Tire and mobile robot

Abstract

The embodiment of the utility model is suitable for the technical field of robots, and discloses a tire and a mobile robot. At least two circles of first running parts and at least one circle of second running parts are formed on the peripheral contour of the tire, the at least two circles of first running parts are distributed at intervals in the axial direction of the tire, each circle of first running part is formed by alternately distributing first protrusions and first grooves in the circumferential direction of the tire, and first running faces used for making contact with the ground are formed by the first protrusions; at least one circle of second running part is formed between every two adjacent circles of first running parts, and a second running surface used for being in contact with the ground is formed on each second running part; and the circumferential total length of orthographic projections of all the second driving surfaces of any circle of the second driving parts on a plane perpendicular to the central axis of the tire is greater than the circumferential total length of orthographic projections of all the first driving surfaces of any circle of the first driving parts on the plane. According to the embodiment of the invention, the tire is improved, so that the obstacle crossing success rate of the mobile robot during obstacle crossing on the wetland surface is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a tire and a mobile robot using the tire. Background Art

[0002] In a mobile robot provided by the related art, a tire of a moving wheel is arranged such that protrusions and grooves are alternately distributed on the outer periphery. When the moving wheel climbs over an obstacle such as a threshold, the tire can form a posture of biting the edge of the threshold and other obstacles, so that the mobile robot can climb over the threshold and other obstacles.

[0003] However, in the specific application of the above technical solution, there are the following deficiencies: Although the arrangement of the grooves is conducive to forming a posture of biting the edge of the threshold and other obstacles by the tire, since the outer surface area of the tire is reduced, the ground friction of the tire is reduced, which easily causes the tire to slip, especially in a wet ground scenario (for example, the ground after mopping, or the ground in and around the bathroom, or the ground near the washbasin, or the wet outdoor ground, etc.), the slipping phenomenon of the tire will be more serious, resulting in a reduction in the success rate of the mobile robot when climbing over obstacles in a wet ground scenario. Summary of the Utility Model

[0004] The first object of the embodiments of the present utility model is to provide a tire, which aims to solve the technical problem of low success rate of climbing over obstacles in a wet ground when the tire in the related art adopts a scheme of alternately distributing protrusions and grooves on the outer periphery.

[0005] To achieve the above object, the solution provided by the embodiments of the present utility model is: A tire, the outer peripheral contour of the tire is formed with:

[0006] At least two circles of first running parts, the at least two circles of first running parts are spaced apart along the axial direction of the tire, and each circle of the first running parts is formed by alternately distributing first protrusions and first grooves along the circumferential direction of the tire, and a first running surface for contacting the ground is formed on the surface of the first protrusion away from the central axis of the tire;

[0007] At least one circle of second running parts, at least one circle of the second running parts is formed between two adjacent circles of the first running parts, and a second running surface for contacting the ground is formed on the surface of the second running part away from the central axis of the tire;

[0008] Wherein, the total circumferential length of the positive projections of all the second running surfaces of any one circle of the second running parts on a plane perpendicular to the central axis of the tire is greater than the total circumferential length of the positive projections of all the first running surfaces of any one circle of the first running parts on this plane.

[0009] As an implementation manner, each circle of the second running part is formed by alternately distributing second protrusions and second grooves along the circumferential direction of the tire, and the second running surface is formed on the surface of the second protrusion away from the tire central axis;

[0010] Wherein, the second groove and the first groove satisfy at least one of the following relationships: the groove width of any one of the second grooves in the circumferential direction of the tire is less than the groove width of any one of the first grooves in the circumferential direction of the tire; the depth of any one of the second grooves recessed in the radial direction of the tire is less than the depth of any one of the first grooves recessed in the radial direction of the tire.

[0011] As an implementation manner, the second groove extends in a curved and / or bent manner from one axial end of the second running part towards the other axial end of the second running part; and / or,

[0012] The orthographic projections of two adjacent second protrusions of any one circle of the second running part on a plane perpendicular to the tire central axis at least partially overlap; and / or,

[0013] The second grooves on two adjacent circles of the second running part are arranged in a staggered manner in the circumferential direction of the tire; and / or,

[0014] The bending directions of the second grooves on two adjacent circles of the second running part are opposite.

[0015] As an implementation manner, the ratio of the groove width of any one of the second grooves in the circumferential direction of the tire to the groove width of any one of the first grooves in the circumferential direction of the tire is less than or equal to 0.3; and / or,

[0016] The ratio of the depth of any one of the second grooves recessed in the radial direction of the tire to the depth of any one of the first grooves recessed in the radial direction of the tire is less than or equal to 0.3; and / or,

[0017] The ratio of the groove width of any one of the second grooves in the circumferential direction of the tire to the width of any one of the second protrusions in the circumferential direction of the tire is less than or equal to 0.3.

[0018] As an implementation manner, the second running surface of at least one circle of the second running part is a closed circular ring surface continuously extending along the circumferential direction of the tire.

[0019] As an implementation manner, the orthographic projections of all the second running surfaces of any one circle of the second running part on a plane perpendicular to the tire central axis form a continuous and complete circular graph; and / or,

[0020] The distance from the second running surface to the tire central axis is equal to the distance from the first running surface to the tire central axis; and / or,

[0021] The first grooves of two adjacent circles of the first running parts are arranged in a staggered manner in the circumferential direction of the tire; and / or,

[0022] The axial length of any circle of the second running parts in the axial direction of the tire is less than or equal to the axial length of any circle of the first running parts in the axial direction of the tire; and / or,

[0023] The ratio of the sum of the axial lengths of all the second running parts in the axial direction of the tire to the total axial length of the tire is greater than or equal to 0.1 and less than or equal to 0.5.

[0024] As an implementation manner, there are at least two circles of the second running parts formed between two adjacent circles of the first running parts, and a ring-shaped third groove is formed between two adjacent circles of the second running parts.

[0025] As an implementation manner, the ratio of the sum of the axial lengths of all the second running parts and the third groove in the axial direction of the tire to the total axial length of the tire is greater than or equal to 0.2 and less than or equal to 0.4, and the axial length of the third groove in the axial direction of the tire is less than the axial length of any circle of the second running parts in the axial direction of the tire; and / or,

[0026] The depth of the third groove recessed in the radial direction of the tire is less than or equal to the depth of the second groove recessed in the radial direction of the tire.

[0027] As an implementation manner, each circle of the second running parts is formed by the alternating distribution of second protrusions and second grooves along the circumferential direction of the tire, and the second running surface is formed on the surface of the second protrusion away from the central axis of the tire;

[0028] Wherein, the second groove and the first groove satisfy at least one of the following relationships: the groove width of any second groove in the circumferential direction of the tire is less than the groove width of any first groove in the circumferential direction of the tire; the depth of any second groove recessed in the radial direction of the tire is less than the depth of any first groove recessed in the radial direction of the tire;

[0029] Each first groove communicates with the third groove through at least one second groove.

[0030] As an implementation manner, each second groove bends and extends from the first running part to the third groove and is tangent to the third groove; and / or,

[0031] The second grooves on two adjacent circles of the second running parts are arranged in a staggered manner in the circumferential direction of the tire; and / or,

[0032] The bending directions of the second grooves on two adjacent circles of the second traveling part are opposite; and / or,

[0033] The number of the second grooves on any one circle of the second traveling part is equal to the sum of the number of the first grooves and the number of the first protrusions on any one circle of the first traveling part. A part of the second grooves on any one circle of the second traveling part respectively extend from the first protrusions to the third grooves, and the other part of the second grooves respectively extend from the first grooves to the third grooves.

