Walking mechanism and self-moving device

Abstract

The utility model discloses a kind of walking mechanism and self-moving device, it is related to self-moving device technical field, wherein, walking mechanism includes track, further include integrated support and drive assembly, drive assembly includes driving wheel, driven wheel and hub motor, driving wheel is coaxially connected with hub motor, driving wheel is set on the outer periphery of hub motor;Driving wheel and driven wheel are rotatably arranged at the opposite ends of integrated support respectively, track is wound on the outer peripheral wall of driving wheel and the outer peripheral wall of driven wheel.The above setting mode is integrated with driving wheel coaxial by hub motor, so that the space occupied by drive assembly is smaller, so that the structure of whole walking mechanism is more compact, while reducing overall weight, enhance the mobility and flexibility of walking mechanism, also reduce the number of parts and connecting point, reduce assembly difficulty and maintenance cost, improve the reliability of system.

Description

Technical Field

[0001] This utility model relates to the field of self-moving equipment technology, and in particular to a walking mechanism and a self-moving equipment. Background Technology

[0002] In the traveling mechanisms of related technologies, the hub motor and the drive wheel are usually set up separately. The hub motor is mounted on a bracket and transmits power to the drive wheel through a drive shaft. This separate structure requires additional space to accommodate intermediate transmission components such as the drive shaft and bearings, which not only increases the complexity of the overall structure, but also significantly increases the size and space occupied by the traveling mechanism. Utility Model Content

[0003] The main purpose of this utility model is to propose a walking mechanism and a self-moving device, which aims to solve the technical problem that the walking mechanism occupies a large space in related technologies.

[0004] To achieve the above objectives, the walking mechanism proposed in this utility model includes tracks, and further includes: Integrated bracket; The drive assembly includes a drive wheel, a driven wheel, and a hub motor. The drive wheel is coaxially connected to the hub motor and is sleeved on the outer periphery of the hub motor. The drive wheel and the driven wheel are rotatably mounted on opposite ends of the integrated bracket. The track is wound around the outer peripheral wall of the drive wheel and the outer peripheral wall of the driven wheel.

[0005] In one embodiment, the motor bracket is also included. The hub motor includes a rotor and a motor shaft connected to the rotor and located on the axis of rotation. The two ends of the motor bracket are respectively connected to one end of the motor shaft and the integrated bracket.

[0006] In one embodiment, the motor bracket includes a first connecting section and a second connecting section connected to each other. The first connecting section is connected to one end of the motor shaft, and the second connecting section is connected to the integrated bracket. The first connecting section, the second connecting section, and the integrated bracket enclose a limiting space, and the hub motor and the drive wheel are both located within the limiting space.

[0007] In one embodiment, the end of the second connecting segment away from the first connecting segment is bent to form a third connecting segment, and the end of the second connecting segment near the third connecting segment protrudes to form a reinforcing protrusion; the integrated bracket includes an integrally formed first support segment and a second support segment; the reinforcing protrusion is connected to the second support segment, and the third connecting segment is connected to the first support segment.

[0008] In one embodiment, the hub motor includes a motor housing, a motor shaft disposed within the motor housing, a rotor, and a fixing flange; one end of the motor shaft extends out of one end of the motor housing and is connected to one end of the motor bracket via a bearing; the fixing flange is disposed at the other end of the motor housing and is fixed to an integral bracket.

[0009] In one embodiment, the outer circumference of the motor housing has a plurality of axially extending protrusions evenly distributed, and the outer circumference of the drive wheel has a plurality of axially arranged grooves evenly distributed, with each protrusion inserted into one of the grooves.

[0010] In one embodiment, the integrated bracket has two arms, and the driven wheel is located between the two arms.

[0011] In one embodiment, the drive assembly further includes a driven shaft, each of the support arms is provided with a slide groove, the two ends of the driven shaft are respectively slidably limited in the two slide grooves, and can be fixed when moved to any position relative to the two slide grooves.

[0012] In one embodiment, the integrated support includes an integrally formed first segment, a second segment, and a third segment. The first segment and the third segment are arranged in parallel with a staggered arrangement. The first segment and the second segment are arranged at an angle. The second segment has a reinforcing rib formed along its extension direction. The third segment has two arms.

