Self-walking operation equipment

Abstract

The utility model relates to the field of robots, in particular to self-walking operation equipment which comprises an equipment body, a cutting device, a driving wheel assembly and a protective structure, a wheel shaft connecting structure is arranged at the rear end of the equipment body, and the cutting device is arranged on the equipment body and used for executing a cutting task; the driving wheel assembly comprises a driving wheel and a hub motor arranged in the driving wheel, and an output shaft of the hub motor is arranged in the axle connecting structure in a penetrating mode and fixed relative to the axle connecting structure. The protection structure is arranged at the end, close to the driving wheel, of the axle connecting structure, surrounds at least part of the circumferential side of the hub motor and extends towards the driving wheel to cover an output shaft of the hub motor so as to prevent foreign objects from entering an assembly gap between the output shaft of the hub motor and the axle connecting structure.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a self-propelled work device. Background Technology

[0002] During the cutting process, self-propelled cutting equipment is prone to catching cut grass clippings (especially long, thin fibrous weeds) in the axle gap as the drive wheels rotate, significantly increasing the motor load and energy consumption. Furthermore, frequent stops are required to clean the tangled material, reducing operational continuity and efficiency. Therefore, preventing foreign objects from getting caught in the axle gap of the drive wheels of self-propelled cutting equipment and improving operational continuity and efficiency has become a key technical problem that needs to be solved. Utility Model Content

[0003] In view of the above problems, this application provides a self-propelled work equipment that prevents foreign objects from being caught in the wheel axle gap of the drive wheel, thereby improving the continuity and efficiency of the work.

[0004] This application provides a self-propelled working device, including:

[0005] The main body of the equipment has a wheel and axle connection structure at its rear end;

[0006] A cutting device, mounted on the main body of the equipment, is used to perform cutting tasks;

[0007] A drive wheel assembly includes a drive wheel and a hub motor disposed within the drive wheel, wherein the output shaft of the hub motor passes through and is fixed relative to the wheel axle connection structure;

[0008] A protective structure is provided at one end of the wheel axle connection structure near the drive wheel, the protective structure surrounds at least a portion of the circumference of the hub motor and extends toward the drive wheel to cover the output shaft of the hub motor.

[0009] This application provides a self-propelled operating device, comprising a main body, a cutting device, a drive wheel assembly, and a protective structure. The rear end of the main body has a wheel-axle connection structure. The cutting device is mounted on the main body and performs cutting tasks. The drive wheel assembly includes a drive wheel and a hub motor housed within the drive wheel. The output shaft of the hub motor passes through the wheel-axle connection structure and is fixed relative to it. The protective structure is located at the end of the wheel-axle connection structure near the drive wheel. The protective structure surrounds at least a portion of the hub motor's periphery and extends towards the drive wheel to cover the hub motor's output shaft, preventing foreign objects from entering the assembly gap between the hub motor's output shaft and the wheel-axle connection structure. This prevents foreign objects from being caught in the wheel-axle gap of the self-propelled operating device's drive wheel, thus avoiding foreign objects intruding into the bearing area and affecting transmission accuracy. This improves the continuity and efficiency of the self-propelled operating device's operation. Compared to traditional structures, this application not only significantly improves anti-entanglement performance but also maintains the original transmission efficiency of the drive wheel assembly, featuring a simple structure and high reliability.

[0010] In one optional embodiment, the protective structure is arranged in a ring on the outer periphery of the wheel axle connection structure.

[0011] In one optional embodiment, the protective structure is arc-shaped and located on the outer periphery of the wheel axle connection structure.

[0012] In one alternative embodiment, the protective structure shields the area from the direction of grass clippings.

[0013] In one optional embodiment, the protective structure is located on the bottom outer periphery of the wheel axle connection structure.

[0014] In one optional embodiment, the curvature of the protective structure is greater than or equal to 180°.

[0015] In one optional embodiment, the protective structure and the wheel axle connection structure are an integral structure; and / or,

[0016] The bottom of the protective structure is provided with at least one groove, which penetrates the protective structure.

[0017] In one optional embodiment, the end of the protective structure away from the axle connection structure is disposed adjacent to the side of the hub motor, and the end of the protective structure away from the axle connection structure is in close proximity to the side of the hub motor.

[0018] In one optional embodiment, the inner wall of the protective structure is opposite to the outer peripheral wall of the hub motor, and the inner wall of the protective structure gradually approaches the outer peripheral wall of the hub motor in the direction from the wheel axle connection structure to the drive wheel.

