Self-moving device

Abstract

The utility model discloses self-moving equipment, and relates to the technical field of mowing equipment. The self-moving equipment comprises a chassis which comprises a mounting part, the mounting part is located at the rear end of the chassis, and a shaft cavity is formed in the mounting part; a motor shaft of the motor is located in the shaft cavity, and the axis of the motor shaft coincides with the axis of the shaft cavity; the cover body is fixedly connected with the mounting part, the cover body comprises a grass combing part and a fixing part, the grass combing part and the fixing part are of an integrated structure, the fixing part is used for being matched with the mounting part so as to fix the motor shaft in the shaft cavity, the grass combing part comprises grass combing teeth, and the grass combing teeth are fixedly connected with the mounting part. Tooth tips of the grass combing teeth extend towards the bottom of the base plate, and the grass combing part is located at the rear end of the fixing part and the rear end of the base plate. The grass combing part and the fixing part of the cover body are of an integrated structure, the structure is compact, the functions of combing grass and fixing the motor shaft can be achieved only by installing the grass combing part and the fixing part on the chassis during assembling, assembling is easy, and the assembling efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing equipment, and in particular to self-propelled equipment. Background Art

[0002] A lawn mower is a gardening tool used to trim lawns, grass, and other vegetation. It typically features a rear comb, which helps to sort and organize grass clippings during mowing, making them easier to collect or discharge. In hub-motor-driven lawn mowers, a motor shaft retaining cap secures and protects the motor shaft, ensuring stable and safe operation.

[0003] In existing mowing equipment, the rear grass comb and the motor shaft fixing cover are two independently designed structures in space. During installation, the motor shaft fixing cover needs to be installed to the motor shaft and the rear grass comb needs to be installed to the rear end of the mower respectively, which is complicated to operate. Utility Model Content

[0004] The present application provides a self-moving device, in which the grass combing part and the fixing part of the cover body are an integrated structure with a compact structure. During assembly, it only needs to be installed with the chassis to realize the functions of combing grass and fixing the motor shaft. The assembly is simple and can improve assembly efficiency.

[0005] In the first aspect, the present application provides a self-moving device, comprising: a chassis, comprising a mounting portion, the mounting portion being located at the rear end of the chassis, and an axial cavity being provided on the mounting portion; a motor, the motor shaft of the motor being located in the axial cavity, and the axis of the motor shaft coincides with the axis of the axial cavity; a cover body, fixedly connected to the mounting portion, the cover body comprising a grass combing portion and a fixing portion, the grass combing portion and the fixing portion being an integrated structure, the fixing portion being used to cooperate with the mounting portion to fix the motor shaft in the axial cavity, the grass combing portion comprising grass combing teeth, the tooth tips of the grass combing teeth extending toward the bottom direction of the chassis, and the grass combing portion being located at the rear end of the fixing portion and the chassis.

[0006] The self-propelled device provided in this application includes a cover body, wherein the grass combing portion and the fixing portion of the cover body are integrally structured. After the cover body is fixedly connected to the mounting portion of the chassis, the cover body can not only comb grass, but also cooperate with the mounting portion to fix the motor shaft within the shaft cavity of the motor. The grass combing portion and the fixing portion are integrated into one, resulting in a compact structure. During assembly, the grass combing portion and the motor shaft can be both achieved by simply installing the cover body with the chassis, simplifying assembly and improving assembly efficiency.

[0007] In one possible implementation, the grass-combing portion includes a comb handle, with the roots of the combing teeth fixed to the comb handle. There are at least two combing teeth, spaced apart along the extension direction of the comb handle, with the extension direction of the comb handle parallel to the axial direction of the motor shaft. The combing teeth can comb and organize grass clippings. Furthermore, the combing teeth extend in the anti-Z direction and also serve as reinforcement ribs, thereby increasing the structural strength of the cover.

[0008] In one possible implementation, the fixing portion includes a connecting portion and sub-fixing portions located on opposite sides of the connecting portion along the axial direction of the motor shaft. The connecting portion is connected to the grass-combing portion, and the extending direction of the connecting portion is perpendicular to the axial direction of the motor shaft. The sub-fixing portions and the grass-combing portion are arranged relative to each other in the extending direction of the connecting portion. The sub-fixing portions are located on opposite sides of the connecting portion along the axial direction of the motor shaft. The number of motors can be two, and two motor shafts are accommodated in the shaft cavity. There are also two sub-fixing portions, and both sub-fixing portions can cooperate with the mounting portion and respectively fix the two motor shafts in the shaft cavity.

[0009] In a possible implementation, the connection portion is provided with a convex rib, the convex rib being located on a side of the connection portion facing the chassis. The convex rib can improve the structural strength of the connection portion.

