Tire for service robot, service robot, mowing robot and wheel having rim and / or wheel casing

Abstract

The utility model relates to a tire (10) for a service robot (100), in particular to a mowing robot tire (12), which is provided with a plurality of bulges (22) distributed on the periphery of the tire (10), and each bulge (22) is provided with a root part (24) built on the peripheral side surface or the base circle surface (26) of the tire (10), and a plurality of protrusions (22) arranged on the base circle surface (26) of the tire (10). And a head portion (28) having a radial end face or tread (29) of the projection (22), in particular a radial end face or tread (29) bearing or constructing the projection (22) or of the tyre (10). According to the invention, the flank (30) of the root portion (24) of the projection (22) has an orientation substantially expanding towards the circumferential flank or the base circular surface (26) with respect to the radial axis (36) of the projection (22), and the flank (32) of the head portion (28) of the projection (22) has a flank (32) which is substantially non-expanding, preferably runs substantially parallel to the radial axis (36) with respect to the radial axis (36) of the projection (22).

Description

TECHNICAL FIELD

[0001] The utility model relates to a service robot tire, especially a lawn mower robot tire, and a service robot. BACKGROUND

[0002] It is known for a tire, preferably a drive tire, for a service robot, especially a lawn mower robot tire, to have a plurality of protrusions distributed over the circumference of the tire. For this purpose, reference is made, for example, to the publication EP 2 657 043 A1. SUMMARY

[0003] The utility model relates to a tire for a service robot, especially a lawn mower robot tire, having the features of the independent claim. Advantageous refinements result from the dependent claims.

[0004] With such a tire, the adhesion or traction of the tire on the ground, especially on grass, can be improved. Damage to the ground can be avoided. This can be caused, for example, by breaking of grass blades or slipping on grass blades, etc. Overly deep penetration into the ground can be avoided. The lateral adhesion of the tire, especially between grass blades, can be improved or lateral slipping can be prevented. A service robot, preferably an autonomous lawn mower, equipped with the tire can, for example, better maintain the lane when driving laterally over a slope. Excessive deformation of the protrusions, which would change the traction, can also be avoided. The lane-keeping quality can thus be improved. Lateral drifting can be avoided. The positioning accuracy of the service robot can be improved, especially by avoiding slipping or drifting at one of the drive wheels, which would otherwise, for example, have a negative effect on the odometry for positioning the service robot. The maneuverability of the service robot can be improved. Overall, the reliability when operating the tire on the service robot can be improved. In addition, industrial production of the tire can be realized. The surface of the tire, especially between the protrusions, can be prevented from becoming clogged, for example, by grass, dirt or sludge, etc. The self-cleaning effect of the tire can be improved.

[0005] A "service robot" is to be understood in particular as a mobile device which is at least partially automated, which performs a work, preferably on a surface, in particular a so-called treatment surface, at least partially autonomously. In particular, the service robot or robot is to autonomously start, autonomously end the work and / or autonomously select and / or influence at least one parameter in the treatment of the treatment surface. A "service robot" is to be understood in particular as a device which moves autonomously at least in order to perform such a work, in particular in order to treat a treatment surface and / or autonomously moves forward in a predefined work area of the treatment surface. Typical application fields of such robots include a wide variety of activities, such as for example cleaning, cleaning, mowing lawns, collecting, sorting, irrigating, fertilizing, surveying, etc. Examples thereof are in particular autonomous cleaning robots, autonomous snow removal robots, autonomous seeders, autonomous irrigation robots, autonomous fertilizing machines, autonomous surveying machines, etc. and very particularly preferably autonomous lawn mowers or lawn mower robots. In particular, the lawn mower robot extends its area of action to the surroundings of a dwelling, in particular to the garden of a dwelling. With drive tires or with a drive wheel comprising drive tires, the service robot can move or operate in the surroundings, typically in such a way that the drive tires or the drive wheel drive independently of one another and thus enable a change in direction of the service robot. The service robot typically has sensors, a control- and / or regulating unit and a drive unit. A "control- and / or regulating unit" is to be understood in particular as a unit with at least one control electronics. A "control electronics" is to be understood in particular as a unit with a processor unit and with a memory unit and with a running program stored in the memory unit.

[0006] A tire for service robots, in particular a lawn mower robot tire, is proposed, which has a plurality of protrusions distributed over the circumference of the tire, wherein the protrusions have a root portion established on the peripheral side or base circle side of the tire and have a head portion with a radial end face or tread of the protrusion. In particular, the head portion carries or constitutes the end face or tread of the protrusion or of the tire. The radial end face or tread can be configured flat or arched. It is proposed that the side of the root portion of the protrusion with respect to the radial axis of the protrusion has an essentially expanding orientation towards the peripheral side or base circle side. It is proposed that the side of the head portion of the protrusion with respect to the radial axis of the protrusion has an essentially non-expanding, preferably essentially parallel to the radial axis running side. The radial axis of the protrusion is a radial axis of the tire intersecting the protrusion. This radial axis runs essentially perpendicular to the rotation axis of the tire. Each protrusion extends in the direction of its radial axis and projects radially outward from the peripheral side or base circle side of the tire. The protrusion has a height extending in the direction of the radial axis. The height of the protrusion is measured in particular by the height of the root portion and the height of the head portion and sometimes the height of the end face or tread. The root portion is preferably not constituted only by a rounded transition area to the peripheral side or base circle side of the tire. The head portion is preferably not constituted only by a rounded transition area to the end face or tread of the protrusion. The height of the root portion is preferably greater than the height of the head portion. The side of the root portion of the protrusion has in particular a different orientation with respect to the radial axis of the protrusion than the side of the head portion of the protrusion. In particular, the orientation of the side of the root portion and / or of the head portion is straight. In particular, the side of the root, respectively of the root portion, extends essentially in a side plane. In particular, the sides of the root portion and of the head portion of the protrusion point in the circumferential direction of the tire, in particular in the oppositely disposed circumferential faces of the tire, so to speak in the forward direction and in the rearward direction of the tire, in particular at least parallel to the rotation axis of the tire.

[0007] Preferably, the side of the root portion expands along the radial axis direction of the protrusion towards the rotation axis of the tire. In contrast thereto, the side of the head portion runs essentially without expansion along the radial axis direction of the protrusion. In particular, the side of the head portion runs essentially parallel to the radial axis, while the side of the root portion runs at an angle, in particular an acute angle, in particular an acute angle opening towards the rotation axis of the tire. In principle, however, a parabolic or hyperbolic course of the side of the root portion expanding towards the peripheral side or base circle side of the tire can also be conceivable. However, this should not correspond to a pure transition radius from the root portion to the peripheral side or base circle side.

[0008] The sides of the root portion and the head portion which are adjacent or rather next to each other in the direction of the radial axis are preferably then of different orientation. "Orientation" is to be understood as the surface run of the side when viewed in the direction of the radial axis of the projection or rather of the radial axis of the tire which intersects the projection. The radial axis of the projection advantageously intersects the axis of rotation of the tire essentially perpendicularly. The radial axis intersects the projection essentially centrally. The radial axis is oriented essentially orthogonally to the end face of the projection or rather to the tread. The expression "essentially perpendicularly" is to be understood here in particular as an orientation of the direction relative to a reference direction, wherein the direction and the reference direction enclose an angle of 90° in particular when viewed in a plane, and wherein the angle has a maximum deviation of less than 8° in particular, advantageously less than 5° and particularly advantageously less than 2°.

[0009] The radial axis of the projection runs essentially in the radial direction of the tire and / or orthogonally to the end face of the projection or rather to the tread. Each projection has a radial axis respectively and is intersected centrally by this radial axis which is oriented essentially perpendicularly to the axis of rotation of the tire. The height of the projection is measured in the direction of the radial axis. In principle, it is also possible to provide intermediate parts or intermediate sections between the root portion and the head portion which have other orientations, cross-sectional shapes and / or basic shapes.

[0010] By the different orientation of the root portion and the head portion, in particular with a run of the sides of the head portion parallel to the radial axis and a run of the sides of the root portion which expands, in particular, it is possible to improve the traction of the tire on the ground in the region of the head portion in particular without damaging the ground. The head portion can advantageously sink into the grass blades without breaking these. The driving or holding force can be transmitted to the ground and / or to the grass blades which are relatively resistant to breaking or bending near the root. By the orientation of the sides, for example, essentially parallel to the radial axis of the tire or rather of the projection, it is possible to achieve a sinking of the tire or rather of the projection sufficiently, for example, up to the turf and / or a sinking near the root. By the deviating orientation of the root portion, in particular the shape of the root portion which expands towards the axis of rotation, it is possible to avoid a deeper sinking of the projection into the ground, in particular into the turf of the lawn. Furthermore, by the sides of the root portion which expand in particular in the circumferential direction, the grass blades are bent without breaking or at least with low breaking.

