Self-propelled working apparatus

Abstract

A self-propelled working apparatus (1000), the self-propelled working apparatus (1000) comprising a main body (11), a first swing mechanism (22), a second swing mechanism (25), and a driving mechanism (23). One end of the main body (11) is provided with a first moving wheel set (122), and the other end thereof is provided with a second moving wheel set (132). The first swing mechanism (22) is connected to the first moving wheel set (122). The second swing mechanism (25) is connected to the second moving wheel set (132). The driving mechanism (23) is located between the first moving wheel set (122) and the second moving wheel set (132), and the driving mechanism (23) is used for driving the first swing mechanism (22) and / or the second swing mechanism (25) to swing, so as to change the distance between the first moving wheel set (122) and the second moving wheel set (132) and the height of the main body (11) relative to the ground.

Description

Self-moving working device

[0001] The present application claims priority to the Chinese patent application No. 2024107400973, filed on June 7, 2024, entitled “Self-moving working device”, the Chinese patent application No. 2024107400969, filed on June 7, 2024, entitled “Self-moving working device”, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, and in particular to a self-moving working device. BACKGROUND

[0003] In a conventional self-moving working device, the body structure of the self-moving working device is fixed and cannot be adjusted. When the self-moving working device encounters different working environments, the body height of the self-moving working device cannot be adjusted to adapt to different working environments, resulting in limited use scenarios of the self-moving working device. SUMMARY

[0004] The present application provides a self-moving working device to solve the problem that the body height of the self-moving working device cannot be adjusted.

[0005] The present application provides a self-moving working device, which comprises a main body, a first swing mechanism, a second swing mechanism, and a driving mechanism. In the advancing direction of the self-moving working device, one end of the main body is provided with a first moving wheel set, and the other end of the main body is provided with a second moving wheel set. The first moving wheel set and the second moving wheel set can roll relative to the ground. The first swing mechanism is arranged at one end of the main body close to the first moving wheel set and connected with the first moving wheel set. The second swing mechanism is arranged at one end of the main body close to the second moving wheel set and connected with the second moving wheel set. The driving mechanism is arranged on the main body and located between the first moving wheel set and the second moving wheel set. The output execution end of the driving mechanism is connected with the first swing mechanism and the second swing mechanism respectively, for driving the first swing mechanism and / or the second swing mechanism to swing in a vertical plane parallel to the advancing direction, so as to change the distance between the first moving wheel set and the second moving wheel set and the height of the main body relative to the ground.

[0006] The self-moving working device provided in the application is capable of changing the distance between the first moving wheel set and the second moving wheel set and the height of the main body relative to the ground by driving the first swing mechanism and / or the second swing mechanism to swing in the vertical plane parallel to the moving direction of the self-moving working device, so that the self-moving working device can adjust the mass distribution, the moment of inertia and the height of the main body relative to the ground according to different working environments, thereby expanding the use scenarios of the self-moving working device. BRIEF DESCRIPTION OF DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative labor based on these drawings.

[0008] FIG. 1 is a structural schematic diagram of the self-moving working device provided in the embodiments of the present application.

[0009] FIG. 2 is a structural schematic diagram of the self-moving working device provided in the embodiments of the present application after removing part of the structure.

[0010] FIG. 3 is an exploded view of the self-moving working device provided in the embodiments of the present application.

[0011] FIG. 4 is a side view of the self-moving working device provided in the embodiments of the present application after removing another part of the structure.

[0012] FIG. 5 is a structural schematic diagram of the self-moving working device provided in the embodiments of the present application after removing another part of the structure.

[0013] FIG. 6 is a side view of the self-moving working device provided in some embodiments of the present application after removing another part of the structure.

[0014] FIG. 7 is a structural schematic diagram of the self-moving working device provided in some embodiments of the present application after removing part of the structure.

[0015] FIG. 8 is a structural schematic diagram of the self-moving working device provided in some embodiments of the present application.

[0016] Explanation of Main Reference Signs: self-moving working device 1000; main body 11; first connecting rod 121; first moving wheel set 122; second connecting rod 131; second moving wheel set 132; first shaft 21; fixing seat 211; first swing mechanism 22; rocker arm 221; first swing arm 222; driving mechanism 23; driving piece 231; telescopic part 2311; driving part 2312; first transmission rod 232; first rod segment 2321; second rod segment 2322; second transmission rod 233; first segment 2331; second segment 2332; third segment 2333; first pivot joint hole 2341; second pivot joint hole 2342; third pivot joint hole 2343; connecting seat 235; partition piece 236; second shaft 24; second swing mechanism 25; second swing arm 251; base 2511; protruding part 2512; reinforcing part 2513; mounting base 26; containing space 261; communication hole 262; mounting hole 263; first sliding piece 271; second sliding piece 272; guide sliding groove 2721; guide rod 273; rotating shaft 28; fixing hole 281; first shaft sleeve 282; second shaft sleeve 283; elastic piece 291; fixing piece 292; machine shell 300; cutting piece 400; anti-collision piece 500; collecting piece 600; advancing direction X; left-right direction Y; height direction Z.

[0017] The following detailed description will further describe the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0019] Reference herein to "an embodiment" or "embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment(s) can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" or "in embodiments" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiments. It is explicitly contemplated that embodiments described herein can be combined with each other.

[0020] It should be noted that the terms “first”, “second” and the like in the description and in the claims of the present application are intended to distinguish between similar objects rather than a particular order. The terms “and / or” when used in the present application and the appended claims are intended to mean one or more of the items in the list it connects. A “and / or” between A and B means A or B or both A and B.

[0021] Please refer to FIG. 1, FIG. 2 and FIG. 3, FIG. 1 is a structural schematic diagram of a self-moving working device 1000 provided by an embodiment of the present application; FIG. 2 is a structural schematic diagram of the self-moving working device 1000 after removing part of the structure provided by an embodiment of the present application; FIG. 3 is an exploded view of the self-moving working device 1000 provided by an embodiment of the present application. The self-moving working device 1000 comprises a main body 11 and a machine shell 300. The machine shell 300 is installed on the main body 11. The self-moving working device 1000 can be configured as a lawn mowing device, a pesticide spraying device, a crop harvesting device, a sweeping device, a transportation device, etc. The self-moving working device 1000 can be a two-wheeled device, a four-wheeled device, etc. In the present embodiment, the self-moving working device 1000 is taken as an example of being configured as a lawn mowing device, and the structure of the self-moving working device 1000 is described in detail. The self-moving working device 1000 further comprises a cutting member 400, which is installed on the main body 11. The cutting member 400 is used for mowing lawns.

[0022] For the purpose of more clear description, in the present application, the X-axis direction is defined as the advancing direction of the mobile work apparatus 1000, the Y-axis direction is defined as the left-right direction of the mobile work apparatus 1000, and the Z-axis direction is defined as the height direction of the mobile work apparatus 1000. The advancing direction X, the left-right direction Y, and the height direction Z of the mobile work apparatus 1000 are perpendicular to each other. The advancing direction X of the mobile work apparatus 1000 can refer to the front-rear direction of the mobile work apparatus 1000. The side of the mobile work apparatus 1000 along the positive direction of the X-axis (the direction of the arrow) is the front side or the front end of the mobile work apparatus 1000, and the side opposite to the positive direction of the X-axis is the rear side or the rear end of the mobile work apparatus 1000. The advancing direction, the left-right direction, and the height direction of the main body 11 correspond to the advancing direction X, the left-right direction Y, and the height direction Z of the mobile work apparatus 1000 respectively. The direction of the main body 11 along the X-axis is the front-rear direction of the main body 11. The front side or the front end of the main body 11 corresponds to the front side or the front end of the mobile work apparatus 1000, and the rear side or the rear end of the main body 11 corresponds to the rear side or the rear end of the mobile work apparatus 1000. When the mobile work apparatus 1000 is placed on the ground, the side of the main body 11 along the positive direction of the Z-axis (the direction of the arrow) is the direction away from the ground.

[0023] In the advancing direction X of the mobile work apparatus 1000, one end of the main body 11 is provided with the first moving wheel set 122, and the other end is provided with the second moving wheel set 132. The first moving wheel set 122 and the second moving wheel set 132 are respectively rotatable relative to the ground. The first moving wheel set 122 and the second moving wheel set 132 can each include two moving wheels. The mobile work apparatus 1000 is configured as a four-wheel device.

[0024] The mobile work apparatus 1000 includes a first swing mechanism 22, a second swing mechanism 25, and a driving mechanism 23. The first swing mechanism 22 is arranged at one end of the main body 11 close to the first moving wheel set 122 and connected with the first moving wheel set 122. The second swing mechanism 25 is arranged at one end of the main body 11 close to the second moving wheel set 132 and connected with the second moving wheel set 132. The driving mechanism 23 is arranged on the main body 11 and located between the first moving wheel set 122 and the second moving wheel set 132. The output end of the driving mechanism 23 is connected with the first swing mechanism 22 and the second swing mechanism 25 respectively, and used to drive the first swing mechanism 22 and / or the second swing mechanism 25 to swing in a vertical plane parallel to the advancing direction X of the mobile work apparatus 1000. The vertical plane is perpendicular to the left-right direction Y of the mobile work apparatus 1000.

[0025] In the embodiments of the present application, the self-moving working device 1000 drives the first swing mechanism 22 and / or the second swing mechanism 25 to swing in the vertical plane parallel to the travel direction X of the self-moving working device 1000 based on the driving mechanism 23, so as to change the distance between the first moving wheel set 122 and the second moving wheel set 132 and the height of the main body 11 relative to the ground. In this way, the self-moving working device 1000 can adjust the mass distribution of the self-moving working device 1000 by adjusting the distance between the first moving wheel set 122 and the second moving wheel set 132 along the travel direction X of the self-moving working device 1000 according to different working environments, so as to adjust the moment of inertia of the self-moving working device 1000, and adjust the height of the main body 11 relative to the ground, and expand the use scenarios of the self-moving working device 1000.

[0026] In some embodiments, the driving mechanism 23 is connected with the first moving wheel set 122 and is used to drive the first moving wheel set 122 to swing relative to the main body 11. In some embodiments, the driving mechanism 23 is connected with the second moving wheel set 132 and is used to drive the second moving wheel set 132 to swing relative to the main body 11. In some embodiments, the driving mechanism 23 is connected with both the first moving wheel set 122 and the second moving wheel set 132, and is used to drive the first moving wheel set 122 to swing relative to the main body 11 and to drive the second moving wheel set 132 to swing relative to the main body 11.

[0027] In some cases, when the self-moving working device travels in a high grass environment where the height of the grass is higher than the ground clearance of the main body of the self-moving working device, the travel and steering resistance of the self-moving working device is greater than that in the ordinary road surface due to the obstruction of the grass. In some cases, when the height of the grass is too high and the density of the grass is too large, the obstruction of the grass to the self-moving working device will cause the self-moving working device to travel and steer difficultly, and even cause the self-moving working device to be unable to travel and steer.

[0028] In the embodiments of the present application, when the first swing mechanism 22 and / or the second swing mechanism 25 swings, at least one of the first moving wheel set 122 and the second moving wheel set 132 moves towards the other, and drives the main body 11 to move in a direction away from the ground. In this way, the distance between the first moving wheel set 122 and the second moving wheel set 132 in the advancing direction X of the main body 11 can be reduced, and the ground clearance of the main body 11 can be increased. On the one hand, the reduction of the distance between the first moving wheel set 122 and the second moving wheel set 132 in the front-rear direction of the main body 11 can concentrate the mass distribution of the self-propelled working device 1000 towards the center of gravity of the self-propelled working device 1000, thereby reducing the moment of inertia of the self-propelled working device 1000. On the other hand, the increase of the ground clearance of the main body 11 can also reduce the contact between the grass and the main body 11, and reduce the hindering effect of the grass on the self-propelled working device 1000. In this way, the driving force required by the self-propelled working device 1000 when driving and turning can be reduced, thereby improving the driving and turning ability of the self-propelled working device 1000, and further enabling the self-propelled working device 1000 to normally drive and turn in a high-grass environment, thereby improving the passability, flexibility and application range of the self-propelled working device 1000. In addition, when the self-propelled working device 1000 is mowing the lawn, adjusting the ground clearance of the main body 11 can also drive the main body 11 to move the cutting member 400 in the height direction Z of the self-propelled working device 1000, thereby adjusting the mowing height of the cutting member 400 when mowing the lawn.

[0029] In some cases, when the self-propelled working device drives on a slope terrain, the self-propelled working device is in an inclined state relative to the horizontal plane, and the stability of the self-propelled working device when driving is reduced. In the embodiments of the present application, when the first swing mechanism 22 and / or the second swing mechanism 25 swings, at least one of the first moving wheel set 122 and the second moving wheel set 132 moves away from the other, and drives the main body 11 to move in a direction close to the ground. In this way, when the distance between the first moving wheel set 122 and the second moving wheel set 132 in the advancing direction X of the main body 11 is increased, the ground clearance of the main body 11 can be reduced, thereby lowering the center of gravity of the self-propelled working device 1000, improving the driving stability of the self-propelled working device 1000, and avoiding the problems of front overturning or head lifting of the self-propelled working device 1000.

[0030] The self-moving working device 1000 further comprises a first shaft 21. The first shaft 21 is configured to be connected with the main body 11. The first swing mechanism 22 comprises a first connecting rod 121 and a first swing arm 222. The first swing arm 222 is connected with an end of the first shaft 21. The first connecting rod 121 is connected with the first swing arm 222. A central axis of the first connecting rod 121 is spaced apart from a central axis of the first shaft 21. The first connecting rod 121 is configured to be connected with a first moving wheel set 122. A central axis of the first moving wheel set 122 is spaced apart from the central axis of the first shaft 21. The driving mechanism 23 is configured to drive the first swing arm 222 to drive the first connecting rod 121 to rotate around the central axis of the first shaft 21, so as to swing the first moving wheel set 122 relative to the main body 11, to adjust the ground clearance of the main body 11.

