Tire and Robot

Abstract

The present disclosure provides a tire and a robot, belonging to the field of tires. The tire includes an annular body, a plurality of first bumps and a plurality of second bumps; the first bumps and the second bumps are located on the outer sidewall of the annular body, and respectively extend along the axial direction of the annular body and gradually bend along the circumferential direction of the annular body. In the circumferential direction of the annular body, the plurality of first bumps and the plurality of second bumps are staggered with each other, and the distance between adjacent first bumps is greater than the width of the first bump, and the distance between adjacent second bumps is greater than the width of the second bump. Setting the distance between adjacent first bumps to be larger than the width of the first bump and setting the distance between adjacent second bumps to be larger than the width of the second bump enables the tire to further improve its obstacle-crossing ability while rolling relatively smoothly.

Description

Technical Field

[0001] The present disclosure relates to the field of tires, and particularly to a tire and a robot. Background Art

[0002] A tire is an annular elastic rubber product that rolls on the ground and is assembled on various vehicles. With the development of technology, tires are also often applied to various robotic devices, such as floor-sweeping robots.

[0003] A tire includes an annular body and a plurality of bumps. The bumps are located on the outer sidewall of the annular body, and the top surfaces of the bumps form the tread of the tire, which contacts the ground during the rolling of the tire. Usually, a part of the bumps on the tire surface is close to one side of the annular body, and the other part is close to the other side of the annular body. These two parts of bumps are staggered with each other in the circumferential direction of the annular body, and there is a partially overlapping area in the orthographic projection of these two parts of bumps on a plane perpendicular to the axis of the annular body. In this way, when the bumps close to one side of the annular body have not completely separated from the ground during the rolling of the tire, the bumps close to the other side of the annular body come into contact with the ground, enabling the tire to roll relatively smoothly.

[0004] The distance between the bumps on the same side of the annular body affects the obstacle-crossing ability of the tire. By increasing the distance, the obstacle-crossing ability of the tire can be improved, but it is also necessary to ensure that there is a partially overlapping area in the orthographic projection of the two parts of bumps on a plane perpendicular to the axis of the annular body to enable the tire to roll relatively smoothly. This limits the distance between the bumps on the same side of the annular body, making the distance not exceed the width of the bumps, thereby restricting the obstacle-crossing ability of the tire. Summary of the Invention

[0005] Embodiments of the present disclosure provide a tire and a robot, which can further improve the obstacle-crossing ability of the tire. The technical solution is as follows:

[0006] On the one hand, embodiments of the present disclosure provide a tire, including an annular body, a plurality of first bumps, and a plurality of second bumps;

[0007] The plurality of first bumps are located on the outer sidewall of the annular body, close to the first side of the annular body, and are spaced apart along the circumferential direction of the annular body. The first bumps extend along the axial direction of the annular body and gradually bend along the circumferential direction of the annular body;

[0008] The plurality of second bumps are located on the outer sidewall of the annular body, close to the second side of the annular body, and are spaced apart along the circumferential direction of the annular body. The second bumps extend along the axial direction of the annular body and gradually bend along the circumferential direction of the annular body;

[0009] In the circumferential direction of the annular body, a plurality of the first bumps and a plurality of the second bumps are staggered with each other, and the distance between adjacent first bumps is greater than the width of the first bump, and the distance between adjacent second bumps is greater than the width of the second bump;

[0010] In a plane perpendicular to the axis of the annular body, the orthographic projections of adjacent first bumps respectively partially overlap with the orthographic projection of the same second bump, and the orthographic projections of adjacent second bumps respectively partially overlap with the orthographic projection of the same first bump.

[0011] Optionally, the first bump is arc-shaped, and one end close to the first side face is perpendicular to the first side face;

[0012] The second bump is arc-shaped, and one end close to the second side face is perpendicular to the second side face.

[0013] Optionally, the distance between adjacent first bumps gradually decreases from one end close to the first side face to one end close to the second side face;

[0014] The distance between adjacent second bumps gradually decreases from one end close to the second side face to one end close to the first side face.