[0013] This utility model also proposes a self-moving device, comprising: Operating mechanism; Two walking mechanisms as described above, with the working mechanism positioned above the two walking mechanisms.

[0014] The walking mechanism provided by this utility model solves the problems of complex structure and large size of traditional walking mechanisms by adopting an integrated bracket and an integrated hub motor drive assembly. Specifically, the integrated bracket design makes the entire walking mechanism more compact, reducing the number of parts and connection points, thereby reducing assembly difficulty and failure rate. The drive wheel is coaxially connected to the hub motor and is sleeved on the outer circumference of the hub motor. By integrating the hub motor with the drive wheel coaxially, compared to the related technology where the hub motor is located on one side of the drive wheel, the drive assembly provided by this utility model occupies less space, making the entire walking mechanism more compact, reducing overall weight, enhancing the mobility and flexibility of the walking mechanism, reducing the number of parts and connection points, lowering assembly difficulty and maintenance costs, and improving system reliability. In addition, the drive wheel and driven wheel are respectively installed at opposite ends of the integrated bracket, and the track is wrapped around the outer circumference of the drive wheel and driven wheel, thereby ensuring stable track operation and enhancing the traction and passability of the walking mechanism. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 A first-view structural schematic diagram of the walking mechanism provided by this utility model; Figure 2 A second-view structural schematic diagram of the walking mechanism provided by this utility model; Figure 3 An exploded view of the walking mechanism provided by this utility model from a third-person perspective; Figure 4 An exploded view of the walking mechanism provided by this utility model from a fourth perspective; Figure 5 A schematic diagram of the hub motor portion of the present invention; Figure 6 A schematic diagram of another part of the hub motor provided by this utility model.

[0017] Explanation of icon numbers: 1000. Walking mechanism; 1. Integrated bracket; 11. First support section; 12. Second support section; 13. Third support section; 131. Support arm; 132. Slide groove; 2. Drive assembly; 21. Drive wheel; 21a. Groove; 22. Driven wheel; 23. Hub motor; 231. Motor shaft; 232. Motor housing; 232a. Protrusion; 233. Fixed flange; 24. Driven shaft; 25. Bearing; 3. Motor bracket; 31. First connecting section; 32. Second connecting section; 33. Third connecting section; 34. Reinforcing protrusion; 35. Limiting space.

[0018] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0020] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0022] This utility model proposes a walking mechanism 1000.

[0023] Please see Figure 1 and Figure 2 In one embodiment of this utility model, the walking mechanism 1000 includes a track, an integrated bracket 1, and a drive assembly 2. The drive assembly 2 includes a drive wheel 21, a driven wheel 22, and a hub motor 23. The drive wheel 21 is coaxially connected to the hub motor 23 and is sleeved on the outer periphery of the hub motor 23. The drive wheel 21 and the driven wheel 22 are rotatably disposed at opposite ends of the integrated bracket 1, and the track is wrapped around the outer peripheral wall of the drive wheel 21 and the outer peripheral wall of the driven wheel 22.

[0024] In this embodiment, the walking mechanism 1000 can be applied to scenarios such as sweeping, snowing, and mowing. The walking mechanism 1000 can be applied to self-moving devices such as sweeping robots, snow robots, and lawnmowing robots; no limitation is made here. The integrated bracket 1 provides support for the drive assembly 2, ensuring the stability and reliability of the drive assembly 2 during operation. The drive assembly 2 is used to transmit power. Since the drive wheel 21 is fitted around the outer periphery of the hub motor 23, the torque of the hub motor 23 can be directly transmitted to the drive wheel 21. The drive wheel 21 is the power source of the walking mechanism 1000. The rotation of the drive wheel 21 drives the driven wheel 22 to rotate through the track, thereby realizing the movement of the entire mechanism. The driven wheel 22 provides support and guidance, ensuring that the track maintains tension during movement. It is understood that the drive wheel 21 has a motor slot for limiting the hub motor 23, and the shape of the motor slot matches the shape of the hub motor 23. The driving wheel 21 and the driven wheel 22 are respectively mounted at both ends of the integrated bracket 1, and are symmetrically distributed in the axial direction, so that the walking mechanism 1000 is balanced in the axial direction, which helps to improve the stability of walking. The driving wheel 21 and the driven wheel 22 can be connected to the integrated bracket 1 by bolts, welding, key connection, interference fit, etc., which are not limited here.

