Automatic mower and its traveling wheel structure

Abstract

The application provides an automatic mower and a walking wheel structure thereof. The walking wheel structure comprises a roller, a roller mounting structure capable of rotating in at least one direction, and a guide assembly comprising a first inclined surface arranged at least partially in front of the roller and inclined to guide the roller to overcome obstacles. The application improves the obstacle overcoming capability of the automatic mower and the walking wheel thereof and the working efficiency of the automatic mower.

Description

Technical Field

[0001] This disclosure relates to the field of power tool technology, and in particular to an automatic lawnmower and its wheel structure. Background Technology

[0002] Automatic lawnmowers are common outdoor walking devices used for mowing various types of lawns. They generally consist of a drive wheel and a driven wheel. The driven wheel is typically smaller, and its obstacle-crossing ability significantly impacts its adaptability to terrain. For example, when the machine encounters obstacles such as stones, potholes, or small steps, the driven wheel struggles to overcome them, reducing the lawnmower's efficiency. While increasing the wheel diameter can improve obstacle-crossing performance, this also increases the machine's size and cost. Especially for swivel wheels, a larger diameter usually means a larger offset, resulting in a larger turning radius and increased space occupied by the wheels, thus increasing the overall machine size and potentially affecting its performance. Utility Model Content

[0003] On one hand, this application provides a walking wheel structure for an automatic lawnmower, including:

[0004] Roller;

[0005] A roller mounting structure, wherein the roller mounting structure is rotatable in at least one direction;

[0006] A guiding component includes a first ramp, which is at least partially disposed in front of the roller and is inclined to guide the roller over an obstacle.

[0007] Furthermore, the guiding component also includes a second inclined surface for guiding the roller over obstacles, and the second inclined surface has a different inclination direction than the first inclined surface.

[0008] Furthermore, the second inclined surface is at least partially disposed on the side of the roller.

[0009] Furthermore, the first inclined surface and the second inclined surface surround at least a portion of the front end of the roller.

[0010] Furthermore, the height of the lowest edge of the first inclined surface is lower than or equal to the height of the center of the roller, and / or the height of the lowest edge of the second inclined surface is lower than or equal to the height of the center of the roller.

[0011] Furthermore, the height of the uppermost edge of the first inclined surface is higher than the height of the center of the roller, and / or the height of the uppermost edge of the second inclined surface is higher than the height of the center of the roller.

[0012] Furthermore, the uppermost edge of the first inclined surface is farther from the roller than the lowermost edge, and / or the frontmost edge of the second inclined surface is closer to the wheel center surface of the roller than the rearmost edge.

[0013] Furthermore, in a direction perpendicular to the direction of travel, the width of the bottom of the first inclined plane is greater than the width of the roller.

[0014] Furthermore, the guide assembly is mounted on the roller mounting structure either non-removably or detachably.

[0015] Furthermore, the guide assembly also includes a third inclined surface, with the second and third inclined surfaces located on both sides of the roller, and the first, second, and third inclined surfaces surrounding at least a portion of the front end of the roller.

[0016] Furthermore, at least a portion of the first inclined surface is spaced less than 1 cm from the roller.

[0017] Furthermore, the distance between the uppermost edge of the first inclined surface and the rotation center of the roller is less than or equal to the rotation radius of the roller.

[0018] Furthermore, the roller is the front wheel of the automatic lawnmower.

[0019] On the other hand, this application provides an automatic lawnmower, which includes the aforementioned walking wheel structure.

[0020] This embodiment provides an automatic lawnmower and its wheel structure. A guide component can be installed on the rollers of the automatic lawnmower. A first inclined surface in the guide component is at least partially located in front of the rollers and is inclined. When the rollers encounter obstacles, especially obstacles exceeding the rollers' obstacle-crossing height, the first inclined surface can contact the obstacle before the rollers. Driven by the forward driving force of the automatic lawnmower, the first inclined surface can slide forward along the obstacle. As the height of the first inclined surface on the obstacle increases, the first inclined surface gradually rises, thereby lifting the rollers upwards, allowing the rollers to move onto and overcome the obstacle. This method does not require changing the size of the automatic lawnmower's rollers and has no impact on the overall size of the lawnmower, improving the obstacle-crossing ability of the rollers, and thus improving the lawnmower's obstacle-crossing capability and working efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings described below are merely exemplary embodiments of this disclosure.

