WHEEL DRIVING DEVICE AND CLEANER ROBOT HAVING THE SAME

A wheel driving device (100) includes: a motor (10) rotating a shaft (10a); an input gear (12) fixed to the shaft (10a); at least one transmission gear (14) meshed with the input gear (12) to transmit power of the motor (10); and a final gear (18) meshed with the transmission gear (14) and connected with a wheel (40) via an axis (18a) to transmit the power from the transmission gear (14) to the wheel (40). The wheel driving device (100) includes an extraction gear (20) meshed with the final gear (18) or the transmission gear (14), and a power transmission part (30) connected with the extraction gear (20) to transmit the power from the extraction gear (20) to a cleaner head (322).