Self-moving device

Abstract

The application relates to the field of robots, in particular to a self-moving device, which comprises a chassis, two groups of driving wheel assemblies, a steering driving assembly and a swing arm assembly, the two groups of driving wheel assemblies are arranged on the chassis; the steering driving assembly is arranged on one group of the driving wheel assemblies and is used for driving one group of the driving wheel assemblies to steer; the swing arm assembly is rotationally connected to the bottom of the chassis, one group of the driving wheel assemblies is respectively connected to the two ends of the swing arm assembly, and the swing arm assembly is used for driving the driving wheel assemblies to swing up and down. The self-moving device realizes front and rear wheel four-wheel drive, the driving wheel assemblies realize autonomous steering through the steering driving assembly, the swing arm assembly makes the wheels connected thereto always keep in contact with the ground, so that the wheels always have the ground adhesion, and under the condition that the driving force of the driving wheel assemblies is sufficient, the self-moving device can smoothly cross over a complex terrain with pits and protuberances, and the obstacle-crossing capability of the self-moving device is improved.

Description

Technical Field

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

[0002] To adapt to complex terrain and improve traction, existing lawnmowers primarily employ two front wheel design schemes: suspension system structures and swivel wheel structures. Lawnmowers using suspension systems achieve shock absorption through elastic elements and damping devices, ensuring continuous ground contact. However, in practical applications, this monolithic structure can lead to insufficient steering flexibility, especially on soft or slippery surfaces, where its steering performance and traction significantly decrease. On the other hand, lawnmowers with swivel wheel designs, while possessing good follow-through steering characteristics, are prone to jamming when encountering deep, narrow, or uneven terrain. Coupled with the lack of front wheel drive, their traction and ground adhesion are significantly insufficient, limiting their ability to navigate complex terrain. Both design schemes have their advantages, but both exhibit certain functional limitations under extreme terrain conditions. Utility Model Content

[0003] Based on the above problems, this application provides a self-moving device that has both good steering ability and good grip, enabling the self-moving device to adapt to complex terrain.

[0004] This application provides a self-moving device, comprising:

[0005] Chassis;

[0006] Two sets of drive wheel assemblies, the two sets of drive wheel assemblies being mounted on the chassis;

[0007] A steering drive assembly, the steering drive assembly being disposed on one set of the drive wheel assemblies for driving one set of the drive wheel assemblies to steer; and

[0008] A swing arm assembly is rotatably connected to the bottom of the chassis, and a set of drive wheel assemblies are respectively connected to both ends of the swing arm assembly. The swing arm assembly is used to drive the drive wheel assemblies to swing up and down.

[0009] The self-moving device provided in this application includes a chassis, two sets of drive wheel assemblies, a steering drive assembly, and a swing arm assembly. The two sets of drive wheel assemblies enable the self-moving device to achieve four-wheel drive. The steering drive assembly is mounted on one set of drive wheel assemblies and is used to drive the drive wheel assembly to steer. The steering drive assembly improves the steering flexibility of the drive wheel assemblies, making them active steering wheels. Compared to passive steering wheels (such as swivel wheels), which require adjusting their steering angle based on the drive of the rear wheels, passive steering wheels (such as swivel wheels) can only get out of a pothole by adjusting their direction through rear-wheel drive. The drive wheel assemblies in this application achieve self-steering through the steering drive assembly. The main steering is unaffected by the rear wheels. Compared to omnidirectional wheels, the drive wheel assembly in this application can freely control the steering direction, enabling it to quickly escape from potholes. The swing arm assembly is rotatably connected to the bottom of the chassis and is connected to the drive wheel assembly. The swing arm assembly is used to drive the drive wheel assembly to swing up and down, ensuring that the wheels connected to it always maintain contact with the ground, thus ensuring that the wheels always have traction. When the driving force of the drive wheel assembly is sufficient, it can easily overcome obstacles such as potholes or protruding rocks, adapting to complex terrain with potholes or protrusions. This allows the self-moving device to smoothly cross complex terrain with potholes or protrusions, improving the obstacle-crossing ability of the self-moving device.

[0010] In one optional embodiment, the two sets of drive wheel assemblies include a front drive wheel set and a rear drive wheel set, the steering drive assembly is disposed on the front drive wheel, the swing arm assembly is disposed on one end of the chassis near the rear drive wheel set, and the rear drive wheel set is respectively connected to both ends of the swing arm assembly.

[0011] In one optional embodiment, the two sets of drive wheel assemblies include a front drive wheel set and a rear drive wheel set, the steering drive assembly is disposed on the front drive wheel, the swing arm assembly is disposed on one end of the chassis near the front drive wheel set, and the front drive wheel set is respectively connected to both ends of the swing arm assembly.

[0012] In one optional embodiment, the self-moving device further includes a connecting bracket and at least one shock-absorbing component, wherein the connecting bracket is disposed at the bottom of the chassis; the connecting bracket includes a first bracket portion, a connecting portion, and a second bracket portion connected in sequence.

[0013] The swing arm assembly includes a first swing part, a rotating shaft part, and a second swing part connected in sequence, wherein the rotating shaft part is rotatably connected to the connecting part;

[0014] The shock-absorbing component is disposed between the first support portion and the first swing portion; and / or, the shock-absorbing component is disposed between the second support portion and the second swing portion.

[0015] In one alternative embodiment, the swing arm assembly has a rectangular cross-section.

[0016] In one optional embodiment, the self-moving device further includes an axle fixing block, one end of which is inserted into the inner cavity of the first swing part and fixedly connected to the first swing part, and the other end of which is fixedly connected to the output shaft of the rear drive wheel of the rear drive wheel assembly.

[0017] In one optional embodiment, the wheel axle fixing block is provided with a wheel axle hole arranged in the axial direction, and the outer peripheral wall of the wheel axle fixing block is also provided with a notch groove, the notch groove communicating with the wheel axle hole;

[0018] The output shaft of the rear drive wheel is disposed in the axle hole; the output shaft of the rear drive wheel is provided with a limiting part, which is disposed directly opposite the notch.

[0019] The self-moving device also includes a wheel axle pressure block, which is disposed in the notch groove and engages with the limiting part to fix the output shaft of the rear drive wheel to the wheel axle fixing block.

[0020] In one optional embodiment, the swing arm assembly has a hollow structure, and the surface of the swing arm assembly that connects to the connecting bracket is provided with at least one first wire passage hole;

[0021] The connecting bracket has a hollow structure and a second wire passage hole is provided on the connecting bracket away from the swing arm assembly;

[0022] The output shaft of the rear drive wheel is hollow, the wheel axle fixing block is hollow, and the inner cavity of the output shaft of the rear drive wheel, the inner cavity of the wheel axle fixing block, the inner cavity of the swing arm assembly, the first wire passage hole, the inner cavity of the connecting bracket, and the second wire passage hole are connected in sequence to form a wire passage channel.