[0015] Optionally, the distance between adjacent first bumps is 1.5 to 2 times the width of the first bump;

[0016] The distance between adjacent second bumps is 1.5 to 2 times the width of the second bump.

[0017] Optionally, the outer side wall of the annular body has an annular convex rib, the first bump is located on one side of the annular convex rib, and the second bump is located on the other side of the annular convex rib;

[0018] The tread of the tire includes the top surface of the annular convex rib, the top surface of the first bump and the top surface of the second bump.

[0019] Optionally, the annular convex rib is respectively connected to the first bump and the second bump.

[0020] Optionally, the width of the annular convex rib is 1 / 10 to 1 / 5 of the width of the annular body.

[0021] Optionally, the outer diameter of the annular body gradually increases from the first side face and the second side face to the middle of the annular body.

[0022] Optionally, the tread of the tire has anti-slip bumps.

[0023] On the other hand, an embodiment of the present disclosure further provides a robot, including a robot body and a tire. The tire is the tire described in the previous aspect, and the tire is connected to the robot body.

[0024] The beneficial effects brought by the technical solution provided by the embodiment of the present disclosure at least include:

[0025] Since the first bump and the second bump extend along the axial direction of the annular body and gradually bend along the circumferential direction of the annular body, the length of the positive projection of the first bump and the second bump in the plane perpendicular to the axis of the annular body is greater than the width. Even if the distance between adjacent first bumps is greater than the width of the first bump, the positive projection of the adjacent first bumps can still partially overlap with the positive projection of the second bump. Even if the distance between adjacent second bumps is greater than the width of the second bump, the positive projection of the adjacent second bumps can still partially overlap with the positive projection of the first bump. Thus, on the premise that the positive projections of adjacent first bumps respectively partially overlap with the positive projection of the same second bump, and the positive projections of adjacent second bumps respectively partially overlap with the positive projection of the same first bump, the distance between adjacent first bumps is set to be larger than the width of the first bump, and the distance between adjacent second bumps is set to be larger than the width of the second bump, so that while the tire can roll relatively smoothly, the obstacle-crossing ability of the tire is further improved, which is beneficial to the stable operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below. 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 creative efforts.

[0027] Figure 1 is a schematic structural diagram of a tire in the related art;

[0028] Figure 2 is a schematic structural diagram of a tire provided by an embodiment of the present disclosure;

[0029] Figure 3 is a schematic diagram of the process of the tire provided by the embodiment of the present disclosure crossing an obstacle;

[0030] Figure 4 is a schematic structural diagram of a tire provided by an embodiment of the present disclosure;

[0031] Figure 5 is a schematic structural diagram of a tire provided by an embodiment of the present disclosure;

[0032] Figure 6It is a schematic structural diagram of a robot provided by an embodiment of the present disclosure.

[0033] Legend Explanation

[0034] 10. Ring-shaped body 10a, first side surface 10b, second side surface 10c, tread

[0035] 100. Robot body

[0036] 11. First bump 11a, top surface of the first bump

[0037] 12. Second bump 12a, top surface of the second bump

[0038] 13. Ring-shaped convex rib 13a, top surface of the ring-shaped convex rib

[0039] 14. Anti-slip bump

[0040] 200. Tire

[0041] 300. Obstacle

[0042] M, plane F1, front projection F2 of the first bump, front projection of the second bump Detailed Implementation Manner

[0043] To make the objectives, technical solutions, and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the accompanying drawings.

[0044] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art to which the present disclosure pertains. The "first", "second", "third", and similar terms used in the specification and claims of the present patent application do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one. The terms "include" or "comprise" and similar words mean that the elements or items appearing before "include" or "comprise" cover the elements or items listed after "include" or "comprise" and their equivalents, and do not exclude other elements or items. The terms "connect" or "couple" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationships may also change accordingly.

[0045] Figure 1 It is a schematic structural diagram of a tire in the related art. This tire is for a robot with wheels. As Figure 1As shown, the tire includes an annular body 10, a plurality of first bumps 11 and a plurality of second bumps 12. The first bumps 11 are on one side close to the annular body 10, and the second bumps 12 are on the other side close to the annular body 10. In the circumferential direction of the annular body 10, the first bumps 11 and the second bumps 12 are staggered with each other.

