Service robot tires, especially lawnmower robot tires

Abstract

The invention is based on a tire (10) for a service robot (100), in particular a lawnmower robot tire (12), having a plurality of studs (22) distributed over the circumference of the tire (10), wherein a stud (22) has a foot part (24) which is based on a jacket or base circle surface (26) of the tire (10) and a head part (28) which has a radial end or tread (29) of the stud (22), in particular carries or forms a radial end or tread (29) of the stud (22) or tire (10). It is proposed that a side surface (30) of the foot part (24) of the stud (22) has an orientation that substantially spreads out from the surface of the casing or base circle (26) relative to a radial axis (36) of the stud (22), and that a side surface (32) of the head part (28) of the stud (22) has a side surface (32) that substantially does not spread out, preferably runs substantially parallel to the radial axis (36), relative to the radial axis (36).

Description

Prior ArtTyres for service robots, preferably drive tyres, in particular lawn mower robot tyres, having a plurality of studs distributed over the circumference of the tyre, with the features of the preamble of claim 1 are already known. Reference is made to the publication EP 2 657 043 A1, for example.Disclosure of the InventionThe invention relates to a tire for a service robot, in particular lawn mower robot tires, having the features of an independent claim. Advantageous further developments are evident from the dependent claims.By means of such a tire, adhesion or traction of the tire on the underlying surface, in particular on grass, can be improved. Damage to the underlying surface can be avoided. For example, damage due to bending over grass blades or twisting over grass blades or the like. Too deep an intrusion into the underlying surface can be avoided. Lateral adhesion of the tire can be improved, in particular between blades of grass or against lateral slipping off. For example, a service robot equipped with the tire, preferably an autonomous lawn mower, can drive more safely when driving a slope sideways. Also, excessive deformation of a cleat may be avoided, thereby varying with under traction. A lane keeping quality can thus be improved. Lateral drift can be avoided. A localization accuracy of the service robot can be improved, in particular by avoiding slip or drift at one of the drive wheels, which otherwise would have a negative influence on the odometry measurement for localization of the service robot, for example. Maneuverability of the service robot can be increased. Overall, reliability in operating a service robot with the tire can be improved. Industrialized production of the tire can moreover be made possible. Jamming of the surface of the tire, in particular between the studs, for example with grass, dirt or slush, or the like, can be avoided. A self-cleaning effect of the tire can be improved.A "service robot" is to be understood in particular as an at least partially automatic mobile device which at least partially automatically performs a work, preferably a machining of a surface-in particular a so-called machining surface. In particular, the service robot or robot is intended to automatically begin a work, automatically end it and / or automatically select and / or influence at least one parameter relating to the machining of the machining surface. A service robot is to be understood in particular as an appliance which moves automatically at least for performing this work, in particular for machining the machining area, and / or moves autonomously in the predefined working area of the machining area. Typical application areas of such robots include multiple activities such as sweeping, cleaning, lawn mowing, (in) collecting, sorting, irrigation, fertilizing, mapping, or the like. Examples of these are, in particular, autonomous cleaning robots, autonomous snow removing robots, autonomous sowing machines, autonomous irrigation robots, autonomous fertilizing machines, autonomous mapping machines, or the like and very particularly preferably autonomous lawn mowers or lawn mower robots. Lawn mower robots, in particular, whose active area extends to the surroundings of a residential house, in particular the gardens of a residential house. With drive tires or with drive wheels which comprise drive tires, service robots can move or maneuver in an environment-typically by driving drive tires or drive wheels independently of one another and thus enabling a change in direction of the service robot. Service robots typically have 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 having at least one control electronics. A "control electronics" is to be understood in particular as a unit having a processor unit and having a memory unit and having an operating program stored in the memory unit.A tire for a service robot, in particular lawn mower robot tires, having a plurality of studs distributed over the circumference of the tire is proposed, wherein a stud has a foot part which feet on a lateral or base circle surface of the tire and has a head part which has a radial face surface or tread surface of the stud. In particular, the head part carries or forms a face surface or tread surface of the stud or tire. The radial face or running surface can be planar or arched. It is proposed that a side surface of the foot part of the stud, in relation to a radial axis of the stud, has an orientation which substantially spreads relative to the lateral or base circle surface. It is proposed that a side surface of the head part of the stud, with respect to the radial axis of the stud, has a side surface which is substantially non-spreading, preferably a side surface which runs substantially parallel to the radial axis. The radial axis of the stud is a radial axis of the tire intersecting the stud. It extends substantially perpendicular to the axis of rotation of the tire. Each stud extends in the direction of its radial axis and lifts radially outwardly from the tread or base surface of the tire. A stud has a height extending in the direction of the radial axis. The height of the stud is dimensioned in particular at least from the height of the foot part and the height of the head part, and also sometimes the height of the face or tread. The foot part preferably does not consist solely of a rounded transition region to the lateral or base circle surface of the tire. The head part preferably does not consist solely of a rounded transition region to the face surface or running surface of the stud. A height of the foot part is preferably greater than a height of the head part. A side surface of the foot part of the stud has, in particular with respect to the radial axis of the stud, a different orientation than a side surface of the head part of the stud. In particular, the alignments of the side face of the foot and / or head part are straight. In particular, the side surfaces of the foot part or foot part respectively extend substantially in a side surface plane. In particular, side surfaces of the foot and head part of the stud each point in the circumferential direction of the tire, in particular in opposite circumferential surfaces of the tire-so to speak in the forward and rearward direction of the tire, in particular aligned at least parallel to the axis of rotation of the tire.Preferably, a side surface of the foot part spreads in the radial axis direction of the stud towards the axis of rotation of the tire. A side surface of the head part, in contrast, runs essentially free of spreading in the radial axis direction of the stud. In particular, the side surface of the head part runs substantially parallel to the radial axis, while the side surface of the foot part runs at an angle, in particular an acute angle, in particular an acute angle opening towards the axis of rotation of the tire. In principle, however, a parabolic or hyperbolic course of the side surface of the foot part, which course spreads to the lateral or base circle surface of the tire, is also conceivable. However, this should not correspond to a pure transition radius from the foot part to the surface of the surface of the surface of the surface of the surface of the surface of the surface of the surface of the base or of the base circle.Preferably, the side surfaces of the foot part and the head part that are adjacent or adjacent to each other in the radial axis direction thus have different alignment. The alignment is to be understood as a surface course of the side surface when viewing the surface in the direction of the radial axis of the stud or a radial axis of the tire which intersects the stud. A radial axis of the stud advantageously intersects the axis of rotation of the tire substantially perpendicularly. It intersects the stud substantially centrally. It is aligned substantially normal to the face or tread surface of the stud. The expression "substantially perpendicular" is intended here in particular to define an orientation of a direction relative to a reference direction, wherein the direction and the reference direction, in particular viewed in a plane, enclose an angle of 90° and the angle has a maximum deviation of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°.The radial axis of the stud extends substantially in the radial direction of the tire and / or normal to the tread or tread surface of the stud. Each stud has a radial axis in each case, and is in each case cut centrally by this radial axis aligned substantially perpendicular to the axis of rotation of the tire. A height of the stud is measured in the direction of the radial axis. In principle, an intermediate part or segment with a different orientation, cross-sectional shape and / or basic shape could also be provided between the foot part and the head part.Due to the