of the rotating fit sleeve, is provided with an annular groove, and the end of the rotating fit sleeve, which is positioned at one side of the wheel body, is sleeved with the annular groove and can be in rotating fit.

As an improvement, the wheel body comprises a wheel rim and a cover, wherein the periphery of the wheel rim is sleeved and fixed with a bushing, and the periphery of the bushing is sleeved and fixed with a tire.

As an improvement, the wheel rim and the cover adopt a split structure, the cover is provided with a protruding part, and the protruding part is sleeved and fixed with the wheel rim.

As an improvement, the joint and fixing part of the protruding part and the rim is provided with connecting glue which is used for reinforcing the joint and fixing of the protruding part and the rim and simultaneously providing sealing connection.

As an improvement, the periphery of the rim is provided with a concave-convex structure and/or a rough structure, and the concave-convex structure and/or the rough structure are used for improving the connection firmness degree of the rim and the bushing.

As a modification, an annular groove is formed between the outer periphery of the rim and the inner periphery of the bushing.

As an improvement, the driving wheel comprises a back plate provided by the support arm, and the connecting hole is arranged on the back plate.

As an improvement, the driving wheel comprises a back plate, the back plate is provided by a supporting arm, and the back plate is provided with a connecting hole and a rotating fit sleeve.

As an improvement, a shaft hole is arranged in the rotating seat, the shaft hole is provided with at least two bearings, the rotating shaft is rotationally connected with the rotating seat through the bearings, and the rear end part of the rotating shaft is in limit connection with the bearing positioned at one side of the rear end part through a clamping spring.

As an improvement, the second part is positioned at the rear end of the shaft hole of the rotating seat, a space is arranged between the second part and the rear end of the shaft hole, and the first part is arranged at the space.

As an improvement, the second part outputs an electric signal to the outside of the driving wheel through the conductor, the control unit of the driving wheel and the driving circuit thereof are all arranged outside the driving wheel, the control unit outputs an instruction to the driving circuit according to the electric signal, and the driving circuit drives the wheel body to rotate around the stator according to the instruction.

As an improvement, the first part comprises a magnetic pole fixed at one end of the rotating shaft at one side of the base, and the second part comprises a magnetic rotary encoder which outputs a corresponding electric signal by detecting the rotation of the magnetic pole.

After adopting the structure, compared with the prior art, the utility model has the following advantages: the utility model has skillfully designed the structure can be simple and compact on the premise of arranging the sensor assembly, thereby being beneficial to controlling the whole volume of the driving wheel, simultaneously being beneficial to providing larger installation space of the sensor assembly in a limited space, being better capable of accommodating the sensor, and the circuit board arranged around the sensor can be better accommodated, thereby being beneficial to controlling the structure to meet the use requirement of the small cleaning robot, such as ensuring the precision requirement by using a large sensor.

Compared with the prior art, the utility model also provides a dust collector which comprises the driving wheel.

After adopting the structure, compared with the prior art, the utility model has the following advantages: by adopting the driving wheel, the structural complexity can be obviously reduced, and in addition, the operation is facilitated and the cost is reduced.

Drawings

Fig. 1 is a schematic perspective view of a driving wheel.

Fig. 2 is a second perspective view of a driving wheel.

Fig. 3 is a front view of a drive wheel.

Fig. 4 is a cross-sectional view taken along A-A of fig. 3.

Fig. 5 is a front view of fig. 3 with the support arm removed.

Fig. 6 is a B-B cross-sectional view of fig. 5.

Fig. 7 is a perspective view of a cover provided with a rotation shaft.

Fig. 8 is a perspective view of the rim of fig. 7.

Fig. 9 is a perspective view of the connecting bushing of fig. 8.

Fig. 10 is a schematic perspective view of the tire of fig. 9 after attachment.

Fig. 11 is a schematic perspective view of the base.

Fig. 12 is a second perspective view of the base.

Fig. 13 is a perspective view of the stator of fig. 11.

Fig. 14 is a schematic perspective view of the two parts of fig. 10 and 13 when combined together.

Fig. 15 is a perspective view of the support arm.

Fig. 16 is one of perspective views after the driving wheel is mounted on the chassis of the small-sized cleaning robot for mounting the driving wheel.