[0019] In one optional embodiment, the inner wall of the protective structure faces the outer peripheral wall of the hub motor, and the inner wall of the protective structure is close to the outer peripheral wall of the hub motor to reduce the entry of foreign objects into the gap between the inner wall of the protective structure and the outer peripheral wall of the hub motor; and / or,

[0020] The wheel axle connection structure extends along the width direction of the main body of the equipment; there are two drive wheel assemblies, which are symmetrically connected to both ends of the wheel axle connection structure; there are two protective structures, which are respectively located at both ends of the wheel axle connection structure along the width direction. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0022] Figure 1 This is a top perspective view of a self-propelled operating device provided in an embodiment of this application;

[0023] Figure 2 This is a three-dimensional bottom view of a self-propelled operating device provided in an embodiment of this application;

[0024] Figure 3 This is a partially exploded top view of a self-propelled working device provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of a drive wheel assembly provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the rear end of a self-propelled operating device provided in an embodiment of this application;

[0027] Figure 6 This is a partially enlarged schematic diagram of a self-propelled working device provided in an embodiment of this application;

[0028] Figure 7 This is a cross-sectional schematic diagram of the drive wheel assembly, wheel axle connection structure, and first protective structure of a self-propelled operating device provided in an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of the wheel axle connection structure and the first protective structure of a self-propelled operating device provided in the embodiments of this application. Figure 1 ;

[0030] Figure 9 This is a schematic diagram of the wheel axle connection structure and the first protective structure of a self-propelled operating device provided in the embodiments of this application. Figure 2;

[0031] Figure 10 This is a cross-sectional schematic diagram of the drive wheel assembly, wheel axle connection structure, and second protective structure of a self-propelled operating device provided in an embodiment of this application;

[0032] Figure 11 This is a partial schematic diagram of the second protective structure provided in the embodiments of this application;

[0033] Figure 12 This is a cross-sectional schematic diagram of the drive wheel assembly, wheel axle connection structure, and third protective structure of a self-propelled operating device provided in an embodiment of this application.

[0034] Explanation of icon numbers:

[0035] Self-propelled operating equipment 1000; equipment body 100; wheel and axle connection structure 110; cutting device 200; drive wheel assembly 300; protective structure 400; machine body shell 10; rear end 10a; drive wheel 310; hub motor 320; motor housing 321; motor rotor 322; motor stator 323; motor bearing 324; output shaft 325; limiting groove 111; first gap H1; second gap H2; outer peripheral wall 321a; side 321b; peripheral side wall 321c; slot 410; groove 420. Detailed Implementation

[0036] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the embodiments described in this application are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0037] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0038] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, an assembly or device that includes one or more components is not limited to the one or more components listed, but may optionally include one or more components not listed but inherent to the exemplified product, or one or more components that it should have based on the described function.

[0039] Self-propelled work equipment with drive wheels is prone to generating foreign objects such as grass clippings that get caught in the gaps between the drive wheel axles during operation. Therefore, this application provides a self-propelled work equipment that can effectively prevent such foreign objects from getting caught in the gaps between the drive wheel axles. This self-propelled work equipment includes, but is not limited to, lawnmower robots, snowplows, or self-propelled cleaning robots. This embodiment uses a lawnmower robot as an example of a self-propelled work equipment.

[0040] When a lawnmower robot is operating, the chopped grass clippings (especially long, thin fibrous weeds) can easily get caught in the gap between the axle and the drive wheel as it rotates. This entanglement increases the frictional resistance between the axle and the motor bearing, leading to a significant increase in the load on the hub motor and higher energy consumption. Furthermore, frequent stops are required to clean the entangled material, reducing operational continuity.

[0041] Please see Figure 1 and Figure 2 This application provides a self-propelled working device 1000. The self-propelled working device 1000 includes a main body 100, a cutting device 200, a drive wheel assembly 300, and a protective structure 400.

[0042] Please see Figure 1 and Figure 2 The rear end of the main body 100 of the equipment is provided with a wheel axle connection structure 110. The main body 100 of the equipment includes, but is not limited to, the housing 10 and the main control circuit board and various functional detection devices disposed on the housing 10.

[0043] Please see Figure 1 and Figure 2 The wheel axle connection structure 110 is part of the fuselage housing 10. Further, the wheel axle connection structure 110 may be a portion of the rear end 10a of the fuselage housing 10 or a portion close to the rear end 10a. Optionally, the wheel axle connection structure 110 is arranged along the width direction of the fuselage housing 10.

[0044] Please see Figure 2The cutting device 200 is disposed on the main body 100 of the equipment. The cutting device 200 is disposed at the bottom of the main body 100 of the equipment. Further, the cutting device 200 may be disposed at the bottom of the housing 10 or on the side of the housing 10. The cutting device 200 is used to perform cutting tasks.

[0045] The number of drive wheel assemblies 300 is at least one.

[0046] Please see Figure 1 and Figure 2 For example, there are two drive wheel assemblies 300. The two drive wheel assemblies 300 are respectively mounted on both sides of the wheel axle connection structure 110 along the width direction. Furthermore, the two drive wheels are symmetrically connected to both ends of the wheel axle connection structure 110.