[0031] The first connecting rods 121 and the first swing arms 222 are respectively provided in two, the two first swing arms 222 are sleeved on the axial two ends of the first shaft 21 and can swing in a vertical plane parallel to the advancing direction X of the self-moving working device 1000. The respective one end of the two first connecting rods 121 is connected with the two first swing arms 222 respectively, and the respective other end of the two first connecting rods 121 is connected with the two first moving wheel sets 122 respectively. The driving mechanism 23 is also connected with the two first swing arms 222 and is used to drive the two first swing arms 222, the two first connecting rods 121 and the two first moving wheel sets 122 to rotate around the central axis of the first shaft 21, so as to adjust the position of the two first moving wheel sets 122 relative to the main body 11, so as to lift or lower the main body 11. When the first connecting rod 121 rotates relative to the first shaft 21 towards the side close to the ground, the first moving wheel set 122 rotates relative to the main body 11 towards the side close to the ground of the main body 11, the first shaft 21 drives the main body 11 to move in the direction away from the ground, so that the ground clearance of the main body 11 is increased, thereby improving the passability of the self-moving working device 1000 when driving on uneven ground, lawn height higher than the ground clearance of the main body 11 and the like. When the first connecting rod 121 rotates relative to the first shaft 21 towards the side away from the ground, the first moving wheel set 122 rotates relative to the main body 11 towards the side away from the ground of the main body 11, the first shaft 21 drives the main body 11 to move in the direction close to the ground, so that the ground clearance of the main body 11 is reduced, the center of gravity of the self-moving working device 1000 is lowered, thereby improving the stability of the self-moving working device 1000 when driving on flat road and slope road. In this way, the adaptability of the self-moving working device 1000 to different road conditions can be improved, and the passability of the self-moving working device 1000 can be improved. In addition, when the self-moving working device 1000 trims the lawn, adjusting the ground clearance of the main body 11 can also drive the cutting member 400 to move along the height direction Z of the self-moving working device 1000, so as to adjust the trimming height of the cutting member 400 when trimming the lawn. When the first connecting rod 121 rotates towards the direction close to the center of gravity of the self-moving working device 1000, the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 along the advancing direction X of the self-moving working device 1000 is reduced, the mass distribution of the self-moving working device 1000 is concentrated towards the center of gravity, the moment of inertia of the self-moving working device 1000 is reduced, the rotating resistance of the self-moving working device 1000 when rotating is reduced, the turning radius of the self-moving working device 1000 is reduced, and the flexibility of the self-moving working device 1000 is increased. When the first connecting rod 121 rotates towards the direction away from the center of gravity of the self-moving working device 1000, the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 along the advancing direction X of the self-moving working device 1000 is increased, and the driving stability of the self-moving working device 1000 is increased.

[0032] The first swing mechanism 22 comprises a rocker arm 221. The rocker arm 221 is spaced apart from a first swing arm 222. One end of the rocker arm 221 is connected to the driving mechanism 23, and the other end of the rocker arm 221 is connected to the first shaft 21. The rocker arm 221 is fixed relative to the first swing arm 222. The driving mechanism 23 is further configured to drive the rocker arm 221 to drive the first swing arm 222 and the first connecting rod 121 to rotate around the central axis of the first shaft 21.

[0033] Exemplarily, the rocker arm 221 and the first swing arm 222 can be configured as a rod. The rocker arm 221 can be independently arranged relative to the first swing arm 222, and the rocker arm 221 and the first swing arm 222 are respectively fixedly connected to the first shaft 21. The driving mechanism 23 is further configured to drive the rocker arm 221 to drive the first shaft 21 to rotate, so that the first shaft 21 drives the first swing arm 222 and the first connecting rod 121 to rotate around the central axis of the first shaft 21. In some embodiments, the rocker arm 221 is fixedly connected to the first swing arm 222, or the rocker arm 221 is fixedly connected to the first swing arm 222 through a connecting piece. The rocker arm 221 and the first swing arm 222 are both rotatable relative to the first shaft 21. In some embodiments, the rocker arm 221 and the first swing arm 222 can be integrally formed.

[0034] The driving mechanism 23 is hingedly connected with the rocker arm 221. The hinged connection includes a pivot connection and a spherical hinge connection. Exemplarily, the driving mechanism 23 can be pivotally connected with the rocker arm 221. A first pivot shaft (not shown in the figure) is arranged on one of the driving mechanism 23 and the rocker arm 221, and a first pivot hole 2341 is formed on the other one of the driving mechanism 23 and the rocker arm 221, and the first pivot shaft is arranged in the first pivot hole 2341. The driving mechanism 23 and the rocker arm 221 can rotate around the central axis of the first pivot shaft, respectively. The central axis of the first pivot shaft can be parallel to the left-right direction Y of the self-moving working device 1000. In some embodiments, the first pivot shaft is arranged on the rocker arm 221. The first pivot shaft can be rotatably connected with the driving mechanism 23, and the first pivot shaft can be fixedly connected with the rocker arm 221 by means of adhesion, clamping, screwing, welding or the like, or by means of fastener connection or the like, or the first pivot shaft and the rocker arm 221 can be integrally formed. In some embodiments, the first pivot shaft is arranged on the driving mechanism 23. The first pivot shaft can be rotatably connected with the rocker arm 221, and the first pivot shaft can be fixedly connected with the driving mechanism 23 by means of adhesion, clamping, screwing, welding or the like, or by means of fastener connection or the like, or the first pivot shaft and the driving mechanism 23 can be integrally formed. In some embodiments, the self-moving working device 1000 further comprises a first pivot shaft which is independently arranged relative to the driving mechanism 23 and the rocker arm 221, and the first pivot hole 2341 is formed on each of the driving mechanism 23 and the rocker arm 221, and the first pivot shaft is arranged in the first pivot hole 2341 of the driving mechanism 23 and the first pivot hole 2341 of the rocker arm 221. The first pivot shaft is rotatably connected with the driving mechanism 23 and the rocker arm 221.

[0035] In some embodiments, the driving mechanism 23 can also be spherical hinge connected with the rocker arm 221. One of the driving mechanism 23 and the rocker arm 221 is provided with a spherical protrusion, and the other one of the driving mechanism 23 and the rocker arm 221 is provided with a spherical groove matched with the spherical protrusion, and the spherical protrusion is arranged in the spherical groove. The driving mechanism 23 and the rocker arm 221 can rotate around the spherical center of the spherical protrusion in any direction, respectively. In some cases, when the self-moving working device 1000 is disturbed by external interference, so that the output direction of the driving force of the driving mechanism 23 is deviated from the normal direction, the spherical hinge connection between the driving mechanism 23 and the rocker arm 221 can keep the driving mechanism 23 and the rocker arm 221 normally connected, so that the self-moving working device 1000 can still work normally, and the anti-interference ability of the self-moving working device 1000 is improved.

[0036] The self-moving working device 1000 further comprises a fixed seat 211 and a bearing. The fixed seat 211 is fixedly connected to the main body 11. The bearing is installed on the fixed seat 211. The first shaft 21 penetrates through the bearing. The first shaft 21 is rotatable relative to the main body 11 through the bearing, so as to reduce the rotation resistance of the first shaft 21. The fixed seat 211 is provided in two, and the two fixed seats 211 are arranged at intervals along the left-right direction Y of the self-moving working device 1000, so as to improve the connection stability of the first shaft 21 and the main body 11. One of the two fixed seats 211 is arranged close to one end of the first shaft 21 along the left-right direction Y of the self-moving working device 1000, and the other of the two fixed seats 211 is arranged close to the other end of the first shaft 21 along the left-right direction Y of the self-moving working device 1000.

[0037] Please refer to FIG. 2, FIG. 3 and FIG. 4 together, in the embodiment, the distance between the connection of the rocker arm 221 and the driving mechanism 23 and the first shaft 21 is less than the distance between the connection of the first swing arm 222 and the first connecting rod 121 and the first shaft 21. In this way, when the driving mechanism 23 drives the rocker arm 221 to rotate the first connecting rod 121 relative to the central axis of the first shaft 21 together with the first swing arm 222 through the first shaft 21, the rocker arm 221 moves a smaller stroke to make the first connecting rod 121 move a larger stroke, so as to amplify the adjustment stroke of the rocker arm 221 to the first connecting rod 121, improve the adjustment speed and adjustment efficiency of the first connecting rod 121, and further improve the adjustment speed and adjustment efficiency of the ground clearance of the main body 11 and the moment of inertia of the self-moving working device 1000. The distance between the connection of the rocker arm 221 and the driving mechanism 23 and the first shaft 21 can refer to the distance between the rotation center of the rocker arm 221 relative to the driving mechanism 23 and the central axis of the first shaft 21. The distance between the connection of the first swing arm 222 and the first connecting rod 121 and the first shaft 21 can refer to the distance between the central axis of the first connecting rod 121 and the central axis of the first shaft 21. In some embodiments, the distance between the connection of the rocker arm 221 and the driving mechanism 23 and the first shaft 21 is equal to the distance between the connection of the first swing arm 222 and the first connecting rod 121 and the first shaft 21.

[0038] The first connecting rod 121 is arranged close to the rear end of the main body 11. The first moving wheel set 122 can be configured as the rear moving wheel of the self-moving working device 1000. The second connecting rod 131 is arranged close to the front end of the main body 11. The second moving wheel set 132 can be configured as the front moving wheel of the self-moving working device 1000. The rocker arm 221 is arranged close to the middle position of the self-moving working device 1000 in the left-right direction Y. The first swing arm 222 is arranged close to the first moving wheel set 122. The housing 300 and the main body 11 enclose a receiving space, the rocker arm 221 is located in the receiving space, and the first swing arm 222 is located outside the receiving space. Through the protection of the main body 11 and the cutting of the cutting member 400 on the grass, the contact of the grass with the first connecting rod 121, the first swing arm 222 and the rocker arm 221 is reduced or avoided, so as to avoid the grass winding around the connection between the first swing arm 222 and the first shaft 21, or winding around the connection between the first moving wheel set 122 and the first connecting rod 121, or winding around the rocker arm 221.

[0039] In some embodiments, the first connecting rod 121 is arranged close to the front end of the main body 11, and the first moving wheel set 122 can be configured as the front moving wheel of the self-moving working device 1000. The second connecting rod 131 is arranged close to the rear end of the main body 11, and the second moving wheel set 132 can be configured as the rear moving wheel of the self-moving working device 1000.

[0040] The first moving wheel set 122 can be configured as a wheel hub motor type walking wheel. In some cases, as shown in FIG. 8, when the collection member 600 for collecting grass clippings, fallen leaves and other sundries is installed on the rear side of the self-moving working device 1000, the first connecting rod 121 moves away from the center of gravity of the self-moving working device 1000, and the overall center of gravity of the self-moving working device 1000 also moves away from the collection member 600, thereby improving the load capacity of the self-moving working device 1000, reducing the distance between the center of gravity of the collection member 600 and the first connecting rod 121, and increasing the distance between the center of gravity of the main body 11 and the first connecting rod 121, thereby reducing the risk of the self-moving working device 1000 tilting and improving the storage capacity of the collection member 600.

[0041] In some embodiments, the rocker arm 221 is located on the side close to the front of the self-moving working device 1000 relative to the first swing arm 222. In this way, the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 before the center of gravity can be increased, and the structural stability of the self-moving working device 1000 can be improved. In some embodiments, the rocker arm 221 is located on the side close to the rear of the self-moving working device 1000 relative to the first swing arm 222. In this way, the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 can be reduced, and the structural compactness of the self-moving working device 1000 can be improved.

[0042] The driving mechanism 23 comprises a driving piece 231 and a first transmission rod 232. The driving piece 231 is fixedly connected with the main body 11. The driving piece 231 is hingedly connected with the first transmission rod 232. An end of the first transmission rod 232 away from the driving piece 231 is connected with the rocker arm 221. The first transmission rod 232 is connected with the first swing arm 222 through the rocker arm 221. The driving piece 231 is used to drive the first transmission rod 232 to drive the rocker arm 221 and the first swing arm 222 to rotate around the central axis of the first shaft 21. In some embodiments, the self-moving working device 1000 further comprises a partition piece 236. The partition piece 236 is located between the first transmission rod 232 and the rocker arm 221. When the driving piece 231 drives the first transmission rod 232 to drive the rocker arm 221 to rotate around the central axis of the first shaft 21, the partition piece 236 can separate the first transmission rod 232 and the rocker arm 221, avoiding direct contact between the first transmission rod 232 and the rocker arm 221, thereby reducing the wear of the first transmission rod 232 and the rocker arm 221 and improving the service life of the driving mechanism 23. The partition piece 236 can be configured as a plane bearing, so that the friction between the partition piece 236 and the first transmission rod 232 and the friction between the partition piece 236 and the rocker arm 221 is rolling friction, thereby reducing wear. In some embodiments, the first swing mechanism 22 can also not comprise the rocker arm 221, and the first transmission rod 232 of the driving mechanism 23 is hingedly connected with the first swing arm 222 of the first swing mechanism 22.