[0023] In one optional embodiment, the swing arm assembly has at least one third wire passage hole on the surface opposite to the connecting bracket, the third wire passage hole being at least partially opposite to the first wire passage hole, and the size of the third wire passage hole being larger than the size of the first wire passage hole.

[0024] In one optional embodiment, the number of shock-absorbing components is two. Each shock-absorbing component includes a first fixed seat, a first shock-absorbing spring, and a second fixed seat. The first fixed seat is fixed to the first support portion, and the second fixed seat is fixed to the first swing portion. The first fixed seat and the second fixed seat are opposite to each other and spaced apart. One end of the first shock-absorbing spring is sleeved on and abuts against the first fixed seat, and the other end of the first shock-absorbing spring is sleeved on and abuts against the second fixed seat.

[0025] In one optional embodiment, when the swing arm assembly swings relative to the chassis to a first angle, the first fixed seat of one of the shock-absorbing components abuts against the second fixed seat; when the swing arm assembly swings relative to the chassis to a second angle, the first fixed seat of the other shock-absorbing component abuts against the second fixed seat. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is a side view of a self-moving device provided in an embodiment of this application;

[0028] Figure 2 This is a partial three-dimensional schematic diagram of a self-moving device provided in an embodiment of this application;

[0029] Figure 3 This is a partial top view schematic diagram of a self-moving device provided in an embodiment of this application;

[0030] Figure 4 This is a partial side view schematic diagram of a self-moving device provided in an embodiment of this application;

[0031] Figure 5 This is a partial rear view schematic diagram of a self-moving device provided in an embodiment of this application;

[0032] Figure 6 This is a three-dimensional schematic diagram of a swing arm assembly, a rear drive wheel assembly, a connecting bracket, and a shock absorption assembly provided in an embodiment of this application;

[0033] Figure 7 This is a rear view schematic diagram of a swing arm assembly, rear drive wheel assembly, connecting bracket, and shock absorption assembly provided in an embodiment of this application. Figure 1 ;

[0034] Figure 8 This is a rear view schematic diagram of a swing arm assembly, rear drive wheel assembly, connecting bracket, and shock absorption assembly provided in an embodiment of this application. Figure 2 ;

[0035] Figure 9 This is a rear view schematic diagram of a swing arm assembly, rear drive wheel assembly, connecting bracket, and shock absorption assembly provided in an embodiment of this application. Figure 3 ;

[0036] Figure 10 This is a three-dimensional schematic diagram of a steering drive assembly and a front drive wheel set provided in an embodiment of this application;

[0037] Figure 11This is a partially exploded view of a rear drive wheel assembly and swing arm assembly provided in an embodiment of this application. Figure 1 ;

[0038] Figure 12 This is a partially exploded view of a rear drive wheel assembly and swing arm assembly provided in an embodiment of this application. Figure 2 ;

[0039] Figure 13 This is a partially exploded view of a rear drive wheel assembly and swing arm assembly provided in an embodiment of this application. Figure 3 ;

[0040] Figure 14 This is a cross-sectional schematic diagram of a rear drive wheel assembly and swing arm assembly provided in an embodiment of this application.

[0041] Explanation of icon numbers:

[0042] Self-moving device 1000; chassis 100; steering drive assembly 200; swing arm assembly 300; front drive wheel set 400; rear drive wheel set 500; rear drive wheel 51; second motor 21; front drive wheel 41; front wheel bracket 42; connecting bracket 600; shock absorption assembly 700; first bracket part 61, connecting part 62; second bracket part 63; first swing part 31; rotating shaft part 32; second swing part 33; first fixing hole 32a; second fixing hole 62a; first bracket plate 64; second bracket plate 65; third bracket plate 66; first fixing seat 71; first shock absorption spring 72; second fixing seat 73; third fixing seat 74; second shock absorption spring 75; fourth fixing seat 76; wheel axle fixing block 81; wheel axle hole 811; notch groove 812; limiting part 57; wheel axle pressure block 82; first wire through hole 301; second wire through hole 601; third wire through hole 603. Detailed Implementation

[0043] 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.

[0044] In this application, the reference to "embodiment" means that a specific 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.

[0045] 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 particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, an assembly or device comprising one or more components is not limited to the one or more components listed, but may optionally also 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.

[0046] Existing self-propelled devices may encounter situations where the front wheels have relatively poor steering ability when traversing uneven or complex terrain. If the rear wheels are in drive mode, the grip of the front wheels will be weakened, making it easy to get stuck and difficult to extricate oneself in deep and narrow potholes.

[0047] This application provides a self-moving device 1000 that has both good steering ability and good grip, so as to adapt to complex terrain such as potholes or bumps.

[0048] The self-moving equipment 1000 includes, but is not limited to, sweepers, lawnmowers, snowplows, garden trimmers, pool cleaning robots, glass curtain wall cleaning robots, tractors, combine harvesters, logging machines, tree planting machines, transportation vehicles, private cars, excavators, bulldozers, road rollers, guided vehicles, forklifts, and driverless vehicles. This embodiment uses a lawnmower as an example.

[0049] Lawn mowers operate on grassy surfaces. Grassland inevitably has uneven or bumpy terrain. Furthermore, lawn mowers sometimes face soft or slippery surfaces. Improving the lawn mower's ability to navigate uneven or bumpy terrain smoothly and avoid getting stuck has become a technical problem that needs to be solved.

[0050] Please see Figure 1 and Figure 2 The self-moving device 1000 includes a chassis 100, two sets of drive wheel assemblies, a steering drive assembly 200, and at least one set of swing arm assemblies 300.

[0051] The chassis 100 has a front end and a rear end arranged along its direction of travel. The direction of travel is also referred to as the length direction of the chassis 100.

[0052] The two drive wheel assemblies include a front drive wheel assembly 400 and a rear drive wheel assembly 500. In other words, both the front and rear wheels of the self-moving device 1000 are drive wheels. The self-moving device 1000 can achieve four-wheel drive, enhancing traction.

[0053] Please see Figures 1-5The chassis 100 has a front drive wheel set 400 at its front end and a rear drive wheel set 500 at its rear end.

[0054] For example, the front drive wheel assembly 400 includes two front drive wheels 41, both of which are located at the bottom of the chassis 100 and are spaced apart along the width direction of the chassis 100. The width direction is perpendicular to the length direction.

[0055] For example, the rear drive wheel assembly 500 includes two rear drive wheels 51, both of which are located at the bottom of the chassis 100 and are spaced apart along the width direction of the chassis 100.

[0056] Please see Figures 1-5 The steering drive assembly 200 is disposed on one of the sets of drive wheel assemblies and is used to drive one of the sets of drive wheel assemblies to steer.