different alignment of the foot and head part, in particular as a radially axially parallel course of the side surface of the head part and in particular a spreading course of the side surface of the foot part, a traction of the tire on the underlying surface can be improved in particular in the region of the head part, in particular without damaging the underlying surface. The head part can advantageously sink between blades of grass without bending them over. Near the root, driving or holding forces can be transmitted to the subgrade and / or the grass blade which is relatively kink-proof or flexurally rigid near the root. By orienting the side surfaces, for example substantially parallel to the radial axis of the tire or stud, sufficient sinking of the tire or stud, for example up to the grass scar and / or sinking close to the root, can be achieved. By the deviating orientation of the foot part, in particular the shape of the foot part spreading towards the axis of rotation, a deeper sinking of the cleat into the ground, in particular into a grass scar of a lawn, can be avoided. Grass blades are also bent away without buckling or at least with low buckling by the lateral surface of the foot part, which lateral surface in particular spreads in the circumferential direction.A stability of the stud can be increased, in particular by the spreading foot part. A bending tendency of the stud can be reduced. The surface pressure of a stud on the underlying surface in the sinking region of the head part of the stud is substantially constant over the sinking depth of the head part. It decreases increasingly in the sinking region of the foot part with increasing sinking depth. In particular, the surface pressure of the stud decreases increasingly, in the case of a penetration depth of the stud into the underlying surface exceeding the head part, namely by the additional bearing surface provided by the foot part or in particular the side surfaces of the foot part, or the increasing cross-sectional area of the stud. The alignment of the side surfaces of the foot part of the stud can also bring about a lifting effect, in particular when a drive torque is exerted from the tire on the underlying surface-in particular by a side surface which is formed at an angle, obliquely and / or curved with respect to the radial axis. As a result, for example, a stud or tire which has penetrated too deeply into the grass scar can be forced independently under drive forces into a position such that the foot part no longer penetrates-in particular due to the resulting lifting effect of the side surface spreading towards the base circle or lateral surface.It is proposed that at least one stud, in particular a plurality of the studs, preferably all studs of a tire, have at least one foot part and one head part. The foot portion of a stud abuts a tread or base circle surface of the tire. Radially mounted on the foot part, the respective head part of a stud is arranged, in particular formed integrally therewith. "One-piece" is to be understood in particular as being connected at least in a materially integral manner and / or advantageously as being formed in one piece. The production takes place, for example, in a single- or multicomponent 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 part of the stud has or carries or forms a radial end face; or forms at least part of a tread of the tire. In particular, the studs are designed such that they lift radially from a base or lateral surface of the tire, i.e., preferably lift radially outward. Each stud has a radial axis which runs substantially perpendicular to the axis of rotation of the tire and passes centrally through the respective stud.It is proposed that a side surface of the foot part is oriented substantially at an angle or obliquely, parabolically and / or hyperbolically with respect to a radial axis of the stud and a side surface of the head part is oriented substantially parallel to the radial axis of the stud, in particular side surfaces of the foot or head part pointing in the circumferential direction of the tire. In particular, a side surface of the foot or head part which is spanned in the axial direction of the tire and at an angle or parallel to the radial axis of the stud. By "substantially angular" is herein in particular an orientation of a direction relative to a reference direction, in particular in a plane, to be understood, wherein the direction comprises an angle with respect to the reference direction which can no longer be considered substantially parallel. Here, "substantially parallel" is to be understood in particular as an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation in particular of less than 8°, advantageously of less than 5° and particularly advantageously of less than 3° with respect to the reference direction. Such a deviation may sometimes be necessary in order to make possible an easy demolding of the tire or of the stud from the tool, in particular in industrial production. In particular, side surfaces of the head part, or in the head region of the stud, can be beveled 2°, in order to enable good demolding. Parabolic or hyperbolic is to be understood as meaning that the lateral surface has a curvature or curvature with respect to the radial axis of the stud, or is curved about a fictitious axis parallel to the axis of rotation of the tire.It is proposed that the side surface of the foot part is oriented at an acute angle to the radial axis of the stud, in particular having an angle of 5-45°, preferably of 10-20°, particularly preferably of around 15°, in particular wherein the angle tapers at an acute angle radially outwards. In particular, side surfaces of the foot part of the stud that are opposite in the circumferential direction are formed at an angle, in particular at an acute angle, to one another. Preferably, opposite side surfaces of the foot part are aligned isoscelesly at an angle to one another, in particular isoscelesly at an acute angle to one another with respect to the radial axis. However, it is conceivable that, for example, only one side surface of the stud, in particular one in contact with the underlying surface and facing the main direction of travel, is formed at an acute angle to the radial axis of the stud. The opposite side surface of the stud could then be formed, for example, substantially parallel to the radial axis of the stud. Thus, for example, a sinking behavior could be changed and / or a different traction or propulsion behavior could be realized. Due to the formation of the side surfaces of the foot part of the stud at an angle on both sides, in particular side surfaces facing in the circumferential direction, the tire is equally suitable for forward travel as well as for rearward travel, or can develop its advantages.It is proposed that side surfaces of the foot part of the stud that lie opposite one another in the circumferential direction are oriented at an angle, preferably at an acute angle, in particular at an isosceles angle, with respect to one another. In particular, the stud has, in an axial sectional plane perpendicular to the axis of rotation of the tire, a substantially isosceles trapezoidal foot part cut surface and a substantially rectangular or square head part cut surface. This geometric shape allows the sinking behavior to be optimized. The legs of the foot part cut surface trapezoidal in axial cross-sectional plane advantageously have an angle of 90° with the base side minus the aforementioned angle of 5-45°, preferably 10-20°, particularly preferably 15°. An angle of the trapezoidal sides of the stud base to the radial axis or radial axis plane is preferably 15° in each case, and the angle of the trapezoidal sides to one another is 30°. "Substantially" in this context is to be understood in particular to mean that a deviation from a predefined geometry is in particular less than 20%, preferably less than 10%, in particular less than 5%. Clogging of the stud spaces with Dreck can be avoided. A sinking behavior of the stud, in particular in grass, can be optimized. Stability of the stud can be improved. As before, for the substantially rectangular or square head part cut surface in the axial section plane, the legs of the substantially rectangular or square head part cut surface running in the radial axis direction run substantially parallel to one another, i.e. in particular have an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation in particular of less than 8°, advantageously of less than 5° and particularly advantageously of less than 3° with respect to the reference direction. The face or running surface can also be concave or convexly curved, in particular concave or convexly curved in the radial axis direction.Clogging of the stud spaces with Dreck can be avoided. A certain sinking of the stud, in particular into the underlying surface, can be made possible. A surface pressure can be reduced depending on the depth of sinking into the ground. Durability of the stud can be improved, in particular in the drive direction. An angle of the side surface of the foot part formed at an acute angle to the radial axis or radial axis plane can be, in particular, 15°. In principle, other acute angles of in particular 5-45° are also conceivable. Opposite side surfaces of the foot part of the tire can, for example, each enclose an angle of 15° with respect to the radial axis or the side surfaces of a stud can enclose an angle of 30° with respect to one another. The side surface of the foot part, in particular the opposite side surfaces of the foot part, in particular run at an acute angle from the lateral or base circle surface of the tire to the head part of the stud. The aforementioned includes that the foot part of the stud is in principle also frustoconical or frustopyramidal. The head part