[0010] In one possible implementation, the connecting portion has a first surface, which is the surface of the connecting portion facing away from the chassis, and the sub-fixing portion has a second surface, which is the surface of the sub-fixing portion facing away from the chassis. The second surface is located on one side of the first surface along the extension direction of the tooth tips of the grass-combing teeth. This design can reduce grass clippings accumulation and reduce the risk of grass clippings clogging.

[0011] In one possible implementation, the self-propelled device includes a connector that is sleeved onto the motor shaft and fixedly connected thereto, the connector being located within the shaft cavity; the sub-fixing portion is provided with a first protrusion, the connector is provided with a first latching slot, and / or the sub-fixing portion is provided with a first latching slot, the connector is provided with a first protrusion; the mounting portion has an opening facing the sub-fixing portion, at least a portion of the first protrusion passes through the opening and is located within the shaft cavity, the first protrusion is located within the first latching slot and abuts against the inner wall of the first latching slot to secure the motor shaft within the shaft cavity. The first protrusion can pass through the opening and enter the shaft cavity and engage with the first latching slot within the shaft cavity. When the first protrusion engages with the first latching slot, the first protrusion can be located within the first latching slot and abut against the inner wall of the first latching slot. When the cover is fixedly connected to the chassis, the first protrusion on the cover can engage with the first latching slot within the shaft cavity to achieve latching engagement, thereby securing the motor shaft and preventing it from rotating.

[0012] In a possible implementation, a groove is provided on the first protrusion, with the notch of the groove facing the first clamping slot. Providing the groove on the first protrusion can reduce the weight of the first protrusion.

[0013] In one possible implementation, a first hole structure is provided on at least one of the connecting portion and the sub-fixing portion, and a second hole structure is provided on the mounting portion. The first hole structure and the second hole structure are connected, and the first hole structure and the second hole structure are used to pass through fasteners to fixedly connect the cover body and the mounting portion. The first hole structure is provided on the connecting portion, and cooperates with the second hole structure on the chassis. The fasteners pass through the first hole structure and the second hole structure to fix the cover body and the mounting portion. The provision of the first hole structure on the sub-fixing portion can make the abutment between the sub-fixing portion and the connecting member tighter, thereby better fixing the motor shaft.

[0014] In one possible implementation, the fixing portion is provided with a second protrusion, and the mounting portion is provided with a second slot, and / or the fixing portion is provided with a second slot and the mounting portion is provided with a second protrusion, wherein the second protrusion is located within the second slot and abuts against an inner wall of the second slot. The cooperation between the second protrusion and the second slot can position the mounting portion and the fixing portion for installation, facilitating quick installation of the mounting portion and the fixing portion.

[0015] In one possible implementation, the self-propelled device includes a battery cover, which is located on a side of the grass-grooming unit facing away from the fixed unit. The battery cover is provided with a third protrusion, which extends toward the bottom of the chassis. The grass-grooming unit is provided with a third slot, and the third protrusion is located within the third slot and abuts against an inner wall of the third slot. The coordinated design of the third slot and the third protrusion enables the battery cover and the grass-grooming unit to be quickly and accurately installed during installation.

[0016] In one possible implementation, a third hole structure is provided on the third protrusion, and a fourth hole structure is provided on the mounting portion. The third and fourth hole structures are connected, and the third and fourth hole structures are used to pass fasteners to securely connect the battery cover and the mounting portion. When the battery cover and the mounting portion are installed, the fasteners pass through the third and fourth hole structures to securely connect the battery cover and the mounting portion of the chassis.

[0017] In one possible implementation, the self-moving device includes at least two tires, each located on opposite sides of the chassis along the axial direction of the motor shaft. The self-moving device includes at least two motors, each connected to the tires in a one-to-one matching manner. The motor is at least partially located within the tire, and the motor shaft is located outside the tire. The motor shaft is fixed within the chassis and does not rotate. When the in-wheel motor is operating, the motor's rotational force is directly transmitted to the tire, which can directly drive the tire to rotate, thereby driving the self-moving device to move.

[0018] In one possible implementation, the tire is coaxially arranged with the motor shaft, and the grass-grooming unit is located on the side of the motor shaft toward the rear end of the chassis. Positioning the grass-grooming unit closer to the rear end of the self-propelled device prevents a user's feet or hands from reaching the bottom of the self-propelled device through the grass-grooming unit, thereby preventing contact between the user's feet or hands and the blade disc, reducing the risk of accidental injury during operation and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a self-moving device provided by an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of a portion of the structure of a self-moving device provided in an embodiment of the present application;

[0021] Figure 3 Schematic diagram of the relationship between the cover and chassis of the self-propelled device provided in an embodiment of the present application;

[0022] Figure 4 This is a schematic structural diagram of a cover body of a self-propelled device provided in an embodiment of the present application;

