Rim, driving wheel, driving mechanism and mowing equipment of self-moving robot

Abstract

The utility model provides a rim, a driving wheel and a driving mechanism of a self-moving robot and mowing equipment, and relates to but not limited to the technical field of mowing equipment. The rim comprises a center disc, an outer wheel set and a connecting structure. Wherein the outer wheel set is coaxially connected to the peripheral side of the center disc, and the outer wheel set is used for being connected with a tire. The connecting structure is used for being detachably connected with an external driving part, and the connecting structure is arranged on the center disc. According to the rim provided by the invention, the replacement flexibility of the rim can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the technical field of mowing equipment, and in particular to a rim of a self-moving robot, a driving wheel, a driving mechanism and a mowing equipment. BACKGROUND

[0002] In related technologies, the rim provided with the tire and the hub motor are combined into one, and when different specifications of driving wheels need to be replaced, or when one of the rim and the hub motor needs to be replaced, the combined rim and hub motor need to be replaced as a whole, so the flexibility of replacement is poor. CONTENT OF THE UTILITY MODEL

[0003] The rim of the self-moving robot provided by the embodiments of the present application can improve the flexibility of replacement of the rim.

[0004] In a first aspect, the embodiments of the present application provide a rim of a self-moving robot, comprising a center disc, an outer wheel set and a connecting structure. The outer wheel set is coaxially connected to the outer circumferential side of the center disc, and the outer wheel set is used to be connected with a tire. The connecting structure is used to detachably connect an external driving member, and the connecting structure is arranged on the center disc.

[0005] In the rim provided by the embodiments of the present application, the connecting structure is used to detachably connect the external driving member, and the connecting structure is arranged on the center disc, so that different rims can be detachably connected to the same driving member, so that the same driving member can be respectively matched with different rims to increase the flexibility of replacement of the rims. Compared with the scheme in related technologies that the combined rim and hub motor need to be replaced as a whole, in the embodiments of the present application, since the connecting structure used to detachably connect the driving member is arranged on the center disc of the rim, different rims can be respectively detachably connected to the same driving member, so that when the specifications of the rims need to be changed or the rims are damaged, only the rims need to be detached and replaced, so the rims in the present application have the advantage of high flexibility of replacement.

[0006] Another embodiment of the present application provides a rim of a self-moving robot, and the connecting structure is detachably connected to the driving member from the center disc towards the driving member, so that the rim is detachably connected to the driving member.

[0007] In the rim provided by the embodiments of the present application, the connecting structure is detachably connected to the driving member from the center disc towards the driving member, which can facilitate the detachment and installation between the connecting structure and the driving member, and further facilitate the detachment and replacement of the rims.

[0008] Another embodiment of the present application provides a rim of a self-moving robot, and the connecting structure is arranged on the outer circumferential side of the center disc.

[0009] The connecting structure is arranged on the outer periphery of the center disc, which can reduce the influence of the connecting structure on the strength of the center disc, and facilitate embedding the center disc of the wheel rim in the driving member, so that the installation between the wheel rim and the driving member is more compact, thereby saving the installation space.

[0010] Another embodiment of the present application provides a wheel rim of a self-moving robot, wherein a protruding portion is arranged on the outer periphery of the center disc, and the connecting structure is arranged on the protruding portion.

[0011] The connecting structure is arranged on the protruding portion of the outer periphery of the center disc, so that the connecting structure hardly affects the structure of the center disc body, thereby greatly reducing the influence of the connecting structure on the structure of the center disc.

[0012] Another embodiment of the present application provides a wheel rim of a self-moving robot, wherein the connecting structure comprises a connecting hole formed in the center disc; and / or, the connecting structure comprises a connecting column formed in the center disc; and / or, the connecting structure comprises a clamping structure formed in the center disc.

[0013] In the wheel rim provided by the embodiment of the present application, when the connecting structure comprises the connecting hole, the processing and manufacturing of the connecting structure on the center disc can be facilitated; when the connecting structure comprises the connecting column, the strength of the center disc can be enhanced; and when the connecting structure comprises the clamping structure, the connection between the center disc and the driving member can be facilitated. Therefore, the connecting structure can be set according to the actual structure and connection requirements of the wheel rim, so that the connecting structure comprises one or more of the connecting hole, the connecting column and the clamping structure, thereby increasing the design flexibility of the connecting structure.

