CN220031625U - Tyre, wheel body assembly and automatic walking equipment - Google Patents

Abstract

The utility model is suitable for the field of walking devices, and discloses a tire, a wheel body assembly and automatic walking equipment. The tire comprises a tire body and a tire tread, wherein the tire body is provided with a radial outer surface, a first axial end surface and a second axial end surface, the first axial end surface and the second axial end surface are respectively formed at two axial ends of the tire body, the radial outer surface extends from the outer edge of the first axial end surface to the outer edge of the second axial end surface, the tire tread is convexly arranged on the radial outer surface, the tire tread comprises a plurality of bulges, and the bulges are distributed at intervals along the circumferential direction of the radial outer surface; each projection extending from a first axial end face to a second axial end face; in the axial orthographic projection of the tire, the projections of the outer edges of the plurality of projections are joined into a full circular pattern. When the tire walks on the ground, the tread can always keep contact with the ground, so that the ground grabbing capacity of the tire is improved, and the anti-skid effect of the tire is further improved.

Description

Tyre, wheel body assembly and automatic walking equipment

Technical Field

The utility model relates to the field of walking devices, in particular to a tire, a wheel body assembly with the tire and automatic walking equipment with the wheel body assembly.

Background

The related art provides an automatic walking device, which is provided with a wheel body assembly for driving the automatic walking device to walk, wherein the outer surface of a tire of the wheel body assembly is provided with a tire tread. However, the tire in the related art has the problems of complicated structure, poor ground grabbing capability and poor vibration damping capability due to unreasonable tread design.

Disclosure of Invention

A first object of the present utility model is to provide a tire, which aims to solve the technical problem of poor tire gripping ability in the related art.

In order to achieve the above purpose, the utility model provides the following scheme: a tire comprising a tire body and a tread, the tire body having a radially outer surface, a first axial end surface and a second axial end surface, the first axial end surface and the second axial end surface being formed at respective axial ends of the tire body, the radially outer surface extending from an outer edge of the first axial end surface to an outer edge of the second axial end surface, the tread being formed convexly at the radially outer surface, the tread comprising a plurality of protrusions, the plurality of protrusions being spaced apart along a circumferential direction of the radially outer surface;

each of the protrusions extends from the first axial end face to the second axial end face;

in the axial orthographic projection of the tire, a plurality of projections of the raised outer edges are joined into a full circular pattern.

As one embodiment, the protrusion includes a first linear extension, a second linear extension, and a transitional coupling, the first linear extension extending along a first linear trajectory from the first axial end face toward the second axial end face;

the second linear extension extends from the second axial end face toward the first axial end face along a second linear trajectory;

the transition connection portion extends from an end of the first linear extension portion away from the first axial end face to an end of the second linear extension portion away from the second axial end face;

in an axial orthographic projection of the tire, at least a portion of the first linear extension of any one of the projections obscures at least a portion of the transition connection and/or at least a portion of the second linear extension of an adjacent one of the projections.

As an embodiment, the transition connection portion extends along a third linear trajectory from an end of the first linear extension away from the first axial end face to an end of the second linear extension away from the second axial end face;

or, the transition connection portion extends along an arc track from an end of the first linear extension portion away from the first axial end surface to an end of the second linear extension portion away from the second axial end surface.

As one embodiment, the first linear track and the second linear track are parallel to each other; and/or the number of the groups of groups,

at least one of the first and second linear trajectories is parallel to a central axis of the tire body.

As one embodiment, the protrusion includes a third linear extension and a fourth linear extension, the third linear extension extending along a fourth linear trajectory from the first axial end face toward the second axial end face;

the fourth linear extension extends from the second axial end surface to an end of the third linear extension away from the first axial end surface along a fifth linear trajectory;

in an axial orthographic projection of the tire, at least a portion of the third linear extension of any one of the projections obscures at least a portion of the third linear extension of an adjacent one of the projections.

As one embodiment, at least one of the fourth linear path and the fifth linear path is a different-plane straight line from the central axis of the tire body; and/or the number of the groups of groups,

the third linear extension and the fourth linear extension of the same protrusion are connected to form a V-shaped structure.