[0057] Optionally, the steering drive assembly 200 is mounted on the front drive wheel set 400 and is used to drive the front drive wheel set 400 to rotate. The front drive wheel set 400 not only provides traction but also enables automatic steering.

[0058] Specifically, the steering drive assembly 200 is an electric steering drive assembly used to drive the front drive wheel set 400 to actively steer. The rotation of the front drive wheel set 400 refers to turning on the ground, and the axis of rotation of the front drive wheel set 400 is along the height direction of the self-moving device 1000.

[0059] As a comparison, the front drive wheel set 400 is a follower wheel or swivel wheel. The follower wheel does not have an active steering function; it is a passive steering wheel. The follower wheel needs to rely on ground friction and rear-wheel drive to steer. However, on some uneven or complex terrain, the center of gravity of the chassis 100 is biased towards the rear drive wheel set 500. There may be situations where the follower wheel is not in contact with the ground or has low friction. This causes the follower wheel to be unable to steer using ground friction. In addition, the rear drive wheel set 500 provides driving force, which weakens the traction of the follower wheel. Without power, traction, and sufficient grip, the follower wheel can easily get stuck and difficult to get out of deep and narrow potholes.

[0060] The self-moving device 1000 provided in this application embodiment has a steering drive component 200 disposed on the front drive wheel set 400 for driving the front drive wheel set 400 to turn. The steering drive component 200 improves the steering flexibility of the front drive wheel set 400, making the front drive wheel set 400 an active steering wheel. Compared to passive steering wheels (such as swivel wheels), which need to adjust their steering angle according to the drive of the rear wheels, and which can only get out of a pothole by adjusting the direction of the swivel wheels through the drive of the rear wheels, the front drive wheel set 400 in this application achieves autonomous steering through the steering drive component 200, unaffected by the rear wheels. Compared to swivel wheels, the front drive wheel set 400 in this application can freely control the steering direction and can quickly get out of potholes.

[0061] The steering drive assembly 200 includes, but is not limited to, a steering motor + steering column, a steering motor + steering gear, or a steering motor + steering rack.

[0062] Please see Figures 1-5 When there are two front drive wheels 41 in the current drive wheel set 400, there are two sets of steering drive assemblies 200. Each set of steering drive assemblies 200 is connected to one front drive wheel 41 to drive one front drive wheel 41 to steer.

[0063] This application does not specifically limit the steering angle at which the steering drive assembly 200 drives the front drive wheels 41. For example, the maximum steering angle at which the steering drive assembly 200 can drive the front drive wheels 41 includes, but is not limited to, ±30°, ±40°, ±50°, ±60°, ±70°, ±80°, ±90°, ±100°, ±110°, ±120°, ±130°, ±140°, ±150°, ±160°, ±170°, ±180°, ±190°, ±200°, ±210°, ±220°, ±230°, ±240°, ±250°, ±260°, ±270°, ±280°, ±290°, ±300°, ±310°, ±320°, ±330°, ±340°, ±350°, and ±360°. For example, the steering drive assembly 200 can drive the front drive wheels 41 to turn freely, i.e., 360°.

[0064] Please see Figures 1-5 The swing arm assembly 300 is rotatably connected to the bottom of the chassis 100. For example, the swing arm assembly 300 is disposed at the bottom of the chassis 100 along the width direction. The swing axis of the swing arm assembly 300 is along the length direction.

[0065] The swing arm assembly 300 is rotatably connected to the bottom of the chassis 100, and the drive wheel assembly is connected to both ends of the swing arm assembly 300. The swing arm assembly 300 is used to drive the drive wheel assembly to swing up and down.

[0066] Specifically, the swing arm assembly 300 is connected to the front drive wheel set 400, and the swing arm assembly 300 is used to swing the front drive wheel set 400 up and down; and / or, the swing arm assembly 300 is connected to the rear drive wheel set 500, and the swing arm assembly 300 is used to swing the rear drive wheel set 500 up and down.

[0067] Please see Figures 6-9 In a first optional embodiment, the swing arm assembly 300 is disposed at one end of the chassis 100 near the rear drive wheel assembly 500. Two rear drive wheels 51 in the rear drive wheel assembly 500 are located at both ends of the swing arm assembly 300 and are respectively connected to both ends of the swing arm assembly 300.

[0068] Please see Figures 6-9 The swing arm assembly 300 allows the rear drive wheel set 500 to swing up and down. Furthermore, the swing arm assembly 300 allows both rear drive wheels 51 to swing up and down, enabling the rear wheels to passively lift or press down on uneven surfaces. The swing arm assembly 300 ensures that the connected wheels maintain constant contact with the ground, ensuring the wheels always have traction. With sufficient driving force from the rear drive wheel set 500, it can easily overcome obstacles such as potholes or protruding rocks, adapting to complex terrain with potholes or protrusions. This improves the obstacle-crossing capability of the self-moving device 1000. When crossing ditches or steps, the swing arm assembly 300 can adaptively and automatically adjust the vehicle's posture to prevent excessive center of gravity shift that could lead to overturning, thus improving stability on rough terrain.

[0069] In a second optional embodiment, the swing arm assembly 300 is disposed at one end of the chassis 100 near the front drive wheel set 400. The two front drive wheels 41 in the front drive wheel set 400 are located at both ends of the swing arm assembly 300 and are respectively connected to both ends of the swing arm assembly 300.

[0070] The swing arm assembly 300 allows the front drive wheel assembly 400 to swing up and down. Furthermore, the swing arm assembly 300 allows both front drive wheels 41 to swing up and down, enabling the front wheels to be passively raised or lowered on uneven surfaces. The swing arm assembly 300 ensures that the connected wheels always maintain contact with the ground, ensuring the wheels always have traction. With sufficient driving force from the front drive wheel assembly 400, it can easily overcome obstacles such as potholes or protruding rocks, adapting to complex terrain with potholes or protrusions. This allows the self-moving device 1000 to smoothly traverse complex terrain with potholes or protrusions, improving its obstacle-crossing capability.

[0071] In the third optional embodiment, there are two sets of swing arm assemblies 300, which are respectively located at the front end and the rear end of the chassis 100.

[0072] The front drive wheel assembly 400 is located at both ends of the set of swing arm assemblies 300 and is respectively connected to both ends of the set of swing arm assemblies 300. Specifically, the front drive wheel assembly 400 includes two front drive wheels 41, which are respectively connected to both ends of the set of swing arm assemblies 300.

[0073] The rear drive wheel assembly 500 is located at both ends of the other set of swing arm assemblies 300 and is respectively connected to both ends of the other set of swing arm assemblies 300. Specifically, the rear drive wheel assembly 500 includes two rear drive wheels 51, which are respectively connected to both ends of the other set of swing arm assemblies 300.

[0074] The swing arm assembly 300 includes, but is not limited to, active swing or passive suspension.