[0011] The stability of the protrusion can be increased, in particular by the expanded root portion. The tendency of the protrusion to bend can be reduced. The surface pressure of the protrusion onto the ground in the region of the sinking depth of the head portion is essentially constant. The surface pressure in the region of the sinking depth of the root portion decreases gradually as the sinking depth increases. In particular, the surface pressure of the protrusion decreases gradually as the protrusion penetrates into the ground beyond the head portion, i.e. because an additional bearing surface is provided by the root portion or rather the lateral surface of the root portion or rather the cross section of the protrusion increases. In particular in the case of the application of a driving torque from the tire onto the ground, the orientation of the lateral surface of the root portion of the protrusion can also cause a lifting effect, in particular due to the angled and / or curved configuration of the lateral surface with respect to the radial axis. Thereby, for example, a protrusion or rather a tire that penetrates too deeply into the turf can be pushed out into a position under its own driving force, so that the root portion no longer penetrates, in particular due to the lifting effect caused by the lateral surface that expands toward the base surface or the peripheral surface.

[0012] It is proposed that at least one protrusion, in particular a plurality of protrusions, preferably all protrusions of the tire have at least one root portion and a head portion. The root portion of the protrusion is established on the peripheral surface or the base surface of the tire. The respective head portion of the protrusion is arranged in a radial direction on or rather placed on the root portion, in particular configured in one piece therewith. "In one piece" is to be understood in particular as at least materially bonded and / or as advantageously formed in one piece. Manufactured, for example, in a single-component or multi-component injection molding process. The material of the tire is in particular rubber-like or rubber-containing. In particular, the tire material is TPU. The head portion of the protrusion has or rather carries or forms a radial end face; or constitutes at least a portion of the tread of the tire. In particular, the protrusion is configured such that it protrudes radially, i.e. preferably outward in the radial direction, from the base surface or the peripheral surface of the tire. Each protrusion has a radial axis that extends essentially perpendicular to the rotational axis of the tire and passes centrally through the respective protrusion.

[0013] It is proposed that the sides of the root portion are oriented substantially angularly, parabolically and / or hyperbolically with respect to the radial axis of the protrusion, in particular the sides of the root portion or of the head portion which point in the circumferential direction of the tire. In particular, these sides are the sides of the root portion or of the head portion which are flared angularly or parallel to the radial axis of the protrusion in the axial direction of the tire. "Substantially angularly" is to be understood here in particular as an orientation of the direction in the plane with respect to the reference direction, wherein the direction with respect to the reference direction comprises an angle which can no longer be regarded as substantially parallel. "Substantially parallel" is to be understood here in particular as an orientation of the direction in the plane with respect to the reference direction, wherein the direction with respect to the reference direction has a deviation of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 3°. Such a deviation can sometimes be necessary in order to be able to achieve an easy demolding of the tire or of the protrusion from the mold, in particular in industrial production. In particular, the sides of the head portion or in the head region of the protrusion can be inclined by 2° in order to be able to achieve a good demoldability. "Parabolically or hyperbolically" is to be understood as meaning that the sides have a curvature or a bend with respect to the radial axis of the protrusion or are curved around an imaginary axis which is parallel to the axis of rotation of the tire.

[0014] It is proposed that the sides of the root portion are oriented angularly, in particular acutely, with respect to the radial axis of the protrusion, in particular with an angle of 5-45°, preferably 10-20°, particularly preferably approximately 15°, in particular wherein the angle changes acutely radially outward. In particular, the circumferentially opposite sides of the root portion of the protrusion are configured angularly, in particular acutely, with respect to one another. It is preferred that the opposite sides of the root portion are oriented angularly, in particular acutely, with respect to one another about the radial axis, isosceles. It is conceivable, however, that, for example, only one side of the protrusion, in particular the side facing the main driving direction which is in contact with the ground, is configured angularly, in particular acutely, with respect to the radial axis of the protrusion. The opposite side of the protrusion can then be configured, for example, substantially parallel to the radial axis of the protrusion. It is thus possible, for example, to change the sinking-in behavior and / or to achieve other traction or propulsion properties. By virtue of the angular configuration on both sides of the sides of the root portion of the protrusion, in particular the sides pointing in the circumferential direction, the tire is equally suitable for driving forward and also for driving backward, or can exploit its advantages.

[0015] It is proposed that the sides of the root portion of the protrusion, which are opposite one another in the circumferential direction, are oriented at an angle, preferably an acute angle, in particular an isosceles angle, with respect to one another. In particular, the protrusion has a substantially isosceles trapezoidal root portion cross section and a substantially rectangular or square head portion cross section in an axial sectional plane perpendicular to the axis of rotation of the tire. By this geometric shaping, the sinking-in behavior can be optimized. The legs of the trapezoidal root portion cross section in the axial sectional plane advantageously have an angle with the base side of 90° minus the aforementioned 5-45°, preferably 10-20°, particularly preferably 15°. The angle of the trapezoidal sides of the root portion with respect to the radial axis or the radial axis plane is preferably 15° each, and the angle of the trapezoidal sides with respect to one another is 30°. "Substantially" in this regard is to be understood in particular as a deviation of the predefined geometry of at most 20%, preferably at most 10%, in particular at most 5%. Clogging of the protrusion interspace by dirt can be avoided. The sinking-in behavior of the protrusion, in particular into grass, can be optimized. The stability of the protrusion can be improved. For the substantially rectangular or square head portion cross section in the axial sectional plane, it applies as before that the legs of the substantially rectangular or square head portion cross section, which extend in the radial axis direction, extend substantially parallel to one another, i.e. in particular have an orientation of the direction with respect to the reference direction, wherein the direction has a deviation with respect to the reference direction of at most 8°, advantageously at most 5° and particularly advantageously at most 3°. The end face or the tread can also be concavely or convexly curved, in particular concavely or convexly curved in the radial axis direction.

[0016] Clogging of the protrusion interspace by dirt can be avoided. A certain sinking-in of the protrusion, in particular into the ground, can be achieved. The surface pressure can be reduced depending on the sinking-in depth into the ground. The stability of the protrusion can be improved, in particular in the driving direction. The angle of the sides of the root portion, which are constructed at an acute angle with respect to the radial axis or the radial axis plane, can in particular be 15°. In principle, other acute angles of at most 45° can also be conceivable. The opposite sides of the root portion of the tire can for example enclose an angle of 15° each with respect to the radial axis, or the sides of the protrusion enclose an angle of 30° with respect to one another. The sides of the root portion, in particular the opposite sides of the root portion, change gradually at an acute angle, in particular from the peripheral side or the base circle of the tire towards the head portion of the protrusion. The aforementioned cases include that the root portion of the protrusion is in principle also conically or frustoconically constructed. The head portion can in principle also be cylindrical. In principle, further root portion body shapes and head portion body shapes can also be conceivable. "Substantially parallel" is to be understood here in particular as an orientation of the direction with respect to the reference direction, wherein the direction has a deviation with respect to the reference direction of at most 5° and preferably at most 2°. Such an angular deviation can be provided here, for example, in order to simplify or enable the demolding of the tire from the mold when manufacturing.

[0017] It is proposed that the basic shape of the protrusion around the radial axis is substantially quadrangular. In particular, the edges of the quadrangle are oriented parallel and perpendicular to the rotational axis of the tire. The basic shape of the head portion is substantially cuboidically configured, and the basic shape of the root portion is substantially trapezoidal prismatically and / or frusto-pyramidal ly configured.

[0018] It is proposed that the protrusion has a substantially isosceles trapezoidal root portion cross-section and a substantially rectangular or square head portion cross-section in an axial cut plane perpendicular to the rotational axis of the tire.

[0019] It is proposed that the root portion of the protrusion is substantially trapezoidal prismatically or frusto-pyramidal ly configured, and the head portion is substantially cuboidically or cubically configured, or the root portion is substantially frusto-conical ly and the head portion is substantially columnar ly configured.

[0020] It is proposed that, in a radial cut plane perpendicular to the radial axis of the protrusion, the protrusion has a substantially rectangular cross-sectional shape in the region of the root portion and a substantially square cross-sectional shape in the region of the head portion, preferably wherein the longer side of the rectangular cross-sectional shape of the root portion is oriented in the circumferential direction of the tire.

[0021] The root portion and the head portion each have a height. They jointly define the height of the protrusion. It is proposed that the height of the root portion in the direction of the radial axis is greater than the height of the head portion, in particular between 1-2.5 times, preferably 1.5-2 times. The height of the head portion can be, for example, 2.4 mm, and the height of the root portion can be 3.6-4.6 mm. Damage to grass blades and / or turf can be avoided. The sinking-in behavior of the protrusion, in particular into grass, can be improved. The stability of the protrusion can be improved.

[0022] It is proposed that the at least one transition region from the peripheral side or base circle side of the tire to at least one side of the protrusion, in particular to at least one side of the root portion of the protrusion, and / or from the root portion to the head portion of the protrusion, in particular from the side of the root portion to the side of the head portion of the protrusion, and / or from the head portion to the end face of the protrusion, in particular from at least one side of the head portion of the protrusion to the end face of the protrusion, is configured rounded, in particular concavely or convexly rounded. These transition regions in particular have a radius of curvature of 0.25 to 2 mm, preferably 0.5 mm or 1.5 mm. It is proposed that the transition region between the sides of the protrusion that are adjacent to one another in the circumferential direction around the radial axis is not configured rounded at least with respect to one side, in particular at the transition region to the side of the protrusion that faces the axially central portion for the tire, preferably not only at the head portion but also at the root portion. Damage to the turf can be avoided. The sinking-in behavior of the protrusions into the grass, in particular, can be optimized. The stability of the protrusions can be improved. Straight-ahead driving can be improved. In some cases, four rows of protrusions distributed over the circumference can thus be realized in an easy manner.