[0022] Figure 1 This is a schematic diagram of the walking wheel structure of an automatic lawnmower in one embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the walking wheel structure of an automatic lawnmower in another embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the walking wheel structure of an automatic lawnmower in another embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the walking wheel structure of an automatic lawnmower in another embodiment of this application;

[0026] Figure 5 This is a bottom view of the walking wheel structure of an automatic lawnmower in one embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the structure of an automatic lawnmower in one embodiment of this application;

[0028] Figure 7 This is a bottom view of an automatic lawnmower in one embodiment of this application.

[0029] Label Explanation

[0030] 100. Automatic lawnmower; 110. Roller; 120. Roller mounting structure; 121. Base; 122. Connecting shaft; 1221. First shaft part; 1222. Second shaft part; 130. Guide assembly; 131. First inclined surface; 132. Second inclined surface; 133. Third inclined surface; 200. Automatic lawnmower. Detailed Implementation

[0031] The embodiments of this disclosure will now be described with reference to the accompanying drawings. The described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0032] In the embodiments described in this specification, "up" can be understood as the top direction of the automatic lawnmower, "down" can be understood as the bottom direction of the automatic lawnmower, "front" can be understood as the head direction of the automatic lawnmower, and "rear" can be understood as the tail direction of the automatic lawnmower.

[0033] With the increasing popularity of smart courtyards, there is a need for more intelligent automatic lawn mowers to trim lawns in a more time-saving and labor-saving way.

[0034] like Figure 1 , Figure 3As shown, the automatic lawnmower's wheel structure 100 provided in this embodiment includes a roller 110, a roller mounting structure 120, and a guide assembly 130. The roller 110 is mounted on the roller mounting structure 120, which is used to connect to the chassis of the automatic lawnmower, thereby mounting the roller 110 onto the automatic lawnmower. The roller mounting structure 120 can rotate in at least one direction, such as 360 degrees or 180 degrees horizontally, thereby enabling the roller 110 to rotate relative to the chassis of the automatic lawnmower. Generally, the roller 110 is a caster wheel for easy movement of the automatic lawnmower. At least a portion of the guide assembly 130 is disposed in front of the roller 110, used to guide the roller 110 to overcome obstacles when it encounters them, increasing the obstacle-crossing capability of the roller 110.

[0035] The guide assembly 130 can be mounted on the housing of the automatic lawnmower, such as... Figures 1-4 As shown, the guide component 130 can also be mounted on the roller mounting structure 120, so that the guide component 130 can rotate with the roller 110. When the roller 110 rotates in different directions, the guide component 130 can rotate together with the roller 110, always located in front of the roller 110, thereby guiding the roller 110 to overcome obstacles when the roller rotates in different directions. Figure 4 As shown, the roller mounting structure 120 may include a base 121 and a connecting shaft 122. The base 121 can be used to connect to the chassis of an automatic lawnmower. The connecting shaft 122 may include a first shaft portion 1221 and a second shaft portion 1222, wherein the first shaft portion 1221 and the second shaft portion 1222 form a predetermined angle (e.g., 90 degrees). The first shaft portion 1221 is used to connect to the base 121, and the second shaft portion 1222 is used to connect to the roller 110. The roller 110 can rotate relative to the base 121 and the chassis of the automatic lawnmower via the connecting shaft 122. Figure 4 As shown, the guide component 130 can be connected to the first shaft portion 1221 and the second shaft portion 1222. This means that the guide component 130 is connected to the roller mounting structure 120 in two non-parallel directions (such as horizontal and vertical directions). This ensures that the guide component 130 can be stably connected to the roller mounting structure 120 and will not move left or right or up or down due to external forces. This avoids the guide component 130 from moving due to external forces when crossing obstacles, thus affecting the obstacle-crossing ability of the roller 110.

