Tire, traveling wheel and mowing robot

Abstract

The utility model discloses a tire, a traveling wheel and a mowing robot, relates to the technical field of mowing robots, and aims to solve the problems of weak road holding force and unstable operation of the traveling wheel of the mowing robot in the related technology. The tire comprises a tire body and at least two bulge groups, wherein the tire body is provided with a tread; the plurality of bulge groups are arranged on the tread along the axis direction of the tire body, and each bulge group comprises a plurality of bulges arranged along the circumferential direction of the tire body; the tread comprises a first ring surface, a transition ring surface and a second ring surface which are sequentially connected in the axis direction of the tire body, and the side, close to the transition ring surface, of the first ring surface is higher than the other side, away from the transition ring surface, of the first ring surface; the side, close to the transition ring face, of the second ring face is higher than the other side, away from the transition ring face, of the second ring face.

Description

Technical Field

[0001] This application relates to the field of lawn mowing robot technology, and more particularly to a tire, a driving wheel, and a lawn mowing robot. Background Technology

[0002] With technological advancements, more and more jobs are being replaced by machines. When maintaining a yard, users can use various smart devices to perform tasks such as mowing, sweeping weeds and fallen leaves, fertilizing, and watering. For example, lawnmower robots, when moving and working on the lawn, often encounter complex terrain, including not only large areas of grass but also paths made of stone, gravel, mud, and sand. When the robot's wheels are on the lawn, its grip is weak, making it prone to slipping and difficulty in removing mud. Utility Model Content

[0003] Embodiments of this application provide a tire, a travel wheel, and a lawnmower robot to solve the problems of weak grip and poor mud removal of the travel wheels of lawnmower robots in the related art.

[0004] In a first aspect, embodiments of this application provide a tire for use in a lawnmower robot. The tire includes: a tire body and at least two sets of protrusions. The tire body has a tread. A plurality of the sets of protrusions are disposed on the tread along the axial direction of the tire body. Each set of protrusions includes a plurality of protrusions arranged circumferentially along the tire body. The protrusions in adjacent sets of protrusions are staggered between their orthographic projections onto a first plane, the first plane being perpendicular to the axis of the tire body. ； The tread includes a first annular surface, a transition annular surface, and a second annular surface that are sequentially connected in the axial direction of the tire body. The side of the first annular surface closer to the transition annular surface is higher than the other side of the first annular surface away from the transition annular surface, and the side of the second annular surface closer to the transition annular surface is higher than the other side of the second annular surface away from the transition annular surface.

[0005] In some embodiments, the first annular surface and the second annular surface are planar, the first annular surface is inclined relative to the axis of the tire body, and the second annular surface is inclined relative to the axis of the tire body.

[0006] In some embodiments, the angle of inclination formed between the first annular surface and the axis of the tire body ranges from 4° to 8°.

[0007] In some embodiments, the angle of inclination formed between the second annular surface and the axis of the tire body ranges from 4° to 8°.

[0008] In some embodiments, the first annular surface and the second annular surface are symmetrically arranged.

[0009] In some embodiments, the transition annular surface is formed by a convex circular arc transition between the first annular surface and the second annular surface.

[0010] In some embodiments, in the axial direction of the tire body, the width of the transition annular surface accounts for 1 / 15 to 1 / 9 of the total width of the tread.

[0011] In some embodiments, the top surfaces of all the protrusions are located on the same cylindrical surface.

[0012] In some embodiments, the protrusions in two adjacent protrusion groups are completely misaligned between their orthographic projections on the first plane.

[0013] In some embodiments, the number of the protrusion groups is an odd number, and the protrusions located on both sides are symmetrically arranged about the mid-section of the tread in the axial direction of the tire body.

[0014] In some embodiments, the number of protrusion groups is three, including a first protrusion group, a second protrusion group, and a third protrusion group arranged in sequence. The protrusion located in the first protrusion group is the first protrusion, the protrusion located in the second protrusion group is the second protrusion, and the protrusion located in the third protrusion group is the third protrusion. The first protrusion and the second protrusion are completely misaligned in their orthographic projections on the first plane, and the third protrusion and the second protrusion are completely misaligned in their orthographic projections on the first plane.

[0015] In some embodiments, the first protrusion has the same structure as the third protrusion.

[0016] In some embodiments, the first protrusion is a frustum structure and the second protrusion is a truncated pyramid structure; or, the first protrusion is a truncated pyramid structure and the second protrusion is a truncated pyramid structure, wherein the number of edges of the truncated pyramid structure of the second protrusion is greater than or equal to the number of edges of the truncated pyramid structure located on the first protrusion.

[0017] In some embodiments, the number of protrusion groups is an even number.

[0018] In some embodiments, there are two groups of protrusions, with a plurality of protrusions in one group forming a fourth group of protrusions and a plurality of protrusions in the other group forming a fifth group of protrusions; the protrusion in the fourth group of protrusions is the fourth protrusion, and the protrusion in the fifth group of protrusions is the fifth protrusion, and the fourth and fifth protrusions have the same structure.