[0014] Another embodiment of the present application provides a wheel rim of a self-moving robot, wherein the connecting structure is at least two, and the at least two connecting structures are uniformly distributed around the central axis of the center disc.

[0015] In the wheel rim provided by the embodiment of the present application, the at least two connecting structures are uniformly distributed around the central axis of the center disc, so that the stress between the center disc and the driving member is more uniform, thereby improving the stability of the connection between the center disc and the driving member.

[0016] Another embodiment of the present application provides a wheel rim of a self-moving robot, wherein the center disc is provided with a coaxially arranged matching hole, and the matching hole is clamped and adapted with the driving member.

[0017] In the wheel rim provided by the embodiment of the present application, the arrangement of the matching hole can facilitate the installation between the center disc and the driving member, and also facilitate the coaxial arrangement of the center disc and the driving member.

[0018] Another embodiment of the present application provides a wheel rim of a self-moving robot, wherein the center disc further comprises a first flange extending in the axial direction, and the first flange forms part of the inner wall of the matching hole.

[0019] The rim provided by the embodiments of the present application can strengthen the center disc by the first flange, thereby improving the strength of the rim.

[0020] Another embodiment of the present application provides a rim of a self-moving robot, the outer wheel set comprises a rim and support pieces, the support pieces are at least two, and the at least two support pieces are connected between the rim and the center disc.

[0021] The rim provided by the embodiments of the present application can strengthen the center disc by the first flange, thereby improving the strength of the rim.

[0022] Another embodiment of the present application provides a rim of a self-moving robot, the rim further comprises a shielding piece, the shielding piece is detachably connected to the outer wheel set to at least cover the center disc.

[0023] The rim provided by the embodiments of the present application can strengthen the center disc by the first flange, thereby improving the strength of the rim.

[0024] Another embodiment of the present application provides a rim of a self-moving robot, the outer wheel set is provided with a second flange extending along the axial direction on the side away from the shielding piece, the outer diameter of the second flange is smaller than the outer diameter of the outer wheel set, so as to form a limiting space at the second flange, and the limiting space is used for axially limiting the tire.

[0025] The rim provided by the embodiments of the present application can strengthen the center disc by the first flange, thereby improving the strength of the rim.

[0026] In the second aspect, the embodiments of the present application provide a drive wheel of a self-moving robot, comprising the rim of any one of the first aspect and the tire, and the tire is connected to the outer circumferential side of the outer wheel set.

[0027] In the third aspect, the embodiments of the present application provide a drive mechanism of a self-moving robot, comprising the rim of any one of the first aspect, or the drive wheel of the second aspect. The drive mechanism further comprises a driving piece, and the driving piece is detachably connected to the connecting structure of the rim.

[0028] In the fourth aspect, the embodiments of the present application provide a mowing device, comprising a device body and the drive mechanism of the third aspect, and the drive mechanism is connected to the device body to drive the movement of the device body.

[0029] The driving wheel, the driving mechanism and the mowing device provided by the embodiments of the present application all comprise the wheel rim in the first aspect of the present application, and thus can achieve the same effect, i.e. the connecting structure for detachably connecting the driving member is arranged on the center disc of the wheel rim, so that different wheel rims can be detachably connected to the same driving member, and when it is necessary to change the specifications of the wheel rims or the wheel rims are damaged, only the wheel rims need to be disassembled and replaced, and thus the wheel rims have the advantage of high flexibility in replacement. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 An axonometric view of the wheel rim provided by the embodiments of the present application;

[0031] Figure 2 An axonometric view of the driving mechanism provided by the embodiments of the present application;

[0032] Figure 3 A structural schematic view of the connecting structure of the wheel rim provided by the embodiments of the present application;

[0033] Figure 4 Another structural schematic view of the connecting structure of the wheel rim provided by the embodiments of the present application;

[0034] Figure 5 Another axonometric view of the wheel rim provided by the embodiments of the present application;

[0035] Figure 6 A right view of the driving mechanism provided by the embodiments of the present application;

[0036] Figure 7 A left view of the driving mechanism provided by the embodiments of the present application;

[0037] Figure 8 A front view of the driving mechanism provided by the embodiments of the present application;

[0038] Figure 9 A structural schematic view of the driving mechanism provided by the embodiments of the present application;

[0039] Figure 10 A structural schematic view of the driving mechanism provided by the embodiments of the present application; Figure 9 A sectional view in the A-A direction.