As one embodiment, the tire body is further formed with a mounting hole formed at a radial center position of the tire body for mounting a motor.

As one embodiment, the tire body is further formed with a vibration damping hole provided between the mounting hole and the tread in a radial direction of the tire body.

As one embodiment, the tire body is formed with a plurality of the vibration damping holes including a plurality of first vibration damping holes and a plurality of second vibration damping holes;

the plurality of first vibration reduction holes are concavely arranged on the first axial end face and distributed along the circumferential direction of the first axial end face;

the plurality of second vibration reduction holes are concavely arranged on the second axial end face and distributed along the circumferential direction of the second axial end face.

As one embodiment, the first vibration damping hole is a circular hole; and/or, the second vibration reduction holes are round holes.

A second object of the present utility model is to provide a wheel assembly comprising an electric motor and the tire described above, the electric motor being mounted within the tire body.

A third object of the present utility model is to provide an automatic walking device, which includes a machine body, a controller, and the wheel body assembly, wherein the wheel body assembly and the controller are respectively mounted on the machine body;

the controller is electrically connected with the motor and used for controlling the motor to work.

As one embodiment, the self-walking device is a mower, and the self-walking device further comprises a cutting mechanism, wherein the cutting mechanism is mounted on the machine body for mowing; or,

the automatic walking equipment is a crop harvester and further comprises a harvesting mechanism which is arranged on the machine body and used for harvesting crops.

The tire, the wheel body assembly and the automatic walking equipment provided by the utility model are characterized in that the tire tread is arranged to comprise a plurality of bulges distributed on the radial outer surface of the tire body, and each bulge extends from the first axial end surface to the second axial end surface of the tire body; in the axial orthographic projection of the tire, the projection of the outer edges of the bulges is connected into a whole circular graph, so that the contact area between the tire and the ground is guaranteed, the tire can walk on the ground, the tire tread is always in contact with the ground, the ground grabbing capacity of the tire is effectively improved, and the anti-skid effect of the tire is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a schematic plan view of the front view of FIG. 1;

FIG. 3 is a top plan schematic view of FIG. 1;

FIG. 4 is a schematic perspective view of a tire according to an embodiment of the present utility model from another perspective;

FIG. 5 is a schematic perspective view of a wheel assembly according to an embodiment of the present utility model;

fig. 6 is a schematic view of the composition of the walking device according to the first embodiment of the present utility model;

FIG. 7 is a perspective view of a tire according to a second embodiment of the present utility model;

FIG. 8 is a schematic front plan view of FIG. 7;

fig. 9 is a top plan schematic view of fig. 7.

Reference numerals illustrate: 1. an automatic walking device; 10. a wheel assembly; 100. a tire; 110. a tire body; 111. a radially outer surface; 112. a first axial end face; 113. a second axial end surface; 120. a tread; 121. a protrusion; 1211. a first linear extension; 1212. a second linear extension; 1213. a transitional connection part; 1214. a third linear extension; 1215. a fourth linear extension; 130. a mounting hole; 140. a vibration damping hole; 141. a first vibration damping hole; 142. a second vibration damping hole; 150. convex ribs; 160. a through groove; 170. a separation groove; 200. a motor; 20. a body; 30. a controller; 40. a driven wheel assembly; 50. and a cutting mechanism.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

It should also be noted that the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Embodiment one:

as shown in fig. 1 to 6, a tire 100 according to an embodiment of the present utility model includes a tire body 110 and a tread 120, wherein the tire body 110 is a main structure of the tire body 110. The sipes 120 are formed on the outer surface of the tire body 110 for increasing the anti-skid capability of the tire 100.

Referring to fig. 1 and 3, as an embodiment, the tire body 110 has a radial outer surface 111, a first axial end surface 112, and a second axial end surface 113, the first axial end surface 112 and the second axial end surface 113 being formed at both axial ends of the tire body 110, respectively, the radial outer surface 111 extending from an outer edge of the first axial end surface 112 to an outer edge of the second axial end surface 113, and the sipes 120 being formed protruding from the radial outer surface 111. The radially outer surface 111 is a ring of surface of the tire body 110 that is located outermost in the radial direction. The radial direction of the tire body 110 is the diameter extending direction of the tire body 110. The first axial end face 112 and the second axial end face 113 are disposed opposite each other. The first axial end face 112 and the second axial end face 113 are two end faces of the tire body 110 located outermost in the axial direction.