[0023] It is furthermore proposed that the radial end face of the one or more protrusions or the tread is configured substantially square, and / or that the root face of the one or more protrusions is configured substantially rectangular, in particular where the root face of the one or more protrusions rests on the peripheral side or base circle side of the tire at the one or more protrusions. The longitudinal sides of the rectangular face with the longer extension in particular extend in the circumferential direction. Since a rounding is provided between the side of the head portion and the radial end face, the radial end face can also be substantially square, for example. The rounding is in particular not provided at all sides of the head portion that is substantially square.

[0024] Furthermore, starting from a tire for a service robot, in particular a lawn mower robot tire, having a plurality of protrusions distributed over the circumference of the tire. It is proposed that the protrusions are arranged in four rows of protrusions distributed over the circumference in the axial direction of the tire, wherein the protrusions of each row are arranged offset in the axial direction and / or in the circumferential direction, in particular without overlap and / or spaced apart, with respect to the protrusions of the other rows. The protrusions are then arranged offset with respect to the protrusions of the axially directly adjacent rows and the axially not directly adjacent rows. It is then possible to avoid that grass blades can be broken and / or damaged by one row of protrusions adjacent in the circumferential direction and / or by two rows of protrusions adjacent in the axial direction. It is possible to avoid that the protrusions slip off the grass blades. It is possible to avoid that the grass blades are torn off. It is possible to avoid damage to the lawn. In particular, all protrusions in a row are configured identically.

[0025] It is proposed that the protrusions, in the axial projection, i.e. along the axis of rotation of the tire, and viewed in the circumferential direction of the tire, are arranged in this order such that the protrusions of the first row in the axial direction are followed by the protrusions of the second row in the axial direction, which are followed by the protrusions of the fourth row in the axial direction, and finally by the protrusions of the third row in the axial direction. The first row in the axial direction is preferably adjacent to the outer side of the tire, and the fourth row in the axial direction is preferably adjacent to the inner side of the tire. By this arrangement, lateral drift when the tire is rolling can advantageously be avoided. The quality of the directional stability can be improved. In particular, the quality of straight driving and cornering driving is improved. This is particularly advantageous compared to an arrangement in which the protrusions of the first row in the axial direction are followed by the protrusions of the second row in the axial direction, which are followed by the third row and finally by the fourth row, or vice versa. In this respect, transverse forces acting on the ground, in particular grass blades or turf, can be avoided when straight driving and / or cornering driving.

[0026] It is proposed that the axial offset of the axially adjacent rows is not the same. In particular, the axial offset of the two middle rows relative to each other, in particular the second row and the third row relative to each other, is smaller than the offset of the first row relative to the second row and / or the third row relative to the fourth row. In particular, the axial offset of the first row relative to the second row and / or the axial offset of the third row relative to the fourth row is 0.5-1.5 times, preferably 0.75-1.25 times, larger than the axial offset of the two middle rows relative to each other. In particular, the axial offset of the first row relative to the second row is about 4.5 mm. The offset of the third row relative to the fourth row can be about 3.5 mm. And the offset of the two middle rows, i.e. the second row relative to the third row, can preferably be about 2 mm. The directional stability can thus also be improved.

[0027] It is proposed that the protrusions of each row of the four rows are arranged relative to each other in the circumferential direction with an angular spacing of 24°, and / or the protrusions of all rows are arranged relative to each other in the axial projection and viewed in the circumferential direction of the tire with an angular spacing of 6°, in particular wherein the protrusions of the first row are arranged relative to the protrusions of the second row and the protrusions of the third row are arranged relative to the protrusions of the fourth row with an angular spacing of 6°, preferably wherein the protrusions of the second row are arranged relative to the protrusions of the third row with an angular spacing of 12°. Each row of the four rows can thus have 15 protrusions, which are arranged relative to each other with an angular spacing of 24° each. The tire or all the protrusion rows can have a total of 60 protrusions. On hard ground, as on soft ground, in particular on hard / firm ground, such as stone ground, and on very soft ground, such as long grass, a plurality of protrusions can thus touch the ground. For example, on stone ground, about three protrusions simultaneously touch the ground, and on long grass, about 8 protrusions simultaneously touch the ground. The tire can thus be used on different characteristics of ground, in particular different types of dry, wet, short and long grass, as low-damage as possible.

[0028] It is proposed that the axial width of the tire is 50-75%, in particular 65-70%, in particular about 2 / 3, greater than the cumulative axial width of the four head faces or end faces of the protrusions of each row of the four rows, and / or that the axial width of the tire is 5-8 times, preferably 6-7 times, greater than the axial width of the radial head face or end face of the protrusions. The term "width" here relates to the width of the tire in the axial direction or in the direction of the axis of rotation, respectively. In particular, the axial width of the tire is about 30 mm, and the cumulative axial width of the radial head face or end face of the protrusions of each row of the four rows is about 18-20 mm. In particular, the axial width of the end face of the protrusions is 4.5-5 mm. Other width factor differences or width dimensions can in principle also be envisaged. However, it has been shown that 6-7 times is particularly advantageous in terms of the aforementioned advantages. The sinking-in behavior of one or more protrusions or of the tire, in particular into grass, can thus be improved. The applied surface pressure onto the grass surface can thereby be improved. Damage to the turf, in particular, can be avoided. The traction of the tire can be improved. The sinking-in behavior of the protrusions between the grass blades can be improved without breaking the grass blades or without slipping thereon. The force support resulting from the driving torque can be transmitted close to the roots onto the grass or turf and / or grass blades.

[0029] It is proposed that the height of the protrusions, in particular from the base face or peripheral face of the tire up to the radial head face or end face of the protrusions, is greater than the length of the radial end face of the protrusions in the peripheral direction of the tire, in particular 1.5-2 times, and / or that the height of the head portion of the protrusions is less than the length of the radial end face of the protrusions in the peripheral direction, and / or that the height of the root portion of the protrusions is about equal to the length of the radial end face of the protrusions in the peripheral direction. The aforementioned advantages can thereby also be achieved.

[0030] It is proposed that the height of the head portion is smaller than the length of the radial end face of the protrusion in the circumferential direction. It is proposed that the height of the root portion is approximately equal to the length of the radial end face of the protrusion in the circumferential direction. It is furthermore proposed that the height of the root portion is greater than the height of the head portion, in particular 1-2.5 times as great, preferably 1.5-2 times as great. The ratio of the height of the root portion to the height of the head portion in the radial direction can be approximately 1-2.5, in particular approximately 1.5-2. The head portion has a height of, for example, 2.4 mm, and the root portion has a height of, for example, 3.6-4.6 mm. In particular, the height of the head portion of all protrusions of the tire is identical. The different heights of the root portions of the protrusions in different protrusions, in particular in different rows of protrusions, can differ, for example. This is sometimes also in order to be able to achieve a curved lateral surface of the tire in the axial direction. The protrusions of the tire that are on the axially outer side can have a higher root portion than the protrusions of the tire that are axially more central, for example. In particular, the root portions of the protrusions in the outer two rows of protrusions distributed on the circumference of the tire, in particular the first and fourth rows of protrusions, for example in a tire having four rows of protrusions, are higher than the root portions of the protrusions in the middle row or rows, in particular the second and third rows of protrusions, for example by 10-40%, preferably by 20-30%, for example by approximately 1 mm. The height of the root portions of the middle rows can be 3.6 mm, for example. The sinking-in behavior of the tire or of one or more protrusions, in particular into grass, can thus be improved. The applied surface pressure can be optimized. Damage to, in particular, turf can be avoided. The traction can be improved.

[0031] It is proposed that the transitions from the lateral surface or base surface of the tire to the root portion of the protrusion, in particular to the root portion of the protrusion, and / or from the root portion to the head portion of the protrusion, and / or from the head portion to the end face of the protrusion, are configured rounded or curved, in particular concavely or convexly rounded or curved. The transitions can have a radius of curvature of, for example, 0.25 mm to 2.5 mm, preferably 0.5 mm or 1.5 mm. In the transition between the base surface of the tire and the root portion of the protrusion, the radius of curvature is, for example, 1.5 mm. The stability of the protrusion can thus be improved. Overloading can be avoided, in particular in the root region or in the transition between the lateral surface or base surface and the root portion of the protrusion. The bending of the protrusion can be reduced. In the transitions from the root portion to the head portion and from the head portion to the end face of the protrusion, the radius of curvature is, for example, 0.5 mm. Damage to the grass blades can thus be avoided, for example.

[0032] In particular, the curvature radius is configured between only three of the four side portions of the protrusion, in particular at three substantially right-angled transition regions of the side faces with respect to one another, in particular viewed in the circumferential direction about the radial axis of the protrusion, and / or at the side faces to the end faces. It is proposed that the curvature radius is not arranged, for example, at the protrusion-facing axial middle of the respective protrusion or of the respective protrusion row, in particular not in the transition region to the circumferentially adjacent side face about the radial axis, or in the transition region to the radial end face. Thereby, a drift or a slip, for example, when driving on a lateral slope, can be avoided again. The axial middle of the tire can be specified by a plane configured perpendicular to the axis of rotation or to the tire axis, which intersects the axial middle of the tire, in particular centrally between the second and third protrusion row. The axial middle is substantially equally spaced from the axial end faces of the tire in the axial direction. The sinking-in behavior of the one or more protrusions or of the tire, in particular into grass, can be improved. Damage to the turf, in particular, can be avoided. The strength of the one or more protrusions can be improved. The stability of the tire can be improved. The intrusion or sinking-in of the protrusions, in particular between grass blades, can be improved without damaging the grass blades, such damage being caused, for example, by a slip placed on the surface of the grass blades and on the grass blades or by breaking the grass blades.

