CN117002184A - A tire and automatic cleaning equipment - Google Patents

Abstract

Embodiments of the present disclosure provide a tire and an automatic cleaning device. The tire includes a first tread arranged around the rotation axis of the tire. The first tread includes: a first protruding structure with an axis parallel to the tire. a first length in the direction of the rotational axis of the tire, the first length being substantially equal to the width of the first tread; and a second protruding structure having a second length in a direction parallel to the rotational axis of the tire , the second length is smaller than the first length; wherein at least one of the first protruding structures and at least one of the second protruding structures are arranged alternately. This disclosure enables the tire platform to have both left and right staggered short convex structures and long convex structures across the entire tread width. The alternating large grooves formed by the short convex structures improve the obstacle surmounting ability of the cleaning equipment. The long convex structure makes the tire tread more fully lateral contact with the ground, making the cleaning equipment walk more smoothly.

Description

A tire and automatic cleaning equipment

Technical field

The present disclosure relates to the technical field of cleaning equipment, specifically, to a tire and an automatic cleaning equipment.

Background technique

With the continuous development of technology, automatic cleaning equipment, such as sweeping robots and all-in-one sweeping and mopping machines, have been widely adopted by households. Automatic cleaning equipment usually has driving wheels and universal wheels. The automatic cleaning equipment travels under the driving of the driving wheels to clean the area to be cleaned.

Contents of the invention

The purpose of this disclosure is to provide a tire and automatic cleaning equipment that can solve the problem of low obstacle surmounting ability of the automatic cleaning equipment during the cleaning process. details as follows:

An embodiment of the present disclosure provides a tire for use in automatic cleaning equipment. The tire includes a first tread arranged around a rotation axis of the tire, and the first tread includes:

a first raised structure having a first length in a direction parallel to the rotational axis of the tire, the first length being substantially equal to the width of the first tread; and

a second raised structure having a second length in a direction parallel to the rotational axis of the tire, the second length being less than the first length;

Wherein, at least one of the first protruding structures and at least one of the second protruding structures are arranged alternately.

In some embodiments, two adjacent second protruding structures are staggered on both sides of at least one first protruding structure.

In some embodiments, the second length of at least part of the second raised structure is greater than or equal to half of the first length.

In some embodiments, the first tread further includes:

A first groove formed between the first raised structure and the second raised structure;

a second groove formed on at least one end of the second protruding structure;

Wherein, the width of the second groove is greater than the width of the first groove.

In some embodiments, the first tread further includes:

A first groove formed between the first raised structure and the second raised structure;

a second groove formed between two adjacent first protruding structures;

Wherein, the width of the second groove is greater than the width of the first groove.

In some embodiments, the sidewalls of the second groove are generally perpendicular to the circumferential direction of the first tread.

In some embodiments, the tire further includes at least one second tread disposed generally perpendicular to the first tread, the at least one second tread comprising:

A plurality of holes extending in a direction parallel to the rotational axis of the tire.

In some embodiments, the plurality of holes are blind holes.

In some embodiments, the plurality of blind holes include:

A first blind hole extends from both ends of the first protruding structure toward the middle direction of the first protruding structure, and the first blind hole has a first blind hole wall;

A second blind hole extends from an end surface of the second protruding structure located outside the first tread width in a direction parallel to the rotation axis of the tire, and the second blind hole has a second blind hole wall.

In some embodiments, the first blind hole wall is located approximately in the middle of the first tread width direction.

In some embodiments, the first blind hole wall is offset relative to a middle position in the first tread width direction.

In some embodiments, the first blind hole forms an extension adjacent to a side of a side wall of the first raised structure that is substantially perpendicular to the circumferential direction of the first tread.

In some embodiments, a width of the second blind hole on a side adjacent to the rotation axis is greater than a width on a side away from the rotation axis.

An embodiment of the present disclosure provides an automatic cleaning equipment, including wheels, and the wheels include the tires described in any one of the above.