Referring to fig. 1 and 3, as one embodiment, the tread 120 includes a plurality of protrusions 121, the plurality of protrusions 121 being spaced apart along the circumference of the radially outer surface 111. Each of the protrusions 121 is provided protruding from the radially outer surface 111 of the tire body 110.

Referring to fig. 1 and 2, as an embodiment, in the axial orthographic projection of the tire 100, the outer edge projections of the plurality of protrusions 121 are connected in a full circle pattern, that is: in an axial orthographic view of tire 100, the outer edges of the plurality of protrusions 121 are projected to join into a circumferentially closed pattern. The axial orthographic projection of the tire 100 refers to a two-dimensional projection pattern obtained by orthographically projecting the tire 100 in the axial direction. In this embodiment, when the tire 100 is seen from one axial side of the tire 100, the outer edge of the tread 120 is in a full circle shape, so that the tread 120 always keeps contact with the ground when the tire 100 walks on the ground, thereby effectively improving the ground gripping capability of the tire 100 and further improving the anti-skid effect of the tire 100.

As an embodiment, in the axial orthographic projection of the tyre 100, any two adjacent projections 121 overlap at least partially, so as to ensure: in the axial orthographic projection of the tire 100, the outer edges of the plurality of protrusions 121 are projected to be connected in a full circular pattern without the occurrence of the intermittent phenomenon of the tread 120 in the circumferential direction.

Referring to fig. 1 and 3, as an embodiment, each protrusion 121 extends from the first axial end surface 112 to the second axial end surface 113, so that the contact area of the protrusion 121 with the ground can be increased as much as possible with the limited area of the radially outer surface 111, thereby facilitating the improvement of the anti-skid effect of the tire 100.

Referring to fig. 1 and 3, as an embodiment, each of the protrusions 121 has the same shape, and a separation groove 170 is formed between any adjacent two of the protrusions 121. The shape of each protrusion 121 is the same, which is advantageous in that the structure of the tread 120 is relatively simple and easy to manufacture and shape. The separation groove 170 may be formed to separate adjacent two protrusions 121 such that any adjacent two protrusions 121 are not in contact with each other, to facilitate securing the anti-slip ability of the tread 120. Although the separation groove 170 can physically separate the adjacent protrusions 121, by optimizing the shapes of the protrusions 121 and the separation groove 170, the adjacent protrusions 121 can still overlap in the axial orthographic projection of the tire 100.

Referring to fig. 1 and 3, as one embodiment, the protrusion 121 includes a first linear extension 1211, a second linear extension 1212, and a transition connection 1213, the first linear extension 1211 extending along a first linear trajectory from the first axial end face 112 toward the second axial end face 113; the second linear extension 1212 extends along a second linear trajectory from the second axial end face 113 toward the first axial end face 112, namely: the first linear extension 1211 and the second linear extension 1212 are both linear convex structures, and are regular and simple in shape. The transition connecting portion 1213 extends from the end of the first linear extension portion 1211 remote from the first axial end face 112 to the end of the second linear extension portion 1212 remote from the second axial end face 113, so that each of the protrusions 121 continuously extends from one axial end of the tire body 110 to the other axial end of the tire body 110 without interruption. At least a portion of the first linear extension 1211 of any one of the protrusions 121 obstructs at least a portion of the transition junction 1213 and/or at least a portion of the second linear extension 1212 of an adjacent one of the protrusions 121 in an axial forward projection of the tire 100, such that the outer edges of the plurality of protrusions 121 are projected to join into a full circular pattern in the axial forward projection of the tire 100.