could in principle also be cylindrical. Other foot and head part body shapes would also be conceivable in principle. Here, "substantially parallel" is to be understood in particular as an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation in particular of less than 5° and preferably of less than 2° with respect to the reference direction.Such angle deviations can be provided here, for example in order to simplify or to make possible demolding of the tire from the tool during production.It is proposed that the basic shape of the stud is substantially quadrangular about the radial axis. In particular, the sides of the quadrilateral are parallel and perpendicular to the axis of rotation of the tyre. The basic shape of the head part is substantially cuboidal and the basic shape of the foot part is substantially trapezoidal prism-shaped and / or truncated pyramid-shaped.It is proposed that the stud has, in an axial sectional plane perpendicular to the axis of rotation of the tire, a substantially isosceles trapezoidal foot part sectional surface and a substantially rectangular or square head part sectional surface.It is proposed that the foot part of the stud is formed substantially trapezoidal prism-shaped or truncated pyramid-shaped, and the head part is formed substantially rectangular parallelepiped-shaped or cubic-shaped, or that the foot part is formed substantially truncated cone-shaped and the head part is formed substantially cylindrical.It is proposed that the stud has a substantially rectangular cross-sectional area shape in radial cross-sectional planes perpendicular to the radial axis of the stud in the region of the foot part and a substantially square cross-sectional area shape in the region of the head part, wherein the longer side of the rectangular cross-sectional area shape of the foot part is preferably oriented in the circumferential direction of the tire.The foot and head part each has a height. Together, they define a height of the stud. It is proposed that a height of the foot part in the radial axis direction is greater than a height of the head part, in particular between 1-2.5 times greater, preferably 1.5-2 times greater. a height of the head part can be, for example, 2.4 mm and a height of the foot part can be 3.6-4.6 mm. Damage to grass blades and / or the grass scar can be avoided. Sinking behavior of the stud, in particular in grass, can be improved. Stability of the stud can be improved.It is proposed that at least one transition region from the lateral or base circle surface of the tire to the stud, in particular to at least one side surface of the stud, in particular to at least one side surface of the foot part of the stud and / or a transition region from the foot part to the head part of the stud, in particular a side surface of the foot part to a side surface of the head part of the stud, and / or a transition region from the head part to the end surface of the stud, in particular from at least one side surface of the head part of the stud to the end surface of the stud, is rounded, in particular concavely or convexly rounded, in particular having a radius of curvature of 0.25 to 2 mm, preferably of 0.5 mm or 1.5 mm. It is proposed that the transition region between side surfaces of the stud which adjoin one another in the circumferential direction about the radial axis is not rounded at least on one side, in particular at the transition region to the side of the stud facing the axial center of the tire, preferably both at the head part and the foot part. Damage to the grass scar can be avoided. A sinking behavior of the stud, in particular in grass, can be optimized. Stability of the stud can be improved. Straight traveling can be improved. Sometimes, this makes it possible to easily implement four rows of studs distributed over the circumference.It is further proposed that a radial end face or tread surface of the stud / studs is formed substantially square and / or a foot surface of the stud / studs is formed substantially rectangular, in particular a foot surface of the stud / studs at which the stud / studs foot(s) on the lateral surface or root circle surface of the tire. The longitudinal side of the rectangular surface with the greater extension extends in particular in the circumferential direction. The radial end face can also be substantially square, for example, because roundings are provided between the side faces of the head part and the radial end face. Rounded portions are in particular not provided on all sides of the substantially square head part.Furthermore, a tire for a service robot is assumed, in particular lawn mower robot tires, having a plurality of studs distributed over the circumference of the tire. It is proposed that the studs are arranged in four rows of studs distributed over the circumference in the axial direction of the tire, wherein the studs of each row are arranged offset in the axial direction and / or in the circumferential direction with respect to the studs of the other rows, in particular offset and / or spaced apart without overlap in the axial direction and / or in the circumferential direction. Thus, they are offset from the studs of the axially immediately adjacent rows and the axially non-immediately adjacent rows. It is thus possible to prevent, for example, a blade of grass from studs of one row that are adjacent in the circumferential direction and / or a blade of grass from studs of two rows that are adjacent in the axial direction from being able to be bent over and / or damaged. Slipping of the stud on blades of grass can be avoided. Tearing out of the grass blade can be avoided. Damage to the lawn can be avoided. In particular, all studs of a row are of identical construction.It is proposed that the studs are arranged sequentially in axial projection, i.e. in projection along the axis of rotation of the tire and viewed in the circumferential direction of the tire, in such a way that a stud of the axially first row follows a stud of the axially second row, then a stud of the axially fourth row and finally a stud of the axially third row. The axially first row preferably adjoins an outer side, the axially fourth row preferably adjoins an inner side of the tire. This arrangement advantageously makes it possible to avoid lateral drift during rolling of the tire. The quality of the driving direction compliance can be increased. In particular, a quality of straight-ahead and cornering is improved. This has particular advantages over an arrangement according to which a lug of the axially first row follows a lug of the axially second row, then the third and finally the fourth row or vice versa. In contrast, transverse forces acting on the underlying surface, in particular the blades of grass or the grass scar, during a straight-line and / or cornering can be avoided.It is proposed that an axial offset of axially adjacent rows is unequal. In particular, an axial offset of the two middle rows with respect to one another, in particular of the second and third rows with respect to one another, is less than an offset of the first to the second and / or of the third to the fourth row. In particular, an axial offset of the first to the second and / or the third to the fourth row is greater by a factor of 0.5-1.5, preferably by a factor of 0.75-1.25, than an axial offset of the two middle rows with respect to one another. In particular, an axial offset of the first row from the second row is approximately 4.5 mm. An offset of the third row to the fourth row may be about 3.5 mm. And an offset of the two middle rows, i.e. the second to the third row, can preferably be around 2 mm. This also enables the directional retention quality to be improved.It is proposed that mutually adjacent studs of each of the four rows in the circumferential direction are arranged at an angular distance of 24° from one another and / or the studs of all rows are arranged at an angular distance of 6° from one another, as viewed in the axial projection and in the circumferential direction of the tire, in particular wherein the studs of the first to the second and the third to the fourth rows are arranged at an angular distance of 6°, preferably wherein the studs of the second to the third row are arranged at an angular distance of 12°. Each of the four rows can thus have 15 studs, which are each arranged at an angular distance of 24° from one another. The tire or all rows of studs together may have 60 studs. Thus, on hard as well as on soft ground, in particular on a hard / solid ground such as stone ground and a very soft ground such as long grass, a plurality of studs can contact the ground. For example, on stone floors, around three studs touch the ground simultaneously and on long grass, around 8 studs touch the ground simultaneously. The tire can thereby be used on substrates of different types with as little damage as possible, in particular dry, moist, short and long grass of different types.It is proposed that an axial width of the tire is 50-75% greater, in particular 65-70%, in particular around 2 / 3, greater than an accumulated axial width of four head or end faces of each stud of the four rows and / or that an axial width of the tire is 5-8, preferably 6-7, times greater than an axial width of a radial head or end face of a stud. The term width here refers to a width in the axial direction or rotational axis direction of the tire, respectively. In particular, an axial width of the tire is about 30 mm and an accumulated axial width of the radial end faces of each lug of the four rows is about 18-20 mm. In particular, an axial width of an end face of a stud is 4.5-5 mm. In principle, other width factor differences or width dimensions are also conceivable. However, it has been found that a factor of 6-7 is particularly advantageous with respect to the aforementioned