WO2021018234A1

WO2021018234A1 - Sweeping robot

Info

Publication number: WO2021018234A1
Application number: PCT/CN2020/105757
Authority: WO
Inventors: 李孟钦; 王利鹏; 郑卓斌; 王立磊
Original assignee: 广东宝乐机器人股份有限公司
Priority date: 2019-07-30
Filing date: 2020-07-30
Publication date: 2021-02-04
Also published as: CN110464252A

Abstract

A sweeping robot comprising: a main body (10) and driving wheels (20), the driving wheels (20) are provided at side edges of the main body (10) and used for driving the main body (10) to move, each of the driving wheels (20) comprises: an inner hub assembly (300), connected to the main body (10) and internally provided with a drive member (310) and a transmission member (320); and an outer hub assembly (400), provided in the outside of the inner hub assembly (300) and rotatably connected to the inner hub assembly (300), one end of the transmission member (320) is in transmission connection with the drive member (310), the other end is in transmission connection with the outer hub assembly (400), and the drive member (310) transmits a torsion force to the outer hub assembly (400) by means of the transmission member (320), such that the outer hub assembly (400) is able to rotate relative to the inner hub assembly (300) and the main body (10), thereby driving the robot to move. In the sweeping robot, the driving wheels (20) are provided at side edges of the main body (10), such that the driving member (310) does not occupy the space of the main body (10); and the driving member (310) and the transmission member (320) are provided within the driving wheels (20), such that the overall structure of the robot is compact, and the overall volume is small.

Description

Sweeping robot

This application requires the priority of the Chinese patent application filed with the Chinese Patent Office on July 30, 2019, with the application number 201910695472.6 and the application name "Robot sweeping", the entire content of which is incorporated into this application by reference.

Technical field

The present invention relates to the field of robotic equipment, in particular to a sweeping robot.

Background technique

Robots are becoming more and more common in current life. For example, sweeping robots realize walking function driven by driving wheels, and rely on certain artificial intelligence to automatically complete floor cleaning in the room. Generally, brush sweeping and negative pressure adsorption are used to suck ground debris into its own dust box first to complete the ground cleaning work. Generally, in order to improve the robot’s ability to overcome obstacles and travel in complex environments, the drive wheels are generally designed with a wide wheel pattern, but the wide wheel pattern drive wheel has a larger volume, and the drive wheel setting of the traditional robot Inside and below the main body, the volume of the main body is relatively large, and the entire robot equipment appears bloated. If the driving wheel is arranged outside the main body, a mechanical transmission is often required between the driving wheel and the main body, which will increase the complexity of the structure. At the same time, the connection between the two will be unstable and easy to generate dust accumulation, which affects the transmission. effectiveness.

Summary of the invention

Based on this, it is necessary to provide a sweeping robot to solve the problem that the miniaturization of the traditional robot and the ease of setting the transmission mechanism are difficult to balance.

The sweeping robot of the present invention includes: a main body and a driving wheel, the driving wheel is arranged on the side of the main body and used to drive the main body to move, the driving wheel includes: an inner hub assembly connected to the main body, and A driving part and a transmission part are provided; and an outer hub assembly is arranged outside the inner hub assembly and is rotatably connected with the inner hub assembly. One end of the transmission part is in transmission connection with the driving part, and the other end is connected to the Transmission connection of outer hub assembly.

In one embodiment, the inner hub assembly includes a bracket, the bracket is provided with an axle, the driving member and the transmission member are both arranged in the bracket, and the center of the outer hub assembly is provided with The first shaft hole is inserted into the wheel shaft, and the outer hub assembly is provided with a driven part that is drivingly connected with the transmission part.

In an embodiment, the outer hub assembly further includes a bearing, the center of the outer hub assembly extends toward the bracket to form a first boss, the first shaft hole is provided on the first boss, and the bearing Is arranged in the first shaft hole, when the wheel shaft is inserted into the first shaft hole, the bearing is sleeved on the outside of the wheel shaft, the driven member is a driven gear, and the driven gear The fixed sleeve is arranged outside the first boss, and the center axis of the driven gear is coaxial with the first shaft hole of the outer hub assembly.