Compared with related technologies, the above solutions of the embodiments of the present disclosure have at least the following beneficial effects:

The tire provided by the embodiment of the present disclosure is provided with a first protrusion structure whose length is substantially equal to the width of the tire tread, and a second protrusion structure with a length smaller than the first protrusion structure, and at least one of the first protrusions is The raised structure and at least one second raised structure are alternately arranged, so that the tire platform has both short raised structures staggered left and right, and long raised structures across the entire tread width. The short raised structures are formed alternately. The large grooves improve the obstacle surmounting ability of the cleaning equipment, and the long convex structure makes the tire tread more fully in lateral contact with the ground, making the cleaning equipment walk more smoothly.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts. In the attached picture:

Figure 1 is a schematic three-dimensional structural diagram of an automatic cleaning device provided by some embodiments of the present disclosure;

Figure 2 is a schematic bottom view of an automatic cleaning device provided by some embodiments of the present disclosure;

Figure 3 is a partial structural schematic diagram of a driving wheel assembly provided by some embodiments of the present disclosure;

Figure 4 is a perspective view of a tire structure provided by some embodiments of the present disclosure;

Figure 5 is a partial enlarged view of a tire structure provided by some embodiments of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in further detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present disclosure. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this disclosure.

It should also be noted that the terms "comprises", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a good or apparatus including a list of elements includes not only those elements but also those not expressly listed other elements, or elements inherent to such goods or devices. Without further limitation, an element defined by the statement "comprises a" does not exclude the presence of other identical elements in the goods or devices including the stated element.

The tire treads of the wheels of automatic cleaning equipment have various texture structures to achieve functions such as gripping and overcoming obstacles. For example, some treads have staggered short raised structures. Although this structure can increase the ability to overcome obstacles, it will The resulting tread instability causes the cleaning equipment to sway left and right when traveling on most flat roads that do not require obstacle crossing, thus affecting the cleaning effect of the cleaning module on the ground. Therefore, how to balance obstacle crossing, stability, drainage, etc. Due to this demand, the reasonable setting of the tire tread structure has become an urgent technical problem that needs to be solved.

Embodiments of the present disclosure provide a tire for use in automatic cleaning equipment. The tire includes a first tread arranged around the rotation axis of the tire. The first tread includes: a first protruding structure with parallel a first length in the direction of the rotational axis of the tire, the first length being substantially equal to the width of the first tread; and a second protruding structure having a first length in a direction parallel to the rotational axis of the tire. Two lengths, the second length being smaller than the first length; wherein at least one of the first protruding structures and at least one of the second protruding structures are arranged alternately.

The tire provided by the embodiment of the present disclosure is provided with a first protrusion structure whose length is substantially equal to the width of the tire tread, and a second protrusion structure with a length smaller than the first protrusion structure, and at least one of the first protrusions is The raised structure and at least one second raised structure are alternately arranged, so that the tire platform has both short raised structures staggered left and right, and long raised structures across the entire tread width. The short raised structures are formed alternately. The large grooves improve the obstacle surmounting ability of the cleaning equipment, and the long convex structure makes the tire tread more fully in lateral contact with the ground, making the cleaning equipment walk more smoothly.

Optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

Figures 1-2 are schematic structural diagrams of an automatic cleaning equipment according to an exemplary embodiment. As shown in Figures 1-2, the automatic cleaning equipment can be a vacuum suction robot or a floor mopping/brushing robot. , or it can be a window climbing robot, etc. The automatic cleaning equipment can include a mobile platform 1000, a perception system 2000, a control system (not shown), a driving system 3000, an energy system (not shown), a human-computer interaction system 4000 and Cleaning module 5000. in:

The mobile platform 1000 may be configured to automatically move along the target direction on the operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning equipment can be a floor mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the floor of the building. The outer surface of the glass works, and the glass is the operating surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface. For purely demonstration purposes, the following description in this application takes a mopping robot as an example.