[0040] REFERENCE SIGNS:

[0041] 1 - wheel rim; 11 - center plate; 111 - protrusion; 112 - fitting hole; 113 - first flange; 12 - outer wheel set; 121 - wheel rim; 122 - support; 123 - second flange; 124 - fitting part; 125 - guide part; 13 - connecting structure; 131 - connecting hole; 132 - connecting column; 133 - clamping structure; 14 - shielding piece; 141 - clamping part; 2 - tire; 3 - driving piece; 31 - fitting structure; 32 - third flange; B - mounting direction. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the specific technical scheme of the present application will be further described in detail below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0043] In the embodiments of the present application, the terms "first", "second" are only used for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0044] In addition, in the embodiments of the present application, the orientation terms such as "upper", "lower", "left" and "right" are defined with respect to the orientation of the components shown in the drawings, and it should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and can be changed accordingly according to the change of the orientation of the components placed in the drawings.

[0045] In the embodiments of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral; can be directly connected, or indirectly connected through intermediate medium.

[0046] In the embodiments of the present application, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitation, the element defined by the sentence "including a…" does not exclude the existence of other same elements in the process, method, article or device including the element.

[0047] In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design described in the embodiments of the present application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the word "exemplary" or "for example" is used to present concepts in a concrete manner.

[0048] The driving wheel is an important component in a mobile device such as a car, a mower, etc. The driving wheel comprises a rim, a tire and a wheel hub motor, wherein the tire is sleeved on the outer periphery of the rim, and the wheel hub motor is integrated with the rim.

[0049] In the related art, since the rim sleeved with the tire and the wheel hub motor are integrated, when the mobile device needs to replace driving wheels of different specifications, i.e. when the outer diameter of the driving wheel is changed, or when one of the rim and the wheel hub motor is damaged and needs to be replaced, the integrated rim and wheel hub motor need to be replaced as a whole, so the flexibility of replacement is poor.

[0050] In view of this, with reference to Figure 1 and Figure 2 the embodiments of the present application provide a rim 1 of a self-moving robot, comprising a center disc 11, an outer wheel set 12 and a connecting structure 13. Wherein the outer wheel set 12 is coaxially connected on the outer periphery side of the center disc 11, and the outer wheel set 12 is used to be connected with a tire 2. The connecting structure 13 is used to detachably connect an external driving member 3, and the connecting structure 13 is arranged on the center disc 11.

[0051] In the embodiments of the present application, the radial dimensions of the center discs 11 of different rims 1 are equal, and the radial dimensions of the outer wheel sets 12 of different rims 1 can be designed to be different radial dimensions according to different specification requirements in actual application, so that the radial dimensions of the outer wheel sets 12 of different rims 1 are different.

[0052] In the embodiments of the present application, the axial dimensions of the center discs 11 and the outer wheel sets 12 of the same rim 1 can be equal or not equal; the axial dimensions of the center discs 11 of different rims 1 can be equal or not equal, and the axial dimensions of the outer wheel sets 12 of different rims 1 can be equal or not equal. The specific setting can be made according to actual needs, which is not limited in the embodiments.

[0053] In the embodiments of the present application, the outer wheel set 12 and the center disc 11 can be connected by a fixed connection (such as welding, screwing, etc.), and the outer wheel set 12 and the center disc 11 can also be integrally formed, which can be set according to actual conditions.

[0054] In the embodiment of the present application, the corresponding position on the external driving member 3 is provided with a matching structure 31 matched with the connecting structure 13, and the connecting structure 13 and the matching structure 31 are detachably connected, so that the rim 1 can be detachably connected to the external driving member 3.

