Self-moving device and autonomous working device

Abstract

The utility model provides a self-moving device and an autonomous operation device, and the self-moving device comprises a device frame body which is provided with a first installation position and a second installation position which are exposed outside; the crawler belt main body is provided with a first connecting piece mounted at the first mounting position and a second connecting piece mounted at the second mounting position; wherein the assembling direction of the first mounting position is intersected with the assembling direction of the second mounting position. Therefore, when the crawler belt main body is disassembled, the whole disassembly of the crawler belt main body can be completed only by operating the parts exposed at the external assembly position, and the peripheral parts of the equipment frame body do not need to be greatly disassembled, so that the disassembly process is saved to a greater extent, and the disassembly working hours and the labor investment are saved. And meanwhile, the mounting stability of the crawler belt main body mounted on the equipment frame body can be ensured.

Description

Technical Field

[0001] The utility model relates to the field of mobile equipment, and more specifically, to a self-mobile device and an autonomous operation device. Background Art

[0002] In the related art, a self-mobile device uses a crawler body to achieve the moving function. To ensure the stability of the assembly of the crawler body, a relatively complex assembly structure is usually adopted, and the assembly position is located inside the self-mobile device.

[0003] Therefore, when maintenance or servicing of the crawler body is required, the disassembly is rather cumbersome. Most of the peripheral components of the self-mobile device need to be disassembled to remove the entire crawler body, and the entire disassembly process is time-consuming and laborious. Summary of the Utility Model

[0004] The utility model provides a self-mobile device and an autonomous operation device to improve at least one of the above problems.

[0005] The utility model realizes the above object through the following technical solutions.

[0006] In a first aspect, the utility model provides a self-mobile device applied to an autonomous operation device, including:

[0007] A device frame body, which is provided with a first installation position and a second installation position exposed outside; and

[0008] A crawler body, which is provided with a first connecting member installed at the first installation position and a second connecting member installed at the second installation position;

[0009] Wherein, the assembly directions of the first installation position and the second installation position intersect.

[0010] In the technical solution of the present application, the assembly position between the self-mobile device and the crawler body can be exposed outside. In this way, when disassembling the crawler body, only the components at the assembly position exposed outside need to be operated to complete the overall disassembly of the crawler body, without the need to largely disassemble the peripheral components of the device frame body, thus greatly saving the disassembly process to achieve the saving of disassembly man-hours and labor input.

[0011] At the same time, it is ensured that, in at least two directions, the movement of the crawler body relative to the device frame body is largely restricted, so that the crawler body has better assembly stability and is not easily detached from the device frame body. That is, while ensuring the installation stability of the crawler body installed on the device frame body, the problem of long time-consuming and labor-consuming disassembly of the crawler body from the device frame body can also be solved.

[0012] In some implementable ways, the assembly direction of the first mounting position is the same as the vertical direction of the self - moving device, and the assembly direction of the second mounting position is the same as the moving direction of the self - moving device.

[0013] In some implementable ways, it further includes a support cross - beam that penetrates the device housing. The support cross - beam has an end protruding outside the device housing, and the first mounting position is located at the end.

[0014] In some implementable ways, the end is provided with a mounting hole, and the mounting hole constitutes the first mounting position.

[0015] In some implementable ways, at least a part of the first connecting member protrudes from the crawler body and is located between the crawler body and the device housing, and the part of the first connecting member protruding from the crawler body is mounted at the first mounting position.

[0016] In some implementable ways, the front side of the device housing has an exposure opening. The device housing is provided with a mounting member adjacent to the front side of the device housing, and the second mounting position is located at the mounting member and is exposed through the exposure opening.

[0017] In some implementable ways, the mounting member forms a limiting space, and the second connecting member is inserted into the limiting space along the left - right direction of the device housing.

[0018] In some implementable ways, the mounting member includes:

[0019] A fixing part that is fixed to the device housing;

[0020] A limiting part that is connected to the fixing part. The limiting part is provided with a limiting hole along the left - right direction of the device housing, and the limiting hole constitutes the limiting space.

[0021] In some implementable ways, the second mounting position is an assembly hole that penetrates the mounting member along the front - back direction of the device housing and communicates with the limiting space;

[0022] The mounting member and the second connecting member are connected by a fitting. The fitting penetrates the assembly hole and is located inside the second connecting member.