[0047] Please see Figures 3-6 The drive wheel assembly 300 includes a drive wheel 310 and a hub motor 320 disposed within the drive wheel 310. The drive wheel 310 includes a tire and a hub disposed within the tire. The hub is a metal component, cylindrical in shape, and mounted inside the tire to support the tire. The center of the hub is located on the axle of the drive wheel 310. The hub motor 320 is embedded within the hub.

[0048] Please see Figure 7 The hub motor 320 includes a motor housing 321, a motor rotor 322, a motor stator 323, a motor bearing 324, and an output shaft 325. Optionally, the motor rotor 322 is annular. The motor rotor 322 is disposed within the motor housing 321. The motor housing 321 is rigidly connected to the drive wheel 310 via a rigid structure.

[0049] The motor rotor portion 322 may be disposed on the outer periphery of the motor stator portion 323, and the motor bearing 324 connects the motor rotor portion 322 and the motor stator portion 323. The output shaft 325 is located at the axis of the drive wheel 310. One end of the output shaft 325 is connected to the motor stator portion 323, and the other end of the output shaft 325 extends outward. In this document, the output shaft 325 may also be referred to as a wheel axle. Of course, in other embodiments, the motor stator portion 323 may also be disposed on the outer periphery of the motor rotor portion 322.

[0050] When the hub motor 320 is working, the motor stator 323 and output shaft 325 are stationary relative to the main body 100 of the equipment, while the motor rotor 322 and motor bearing 324 rotate relative to the motor stator 323, and drive the drive wheel 310 to rotate.

[0051] The axial direction of the drive wheel 310 is also the width direction of the housing 10. The output shaft 325 extends along the axial direction of the drive wheel 310.

[0052] The output shaft 325 of the hub motor 320 passes through the axle connection structure 110 and is fixed relative to the axle connection structure 110. The output shaft 325 is fastened to the axle connection structure 110 in the width direction of the housing 10.

[0053] Further, please refer to Figure 8 and Figure 9 The end of the wheel axle connection structure 110 is also provided with a limiting groove 111 arranged along the axial direction. The output shaft 325 of the hub motor 320 is installed in the limiting groove 111 by fasteners and is fixed by the positioning cover and fasteners being fitted and locked to fix the output shaft 325 of the hub motor 320 to the wheel axle connection structure 110.

[0054] A portion of the hub motor 320 (motor housing 321) protrudes from the side of the drive wheel 310 facing the wheel axle connection structure 110, and a portion of the output shaft 325 protrudes from the side of the hub motor 320 (motor housing 321) facing the wheel axle connection structure 110.

[0055] Please see Figure 7 When the output shaft 325 of the hub motor 320 is installed on the axle connection structure 110, the hub motor 320 (motor housing 321) is located outside the limiting groove 111 of the axle connection structure 110, and there is a first gap H1 between the hub motor 320 (motor housing 321) and the end of the axle connection structure 110.

[0056] Please see Figure 7 The motor rotor 322 is annular and is located around the output shaft 325 of the hub motor 320. A second gap H2 exists between the inner peripheral wall of the motor housing 321 and the outer peripheral wall of the output shaft 325 of the hub motor 320. Both the motor rotor 322 and the drive wheel 310 rotate relative to the output shaft 325 of the hub motor 320.

[0057] When the cutting device 200 is cutting grass or trimming edges, the cut grass clippings (especially fine fibrous weeds) are easily caught in the first gap H1 between the motor housing 321 and the wheel axle connection structure 110 as the drive wheel 310 rotates. They may even enter the second gap H2 between the inner peripheral wall of the motor housing 321 and the outer peripheral wall of the output shaft 325 of the hub motor 320 through the first gap H1. The grass clippings will increase the frictional resistance between the output shaft 325 and the motor bearing 324, resulting in a significant increase in the load on the hub motor 320 and an increase in energy consumption.

[0058] In this application, the protective structure 400 is disposed at one end of the wheel axle connection structure 110 near the drive wheel 310. Optionally, the protective structure 400 is connected to the wheel axle connection structure 110. Further optionally, the protective structure 400 is fixedly connected to the wheel axle connection structure 110, or is relatively movable, or is detachably connected.

[0059] For example, the protective structure 400 and the wheel axle connection structure 110 are integrally formed, thereby fixing the protective structure 400 and the wheel axle connection structure 110 together.

[0060] For another example, the protective structure 400 and the wheel axle connection structure 110 are fixed and locked together by means of screw fixing, rotation locking, etc.

[0061] For another example, the protective structure 400 and the wheel axle connection structure 110 are detachably connected by a snap-fit ​​component (slot and protrusion).

[0062] For another example, the protective structure 400 is a relatively movable connection that can rotate or slide relative to the wheel and axle connection structure 110.