In some embodiments, the mobile platform 1000 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 1000 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but can execute established procedures or operate according to certain logic. Accordingly, when the mobile platform 1000 is an autonomous mobile platform, the target direction may be independently determined by the automatic cleaning device; when the mobile platform 1000 is a non-autonomous mobile platform, the target direction may be set by the system or manually.

The sensing system 2000 includes a position determining device (not shown in the figure) located above the mobile platform 1000, a buffer (not shown in the figure) located at the forward part of the mobile platform 1000, and a cliff sensor (not shown in the figure) located at the bottom of the mobile platform 1000. not shown) and ultrasonic sensor (not shown in the figure), infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure) Sensor devices such as (not shown) and odometer (not shown in the figure) provide various position information and motion status information of the machine to the control system.

For the convenience of description, the following directions are defined: the automatic cleaning equipment can be calibrated by defining the following three mutually perpendicular axes: transverse axis Y, front and rear axis X and vertical axis Z. The direction along which the arrow points along the fore-and-aft axis The transverse axis Y is substantially along the width of the automatic cleaning device. The direction of the arrow along the transverse axis Y is labeled "left" and the opposite direction of the arrow along the transverse axis Y is labeled "right". The vertical axis Z is a direction extending upward from the bottom surface of the automatic cleaning device. As shown in Figure 1, the direction along the front-rear axis to the right or to the right.

The control system (not shown in the figure) is disposed on the circuit motherboard in the mobile platform 1000 and includes a computing processor, such as a central processing unit, that communicates with non-transitory memory, such as a hard disk, flash memory, and random access memory. The application processor is configured to receive the environmental information sensed by the multiple sensors from the sensing system, and use a positioning algorithm, such as SLAM, to map the location of the automatic cleaning equipment based on the obstacle information fed back by the position determination device. real-time map in the environment, and autonomously determines a driving path based on the environmental information and environmental map, and then controls the drive system 3000 to perform forward, backward, and/or steering operations based on the autonomously determined driving path. Further, the control system can also decide whether to start the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

The driving system 3000 can execute driving commands based on specific distance and angle information, such as x, y, and θ components, to control the automatic cleaning device to travel across the ground. The drive system 3000 includes a drive wheel assembly 3100. The drive system 3000 can control the left wheel and the right wheel at the same time. In order to control the movement of the machine more accurately, it is preferred that the drive system 3000 includes a left drive wheel assembly and a right drive wheel assembly respectively. The left and right driving wheel assemblies are symmetrically arranged along the transverse axis defined by the mobile platform 1000 . In order for the automatic cleaning equipment to move more stably on the ground or have stronger movement capabilities, the automatic cleaning equipment can include one or more steering components 3200. The steering components 3200 can be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly may be located in front of the drive wheel assembly.

The energy system (not shown in the figure) includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit. The charging control circuit, battery pack charging temperature detection circuit, and battery under-voltage monitoring circuit are then connected to the microcontroller control circuit. The host is charged by connecting to the charging pile through the charging electrode set on the side or below of the fuselage.

The human-computer interaction system 4000 includes buttons on the host panel, which allow the user to select functions; it may also include a display screen and/or indicator lights and/or a speaker. The display screen, indicator lights, and speaker show the user the current status of the machine or Function options; can also include mobile client programs. For path navigation cleaning equipment, the mobile client can show users a map of the environment where the equipment is located, as well as the location of the machine, and provide users with richer and more user-friendly functions.