[0034] The second object of the embodiment of the present invention is to provide a tire, and the outer peripheral profile of the tire is formed with:

[0035] At least two circles of first traveling parts, the at least two circles of first traveling parts are distributed at intervals along the axial direction of the tire, and each circle of the first traveling parts is formed by the first protrusions and the first grooves being alternately distributed along the circumferential direction of the tire;

[0036] At least one circle of second traveling parts, at least one circle of the second traveling parts is formed between two adjacent circles of the first traveling parts, and each circle of the second traveling parts is formed by the second protrusions and the second grooves being alternately distributed along the circumferential direction of the tire;

[0037] Wherein, the second grooves and the first grooves satisfy at least one of the following relationships: the groove width of any one of the second grooves in the circumferential direction of the tire is less than the groove width of any one of the first grooves in the circumferential direction of the tire; the depth of any one of the second grooves recessed in the radial direction of the tire is less than the depth of any one of the first grooves recessed in the radial direction of the tire.

[0038] The third object of the embodiment of the present invention is to provide a mobile robot, and the mobile robot includes:

[0039] A robot body;

[0040] A traveling assembly, the traveling assembly is arranged at the bottom of the robot body, the traveling assembly includes a moving wheel for carrying the robot body to move on the ground, and the moving wheel includes the above-mentioned tire.

[0041] The tire and the cleaning robot provided by the embodiment of the present utility model are provided with at least two circles of first traveling parts formed by alternating first protrusions and first grooves on the outer peripheral contour of the tire. In this way, it is convenient for the tire to cross an obstacle such as a threshold by forming an attitude of biting the edge of the obstacle through the first grooves. In addition, in the embodiment of the present utility model, at least one circle of second traveling parts is arranged between two adjacent circles of first traveling parts, and the circumferential total length of the positive projections of all second traveling surfaces of any one circle of second traveling parts on a plane perpendicular to the tire central axis is set to be greater than the circumferential total length of the positive projections of all first traveling surfaces of any one circle of first traveling parts on this plane. Therefore, the area of the tire traveling surface can be increased through the second traveling parts, which is beneficial to increasing the ground friction of the tire, and further beneficial to improving the success rate of the mobile robot using this tire when crossing an obstacle on a wet ground. Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0043] Figure 1 is a three-dimensional schematic diagram of a tire provided by an embodiment of the present utility model;

[0044] Figure 2 is Figure 1 a partial enlarged schematic diagram of part A in

[0045] Figure 3 is Figure 1 the left view of

[0046] Figure 4 is Figure 3 a partial enlarged schematic diagram of part B in

[0047] Figure 5 is the bottom view of a mobile robot provided by an embodiment of the present utility model;

[0048] Figure 6 is the left view of a tire provided by another embodiment of the present utility model.

[0049] Explanation of the attached reference numerals: 1. Mobile robot; 10. Traveling assembly; 11. Movable wheel; 100. Tire; 110. First traveling part; 111. First traveling surface; 112. First protrusion; 1121. Protrusion block; 1122. Water accumulation groove; 113. First groove; 120. Second traveling part; 121. Second traveling surface; 122. Second protrusion; 123. Second groove; 130. Third groove; 12. Omnidirectional wheel; 20. Robot body; 21. Housing; 22. Cleaning assembly. Detailed implementation mode

[0050] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0051] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them.

[0052] The tire provided by the embodiment of the present invention can be applied to the movable wheel of a mobile robot that needs to move on the ground or other surfaces, especially suitable for the movable wheel of a cleaning robot, so as to well solve the problem of low success rate of obstacle crossing (such as crossing a threshold) of a cleaning robot on a wet ground in the related art. Of course, in specific applications, the tire of this embodiment can also be used in other mobile robots, such as inspection robots, lawn mowing robots, delivery robots, etc.

[0053] The cleaning robot involved in the embodiment of the present invention can be a floor sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc., and the embodiment of the present invention does not make specific limitations thereto. Among them, the floor sweeping robot can be used for floor sweeping and cleaning, the mopping robot can be used for floor mopping and cleaning, and the sweeping and mopping integrated robot can be used for floor sweeping and mopping and cleaning.

[0054] Such as Figure 1 and Figure 3As shown in the figure, an embodiment of the present utility model provides a tire 100. At least two circles of first running parts 110 and at least one circle of second running parts 120 are formed on the outer peripheral contour of the tire 100. The at least two circles of first running parts 110 are spaced apart along the axial direction of the tire 100, and at least one circle of second running parts 120 is formed between two adjacent circles of first running parts 110. A first running surface 111 for contacting the ground is formed on the surface of the second running part 120 away from the central axis of the tire 100; a second running surface 121 for contacting the ground is formed on the surface of the second running part 120 away from the central axis of the tire 100. The surface of the first running part 110 away from the central axis of the tire 100 is specifically the outermost surface of the first running part 110 in the radial direction of the tire 100, that is, the outer radial surface of the second running part 120. The surface of the second running part 120 away from the central axis of the tire 100 is specifically the outermost surface of the second running part 120 in the radial direction of the tire 100, that is, the outer radial surface of the second running part 120. When the tire 100 moves on the ground, both the first running surface 111 and the second running surface 121 contact the ground and generate friction with the ground. In this implementation scheme, by arranging at least one circle of second running parts 120 between two adjacent circles of first running parts 110 and providing running surfaces for contacting the ground on both the first running parts 110 and the second running parts 120, in this way, the purpose of increasing the running surface area of the tire 100 can be achieved without increasing the outer diameter of the tire 100, the axial length of the tire 100, and without changing the shape of the first running parts 110, thereby facilitating the improvement of the ground friction of the tire 100 and further facilitating the avoidance of the tire 100 slipping on a wet ground scenario.

[0055] Referring to Figure 1 and Figure 2As shown, as an implementation manner, each circle of the first traveling part 110 is formed by the alternating distribution of the first protrusions 112 and the first grooves 113 along the circumferential direction of the tire 100. A first traveling surface 111 for contacting the ground is formed on the surface of the first protrusion 112 away from the central axis of the tire 100, that is, the above-mentioned first traveling surface 111 is formed by the radially outer surface of the first protrusion 112. The first groove 113 is a structure formed by being recessed relative to the first protrusion 112, that is, the first groove 113 is recessed in the direction of approaching the central axis of the tire 100. The first protrusions 112 and the first grooves 113 are alternately distributed along the circumferential direction of the tire 100, specifically: a first groove 113 is formed between any two adjacent first protrusions 112, and a first protrusion 112 is formed between any two adjacent first grooves 113, that is: on the opposite sides in the circumferential direction of each first protrusion 112, there is respectively a first groove 113 adjacent thereto, and on the opposite sides in the circumferential direction of each first groove 113, there is respectively a first protrusion 112 adjacent thereto. Among the adjacent first protrusions 112 and first grooves 113 in the same circle of the first traveling part 110, one side wall of the first protrusion 112 is also the side groove wall of the first groove 113. By adopting the arrangement scheme of alternately distributing the first protrusions 112 and the first grooves 113 in the first traveling part 110, the tire 100 can form an attitude of biting the edge of an obstacle such as a threshold when climbing over the obstacle, thereby facilitating the mobile robot 1 to better climb over the obstacle such as a threshold.

