Self-moving device

Abstract

The utility model provides a self-moving device. The self-moving device comprises a device body, a moving wheel set and a first operation unit. The moving wheel set is rotatably arranged on the equipment body and used for driving the self-moving equipment to move. The first operation unit is rotatably arranged on one side or two sides of the equipment body and comprises a rotating mechanism and a cutting mechanism, the rotating mechanism is connected with the equipment body and the cutting mechanism, and the cutting mechanism can rotate relative to the equipment body through the rotating mechanism. The cutting mechanism comprises a lifting assembly and a cutting assembly, and the lifting assembly is connected with the cutting assembly to drive the cutting assembly to move in the vertical direction, so that the cutting assembly moves in the direction close to or away from the to-be-cut face, and then the cutting height is adjusted.

Description

Technical Field

[0001] The present application belongs to the technical field of mobile devices, and in particular to self-mobile devices. Background Art

[0002] Currently, lawn mowers generally include a movable device body and an operating unit provided on the device body, wherein a cutting mechanism in the operating unit is used to cut weeds, branches, etc. on the ground to be cut. However, the cutting mechanism of existing lawn mowers cannot adapt to different mowing scenarios. Utility Model Content

[0003] In view of this, the present application provides a self-moving device, comprising:

[0004] Equipment body;

[0005] A moving wheel set, rotatably provided on the device body, for driving the self-moving device to move;

[0006] The first working unit is rotatably arranged on one side or both sides of the equipment body. The first working unit includes a rotating mechanism and a cutting mechanism. The rotating mechanism is respectively connected to the equipment body and the cutting mechanism. The cutting mechanism can be rotated relative to the equipment body through the rotating mechanism. The cutting mechanism includes a lifting assembly and a cutting assembly. The lifting assembly is connected to the cutting assembly to drive the cutting assembly to move in a vertical direction.

[0007] The cutting mechanism has a first position and a second position. When subjected to an external force, the cutting mechanism can rotate to the first position toward the device body, and when no external force is applied, the cutting mechanism can return to the second position.

[0008] In which, the rotating mechanism includes a rotating seat, a rotating shaft, and a first elastic member. The rotating seat is fixedly arranged on the equipment body, the rotating shaft is rotatably arranged in the rotating seat, the cutting mechanism is connected to the rotating shaft, the first elastic member is sleeved on the rotating shaft and is located in the rotating seat, when the first elastic member is in the initial state, the cutting mechanism is in the second position, and when the first elastic member is deformed, the cutting mechanism is in the first position.

[0009] Wherein, the first elastic member is a torsion spring.

[0010] Wherein, the movable wheel group includes a front wheel group and a rear wheel group, the front wheel group includes two spaced front wheels, the rear wheel group includes two spaced rear wheels, and the first working unit is arranged between the front wheel and the rear wheel located on the same side.

[0011] Among them, the first operating unit also includes a shell, the lifting assembly and the cutting assembly are both arranged in the shell, the lifting assembly includes a first motor and a transmission assembly, the cutting assembly includes a connecting piece and a cutter disc assembly connected thereto, one end of the transmission assembly is connected to the output shaft of the first motor, and the other end of the transmission assembly is connected to the connecting piece.

[0012] Among them, the transmission assembly includes a first gear, a second gear, and a screw. The first gear is sleeved on the output shaft of the first motor, the second gear is sleeved on one end of the screw and meshes with the first gear, a through hole is constructed on the connecting piece, and a threaded section is provided on the inner wall of the through hole. The connecting piece is sleeved on the other end of the screw.

[0013] In which, the cutting assembly also includes a second elastic member connected between the connecting member and the cutter disc assembly. When the connecting member moves in a direction close to the surface to be cut, and / or the cutter disc assembly moves in a direction away from the surface to be cut, the second elastic member is in a compressed state. The second elastic member in the compressed state can enable the cutter disc assembly to move in a direction close to the surface to be cut.

[0014] The cutter disc assembly includes a second motor, a cutter disc, a blade, and a guard. The cutter disc and the guard form a cutting chamber. The blade is located in the cutting chamber. The output shaft of the second motor is connected to the blade. The guard is constructed with a number of spaced-apart grids, and a gap is formed between adjacent grids for allowing grass to enter the cutting chamber.

[0015] The extension direction of the grid is substantially parallel to the moving direction of the self-moving device.

[0016] The self-moving device provided by the present application has, first, a moving wheel set arranged on the device body, and the moving wheel set can drive the self-moving device to move. In addition, a first operating unit consisting of a rotating mechanism and a cutting mechanism is arranged on one side or both sides of the device body, which can increase the cutting scene of the self-moving device, so that the cutting mechanism can cut the object to be cut located on the side of the device body, and realize the edge beating function. At the same time, the rotating mechanism can rotate the cutting mechanism relative to the device body, avoiding the rigid contact between the cutting mechanism and the obstacles on the side of the device body, and can enable the cutting mechanism to retract toward the device body after encountering the obstacle, thereby effectively protecting the cutting mechanism. And the cutting mechanism can complete the current cutting action, avoiding affecting the movement of the self-moving device and hindering the movement of the self-moving device. In addition, the cutting mechanism includes a lifting assembly and a cutting assembly. The lifting assembly can drive the cutting assembly to move in the vertical direction, that is, drive the cutting assembly to move in the height direction of the self-moving device, so that the cutting assembly moves in the direction close to or away from the surface to be cut, thereby adjusting the cutting height. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments of the present application will be described below.

[0018] Figure 1 Schematic diagram of the three-dimensional structure of a mobile device in one embodiment of the present application.

[0019] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the mobile device from another perspective is shown.

[0020] Figure 3 for Figure 1 A top view of the self-moving device is shown.

[0021] Figure 4 for Figure 1 The front view of the mobile device after the outer shell of the first operating unit is removed is shown.

[0022] Figure 5 This is a top view of the cutting mechanism in one embodiment of the present application when it is in the second position.

[0023] Figure 6 This is a schematic diagram of the exploded view of the rotating base and part of the device body in one embodiment of the present application.

[0024] Figure 7 This is a schematic diagram of the three-dimensional structure of the first operating unit in one embodiment of the present application.

[0025] Figure 8 for Figure 7 A schematic diagram of the three-dimensional structure of the first operating unit from another perspective is shown.