As shown in Figure 2, the cleaning module 5000 includes a dust box, a fan, and a main brush module. The main brush module sweeps the garbage on the ground to the front of the suction port between the main brush module and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dust removal capability of the sweeper can be characterized by the garbage pickup efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the wind utilization of the air duct composed of the vacuum inlet, dust box, fan, air outlet and the connecting parts between the four. The efficiency is affected by the type and power of the fan, which is a complex system design issue. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is of greater significance for automatic cleaning equipment with limited energy. Because the improvement of dust removal capacity directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground on one charge can evolve to clean 180 square meters or more on one charge. And the service life of the battery that reduces the number of charging times will be greatly increased, so that the frequency of battery replacement by users will also be reduced. What is more intuitive and important is that the improvement of dust removal capability is the most obvious and important user experience. Users will directly draw conclusions about whether the sweep is clean/wipe clean.

Figure 2 is a schematic structural diagram of the automatic cleaning equipment shown in Figure 1. As shown in Figure 2, the automatic cleaning equipment includes a mobile platform 1000. The mobile platform 1000 is configured to move freely on the operating surface. A cleaning module 5000 is provided at the bottom of the mobile platform 1000. , the cleaning module 5000 is configured to clean the operating surface. The cleaning module 5000 includes a driving unit 5100, a roller brush frame 5200, and a roller brush 5300 assembled in the roller brush frame 5200. The driving unit 5100 provides forward or reverse driving force, and applies the driving force to the rolling brush 5300 through a multi-stage gear set. The rolling brush 5300 rotates under the action of the driving force to clean the operating surface, or the rolling brush 5300 rotates under the action of driving force to achieve dust collection.

As shown in FIG. 2 , the roller brush frame 5200 is provided with a front cleaning brush installation position 5211 and a rear cleaning brush installation position 5212 for accommodating the cleaning roller brush. The front cleaning brush installation position 5211 has a first end 52111 and a second end 52112 opposite to the first end 52111. One end of the first roller brush 100 is engaged and fixed at the first end 52111. The other end of 100 is clamped and fixed at the second end 52112. In some embodiments, the front cleaning brush mounting position 5211 is a strip-shaped groove structure in the mobile platform, and the strip-shaped groove structure extends along the first direction. The rear cleaning brush installation position 5212 has a third end 52121 and a fourth end 52122 opposite to the third end 52121. In some embodiments, the rear cleaning brush installation position 5212 and the front cleaning brush installation position 5211 have substantially the same structure. For example, it is also a strip-shaped groove structure in the mobile platform. The strip-shaped groove structure extends along the first direction. The second roller brush can be installed on the rear side through the opening of the strip-shaped groove structure. The cleaning brush is installed in the elongated groove of the installation position 5212. Wherein, the two elongated groove structures are parallel to each other in the second direction. There are no restrictions on the shape and size of the strip-shaped groove structure, as long as it accommodates at least part of the first roller brush and the second roller brush. The first end of the front cleaning brush installation position 5211 and the third end of the rear cleaning brush installation position 5212 are located on one side of the X axis of the front and rear axles, and the second end of the front cleaning brush installation position 5211 and the rear cleaning brush installation position 5212 The fourth end is located on the other side of the X-axis of the front and rear axles.

It should be noted that in the following embodiments of the present disclosure, the elongated groove structure close to the steering wheel on the automatic cleaning equipment is used as the front cleaning brush installation position 5211, and the elongated groove structure away from the steering wheel is used as the rear cleaning brush installation position 5211. The brush installation position 5212 is taken as an example for detailed explanation. Of course, the reverse is also possible.

As shown in Figure 2, in some embodiments, the automatic cleaning equipment includes two cleaning roller brushes 5300. One cleaning roller brush is provided at the front cleaning brush installation position 5211 and is regarded as the "front roller brush"; the other cleaning roller brush The brush is arranged at the rear cleaning brush installation position 5212 and is regarded as a "rear roller brush". The front roller brush can be installed in the front cleaning brush installation position 5211 through the opening of the strip-shaped groove structure, and the rear roller brush can be installed in the rear cleaning brush installation position 5212 through the opening of the strip-shaped groove structure.