[0023] In some implementable ways, in the insertion direction of the second connecting member, a first guiding structure is formed at the right end of the second connecting member;

[0024] And / or, a second guiding structure is formed at the left end of the limiting part, and the guiding structure is located at the edge of the limiting hole.

[0025] In some implementable embodiments, the second connecting member extends along the left - right direction of the equipment housing and has a regular polygon cross - section, and the inner wall cross - section of the limiting hole is a regular polygon adapted to the cross - section of the second connecting member.

[0026] In some implementable embodiments, the crawler body includes a bracket, a driving wheel mounted on the bracket, a driven wheel mounted on the bracket, a crawler wound around the outside of the driving wheel and the driven wheel, and a motor for driving the driving wheel to rotate;

[0027] The first connecting member is disposed on the bracket and adjacent to the driven wheel;

[0028] The second connecting member is mounted on the motor, and / or the second connecting member is adjacent to the driving wheel.

[0029] In some implementable embodiments, the inner wall cross - section of the limiting hole is a regular quadrilateral to limit the movement of the second connecting member in the front - back direction and the up - down direction of the equipment housing.

[0030] In a second aspect, the present utility model also provides an autonomous operation device, including an operation device and the above - mentioned self - moving device. The operation device is mounted on the equipment housing, and the operation device includes one or more of a snow removal device, a lawn mowing device, a leaf blowing device, and a salt spreading device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 Shows a schematic structural diagram of the autonomous operation device provided by the embodiment of the present utility model;

[0033] Figure 2 Shows a schematic structural diagram of the crawler body in the self - moving device provided by the embodiment of the present utility model;

[0034] Figure 3 Shows a schematic structural diagram of one perspective of the self - moving device provided by the embodiment of the present utility model;

[0035] Figure 4 Shows a schematic structural diagram of another perspective of the self - moving device provided by the embodiment of the present utility model;

[0036] Figure 5Shows a schematic structural diagram of another perspective of the self - moving device provided by the embodiment of the present utility model;

[0037] Figure 6 Shows a schematic structural diagram of yet another perspective of the self - moving device provided by the embodiment of the present utility model.

[0038] Explanation of the reference numerals in the drawings:

[0039] 1000, self - moving device;

[0040] 100, crawler body;

[0041] 10, bracket; 11, first connecting member;

[0042] 20, driving wheel;

[0043] 30, driven wheel;

[0044] 40, motor; 41, second connecting member;

[0045] 50, crawler;

[0046] 200, equipment frame; 210, support cross - beam; 211, first installation position; 220, exposure opening; 230, mounting member; 231, fixing part; 232, limiting part; 2321, limiting hole; 2322, second installation position; 240, chassis; 250, side plate;

[0047] 2000, working equipment. Detailed implementation manners

[0048] In order to enable those skilled in the art of this technology to better understand the solution of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present utility model.

[0049] The technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model.

[0050] In the first aspect proposed by the present utility model, a self - moving device 1000 is proposed, which is applied to an autonomous working device 2000.

[0051] It should be noted that the self - moving device 1000 can be applied to the autonomous operation device 2000. The autonomous operation device 2000 can include an operation device 2000 and a self - moving device 1000. The operation device 2000 is installed on the self - moving device 1000 to perform operations within a predetermined operation area relying on the movement of the self - moving device 1000.

[0052] There can be multiple operation devices 2000, and each operation device 2000 can achieve its individual operation function. Exemplarily, one operation device 2000 can achieve the snow - removal function, another operation device 2000 can achieve the mowing function, still another operation device 2000 can achieve the leaf - blowing function, and yet another operation device 2000 can achieve the salt - spreading function.

[0053] In the related art, in order to ensure the stability of the assembly of the crawler body 100, a relatively complex assembly structure is usually adopted, and the assembly position is located inside the self - moving device 1000.

[0054] Therefore, when maintenance or servicing of the crawler body 100 is required, the disassembly is rather cumbersome. Most of the peripheral components of the self - moving device 1000 need to be disassembled to remove the entire crawler body 100, and the process is time - consuming and laborious.