[0075] The self-moving device 1000 provided in this application embodiment includes a chassis 100, two sets of drive wheel assemblies, a steering drive assembly 200, and at least one set of swing arm assemblies 300. The two sets of drive wheel assemblies enable the self-moving device 1000 to achieve four-wheel drive, increasing traction and obstacle avoidance capabilities. The steering drive assembly 200 is disposed on one of the drive wheel assemblies and is used to drive, for example, the drive wheel assembly to turn. The steering drive assembly 200 improves the steering flexibility of the drive wheel assembly. For example, the front drive wheel assembly 400 is an active steering wheel. Compared to passive steering wheels (e.g., swivel wheels), which need to adjust their steering angle according to the drive of the rear wheels, passive steering wheels (e.g., swivel wheels) can only get out of a pothole by adjusting the direction of the swivel wheels through the drive of the rear wheels. The front drive wheel assembly 400 in this application achieves autonomous steering through the steering drive assembly 200, unaffected by the rear wheels. Compared to swivel wheels, the front drive wheel assembly 400 in this application can freely control the steering direction and can quickly get out of potholes.

[0076] The swing arm assembly 300 is rotatably connected to the bottom of the chassis 100 and is connected to the drive wheel assembly. The swing arm assembly 300 is used to swing the drive wheel assembly up and down. The swing arm assembly 300 ensures that the connected wheel can always maintain contact with the ground, so that the wheel always has traction. When the driving force of the drive wheel assembly is sufficient, it can easily cross obstacles such as pits or protruding rocks, adapting to complex terrain with potholes or protrusions. This allows the self-moving device 1000 to smoothly cross complex terrain with potholes or protrusions, improving the obstacle crossing ability of the self-moving device 1000.

[0077] Optional, please refer to Figure 6The rear drive wheel assembly 500 includes two rear drive wheels 51 and a first motor mounted on each of the rear drive wheels 51. The first motor is used to drive the rear drive wheels 51 to rotate. Specifically, the first motor is used to drive the rear drive wheels 51 to rotate and roll on the ground, wherein the rotational rolling axis of the rear drive wheels 51 is in the direction of the vertical centerline of the rear drive wheels 51 (width direction or close to the width direction).

[0078] Specifically, the first motor includes, but is not limited to, a hub motor, a direct drive motor, or a wheel-side motor.

[0079] In this embodiment, the rear drive wheel assembly 500 is the drive wheel to drive the self-moving device 1000 forward.

[0080] Optional, please refer to Figure 10 The steering drive assembly 200 includes a second motor 21. The second motor 21 is the aforementioned steering motor. The second motor 21 is used to drive the front drive wheel assembly 400 to steer. The second motor 21 includes, but is not limited to, a hub motor, a direct drive motor, or a wheel-side motor.

[0081] The steering of the front drive wheel assembly 400 refers to the direction of rotation on the ground, with the axis of rotation of the front drive wheel assembly 400 along the height direction of the self-moving device 1000. The steering drive assembly 200 enables the front drive wheel assembly 400 to have active steering capabilities, no longer relying on ground friction and the passive steering of the rear-wheel drive. Moreover, the active steering function helps to find the direction to escape obstacles when encountering them, improving the obstacle-crossing ability of the self-moving device 1000.

[0082] This application utilizes a four-wheel drive system with front-wheel steering and rear-wheel drive 51 for forward propulsion. On one hand, it separates steering from driving, allowing the front wheels to focus on steering control and reducing driving interference during steering, while the rear-wheel drive 51 focuses on driving. During acceleration, the center of gravity shifts rearward, enhancing the grip of the rear-wheel drive 51. On the other hand, the rear-wheel drive 51 reduces the load on the front wheels, lowering the probability of front wheel slippage when accelerating on muddy surfaces and further improving stability on slippery roads. Furthermore, the rear-wheel drive 51 serves as the primary power source, providing better grip when climbing steep slopes, while the front-wheel steering allows for flexible path adjustment, resulting in greater adaptability to complex road conditions.

[0083] In one optional implementation, the first motor is a hub motor. The second motor 21 is a harmonic steering motor.

[0084] Hub motors are drive motors that integrate the motor body, reduction gear, and braking system into the wheel. They have advantages such as simplified structure, optimized space, reduced transmission loss, and improved energy efficiency.

[0085] The harmonic steering motor includes a second motor body and a harmonic reducer.

[0086] For example, a harmonic reducer includes a wave generator, a flexible wheel, and a steel wheel.

[0087] The wave generator comprises a flexible bearing and an elliptical cam. The wave generator is installed at the input end of the harmonic reducer. The inner ring of the flexible bearing is connected to the elliptical cam, while the outer ring of the flexible bearing undergoes elastic deformation through ball bearing support, thus exhibiting an elliptical trajectory.

[0088] The flexible wheel has an external toothed ring and thin walls, giving it flexibility. The material of the flexible wheel includes, but is not limited to, alloy steel. The flexible wheel is shaped like a thin cylindrical cup, with external teeth decorating the open end. When a wave generator is inserted into the flexible wheel, it deforms into an elliptical shape.

[0089] The rigid wheel is a rigid, ring-shaped component on the body of the harmonic reducer. The internal gear ring of the rigid wheel is designed to mesh with the flexible wheel.

[0090] In a harmonic reducer, the wave generator acts as the active component, the rigid wheel is fixed, and the flexible wheel is responsible for outputting power. When the wave generator is installed inside the flexible wheel, it forces the flexible wheel to undergo elastic deformation, resulting in an elliptical trajectory. During this deformation process, the gear at the long axis of the flexible wheel gradually engages with the tooth groove of the rigid wheel, achieving full meshing; while at the short axis, the gears of the two wheels remain completely disengaged. As the wave generator rotates continuously, the flexible wheel deforms continuously, causing the gears of the two wheels to constantly switch their working states during engagement, disengagement, and retraction, thus generating the so-called staggered tooth motion. This staggered tooth motion enables efficient motion transmission between the active wave generator and the flexible wheel.

[0091] The harmonic reducer provided in this embodiment employs a multi-tooth simultaneous meshing design between the flexible and rigid gears, achieving backlash-free transmission through elastic deformation. This eliminates the backlash error of traditional gears, improves transmission accuracy, and consequently enhances the control accuracy of the steering angle. Harmonic reducers typically have a large reduction ratio, enabling them to achieve a high transmission ratio within a small space, resulting in high rotational torque while occupying minimal space. Furthermore, harmonic reducers exhibit relatively high transmission efficiency, effectively transferring power from the input to the output, reducing energy loss. Additionally, harmonic reducers possess high rigidity and stability, maintaining good transmission accuracy and stability even at high speeds.

[0092] Of course, in other embodiments, the second motor 21 can also be a hub motor. The second motor 21 may not be a harmonic steering motor, and the second motor 21 can also be combined with a steering column, steering gear, or steering rack to drive the front wheel bracket to rotate.