[0046] The tread of the tire includes the top surfaces of the first bumps 11 and the top surfaces of the second bumps 12. The top surfaces of the first bumps 11 and the top surfaces of the second bumps 12 come into contact with the ground during the rolling of the tire. If the first bumps 11 and the second bumps 12 are orthogonally projected onto a plane perpendicular to the axis of the annular body 10, there are partially overlapping areas between the orthogonal projections of the first bumps 11 and the orthogonal projections of the second bumps 12. This enables, when the tire is rolling, the second bumps 12 to come into contact with the ground before the first bumps 11 are completely separated from the ground, and the first bumps 11 to come into contact with the ground before the second bumps 12 are completely separated from the ground, so that the tire can roll relatively smoothly without significant jolts.

[0047] The distance D1 between adjacent first bumps 11 and the distance D2 between adjacent second bumps 12 affect the obstacle-crossing ability of the tire. Generally, the larger the distance, the stronger the obstacle-crossing ability of the tire. According to Figure 1 It can be seen that in this tire, the distance D1 between adjacent first bumps 11 must be less than the width d1 of the first bumps 11, and the distance D2 between adjacent second bumps 12 must be less than the width d2 of the second bumps 12. Otherwise, it is impossible to make the second bumps 12 come into contact with the ground before the first bumps 11 are completely separated from the ground, and the first bumps 11 come into contact with the ground before the second bumps 12 are completely separated from the ground, thus restricting the obstacle-crossing ability of the tire.

[0048] Figure 2 is a schematic structural diagram of a tire provided by an embodiment of the present disclosure. The tire can be, but is not limited to, the tire of any one of a floor-sweeping robot, a toy robot, a cargo-carrying robot, etc. In the embodiment of the present disclosure, only the tire of a floor-sweeping robot is taken as an example. As Figure 2 shown, the tire includes an annular body 10, a plurality of first bumps 11 and a plurality of second bumps 12.

[0049] A plurality of first bumps 11 are located on the outer sidewall of the annular body 10, close to the first side surface 10a of the annular body 10, and are distributed at intervals in the circumferential direction of the annular body 10. The first bumps 11 extend along the axial direction of the annular body 10 and gradually bend along the circumferential direction of the annular body 10.

[0050] A plurality of second bumps 12 are located on the outer sidewall of the annular body 10, close to the second side surface 10b of the annular body 10, and are distributed at intervals along the circumferential direction of the annular body 10. The second bumps 12 extend along the axial direction of the annular body 10 and are gradually bent along the circumferential direction of the annular body 10. The first bumps 11 and the second bumps 12 are bent in the same direction along the circumferential direction of the annular body 10.

[0051] In the circumferential direction of the annular body 10, a plurality of first bumps 11 and a plurality of second bumps 12 are staggered with each other, and the distance D1 between adjacent first bumps 11 is greater than the width d1 of the first bump 11, and the distance D2 between adjacent second bumps 12 is greater than the width d2 of the second bump 12.

[0052] In the plane M perpendicular to the axis of the annular body 10, the orthographic projections F1 of adjacent first bumps 11 respectively partially overlap with the orthographic projection F2 of the same second bump 12, and the orthographic projections F2 of adjacent second bumps 12 respectively partially overlap with the orthographic projection F1 of the same first bump 11.

[0053] Since the first bumps and the second bumps extend along the axial direction of the annular body and are gradually bent along the circumferential direction of the annular body, the length of the orthographic projection of the first bumps and the second bumps in the plane perpendicular to the axis of the annular body is greater than the width. Even if the distance between adjacent first bumps is greater than the width of the first bump, the orthographic projections of adjacent first bumps can still partially overlap with the orthographic projection of the second bump. Even if the distance between adjacent second bumps is greater than the width of the second bump, the orthographic projections of adjacent second bumps can still partially overlap with the orthographic projection of the first bump. Thus, on the premise that the orthographic projections of adjacent first bumps respectively partially overlap with the orthographic projection of the same second bump, and the orthographic projections of adjacent second bumps respectively partially overlap with the orthographic projection of the same first bump, the distance between adjacent first bumps is set to be larger than the width of the first bump, and the distance between adjacent second bumps is set to be larger than the width of the second bump, so that the obstacle-crossing ability of the tire is further improved while the tire can roll relatively smoothly, which is beneficial to the smooth operation of the robot.