[0043] In some embodiments, the partition piece 236 is provided with a pivot, and the first transmission rod 232 and the rocker arm 221 are respectively provided with a first pivot hole 2341, and the pivot is rotatably arranged in the first pivot hole 2341; or one of the first transmission rod 232 and the rocker arm 221 is provided with a first pivot hole 2341, and the pivot is rotatably arranged in the first pivot hole 2341, and the other one of the first transmission rod 232 and the rocker arm 221 is fixedly connected with the pivot. In some embodiments, the partition piece 236 can be configured as a spherical hinge assembly, the spherical hinge assembly comprising a ball head and a spherical bushing, one of the first transmission rod 232 and the rocker arm 221 is provided with a spherical groove, the ball head and the spherical bushing are accommodated in the spherical groove, and the other one of the first transmission rod 232 and the rocker arm 221 is fixedly connected with the ball head. The spherical bushing is used to separate the inner wall of the spherical groove and the outer wall of the ball head, avoiding direct contact between the inner wall of the spherical groove and the outer wall of the ball head, thereby avoiding wear.

[0044] The first swing mechanism 22 has a first state and a second state. When the first swing mechanism 22 is in the first state or the second state, the driving member 231 drives the first transmission rod 232 to be at a maximum value or a minimum value of a moving stroke in the traveling direction X of the self-moving work device 1000. The first connecting rod 121 is located on a side of the first shaft 21 close to or away from the ground, and / or the first connecting rod 121 is located on a side of the first shaft 21 away from or close to the second swing mechanism 25. The connection P1 between the first transmission rod 232 and the rocker arm 221 is located on a side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21 close to or away from the ground. When the first connecting rod 121 is located on the side of the first shaft 21 close to the ground, the ground clearance of the center axis of the first connecting rod 121 is less than or equal to the ground clearance of the center axis of the first shaft 21. When the first connecting rod 121 is located on the side of the first shaft 21 away from the ground, the ground clearance of the center axis of the first connecting rod 121 is greater than or equal to the ground clearance of the center axis of the first shaft 21.

[0045] In the first exemplary embodiment of the present application, the height of the center axis of the first connecting rod 121 above the ground is less than or equal to the height of the center axis of the first shaft 21 above the ground, and the first connecting rod 121 is located on the side of the first shaft 21 away from the second swing mechanism 25 (i.e. close to the rear of the self-propelled working device 1000) along the direction of travel X of the self-propelled working device 1000. The connection point P1 of the first transmission rod 232 with the rocker arm 221 is located on the side of the line L1 connecting the connection point P2 of the first transmission rod 232 with the driving member 231 and the center axis of the first shaft 21 away from the ground. When the first swing mechanism 22 is in the first state, the height of the body 11 above the ground at the position close to the first shaft 21 is at a minimum. When the first swing mechanism 22 is in the second state, the height of the body 11 above the ground at the position close to the first shaft 21 is at a maximum. When the first swing mechanism 22 is transitioning from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the self-propelled working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, causing the first connecting rod 121 to swing relative to the center axis of the first shaft 21 towards the front end of the body 11 (towards the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 towards the ground, and moves towards the center of gravity of the self-propelled working device 1000, so that the height of the body 11 above the ground increases, and the moment of inertia of the self-propelled working device 1000 decreases. When the first swing mechanism 22 is transitioning from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the self-propelled working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, causing the first connecting rod 121 to swing relative to the center axis of the first shaft 21 towards the rear end of the body 11 (away from the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 away from the ground, and moves away from the center of gravity of the self-propelled working device 1000, so that the height of the body 11 above the ground decreases, and the moment of inertia of the self-propelled working device 1000 increases. In this way, when the driving mechanism 23 drives the first connecting rod 121 to rotate, it can increase the height of the body 11 above the ground while decreasing the moment of inertia of the self-propelled working device 1000, improve the travel ability of the self-propelled working device 1000 in a high grass environment, improve the obstacle crossing ability of the self-propelled working device 1000, and decrease the height of the body 11 above the ground while increasing the moment of inertia of the self-propelled working device 1000, improve the travel stability of the self-propelled working device 1000.

[0046] In the second exemplary embodiment of the present application, the height of the center axis of the first connecting rod 121 from the ground is less than or equal to the height of the center axis of the first shaft 21 from the ground, and the first connecting rod 121 is located on the side of the first shaft 21 away from the second swing mechanism 25 (i.e., close to the rear of the self-propelled working device 1000) along the direction of travel X of the self-propelled working device 1000. The first connecting rod 121 is located on the side of the first shaft 21 away from the second swing mechanism 25. The connection point P1 of the first transmission rod 232 with the rocker arm 221 is located on the side close to the ground of the line L1 connecting the connection point P2 of the first transmission rod 232 with the driving member 231 and the center axis of the first shaft 21. When the first swing mechanism 22 is in the first state, the height of the body 11 close to the first shaft 21 is at a minimum. When the first swing mechanism 22 is in the second state, the height of the body 11 close to the first shaft 21 is at a maximum. When the first swing mechanism 22 is transitioning from the first state to the second state, the driving member 231 is used to drive the first transmission rod 232 to pull the rocker arm 221 to rotate the first shaft 21 together with the first swing arm 222, so that the first connecting rod 121 swings relative to the center axis of the first shaft 21 toward the direction close to the front end of the body 11 (toward the direction close to the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 toward the ground, and moves toward the direction close to the center of gravity of the self-propelled working device 1000, so that the height of the body 11 from the ground increases, and the moment of inertia of the self-propelled working device 1000 decreases. When the first swing mechanism 22 is transitioning from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move toward the rear of the self-propelled working device 1000, the first transmission rod 232 pushes the rocker arm 221 to rotate the first shaft 21 together with the first swing arm 222, so that the first connecting rod 121 swings relative to the center axis of the first shaft 21 toward the direction close to the rear end of the body 11 (toward the direction away from the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 away from the ground, and moves away from the center of gravity of the self-propelled working device 1000, so that the height of the body 11 from the ground decreases, and the moment of inertia of the self-propelled working device 1000 increases.

[0047] In the third exemplary embodiment of the present application, the height of the center axis of the first connecting rod 121 above the ground is greater than or equal to the height of the center axis of the first shaft 21 above the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the second swing mechanism 25 (i.e. close to the front of the self-propelled working device 1000) along the direction of travel X of the self-propelled working device 1000. The connection point P1 of the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 connecting the connection point P2 of the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21 away from the ground. When the first swing mechanism 22 is in the first state, the height of the position of the main body 11 close to the first shaft 21 above the ground is at a minimum. When the first swing mechanism 22 is in the second state, the height of the position of the main body 11 close to the first shaft 21 above the ground is at a maximum. When the first swing mechanism 22 is transitioning from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the front of the self-propelled working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the center axis of the first shaft 21 towards the direction close to the front end of the main body 11 (towards the direction close to the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 towards the direction close to the ground, and moves towards the direction close to the center of gravity of the self-propelled working device 1000, so that the height of the main body 11 above the ground increases, and the moment of inertia of the self-propelled working device 1000 decreases. When the first swing mechanism 22 is transitioning from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the self-propelled working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the center axis of the first shaft 21 towards the direction close to the rear end of the main body 11 (towards the direction away from the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 towards the direction away from the ground, and moves towards the direction away from the center of gravity of the self-propelled working device 1000, so that the height of the main body 11 above the ground decreases, and the moment of inertia of the self-propelled working device 1000 increases. In this way, it is possible to reduce the height of the main body 11 above the ground while increasing the moment of inertia of the self-propelled working device 1000, to improve the travel stability of the self-propelled working device 1000, and to increase the height of the main body 11 above the ground while reducing the moment of inertia of the self-propelled working device 1000, to improve the travel ability of the self-propelled working device 1000 on high grass ground, and to improve the obstacle crossing ability of the self-propelled working device 1000.

[0048] In the fourth example embodiment of the present application, the height of the center axis of the first connecting rod 121 above the ground is greater than or equal to the height of the center axis of the first shaft 21 above the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the second swing mechanism 25 (i.e., close to the front of the self-propelled working device 1000) in the direction of travel X of the self-propelled working device 1000. The first connecting rod 121 is located on the side of the first shaft 21 close to the second swing mechanism 25. The connection point P1 of the first transmission rod 232 and the rocker arm 221 is located on the side close to the ground of the line L1 connecting the connection point P2 of the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21. When the first swing mechanism 22 is in the first state, the height of the ground above the position of the main body 11 close to the first shaft 21 is at a minimum. When the first swing mechanism 22 is in the second state, the height of the ground above the position of the main body 11 close to the first shaft 21 is at a maximum. When the first swing mechanism 22 is transitioning from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move toward the rear of the self-propelled working device 1000, the first transmission rod 232 pushes the rocker arm 221 to rotate the first shaft 21 together with the first swing arm 222, causing the first connecting rod 121 to swing relative to the center axis of the first shaft 21 toward the direction close to the front end of the main body 11 (toward the direction close to the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 toward the ground, and moves toward the direction close to the center of gravity of the self-propelled working device 1000, so that the height of the ground above the main body 11 increases, and the moment of inertia of the self-propelled working device 1000 decreases. When the first swing mechanism 22 is transitioning from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move toward the front of the self-propelled working device 1000, the first transmission rod 232 pulls the rocker arm 221 to rotate the first shaft 21 together with the first swing arm 222, causing the first connecting rod 121 to swing relative to the center axis of the first shaft 21 toward the direction close to the rear end of the main body 11 (toward the direction away from the second swing mechanism 25), the first connecting rod 121 moves relative to the first shaft 21 away from the ground, and moves toward the direction away from the center of gravity of the self-propelled working device 1000, so that the height of the ground above the main body 11 decreases, and the moment of inertia of the self-propelled working device 1000 increases.

[0049] In the exemplary fifth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 away from the ground, the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21, the first connecting rod 121 is located on the side of the first shaft 21 away from the ground, and on the side of the first shaft 21 away from the second swing mechanism 25 along the traveling direction X of the self-propelled working device 1000 (i.e., close to the rear of the self-propelled working device 1000). When the first swing mechanism 22 is in the first state, the ground clearance of the main body 11 at the position close to the first shaft 21 is at a minimum. When the first swing mechanism 22 is in the second state, the ground clearance of the main body 11 at the position close to the first shaft 21 is at a maximum. When the first swing mechanism 22 is transitioning from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the self-propelled working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, the first connecting rod 121 swings relative to the center axis of the first shaft 21 towards the rear of the self-propelled working device 1000, the first connecting rod 121 moves relative to the first shaft 21 towards the ground, so that the ground clearance of the main body 11 increases, and the first connecting rod 121 moves towards the direction away from the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 increases. When the first swing mechanism 22 is transitioning from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the self-propelled working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, the first connecting rod 121 swings relative to the center axis of the first shaft 21 towards the front of the self-propelled working device 1000, the first connecting rod 121 moves relative to the first shaft 21 away from the ground, so that the ground clearance of the main body 11 decreases, and the first connecting rod 121 moves towards the direction close to the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 decreases. In this way, the ground clearance of the main body 11 can be increased while the moment of inertia of the self-propelled working device 1000 is increased, the stability of the self-propelled working device 1000 when traveling on high grass ground is improved, the obstacle crossing ability of the self-propelled working device 1000 is improved, the ground clearance of the main body 11 can be decreased while the moment of inertia of the self-propelled working device 1000 is decreased, so that the self-propelled working device 1000 has sufficient traveling stability and flexibility.When the self-moving working device 1000 is equipped with the collecting member 600, the driving mechanism 23 can also adjust the distance between the first connecting rod 121 and the center of gravity of the collecting member 600 according to the storage state of the collecting member 600 and the inclination of the road, reduce the distance between the first connecting rod 121 and the center of gravity of the collecting member 600 when changing from the first state to the second state, improve the supporting capacity of the first connecting rod 121 to the collecting member 600, and reduce the risk of head lifting of the self-moving working device 1000.

[0050] In the exemplary sixth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the central axis of the first shaft 21 closer to the ground, the first connecting rod 121 is located on the side of the first shaft 21 away from the ground, and on the side of the first shaft 21 away from the second swing mechanism 25 (i.e., closer to the rear of the self-propelled working device 1000) along the traveling direction X of the self-propelled working device 1000. When the first swing mechanism 22 is in the first state, the ground clearance at the position of the main body 11 close to the first shaft 21 is at a maximum. When the first swing mechanism 22 is in the second state, the ground clearance at the position of the main body 11 close to the first shaft 21 is at a minimum. When the first swing mechanism 22 is in the first state transitioning to the second state, the driving member 231 drives the first transmission rod 232 to move in the same direction as the fifth embodiment along the traveling direction X of the self-propelled working device 1000, the rocker arm 221 drives the first shaft 21 to rotate together with the first swing arm 222 in the opposite direction as the fifth embodiment, the first swing arm 222 drives the first connecting rod 121 to rotate around the central axis of the first shaft 21 in the opposite direction as the fifth embodiment, and the ground clearance at the position of the main body 11 close to the first shaft 21, the moment of inertia of the self-propelled working device 1000, etc. adaptively change according to the position and movement direction of the first connecting rod 121 relative to the first shaft 21. For example, when the first swing mechanism 22 is in the first state transitioning to the second state, the driving member 231 drives the first transmission rod 232 to move toward the rear of the self-propelled working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 to rotate together with the first swing arm 222, the first connecting rod 121 swings relative to the central axis of the first shaft 21 toward the front of the self-propelled working device 1000, the first connecting rod 121 moves relative to the first shaft 21 toward the direction away from the ground, so that the ground clearance of the main body 11 decreases, and the first connecting rod 121 moves toward the direction close to the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 decreases. For another example, when the first swing mechanism 22 is in the second state transitioning to the first state, the driving member 231 drives the first transmission rod 232 to move toward the front of the self-propelled working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 to rotate together with the first swing arm 222, the first connecting rod 121 swings relative to the central axis of the first shaft 21 toward the rear of the self-propelled working device 1000, the first connecting rod 121 moves relative to the first shaft 21 toward the direction close to the ground, so that the ground clearance of the main body 11 increases, and the first connecting rod 121 moves toward the direction away from the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 increases.