[0023] Figure 5 This is a structural diagram of the cover of the mobile device provided by an embodiment of the present application from another perspective;

[0024] Figure 6 This is a schematic diagram of the relationship between the cover, chassis, and motor of the self-propelled device provided by the embodiment of the present application;

[0025] Figure 7 It is a structural schematic diagram of a chassis of a self-moving device provided in an embodiment of the present application;

[0026] Figure 8 yes Figure 7 Enlarged view of point A in the middle;

[0027] Figure 9 This is a schematic diagram of the relationship between the battery cover and the chassis of the mobile device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0029] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0031] It should be understood that the term "and / or" as used herein is simply a term used to describe the existence of three possible relationships between related objects. For example, "A and / or B" can represent the existence of A alone, the existence of both A and B, and the existence of B alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0032] It should be understood that the terms “first”, “second”, etc. used in this application are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0033] In the description of this application, the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They 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. Therefore, they should not be understood as limiting this application.

[0034] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a conflicting connection or an integrated connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0035] The present application provides a self-moving device 100, which may include but is not limited to a lawn mower robot and a lawn mower, etc. The self-moving device 100 can be used to mow and maintain lawns, grass, and other vegetation.

[0036] In this application, the forward and backward directions of the mobile device 100 are defined as the X direction, with the positive X direction representing the front end or head of the mobile device 100 and the negative X direction representing the rear end or tail of the mobile device 100. The left and right directions of the mobile device 100 are defined as the Y direction, with the positive Y direction representing the left side of the mobile device 100 and the negative Y direction representing the right side of the mobile device 100. The height direction of the mobile device 100 is defined as the Z direction, with the positive Z direction representing the top of the mobile device 100 and the negative X direction representing the bottom of the mobile device 100. The following description uses the mobile device 100 as a lawn mower as an example.

[0037] See Figure 1 、 Figure 2 and Figure 3 As shown, the self-propelled device 100 includes a chassis 110, a cover 120, and a motor 130. The chassis 110 includes a mounting portion 111, which is located at the rear end of the chassis 110, the rear end of the chassis 110 being the side of the chassis opposite to the X direction. The mounting portion 111 is provided with an axis cavity 112 for accommodating a motor shaft 131.

[0038] The motor 130 has a motor shaft 131. The motor 130 can drive the tire 140 to rotate, thereby driving the self-moving device 100 to move. Specifically, the motor 130 is the power source of the self-moving device 100. When the motor 130 is powered on and started, the motor 130 transmits power to the tire 140. The tire 140 starts to rotate under the drive of the motor 130, thereby pushing the entire self-moving device 100 forward or backward. The motor shaft 131 of the motor 130 is located in the shaft cavity 112 on the mounting portion 111. After the motor 130 and the chassis 110 are installed, the motor 130 is located on opposite sides of the chassis 110 in the Y direction. The motor shaft 131 is located in the shaft cavity 112. The axis of the motor shaft 131 coincides with the axis of the shaft cavity 112. The axis of the motor shaft 131 extends along the Y direction, and the axis of the shaft cavity 112 also extends along the Y direction.

[0039] The chassis 110 and the cover body 120 are fixedly connected, and the cover body 120 is specifically fixedly connected to the mounting portion 111 of the chassis 110. The cover body 120 is located on the side of the chassis 110 in the opposite direction of Z. The cover body 120 includes a grass-combing portion 121 and a fixing portion 122. The grass-combing portion 121 and the fixing portion 122 are an integrated structure, and the grass-combing portion 121 and the fixing portion 122 can be integrated into a single integral structure through processes such as injection molding, die-casting or stamping. The integrated structure can reduce the steps of separate manufacturing and separate assembly of the grass-combing portion 121 and the fixing portion 122, can simplify the production process, make the overall structure of the self-moving device 100 more solid and compact, facilitate assembly, and improve assembly efficiency.

[0040] The grass-combing section 121 includes grass-combing teeth 123, the tips of which extend toward the bottom of the chassis 110, that is, in the anti-Z direction. The grass-combing section 121 is located at the rear end of the fixed section 122 and the chassis 110. The rear ends of the fixed section 122 and the chassis 110 refer to the ends of the fixed section 122 and the chassis 110 in the anti-X direction, respectively. The grass-combing section 121 effectively combs the lawn, particularly after the self-propelled device 100 has finished mowing the grass. It can sort and organize grass clippings, making them easier to collect or discharge, thereby improving the cutting efficiency and effectiveness of the self-propelled device 100. The grass-combing section 121 is located at the end of the fixed section 122 and the chassis 110 in the anti-X direction. This prevents the user's feet or hands from reaching the cutting disc of the self-propelled device 100 through the chassis 110, thereby reducing the risk of accidental injury during operation.