[0026] Figure 9 for Figure 7 A schematic cross-sectional view of the first operating unit is shown.

[0027] Figure 10 for Figure 9 The three-dimensional cross-sectional schematic diagram of the first operating unit is shown.

[0028] Figure 11 This is an exploded view of the rotating mechanism in one embodiment of the present application.

[0029] Figure 12 This is an exploded schematic diagram of the first motor, transmission assembly, and connector in one embodiment of the present application.

[0030] Figure 13 This is an exploded schematic diagram of the connecting member and the connecting member in one embodiment of the present application.

[0031] Figure 14 This is a schematic diagram of the three-dimensional structure of the cutter disc assembly in one embodiment of the present application.

[0032] Figure 15 for Figure 14 The three-dimensional structural diagram of the cutter disc assembly from another perspective is shown.

[0033] Figure 16 for Figure 14 Exploded view of the cutterhead assembly shown.

[0034] Figure 17 This is a three-dimensional structural diagram of the first operating unit after removing the top cover in one embodiment of the present application.

[0035] Figure 18 for Figure 1 A bottom view of the self-moving device is shown.

[0036] Figure 19 This is a cross-sectional schematic diagram of a cutter disc assembly in one embodiment of the present application.

[0037] Figure 20 This is a schematic diagram of the guard and the blade in accordance with one embodiment of the present application.

[0038] Figure 21 This is a schematic cross-sectional view of a cutter head assembly in another embodiment of the present application.

[0039] Description of labels:

[0040] Self-moving device 1, device body 10, top surface 101, bottom surface 102, side surface 103, moving wheel assembly 20, front wheel assembly 21, front wheel 210, rear wheel assembly 22, rear wheel 220, first operating unit 30a, rotating mechanism 30b, rotating base 31, rotating shaft 32, rotating shaft 321, connecting shaft 322, first elastic member 33, fixing bolt 34, cutting mechanism 40b, lifting assembly 40, first motor 41, transmission assembly 42, first gear 43, second gear 44, screw 45, bearing 4 6, first guide member-47, second guide member-48, cutting assembly-50, connecting member-51, through hole-510, threaded segment-511, first step structure-512, cutter disc assembly-52, connecting member-53, second elastic member-54, outer shell-60, outer shell body-61, top cover-62, bottom cover-63, protective shell-70, second motor-71, cutter disc-72, shield-73, cutting chamber-730, grid-731, gap-732, inner surface-733, second step structure-734, blade-74, first limit member-75, second limit member-76. DETAILED DESCRIPTION

[0041] The following are preferred implementations of the present application. It should be noted that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

[0042] In view of this, in order to solve the above problems, this application provides a self-moving device, please refer to Figure 1-Figure 4 , Figure 1 Schematic diagram of the three-dimensional structure of a mobile device in one embodiment of the present application. Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the mobile device from another perspective is shown. Figure 3 for Figure 1 A top view of the self-moving device is shown. Figure 4 for Figure 1 The front view of the self-moving device after the shell of the first operating unit is removed is shown. The self-moving device 1 provided in this embodiment includes a device body 10, a moving wheel group 20, and a first operating unit 30a. The moving wheel group 20 is rotatably provided on the device body 10, and is used to drive the self-moving device 1 to move. The first operating unit 30a is rotatably provided on one side or both sides of the device body 10, and the first operating unit 30a includes a rotating mechanism 30b and a cutting mechanism 40b. The rotating mechanism 30b is respectively connected to the device body 10 and the cutting mechanism 40b. The cutting mechanism 40b can be rotated relative to the device body 10 through the rotating mechanism 30b. The cutting mechanism 40b includes a lifting assembly 40 and a cutting assembly 50. The lifting assembly 40 is connected to the cutting assembly 50 to drive the cutting assembly 50 to move in the vertical direction.

[0043] The self-moving device 1 refers to a device that can move automatically, such as a lawn mower, a harvester, a pruning machine, a sweeping robot, etc. This embodiment and the following description will only use a lawn mower for schematic illustration.

[0044] The self-propelled device 1 includes a device body 10, a moving wheel assembly 20, and a first operating unit 30a. The device body 10 is primarily used to house various components of the self-propelled device 1. For example, the moving wheel assembly 20 and the first operating unit 30a may be mounted on the device body 10. A battery, circuit board, and the like may also be mounted within the device body 10. The moving wheel assembly 20 is rotatably mounted on the device body 10. The moving wheel assembly 20 itself can rotate to drive the device body 10 and the self-propelled device 1 as a whole to move to various locations for mowing. Optionally, the moving wheel assembly 20 includes, but is not limited to, wheels, tracks, and the like.

[0045] Prior art designs for mowing and trimming grass along the edge of the lawn mower have not been extensively implemented. While the blade disc 72 is positioned below the main body 10, the blade disc 72 is typically positioned as close to the edge of the main body 10 as possible, offsetting the blade disc 72 so that one side can mow along the edge. However, because the blade disc 72 is always positioned inside the edge of the main body 10, some areas of grass are often missed. Furthermore, due to satellite positioning errors and other factors, even more areas are missed when mowing along the edge of the lawn mower.

[0046] In this embodiment, the first operating unit 30a can be rotatably mounted on one or both sides of the device body 10. In other words, the first operating unit 30a can be mounted on one side 103 of the device body 10, or on both sides 103 of the device body 10. The first operating unit 30a is the component that performs the operating function of the self-propelled device 1. The first operating unit 30a can be used to cut different objects, including but not limited to grass and branches, to provide the self-propelled device 1 with different functions. For example, when the first operating unit 30a is used to mow grass, the self-propelled device 1 can be called a lawn mower; when the first operating unit 30a is used to trim branches, the self-propelled device 1 can be called a pruning shear.

[0047] In addition, the side surface 103 of the device body 10 can be understood as the device body 10 including a top surface 101 and a bottom surface 102 disposed in opposite directions, with the bottom surface 102 being closer to the surface to be cut than the top surface 101. The surface to be cut is the surface on which the object to be cut is disposed, and the surface to be cut includes but is not limited to the ground, the wall, etc. The surface between the top surface 101 and the bottom surface 102 of the device body 10 is the side surface 103 mentioned above. By disposing the first operating unit 30a on the side surface 103 of the device body 10, the cutting scene of the self-moving device 1 can be increased, so that the cutting mechanism 40b can cut the object to be cut located on the side surface 103 of the device body 10, realizing the edge beating function, thereby solving the problem that the self-moving device 1 cannot cut the object to be cut at the wall foot and the walking edge, and at the same time solving the problem that the self-moving device 1 cannot cut around obstacles.