[0019] In some embodiments, the protrusion is a strip-shaped structure, the length direction of the protrusion is parallel to the axial direction of the tire body, and the orthographic projection of the protrusion on the first plane is a trapezoid.

[0020] In some embodiments, the orthographic projection of the protrusion onto the first plane is an isosceles trapezoid.

[0021] In some embodiments, the protrusion includes a first end face, a second end face, a top surface, and two side faces, the top surface and the two side faces being connected between the first end face and the second end face, and on the first plane, the area of ​​the orthographic projection of the first end face is smaller than the area of ​​the orthographic projection of the second end face.

[0022] In some embodiments, the outline shape of the orthographic projection of the first end face is the same as the outline shape of the orthographic projection of the second end face, so that the outline shape of the top end face is trapezoidal.

[0023] In some embodiments, the first angle formed by the side surface and the radial direction of the tire body ranges from 13° to 15°.

[0024] In some embodiments, the second angle formed by the hypotenuse of the top surface and the length direction of the protrusion ranges from 2.5° to 4°.

[0025] Secondly, embodiments of this application also provide a travel wheel, including the tire described in the first aspect.

[0026] Thirdly, embodiments of this application also provide a lawnmower robot, including the travel wheels described in the second aspect.

[0027] The tire provided in this embodiment features multiple raised groups on the tire body's tread. Each raised group includes multiple raised protrusions arranged circumferentially along the tire body. The protrusions in adjacent groups are staggered, allowing for misaligned mold processing during manufacturing, making the process faster and more convenient, thus facilitating mass production. Simultaneously, the tread includes a first annular surface, a transition annular surface, and a second annular surface connected sequentially. The side of the first annular surface closer to the transition annular surface is higher than the side farther from it, and the side of the second annular surface closer to the transition annular surface is higher than the side farther from it. In other words, the tread is higher in the middle and lower on both sides. This ensures that the height of the protrusions on the edge is higher than the height on the middle side. During tire operation, this not only effectively removes mud, weeds, and other debris between adjacent protrusions, improving mud removal efficiency, but also enhances grip. Therefore, the tire provided in this embodiment achieves a balance between excellent mud removal, strong grip, and a fast and convenient manufacturing process. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of a tire structure in one embodiment where three groups of protrusions are provided on the tread surface;

[0030] Figure 2 for Figure 1 The left view;

[0031] Figure 3 for Figure 1 The main view;

[0032] Figure 4 for Figure 3 Three-dimensional view of section AA;

[0033] Figure 5 for Figure 3 Plan view of section AA;

[0034] Figure 6 for Figure 5 Enlarged view of point I in the image;

[0035] Figure 7 for Figure 5 Enlarged view of section II in the image;

[0036] Figure 8 A schematic diagram of the tire structure in another embodiment where three groups of protrusions are provided on the tread surface;

[0037] Figure 9 A schematic diagram of the tire structure in one embodiment where two protrusions are provided on the tread.

[0038] Figure 10 for Figure 9 The main view;

[0039] Figure 11 for Figure 10 Three-dimensional view of the BB section;

[0040] Figure 12 for Figure 9 The left view;

[0041] Figure 13 for Figure 10 Enlarged view of point III in the image;

[0042] Figure 14 for Figure 12Enlarged view of point IV in the image.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100. Tires;

[0045] 10. Tire body; 101. Tread; 102. First annular surface; 103. Transition annular surface; 104. Second annular surface;

[0046] 20. Protrusion; 21. First protrusion; 22. Second protrusion; 23. Third protrusion;

[0047] 31. Fourth protrusion; 311. First end face; 312. Second end face; 313. Top face; 314. Side face; 32. Fifth protrusion. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connection, detachable connection, or integral connection; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0052] like Figure 1As shown in the figure, this application embodiment provides a travel wheel, which includes a tire 100.

[0053] The above-mentioned travel wheel is taken as an example of the travel wheel used in a lawn mowing robot. The travel wheel can be the drive wheel or the driven wheel in the lawn mowing robot.

[0054] The aforementioned travel wheels can be sold as a standalone product or sold together with a lawnmower robot. The aforementioned tire 100 can also be sold as a standalone product.

[0055] Of course, this wheel can also be used in other smart devices such as weed and leaf sweeping, fertilizing, and watering.

[0056] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the tire 100 includes a tire body 10 and a plurality of protrusion groups. The tire body 10 has a tread 101. The plurality of protrusion groups are disposed on the tread 101 along the axial direction of the tire body 10. The protrusion groups include a plurality of protrusions 20 arranged circumferentially along the tire body 10. The protrusions 20 located in two adjacent protrusion groups are staggered between their orthogonal projections on a first plane. The first plane is perpendicular to the axis of the tire body 10. The tread 101 includes a first annular surface 102, a transition annular surface 103 and a second annular surface 104 connected sequentially in the axial direction of the tire body 10. The side of the first annular surface 102 near the transition annular surface 103 is higher than the other side of the first annular surface 102 away from the transition annular surface 103. The side of the second annular surface 104 near the transition annular surface 103 is higher than the other side of the second annular surface 104 away from the transition annular surface 103.

