# US 11,027,580 B2 · Wheel for autonomous cleaning robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,580 B2 - Document ID: US11027580B2 - Status: Granted - Kind: B2 - Application number: 16/239,018 - Filed: 2019-01-03 - Published: 2019-07-11 - Granted: 2021-06-08 - Earliest claimed: 2018-01-05 - Assignees: iRobot Corporation - Applicants: iRobot Corporation - Inventors: Christopher Robin Grace; Lindsay Louise Wright; Timothy James Haughton; Marcus R. Williams; John Reimels; Timothy William Fleck - Web page: https://patentgrep.com/patent/US11027580B2 ## CPC - B60C 11/0311: {Patterns comprising tread lugs arranged parallel or oblique to the axis of rotation} - A47L 11/28: Floor-scrubbing machines, motor-driven (A47L11/29 takes precedence) - A47L 11/4036: {Parts or details of the surface treating tools} - A47L 11/4072: {Arrangement of castors or wheels} - B60C 7/24: characterised by means for securing tyres on rim or wheel body - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - B60C 2007/005: {made by casting, e.g. of polyurethane} - B60C 2011/0016: {Physical properties or dimensions} - B60C: VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) ## Abstract A wheel for an autonomous cleaning robot that maneuvers the robot on a floor surface includes a tire having first and second opposing outer edges and a middle portion having a tread pattern between the first and second outer edges, the tread pattern comprising a plurality of raised tread having trenches therebetween. Each of the plurality of raised tread includes a first raised tread portion extending from the first outer edge to the middle portion and substantially perpendicular to the first and second outer edges; a second raised tread portion extending at an angle away from the first raised tread portion; and a third raised tread portion extending from the second raised tread portion to the second outer edge and substantially perpendicular to the first and second outer edges, the third raised tread portion being laterally offset from the first raised tread portion. ## Claims ### Claim 1 A wheel for an autonomous cleaning robot that maneuvers the robot on a floor surface, the wheel comprising: a tire having a circular shape, having first and second opposing outer edges and a middle portion having a tread pattern between the first and second outer edges and including an interior surface having raised features and hub trenches configured to engage a hub, the tread pattern comprising a plurality of raised treads having trenches therebetween, each of the plurality of raised treads comprising: a first raised tread portion extending from the first outer edge to the middle portion and perpendicular to the first and second outer edges; a second raised tread portion extending at an angle away from the first raised tread portion; and a third raised tread portion extending from the second raised tread portion to the second outer edge and perpendicular to the first and second outer edges, the third raised tread portion being laterally offset from the first raised tread portion. ### Claim 2 (depends on 1) The wheel of claim 1, wherein the third raised tread portion is laterally offset from the first raised tread portion by a distance equal to a width of one of the plurality of raised tread. ### Claim 3 (depends on 1) The wheel of claim 1, wherein a width of each of the plurality of raised tread is less than a width of the trenches between each of the plurality of raised tread. ### Claim 4 (depends on 1) The wheel of claim 1, wherein a length of the first raised tread portion is equal to a length of the third raised tread portion. ### Claim 5 (depends on 4) The wheel of claim 4, wherein a length of the second raised tread portion is longer than the length of the first or third raised tread portion. ### Claim 6 (depends on 1) The wheel of claim 1, wherein the first, second and third raised tread portion form a continuous lug configured to have continuous radial contact with the floor surface during use. ### Claim 7 (depends on 1) The wheel of claim 1, wherein the tire is formed of a material having a durometer range of between about 35 to about 60 Shore A. ### Claim 8 (depends on 1) The wheel of claim 1, wherein the tire is formed of a polymeric material. ### Claim 9 (depends on 8) The wheel of claim 8, wherein the polymeric material comprises Nitrile Butadiene Rubber (NBR), Styrene Butadiene Rubber (SBR) or combinations thereof. ### Claim 10 An autonomous cleaning robot, comprising: a robot body comprising a forward portion and an aft portion; a cleaning assembly on the robot body; a drive system to maneuver the robot body across a floor surface, the drive system comprising: a hub; and a wheel mounted on the hub, the wheel configured to maneuver the robot on a floor surface, the wheel comprising: a tire having a circular shape, having first and second opposing outer edges and a middle portion including an interior surface having raised features and trenches configured to engage the wheel, and the middle portion having a tread pattern between the first and second outer edges, the tread pattern comprising a plurality of raised treads having trenches therebetween, each of the plurality of raised treads comprising: a first raised tread portion extending from the first outer edge to the middle portion and perpendicular to the first and second outer edges; a second raised tread portion extending at an angle away from the first raised tread portion; and a third raised tread portion extending from the second raised tread portion to the second outer edge and perpendicular to the first and second outer edges, the third raised tread portion being laterally offset from the first raised tread portion. ### Claim 11 (depends on 10) The robot of claim 10, wherein the third raised tread portion is laterally offset from the first raised tread portion by a distance equal to a width of one of the plurality of raised tread. ### Claim 12 (depends on 10) The robot of claim 10, wherein a width of each of the plurality of raised tread is less than a width of the trenches between each of the plurality of raised tread. ### Claim 13 (depends on 10) The robot of claim 10, wherein a length of the first raised tread portion is equal to a length of the third raised tread portion. ### Claim 14 (depends on 13) The robot of claim 13, wherein a length of the second raised tread portion is longer than the length of the first or third raised tread portion. ### Claim 15 (depends on 10) The robot of claim 10, wherein the first, second and third raised tread portion form a continuous lug configured to have continuous radial contact with the floor surface during use. ### Claim 16 (depends on 10) The robot of claim 10, wherein the tire is formed of a material having a duronieter range of between about 35 to about 60 Shore A. ### Claim 17 (depends on 10) The robot of claim 10, wherein the tire is formed of a polymeric al. ### Claim 18 (depends on 17) The robot of claim 17, wherein the polymeric material comprises Nitrile Butadiene Rubber (NBR), Styrene Butadiene Rubber (SBR) or combinations thereof. ### Claim 19 (depends on 10) The robot of claim 10, wherein the cleaning assembly is affixed to the forward portion of the robot body, the cleaning assembly comprising a pad holder; and a cleaning pad affixed to the pad holder of the cleaning assembly. ### Claim 20 (depends on 19) The robot of claim 19, wherein the cleaning pad comprises: a core of one or more absorbent layers for absorbing liquid through capillary action and for distributing the liquid within a cleaning pad; a wrap layer around the core, the wrap layer comprising a fibrous layer that is flexible and absorbent, the fibrous layer configured to absorb liquid through capillary action and transfer the liquid to the core; and one or more transition regions spanning a cleaning width of the cleaning pad, the transition regions dividing the cleaning pad into at least two segments, wherein a forward positioned segment, of the at least two segments, has a lesser thickness compared to a thickness of an aft positioned segment of the at least two segments.