[0055] Based on this, the applicant has deeply studied and solved the technical problem that the disassembly of the crawler body 100 is time - consuming and laborious to form the technical solution of this application. Hereinafter, the self - moving device 1000 of this application will be specifically described.

[0056] Please refer to Figures 1 to 3 , the self - moving device 1000 includes a device frame 200 and a crawler body 100 installed on the device frame 200. Among them, the assembly position between the self - moving device 1000 and the crawler body 100 can be exposed externally.

[0057] Among them, the device frame 200 can include a chassis 240 and side plates 250 connected to opposite sides of the chassis 240.

[0058] Further, the device frame is provided with a first installation position 211 and a second installation position 2322, and the first installation position 211 and the second installation position 2322 can be exposed externally.

[0059] It should be noted that the first installation position 211 and the second installation position 2322 being exposed externally can include various exposure situations. For example: the first installation position 211 or the second installation position 2322 is located at an external position of the side plate 250; the first installation position 211 or the second installation position 2322 is exposed through an opening structure of the device frame 200 (for example: a hole position, a gap position formed in the device frame 200).

[0060] Of course, it can also be other exposed situations, as long as the first mounting position 211 and the second mounting position 2322 can be exposed outside (not inside the equipment housing 200 or not inside the crawler body 100), and no restrictions are imposed here.

[0061] Among them, for the convenience of assembling the crawler body 100 on the equipment housing 200, the crawler body 100 is provided with a first connecting member 11 mounted on the first mounting position 211 and a second connecting member 41 mounted on the second mounting position 2322.

[0062] At the same time, to ensure the assembly stability and reliability of the crawler body 100 assembled on the equipment housing 200,

[0063] The assembly direction of the first mounting position 211 intersects with the assembly direction of the second mounting position 2322.

[0064] In this way, it is possible to ensure that the movement of the crawler body 100 relative to the equipment housing 200 is restricted to a large extent in at least two directions, so that the crawler body 100 has good assembly stability and is not easily detached from the equipment housing 200.

[0065] That is to say, while ensuring the installation stability of the crawler body 100 installed on the equipment housing 200, it is also possible to solve the problem that the disassembly of the crawler body 100 from the equipment housing 200 takes a long time and consumes a lot of labor.

[0066] In the technical solution of the present application, the assembly position between the self - moving device 1000 and the crawler body 100 can be exposed outside. In this way, when disassembling the crawler body 100, only the components at the assembly position exposed outside need to be operated to complete the overall disassembly of the crawler body 100, without the need to substantially disassemble the peripheral components of the equipment housing 200, which greatly saves the disassembly process to achieve the saving of disassembly man - hours and labor input.

[0067] In some implementable ways, the assembly direction of the first mounting position 211 is the same as the vertical direction of the self - moving device 1000, and the assembly direction of the second mounting position 2322 is the same as the moving direction of the self - moving device 1000.

[0068] In this way, the first connecting member 11 is mounted on the first mounting position 211 in the up - and - down direction, that is, the crawler body 100 is stably mounted on the equipment housing 200 in the up - and - down direction to ensure the stable assembly of the crawler body 100 in the up - and - down direction; the second connecting member 41 is mounted on the first mounting position 211 in the front - and - back direction, that is, the crawler body 100 is stably mounted on the equipment housing 200 in the front - and - back direction to ensure the stable assembly of the crawler body 100 in the front - and - back direction.

[0069] That is to say, by installing the first connecting member 11 and the second connecting member 41 in the first connecting position and the second connecting position in two assembly directions of the up-down direction and the left-right direction respectively, the crawler main body 100 can be installed on the equipment frame 200 in a multi-dimensional direction, so that it is difficult for the crawler main body 100 to move relative to the frame main body in the multi-dimensional direction as a whole, and it has a strong assembly strength when assembled on the equipment frame 200.

[0070] In some implementable ways, it further includes a support cross beam 210. The support cross beam 210 penetrates through the equipment frame 200. The support cross beam 210 has an end protruding outside the equipment frame 200, and the first installation position 211 is located at the end.

[0071] Specifically, through holes can be respectively formed in the two side plates 250 of the equipment frame 200, and the support cross beam 210 is inserted into the through holes of the two side plates 250.