[0036] The guide component 130 can be installed on the roller mounting structure 120 in a detachable (e.g., snap-fit ​​or threaded connection) or non-detachable (e.g., welded, integrally molded, or interference fit) manner. With a detachable installation, if other objects such as grass, mud, or garbage are stuck between the guide component 130 and the roller 110, the guide component 130 can be removed from the roller mounting structure 120, and the obstructing object can be cleared to avoid affecting the rolling of the roller 110. A non-detachable installation provides greater stability, and the installation method of the guide component 130 can be selected according to actual needs.

[0037] like Figure 1 , Figure 3 As shown, the guide assembly 130 includes a first inclined surface 131, which is inclined and can tilt towards the front of the automatic lawnmower. That is, the uppermost edge of the first inclined surface 131 is farther from the roller 110 than the lowermost edge, and the uppermost edge of the first inclined surface 131 is higher than the lowermost edge. At the same time, the first inclined surface 131 is located in front of the roller 110, that is, the first inclined surface 131 can block at least part of the roller 110. During the movement of the automatic lawnmower, if the roller 110 encounters obstacles such as rocks, pits, or small steps, the first inclined surface 131 will first come into contact with the obstacle. As the automatic lawnmower continues to move forward, it can drive the first inclined surface 131 to slide upward along the obstacle. As the height of the first inclined surface 131 on the obstacle increases, the first inclined surface 131 gradually rises, which can drive the roller 110 or the entire head of the automatic lawnmower to lift upward, so that the roller 110 can move smoothly onto the obstacle and then cross the obstacle, thus improving the obstacle-crossing ability of the roller 110.

[0038] like Figure 2 As shown, Figure 2The dashed line L2 corresponds to the height of the lowest edge of the first ramp 131, and the dashed line L1 corresponds to the height of the center of the roller 110. L2 is below L1, meaning the lowest edge of the first ramp 131 is lower than the height of the center of the roller 110. The height of the center of the roller 110 is related to the size of the roller 110, and the size of the roller 110 is related to its maximum obstacle-crossing height. Generally, the maximum obstacle-crossing height of the roller 110 will not exceed the height of its center. The height of the lowest edge of the first ramp 131 is related to the minimum obstacle-crossing height of the guide assembly 130. The fact that the lowest edge of the first ramp 131 is lower than the height of the center of the roller 110 allows the obstacle-crossing capability of the first ramp 131 to be comparable to that of the roller 110. If the minimum obstacle-crossing height of the guide component 130 is greater than the maximum obstacle-crossing height of the roller 110, and the obstacle height is between the maximum obstacle-crossing height of the roller 110 and the minimum obstacle-crossing height of the guide component 130, if the roller 110 itself cannot cross the obstacle, and the lowermost edge of the first inclined surface 131 cannot abut against the obstacle, the ability of the guide component 130 to guide the roller 110 to cross the obstacle will be affected. The specific height of the lowermost edge of the first inclined surface 131 can be set according to the maximum obstacle-crossing height of the roller 110. Generally, the height of the lowermost edge of the first inclined surface 131 can be less than or equal to the maximum obstacle-crossing height of the roller 110, for example, it can be located at 1 / 3 of the height of the roller 110. This embodiment does not impose a specific limitation.

[0039] In addition, such as Figure 2 As shown, L4 corresponds to the height of the uppermost edge of the first ramp 131. L4 is above L1, meaning the uppermost edge of the first ramp 131 is higher than the center of the roller 110. The height of the uppermost edge of the first ramp 131 is related to the maximum obstacle-crossing height of the guide assembly 110. The fact that the uppermost edge of the first ramp 131 is higher than the center of the roller 110 allows the obstacle-crossing ability of the guide assembly 130 to be greater than the radius of the roller 110. When the roller 110 encounters an obstacle taller than its radius, the roller 110 cannot cross it on its own. The first ramp 131 can guide the roller 110 to cross the obstacle, thereby improving the obstacle-crossing height and obstacle-crossing ability of the roller 110.