[0063] The protective structure 400 surrounds at least a portion of the periphery of the hub motor 320. Optionally, the protective structure 400 surrounds a portion of the periphery of the hub motor 320; or, the protective structure 400 surrounds the entire periphery of the hub motor 320.

[0064] Please see Figure 7 The protective structure 400 extends toward the drive wheel 310 to cover the output shaft 325 of the hub motor 320.

[0065] Specifically, along the width direction of the equipment body 100, one end of the protective structure 400 is connected to the end of the wheel axle connection structure 110 facing the drive wheel 310, and the other end of the protective structure 400 extends towards the side where the drive wheel 310 is located. The protective structure 400 covers the output shaft 325 of the hub motor 320. Further, the protective structure 400 covers the first gap H1 between the wheel axle connection structure 110 and the motor housing 321 of the hub motor 320.

[0066] Thus, when the cutting device 200 is cutting grass or trimming edges, the cut grass clippings (especially fine fibrous weeds) are less likely to enter the first gap H1 between the hub motor 320 (motor housing 321) and the wheel axle connection structure 110 due to the shielding of the protective structure 400. Furthermore, they are less likely to enter the second gap H2 between the inner circumferential wall of the motor housing 321 and the outer circumferential wall of the output shaft 325 of the hub motor 320 through the first gap H1. This effectively prevents grass clippings from getting tangled in the output shaft 325 of the hub motor 320, thus preventing foreign objects from being caught in the wheel axle gap of the drive wheel 310 of the self-propelled work equipment 1000, increasing the frictional resistance between the output shaft 325 and the motor bearing 324, and causing a significant increase in the load on the hub motor 320 and increased energy consumption. It also eliminates the need for frequent shutdowns to clean up tangled materials, improving work continuity and efficiency.

[0067] When there are two drive wheel assemblies 300, a protective structure 400 is provided on the side where one of the drive wheel assemblies 300 is located; or, a protective structure 400 is provided on the side where both drive wheel assemblies 300 are located. For example, there are two protective structures 400. The two protective structures 400 are respectively provided at both ends of the wheel axle connection structure 110 along the width direction.

[0068] This application provides a self-propelled working device 1000, which includes a main body 100, a cutting device 200, a drive wheel 310 assembly 300, and a protective structure 400. The rear end 10a of the main body 100 is provided with a wheel axle connection structure 110. The cutting device 200 is mounted on the main body 100 and is used to perform cutting tasks. The drive wheel 310 assembly 300 includes a drive wheel 310 and a hub motor 320 disposed within the drive wheel 310. The output shaft 325 of the hub motor 320 passes through the wheel axle connection structure 110 and is fixed relative to the wheel axle connection structure 110. The protective structure 400... The protective structure 400 is located at one end of the wheel axle connection structure 110 near the drive wheel 310. It surrounds at least a portion of the periphery of the hub motor 320 and extends towards the drive wheel 310 to cover the output shaft 325 of the hub motor 320, forming a physical barrier to prevent foreign objects from entering the assembly gap between the output shaft 325 of the hub motor 320 and the wheel axle connection structure 110. This protects the drive wheel 310 of the self-propelled work equipment 1000 from being caught in the wheel axle gap, thus preventing foreign objects from intruding into the bearing area and affecting transmission accuracy. This improves the continuity and efficiency of the self-propelled work equipment 1000's operation. Compared to traditional structures, this application not only significantly improves anti-winding performance but also maintains the original transmission efficiency of the drive wheel 310 assembly 300, featuring a simple structure and high reliability.

[0069] The shape of the protective structure 400 is illustrated below with reference to the accompanying drawings.

[0070] For the first alternative implementation, please refer to Figure 10 and Figure 11 The protective structure 400 is arranged in a ring on the outer periphery of the wheel axle connection structure 110.

[0071] Taking the protective structure 400 and the wheel axle connection structure 110 as an example, the protective structure 400 is annular and protrudes from the end face of the wheel axle connection structure 110 facing the drive wheel 310.

[0072] Alternatively, the protective structure 400 may cover the first gap H1 between the hub motor 320 (motor housing 321) and the wheel axle connection structure 110. Furthermore, the protective structure 400 extends to the outer peripheral side of the motor housing 321 of the hub motor 320, and the inner peripheral wall of the protective structure 400 is spaced apart from the outer peripheral wall 321a of the motor housing 321 of the hub motor 320, so as to avoid the protective structure 400 interfering with the rotation of the motor rotor 322, drive wheel 310, etc. of the hub motor 320.

[0073] In this embodiment, by setting a protective structure 400 in a ring around the output shaft 325 of the hub motor 320, the output shaft 325 of the hub motor 320 is protected in the circumferential direction. This prevents grass clippings from being rolled into the first gap H1 (assembly gap) between the hub motor 320 (motor housing 321) and the wheel axle connection structure 110, and into the second gap H2 (assembly gap) between the inner circumferential wall of the motor housing 321 and the outer circumferential wall of the output shaft 325 of the hub motor 320. This increases the frictional resistance between the output shaft 325 and the motor bearing 324, resulting in a significant increase in the load on the hub motor 320.