[0048] The first operating unit 30a includes a rotating mechanism 30b and a cutting mechanism 40b. The rotating mechanism 30b is connected to the device body 10 and the cutting mechanism 40b, respectively. The rotating mechanism 30b is capable of rotation, and the cutting mechanism 40b is mainly used to perform the aforementioned cutting functions, such as mowing and pruning. When the rotating mechanism 30b rotates relative to the device body 10, the rotating mechanism 30b can also drive the cutting mechanism 40b to rotate relative to the device body 10, preventing the cutting mechanism 40b from rigidly contacting obstacles on the side of the device body 10. After encountering an obstacle, the cutting mechanism 40b can retract toward the device body 10, effectively protecting the cutting mechanism 40b. The cutting mechanism 40b can also complete the current cutting action, avoiding affecting the movement of the self-moving device 1 or hindering its movement.

[0049] The cutting mechanism 40b includes a lifting assembly 40 and a cutting assembly 50. The lifting assembly 40 is connected to the cutting assembly 50, wherein the cutting assembly 50 is mainly used to realize the above-mentioned cutting function, such as mowing, pruning, etc. The lifting assembly 40 has a lifting function, and the lifting assembly 40 can drive the cutting assembly 50 to move in the vertical direction (such as Figure 4 The cutting assembly 50 can be moved in the height direction of the self-moving device 1, so that the cutting assembly 50 moves in the direction close to or away from the surface to be cut, thereby adjusting the cutting height.

[0050] In summary, the self-propelled device 1 provided in this embodiment not only increases the number of cutting scenarios to achieve edge cutting, but also reduces the need for manual processing of corners, areas around obstacles, and edges of maps, thereby achieving edge cutting. Furthermore, the self-propelled device 1 can also adjust the cutting height, achieving automatic adjustment of the mowing height.

[0051] In addition to the first operating unit 30a, the self-propelled device 1 may also include a second operating unit. This second operating unit may be located on the bottom surface 102 of the device body 10. Like the first operating unit 30a, the second operating unit performs the same function of cutting objects, but is located in a different location. The second operating unit can also be understood as the operating unit located at the bottom of a lawn mower in conventional technology. When within the work area, the second operating unit at the bottom primarily mows the lawn. When mowing along the edge, the first operating unit 30a can be used to mow close to the edge.

[0052] Please refer again Figure 3 In this embodiment, the moving wheel group 20 includes a front wheel group 21 and a rear wheel group 22. The front wheel group 21 includes two front wheels 210 arranged at an interval, and the rear wheel group 22 includes two rear wheels 220 arranged at an interval. The first working unit 30a is arranged between the front wheel 210 and the rear wheel 220 located on the same side.

[0053] The mobile wheel assembly 20 includes a front wheel assembly 21 and a rear wheel assembly 22. The front wheel assembly 21 is located on one side of the device body 10 and includes two spaced front wheels 210 disposed at opposite ends of the device body 10. The rear wheel assembly 22 is located on the other side of the device body 10 and includes two spaced rear wheels 220 disposed at opposite ends of the other side of the device body 10. It is worth noting that the two front wheels 210 and the two rear wheels 220 can be located on the side 103 of the device body 10, in which case both the front wheels 210 and the two rear wheels 220 are exposed on the side 103 of the device body 10. Alternatively, the two front wheels 210 and the two rear wheels 220 can be located on the bottom surface 102 of the device body 10, in which case both the front wheels 210 and the two rear wheels 220 are not exposed on the side 103 of the device body 10.

[0054] However, regardless of how the movable wheel assembly 20 is positioned, in this embodiment, the first operating unit 30a can be positioned between the front wheel 210 and the rear wheel 220 on the same side, that is, the cutting assembly 50 can be positioned between the front wheel 210 and the rear wheel 220 on the same side. For example, the cutting assembly 50 can be positioned between the right front wheel 210 and the rear wheel 220, and / or between the left front wheel 210 and the rear wheel 220, thereby preventing the cutting assembly 50 from cutting the front wheel 210 and the rear wheel 220.

[0055] Please refer to Figure 3 and Figure 5 , Figure 5 This is a top view of the cutting mechanism in the second position in one embodiment of the present application. In this embodiment, the cutting mechanism 40b has a first position and a second position. When an external force is applied, the cutting mechanism 40b can rotate to the first position toward the device body 10. When no external force is applied, the cutting mechanism 40b can return to the second position.

[0056] Since the cutting mechanism 40b can be driven by the rotating mechanism 30b to rotate in a direction close to or away from the device body 10, the cutting mechanism 40b has different positions. In this embodiment, the cutting mechanism 40b has a first position and a second position, wherein the first position is closer to the device body 10 than the second position. Figure 5 As shown, when the cutting mechanism 40b is not acted upon by external force, in other words, when the outer peripheral side of the cutting mechanism 40b and / or the rotating mechanism 30b does not contact an obstacle, the cutting mechanism 40b can be in a second position away from the device body 10. At this time, the area outside the device body 10 in the self-moving device 1 can be covered, thereby increasing the cutting radius of the self-moving device 1 and achieving the purpose of edge coverage cutting.

[0057] like Figure 3As shown, when the cutting mechanism 40b is subjected to an external force, in other words, when the outer peripheral side of the cutting mechanism 40b and / or the rotating mechanism 30b contacts an obstacle, the cutting mechanism 40b can be appropriately retracted in the direction close to the device body 10, thereby rotating to the first position, so that the cutting mechanism 40b is close to the device body 10, thereby achieving the function of edge cutting. Figure 5 As shown, when the external force acting on the cutting mechanism 40b is removed, that is, when there is no external force acting on the cutting mechanism 40b, in other words, when the cutting mechanism 40b is free from the obstacle, the cutting mechanism 40b can rotate in the direction away from the device body 10 and resume the second position.

[0058] In summary, when the cutting mechanism 40b is subjected to external force, it can automatically shrink to achieve the function of edge contact. When there is no external force, the cutting mechanism 40b can increase the cutting radius to achieve the purpose of edge covering cutting.