advantages. Sinking behavior of the stud / studs or of the tire, in particular in grass, can thus be improved. An applied surface pressure on the grass surface can thereby be improved. Damage, in particular to the grass scar, can be avoided. Traction of the tire can be improved. Sinking behavior of the stud between grass blades can be improved without buckling or twisting the grass blade on it. A support of the forces which stir from the drive torque can be transmitted to the grass or the grass grain and / or the grass blade close to the root.It is proposed that a height of a stud, in particular proceeding from a base or lateral surface of the tire up to the radial head or end face of a stud, is greater than a length of a radial end face of the stud in the circumferential direction of the tire, in particular is greater by 1.5 times 2, and / or that a height of a head part of a stud is less than a length of a radial end face of the stud in the circumferential direction, and / or that a height of a foot part of a stud is approximately the same as a length of a radial end face of the stud in the circumferential direction. The aforementioned advantages can also be achieved thereby.It is proposed that a height of the head part is smaller than a length of the radial end face of the stud in the circumferential direction. It is proposed that a height of the foot part is approximately the same as a length of the radial end face of the stud in the circumferential direction. It is further proposed that a height of the foot part is greater than a height of the head part, in particular 1 to 2.5 times greater, preferably 1.5 to 2 times greater. A height ratio in the radial direction of a height of the stud base to the height of the head part can be approximately 1-2.5, in particular approximately 1.5-2. A head part has, for example, a height of 2.4 mm and a foot part a height of 3.6-4.6 mm. In particular, the heights of the head part of all studs of a tire are identical. Different heights of the foot part of different studs, in particular studs of different rows of studs, may be different, for example. This sometimes also allows a curved circumferential surface of the tire to be enabled in the axial direction. An axially outer stud of the tire can have, for example, a higher foot part than an axially more central stud of the tire. In particular, the foot parts of the studs of two outer rows of studs distributed over the circumference of the tire, in particular for example a first and a fourth of the four rows, are higher, in particular 10-40% higher, preferably 20-30% higher, for example around 1 mm higher, than the foot parts of the studs of one or two middle rows, in particular for example the second and third rows of a tire having four rows of studs. The height of the foot part of this middle row can be, for example, 3.6 mm. Sinking behavior of the stud / studs or of the tire, in particular in grass, can thus be improved. An applied surface pressure can be optimized. Damage, in particular to the grass scar, can be avoided. Traction can be improved.It is proposed that transition regions from the lateral or base circle surface of the tire to the stud, in particular to the foot part of the stud, and / or that transition regions from the foot part to the head part of the stud and / or that transition regions from the head part to the end face of the stud are rounded or curved, in particular concavely or convexly rounded or curved. They can have, for example, a radius of curvature of 0.25 mm to 2.5 mm, preferably 0.5 mm or 1.5 mm. In transition regions between the base circle surface of the tire and the root portion of the stud, the radius of curvature is 1.5 mm, for example. This can improve the durability of the stud. Overloading, in particular in the root region or transition region between the surface of the surface of the surface of the surface of the surface of the base or of the base circle and the root of the stud, can be avoided. Bending of the stud can be reduced. At the transition regions from the foot part to the head part and from the head part to the end face of the stud, the radius of curvature is, for example, 0.5 mm. Damage to, for example, grass blades can thereby be avoided.In particular, a radius of curvature is formed between only three of four sides of the stud, in particular at three substantially rectangular transition regions of the side surfaces to one another, in particular viewed in the circumferential direction about the radial axis of the stud and / or of the side surfaces to the end face. It is proposed that, for example, no radius of curvature is arranged on a side of the respective stud or studs of the respective stud row facing the axial center of the tire, in particular in the transition region to the side surfaces adjoining in the circumferential direction about the radial axis or in the transition region to the radial end face. This in turn makes it possible to prevent drifting or slipping off, for example, during lateral slope travel. The axial center of the tire can be defined by a plane formed perpendicular to the rotational or tire axis, which intersects the axial center of the tire, in particular intersects centrally between a second and third row of studs. The axial center is axially substantially equidistant from the axial end faces of the tire. Sinking behavior of the stud / studs or of the tire, in particular in grass, can be improved. Damage, in particular to the grass scar, can be avoided. A strength of the stud / studs can be improved. A tire's durability can be improved. Penetration or sinking of the stud, in particular between blades of grass, can be improved without damaging the same, which could be caused, for example, by surface seating and slipping on or bending over the blades of grass.It is proposed that an axial end face of a stud on an outer side of the tire, in particular a stud of an outer or a fourth stud row, is formed at an acute angle to the radial axis or at an acute angle to the axially opposite end face of the tire or has an angle to the radial axis. In particular, the angle is 4°. The outer end face tapers with increasing distance from the axis of rotation to the inner end face of the tire, in particular at an angle of 4°. As a result, the direction of travel can be better maintained. The outer side of the tire is defined in particular as the side facing away from a drive axis of the tire or of the wheel, or as the side facing away from the service robot. The inner side is defined in particular as the side facing the drive axis of the tire or of the wheel or as the side facing the service robot. A tire can have a defined inner and outer side, in particular by means of different axial end faces or the like. The tires can be designed equally for driving in both rotational directions, in particular by virtue of their construction which is symmetrical in the circumferential direction (identically sided radially tapering or rectangular foot part, square or radially parallel head part or the like). This is advantageous since the service robot can thus be equally suitable for driving forwards and backwards, in particular. However, tires with studs according to the invention for a unidirectional drive could also be provided or designed, in particular if one or more foot parts of the studs have an angled side surface only on a circumferential direction or the like.It is proposed that an axial side surface of a stud, which is arranged adjacent to the axial center of the tire or is arranged oriented toward the axial center of the tire, runs radially or perpendicularly to the tire axis. Thus, in particular, no angle encloses with the radial axis, but rather runs parallel to it. This can avoid a drift tendency of the tire transversely to the rolling direction of the tire, in particular to grass.It is proposed that a projection of a cross-sectional area of the foot part of a stud which feet on the lateral surface or root circle surface of the tire or a projection of a cross-sectional area of a head part of a stud which supports an end face of the stud projects beyond the end face in the radial direction on three sides oriented perpendicular to one another but not beyond the fourth sides in the radial projection, in particular does not project beyond the end face in the radial projection toward or away from the tire axis, preferably wherein the fourth side of the end face which does not project in the projection is oriented toward the axial center of the tire. This can avoid a drift tendency of the tire transversely to the rolling direction of the tire, in particular to grass. It is proposed that in the axial direction of the tire, studs are arranged in four rows of studs distributed over the circumference, and end faces of studs of two of the four rows, which are located outside and within the axial center of the tire in the axial direction of the tire, respectively, do not project beyond their foot face in the radial projection in each case towards the axial center of the tire.It is proposed that the tire is formed in one piece and / or comprises thermoplastic polyurethane (TPU), in particular is formed therefrom.Furthermore, a service robot is proposed, in particular lawn mower robot or wheel with rim and / or wheel cap, having at least one previously mentioned tire.Tyre (10) for a service robot (100), in particular lawn mower robot tyre (12), having a plurality of studs (22) distributed over the circumference of the tyre (10), characterized in that, in the axial direction (38) of the tyre (10), the studs (22) are arranged in four rows (80a, 80b, 80c, 80d) of studs (22) distributed over the circumference, wherein the studs (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) with respect to studs (22a, 22b, 22c, 22d) of the other rows (80a, 80b, 80c, 80d), in particular are