[0093] Please see Figure 10 The front drive wheel assembly 400 includes two front drive wheels 41 and a front wheel bracket 42.

[0094] Please see Figure 4 and Figure 10 The second motor 21 and the front wheel bracket 42 are respectively located on both sides of the chassis 100. Specifically, the front wheel bracket 42 is located at the bottom of the chassis 100, and the second motor 21 is located on the chassis 100. The output shaft of the second motor body is connected to the wave generator, and the output shaft of the flex wheel is connected to the front wheel bracket 42.

[0095] The output shaft of the second motor 21 is connected to one end of the front wheel bracket 42. The other end of the front wheel bracket 42 is connected to the axle of the front drive wheel 41. The axle of the front drive wheel 41 is along the central axis of the front drive wheel 41. The second motor 21 is used to drive the front wheel bracket 42 to rotate, thereby causing the front drive wheel 41 to turn.

[0096] Furthermore, the front drive wheel assembly 400 includes a front wheel motor (not shown), which is located on the front drive wheel 41 and is used to drive the front drive wheel 41 to roll, providing forward traction.

[0097] Optional, please refer to Figure 3 Driven by the steering drive assembly 200, the front drive wheel 41 can rotate around its height. When there are two front drive wheels 41 in the front drive wheel set 400, the rotation direction and rotation angle of the two front drive wheels 41 can be different or the same. Each front drive wheel 41 can rotate freely and flexibly.

[0098] Optionally, driven by the steering drive assembly 200, the front drive wheel 41 can perform Ackerman steering around its height. The Ackerman steering principle means that when the self-moving device 1000 turns, the turning angle of the inner wheel must be greater than that of the outer wheel. This allows the self-moving device 1000 to turn around a center, ensuring that the perpendicular lines of all wheels point to the center when turning, thus making the external forces on each wheel more uniform.

[0099] Optionally, driven by the steering drive assembly 200, the front drive wheel 41 can rotate about its height. When there are two front drive wheels 41 in the front drive wheel set 400, the two front drive wheels 41 rotate in the same direction and at the same angle.

[0100] Please see Figures 6-9 The self-moving device 1000 also includes a connecting bracket 600 and at least one shock-absorbing component 700.

[0101] The connecting bracket 600 is disposed at the bottom of the chassis 100. Specifically, the connecting bracket 600 is fixed to the bottom of the chassis 100. The connecting bracket 600 extends along the width direction.

[0102] Please see Figure 7The connecting bracket 600 includes a first bracket portion 61, a connecting portion 62, and a second bracket portion 63 connected in sequence. The first bracket portion 61, the connecting portion 62, and the second bracket portion 63 are three parts distributed sequentially along the width direction of the connecting bracket 600. The first bracket portion 61, the connecting portion 62, and the second bracket portion 63 are interconnected as a single structure.

[0103] The swing arm assembly 300 extends in the width direction. The swing arm assembly 300 and the connecting bracket 600 are arranged in the height direction.

[0104] Please see Figure 7 The swing arm assembly 300 includes a first swing portion 31, a pivot portion 32, and a second swing portion 33 connected in sequence. The first swing portion 31, the pivot portion 32, and the second swing portion 33 are three parts distributed sequentially along the width direction of the swing arm assembly 300. The first swing portion 31, the pivot portion 32, and the second swing portion 33 are interconnected as a single unit.

[0105] The pivot portion 32 may protrude toward the connecting bracket 600 relative to the first swing portion 31 and the second swing portion 33.

[0106] Please see Figure 11 The rotating shaft 32 has a first fixing hole 32a.

[0107] The connecting portion 62 may protrude toward the swing arm assembly 300 relative to the first support portion 61 and the second support portion 63.

[0108] Please see Figure 11 The connecting part 62 has a second fixing hole 62a.

[0109] The second fixing hole 62a is aligned with the first fixing hole 32a.

[0110] The rotating shaft 32 is rotatably connected to the connecting part 62. The rotating shaft between the rotating shaft 32 and the connecting part 62 is arranged along the length direction. The rotating shaft passes through the second fixing hole 62a and the first fixing hole 32a. The two ends of the rotating shaft are locked in the length direction by fasteners, so that the rotating shaft 32 and the connecting part 62 can rotate relative to each other while being locked in the length direction.

[0111] The first support portion 61 and the first swing portion 31 are spaced apart. The second support portion 63 and the second swing portion 33 are spaced apart.

[0112] As the pivot 32 and the connecting part 62 rotate, the angle or distance between the first support part 61 and the first swing part 31 changes, and the angle or distance between the second support part 63 and the second swing part 33 also changes.

[0113] Optionally, the shock-absorbing component 700 is disposed between the first support portion 61 and the first swing portion 31; and / or, the shock-absorbing component 700 is disposed between the second support portion 63 and the second swing portion 33.

[0114] In a first optional embodiment, the number of shock-absorbing components 700 is one set, and one set of shock-absorbing components 700 is disposed between the first support portion 61 and the first swing portion 31. Further, one end of the shock-absorbing component 700 is connected to the end of the first support portion 61 away from the connecting portion 62, and the other end of the shock-absorbing component 700 is connected to the end of the first swing portion 31 away from the rotating shaft portion 32.

[0115] In a second alternative embodiment, the number of shock-absorbing components 700 is one set, and one set of shock-absorbing components 700 is disposed between the second support portion 63 and the second swing portion 33. Further, one end of the shock-absorbing component 700 is connected to the end of the second support portion 63 away from the connecting portion 62, and the other end of the shock-absorbing component 700 is connected to the end of the second swing portion 33 away from the rotating shaft portion 32.

[0116] In the third alternative implementation, please refer to Figures 7-9 The damping components 700 are in two sets. The first set of damping components 700 is located between the first support portion 61 and the first swing portion 31, and the second set of damping components 700 is located between the second support portion 63 and the second swing portion 33. Further, one end of the first set of damping components 700 is connected to the end of the first support portion 61 away from the connecting portion 62, and the other end of the first set of damping components 700 is connected to the end of the first swing portion 31 away from the rotating shaft portion 32. One end of the second set of damping components 700 is connected to the end of the second support portion 63 away from the connecting portion 62, and the other end of the second swing portion 33 is connected to the end of the second swing portion 33 away from the rotating shaft portion 32.

[0117] The swing arm assembly 300 has a rectangular cross-section, which improves torsional rigidity. Furthermore, the swing arm assembly 300 is a square tubular shape, which reduces weight while also improving torsional rigidity.

[0118] Optionally, the connecting bracket 600 can be a bent plate, which can enhance the structural strength of the connecting bracket 600 and reduce its weight.