[0041] The fixing portion 122 may cover the outer wall surface of the shaft cavity 112 . The fixing portion 122 may be fixedly connected to the mounting portion 111 and cooperate with the mounting portion 111 to fix the motor shaft 131 in the shaft cavity 112 .

[0042] The self-propelled device 100 provided in this application includes a cover 120. The grass-combing portion 121 and the fixing portion 122 of the cover 120 are integrally formed. After the cover 120 is fixedly connected to the mounting portion 111 of the chassis 110, the cover 120 can both comb grass and cooperate with the mounting portion 111 to fix the motor shaft 131 of the motor 130 within the shaft cavity 112. The grass-combing portion 121 and the fixing portion 122 are integrated into one, resulting in a compact structure. During assembly, the cover 120 only needs to be installed with the chassis 110 to achieve the functions of combing grass and fixing the motor shaft 131, which simplifies assembly and improves assembly efficiency.

[0043] In one possible implementation, see Figure 4 and Figure 5 As shown, the grass combing part 121 includes a combing handle 124, and the roots of the grass combing teeth 123 are fixed on the combing handle 124. The number of the grass combing teeth 123 is at least two, and the number of the grass combing teeth 123 can be four, five, or six, etc. At least two grass combing teeth 123 are arranged at intervals along the extension direction of the combing handle 124, and the extension direction of the combing handle 124 is parallel to the axial direction of the motor shaft 131. The axial direction of the motor shaft 131 is the Y direction, and the extension direction of the combing handle 124 is parallel to the Y direction, and can also be the Y direction. At least two grass combing teeth 123 extend along the Y direction, and the grass combing teeth 123 can comb and organize grass clippings. At the same time, the grass combing teeth 123 extend in the opposite direction of Z, and the grass combing teeth 123 can also act as reinforcing ribs, thereby improving the structural strength of the cover body 120.

[0044] In one possible implementation, see Figure 4 and Figure 5The fixing portion 122 includes a connecting portion 125 and sub-fixing portions 126 located on opposite sides of the connecting portion 125 along the axial direction of the motor shaft 131. The connecting portion 125 and the sub-fixing portion 126 are an integrated structure. After the motor 130 and the mounting portion 111 are installed, the motor 130 is located on opposite sides of the chassis 110 in the Y direction, and the axial direction of the motor shaft 131 is the Y direction. The sub-fixing portions 126 are located on opposite sides of the connecting portion 125 in the Y direction. The number of motors 130 can be two, and two motor shafts 131 are accommodated in the shaft cavity 112. The number of sub-fixing portions 126 is also two, and both sub-fixing portions 126 can cooperate with the mounting portion 111 and respectively fix the two motor shafts 131 in the shaft cavity 112. The connecting portion 125 extends along the X direction, perpendicular to the axial direction (Y direction) of the motor shaft 131. The connecting portion 125 is connected to the grass combing portion 121, and the connecting portion 125 is connected between the grass combing portion 121 and the sub-fixing portion 126. The grass combing portion 121 is located on the side of the connecting portion 125 in the opposite direction of X, and the sub-fixing portion 126 and the grass combing portion 121 are relatively arranged in the extension direction of the connecting portion 125.

[0045] In one possible implementation, see Figure 5 As shown, the connection portion 125 is provided with a rib 1251, located on the side of the connection portion 125 facing the chassis 110. The rib 1251 can extend along the X-direction, which is consistent with the extension direction of the connection portion 125. There can be at least one rib 1251. When there are at least two ribs 1251, the ribs 1251 can be spaced apart along the Y-direction on the connection portion 125. The ribs 1251 can enhance the structural strength of the connection portion 125.

[0046] In one possible implementation, see Figure 3 and Figure 4 As shown, the connecting portion 125 has a first surface 1252. The first surface 1252 is the surface of the connecting portion 125 facing away from the chassis 110, that is, the surface of the connecting portion 125 in the opposite Z direction. The sub-fixing portion 126 has a second surface 1261. The second surface 1261 is the surface of the sub-fixing portion 126 facing away from the chassis 110, that is, the surface of the sub-fixing portion 126 in the opposite Z direction. The second surface 1261 is located on one side of the first surface 1252 along the direction in which the tooth tips of the grass-combing teeth 123 extend. The tooth tips of the grass-combing teeth 123 extend in the opposite Z direction. The second surface 1261 is located on one side of the first surface 1252 along the opposite Z direction. It can be understood that when the self-moving device 100 is in operation, the second surface 1261 is closer to the ground than the first surface 1252, which can reduce the accumulation of grass clippings and reduce the risk of grass clipping blockage.