[0025] The walking mechanism 1000 provided by this utility model solves the problems of complex structure and large size of traditional walking mechanisms 1000 by adopting an integrated bracket 1 and a drive assembly 2 with an integrated hub motor 23. Specifically, the design of the integrated bracket 1 makes the structure of the entire walking mechanism 1000 more compact, reduces the number of parts and connection points, thereby reducing assembly difficulty and failure rate. The drive wheel 21 is coaxially connected to the hub motor 23, and the drive wheel 21 is sleeved on the outer periphery of the hub motor 23. By integrating the hub motor 23 with the drive wheel 21 coaxially, compared with the related technology where the hub motor 23 is located on one side of the drive wheel 21, the drive assembly 2 provided by this utility model occupies less space, making the structure of the entire walking mechanism 1000 more compact, while reducing the overall weight, enhancing the mobility and flexibility of the walking mechanism 1000, reducing the number of parts and connection points, reducing assembly difficulty and maintenance costs, and improving system reliability. In addition, the drive wheel 21 and the driven wheel 22 are respectively installed at opposite ends of the integrated bracket 1, and the track is wrapped around the outer periphery of the drive wheel 21 and the driven wheel 22, thereby ensuring the stable operation of the track and enhancing the grip and passability of the traveling mechanism 1000.

[0026] In one embodiment of the present invention, a motor bracket 3 is also included; the hub motor 23 includes a rotor and a motor shaft 231 connected to the rotor and located on the rotation axis, and the two ends of the motor bracket 3 are respectively connected to one end of the motor shaft 231 and the integrated bracket 1.

[0027] In this embodiment, combined with Figure 1 To enhance the stability of the walking mechanism 1000, the motor bracket 3 provides stable support for the hub motor 23, ensuring that the hub motor 23 will not shift or be damaged due to vibration or external forces during operation. The other end of the motor bracket 3 can be connected to the integrated bracket 1 via bolts, welding, riveting, or other methods. Figure 3 and Figure 4 It should be noted that the shape of the motor bracket 3 can be L-shaped, U-shaped, etc., but it is preferred to be L-shaped here, as described in the following embodiments.

[0028] In one embodiment of the present invention, the motor bracket 3 includes a first connecting section 31 and a second connecting section 32 connected to each other. The first connecting section 31 is connected to one end of the motor shaft 231, and the second connecting section 32 is connected to the integrated bracket 1. The first connecting section 31, the second connecting section 32 and the integrated bracket 1 enclose a limiting space 35, and the hub motor 23 and the drive wheel 21 are both located within the limiting space 35.

[0029] In this embodiment, combined with Figure 3 and Figure 4 To enhance structural stability, the first connecting section 31 connects to the extended end of the motor shaft 231, enabling the hub motor 23 to maintain a relatively stable posture during operation. Simultaneously, the limiting space 35 formed by the first connecting section 31, the second connecting section 32, and the integrated bracket 1 confines both the hub motor 23 and the drive wheel 21 within it, effectively preventing positional displacement of the hub motor 23 and the drive wheel 21 due to external forces during operation, thereby improving the structural stability of the entire walking mechanism 1000. It is understood that the first connecting section 31 and the second connecting section 32 can be connected by welding, bolting, or by integral molding. The first connecting section 31 and the second connecting section 32 are arranged in an L-shape. The second connecting section 32 and the integrated bracket 1 can be connected by bolts, welding, or other methods, so that the first connecting section 31, the second connecting section 32, and the integrated bracket 1 enclose a limiting space 35. The hub motor 23 and the drive wheel 21 are both confined within this limiting space 35, which constrains the hub motor 23 and the drive wheel 21 in both directions, reducing their swaying in the horizontal and vertical directions. At the same time, the L-shaped structure allows the first connecting section 31, the second connecting section 32, and the integrated bracket 1 to tightly enclose a compact limiting space 35, which can effectively reduce the installation space of the hub motor 23 and the drive wheel 21, making the entire walking mechanism 1000 more compact.

