CN210116329U

CN210116329U - Tire, tire assembly and self-moving equipment

Info

Publication number: CN210116329U
Application number: CN201920811434.8U
Authority: CN
Inventors: 孙云红; 陈鹏
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-02-28
Anticipated expiration: 2029-05-31

Abstract

The utility model relates to a tire, tire subassembly and from mobile device, tire and tire subassembly have tread portion, and the tire includes that a plurality of setting is on tread portion and along the horizontal tooth portion of the width direction extension of tread portion and the vertical tooth portion of the circumferencial direction extension of tread portion. By adding the longitudinal tooth part, when the self-moving equipment climbs a slope, the longitudinal tooth part can provide ground gripping force when the self-moving equipment transversely walks on a lawn, and the self-moving equipment is not easy to laterally slide off, so that the effect of improving the working efficiency is achieved; the pitch between every two adjacent transverse tooth parts is set to be 10-50mm, so that the effect of easily grabbing long grass and dense grass is achieved, and the phenomenon that tires slip on the lawn is prevented; the utility model discloses simple structure, convenient operation.

Description

Tire, tire assembly and self-moving equipment

Technical Field

The utility model relates to a tire, tire subassembly and from mobile device.

Background

When the equipment is driven, power is transmitted mainly through the grip force and the friction force of the contact surface of the tire and the contact object, so that the machine can normally, quickly and stably run on the contact surface of the contact object, and the excellent tire performance is the premise of ensuring that the equipment has good power.

Taking a smart lawn mower as an example, the smart lawn mower is typically driven on a lawn to trim grass. When the intelligent mower runs on the lawn, the friction force between the wheel body and the lawn is greatly reduced due to the smoothness and the density of the grass, and the grip force between the wheel body and the ground is not guaranteed. Moreover, most lawns often have a slope, and when the intelligent lawn mower travels on the slope, the intelligent lawn mower often sideslips when traveling on the slope due to inertia caused by the weight of the intelligent lawn mower. Therefore, the wheel set of the intelligent mower adopts the mode that the transverse teeth are arranged on the tires so as to increase the friction force between the rear wheels and grass. However, due to the above reasons, even if the wheel sets are provided with the transverse teeth, the intelligent lawn mower cannot provide enough grip for the intelligent lawn mower to prevent the occurrence of the slip phenomenon when the intelligent lawn mower runs on the lawn, and the intelligent lawn mower can be stopped to work more seriously.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tire, tire subassembly and from mobile device that enough provide stronger ground power of grabbing in order to prevent to skid when the walking.

In order to achieve the above purpose, the utility model provides a following technical scheme: a tire having a tread portion, the tire comprising a plurality of lateral teeth disposed on the tread portion and extending in a width direction of the tread portion and longitudinal teeth extending in a circumferential direction of the tread portion.

Further, at least part of the transverse tooth parts are provided with small convex teeth which protrude out of the top surfaces of the transverse tooth parts so as to improve the ground gripping force of the transverse tooth parts.

Further, the height of the longitudinal teeth is greater than the height of the transverse teeth.

Further, the longitudinal teeth are provided on at least one side of the tread portion and are provided separately from the lateral teeth.

Further, the longitudinal teeth are provided on at least one side of the tread portion and connected to the lateral teeth.

Further, the lateral teeth have contact surfaces intersecting the tread portion, the contact surfaces facing and/or facing away from a rolling direction of the tire, and the contact surfaces are arc-shaped.

Further, the pitch between every two adjacent transverse teeth is 10-50 mm.

The utility model also provides a tire assembly, tire assembly includes the wheel body and sets up matrix on the wheel body, the matrix has tread portion, the wheel body is including setting up wheel cap on the matrix terminal surface, be provided with the edge in the tread portion of matrix the horizontal tooth portion that tread portion's width direction extends, be provided with the edge on the wheel cap the vertical tooth portion that the wheel cap circumferencial direction extends.

Further, a plurality of transverse teeth are arranged on the tread portion, and the plurality of transverse teeth are arranged in at least one row of transverse tooth groups.