[0056] As an implementation manner, the total circumferential length of the positive projections of all the second running surfaces 121 of any one turn of the second running part 120 on a plane perpendicular to the central axis of the tire 100 is greater than the total circumferential length of the positive projections of all the first running surfaces 111 of any one turn of the first running part 110 on this plane. In order to make the total circumferential length of the positive projections of all the second running surfaces 121 of any one turn of the second running part 120 on a plane perpendicular to the central axis of the tire 100 greater than the total circumferential length of the positive projections of all the first running surfaces 111 of any one turn of the first running part 110 on this plane, the following two schemes can be adopted: The first scheme is that the outer contour of the second running part 120 does not form a concave structure such as a groove; The second scheme is that the outer contour of the second running part 120 is provided with a concave structure such as a groove, but the proportion of the circumferences of the respective grooves on the second running part 120 to the circumference of the second running part 120 is less than the proportion of the circumferences of the respective first grooves 113 on the first running part 110 to the circumference of the first running part 110. This scheme can be controlled by the width, length in the axial direction, shape (for example, straight groove, curved groove, broken line groove) of the groove in the circumferential direction of the running part, etc. In this implementation scheme, by setting the total circumferential length of the positive projections of all the second running surfaces 121 of any one turn of the second running part 120 on a plane perpendicular to the central axis of the tire 100 to be greater than the total circumferential length of the positive projections of all the first running surfaces 111 of any one turn of the first running part 110 on this plane, in this way, it can be made that the first running part 110 and the second running part 120 are different at least in the running surface, which is beneficial to achieving the purpose of increasing the running surface area of the tire 100 through the second running part 120, thereby being beneficial to improving the ground friction of the tire 100, and further being beneficial to improving the success rate of the tire 100 in overcoming obstacles on a wet ground.

[0057] As an implementation manner, the distance from the second running surface 121 to the central axis of the tire 100 is equal to the distance from the first running surface 111 to the central axis of the tire 100, that is: the second running surface 121 is flush with the first running surface 111, and the outer diameter of the second running part 120 is equal to the outer diameter of the first running part 110. In this implementation scheme, by setting the outer diameters of the second running surface 121 and the first running surface 111 to be equal, it is beneficial to ensure that when the tire 100 runs on the ground, the first running surface 111 and the second running surface 121 can be in contact with the ground simultaneously, so as to achieve the purpose of improving the ground friction of the tire 100. It should be noted that in specific applications, when there is a small range of deviation between the distance from the second running surface 121 to the central axis of the tire 100 and the distance from the first running surface 111 to the central axis of the tire 100 and this deviation is within the allowable error range of processing, at this time, this situation should be considered to be within the protection scope of this application.

[0058] As an implementation manner, the positive projection of all the second running surfaces 121 of any one circle of the second running part 120 on a plane perpendicular to the central axis of the tire 100 forms a continuous and complete circular pattern, that is: in the axial positive projection of the tire 100, the projections of all the second running surfaces 121 of any one circle of the second running part 120 are connected into a complete circular pattern. The axial positive projection of the tire 100 refers to the two-dimensional projection pattern obtained by performing an axial positive projection on the tire 100. The circular pattern is a circumferentially closed circle. In this implementation manner, when looking at the tire 100 from one axial end of the tire 100, the outer edge of any one circle of the second running part 120 (i.e., the second running surface 121) is a complete circular pattern. In this way, when the tire 100 walks on the ground, the second running part 120 always remains in contact with the ground, thereby effectively improving the grip ability of the tire 100 and further improving the anti-slip effect of the tire 100.

[0059] As an implementation manner, the first grooves 113 of two adjacent circles of the first running part 110 are arranged in a staggered manner in the circumferential direction of the tire 100, that is: among two adjacent circles of the first running part 110, the first grooves 113 of one circle of the first running part 110 are opposite to at least part of the first protrusions 112 of the other circle of the first running part 110. When the tire 100 walks on the ground, among two adjacent circles of the first running part 110, when the notch of the first groove 113 of one circle of the first running part 110 faces the ground, the first protrusions 112 of the other circle of the first running part 110 face the ground at the same time. Thus, the first protrusions 112 of two adjacent circles of the first running part 110 can be used in cooperation to contact the ground, thereby avoiding the occurrence of the bad phenomenon of slipping caused by the vacancy generated when the notches of the first grooves 113 of two adjacent circles of the first running part 110 face the ground at the same time, and fully ensuring the stability of the tire 100 when walking on the ground.

[0060] As an implementation manner, among two adjacent circles of the first running part 110, when the first grooves 113 of one circle of the first running part 110 are opposite to at least part of the first protrusions 112 of the other circle of the first running part 110, the width b1 of the first groove 113 in the circumferential direction of the tire 100 is smaller than the width b3 of the correspondingly opposite first protrusion 112 in the circumferential direction of the tire. When the tire 100 walks on the ground, among two adjacent circles of the first running part 110, when the first protrusion 112 of one circle of the first running part 110 contacts the ground, the correspondingly opposite first groove 113 of the other circle of the first running part 110 faces the ground at the same time. In addition, part of the first protrusion 112 adjacent to the first groove 113 in the same circle of the first running part 110 contacts the ground, thereby ensuring that there are first protrusions 112 contacting the ground in both circles of the first running part 110 during the walking process, and making the tire 100 stable when walking on the ground.

[0061] If there is no second running part 120 provided between two adjacent circles of the first running part 110, then when the tire 100 climbs over an obstacle on the ground, the left and right running surfaces are switched to cooperate with the ground, which will cause a large vibration during the running of the tire 100. In this embodiment, by providing the second running part 120 between two adjacent circles of the first running part 110, when the adjacent two circles of the first running part 110 switch to contact the ground, the second running surface 121 of the second running part 120 can always remain in contact with the ground, which is beneficial to making the continuity of the left and right switching of the running surface of the tire 100, and greatly reduces the vibration generated during the running of the tire 100.

[0062] Referring to Figure 1 and Figure 4 As shown, as an implementation manner, the width b3 of any one of the first protrusions 112 in the circumferential direction of the tire 100 is greater than or equal to the width b1 of any one of the first grooves 113 in the circumferential direction of the tire 100. In this way, in the axial orthographic projection of the tire 100, one of the first protrusions 112 of any one circle of the first running part 110 overlaps at least partially with two adjacent first protrusions 112 of another circle of the first running part 110. This enables the first running surfaces 111 of two adjacent first running parts 110 to alternately switch to contact the ground during the running of the tire 100, which is beneficial to ensuring the smooth running of the tire 100.