[0074] For the second alternative implementation, please refer to... Figure 7 and Figure 8 The protective structure 400 is arc-shaped and located on the outer periphery of the wheel axle connection structure 110.

[0075] Taking the protective structure 400 and the wheel axle connection structure 110 as an example, the protective structure 400 is arc-shaped and protrudes from the end face of the wheel axle connection structure 110 facing the drive wheel 310.

[0076] This embodiment does not specifically limit the curvature of the protective structure 400. Optionally, the curvature of the protective structure 400 is 10° to 350°. For example, the curvature of the protective structure 400 can be any one of the following: 10° to 30°, 30° to 60°, 60° to 90°, 90° to 120°, 120° to 150°, 150° to 180°, 180° to 210°, 210° to 240°, 240° to 270°, 270° to 300°, 300° to 330°, 330° to 350°.

[0077] Alternatively, the protective structure 400 may cover the first gap H1 between the hub motor 320 (motor housing 321) and the wheel axle connection structure 110. Furthermore, the protective structure 400 extends to the outer peripheral side of the motor housing 321 of the hub motor 320, and the inner peripheral wall of the protective structure 400 is spaced apart from the outer peripheral wall 321a of the motor housing 321 of the hub motor 320, so as to avoid the protective structure 400 interfering with the rotation of the motor rotor 322, drive wheel 310, etc. of the hub motor 320.

[0078] This embodiment employs a non-full circumferential enveloping design for the protective structure 400. The semi-enclosed protective structure 400 forms a notch, adjacent to which the protective structure 400 is located. This notch prevents dust and grass clippings from accumulating inside the protective structure 400 and reduces material costs. Furthermore, the arc-shaped protective structure 400 requires less space on the end face of the wheel axle connection structure 110, facilitating its miniaturization. The notch also provides space for other structures. This semi-enclosed protective structure 400 ensures effective protection while also considering heat dissipation and ease of maintenance, allowing for convenient lubrication and maintenance of critical components such as bearings.

[0079] Optionally, when the protective structure 400 is arc-shaped, the number of protective structures 400 can be one or more. For example, the number of protective structures 400 is one, and the arc of the protective structure 400 is greater than or equal to 180°. As another example, the number of protective structures 400 can be multiple, for example, three, and the arc of the protective structure 400 is 90°. As yet another example, the number of protective structures 400 can be multiple, for example, two, and the arc of the protective structure 400 is 120°.

[0080] In this embodiment, the number and curvature of the protective structure 400 can be flexibly designed according to actual needs.

[0081] Please see Figure 7 and Figure 8 When the protective structure 400 is arc-shaped, the protective structure 400 blocks the direction of grass clippings flying.

[0082] For example, the cutting device 200 is located at the bottom of the machine housing 10. Grass clippings may fly from the bottom. Therefore, the protective structure 400 can be located at the bottom of the end face of the wheel axle connection structure 110. That is, the protective structure 400 can be located on the bottom side of the end face of the wheel axle connection structure 110, so that the protective structure 400 can effectively block the grass clippings flying from the bottom. Thus, while designing the protective structure 400 as a non-full circumferential covering design, it can effectively protect the easily entangled area and improve the grass clipping blocking efficiency of the protective structure 400.

[0083] In other embodiments, the protective structure 400 may also be disposed on the bottom outer periphery of the wheel axle connection structure 110, so that the protective structure 400 can effectively block grass clippings splashing from the bottom, thereby effectively protecting the easily entangled area while designing the protective structure 400 as a non-full circumferential covering design, and improving the grass clipping blocking efficiency of the protective structure 400.

[0084] Based on the dynamic analysis of the direction of grass clippings during mowing, this protective structure can accurately block most of the weeds that bounce off the ground and rise into the air. Meanwhile, this protective structure 400 adopts a semi-open design, ensuring both effective protection and ease of heat dissipation and maintenance, allowing for convenient lubrication and maintenance of critical components such as bearings.

[0085] For another example, grass clippings may fly from the front of the wheel axle connection structure 110. Therefore, the protective structure 400 can be located on the front side of the end face of the wheel axle connection structure 110, so that the protective structure 400 can effectively block the grass clippings flying from the front. Thus, while designing the protective structure 400 as a non-full circumferential covering design, it can effectively protect the easily entangled area and improve the grass clipping blocking efficiency of the protective structure 400. Here, the front of the wheel axle connection structure 110 is the direction where the front end of the equipment body 100 is located.

[0086] In other embodiments, the protective structure 400 may also be located on the outer periphery of the front end of the wheel axle connection structure 110, so that the protective structure 400 can effectively block grass clippings flying from the front. Thus, while designing the protective structure 400 as a non-full circumferential covering design, it can effectively protect the easily entangled area and improve the grass clipping blocking efficiency of the protective structure 400.