[0030] In one embodiment of the present invention, the end of the second connecting segment 32 away from the first connecting segment 31 is bent to form the third connecting segment 33, and the end of the second connecting segment 32 near the third connecting segment 33 protrudes to form the reinforcing protrusion 34; the integrated bracket 1 includes an integrally formed first support segment 11 and a second support segment 12; the reinforcing protrusion 34 is connected to the second support segment 12, and the third connecting segment 33 is connected to the first support segment 11.

[0031] In this embodiment, combined with Figure 3 and Figure 4 To enhance structural strength, a reinforcing protrusion 34 is located at the end of the second connecting segment 32 near the third connecting segment 33, significantly increasing the local strength of the second connecting segment 32. By connecting the reinforcing protrusion 34 to the second support segment 12 and the third connecting segment 33 to the first support segment 11, multiple connection points are formed. This multi-point connection structure further disperses and transmits forces, making the entire support more evenly stressed, reducing the possibility of local overload, and thus significantly improving the strength and stability of the structure. Figure 3 and Figure 4 It should be noted that in the integrated bracket 1, the first segment 11 and the second segment 12 are arranged at an angle, while the second connecting segment 32 is bent to form the third connecting segment 33. A reinforcing protrusion 34 protrudes from the end of the second connecting segment 32 near the third connecting segment 33, and the reinforcing protrusion 34 is triangular in shape to better fit the second segment 12. The third connecting segment 33 can be connected to the first segment 11 by bolts, rivets, etc., and the reinforcing protrusion 34 can be connected to the second segment 12 by bolts, rivets, etc. In one embodiment, the first segment 11 and the second segment 12 are respectively provided with first threaded holes, and the third connecting segment 33 and the reinforcing protrusion 34 are respectively provided with second threaded holes. Screws, rivets, etc., are inserted through the first threaded holes and fastened to the second threaded holes.

[0032] In one embodiment of the present invention, the hub motor 23 includes a motor housing 232, a motor shaft 231 disposed within the motor housing 232, a rotor, and a fixing flange 233; one end of the motor shaft 231 extends out of one end of the motor housing 232 and is connected to one end of the motor bracket 3 via a bearing 25; the fixing flange 233 is disposed at the other end of the motor housing 232 and is fixed to the integrated bracket 1.

[0033] In this embodiment, combined with Figure 5 and Figure 6The motor housing 232 provides structural support for the motor, ensuring its stability during operation and reducing vibration and sway. The motor housing 232 can be connected to the drive wheel 21 via snap-fit, plug-in, or other methods, which are not limited here. The motor shaft 231 transmits the motor's rotational power to the hub, driving the drive wheel 21. The motor shaft 231 supports the rotor via bearings 25, ensuring rotor stability during operation and reducing vibration and sway. The connection between the motor shaft 231 and the motor bracket 3 is a bearing connection. To improve rotational efficiency, the use of bearings 25 significantly reduces friction between the hub motor 23 and the motor bracket 3, allowing the hub motor 23 to rotate more smoothly. The types of bearings 25 include, but are not limited to, deep groove ball bearings, angular contact ball bearings, etc., and can also be a bearing integrating multiple small bearings. It is understood that the inner ring of the bearing 25 is interference-fitted with the motor shaft 231, and the bearing 25 is installed on the motor shaft 231 by heat fitting or cold pressing; it can also be installed by press fitting and secured with a lock nut. The rotor generates torque through electromagnetic induction, driving the motor shaft 231 to rotate, thereby outputting power. The fixed flange 233 is used to connect the motor housing 232 to the integrated bracket 1. The connection between the fixed flange 233 and the integrated bracket 1 includes, but is not limited to, welding, riveting, and bolting.

[0034] In one embodiment of the present invention, the outer circumference of the motor housing 232 is evenly distributed with a plurality of axially extending protrusions 232a, and the outer circumference of the drive wheel 21 is evenly distributed with a plurality of axially arranged grooves 21a, each protrusion 232a being inserted into a groove 21a.

[0035] In this embodiment, combined with Figure 4 , Figure 5 as well as Figure 6 To improve the connection stability between the motor housing 232 and the drive wheel 21, the insertion fit between the protrusion 232a and the groove 21a reduces the relative sliding between the motor and the drive wheel 21, thus improving transmission efficiency. It is understood that the groove 21a and the protrusion 232a are precisely formed through machining to ensure a tight fit.