arranged offset and / or spaced apart without overlapping.Tyre (10) at least according to Claim 1, characterized in that the lugs (22) are arranged sequentially, as viewed in the axial projection and in the circumferential direction (48) of the tyre (10), in such a way that a lug (22a) of the axially first row (80a) follows a lug (22b) of the axially second row (80b), then a lug (22d) of the axially fourth row (80d) and finally a lug (22c) of the axially third row (80c).Tyre (10) according to at least one of the preceding claims, characterized in that an axial offset (82a, 82b, 82c) of axially adjacent rows (80a, 80b, 80c, 80d) is unequal, in particular an axial offset (82b) of the two middle rows (80b, 80c), in particular of the second and third rows (80b, 80c), with respect to one another is less than an offset (82a, 82c) of the first to the second row (80a, 80b) and / or of the third to the fourth row (80c, 80d).Tyre (10) according to at least one of the preceding claims, characterized in that studs (22a, 22b, 22c, 22d) of each of the four rows (80a, 80b, 80c, 80d) adjacent in the circumferential direction (48) are arranged at an angular distance (84a) of 24° from one another and / or the studs (22a, 22b, 22c, 22d) of all rows (80a, 80b, 80c, 80d) are arranged at an angular distance (84b) of 6° from one another in axial projection and viewed in the circumferential direction (48) of the tyre (10), in particular wherein the studs (22a, 22b, 22c, 22d) of the first to the second row (80a, 80b) and of the third to the fourth row (80c, 80d) are arranged at an angular distance (84b) of 6° from one another, preferably wherein the studs (22b, 22c) of the second to the third row (80b, 80c) are arranged at an angular distance (84c) of 12° from one another.Tyre (10) according to at least one of the preceding claims, characterized in that an axial width (86) of the tyre (10) is greater by 50-75%, in particular greater by around 2 / 3, than an accumulated axial width (87a, 87b, 87c, 87d) of four head parts (28) or end faces or treads (29) of a respective stud (22a, 22b, 22c, 22d) of the four rows (80a, 80b, 80c, 80d) and / or in that an axial width (86) of the tyre (10) is greater by a factor of 5-8, preferably a factor of 6-7, than an axial width (87a, 87b, 87c, 87d) of a stud (22a, 22b, 22c, 22d) or a radial head face or end face (29) of a stud (22a, 22b, 22c, 22d).Tyre (10) according to at least one of the preceding claims, characterized in that a height (40) of a stud (22), in particular proceeding from a lateral or base circle surface (26) of the tyre (10) to the radial head or end surface (29) of a stud (22), is greater than a length (88) of a radial end surface (29) or a length (88) of the head part (24) of the stud (22) in the circumferential direction (48) of the tyre, in particular is greater by 1.5-2 times; and / or in that a height (40-2) of a head part (28) of a stud (22) is less than a length (88) of a radial end surface (29) or a length (88) of the head part (28) of the stud (22) in the circumferential direction (48); and / or that a height (40-1) of a foot part (24) of a stud (22) is approximately the same as a length (88) of a radial end face (29) or a length (88) of the head part (28) of the stud (22) in the circumferential direction (48).Tyre (10) according to at least one of the preceding claims, characterized in that the foot part (24) of the stud (22) is substantially trapezoidal prism-shaped or truncated pyramid-shaped, and the head part (28) is substantially rectangular parallelepiped-shaped or cubic-shaped; or in that the foot part (24) is substantially truncated cone-shaped and the head part (28) is substantially cylindrical.Tyre (10) according to at least one of the preceding claims, characterized in that at least one transition region (62) from the lateral or base circle surface (26) of the tyre (10) to the stud (22), in particular to at least one side surface (30, 72a, 72b, 72c, 72d) of the stud (22), in particular to at least one side surface (30) of the foot part (24) of the stud (22) and / or a transition region (64) from the foot part (24) to the head part (28) of the stud, in particular a side surface (30) of the foot part (24) to a side surface (32) of the head part (28) of the stud (22) and / or a transition region (66) from the head part (28) to the front or tread surface (29) of the stud (22), In particular, at least one side surface (32) of the head part (28) of the stud (22) is formed rounded, in particular concavely or convexly rounded, from the front or running surface (29) of the stud (22), in particular having a radius of curvature (68, 70) of 0.25 mm to 2 mm, preferably of 0.5 mm or 1.5 mm, preferably wherein a concave or convex transition region (67- 1) is formed on only three of four sides (72 a, 72 b, 72 c) of the stud (22), in particular not formed on a side (72 d) of the stud (22) facing the axial center (74) of the tire (10).Tyre (10) according to one of the preceding claims, wherein the tyre (10) is formed in one piece and / or comprises, in particular is formed from, thermoplastic polyurethane (TPU).Service robot (100), in particular lawn mower robot (102), or wheel with rim and / or wheel cap (16), comprising at least one tire (10) according to one of the preceding claims.DRAWINGFurther advantages are evident from the following description of the drawings. The drawing shows at least one exemplary embodiment of the invention. The drawings, specification and claims contain numerous features in combination. The skilled person will expediently also consider the features individually and summarize them to form meaningful further combinations.The following are shown: FIG. 1 shows a service robot according to the invention, in particular lawn mower robot, having a tire according to the invention, in particular lawn mower robot tire, or a wheel according to the invention having a rim and / or wheel cap, FIG. 2 shows a first view of the tire according to the invention in a side view and in an axial projection view along the axis of rotation of the tire, FIG. 3 is a magnified section of the tire according to FIG. 2, FIG. 4 shows a plan view of the tire according to the invention, so to speak onto the profile and / or circumferential surface of the tire, in particular perpendicular to the axis of rotation of the tire, FIG. 5 is a perspective view of the tire of the present invention, FIG. 6 shows a radial section A-A through a head part and a radial section B-B through a foot part of a stud, and FIG. 7 is an axial section C-C through a stud.DESCRIPTION OF THE EMBODIMENTFIG. 1 shows a service robot 100 according to the invention with a tire 10 according to the invention, tires 10 being arranged on both sides in the rear region of the service robot 100 as drive tires (only one side can be seen here). However, tires 10 could also be arranged on the front side, then in particular as an all-wheel-driven service robot, or with running rollers, in particular running rollers at the rear. The service robot 100 is an autonomous lawn mower robot 102. The tire 10 is a drive tire, in particular a lawn mower robot tire 12, or lawn mower robot drive tire. The service robot 100 has a housing 104. It has a chassis 106. The service robot 100 has a drive unit 108 for driving the drive wheels 14, in particular electric motors, preferably for single-wheel driving of the wheels. The drive wheels 14 comprise the tires 10 according to the invention. The service robot 100 has an energy supply unit 112, for example a rechargeable battery pack, in particular a handheld power tool replaceable rechargeable battery pack. The service robot 100 has running rollers 114 at the front, which are not driven here and are designed in particular as running rollers. Steering is provided by the service robot 100 via the single wheel drive of the rear wheels. The service robot 100, here in the form of an autonomous lawn mower 102, furthermore has a drive unit 110 for driving a tool, here a cutting unit 116. However, it could also have a drive unit 110 for driving another service unit. The service robot has an open-loop and / or closed-loop control unit 118. It has sensors or a sensor unit (not shown), in particular in order to detect its environment and / or marking or boundary elements (likewise not shown here). It has a navigation unit (not shown), in particular in order to navigate independently. The service robot 100 may include a variety of other features generally known to those familiar with service robots 100 or lawn mower robots 102. The service robot 100 or lawn mower robot 102 is configured to independently perform a service in a working environment, in particular to independently mower a lawn area here. The tire 10 is mounted on a rim (not visible) which is covered by a wheel cap 16. An outer side 18 of the tire 10 is visible, an inner side 20 faces the chassis 106 and is visible in subsequent figures.The tire 10 includes a plurality of studs 22 distributed about the circumference of the tire. A stud 22 includes a foot portion 24 which abuts a tread or base circle surface 26 of the tire 10. A stud 22 includes a head portion 28 having a radial face 29. The head part 28 carries or forms an end face which serves as the tread of the stud 22 or tire 10. A side surface 30 of the foot part 24 or of the foot part 24 of the stud 22 has a different orientation 34 or orientation than a side surface 32 of the head part 28 of the stud 22, in particular relative to a radial axis 36 of the stud 22. The alignment 34 is to be understood as an alignment when viewed in the direction of the radial axis 36 of the stud 22. A radial axis 36 of the stud 22 intersects the rotational axis 38 of the tire 10 substantially perpendicularly. Thus, an orientation 34, 35 of side surfaces 30, 32 of foot part 24 and head part 28 adjacent or adjoining one