[0033] It is proposed that the axial end face of the protrusions of the outer, in particular outer or fourth, protrusion row at the outer side of the tire is configured at an acute angle to the radial axis of the tire or to the axially opposite end face of the tire or has an angle with respect to the radial axis. In particular, the angle is 4°. The outer end face changes with increasing distance from the axis of rotation with respect to the inner end face of the tire, in particular at an angle of 4°. Thereby, the driving direction can be better maintained. The outer side of the tire is specified, in particular, as the side facing away from the drive shaft of the tire or of the wheel or as the side facing away from the service robot. The inner side is specified, in particular, as the side facing the drive shaft of the tire or of the wheel or as the side facing the service robot. The tire can be designed, in particular, for driving in both rotational directions due to the specified inner and outer sides and the like, in particular due to the symmetrical structure in the circumferential direction (isosceles tapering or rectangular root portions, square or radially parallel head portions, etc.). This is advantageous because the service robot can thereby be equally suitable for driving forward and driving backward. However, a tire with protrusions according to the invention can also be provided or configured for one-way driving, in particular if one or more root portions of the protrusions have angled side faces or the like only in the circumferential direction.

[0034] It is proposed that the axial side of the protrusion which is arranged adjacent to or oriented with respect to the axial middle of the tire extends radially or perpendicularly to the tire axis. It thus extends in particular not at an angle to the radial axis, but rather parallel to the radial axis. This can avoid a tendency of the tire to drift transversely to the rolling direction or movement direction of the tire, in particular on grass.

[0035] It is proposed that in the radial projection of the cross section of the root portion of the protrusion which is established on the peripheral side or base circle side of the tire or of the head portion of the end face of the support protrusion of the protrusion, the end face projects at three sides which are oriented perpendicular to one another, but does not project in the radial projection at a fourth side, in particular not towards or away from the tire axis in the radial projection, preferably wherein the fourth side of the end face which does not project in the projection is oriented with respect to the axial middle of the tire. This can avoid a tendency of the tire to drift transversely to the rolling direction or movement direction of the tire, in particular on grass. It is proposed that in the axial direction of the tire, the protrusions are arranged in four rows of protrusions distributed over the circumference, and that the end faces of two rows of protrusions of the four rows which are outside or inside the axial middle of the tire in the axial direction of the tire, whose root faces do not project in the radial projection towards the axial middle of the tire, respectively.

[0036] It is proposed that the tire is integrally configured and / or comprises a thermoplastic polyurethane (TPU), in particular consists thereof.

[0037] Furthermore, a service robot, in particular a lawn mowing robot, or a wheel having a rim and / or a wheel cover is proposed, which has at least one of the aforementioned tires.

[0038] Tire (10), in particular lawn mower tire (12), for a service robot (100), having a plurality of protrusions (22) distributed over the circumference of the tire (10), characterized in that in the axial direction (38) of the tire (10), the protrusions (22) are arranged in four rows (80a, 80b, 80c, 80d) of protrusions (22) distributed over the circumference, wherein the protrusions (22a, 22b, 22c, 22d) of each row (80a, 80b, 80c, 80d) are arranged offset in the axial direction (38) and / or in the circumferential direction (48) from the protrusions (22a, 22b, 22c, 22d) of the other rows (80a, 80b, 80c, 80d), in particular spaced apart without overlap and / or offset.

[0039] A tire (10) according to a preferred embodiment of the present application is characterized in that the protrusions (22) are arranged in axial projection and in the circumferential direction (48) of the tire (10) in the following order such that a first row (80a) of protrusions (22a) in the axial direction is followed by a second row (80b) of protrusions (22b) in the axial direction, which is followed by a fourth row (80d) of protrusions (22d) in the axial direction and finally by a third row (80c) of protrusions (22c) in the axial direction.

[0040] A tire (10) according to another preferred embodiment of the present application is characterized in that the axial offset (82a, 82b, 82c) of the axially adjacent rows (80a, 80b, 80c, 80d) is not the same, in particular the axial offset (82b) of the two middle rows (80b, 80c), in particular the second and third rows (80b, 80c), relative to each other is smaller than the offset (82a, 82c) of the first row relative to the second row (80a, 80b) and / or the third row relative to the fourth row (80c, 80d).

[0041] A tire (10) according to another preferred embodiment of the present application is characterized in that the circumferentially adjacent protrusions (22a, 22b, 22c, 22d) of each of the four rows (80a, 80b, 80c, 80d) are arranged relative to each other with an angular spacing (84a) of 24° in the circumferential direction (48) and / or the protrusions (22a, 22b, 22c, 22d) of all rows (80a, 80b, 80c, 80d) are arranged relative to each other in axial projection and in the circumferential direction (48) of the tire (10) with an angular spacing (84b) of 6°, in particular wherein the protrusions (22a, 22b, 22c, 22d) of the first row relative to the second row (80a, 80b) and of the third row relative to the fourth row (80c, 80d) are arranged relative to each other with an angular spacing (84b) of 6°, preferably wherein the protrusions (22b, 22c) of the second row relative to the third row (80b, 80c) are arranged relative to each other with an angular spacing (84c) of 12°.

[0042] The tire (10) according to another preferred embodiment of the application is characterized in that the axial width (86) of the tire (10) is 50-75%, in particular about 2 / 3, greater than the cumulated axial width (87a, 87b, 87c, 87d) of the four head portions (28) or end faces or tread (29) of each of the four rows (80a, 80b, 80c, 80d) of protrusions (22a, 22b, 22c, 22d), and / or the axial width (86) of the tire (10) is 5-8, preferably 6-7, times greater than the axial width (87a, 87b, 87c, 87d) of the head face or end face (29) of the protrusions (22a, 22b, 22c, 22d) or of the radial head face or end face (29) of the protrusions (22a, 22b, 22c, 22d).

[0043] The tire (10) according to another preferred embodiment of the application is characterized in that the height (40) of the protrusions (22), in particular from the peripheral side or base circle (26) of the tire (10) up to the radial head face or end face (29) of the protrusions (22), is greater than the length (88) of the radial end face (29) or the length (88) of the head portion (24) of the protrusions (22) in the circumferential direction (48) of the tire, in particular 1.5-2 times greater; and / or the height (40-2) of the head portion (28) of the protrusions (22) is less than the length (88) of the radial end face (29) or the length (88) of the head portion (28) of the protrusions (22) in the circumferential direction (48); and / or the height (40-1) of the root portion (24) of the protrusions (22) is about equal to the length (88) of the radial end face (29) or the length (88) of the head portion (28) of the protrusions (22) in the circumferential direction (48).

[0044] The tire (10) according to another preferred embodiment of the application is characterized in that the root portion (24) of the protrusions (22) is essentially trapezoidal prism-shaped or truncated pyramid-shaped configured, and the head portion (28) is essentially cuboid-shaped or cubic-shaped configured; or the root portion (24) is essentially truncated cone-shaped configured, and the head portion (28) is essentially column-shaped configured.

[0045] The tire (10) according to a further preferred embodiment of the application is characterized in that the at least one transition region (62) from the peripheral side or base circle face (26) of the tire (10) to the at least one side face (30, 72a, 72b, 72c, 72d) of the protrusion (22), in particular of the root portion (24) of the protrusion (22); and / or the transition region (64) from the root portion (24) to the head portion (28) of the protrusion, in particular from the side face (30) of the root portion (24) to the side face (32) of the head portion (28) of the protrusion (22); and / or the transition region (66) from the head portion (28) to the end face or tread face (29) of the protrusion (22), in particular from the at least one side face (32) of the head portion (28) of the protrusion (22) to the end face or tread face (29) of the protrusion (22), has in particular a radius of curvature (68, 70) of 0.25 mm to 2 mm, preferably 0.5 mm or 1.5 mm, preferably wherein a concave or convex transition region (67-1) is configured at only three of the four side portions (72a, 72b, 72c) of the protrusion (22), in particular not at the side portion (72d) of the protrusion (22) facing the axial middle portion (74) of the tire (10).

[0046] The tire (10) according to a further preferred embodiment of the application is characterized in that the at least one transition region (62) from the peripheral side or base circle face (26) of the tire (10) to the at least one side face (30, 72a, 72b, 72c, 72d) of the protrusion (22), in particular of the root portion (24) of the protrusion (22); and / or the transition region (64) from the root portion (24) to the head portion (28) of the protrusion, in particular from the side face (30) of the root portion (24) to the side face (32) of the head portion (28) of the protrusion (22); and / or the transition region (66) from the head portion (28) to the end face or tread face (29) of the protrusion (22), in particular from the at least one side face (32) of the head portion (28) of the protrusion (22) to the end face or tread face (29) of the protrusion (22), has in particular a radius of curvature (68, 70) of 0.25 mm to 2 mm, preferably 0.5 mm or 1.5 mm, preferably wherein a concave or convex transition region (67-1) is configured at only three of the four side portions (72a, 72b, 72c) of the protrusion (22), in particular not at the side portion (72d) of the protrusion (22) facing the axial middle portion (74) of the tire (10).