[0054] The first bumps 11 and the second bumps 12 are respectively evenly distributed along the circumferential direction of the annular body 10, and the number of the first bumps 11 and the second bumps 12 is the same, which can make the rolling of the tire smoother and further improve the smoothness of the robot operation.

[0055] Optionally, the distance D1 between adjacent first bumps 11 is 1.5 to 2 times the width d1 of the first bump 11. The distance D2 between adjacent second bumps 12 is 1.5 to 2 times the width d2 of the second bump 12.

[0056] If the distance D1 between adjacent first bumps 11 and the distance D2 between adjacent second bumps 12 are too large, the smoothness of the tire rolling will be reduced. The distance is set to be 1.5 to 2 times the width, so that the tire has both good obstacle-crossing ability and good smoothness.

[0057] As Figure 2 shown, the first bump 11 is arc-shaped, and one end of the first bump 11 close to the first side surface 10a is perpendicular to the first side surface 10a. The second bump 12 is arc-shaped, and one end of the second bump close to the second side surface 10b is perpendicular to the second side surface 10b.

[0058] Figure 3 is a schematic diagram of the process of the tire provided by the embodiment of the present disclosure crossing an obstacle. Figure 3 In Figure I, it shows the process of the tire 200 trying to cross the directly facing obstacle 300, and in Figure II, it shows the process of the tire 200 trying to cross the inclined obstacle 300. The obstacle 300 in the figure is a rectangular wooden board with a certain thickness located in front of the tire 200, and the arrow in the figure indicates the rolling direction of the tire 200. When the tire 200 crosses the directly facing obstacle 300, the first bump 11 or the second bump 12 is relatively easy to roll onto the obstacle 300. In practice, in most cases, the tire 200 faces an inclined obstacle 300. When crossing the inclined obstacle 300, one side of the tire 200 contacts the obstacle 300 first. Since one end of the first bump 11 close to the first side surface 10a is perpendicular to the first side surface 10a, a section of the first bump 11 close to the first side surface 10a is approximately horizontal. One end of the second bump 12 close to the second side surface 10b is perpendicular to the second side surface 10b, so a section of the second bump 12 close to the second side surface 10b is approximately horizontal. This makes the end of the first bump 11 or the second bump 12 relatively easy to roll onto the obstacle 300, so that the tire 200 has a stronger obstacle-crossing ability.

[0059] As Figure 2 shown, the distance D1 between adjacent first bumps 11 gradually decreases from one end close to the first side surface 10a of the annular body 10 to one end close to the second side surface 10b of the annular body 10. The distance D2 between adjacent second bumps 12 gradually decreases from one end close to the second side surface 10b of the annular body 10 to one end close to the first side surface 10a of the annular body 10.

[0060] The spacing D1 between adjacent first bumps 11 reaches its maximum at the first side 10a of the annular body 10, and the spacing D2 between adjacent second bumps 12 reaches its maximum at the second side 10b of the annular body 10, enabling the tire to cross over higher and inclined obstacles. At the middle position of the annular body 10, the spacing between adjacent first bumps 11 and the spacing between adjacent second bumps 12 are both smaller. In this way, during the rolling process of the tire, the up-and-down fluctuations are smaller, and the rolling is smoother, which is beneficial to the stable operation of the robot.

[0061] Figure 4 is a schematic structural diagram of a tire provided by an embodiment of the present disclosure. As Figure 4 shown, the outer sidewall of the annular body 10 has an annular convex rib 13. The first bump 11 is located on one side of the annular convex rib 13, and the second bump 12 is located on the other side of the annular convex rib 13.

[0062] The tread 10c of the tire includes the top surface 13a of the annular convex rib 13, the top surface 11a of the first bump 11, and the top surface 12a of the second bump 12.