[0051] In the exemplary seventh embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 away from the ground, the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21, the first connecting rod 121 is located on the side of the first shaft 21 close to the ground, and on the side of the first shaft 21 close to the front of the self-moving working device 1000 along the traveling direction X of the self-moving working device 1000. When the first swing mechanism 22 is in the first state, the ground clearance of the main body 11 at the position close to the first shaft 21 is at the maximum value. When the first swing mechanism 22 is in the second state, the ground clearance of the main body 11 at the position close to the first shaft 21 is at the minimum value. When the first swing mechanism 22 is in the transition from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move toward the rear of the self-moving working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, the first connecting rod 121 swings relative to the center axis of the first shaft 21 toward the front of the self-moving working device 1000, the first connecting rod 121 moves relative to the first shaft 21 toward the direction away from the ground, so that the ground clearance of the main body 11 is reduced, and the first connecting rod 121 moves toward the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 is reduced. When the first swing mechanism 22 is in the transition from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move toward the front of the self-moving working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, the first connecting rod 121 swings relative to the center axis of the first shaft 21 toward the rear of the self-moving working device 1000, the first connecting rod 121 moves relative to the first shaft 21 toward the direction close to the ground, so that the ground clearance of the main body 11 is increased, and the first connecting rod 121 moves toward the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 is increased. In this way, the ground clearance of the main body 11 can be reduced while reducing the moment of inertia of the self-moving working device 1000, so as to ensure that the self-moving working device 1000 has sufficient driving stability and flexibility, and the ground clearance of the main body 11 can be increased while increasing the moment of inertia of the self-moving working device 1000, so as to improve the stability of the self-moving working device 1000 when driving on the high grass ground, and improve the obstacle crossing ability of the self-moving working device 1000.

[0052] In the exemplary eighth embodiment, the connection P1 of the first transmission rod 232 with the rocker arm 221 is located on the side of the line L1 between the connection P2 of the first transmission rod 232 with the driving member 231 and the center axis of the first shaft 21 closer to the ground, the first connecting rod 121 is located on the side of the first shaft 21 closer to the ground and on the side of the first shaft 21 closer to the front of the self-propelled working device 1000 along the traveling direction X of the self-propelled working device 1000. When the first swing mechanism 22 is in the first state, the ground clearance at the position of the main body 11 closer to the first shaft 21 is at the minimum value. When the first swing mechanism 22 is in the second state, the ground clearance at the position of the main body 11 closer to the first shaft 21 is at the maximum value. When the first swing mechanism 22 is in transition between the first state and the second state, the driving member 231 drives the first transmission rod 232 to move in the same direction as the seventh embodiment along the traveling direction X of the self-propelled working device 1000, the rocker arm 221 drives the first shaft 21 to rotate in the opposite direction of the seventh embodiment together with the first swing arm 222, the first swing arm 222 drives the first connecting rod 121 to rotate around the center axis of the first shaft 21 in the opposite direction of the seventh embodiment.

[0053] In the exemplary ninth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21 that is away from the ground, and the first connecting rod 121 is located on the side of the first shaft 21 that is away from the ground. When the first swing mechanism 22 is in transition from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the mobile working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings towards the rear of the mobile working device 1000 relative to the center axis of the first shaft 21, the ground clearance of the main body 11 first decreases and then increases, the first connecting rod 121 moves towards the direction away from the center of gravity of the mobile working device 1000, so that the moment of inertia of the mobile working device 1000 continuously increases. When the first swing mechanism 22 is in transition from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the mobile working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings towards the front of the mobile working device 1000 relative to the center axis of the first shaft 21, the ground clearance of the main body 11 first decreases and then increases, the first connecting rod 121 moves towards the direction close to the center of gravity of the mobile working device 1000, so that the moment of inertia of the mobile working device 1000 continuously decreases. In this way, the distance between the first connecting rod 121 and the center of gravity of the mobile working device 1000 can be adjusted without changing the ground clearance of the main body 11, so that the moment of inertia of the mobile working device 1000 is adjusted alone, the stability and flexibility of the mobile working device 1000 are adjusted, and when the mobile working device 1000 is provided with the collecting member 600, the distance between the first connecting rod 121 and the center of gravity of the collecting member 600 can be adjusted without changing the ground clearance of the main body 11, so as to avoid the problem of the mobile working device 1000 tilting.

[0054] In the exemplary tenth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21 that is close to the ground, and the first connecting rod 121 is located on the side of the first shaft 21 that is away from the ground. When the first swing mechanism 22 is in transition between the first state and the second state, the driving member 231 drives the first transmission rod 232 to move in the same direction as the ninth embodiment along the direction of travel X of the mobile working device 1000, the rocker arm 221 drives the first shaft 21 and the first swing arm 222 to rotate in the opposite direction of the ninth embodiment, and the first swing arm 222 drives the first connecting rod 121 to rotate around the center axis of the first shaft 21 in the opposite direction of the ninth embodiment.

[0055] In the exemplary eleventh embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21 away from the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the ground. When the first swing mechanism 22 is in transition from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the mobile working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the center axis of the first shaft 21 towards the front of the mobile working device 1000, so that the ground clearance of the main body 11 first increases and then decreases, and the first connecting rod 121 moves towards the direction close to the center of gravity of the mobile working device 1000, so that the moment of inertia of the mobile working device 1000 continuously decreases. When the first swing mechanism 22 is in transition from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the mobile working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 together with the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the center axis of the first shaft 21 towards the rear of the mobile working device 1000, so that the ground clearance of the main body 11 first increases and then decreases, and the first connecting rod 121 moves towards the direction away from the center of gravity of the mobile working device 1000, so that the moment of inertia of the mobile working device 1000 continuously increases. In this way, the distance between the first connecting rod 121 and the center of gravity of the mobile working device 1000 can be adjusted while the ground clearance of the main body 11 remains unchanged, so that the moment of inertia of the mobile working device 1000 is adjusted alone, and the stability and flexibility of the mobile working device 1000 are adjusted.

[0056] In the exemplary twelfth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the center axis of the first shaft 21 close to the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the ground. When the first swing mechanism 22 is in transition between the first state and the second state, the driving member 231 drives the first transmission rod 232 to move in the same direction as the eleventh embodiment along the direction of movement X of the mobile working device 1000, the rocker arm 221 drives the first shaft 21 together with the first swing arm 222 to rotate in the opposite direction, and the first swing arm 222 drives the first connecting rod 121 to rotate around the center axis of the first shaft 21 in the opposite direction.

[0057] In the exemplary thirteenth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the central axis of the first shaft 21 away from the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the front of the self-moving working device 1000. When the first swing mechanism 22 is in transition from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the self-moving working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the side of the first shaft 21 close to the ground to the side of the first shaft 21 away from the ground, so that the ground clearance of the main body 11 continuously decreases, and the first connecting rod 121 first moves towards the direction close to the center of gravity of the self-moving working device 1000 and then moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first decreases and then increases. When the first swing mechanism 22 is in transition from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the self-moving working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the side of the first shaft 21 away from the ground to the side of the first shaft 21 close to the ground, so that the ground clearance of the main body 11 continuously increases, and the first connecting rod 121 first moves towards the direction close to the center of gravity of the self-moving working device 1000 and then moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first decreases and then increases. In this way, the ground clearance of the main body 11 can be adjusted independently under the condition that the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 remains unchanged, and the stability and obstacle-crossing ability of the self-moving working device 1000 can be adjusted.

[0058] In the exemplary thirteenth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the central axis of the first shaft 21 away from the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the front of the self-moving working device 1000. When the first swing mechanism 22 is in transition from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the self-moving working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the side of the first shaft 21 close to the ground to the side of the first shaft 21 away from the ground, so that the ground clearance of the main body 11 continuously decreases, and the first connecting rod 121 first moves towards the direction close to the center of gravity of the self-moving working device 1000 and then moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first decreases and then increases. When the first swing mechanism 22 is in transition from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the self-moving working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the side of the first shaft 21 away from the ground to the side of the first shaft 21 close to the ground, so that the ground clearance of the main body 11 continuously increases, and the first connecting rod 121 first moves towards the direction close to the center of gravity of the self-moving working device 1000 and then moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first decreases and then increases. In this way, the ground clearance of the main body 11 can be adjusted independently under the condition that the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 remains unchanged, and the stability and obstacle-crossing ability of the self-moving working device 1000 can be adjusted.

[0059] In the exemplary fifteenth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the central axis of the first shaft 21 and away from the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the rear of the self-moving working device 1000. When the first swing mechanism 22 is in transition from the first state to the second state, the driving member 231 drives the first transmission rod 232 to move towards the rear of the self-moving working device 1000, the first transmission rod 232 pushes the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the side of the first shaft 21 close to the ground to the side of the first shaft 21 away from the ground, so that the ground clearance of the main body 11 continuously increases, and the first connecting rod 121 first moves towards the direction away from the center of gravity of the self-moving working device 1000 and then moves towards the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first increases and then decreases. When the first swing mechanism 22 is in transition from the second state to the first state, the driving member 231 drives the first transmission rod 232 to move towards the front of the self-moving working device 1000, the first transmission rod 232 pulls the rocker arm 221 to drive the first shaft 21 and the first swing arm 222 to rotate, so that the first connecting rod 121 swings relative to the side of the first shaft 21 away from the ground to the side of the first shaft 21 close to the ground, so that the ground clearance of the main body 11 continuously decreases, and the first connecting rod 121 first moves towards the direction away from the center of gravity of the self-moving working device 1000 and then moves towards the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first increases and then decreases. In this way, the ground clearance of the main body 11 can be adjusted independently under the condition that the distance between the first connecting rod 121 and the center of gravity of the self-moving working device 1000 remains unchanged, and the stability and obstacle-crossing ability of the self-moving working device 1000 can be adjusted.

[0060] In the exemplary sixteenth embodiment, the connection P1 between the first transmission rod 232 and the rocker arm 221 is located on the side of the line L1 between the connection P2 between the first transmission rod 232 and the driving member 231 and the central axis of the first shaft 21 and close to the ground, and the first connecting rod 121 is located on the side of the first shaft 21 close to the rear of the self-moving working device 1000. When the first swing mechanism 22 is in transition between the first state and the second state, the driving member 231 drives the first transmission rod 232 to move in the same direction as the fifteenth embodiment along the direction of movement of the self-moving working device 1000, the rocker arm 221 drives the first shaft 21 and the first swing arm 222 to rotate in the opposite direction of the fifteenth embodiment, and the first swing arm 222 drives the first connecting rod 121 to rotate around the central axis of the first shaft 21 in the opposite direction of the fifteenth embodiment.

[0061] In some embodiments, the position of the first connecting rod 121 relative to the first shaft 21 can be specifically set according to actual needs. The direction and angle of rotation of the first connecting rod 121 relative to the first shaft 21 driven by the driving mechanism 23 can be specifically set according to actual needs, for example, the angle of rotation of the first connecting rod 121 relative to the first shaft 21 driven by the driving mechanism 23 can be 0°-10°, 0°-30°, 0°-45°, 0°-90°, 0°-120°, 0°-180°, 0°-270°, 0°-360°, and the like.

[0062] Please refer to FIG. 2, FIG. 3, FIG. 4, FIG. 5 and FIG. 6, the self-moving working device 1000 further comprises a second shaft 24. The second shaft 24 is connected with the main body 11. The second swing mechanism 25 comprises a second connecting rod 131 and a second swing arm 251. The second shaft 24, the second connecting rod 131 and the driving mechanism 23 are respectively connected with the second swing arm 251. The central axis of the second connecting rod 131 and the central axis of the second shaft 24 are spaced apart. The central axis of the second moving wheel set 132 and the central axis of the second shaft 24 are spaced apart. The connection positions of the second shaft 24, the second connecting rod 131 and the driving mechanism 23 with the second swing arm 251 are spaced apart from each other. Along the left-right direction Y of the self-moving working device 1000, the second connecting rod 131 and the second shaft 24 are located on different sides of the second swing mechanism 25. The end of the second connecting rod 131 away from the second swing arm 251 is connected with the second moving wheel set 132. The central axis of the second connecting rod 131 and the central axis of the second moving wheel set 132 can be arranged in a same line. The driving mechanism 23 is further used to drive the second swing arm 251 to drive the second connecting rod 131 to rotate around the central axis of the second shaft 24, so as to lift the main body 11 and adjust the ground clearance of the main body 11.

[0063] The second moving wheel set 132 can be configured as a wheel hub motor type traveling wheel. The self-moving working device 1000 further comprises a power supply and a wire set. The second connecting rod 131 is provided with a wire passing hole 1211. The wire set is arranged in the wire passing hole 1211. The wire set is used to electrically connect the second moving wheel set 132 with the power supply, so as to supply power to the second moving wheel set 132 by the power supply. By arranging the wire passing hole 1211 on the second connecting rod 131, the second connecting rod 131 can protect the wire set, and avoid the wire set from being exposed and entangled or interfered with other structures, so as to improve the safety of the self-moving working device 1000, and make the structure of the self-moving working device 1000 more compact.

