Walking mechanism, robot having same, and self-walking mower

A walking mechanism for driving a machine body, the walking mechanism comprising:

• a walking wheel group including a plurality of walking wheels attached to the machine body, the walking wheels including two front wheels at a front of the machine body and two rear wheels at a rear of the machine body, a traveling direction of the machine body being from the rear of the machine body toward the front of the machine body, the machine body having two sides, a pair of one of the front wheels and a one of the rear wheels being respectively located on each of the sides, each pair being driven to rotate synchronously;
• each walking wheel including an auto tire casing with which the walking wheel can be supported on the ground, the auto tire casing having a tread outer side, each tread outer side having a tread pattern distributed along a circumferential direction of the auto tire casing, the tread pattern being configured as a plurality of tread ribs with a respective tread groove formed between each adjacent pair of the tread ribs, the tread pattern radiating outward from an axial center of the walking wheel;
• wherein an outer surface of each tread rib defines a plurality of protrusions and depressions along an extending direction of each of the tread ribs, each of the protrusions extending along an extending direction at an angle relative to the circumferential direction, wherein the angle is an acute angle.