[0063] The tread 10c of the tire is the surface that contacts the ground during the rolling process of the tire. During the rolling process of the tire, the top surface 11a of the annular convex rib 13 can always maintain contact with the ground, which can make the tire roll more smoothly and further improve the stability of the robot's operation.

[0064] As Figure 4 shown, the tread 10c of the tire has anti-slip protrusions 14. Exemplarily, the anti-slip protrusions 14 are in the shape of a prism, a cylinder, or a hemisphere.

[0065] The anti-slip protrusions 14 are evenly distributed on the top surface 13a of the annular convex rib 13, the top surface of the top surface 11a of the first bump 11, and the top surface 12a of the second bump 12. The anti-slip protrusions 14 can not only increase the friction between the tread 10c and the ground, but also, during the rolling process of the tire, when the tread 10c presses against the ground, the air between the tread 10c and the ground can be discharged from between the anti-slip protrusions 14, preventing the air from separating a part of the area of the tread 10c from the ground and causing the contact area between the tread 10c and the ground to decrease and slip.

[0066] As Figure 4 shown, the annular convex rib 13 is respectively connected to the first bump 11 and the second bump 12.

[0067] The connection between the annular convex rib 13 and the first bump 11 and the second bump 12 can make the annular convex rib 13 stronger, reduce the lateral deformation of the annular convex rib 13, be beneficial to extending the service life of the tire, and make the tire roll more smoothly.

[0068] Referring to Figure 2, the width L1 of the annular convex rib 13 is 1 / 10 to 1 / 5 of the width L2 of the annular body 10. If the width of the annular convex rib 13 is too large, the lengths of the first convex block 11 and the second convex block 12 will be relatively small, which is not conducive to the tire crossing the obstacle directly opposite.

[0069] Exemplarily, the width L2 of the annular body 10 is 15 mm to 18 mm, and the width L1 of the annular convex rib 13 is 2 mm to 3 mm. In the embodiment of the present disclosure, the width L2 of the annular body 10 is 17 mm, and the width L1 of the annular convex rib 13 is 3 mm.

[0070] Figure 5 is a schematic structural diagram of a tire provided by an embodiment of the present disclosure. As Figure 5 shown, the outer diameter of the annular body 10 gradually increases from the first side surface 10a and the second side surface 10b to the middle of the annular body 10.

[0071] The outer diameter of the annular body 10 is in the form of being large in the middle and small on both sides, and the annular body 10 is spindle-shaped. When the diameter of the tread 10c is fixed, this shape of the annular body 10 is beneficial to reducing the height of the annular convex rib 13. Setting the height of the annular convex rib 13 to be relatively small can reduce the possibility of lateral deformation of the annular convex rib 13 and make the tire roll more smoothly.

[0072] As Figure 5 shown in the locally enlarged area, the spindle shape of the annular body 10 also makes the height of one end of the first convex block 11 close to the first side surface 10a of the annular body 10 relatively large, and the height of one end of the second convex block 12 close to the second side surface 10b of the annular body 10 relatively large. In this way, it is easier for both sides of the tire to roll over obstacles, further improving the obstacle-crossing ability of the tire.

[0073] Optionally, the tire is made of rubber, such as rubber materials like natural rubber, styrene-butadiene rubber, polybutadiene rubber, polyisoprene rubber, etc., to ensure that the tire has sufficient elasticity.

[0074] Figure 6 is a schematic structural diagram of a robot provided by an embodiment of the present disclosure. The robot can be, but is not limited to, a sweeping robot, a toy robot, a cargo-carrying robot. In the embodiment of the present disclosure, only a sweeping robot is taken as an example. As Figure 6 shown, the robot includes a robot body 100 and a tire 200. The tire 200 is any one of the tires 200 as Figures 2 to 5 shown, and the tire 200 is connected to the robot body 100.