As one embodiment, the transition connection 1213 extends along a third linear trajectory from the end of the first linear extension 1211 that is distal from the first axial end face 112 to the end of the second linear extension 1212 that is distal from the second axial end face 113. The first linear extension 1211, the second linear extension 1212 and the transition connection 1213 are all linear protrusions, i.e., the protrusion 121 is formed by connecting three linear protrusions, which is regular and simple in shape and easy to manufacture. Of course, in a specific application, the extension shape of the transition connection portion 1213 is not limited thereto, for example, as an alternative embodiment, the transition connection portion 1213 extends along an arc-shaped trajectory from the end of the first linear extension portion 1211 away from the first axial end face 112 to the end of the second linear extension portion 1212 away from the second axial end face 113, that is, the transition connection portion 1213 is a convex structure of an arc shape; alternatively, as another alternative embodiment, the transition connection 1213 is a track of a broken line segment along a bend, extending from an end of the first linear extension 1211 away from the first axial end face 112 to an end of the second linear extension 1212 away from the second axial end face 113, i.e., the transition connection 1213 is formed by connecting at least two linear protruding structures; or, as yet another alternative embodiment, the transition connection 1213 is an end along an irregular trajectory extending from the first linear extension 1211 away from the first axial end face 112 to an end of the second linear extension 1212 away from the second axial end face 113.

Referring to fig. 1 and 3, as an embodiment, the first linear trace and the second linear trace are parallel to each other, that is, the first linear extension 1211 and the second linear extension 1212 are parallel to each other, which is advantageous for further improving the regularity of the shape of the tread 120, for easy manufacturing, and for improving the aesthetic appearance of the tread 120.

Referring to fig. 1 and 3, as an embodiment, at least one of the first linear track and the second linear track is parallel to the central axis MN of the tire body 110, that is, at least one of the first linear extension 1211 and the second linear extension 1212 is parallel to the central axis MN of the tire body 110, which is advantageous in reducing the difficulty of manufacturing the tread 120.

Referring to fig. 1 and 3, as an embodiment, the first linear track and the second linear track are both parallel to the central axis MN of the tire body 110, that is, the first linear extension 1211 and the second linear extension 1212 are both parallel to the central axis MN of the tire body 110, which is advantageous for improving the regularity of the shape of the tread pattern 120 and reducing the difficulty in manufacturing the tread pattern 120.

Referring to fig. 3, as an embodiment, a first angle a formed by the transition portion 1213 and the first linear extension portion 1211 is an obtuse angle, and a second angle B formed by the transition portion 1213 and the second linear extension portion 1212 is an obtuse angle. Of course, in a specific application, the shape of the included angle formed by the transition connection portion 1213 and the first and second linear extension portions 1211 and 1212 is not limited thereto, for example, as an alternative embodiment, the first included angle a formed by the transition connection portion 1213 and the first linear extension portion 1211 is a right angle, and the second included angle B formed by the transition connection portion 1213 and the second linear extension portion 1212 is a right angle; alternatively, as another alternative embodiment, the protrusion 121 is "Z" -shaped, and the first angle a formed by the transition portion 1213 and the first linear extension 1211 is an acute angle, and the second angle B formed by the transition portion 1213 and the second linear extension 1212 is an acute angle.

Referring to fig. 1, 2 and 5, as one embodiment, the tire body 110 is further formed with a mounting hole 130, and the mounting hole 130 is formed at a radial center position of the tire body 110 for mounting the motor 200. The motor 200 is used to drive the tire 100 to rotate. The tire 100 and motor 200 may be combined to form a drive wheel. When the above-described tire 100 is employed for the driving wheel, the slip resistance of the driving wheel can be greatly improved. Of course, in a specific application, the tire 100 provided in this embodiment is not limited to the form of application to the driving wheel, but may be applied to the driven wheel, that is, the radial center position of the tire 100 is not necessarily provided with the motor 200, and may be used for connection with the rotating shaft.

Referring to fig. 1, 2 and 5, as an embodiment, the inner surface of the mounting hole 130 is further provided with a plurality of ribs 150, the plurality of ribs 150 are spaced apart along the circumferential direction of the mounting hole 130, and a through groove 160 is formed between any two adjacent ribs 150. The ribs 150 are used for supporting and positioning the motor 200, so that the reliability of mounting and positioning the motor 200 in the mounting hole 130 is improved. The through grooves 160 formed between the adjacent ribs 150 are beneficial to improving the heat dissipation effect of the motor 200.