As shown in Figure 3, the driving wheel assembly 3100 or the steering assembly 3200 of the cleaning device according to the embodiment of the present disclosure includes wheels and a driving gear set 3140. The following description takes the wheel included in the driving wheel assembly 3100 as an example. The wheel includes a tire 3110 and a rim. 3120. The tire 3110 is arranged around the rim 3120. The tire 3110 is usually made of rubber and other materials. The tire 3110 and the rim 3120 rotate around the rotation axis 3130. The tire 3110 includes a first tread 3111 arranged around a rotation axis 3130 of the tire 3110. The first tread 3111 has a width direction substantially parallel to the rotation axis 3130 and a circumferential direction around the rotation axis 3130. During cleaning, During the operation of the equipment, the first tread 3111 is at least partially in contact with the operating surface, provides supporting force to the cleaning equipment to support the cleaning equipment, and provides rotational driving force to the cleaning equipment to drive on the operating surface. The first tread 3111 includes a first convex structure 3112. The first convex structure 3112 has a first length in a direction parallel to the rotation axis 3130 of the tire 3110, and the first length is consistent with the first tire. The widths of the surfaces 3111 are approximately equal, that is, the first convex structure 3112 basically runs through the width of the first tread 3111. The upper surface of the first convex structure 3112 constitutes the outer surface in contact with the operating surface. The first convex structure 3112 can be The upper surface of the rectangular parallelepiped or cone structure can be rectangular, S-shaped, etc., which is not limited; the first tread 3111 also includes a second protruding structure 3113, and the second protruding structure 3113 has an edge parallel to the tire. The second length of the rotation axis 3130 of the tread 3110. The second length is less than the first length, that is, the second protruding structure 3113 does not substantially penetrate the width of the first tread 3111. For example, the second protruding structure 3113 extends from the first tread 3111 to the first tread 3111. One end of the tread 3111 in the width direction extends to the central end of the first tread 3111 in the width direction; wherein, at least one of the first protruding structures 3112 and at least one of the second protruding structures 3113 are alternately arranged. In some embodiments, at least one first protruding structure 3112 and at least one second protruding structure 3113 are alternately arranged to form the first protruding structure 3112 and the second protruding structure 3113 along the circumferential direction of the first tread 3111. , the first protruding structure 3112, the second protruding structure 3113, ... are arranged alternately. In some embodiments, at least one first protruding structure 3112 and at least one second protruding structure 3113 are alternately arranged. The arrangement is represented by a one-two alternating arrangement of the second protruding structure 3113, the first protruding structure 3112, the first protruding structure 3112, the second protruding structure 3113, ... along the circumferential direction of the first tread 3111. In some embodiments, at least one first protruding structure 3112 and at least one second protruding structure 3113 are alternately arranged to form a second protruding structure 3113 and a second protruding structure 3113 along the circumferential direction of the first tread 3111. , the first protruding structure 3112, the first protruding structure 3112, ... are arranged alternately in pairs. There is no limit to this. No matter how the alternating arrangement is arranged, the tire table is staggered left and right before and after contact with the operating surface. The short convex structure and the long convex structure across the entire tread width. The large groove formed by the short convex structure helps to improve the obstacle surmounting ability of the cleaning equipment. The long convex structure makes the tire tread and the ground better. The lateral contact is more sufficient, making the cleaning equipment walk more smoothly.