[0047] The service robot (100), in particular the lawn mower robot (102) or the wheel having a rim and / or a wheel cover (16), has at least one tire (10) according to any of the preceding. BRIEF DESCRIPTION OF DRAWINGS

[0048] Further advantages result from the following description of the figures. At least one embodiment of the application is shown in the drawings. The drawings, the description and the claims comprise a large number of combined features. The person skilled in the art will also consider these features individually in an appropriate way and will summarize them to further combinations which are meaningful.

[0049] wherein:

[0050] Figure 1 A service robot, in particular a lawn mower robot, having a tire, in particular a lawn mower robot tire, according to the application is shown, or a wheel having a rim and / or a wheel cover according to the application is shown,

[0051] Figure 2a first view of a tire according to the utility model is shown in a side view or in a projection view in the axial direction along the axis of rotation of the tire,

[0052] Figure 3 a zoomed-in detail of a tire according to Figure 2 the utility model is shown,

[0053] Figure 4 a top view of a tire according to the utility model, which can be said to be a top view of a profile surface and / or a circumferential surface of the tire, in particular perpendicular to the axis of rotation of the tire,

[0054] Figure 5 a perspective view of a tire according to the utility model is shown,

[0055] Figure 6 a radial section A-A through the head portion of the projection and a radial section B-B through the root portion are shown, and

[0056] Figure 7 an axial section C-C through the projection is shown. DETAILED DESCRIPTION

[0057] Figure 1A service robot 100 according to the invention is shown with a tire 10 according to the invention. The tire 10 is arranged as a drive tire in the rear region of the service robot 100 on both sides (here only one side is visible). But it is also possible to arrange the tire 10 on the front side, and in particular as an all-wheel drive service robot, or with rollers at the rear, in particular trailing rollers. The service robot 100 is an autonomous lawnmower or lawnmower robot 102. The tire 10 is a drive tire, in particular a lawnmower robot tire 12 or lawnmower robot drive tire. The service robot 100 has a housing 104. The service robot has a chassis 106. The service robot 100 has a drive unit 108, in particular an electric motor, for driving the drive wheel 14, which is preferably used for single-wheel drive of the wheel. The drive wheel 14 comprises the tire 10 according to the invention. The service robot 100 has an energy supply unit 112, for example a battery pack, in particular a hand tool-replaceable battery pack. The service robot 100 has a front roller 114, which is not driven here and is in particular configured as a trailing roller. The service robot 100 is steered by single-wheel drive of the rear wheel. The service robot 100 in the form of an autonomous lawnmower 102 here furthermore has a drive unit 110 for driving a tool, here a cutting unit 116. But the service robot can also have a drive unit 110 for driving other service units. The service robot has a control- and / or regulating unit 118. The service robot has sensors or sensor units (not shown), in particular in order to detect its surroundings and / or marker elements or boundary elements (here also not shown). The service robot has a navigation unit (not shown), in particular in order to navigate autonomously. The service robot 100 can have a large number of further features, which are generally known to the person skilled in the art familiar with service robots 100 or lawnmower robots 102. The service robot 100 or lawnmower robot 102 is set up for autonomously servicing in a working environment, here in particular autonomously mowing a lawn. The tire 10 is fitted on a rim (not visible), which is obscured by a wheel cover 16. The outer side 18 is visible from the tire 10, the inner side 20 faces the chassis 106 and is visible in the later-following figures.

[0058] The tire 10 has a plurality of protrusions 22 distributed over the circumference of the tire. The protrusions 22 comprise a root portion 24 which builds on a circumferential side or base surface 26 of the tire 10. The protrusions 22 comprise a head portion 28 which has a radial end face or tread 29. The radial end face or tread forms a part of the rolling surface or tread of the tire 10. The head portion 28 carries or forms an end face which serves as a tread of the protrusion 22 or of the tire 10. The side 30 of the root portion 24, or of the root portion 24 of the protrusion 22, has a different orientation 34 or direction, especially with respect to a radial axis 36 of the protrusion 22, than the side 32 of the head portion 28 of the protrusion 22. Preferably, the sides 30, 32 of the root portion 24 and of the head portion 28 which are adjacent in the radial axis direction or to each other have different orientations 34. The "orientation 34" is to be understood as the orientation when viewed in the direction of the radial axis 36 of the protrusion 22. The radial axis 36 of the protrusion 22 intersects the axis of rotation 38 of the tire 10 substantially perpendicularly. Thus, the orientations 34, 35 of the sides 30, 32 of the root portion 24 and of the head portion 28 which are adjacent in the radial axis 36 direction or to each other are different. The "orientations 34, 35" are to be understood as the orientations when viewed in the direction of or along the radial axis 36 of the protrusion 22. The radial axis 36 of the protrusion 22 intersects the axis of rotation 38 of the tire substantially perpendicularly. The radial axis 36 of the protrusion 22 extends substantially in the radial direction of the tire 10. Each protrusion 22a, 22b, 22c, 22d has a radial axis 36a, 36b, 36c, 36d, respectively, and is centrally cut by the radial axis 36a, 36b, 36c, 36d, respectively, which is oriented substantially perpendicularly to the axis of rotation 38. The height 40 of the protrusion 22 is measured in the direction of the radial axis 36. The height consists of a height 40-1 of the root portion 24 and a height 40-2 of the head portion 28. The orientation of the side 32 of the head portion is oriented substantially parallel to the radial axis 36 of the protrusion 22. The orientation 34 of the side 30 of the root portion 24 is oriented at an acute angle to the radial axis 36, especially tapers radially outwardly. The root portion 24 flares toward the axis of rotation 38. The cross section of the head portion 28 of the protrusion 22 is thus substantially constant in the radial axis direction. Conversely, the cross section of the root portion 24 of the protrusion 22 increases, especially linearly or potentially, in the radial axis direction from the transition area to the head portion 28 toward the circumferential side or base surface 26 of the tire 10. Other orientations 34 of the side 30 of the root portion 24 of the protrusion 22 can generate a lifting effect on the tire 10 under the influence of, for example, driving torque or torque. In the present embodiment, all protrusions 22 of the tire 10 have at least one root portion and head portion 24, 28.

[0059] The root portion 24 of the protrusion 22 is established on a peripheral or base circular face 26 of the tire 10. The respective head portion 28 of the protrusion 22 is arranged built on or rather seated on the root portion 24 in the radial direction, in particular configured in one piece therewith. "In one piece" is to be understood in particular as at least materially bonded and / or advantageously as formed in one piece, for example by manufacturing in a single-component or multi-component injection molding process. The head portion 28 of the protrusion 22 has a radial end face or tread 29 or rather carries or forms the radial end face or tread. The radial axis 36 of the protrusion 22 is oriented orthogonally to the end face or tread 29 of the protrusion. In principle, the end face or tread can also be composed of a material that differs in particular in terms of its resistance, for example a harder or softer material. In particular, the protrusion 22 is configured such that it protrudes radially, i.e. preferably outward in the radial direction, from the base or peripheral face 26 of the tire 10. Each protrusion 22 has a radial axis 36 that extends substantially perpendicularly to the rotational axis 38 of the tire 10 and passes centrally through the respective protrusion 22. The side 30 of the root portion 24 is oriented substantially angularly to the radial axis 36 of the protrusion or rather of the respective protrusion 22. The side 32 of the head portion 28 is oriented substantially parallel to the radial axis 36 of the respective protrusion 22. The end face or tread 29 of the protrusion is oriented orthogonally to the radial axis 36. The aforesaid sides 30, 32 point in the circumferential direction 48 of the tire 10. The basic shape of the protrusion 22 around its radial axis 36 is substantially quadrangular, respectively. The two opposite sides 30, 32 of the head and root portions 24, 28 of the protrusion point in respectively oppositely disposed circumferential directions, and the two further opposite sides 42, 44, in particular the outer and inner sides 42, 44, of the protrusion 22 point in the axial direction or rather in the direction toward the rotational axis 38 of the tire.

[0060] "Substantially angular" is to be understood here in particular as the orientation of a direction relative to a reference direction in particular in a plane, wherein the direction comprises an angle relative to the reference direction. Preferably, the angle can no longer be considered substantially parallel. "Substantially parallel" is to be understood here in particular as the orientation of a direction relative to a reference direction in particular in a plane, wherein the direction has a deviation from the reference direction of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 3°. The side 32 of the head portion 28 thus has an angle of for example 1°-2° here with respect to the radial axis 36. Thereby, easy demolding of the tire 10 or rather of the protrusion 22 from the mold can be achieved. Thereby, the self-cleaning of the protrusion can also be improved. Damage to the ground can be avoided. The side 32 at the head portion of the protrusion 22 is for example inclined by 2° in order to be able to achieve good demoldability from the mold and / or in order to avoid dirt from adhering between the protrusions adjacent in the circumferential direction 48 and / or to reduce damage to the ground, for example grass.