[0119] Please see Figure 12 The connecting bracket 600 includes a first bracket plate 64, a second bracket plate 65, and a third bracket plate 66 that are bent and connected in sequence. The first bracket plate 64 and the third bracket plate 66 are arranged opposite each other along the length direction, and the first bracket plate 64, the second bracket plate 65, and the third bracket plate 66 surround to form a hollow cavity.

[0120] The middle portions of the first support plate 64 and the third support plate 66 protrude towards the side where the swing arm assembly 300 is located, and the protruding portions of the first support plate 64 and the third support plate 66 form the aforementioned connecting portion 62. The protruding portion of the first support plate 64 is provided with a second fixing hole 62a. The protruding portion of the second support plate 65 is also provided with a second fixing hole 62a.

[0121] The pivot portion 32 is located between the protruding portion of the first support plate 64 and the protruding portion of the third support plate 66.

[0122] There are two 700-type shock absorber components.

[0123] Please see Figure 11 One of the shock-absorbing components 700 includes a first fixed seat 71, a first shock-absorbing spring 72, and a second fixed seat 73.

[0124] The first fixing seat 71 is fixed to the first support portion 61. Further, the first fixing seat 71 is fixed to one end of the aforementioned second support plate 65.

[0125] The second fixed seat 73 is fixed to the first swing part 31.

[0126] The first fixed seat 71 and the second fixed seat 73 are opposite to each other and spaced apart. One end of the first damping spring 72 is sleeved and abuts against the first fixed seat 71, and the other end of the first damping spring 72 is sleeved and abuts against the second fixed seat 73. The first fixed seat 71 and the second fixed seat 73 bind the first damping spring 72 between the first support part 61 and the first swing part 31.

[0127] Taking the connection of the swing arm assembly 300 to the rear drive wheel set 500 as an example. The connection of the swing arm assembly 300 to the front drive wheel set 400 can be referenced in this embodiment.

[0128] The swing arm assembly 300 allows the two rear drive wheels 51 to swing up and down, enabling them to be passively raised or lowered on uneven surfaces. The swing arm assembly 300 ensures that the connected rear drive wheels 51 always maintain contact with the ground, ensuring that the rear drive wheels 51 always have traction. With sufficient driving force from the two rear drive wheels 51, the vehicle can easily overcome obstacles such as potholes or protruding rocks, adapting to complex terrain with potholes or protrusions. This allows the self-moving device 1000 to smoothly traverse complex terrain with potholes or protrusions, improving the obstacle-crossing capability of the self-moving device 1000.

[0129] The first damping spring 72 can play a role in damping shocks when the rear drive wheel 51 moves up and down.

[0130] Please see Figure 11Another shock-absorbing component 700 includes a third mounting base 74, a second shock-absorbing spring 75, and a fourth mounting base 76.

[0131] The third fixing seat 74 is fixed to the second support portion 63. Further, the third fixing seat 74 is fixed to the other end of the aforementioned second support plate 65.

[0132] The fourth fixed seat 76 is fixed to the second swing part 33.

[0133] The third fixed seat 74 and the fourth fixed seat 76 are opposite to each other and spaced apart. One end of the second damping spring 75 is sleeved and abuts against the third fixed seat 74, and the other end of the second damping spring 75 is sleeved and abuts against the fourth fixed seat 76. The third fixed seat 74 and the fourth fixed seat 76 bind the second damping spring 75 between the second bracket part 63 and the second swing part 33. The second damping spring 75 can play a role in damping shock when the rear drive wheel 51 moves up and down.

[0134] Optionally, when the swing arm assembly 300 swings relative to the chassis 100 to a first angle, the first fixed seat 71 of one of the shock absorber assemblies 700 abuts against the second fixed seat 73. For example, at the maximum angle when the left rear drive wheel 51 swings upward and the right rear drive wheel 51 swings downward, the first fixed seat 71 and the second fixed seat 73 of the left shock absorber assemblies 700 abut against each other to limit the maximum angle of the left rear drive wheel 51 swinging upward and the right rear drive wheel 51 swinging downward.

[0135] Optionally, when the swing arm assembly 300 swings relative to the chassis 100 to the second angle, the third fixing seat 74 and the fourth fixing seat 76 of the other shock absorption assembly 700 abut against each other. For example, when the left rear drive wheel 51 swings down and the right rear drive wheel 51 swings up to the maximum angle, the first fixing seat 71 and the second fixing seat 73 of the right shock absorption assembly 700 abut against each other to limit the maximum angle of the left rear drive wheel 51 swinging down and the right rear drive wheel 51 swinging up.

[0136] This application does not specifically limit the size of the first angle and the second angle. Optional first angles include, for example, 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, and 20°. Optional second angles include, for example, 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, and 20°.

[0137] Optionally, the swing arm assembly 300 can also be an active swing arm structure. Specifically, the self-moving device 1000 also includes a swing arm motor. For example, the swing arm motor is connected to the swing arm assembly 300 and connected to the rotating shaft. The swing arm motor is used to drive the swing arm assembly 300 to swing, thereby causing the rear drive wheel 51 to be raised / lowered to a certain extent.

[0138] This embodiment utilizes the active swing arm assembly 300 to periodically raise / lower the wheels, breaking the static adhesion between the tires and soft ground (such as sand or mud) and reducing local resistance. When the wheels are raised, the tires briefly leave the ground; when they are lowered, they regain traction, altering the ground contact and friction distribution to create a "creeping" effect for escaping obstacles. The dynamic change in the center of gravity of the self-moving device 1000 during the swing of the swing arm assembly 300 prevents unilateral suspension or center of gravity shift caused by obstacles, maintaining effective adhesion of the drive wheels. For example, when climbing a steep slope, the forward tilt of the vehicle may cause the front drive wheels 41 to lift off the ground, while the downward movement of the rear drive wheels 51 increases their grip. By precisely controlling the swing amplitude, the vehicle's pitch angle (front / rear height) can be actively adjusted, preventing the chassis 100 from bottoming out or the wheels from being suspended in the air. For example, when crossing a ditch, raising the vehicle increases ground clearance, and lowering the wheels enhances the engagement between the tires and the edge of the obstacle.

[0139] Optional, please refer to Figures 11-13 The self-moving device 1000 also includes a wheel axle fixing block 81.

[0140] One end of the wheel axle fixing block 81 is inserted into the inner cavity of the first swing part 31 and is fixedly connected to the first swing part 31. Specifically, one end of the wheel axle fixing block 81 is fixed to the first swing part 31 along the height direction by screws or other fasteners.

[0141] The other end of the wheel axle fixing block 81 is fixedly connected to the output shaft of the rear drive wheel 51. Specifically, the part of the wheel axle fixing block 81 located outside the inner cavity of the first swing part 31 is fixedly connected to the output shaft of the rear drive wheel 51.

[0142] The output shaft of the rear drive wheel 51 and the first swing part 31 are spaced apart and closely adjacent to each other in the width direction.