In some embodiments, as shown in FIG. 4 , two adjacent second protruding structures 3113 are staggered on both sides of at least one first protruding structure 3112 . That is, the two second protruding structures 3113 are staggered, that is, when one second protruding structure 3113 extends from one end of the first tread 3111 in the width direction to the center end of the first tread 3111 in the width direction (or less than the center, or beyond the center but less than the other end of the first tread in the width direction), the other adjacent second protruding structure 3113 extends from the other end of the first tread 3111 in the width direction to The center cut-off in the width direction of the first tread 3111 (either less than the center cut-off, or crossing the center but not stopping at the other end of the first tread width direction); in this embodiment, two adjacent second protrusions At least one first protruding structure 3112 passes transversely between the protruding structures 3113, for example, one, two or three. On the one hand, the staggered second protruding structures 3113 enable the second protruding structures 3113 to be symmetrically arranged at both ends of the first tread 3111 in the width direction, ensuring the stability of the tire operation. At the same time, the staggered second protruding structures 3113 allows the first tread 3111 to be symmetrically provided with second grooves 3115 in the width direction, which helps to improve the obstacle surmounting ability of the cleaning equipment; on the other hand, at least two adjacent second protruding structures 3113 pass through each other transversely. A first raised structure 3112 makes the lateral contact between the tire tread and the ground more complete, making the cleaning equipment run more smoothly. However, the number of the first raised structures 3112 cannot be too many in a row, for example, more than 3, which will make the first raised structure 3112 more stable. The lack of a second protruding structure at the front and rear of one protruding structure reduces the tire's ability to overcome obstacles.

In some embodiments, the second length of at least part of the second protruding structure 3113 is greater than or equal to half of the first length. Optionally, the second length of the second protruding structure 3113 is equal to the first length. If the second protruding structure 3113 is too long, the distance along the tread width direction of the second groove 3115 will be too short, which will reduce the ability to grasp obstacles when crossing obstacles. If the second protruding structure 3113 is too long, the distance along the tread width direction will be too short. Short, for example, less than half the first length, so that two adjacent second protruding structures cannot be misaligned and connected in the second tread, which will cause the distance of the second groove 3115 along the tread width direction to be too long and affect Stability of cleaning equipment during travel.

In some embodiments, as shown in Figures 3-5, the first tread 3111 further includes a first groove 3114, the first groove 3114 is formed between the first protruding structure 3112 and the second between the protruding structures 3113; the first tread 3111 also includes a second groove 3115, the second groove 3115 is formed on at least one end of the second protruding structure 3113, or the second groove 3115 is formed on two Between the adjacent first protruding structures; wherein the width of the second groove 3115 is greater than the width of the first groove 3114. The first groove 3114 is the gap between the first protruding structure 3112 and the second protruding structure 3113, which usually has a narrow width. On the one hand, it is used to fit the first protruding structure 3112 and the second protruding structure. 3113 provides sufficient redundancy when extrusion deformation occurs. On the other hand, it facilitates the removal of attachments on the tread during travel and allows the liquid residue attached to the tread to be directed away from the tread. In addition, when obstacles occur When the obstacle is smaller, the obstacle can also be locked in the first groove and overcome the obstacle by means of the first groove, so that obstacles of different sizes can be easily overcome by means of the narrow groove and the wide groove respectively. The second groove 3115 is formed at one or both ends of the second raised structure 3113. When the second raised structure 3113 starts from one end of the first tread, the second groove 3115 is formed at the second raised structure. 3113, when the second protruding structure 3113 starts from within the tread width direction of the first tread, the second groove 3115 is formed at both ends of the second protruding structure 3113, and the width of the second groove is approximately Equal to the sum of the width of the second protruding structure and the width of the first groove, the second groove has sufficient width to help improve the obstacle surmounting ability of the cleaning device.

In some embodiments, as shown in FIGS. 4-5 , the sidewalls of the first groove 3114 are inclined at a preset angle to the circumferential direction of the first tread 3111 , for example, in a substantially V-shaped structure. It can be understood that the side walls of the first groove 3114 are formed by the side surfaces of the first convex structure 3112 and the second convex structure 3113, and the side walls of the first groove 3114 are inclined at a preset angle with the circumferential direction of the first tread 3111. arrangement, that is, the adjacent side walls of the first convex structure 3112 and the second convex structure 3113 are inclined at a preset angle with the circumferential direction of the first tread 3111, because there are holes below the first convex structure and the second convex structure. , such as blind holes. In this way, the design of the first convex structure and the second convex structure with the sides tilted to the tread will cause the tire to deform in the radial direction in cooperation with the blind holes, reduce tire noise, and make walking more stable.