Fig. 17 is a second perspective view showing the driving wheel after being mounted on the chassis of the small-sized cleaning robot for mounting the driving wheel.

The reference numerals indicate 1-rim, 2-cover, 3-bushing, 4-tire, 5-projection, 6-annular receiving groove, 7-relief, 8-annular groove, 9-back plate, 11-attachment hole, 12-running fit sleeve, 13-screw hole, 14-bearing, 15-running seat, 16-spindle, 17-spindle hole, 18-pole, 19-magnetic rotary encoder, 20-circuit board, 21-stator, 22-base, 23-support arm, 24-first attachment post, 25-second attachment post, 26-second fastener, 27-swing attachment, 28-spring, 29-spring attachment, 30-spline, 31-wheel arch, 32-swing attachment shaft, 33-magnet, 34-snap spring slot, 35-housing.

Detailed Description

The following description is presented to enable one of ordinary skill in the art to make and use the utility model. The embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the utility model defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the utility model.

The present utility model is described in further detail below:

because the whole volume of the current small-sized cleaning robot is smaller, the volume is difficult to be further reduced, and the utility model adopts a certain innovation, so that the volume can be further reduced, and the problem of setting a control structure is solved.

As shown in fig. 4 or 6, the driving wheel comprises a wheel body, a stator 21 and a base 22, wherein the wheel body is used as a rotor and is provided with a rotating shaft 16, the base 22 is provided with a rotating seat 15, the stator 21 is sleeved and fixed with the rotating seat 15, the wheel body is sleeved and matched with the stator 21 in a rotatable manner, the rotating shaft 16 is rotationally connected with the rotating seat 15 through a bearing 14, one end of the rotating shaft 16, which is positioned at one side of the base 22, is provided with a first part of a sensor assembly, a second part of the sensor assembly is arranged at the back of the base 22, the first part rotates along with the rotating shaft 16, the second part is used for detecting the rotation condition of the first part and outputting an electric signal, and a control unit of the driving wheel controls the wheel body to rotate around the stator 21 according to the electric signal. In this example, the first portion and the second portion are disposed in a front-to-rear arrangement.

In this case, as shown in fig. 4 and 15, the support arm 23 provides the back plate 9 of the drive wheel, thereby further reducing the overall thickness. In this case, the support arm 23 also provides a wheel arch 31, which is advantageous for compactness of the whole and for controlling the whole volume.

The back plate 9 provided by the support arm 23 is provided with a transversely arranged connecting hole 11, the base 22 is fixedly connected with the connecting hole 11, and the second part is positioned in the connecting hole 11. This design is more advantageous for optimizing the lateral dimensions on the one hand, while solving the problem of accommodation of the second part, and on the other hand, the base 22 is easy to install, and in addition, has a better protective effect on the second part.

As shown in fig. 15, the connecting hole 11 is a blind hole, and the bottom of the blind hole is fixedly connected with the back of the base 22 through a first fastener to realize the fixed connection between the base 22 and the connecting hole 11. The design is more convenient to install on the one hand, and in addition, the connection is stable and reliable, and on the other hand, the assembly structure is simplified, and the whole volume is more favorably controlled.

The first fastener is screwed from outside to inside from the back of the support arm 23 to connect the back of the fixing base 22, and as can be seen in fig. 3 and 15, the back of the support arm 23 is provided with four screw holes 13. In this way, the assembly structure can be further simplified, and the whole volume can be controlled more conveniently.

As shown in fig. 12, the back of the base 22 is provided with a first connecting column 24 and a second connecting column 25 which are axially arranged, the second connecting column 25 is used as a support column of the second part, and the overall height of the second connecting column 25 after being connected with the second part is smaller than that of the first connecting column 24; the first connecting post 24 is used for fixedly connecting with the connecting hole 11. In this way, on the one hand, the assembly is easy and reliable, and on the other hand, the design can make the installation space for installing the sensor assembly as free as possible, and the sensor assembly can be installed by skillfully utilizing the space while the structure is very compact, so that the whole volume is further optimized.

In this example, the first connecting posts 24 and the second connecting posts 25 are all circumferentially distributed along the back surface of the base 22, which is uniformly distributed in this example, and each second connecting post 25 is located between two first connecting posts 24. In this way, the connection is stable and reliable, and more space is reserved, and in addition, the circuit board 20 cannot interfere with the first connecting post 24.