[0055] In the rim 1 in the embodiment of the present application, the connecting structure 13 is used for detachable connection of the external driving member 3, and the connecting structure 13 is arranged on the center disc 11. The radial dimensions of the center discs 11 of different rims 1 are all the same, so that the center discs 11 with the same radial dimension can be detachably connected to the same driving member 3, so that the same driving member 3 can be matched and installed with different rims 1, thereby increasing the flexibility of replacing the rims 1. Compared with the scheme of replacing the rims 1 and the hub motors in the related art as a whole, in the embodiment of the present application, the connecting structure 13 used for detachable connection of the driving member 3 is arranged on the center disc 11 of the rim 1, so that different rims 1 can be detachably connected to the same driving member 3, so that when the specifications of the rims 1 need to be changed or the rims 1 are damaged, only the rims 1 need to be replaced, so that the rims 1 in the present application have the advantage of high flexibility of replacement.

[0056] Referring to Figure 1 and Figure 2 In some possible embodiments of the present application, the connecting structure 13 is detachably connected to the driving member 3 from the center disc 11 towards the driving member 3, so that the rim 1 is detachably connected to the driving member 3.

[0057] In the embodiment of the present application, the direction from the center disc 11 towards the driving member 3 is the installation direction B in Figure 2 . Since in the mobile robot, compared with the driving member 3, the rim 1 is located on the outside of the mobile robot, the installation direction B is the direction from the outside of the mobile robot towards the inside. Therefore, the connecting structure 13 is detachably connected to the driving member 3 from the outside towards the inside along the installation direction B, which can facilitate the disconnection and installation between the connecting structure 13 and the driving member 3, thereby facilitating the disconnection and replacement of the rim 1.

[0058] Referring to Figure 1 and Figure 2 In some possible embodiments of the present application, the connecting structure 13 is arranged on the outer circumferential side of the center disc 11.

[0059] In the embodiment of the present application, the connecting structure 13 is arranged on the outer circumferential side of the center disc 11, and the matching structure 31 on the driving member 3 is arranged at the position on the driving member 3 corresponding to the connecting structure 13.

[0060] In the wheel rim 1 provided by the embodiment of the present application, the connecting structure 13 is arranged at the outer circumferential side of the center disc 11, which can reduce the influence of the connecting structure 13 on the strength of the center disc 11, and facilitate the embedding of the center disc 11 of the wheel rim 1 into the driving member 3, so that the installation between the wheel rim 1 and the driving member 3 is more compact, and the installation space is saved.

[0061] In some other embodiments, the connecting structure 13 can also be arranged at the middle part of the center disc 11.

[0062] With reference to Figure 1 and Figure 2 In some possible embodiments of the present application, the outer circumferential side of the center disc 11 is provided with a protruding part 111, and the connecting structure 13 is arranged on the protruding part 111.

[0063] In the embodiment of the present application, the protruding part 111 can be arranged in a protruding manner along the radial direction of the wheel rim 1 at the outer circumferential side of the center disc 11. In addition, the shape of the protruding part 111 along the radial cross section of the wheel rim 1 can be semicircular, rectangular, triangular, etc.

[0064] In the embodiment of the present application, the protruding part 111 can be a flange structure arranged in a protruding manner along the radial direction of the wheel rim 1, or can be a protruding structure protruding relative to the outer circumferential side of the center disc 11, which can be set according to actual requirements.

[0065] In the embodiment of the present application, the outer circumferential side of the external driving member 3 can also be provided with a corresponding protruding structure, so that the matching structure 31 is arranged on the protruding structure.

[0066] In the wheel rim 1 provided by the embodiment of the present application, the connecting structure 13 is arranged on the protruding part 111 at the outer circumferential side of the center disc 11, so that the connecting structure 13 hardly affects the structure of the disc body of the center disc 11, and the influence of the connecting structure 13 on the structure of the center disc 11 is greatly reduced.

[0067] With reference to Figure 1 and Figure 2 In some possible embodiments of the present application, the connecting structure 13 includes a connecting hole 131 formed in the center disc 11.