[0059] It is worth noting that the second position can be understood as the farthest position that the cutting mechanism 40b can rotate in a direction away from the device body 10, but the first position does not necessarily refer to the closest position that the cutting mechanism 40b can rotate in a direction close to the device body 10. As long as the first position is closer to the device body 10 than the second position, it can be referred to as the first position. The specific location of the first position depends on factors such as the magnitude of the external force, the shape and size of the obstacle, etc. As long as the cutting mechanism 40b encounters an obstacle and rotates in a direction close to the device body 10, it can be understood as the first position.

[0060] Optionally, the cutting mechanism 40b rotates to the first position in a direction closer to the device body 10 only when an external force is applied, and the external force is greater than a predetermined force. In other words, the cutting mechanism 40b does not rotate inward as soon as an external force is applied, but only rotates when the external force is greater than a certain value. This allows the cutting mechanism 40b to perform its normal cutting function and also to automatically retract when it encounters an obstacle such as a wall or fence.

[0061] Please refer to Figures 6-11 , Figure 6 This is a schematic diagram of the exploded view of the rotating base and part of the device body in one embodiment of the present application. Figure 7 This is a schematic diagram of the three-dimensional structure of the first operating unit in one embodiment of the present application. Figure 8 for Figure 7 A schematic diagram of the three-dimensional structure of the first operating unit from another perspective is shown. Figure 9 for Figure 7 A schematic cross-sectional view of the first operating unit is shown. Figure 10 for Figure 9 The three-dimensional cross-sectional schematic diagram of the first operating unit is shown. Figure 11This is an exploded view of the rotating mechanism in one embodiment of the present application. In this embodiment, the rotating mechanism 30b includes a rotating base 31, a rotating shaft 32, and a first elastic member 33. The rotating base 31 is fixedly mounted on the device body 10, and the rotating shaft 32 is rotatably mounted within the rotating base 31. The cutting mechanism 40b is connected to the rotating shaft 32. The first elastic member 33 is sleeved on the rotating shaft 32 and located within the rotating base 31. When the first elastic member 33 is in the initial state, the cutting mechanism 40b is in the second position. When the first elastic member 33 is deformed, the cutting mechanism 40b is in the first position.

[0062] The rotating mechanism 30b includes a rotating base 31, a rotating shaft 32, and a first elastic member 33. The rotating base 31 can be fixedly mounted on the side surface 103 of the device body 10, and the positional relationship between the rotating base 31 and the device body 10 remains unchanged. The rotating base 31 can be used to mount components such as the rotating shaft 32 and the first elastic member 33. Specifically, the rotating shaft 32 is rotatably mounted within the rotating base 31. In other words, the rotating shaft 32 can rotate relative to the rotating base 31 and the device body 10. Because the rotating shaft 32 is connected to the cutting mechanism 40b, rotation of the rotating shaft 32 drives the cutting mechanism 40b.

[0063] The first elastic member 33 can be mounted on the rotating shaft 32 and positioned within the rotating base 31. The opposite ends of the first elastic member 33 are connected to the rotating base 31 and the rotating shaft 32, respectively. When the outer peripheral side of the cutting mechanism 40b does not contact an obstacle, the first elastic member 33 is in an initial state, and the cutting mechanism 40b is in a second position. When the outer peripheral side of the cutting mechanism 40b contacts an obstacle, the obstacle causes the cutting mechanism 40b to rotate in a direction toward the device body 10, thereby driving the rotating shaft 32 to rotate, and further causing the first elastic member 33 to enter a deformed state, at which point the cutting mechanism 40b is in the first position. When the outer peripheral side of the cutting mechanism 40b is free from the obstacle, the deformed first elastic member 33 can drive the rotating shaft 32 to rotate in the opposite direction, thereby driving the cutting mechanism 40b to rotate in a direction away from the device body 10, until the first elastic member 33 reaches a balanced initial state, at which point the cutting mechanism 40b returns to the second position.

[0064] In summary, through the mutual cooperation of the rotating seat 31, the rotating shaft 32, and the first elastic member 33, the cutting mechanism 40b can automatically retract to achieve edge cutting when encountering an obstacle, and can automatically extend and recover when leaving the obstacle.

[0065] Optionally, the first operating unit 30a further includes a shell 60 , the rotating seat 31 is disposed outside the shell, the rotating shaft 32 is connected to the shell 60 , and the cutting mechanism 40b is installed in the shell 60 , so that the rotating shaft 32 can drive the cutting mechanism 40b to rotate through the shell 60 .

[0066] Further optionally, the rotating shaft 32 includes a rotating shaft 321 and a connecting shaft 322. The rotating shaft 321 is mounted on one end of the connecting shaft 322 via a D-shaped shaft sleeve, and the rotating shaft 321 is connected to the first elastic member 33. The other end of the connecting shaft 322 protrudes from the rotating base 31 and is fixed to the housing 60 via a fixing bolt 34, so that the connecting shaft 322 and the housing 60 can rotate synchronously.

[0067] In this embodiment, the first elastic member 33 is a torsion spring. When the cutting mechanism 40b encounters an obstacle and is subjected to external force, the torsion spring absorbs the torsion force as the connecting shaft rotates. When the cutting mechanism 40b is free from the obstacle and is no longer subjected to external force, the torsion spring releases the torsion force, allowing the cutting mechanism 40b to re-extend to the second position via the rotating shaft 32.

[0068] Of course, in other embodiments, the first elastic member 33 may also be a tension spring or other component, as long as it can absorb external force when encountering an obstacle and release the external force when leaving the obstacle.

[0069] Please refer again Figure 9-10 In this embodiment, the first operating unit 30a also includes a shell 60, the lifting assembly 40 and the cutting assembly 50 are both arranged in the shell 60, the lifting assembly 40 includes a first motor 41 and a transmission assembly 42, the cutting assembly 50 includes a connecting member 51 and a cutter disc assembly 52 connected thereto, one end of the transmission assembly 42 is connected to the output shaft of the first motor 41, and the other end of the transmission assembly 42 is connected to the connecting member 51.