[0087] For another example, the protective structure 400 can be located at the front and bottom of the end face of the wheel axle connection structure 110, so that the protective structure 400 can effectively block grass clippings flying from the front and bottom. Thus, while designing the protective structure 400 as a non-full circumferential covering design, it can effectively protect the easily entangled areas and improve the grass clipping blocking efficiency of the protective structure 400.

[0088] Optionally, the curvature of the protective structure 400 is greater than or equal to 180°. For example, the curvature of the protective structure 400 is greater than or equal to 180° so that the protective structure 400 can be located at the front and bottom of the end face of the wheel axle connection structure 110, so that the protective structure 400 can effectively block grass clippings splashing from the front and bottom. Thus, while designing the protective structure 400 as a non-full circumferential covering design, it can effectively protect areas prone to entanglement and improve the grass clipping blocking efficiency of the protective structure 400.

[0089] Specifically, the first part of the protective structure 400 faces the front, the second part faces the bottom, and the third part faces the rear (the side where the rear end 10a is located). This embodiment can effectively and specifically protect against grass clippings from the front, bottom, and rear. On the other hand, the protective structure 400 adopts a non-full circumferential covering design, that is, the protective structure 400 is set adjacent to the notch. The notch can prevent the accumulation of dust and grass clippings inside the protective structure 400 and reduce material costs. In addition, the protective structure 400 is arc-shaped, and the area reserved for the protective structure 400 on the end face of the wheel axle connection structure 110 is small, so as to facilitate the miniaturization design of the wheel axle connection structure 110. The notch position can also provide space for other structures.

[0090] Based on the dynamic analysis of the direction of grass clippings splashing during mowing operations, the protective structure 400 provided in this embodiment has a first part facing forward, a second part facing bottom, and a third part facing rearward (the side where the rear end 10a is located), which can accurately block most of the weeds that bounce off the ground and rise upward. At the same time, this protective structure 400 adopts a semi-open structure, which, while ensuring the protective effect, also takes into account heat dissipation performance and maintenance convenience, allowing key components such as bearings to be easily lubricated and maintained.

[0091] For the wheel axle connection structure 110, since the bottom side of the wheel axle connection structure 110 needs to be provided with a fixing hole and fixedly connected to the aforementioned positioning cover by screws, the area of ​​the lower half of the end face of the wheel axle connection structure 110 is larger than the area of ​​the upper half of the end face of the wheel axle connection structure 110. Thus, the protective structure 400 can be set on the lower half of the end face of the wheel axle connection structure 110, and the protective structure 400 can effectively utilize the space on the end face of the wheel axle connection structure 110.

[0092] Optional, please refer to Figure 8The bottom of the protective structure 400 is provided with at least one drainage groove 410. The drainage groove 410 extends through the protective structure 400 and is used to allow grass to pass through, preventing grass clippings from accumulating in the protective structure 400. If a certain amount of grass clippings accumulates, it will enter the second gap H2 between the inner peripheral wall of the motor housing 321 and the outer peripheral wall of the output shaft 325 of the hub motor 320, causing a significant increase in the load on the hub motor 320 and increased energy consumption. This drainage groove 410 can prevent larger grass clippings from entering the gap of the output shaft 325 while allowing small debris (such as chopped grass and dust) to fall and be discharged naturally, thus significantly reducing the risk of entanglement. This not only improves the anti-entanglement effect but also reduces the frequency of manual cleaning, ensuring that the output shaft 325 maintains smooth operation over a long period.

[0093] Specifically, there may be one drainage channel 410. The drainage channel 410 is located on the protective structure 400 directly opposite the ground.

[0094] Please see Figure 8 The protective structure 400 also has at least one groove 420 on its end face facing the drive wheel 310. The groove 420 can reduce the weight of the protective structure 400. Optionally, the number of grooves 420 can be two. Along the arcuate direction of the protective structure 400, one groove 420, one slot 410, and another groove 420 are arranged in sequence.

[0095] Please see Figure 7 From the protective structure 400 to the drive wheel 310, the outer surface of the hub motor 320 includes an outer peripheral wall 321a, a side wall 321b, and a peripheral side wall 321c of the motor housing 321 connected in sequence. The outer peripheral wall 321a of the hub motor 320 (motor housing 321) is a cylindrical surface, the side wall 321b of the hub motor 320 (motor housing 321) faces the axle connection structure 110, and the peripheral side wall 321c of the hub motor 320 (motor housing 321) is a cylindrical surface. The radial dimension of the outer peripheral wall 321a of the hub motor 320 (motor housing 321) is smaller than the radial dimension of the peripheral side wall 321c of the hub motor 320 (motor housing 321).