Further, a plurality of transverse tooth parts are arranged on the tread part and are arranged into at least two rows of transverse tooth groups, wherein the two adjacent rows of transverse tooth groups are arranged in a staggered mode.

Further, the height of the longitudinal teeth is greater than or equal to the height of the transverse teeth.

The utility model also provides a from mobile device, be in including fuselage, setting work subassembly, setting on the fuselage are in just be used for the drive in the fuselage work subassembly and the running drive assembly of wheelset, be used for control drive assembly's control system and for from mobile device provides the power of electric power, from mobile device include as above tire or tire subassembly.

The beneficial effects of the utility model reside in that: by adding the longitudinal tooth part, stronger friction force can be provided for the self-moving equipment when the self-moving equipment moves on the lawn so as to prevent the occurrence of a slipping phenomenon; when the self-moving equipment climbs a slope, the longitudinal tooth part can provide ground gripping force when the self-moving equipment moves transversely on the slope, and the self-moving equipment is not easy to slide laterally, so that the effect of improving the working efficiency is achieved;

the small convex teeth are arranged on the transverse teeth, so that when the self-moving equipment climbs a slope, the small convex teeth can be pricked into mud and grass to provide ground gripping force;

the pitch between every two adjacent transverse tooth parts is set to be 10-50mm, so that the effect of easily grabbing long grass and dense grass is achieved, and the phenomenon that tires slip on the lawn is prevented;

the utility model discloses simple structure, convenient operation.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of the self-moving device of the present invention.

Fig. 2 is a schematic structural view of the tire of the present invention.

Fig. 3 is another schematic structural diagram of the tire of the present invention.

Fig. 4 is another schematic structural view of the tire of the present invention.

Fig. 5 is a schematic structural view of the tire assembly of the present invention.

Fig. 6 is another schematic structural view of the tire assembly of the present invention.

Fig. 7 is a schematic view of another structure of the tire assembly of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

Referring to fig. 1, the self-moving device 100 of the present invention includes a main body 1, a working assembly 3 and a wheel set 2 disposed on the main body 1, a driving assembly disposed in the main body 1 and used for driving the working assembly 3 and the wheel set 2 to operate, a control system for controlling the driving assembly, and a power supply for providing power to the self-moving device 100. In the present invention, the self-moving device 100 is exemplified by the intelligent lawn mower 100. The body 1 is provided with a battery pack mounting portion 4, and the battery pack mounting portion 4 is provided on one side of the body 1. The utility model discloses in, control system, drive assembly and power all are conventional structure, do not do too much repetitious description here.

Taking the intelligent mower 100 as an example, correspondingly, the working assembly 3 is the cutting assembly 3. An accommodation chamber (not shown) is formed in the body 1 of the intelligent mower 100, and the drive unit and the control system are disposed in the accommodation chamber. The cutting unit 3 is disposed at the front end of the intelligent mower 100 and on the bottom surface thereof, with the direction of arrow a in the figure as the front direction, so that the intelligent mower 100 performs a mowing operation while walking.

The cutting assembly 3 is a cutter head, and the cutter head comprises a cutter head body 31 and a plurality of blades 32 which are pivotally arranged on the cutter head body 31. Indeed, the cutting assembly 3 may also be in other forms, such as a single strip blade 32 or the like.

The driving assembly comprises a mowing cutting motor and a walking motor. The cutting motor is connected with the cutter disc to drive the cutter disc to rotate and carry out mowing action.

The cutting motor has an output shaft (not shown) through which it is directly connected to and drives the cutter head. Of course, a transmission device can be arranged between the cutting motor and the cutter disc so as to transmit the power of the cutting motor to the cutter disc through the transmission device, so that the cutter disc rotates to complete mowing, and the transmission device can be a belt pulley, a reduction gear and the like.

The walking motor is connected with the wheel set 2 and is used for driving the intelligent mower 100 to walk on the lawn or other surfaces. The wheel set 2 comprises two front wheels 21 and two rear wheels 22, and the two rear wheels 22 are respectively connected with an independent walking motor, so that the intelligent mower 100 can be controlled to conveniently steer in situ by controlling the speed difference of the two walking motors.