[0075] By setting in the robot Figures 2 to 5For any of the tires shown, since the first bump and the second bump extend along the axial direction of the annular body and gradually bend along the circumferential direction of the annular body, the lengths of the orthographic projections of the first bump and the second bump in a plane perpendicular to the axis of the annular body are both greater than the widths. Even if the distance between adjacent first bumps is greater than the width of the first bump, the orthographic projections of adjacent first bumps can still partially overlap with the orthographic projections of the second bump. Even if the distance between adjacent second bumps is greater than the width of the second bump, the orthographic projections of adjacent second bumps can still partially overlap with the orthographic projections of the first bump. Thus, on the premise that the orthographic projections of adjacent first bumps respectively partially overlap with the orthographic projections of the same second bump, and the orthographic projections of adjacent second bumps respectively partially overlap with the orthographic projections of the same first bump, the distance between adjacent first bumps is set to be greater than the width of the first bump, and the distance between adjacent second bumps is set to be greater than the width of the second bump. This enables the tire to roll relatively smoothly while further enhancing the obstacle-crossing ability of the tire, which is beneficial to the stable operation of the robot.

[0076] The above are only optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A tire, characterized in that, It includes an annular body (10), a plurality of first bumps (11) and a plurality of second bumps (12); The plurality of first bumps (11) are located on the outer sidewall of the annular body (10), close to the first side surface (10a) of the annular body (10), and are distributed at intervals along the circumferential direction of the annular body (10). The first bumps (11) extend along the axial direction of the annular body (10) and gradually bend along the circumferential direction of the annular body (10); The plurality of second bumps (12) are located on the outer sidewall of the annular body (10), close to the second side surface (10b) of the annular body (10), and are distributed at intervals along the circumferential direction of the annular body (10). The second bumps (12) extend along the axial direction of the annular body (10) and gradually bend along the circumferential direction of the annular body (10); In the circumferential direction of the annular body (10), the plurality of first bumps (11) and the plurality of second bumps (12) are staggered with each other, and the distance D1 between adjacent first bumps (11) is greater than the width d1 of the first bump (11), and the distance D2 between adjacent second bumps (12) is greater than the width d2 of the second bump (12); In a plane (M) perpendicular to the axis of the annular body (10), the orthographic projections F1 of adjacent first bumps (11) partially overlap with the orthographic projection F2 of the same second bump (12), and the orthographic projections F2 of adjacent second bumps (12) partially overlap with the orthographic projection F1 of the same first bump (11); The first bumps (11) and the second bumps (12) are respectively evenly distributed along the circumferential direction of the annular body (10); The first bump (11) is arc-shaped, and one end close to the first side surface (10a) is perpendicular to the first side surface (10a); The second bump (12) is arc-shaped, and one end close to the second side surface (10b) is perpendicular to the second side surface (10b).

2. The tire according to claim 1, wherein The distance D1 between adjacent first bumps (11) gradually decreases from one end close to the first side surface (10a) to one end close to the second side surface (10b); The distance D2 between adjacent second bumps (12) gradually decreases from one end close to the second side surface (10b) to one end close to the first side surface (10a).

3. The tire according to claim 1 or 2, wherein The distance D1 between adjacent first bumps (11) is 1.5 to 2 times the width d1 of the first bump (11); The distance D2 between adjacent second bumps (12) is 1.5 to 2 times the width d2 of the second bump (12).

4. The tire according to claim 1 or 2, characterized in that, The outer sidewall of the annular body (10) has an annular convex rib (13), the first bump (11) is located on one side of the annular convex rib (13), and the second bump (12) is located on the other side of the annular convex rib (13); The tread surface (10c) of the tire includes the top surface of the annular rib (13), the top surface of the first bump (11), and the top surface of the second bump (12).

5. The tire according to claim 4, characterized in that, The annular rib (13) is respectively connected to the first bump (11) and the second bump (12).

6. The tire according to claim 4, wherein, The width L1 of the annular rib (13) is 1 / 10 to 1 / 5 of the width L2 of the annular body (10).

7. The tire according to claim 4, characterized in that, The outer diameter of the annular body (10) gradually increases from the first side surface (10a) and the second side surface (10b) towards the middle of the annular body (10).

8. The tire according to claim 4, characterized in that, The tread surface (10c) of the tire has anti-slip protrusions (14).

9. A robot, characterized in that, It includes a robot body (100) and a tire (200), the tire (200) is the tire (200) as described in any one of claims 1 to 8, and the tire (200) is connected to the robot body (100).

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