[0057] The aforementioned protrusion group may include, but is not limited to, all protrusions 20 located in the same circumferential direction.

[0058] The aforementioned misalignment refers to the fact that, along the circumference of the tire body 10, the projections of the protrusions 20 in two adjacent protrusion groups on the first plane partially overlap or do not overlap at all.

[0059] The side of the first toroidal surface 102 closest to the transition toroidal surface 103 is higher than the other side of the first toroidal surface 102 away from the transition toroidal surface 103, and the side of the second toroidal surface 104 closest to the transition toroidal surface 103 is higher than the other side of the second toroidal surface 104 away from the transition toroidal surface 103. That is to say, as... Figure 4As shown, the tread 101 is higher in the middle and lower on both sides. This makes the height of the protrusions 20 on the edge of the tread 101 higher than that on the middle side. During the driving process of the tire 100, not only can foreign objects such as mud and weeds located between two adjacent protrusions 20 be discharged, resulting in good mud discharge effect, but it also helps to improve grip.

[0060] The tire 100 provided in this embodiment has at least two protrusion groups on the tread 101 of the tire body 10. Each protrusion group includes a plurality of protrusions 20 arranged circumferentially along the tire body 10. The protrusions 20 in adjacent protrusion groups are staggered between their projections on a first plane, allowing for mold misalignment during manufacturing, making the process faster and more convenient, and facilitating mass production. Simultaneously, the tread 101 of the tire 100 is designed with a higher center and lower sides, which improves grip and mud removal during driving. Therefore, the tire 100 provided in this embodiment achieves a balance between good mud removal, strong grip, and fast and convenient manufacturing.

[0061] like Figure 4 and Figure 6 As shown, the first annular surface 102 and the second annular surface 104 are planar. The first annular surface 102 is inclined relative to the axis of the tire body 10, and the second annular surface 104 is inclined relative to the axis of the tire body 10. The first annular surface 102 and the second annular surface 104 are symmetrically arranged. The first annular surface 102 and the second annular surface 104 are connected by a convex arc to form a transition annular surface 103.

[0062] In the design of the tread 101, the inclination angle of the second annular surface 104 relative to the axis of the tire body 10 can be the same as or different from the inclination angle of the first annular surface 102 relative to the axis of the tire body 10. The following explanation uses the example where the inclination angle of the first annular surface 102 relative to the axis of the tire body 10 is the same as the inclination angle of the second annular surface 104 relative to the axis of the tire body 10. The same inclination angle here can be, but is not limited to, the same range or the same specific angle.

[0063] The tilt angle of the first annular surface 102 in the tread 101 relative to the axis of the tire body 10, that is, the angle between the first annular surface 102 and the axis of the tire body 10 (and the axis of the tire body 10). Figure 6 The angle of inclination formed between the horizontal dashed lines (parallel to each other) Figure 6 Angle a) is a relatively important parameter.

[0064] If the tilt angle is too small, it will not be conducive to mud removal; if the tilt angle is too large, the mud removal effect will be good, but it will result in a larger thickness of the tread 101, that is, a larger radial dimension of the tread 101 in the tire body 10. When the total width of the tread 101 remains unchanged, the width of the first annular surface is indirectly reduced. As a result, the thickness difference between the first protrusion 21 located on the first annular surface 102 and the center of the tire body 10 is large. This not only reduces the reliability of the connection between the first protrusion 21 and the tread 101 and is not conducive to the arrangement of the protrusion group on the tread 101, but also is not conducive to the miniaturization of the overall volume of the tire 100.

[0065] The above tilt angle ( Figure 6 When the angle a) in the middle meets the angle range of 4° to 8°, the tire 100 can well achieve the purpose of improving the reliability of the connection between the bulge group and the tread 101, the mud removal effect, and the miniaturization of the overall size of the tire 100.

[0066] The tilt angle of the second annular surface 104 relative to the axis of the tire body 10 can be the same as or different from the tilt angle of the first annular surface 102 relative to the axis of the tire body 10.

[0067] Besides the aforementioned tilt angle, the width of the transition annular surface 103 in the tread 101 is also a relatively important parameter. The width of the transition annular surface refers to its arc length. In this embodiment, since the diameter of the tire body 10 is much larger than the arc length of the transition annular surface, the arc length of the transition annular surface is approximately equal to the width of the transition annular surface 103 in the axial direction of the tire body 10. Here, the width of the transition annular surface 103 refers to the arc length of the transition annular surface.

[0068] like Figure 5 and Figure 7 As shown, in the axial direction of the tire body 10, the width of the transition annular surface 103 (e.g.) Figure 7 The line segment d) in the figure and the total width of the tread 101 (e.g. Figure 7 The ratio of line segment D in the equation ranges from 1 / 15 to 1 / 9.