The control system is connected with various other components of the intelligent mower 100, so as to control the intelligent mower 100 to walk and mow on the lawn within the preset boundary range in a fully automatic and unattended manner. The control system comprises a controller (not shown) and a memory (not shown), wherein the controller is used for receiving signals transmitted by other components and various sensors and sending corresponding control instructions, and control programs, parameters and algorithms of the intelligent mower 100 are preset in the memory and are called by the controller to make judgment and decision. If the controller controls the walking motor to drive the wheel set 2 to move and controls the cutting motor to control the cutter head to rotate according to a program preset in the memory so as to cut grass.

The wheel set 2 includes the front wheel 21 and the rear wheel 22 of rear end that set up at intelligent lawn mower 100 front end in the utility model discloses in, the performance of front wheel 21 is unanimous with rear wheel 22, all adopts tire 2 as the general description of front wheel 21 and rear wheel 22 below in order to carry out concrete explanation.

Referring to fig. 2-4, the tire 2 includes a hub 27. The tire 2 has a tread portion 20, and the tread portion 20 is provided on the hub 27. The tread portion 20 is provided with a pattern 26 for increasing the frictional force, and the shape and pattern of the pattern 26 are not limited to those described above, and the purpose of increasing the frictional force can be achieved. The tire 2 includes a plurality of lateral teeth 23 and longitudinal teeth 24 provided on the tread portion 20, the lateral teeth 23 extending in the width direction of the tread portion 20, the longitudinal teeth 24 extending in the circumferential direction of the tread portion 20, and the plurality of lateral teeth 23 arranged in at least one row at equal intervals in the circumferential direction of the tread portion 20. In the present embodiment, the tread portion 20 is provided with a row of lateral teeth 23 in a circumferential direction thereof, each lateral tooth 23 extends from one side of the tread portion 20 in a width direction, the longitudinal teeth 24 are provided on one side of the lateral teeth 23 and separately provided, or the longitudinal teeth 24 are provided on one side of the tread portion 20 and connected to the lateral teeth 23. Indeed, in other embodiments, the tread portion 20 may be provided with two rows of transverse teeth 23 along its circumferential direction, the two rows of transverse teeth 23 extending from both sides of the tread portion 20 and along the width direction of the tread portion 20, the two rows of transverse teeth 23 being arranged offset and leaving a spacing in the center of the tread portion 20 within which the longitudinal teeth 24 are arranged. Likewise, the longitudinal teeth 24 may be disposed in the space separately from the transverse teeth 23 or may be disposed in conjunction with the transverse teeth 23. Alternatively, two rows of the lateral teeth 23 extend from both sides of the tread portion 20 in the width direction of the tread portion 20, and the longitudinal teeth 24 are disposed on at least one side of the tread portion 20 and connected to the lateral teeth 23, which is not particularly limited herein, depending on the actual situation.

