CN116135551A

CN116135551A - Tire, roller and mowing robot

Info

Publication number: CN116135551A
Application number: CN202111372425.1A
Authority: CN
Inventors: 王健; 葛自旸; 邹伟; 靳思宇
Original assignee: Midea Group Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd; Midea Group Shanghai Co Ltd
Current assignee: Midea Group Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd; Midea Group Shanghai Co Ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2023-05-19

Abstract

The invention relates to the field of mowing equipment, and provides a tire, a roller and a mowing robot. The tire comprises a tire body, wherein a plurality of rows of bulges are arranged on the outer surface of the tire body at intervals, the bulges on the same row are arranged at intervals along the axial direction of the tire body, and the bulges on two adjacent rows are arranged in a staggered manner. According to the tire disclosed by the embodiment of the invention, the plurality of rows of bulges are arranged on the outer surface of the tire body at intervals, so that the bulges can be effectively embedded into a lawn when the tire walks on a lawn, the ground grabbing force of the tire is enhanced, and the obstacle crossing capability of a mowing robot is enhanced; the protrusions of two adjacent rows are arranged in a staggered manner, so that the distance between the protrusions of two adjacent rows is reduced, the distribution density of the protrusions is increased, the end face of the protrusion, which is far away from one end of the tire body, forms an approximate circular surface, and vibration of the mowing robot when the mowing robot runs on a hard ground is reduced.

Description

Tire, roller and mowing robot

Technical Field

The invention relates to the field of mowing equipment, in particular to a tire, a roller and a mowing robot.

Background

The mowing robot is a new variety developed on the basis of the traditional mower, can autonomously complete the work of trimming the lawn, and does not need to be controlled and operated directly by people. The mowing robot generally has the functions of automatically mowing, cleaning grass scraps, automatically taking shelter from rain, automatically walking, automatically avoiding obstacles, automatically returning to charge, controlling a network and the like, and is suitable for trimming and maintaining lawns in places such as home courtyards, public greenhouses and the like.

The mowing robot has the advantages of being simple in operation, high in mowing efficiency and the like, can automatically complete mowing tasks, reduces labor cost and time cost, has the advantages of being safe, noiseless, high in intelligent degree and the like, and has become a main development direction of the mower industry.

Because the mowing robot usually works on a lawn with a certain fluctuation and a certain gradient outdoors, the tire patterns of the mowing robot can be specially designed in order to enable the mowing robot to smoothly run on the lawn, and the tire pattern structures of driving wheels of the mowing robot in the related art are mostly 'staggered straight lines', 'staggered twill' or 'twill'. The tire has weak gripping force when running on a lawn, is not stable enough when walking on a harder ground, and has certain vibration on a machine body.

Disclosure of Invention

The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the tire provided by the invention has strong ground grabbing force, effectively enhances the obstacle surmounting capability of the mowing robot, and reduces the vibration of the mowing robot when the mowing robot moves on a hard ground.

The invention further provides a mowing robot.

The invention further provides a roller.

An embodiment of a tire according to a first aspect of the present invention includes:

the tire comprises a tire body, wherein a plurality of rows of bulges are arranged on the outer surface of the tire body at intervals, the bulges on the same row are arranged at intervals along the axial direction of the tire body, and the bulges on two adjacent rows are arranged in a staggered manner.

According to the tire disclosed by the embodiment of the invention, the plurality of rows of bulges are arranged on the outer surface of the tire body at intervals, so that the bulges can be effectively embedded into a lawn when the tire walks on a lawn, the ground grabbing force of the tire is enhanced, and the obstacle crossing capability of a mowing robot is enhanced; the protrusions of two adjacent rows are arranged in a staggered manner, so that the distance between the protrusions of two adjacent rows is reduced, the distribution density of the protrusions is increased, the end face of the protrusion, which is far away from one end of the tire body, forms an approximate circular surface, and vibration of the mowing robot when the mowing robot runs on a hard ground is reduced.

According to one embodiment of the invention, the outer diameter of the end of the projection near the tire body is larger than the outer diameter of the end of the projection far from the tire body.

According to one embodiment of the invention, the outer diameter of the projection gradually decreases from the projection toward the tire body to the direction away from the tire body.

According to one embodiment of the present invention, the distances between two adjacent rows of the protrusions are equal, and the distances between two adjacent protrusions in the same row are equal.

According to one embodiment of the invention, the cross section of the protrusion is circular or polygonal.