[0063] Referring to Figure 1 and Figure 4As shown, as an implementation manner, a plurality of bumps 1121 are spaced and protruded on the first running surface 111 of the first protrusion 112, and water accumulation grooves 1122 are formed between adjacent bumps 1121. The distance between any two adjacent water accumulation grooves 1122 on the same first protrusion 112 is smaller than the distance between any two adjacent first grooves 113. The first running surface 111 of each circle of the first running part 110 is formed by the surfaces of all the bumps 1121 of this circle of the first running part 110 that are away from the central axis of the tire 100. That is, the outer surface of each first protrusion 112 is formed by the outer surfaces of a plurality of spaced bumps 1121. The first running part 110 contacts the ground through the outer surfaces of the bumps 1121. When the tire 100 travels on a wet ground, the first running surface 111 will squeeze away the sewage or accumulated water on the ground. The setting of the plurality of bumps 1121 reduces the contact area between the first running part 110 and the ground. As a result, when the tire 100 travels on a ground with sewage or accumulated water, the water on the ground is not squeezed away over a large area, and the area of the squeezed sewage or accumulated water is small. At the same time, after the tire 100 passes by, the sewage or accumulated water quickly retracts due to the action of its own surface tension to cover the area corresponding to the bumps 1121, thereby effectively reducing the resolution of the tire mark of the tire 100. Moreover, the water accumulation grooves 1122 formed between adjacent bumps 1121 can hold a part of the water. After the ground dries, it is very difficult to see the tire marks of the small squeezed area with the naked eye, improving the cleaning effect when the tire 100 is applied to a cleaning robot and facilitating the improvement of the user's satisfaction with the cleaning robot. Of course, in specific applications, as an alternative implementation manner, it is also possible not to provide a plurality of bumps 1121 and water accumulation grooves 1122 on the first protrusion 112. That is, the outer surface of the first protrusion 112 can also be a continuous and smooth surface.

[0064] The shapes of the plurality of bumps 1121 can be the same or different. The shape of the water accumulation groove 1122 can be continuous, such as a linear structure, a wavy structure, an arc structure, etc., or it can also be discontinuous, such as a line segment or an arc, etc., which is not limited herein.

[0065] Referring to Figure 1 、 Figure 2 and Figure 4As shown, as an implementation manner, each circle of the second running part 120 is formed by the second protrusions 122 and the second grooves 123 being alternately distributed along the circumferential direction of the tire 100. The surface of the second protrusion 122 away from the central axis of the tire 100 forms a second running surface 121, that is, the above-mentioned second running surface 121 is formed by the radially outer surface of the second protrusion 122. That is to say, at this time, the groove on the second running part 120 is the second groove 123. Among them, the second groove 123 and the first groove 113 satisfy at least one of the following relationships: the groove width (i.e., width b2) of any second groove 123 in the circumferential direction of the tire 100 is less than the groove width (i.e., width b1) of any first groove 113 in the circumferential direction of the tire 100; the depth h2 of any second groove 123 recessed in the radial direction of the tire 100 is less than the depth h1 of any first groove 113 recessed in the radial direction of the tire 100. For the convenience of description, hereinafter, the groove width (i.e., width b1) of the first groove 113 in the circumferential direction of the tire 100 will be simply referred to as the groove width of the first groove 113, the groove width (i.e., width b2) of the second groove 123 in the circumferential direction of the tire 100 will be simply referred to as the groove width of the second groove 123, the depth h1 of the first groove 113 recessed in the radial direction of the tire 100 will be simply referred to as the depth of the first groove 113, and the depth h2 of the second groove 123 recessed in the radial direction of the tire 100 will be simply referred to as the depth of the second groove 123. The definition of the alternate distribution of the second protrusions 122 and the second grooves 123 along the circumferential direction of the tire 100 can refer to the alternate distribution of the first protrusions 112 and the first grooves 113 along the circumferential direction of the tire 100, that is, a second groove 123 is formed between any two adjacent second protrusions 122, and a second protrusion 122 is formed between any two adjacent second grooves 123. Different from the first groove 113 which is used to achieve the effect of being able to bite the edge of obstacles such as door sills: the setting of the second groove 123 is mainly used for drainage, so that when the tire 100 is running on a wet ground, the water can be effectively squeezed away, ensuring that the tire 100 can better contact the ground. In this implementation scheme, although the second running part 120 is also formed by the alternation of protrusions and grooves, since the groove width of the second groove 123 of the second running part 120 is less than the groove width of the first groove 113 of the first running part 110 and / or the depth of the second groove 123 of the second running part 120 is less than the depth of the first groove 113 of the first running part 110, it makes it difficult for the second groove 123 to achieve the effect similar to that of the first groove 113 of being able to bite the edge of obstacles such as door sills, thus ensuring both the effect of increasing the running surface area of the tire 100 through the second running part 120 and the drainage effect of the second running part 120.

[0066] Refer to Figure 1 、 Figure 2 and Figure 4As shown, as an embodiment, the groove width (i.e., width b2) of any second groove 123 in the circumferential direction of the tire 100 is smaller than the groove width (i.e., width b1) of any first groove 113 in the circumferential direction of the tire 100; and the depth h2 of any second groove 123 in the radial direction of the tire 100 is smaller than the depth h1 of any first groove 113 in the radial direction of the tire 100. In this embodiment, the groove width of the second groove 123 is smaller than the groove width of the first groove 113, and the depth of the second groove 123 is smaller than the depth of the first groove 113. In this way, while ensuring the drainage effect of the second groove 123, it is beneficial to better avoid the second groove 123 from biting the edge of obstacles such as thresholds when the tire 100 climbs over obstacles such as thresholds, and it is beneficial to maximize the area of ​​contact between the tire 100 and the ground when it is running. Of course, in specific applications, as an alternative implementation scheme, only the groove width (i.e., width b2) of the second groove 123 can be set to be smaller than the groove width (i.e., width b1) of the first groove 113, and the depth h2 of the second groove 123 can be set to be equal to or greater than the depth h1 of the first groove 113; or, only the depth h2 of the second groove 123 can be set to be smaller than the depth h1 of the first groove 113, and the groove width (i.e., width b2) of the second groove 123 can be set to be equal to or greater than the groove width (i.e., width b1) of the first groove 113.

[0067] As an embodiment, the first groove 113 has a first side groove wall and a second side groove wall that are spaced apart and arranged opposite to each other along the circumferential direction of the tire 100, and there is a first spacing between the first side groove wall and the second side groove wall of the same first groove 113, and the first spacing is the groove width (i.e., width b1) of the first groove 113. The second groove 123 has a third side groove wall and a fourth side groove wall that are spaced apart and arranged opposite to each other along the circumferential direction of the tire 100, and there is a second spacing between the third side groove wall and the fourth side groove wall of the same second groove 123, and the second spacing is the groove width (i.e., width b2) of the second groove 123.

[0068] As an embodiment, the first groove 113 has a first groove opening and a first bottom groove wall which are spaced apart and arranged oppositely in the radial direction of the tire 100, the first side groove wall and the second side groove wall respectively extend from opposite side edges of the first groove opening to opposite side edges of the first bottom groove wall, and the distance between the first groove opening and the first bottom groove wall of the same first groove 113 is the depth h1 of the first groove 113. The second groove 123 has a second groove opening and a second bottom groove wall which are spaced apart and arranged oppositely in the radial direction of the tire 100, the third side groove wall and the fourth side groove wall respectively extend from opposite side edges of the second groove opening to opposite side edges of the second bottom groove wall, and the distance between the second groove opening and the second bottom groove wall of the same second groove 123 is the depth h2 of the second groove 123.

[0069] As an implementation manner, the orthographic projections of two adjacent second protrusions 122 of any one circle of the second running part 120 on a plane perpendicular to the central axis of the tire 100 at least partially overlap, that is: in the axial orthographic projection of the tire 100, the two adjacent second protrusions 122 of any one circle of the second running part 120 at least partially overlap. By adopting this setting scheme, it can be ensured that: in the axial orthographic projection of the tire 100, the projections of the outer edges (i.e., the second running surface 121) of the plurality of second protrusions 122 can be connected into a complete circular figure, and there will be no discontinuity of the second running surface 121 in the circumferential direction.