[0036] In one embodiment of the present invention, the integrated bracket 1 has two arms 131, and the driven wheel 22 is located between the two arms 131.

[0037] In this embodiment, combined with Figure 3 It should be noted that the integrated bracket 1 is a one-piece die-cast part, which effectively improves the rigidity of the track frame and reduces the number of parts. The integrated bracket 1 is used to provide support for the drive wheel assembly, ensuring the stability and reliability of the drive wheel assembly during operation. The two arms 131 are spaced apart, and the gap between the two arms 131 forms a movable groove for the drive wheel 21 of the drive wheel assembly to move.

[0038] In one embodiment of the present invention, the drive assembly 2 further includes a driven shaft 24, and each support arm 131 is provided with a slide groove 132. The two ends of the driven shaft 24 are respectively slidably limited in the two slide grooves 132, and can be fixed when moved to any position relative to the two slide grooves 132.

[0039] In this embodiment, combined with Figure 3 and Figure 4 The driven shaft 24 provides stable support for the driven wheel 22. The slide groove 132 provides a channel for the driven shaft 24 to be installed and moved. When the driven shaft 24 is fixed to the outer wall of the slide groove 132, the driven wheel 22 is confined within the movable space formed by the two arms 131 and can only rotate around the axis of the driven shaft 24. In one embodiment, the driven shaft 24 and the slide groove 132 can be connected by bolts, with external threads machined at both ends of the driven shaft 24 and corresponding threaded holes provided on the outer wall of the slide groove 132; during installation, the driven shaft 24 is passed through the slide groove 132, and the driven shaft 24 is tightened to the outer wall of the slide groove 132 by bolts. In another embodiment, the driven shaft 24 and the slide groove 132 can also be connected by a pin, with pin holes machined at both ends of the driven shaft 24 and a pin mounting seat provided on the outer wall of the slide groove 132. During installation, the driven shaft 24 is passed through the slide groove 132, and then the pin is inserted into the pin hole of the driven shaft 24 and the pin mounting seat on the outer wall of the slide groove 132 to fix the driven shaft 24 to the outer wall of the slide groove 132. The pin can be axially positioned using a cotter pin or other methods to prevent the pin from falling off. Neither of these methods is limited here.

[0040] In one embodiment of the present invention, the integrated support 1 includes an integrally formed first support segment 11, a second support segment 12 and a third support segment 13. The first support segment 11 and the third support segment 13 are arranged in a staggered parallel manner. The first support segment 11 and the second support segment 12 are arranged at an angle. The second support segment 12 has a reinforcing rib formed along its extension direction. The third support segment 13 has two arms 131.

[0041] In this embodiment, combined with Figure 3 and Figure 4To further optimize the integrated support frame 1, the integrated support frame 1 includes a first section 11, a second section 12, and a third section 13, all integrally formed. The first section 11 and the third section 13 are arranged in a staggered parallel configuration to create a lateral offset, providing independent installation space for the drive wheel 21 and the driven wheel 22, thus avoiding mechanical interference during movement. The first section 11 and the second section 12 are arranged at an angle, making the support frame a non-linear rigid frame. When the track is subjected to ground reaction force or operational resistance, the force can be transmitted in two directions through the angled structure, avoiding overload at a single connection point. It is understood that the angle here is in the range of 90 degrees to 150 degrees, which can distribute the load, reduce stress concentration, and improve the bending and torsional resistance of the support frame; it can also increase the rigidity of the structure, making it less prone to deformation when subjected to large loads. The third section 13 consists of two spaced-apart support arms 131, which are respectively connected to the second section 12. The drive sprocket 21 and driven sprocket 22 are on the same horizontal plane, making the meshing between the track and the drive and driven sprockets 21 and 22 more compact and stable, thus effectively transmitting power. This allows the track to maintain stable tension and running trajectory during transmission, reducing track bounce and deviation, thereby ensuring smooth transmission and improving equipment efficiency and service life. Furthermore, the second support segment 12 has reinforcing ribs along its extension direction, which enhances its rigidity and makes it less prone to deformation and breakage under load. The reinforcing ribs can be integrally formed on the second support segment 12 through processes such as forging or casting.