The second part comprises a circuit board 20, the circuit board 20 is fixedly connected with the second connecting columns 25 through second fasteners 26, and the sensor of the second part is spanned between the second connecting columns 25 through the circuit board 20. In this way, a larger area of the second part can be used, and in addition, the sensing space of the second part is more abundant, and the second part can better act with the first part, i.e. the second part can better detect the first part.

As shown in fig. 15, the support arm 23 includes a transversely disposed and inner end provided with a blocking portion, the connection hole 11 is located in the rotating fit sleeve 12, the rotating fit sleeve 12 is sleeved with the wheel body and rotatably fitted, and the rotating fit sleeve 12 is used for blocking an object from entering the wheel body. Therefore, on one hand, the structure is compact, the whole volume is controlled, and on the other hand, the possibility of faults caused by the fact that objects enter the wheel body is reduced, and objects such as dust clusters, a large number of hair wires and the like are reduced.

In this case, the back plate 9 provided by the support arm 23 is provided with both the connection hole 11 and the rotation fit sleeve 12, and the blocking portion is a part of the back plate 9. Therefore, the structure is more compact, and the whole volume can be controlled conveniently.

As shown in fig. 6, one end of the wheel body, which is positioned at one side of the rotating fit sleeve 12, is provided with an annular groove 8, and the end of the rotating fit sleeve 12, which is positioned at one side of the wheel body, is sleeved with the annular groove 8 and can be in rotating fit. Thus, objects can be better prevented from entering the wheel body, and the reliability of the utility model is improved.

The wheel body comprises a wheel rim 1 and a cover 2, wherein a lining 3 is sleeved and fixed on the periphery of the wheel rim 1, and a tire 4 is sleeved and fixed on the periphery of the lining 3. In this way, on the one hand, the tyre 4 can be better secured, and on the other hand, the material of the rim 1 can be chosen more, for example the rim 1 as a rotor, more prone to be chosen as a material advantageous for optimizing the performance of the rotor, without having to worry about whether the tyre 4 can be reliably bonded to the rim 1.

As shown in fig. 7 and 8, the rim 1 and the cover 2 are in a split structure, the cover 2 is provided with a protruding part 5, and the protruding part 5 is sleeved and fixed with the rim 1. In this way, since the rim 1 is used as a rotor, the magnet 33 needs to be mounted, the split structure is beneficial to more accurately processing the rim 1, so that the rotor performance is beneficial to optimizing, and in addition, the processing difficulty is reduced.

In this example, the rotating shaft 16 is fixed on the cover 2 through the spline 30, which is beneficial to assembling the rotating shaft 16 and guaranteeing the coaxiality of the rotating shaft 16 and the rim 1. The shaft 16 may also be secured in the cover 2 by other means of attachment, such as an integral formation.

The joint fixing part of the protruding part 5 and the rim 1 is provided with connecting glue which is used for reinforcing the joint fixing of the protruding part 5 and the rim 1 and simultaneously providing sealing connection. In this way, the rim 1 and the cover 2 can be better fixed, and a certain sealing purpose is achieved at the same time, as shown in fig. 6, in this example, the annular containing groove 6 is opened on the outer peripheral surface of the cover 2 to contain glue for connection, so that better fixation and sealing are achieved.

The periphery of the rim 1 is provided with a concave-convex structure 7 and/or a rough structure, and the concave-convex structure 7 and/or the rough structure are used for improving the connection firmness degree of the rim 1 and the bushing 3. In this example, adopt concave-convex structure 7, concave-convex structure 7 is bigger to the fixed force of circumference, is favorable to the firm in connection degree of rim 1 and bush 3, and then the reliability of tire 4 connection is ensured indirectly.

The annular groove 8 is formed between the outer periphery of the rim 1 and the inner periphery of the liner 3. In this way, the annular groove 8 is purposely formed by the connection of the rim 1 and the bush 3, without additional separate arrangement, so that the structure is simple and compact, which is beneficial to optimizing the overall volume.