[0040] The dimensions and inclination angle of the first inclined plane 131 can be adjusted according to actual needs. Generally, the inclination angle of the first inclined plane can be set within the range of 15 degrees to 60 degrees. The length of the first inclined plane 131 can be adjusted adaptively according to the inclination angle. This specification does not specifically limit the embodiments. In addition, as Figure 1 , Figure 3As shown, in a direction perpendicular to the forward direction, the width of the bottom of the first inclined surface 131 is greater than the width of the roller 110. The forward direction can be the forward direction of the roller 110 or the forward direction of the automatic lawnmower. The width of the roller 110 can be understood as the lateral dimension of the contact surface between the roller 110 and the ground. The bottom of the first inclined surface 131 can be understood as the lower half of the first inclined surface 131. For example... Figure 1 , Figure 3 As shown, the first inclined surface 131 can be configured as a trapezoidal inclined surface, meaning the width of the uppermost edge of the first inclined surface 131 is less than the width of the lowermost edge. Furthermore, the first inclined surface 131 can be positioned directly in front of the roller 110, and the width of the lowermost edge of the first inclined surface 131 is greater than the width of the roller 110. In other words, the two sides of the first inclined surface 131 extend symmetrically on both sides of the roller 110. That is, at least a portion of the width of the first inclined surface 131 is greater than the width of the roller 110. Thus, at any angle in front of the roller 110 where an obstacle is encountered, the first inclined surface 131 can abut against the obstacle and slide onto it to lift the roller 110, guiding it over the obstacle.

[0041] In addition, such as Figure 1 As shown, the bottom of the first inclined surface 131 is relatively close to the roller 110, for example, less than 1 cm, meaning that at least a portion of the first inclined surface 131 is less than 1 cm from the roller 110. This ensures that after the first inclined surface 131 slides onto the obstacle, the roller 110 can immediately follow and move onto the obstacle, thus guiding the roller 110 to overcome the obstacle. If the gap between the first inclined surface 131 and the roller 110 is too large, the roller 110 may not have yet come into contact with or moved onto the obstacle when the first inclined surface 131 slides onto it, which would affect the roller 110's obstacle-crossing ability. Furthermore, a small gap can also prevent obstacles from getting stuck between the first inclined surface 131 and the roller 110, thus affecting the roller 110's movement.

[0042] like Figure 5 As shown, the distance between the uppermost edge of the first inclined plane 131 and the rotation center of the roller 110 is less than or equal to the rotation radius of the roller 110. The rotation center of the roller 110 can be understood as the axis of rotation of the roller 110 relative to the chassis of the automatic lawnmower. Figure 5 The position indicated by the vertical dotted line represents the radius of rotation. This radius can be understood as the radius of rotation of roller 110 relative to the chassis of the automatic lawnmower. The radius of rotation reflects the space required for roller 110 to rotate. Figure 5 The dashed circle represents the rotation range of the roller 110. The uppermost edge of the first inclined surface 131 is the area furthest from the rotation center of the guide assembly 130 or the first inclined surface 131. In other words, the entire structure of the first inclined surface 131 or the guide assembly 130 is located within the rotation range of the roller 110. Figure 5As shown, the guide component 130 is located within the dashed circle. This ensures that the guide component 130 is within the space required for the rotation of the roller 110, without occupying additional space, making the structure of the walking wheel structure 100 more compact, and thus not increasing the space required for the automatic lawnmower.

[0043] like Figure 1 , Figure 3 As shown, the guide assembly 130 may further include a second inclined surface 132, the second inclined surface 132 having a different inclination direction than the first inclined surface 131, and is used to guide the roller 110 over obstacles. Figure 1 , Figure 3 As shown, at least a portion of the second inclined surface 132 can be located to the side of the roller 110, such as on the outer side of the roller 110. The second inclined surface 132 can be inclined towards the rear side of the roller 110, meaning that the foremost end of the second inclined surface 132 is closer to the wheel center plane of the roller 110 than the rearmost end. The wheel center plane of the roller 110 can be understood as a plane perpendicular to the roller's rotation axis and passing through the midpoint of the wheel hub width. The second inclined surface 132 has a different inclination direction than the first inclined surface 131, which can guide the roller 110 over obstacles encountered in directions different from the inclination direction of the first inclined surface 131, or guide the roller 110 to overcome obstacles when it encounters them while turning. For example, when the second inclined plane 132 is located on the side of the roller, it can come into contact with the obstacle on the side when the side of the roller 110 encounters an obstacle, and slide onto the obstacle under the driving force of the automatic lawnmower continuing to move forward, thereby lifting the roller 110 so that the roller 110 can move onto the obstacle and pass over the obstacle.