According to one embodiment of the invention, the height of the protrusions is 5mm-10mm; the outer diameter of the bulge close to one end of the tire body is 10mm-15mm; the outer diameter of the tire body is 150mm-200mm.

According to one embodiment of the invention, the sides of two adjacent protrusions in the same row form an angle of 25 ° -30 °.

According to one embodiment of the invention, the tyre body is internally provided with a plurality of cavities at intervals.

According to one embodiment of the invention, the hardness of the tyre body is greater than the hardness of the protuberance.

According to one embodiment of the invention, the outer surface of the tyre body is provided with a plurality of blind holes, and the protrusions are embedded in the corresponding blind holes and are in adhesive connection with the tyre body;

or, one end of the bulge, which is close to the tire body, is provided with a connecting part, and the connecting part is in threaded fit with the inner wall of the corresponding blind hole.

The roller according to the embodiment of the second aspect of the invention comprises a driving motor and further comprises any one of the tires, wherein the tires are sleeved on the periphery of a shell of the driving motor.

According to one embodiment of the present invention, further comprising:

the installation shell, the inside of installation shell is formed with the cavity, the installation shell cover is located driving motor's casing periphery, the tire cover is located the installation shell periphery, the tire with the installation shell passes through stop gear installation.

A mowing robot according to an embodiment of the third aspect of the present invention includes a mowing robot body; the robot mower also comprises any one of the rollers, and the rotating shaft of the driving motor is connected with the main body of the robot mower.

A robot lawnmower according to an embodiment of the fourth aspect of the present invention comprises a running gear comprising at least two wheels, at least two of which wheels employ a tyre as described above.

The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

Further, by using the tire, the obstacle surmounting capacity and the climbing capacity of the roller are effectively enhanced, and the tire is prevented from slipping in the advancing process.

Furthermore, by using the rollers, the driving capability of the mowing robot is improved, the mowing robot is ensured to be suitable for complex lawn ground with undulation and ramp, the user experience is improved, and the product competitiveness is enhanced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic perspective view of a tire according to an embodiment of the present invention;

FIG. 2 is a schematic side view of a tire according to an embodiment of the present invention;

FIG. 3 is a schematic cross-sectional view taken along section line A-A of FIG. 2;

fig. 4 is an exploded view of a roller according to an embodiment of the present invention.

Reference numerals:

100. a tire body; 110. a protrusion; 120. a contact surface; 200. a driving motor; 300. a mounting shell; 310. and (5) positioning blocks.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.

In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Fig. 1 illustrates a schematic three-dimensional structure of a tire provided by an embodiment of the present invention, and fig. 2 illustrates a schematic side-view structure of a tire provided by an embodiment of the present invention, as shown in fig. 1 and fig. 2, the tire includes a tire body 100, a plurality of rows of protrusions 110 are disposed on an outer surface of the tire body 100 at intervals, the protrusions 110 of the same row are arranged at intervals along an axial direction of the tire body 100, and the protrusions 110 of two adjacent rows are arranged in a staggered manner. Compared with the tire using the staggered straight lines, the staggered diagonal lines or the diagonal lines in the related art, the protrusion 110 of the tire according to the embodiment of the invention has a smaller contact area when contacting the ground, and the protrusion 110 is easier to be embedded into the lawn under the condition that the weight of the mowing robot is the same.

According to the tire provided by the embodiment of the invention, the plurality of rows of the bulges 110 are arranged on the outer surface of the tire body 100 at intervals, so that the bulges 110 can be effectively embedded into a lawn when the tire walks on a lawn, the ground grabbing force of the tire is enhanced, and the obstacle surmounting capability of a mowing robot is enhanced; by arranging the protrusions 110 of two adjacent rows in a staggered manner, the distance between the protrusions 110 of two adjacent rows is reduced, the distribution density of the protrusions 110 is increased, the end surface of the protrusions 110 far away from one end of the tire body 100 forms an approximately circular contact surface 120, and vibration of the mowing robot when the mowing robot runs on a hard ground is reduced.

Here, the interval arrangement in the embodiment of the present invention refers to that a certain distance is provided between two adjacent protrusions 110, and a gap is formed between the protrusions 110 and the protrusions 110.

In an embodiment of the present invention, the outer diameter of the end of the protrusion 110 near the tire body 100 is larger than the outer diameter of the end of the protrusion 110 far from the tire body 100. The outer diameter of the protrusion 110 at the end far from the tire body 100 is set smaller in order to reduce the contact area of the protrusion 110, so that the protrusion 110 is more easily embedded in the lawn.