[0072] In this way, on the one hand, since the overall structural strength of the equipment frame 200 is relatively strong, the pressure of the crawler 50 borne by the support cross beam 210 can be transferred to the equipment frame 200, which can improve the support strength of the support cross beam 210 for supporting the crawler main body 100;

[0073] On the other hand, there is no need to separately arrange installation components on the two side plates 250, so as to save materials;

[0074] On the other hand, since the structures of the crawler main bodies 100 installed on both sides of the support cross beam 210 are quite the same, that is, the weights are also quite the same, the forces on both sides of the support cross beam 210 can be made quite the same, and it will not cause excessive local force on the support cross beam 210 and affect the support performance of the support cross beam 210.

[0075] Among them, the first installation position 211 is located at the end of the support cross beam 210, and the end of the support cross beam 210 is located outside the side plate 250. That is to say, it is located between the side plate 250 and the crawler main body 100 and is located outside both of them. In this way, when operating this installation position (installing or disassembling the first connecting member 11), it only needs to be directly operated outside, and there is no need to disassemble the peripheral components to carry out the operation.

[0076] In some implementable ways, the end is provided with an installation hole, and the installation hole constitutes the first installation position 211.

[0077] Exemplarily, in order to facilitate the use of general tools to disassemble or install the first connecting member 11, the installation hole can be a threaded hole.

[0078] Another exemplarily, in order to facilitate the processing of the first installation position 211, the installation hole can also be a through hole, so as to use other fasteners to fasten and install the first connecting member 11 on the first installation position 211.

[0079] Specifically, the axial direction of the mounting hole is the same as the up-down direction of the mobile device 1000.

[0080] In some implementable ways, at least a part of the first connecting member 11 protrudes from the crawler body 100 and is located between the crawler body 100 and the device frame 200, and the part of the first connecting member 11 protruding from the crawler body 100 is mounted on the first mounting position 211.

[0081] That is, both the first connecting member 11 and the first mounting position 211 are located between the side plate 250 and the crawler body 100 and are located outside the two, so that when operating the first connecting member 11 (installing or disassembling the first connecting member 11), it is only necessary to directly operate outside, and there is no need to disassemble the peripheral components for operation.

[0082] In some implementable ways, the front side of the device frame 200 has an exposure opening 220, the device frame 200 is provided with a mounting member 230 adjacent to the front side of the device frame 200, and the second mounting position 2322 is located on the mounting member 230 and is exposed through the exposure opening 220.

[0083] It should be noted that the front side of the device frame 200 does not need to be sealed with structures such as covers. An exposure opening 220 is formed on the front side of the device frame 200. That is, the operator does not need to disassemble the peripheral components on the front side of the device frame 200 to complete the operation on the second mounting position 2322 (installing or disassembling the second connecting member 41).

[0084] In some implementable ways, the mounting member 230 forms a limiting space, and the second connecting member 41 is inserted into the limiting space along the left-right direction of the device frame 200.

[0085] In this way, when assembling the crawler body 100, it is only necessary to move along the left-right direction relative to the device frame 200 to complete the assembly to or removal from the device frame 200, and the operation is convenient and simple.

[0086] Exemplarily, the limiting space can be composed of a hole space opened in the second connecting member 41. Another exemplarily, the limiting space can be composed of a groove space opened in the second connecting member 41.

[0087] In some implementable ways, the mounting member 230 includes:

[0088] A fixing part 231, and the fixing part 231 is fixed to the device frame 200;

[0089] The limiting part 232 is connected to the fixing part 231. The limiting part 232 is provided with a limiting hole 2321 along the left - right direction of the equipment housing 200, and the limiting hole 2321 forms a limiting space.

[0090] Specifically, the fixing part 231 can be fixed on the chassis 240 of the equipment housing 200 to improve its structural strength, and further ensure the structural strength of the limiting part 232, so as to ensure the limiting strength of the limiting part 232 on the second connecting piece 41.

[0091] In some implementable ways, the second installation position 2322 is an assembly hole. The assembly hole penetrates through the mounting part 230 along the front - back direction of the equipment housing 200 and communicates with the limiting space.