[0044] like Figure 1 As shown, the first inclined surface 131 and the second inclined surface 132 can surround at least a portion of the front end of the roller 110, that is, the first inclined surface 131 and the second inclined surface 132 can form a receiving cavity that can accommodate at least a portion of the front end of the roller 110. When the roller 110 encounters obstacles in front of it and to its side, the first inclined surface 131 and the second inclined surface 132 can guide the roller 110 to overcome the obstacles and can also play a certain protective role for the roller 110, avoiding damage to the roller 110 caused by collision or friction.

[0045] like Figure 2 As shown, L3 corresponds to the lowest edge of the second ramp 132, and L2 is below L1, i.e., the same as the first ramp 110. The lowest edge of the second ramp 132 is lower than or equal to the height of the center of the roller 110. This allows the obstacle-crossing capability of the second ramp 132 to be connected with that of the roller 110. The specific principle is the same as that of the first ramp 131, and will not be repeated here. Figure 2As shown, L5 corresponds to the uppermost edge of the second inclined plane 132. L5 is above L1, which is the same as the first inclined plane 110. The uppermost edge of the second inclined plane 132 is higher than the center of the roller 110, which makes the obstacle-crossing ability of the guide component 130 higher than the radius of the roller 110. The principle is the same as that of the first inclined plane 131, and will not be described again here.

[0046] The specific heights of the lowermost and uppermost edges of the second inclined plane 132 can be set according to actual needs. Since the second inclined plane 132 is located on the side of the roller 110, there is ample space. Figure 2 As shown, the height of the lowest edge of the second slope 132 can be lower than the height of the lowest edge of the first slope 131, and the height of the highest edge of the second slope 132 can be higher than the height of the highest edge of the first slope 131. This way, it will not occupy too much space in front of the roller 110, and it can make the obstacle crossing height range of the guide component 130 relatively large, thereby better improving the obstacle crossing height and obstacle crossing ability of the roller 110.

[0047] like Figure 3 As shown, the guide assembly 130 also includes a third inclined surface 133. The second inclined surface 132 and the third inclined surface 131 are located on both sides of the roller 110, and the first inclined surface 131, the second inclined surface 132, and the third inclined surface 133 surround at least a portion of the front end of the roller 110. Thus, when the roller 110 encounters obstacles in any direction in front of it, the guide assembly 130 can assist the roller 110 in overcoming the obstacles and protect the roller 110 from damage caused by collisions or friction. The third inclined surface 133 can be symmetrically arranged on both sides of the roller 110 with the second inclined surface 132, and the shape and size of the third inclined surface 133 are the same as those of the second inclined surface 132.

[0048] like Figure 3 As shown, the second inclined surface 132 and the third inclined surface 133 can connect with the first inclined surface 131. A groove can be provided at the lower part of the first inclined surface 131, with two sides of the groove located on either side of the roller 110. The groove can accommodate part of the roller 110, and the sides of the groove can extend the lower part of the second inclined surface 132 and the third inclined surface 133, reducing the height of the lowest edge of the second inclined surface 132 and the third inclined surface 133. When encountering a relatively large obstacle, the second inclined surface 132 and the third inclined surface 133 can increase the contact area between the guide assembly 130 and the obstacle, and share some of the force on the first inclined surface 131, increasing the ability of the guide assembly 130 to guide the roller 110 over the obstacle.

[0049] like Figures 6-7As shown in the embodiments of this specification, an automatic lawnmower 200 is also provided. This automatic lawnmower includes the walking wheel structure 100 described in the above embodiments, which is the structure of the front wheels of the lawnmower. That is, the rollers 110 in the above embodiments can be the front wheels of the automatic lawnmower. The front wheels are generally the driven wheels of the automatic lawnmower, and their obstacle-crossing ability is relatively weak. Through the solution of the embodiments of this specification, a guiding component is added to the front wheel to form the walking wheel structure 100. This improves the obstacle-crossing ability of the front wheel rollers 110 without increasing the size of the front wheel, thereby improving the obstacle-crossing ability of the automatic lawnmower. The number of front wheels of the automatic lawnmower can be determined according to actual needs; it can be one, two, or more. The front wheels can be all the driven wheels on the automatic lawnmower, such as the side wheels of the automatic lawnmower.