[0068] In the embodiment of the present application, the connecting structure 13 further includes a connecting rod adapted to the connecting hole 131, and the matching structure 31 on the external driving member 3 is arranged as a matching hole 112 adapted to the connecting rod. For example, the connecting rod is arranged as a bolt, the matching hole 112 is arranged as a threaded hole, and the bolt is screwed into the threaded hole through the connecting hole 131, so that the wheel rim 1 is screwed to the driving member 3.

[0069] In the embodiment of the present application, when the connecting structure 13 includes the connecting hole 131, the processing and manufacturing of the connecting structure 13 on the center disc 11 can be facilitated.

[0070] With reference toFigure 3 In some possible embodiments of the present application, the connecting structure 13 comprises a connecting column 132 formed on the center disc 11.

[0071] In some possible embodiments of the present application, the connecting structure 13 comprises a connecting column 132 formed on the center disc 11, and the matching structure 31 on the external driving member 3 is configured to fit the matching hole 112 of the connecting column 132. For example, the outer periphery of the connecting column 132 is provided with external threads, the inner periphery of the matching hole 112 is provided with internal threads, and the connecting column 132 provided with external threads is screwed into the matching hole 112 provided with internal threads, so that the rim 1 is screwed to the driving member 3.

[0072] In some possible embodiments of the present application, the connecting column 132 and the center disc 11 can be connected by a fixed connection (such as welding, screwing, etc.), or the connecting column 132 and the center disc 11 can be integrally formed, which can be set according to actual conditions.

[0073] In some possible embodiments of the present application, the connecting structure 13 comprises a connecting column 132, which can enhance the strength of the center disc 11.

[0074] Referring to Figure 4 In some possible embodiments of the present application, the connecting structure 13 comprises a clamping structure 133 formed on the center disc 11.

[0075] In some possible embodiments of the present application, the clamping structure 133 can be a buckle, a clamping groove or the like, and the matching structure 31 on the external driving member 3 is configured to fit the clamping structure 133.

[0076] In some possible embodiments of the present application, the connecting structure 13 comprises a clamping structure 133, which can facilitate the connection between the center disc 11 and the driving member 3.

[0077] The rim 1 provided by the embodiments of the present application can set the connecting structure 13 according to the actual structure and connection requirements of the rim 1, so that the connecting structure 13 comprises one or more of the connecting hole 131, the connecting column 132 and the clamping structure 133, thereby increasing the design flexibility of the connecting structure 13.

[0078] Referring to Figure 1 and Figure 2 In some possible embodiments of the present application, the connecting structure 13 is at least two, and the at least two connecting structures 13 are uniformly distributed around the central axis of the center disc 11.

[0079] In some possible embodiments of the present application, the number of connecting structures 13 can be two, three, five or the like, and the plurality of connecting structures 13 are uniformly distributed around the central axis of the center disc 11.

[0080] The rim 1 provided by the embodiment of the present application is characterized in that the at least two connecting structures 13 are uniformly distributed around the central axis of the center disc 11, so that the stress between the center disc 11 and the driving member 3 is more uniform, thereby improving the stability of the connection between the center disc 11 and the driving member 3.

[0081] With reference to Figure 1 and Figure 2 In some possible embodiments of the present application, the center disc 11 is provided with a coaxially arranged matching hole 112, and the matching hole 112 is adapted to be clamped with the driving member 3.

[0082] In the embodiment of the present application, the side of the driving member 3 close to the center disc 11 can be provided with a third flange 32 extending along the axial direction of the driving member 3, and the radial dimension of the third flange 32 is adapted to the radial dimension of the matching hole 112, so that the third flange 32 of the driving member 3 is clamped into the matching hole 112, thereby playing the role of axial positioning.

[0083] The rim 1 provided by the embodiment of the present application is characterized in that the matching hole 112 can facilitate the installation between the center disc 11 and the driving member 3, and can also facilitate the coaxial arrangement of the center disc 11 and the driving member 3.