Referring to fig. 1 and 2, as an embodiment, the tire body 110 is further formed with a vibration damping hole 140, and the vibration damping hole 140 is provided between the mounting hole 130 and the tread 120 in the radial direction of the tire body 110. The design of the vibration damping hole 140 can improve the deformation buffering capacity of the tire 100, thereby being beneficial to improving the vibration damping capacity of the tire 100.

Referring to fig. 1 and 4, as one embodiment, the tire body 110 is formed with a plurality of vibration damping holes 140, and the plurality of vibration damping holes 140 include a plurality of first vibration damping holes 141 and a plurality of second vibration damping holes 142; the plurality of first vibration damping holes 141 are concavely arranged on the first axial end surface 112 and distributed along the circumferential direction of the first axial end surface 112; the plurality of second vibration damping holes 142 are concavely provided in the second axial end surface 113 and distributed along the circumferential direction of the second axial end surface 113. In this embodiment, the plurality of vibration damping holes 140 are respectively disposed at two axial ends of the tire body 110, and the two vibration damping holes 140 are not communicated with each other, i.e. the first vibration damping hole 141 and the second detection hole are not communicated with each other, which is beneficial to ensuring the buffering and vibration damping capability of the tire 100, and is beneficial to ensuring the stable and reliable structure of the tire 100, and the compatibility is better.

As one embodiment, the first vibration damping hole 141 is a circular hole; and/or the second vibration damping hole 142 is a circular hole. The shape of the circular hole is regular, and the processing and manufacturing are easy, and since the radially outer surface 111 of the tire body 110 and the inner wall of the mounting hole 130 are both circular in outline, the shape of the first vibration damping hole 141 and/or the second detection hole is set to be a circular hole, which is beneficial to ensuring the uniformity of the wall thickness of the tire body 110, thereby being beneficial to ensuring the structural reliability of the tire 100.

As an embodiment, the plurality of first vibration damping holes 141 and the plurality of second vibration damping holes 142 are respectively arranged in a one-to-one alignment along the axial direction of the tire body 110, that is, the central axis MN of each first vibration damping hole 141 is respectively arranged in line with the central axis MN of one second vibration damping hole 142. Of course, in a specific application, the positional relationship between the first vibration damping hole 141 and the second vibration damping hole 142 is not limited thereto, and for example, the plurality of first vibration damping holes 141 and the plurality of second vibration damping holes 142 may be disposed offset from each other.

Referring to fig. 1 and 5, the present embodiment further provides a wheel assembly 10, where the wheel assembly 10 includes a motor 200 and the tire 100 described above, and the motor 200 is installed in the tire body 110. The tire 100 may be rotated by the motor 200. The wheel body assembly 10 provided in this embodiment is a driving wheel, and the driving wheel is more prone to slipping during operation; because the driving wheel of the present embodiment adopts the above-mentioned tire 100, the tread 120 always keeps contact with the ground when the driving wheel rotates on the ground, and the grip capability and stability of the driving wheel are ensured.

Referring to fig. 1 and 5, as one embodiment, a motor 200 is installed in the installation hole 130.

Referring to fig. 1, 5 and 6, the present embodiment further provides a self-walking device 1, which includes a body 20, a controller 30 and the wheel assembly 10, wherein the wheel assembly 10 and the controller 30 are respectively mounted on the body 20; the controller 30 is electrically connected to the motor 200 for controlling the operation of the motor 200. The automatic walking apparatus 1 is supported on the ground by the wheel body assembly 10 and walks on the ground. The tire 100 is adopted in the self-walking device 1 of the embodiment, so that the tread 120 always keeps contact with the ground when the self-walking device 1 walks on the ground, and the stability and the skid resistance of the self-walking device 1 walking on the ground are ensured.

Referring to fig. 6, as an embodiment, the self-walking device 1 further includes a driven wheel assembly 40, and the driven wheel assembly 40 has no power. The driven wheel assembly 40 is mainly used to cooperate with the wheel assembly 10 described above to support and walk the self-walking device 1 on the ground.

As an embodiment, the controller 30 may drive the self-walking device 1 to perform at least one of the following actions by controlling the operation of the motor 200: forward, backward and turn.