In an embodiment, the driving member includes a worm, the transmission member includes a worm gear and an output gear that mesh with each other, the worm rod meshes with the turbine, and the output gear meshes with the driven gear.

In one embodiment, the bracket is a first cylindrical structure with a first bottom plate, and an accommodating space is formed inside the first cylindrical structure, and the accommodating space is used to accommodate the driving member and the transmission The center position of the first bottom plate extends and protrudes toward the inside of the first cylindrical structure to form a second boss on the inner side of the first bottom plate, and simultaneously form a depression on the outside of the first bottom plate, so The driven gear is located in the recess, the second boss is provided with a gap, and the output gear meshes with the driven gear at the gap.

In one embodiment, the inner hub assembly is provided with a rotating shaft on the end surface close to the main body, and the main body is provided with a second shaft hole, and the rotating shaft can be matched with the second shaft hole so that the driving wheel Connect to the side of the main body.

In one embodiment, after the rotating shaft of the driving wheel is inserted into the second shaft hole, a limiting member is further provided on the rotating shaft and/or the main body to prevent the driving wheel from being separated from the main body.

In one embodiment, a flange is provided on the rotating shaft, and after the rotating shaft is inserted into the second shaft hole, a first clamp is also provided on the rotating shaft, and the first clamp is disposed on the flange and the inner cover. Between, used to prevent the drive wheel from separating from the main body.

In an embodiment, a control board is provided in the main body, a first through hole is opened in the shaft along the axial direction, and a power line and/or a data line are led out from the driving member, and the power line and/or Or a data line can pass through the first through hole to be connected to the control board, so that the control board is electrically connected to the driving component.

In one embodiment, the outer hub assembly includes a second cylindrical structure having a second bottom plate, and the second bottom plate and the second cylindrical structure enclose an accommodating cavity for accommodating the inner hub assembly, and the first The shaft hole is opened at the center of the second bottom plate, and the outer side of the second cylindrical structure wraps the wheel skin.

In one embodiment, the inner hub assembly further includes a fixing member, the axle passes through the first shaft hole to form a protruding end, and the fixing member is fixedly arranged on the protruding end to hold the The wheel shaft is held in the first shaft hole.

The sweeping robot of the present invention has the following beneficial effects:

In the sweeping robot of the present invention, by arranging the driving wheel outside the main body, the driving part does not occupy the space of the main body. In addition, the present invention makes full use of the space in the driving wheel by reasonably setting the internal structure of the driving wheel. The driving part and the transmission part are arranged so that the driving wheel of the robot of the present invention is not only an appearance part of the robot, but also a functional part. The main body does not need to be provided with a driving part and a transmission part, thereby reducing the volume of the main body, thereby making the overall structure of the robot of the present invention More compact, the overall volume is smaller.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are some embodiments of the embodiments of the present invention. A person of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic diagram of the overall structure of the robot in an embodiment.

Fig. 2 is a schematic diagram of the disassembled structure of the main components of the driving wheel in an embodiment.

Fig. 3 is a schematic diagram of the disassembled structure of the main parts of the robot in an embodiment.

Fig. 4 is a schematic diagram of the connection structure between the driving wheel and the main body in an embodiment.

Figure 5 is a schematic diagram of the structure between the inner hub assembly and the outer hub assembly in an embodiment.

Fig. 6 is a three-dimensional structural diagram of the inner hub assembly hiding the inner cover and the outer hub assembly after being assembled together in an embodiment.

Fig. 7 is a top view of the driving wheel in Fig. 6.

Fig. 8 is a partial cross-sectional view of the bracket in an embodiment at the A-A section in Fig. 7.

Fig. 9 is a partial cross-sectional view of the outer hub assembly in an embodiment at the A-A section in Fig. 7.

Fig. 10 is a structural schematic diagram of the bracket in Fig. 8 and the outer hub assembly in Fig. 9 after being assembled together.

Fig. 11 is a cross-sectional view of the driving wheel in Fig. 7 at the B-B section.

Fig. 12 is a schematic diagram of an exploded structure of a driving wheel in an embodiment.