[0050] The basic principles of this disclosure have been described above with reference to embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of the various embodiments of this disclosure. Furthermore, the foregoing details are for illustrative and facilitative purposes only, and are not limitations; the foregoing details do not limit the scope of this disclosure to its implementation.

[0051] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In various embodiments, these devices, apparatuses, devices, and systems may be connected, arranged, and configured in any suitable manner.

[0052] Additionally, words such as "including," "containing," and "having" in the text are open-ended terms meaning "including but not limited to," and can be used interchangeably. The words "or" and "and" used here refer to the words "and / or," and can be used interchangeably unless the context explicitly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to," and can be used interchangeably.

[0053] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0054] In this article, modifiers without quantifiers, such as "first" and "second," are intended to distinguish different components / parts / circuits / modules / devices / steps, rather than to emphasize order, positional relationship, importance, or priority. In contrast, modifiers with quantifiers, such as "first" and "second," can be used to emphasize the order, positional relationship, importance, or priority of different components / parts / circuits / modules / devices / steps.

[0055] The above description is given for illustrative and descriptive purposes only. This description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A walking wheel structure (100) for an automatic lawnmower, comprising: Roller (110); A roller mounting structure (120) is rotatable in at least one direction; A guide assembly (130) includes a first ramp (131) which is at least partially disposed in front of the roller (110) and is inclined to guide the roller (110) over obstacles.

2. The walking wheel structure (100) according to claim 1, wherein, The guide component (130) further includes a second inclined surface (132) for guiding the roller (110) over obstacles, and the second inclined surface (132) has a different inclination direction than the first inclined surface (131).

3. The walking wheel structure (100) according to claim 2, wherein, The second inclined surface (132) is at least partially disposed on the side of the roller (110).

4. The walking wheel structure (100) according to claim 3, wherein, The first inclined surface (131) and the second inclined surface (132) surround at least a portion of the front end of the roller (110).

5. The walking wheel structure (100) according to claim 2, wherein, The height of the lowest edge of the first inclined surface (131) is lower than or equal to the height of the center of the roller (110), and / or the height of the lowest edge of the second inclined surface (132) is lower than or equal to the height of the center of the roller (110).

6. The walking wheel structure (100) according to claim 2, wherein, The height of the uppermost edge of the first inclined surface (131) is higher than the height of the center of the roller (110), and / or the height of the uppermost edge of the second inclined surface (132) is higher than the height of the center of the roller (110).

7. The walking wheel structure (100) according to claim 2, wherein, The uppermost edge of the first inclined surface (131) is farther away from the roller (110) than the lowermost edge, and / or the front end of the second inclined surface (132) is closer to the roller (110) than the rear end.

8. The walking wheel structure (100) according to claim 1, wherein, In a direction perpendicular to the direction of travel, the width of the bottom of the first inclined surface (131) is greater than the width of the roller (110).

9. The walking wheel structure (100) according to claim 1, wherein, The guide assembly (130) is mounted on the roller mounting structure (120) either non-removably or removably.

10. The walking wheel structure (100) according to claim 2, wherein, The guide assembly (130) further includes a third inclined surface, the second inclined surface (132) and the third inclined surface (133) being located on both sides of the roller (110), the first inclined surface (131), the second inclined surface (132) and the third inclined surface (133) surrounding at least a portion of the front end of the roller (110).

11. The walking wheel structure (100) according to claim 1, wherein, At least a portion of the first inclined surface (131) is less than 1 cm away from the roller (110).

12. The walking wheel structure (100) according to claim 1, wherein, The distance between the uppermost edge of the first inclined surface (131) and the rotation center of the roller (110) is less than or equal to the rotation radius of the roller (110).

13. The walking wheel structure (100) according to claim 1, wherein, The roller (110) is the front wheel of the automatic lawnmower.

14. An automatic lawnmower (200), wherein, Includes the walking wheel structure (100) as described in any one of claims 1 to 13.

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