[0096] In this application, the outer peripheral wall 321a, side wall 321b and peripheral side wall 321c of the motor housing 321 are all referred to as the outer surface of the motor housing 321 of the hub motor 320.

[0097] Optional, please refer to Figure 7The end of the protective structure 400 away from the axle connection structure 110 is disposed adjacent to the side surface 321b of the hub motor 320 (motor housing 321). The end of the protective structure 400 away from the axle connection structure 110 is in close proximity to the side surface 321b of the hub motor 320 (motor housing 321).

[0098] In this embodiment, the protective structure 400 extends along the axial direction of the output shaft 325 to form a close abutment with the side of the hub motor 320. This extended design creates a minimal gap between the protective structure 400 and the hub motor 320 housing by pushing the protective interface to the side of the hub motor 320, thereby constructing a complete radial protective barrier. This near-end protection scheme can effectively block the path of grass clippings from the side, reducing the amount of grass clippings entering between the end face of the protective structure 400 away from the axle connection structure 110 and the side of the hub motor 320 (motor housing 321) and the end of the axle connection structure 110, or even entering the second gap H2 between the inner peripheral wall of the motor housing 321 and the outer peripheral wall of the output shaft 325 of the hub motor 320. Grass clippings entanglement increases the frictional resistance between the output shaft 325 and the motor bearing 324, resulting in a significant increase in the load on the hub motor 320 and increased energy consumption.

[0099] This application does not specifically limit the first distance between the end of the protective structure 400 away from the wheel axle connection structure 110 and the side surface 321b of the hub motor 320 (motor housing 321). Optionally, the first distance may include, but is not limited to, 1 to 5 mm. For example, the first distance may include, but is not limited to, any one or any two of 1 mm, 1.5 mm, 2 mm, 2.5 mm, 3 mm, 3.5 mm, 4 mm, 4.5 mm, and 5 mm.

[0100] Optionally, the inner wall of the protective structure 400 is opposite to the outer peripheral wall of the hub motor 320 (motor housing 321).

[0101] Please see Figure 12 From the axle connection structure 110 to the drive wheel 310, the inner wall of the protective structure 400 gradually approaches the outer peripheral wall 321a of the hub motor 320 (motor housing 321). That is, the distance between the inner wall of the protective structure 400 and the outer peripheral wall 321a of the hub motor 320 (motor housing 321) gradually decreases from the axle connection structure 110 to the drive wheel 310, so that the inlet diameter formed between the inner wall of the protective structure 400 and the outer peripheral wall 321a of the hub motor 320 (motor housing 321) is small, extends along the axial direction of the protective structure 400 and has a gradually tapering design, thereby preventing grass clippings from being rolled into the output shaft 325 from the side.

[0102] The inner wall of the protective structure 400 is close to the outer peripheral wall 321a of the hub motor 320 (motor housing 321) to reduce the entry of foreign objects into the gap between the inner wall of the protective structure 400 and the outer peripheral wall 321a of the hub motor 320 (motor housing 321).

[0103] Specifically, the distance between the inner wall of the protective structure 400 and the outer peripheral wall of the hub motor 320 (motor housing 321) is the second distance. For example, the second distance includes, but is not limited to, 1 to 5 mm. For example, the second distance includes, but is not limited to, any one or any two of 1 mm, 1.5 mm, 2 mm, 2.5 mm, 3 mm, 3.5 mm, 4 mm, 4.5 mm, and 5 mm.

[0104] Alternatively, the protective structure 400 is arc-shaped. The protective structure 400 surrounds the periphery of the outer peripheral wall of the hub motor 320 (motor housing 321). In the circumferential direction, the two ends of the protective structure 400 are in close contact with the outer peripheral wall of the hub motor 320 (motor housing 321).

[0105] For example, the distance between the two ends of the protective structure 400 and the outer peripheral wall of the hub motor 320 (motor housing 321) is the third spacing. Optionally, the third spacing includes, but is not limited to, 1 to 5 mm. For example, the third spacing includes, but is not limited to, any one or any two of 1 mm, 1.5 mm, 2 mm, 2.5 mm, 3 mm, 3.5 mm, 4 mm, 4.5 mm, and 5 mm.

[0106] Taking a self-propelled lawnmower as an example, this application provides a lawnmower with a protective structure 400 that is an anti-grass-tangling structure for the wheel axle, effectively solving the technical problem that grass clippings easily entangle the output shaft 325 during operation in traditional lawnmowers. The lawnmower includes a main body 100 and drive wheel assemblies 300 symmetrically arranged on both sides of the main body 100. A dedicated wheel axle connection structure 110 is provided at the rear end 10a of the main body 100 for mounting the drive wheel assemblies 310. The drive wheel assemblies 310 adopt an integrated design, including the drive wheel 310 and a built-in hub motor 320. The output shaft 325 of the hub motor 320 passes through the wheel axle connection structure 110 and is axially fixed by fasteners, while its outer casing is rigidly connected to the drive wheel 310 to provide driving force.