[0092] The mounting part 230 and the second connecting piece 41 are connected by a fitting. The fitting penetrates through the assembly hole and is located inside the second connecting piece 41.

[0093] In this way, after the second connecting piece 41 is inserted into the limiting space, the fitting can penetrate through both of them to realize the connection between the two, so as to realize the assembly of the second connecting piece 41 on the second installation position 2322. The limiting part 232 can not only guide the insertion process of the second connecting piece 41, but also limit it after the second connecting piece 41 is inserted, so as to prevent the second connecting piece 41 from moving relative to the limiting part 232 and improve its limiting effect.

[0094] Specifically, the axial direction of the assembly hole is the same as the moving direction of the mobile device 1000.

[0095] In some implementable ways, in the insertion direction of the second connecting piece 41, a first guiding structure is formed at the right end of the second connecting piece 41.

[0096] And / or, a second guiding structure is formed at the left end of the limiting part 232, and the guiding structure is located at the edge of the limiting hole 2321.

[0097] It should be noted that in this embodiment, only the left - hand track body 100 of the equipment housing 200 is taken as an example, and the right - hand track body 100 can be correspondingly arranged.

[0098] In some embodiments, in the insertion direction of the second connecting piece 41, a first guiding structure is formed at the right end of the second connecting piece 41. In this way, during the insertion process, the second connecting piece 41 and the limiting part 232 can be guided based on the first guiding structure to assist the second connecting piece 41 to be accurately inserted on the limiting part 232.

[0099] In still some other embodiments, a second guiding structure is formed at the left end of the limiting portion 232, and the guiding structure is located at the edge of the limiting hole 2321. In this way, during the insertion process, the second connecting member 41 and the limiting portion 232 can be guided based on the first guiding structure to assist the second connecting member 41 to be accurately inserted onto the limiting portion 232.

[0100] In still some other embodiments, in the insertion direction of the second connecting member 41, a first guiding structure is formed at the right end of the second connecting member 41, and a first guiding structure is formed at the right end of the second connecting member 41 to achieve the best guiding effect.

[0101] Among them, the first guiding structure / second guiding structure can be a chamfer structure, a guiding inclined surface structure, or a guiding arc surface structure. Of course, in other embodiments, it can also be other guiding structures as long as the guiding effect between the second connecting member 41 and the limiting portion 232 during the insertion process is achieved.

[0102] In some implementable ways, the second connecting member 41 extends along the left-right direction of the equipment housing 200 and its cross-section is a regular polygon, and the inner wall cross-section of the limiting hole 2321 is a regular polygon adapted to the cross-section of the second connecting member 41.

[0103] In this way, the limiting portion 232 can limit the second connecting member 41 in multiple dimensions in the vertical plane to achieve a strong limiting effect on the second connecting member 41.

[0104] In some implementable ways, the inner wall cross-section of the limiting hole 2321 is a regular quadrilateral to limit the movement of the second connecting member 41 in the front-back direction and the up-down direction of the equipment housing 200.

[0105] In some implementable ways, the crawler body 100 includes a bracket 10, a driving wheel 20 installed on the bracket 10, a driven wheel 30 installed on the bracket 10, a crawler 50 wound around the outside of the driving wheel 20 and the driven wheel 30, and a motor 40 for driving the driving wheel 20 to rotate;

[0106] The first connecting member 11 is provided on the bracket 10 and adjacent to the driven wheel 30;

[0107] The second connecting member 41 is installed on the motor 40, and / or, the second connecting member 41 is adjacent to the driving wheel 20.

[0108] That is, the first connecting member 11 and the second connecting member 41 are respectively located on both sides of the crawler body 100 along its moving direction. Through the position design of the first connecting member 11 and the second connecting member 41, it can ensure that the connection strength between the crawler body 100 and the equipment frame 200 on both sides is equivalent, thereby ensuring the overall assembly strength of the crawler body 100.

[0109] In addition, it should be noted that this embodiment can be combined with each of the above embodiments separately, or can be combined with multiple of the above embodiments. Since the implementation manner of this embodiment adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0110] In a second aspect, the present utility model also proposes an autonomous operation device 2000, including an operation device 2000 and the above-mentioned self-mobile device 1000. The operation device 2000 is installed on the equipment frame 200, and the operation device 2000 includes one or more of: a snow removal device, a lawn mowing device, a leaf blowing device, and a salt spreading device.