[0047] In one possible implementation, see Figure 6As shown, the self-moving device 100 includes a connecting member 150, which is sleeved on the motor shaft 131. The connecting member 150 has a through hole running through the connecting member 150, and the motor shaft 131 passes through the through hole on the connecting member 150, so that the connecting member 150 is sleeved on the motor shaft 131. The connecting member 150 and the motor shaft 131 are fixedly connected, and there is no relative movement between the connecting member 150 and the motor shaft 131. After the connecting member 150 is sleeved on the motor shaft 131, the connecting member 150 and the motor shaft 131 are accommodated in the shaft cavity 112 together. The connecting member 150 is located in the shaft cavity 112, and the connecting member 150 can be partially accommodated in the shaft cavity 112, or it can be fully accommodated in the shaft cavity 112. The connecting member 150 can abut against the sub-fixing portion 126 to fix the motor shaft 131 in the shaft cavity 112. When the cover 120 is mounted on the mounting portion 111, the sub-fixing portion 126 can be fixedly connected to the mounting portion 111. After the mounting portion of the chassis 110 and the cover 120 are installed, the sub-fixing portion 126 abuts against and squeezes the connecting member 150, so that the connecting member 150 is fixed in the shaft cavity 112. The connecting member 150 is fixedly connected to the motor shaft 131, so that the fixing portion 122 can fix the motor shaft 131 and prevent the motor shaft 131 from rotating.

[0048] Specifically, see Figure 5 、 Figure 6 、 Figure 7 and Figure 8 As shown, the sub-fixing portion 126 is provided with a first protrusion 1262, and the connecting member 150 is provided with a first latching slot 151, and / or the sub-fixing portion 126 is provided with a first latching slot 151, and the connecting member 150 is provided with a first protrusion 1262. The sub-fixing portion 126 may be provided with a first protrusion 1262, and the connecting member 150 may be provided with a first latching slot 151. Alternatively, the sub-fixing portion 126 is provided with a first latching slot 151, and the connecting member 150 is provided with a first protrusion 1262. Alternatively, the sub-fixing portion 126 is provided with a first protrusion 1262 and a first latching slot 151, and the connecting member 150 is provided with a first latching slot 151 and a first protrusion 1262.

[0049] The connecting member 150 is located in the axial cavity 112 of the mounting portion 111, and the mounting portion 111 has an opening 113 facing the sub-fixing portion 126. After the cover body 120 and the mounting portion 111 of the chassis 110 are installed, at least part of the first protrusion 1262 passes through the opening 113 and is located in the axial cavity 112. The first protrusion 1262 is located in the first slot 151 and abuts against the inner wall of the first slot 151. The first slot 151 can cooperate with the first protrusion 1262 to fix the motor shaft 131 in the axial cavity 112.

[0050] The detailed description is given by taking the example that the first protrusion 1262 is provided on the sub-fixing portion 126 and the first locking groove 151 is provided on the connecting member 150 .

[0051] In one embodiment, see Figure 5 、 Figure 6 、 Figure 7 and Figure 8 As shown, the sub-fixing portion 126 is provided with a first protrusion 1262. The first protrusion 1262 is located on the side of the sub-fixing portion 126 in the positive Z direction and extends in the positive Z direction to form a protrusion. The connecting member 150 is provided with a first retaining groove 151. The first retaining groove 151 is located on the side of the connecting member 150 in the negative Z direction. The wall surface of the connecting member 150 in the negative Z direction is flat, and a portion of the wall surface is recessed in the positive Z direction to form a retaining groove structure. During assembly, the connecting member 150 is sleeved onto the motor shaft 131, and the motor shaft 131 and the connecting member 150 are together accommodated in the shaft cavity 112. The mounting portion 111 has an opening 113 in the negative Z direction. This opening 113 is connected to the notch of the first retaining groove 151 in the negative Z direction. In the Z direction, the projection of the opening 113 coincides with the projection of the first retaining groove 151. This opening 113 allows the first protrusion 1262 to pass through. The first protrusion 1262 can pass through the opening 113 into the shaft cavity 112 and engage with the first retaining groove 151 located in the shaft cavity 112. When the first protrusion 1262 engages with the first retaining groove 151, the first protrusion 1262 can be located in the first retaining groove 151 and abut against the inner wall of the first retaining groove 151. When the cover 120 is fixedly connected to the chassis 110, the first protrusion 1262 on the cover 120 can engage with the first retaining groove 151 in the shaft cavity 112 to achieve a locking connection, thereby securing the motor shaft and preventing the motor shaft from rotating.