[0069] In this embodiment, the above ratio is explained using an example where the diameter of the tire body 10 is 240 mm and the total width of the tread 101 is 45 mm. The total width of the tread 101 refers to the dimension of the tread 101 along the axial direction of the tire body 10.

[0070] Based on the parameters of the tire body 10, the width (arc length) of the transition ring surface 103 is in the range of 3 to 5 mm. At this time, 3 mm / 45 mm = 1 / 15, 5 mm / 45 mm = 1 / 9. Therefore, the ratio of the width of the transition ring surface 103 to the total width of the tread 101 is in the range of 1 / 15 to 1 / 9.

[0071] If the width of the transition annular surface 103 is too large, the width of the first annular surface 102 and the second annular surface 104 will be too small, which is not conducive to the discharge of weeds and other debris. If the width of the transition annular surface 103 is too small, the transition between the first annular surface 102 and the second annular surface 104 will be abrupt. When the protrusion group includes three, the contact area between the protrusion 20 (second protrusion 22) located in the middle row (the second protrusion group in this embodiment) and the tread 101 is reduced. This can easily lead to stress concentration and damage to the second protrusion 22.

[0072] When the above ratio meets the above range, the tire 100 can achieve the purpose of facilitating the discharge of debris and ensuring that the protrusions on the tread 101 are firmly connected to the tread 101.

[0073] The following describes the structure of tire 100, which includes a different number of lumens.

[0074] like Figure 1 and Figure 2 As shown, in one embodiment, the number of protrusion groups is three. That is, the tire 100 includes a first protrusion group, a second protrusion group, and a third protrusion group arranged sequentially. The protrusion 20 located in the first protrusion group is designated as the first protrusion 21, the protrusion 20 located in the second protrusion group is designated as the second protrusion 22, and the protrusion 20 located in the third protrusion group is designated as the third protrusion 23. In other words, all protrusions 20 include multiple first protrusions 21, multiple second protrusions 22, and multiple third protrusions 23. The top surfaces 313 of the first protrusions 21, second protrusions 22, and third protrusions 23 are all located on the same cylindrical surface (located as shown in the figure). Figure 3 (The outermost dotted circle of the tire 100).

[0075] The top surface 313 of the aforementioned protrusion 20 refers to the end surface of the protrusion 20 away from the tread 101. All the top surfaces 313 of the protrusions 20 are coplanar, meaning that all the top surfaces 313 of the protrusions 20 are located on the same cylindrical surface (e.g., located on the same cylindrical surface). Figure 3 On the outermost dotted circle of the tire 100, all the protrusions 20 are coplanar. This ensures that the top surface 313 of all the protrusions 20 can contact the ground during the tire's movement, increasing the contact area with the ground. This not only makes the running wheel run more smoothly and reduces damage to the lawn, but also makes the height of the second protrusion 22 on the transition ring surface 103 lower than the height of the first protrusion 21 on the first ring surface 102, and the height of the second protrusion 22 on the transition ring surface 103 lower than the height of the third protrusion 23 on the second ring surface 104, thus improving grip. Therefore, the tire 100 achieves the goal of strong grip, smooth movement, and minimal damage to the lawn.

[0076] It should be noted that the above-mentioned protrusions 20 not only include the coplanar top surfaces 313 of all protrusions 20, but also include the coplanar top surfaces 313 of more than 90% of protrusions 20.

[0077] In this embodiment, along the circumference of the tire body 10, the protrusions 20 in two adjacent protrusion groups are completely misaligned between their orthogonal projections on the first plane. That is, the orthogonal projections of the protrusions 20 in two adjacent protrusion groups do not overlap at all.

[0078] By setting it up as described above, it helps to reduce excessive rolling of the lawn by all 20 bumps, minimizing damage to the lawn as much as possible.

[0079] It should be noted that, along the circumference of the tire body 10, the protrusions 20 located in two adjacent protrusion groups are completely misaligned between their orthogonal projections on the first plane. In one embodiment, multiple first protrusions 21 are completely misaligned with multiple second protrusions 22, multiple third protrusions 23 are completely misaligned with multiple second protrusions 22, and multiple first protrusions 21 are completely misaligned with multiple third protrusions 23. In another embodiment, multiple first protrusions 21 are completely misaligned with multiple second protrusions 22, multiple third protrusions 23 are completely misaligned with multiple second protrusions 22, and the number of multiple first protrusions 21 and multiple third protrusions 23 are equal, multiple third protrusions 23 correspond one-to-one with multiple first protrusions 21, and the third protrusions 23 and the first protrusions 21 are symmetrically arranged about the mid-section of the tread 101.

[0080] In the axial direction of the tire body 10, the tread 101 comprises two conical surfaces and an arc-shaped annular surface. The mid-section, also known as the perpendicular bisector, refers to the cross-section located at the middle position of the tread in the axial direction of the tire body 10.

[0081] The symmetrical arrangement of the third protrusion 23 and the first protrusion 21 about the mid-section of the tread 101 refers to the symmetrical arrangement of the position of the third protrusion 23 and the position of the first protrusion 21 about the mid-section of the tread 101. The structure of the third protrusion 23 and the structure of the first protrusion 21 can be the same or different.