[0070] As an implementation manner, the second groove 123 bends and extends from one axial end of the second running part 120 (this end is defined as the starting end of the second groove 123) towards the other axial end of the second running part 120. The second groove 123 can extend in the axial direction of the second running part 120 (that is, it does not penetrate the second running part 120 in the axial direction of the second running part 120), or can extend to the end of the other end (that is, it penetrates the entire second running part 120 in the axial direction of the second running part 120. At this time, either end of the two axial ends of the second running part 120 can be regarded as the starting end of the second groove 123). Bending and extending means extending along a curved track, and the curved track can be an arc track or an S-shaped track or other irregular curved tracks. In this implementation scheme, the second groove 123 is bent, rather than set along a straight track. In this way, the edges of the second protrusions 122 can be correspondingly bent, so as to facilitate the at least partial overlap of two adjacent second protrusions 122 of any one circle of the second running part 120 in the axial orthographic projection of the tire 100. Of course, in specific applications, the second groove 123 is not limited to being bent. For example, as an alternative implementation scheme, the second groove 123 bends and extends from one axial end of the second running part 120 towards the other axial end of the second running part 120; or, as another alternative implementation scheme, the second groove 123 bends and extends from one axial end of the second running part 120 towards the other axial end of the second running part 120. Bending and folding extension means extending along a broken line track, and the broken line track is a track formed by connecting at least two non-collinear straight tracks. The second groove 123 adopting the scheme of bending and folding extension, or adopting the scheme of bending and bending and folding extension, can make the edges of the second protrusions 122 be correspondingly set as bent edges (non-straight edges), so as to facilitate the at least partial overlap of two adjacent second protrusions 122 of any one circle of the second running part 120 in the axial orthographic projection of the tire 100.

[0071] As an embodiment, at least two second grooves 123 are provided on any circle of the second traveling portion 120, and the bending directions of the at least two second grooves 123 can be the same or opposite; or, the starting ends of the at least two second grooves 123 in the axial direction of the second traveling portion 120 can be the same or different.

[0072] As an implementation manner, the bending directions of the second grooves 123 of the second running parts 120 of two adjacent circles are opposite.

[0073] As an embodiment, the ratio of the groove width (i.e., width b2) of any second groove 123 in the circumferential direction of the tire 100 to the groove width (i.e., width b1) of any first groove 113 in the circumferential direction of the tire 100 is less than or equal to 0.3. In this embodiment, the groove width (i.e., width b2) of the second groove 123 is set to be less than or equal to 0.3 times the groove width (i.e., width b1) of the first groove 113, so that the groove width (i.e., width b2) of the second groove 123 is much smaller than the groove width (i.e., width b1) of the first groove 113. In this way, while ensuring the drainage effect of the second groove 123, it is helpful to better avoid the second groove 123 from biting the edge of obstacles such as thresholds when the tire 100 climbs over obstacles such as thresholds, and it is helpful to maximize the area of ​​contact between the tire 100 and the ground when driving.

[0074] As an embodiment, the ratio of the groove width of any second groove 123 in the circumferential direction of the tire 100 (ie, width b2) to the groove width of any first groove 113 in the circumferential direction of the tire 100 (ie, width b1) is greater than or equal to 0.03 and less than or equal to 0.2.

[0075] As an embodiment, the ratio of the groove width of any second groove 123 in the circumferential direction of the tire 100 (ie, width b2) to the groove width of any first groove 113 in the circumferential direction of the tire 100 (ie, width b1) is greater than or equal to 0.05 and less than or equal to 0.15.

[0076] As an embodiment, the groove width (i.e., width b2) of the second groove 123 is less than or equal to 2 mm. Within the range, while ensuring the drainage effect of the second groove 123, it is beneficial to better avoid the second groove 123 from biting the edge of obstacles such as door sills when the tire 100 rolls over obstacles such as door sills.

[0077] As an embodiment, the groove width (ie, width b2) of the second groove 123 is greater than or equal to 0.4 mm and less than or equal to 0.8 mm. For example, the groove width of the second groove 123 may be 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, or 0.8 mm.

[0078] As an implementation manner, the groove width of the first groove 113 (i.e., width b1) is greater than or equal to 5 mm and less than or equal to 8 mm. Within this range, it is beneficial to better enable the first groove 113 to form a posture of biting the edge of an obstacle such as a threshold when the tire 100 climbs over the obstacle, thereby facilitating ensuring the success rate of the tire 100 climbing over the obstacle such as the threshold.

[0079] As an implementation manner, the groove width of the first groove 113 (i.e., width b1) is greater than or equal to 6 mm and less than or equal to 7 mm. For example, the groove width of the first groove 113 can be 6 mm or 6.5 mm or 7 mm.

[0080] As an implementation manner, the ratio of the depth h2 of any second groove 123 recessed in the radial direction of the tire 100 to the depth h1 of any first groove 113 recessed in the radial direction of the tire 100 is less than or equal to 0.3. In this implementation, the depth h2 of the second groove 123 is set to be less than or equal to 0.3 of the depth h1 of the first groove 113, so that the depth h2 of the second groove 123 is much less than the depth h1 of the first groove 113. In this way, while ensuring the drainage effect of the second groove 123, it is beneficial to better avoid the second groove 123 forming a posture of biting the edge of an obstacle such as a threshold when the tire 100 climbs over the obstacle, and it is beneficial to maximize the contact area between the tire 100 and the ground during driving.

[0081] As an implementation manner, the ratio of the depth h2 of any second groove 123 recessed in the radial direction of the tire 100 to the depth h1 of any first groove 113 recessed in the radial direction of the tire 100 is greater than or equal to 0.05 and less than or equal to 0.25.

[0082] As an implementation manner, the ratio of the depth h2 of any second groove 123 recessed in the radial direction of the tire 100 to the depth h1 of any first groove 113 recessed in the radial direction of the tire 100 is greater than or equal to 0.1 and less than or equal to 0.2.

[0083] As an implementation manner, the depth h2 of the second groove 123 is less than or equal to 2 mm. Within this range, while ensuring the drainage function of the second groove 123, it is beneficial to better avoid the second groove 123 forming a posture of biting the edge of an obstacle such as a threshold when the tire 100 climbs over the obstacle.

[0084] As an implementation manner, the depth h2 of the second groove 123 is greater than or equal to 0.6 mm and less than or equal to 0.8 mm. For example, the depth h2 of the second groove 123 can be 0.6 mm or 0.7 mm or 0.8 mm.

[0085] As an implementation manner, the depth h1 of the first groove 113 is greater than or equal to 1 mm and less than or equal to 6 mm. Within this range, it is beneficial to better enable the first groove 113 to form an attitude of biting the edge of an obstacle such as a threshold when the tire 100 climbs over the obstacle, thereby facilitating ensuring the success rate of the tire 100 climbing over the obstacle such as the threshold.

[0086] As an implementation manner, the depth h1 of the first groove 113 is greater than or equal to 1 mm and less than or equal to 5 mm.