As an embodiment, the self-walking device 1 is a mower, and the self-walking device 1 further includes a cutting mechanism 50, and the cutting mechanism 50 is mounted on the body 20 for mowing. The ground on which the mower is traveling is typically a field grass or mud, and therefore the grip capability of the tire 100 is relatively high. In this embodiment, the tire 100 with the outer edge of the side surface of the tread 120 connected into a complete round shape is applied to a mower, so that the smoothness and the gripping ability of the mower can be greatly improved. Of course, in specific applications, the self-walking device 1 is not limited to a mower, i.e., the tire 100 is not limited to a mower, but may be used with other self-walking devices 1, for example, as an alternative embodiment, the self-walking device 1 is a crop harvester, and the self-walking device 1 further includes a harvesting mechanism mounted on the machine body 20 for harvesting crops; alternatively, as another alternative embodiment, the self-walking device 1 is an automobile or a patrol robot.

As an embodiment, the present embodiment ensures the smoothness and grip of the tire 100 by optimizing the design of the tire 100 such that the tread 120 of the tire 100 is a complete circle when viewed from the side. Further, by forming the vibration damping hole 140 by partially hollowing out the tire body 110, the deformation buffering vibration damping capability of the tire 100 can be improved.

Embodiment two:

referring to fig. 1 and 6 to 9, the tire 100, the wheel assembly 10 and the self-walking device 1 provided in this embodiment are different from the first embodiment mainly in the shape of the protrusions 121 forming the tread pattern 120.

As an implementation, in this embodiment, the protrusion 121 includes a third linear extension 1214 and a fourth linear extension 1215, where the third linear extension 1214 extends from the first axial end surface 112 toward the second axial end surface 113 along a fourth linear trajectory. The fourth linear extension 1215 extends from the second axial end surface 113 to an end of the third linear extension 1214 remote from the first axial end surface 112 along the fifth linear trajectory, such that each of the protrusions 121 continuously extends from one axial end of the tire body 110 to the other axial end of the tire body 110 without interruption. At least a portion of the third linear extension 1214 of any one of the protrusions 121 obstructs at least a portion of the third linear extension 1214 of an adjacent one of the protrusions 121 in an axial forward projection of the tire 100, such that the outer edges of the plurality of protrusions 121 are projected to join into a full circular pattern in the axial forward projection of the tire 100. The third linear extension 1214 and the fourth linear extension 1215 are both linear convex structures. The protrusion 121 in this embodiment is formed by connecting two straight protruding structures, and has a regular and simple shape and is easy to manufacture.

As an embodiment, at least one of the fourth linear track and the fifth linear track is in a different plane from the central axis MN of the tire body 110, so that it is advantageous to ensure that: at least a portion of the third linear extension 1214 of any one protrusion 121 obscures at least a portion of the third linear extension 1214 of an adjacent one protrusion 121 in an axial orthographic projection of the tire 100. The out-of-plane straight line specifically refers to: the two straight lines are neither parallel nor intersecting.

In one embodiment, the fourth linear path and the fifth linear path are each a different-plane line from the central axis MN of the tire main body 110.

As an embodiment, the third linear extension 1214 and the fourth linear extension 1215 of the same protrusion 121 are connected to form a V-shaped structure. The third included angle C formed by the third linear extension 1214 and the fourth linear extension 1215 is an acute angle, which is more beneficial for ensuring: at least a portion of the third linear extension 1214 of any one protrusion 121 obscures at least a portion of the third linear extension 1214 of an adjacent one protrusion 121 in an axial orthographic projection of the tire 100. Of course, in a specific application, the shape of the third included angle C formed by the third linear extension 1214 and the fourth linear extension 1215 is not limited thereto, and for example, as an alternative embodiment, the third included angle C formed by the third linear extension 1214 and the fourth linear extension 1215 is a right angle; alternatively, as another alternative embodiment, third included angle C formed by third linear extension 1214 and fourth linear extension 1215 is an obtuse angle.