[0082] It should be noted that the number of protrusion groups can be three or other odd numbers, such as five, seven, etc. Among them, when the number of protrusion groups is other odd numbers, the protrusions 20 located on both sides are symmetrically arranged about the mid-section of the tread 101 in the axial direction of the tire body 10.

[0083] When the number of protrusion groups is an odd number, the group located in the middle is called the protrusion group in the middle position, and the remaining protrusion groups in the even number are all called the protrusion groups in the two side positions. The protrusion groups in the two side positions are symmetrically arranged about the mid-section of the tread 101.

[0084] This not only makes the structure of tire 100 symmetrical, which is conducive to the smooth driving of tire 100, but also simplifies the manufacturing process and reduces costs.

[0085] In this embodiment, the number of protrusion groups is three, meaning that the tire 100 includes a first protrusion group, a second protrusion group, and a third protrusion group arranged sequentially. The positions of the plurality of first protrusions 21 in the first protrusion group are equal to the number of the plurality of third protrusions 23 in the third protrusion group, corresponding one-to-one. The third protrusions 23 and the first protrusions 21 are symmetrically arranged about the mid-section of the tread 101, as an example for explanation.

[0086] Specifically, as shown in Figure 6, the first protrusion 21 and the third protrusion 23 have the same structure. This simplifies the mold manufacturing process.

[0087] The statement that the first protrusion 21 and the third protrusion 23 have the same structure means that the tread 101 as a whole can be a toroidal surface. That is, on the tread 101 area where the first protrusion 21 and the third protrusion 23 are located on the same diameter toroidal surface, or on the basis that the areas of the tread 101 where the first protrusion 21 and the areas where the second protrusion 22 are located are symmetrically arranged, the first protrusion 21 and the second protrusion 22 have the same structure and are centrally symmetrical. This symmetry means that the first protrusion 21 becomes the third protrusion 23 after being rotated 180°.

[0088] The first protrusion 21 can be a frustum or a truncated cone structure, and the second protrusion 22 has a frustum structure. That is, each protrusion in the entire protrusion group has a structure that is larger at the bottom and smaller at the top. Specifically, the area of ​​the bottom surface of each protrusion 20 connected to the tread 101 is larger than the area of ​​the top surface 313 of the protrusion away from the tread 101. This not only improves the reliability of the connection between the protrusion 20 and the tread 101, but also facilitates the removal of foreign objects such as mud and weeds. Moreover, compared to a cone structure, the truncated cone and frustum structures reduce damage to the lawn.

[0089] like Figure 1 and Figure 2 As shown, in this embodiment, the first protrusion 21 and the third protrusion 23 are hexagonal frustum structures, and the second protrusion 22 is an octagonal frustum structure.

[0090] In this way, when the foreign object moves from the second protrusion 22 to the first protrusion 21 or the third protrusion 23, the contact area between the foreign object and the protrusion is reduced, making it easier for the foreign object to be discharged.

[0091] The first protrusion 21 can also be a triangular frustum, a quadrangular frustum, a pentagonal frustum, a heptagonal frustum, an octagonal frustum, etc., and the second protrusion 22 can also be a triangular frustum, a quadrangular frustum, a pentagonal frustum, a hexagonal frustum, a heptagonal frustum, a nonagonal frustum, etc. When both the first protrusion 21 and the second protrusion 22 are frustum structures, it is only necessary to satisfy that the number of edges of the frustum structure of the second protrusion 22 is greater than or equal to the number of edges of the frustum structure of the first protrusion 21. Of course, the structures of the first protrusion 21 and the third protrusion 23 can also be different, and no specific limitation is made here.

[0092] like Figure 8 As shown, this application also provides a tire 100. The main difference between the tire 100 in this embodiment and the tire 100 in the above embodiments is the structure of the first protrusion 21.

[0093] Specifically, such as Figure 8 As shown, the tire 100 includes a tire body 10 and three protrusion groups. The tire body 10 has a tread 101. The three protrusion groups are arranged on the tread 101 along the axial direction of the tire body 10. Each protrusion group includes multiple protrusions 20 arranged circumferentially along the tire body 10. The protrusions 20 in two adjacent protrusion groups are staggered between their orthogonal projections on a first plane. The top surfaces 313 of all the protrusions 20 are located on the same cylindrical surface. That is, there are three protrusion groups. The tire 100 includes a first protrusion group, a second protrusion group, and a third protrusion group arranged in sequence. In other words, all the protrusions 20 include multiple first protrusions 21, multiple second protrusions 22, and multiple third protrusions 23. The protrusions 20 in two adjacent protrusion groups are completely staggered between their orthogonal projections on a first plane. The first plane is perpendicular to the axis of the tire body 10. The first protrusions 21 and the third protrusions 23 have the same structure, which is a frustum structure. The second protrusion 22 is a truncated pyramid structure.