[0052] In a possible embodiment, a groove 1263 is provided on the first protrusion 1262, and the notch of the groove 1263 faces the first slot 151. The first protrusion 1262 can be provided on the sub-fixing portion 126 or on the connecting member 150. When the first protrusion 1262 is provided on the sub-fixing portion 126, refer to Figure 5 and Figure 6 As shown, the first protrusion 1262 extends along the positive Z direction, the first engaging groove 151 is located on one side of the first protrusion 1262 in the positive Z direction, and the first protrusion 1262 is provided with a groove 1263, with the notch of the groove 1263 facing the positive Z direction. When the first protrusion 1262 is provided on the connecting member 150, the first protrusion 1262 extends along the negative Z direction, the first engaging groove 151 is located on one side of the first protrusion 1262 in the negative Z direction, and the first protrusion 1262 is provided with a groove 1263, with the notch of the groove 1263 facing the negative Z direction. Providing the groove 1263 on the first protrusion 1262 can reduce the weight of the first protrusion 1262.

[0053] In one possible implementation, see Figure 4 、 Figure 5and Figure 8 As shown, at least one of the connecting portion 125 and the sub-fixing portion 126 is provided with a first hole structure 1253. The first hole structure 1253 can be provided on the connecting portion 125; the first hole structure can be provided on the sub-fixing portion 126; or both the connecting portion 125 and the sub-fixing portion 126 can be provided with first hole structures. The mounting portion 111 is provided with a second hole structure 114. The first hole structure 1253 and the second hole structure 114 are connected. The first hole structure 1253 and the second hole structure 114 are used to pass through the fastener 200 to securely connect the cover body 120 and the mounting portion 111.

[0054] In one embodiment, a first hole structure 1253 is provided on both the connecting portion 125 and the sub-fixing portion 126, and a second hole structure 114 is provided on the mounting portion 111 at a position corresponding to the connecting portion 125 and the sub-fixing portion 126. The first hole structure 1253 and the second hole structure 114 are connected. The first hole structure 1253 provided on the connecting portion 125 cooperates with the second hole structure 114 on the mounting portion 111. The fastener 200 passes through the first hole structure 1253 and the second hole structure 114 to securely connect the cover 120 and the mounting portion 111. The first hole structure 1253 provided on the sub-fixing portion 126 cooperates with the second hole structure 114 on the mounting portion 111. The fastener 200 passes through the first hole structure 1253 and the second hole structure 114 to securely connect the cover 120 and the chassis 110. The first hole structure 1253 provided on the sub-fixing portion 126 can make the contact between the sub-fixing portion 126 and the connecting member 150 tighter, thereby better fixing the motor shaft 131 .

[0055] In one embodiment, see Figure 2 、 Figure 4 、 Figure 5 and Figure 8 As shown, a first hole structure 1253 can be provided on the sub-fixing portion 126, and the first hole structure 1253 can pass through the first protrusion 1262. When the sub-fixing portion 126 is fixedly connected to the mounting portion 111, the first hole structure 1253 is located on the first protrusion 1262, which can further deepen the abutment between the first protrusion 1262 and the first slot 151.

[0056] In one embodiment, Figure 2 、 Figure 4 、 Figure 5 and Figure 8 As shown, the fastener 200 can be a screw, and the first hole structure 1253 and the second hole structure 114 can be threaded holes, which can be used to fix the cover 120 to the chassis 110 by threaded engagement. At the same time, the cover 120 and the chassis 110 can be disassembled, which is convenient for disassembly and replacement.

[0057] In one possible embodiment, the fixing portion 122 is provided with a second protrusion 1221, and the mounting portion 111 is provided with a second latching groove 115, and / or the fixing portion 122 is provided with a second latching groove 115, and the mounting portion 111 is provided with a second protrusion 1221. The fixing portion 122 may be provided with a second protrusion 1221, and the mounting portion 111 may be provided with a second latching groove 115. Alternatively, the fixing portion 122 is provided with a second latching groove 115, and the mounting portion 111 is provided with a second protrusion 1221. Alternatively, the fixing portion 122 is provided with a second protrusion 1221 and a second latching groove 115, and the mounting portion 111 is provided with a second latching groove 115 and a second protrusion 1221. When the cover 120 is fixedly connected to the mounting portion 111, the second protrusion 1221 is located in the second latching groove 115 and abuts against the inner wall of the second latching groove 115. The second latching groove 115 can cooperate with the second protrusion 1221 to connect the cover 120 and the mounting portion 111. The cooperation between the second protrusion 1221 and the second latching groove 115 can position the installation of the mounting portion 111 and the fixing portion 122, facilitating quick installation of the mounting portion 111 and the fixing portion 122.

[0058] In one embodiment, see Figure 3 and Figure 5 As shown, the fixing portion 122 is provided with a second protrusion 1221, which can be provided on the sub-fixing portion 126. The second protrusion 1221 extends along the positive Z direction, and the mounting portion 111 is provided with a second latching groove 115. When the cover 120 is fixedly connected to the mounting portion 111, the second protrusion 1221 is located in the second latching groove 115 and abuts against the inner wall of the second latching groove 115. The second latching groove 115 can cooperate with the second protrusion 1221 to connect the cover 120 and the mounting portion 111 together.