[0084] With reference to Figure 1 and Figure 2 In some possible embodiments of the present application, the center disc 11 further includes a first flange 113 extending along the axial direction, and the first flange 113 forms part of the inner wall of the matching hole 112.

[0085] In the embodiment of the present application, the first flange 113 can be arranged on the side of the center disc 11 away from the driving member 3, or on the side of the center disc 11 close to the driving member 3, or on both sides of the center disc 11 away from and close to the driving member 3, which can be set according to actual needs.

[0086] The rim 1 provided by the embodiment of the present application is characterized in that the first flange 113 can strengthen the center disc 11, thereby improving the strength of the rim 1.

[0087] With reference to Figure 1 and Figure 2 In some possible embodiments of the present application, the outer wheel set 12 includes a rim 121 and a support member 122, and the support member 122 is at least two, and the at least two support members 122 are connected between the rim 121 and the center disc 11.

[0088] In the embodiment of the present application, the support member 122 is used to connect the rim 121 and the center disc 11, and plays a supporting role between the rim 121 and the center disc 11. In addition, the support members 122 can be arranged at an angle and obliquely, so as to better support the rim 121 and the center disc 11.

[0089] In the embodiments of the present application, gaps exist between the support members 122 to reduce the weight of the rim 1.

[0090] In the embodiments of the present application, the support members 122 and the wheel rim 121 can be connected by fixed connection (such as welding, screwing, etc.), and the rim 1 including the wheel rim 121, the support members 122 and the center disc 11 can also be integrally formed, which can be set according to actual conditions.

[0091] In the embodiments of the present application, the number of support members 122 can be two, eight, sixteen, etc., which can be set according to actual needs.

[0092] In the embodiments of the present application, the outer periphery of the wheel rim 121 can be provided with a guide part 125 protruding radially along the wheel rim 121, and the number of guide parts 125 can be one or more. When the number of guide parts 125 is more than one, the plurality of guide parts 125 are evenly arranged at intervals on the outer periphery of the wheel rim 121. The guide part 125 is used to increase the friction between the tire 2 and the wheel rim 121 when the tire 2 is fitted on the wheel rim 121, so as to limit the rotation of the tire 2 relative to the wheel rim 121 around the axial direction of the wheel rim 121. In addition, the tire 2 can also be provided with a corresponding recess part corresponding to the position of the guide part 125, and the guide part 125 is clamped into the recess part to further improve the limiting ability of the guide part 125 to the axial rotation of the tire 2 relative to the wheel rim 121.

[0093] In addition, when the tire 2 and the wheel rim 121 can be detachably separated, the guide part 125 can extend along the axial direction of the wheel rim 121 to guide the tire 2 during the movement of the tire 2 along the axial direction of the wheel rim 121. In addition, along the axial direction of the wheel rim 121, the size of the guide part 125 gradually increases from the end close to the shielding part 14 to the end away from the shielding part 14, so that the guide part 125 can at least limit the axial rotation of the tire 2 relative to the wheel rim 121 at the end away from the shielding part 14.

[0094] The rim 1 provided by the embodiments of the present application, the wheel rim 121 is used to fit the tire 2, and the support member 122 is used to connect the wheel rim 121 and the center disc 11 and play a supporting role between the wheel rim 121 and the center disc 11. Compared with the solid outer wheel set 12, the outer wheel set 12 including the wheel rim 121 and the support member 122 in the embodiments of the present application can improve the lightweight degree of the rim 1.

[0095] Reference Figure 2 and Figure 5 In some possible embodiments of the present application, the rim 1 further includes a shielding part 14, which is detachably connected to the outer wheel set 12 to at least cover the center disc 11.

[0096] In the embodiments of the present application, the shielding piece 14 is provided in a disc structure to at least cover the center disc 11.

[0097] In the embodiments of the present application, the shielding piece 14 can be connected to the outer wheel set 12 by clamping, screwing or the like. Taking the example of clamping the shielding piece 14 to the outer wheel set 12, referring to Figure 5 , the side of the shielding piece 14 close to the outer wheel set 12 is provided with a clamping part 141, and the corresponding position on the rim 121 of the outer wheel set 12 is provided with a matching part 124, the clamping part 141 is clamped on the matching part 124, so that the shielding piece 14 is clamped on the rim 121 of the outer wheel set 12.