In some embodiments, as shown in FIGS. 4-5 , the sidewalls of the second groove 3115 are substantially perpendicular to the circumferential direction of the first tread 3111 . It can be understood that the side walls of the second groove 3115 are formed by the side surfaces of two adjacent first protruding structures 3112, and the side walls of the second groove 3115 are substantially perpendicular to the circumferential direction of the first tread 3111, that is, adjacent to each other. The opposite sidewalls of the two second protruding structures 3113 are substantially perpendicular to the circumferential direction of the first tread 3111. The design of the sidewalls of the second groove 3115 perpendicular to the tread will provide sufficient support for the tire in the radial direction. It will easily deform and collapse when it contacts an obstacle to provide sufficient support for overcoming obstacles; when not overcoming obstacles, the first protruding structure is also in contact with the ground, so that the tire can provide sufficient support in the radial direction and will not cause the second tire to surmount obstacles. A raised structure can easily deform and collapse to provide sufficient support for overcoming obstacles and make walking more stable.

In some embodiments, as shown in FIGS. 4-5 , the tire 3110 further includes at least one second tread 3116 that is substantially perpendicular to the first tread 3111 . The second tread 3116 includes, for example, the tire 3110 On both sides of the tire 3110, the at least one second tread 3116 includes: a plurality of blind holes extending in a direction parallel to the rotation axis 3130 of the tire 3110, that is, the plurality of blind holes extend from both sides of the tire 3110. At least one of the side surfaces extends toward the other side surface in a direction parallel to the rotation axis 3130 of the tire 3110 . The so-called blind hole is a hole that is open at one end and closed at the other end. The blind hole in this embodiment is a hole that opens from the outer surface of the second tread 3116 and extends in a direction parallel to the rotation axis 3130 of the tire 3110 but does not open through. The setting of blind holes can increase the elasticity of the first convex structure and the second convex structure when they contact the ground, reduce tire noise, reduce the vibration of the fuselage caused by uneven ground, and improve the adhesion of the tires. Make the cleaning equipment walk more smoothly.

In some embodiments, the plurality of blind holes include: a first blind hole 3117 extending from both ends of the first protruding structure 3112 toward the middle direction of the first protruding structure 3112. The hole 3117 has a first blind hole wall; a second blind hole 3118 extends from the end surface of the second protruding structure 3113 located outside the first tread width in a direction parallel to the rotation axis 3130 of the tire 3110, and the The second blind hole 3118 has a second blind hole wall. In some embodiments, the first blind hole wall is located approximately in the middle of the width direction of the first tread 3111 to make the blind holes on both sides symmetrical and make the fuselage more stable. In some embodiments, the first blind hole wall is offset relative to a middle position in the width direction of the first tread, that is, offset close to one end of the first protruding structure. The offset of the first blind hole wall can serve as a reinforcement to strengthen the tread structure, making the tire less prone to tangential deformation and collapse when it is subjected to ground friction.

In some embodiments, as shown in FIG. 5 , the first blind hole 3117 extends adjacent to one side of the side wall of the first raised structure 3112 that is substantially perpendicular to the circumferential direction of the first tread 3111 . The extension portion 31171 extends generally from the opening position of the first blind hole 3117 to the first blind hole wall. Since the extension portion 31171 corresponds to the side wall of the first protruding structure 3112 that is substantially perpendicular to the circumferential direction of the first tread 3111, when overcoming an obstacle, the first protruding structure 3112 will be aligned with the side wall of the first tread 3111. A substantially vertical circumferential sidewall of the tread 3111 presses the extension portion 31171, so that the first protruding structure has a certain degree of toughness, making it smoother to overcome obstacles.