In the embodiment of the present invention, the outer diameter of the protrusion 110 gradually decreases from the protrusion 110 toward the tire body 100 to the direction away from the tire body 100. The protrusions 110 are all of a truncated cone shape, and the outer diameter change is linear, and when the outer diameter of the end of the protrusions 110 close to the tire body 100, the height of the protrusions 110, and the included angle are fixed, the outer diameter of the end of the protrusions 110 far from the tire body 100 is also fixed. In the embodiment of the present invention, the distances between the adjacent two rows of the protrusions 110 are equal, and the distances between the adjacent two protrusions 110 in the same row are also equal. Here, the adjacent two rows are respectively referred to as a first row and a second row, and because the distances between the adjacent two protrusions 110 in the same row are equal, when the protrusions 110 in the adjacent two rows are arranged in a staggered manner, the gaps between the adjacent two protrusions 110 in the first row and the adjacent two protrusions 110 in the second row correspond, so that the protrusions 110 in the first row can be arranged closer to the second row, the distance between the adjacent two rows of protrusions 110 is reduced, and the smaller the distance between the adjacent two rows of protrusions 110 is, the smaller the vibration of the mowing robot when running on a hard ground is.

In one embodiment of the present invention, as shown in fig. 1, since the protrusions 110 of the adjacent two rows are arranged in a staggered manner and the width of the tire body 100 is fixed, it is necessary to make the number of protrusions 110 of one of the adjacent two rows of protrusions 110 smaller than the number of protrusions 110 of the other row. For example, the number of one row of projections 110 in two adjacent rows of projections 110 is set to three, and the number of the other row of projections 110 is set to two. Of course, the number of the protrusions 110 per one row is not limited thereto, and is specifically determined according to the width of the tire body 100 and the size of the protrusions 110.

In the embodiment of the present invention, the protrusions 110 of each row have the same shape, and the cross section of the protrusions 110 is circular. The distance between the protrusions 110 and the protrusions 110 needs to be considered in order to reduce the amount of foreign matters caught between the protrusions 110 and the protrusions 110 by considering how to select an appropriate distance in addition to the width of the tire body 100. Of course, the shape of the cross section of the protrusion 110 is not limited thereto, and may be polygonal.

Here, the cross section refers to a plane perpendicular to the height direction of the protrusions 110, and the shape of the protrusions 110 of each row may be different, for example, the protrusions 110 of one row in two adjacent rows are configured as truncated cone-shaped protrusions, and the protrusions 110 of the other row are configured as square protrusions. Of course, other combinations of shaped projections 110 are possible and are not illustrated herein.

In the embodiment of the present invention, fig. 3 illustrates a schematic cross-sectional structure taken along a section line A-A in fig. 2, and as shown in fig. 3, the height of the protrusion 110 is h, and the height of the protrusion 110 is 5mm-10mm. The sides of two adjacent protrusions 110 in the same row form an included angle beta of 25 deg. -30 deg.. The height of the protrusions 110 and the size of the included angle are determined according to the strength of the protrusions 110, the size of the tire, the ground condition, and the material of the tire. The outer diameter of the end, close to the tire body 100, of the protrusion 110 is 10mm-15mm, the outer diameter of the end, close to the tire body 100, of the protrusion 110 is larger, the protrusion 110 and the tire body 100 are provided with larger connecting surfaces, the connection strength of the protrusion 110 and the tire body 100 is more favorable for being enhanced, and the protrusion 110 is prevented from falling off due to overlarge stress. The outer diameter of the tire body 100 is 150mm to 200mm, and the outer diameter of the tire is specifically determined according to the height of grass and the flatness of the lawn. In the embodiment of the present invention, a plurality of cavities are disposed in the tire body 100, and the cavities are arranged at intervals, where the cavities may be through holes penetrating the tire body 100, or blind holes with openings formed on one side of the tire body 100. Providing the cavity may reduce the structural strength of the tire body 100 and improve the vibration damping performance of the tire. When the tire is impacted, the tire body 100 deforms, so that vibration of the mowing robot when the mowing robot runs on the hard ground is reduced, and user experience is improved.