[0094] The tire 100 provided in this embodiment has multiple protrusion groups on the tread 101 of the tire body 10. Each protrusion group includes multiple protrusions 20 arranged circumferentially along the tire body 10. Along the circumferential direction of the tire body 10, the protrusions 20 in two adjacent protrusion groups are staggered between their orthogonal projections on the first plane. This allows for staggered mold processing in the tire 100 manufacturing process, making the process faster and more convenient, which is conducive to mass production. At the same time, the protrusions 20 in two adjacent protrusion groups are completely staggered between their orthogonal projections on the first plane. The top surfaces 313 of all protrusions 20 are located on the same cylindrical surface, that is, all protrusions 20 can be coplanar. This allows the top surfaces 313 of all protrusions 20 to contact the ground during tire movement, increasing the contact area with the ground. The height of the protrusions 20 on both sides is higher than the height of the protrusion 20 in the middle. Therefore, it not only improves grip but also makes the running wheel run more smoothly and reduces damage to the lawn. In addition, the third protrusion 23 of the truncated cone structure reduces the resistance to debris discharge, making it more conducive to the discharge of foreign objects such as mud and weeds. Therefore, the tire 100 provided in this embodiment achieves the goals of smooth operation, strong grip, good mud discharge effect, minimal damage to lawns, and quick and convenient manufacturing process.

[0095] The frustum structure of the second protrusion 22 can be a triangular frustum, a quadrangular frustum, a pentagonal frustum, a hexagonal frustum, a heptagonal frustum, an octagonal frustum, etc., and no specific limitation is made here.

[0096] In this embodiment, the structure of the tread 101, the arrangement of the multiple protrusion groups, and the structure of the second protrusion 22 are the same as those in the above embodiments, and are not specifically limited here.

[0097] like Figures 9-11 As shown, this application also provides a tire 100. The main difference between the tire 100 in this embodiment and the tire 100 in the above embodiments is the number of bulge groups and the structure of the bulges 20.

[0098] It should be noted that the number of protrusion groups can be an even number, in addition to the odd number mentioned above, such as 2, 4, etc.

[0099] In this embodiment, the number of protrusion groups may be, but is not limited to, two.

[0100] like Figures 9-11As shown, in this embodiment, the tire 100 includes a tire body 10 and a plurality of protrusion groups. The tire body 10 has a tread 101. Two protrusion groups are provided on the tread 101, meaning there are two protrusion groups. Multiple protrusions 20 located in one group constitute a fourth protrusion group, and multiple protrusions 20 located in the other group constitute a fifth protrusion group. The protrusion in the fourth protrusion group is a fourth protrusion 31, and the protrusion in the fifth protrusion group is a fifth protrusion 32. In other words, in this embodiment, all protrusions 20 include multiple fourth protrusions 31 and multiple fifth protrusions 32. The top surfaces 313 of the fourth protrusions 31 and the fifth protrusions 32 are located on the same cylindrical surface (as shown in the image). Figure 10 On the outermost dotted circle of the tire 100, i.e., all the top surfaces 313 are coplanar, along the circumference of the tire body 10, the fourth protrusion 31 and the fifth protrusion 32 are completely misaligned between their orthogonal projections on the first plane; the first plane is perpendicular to the axis of the tire body 10.

[0101] In this embodiment, the top surfaces 313 of all the fourth protrusions 31 and all the fifth protrusions 32 are located on the same cylindrical surface (as shown in the image). Figure 10 On the outermost dotted circle of the tire 100, that is, all the top surfaces 313 are coplanar.

[0102] The tire 100 provided in this embodiment has multiple protrusion groups on the tread 101 of the tire body 10. Each protrusion group includes multiple protrusions 20 arranged circumferentially along the tire body 10. The fourth protrusion 31 and the fifth protrusion 32 are completely misaligned between their projections on the first plane. During tire movement, this not only reduces damage to the lawn and minimizes its destruction, but also improves mud removal efficiency. Furthermore, it allows for more efficient mold misalignment during the tire 100 manufacturing process, resulting in a more streamlined manufacturing process. Quick and convenient, facilitating mass production; simultaneously, the protrusions 20 in two adjacent protrusion groups are completely staggered between their orthographic projections on the first plane, with the top surfaces 313 of all protrusions 20 located on the same cylindrical surface. This ensures that during tire 100 movement, the top surfaces 313 of all protrusions 20 can contact the ground, increasing the contact area. Furthermore, the height of the protrusions 20 located on the edge side is higher than that located in the middle, thus not only improving grip but also making the tire run more smoothly and minimizing damage to the lawn. Therefore, the tire 100 provided in this embodiment achieves the goals of smooth operation, strong grip, good mud removal, minimal damage to the lawn, and quick and convenient manufacturing process.

[0103] like Figure 9 and Figure 11 As shown, in this embodiment, the fourth protrusion 31 and the fifth protrusion 32 have the same structure. The structure of the protrusion 20 in this embodiment will be described below using the fourth protrusion 31 as an example.