[0087] As an implementation manner, the depth h1 of the first groove 113 is greater than or equal to 4 mm and less than or equal to 5.5 mm. For example, the depth of the first groove 113 can be 4 mm or 4.2 mm or 4.5 mm.

[0088] As an implementation manner, the groove width (i.e., width b2) of any second groove 123 in the circumferential direction of the tire 100 is less than the width b4 of any second protrusion 122 in the circumferential direction of the tire 100. In this way, while ensuring the drainage function of the second groove 123, it is beneficial to ensure that the second running part 120 has a large contact area with the ground.

[0089] As an implementation manner, the ratio of the groove width (i.e., width b2) of any second groove 123 in the circumferential direction of the tire 100 to the width b4 of any second protrusion 122 in the circumferential direction of the tire 100 is less than or equal to 0.3.

[0090] As an implementation manner, the ratio of the groove width (i.e., width b2) of any second groove 123 in the circumferential direction of the tire 100 to the width b4 of any second protrusion 122 in the circumferential direction of the tire 100 is greater than or equal to 0.05 and less than or equal to 0.2.

[0091] Refer to Figure 1 、 Figure 2 and Figure 3 As shown in

[0092] As an implementation manner, among two adjacent circles of the second traveling parts 120, the orthographic projection of any one of the second protrusions 122 of one circle of the second traveling parts 120 on a plane perpendicular to the central axis of the tire 100 overlaps at least partially with the orthographic projections of two adjacent second protrusions 122 of the other circle of the second traveling parts 120 on this plane, that is: in the orthographic projection in the axial direction of the tire 100, the orthographic projection of any one of the second protrusions 122 of any one circle of the second traveling parts 120 overlaps at least partially with the orthographic projections of two adjacent second protrusions 122 of the other circle of the second traveling parts 120 on this plane. In this implementation scheme, the second protrusions 122 of two adjacent circles of the second traveling parts 120 are not completely misaligned in the circumferential direction of the tire 100, which is beneficial to the continuity of the contact between the traveling surface of the tire 100 and the ground when the tire 100 travels on the ground.

[0093] As an implementation manner, among two adjacent circles of the second traveling parts 120, the width of the overlapping part of any two second protrusions 122 that overlap in the orthographic projection on a plane perpendicular to the central axis of the tire 100 is greater than the groove width of the second groove 123, which is beneficial to ensuring the continuity of the contact between the traveling surface of the tire 100 and the ground when the tire 100 travels on the ground.

[0094] Refer to Figure 1 、 Figure 3 and Figure 4 As shown in

[0095] Refer to Figure 1 、 Figure 2 and Figure 3As shown, as an implementation manner, the axial length L2 of any one turn of the second running part 120 in the axial direction of the tire 100 is less than or equal to the axial length L1 of any one turn of the first running part 110 in the axial direction of the tire 100. For the convenience of description, hereinafter, the axial length L1 of the first running part 110 in the axial direction of the tire 100 will be simply referred to as the axial length of the first running part 110, and the axial length L2 of the second running part 120 in the axial direction of the tire 100 will be simply referred to as the axial length of the second running part 120. In this implementation scheme, the axial length (i.e., the axial length L2) of a single turn of the second running part 120 is set to be less than or equal to the axial length L1 of a single turn of the first running part 110. In this way, within the limited axial length range of the tire 100, it is ensured that the first running part 110 has a larger axial length, which is beneficial to ensuring the stability of the first running part 110 biting on obstacles such as thresholds when the tire 100 climbs over obstacles.

[0096] As an implementation manner, the ratio of the sum of the axial lengths L2 of all the second running parts 120 in the axial direction of the tire 100 to the total axial length L0 of the tire 100 is greater than or equal to 0.1 and less than or equal to 0.5. The total axial length L0 of the tire 100 is the axial length of the tire 100. In this implementation scheme, the proportion of the sum of the axial lengths of all the second running parts 120 in the axial length (i.e., the total axial length L0) of the tire 100 is limited between 0.1 and 0.5. In this way, it is beneficial to ensure that the axial length of the first running part 110 will not be too small.

[0097] Refer to Figure 1 、 Figure 2 and Figure 3 As shown, as an implementation manner, there are at least two turns of the second running parts 120 formed between two adjacent turns of the first running parts 110, and there is a ring-shaped third groove 130 formed between two adjacent turns of the second running parts 120. The setting of the third groove 130 can further improve the drainage performance of the tire 100 when driving on a wet ground, avoid water accumulation in the middle causing the tire 100 to slip, and thus is beneficial to further improving the smoothness of the tire 100 moving on a wet ground and the success rate of crossing obstacles when crossing obstacles on a wet ground. Of course, in specific applications, as an alternative implementation scheme, it is also possible to form only one turn of the second running part 120 between two adjacent turns of the first running parts 110, and it is also possible not to provide the third groove 130.

[0098] As an implementation manner, two adjacent turns of the second running parts 120 and the third groove 130 formed therebetween are integrally structured (for example, on the structure of a complete turn of the second running part 120, a ring-shaped third groove 130 is formed on its circumferential surface, that is, two turns of the second running parts 120 and a ring-shaped third groove 130 are formed), or they can also be connected by a split structure.

[0099] As an implementation manner, each first groove 113 communicates with the third groove 130 through at least one second groove 123. In this way, when the tire 100 travels on a wet ground, the water in the middle of the tire 100 is gathered in the third groove 130 and guided to the first grooves 113 on both sides through the second grooves 123 for discharge, thereby facilitating the improvement of the continuity and smoothness of the drainage of the middle part of the tire 100.

[0100] As an implementation manner, each second groove 123 bends and extends from the first running part 110 to the third groove 130 and is tangent to the third groove 130. In this way, the water in the third groove 130 can flow more smoothly to the second groove 123 for discharge, thereby facilitating the improvement of the drainage performance of the tire 100 when traveling on a wet ground, and further facilitating better prevention of the tire 100 from slipping.

[0101] As an implementation manner, the depth of the third groove 130 recessed in the radial direction of the tire 100 is less than or equal to the depth h2 of the second groove 123 recessed in the radial direction of the tire 100. In this way, it is beneficial to enable the water in the third groove 130 to be completely discharged outward through the second groove 123.

[0102] As an implementation manner, the number of the second grooves 123 in any one turn of the second running part 120 is equal to the sum of the number of the first grooves 113 and the number of the first protrusions 112 in any one turn of the first running part 110. A part of the second grooves 123 in any one turn of the second running part 120 respectively extend from the first protrusions 112 to the third groove 130, and the other part of the second grooves 123 respectively extend from the first grooves 113 to the third groove 130. With this setting scheme, when the tire 100 travels on a wet ground, the water in the area of the second running part 120 can be respectively guided to the first groove 113 and the first protrusion 112, thereby facilitating the rapid discharge of the water in the middle of the tire 100 to both sides, facilitating better guiding of the water encountered by the second running part 120 to the first running part 110 for discharge, and further facilitating the improvement of the smoothness of the tire 100 when traveling on a wet ground.