Reference signs:

Main body 10, body upper cover 11, body lower cover 12, second shaft hole 13, first clamp 14, second clamp 15; driving wheel 20; inner hub assembly 300, driving part 310, worm 311; transmission part 320, turbine 321, first turbine 322, first gear 323, output gear 324, first output gear 325, second output gear 326; inner cover 330, rotating shaft 331, first through hole 332, flange 333; bracket 340 , The first bottom plate 341, the second boss 342, the recess 343, the gap 344, the partition 345, the first space 346, the second space 347, the first cylindrical structure 348; the axle 350, the second through hole 351, protruding End 352; side probe assembly 360; outer cover 370; fixing member 380; outer hub assembly 400, second bottom plate 410, first shaft hole 420, bearing 430, driven gear 440, second cylindrical structure 450, first convex台460.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. The terms "inner", "outer", "left", "right" and similar expressions used herein are for illustrative purposes only and do not mean that they are the only embodiments.

The sweeping robot of the present invention is shown in Figs. 1 and 2. Fig. 1 is a schematic diagram of the overall structure of the robot, and Fig. 2 is a schematic diagram of the structure of the driving wheel 20 of the robot.

It can be seen from FIG. 1 that the robot includes a main body 10 and a driving wheel 20. The driving wheel 20 is arranged on the side of the main body 10 to drive the main body 10 to move; it can be seen from FIG. 2 that the driving wheel 20 includes an inner hub assembly 300 and the outer hub assembly 400, wherein the inner hub assembly 300 is connected to the main body 10, and a driving part 310 and a transmission part 320 are arranged inside; the outer hub assembly 400 is arranged outside the inner hub assembly 300 and is rotatably connected with the inner hub assembly 300 One end of the transmission member 320 is drivingly connected to the driving member 310, and the other end is drivingly connected to the outer hub assembly 400. The driving member 310 transmits the torque to the outer hub assembly 400 through the transmission member 320, so that the outer hub assembly 400 can be relative to the inner hub assembly. 300 and the main body 10 rotate to drive the robot to move. In addition, it should be noted that in the embodiment shown in FIG. 1, the robot includes two driving wheels 20, which are respectively located on the outer sides of the main body 10. It is understood that, in order to improve the stability of the robot operation, A support wheel (not shown in the figure) is arranged under the main body 10. According to the principle of three points forming one surface, the support wheel and the driving wheels 20 on both sides of the robot can make the robot walk stably on the ground.

In one embodiment, as shown in FIG. 2, the inner hub assembly 300 includes a bracket 340, an inner cover 330 arranged in combination with the bracket 340, and an axle 350 arranged at the center of the bracket 340, and the inner cover 330 is used to connect with the main body 10. . Further, as shown in FIGS. 2 and 3, the inner cover 330 of the driving wheel 20 is provided with a rotating shaft 331 on the end surface close to the main body 10. As shown in FIG. 3, the main body includes an upper body cover 11 and a lower body cover 12. After the cover 11 and the lower body cover 12 are fitted together, a second shaft hole 13 can be formed at a corresponding position for matching with the rotating shaft 331 so that the driving wheel 20 is connected to the outside of the main body 10. In addition, in order to prevent the driving wheel 20 from separating from the main body 10, as shown in FIG. 4, after the rotation shaft 331 of the driving wheel 20 is inserted into the second shaft hole 13, a first clamp 14 and a second clamp are also provided on the rotation shaft 331. The hoop 15 is used to fix the rotating shaft 331 on the lower body cover 12, wherein a flange 333 is further provided at the end of the rotating shaft 331 close to the inner cover 330, and the first clamp 14 is arranged between the flange 333 and the inner cover 330 , Used to prevent the drive wheel 20 from detaching from the main body 10, the second clamp 15 is provided between the end of the shaft 331 away from the inner cover 330 and the lower body cover 12 to fix the shaft 331 and improve the rotational connection between the drive wheel 20 and the main body The stability. It can be understood that, in addition to the first clamp 14 and the second clamp 15 provided on the rotating shaft 331, in other embodiments, other limiting members may be provided on the rotating shaft 331 and/or the main body for connecting the rotating shaft 331 It is fixed on the main body to prevent the driving wheel 20 from being separated from the main body.