another in the direction of the radial axis 36 is different. The alignment 34, 35 is to be understood as an alignment when viewed in the direction or along the radial axis 36 of the stud 22. A radial axis 36 of the stud 22 intersects the axis of rotation 38 of the tire substantially perpendicularly. The radial axis 36 of the stud 22 extends substantially in the radial direction of the tire 10. A height 40 of the stud 22 is measured in the direction of the radial axis 36, which is composed of the height 40- 1 of the foot part 24 and the height 40- 2 of the head part 28. The orientation of the side surfaces 32 of the head part is oriented substantially parallel to the radial axis 36 of the stud 22. The orientation 34 of the side surfaces 30 of the foot part 24 is oriented at an acute angle to the radial axis 36, in particular viewed pointedly in the direction radially outwards. The foot part 24 spreads towards the axis of rotation 38; the cross-sectional area of the head part 28 of the stud 22 thus remains substantially constant in the radial axis direction. The cross-sectional area of the foot part 24 of the stud 22, on the other hand, increases in the radial axis direction from the transition region to the head part 28 to the lateral or base circle surface 26 of the tire 10, in particular increases linearly or potentially. The other orientation 34 of the side surfaces 30 of the foot portion 24 of the cleat 22 may provide a lifting action under the effect of, for example, a driving or torsional moment on the tire 10. In the present exemplary embodiment, all studs 22 of the tire 10 have at least one foot part and one head part 24, 28.The foot part 24 of a stud 22 abuts on the lateral or base circle surface 26 of the tire 10. By "one piece" is to be understood, in particular, as being connected at least in a materially integral manner and / or advantageously as being formed in one piece, such as, for example, by production in a single- or multicomponent injection molding process. The head part 28 of the stud 22 has or carries or forms the radial face or running surface 29. The radial axis of the 36 of a stud 22 is oriented normal to the face or tread surface 29 of the stud. In principle, the face or running surface could also be formed from a material which is different in particular with regard to the resistance, for example a harder or softer material. In particular, the studs 22 are designed such that they lift radially from the base or lateral surface 26 of the tire 10, i.e., preferably lift radially outward. Each stud 22 has a radial axis 36 which extends substantially perpendicular to the rotational axis 38 of the tire 10 and centrally penetrates the respective stud 22. The side surface 30 of the foot part 24 is oriented substantially at an angle to the radial axis 36 of the stud 22, or of the respective stud 22. The side surface 32 of the head part 28 is oriented substantially parallel to the radial axis 36 of the respective stud 22. The face or tread surface 29 of the stud is oriented normal to the radial axis 36. The aforementioned side surfaces 30, 32 point in the circumferential direction 48 of the tire 10. Two opposite side surfaces 30, 32 of the head and foot parts 24, 28 of the stud each point in opposite circumferential directions, two further opposite side surfaces 42, 44, in particular an outer and inner side surface 42, 44 of the stud 22, point in the axial direction or in the direction of the axis of rotation 38 of the tire. Here, "substantially at an angle" is to be understood in particular as an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction comprises an angle with respect to the reference direction. Preferably, this angle can no longer be considered substantially parallel. Here, "substantially parallel" is to be understood in particular as an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation in particular of less than 8°, advantageously of less than 5° and particularly advantageously of less than 3° with respect to the reference direction. Thus, the side surfaces 32 of the head part 28 here have, for example, an angle of 1°-2° with respect to the radial axis 36. This makes it possible to easily remove the tire 10 or the stud 22 from the tool. Self-cleaning of the studs can also be improved as a result. Damage to the ground can be avoided. Side surfaces 32 on the head part of the stud 22 are beveled, for example, at 2°, in order to enable good demolding from the tool and / or in order to avoid adhesion of dirt between studs adjacent in the circumferential direction 48 and / or to reduce damage to the underlying surface, such as grass.A side surface 30 of a foot part 24 is formed or oriented at an acute angle to the radial axis 36 of the stud 22 in the circumferential direction 48 of the tire 10. Here, the angle 46 has around 15°. The angle 46 extends at an acute angle radially outwards. In particular, side surfaces 30 of the foot part 24 of the stud 22 which are opposite in the circumferential direction 48 are formed at an angle to one another, in particular at an acute angle to one another. Here, they form an angle 50 of 30° with respect to one another. Preferably, opposite side surfaces 30 of the foot part 24 are aligned at an isosceles angle to one another, in particular at an isosceles acute angle with respect to the radial axis 36. However, it is conceivable that, for example, only one side surface 122, in particular one in contact with the underlying surface and facing the main travel direction 120 (cf. FIG. 1 ), is formed at an acute angle to the radial axis 36 of the stud. The opposite side surface of the stud 22 could then be formed, for example, substantially parallel to the radial axis 36 of the stud 22 (not illustrated or implemented here). Thus, an improved sinking behavior, but also a sometimes improved or assured circumferential direction pressure behavior or propulsion behavior, could be realized. In particular, in the case of tires which have a single predominant direction of rotation. The angular orientation of this side surface 30 could also be different. The side surface 122 facing the main direction of travel 120 is preferably angled more strongly than the side surface 124 facing away from the main direction of travel 120, or the like. As a result, the traction behavior could be varied in opposite driving directions and the sinking behavior or damage behavior of the underlying surface could likewise be varied. A service robot that was stuck, for example a service robot that stuck to an obstacle, could sometimes be cleared in reverse in a simplified manner by an increased traction. Due to the formation of the side surface 30 of the foot part 24 of the stud 22 at an angle on both sides, the tire 10 can be used equally for both forward and rearward travel and can develop its corresponding advantages.A stud 22, here exemplarily on the stud 22 a, cf. FIG. 3 and in particular FIG. 7, has, in an axial cross-sectional plane 50 perpendicular to the axis of rotation 38 of the tire 10, a substantially isosceles trapezoidal foot part cut surface 52 and a substantially rectangular or square head part cut surface 54. The legs 56 of the trapezoidal foot part cut surface 52 advantageously have an angle of 90° less the aforementioned angle 46 of 15° with the base side 58 of the substantially trapezoidal foot part cut surface 52. An angle 46 of the trapezoidal sides or side surfaces 30 of the foot part 24 of the stud 22 relative to the radial axis 36 is preferably 15° in each case, and the angle 50 of the trapezoidal sides or legs 56 relative to one another is 30°. For the substantially rectangular or square head part cut surface 54, it applies that the legs of the square head part cut surface 54 running in the direction of the radial axis 36 run substantially parallel to one another. Deviations are thus in principle to be left out here by deviations in the previously defined dimension, in particular in order to enable tool mouldability during production or the like, for example by a 1-2° angle.An angle 46 of the side surface 30 of the foot part 24 formed at an acute angle to the radial axis 36 can be, in particular, 15°. In principle, other acute angles of in particular 5-45°, preferably 10-25°, are also conceivable. Opposite side surfaces 30 of the foot part 24 of the tire 10 can, for example, each enclose an angle of 15° with respect to the radial axis 36 or the side surfaces 30 of the foot part 24 can enclose an angle of 30° with respect to one another. The side surface 30 of the foot part 24, in particular the opposite side surfaces 30 of the foot part 24, in particular extend from the lateral or base circle surface 26 of the tire 10 to the head part 28 of the stud 22 at an acute angle. The foot part 24 of the stud 22 could in principle also be of frustoconical configuration (not illustrated here). The head part 28 could in principle also be cylindrical. Also, the foot part 24 and the head part 28 could both be of frustoconical configuration, wherein the angle of the cone of the foot part would be greater than that of the head part, in particular the foot part could have a significantly or very much greater cone angle in contrast to the head part-for example a cone angle of 0-30° in the region of the head part and a cone angle of 20-60°, which is greater in comparison thereto, in the region of the foot part, preferably 0-10° at the head part, 20-40° at the foot part. This contrast could also apply in principle to a foot and head part which is trapezoidal in axial section. Or for antagonistic trapezoidal prisms of the foot and head part in relation to the angles of the legs. Truncated pyramid-shaped foot and head parts having antagonistic design with respect to the limb angles would also be conceivable. In particular, a leg angle of the foot and head part should deviate from one