[0098] In the embodiments of the present application, the shielding piece 14 can be provided with at least two clamping parts 141, and the at least two clamping parts 141 are uniformly arranged on the shielding piece 14 around the axis thereof, and the corresponding position on the rim 121 of the outer wheel set 12 is provided with a corresponding number of matching parts 124, so that the stress between the shielding piece 14 and the rim 121 of the outer wheel set 12 is more uniform.

[0099] In the embodiments of the present application, the side of the shielding piece 14 away from the outer wheel set 12 can be provided with patterns, patterns and the like for decorating the shielding piece 14, so that the shielding piece 14 can play a decorative role for the rim 1.

[0100] The rim 1 provided by the embodiments of the present application, the shielding piece 14 can play a shielding role for the outer side of the rim 1, so as to reduce the splashing of sand, mud and the like into the inside of the rim 1, and further play a protective role for the rim 1; the shielding piece 14 can also play a decorative role for the outer side of the rim 1, so as to improve the appearance of the rim 1.

[0101] Referring to Figure 2 and Figure 5 , in some possible embodiments of the present application, the side of the outer wheel set 12 away from the shielding piece 14 is provided with a second flange 123 extending in the axial direction, and the outer diameter of the second flange 123 is smaller than the outer diameter of the outer wheel set 12, so as to form a limiting space at the second flange 123, and the limiting space is used for axially limiting the tire 2.

[0102] In the embodiments of the present application, the outer wheel set 12 forms a step part at the second flange 123, when the tire 2 is sleeved on the outer wheel set 12, the side edge of the tire 2 in the axial direction is clamped at the step part, so that when the tire 2 is subjected to an outward force in the axial direction, the step part can play an axial limiting role for the tire 2.

[0103] In the embodiments of the present application, the second flange 123 can be arranged on the side of the outer wheel set 12 away from the shielding member 14, or the second flange 123 can be arranged on both sides of the outer wheel set 12 in the axial direction. In the case where the second flange 123 is arranged on both sides of the outer wheel set 12 in the axial direction, the second flange 123 on the side of the outer wheel set 12 away from the shielding member 14 provides the limiting force outward in the axial direction, and the second flange 123 on the side of the outer wheel set 12 close to the shielding member 14 provides the limiting force inward in the axial direction.

[0104] The rim 1 provided in the embodiments of the present application is arranged with the second flange 123, so that the outer wheel set 12 forms a limiting space at the second flange 123, so as to axially limit the tire 2 at the second flange 123 when the tire 2 is sleeved on the outer wheel set 12, thereby improving the stability of the connection between the rim 1 and the tire 2.

[0105] With reference to Figure 2 , Figure 6 and Figure 7 , the embodiments of the present application further provide a drive wheel of a self-moving robot, which comprises the rim 1 and the tire 2 of any one of the above.

[0106] In the embodiments of the present application, the tire 2 and the rim 1 can be separately manufactured, that is, the tire 2 and the rim 1 can be detachably separated, at this time, the inner diameter of the tire 2 needs to be smaller than the outer diameter of the outer wheel set 12, so that the tire 2 can be fixed on the outer wheel set 12. Since the tire 2 is made of rubber material, that is, the tire 2 has the ability to deform, during the process of sleeving the tire 2 on the outer periphery of the outer wheel set 12 and moving the tire 2 in the axial direction of the outer wheel set 12, the side edge of the inner periphery of the tire 2 deforms radially outward, and when the side edge of the inner periphery of the tire 2 moves to the second flange 123 of the rim 1, since the outer diameter of the second flange 123 is smaller than the outer diameter of the outer wheel set 12, the side edge of the inner periphery of the tire 2 rebounds radially inward and is embedded in the limiting space formed at the second flange 123, so as to achieve axial limitation, thereby completing the installation process. The tire 2 and the rim 1 can also be integrally manufactured, for example, the tire 2 can be fixed on the outer periphery of the outer wheel set 12 by a mold, and the tire 2 and the rim 1 can be integrally formed by one-piece injection molding.