[0104] like Figure 9 and Figure 11 As shown, the fourth protrusion 31 is a strip-shaped structure, and the length direction of the fourth protrusion 31 is parallel to the axial direction of the tire body 10. The orthographic projection of the fourth protrusion 31 on the first plane is a trapezoid. In this way, not only is the fourth protrusion 31 firmly connected to the tread 101, avoiding stress concentration, but it also facilitates mud removal.

[0105] like Figure 14 As shown, the fourth protrusion 31 includes a first end face 311, a second end face 312, a top face 313, and two side faces 314. The top face 313 and the two side faces 314 are connected between the first end face 311 and the second end face 312. The top face 313, the two side faces 314, and the tread 101 form an isosceles trapezoid in a cross section perpendicular to the length direction of the fourth protrusion 31. On the first plane, the area of ​​the orthographic projection of the first end face 311 is smaller than the area of ​​the orthographic projection of the second end face 312.

[0106] With the above arrangement, the side 314 of the fourth protrusion 31 is inclined. That is, in the circumference of the tire body 10, the distance between the first end face 311 of two adjacent fourth protrusions 31 is greater than the distance between the second end face 312, which is conducive to the discharge of foreign objects.

[0107] Specifically, such as Figure 13 As shown, in this embodiment, the top surface 313, the two side surfaces 314, and the tread 101 form a trapezoid in a cross section perpendicular to the length direction of the fourth protrusion 31. That is, on the first plane, the orthographic projection shape of the first end surface 311 and the orthographic projection shape of the second end surface 312 are the same, both being isosceles trapezoids, so that the outline shape of the top surface 313 is an isosceles trapezoid. In other words, the first angle formed by the side surfaces 314 and the radial direction of the tire body 10 ( Figure 13 Angles b1 and b2 are equal. The two first included angles are equal. Figure 13 The diagram only shows one of the first included angles between the side 314 and the radial direction of the tire body 10.

[0108] Wherein, b1 is the included angle between the side surface 314 at the first end face 311 and the radial direction of the tire body 10, and b2 is the included angle between the side surface 314 at the second end face 312 and the radial direction of the tire body 10. In this embodiment, the top surface 313 is an isosceles trapezoid, so b1 = b2. Of course, b1 and b2 can also be different.

[0109] In this way, the fourth protrusion 31 is not only larger at the bottom and smaller at the top in the height direction, that is, the area of ​​the bottom surface is larger than the area of ​​the top surface 313, but also the area of ​​the first end surface 311 of the fourth protrusion 31 near the edge of the tire 100 is smaller than the area of ​​the second end surface 312 near the center of the tire body 10. This not only improves the grip of the tire 100, but also makes it more conducive to mud removal.

[0110] It should be noted that the shapes of the first end face 311 and the second end face 312 projected onto the first plane may also be different. In this case, the outline shape of the top end face 313 becomes a trapezoid other than an isosceles trapezoid, which is not specifically limited here.

[0111] Based on the above structure of the fourth protrusion 31, the first included angle is also an important parameter.

[0112] If the first included angle is too large, the width of the fourth protrusion 31 increases, indirectly reducing the space between adjacent fourth protrusions 31 while the distance between them remains unchanged, which is not conducive to mud discharge. If the first included angle is too small, the width of the fourth protrusion 31 decreases, indirectly increasing the space between adjacent fourth protrusions 31 while the distance between them remains unchanged, which is conducive to mud discharge. However, if the height of the fourth protrusion 31 remains unchanged, the area of ​​the top surface 313 of the fourth protrusion 31 decreases, which is not conducive to the stable driving of the tire 100 and results in weaker grip.

[0113] By reasonably selecting the first included angle, such that the first included angle is between 13° and 15°, the tire 100 can achieve the goals of stable driving, strong grip, and good mud removal.

[0114] In addition, the second angle formed by the hypotenuse of the top surface 313 and the length direction of the fourth protrusion 31 is also an important parameter.

[0115] If the first included angle is too large, the side 314 and the tread 101 will be approximately right angled, which will not only be unfavorable for mud removal, but also easily cause stress concentration, resulting in damage to the fourth protrusion 31. If the second included angle is too small, the first end face 311 will be approximately triangular, which will not only reduce the area of ​​the first end face 311, but also easily damage the lawn.

[0116] By reasonably selecting the second included angle, so that the first included angle satisfies 2.5° to 4°, the tire 100 can achieve the goals of high reliability, good mud removal effect, and reduced damage to the lawn.

[0117] It should be noted that the outline shapes of the first end face 311 and the second end face 312 can also be square or conventional trapezoids. In this way, the second included angles formed by the two side faces 314 and the length direction of the fourth protrusion 31 are not the same, and thus the outline shape of the top face 313 is also a conventional trapezoid. This conventional trapezoid refers to trapezoids other than isosceles trapezoids and right trapezoids.

[0118] Of course, the structure of the fourth protrusion 31 may also be different from that of the fifth protrusion 32, and may be a frustum or a pyramidal structure, without specific limitations here.