In the embodiment of the invention, the tire body 100 and the protrusion 110 are integrally formed, and the tire body 100 and the protrusion 110 are integrally formed, so that the production cost can be effectively reduced. The tire body 100 and the protrusions 110 are made of rubber or plastic, and the rubber or plastic has high elasticity, so that the vibration damping performance of the tire can be improved, the friction between the tire and the ground can be increased, and the grip of the tire can be further enhanced.

In the embodiment of the present invention, the outer surface of the tire body 100 is detachably connected with the protrusions 110, and since the protrusions 110 are worn first during the use of the tire, the protrusions 110 are worn seriously and the tire body 100 is not worn seriously. Thus, the worn-out protrusion 110 can be easily replaced by detachably coupling the protrusion 110 to the outer surface of the tire body 100. Because only the worn protrusions 110 need to be replaced, the whole tire does not need to be replaced, and the use cost of a user is effectively reduced.

In the embodiment of the present invention, the hardness of the tire body 100 is greater than that of the protrusion 110, and since the tire body 100 with greater hardness is not easy to deform, a firm installation base is provided for fixing the protrusion 110, and the stability of the protrusion 110 is improved.

In the embodiment of the present invention, the outer surface of the tire body 100 is provided with a plurality of blind holes (not shown), and the inner diameter of the blind holes is smaller than the outer diameter of the protrusions 110 near one end of the tire body 100, so as to ensure that the protrusions 110 are tightly matched with the blind holes when the protrusions 110 are embedded into the corresponding blind holes, and improve the stability of fixing the protrusions 110. The depth of the blind hole is 1/5 to 1/3 of the height of the protrusion 110, and after the protrusion 110 is embedded into the blind hole, the protrusion 110 is connected with the inner wall of the blind hole by gluing.

In the embodiment of the invention, a connecting part is arranged at one end of the bulge 110 close to the tire body 100, one end of the connecting part is embedded at one end of the bulge 110 close to the tire body 100, threads are arranged on the outer circumferential surface of the connecting part and the inner wall of the blind hole, and the connecting part is in threaded fit with the corresponding inner wall of the blind hole. Since the connection portion is made of metal or hard plastic and the hardness of the tire body 100 is high, the connection portion can be well connected with the blind hole, and even if the protrusion 110 is severely worn, the protrusion will not fall off.

One specific embodiment of the present invention is described below in conjunction with fig. 1, 2 and 3: in fig. 1 and 2, the tire includes a tire body 100, the tire body 100 has a ring structure, a plurality of rows of protrusions 110 are disposed on an outer surface of the tire body 100 at intervals, and distances between two adjacent rows of protrusions 110 are equal. The protrusions 110 of the same row are arranged at intervals along the axial direction of the tire body 100, and the distances between adjacent two protrusions 110 in the same row are equal. The shape and size (the size includes the outer diameter and the height of the two ends of the protrusion 110) of each row of protrusions 110 are the same, the outer diameter of the protrusion 110 near one end of the tire body 100 is larger than the outer diameter of the protrusion 110 far from one end of the tire body 100, and the protrusions 110 are all in the shape of a truncated cone.

As shown in fig. 3, the protrusions 110 of two adjacent rows are arranged in a staggered manner, and any two adjacent rows are respectively referred to as a first row and a second row, wherein the number of protrusions 110 of the first row is two, and the number of protrusions 110 of the second row is three, and because the distances between the two adjacent protrusions 110 in the same row are equal, when the protrusions 110 of the first row and the protrusions 110 of the second row are arranged in a staggered manner, the gaps between the protrusions 110 of the first row and the two adjacent protrusions 110 in the second row correspond. The height of the protrusion 110 is h, and the height of the protrusion 110 is 5mm-10mm. The sides of two adjacent protrusions 110 in the same row form an included angle beta of 25 deg. -30 deg.. The tyre body 100 and the bulge 110 are integrally formed, and the tyre body 100 and the bulge 110 are made of rubber or plastic with better elasticity.

According to the tire provided by the embodiment of the invention, the plurality of rows of the bulges 110 are arranged on the outer surface of the tire body 100 at intervals, so that the bulges 110 can be effectively embedded into a lawn when the tire walks on a lawn, the ground grabbing force of the tire is enhanced, and the obstacle surmounting capability of a mowing robot is enhanced; by arranging the protrusions 110 of two adjacent rows in a staggered manner, the distance between the protrusions 110 of two adjacent rows is reduced, the distribution density of the protrusions is increased, the end surface of the protrusions 110 far away from one end of the tire body 100 forms an approximately circular contact surface 120, and vibration of the mowing robot when the mowing robot runs on a hard ground is reduced.