[0059] In one possible implementation, see Figure 9 As shown, the self-moving device 100 includes a battery (not shown) and a battery cover 160 . The battery can provide power for some structures (such as motors and circuits) of the self-moving device 100 .

[0060] The battery cover 160 is located on the side of the grass-combing portion 121 facing away from the fixing portion 122, that is, the battery cover 160 is located on the side of the grass-combing portion 121 in the opposite direction of X. The battery is installed inside the self-moving device 100, and the battery cover 160 is installed on the side of the self-moving device 100 in the opposite direction of X. The battery cover 160 is used to cover the battery and fix the battery inside the self-moving device 100. The battery cover 160 can protect the battery and prevent dust, water and other external factors from damaging the battery. A third protrusion 161 is provided on the battery cover 160, and the third protrusion 161 extends toward the bottom of the chassis 110. The third protrusion 161 extends in the opposite direction of Z on the battery cover 160. The grass-grooming unit 121 is provided with a third slot 1211, and the third protrusion 161 corresponds to the third slot 1211. Therefore, when the battery cover 160 is installed, the third protrusion 161 on the battery cover 160 will be inserted into the third slot 1211 and abut against the inner wall of the third slot 1211. The matching design of the third slot 1211 and the third protrusion 161 allows the battery cover 160 and the grass-grooming unit 121 to be quickly and accurately installed during installation.

[0061] In one possible embodiment, a third hole structure 162 is provided on the third protrusion 161, and a fourth hole structure 116 is provided on the mounting portion 111. The third hole structure 162 and the fourth hole structure 116 are connected, and the third hole structure 162 and the fourth hole structure 116 are used to pass through the fastener 200 to fix the battery cover 160 and the mounting portion 111. Figure 8 and Figure 9 As shown, the battery cover 160 is located on the side of the chassis 110 opposite the X direction and is fixedly connected to the mounting portion 111 of the chassis 110. A third hole structure 162 is provided on the third protrusion 161 of the battery cover 160, and the third hole structure 162 extends through the third protrusion 161 along the X direction. A fourth hole structure 116 is provided on the mounting portion 111. The third hole structure 162 and the fourth hole structure 116 are connected. When the battery cover 160 and the mounting portion 111 are installed, the fastener 200 passes through the third hole structure 162 and the fourth hole structure 116 to securely connect the battery cover 160 to the mounting portion 111 of the chassis 110.

[0062] In one embodiment, the fasteners may be screws, and the third hole structure 162 and the fourth hole structure 116 may be threaded holes. The threads may be engaged to securely connect the battery cover 160 to the chassis 110, ensuring that the battery is securely mounted within the mobile device 100 and preventing it from loosening or falling out during use. Furthermore, the battery cover 160 and chassis 110 are removable, facilitating removal and replacement of the battery.

[0063] In one possible embodiment, the self-propelled device 100 includes at least two tires 140. The number of tires 140 can be two or four. At least two tires 140 are located on opposite sides of the chassis 110 along the axial direction of the motor shaft. The tires 140 can be the rear wheels of the self-propelled device 100, that is, the tires 140 on the side opposite to the X direction of the self-propelled device 100 are the rear wheels of the self-propelled device 100. In the embodiment of the present application, refer to Figure 1 and Figure 6 As shown, there are two tires 140. The two tires 140 are located on opposite sides of the chassis 110 in the Y direction. There are at least two motors 130, and the number of motors 130 can be two, four, or so on. A one-to-one matching connection between motors 130 and tires 140 means that the number of motors 130 and tires 140 is the same, each tire 140 is connected to a motor 130, and each tire 140 is driven by a motor 130. The motors 130 are at least partially located within the tires 140, with the motor shaft 131 located outside the tires. The motors 130 are partially located within the tires 140, with the motor shaft 131 located outside the tires 140. In this application, the motors 130 can be hub motors. The housing and partial structure of the hub motors can be directly mounted inside the tires 140. The motor shaft 131 of the hub motor is located outside the tires 140 and within the shaft cavity 112 of the chassis 110. During operation, the motor shaft 131 is fixed in the chassis 110 and does not rotate. When the in-wheel motor is operating, the rotational force of the in-wheel motor is directly transmitted to the tire 140, which can directly drive the tire 140 to rotate, thereby driving the mobile device 100 to move.