As shown in fig. 6 and 7, a shaft hole 17 is provided in the rotating seat 15, the shaft hole 17 is provided with at least two bearings 14, the rotating shaft 16 is rotationally connected with the rotating seat 15 through the bearings 14, the rear end portion of the rotating shaft 16 is in limit connection with the bearing 14 located at one side of the rear end portion through a snap spring, and in this example, the rear end portion of the rotating shaft 16 is provided with a snap spring groove 34. In this way, the rotary connection between the rotary shaft 16 and the rotary seat 15 is better realized, in addition, the limit structure between the rotary shaft 16 and the bearing 14 is realized, and the space or the position of the rear end part of the rotary shaft 16 can be vacated to give the sensor assembly, so that the structure is compact, the connection is stable and reliable, and the performance is improved.

The second part is positioned at the rear end of the shaft hole 17 of the rotating seat 15, a space is arranged between the second part and the rear end of the shaft hole 17, and the first part is arranged at the space. In this way, the second portion is completely out of the limit of the shaft hole 17, i.e. the radial dimension of the second portion is not limited by the shaft hole 17, so that the size of the second portion can mainly be considered to meet the requirement of improving the detection performance, and the whole volume can be kept better.

In this example, the second part outputs an electrical signal to the outside of the driving wheel via the conductor, the control unit of the driving wheel and its driving circuit are all disposed outside the driving wheel, the control unit outputs an instruction to the driving circuit according to the electrical signal, and the driving circuit drives the wheel body to rotate around the stator 21 according to the instruction. That is, the driving wheel of the present utility model is provided with only the sensor assembly without the driving circuit, thereby significantly simplifying the arrangement of the circuit board 20, so that the volume of the circuit board 20 is well controlled, thereby facilitating the control of the overall volume of the driving wheel, and simultaneously facilitating the provision of a larger sensor installation space in a limited space.

The first part includes a magnetic pole 18, the magnetic pole 18 is fixed to one end of the rotating shaft 16 at one side of the base 22, and the second part includes a magnetic rotary encoder 19, and the magnetic rotary encoder 19 outputs a corresponding electric signal by detecting the rotation of the magnetic pole 18. Therefore, the sensor is very suitable for the structural scheme of the utility model, is more beneficial to controlling the whole volume, and has better detection precision, so that the sensor is beneficial to improving the performance of the driving wheel and better meets the use requirement of the small cleaning robot.

As shown in fig. 16 and 17, the driving wheel of the present utility model is mounted to the base 35 of the small-sized cleaning robot, a spring 28 and a swing link shaft 32 are provided between the support arm 23 and the base 35, one end of the spring 28 is connected to the base 35, the other end of the spring 28 is connected to a spring link 29 provided on the support arm 23, the swing link shaft 32 is provided on the base 35 and rotatably connected to a swing link 27 provided on the support arm 23, that is, the driving wheel is swingably connected to the base 35 via the support arm 23 and swingably connected to the base 35 about the swing link shaft 32 with respect to the base 35, thereby better adapting to the terrain. The foregoing structure may be understood in conjunction with fig. 15.

As shown in fig. 1 and 2, compared with the prior art, the driving wheel of the present utility model has a flat shape, the overall volume control is better, and when the driving wheel is connected with the stand 35, the overall volume control is better, particularly in the transverse thickness direction, as shown in fig. 16 and 17, and in addition, the problem of arranging the sensor assembly is solved.

The small-sized cleaning robot with the driving wheel is beneficial to the control of the volume of the small-sized cleaning robot and the improvement of the space utilization level.

In understanding the present utility model, the above-described structure may be understood together with other embodiments/drawings, if necessary, and will not be described herein.

The foregoing description is only illustrative of the present utility model and is therefore intended to cover all such modifications and changes in form, details, and materials as fall within the true spirit and scope of the utility model.

Claims (20)

1. The utility model provides a drive wheel, including wheel body, stator and base, the wheel body is equipped with the pivot as the rotor, the base is equipped with and rotates the seat, the stator is fixed with rotating the seat cover joint, the wheel body cup joints and rotatable fit with the stator, the pivot rotates with rotating the seat and is connected, its characterized in that, the one end that the pivot is located base one side is equipped with the first part of sensor assembly, the base back is equipped with the second part of sensor assembly, first part rotates along with the pivot, the second part is used for detecting first part rotation condition and exporting the electrical signal, the control unit of drive wheel rotates around the stator according to this electrical signal control wheel body.