[0070] The housing 60 of the first operating unit 30a can be used to install various components of the first operating unit 30a, providing a protective foundation for installation. The lifting assembly 40 can be disposed within the housing 60, and part of the cutting assembly 50 can be disposed within the housing 60, while the remaining part can be disposed outside the housing 60.

[0071] The lifting assembly 40 is composed of a first motor 41 and a transmission assembly 42, and the cutting assembly 50 is composed of a connector 51 and a cutterhead assembly 52 connected to the connector 51. One end of the transmission assembly 42 is connected to the output shaft of the first motor 41, and the other end of the transmission assembly 42 is connected to the connector 51. Therefore, when the first motor 41 is in operation, the first motor 41 can drive the transmission assembly 42 to move, and the transmission assembly 42 can drive the connector 51 to move. The cutterhead assembly 52 is then driven by the connector 51 to rise and fall in the vertical direction, so that the cutterhead assembly 52 moves in the direction of approaching or moving away from the surface to be cut.

[0072] Please refer to Figure 9-10 ,as well as Figure 12 , Figure 12This is an exploded schematic diagram of the first motor, transmission assembly, and connector in one embodiment of the present application. In this embodiment, the transmission assembly 42 includes a first gear 43, a second gear 44, and a screw 45. The first gear 43 is sleeved on the output shaft of the first motor 41. The second gear 44 is sleeved on one end of the screw 45 and meshes with the first gear 43. The connector 51 is constructed with a through hole 510, and the inner wall of the through hole 510 is provided with a threaded section 511. The connector 51 is sleeved on the other end of the screw 45.

[0073] The first gear 43 is sleeved onto the output shaft of the first motor 41. When the first motor 41 is operating, the output shaft of the first motor 41 drives the first gear 43 to rotate. Meanwhile, the second gear 44 is sleeved onto one end of the screw 45 via a D-shaped shaft, and the second gear 44 meshes with the first gear 43. Rotation of the first gear 43 drives the second gear 44, and in turn, the screw 45.

[0074] The outer circumference of the screw 45 is provided with an external thread. The connecting member 51 may have a through hole 510 and an internal thread, or threaded end, provided on the inner sidewall of the through hole 510. The connecting member 51 is sleeved onto the screw 45 through the through hole 510, and the external and internal threads cooperate with each other. When the screw 45 rotates, the connecting member 51 moves up and down along the axial direction of the screw 45, thereby driving the cutter head assembly 52 connected to the connecting member 51 to move up and down. In this case, the screw 45 can also be referred to as a lead screw, and the connecting member 51 can also be referred to as a lead screw nut.

[0075] Optionally, the housing 60 includes a housing body 61, a top cover 62, and a bottom cover 63. The bottom cover 63 is closer to the cutting surface than the top cover 62. The first motor 41 is installed in the housing body 61 from one side of the top cover 62, and the output shaft of the first motor 41 passes through the housing body 61. The top cover 62 is fixed to one side of the housing body 61 and shields the first motor 41 and other components of the lifting assembly 40. The first gear 43 is connected to the output shaft of the first motor 41 from one side of the bottom cover 63. The bottom cover 63 is fixed to the other side of the housing body 61 and shields the first gear 43. Because the outer diameter of the first gear 43 is larger than that of the first motor 41, the first gear 43 cannot be installed from the top of the housing body 61. Therefore, the first motor 41 can be installed from the top and the first gear 43 from the bottom, facilitating the installation of the first motor 41 and the first gear 43. Simultaneously, the top cover 62 and the bottom cover 63 are respectively used to seal the upper and lower sides of the housing body 61, thereby achieving a sealed housing 60.

[0076] Optionally, bearings 46 may be provided at opposite ends of the screw 45 to improve the rotation effect of the screw 45 .

[0077] Of course, in other embodiments, the transmission assembly 42 may also adopt other structures, such as using a gear rack related solution to achieve up and down lifting, or using a pulley set and other linear mechanism related solutions to achieve up and down lifting.

[0078] Please refer again Figure 9-10 In this embodiment, the lifting assembly 40 further includes a first guide member 47 disposed within the housing 60. The first guide member 47 is connected to the housing 60 and passes through the connecting member 51. The connecting member 51 is movable along the axial direction of the first guide member 47. The first guide member 47 provides guidance for the connecting member 51 during the vertical lifting process, facilitating the vertical lifting of the connecting member 51 and the cutterhead assembly 52.

[0079] Please refer to Figure 9-10 ,as well as Figure 13 , Figure 13 This is a schematic diagram of the decomposition of the connecting member and the connecting member in one embodiment of the present application. In this embodiment, the connecting member 51 is provided with a first step structure 512, and the cutting assembly 50 also includes a connecting member 53 that passes through the connecting member 51, one end of the connecting member 53 abuts the first step structure 512, and the other end is connected to the cutter disc assembly 52. ​​When the connecting member 51 moves downward in the direction close to the surface to be cut, the connecting member 53 causes the cutter disc assembly 52 to move in the direction close to the surface to be cut due to its gravity. When the connecting member 51 moves upward in the direction away from the surface to be cut, the connecting member 51 drives the connecting member 53 to move in the direction away from the surface to be cut through the first step structure 512, thereby driving the cutter disc assembly 52 to move in the direction away from the surface to be cut. Therefore, the connecting member 51 is not connected to the connecting member 53 throughout the entire process. Only when the connecting member 51 rises, the connecting member 51 connects to the connecting member 53 and drives the cutter disc assembly 52 to rise. However, when the connecting member 51 descends, the connecting member 51 will first separate from the connecting member 53, and then the connecting member 53 and the cutter head assembly 52 connected thereto will descend under the action of its own gravity, so that the connecting member 53 will re-contact the connecting member 51.

[0080] In addition, when the cutter disc assembly 52 abuts the cutting surface, and / or when the cutter disc assembly 52 abuts impurities on the cutting surface, the cutter disc assembly 52 can move in a direction close to the outer shell 60, thereby driving the connecting piece 53 to move synchronously, thereby separating the connecting piece 53 from the connecting piece 51.