[0103] As an implementation manner, the ratio of the sum of the axial lengths L2 of all the second running parts 120 in the axial direction of the tire 100 and the axial length L3 of the third groove 130 in the axial direction of the tire 100 to the total axial length L0 of the tire 100 is greater than or equal to 0.2 and less than or equal to 0.4, and the axial length L3 of the third groove 130 in the axial direction of the tire 100 is less than the axial length L2 of any one turn of the second running part 120 in the axial direction of the tire 100. In this implementation scheme, the ratio of the sum of the axial lengths (i.e., the axial length L2) of all the second running parts 120 and the axial length L3 of the third groove 130 to the axial length of the tire 100 is limited between 0.2 and 0.4. In this way, it is beneficial to ensure that the axial length of the first running part 110 will not be too small.

[0104] As an implementation manner, the sum of the axial lengths of all the second running parts 120 and the third grooves 130 in the axial direction of the tire 100 is greater than or equal to 2 mm and less than or equal to 10 mm.

[0105] As an implementation manner, the sum of the axial lengths of all the second running parts 120 and the third grooves 130 in the axial direction of the tire 100 is greater than or equal to 4 mm and less than or equal to 8 mm. For example, the sum of the axial lengths of all the second running parts 120 and the third grooves 130 in the axial direction of the tire 100 is 4 mm or 5 mm or 6 mm, etc.

[0106] As an implementation manner, the total axial length L0 of the tire 100 is 15 mm and less than or equal to 30 mm.

[0107] As an implementation manner, the total axial length L0 of the tire 100 is 20 mm ± 2 mm.

[0108] As an implementation manner, the tire 100 is formed by two circles of first running parts 110, two circles of second running parts 120 and one circle of third grooves 130. Of course, in specific applications, the numbers of the first running parts 110, the second running parts 120 and the third grooves 130 are not limited to this. For example, the number of the second running parts 120 can also be one or more than three.

[0109] As an implementation manner, the tire 100 can be integrally structured (that is, features such as the first groove 113, the first protrusion 112, the second groove 123, the second protrusion 122 or the third groove 130 are formed on the overall structure of one tire 100), or can be formed by connecting split structures.

[0110] Refer to Figure 1 and Figure 5 As shown, this embodiment also provides a mobile robot 1, which includes a robot body 20 and a traveling assembly 10. The traveling assembly 10 is arranged at the bottom of the robot body 20. The traveling assembly 10 includes a moving wheel 11 for carrying the robot body 20 to move on the ground. The moving wheel 11 includes the above-mentioned tire 100. For the mobile robot 1 provided by this implementation scheme, due to the adoption of the above-mentioned tire 100, the success rate of the mobile robot 1 in crossing obstacles on a wet ground is improved.

[0111] Refer to Figure 5As shown, as an implementation manner, the traveling assembly 10 includes two moving wheels 11 and a universal wheel 12. The universal wheel 12 and the two moving wheels 11 are spaced apart and disposed at the bottom of the robot body 20. Among them, the universal wheel 12 is disposed near the front end or the rear end of the robot body 20, and the two moving wheels 11 are disposed near the left and right sides of the middle of the robot body 20. Of course, in specific applications, the setting manner of the traveling assembly 10 is not limited to this. For example, as an alternative implementation manner, the traveling assembly 10 may also be composed of three or more moving wheels 11 without setting the universal wheel 12; or, when the traveling assembly 10 includes the moving wheels 11 and the universal wheel 12, the number of the moving wheels 11 may also be more than two, and the number of the universal wheels 12 may also be multiple.

[0112] As an implementation manner, the moving wheel 11 is a driving wheel, that is, the moving wheel 11 can have power input, for example, it is driven to rotate by a motor. The moving wheel 11 can drive the robot body 20 to move on the ground under the drive of the motor. The moving wheel 11 and the universal wheel 12 cooperate to realize the movement and turning of the mobile robot 1.

[0113] Refer to Figure 5 As shown, as an implementation manner, the robot body 20 includes a housing 21, a main function component, and a controller (not shown in the figure). The traveling assembly 10, the main function component, and the controller are respectively installed on the housing 21. The main function component is used to execute the functions of the robot body 20, and the controller is used to control the operation of the main function component and the movement of the traveling assembly 10.

[0114] Refer to Figure 5 As shown, as an implementation manner, the mobile robot 1 is a cleaning robot, and the cleaning robot can be a mopping robot, a sweeping robot, or a mopping and sweeping integrated robot. The main function component is a cleaning component 22, and the cleaning component 22 is used to perform a cleaning function on the ground. When the cleaning robot is a mopping robot, the cleaning component 22 is a mopping component, and the mopping component is used to mop the ground; when the cleaning robot is a sweeping robot, the cleaning component 22 is a sweeping component, and the sweeping component is used to sweep the garbage on the ground; when the cleaning robot is a mopping and sweeping integrated robot, the cleaning component 22 includes a mopping component and a sweeping component. The mopping component is used to mop the ground, and the sweeping component is used to sweep the garbage on the ground. The tire 100 of this embodiment can also be used in other mobile robots 1, such as inspection robots, lawn mowing robots, delivery robots, etc.

[0115] Refer to Figure 6 As shown, in some embodiments, the second traveling part 120 does not have the second groove 123.

[0116] Specifically, in some embodiments, the second running surface 121 of at least one turn of the second running part 120 is a closed toroidal surface that continuously extends along the circumferential direction of the tire 100, that is: the radially outer surface of the second running part 120 is a continuous and smooth surface that is joined end to end. The radially outer surface of the second running part 120 does not have the second groove 123 in the above embodiments, nor does it have other recessed structures. By adopting the solution of this embodiment, compared with the solution that only has two turns of the first running part 110 and no second running part 120, the purpose of increasing the running surface area of the tire 100 can also be achieved, which is also beneficial to improving the success rate of the mobile robot 1 using the tire 100 to cross obstacles on a wet ground. Except for this difference, other parts and working principles of the tire 100 and the mobile robot 1 provided in this embodiment can refer to other embodiments, and will not be elaborated here.

[0117] In some embodiments, the second running part 120 is not provided with the second groove 123, but is provided with a third groove 130.

[0118] Specifically, in some embodiments, a ring-shaped third groove 130 is formed between two adjacent turns of the second running part 120. By adopting the solution of this embodiment, compared with the solution without the third groove 130, it can make the water on the running surface of the tire 100 gather into the third groove 130, avoiding slipping of the tire 100 caused by water accumulation in the middle, which is beneficial to further improving the smoothness of the tire 100 moving on a wet ground and the success rate of crossing obstacles on a wet ground.

[0119] As an implementation manner, two adjacent turns of the second running part 120 and the third groove 130 formed therebetween are provided as an integral structure, or can also be connected by a split structure.

[0120] Except for the above, other parts and working principles of the tire 100 and the mobile robot 1 provided in this embodiment can refer to other embodiments, and will not be elaborated here.

[0121] In some embodiments, the relationship between the first running surface 111 and the second running surface 121 is not limited, but the relationship between the first groove 113 and the second groove 123 is mainly limited.