[0042] This utility model also proposes a self-moving device, which includes the aforementioned walking mechanism 1000. The specific structure of the walking mechanism 1000 is as described in the above embodiments. Since this self-moving device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The self-moving device also includes a working mechanism, which is located above the two walking mechanisms 1000.

[0043] In this embodiment, the type of self-moving device includes, but is not limited to, weeding self-moving devices and snow-covered self-moving devices, etc., and is not limited here. The working mechanism can be a weeding mechanism, a snow-removing mechanism, etc., and can be set according to specific needs. The working mechanism includes a frame and a working body. The working body can be set on top of the frame by means of bolt connection, welding, etc., and two walking mechanisms 1000 are respectively connected to the frame by means of bolt connection, snap-fit, etc., and are set on opposite sides of the frame. The walking mechanisms 1000 on both sides enable the self-moving device to maintain balance during travel. It can be understood that the two walking mechanisms 1000 are symmetrically arranged on both sides of the self-moving device. The symmetrical arrangement of the walking mechanisms 1000 can enable the self-moving device to maintain a good balance during travel. Whether on flat ground or rugged terrain, the tracks on both sides can evenly distribute the weight of the main body and various forces generated during travel, reducing the risk of rollover.

[0044] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A walking mechanism, comprising tracks, characterized in that, Also includes: Integrated bracket; The drive assembly includes a drive wheel, a driven wheel, and a hub motor. The drive wheel is coaxially connected to the hub motor and is sleeved on the outer periphery of the hub motor. The drive wheel and the driven wheel are rotatably mounted on opposite ends of the integrated bracket. The track is wound around the outer peripheral wall of the drive wheel and the outer peripheral wall of the driven wheel.

2. The walking mechanism as described in claim 1, characterized in that, It also includes a motor bracket, the hub motor includes a rotor and a motor shaft connected to the rotor and located on the axis of rotation, and the two ends of the motor bracket are respectively connected to one end of the motor shaft and the integrated bracket.

3. The walking mechanism as described in claim 2, characterized in that, The motor bracket includes a first connecting section and a second connecting section connected to each other. The first connecting section is connected to one end of the motor shaft, and the second connecting section is connected to the integrated bracket. The first connecting section, the second connecting section, and the integrated bracket enclose a limiting space, and the hub motor and the drive wheel are both located within the limiting space.

4. The walking mechanism as described in claim 3, characterized in that, The second connecting segment is bent at the end away from the first connecting segment to form a third connecting segment, and the end of the second connecting segment near the third connecting segment protrudes to form a reinforcing protrusion; the integrated bracket includes an integrally formed first support segment and a second support segment; the reinforcing protrusion is connected to the second support segment, and the third connecting segment is connected to the first support segment.

5. The traveling mechanism as described in any one of claims 2 to 4, characterized in that, The hub motor includes a motor housing, a motor shaft disposed within the motor housing, a rotor, and a fixing flange; one end of the motor shaft extends out of one end of the motor housing and is connected to one end of the motor bracket via a bearing; the fixing flange is disposed at the other end of the motor housing and is fixed to an integrated bracket.

6. The walking mechanism as described in claim 5, characterized in that, The outer circumference of the motor housing has a plurality of axially extending protrusions evenly distributed, and the outer circumference of the drive wheel has a plurality of axially arranged grooves evenly distributed, with each protrusion inserted into a groove.

7. The traveling mechanism as described in any one of claims 1 to 4, characterized in that, The integrated bracket has two arms, and the driven wheel is located between the two arms.

8. The walking mechanism as described in claim 7, characterized in that, The drive assembly also includes a driven shaft, and each of the support arms is provided with a slide groove. The two ends of the driven shaft are respectively slidably limited in the two slide grooves and can be fixed when moved to any position relative to the two slide grooves.

9. The traveling mechanism as described in any one of claims 1 to 4, characterized in that, The integrated support includes a first section, a second section, and a third section formed in one piece. The first section and the third section are arranged in parallel with a staggered arrangement. The first section and the second section are arranged at an angle. The second section has a reinforcing rib formed along its extension direction. The third section has two arms.

10. A self-moving device, characterized in that, include: Operating mechanism; Two traveling mechanisms as described in any one of claims 1 to 9, wherein the working mechanism is disposed above the two traveling mechanisms.

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