[0119] In this embodiment, the structure of the tire body 10 can be the same as the structure of the tire body 10 in the two embodiments of the tire 100 including the three protrusion groups described above, and is not specifically limited here. Of course, the structure of the tire body 10 can be the same as the structure of the tire body 10 in both embodiments of the tire 100 including the three protrusion groups described above.

[0120] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A tire for use in a mowing robot, characterized in that, The tire comprises: a tire body having a tread; at least two groups of protrusions arranged on the tread in the axial direction of the tire body, each group of protrusions comprising a plurality of protrusions arranged in the circumferential direction of the tire body; the protrusions in two adjacent groups of protrusions are arranged in a staggered manner between the projections of the protrusions on a first plane perpendicular to the axial direction of the tire body; the tread comprises a first annular surface, a transition annular surface and a second annular surface connected in sequence in the axial direction of the tire body, the first annular surface is higher on the side close to the transition annular surface than on the side away from the transition annular surface, and the second annular surface is higher on the side close to the transition annular surface than on the side away from the transition annular surface.

2. The tire according to claim 1, wherein: the first annular surface and the second annular surface are planes, the first annular surface is arranged obliquely relative to the axial direction of the tire body, and the second annular surface is arranged obliquely relative to the axial direction of the tire body.

3. The tire according to claim 2, wherein: the angle of inclination between the first annular surface and the axial direction of the tire body is in the range of 4° to 8°; and / or the angle of inclination between the second annular surface and the axial direction of the tire body is in the range of 4° to 8°.

4. The tire according to claim 1, wherein: the first annular surface and the second annular surface are symmetrically arranged.

5. The tire according to any one of claims 1 to 4, wherein: a convex circular arc is formed between the first annular surface and the second annular surface to form the transition annular surface.

6. The tire according to any one of claims 1 to 4, wherein: in the axial direction of the tire body, the width of the transition annular surface accounts for 1 / 15 to 1 / 9 of the total width of the tread.

7. The tire according to any one of claims 1 to 4, wherein: the top surfaces of all the protrusions are located on the same cylindrical surface.

8. The tire according to any one of claims 1 to 4, wherein: the projections of the protrusions in two adjacent groups of protrusions on the first plane are arranged in a complete staggered manner.

9. The tire according to claim 8, wherein: the number of groups of protrusions is odd, and the protrusions located on both sides of the groups of protrusions are symmetrically arranged about the middle cross section of the tread.

10. The tire according to claim 9, wherein: the number of groups of protrusions is three, comprising a first group of protrusions, a second group of protrusions and a third group of protrusions arranged in sequence, the protrusions in the first group of protrusions are first protrusions, the protrusions in the second group of protrusions are second protrusions, and the protrusions in the third group of protrusions are third protrusions; the first protrusions and the second protrusions are symmetrically arranged about the middle cross section.

11. The tire according to claim 10, wherein: the third protrusions are the same in structure as the first protrusions.

12. The tire according to claim 11, wherein: the first protrusions are circular truncated cone structures, and the second protrusions are prismatic truncated cone structures. ​ Alternatively, the first protrusion is a prism structure, and the second protrusion is a prism structure, the number of edges of the prism structure of the second protrusion being greater than or equal to the number of edges of the prism structure of the first protrusion.

13. The tire according to claim 8, wherein the number of the protrusion groups is an even number.

14. The tire according to claim 13, wherein the number of the protrusion groups is two, the protrusions in one of the protrusion groups constitute a fourth protrusion group, the protrusions in the other of the protrusion groups constitute a fifth protrusion group, the protrusions in the fourth protrusion group are fourth protrusions, the protrusions in the fifth protrusion group are fifth protrusions, and the fourth protrusions and the fifth protrusions have the same structure.

15. The tire according to claim 14, wherein the protrusions have a strip structure, the length direction of the protrusions is parallel to the axial direction of the tire body, and the orthographic projection of the protrusions on the first plane is a trapezoid.

16. The tire according to claim 15, wherein the orthographic projection of the protrusions on the first plane is an isosceles trapezoid.

17. The tire according to claim 16, wherein the protrusions include a first end surface, a second end surface, a top end surface, and two side surfaces, the top end surface and the two side surfaces are connected between the first end surface and the second end surface, and on the first plane, the area of the orthographic projection of the first end surface is smaller than the area of the orthographic projection of the second end surface.

18. The tire according to claim 17, wherein the contour shape of the orthographic projection of the first end surface is the same as the contour shape of the orthographic projection of the second end surface, so that the contour shape of the top end surface is a trapezoid.

19. The tire according to claim 18, wherein the first included angle between the side surface and the radial direction of the tire body is in the range of 13° to 15°.

20. The tire according to claim 18, wherein the second included angle between the oblique side of the top end surface and the length direction of the protrusion is in the range of 2.5° to 4°.

21. A traveling wheel characterized by The tire according to any one of claims 1 to 20.

22. A mowing robot, characterized in that The traveling wheel according to claim 21.

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