[0081] When the cutterhead assembly 52 encounters an uneven surface to be cut, or there are hard objects or impurities on the surface to be cut, the cutterhead assembly 52 will not make hard contact with it, thereby damaging the cutterhead 72. At this time, the cutterhead 72 will move upward under the force of the surface to be cut or the impurities. Although the connecting member 51 and the screw 45 are in a self-locking state, causing the connecting member 51 to be unable to move upward, since the connecting member 53 and the connecting member 51 are in abutment relationship, the cutterhead assembly 52 can drive the connecting member 53 to move upward together. At this time, the connecting member 53 will be separated from the connecting member 51 and will not affect other components, thereby effectively protecting the cutterhead assembly 52. ​​In addition, when the cutterhead assembly 52 leaves the impurities, or the surface to be cut is flattened again, the connecting member 53 and the cutterhead assembly 52 can also rely on their own gravity to fall again, so that the connecting member 53 abuts the connecting member 51 again.

[0082] In summary, through the mutual cooperation of the connecting piece 51 and the connecting piece 53, not only can the cutter disc assembly 52 be lifted up and down, but also when the cutter disc assembly 52 encounters an uneven surface to be cut, or impurities on the surface to be cut, the cutter disc assembly 52 can automatically rise, and automatically descend and reset after leaving, thereby achieving the purpose of floating cutting and serving the purpose of buffering, and can adapt to various terrains.

[0083] Optionally, a certain distance may be set between the cutter disc assembly 52 and the connecting member 51, thereby reserving a certain space for the cutter disc assembly 52 to float and rise, thereby achieving floating mowing.

[0084] Please refer again Figure 9-10 In this embodiment, the cutting assembly 50 also includes a second elastic member 54 connected between the connecting member 51 and the cutter disc assembly 52. ​​When the connecting member 51 moves in a direction close to the surface to be cut, and / or the cutter disc assembly 52 moves in a direction away from the surface to be cut, the second elastic member 54 is in a compressed state. The second elastic member 54 in the compressed state can enable the cutter disc assembly 52 to move in a direction close to the surface to be cut.

[0085] In addition to the aforementioned components, the cutting assembly 50 may further include a second elastic member 54, which is disposed between the connecting member 51 and the cutterhead assembly 52. ​​One end of the second elastic member 54 is connected to the elastic member, and the other end is connected to the cutterhead assembly 52. ​​As can be seen from the foregoing, the connecting member 51 can move downward when engaged with the screw 45. At this time, the second elastic member 54 is in a compressed state. The compressed second elastic member 54 can exert downward pressure on the cutterhead assembly 52, causing the cutterhead assembly 52 to move further downward, thereby enhancing the downward movement of the cutterhead assembly 52.

[0086] In addition, when the cutter head assembly 52 encounters an uneven surface to be cut, or contacts impurities on the surface to be cut, the cutter head assembly 52 will move upward, and at this time, the second elastic member 54 will also be in a compressed state. The compressed second elastic member 54 can move the cutter head assembly 52 in a direction close to the surface to be cut. When the cutter head assembly 52 is free of impurities or the surface to be cut is flat, the second elastic member 54 can exert downward pressure on the cutter head assembly 52, causing the cutter head assembly 52 to move further downward, thereby improving the downward movement effect of the cutter head assembly 52.

[0087] In summary, whether the connecting member 51 moves downward or the cutter disc assembly 52 is pushed up, adding a second elastic member 54 to die-cast the cutter disc assembly 52 can provide downward pressure for the cutter disc assembly 52, so that the cutter disc assembly 52 can not only move downward by its own gravity, but also use the rebound force of the second elastic member 54 to further improve the downward movement effect.

[0088] Please refer to Figure 9-10 ,as well as Figure 14-16 , Figure 14 This is a schematic diagram of the three-dimensional structure of the cutter disc assembly in one embodiment of the present application. Figure 15 for Figure 14 The three-dimensional structural diagram of the cutter disc assembly from another perspective is shown. Figure 16 for Figure 14 An exploded view of the cutterhead assembly is shown. In this embodiment, the cutterhead assembly 52 includes a second motor 71, a cutterhead 72, a blade 74, and a shield 73. The cutterhead 72 and the shield 73 enclose a cutting chamber 730. The blade 74 is located within the cutting chamber 730. The output shaft of the second motor 71 is connected to the blade 74. The shield 73 is constructed with a plurality of spaced grids 731. A gap 732 is formed between adjacent grids 731 for allowing grass to enter the cutting chamber 730.

[0089] The cutterhead assembly 52 includes a second motor 71, which can serve as a power source for the cutterhead assembly 52 during cutting. Optionally, the cutterhead assembly 52 also includes a protective shell 70, which is connected to the connector 51. For example, the protective shell 70 can be connected to the connector 51 via a connecting piece 53, and the second motor 71 can be fixed in the protective shell 70.

[0090] Further optionally, the connecting member 53 includes but is not limited to a screw, the nut of the screw abuts against the first step structure 512 of the connecting member 51, the screw 45 is threadedly connected to the protective shell 70, and the second elastic member 54 can be sleeved on the connecting member 53 and abut against the connecting member 51 and the protective shell 70. When the connecting member 51 moves up and down, the protective shell 70 can be driven up and down by the connecting member 53, thereby driving other components of the cutter head assembly 52 to move up and down.

[0091] Please refer to Figure 17 , Figure 17 This is a three-dimensional structural diagram of the first operating unit in one embodiment of the present application, with the top cover removed. Furthermore, optionally, the lifting assembly 40 further includes a second guide member 48 disposed within the housing 60. The second guide member 48 is connected to the housing 60 and extends through the protective shell 70. The protective shell 70 is movable along the axial direction of the second guide member 48. The second guide member 48 provides guidance for the protective shell 70 during the vertical lifting process, preventing the cutterhead assembly 52 from shifting during the vertical lifting process.

[0092] In the prior art, due to safety requirements, lawn mowers often require blades 74 to be positioned at the bottom of the mower, relatively far from the edge. This prevents the mower from achieving close-to-the-edge mowing. However, in this embodiment, the cutter disc 72 and guard 73 serve as a housing for housing and protecting blades 74. For example, the cutter disc 72, acting as a cover for the guard 73, is secured to the protective housing 70. The cutter disc 72 and guard 73 can enclose a cutting chamber 730, within which blades 74 can be positioned. The cutter disc 72 and guard 73 protect blades 74, preventing them from injuring anyone and improving safety. Therefore, the self-propelled device 1 provided in this embodiment achieves close-to-the-edge mowing while also providing excellent protection. The output shaft of the second motor 71 passes through the protective housing 70 and cutter disc 72 and connects to blades 74 within the cutting chamber 730. This allows the second motor 71 to control the rotation of blades 74 via the output shaft, thereby achieving the desired cutting effect.