[0107] With reference to Figure 2 , Figure 8 , Figure 9 and Figure 10 , the embodiments of the present application further provide a drive mechanism of a self-moving robot, which comprises the rim 1 of any one of the above, or the drive wheel of the above. The drive mechanism further comprises a driving member 3, which is detachably connected to the connecting structure 13 of the rim 1.

[0108] The embodiment of the application further provides a mowing device, comprising a device body and the driving mechanism, and the driving mechanism is connected to the device body to drive the device body to move.

[0109] The driving wheel, the driving mechanism and the mowing device provided by the embodiment of the application all comprise the wheel rim 1 in the application, and thus the same effect can be achieved, i.e., the radial dimensions of the center discs 11 of different wheel rims 1 are the same, and the connecting structure 13 for detachably connecting the driving member 3 is arranged on the center disc 11 of the wheel rim 1, so that different wheel rims 1 can be detachably connected to the same driving member 3, and when it is necessary to change the specifications of the wheel rims 1 or the wheel rims 1 are damaged, only the wheel rims 1 need to be replaced, and thus the wheel rims 1 in the application have the advantage of high flexibility in replacement.

[0110] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent flow transformation by using the content of the specification and the drawings of the application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the application.

Claims

1. A rim of a self-moving robot, characterized in that, The center disc comprises: an outer wheel set coaxially connected to the outer periphery of the center disc, the outer wheel set being used to connect with a tire; a connecting structure for detachably connecting an external driving member, and the connecting structure being arranged on the center disc. The connecting structure is detachably connected to the driving member from the center disc towards the driving member, so that the wheel rim is detachably connected to the driving member.

2. The rim of the self-moving robot according to claim 1, wherein, The connecting structure is arranged on the outer periphery of the center disc.

3. The rim of the self-moving robot according to claim 1, wherein, The outer periphery of the center disc is provided with a protruding portion, and the connecting structure is arranged on the protruding portion.

4. The rim of the self-moving robot according to claim 3, wherein, The connecting structure comprises a connecting hole formed in the center disc; and / or, the connecting structure comprises a connecting column formed in the center disc; and / or, the connecting structure comprises a clamping structure formed in the center disc.

5. The rim of the self-moving robot according to claim 1, wherein, The connecting structure is at least two, and at least two connecting structures are uniformly distributed around the central axis of the center disc. 6.The rim of the self-moving robot according to claim 1, wherein, The center disc is provided with a coaxially arranged matching hole, and the matching hole is clamped and matched with the driving member.

7. The rim of the self-moving robot according to claim 1, wherein, The center disc further comprises a first flange extending in the axial direction, and the first flange forms part of the inner wall of the matching hole.

8. The rim of the self-moving robot according to claim 7, wherein, The outer wheel set comprises a rim and a support, and the support is at least two, and at least two supports are connected between the rim and the center disc. 9.The rim of the self-moving robot according to claim 1, wherein, Further comprising a shielding member, the shielding member is detachably connected to the outer wheel set to at least cover the center disc.

10. The wheel rim of any one of claims 1-9, wherein, The outer wheel set is provided with a second flange extending in the axial direction on the side away from the shielding member, and the outer diameter of the second flange is smaller than the outer diameter of the outer wheel set, so as to form a limiting space at the second flange, and the limiting space is used to axially limit the tire. 11.The wheel rim of the self-moving robot according to claim 10, wherein, The center disc comprises:

12. A drive wheel of a self-moving robot, characterized in that The wheel rim of the self-moving robot according to any one of claims 1-11; The tire connected to the outer periphery of the outer wheel set. The center disc comprises:

13. A drive mechanism of a self-moving robot, characterized by, The wheel rim of the self-moving robot according to any one of claims 1-11; or, the driving wheel of the self-moving robot according to claim 12; The driving member is detachably connected to the connecting structure of the wheel rim. The center disc comprises:

14. A grass cutting apparatus characterised in that, The device body; The driving mechanism of the self-moving robot according to claim 13 is connected to the device body to drive the device body to move. ​

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