In addition, as shown in FIGS. 2, 5, 6 and 11, the driving member 310 and the transmission member 320 are both arranged in the bracket 340. The center of the bracket 340 is provided with an axle 350, and the outer hub assembly 400 includes a second bottom plate. The second cylindrical structure 450 of the 410, the second bottom plate 410 and the second cylindrical structure 450 enclose an accommodating cavity for accommodating the inner hub assembly, the center of the second bottom plate 410 is provided with a first shaft hole 420, and the second cylinder The outer side of the shaped structure 450 wraps the wheel skin. The center of the second bottom plate 410 extends toward the bracket 340 to form a first boss 460. The first shaft hole 420 is provided on the first boss 460, and the first shaft hole 420 is fixedly provided with a bearing 430 When the inner hub assembly 300 and the outer hub assembly 400 are assembled together, as shown in FIG. 9, the axle 350 is inserted into the first shaft hole 420, and the bearing 430 is sleeved on the outside of the axle 350, so that the outer hub assembly 400 and the inner The hub assembly 300 is rotatably connected. A follower is fixed on the outside of the first boss 460. The drive 310 transmits torque to the follower through the transmission 320, and the follower then drives the outer hub assembly 400 relative to the inner hub assembly 300. Rotate.

Further, as shown in FIG. 5, the driving member 310 is specifically a motor, the output end of the driving member 310 includes a worm 311, and the transmission member 320 includes a worm 321 and an output gear 324 meshing with each other. The worm 311 is meshed with the worm 321, so that The motor can transmit torque to the output gear 324 through the worm 311 and the turbine 321. The driven part on the outer hub assembly 400 includes a driven gear 440, which is fixedly sleeved on the outside of the first boss 460, and the driven The central axis of the gear 440 is coaxial with the first shaft hole 420 of the outer hub assembly, and the output gear 324 meshes with the driven gear 440 so that the output gear 324 can transmit torque to the driven gear 440, and the driven gear 440 drives the outer hub assembly 400 rotates relative to the inner hub assembly 300. It can also be seen from FIG. 5 that the turbine 321 includes a first turbine 322 and a first gear 323 that rotate coaxially, and the output gear 324 includes a first output gear 325 and a second output gear 326 that rotate coaxially. The worm 311 and The first turbine 322 meshes, the first gear 323 meshes with the first output gear 325, the first turbine 322 is driven by the worm 311, and the first gear 323 rotates coaxially with the first turbine 322, thereby driving the first output gear 325 When rotating, the second output gear 326 rotates coaxially with the first output gear 325, thereby driving the driven gear 440 to rotate.

Further, as shown in FIGS. 2, 5 and 11, the bracket 340 is a first cylindrical structure 348 with a first bottom plate 341, and the inner cover 330 is connected to the free end of the first cylindrical structure 348 to close the inside of the bracket 340 The center position of the first bottom plate 341 protrudes toward the inner cover 330, so that the first bottom plate 341 is on the side close to the inner cover 330 (that is, the inner side of the first bottom plate 341) and the side far from the inner cover 330 (that is, The outer side of the first bottom plate 341) is respectively formed with a second boss 342 and a recess 343, the driven gear 440 and the bearing 430 of the outer hub assembly 400 are located in the recess 343, and the driving member 310 and the transmission member 320 are located in the inner cover 330 and the first Between the bottom plates 341, the second boss 342 is provided with a notch 344. As shown in FIGS. 6-11, the second output gear 326 and the driven gear 440 mesh at the notch 344. 6 is a three-dimensional structural diagram of the inner hub assembly 300 and the outer hub assembly 400 with the inner cover 330 hidden after being assembled together. FIG. 7 is a top view of the driving wheel 20 in FIG. 6, and FIGS. 8 and 9 are the bracket 340 and the outer hub, respectively The assembly 400 is a partial cross-sectional view at the AA section in FIG. 7. FIG. 10 is a structural schematic diagram of the bracket 340 in FIG. 8 and the outer hub assembly 400 in FIG. 9 after being assembled together. FIG. 11 is the driving wheel 20 in FIG. A cross-sectional view of the cross-section, as can be seen from FIG. 10, when the bracket 340 and the outer hub assembly 400 are assembled together, the driven gear 440 of the outer hub assembly 400 can be exposed from the gap 344, and then can interact with the second output gear 326 meshing. It can be seen from FIG. 11 that the driving member 310 transmits the torque to the driven gear 440 of the outer hub assembly 400 through the second output gear 326 at the gap 344, the driven gear 440 of the outer hub assembly 400 and the axle in the bracket 340 A bearing 430 is arranged between 350. Therefore, under the action of the driving member 310 and the transmission member 320, the driven gear 440 can drive the outer hub assembly 400 to rotate relative to the inner hub assembly 300.