[0061] The side faces 30 of the root portion 24 are configured or oriented at an acute angle to the radial axis 36 of the protrusion 22 in the circumferential direction 48 of the tire 10. The angle 46 here has approximately 15°. The angle 46 is gradually changed at an acute angle radially outward. In particular, the opposite side faces 30 of the root portion 24 of the protrusion 22 are configured at an angle, in particular at an acute angle, relative to one another. The opposite side faces here enclose an angle 50 of 30° relative to one another. It is preferred that the opposite side faces 30 of the root portion 24 are oriented at an isosceles angle, in particular configured at an isosceles acute angle, relative to one another with respect to the radial axis 36. It is conceivable, however, that, for example, only one, in particular the side face 122 facing the main driving direction 120, which is in contact with the ground (see Figure 1 ), is configured at an acute angle to the radial axis 36 of the protrusion. The opposite side faces of the protrusion 22 can then, for example, be configured substantially parallel to the radial axis 36 of the protrusion 22 (here not shown or implemented). An improved sinking behavior can then be achieved, but also an occasionally improved or fixed circumferential pressure behavior or propulsion behavior. In particular, the tire has a unique main direction of rotation. The angled orientation of the side faces 30 can also be different. The side face 122 facing the main driving direction 120 is preferably angled more sharply than the side face 124 facing away from the main driving direction 120, or the like. The traction behavior in the opposite driving direction can thereby be changed, and likewise the sinking behavior or the damage behavior on the ground. Sometimes, a stuck service robot, for example a service robot stuck at an obstacle, can be released in an easy manner in reverse gear by the increased traction. By the two-sided angled configuration of the side faces 30 of the root portion 24 of the protrusion 22, the tire 10 can be used equally well not only for forward driving, but also for backward driving, and exploits its corresponding advantages.

[0062] Here exemplary reference is made to Figure 3 and in particular Figure 7At the root portion 22a of the protrusion 22, the protrusion 22 has a substantially isosceles trapezoidal root portion cross section 52 and a substantially rectangular or square head portion cross section 54 in an axial cross section plane 50 perpendicular to the rotational axis 38 of the tire 10. The leg 56 of the trapezoidal root portion cross section 52 advantageously has an angle to the base side 58 of the substantially trapezoidal root portion cross section 52 of 90° minus the aforementioned angle 46 of 15°. The angle 46 of the trapezoidal side or flank 30 of the root portion 24 of the protrusion 22 to the radial axis 36 is preferably 15°, respectively, and the angle 50 of the trapezoidal sides or flanks 30 to each other is 30°. It applies to the substantially rectangular or square head portion cross section 54 that the legs of the square head portion cross section 54 running in the direction of the radial axis 36 run substantially parallel to each other. Substantially, then deviations are allowed here in principle to the extent of the aforementioned specification, in particular in order to be able to achieve mold releasability in manufacture, for example by 1-2° angles.

[0063] The angle 46 of the flanks 30 of the root portion 24, which are configured at an acute angle to the radial axis 36, can be in particular 15°. Other acute angles can also be conceivable in principle, in particular 5-45°, preferably 10-25°. The opposing flanks 30 of the root portion 24 of the tire 10 can enclose an angle of 15°, respectively, relative to the radial axis 36, for example, or the flanks 30 of the root portion 24 enclose an angle of 30° relative to each other. The flanks 30 of the root portion 24, in particular the opposing flanks 30 of the root portion 24, change gradually at an acute angle, in particular from the peripheral or base circle face 26 of the tire 10 towards the head portion 28 of the protrusion 22. The root portion 24 of the protrusion 22 can also be configured conically in principle (not shown here). The head portion 28 can also be configured cylindrically in principle. Both the root portion 24 and the head portion 28 can also be configured conically, wherein the taper angle of the root portion will be greater than the taper angle of the head portion, the root portion can in particular have a significantly or very large taper angle compared to the head portion, for example a taper angle of 0-30° in the region of the head portion and a larger taper angle of 20-60° in the region of the root portion compared thereto, preferably a taper angle of 0-10° at the head portion and a taper angle of 20-40° at the root portion. Such a contrast can also apply in principle to the root portion and the head portion configured trapezoidally in axial cross section. Or to the oppositely configured trapezoidal prisms of the root portion and the head portion in terms of the angle of the legs. A conical root portion and a head portion oppositely configured in terms of the angle of the legs can also be conceivable. In particular, the leg angles of the root portion and the head portion should deviate from each other by at least 10°, preferably 15-30°, wherein the root portion leg is configured less acutely and the head portion leg is configured more acutely, i.e. more parallel. Other root portion body shapes and head portion body shapes can also be conceivable.

[0064] As is shown in particular in Figure 3 In connection with Figure 6 In radial section planes A-A and B-B perpendicular to the radial axis 36 of the protrusion 22, the protrusion 22 has a substantially different cross-sectional shape in the region of the root portion 24 than in the region of the head portion 28. In particular, a substantially rectangular cross-sectional shape B-B in the region of the root portion 24 and a substantially square cross-sectional shape A-A in the region of the head portion 28. The longer side of the rectangular cross-sectional shape B-B of the root portion 24 here extends in particular in the circumferential direction of the tire 10. In the circumferential direction, the protrusion 22 then has a substantially quadrangular basic geometry, respectively, wherein "substantially" here is to mean that the corner portions of the quadrangle can also be configured at least partially rounded.

[0065] It is furthermore proposed that the root portion 24 of the protrusion 22 can be configured substantially trapezoidal-prismatic or truncated-prismatic and / or in combination thereof, and the head portion is configured substantially cuboid or cubic. As is derived from the overview of Figure 2 , Figure 4 and Figure 7 The embodiments have a protrusion 22 with such a shape. The base surface of the root portion 24, which is trapezoidal-prismatic or truncated-prismatic, can be configured rectangular or square, for example. Reference is made here to Figure 6 , the cross-section B-B is configured rectangular, in particular wherein the longer side of the rectangular, substantially trapezoidal-prismatic or truncated-prismatic root portion is oriented in the circumferential direction of the tire.

[0066] Furthermore, the root portion can also be configured substantially truncated-conical and the head portion is configured substantially cylindrical (not shown here). In the radial section plane perpendicular to the radial axis of the protrusion, the cross-section in the region of the head portion and in the region of the root portion is circular, respectively. Here, the side surfaces 30, 32 of the root portion and the head portion 24, 28 are also substantially angled or parallel to the radial axis 36.

[0067] The root portion and the head portion each have a certain height 40-1, 40-2. These heights together define the height 40 of the protrusion. It is proposed that the height 40-1 of the root portion 24 in the direction of the radial axis 36 is greater than the height 40-2 of the head portion 28, in particular between 1-2.5 times, preferably 1.5-2 times.

[0068] Concavely or convexly configured: the transition from the peripheral side or base circle face 26 of the tire 10 to the protrusion 22, in particular to at least one side face 30 of the protrusion 22, in particular to at least one side face 30 of the root portion 24 of the protrusion 22, and / or from the root portion 24 to the head portion 28 of the protrusion 22, in particular from a side face 30 of the root portion 24 to a side face 32 of the head portion 28 of the protrusion 22, and / or from the head portion 28 to the end face 29 of the protrusion 22, in particular from at least one side face 32 of the head portion 28 of the protrusion 22 to the end face 29 of the protrusion 22, these transitions in particular having a radius of curvature 68, 70, preferably a radius of curvature 70 of 0.5 mm or a radius of curvature 68 of 1.5 mm. Preferably, the concavely or convexly configured transition 62, 64, 66 is configured at only three of the four side portions 72a, 72b, 72c of the protrusion 22 (see Figure 5 ), in particular not at the side portion 72d of the protrusion 22 facing the axial middle portion 74 (see Figure 4 ) of the tire. According to Figure 4 , the axial center plane 74a also extends through the axial middle portion 74, which extends perpendicular to the rotation axis 38 of the tire 10.

[0069] The radial end face or rather the tread 29 of the one or more protrusions 22 is configured substantially square, and / or the root face 76 of the one or more protrusions 22, in particular the following root face 76 of the one or more protrusions 22, at which the one or more protrusions 22 are established on the peripheral side 26 or the base circle face of the tire 10, is configured substantially rectangular. The longitudinal side portions 78 of the rectangular face having the longer extension in particular extend in the circumferential direction 48. Since a rounding 70a is provided between the side faces 72a, 72b, 72c of the head portion 28 and the radial end face 29, the radial end face 29 can also be substantially square, for example. The rounding 70a is in particular not provided at all side portions of the substantially square head portion 28, in particular not in the transition to the side face 72d.

[0070] Furthermore, in the axial direction 38 of the tire 10, the protrusions 22 are arranged in the manner of four circumferentially distributed rows 80a, 80b, 80c, 80d of protrusions 22a, 22b, 22c, 22d (see in particular Figure 4). The protrusions 22a, 22b, 22c, 22d of each row 80a, 80b, 80c, 80d are arranged offset with respect to the protrusions 22a, 22b, 22c, 22d of the other rows 80a, 80b, 80c, 80d in axial direction 38 and / or in circumferential direction 48. They are in particular arranged spaced apart without overlap and / or offset. Thus, the protrusions 22a, 22b, 22c, 22d of a row 80a, 80b, 80c, 80d are in particular offset with respect to the protrusions 22a, 22b, 22c, 22d of a row 80a, 80b, 80c, 80d which is in particular directly axially adjacent and / or in particular not directly axially adjacent.