[0064] The second connecting rods 131 and the second swing arms 251 are respectively provided in two. The two second swing arms 251 are provided near the middle position of the self-moving working device 1000 along the left-right direction Y. The two second swing arms 251 are sleeved on the two ends of the second shaft 24 in the axial direction and can swing around the second shaft 24 in the vertical plane parallel to the advancing direction X of the self-moving working device 1000. The two ends of the two second connecting rods 131 are respectively connected with the two second swing arms 251, and the other two ends of the two second connecting rods 131 are respectively connected with the two second moving wheel sets 132. The second moving wheel sets 132 are provided along the left-right direction Y of the self-moving working device 1000 at intervals from the second swing arms 251. The middle position of the self-moving working device 1000 along the left-right direction Y can refer to the midpoint or the position near the midpoint of the self-moving working device 1000 along the left-right direction Y. The midpoint of the self-moving working device 1000 along the left-right direction Y can be located between the two second swing arms 251. Along the left-right direction Y of the self-moving working device 1000, the distance between the second swing arm 251 and the midpoint of the self-moving working device 1000 along the left-right direction Y is less than the distance between the second swing arm 251 and the second moving wheel set 132. It can be understood that when the self-moving working device 1000 travels on the lawn with the grass height higher than the second connecting rod 131, the second connecting rod 131 will contact the grass leaves. In the embodiment of the application, the two second swing arms 251 are provided near the middle position of the self-moving working device 1000 along the left-right direction Y, which can separate the second swing arm 251 from the second moving wheel set 132, so that the grass can pass smoothly between the second swing arm 251 and the second moving wheel set 132, reduce or avoid the grass from winding around the connection between the second connecting rod 131 and the second swing arm 251 and the connection between the second connecting rod 131 and the second moving wheel set 132, and enable the self-moving working device 1000 to work continuously and stably. The interval distance between the second moving wheel set 132 and the second swing arm 251 can be set according to actual needs, which is not limited in the application. The lengths of the two second connecting rods 131 along the left-right direction Y of the self-moving working device 1000 can be the same or different. Exemplarily, the lengths of the two second connecting rods 131 are the same. The second swing arm 251, the second shaft 24 and the driving mechanism 23 are all located in the accommodation space, so as to avoid the grass from winding around the second swing arm 251, the second shaft 24 and the driving mechanism 23 by the protection of the main body 11.

[0065] When the second connecting rod 131 rotates relative to the second shaft 24 towards the side close to the ground, the second shaft 24 drives the main body 11 to move in the direction away from the ground, so as to increase the ground clearance of the main body 11. When the second connecting rod 131 rotates relative to the second shaft 24 towards the side away from the ground, the second shaft 24 drives the main body 11 to move in the direction close to the ground, so as to decrease the ground clearance of the main body 11. In addition, when the driving mechanism 23 drives the second swing arm 251 to drive the second connecting rod 131 to rotate around the second shaft 24, the distance between the second connecting rod 131 and the gravity center of the self-moving working device 1000 along the advancing direction X of the self-moving working device 1000 can also be adjusted. For example, when the second connecting rod 131 rotates towards the direction close to the gravity center of the self-moving working device 1000, the distance between the second connecting rod 131 and the gravity center of the self-moving working device 1000 along the advancing direction X of the self-moving working device 1000 decreases, so as to concentrate the mass distribution of the self-moving working device 1000 towards the gravity center, reduce the moment of inertia of the self-moving working device 1000, reduce the rotation resistance of the self-moving working device 1000 when rotating, reduce the turning radius of the self-moving working device 1000, and improve the flexibility of the self-moving working device 1000. For another example, when the second connecting rod 131 rotates towards the direction away from the gravity center of the self-moving working device 1000, the distance between the second connecting rod 131 and the gravity center of the self-moving working device 1000 along the advancing direction X of the self-moving working device 1000 increases, so as to improve the driving stability of the self-moving working device 1000. In some cases, as shown in FIG. 8, when the rear side of the self-moving working device 1000 is provided with a collecting member 600 for collecting sundries such as grass clippings and fallen leaves, the second connecting rod 131 moves towards the direction away from the gravity center of the self-moving working device 1000, and the overall gravity center of the self-moving working device 1000 also moves towards the direction away from the collecting member 600, so as to improve the load capacity of the self-moving working device 1000, improve the storage capacity of the collecting member 600, and reduce the risk of the self-moving working device 1000 tilting.

[0066] The second swing mechanism 25 further comprises a first sliding member 271. The first sliding member 271 is connected between the two second swing arms 251. The driving mechanism 23 is configured to drive the first sliding member 271 to move along the advancing direction X of the self-moving working device 1000, so as to drive the second swing arms 251 to rotate around the central axis of the second shaft 24. The two ends of the first sliding member 271 axially opposite are respectively connected with the two second swing arms 251, so that the driving mechanism 23 can drive the two second swing arms 251 to rotate synchronously through the first sliding member 271, and the connection between the driving mechanism 23 and the two second swing arms 251 is simplified. The connection between the first sliding member 271 and the second swing arms 251 can be a rotating connection or a fixed connection.

[0067] The second swing arm 251 can be configured as a swing plate. The second swing arm 251 includes a base 2511 and a protrusion 2512 protruding from the base 2511 in the left-right direction Y of the self-moving working device 1000. The base 2511 is provided in a plate shape. The protrusion 2512 is provided with a connecting hole. The protrusion 2512 is provided in three, and the three protrusions 2512 correspond one-to-one to the second shaft 24, the second connecting rod 131, and the first sliding piece 271, respectively. The second shaft 24, the second connecting rod 131, and the first sliding piece 271 are respectively inserted into the connecting holes in the corresponding protrusions 2512. The protrusion 2512 can increase the connection length of the second shaft 24, the second connecting rod 131, and the first sliding piece 271 with the second swing arm 251, and improve the connection stability. The pattern formed by the connection between the connection position of the second shaft 24, the second connecting rod 131, and the driving mechanism 23 with the second swing arm 251 can be a triangle. Among them, the triangle can be an acute triangle, a right triangle, an obtuse triangle, etc. Among them, the base 2511 can be approximately triangular, and the three protrusions 2512 are respectively arranged at the three corners of the base 2511. In some embodiments, the connection position of the second shaft 24, the second connecting rod 131, and the driving mechanism 23 with the second swing arm 251 can also be arranged in a line.

[0068] In some embodiments, the second swing arm 251 further includes a reinforcing portion 2513 protruding from the base 2511. The reinforcing portion 2513 can be connected between the protrusion 2512 and the base 2511 to improve the connection stability of the protrusion 2512 and the base 2511, and improve the bending resistance of the base 2511. The reinforcing portion 2513 can be provided in multiple. The multiple reinforcing portions 2513 can be arranged side by side and spaced apart.

[0069] In some embodiments, the second shaft 24 and the second swing arm 251 can be rotatably connected. In some embodiments, the second shaft 24 and the second swing arm 251 are fixedly connected, and the second shaft 24 is rotatable relative to the main body 11 in the circumferential direction of the second shaft 24. Among them, the second shaft 24 and the second swing arm 251 can be independently arranged relative to each other, and the second shaft 24 and the second swing arm 251 can be fixedly connected together by bonding, clamping, screwing, welding, etc. or by fastener connection, or the second shaft 24 and the second swing arm 251 can also be integrally formed.

[0070] The second connecting rod 131 can be rotatably connected or fixedly connected with the second swing arm 251. Exemplarily, the second connecting rod 131 is fixedly connected with the second swing arm 251. The second connecting rod 131 and the second swing arm 251 can be independently arranged, and the second connecting rod 131 and the second swing arm 251 can be fixedly connected together by bonding, clamping, screwing, welding or the like, or connected together by a fastener or the like. In some embodiments, the second connecting rod 131 and the second swing arm 251 can also be integrally formed.

[0071] The second swing mechanism 25 further includes a mounting base 26, a second sliding member 272, and a guide rod 273. The mounting base 26 is fixed relative to the main body 11. The mounting base 26 is provided with a receiving space 261. The first sliding member 271, the second sliding member 272, and the guide rod 273 are all located in the receiving space 261. The axial direction of the guide rod 273 is perpendicular to the left-right direction Y of the mobile working device 1000. The axial direction of the guide rod 273 can be perpendicular to the axial direction of the second shaft 24. The second sliding member 272 is slidably sleeved on the guide rod 273.

[0072] The first sliding member 271 and the second sliding member 272 are in sliding abutment. One of the first sliding member 271 and the second sliding member 272 is provided with a guide sliding groove 2721, and the other of the first sliding member 271 and the second sliding member 272 is threaded into the guide sliding groove 2721 and can slide in the guide sliding groove 2721. Exemplarily, the second sliding member 272 can be provided with the guide sliding groove 2721, and the first sliding member 271 is threaded into the guide sliding groove 2721. The guide sliding groove 2721 is in a long strip shape.

[0073] In some embodiments, the first sliding member 271 can be provided with the guide sliding groove 2721, and the second sliding member 272 is threaded into the guide sliding groove 2721. The guide sliding groove 2721 is formed along the left-right direction Y and the height direction Z of the mobile working device 1000. Along the left-right direction Y of the mobile working device 1000, the width of the guide sliding groove 2721 is greater than the width of the second sliding member 272.

[0074] The first sliding member 271 can be configured as a columnar body, and the cross section of the first sliding member 271 can be configured as a circle, so as to reduce the contact area between the side wall of the first sliding member 271 and the groove wall of the guide sliding groove 2721, and reduce the sliding resistance when the first sliding member 271 slides. In some embodiments, the cross section of the first sliding member 271 can also be configured as a square, an ellipse, a regular polygon, or the like. The central axis of the first sliding member 271 passes through the geometric center of the cross section of the first sliding member 271.

[0075] In some embodiments, at least one of the first slider 271 and the second slider 272 is provided with a lubricating structure to reduce the wear of the first slider 271 and the second slider 272 when sliding against each other, improve the service life, and reduce the noise. The lubricating structure can be configured as lubricating grease. The outer surface of the first slider 271 is coated with lubricating grease, or the inner wall of the guide groove 2721 is coated with lubricating grease, or the outer surface of the first slider 271 and the inner wall of the guide groove 2721 are respectively coated with lubricating grease. In some embodiments, the first slider 271 can be configured as a self-lubricating structure, and / or the second slider 272 can be configured as a self-lubricating structure. The lubricating structure can be configured as the outer wall of the first slider 271 and / or the inner wall of the guide groove 2721. The material of the self-lubricating structure can include a plastic structure with self-lubricating function.

[0076] The driving mechanism 23 is connected to the second slider 272 to drive the second slider 272 to slide along the guide rod 273, so that the second slider 272 pushes or pulls the first slider 271 to drive the second swing arm 251 to rotate around the central axis of the second shaft 24, and the second swing arm 251 drives the second connecting rod 131 to rotate together with the second moving wheel set 132 around the second shaft 24. The driving mechanism 23 is hinged to the second slider 272. In the embodiments of the present application, the hinge includes a pivot connection and a spherical hinge connection.

[0077] Exemplarily, the driving mechanism 23 can be pivotally connected with the second sliding member 272. One of the driving mechanism 23 and the second sliding member 272 is provided with a second pivot shaft (not shown in the figure), and the other of the driving mechanism 23 and the second sliding member 272 is provided with a second pivot hole 2342, and the second pivot shaft is arranged in the second pivot hole 2342. The driving mechanism 23 and the second sliding member 272 can rotate around the central axis of the second pivot shaft, respectively. The central axis of the second pivot shaft can be parallel to the left-right direction Y of the self-moving working device 1000. In some embodiments, the second sliding member 272 is provided with the second pivot shaft. The second pivot shaft can be rotationally connected with the driving mechanism 23, and the second pivot shaft and the second sliding member 272 are fixedly connected together by means of adhesion, clamping, screwing, welding or the like, or are fixedly connected together by means of fastener connection or the like, or the second pivot shaft and the second sliding member 272 can be integrally formed. In some embodiments, the driving mechanism 23 is provided with the second pivot shaft. The second pivot shaft can also be rotationally connected with the second sliding member 272, and the second pivot shaft and the driving mechanism 23 are fixedly connected together by means of adhesion, clamping, screwing, welding or the like, or are fixedly connected together by means of fastener connection or the like, or the second pivot shaft and the driving mechanism 23 can be integrally formed. In some embodiments, the self-moving working device 1000 further comprises a second pivot shaft which is independently arranged relative to the driving mechanism 23 and the second sliding member 272, and the driving mechanism 23 and the second sliding member 272 are both provided with the second pivot hole 2342, and the second pivot shaft is arranged in the second pivot hole 2342 of the driving mechanism 23 and the second pivot hole 2342 of the second sliding member 272. The second pivot shaft is rotationally connected with the driving mechanism 23 and the second sliding member 272.

[0078] In some embodiments, the driving mechanism 23 can also be ball-hinged with the second sliding member 272. One of the driving mechanism 23 and the second sliding member 272 is provided with a spherical protrusion, and the other of the driving mechanism 23 and the second sliding member 272 is provided with a spherical groove matched with the spherical protrusion, and the spherical protrusion is arranged in the spherical groove. The driving mechanism 23 and the second sliding member 272 can rotate in any direction around the spherical center of the spherical protrusion, respectively. In some cases, when the self-moving working device 1000 is disturbed by external interference, and the output direction of the driving force of the driving mechanism 23 is deflected from the normal direction, the ball-hinged connection between the driving mechanism 23 and the second sliding member 272 can make the driving mechanism 23 and the second sliding member 272 remain normally connected, so that the self-moving working device 1000 can still work normally, and the anti-interference ability of the self-moving working device 1000 is improved.

[0079] The mounting base 26 is provided with a communication hole 262. The communication hole 262 communicates with the accommodation space 261. The driving mechanism 23 is arranged in the communication hole 262. In some cases, the communication hole 262 can limit the driving mechanism 23, reducing or avoiding the driving mechanism 23 from shaking. The mounting base 26 includes two mounting members arranged at intervals along the travel direction X of the self-propelled working device 1000. The accommodation space 261 is located between the two mounting members. The two mounting members can be independently arranged, or the two mounting members can be integrally formed. Along the left-right direction Y of the self-propelled working device 1000, the mounting base 26 is located between the two second swing arms 251. The second swing arm 251 is configured as a swing plate and can also protect the first sliding member 271, the second sliding member 272, the second shaft 24, and the rotating shaft 28 located or partially located in the accommodation space 261 together with the mounting base 26, reducing or avoiding impurities from entering the accommodation space 261.