another by at least 10°, preferably 15-30°, wherein the angle of the foot part legs is less acute and the angle of the head part legs is more acute (i.e. more parallel). Other foot and head part body shapes are also conceivable.As is particularly the case in FIG. 3, i.v.m. As illustrated in FIG. 6, studs 22 have a substantially different cross-sectional area shape in radial planes of section A-A and B-B, perpendicular to the radial axis 36 of the stud 22, in the region of the foot part 24 than in the region of the head part 28. The longer side of the rectangular cross-sectional surface shape B-B of the foot part 24 extends in particular in the circumferential direction of the tire 10.It is further proposed that the foot part 24 of the stud 22 can be substantially trapezoidal prism-shaped or truncated pyramid-shaped and / or a combination thereof, and the head part substantially rectangular parallelepiped- or cubic-shaped. As can be seen from the overview of FIGS. 2, 4 and 7, the exemplary embodiment has studs 22 with such a shape. The trapezoidal prism-shaped or truncated pyramid-shaped base surface of the foot part 24 can be formed, for example, as rectangular or square. In this case, cf. FIG. 6, section B-B, it is of rectangular design, in particular wherein the longer side of the rectangular, substantially trapezoidal prism-shaped or truncated pyramid-shaped foot part is oriented in the circumferential direction of the tire.Furthermore, the foot part can also be substantially frustoconical and the head part can be substantially cylindrical (not shown here). In radial sectional planes perpendicular to the radial axis of the stud in the region of the head part and in the region of the foot part, the cross-sectional areas would then each be circular. Here, too, the side surfaces 30, 32 of the foot and head part 24, 28 are substantially at an angle or parallel to the radial axis 36.The foot and head part each have a certain height 40-1, 40-2. Together, they define a height 40 of the stud. It is proposed that a height 40-1 of the foot part 24 in the direction of the radial axis 36 is greater than a height 40-2 of the head part 28, in particular between 1-2.5 times greater, preferably 1.5-2 times greater.A transition region 62 a, 62 bfrom the lateral or base circle surface 26 of the tire 10 to the stud 22, in particular to at least one side surface 30 of the stud 22, in particular to at least one side surface 30 of the foot part 24 of the stud 22 and / or a transition region 64 a, 64 bfrom the foot part 24 to the head part 28 of the stud 22, in particular a side surface 30 of the foot part 24 to a side surface 32 of the head part 28 of the stud 22, and / or a transition region 66 a, 66 bfrom the head part 28 to the end surface 29 of the stud 22, in particular from at least one side surface 32 of the head part 28 of the stud 22 to the end surface 29 of the stud 22, is formed concave or convex, in particular having a radius of curvature 68, 70, preferably a radius of curvature 70 of 0.5 mm or radius of curvature 68 of 1.5 mm. Preferably, wherein a concave or convex transition region 62, 64, 66 is formed on only three of four sides 72 a, 72 b, 72 c(cf. FIG. 5 ) of the stud 22, in particular not formed on a side 72 dof the stud 22 facing the axial center 74 (cf. FIG. 4 ) of the tire. The axial center 74 according to FIG. 4 also runs through the axial center 74, the axial center plane 74 a, which runs perpendicular to the axis of rotation 38 of the tire 10.A radial end face or tread surface 29 of the stud / studs 22 is formed substantially square and / or a foot surface 76 of the stud / studs 22 is formed substantially rectangular, in particular a foot surface 76 of the stud / studs 22 where the stud / studs 22 foot on the lateral surface 26 or root circle surface of the tire 10. The longitudinal side 78 of the rectangular surface with the greater extent extends in particular in the circumferential direction 48. the radial end face 29 can also be substantially square, for example, because rounded portions 70 aare provided between the side faces 72 a, 72 b, 72 cof the head part 28 and the radial end face 29. Rounded portions 70 aare in particular not provided on all sides of the substantially square head part 28, in particular not in the transition region to the side surface 72 d.Furthermore, in the axial direction 38 of the tire 10, the studs 22 are arranged in four rows 80 a, 80 b, 80 c, 80 dof studs 22 a, 22 b, 22 c, 22 ddistributed over the circumference (cf. insb. FIG. 4 ). The studs 22 a, 22 b, 22 c, 22 dof each row 80 a, 80 b, 80 c, 80 dare arranged offset from studs 22 a, 22 b, 22 c, 22 dof the other rows 80 a, 80 b, 80 c, 80 din the axial direction 38 and / or in the circumferential direction 48. They are in particular arranged spaced apart and / or offset without overlap. Thus, in particular offset from the studs 22 a, 22 b, 22 c, 22 dof the rows 80 a, 80 b, 80 c, 80 d, which are in particular directly axially adjacent and / or of the rows 80 a, 80 b, 80 c, 80 d, which are in particular directly not axially adjacent.In axial projection (cf. FIG. 2 ), i.e. projection along the axis of rotation 38 or in the axial direction 38 of the tire 10, the lugs 22 a, 22 b, 22 c, 22 dare arranged sequentially, as viewed in the circumferential direction 48 of the tire 10, in such a way that a lug 22 aof the axially first row 80 a tracings a lug 22 bof the axially second row 80 b, then a lug 22 dof the axially fourth row 80 dand finally a lug 22 cof the axially third row 80 c. An axial offset 82 a, 82 b, 82 caxially in particular directly adjacent rows 22 a, 22 b, 22 c, 22 dis unequal. An axial offset 82 bof the two middle rows 80 b, 80 c, i.e. in particular of the second and third rows 80 b, 80 crelative to one another, is less than an offset 82 a, 82 cof the first to the second row 80 a, 80 band / or of the third to the fourth row 80 c, 80 d. In particular, an axial offset 82 a, 82 cof the first to the second row 80 a, 80 band / or of the third to the fourth row 80 c, 80 dis greater than an offset 82 bof the two middle rows 80 b, 80 cby a factor of 0.5-1.5, preferably by a factor of 0.75-1.25. In particular, an axial offset 82 aof the first row to the second row 80 a, 80 bis approximately 4.5 mm. An axial offset 82 vof the third to the fourth row 80 c, 80 dmay be approximately 3.5 mm. An offset 82 bof the two middle rows 80 b, 80 c, i.e. of the second row to the third row 80 b, 80 c, is preferably around 2 mm.Furthermore, studs 22 of each of the four rows 80 a, 80 b, 80 c, 80 dadjacent to one another in the circumferential direction 48 are arranged individually at an angular distance 84 aof 24° to one another and / or adjacent studs of all rows are arranged at an angular distance 84 bof 6° to one another in axial projection (cf. FIG. 2 ) and viewed in the circumferential direction 48 of the tire 10, in particular wherein the studs 22 a, 22 b, 22 c, 22 dof the first to the second row 80 a, 80 band of the third to the fourth row 80 c, 80 dare arranged at an angular distance of 6° and wherein the studs 22 b, 22 cof the second to the third row 80 b, 80 dare arranged at an angular distance 84 cof 12°.It is proposed that an axial width 86 of the tire 10 is 50-75% greater, in particular 65-70%, in particular around 2 / 3, greater than an accumulated axial width 87 a, 87 b, 87 c, 87 dof four head or end faces 29 a, 29 b, 29 c, 29 dof each stud 22 a, 22 b, 22 c, 22 dof the four rows 80 a, 80 b, 80 c, 80 dand / or that an axial width 86 of the tire 10 is 6-7 times greater than an axial width 87 a, 87 b, 87 c, 87 dof a radial head or end face 29 a, 29 b, 29 c, 29 dof a stud 22 a, 22 b, 22 c, 22 d. More specifically, an axial width 86 of the tire 10 is about 30 mm and an accumulated axial width 87a, 87b, 87c, 87d of the radial head or end faces 29a, 29b, 29c, 29d of each stud 22a, 22b, 22c, 22d of the four rows 80a, 80b, 80c, 80d is about 18-20 mm. In particular, an axial width 87 a, 87 b, 87 c, 87 dof an end face 29 a, 29 b, 29 c, 29 dof a stud 22 a, 22 b, 22 c, 22 dis around 4.5-5 mm.A height 40 of a stud 22, in particular starting from a base or lateral surface 26 of the tire 10 as far as the radial head or end face 29 of a stud 22, is greater than a length 88 of a radial end face 29 of the stud 22 in the circumferential direction 48 of the tire 10 (cf. in particular. FIG. 3 ) is in particular 1.5-2 times larger. A height 40- 2 of a head part 28 of a stud 22 is smaller than a length 88 of a radial end face 29 of the stud 22 in the circumferential direction 48, a height 40- 1 of a foot part 24 of a stud 22 is approximately the same as a length 88 of a radial end face 29 of the stud 22 in the circumferential direction 48, and a height ratio in the direction of the radial axis 36 of a height 40- 1 of the foot part 24 of the stud 22 to the height 40- 2 of the head part 28 can be approximately 1-2.5, in particular approximately 1.5-2. A head part 28 has, for example, a height 40-2 of 2.4 mm and a foot part 24 a height 40-1 of 3.6-4.6 mm. In particular, the heights 40- 2 of the head part 28 of all studs 22 of a tire 10 are identical. Different heights 40- 1 of the foot part 24 of different studs 22 a, 22 b, 22 c, 22 d, in particular studs 22 of different rows 80 a, 80 b, 80 c, 80 dof studs 22 a, 22 b, 22 c, 22 d, are preferably provided for enabling a curved lateral surface of the tire 10 in the axial direction 38. An axially outer stud 22 a, 22 dof the tire 10 can have, for example, a higher foot part 24 than an axially more central stud 22 b, 22 cof the tire 10. in particular, the foot parts 24 of the studs 22 of two outer rows 80 a, 80 dof studs 22 a, 22 d, in particular, for example, a first and a fourth of the four rows of studs, distributed over 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, around 1 mm higher, than the foot parts 24 