[0111] The specific structure of the self-mobile device 1000 refers to the above embodiments. Since the autonomous operation device 2000 adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one. In the present utility model, unless otherwise clearly specified or limited, terms such as "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, or a transmission connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0112] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as specific or special structures. The description of "some embodiments" means that the specific features, structures, materials, or characteristics described in connection with this embodiment or example are included in at least one embodiment or example of the present utility model. In the present utility model, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the present utility model and the features of different embodiments or examples.

[0113] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A self - moving device, applied to an autonomous operation device, characterized in that, Including: A device housing, which is provided with a first mounting position and a second mounting position exposed outside; And A crawler body, which is provided with a first connecting member mounted on the first mounting position and a second connecting member mounted on the second mounting position; Wherein, the assembly direction of the first mounting position intersects with the assembly direction of the second mounting position.

2. The self - moving device according to claim 1, wherein, The assembly direction of the first mounting position is the same as the vertical direction of the self - moving device, and the assembly direction of the second mounting position is the same as the moving direction of the self - moving device.

3. The self-moving device according to claim 1, characterized in that, It further includes a support cross - beam, the support cross - beam penetrates the device housing, and the support cross - beam has an end protruding outside the device housing, and the first mounting position is located at the end.

4. The self-moving device according to claim 3, wherein The end is provided with a mounting hole, and the mounting hole constitutes the first mounting position.

5. The self - moving device according to claim 3, wherein, At least a part of the first connecting member protrudes from the crawler body and is located between the crawler body and the device housing, and the part of the first connecting member protruding from the crawler body is mounted on the first mounting position.

6. The self - moving device according to claim 1, wherein, The front side of the device housing has an exposure opening, the device housing is provided with a mounting member adjacent to the front side of the device housing, and the second mounting position is located on the mounting member and is exposed through the exposure opening.

7. The self - moving device according to claim 6, wherein, The mounting member forms a limiting space, and the second connecting member is inserted into the limiting space along the left - right direction of the device housing.

8. The self-moving device according to claim 7, wherein The mounting member includes: A fixing part, which is fixed to the device housing; A limiting part, which is connected to the fixing part, the limiting part is provided with a limiting hole along the left - right direction of the device housing, and the limiting hole constitutes the limiting space.

9. The self-moving device according to claim 7, characterized in that, The second mounting position is an assembly hole, the assembly hole penetrates the mounting member along the front - rear direction of the device housing and communicates with the limiting space; The mounting member and the second connecting member are connected by a fitting, and the fitting penetrates the assembly hole and is located inside the second connecting member.

10. The self-moving device according to claim 8, wherein In the insertion direction of the second connecting member, a first guiding structure is formed at the right end of the second connecting member; And / or, a second guiding structure is formed at the left end of the limiting part, and the guiding structure is located at the edge of the limiting hole.

11. The self-moving device according to claim 10, wherein, The second connecting member extends along the left - right direction of the device housing and its cross - section is a regular polygon, and the inner - wall cross - section of the limiting hole is a regular polygon adapted to the cross - section of the second connecting member.

12. The self - moving device according to claim 11, characterized in that, The inner - wall cross - section of the limiting hole is a regular quadrilateral to limit the movement of the second connecting member along the front - rear direction and the up - down direction of the device housing.

13. The self - moving device according to any one of claims 1 to 12, characterized in that, The crawler body includes a bracket, a driving wheel mounted on the bracket, a driven wheel mounted on the bracket, a crawler wound around the outside of the driving wheel and the driven wheel, and a motor for driving the driving wheel to rotate; The first connecting member is arranged on the bracket and is adjacent to the driven wheel; The second connecting member is mounted on the motor, and / or, the second connecting member is adjacent to the driving wheel.

14. An autonomous operation device, characterized in that, Comprising a working device and a self-propelled device as described in any one of claims 1 to 13, the working device being mounted on the device housing, the working device including one or more of: a snow removal device, a lawn mowing device, a leaf blowing device, and a salt spreading device.

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