In some embodiments, the width of the second blind hole 3118 on the side adjacent to the rotation axis 3130 is greater than the width on the side away from the rotation axis 3130 . The width of the bottom end of the second blind hole 3118 is greater than the width of the top end. As shown in Figure 5, the circumferential cross-section of the second blind hole 3118 is a trapezoid or an irregular trapezoid. When the tire is in contact with the ground, it can better Deformation occurs perpendicular to the circumferential direction, allowing the tire to maintain a certain elasticity and making the cleaning equipment run more smoothly.

The tire provided by the embodiment of the present disclosure is provided with a first protrusion structure whose length is substantially equal to the width of the tire tread, and a second protrusion structure with a length smaller than the first protrusion structure, and at least one of the first protrusions is The raised structure and at least one second raised structure are alternately arranged, so that the tire platform has both short raised structures staggered left and right, and long raised structures across the entire tread width. The short raised structures are formed alternately. The large grooves improve the obstacle surmounting ability of the cleaning equipment, and the long convex structure makes the tire tread more fully in lateral contact with the ground, making the cleaning equipment walk more smoothly.

It should be noted that each embodiment in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other. As for the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For relevant details, please refer to the description in the method section.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still make changes to the foregoing embodiments. The recorded technical solutions may be modified, or some of the technical features thereof may be equivalently replaced; however, these modifications or substitutions shall not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present disclosure.

Claims (14)

1. A tire for use in an automatic cleaning apparatus, the tire comprising a first tread disposed about an axis of rotation of the tire, the first tread comprising:

a first raised structure having a first length in a direction parallel to the axis of rotation of the tire, the first length being substantially equal to the width of the first tread; and

a second projection structure having a second length in a direction parallel to the rotational axis of the tire, the second length being less than the first length;

wherein at least one of the first bump structures and at least one of the second bump structures are alternately arranged.

2. Tyre according to claim 1, characterized in that two adjacent second raised structures are staggered on both sides of at least one first raised structure.

3. The tire of claim 1, wherein the second length of at least a portion of the second raised structures is greater than or equal to half the first length.

4. The tire of claim 1, wherein the first tread further comprises:

a first groove formed between the first and second bump structures;

the second groove is formed at least one end of the second protruding structure;

wherein the width of the second groove is larger than the width of the first groove.

5. The tire of claim 1, wherein the first tread further comprises:

a first groove formed between the first and second bump structures;

the second groove is formed between two adjacent first protruding structures;

wherein the width of the second groove is larger than the width of the first groove.

6. The tire of claim 4 or 5, wherein the sidewall of the second groove is substantially perpendicular to the circumferential direction of the first tread.

7. The tire of claim 1, further comprising at least one second tread disposed generally perpendicular to the first tread, the at least one second tread comprising:

a plurality of holes extending in a direction parallel to the rotational axis of the tire.

8. The tire of claim 7, wherein the plurality of holes are a plurality of blind holes.

9. The tire of claim 8, wherein the plurality of blind holes comprises:

the first blind holes extend from the two ends of the first protruding structures towards the middle of the first protruding structures, and the first blind holes are provided with first blind hole walls;

and the second blind hole extends from the end face of the second protruding structure, which is positioned outside the first tread width, along the direction parallel to the rotation axis of the tire, and is provided with a second blind hole wall.

10. The tire of claim 9 wherein said first blind hole wall is located approximately midway in the width direction of said first tread.

11. A tyre according to claim 9, wherein said first blind hole wall is offset with respect to a median position in the width direction of said first tread.

12. The tire of claim 9, wherein the first blind hole forms an extension adjacent a side of a sidewall of the first raised structure that is substantially perpendicular to a circumferential direction of the first tread.

13. Tyre according to claim 9, characterized in that the width of the second blind hole on the side adjacent to the rotation axis is greater than the width on the side remote from the rotation axis.

14. A robotic cleaning device comprising a wheel comprising a tyre according to any one of claims 1 to 13.