[0080] The number of guide rods 273 can be multiple. The central axes of the multiple guide rods 273 are parallel to each other and arranged at intervals. For example, the number of guide rods 273 can be four. The four guide rods 273 are arranged in an array. The second sliding member 272 is provided with four through holes at four corners, and the four guide rods 273 are arranged in the four through holes correspondingly. The communication hole 262 can also make the connection between the driving mechanism 23 and the second sliding member 272 located at the geometric center of the four guide rods 273, thereby improving the uniformity of the limiting force of the four guide rods 273 on the second sliding member 272 when the driving mechanism 23 drives the second sliding member 272 to slide, reducing the sliding resistance between the second sliding member 272 and the guide rods 273, reducing the wear of the second sliding member 272 and the guide rods 273, and improving the service life. In some embodiments, the number of guide rods 273 can also be one, two, three, five, six, etc. Those skilled in the art can arrange according to actual needs, which are not limited in the embodiments of the present application.

[0081] The axial direction of the second shaft 24 is perpendicular to the traveling direction X of the self-moving working device 1000. The second shaft 24 can swing relative to the main body 11 in a vertical plane perpendicular to the traveling direction X of the self-moving working device 1000. The second shaft 24 can rotate relative to the main body 11 along the height direction Z of the self-moving working device 1000. Along the left-right direction Y of the self-moving working device 1000, the two opposite end portions of the second shaft 24 can swing relative to the middle portion of the second shaft 24 along the height direction Z of the self-moving working device 1000. Wherein, the rotation plane of the second shaft 24 along the height direction Z of the self-moving working device 1000 is parallel to or forms an acute angle with the height direction Z of the self-moving working device 1000. When the second shaft 24 swings relative to the main body 11, it can drive the two second swing arms 251, the two second connecting rods 131 and the two second moving wheel sets 132 to swing relative to the main body 11. In this way, when the self-moving working device 1000 passes through uneven road surface, the second shaft 24 can be rotated upward and downward to offset the influence of the uneven road surface on the main body 11, so that the main body 11 remains relatively stable when the self-moving working device 1000 travels, thereby improving the stability and passability of the self-moving working device 1000 when traveling. On the other hand, compared with the traditional self-moving working device, when the self-moving working device 1000 in the embodiment of the application travels on different road conditions, the driving mechanism 23 can drive the two second swing arms 251 and the two second connecting rods 131 to rotate, so as to adjust the position of the two second moving wheel sets 132 relative to the main body 11. When the two second moving wheel sets 132 are rotated relative to the main body 11 towards the side of the main body 11 close to the ground, the ground clearance of the main body 11 can be increased, thereby improving the passability of the self-moving working device 1000 when traveling on uneven terrain, lawn height higher than the ground clearance of the main body 11, etc. When the two second moving wheel sets 132 are rotated relative to the main body 11 towards the side of the main body 11 away from the ground, the ground clearance of the main body 11 can be reduced, so that the center of gravity of the self-moving working device 1000 is lowered, thereby improving the stability of the self-moving working device 1000 when traveling. In this way, the self-moving working device can adjust the body structure and state according to the road conditions, improve the adaptability of the self-moving working device 1000 to different road conditions, and improve the passability of the self-moving working device 1000. In addition, when the self-moving working device 1000 is trimming the lawn, the driving mechanism 23 drives the two second swing arms 251 and the two second connecting rods 131 to rotate, so as to adjust the ground clearance of the main body 11, and also drives the main body 11 to move the cutting member 400 along the height direction Z of the self-moving working device 1000, thereby adjusting the trimming height of the cutting member 400 when trimming the lawn.

[0082] The vertical plane perpendicular to the advancing direction X of the self-moving working device 1000 can mean that the vertical plane is perpendicular to the advancing direction X of the self-moving working device 1000 at a right angle or substantially perpendicular, or that the angle between the vertical plane and the advancing direction X of the self-moving working device 1000 is within a preset range, for example, the preset range is 75°-90°, the angle is 75°, 80°, 90°, and the like.

[0083] The guide sliding groove 2721 is arranged to extend along the rotation plane formed when the second shaft 24 rotates relative to the main body 11 along the height direction Z of the self-moving working device 1000. When the second shaft 24 rotates relative to the main body 11 along the height direction Z of the self-moving working device 1000, the second shaft 24 can drive the second swing arm 251 to rotate relative to the main body 11 together with the first sliding member 271, and the first sliding member 271 rotates relative to the second sliding member 272 in the guide sliding groove 2721. For example, the rotation plane of the second shaft 24 relative to the main body 11 along the height direction Z of the self-moving working device 1000 can be perpendicular to the advancing direction X of the self-moving working device 1000, and the guide sliding groove 2721 can extend along the left-right direction Y and the height direction Z of the self-moving working device 1000.

[0084] The second swing mechanism 25 further comprises a rotation shaft 28. The rotation shaft 28 is used to be connected with the main body 11. The central axis of the rotation shaft 28 is perpendicular to the central axis of the second shaft 24. The second shaft 24 is connected to the rotation shaft 28. The second shaft 24 can rotate around the central axis of the rotation shaft 28. When the self-moving working device 1000 runs on uneven ground, the second moving wheel set 132 can adaptively drive the second shaft 24 to rotate relative to the central axis of the rotation shaft 28 according to the ups and downs of the ground, so that the main body 11 remains parallel or substantially parallel to the ground, greatly reducing the bumping vibration of the self-moving working device 1000 when running on uneven ground, and improving the stability of the self-moving working device 1000 when running.

[0085] For example, the central axis of the rotation shaft 28 can be parallel to the advancing direction X of the self-moving working device 1000. When the second shaft 24 rotates around the central axis of the rotation shaft 28, the rotation plane formed by the second shaft 24 is parallel to the height direction Z of the self-moving working device 1000 and perpendicular to the advancing direction X. In some embodiments, the central axis of the rotation shaft 28 can also be arranged at an angle to the advancing direction X of the self-moving working device 1000. The central axis of the rotation shaft 28 is located in a plane parallel to the height direction Z and the advancing direction X of the self-moving working device 1000. When the second shaft 24 rotates around the central axis of the rotation shaft 28, the rotation plane formed by the second shaft 24 is arranged at an acute angle to the height direction Z of the self-moving working device 1000.

[0086] In some embodiments, the rotating shaft 28 is rotatable relative to the main body 11 about a central axis of the rotating shaft 28. In some embodiments, the rotating shaft 28 is rotatably connected to the mounting base 26. The mounting base 26 has a mounting hole 263 formed therein. The rotating shaft 28 is disposed in the mounting hole 263. In some embodiments, the self-moving working device 1000 further comprises a first shaft sleeve 282. The first shaft sleeve 282 is sleeved on the rotating shaft 28 and disposed in the mounting hole 263 of the mounting base 26. The first shaft sleeve 282 is configured to reduce the abrasion between the rotating shaft 28 and the mounting base 26 when the rotating shaft 28 rotates relative to the mounting base 26, thereby prolonging the service life.

[0087] In some embodiments, the rotating shaft 28 has a fixing hole 281 formed therein. The second shaft 24 is disposed in the fixing hole 281. The rotating shaft 28 is rotatably connected to the second shaft 24. In some embodiments, the self-moving working device 1000 further comprises a second shaft sleeve 283. The second shaft sleeve 283 is sleeved on the second shaft 24 and disposed in the fixing hole 281. The second shaft sleeve 283 is configured to reduce the abrasion between the second shaft 24 and the rotating shaft 28 when the second shaft 24 rotates relative to the rotating shaft 28, thereby prolonging the service life. The second shaft sleeve 283 comprises a first shaft sleeve portion disposed in the fixing hole 281 and a second shaft sleeve portion connected to the first shaft sleeve portion. The first shaft sleeve portion is configured to reduce the abrasion between the second shaft 24 and the rotating shaft 28 when the second shaft 24 rotates relative to the rotating shaft 28, thereby prolonging the service life. The second shaft sleeve portion is disposed outside the fixing hole 281 and between the second swing arm 251 and the rotating shaft 28. The second shaft sleeve portion is configured to reduce the abrasion between the second swing arm 251 and the rotating shaft 28 when the second swing arm 251 rotates about the central axis of the second shaft 24, thereby prolonging the service life of the self-moving working device 1000. In some embodiments, the rotating shaft 28 is fixedly connected to the second shaft 24. In some embodiments, the rotating shaft 28 is fixedly connected to the second shaft 24 by, but not limited to, adhesion, screwing, clamping, welding, or the like. In some embodiments, the rotating shaft 28 and the second shaft 24 are integrally formed.

[0088] In some embodiments, the second shaft 24 has a fixing hole 281 formed therein. The rotating shaft 28 is disposed in the fixing hole 281. The second shaft 24 is rotatable relative to the rotating shaft 28. In some embodiments, the rotating shaft 28 is rotatable or fixed relative to the main body 11. In some embodiments, the rotating shaft 28 is fixedly connected to the mounting base 26 by, but not limited to, adhesion, screwing, clamping, welding, or the like. In some embodiments, the rotating shaft 28 and the mounting base 26 are integrally formed. In some embodiments, the second shaft 24 has a fixing hole 281 formed therein. The rotating shaft 28 is disposed in the fixing hole 281. The second shaft 24 is fixed relative to the rotating shaft 28. The rotating shaft 28 is rotatable relative to the main body 11.

[0089] In some embodiments, the self-moving working device 1000 further comprises an elastic member 291. One end of the elastic member 291 is connected to the main body 11 through the mounting base 26, and the other end of the elastic member 291 is connected to one of the second shaft 24, the second swing arm 251, and the second connecting rod 131. The elastic member 291 is used to buffer the rotation of the second shaft 24 when the second shaft 24 swings relative to the main body 11 along the height direction Z of the self-moving working device 1000, slow down the rotation speed of the second shaft 24, reduce the impact force generated by the second shaft 24 on the vehicle body, improve the driving stability of the self-moving working device 1000, and provide a reset force for the second shaft 24 to reset the second shaft 24 in time.

[0090] Exemplarily, the elastic member 291 is connected to the second shaft 24. The second shaft 24 is arranged through the second swing arm 251 along the left-right direction Y of the self-moving working device 1000, and the end of the second shaft 24 protrudes relative to the second swing arm 251 along the axial direction. The end of the second shaft 24 protruding relative to the second swing arm 251 can be provided with a clamping groove, and the elastic member 291 is buckled in the clamping groove to prevent the elastic member 291 from sliding off the second shaft 24. The elastic member 291 is provided in two, and the two elastic members 291 are connected to the two ends of the second shaft 24 along the axial direction. The elastic member 291 can be configured as a spring, a torsional spring, an air spring, an elastic band, etc.

[0091] In some embodiments, the self-moving working device 1000 further comprises a fixing member 292. The fixing member 292 is connected to the mounting base 26. The end of the fixing member 292 protrudes relative to the mounting base 26 along the left-right direction Y of the self-moving working device 1000. The elastic member 291 is connected to the end of the fixing member 292. The fixing member 292 is used to avoid interference between the elastic member 291 and other structures, and facilitate the installation of the elastic member 291. The fixing member 292 can be configured as a fixed rod. The end of the fixing member 292 can be provided with a buckling groove, and the elastic member 291 is buckled in the buckling groove to prevent the elastic member 291 from sliding off the fixing member 292.

[0092] In some embodiments, the elastic member 291 is connected to the second swing arm 251 or the second connecting rod 131. The elastic member 291 can reduce the rigid conduction between the driving mechanism 23 and the second swing arm 251. When the second swing arm 251 rotates relative to the main body 11, the elastic member 291 can buffer the rigid force between the second swing arm 251 and the driving mechanism 23 through elastic deformation, avoid the impact force on the driving mechanism 23 exceeding the working range of the driving mechanism 23, and improve the service life of the driving mechanism 23.

[0093] Please refer to FIG. 7, in some embodiments, the self-moving working device 1000 can further comprise telescopic members 17. The telescopic members 17 are fixedly connected to the main body 11. The telescopic members 17 are provided in two, and the two telescopic members 17 are connected to the positions of the two ends of the second shaft 24 along the left-right direction Y of the self-moving working device 1000. When the self-moving working device 1000 runs on uneven ground, the second moving wheel set 132 can drive the second shaft 24 to rotate along the height direction Z of the self-moving working device 1000, so that one of the two telescopic members 17 is in a compressed state and the other is in a stretched state, so that the second shaft 24 is inclined relative to the left-right direction Y of the self-moving working device 1000, so that the influence of the uneven ground on the main body 11 can be offset, the main body 11 can be kept stable, and the running stability of the self-moving working device 1000 can be improved. Wherein, the telescopic members 17 can be configured as springs, elastic rubbers, elastic air bags, etc.

[0094] In some embodiments, the driving mechanism 23 can be ball-joint connected with the first sliding member 271. In some embodiments, the self-moving working device 1000 can not comprise the first sliding member 271, the second sliding member 272 and the guide rod 273, and the driving mechanism 23 is ball-joint connected with the second swing arm 251, so that the structure of the self-moving working device 1000 is simplified, and the production cost of the self-moving working device 1000 is reduced.