[0143] Please see Figure 12 The wheel axle fixing block 81 is provided with a wheel axle hole 811 arranged in the axial direction. The axial direction is the width direction.

[0144] Please see Figures 11-13 The outer peripheral wall of the wheel axle fixing block 81 is also provided with a notch 812. The notch 812 communicates with the wheel axle hole 811. The notch 812 can be formed by cutting the outer peripheral wall of the wheel axle fixing block 81 along the axial plane and along the height plane, and removing the cut part.

[0145] Please see Figures 11-13 The output shaft of the rear drive wheel 51 is located within the wheel axle hole 811. The output shaft of the rear drive wheel 51 is provided with a limiting part 57. The limiting part 57 is positioned directly opposite the notch groove 812. The limiting part 57 is a flat-bottomed groove cut along the axial plane on the output shaft. The bottom surface of the notch groove 812 is coplanar or parallel to the bottom surface of the flat-bottomed groove.

[0146] Please see Figures 11-13 The self-moving device 1000 also includes a wheel axle clamping block 82. The wheel axle clamping block 82 is disposed in the notch groove 812. The wheel axle clamping block 82 engages with the limiting part 57, so that the output shaft of the rear drive wheel 51 is fixedly connected to the wheel axle fixing block 81.

[0147] Specifically, the surface of the wheel axle pressure block 82 is in contact with the bottom surface of the notch groove 812 and the bottom surface of the flat bottom groove, and the wheel axle pressure block 82 and the wheel axle fixing block 81 are fixedly connected along the height direction by screws and other fasteners.

[0148] After the wheel axle pressure block 82 is assembled with the wheel axle fixing block 81, the output shaft of the rear drive wheel 51 is fixedly connected to the first swing part 31.

[0149] Optional, please refer to Figure 14 The swing arm assembly 300 has a hollow structure. At least one first wire-passing hole 301 is provided on the surface of the swing arm assembly 300 that connects to the connecting bracket 600. The first wire-passing hole 301 communicates with the hollow inner cavity of the swing arm assembly 300. Specifically, there are two first wire-passing holes 301, located on opposite sides of the rotating shaft portion 32.

[0150] The connecting bracket 600 has a hollow structure.

[0151] Please see Figure 14 The connecting bracket 600 is provided with a second wire passage hole 601 opposite to the swing arm assembly 300. Further, the second wire passage hole 601 is located at the center of the second bracket plate 65.

[0152] The output shaft of the rear drive wheel 51 is hollow. The wheel axle fixing block 81 is hollow. The hollow inner cavity of the output shaft of the rear drive wheel 51, the hollow inner cavity of the wheel axle fixing block 81, the hollow inner cavity of the swing arm assembly 300, the first wire passage hole 301, the hollow inner cavity of the connecting bracket 600, and the second wire passage hole 601 are connected in sequence to form a wire passage channel.

[0153] The motor connection wire of the left rear drive wheel 51 passes sequentially through the hollow inner cavity of the output shaft of the rear drive wheel 51, the hollow inner cavity of the wheel axle fixing block 81, the hollow inner cavity of the swing arm assembly 300, the first wire hole 301 on the left, the hollow inner cavity of the connecting bracket 600, and the second wire hole 601.

[0154] The hub motor connection wire of the rear drive wheel 51 on the right side passes through the hollow inner cavity of the output shaft of the rear drive wheel 51, the hollow inner cavity of the wheel axle fixing block 81, the hollow inner cavity of the swing arm assembly 300, the first wire hole 301 on the right side, the hollow inner cavity of the connecting bracket 600, and the second wire hole 601 in sequence.

[0155] Optional, please refer to Figure 14 The swing arm assembly 300 has at least one third wire passage hole 603 on its surface opposite to the connecting bracket 600. The third wire passage hole 603 is at least partially opposite to the first wire passage hole 301. The size of the third wire passage hole 603 is larger than the size of the first wire passage hole 301 to facilitate the passing of the hub motor wire.

[0156] Some lawnmowers are equipped with swing arm shock absorbers on the front drive wheel 41. The springs provide simple shock absorption while keeping the front drive wheel 41 in constant contact with the ground to maintain a certain grip. This improves the lawnmower's ability to adapt to complex terrain and overcome complex terrain with potholes or bumps.

[0157] Compared to some lawnmowers that use rear-wheel drive with one or more follower wheels on the front drive wheel 41, and lack suspension, relying on the follower wheels for steering, this type of vehicle is more prone to getting stuck in deep and narrow potholes. The front drive wheel 41 lacks power, traction, and grip, and the rear-wheel drive chassis 100 has a rearward-biased center of gravity. Therefore, the follower wheel chassis 100 still has certain limitations in complex terrain.

[0158] This application utilizes the front drive wheel 41 for steering and the rear drive wheel 51 for swing arm suspension chassis 100 in a four-wheel drive system to solve the problems of traction and mowing on complex terrain for lawnmowers. The front drive wheel 41 with drive steering improves the lawnmower's agility, allowing it to adapt to more complex terrain, with better steering ability, improving the lawnmower's mobility and traction, giving it stronger climbing and getting-out-of-trouble capabilities, and enhancing the consumer experience.

[0159] In addition to the aforementioned front drive wheel set 400 and rear drive wheel set 500, this application may also provide a middle drive wheel located between the front drive wheel set 400 and the rear drive wheel set 500.

[0160] In order to effectively improve the off-road capability and traction of the lawnmower in complex terrain, this application adopts four-wheel drive, which provides more driving power. The tires are designed with special tread patterns to improve grip. The front drive wheel 41 is designed to be a steering wheel, and a harmonic steering motor is used to drive the steering. The harmonic steering motor has accurate steering precision and high torque, which greatly improves the steering precision of the lawnmower.

[0161] The rear drive wheel 51 is equipped with a swing arm suspension (the aforementioned swing arm assembly 300), which has a simple structure and low cost. The rear swing arm of the lawnmower adopts a square tube structure and is rigidly connected to the chassis 100 through a thick swing arm. It is equipped with shock-absorbing springs to complete the shock absorption function. This design has a simple manufacturing process, occupies little space, is suitable for mass production, has controllable costs, and is highly adaptable.

[0162] The swing arm assembly 300 uses a reinforced square tube, which can improve torsional rigidity and adapt to the complex stress conditions when the lawnmower is operating on uneven grass or slopes. The reinforced square tube of the swing arm assembly 300 also balances lightweight and durability. The use of aluminum alloy or high-strength steel in the swing arm assembly 300 can reduce unsprung mass and improve handling flexibility. At the same time, the connecting bracket 600 enhances fatigue resistance through structural optimization (such as folded edge reinforcement). The connecting bracket 600 is a sheet metal part, which uses folded edge reinforcement for fixation to extend service life.