[0064] In one possible implementation, see Figure 2 and Figure 9 As shown, the motor 130 is partially located inside the tire 140, and the motor shaft 131 is located outside the tire 140. The tire 140 and the motor shaft 131 are coaxially arranged, and the center line connecting the two tires 140 coincides with the axis of the motor shaft 131. The grass-combing unit 121 is located on the side of the motor shaft 131 facing the rear end of the chassis 110. The side of the motor shaft 131 facing the rear end of the chassis 110 is the side of the motor shaft 131 in the opposite direction of X. The grass-combing unit 121 is located on the side of the motor shaft 131 in the opposite direction of X. The grass-combing unit 121 is arranged closer to the rear end of the self-moving device 100, which can prevent the user's feet or hands from extending from the grass-combing unit 121 to the bottom of the self-moving device, thereby preventing the user's feet or hands from contacting the blade disc, reducing the risk of accidental injury to the user during operation, and improving safety.

[0065] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A self-propelled device, characterized in that: include: The chassis comprises a mounting portion, the mounting portion being located at the rear end of the chassis and having an axle cavity provided thereon; a motor, wherein the motor shaft of the motor is located in the shaft cavity, and the axis of the motor shaft coincides with the axis of the shaft cavity; The cover body is fixedly connected to the mounting portion, the cover body includes a grass combing portion and a fixing portion, the grass combing portion and the fixing portion are an integrated structure, the fixing portion is used to cooperate with the mounting portion to fix the motor shaft in the shaft cavity, the grass combing portion includes grass combing teeth, the tooth tips of the grass combing teeth extend toward the bottom of the chassis, and the grass combing portion is located at the rear end of the fixing portion and the chassis.

2. The self-moving device according to claim 1, characterized in that: The grass combing part includes a comb handle, and the roots of the grass combing teeth are fixed on the comb handle. The number of the grass combing teeth is at least two, and the at least two grass combing teeth are spaced apart along the extension direction of the comb handle, and the extension direction of the comb handle is parallel to the axial direction of the motor shaft.

3. The self-moving device according to claim 1, characterized in that: The fixing portion includes a connecting portion and sub-fixing portions located on opposite sides of the connecting portion along the axial direction of the motor shaft. The connecting portion is connected to the grass combing portion. The extending direction of the connecting portion is perpendicular to the axial direction of the motor shaft. The sub-fixing portion and the grass combing portion are relatively arranged in the extending direction of the connecting portion.

4. The self-moving device according to claim 3, characterized in that: The self-moving device includes a connecting piece, the connecting piece is sleeved on the motor shaft and fixedly connected to the motor shaft, and the connecting piece is located in the shaft cavity; The sub-fixing portion is provided with a first protrusion, and the connecting member is provided with a first slot, and / or the sub-fixing portion is provided with a first slot, and the connecting member is provided with a first protrusion; The mounting portion has an opening toward the sub-fixing portion, and at least a portion of the first protrusion passes through the opening and is located in the shaft cavity. The first protrusion is located in the first slot and abuts against the inner wall of the first slot to fix the motor shaft in the shaft cavity.

5. The self-moving device according to claim 3, characterized in that: A first hole structure is provided on at least one of the connecting portion and the sub-fixing portion, and a second hole structure is provided on the mounting portion. The first hole structure and the second hole structure are connected to each other, and the first hole structure and the second hole structure are used to pass through fasteners to fix the cover body and the mounting portion.

6. The self-moving device according to any one of claims 1 to 5, characterized in that: The fixing portion is provided with a second protrusion, the mounting portion is provided with a second slot, and / or the fixing portion is provided with a second slot, the mounting portion is provided with a second protrusion, the second protrusion is located in the second slot and abuts against the inner wall of the second slot.

7. The self-moving device according to any one of claims 1 to 5, characterized in that: The self-moving device includes a battery cover, which is located on the side of the grass-combing part away from the fixed part. A third protrusion is provided on the battery cover, and the third protrusion extends toward the bottom of the chassis. A third card slot is provided on the grass-combing part, and the third protrusion is located in the third card slot and abuts against the inner wall of the third card slot.

8. The self-moving device according to claim 7, characterized in that: A third hole structure is provided on the third protrusion, and a fourth hole structure is provided on the mounting portion. The third hole structure and the fourth hole structure are connected to each other, and the third hole structure and the fourth hole structure are used to pass through fasteners to fix the battery cover and the mounting portion.

9. The self-moving device according to any one of claims 1 to 5, characterized in that: The self-moving device includes tires, and the number of the tires is at least two. The at least two tires are respectively located on opposite sides of the chassis along the axial direction of the motor shaft. The number of the motors is at least two, and the motors are connected to the tires in a one-to-one matching manner. The motors are at least partially located inside the tires, and the motor shafts are located outside the tires.

10. The self-moving device according to claim 9, characterized in that: The tire is coaxially arranged with the motor shaft, and the grass combing portion is located on a side of the motor shaft facing the rear end of the chassis.

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