[0071] In an axial projection (see Figure 2 ), i.e. a projection along the axis of rotation 38 or along the axial direction 38 of the tire 10, the protrusions 22a, 22b, 22c, 22d are thus arranged in sequence as seen in the circumferential direction 48 of the tire 10, such that the protrusions 22a of the axially first row 80a are followed by the protrusions 22b of the axially second row 80b, then by the protrusions 22d of the axially fourth row 80d, and finally by the protrusions 22c of the axially third row 80c. The axial offset 82a, 82b, 82c of the rows 22a, 22b, 22c, 22d which are in particular directly adjacent in axial direction is not the same. The axial offset 82b of the two middle rows 80b, 80c, i.e. in particular the second and third rows 80b, 80c, with respect to each other is smaller than the offset 82a, 82c of the first row with respect to the second row 80a, 80b and / or of the third row with respect to the fourth row 80c, 80d. In particular, the axial offset 82a, 82c of the first row with respect to the second row 80a, 80b and / or of the third row with respect to the fourth row 80c, 80d is 0.5-1.5 times, preferably 0.75-1.25 times, larger than the offset 82b of the two middle rows 80b, 80c. In particular, the axial offset 82a of the first row with respect to the second row 80a, 80b is about 4.5 mm. The axial offset 82v of the third row with respect to the fourth row 80c, 80d can be about 3.5 mm. The offset 82b of the two middle rows 80b, 80c, i.e. the second row with respect to the third row 80b, 80c, is preferably about 2 mm.

[0072] Furthermore, the protrusions 22 of each row 80a, 80b, 80c, 80d which are adjacent with respect to each other in circumferential direction 48 are individually arranged with an angular spacing 84a of 24° with respect to each other, and / or the adjacent protrusions of all rows are arranged in axial projection (see Figure 2) and arranged relative to each other with an angular spacing 84b of 6°, in particular wherein the protrusions 22a, 22b, 22c, 22d of the first row relative to the second row 80a, 80b and of the third row relative to the fourth row 80c, 80d are arranged with an angular spacing of 6°, and wherein the protrusions 22b, 22c of the second row relative to the third row 80b, 80d are arranged with an angular spacing 84c of 12°.

[0073] It is proposed that the axial width 86 of the tire 10 is 50-75%, in particular 65-70%, in particular about 2 / 3 larger than the cumulated axial width 87a, 87b, 87c, 87d of the four head or end faces 29a, 29b, 29c, 29d of the protrusions 22a, 22b, 22c, 22d of each of the four rows 80a, 80b, 80c, 80d, and / or that the axial width 86 of the tire 10 is 5-8 times, preferably 6-7 times larger than the axial width 87a, 87b, 87c, 87d of the radial head or end face 29a, 29b, 29c, 29d of the protrusions 22a, 22b, 22c, 22d. In particular, the axial width 86 of the tire 10 is about 30 mm, and the cumulated axial width 87a, 87b, 87c, 87d of the radial head or end face 29a, 29b, 29c, 29d of each of the protrusions 22a, 22b, 22c, 22d of the four rows 80a, 80b, 80c, 80d is about 18-20 mm. In particular, the axial width 87a, 87b, 87c, 87d of the end face 29a, 29b, 29c, 29d of the protrusions 22a, 22b, 22c, 22d is about 4.5-5 mm.

[0074] The height 40 of the protrusions 22, in particular from the base or lateral surface 26 of the tire 10 up to the radial head or end face 29 of the protrusions 22, is larger than the length 88 of the radial end face 29 of the protrusions 22 in the circumferential direction 48 of the tire 10 (see in particular Figure 3), in particular 1.5-2 times larger. The height 40-2 of the head portion 28 of the protrusion 22 is smaller than the length 88 of the radial end face 29 of the protrusion 22 in the circumferential direction 48. The height 40-1 of the root portion 24 of the protrusion 22 is approximately equal to the length 88 of the radial end face 29 of the protrusion 22 in the circumferential direction 48. The height ratio of the height 40-1 of the root portion 24 to the height 40-2 of the head portion 28 in the direction of the radial axis 36 can be approximately 1-2.5, in particular approximately 1.5-2. The head portion 28 has a height 40-2 of, for example, 2.4 mm, and the root portion 24 has a height 40-1 of 3.6-4.6 mm. In particular, the height 40-2 of the head portion 28 of all protrusions 22 of the tire 10 is identical. Different heights 40-1 of the root portion 24 of the protrusions 22 of different protrusions 22a, 22b, 22c, 22d, in particular of different rows 80a, 80b, 80c, 80d of protrusions 22a, 22b, 22c, 22d, are preferably provided for implementing a curved lateral side of the tire 10 in the axial direction 38. Protrusions 22a, 22d of the tire 10 that are axially outer, for example, can have a higher root portion 24 than protrusions 22b, 22c of the tire 10 that are axially more central. In particular, the root portions 24 of the protrusions 22 of the two rows 80a, 80d, in particular, for example, the first and fourth rows of protrusions, that are distributed on the circumference or in the circumferential direction 48 of the tire 10, are higher, in particular 10-40% higher, preferably 20-30% higher, for example, approximately 1 mm higher, than the root portions 24 of the protrusions 22b, 22c of one or two rows 80b, 80c of the tire 10 that are central, in particular, for example, the second and third rows 80b, 80c of protrusions 22b, 22c. The height of the root portion 40-1 of the protrusions 22b, 22c of these central rows 80b, 80c can be, for example, 3.6 mm. The transition region 62 of the lateral side or base circle 26 of the tire 10 to the protrusion 22 is curved. The transition region has, for example, a radius of curvature of 0.5 mm to 2.5 mm, preferably 0.5 mm or 1.5 mm. At the transition regions 64, 66 from the root portion 24 to the head portion 28 and from the head portion 28 to the end face 29 of the protrusion 22, the radius of curvature 70 is, for example, 0.5 mm. In particular, the radius of curvature is configured between only three of the four sides of the protrusion 22, in particular at three substantially right-angled transition regions of the sides relative to one another, in particular in the circumferential direction, around the radial axis 36 of the protrusion 22, and / or at the sides to the end face 29. An axial center plane 74a of the tire 10 can be specified by a plane that is perpendicular to the rotation axis 38 or tire axis and that intersects the axial center 74 of the tire 10. The axial center plane is in particular axially centered between the second and third protrusion rows 80b, 80c.The axial middle portion 74 is substantially spaced by the same distance from the axial end face 29 of the tire 10. The axial end face 89a of the protrusion 22a is configured at an acute angle to the radial axis 36 at the outer side 18 of the tire 10 and / or to the axially opposite outer side 18 of the tire 10 or to the axially opposite inner axial end face 89d. In particular, the angle 90 is about 4°. The outer axial end face 89a changes with increasing distance (radius) from the axis of rotation 38 of the tire 10, in particular at the angle 90 of 4°, relative to the inner axial end face 89d of the tire 10. The outer side 18 of the tire 10 is in particular defined as the side facing away from the drive unit 108 or chassis 106 of the tire 10 or wheel. The inner side 20 is in particular defined as the side facing the drive unit 108 of the tire 10 or wheel or as the side facing the chassis 106 of the service robot 100. In the present embodiment, the inner diameter of the wall of the tire 10 to the outer side 18 is about 180-185 mm, in particular 182 mm, in the axial direction 38 of the tire 10. Figure 3 The corresponding inner radius 92 is shown in Fig. 18. The outer diameter 94 (up to the end face 29) is about 220 mm, in the axial direction 38 of the tire 10. Figure 3 The corresponding outer radius 95 is also shown in Fig. 18. Due to the slightly spherical shape of the peripheral side or base circle face in the axial direction 38 of the tire 10, the peripheral or base circle diameter of the tire 10 is about 200-210 mm, in particular 204-208 mm. The tire 10 is in particular designed for equal driving in both directions of rotation by the protrusions 22 (isosceles changing root portions, parallel head portions, etc.) of at least each row 80a, 80b, 80c, 80d being symmetrically configured in the peripheral direction. Thereby, they are in particular equally suitable for driving forward and driving backward. However, a tire with protrusions according to the present invention can also be provided for unidirectional driving or in particular have different traction properties when driving forward and backward by one or more protrusions whose root portions have only angularly extending side faces or differently angled side faces in the peripheral direction relative to the radial axis, etc.

[0075] The axial side face 72d of the protrusion 22, in particular of all protrusions 22, which is arranged or oriented adjacent to the axial middle portion 74 or axial center dividing plane of the tire 10, extends perpendicular to the axis of rotation or tire axis 38. This axial side face then substantially does not enclose an angle with the radial axis 36, but rather extends parallel thereto. Thereby, in particular a tendency of the tire 10 to drift transversely to the rolling direction or movement direction of the tire 10 can be avoided, in particular on grass.

[0076] The tire is integrally configured. The tire comprises in particular or is preferably formed of thermoplastic polyurethane (TPU).