[0095] In the present embodiment, the second swing arm 251 is arranged close to the front of the self-moving working device 1000. The first sliding member 271 is located on the side of the second connecting rod 131 close to the front of the self-moving working device 1000. In this way, along the running direction X of the self-moving working device 1000, the second sliding member 272 and the part of the driving mechanism 23 connected with the second sliding member 272 are located on the side of the second connecting rod 131 close to the front of the self-moving working device 1000, so that the structure of the self-moving working device 1000 is more compact. In some embodiments, the first sliding member 271 can also be located on the side of the second connecting rod 131 close to the rear of the self-moving working device 1000.

[0096] The driving mechanism 23 further comprises a second transmission rod 233. The second transmission rod 233 is connected with the driving member 231. An end of the second transmission rod 233 away from the driving member 231 is connected with the second swing arm 251. The second transmission rod 233 is connected with the second sliding member 272. The driving member 231 is configured to drive the second transmission rod 233 to move towards the front or the rear of the self-moving working device 1000. The second swing mechanism 25 has a third state and a fourth state. When the second swing mechanism 25 is in the third state or the fourth state, the stroke of the driving member 231 driving the second transmission rod 233 to move along the travel direction X of the self-moving working device 1000 is at a maximum value or a minimum value. The second connecting rod 131 is located on a side of the second shaft 24 close to or away from the ground, and / or the second connecting rod 131 is located on a side of the second shaft 24 close to or away from the first swing mechanism 22. The connection P3 between the first sliding member 271 and the second swing arm 251 is located on a side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the central axis of the second shaft 24 away from or close to the ground.

[0097] In the seventeenth example embodiment of the present application, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 away from the ground, the second connection rod 131 is located on the side of the second shaft 24 away from the ground, and on the side of the second shaft 24 close to the first swing mechanism 22 (i.e. close to the rear of the self-propelled working device 1000) along the traveling direction X of the self-propelled working device 1000. When the second swing mechanism 25 is in the third state, the ground clearance at the position of the main body 11 close to the second shaft 24 is at the minimum. When the second swing mechanism 25 is in the fourth state, the ground clearance at the position of the main body 11 close to the second shaft 24 is at the maximum. When the second swing mechanism 25 is transitioning from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-propelled working device 1000 (towards the direction close to the first swing mechanism 22), the second transmission rod 233 pulls the first sliding member 271 through the second sliding member 272 to move towards the rear of the self-propelled working device 1000 (towards the direction close to the first swing mechanism 22), the first sliding member 271 drives the second connection rod 131 to swing relative to the central axis of the second shaft 24 towards the rear of the self-propelled working device 1000 (towards the direction close to the first swing mechanism 22) through the second swing arm 251, the second connection rod 131 moves relative to the second shaft 24 towards the ground, so that the ground clearance of the main body 11 increases, and the second connection rod 131 moves towards the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 decreases. When the second swing mechanism 25 is transitioning from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-propelled working device 1000 (towards the direction away from the first swing mechanism 22), the second transmission rod 233 pushes the first sliding member 271 through the second sliding member 272 to move towards the front of the self-propelled working device 1000 (towards the direction away from the first swing mechanism 22), the first sliding member 271 drives the second connection rod 131 to swing relative to the central axis of the second shaft 24 towards the front of the self-propelled working device 1000 (towards the direction away from the first swing mechanism 22) through the second swing arm 251, the second connection rod 131 moves relative to the second shaft 24 away from the ground, so that the ground clearance of the main body 11 decreases, and the second connection rod 131 moves away from the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 increases.Thus, the driving mechanism 23 can increase the ground clearance of the main body 11 while reducing the moment of inertia of the self-moving working device 1000 when driving the second connecting rod 131 to rotate, improve the driving capability of the self-moving working device 1000 in a high grass environment, improve the obstacle crossing capability of the self-moving working device 1000, and reduce the ground clearance of the main body 11 while increasing the moment of inertia of the self-moving working device 1000, and improve the driving stability of the self-moving working device 1000.

[0098] In the exemplary eighteenth embodiment of the present application, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the central axis of the second shaft 24 that is close to the ground, the second connecting rod 131 is located on the side of the second shaft 24 that is far from the ground, and on the side of the second shaft 24 that is close to the first swing mechanism 22 (i.e., close to the rear of the self-moving working device 1000) along the advancing direction X of the self-moving working device 1000. When the second swing mechanism 25 is in the third state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at a minimum. When the second swing mechanism 25 is in the fourth state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at a maximum. When the second swing mechanism 25 is transitioning from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move toward the front of the self-moving working device 1000 (in a direction away from the first swing mechanism 22), the second transmission rod 233 pushes the first sliding member 271 to move toward the front of the self-moving working device 1000 through the second sliding member 272, the first sliding member 271 drives the second connecting rod 131 to swing toward the rear of the self-moving working device 1000 (in a direction close to the first swing mechanism 22) relative to the central axis of the second shaft 24 through the second swing arm 251, the second connecting rod 131 moves toward the direction close to the ground relative to the second shaft 24, so that the ground clearance of the main body 11 is increased, and the second connecting rod 131 moves toward the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 is reduced. When the second swing mechanism 25 is transitioning from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move toward the rear of the self-moving working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move toward the rear of the self-moving working device 1000 through the second sliding member 272, the first sliding member 271 drives the second connecting rod 131 to swing toward the front of the self-moving working device 1000 relative to the central axis of the second shaft 24 through the second swing arm 251, the second connecting rod 131 moves toward the direction away from the ground relative to the second shaft 24, so that the ground clearance of the main body 11 is reduced, and the second connecting rod 131 moves toward the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 is increased.

[0099] In the exemplary nineteenth embodiment of the present application, the connection position P3 of the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 away from the ground, the second connection rod 131 is located on the side of the second shaft 24 close to the ground, and on the side of the second shaft 24 away from the first swing mechanism 22 (i.e. close to the front of the self-propelled working device 1000) along the traveling direction X of the self-propelled working device 1000. When the second swing mechanism 25 is in the third state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the minimum. When the second swing mechanism 25 is in the fourth state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the maximum. When the second swing mechanism 25 is in the transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-propelled working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-propelled working device 1000 through the second sliding member 272, the first sliding member 271 drives the second connection rod 131 to swing relative to the central axis of the second shaft 24 towards the rear of the self-propelled working device 1000 through the second swing arm 251, the second connection rod 131 moves relative to the second shaft 24 towards the direction close to the ground, so as to increase the ground clearance of the main body 11, and the second connection rod 131 moves towards the direction close to the center of gravity of the self-propelled working device 1000, so as to decrease the moment of inertia of the self-propelled working device 1000. When the second swing mechanism 25 is in the transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-propelled working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the rear of the self-propelled working device 1000 through the second sliding member 272, the first sliding member 271 drives the second connection rod 131 to swing relative to the central axis of the second shaft 24 towards the front of the self-propelled working device 1000 through the second swing arm 251, the second connection rod 131 moves relative to the second shaft 24 towards the direction away from the ground, so as to decrease the ground clearance of the main body 11, and the second connection rod 131 moves towards the direction away from the center of gravity of the self-propelled working device 1000, so as to increase the moment of inertia of the self-propelled working device 1000. In this way, the ground clearance of the main body 11 can be decreased while the moment of inertia of the self-propelled working device 1000 is increased, so as to improve the traveling stability of the self-propelled working device 1000, and the ground clearance of the main body 11 can be increased while the moment of inertia of the self-propelled working device 1000 is decreased, so as to improve the traveling ability of the self-propelled working device 1000 on the high grass ground, and improve the obstacle crossing ability of the self-propelled working device 1000.

[0100] In the second exemplary embodiment of the present application, the connection point P3 of the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 closer to the ground, the second connecting rod 131 is located on the side of the second shaft 24 closer to the ground, and on the side of the second shaft 24 away from the first swing mechanism 22 (i.e., closer to the front of the self-propelled working device 1000) along the traveling direction X of the self-propelled working device 1000. When the second swing mechanism 25 is in the third state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the minimum. When the second swing mechanism 25 is in the fourth state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the maximum. When the second swing mechanism 25 is transitioning from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move toward the rear of the self-propelled working device 1000, the second transmission rod 233 pulls the first sliding member 271 through the second sliding member 272 to move toward the rear of the self-propelled working device 1000, the first sliding member 271 drives the second connecting rod 131 to swing relative to the central axis of the second shaft 24 toward the rear of the self-propelled working device 1000 through the second swing arm 251, the second connecting rod 131 moves relative to the second shaft 24 toward the ground, so that the ground clearance of the main body 11 increases, and the second connecting rod 131 moves toward the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 decreases. When the second swing mechanism 25 is transitioning from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move toward the front of the self-propelled working device 1000, the second transmission rod 233 pushes the first sliding member 271 through the second sliding member 272 to move toward the front of the self-propelled working device 1000, the first sliding member 271 drives the second connecting rod 131 to swing relative to the central axis of the second shaft 24 toward the front of the self-propelled working device 1000 through the second swing arm 251, the second connecting rod 131 moves relative to the second shaft 24 away from the ground, so that the ground clearance of the main body 11 decreases, and the second connecting rod 131 moves away from the center of gravity of the self-propelled working device 1000, so that the moment of inertia of the self-propelled working device 1000 increases.

[0101] In the exemplary twenty-first embodiment, the connection position P3 of the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 away from the ground, the second connection rod 131 is located on the side of the second shaft 24 away from the ground, and on the side of the second shaft 24 close to the front of the self-moving working device 1000 (away from the first swing mechanism 22). When the second swing mechanism 25 is in the third state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the maximum. When the second swing mechanism 25 is in the fourth state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the minimum. When the second swing mechanism 25 is in the transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-moving working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-moving working device 1000, the first sliding member 271 drives the second connection rod 131 to swing relative to the center axis of the second shaft 24 towards the rear of the self-moving working device 1000 through the second swing arm 251, so that the ground clearance of the main body 11 is reduced, and the second connection rod 131 moves towards the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 is reduced. When the second swing mechanism 25 is in the transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-moving working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-moving working device 1000, the first sliding member 271 drives the second connection rod 131 to swing relative to the center axis of the second shaft 24 towards the front of the self-moving working device 1000 through the second swing arm 251, so that the ground clearance of the main body 11 is increased, and the second connection rod 131 moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 is increased. In this way, the ground clearance of the main body 11 can be reduced while the moment of inertia of the self-moving working device 1000 is reduced, so as to ensure that the self-moving working device 1000 has sufficient driving stability and flexibility, and the ground clearance of the main body 11 can be increased while the moment of inertia of the self-moving working device 1000 is increased, so as to improve the stability of the self-moving working device 1000 when driving on high grass ground, and improve the obstacle crossing ability of the self-moving working device 1000.

[0102] In the exemplary twenty-second embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the center axis of the second shaft 24, which is close to the ground, the second connecting rod 131 is located on the side of the second shaft 24 away from the ground, and on the side of the second shaft 24 close to the front of the self-moving working device 1000 (away from the first swing mechanism 22). When the second swing mechanism 25 is in the third state, the ground clearance of the position of the main body 11 close to the second shaft 24 is at a minimum. When the second swing mechanism 25 is in the fourth state, the ground clearance of the position of the main body 11 close to the second shaft 24 is at a maximum. When the self-moving working device 1000 is in transition between the third state and the fourth state, the driving member 231 drives the second transmission rod 233 to move in the same direction as the twenty-first embodiment along the direction of travel X of the self-moving working device 1000, the second swing arm 251 drives the second connecting rod 131 to rotate around the center axis of the second shaft 24 in the opposite direction to the twenty-first embodiment, and the ground clearance of the main body 11, the moment of inertia of the self-moving working device 1000, and the like adaptively change according to the position and movement direction of the first sliding member 271 and the second connecting rod 131 relative to the second shaft 24. For example, when the second swing mechanism 25 is in transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-moving working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-moving working device 1000, the first sliding member 271 drives the second connecting rod 131 to swing relative to the center axis of the second shaft 24 towards the front of the self-moving working device 1000 through the second swing arm 251, so that the ground clearance of the main body 11 increases, and the second connecting rod 131 moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 increases. For another example, when the second swing mechanism 25 is in transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-moving working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-moving working device 1000, the first sliding member 271 drives the second connecting rod 131 to swing relative to the center axis of the second shaft 24 towards the rear of the self-moving working device 1000 through the second swing arm 251, so that the ground clearance of the main body 11 decreases, and the second connecting rod 131 moves towards the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 increases.

[0103] In the exemplary twenty-third embodiment, the connection position P3 of the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 away from the ground, the connection position P4 of the second transmission rod 233 and the driving member 231 is located on the side of the line L2 close to the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the rear of the self-moving working device 1000. When the second swing mechanism 25 is in the third state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the minimum value. When the second swing mechanism 25 is in the fourth state, the ground clearance of the main body 11 at the position close to the second shaft 24 is at the maximum value. When the second swing mechanism 25 is in the transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-moving working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-moving working device 1000, the first sliding member 271 drives the second connecting rod 131 to swing relative to the center axis of the second shaft 24 towards the front of the self-moving working device 1000 through the second swing arm 251, so as to increase the ground clearance of the main body 11, and the second connecting rod 131 moves towards the direction away from the center of gravity of the self-moving working device 1000, so as to increase the moment of inertia of the self-moving working device 1000. When the second swing mechanism 25 is in the transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-moving working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-moving working device 1000, the first sliding member 271 drives the second connecting rod 131 to swing relative to the center axis of the second shaft 24 towards the rear of the self-moving working device 1000 through the second swing arm 251, so as to decrease the ground clearance of the main body 11, and the second connecting rod 131 moves towards the direction close to the center of gravity of the self-moving working device 1000, so as to decrease the moment of inertia of the self-moving working device 1000. In this way, the ground clearance of the main body 11 can be increased while the moment of inertia of the self-moving working device 1000 is increased, the stability of the self-moving working device 1000 in the high grass ground is improved, the obstacle crossing ability of the self-moving working device 1000 is improved, the ground clearance of the main body 11 can be decreased while the moment of inertia of the self-moving working device 1000 is decreased, so as to ensure that the self-moving working device 1000 has sufficient driving stability and flexibility.