of the studs 22 b, 22 cof one or two middle rows 80 b, 80 c, in particular, for example, the second and third rows 80 b, 80 cof a tire 10. A transition region 62 from the lateral or base circle surface 26 of the tire 10 to the stud 22 is formed in a curved manner. They have, 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 foot part 24 to the head part 28, and from the head part 28 to the end face 29 of a stud 22, the radius of curvature 70 is, for example, 0.5 mm. In particular, a radius of curvature is formed between only three of four sides of the stud 22, in particular at three substantially rectangular transition regions of the side surfaces to one another, in particular viewed in the circumferential direction about the radial axis 36 of the stud 22 and / or of the side surfaces to the end face 29. It is situated in particular axially centrally between a second and third row of studs 80 b, 80 c. The axial center 74 is substantially equidistant from the axial end faces 29 of the tire 10. An axial end face 89 aof a stud 22 ais formed on an outer side 18 of the tire 10 at an acute angle to the radial axis 36 and / or at an acute angle to the axially opposite outer side 18 or axially opposite inner axial end face 89 dof the tire 10. In particular, the angle 90 is approximately 4°. The outer axial end face 89 aruns towards the inner axial end face 89 dof the tire 10 with increasing distance (radius) from the axis of rotation 38 of the tire, in particular at an angle 90 of 4°. The outer side 18 of the tire 10 is defined in particular as the side facing away from a drive unit 108 of the tire 10 or of the wheel or of the chassis 106. The inner side 20 is defined in particular as the side facing the drive unit 108 of the tire 10 or of the wheel or as the side facing the chassis 106 of the service robot 100. In the present exemplary embodiment, an inner diameter of the tire 10 to the wall of the outer side 18 is approximately 180-185 mm, especially. 182 mm - In Fig. 3, the corresponding inner radius 92 is shown. An outer diameter 94 (up to the end faces 29) is around 220 mm-the corresponding outer radius 95 is also shown in FIG. 3. The surface or base circle diameter of the tire 10 is around 200-210 mm, in particular 204-208 mm, preferably by a slightly spherical shape of the surface of the surface or base circle in the axial direction 38 of the tire 10. As a result, they are in particular equally suitable for forward and reverse travel. However, it would also be possible to provide tires with studs according to the invention for a unidirectional drive or with different traction behavior during forward and rearward travel, in particular by one or more studs, the foot parts of which have a side surface running at an angle to the radial axis or side surfaces running at different angles only in a circumferential direction, or the like.An axial side surface 72 dof a stud 22, in particular all studs 22, which is / are arranged or oriented adjacent to the axial center 74 or axial center parting plane of the tire 10, run perpendicular to the rotational or tire axis 38. As a result, in particular a drift tendency of the tire 10 transversely to the rolling direction or running direction of the tire 10, in particular on grass, can be avoided.The tire is integrally formed. It comprises, in particular, thermoplastic polyurethane (TPU) or is preferably formed therefrom.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedEP 2 657 043 A1

[0001]

Claims

Tyre (10) for a service robot (100), in particular lawn mower robot tyre (12), having a multiplicity of studs (22) distributed over the circumference of the tyre (10), wherein a stud (22) has a foot part (24) which feet on a lateral or base circle surface (26) of the tyre (10) and a head part (28) which has an in particular radial face or tread surface (29) of the stud (22), in particular carries or forms a radial face or tread surface (29) of the stud (22) or tyre (10), characterized in that a side surface (30) of the foot part (24) of the stud (22), in relation to a radial axis (36) of the stud (22), has an orientation which substantially spreads to the lateral or base circle surface (26), and a side face (32) of the head part (28) of the stud (22), with respect to the radial axis (36) of the stud (22), has a substantially non-spreading orientation, preferably an orientation running substantially parallel to the radial axis (36).Tyre (10) at least according to the preamble of claim 1, in particular according to claim 1, characterised in that a side surface (30) of the foot part (24) is aligned substantially at an angle or obliquely to a radial axis (36) of the stud (22) and a side surface (32) of the head part (28) is aligned substantially parallel to the radial axis (36) of the stud (22), in particular side surfaces (30, 32) of the stud (22) facing in the circumferential direction (48) of the tyre (10).Tyre (10) at least according to one of Claims 1 or 2, characterized in that the side face (30) of the foot part (24) is oriented at an acute angle to the radial axis (36) of the stud (22), in particular having an angle (46) of 5-45°, preferably of 10-20°, particularly preferably of around 15°, in particular wherein the angle (46) tapers at an acute angle radially outwards.Tyre (10) according to at least one of the preceding claims, characterized in that side faces (30) of the foot part (24) of the stud (22) which are opposite in the circumferential direction (48) are oriented at an angle, in particular at an acute angle, preferably at an isosceles angle, with respect to one another.Tyre (10) according to at least one of the preceding claims, characterized in that the basic shape of the stud (22) about the radial axis (36) is substantially quadrangular, in particular wherein the sides of the quadrangle are aligned parallel and perpendicular to the axis of rotation (38) of the tyre (10), preferably wherein a basic shape of the foot part (24) is substantially trapezoidal prism-shaped and a basic shape of the head part (28) is substantially cuboidal.Tyre (10) at least according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that the stud (22) has, in an axial sectional plane (50) perpendicular to the axis of rotation (38) of the tyre (10), a substantially isosceles trapezoidal foot part cut surface (52) and a substantially rectangular or square head part cut surface (54).Tyre (10) at least according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that the foot part (24) of the stud (22) is formed substantially in the shape of a trapezoidal prism or in the shape of a truncated pyramid, and the head part (28) is formed substantially in the shape of a cuboid or cube; or in that the foot part (24) is formed substantially in the shape of a truncated cone and the head part (28) is formed substantially in the shape of a cylindrical body.Tyre (10) at least according to the preamble of claim 1, in particular according to one of the preceding claims, characterized in that the stud (22) has a substantially rectangular cross-sectional surface shape (96) in radial planes of section (A-A, B-B) perpendicular to the radial axis (36) of the stud (22) in the region of the foot part (24) and a substantially square cross-sectional surface shape (98) in the region of the head part (28), preferably wherein a longer side (60) of the rectangular cross-sectional surface shape (96) of the foot part (24) is oriented in the circumferential direction (48) of the tyre (10).Tyre (10) at least according to one of the preceding claims, characterized in that a height (40-1) of the foot part (24) in the radial axis direction (36) is greater than a height (40-2) of the head part (28), in particular between 1-2.5 times greater, preferably 1.5-2 times greater, preferably wherein a height (40-1) of the foot part (24) is 3.6-4.6 mm and a height (40-2) of the head part (28) is 2.4 mm.Tyre (10) according to at least one of the preceding claims, characterized in that at least one transition region (62) from the lateral or base circle surface (26) of the tyre (10) to the stud (22), in particular to at least one side surface (30, 72a, 72b, 72c, 72d) of the stud (22), in particular to at least one side surface (30) of the foot part (24) of the stud (22) and / or a transition region (64) from the foot part (24) to the head part (28) of the stud, in particular from a side surface (30) of the foot part (24) to a side surface (32) of the head part (28) of the stud (22), and / or a transition region (66) from the head part (28) to the end surface or tread surface (29) of the stud (22), In particular, at least one side surface (32) of the head part (28) of the stud (22) to the face or tread surface (29) of the stud (22) is rounded, in particular concavely or convexly rounded, in particular having a radius of curvature (68, 70) of 0.25 mm to 2 mm, preferably of 0.5 mm or 1.5 mm, preferably wherein a concave or convex transition region (67- 1) is formed on only three of four sides (72 a, 72 b, 72 c) of the stud (22), in particular not formed on a side (72 d) of the stud (22) facing the axial center (74) of the tire (10).Tyre (10) at least according to Claim 10, characterized in that the transition region (67-1, 67-2) between side faces (72a, 72b, 72c, 72d) of the stud (22) which adjoin one another in the circumferential direction (65) about the radial axis (36) is formed such that it is not rounded at least to one side (72d), in particular at the transition region to the side (72d) of the stud (22) which faces the axial centre (74) of the tyre (10), preferably both at the head part and foot part (24, 28).Service robot (100), in particular lawn mower robot (102), or wheel with rim and / or wheel cap (16), comprising at least one tire (10) according to one of the preceding claims.

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