[0093] Furthermore, the shield 73 may be constructed with a plurality of spaced-apart grids 731. Specifically, the shield 73 may be composed of multiple strips of grids 731, with gaps 732 formed between adjacent grids 731 for allowing grass to enter the cutting chamber 730. As the self-moving device 1 moves, grass on the ground is automatically collected in the gaps 732, thereby being located within the cutting chamber 730. The rotating blades 74 can then cut the grass within the cutting chamber 730, improving the cutting effect. Of course, this embodiment does not limit the self-moving device 1 to only mowing grass; scenarios where the object to be cut enters the gaps 732 of the grids 731 and is then sheared fall within the scope of this embodiment.

[0094] Although some users in the prior art have installed a blade guard 72 outside the bottom blade 74, allowing the mowing disc to be placed closer to the edge, thereby achieving the purpose of cutting grass close to the edge, and some blade guards 72 are also designed with grids 731, using the gaps 732 between two adjacent grids 731 to accommodate grass and facilitate cutting. However, in the prior art, the extension direction of the grids 731 is usually not consistent with the direction of travel of the self-moving device 1, resulting in the blade guard 72 often pressing down the grass and failing to cut the grass. Cutting close to the edge is often insufficient, and the cutting efficiency is low when cutting grass along the edge.

[0095] Please refer to Figure 18 , Figure 18 for Figure 1 Therefore, this embodiment can make the extension direction of the grid 731 (such as Figure 18 D2 in FIG) is roughly the same as the direction of travel of the self-moving device 1 (as shown in FIG Figure 18 731 is parallel to the direction of travel of the self-propelled device 1, for example, when the self-propelled device 1 is moving forward or backward. The guard 73 combs the grass on the ground, forcing it into the gaps 732 of the corresponding grids 731. The grass is then cut by the rotating blades 74. After the mowing is completed, the cut grass can fall out of the gaps 732. In summary, by controlling the extension direction of the grids 731 to be roughly parallel to the direction of travel of the self-propelled device 1, more grass can be entered into the gaps 732 and cut, thereby improving the cutting effect.

[0096] It is worth noting that the extension direction of the grid 731 is roughly parallel to the moving direction of the self-moving device 1, which can be understood as the extension direction of the grid 731 is parallel to the moving direction of the self-moving device 1, or the extension direction of the grid 731 is not parallel to the moving direction of the self-moving device 1, but only has a small deviation, for example, the deviation angle is not greater than 30°, 25°, 20°, 15°, 10°, 5°, etc., all of the above belong to the extension direction of the grid 731 being roughly parallel to the moving direction of the self-moving device 1.

[0097] Please refer again Figure 15 In this embodiment, the width of the gap 732 (eg Figure 15 The width of gap 732 (shown as W in the figure) is smaller than a preset width, thereby preventing a user's body parts from protruding through gap 732 into cutting cavity 730 and contacting blade 74. By controlling the width of gap 732, a user's body parts, such as fingers or toes, can be prevented from inadvertently protruding through gap 732 and entering cutting cavity 730, thereby contacting blade 74. This further improves safety, eliminates the risk of injury from rotating blade 74, and provides a safety protection function. Optionally, the width of gap 732 is less than 12 mm.

[0098] Please refer to Figure 19-20 , Figure 19 This is a cross-sectional schematic diagram of a cutter disc assembly in one embodiment of the present application. Figure 20 This is a schematic diagram of the guard and blade in cooperation in one embodiment of the present application. In this embodiment, the guard 73 has an inner surface 733 facing away from the surface to be cut, and the distance between the blade 74 and the inner surface 733 is less than a predetermined distance, so that the blade 74 and the guard 73 cooperate to shear the object to be cleaned on the surface to be cut.

[0099] The shield 73 has an inner surface 733 facing away from the cutting surface. In other words, the upper surface of the grid 731 in the shield 73 is the inner surface 733. In this embodiment, the distance between the blade 74 and the inner surface 733 can be less than the preset distance (such as Figure 19 (As shown in Figure L), when blade 74 rotates, the distance between blade 74 and inner surface 733 is small. Therefore, blade 74 and inner surface 733 of shield 73 cooperate to form a grass-cutting motion similar to a pair of scissors, completely cutting the grass. Optionally, the preset distance is 0-0.5mm. When the preset distance is 0, blade 74 abuts inner surface 733. When the distance between blade 74 and inner surface 733 is greater than 0 and less than 0.5mm, the distance between blade 74 and inner surface 733 is small, forming a shearing motion pattern and improving the cutting effect.

[0100] In summary, by controlling the gap 732 between the blade 74 and the inner surface 733, the stationary inner surface 733 of the guard 73 and the rotating blade 74 can form a shearing motion, thereby cutting objects in a shearing manner and improving the cutting effect. In addition, traditional rotary mowing methods use high rotation speeds to cut grass and plants, while this embodiment uses a shearing method to achieve this, which can reduce the cutting speed of the blade 74 and reduce the risk of high-speed collision and ejection of particles.

[0101] In this embodiment, when the distance between the blade 74 and the inner surface 733 is a first distance, the blade 74 has a first rotational speed, and when the distance between the blade 74 and the inner surface 733 is a second distance, the blade 74 has a second rotational speed. If the first distance is smaller than the second distance, and both the first distance and the second distance are smaller than the predetermined distance, the first rotational speed is smaller than the second rotational speed.

[0102] In this embodiment, the grid 731 of the guard 73 can also be used alone. When the distance between the blade 74 and the inner surface 733 is small, the rotation speed of the blade 74 can be reduced. When the distance between the blade 74 and the inner surface 733 is large, the rotation speed of the blade 74 can be increased. In other words, as the distance between the blade 74 and the inner surface 733 increases, the rotation speed of the blade 74 can also increase accordingly. Mowing can also be achieved by utilizing the rapid rotation of the blade 74, rather than by using the shear formed between the blade 74 and the grid 731 to mow the grass.

[0103] In summary, by increasing the distance between the blade 74 and the inner surface 733 , grass mowing can also be achieved by simply increasing the rotation speed of the blade 74 .