It is true that the pitch of the transverse teeth 23 is greater than the pitch of the longitudinal teeth, and may be equal to or less than the pitch of the longitudinal teeth 24, which is not specifically limited herein and may be determined according to the actual situation. The pitch between every two adjacent transverse teeth 23 is in the range of 10-50mm, and in order to optimize the grip of the tire 2, the pitch between every two adjacent transverse teeth 23 is 40mm in the present embodiment. More specifically, when only one row of the transverse teeth 23 is provided on the tread portion 20, the pitch between every two adjacent transverse teeth 23 is 40 mm; when two or more rows of the lateral teeth 23 are provided on the tread portion 20, the lateral teeth 23 of each adjacent two rows are offset for better enhancing the anti-skid performance of the tire. Indeed, in other embodiments, the transverse teeth 23 of each two adjacent rows may also be arranged side by side, and are not limited in this regard. In each two rows of the staggered transverse teeth 23, the pitch of two transverse teeth 23 which are linearly closest in spatial orientation (i.e. one transverse tooth 23 in one row and the closest staggered transverse tooth 23 or the next transverse tooth 23 to the transverse tooth 23 in the other row) is 40 mm. Within this value, when the intelligent lawn mower 100 is driven on a lawn, more grass can be accommodated between two adjacent transverse teeth 23, so that the tire 2 can catch the long and dense grass optimally. It goes without saying that in other embodiments the spacing of the transverse teeth 23 can also be other, depending on the case, and is not limited in any way. The lateral teeth 23 have a contact surface 231 intersecting the tread portion 20, the contact surface 231 facing toward and/or away from the rolling direction of the tire 2, the contact surface 231 having an arc shape, which is expressed in a counterclockwise direction as the rolling direction of the tire 2. In the present embodiment, the lateral tooth portion 23 includes a first contact surface 2311 and a second contact surface 2312 intersecting the tread portion 20, the first contact surface 2311 is disposed opposite to the second contact surface 2312, and the first contact surface 2311 faces the rolling direction of the tire 2. The first contact surface 2311 is arc-shaped and the arc-shaped notch faces in the rolling direction of the tire 2, and the second contact surface 2312 is arc-shaped and the arc-shaped notch faces away from the rolling direction of the tire 2. The lateral teeth 23 have a top surface 232 and a bottom surface 233 which are arranged opposite to each other, the bottom surface 233 is arranged in contact with the tread portion 20, the top surface 232 has a first width, the bottom surface 233 has a second width, and the first width and the second width are arranged in the axial direction of the tire 2, and the first width is smaller than the second width. The purpose of this is to slow down the problem of the tires 2 getting mud when the intelligent mower 100 passes through a muddy lawn in rainy and snowy days. Indeed, in other embodiments, the first width may be equal to or greater than the second width, and is not limited herein.

At least a part of the transverse teeth 23 are provided with small convex teeth 25 protruding out of the top surface 232 of the transverse teeth 23 to improve the grip of the transverse teeth 23, the transverse teeth 23 further have outer end surfaces, the outer end surfaces further include a first outer end surface 234 and a second outer end surface 235, the first outer end surface 234 and the second outer end surface 235 are oppositely arranged in the width direction of the tire, and the first outer end surface 234 and the second outer end surface 235 are respectively connected with the first contact surface 2311, the second contact surface 2312 and the tread portion 20. In this embodiment, in order to optimize the grip of the lateral teeth 23, small teeth 25 are formed to protrude outward from the top surface 232 of the lateral teeth 23, and one small tooth 25 is disposed on the top surface 232 of each lateral tooth 23 to better penetrate the ground to provide the grip. In other embodiments, the small teeth 25 may also be formed to extend outward from any one or more of the first contact surface 2311, the second contact surface 2312 or the outer end surface to protrude out of the transverse tooth portion 23, or may be attached to the transverse tooth portion 23 in a connected (non-integral) manner.

Indeed, in other embodiments, a plurality of small teeth 25 may be provided on the top surface 232 of the transverse tooth portion 23, as the case may be. The longitudinal teeth 24 are larger than the height of the transverse teeth 23 to provide better grip against slipping. Further, the height of the longitudinal teeth 24 is equal to the sum of the heights of the small teeth 25 and the transverse teeth 23, so that the intelligent mower 100 does not bump due to the height of the tire 2 during driving.

In the above embodiment, the transverse teeth 23 and the longitudinal teeth 24 are formed to protrude radially outward from the tread portion 20, and the transverse teeth 23 and the longitudinal teeth 24 are integrally formed with the tread portion 20, which may be integrally formed or formed in segments. Indeed, in other embodiments, the transverse teeth 23 and the longitudinal teeth 24 may be provided in a split manner, and the transverse teeth 23 and the longitudinal teeth 24 may be mounted on the tread portion 20 in a connection manner, but in comparison, the use and cost advantages are better when an integral arrangement is adopted.