Further, the inner hub assembly 300 also includes a power supply assembly (not shown in the figure) for providing power support for the robot; as shown in Figures 5 and 6, a partition 345 is also provided in the bracket 340, and the partition 345 will The space in the bracket 340 is divided into a first space 346 and a second space 347. The first space 346 is used to accommodate the driving member 310 and the transmission member 320, and the second space 347 is used to accommodate the power supply assembly. The driving component 310 is electrically connected to the power supply assembly, and the power supply component is used to provide power input for the driving component 310. In one embodiment, a control board (not shown in the figure) is provided in the main body 10, and a first through hole 332 is opened in the shaft 331 along the axial direction. As shown in FIG. 3, the power supply assembly leads to a power cord and/ Or the data line, the power line and/or the data line can pass through the first through hole 332 to be connected to the control board, so that the control board is electrically connected to the power supply assembly. In one embodiment, the driving member is also electrically connected to the control board through the first through hole 332, and works under the control of the control board.

Further, the explosive structure of the driving wheel 20 is shown in FIG. 12. As can be seen from FIG. 11 and FIG. 12, the inner hub assembly 300 also includes a side detection assembly 360 for detecting the distance between the robot and external obstacles. The wheel shaft 350 passes through the first shaft hole 420 and extends from the second bottom plate 410 away from the bracket 340 to form a protruding end 352, and the side probe assembly 360 is connected to the protruding end 352. Further, a second through hole 351 is provided in the axle 350 along the axial direction for inserting the power line and/or the data line, so that the edge detection assembly 360 is electrically connected to the control board. When the robot is working, only the outer hub assembly 400 is rotating, and the bracket 340 and the axle 350 in the inner hub assembly 300 will not rotate. Therefore, the edge detection assembly 360 is connected to the protruding end 352 of the axle 350 to increase the edge The detection accuracy of the detection component 360.

In addition, it can also be seen in FIG. 11 that after the side probe assembly 360 is connected to the protruding end 352 of the axle 350, a fixing member 380 is also provided on the protruding end 352 to fix the side probe assembly 360 On the protruding end 352, the axle 350 can be kept in the first shaft hole 420 at the same time. In a specific embodiment, as shown in FIG. 11, the protruding end 352 of the axle 350 is also provided with an external thread, and the fixing member 380 is a nut. When the side probe assembly 360 is connected to the protruding end 352 of the axle 350 Afterwards, the nut is screwed and fixed on the external thread of the protruding end 352, thereby fixing the side probe assembly 360 on the protruding end 352, and at the same time keeping the axle 350 in the first shaft hole 420.

In one embodiment, as shown in Figures 2, 11 and 12, the inner hub assembly 300 further includes an outer cover 370, which covers the side probe assembly 360 from the outside, as can be seen from Figures 2, 11 and 12 Then, the outer cover 370 is arranged on the side surface of the side probe assembly 360 away from the second bottom plate 410. It can be understood that, on the side of the second bottom plate 410 of the outer hub assembly 400 away from the main body 10, except that the side probe assembly 360 does not rotate with the outer hub assembly 400, it passes through the protrusion of the axle 350 of the second bottom plate 410 of the outer hub assembly 400 The end 352 does not rotate with the outer hub assembly 400. Therefore, in other embodiments, the outer cover 370 may also be disposed on the protruding end 352 of the axle 350.