[0122] Specifically, for the tire 100 provided by some embodiments, at least two circumferences of first running portions 110 and at least one circumference of second running portions 120 are formed on the outer peripheral profile of the tire 100. The at least two circumferences of first running portions 110 are spaced apart axially along the tire 100, and each circumference of first running portions 110 is formed by alternating distribution of first protrusions 112 and first grooves 113 in the circumferential direction of the tire 100; at least one circumference of second running portions 120 is formed between two adjacent circumferences of first running portions 110, and each circumference of second running portions 120 is formed by alternating distribution of second protrusions 122 and second grooves 123 in the circumferential direction of the tire 100; wherein, the second groove 123 and the first groove 113 satisfy at least one of the following relationships: the groove width of any second groove 123 in the circumferential direction of the tire 100 is less than the groove width of any first groove 113 in the circumferential direction of the tire 100; the depth of any second groove 123 recessed in the radial direction of the tire 100 is less than the depth of any first groove 113 recessed in the radial direction of the tire 100. In this embodiment, by setting the groove width of the second groove 123 of the second running portion 120 to be less than the groove width of the first groove 113 of the first running portion 110 and / or the depth of the second groove 123 of the second running portion 120 to be less than the depth of the first groove 113 of the first running portion 110, it is difficult for the second groove 123 to achieve the effect that the first groove 113 can bite the edge of obstacles such as thresholds. Thus, it not only ensures the effect of increasing the running surface area of the tire 100 through the second running portion 120, but also ensures the drainage effect of the second running portion 120. In addition, all the features of the second groove 123 and the second protrusion 122 provided in this embodiment and the relationship features between them and other components of the tire 100 can refer to other embodiments and will not be elaborated here. The tire 100 provided in this embodiment, other parts of the mobile robot 1 and the working principle can refer to other embodiments and will not be elaborated here.

[0123] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A tire, characterized in that: The outer peripheral profile of the tire is formed by: At least two circles of first running parts, the at least two circles of first running parts are spaced apart along the axial direction of the tire, and each circle of the first running parts is formed by first protrusions and first grooves alternately distributed along the circumference of the tire, and the surface of the first protrusion away from the central axis of the tire forms a first running surface for contacting the ground; at least one circle of the second running portion, wherein at least one circle of the second running portion is formed between two adjacent circles of the first running portion, and a surface of the second running portion away from the central axis of the tire is formed with a second running surface for contacting the ground; Among them, the total circumferential length of the orthographic projections of all the second running surfaces of any circle of the second running parts on a plane perpendicular to the center axis of the tire is greater than the total circumferential length of the orthographic projections of all the first running surfaces of any circle of the first running parts on the plane.

2. The tire according to claim 1, characterized in that The second running portion of each circle is formed by second protrusions and second grooves alternately distributed along the circumference of the tire, and the surface of the second protrusion away from the central axis of the tire forms the second running surface; Wherein, the second groove and the first groove satisfy at least one of the following relationships: the groove width of any second groove in the circumferential direction of the tire is smaller than the groove width of any first groove in the circumferential direction of the tire; the depth of any second groove in the radial direction of the tire is smaller than the depth of any first groove in the radial direction of the tire.

3. The tire according to claim 2, characterized in that The second groove is bent and / or curved from one axial end of the second running portion toward the other axial end of the second running portion; and / or, The orthographic projections of two adjacent second protrusions of any circle of the second running portion on a plane perpendicular to the central axis of the tire at least partially overlap; and / or, The second grooves on two adjacent circles of the second running parts are staggered in the circumferential direction of the tire; and / or, The bending directions of the second grooves on two adjacent circles of the second running parts are opposite.

4. The tire according to claim 2 or 3, characterized in that The ratio of the groove width of any one of the second grooves in the circumferential direction of the tire to the groove width of any one of the first grooves in the circumferential direction of the tire is less than or equal to 0.3; and / or, The ratio of the depth of any one of the second grooves in the radial direction of the tire to the depth of any one of the first grooves in the radial direction of the tire is less than or equal to 0.3; and / or, A ratio of a groove width of any one of the second grooves in the tire circumferential direction to a width of any one of the second protrusions in the tire circumferential direction is less than or equal to 0.

3.

5. The tire according to claim 1, characterized in that The second running surface of at least one circle of the second running portion is a closed annular surface extending continuously along the circumferential direction of the tire.

6. The tire according to any one of claims 1 to 3 or 5, characterized in that: The orthographic projections of all the second running surfaces of any circle of the second running portion on a plane perpendicular to the central axis of the tire form a continuous and complete full circle figure; and / or, The distance from the second running surface to the center axis of the tire is equal to the distance from the first running surface to the center axis of the tire; and / or, The first grooves of the first running parts of two adjacent circles are staggered in the circumferential direction of the tire; and / or, The axial length of any circle of the second running portion in the axial direction of the tire is less than or equal to the axial length of any circle of the first running portion in the axial direction of the tire; and / or, A ratio of a sum of axial lengths of all the second running parts in the axial direction of the tire to a total axial length of the tire is greater than or equal to 0.1 and less than or equal to 0.

5.

7. The tire according to claim 2, characterized in that At least two circles of the second running parts are formed between two adjacent circles of the first running parts, and one circle of annular third groove is formed between two adjacent circles of the second running parts.

8. The tire according to claim 7, characterized in that The ratio of the sum of the axial lengths of all the second running parts and the third grooves in the axial direction of the tire to the total axial length of the tire is greater than or equal to 0.2 and less than or equal to 0.4, and the axial length of the third groove in the axial direction of the tire is less than the axial length of any circle of the second running part in the axial direction of the tire; and / or, The depth of the third groove in the tire radial direction is less than or equal to the depth of the second groove in the tire radial direction.

9. The tire according to claim 7, characterized in that The second running portion of each circle is formed by second protrusions and second grooves alternately distributed along the circumference of the tire, and the surface of the second protrusion away from the central axis of the tire forms the second running surface; The second groove and the first groove satisfy at least one of the following relationships: the groove width of any of the second grooves in the circumferential direction of the tire is smaller than the groove width of any of the first grooves in the circumferential direction of the tire; the depth of any of the second grooves in the radial direction of the tire is smaller than the depth of any of the first grooves in the radial direction of the tire; Each of the first grooves is connected to the third groove via at least one of the second grooves.

10. The tire according to claim 9, characterized in that Each of the second grooves extends from the first running portion to the third groove in a curved manner and is arranged tangentially to the third groove; and / or, The second grooves on two adjacent circles of the second running parts are staggered in the circumferential direction of the tire; and / or, The bending directions of the second grooves on two adjacent circles of the second running parts are opposite; and / or, The number of the second grooves of the second running part of any circle is equal to the sum of the number of the first grooves of the first running part of any circle and the number of the first protrusions. A part of the second grooves of the second running part of any circle extends from the first protrusion to the third groove, and another part of the second grooves extends from the first groove to the third groove.

11. A tire, characterized in that: The outer peripheral profile of the tire is formed by: At least two circles of first running portions, wherein the at least two circles of first running portions are spaced apart along the axial direction of the tire, and each circle of the first running portions is formed by first protrusions and first grooves alternately distributed along the circumferential direction of the tire; at least one circle of the second running portion, at least two circles of the second running portion are formed between two adjacent circles of the first running portion, and each circle of the second running portion is formed by second protrusions and second grooves alternately distributed along the circumference of the tire; Wherein, the second groove and the first groove satisfy at least one of the following relationships: the groove width of any second groove in the circumferential direction of the tire is smaller than the groove width of any first groove in the circumferential direction of the tire; the depth of any second groove in the radial direction of the tire is smaller than the depth of any first groove in the radial direction of the tire.

12. A mobile robot, characterized in that: include: Robot body; A walking assembly, wherein the walking assembly is arranged at the bottom of the robot body, and the walking assembly includes moving wheels for carrying the robot body to move on the ground, and the moving wheels include tires as described in any one of claims 1 to 11.

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