In other embodiments, the tire 2 of the above-described embodiment may be replaced with a tire assembly 200. Referring to fig. 5 to 7, the tire assembly 200 includes a wheel body 201 and a tire body 202 disposed on the wheel body 201. The wheel body 201 includes a hub 2012 and a wheel cover 2013 connected with the hub 2012. In the embodiment of fig. 5 to 7, the hub 2012 is connected to the shroud 2013 by a rigid connection, specifically by clipping. Indeed, the hub 2012 and the shroud 2013 may be connected by other fastening structures or by conventional connection means (e.g., welding or bonding the hub 2012 and the shroud 2013 together). Specifically, a plurality of bumps 2015 and at least one insert 2018 arranged on one side of the bumps 2015 are arranged on the hub 2012, a plurality of grooves 2016 and at least one insert 2019 arranged on one side of the grooves 2016 are arranged on the wheel cover 2013, the grooves 2016 are matched with the bumps 2015 in shape and correspond to the positions of the bumps 2016, the inserts 2019 are arranged on one side of the grooves 2016, the bumps 2015 slide into the grooves 2016 to connect the wheel cover 2013 with the hub 2012, and meanwhile, the inserts 2018 are inserted into the inserts 2019, so that the wheel cover 2013 and the hub 2012 are fixed again. In this embodiment, both sides of each protrusion 2015 are provided with the insertion sheet 2018, and correspondingly, both sides of each groove 2016 are provided with the insertion holes 2019. Indeed, in other embodiments, only one insertion sheet 2018 may be provided, and correspondingly, only one insertion hole 2019 is provided, which is not specifically limited herein and depends on the actual situation. The hub 2012 is further provided with a first through hole 2017, the wheel cap 2013 is provided with a second through hole 2014 corresponding to the first through hole 2017, when the projection 2015 slides into the groove 2016 and the inserting sheet 2018 is inserted into the inserting hole 2019, the hub 2012 and the wheel cap 2013 are preliminarily mounted, and then the hub 2012 and the wheel cap 2013 are fixed by using a fastener to penetrate through the second through hole 2014 and the first through hole 2017, so that the wheel cap 2013 is prevented from loosening and falling off in the rotation process of the tire assembly 200. The hub 2012 is connected with the wheel cover 2013 in a clamping and fixing mode, so that the assembly is facilitated, and the structure is simple; and secondly, when one of the two is damaged, the replacement is convenient, and the energy is saved and the environment is protected. Of course, instead of providing the wheel body 201 in two parts (the hub 2012 and the shroud 2013), in other embodiments, the wheel body 201 may be provided integrally, and the hub 2012 and the shroud 2013 may be integrally formed. However, the process of integrating the hub 2012 and the wheel cover 2013 is more complicated than the process of integrating the hub 2012 and the wheel cover 2013. In this embodiment, the hub 2012 and the wheel cover 2013 can be made of metal or rigid plastic. Indeed, in other embodiments, the material of the hub 2012 and the wheel cover 2013 may be other materials, which are not limited herein and depend on actual production requirements.

The carcass 202 has a tread portion 2021, a lateral tooth portion 2022 extending in the width direction of the tread portion 2021 is provided on the tread portion 2021 of the carcass, and a longitudinal tooth portion 2011 extending in the circumferential direction of the wheel cover 2013 is provided on the wheel cover 2013. The material of the longitudinal tooth 2011 is the same as that of the wheel cap 2013, and details thereof are omitted here. Indeed, in other embodiments, the material of the longitudinal tooth 2011 may be different from the material of the wheel cover 2013, and is not limited herein according to the actual situation. In order to simplify the process and optimize the grip, it is preferable that the material of the longitudinal teeth 2011 is consistent with the material of the wheel cover 2013. The tread portion 2021 is provided with a plurality of lateral teeth 2022, and the plurality of lateral teeth 2022 are arranged in at least one row of lateral tooth groups. In the present embodiment, a plurality of lateral teeth portions 2022 are arranged in a set of lateral teeth groups in the circumferential direction of the tread portion 2021, and the longitudinal teeth portions 2011 are provided on one side of the lateral teeth groups. Indeed, in other embodiments, the plurality of transverse teeth 2022 are arranged in two rows of transverse tooth sets, wherein adjacent rows of transverse tooth sets are offset to increase the friction of tire assembly 200. For convenience of distinction, the two rows of transverse tooth groups are called as a first transverse tooth group and a second transverse tooth group respectively, and a longitudinal tooth part 2011 is arranged on the wheel cover 2013 on one side of the first transverse tooth group and/or the second transverse tooth group. Indeed, in the case of the tire assembly 200 with the longitudinal teeth 2011 on the wheel cover 2013, the longitudinal teeth 2011 on the tread portion 2021 and extending in the circumferential direction of the tread portion 2021 may further increase the grip of the carcass. The row number of the sets of lateral teeth provided on the tread portion 2021 is determined in accordance with the actual situation, and is not particularly limited.