In the above-mentioned embodiment of the sweeping robot, the driving wheel is arranged outside the main body so that the driving part does not occupy the space of the main body. In addition, the present invention makes full use of the space in the driving wheel by arranging the driving part and the transmission part in the driving wheel. Therefore, the driving wheel of the robot of the present invention is not only an appearance part of the robot, but also a functional part. The main body does not need to be provided with a driving part and a transmission part, which reduces the volume of the main body, thereby making the robot structure of the present invention more compact and smaller in overall volume. .

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

The above-mentioned embodiments only express several embodiments of the present invention, and the descriptions are more specific and detailed, but they should not be understood as limiting the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

A sweeping robot, characterized in that it comprises:

A main body and a driving wheel, the driving wheel is arranged on the side of the main body and used to drive the main body to move, and the driving wheel includes:

The inner hub assembly is connected to the main body and is provided with a driving part and a transmission part; and,

The outer hub assembly is arranged outside the inner hub assembly and is rotatably connected with the inner hub assembly. One end of the transmission member is drivingly connected with the driving member, and the other end is drivingly connected with the outer hub assembly.
The sweeping robot according to claim 1, wherein the inner hub assembly includes a bracket, a wheel axle is arranged on the bracket, the driving member and the transmission member are both arranged in the bracket, and the outer hub assembly A first shaft hole for inserting the wheel shaft is opened at the center of the, and the outer hub assembly is provided with a driven part that is connected to the transmission part in a driving manner.
The cleaning robot according to claim 2, wherein the outer hub assembly further comprises a bearing, the center of the outer hub assembly extends toward the bracket to form a first boss, and the first shaft hole is provided in the In the first boss, the bearing is arranged in the first shaft hole, and after the axle is inserted into the first axle hole, the bearing is sleeved on the outside of the axle, and the follower is A driven gear, the driven gear is fixedly sleeved on the outside of the first boss, and the central axis of the driven gear is coaxial with the first shaft hole of the outer hub assembly.
The sweeping robot according to claim 3, wherein the driving member includes a worm, the transmission member includes a worm gear and an output gear that mesh with each other, the worm rod is meshed with the turbine, and the output gear is The driven gear meshes.
The sweeping robot according to claim 4, wherein the bracket is a first cylindrical structure with a first bottom plate, and an accommodating space is formed inside the first cylindrical structure, and the accommodating space is used to accommodate For the driving member and the transmission member, the center position of the first bottom plate extends and protrudes toward the inside of the first cylindrical structure to form a second boss on the inner side of the first bottom plate, and A depression is formed on the outer side of the bottom plate at the same time, the driven gear is located in the depression, the second boss is provided with a notch, and the output gear meshes with the driven gear at the notch.
The cleaning robot according to claim 2, wherein the inner hub assembly is provided with a rotating shaft on the end surface close to the main body, and the main body is provided with a second shaft hole, and the rotating shaft can be connected to the second shaft hole. Cooperate to make the driving wheel connected to the side of the main body.
The sweeping robot according to claim 6, characterized in that, after the rotating shaft of the driving wheel is inserted into the second shaft hole, a limiting member is further provided on the rotating shaft and/or the main body to prevent the driving The wheel is separated from the main body.
The sweeping robot according to claim 7, wherein a flange is provided on the rotating shaft, and after the rotating shaft is inserted into the second shaft hole, a first clamp is also provided on the rotating shaft, and the first clamp The hoop is arranged between the flange and the inner hub assembly to prevent the driving wheel from being separated from the main body.
The sweeping robot according to claim 6, characterized in that a control board is provided in the main body, a first through hole is opened in the rotating shaft along the axial direction, and a power cord and/or data are led out from the driving member. The power line and/or the data line can pass through the first through hole to be connected to the control board, so that the control board is electrically connected to the driving component.
The cleaning robot according to claim 2, wherein the outer hub assembly comprises a second cylindrical structure having a second bottom plate, and the second bottom plate and the second cylindrical structure enclose the inner hub assembly. In the accommodating cavity, the first shaft hole is opened in the center position of the second bottom plate, and the outer side of the second cylindrical structure wraps the wheel skin.
The sweeping robot according to claim 2, wherein the inner hub assembly further comprises a fixing member, the wheel shaft passes through the first shaft hole to form a protruding end, and the fixing member is fixedly arranged on the On the protruding end to keep the axle in the first axle hole.