Claims

1. Tire (10) for a service robot (100) having a plurality of protrusions (22) distributed over a circumference of the tire (10), wherein, The protrusion (22) has a root portion (24) established on a peripheral side or base circle face (26) of the tire (10) and a head portion (28) having an end face or tread face (29) of the protrusion (22), characterized in that a side face (30) of the root portion (24) of the protrusion (22) has an orientation expanding substantially towards the peripheral side or base circle face (26) with respect to a radial axis (36) of the protrusion (22) and a side face (32) of the head portion (28) of the protrusion (22) has an orientation expanding substantially not with respect to the radial axis (36) of the protrusion (22).

2. Tyre (10) according to Claim 1, characterized in that, The tire (10) is a mower robot tire (12).

3. A tyre (10) according to claim 1, characterized in that, The head portion has a radial end face or tread face (29) of the protrusion (22).

4. A tyre (10) according to claim 1, characterized in that, The head portion has a radial end face or tread face (29) of the protrusion (22) or of the tire (10).

5. A tyre (10) according to claim 1, characterized in that, The side face (32) of the head portion (28) of the protrusion (22) has an orientation extending substantially parallel to the radial axis (36) of the protrusion (22) with respect to the radial axis (36).

6. Tyre (10) for a service robot (100) having a plurality of protrusions (22) distributed over a circumference of the tyre (10), wherein, The protrusion (22) has a root portion (24) established on a peripheral side or base circle face (26) of the tire (10) and a head portion (28) having an end face or tread face (29) of the protrusion (22), characterized in that a side face (30) of the root portion (24) is oriented substantially angularly to a radial axis (36) of the protrusion (22) and a side face (32) of the head portion (28) is oriented substantially parallel to the radial axis (36) of the protrusion (22), the side face (30) of the root portion (24) and the side face (32) of the head portion (28) being side faces (30, 32) of the protrusion (22) directed in a circumferential direction (48) of the tire (10).

7. A tyre (10) according to claim 6, characterized in that, The side face (30) of the root portion (24) is oriented angularly to the radial axis (36) of the protrusion (22) at an acute angle.

8. A tyre (10) according to claim 7, characterized in that, The side face (30) of the root portion (24) is oriented angularly to the radial axis (36) of the protrusion (22) at an acute angle having an angle (46) of 5-45°.

9. A tyre (10) according to claim 7, characterized in that, The side face (30) of the root portion (24) is oriented angularly to the radial axis (36) of the protrusion (22) at an acute angle having an angle (46) of 10-20°.

10. A tyre (10) according to claim 7, characterized in that, The side face (30) of the root portion (24) is oriented angularly to the radial axis (36) of the protrusion (22) at an acute angle having an angle (46) of 15°.

11. A tyre (10) according to claim 7, characterized in that, The angle (46) is gradually varied angularly at an acute angle radially outwards.

12. A tyre (10) according to claim 6, characterized in that, Opposed side faces (30) of the root portion (24) of the protrusion (22) in the circumferential direction (48) are oriented angularly relative to each other.

13. A tyre (10) according to claim 12, characterized in that, Opposed side faces (30) of the root portion (24) of the protrusion (22) in the circumferential direction (48) are oriented angularly relative to each other at an acute angle.

14. A tyre (10) according to claim 12, characterized in that, The sides (30) of the root portion (24) of the protrusion (22) opposite one another in the circumferential direction (48) are oriented at an isosceles angle with respect to one another.

15. A tyre (10) according to claim 6, characterized in that, The basic shape of the protrusion (22) around the radial axis (36) is substantially quadrangular, wherein the edges of the quadrangle are oriented parallel and perpendicular to the axis of rotation (38) of the tire (10).

16. A tyre (10) according to claim 15, characterized in that The basic shape of the root portion (24) is trapezoidally configured, and the basic shape of the head portion (28) is rectangular.

17. Tire (10) for a service robot (100) having a plurality of protrusions (22) distributed over a circumference of the tire (10), wherein, The protrusion (22) has a root portion (24) established on the peripheral side or base circle side (26) of the tire (10) and a head portion (28) having an end face or tread face (29) of the protrusion (22), characterized in that the protrusion (22) has a substantially isosceles trapezoidal root portion cross section (52) and a substantially rectangular head portion cross section (54) in an axial cross-sectional plane (50) perpendicular to the axis of rotation (38) of the tire (10).

18. A tyre (10) according to claim 17, characterized in that The protrusion (22) has a substantially isosceles trapezoidal root portion cross section (52) and a substantially square head portion cross section (54) in an axial cross-sectional plane (50) perpendicular to the axis of rotation (38) of the tire (10).

19. Tire (10) for a service robot (100) having a plurality of protrusions (22) distributed over a circumference of the tire (10), wherein, The protrusion (22) has a root portion (24) established on the peripheral side or base circle side (26) of the tire (10) and a head portion (28) having an end face or tread face (29) of the protrusion (22), characterized in that the root portion (24) of the protrusion (22) is substantially trapezoidally prismatic or truncated-pyramidally configured, and the head portion (28) is substantially cuboidally or cubically configured; or the root portion (24) is substantially truncated-conically configured, and the head portion (28) is substantially cylindrically configured.

20. Tire (10) for a service robot (100) having a plurality of protrusions (22) distributed over a circumference of the tire (10), wherein, The protrusion (22) has a root portion (24) established on the peripheral side or base circle side (26) of the tire (10) and a head portion (28) having an end face or tread face (29) of the protrusion (22), characterized in that in a radial cross-sectional plane (A-A, B-B) perpendicular to the radial axis (36) of the protrusion (22), the protrusion (22) has a substantially rectangular cross-sectional shape (96) in the region of the root portion (24) and a substantially square cross-sectional shape (98) in the region of the head portion (28).

21. A tyre (10) according to claim 20, characterized in that, The longer side (60) of the rectangular cross-sectional shape (96) of the root portion (24) is oriented in the circumferential direction (48) of the tire (10).

22. A tyre (10) according to claim 20, characterized in that The height (40-1) of the root portion (24) in the radial axis direction is greater than the height (40-2) of the head portion (28).

23. A tyre (10) according to claim 22, characterized in that, The height (40-1) of the root portion (24) in the radial axis direction is 1-2.5 times the height (40-2) of the head portion (28).

24. A tyre (10) according to claim 22, characterized in that, The height (40-1) of the root portion (24) in the radial axis direction is 1.5-2 times the height (40-2) of the head portion (28).

25. A tyre (10) according to claim 22, characterized in that, The height (40-1) of the root portion (24) is 3.6-4.6 mm, and the height (40-2) of the head portion (28) is 2.4 mm.

26. A tyre (10) according to claim 20, characterized in that The concave or convex rounding is configured: At least one transition region (62) from the peripheral side or base circle face (26) of the tire (10) to the protrusion (22).

27. A tyre (10) according to claim 20, characterized in that, The concave or convex rounding is configured: At least one transition region (62) from the peripheral side or base circle face (26) of the tire (10) to at least one side face (30, 72a, 72b, 72c, 72d) of the protrusion (22).

28. A tyre (10) according to claim 20, characterized in that The concave or convex rounding is configured: At least one transition region (62) from the peripheral side or base circle face (26) of the tire (10) to at least one side face (30) of the root portion (24) of the protrusion (22).

29. A tyre (10) according to claim 20, characterized in that, The concave or convex rounding is configured: A transition region (64) from the root portion (24) to the head portion (28) of the protrusion.

30. A tyre (10) according to claim 20, characterized in that The concave or convex rounding is configured: A transition region (64) from a side face (30) of the root portion (24) to a side face (32) of the head portion (28) of the protrusion (22).

31. A tyre (10) according to claim 20, characterized in that, The concave or convex rounding is configured: A transition region (64) from the head portion (28) to an end face or tread face (29) of the protrusion (22).

32. A tyre (10) according to claim 20, characterized in that The concave or convex rounding is configured: A transition region (66) from at least one side face (32) of the head portion (28) of the protrusion (22) to an end face or tread face (29) of the protrusion (22).

33. The tire (10) according to any one of claims 26 to 32, characterized in that The transition regions have a radius of curvature (68, 70) of 0.25 mm to 2 mm, wherein the concave or convex transition regions (67-1) are configured at only three of the four side faces (72a, 72b, 72c) of the protrusion (22) and not at the side face (72d) of the protrusion (22) facing the axial middle portion (74) of the tire (10).

34. A tyre (10) according to claim 33, characterized in that The transition regions have a radius of curvature (68, 70) of 0.5 mm or 1.5 mm.

35. A tyre (10) according to claim 33, characterized in that The transition regions (67-1, 67-2) between the side faces (72a, 72b, 72c, 72d) of the protrusion (22) adjacent to one another in the circumferential direction (65) around the radial axis (36) are not rounded at least with respect to the side face (72d) not only at the head portion but also at the root portion (24).

36. A tyre (10) according to claim 35, characterized in that The transition regions at the side face (72d) of the protrusion (22) facing the axial middle portion (74) of the tire (10) are not rounded at least with respect to the side face (72d) not only at the head portion but also at the root portion (24).

37. Service robot (100) having at least one tire (10) according to any one of the preceding claims 1-36.

38. Mowing robot having at least one tire (10) according to any of the preceding claims 1-36.

39. Wheel having a rim and / or a wheel cover (16) having at least one tire (10) according to any of the preceding claims 1-36.

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