In addition to the above-mentioned differences, the tire 100, the wheel assembly 10 and other parts of the self-walking device 1 provided in this embodiment are referred to as the first embodiment, and will not be described in detail herein.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (13)

1. A tire, includes tire body and tread, the tire body has radial surface, first axial terminal surface and second axial terminal surface, first axial terminal surface with the second axial terminal surface is formed respectively at the axial both ends of tire body, radial surface follow the outward flange of first axial terminal surface extends to the outward flange of second axial terminal surface, the tread protruding establish in radial surface, its characterized in that:

the tire tread comprises a plurality of bulges which are distributed at intervals along the circumferential direction of the radial outer surface;

each of the protrusions extends from the first axial end face to the second axial end face;

in the axial orthographic projection of the tire, a plurality of projections of the raised outer edges are joined into a full circular pattern.

2. A tyre as claimed in claim 1, wherein: the protrusion comprises a first linear extension, a second linear extension and a transitional connection, wherein the first linear extension extends from the first axial end face towards the second axial end face along a first linear track;

the second linear extension extends from the second axial end face toward the first axial end face along a second linear trajectory;

the transition connection portion extends from an end of the first linear extension portion away from the first axial end face to an end of the second linear extension portion away from the second axial end face;

in an axial orthographic projection of the tire, at least a portion of the first linear extension of any one of the projections obscures at least a portion of the transition connection and/or at least a portion of the second linear extension of an adjacent one of the projections.

3. A tyre as claimed in claim 2, wherein: the transition connection part extends from the end part of the first linear extension part far away from the first axial end surface to the end part of the second linear extension part far away from the second axial end surface along a third linear track;

or, the transition connection portion extends along an arc track from an end of the first linear extension portion away from the first axial end surface to an end of the second linear extension portion away from the second axial end surface.

4. A tyre as claimed in claim 2 or 3, wherein: the first linear track and the second linear track are parallel to each other; and/or the number of the groups of groups,

at least one of the first and second linear trajectories is parallel to a central axis of the tire body.

5. A tyre as claimed in claim 1, wherein: the protrusion includes a third linear extension and a fourth linear extension, the third linear extension extending along a fourth linear trajectory from the first axial end face toward the second axial end face;

the fourth linear extension extends from the second axial end surface to an end of the third linear extension away from the first axial end surface along a fifth linear trajectory;

in an axial orthographic projection of the tire, at least a portion of the third linear extension of any one of the projections obscures at least a portion of the third linear extension of an adjacent one of the projections.

6. A tyre as claimed in claim 5, wherein: at least one of the fourth linear track and the fifth linear track is an out-of-plane straight line with the central axis of the tire body; and/or the number of the groups of groups,

the third linear extension and the fourth linear extension of the same protrusion are connected to form a V-shaped structure.

7. A tyre as claimed in any one of claims 1 to 3 or 5 or 6, wherein: the tire body is also formed with a mounting hole formed at a radial center position of the tire body for mounting a motor.

8. A tyre as claimed in claim 7, wherein: the tire body is also provided with a vibration damping hole, and the vibration damping hole is arranged between the mounting hole and the tire tread along the radial direction of the tire body.

9. A tyre as claimed in claim 8, wherein: the tire body is formed with a plurality of the vibration damping holes, and the plurality of vibration damping holes comprise a plurality of first vibration damping holes and a plurality of second vibration damping holes;

the plurality of first vibration reduction holes are concavely arranged on the first axial end face and distributed along the circumferential direction of the first axial end face;

the plurality of second vibration reduction holes are concavely arranged on the second axial end face and distributed along the circumferential direction of the second axial end face.

10. A tyre as claimed in claim 9, wherein: the first vibration reduction holes are round holes; and/or, the second vibration reduction holes are round holes.

11. A wheel assembly, characterized in that: comprising an electric motor and a tyre according to any one of claims 1 to 10, said electric motor being mounted within said tyre body.

12. An automatic walking device, characterized in that: comprising a body, a controller and the wheel assembly of claim 11, the wheel assembly and the controller being mounted to the body, respectively;

the controller is electrically connected with the motor and used for controlling the motor to work.

13. The self-propelled device of claim 12, wherein: the automatic walking equipment is a mower and further comprises a cutting mechanism, wherein the cutting mechanism is arranged on the machine body and used for mowing; or,

the automatic walking equipment is a crop harvester and further comprises a harvesting mechanism which is arranged on the machine body and used for harvesting crops.