[0104] Please refer to Figure 19 and Figure 21 , Figure 21This is a schematic cross-sectional view of a cutterhead assembly in another embodiment of the present application. In this embodiment, a second step structure 734 is provided on the side of the shield 73 proximal to the cutting surface. The cutterhead assembly 52 also includes a first stopper 75 secured to the end of the blade 74 facing away from the second motor 71 and capable of engaging with the second step structure 734.

[0105] In addition to the aforementioned components, the cutterhead assembly 52 may also include a first stopper 75 and a second step structure 734 on the side of the shield 73 near the surface to be cut. Specifically, the second step structure 734 is disposed below the shield 73. One end of the blade 74 is fixed to the output shaft of the second motor 71, while the other end protrudes from the side of the shield 73 near the surface to be cut and is connected to the first stopper 75. Because the first stopper 75 can be snapped onto the second step structure 734, it can be used to prevent the blade 74 from moving away from the shield 73, thereby preventing the distance between the blade 74 and the inner surface 733 of the shield 73 from increasing, thereby reducing the shearing effect. Furthermore, the distance between the blade 74 and the inner surface 733 of the shield 73 can be adjusted by the connection between the first stopper 75 and the blade 74.

[0106] In summary, the setting of the first limit member 75 can not only prevent the blade 74 from moving in the direction away from the shield 73, but also play a role in adjusting the distance between the blade 74 and the inner surface 733 of the shield 73, so that the blade 74 can rotate smoothly in the shield 73 and cut grass.

[0107] Optionally, the first limiting member 75 includes but is not limited to a bearing 46 , and the bearing 46 and the other end of the blade 74 may be connected via screws.

[0108] In this embodiment, the cutter head assembly 52 further includes a second limiting member 76 , which is fixed to a side of the shield 73 close to the surface to be cut, and abuts against a side of the first limiting member 75 close to the surface to be cut.

[0109] A second stopper 76 can be provided in addition to the first stopper 75. The second stopper 76 is fixed to the side of the shield 73 that is closer to the surface to be cut, and the second stopper 76 abuts the side of the first stopper 75 that is closer to the surface to be cut. In other words, the second stopper 76 abuts below the first stopper 75, thereby preventing the first stopper 75 from moving downward or even falling, thereby improving the structural stability of the cutterhead assembly 52.

[0110] Optionally, the second limiting member 76 includes but is not limited to a screw, and the screw is used to abut under the first limiting member 75 to prevent the first limiting member 75 from falling.

[0111] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0112] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0113] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to connection, detachable connection, or integration. They may refer to mechanical connection or electrical connection. They may refer to direct connection or indirect connection through an intermediary. They may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0114] The above details the contents provided in the embodiments of the present application, and illustrates and describes the principles and embodiments of the present application. These explanations are only intended to help understand the method and core concept of the present application. However, the contents of this specification should not be construed as limiting the present application. Those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents.

Claims

1. A self-propelled device, characterized in that: include: Equipment body; A moving wheel set, rotatably provided on the device body, for driving the self-moving device to move; The first working unit is rotatably arranged on one side or both sides of the equipment body. The first working unit includes a rotating mechanism and a cutting mechanism. The rotating mechanism is respectively connected to the equipment body and the cutting mechanism. The cutting mechanism can be rotated relative to the equipment body through the rotating mechanism. The cutting mechanism includes a lifting assembly and a cutting assembly. The lifting assembly is connected to the cutting assembly to drive the cutting assembly to move in a vertical direction.

2. The self-moving device according to claim 1, characterized in that: The cutting mechanism has a first position and a second position. When subjected to an external force, the cutting mechanism can rotate to the first position toward the device body, and when no external force is applied, the cutting mechanism can return to the second position.

3. The self-moving device according to claim 2, characterized in that: The rotating mechanism includes a rotating seat, a rotating shaft, and a first elastic member. The rotating seat is fixedly arranged on the equipment body, the rotating shaft is rotatably arranged in the rotating seat, the cutting mechanism is connected to the rotating shaft, the first elastic member is sleeved on the rotating shaft and is located in the rotating seat, when the first elastic member is in the initial state, the cutting mechanism is in the second position, and when the first elastic member is deformed, the cutting mechanism is in the first position.

4. The self-moving device according to claim 3, characterized in that: The first elastic member is a torsion spring.

5. The self-moving device according to claim 1, characterized in that: The moving wheel group includes a front wheel group and a rear wheel group, the front wheel group includes two spaced front wheels, the rear wheel group includes two spaced rear wheels, and the first working unit is arranged between the front wheel and the rear wheel on the same side.

6. The self-moving device according to claim 1, characterized in that: The first operating unit also includes a shell, and the lifting assembly and the cutting assembly are both arranged in the shell. The lifting assembly includes a first motor and a transmission assembly. The cutting assembly includes a connecting member and a cutter disc assembly connected thereto. One end of the transmission assembly is connected to the output shaft of the first motor, and the other end of the transmission assembly is connected to the connecting member.

7. The self-moving device according to claim 6, characterized in that: The transmission assembly includes a first gear, a second gear, and a screw. The first gear is sleeved on the output shaft of the first motor. The second gear is sleeved on one end of the screw and meshes with the first gear. A through hole is constructed on the connecting piece, and a threaded section is provided on the inner wall of the through hole. The connecting piece is sleeved on the other end of the screw.

8. The self-moving device according to claim 6, characterized in that: The cutting assembly also includes a second elastic member connected between the connecting member and the cutter disc assembly. When the connecting member moves in a direction close to the surface to be cut, and / or the cutter disc assembly moves in a direction away from the surface to be cut, the second elastic member is in a compressed state. The second elastic member in the compressed state can enable the cutter disc assembly to move in a direction close to the surface to be cut.

9. The self-moving device according to claim 6, characterized in that: The cutter disc assembly includes a second motor, a cutter disc, a blade, and a guard. The cutter disc and the guard form a cutting chamber. The blade is located in the cutting chamber. The output shaft of the second motor is connected to the blade. The guard is constructed with a plurality of spaced-apart grids, and a gap is formed between adjacent grids for allowing grass to enter the cutting chamber.

10. The self-moving device according to claim 9, characterized in that: The extension direction of the grid is substantially parallel to the travel direction of the self-moving device.

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