[0163] The swing arm assembly 300 is made of iron square tubing, and the wheel axle fixing block 81 is made of aluminum alloy. The swing arm assembly 300 and the wheel axle fixing block 81 are assembled with mortise and tenon joints, which can better improve the overall torsional rigidity. The wheel axle pressure block 82 and the wheel axle fixing block 81 are assembled to fix the rear drive wheel 51 to the swing arm assembly 300 together. The pivot part 32 is made of iron and welded to the center of the iron square tubing to form a swing assembly, which strengthens the central strength of the entire swing pivot point. The pivot axle uses a copper sleeve to fit tightly with the pivot part 32, reducing friction with the pivot axle and improving service life. The connecting bracket 600 is fixed to the pivot part 32 through the pivot axle. The steering wheel harmonic motor is on the chassis 100, and the front drive wheel set 400 is directly fixed to the harmonic motor. The harmonic motor directly drives the wheel set to achieve the steering function.

[0164] Furthermore, the swing arm assembly 300 is a hollow structure made of iron square tube. A first wire passage hole 301 is provided on the upper side of the square tube, and a third wire passage hole 603 is provided on the lower side to facilitate the passing of the hub motor wire. The wheel axle fixing block 81 is a hollow structure and can also pass wires through it. The connecting bracket 600 is a hollow structure and can also pass wires through it, so as to transmit the hub motor wire to the main body of the self-moving device 1000.

[0165] During the operation of the self-moving device 1000, the swing arm assembly 300 will swing at a maximum angle of 6°. At this time, the height difference between the left and right wheels is about 54mm, which is sufficient to adapt to most complex terrains.

[0166] The shock-absorbing spring is fixed to the mounting base, and acts as a buffer to reduce shock. The mounting bases will touch each other when the swing arm swings to its maximum angle, thus limiting the swing arm's movement.

[0167] The lawnmower provided in this application uses a four-wheel drive system, with the front drive wheels 41 for steering and the rear drive wheels 51 for walking. The steering function can achieve both self-rotation and Ackerman steering, and can switch between self-rotation, Ackerman steering, and differential motion modes, covering all turning radii and improving the lawnmower's steering flexibility. This allows for better utilization of steering advantages to complete mowing operations in different scenarios. By using a four-wheel drive system, with the front drive wheels 41 steering and the rear drive wheels 51 using a swing arm assembly 300 and a suspension chassis 100, the lawnmower's steering advantage is enhanced, adapting to various complex terrains. The strong four-wheel drive force, grip, and steering capabilities enable better escape from difficult situations.

[0168] 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-moving device, characterized in that, include: Chassis; Two sets of drive wheel assemblies, the two sets of drive wheel assemblies being mounted on the chassis; A steering drive assembly, the steering drive assembly being disposed on one of the sets of drive wheel assemblies, for driving one of the sets of drive wheel assemblies to steer; and A swing arm assembly is rotatably connected to the bottom of the chassis, and a set of drive wheel assemblies are respectively connected to both ends of the swing arm assembly. The swing arm assembly is used to drive the drive wheel assemblies to swing up and down.

2. The self-moving device of claim 1, wherein, The two sets of drive wheel assemblies include a front drive wheel set and a rear drive wheel set. The steering drive assembly is disposed on the front drive wheel set, and the swing arm assembly is disposed on one end of the chassis near the rear drive wheel set. The rear drive wheel set is respectively connected to both ends of the swing arm assembly.

3. The self-moving device of claim 1, wherein, The two sets of drive wheel assemblies include a front drive wheel set and a rear drive wheel set. The steering drive assembly is disposed on the front drive wheel set, and the swing arm assembly is disposed on one end of the chassis near the front drive wheel set. The front drive wheel set is respectively connected to both ends of the swing arm assembly.

4. The self-mobiling device of claim 3, wherein, The self-moving device further includes a connecting bracket and at least one shock-absorbing component. The connecting bracket is located at the bottom of the chassis. The connecting bracket includes a first bracket part, a connecting part, and a second bracket part connected in sequence. The swing arm assembly includes a first swing part, a rotating shaft part, and a second swing part connected in sequence, wherein the rotating shaft part is rotatably connected to the connecting part; The shock-absorbing component is disposed between the first support portion and the first swing portion; and / or, the shock-absorbing component is disposed between the second support portion and the second swing portion.

5. The self-mobiling device of claim 4, wherein, The self-moving device also includes an axle fixing block, one end of which is inserted into the inner cavity of the first swing part and fixedly connected to the first swing part, and the other end of which is fixedly connected to the output shaft of the rear drive wheel of the rear drive wheel assembly.

6. The self-mobiling device of claim 5, wherein, The wheel axle fixing block is provided with a wheel axle hole arranged in the axial direction, and the outer peripheral wall of the wheel axle fixing block is also provided with a notch groove, which communicates with the wheel axle hole; The output shaft of the rear drive wheel is disposed in the axle hole; the output shaft of the rear drive wheel is provided with a limiting part, which is disposed directly opposite the notch. The self-moving device also includes a wheel axle pressure block, which is disposed in the notch groove and engages with the limiting part to fix the output shaft of the rear drive wheel to the wheel axle fixing block.

7. The self-moving device as described in claim 5, characterized in that, The swing arm assembly has a hollow structure, and the surface of the swing arm assembly that connects to the connecting bracket is provided with at least one first wire passage hole. The connecting bracket has a hollow structure and a second wire passage hole is provided on the connecting bracket away from the swing arm assembly; The output shaft of the rear drive wheel is hollow, the wheel axle fixing block is hollow, and the inner cavity of the output shaft of the rear drive wheel, the inner cavity of the wheel axle fixing block, the inner cavity of the swing arm assembly, the first wire passage hole, the inner cavity of the connecting bracket, and the second wire passage hole are connected in sequence to form a wire passage channel.

8. The self-moving device as described in claim 7, characterized in that, The swing arm assembly has at least one third wire passage hole on the surface away from the connecting bracket. The third wire passage hole is at least partially opposite to the first wire passage hole, and the size of the third wire passage hole is larger than the size of the first wire passage hole.

9. The self-moving device as described in claim 4, characterized in that, The number of shock-absorbing components is two. Each shock-absorbing component includes a first fixed seat, a first shock-absorbing spring, and a second fixed seat. The first fixed seat is fixed to the first bracket portion, and the second fixed seat is fixed to the first swing portion. The first fixed seat and the second fixed seat are opposite to each other and spaced apart. One end of the first shock-absorbing spring is sleeved on and abuts against the first fixed seat, and the other end of the first shock-absorbing spring is sleeved on and abuts against the second fixed seat.

10. The self-moving device as described in claim 9, characterized in that, When the swing arm assembly swings relative to the chassis to a first angle, the first fixed seat of one of the shock-absorbing components abuts against the second fixed seat; when the swing arm assembly swings relative to the chassis to a second angle, the first fixed seat of the other shock-absorbing component abuts against the second fixed seat.

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