As in the previous embodiments, in this embodiment, in order to enhance the grip of the tire assembly, small teeth may be disposed on the lateral teeth 2022, and the manner of disposing the small teeth is the same as that of the previous embodiments, which is not described herein again. The height of the longitudinal teeth 2011 is greater than the height of the transverse teeth 2022 to provide greater grip. Indeed, in other embodiments, the height of the longitudinal teeth 2011 may be equal to the height of the transverse teeth 2022, which is not limited herein and may be determined according to the actual situation.

In the present invention, the tires or the tire assemblies used for the front wheel and the rear wheel of the intelligent lawn mower 100 are the same. It is needless to say that a tire or a tire assembly may be used for one of the front wheel 21 and the rear wheel 22, and a tire or a tire assembly having another style or function may be used for the other of the front wheel 21 and the rear wheel 22.

In summary, the following steps: by adding the longitudinal tooth part, when the self-moving equipment 100 climbs a slope, the longitudinal tooth part can provide ground gripping force when the self-moving equipment 100 transversely moves on the slope, and the self-moving equipment is not easy to laterally slide off, so that the effect of improving the working efficiency is achieved;

by arranging the small convex teeth 25 on the transverse tooth parts, the small convex teeth 25 can be pricked into mud and grass to provide ground gripping force when the self-moving device 100 climbs a slope;

by setting the pitch between every two adjacent transverse tooth parts to be 10-50mm, the grass can be easily grabbed to contain more grass, so that the phenomenon that the tire slips on the lawn is prevented;

the utility model discloses simple structure, convenient operation.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A tire having a tread portion, the tire comprising a plurality of lateral teeth disposed on the tread portion and extending in a width direction of the tread portion and longitudinal teeth extending in a circumferential direction of the tread portion.

2. A tire according to claim 1, wherein at least some of said transverse teeth are provided with small teeth projecting above the top surface of said transverse teeth to improve the grip of said transverse teeth.

3. The tire of claim 1 wherein the height of the longitudinal teeth is greater than the height of the transverse teeth.

4. The tire of claim 1, wherein said longitudinal teeth are disposed on at least one side of said tread portion and are disposed separately from said transverse teeth.

5. The tire of claim 1, wherein said longitudinal teeth are disposed on at least one side of said tread portion and connected to said transverse teeth.

6. The tire according to claim 1, wherein said lateral teeth have contact surfaces intersecting said tread portion, said contact surfaces facing in a rolling direction of the tire, said contact surfaces having an arc shape.

7. The tire of claim 1, wherein the pitch between each adjacent two of said transverse teeth is in the range of 10-50 mm.

8. The utility model provides a tire assembly, tire assembly includes the wheel body and sets up carcass on the wheel body, the carcass has tread portion, its characterized in that, the wheel body is including setting up wheel lid on the carcass terminal surface, be provided with on the tread portion of carcass along the horizontal tooth portion of the width direction extension of tread portion, be provided with on the wheel lid along the longitudinal tooth portion that the wheel lid circumferencial direction extends.

9. A tire assembly as in claim 8, wherein said tread portion has a plurality of transverse teeth disposed thereon, said plurality of transverse teeth being arranged in at least one row of transverse tooth sets.

10. The tire assembly of claim 8 wherein said tread portion has a plurality of transverse teeth disposed thereon, said plurality of transverse teeth being arranged in at least two rows of transverse tooth sets, wherein two adjacent rows of said transverse tooth sets are offset.

11. The tire assembly of claim 8, wherein a height of said longitudinal teeth is greater than or equal to a height of said transverse teeth.

12. A self-moving apparatus comprising a body, a working assembly disposed on the body, a driving assembly disposed in the body and used for driving the working assembly and the wheel set to operate, a control system for controlling the driving assembly, and a power supply for supplying power to the self-moving apparatus, wherein the self-moving apparatus comprises the tire as claimed in any one of claims 1 to 7 or the tire assembly as claimed in any one of claims 8 to 11.