2. The drive wheel of claim 1, further comprising a support arm having a laterally disposed attachment aperture, the base fixedly coupled to the attachment aperture, and the second portion positioned in the attachment aperture.

3. The drive wheel of claim 2, wherein the connection hole is provided as a blind hole, and the bottom of the blind hole is fixedly connected to the back of the base via a first fastener to achieve a fixed connection of the base to the connection hole.

4. A drive wheel according to claim 3, wherein the first fastener is screwed from the back of the support arm from the outside inwards to connect to the back of the stationary base.

5. The driving wheel according to claim 2, 3 or 4, wherein the back of the base is provided with a first connecting column and a second connecting column which are axially arranged, the second connecting column is used as a supporting column of the second part, and the overall height of the second connecting column is smaller than that of the first connecting column after the second connecting column is connected with the second part; the first connecting column is used for being fixedly connected with the connecting hole.

6. The drive wheel of claim 5, wherein the second portion includes a circuit board fixedly coupled to the second connection post via a second fastener, and the sensor of the second portion spans between the second connection posts via the circuit board.

7. The drive wheel of claim 2, wherein the support arm includes a transversely disposed, rotationally engaged sleeve having a blocking portion at an inner end thereof, the connecting aperture being located in the rotationally engaged sleeve which is engaged with the wheel body and rotationally engaged therewith, the rotationally engaged sleeve being adapted to block the entry of an object into the wheel body.

8. The drive wheel of claim 7, wherein the end of the wheel body on the side of the rotating fit sleeve is provided with an annular groove, and the end of the rotating fit sleeve on the side of the wheel body is sleeved with the annular groove and can be rotatably fitted.

9. The drive wheel of claim 1, 7 or 8, wherein the wheel body comprises a rim and a cover, a bushing is fixedly sleeved on the outer periphery of the rim, and a tire is fixedly sleeved on the outer periphery of the bushing.

10. The driving wheel according to claim 9, wherein the rim and the cover are of a split structure, the cover is provided with a protruding portion, and the protruding portion is fixedly sleeved with the rim.

11. The drive wheel of claim 10, wherein the attachment glue is provided at the location of the projection in a socket-joint with the rim, the attachment glue being adapted to enhance the socket-joint attachment of the projection to the rim while providing a sealing connection.

12. The drive wheel according to claim 9, characterized in that the rim periphery is provided with a relief and/or roughness for improving the connection firmness of the rim to the bushing.

13. The drive wheel of claim 9, wherein an annular groove is formed between the outer periphery of the rim and the inner periphery of the bushing.

14. A drive wheel according to claim 2 or 3, wherein the drive wheel comprises a back plate provided by the support arm, the connection hole being provided in the back plate.

15. The drive wheel of claim 7, wherein the drive wheel includes a back plate provided by the support arm, the attachment hole and the rotating fit sleeve being disposed on the back plate.

16. The driving wheel according to claim 1, wherein the rotation seat is internally provided with a shaft hole, the shaft hole is provided with at least two bearings, the rotation shaft is rotationally connected with the rotation seat through the bearings, and the rear end part of the rotation shaft is in limit connection with the bearing positioned on one side of the rear end part through a snap spring.

17. The drive wheel of claim 1 or 16, wherein the second portion is located at a rear end of the shaft bore of the rotatable seat, the second portion being spaced from the rear end of the shaft bore by a distance, the first portion being spaced from the second portion.

18. The driving wheel according to claim 1, wherein the second portion outputs an electric signal to the outside of the driving wheel via the conductor, the control unit of the driving wheel and its driving circuit are both provided to the outside of the driving wheel, the control unit outputs an instruction to the driving circuit according to the electric signal, and the driving circuit drives the wheel body to rotate around the stator according to the instruction.

19. The drive wheel of claim 1, wherein the first portion includes a magnetic pole fixed to an end of the rotating shaft at one side of the base, and the second portion includes a magnetic rotary encoder that outputs a corresponding electrical signal by detecting rotation of the magnetic pole.

20. A compact cleaning robot employing the drive wheel of any one of claims 1 to 18, characterized in that the compact cleaning robot comprises the drive wheel for moving the compact cleaning robot.

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