Fig. 4 illustrates an exploded schematic view of a roller according to an embodiment of the present invention, and as shown in fig. 4, the present invention further provides a roller, which includes a driving motor 200, and further includes a tire according to any one of the above embodiments, wherein the tire is sleeved on the outer periphery of a housing of the driving motor 200. When the driving motor 200 is powered on, the rotation shaft of the driving motor 200 is connected with the main body of the mowing robot, so that the casing of the driving motor 200 rotates to drive the tire to rotate.

In the embodiment of the present invention, the roller further includes a mounting case 300, a cavity is formed in the mounting case 300, an opening is formed at one side of the mounting case 300, and the mounting case 300 is sleeved on the outer circumference of the housing of the driving motor 200. The limiting mechanism comprises a plurality of positioning blocks 310, the plurality of positioning blocks 310 are arranged on the inner side of the tire at equal intervals, limiting grooves corresponding to the positioning blocks 310 are formed in the periphery of the mounting shell 300 at equal intervals, the tire is sleeved on the periphery of the mounting shell 300 and is connected with the mounting shell 300 through screws, and the positioning blocks 310 are clamped into the corresponding limiting grooves. When the driving motor 200 is powered on, the casing of the driving motor 200 drives the tire to rotate through the mounting case 300. The driving motor 200 directly drives the tire to rotate, so that the transmission efficiency is effectively improved. By using the tire of the embodiment, the obstacle surmounting capacity and the climbing capacity of the roller are effectively enhanced, and the tire is prevented from slipping in the running process.

The invention also provides a mowing robot, which comprises a mowing robot main body; the roller according to any one of the above embodiments is further included, and a rotating shaft of the driving motor 200 is connected to the mowing robot body.

The invention also provides a mowing robot, which comprises a travelling mechanism, wherein the travelling mechanism comprises at least two wheels, and the at least two wheels adopt the tire in any one embodiment.

By using the roller, the driving capability of the mowing robot is improved, the mowing robot is ensured to be suitable for complex lawn ground with undulation and ramp, the user experience is improved, and the product competitiveness is enhanced.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

The above embodiments are only for illustrating the present invention, and are not limiting of the present invention. While the invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and it is intended to be covered by the scope of the claims of the present invention.

Claims

1. A tire, comprising:

the tire comprises a tire body, wherein a plurality of rows of bulges are arranged on the outer surface of the tire body at intervals along the circumferential direction, the bulges on the same row are arranged at intervals along the axial direction of the tire body, and the bulges on two adjacent rows are arranged in a staggered manner.

2. The tire of claim 1 wherein the outer diameter of the end of the projection proximate the tire body is greater than the outer diameter of the end of the projection distal the tire body.

3. The tire of claim 2, wherein the outer diameter of the projection gradually decreases from the projection toward the tire body to a direction away from the tire body.

4. Tyre according to claim 1, characterized in that the distance between two adjacent rows of said projections is equal and the distance between two adjacent projections in the same row is equal.

5. Tyre according to claim 1 or 4, characterized in that said projections have a circular or polygonal cross section.

6. A tyre according to any one of claims 1 to 3, wherein said projections have a height of 5mm to 10mm; the outer diameter of the bulge close to one end of the tire body is 10mm-15mm; the outer diameter of the tire body is 150mm-200mm.

7. Tyre according to claim 6, characterized in that the sides of two adjacent lugs in the same row form an angle of between 25 ° and 30 °.

8. Tyre according to any one of claims 1 to 4, characterized in that said tyre body is internally provided with a plurality of cavities at intervals.

9. Tyre according to any one of claims 1 to 4, characterized in that said tyre body has a hardness greater than that of said protuberance.

10. Tyre according to claim 9, characterized in that the outer surface of said tyre body is provided with a plurality of blind holes, said projections being embedded in corresponding said blind holes and being adhesively connected to said tyre body;

11. A roller comprises a driving motor; the tire according to any one of claims 1 to 10 is further included, wherein the tire is sleeved on the outer periphery of the driving motor.

12. The roller as recited in claim 11, further comprising:

13. A mowing robot comprising a mowing robot body; the robot mower is characterized by further comprising the roller of claim 11 or 12, wherein a rotating shaft of the driving motor is connected with the robot mower body.

14. A robot lawnmower comprising a running gear, characterized in that said running gear comprises at least two wheels, at least two of said wheels employing a tyre according to claims 1-10.