[0107] This application incorporates a unique anti-grass-tangling structure (the aforementioned protective structure 400) at the wheel-axle connection structure 110. This structure employs a wraparound design, at least partially covering the circumferential space of the output shaft 325, forming a physical isolation barrier. This design effectively prevents grass clippings from entering the assembly gap between the output shaft 325 and the wheel-axle connection structure 110, thereby preventing grass clippings from intruding into the bearing area and affecting transmission accuracy. Compared to traditional structures, this solution not only significantly improves anti-tangling performance but also maintains the original transmission efficiency of the wheel assembly, featuring a simple structure and high reliability.

[0108] Furthermore, the axle anti-grass entanglement structure adopts a non-full circumferential coverage design, focusing on protecting areas prone to entanglement. Specifically, this structure effectively covers at least a 180° area below the output shaft 325. This design is based on dynamic analysis of the direction of grass clippings during mowing operations, precisely blocking most weeds that bounce off the ground. Simultaneously, this semi-open structure, while ensuring protective effectiveness, also considers heat dissipation performance and ease of maintenance, allowing for convenient lubrication and maintenance of critical components such as bearings.

[0109] Furthermore, the bottom of the wheel axle anti-tangle grass structure is provided with a grass-leaking groove. This grass-leaking groove can prevent larger grass clippings from entering the gap of the output shaft 325, while allowing small debris (such as grass clippings, dust, etc.) to fall and be discharged naturally, thereby significantly reducing the risk of tangling. This not only improves the anti-tangle grass effect, but also reduces the frequency of manual cleaning, ensuring that the wheel axle maintains smooth operation for a long time.

[0110] Furthermore, the anti-grass entanglement structure extends axially along the output shaft 325 to form a close abutment with the side of the hub motor 320. This extended design creates a complete radial protective barrier by pushing the protective interface to the side edge of the hub motor 320, minimizing the gap between the anti-grass entanglement structure and the motor housing 321. This near-end protection solution effectively blocks the path of grass clippings from lateral intrusion.

[0111] Furthermore, the anti-tangle structure extends axially and has a gradually tapering design to prevent grass clippings from being rolled into the axle from the side.

[0112] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A self-traveling work machine characterized by comprising: include: The main body of the equipment has a wheel and axle connection structure at its rear end; A cutting device, mounted on the main body of the equipment, is used to perform cutting tasks; A drive wheel assembly includes a drive wheel and a hub motor disposed within the drive wheel, wherein the output shaft of the hub motor passes through and is fixed relative to the wheel axle connection structure; and A protective structure is provided at one end of the wheel axle connection structure near the drive wheel, the protective structure surrounds at least a portion of the circumference of the hub motor and extends toward the drive wheel to cover the output shaft of the hub motor.

2. The self-traveling work apparatus according to claim 1, characterized by, The protective structure is arranged in a ring on the outer periphery of the wheel axle connection structure.

3. The self-traveling work apparatus according to claim 1, characterized by, The protective structure is arc-shaped and located on the outer periphery of the wheel axle connection structure.

4. The self-traveling work apparatus according to claim 3, characterized by, The protective structure shields the area from the direction of grass clippings.

5. The self-traveling work apparatus according to claim 3, characterized by, The protective structure is located on the bottom outer periphery of the wheel axle connection structure.

6. The self-traveling work apparatus according to claim 3, characterized in that, The curvature of the protective structure is greater than or equal to 180°.

7. The self-traveling work apparatus according to claim 1, characterized by The protective structure and the wheel axle connection structure are an integral structure; and / or... The bottom of the protective structure is provided with at least one groove, which penetrates the protective structure.

8. The self-propelled operating equipment as described in any one of claims 1 to 7, characterized in that, The end of the protective structure away from the axle connection structure is adjacent to the side of the hub motor, and the end of the protective structure away from the axle connection structure is close to the side of the hub motor.

9. The self-traveling work apparatus according to any one of claims 1 to 7, characterized in that, The inner wall of the protective structure is opposite to the outer peripheral wall of the hub motor. From the wheel axle connection structure to the drive wheel, the inner wall of the protective structure gradually approaches the outer peripheral wall of the hub motor.

10. The self-traveling work apparatus according to any one of claims 1 to 7, characterized in that The inner wall of the protective structure is opposite to the outer peripheral wall of the hub motor, and the inner wall of the protective structure is close to the outer peripheral wall of the hub motor to reduce the entry of foreign objects into the gap between the inner wall of the protective structure and the outer peripheral wall of the hub motor. And / or, The wheel axle connection structure extends along the width direction of the main body of the equipment; there are two drive wheel assemblies, which are symmetrically connected to both ends of the wheel axle connection structure; there are two protective structures, which are respectively located at both ends of the wheel axle connection structure along the width direction.

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