[0104] In the exemplary twenty-fourth embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the center axis of the second shaft 24, which is close to the ground. The second connecting rod 131 is located on the side of the second shaft 24 close to the ground and on the side of the second shaft 24 close to the rear of the self-moving working device 1000. When the second swing mechanism 25 is in the third state, the ground clearance at the position of the main body 11 close to the second shaft 24 is at the maximum. When the second swing mechanism 25 is in the fourth state, the ground clearance at the position of the main body 11 close to the second shaft 24 is at the minimum. When the self-moving working device 1000 is in transition between the third state and the fourth state, the driving member 231 drives the second transmission rod 233 to move in the same direction as the twenty-third embodiment along the direction of travel X of the self-moving working device 1000, and the second swing arm 251 drives the second connecting rod 131 to rotate around the center axis of the second shaft 24 in the opposite direction to the twenty-third embodiment.

[0105] In the exemplary twenty-fifth embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 away from the ground between the connection P3 between the second transmission rod 233 and the driving member 231 and the center axis of the second shaft 24, and the second connecting rod 131 is located on the side of the second shaft 24 away from the ground. When the second swing mechanism 25 is in transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-propelled working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-propelled working device 1000, the first sliding member 271 drives the second connecting rod 131 to move from the side close to the front of the self-propelled working device 1000 to the side close to the rear of the self-propelled working device 1000 relative to the second shaft 24 through the second swing arm 251, and the second connecting rod 131 moves towards the direction close to the center of gravity of the self-propelled working device 1000, so that the ground clearance of the main body 11 first decreases and then increases, and the moment of inertia of the self-propelled working device 1000 continuously decreases. When the second swing mechanism 25 is in transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-propelled working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-propelled working device 1000, the first sliding member 271 drives the second connecting rod 131 to move from the side close to the rear of the self-propelled working device 1000 to the side close to the front of the self-propelled working device 1000 relative to the second shaft 24 through the second swing arm 251, and the second connecting rod 131 moves towards the direction away from the center of gravity of the self-propelled working device 1000, so that the ground clearance of the main body 11 first decreases and then increases, and the moment of inertia of the self-propelled working device 1000 continuously increases. In this way, the distance between the second connecting rod 131 and the center of gravity of the self-propelled working device 1000 can be adjusted without changing the ground clearance of the main body 11, so that the moment of inertia of the self-propelled working device 1000 is adjusted alone, and the stability and flexibility of the self-propelled working device 1000 are adjusted.

[0106] In the exemplary twenty-sixth embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 close to the ground between the connection P4 between the second transmission rod 233 and the driving member 231 and the center axis of the second shaft 24, and the second connecting rod 131 is located on the side of the second shaft 24 away from the ground. When the second swing mechanism 25 is in transition between the third state and the fourth state, the driving member 231 drives the second transmission rod 233 to move in the same direction as the twenty-fifth embodiment along the direction of travel X of the self-propelled working device 1000, and the second swing arm 251 drives the second connecting rod 131 to rotate in the opposite direction around the center axis of the second shaft 24 compared with the twenty-fifth embodiment.

[0107] In the exemplary twenty-seventh embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the middle axis of the second shaft 24, away from the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the ground. When the second swing mechanism 25 is in transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-propelled working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-propelled working device 1000, the first sliding member 271 drives the second connecting rod 131 to move from the side close to the rear of the self-propelled working device 1000 to the side close to the front of the self-propelled working device 1000 relative to the second shaft 24 through the second swing arm 251, the second connecting rod 131 moves towards the direction away from the center of gravity of the self-propelled working device 1000, so that the ground clearance of the main body 11 first increases and then decreases, and the moment of inertia of the self-propelled working device 1000 continuously increases. When the second swing mechanism 25 is in transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-propelled working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-propelled working device 1000, the first sliding member 271 drives the second connecting rod 131 to move from the side close to the front of the self-propelled working device 1000 to the side close to the rear of the self-propelled working device 1000 relative to the second shaft 24 through the second swing arm 251, the second connecting rod 131 moves towards the direction close to the center of gravity of the self-propelled working device 1000, so that the ground clearance of the main body 11 first increases and then decreases, and the moment of inertia of the self-propelled working device 1000 continuously decreases. In this way, the distance between the second connecting rod 131 and the center of gravity of the self-propelled working device 1000 can be adjusted without changing the ground clearance of the main body 11, so that the moment of inertia of the self-propelled working device 1000 is adjusted alone, and the stability and flexibility of the self-propelled working device 1000 are adjusted.

[0108] In the exemplary twenty-eighth embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the middle axis of the second shaft 24, close to the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the ground. When the second swing mechanism 25 is in transition between the third state and the fourth state, the driving member 231 drives the second transmission rod 233 to move in the same direction as the twenty-seventh embodiment along the direction of movement of the self-propelled working device 1000, and the second swing arm 251 drives the second connecting rod 131 to rotate in the opposite direction around the middle axis of the second shaft 24 compared with the twenty-seventh embodiment.

[0109] In the exemplary twenty-ninth embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the middle axis of the second shaft 24, away from the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the front of the self-moving working device 1000. When the second swing mechanism 25 is in transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-moving working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-moving working device 1000, and the first sliding member 271 drives the second connecting rod 131 to move from the side close to the ground to the side away from the ground relative to the second shaft 24 through the second swing arm 251, so that the ground clearance of the main body 11 continuously decreases, and the second connecting rod 131 first moves towards the direction away from the center of gravity of the self-moving working device 1000 and then moves towards the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first increases and then decreases. When the second swing mechanism 25 is in transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-moving working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-moving working device 1000, and the first sliding member 271 drives the second connecting rod 131 to move from the side away from the ground to the side close to the ground relative to the second shaft 24 through the second swing arm 251, so that the ground clearance of the main body 11 continuously increases, and the second connecting rod 131 first moves towards the direction away from the center of gravity of the self-moving working device 1000 and then moves towards the direction close to the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first increases and then decreases. In this way, the ground clearance of the main body 11 can be adjusted independently under the condition that the distance between the second connecting rod 131 and the center of gravity of the self-moving working device 1000 remains unchanged, and the stability and obstacle-crossing ability of the self-moving working device 1000 can be adjusted.

[0110] In the exemplary thirtieth embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the middle axis of the second shaft 24, close to the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the front of the self-moving working device 1000. When the second swing mechanism 25 is in transition between the third state and the fourth state, the driving member 231 drives the second transmission rod 233 to move in the same direction as the twenty-ninth embodiment along the direction of movement of the self-moving working device 1000, and the second swing arm 251 drives the second connecting rod 131 to rotate in the opposite direction around the middle axis of the second shaft 24 compared with the twenty-ninth embodiment.

[0111] In the exemplary thirty-first embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the middle axis of the second shaft 24, away from the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the rear of the self-moving working device 1000. When the second swing mechanism 25 is in transition from the third state to the fourth state, the driving member 231 drives the second transmission rod 233 to move towards the rear of the self-moving working device 1000, the second transmission rod 233 pulls the first sliding member 271 to move towards the rear of the self-moving working device 1000, and the first sliding member 271 drives the second connecting rod 131 to move from the side of the second shaft 24 away from the ground to the side of the second shaft 24 close to the ground through the second swing arm 251, so that the ground clearance of the main body 11 continuously increases, and the second connecting rod 131 first moves towards the direction close to the center of gravity of the self-moving working device 1000 and then moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first decreases and then increases. When the second swing mechanism 25 is in transition from the fourth state to the third state, the driving member 231 drives the second transmission rod 233 to move towards the front of the self-moving working device 1000, the second transmission rod 233 pushes the first sliding member 271 to move towards the front of the self-moving working device 1000, and the first sliding member 271 drives the second connecting rod 131 to move from the side of the second shaft 24 close to the ground to the side of the second shaft 24 away from the ground through the second swing arm 251, so that the ground clearance of the main body 11 continuously decreases, and the second connecting rod 131 first moves towards the direction close to the center of gravity of the self-moving working device 1000 and then moves towards the direction away from the center of gravity of the self-moving working device 1000, so that the moment of inertia of the self-moving working device 1000 first decreases and then increases. In this way, the ground clearance of the main body 11 can be adjusted independently under the condition that the distance between the second connecting rod 131 and the center of gravity of the self-moving working device 1000 remains unchanged, and the stability and obstacle-crossing ability of the self-moving working device 1000 can be adjusted.

[0112] In the exemplary thirty-second embodiment, the connection P3 between the first sliding member 271 and the second swing arm 251 is located on the side of the line L2 between the connection P4 between the second transmission rod 233 and the driving member 231 and the middle axis of the second shaft 24, close to the ground, and the second connecting rod 131 is located on the side of the second shaft 24 close to the rear of the self-moving working device 1000. When the second swing mechanism 25 is in transition between the third state and the fourth state, the driving member 231 drives the second transmission rod 233 to move in the same direction as the thirty-first embodiment along the direction of movement of the self-moving working device 1000, and the second swing arm 251 drives the second connecting rod 131 to rotate in the opposite direction around the middle axis of the second shaft 24 compared with the thirty-first embodiment.

[0113] In some embodiments, the positions of the first sliding member 271 and the second connecting rod 131 relative to the second shaft 24 can be set according to actual needs. The direction and angle of rotation of the second connecting rod 131 relative to the second shaft 24 driven by the driving mechanism 23 can be set according to actual needs, for example, the angle of rotation of the second connecting rod 131 relative to the second shaft 24 driven by the driving mechanism 23 can range from 0° to 10°, 0° to 30°, 0° to 45°, 0° to 90°, 0° to 120°, 0° to 180°, 0° to 270°, 0° to 360°, and the like.

[0114] Any one of the first embodiment to the sixteenth embodiment can be combined with any one of the seventeenth embodiment to the thirty-second embodiment to adjust the overall ground clearance of the main body 11. For example, the thirty-first embodiment can be combined with the first embodiment. For another example, the thirty-first embodiment can be combined with the fifth embodiment.

[0115] In the present embodiment, the distance between the connection point P3 of the first sliding member 271 and the second swing arm 251 and the second shaft 24 can be less than the distance between the connection point of the second connecting rod 131 and the second swing arm 251 and the second shaft 24. In this way, when the driving mechanism 23 drives the first sliding member 271 to rotate the second connecting rod 131 relative to the central axis of the second shaft 24 through the second swing arm 251, the first sliding member 271 moves a smaller stroke to make the second connecting rod 131 move a larger stroke, thereby amplifying the adjustment stroke of the first sliding member 271 on the second connecting rod 131, improving the adjustment speed and efficiency of the second connecting rod 131, and further improving the adjustment speed and efficiency of the ground clearance of the main body 11 and the moment of inertia of the self-moving working device 1000. The distance between the connection point P3 of the first sliding member 271 and the second swing arm 251 and the second shaft 24 can refer to the distance between the central axis of the first sliding member 271 and the central axis of the second shaft 24. The distance between the connection point of the second connecting rod 131 and the second swing arm 251 and the second shaft 24 can refer to the distance between the central axis of the second connecting rod 131 and the central axis of the second shaft 24. In some embodiments, the distance between the connection point P3 of the first sliding member 271 and the second swing arm 251 and the second shaft 24 can also be equal to the distance between the connection point of the second connecting rod 131 and the second swing arm 251 and the second shaft 24.

[0116] The distance between the connection of the first swing arm 222 and the first connecting rod 121 and the first shaft 21 is greater than or equal to the distance between the connection of the second connecting rod 131 and the second swing arm 251 and the second shaft 24. It can be understood that when the self-moving working device 1000 travels on the lawn, the self-moving working device 1000 will press and bend the grass stems towards the front of the self-moving working device 1000, and the grass stems will be inclined towards the front of the self-moving working device 1000 relative to the ground. When the self-moving working device 1000 in the embodiment of the present application is trimming the lawn, the driving mechanism 23 can drive the first swing mechanism 22 and the second swing mechanism 25 to rotate. Since the movement stroke of the first connecting rod 121 is greater than that of the second connecting rod 131, the front end of the main body 11 can be inclined towards the ground relative to the rear end, so that the cutting plane formed by the cutting member 400 when working forms an angle with the ground, so that the blades of the cutting member 400 tend to be perpendicular to the stems and leaves of the grass, and the cutting member 400 can better cut the grass.

[0117] In the left-right direction of the main body 11, the distance between the first moving wheel set 122 and the first swing arm 222 is less than the distance between the second moving wheel set 132 and the second swing arm 251. It can be understood that there are grass stems in the lawn whose height is higher than the ground clearance of the first connecting rod 121. In the embodiment of the present application, based on the distance between the first moving wheel set 122 and the first swing arm 222 being less than the distance between the second moving wheel set 132 and the second swing arm 251, the grass is swept by the second connecting rod 131 and the main body 11 and cut by the cutting member 400, so as to avoid the grass from touching the first connecting rod 121 and the first swing arm 222, thereby avoiding the grass from winding around the connection of the first swing arm 222 and the first shaft 21, or winding around the connection of the first moving wheel set 122 and the first connecting rod 121.

[0118] The first transmission rod 232 is at least partially configured as an elastic structure, and / or the second transmission rod 233 is at least partially configured as an elastic structure. In some embodiments, the first transmission rod 232 is at least partially configured as an elastic structure. It can be understood that, under the action of gravity, the weight of the self-moving working device 1000 itself acts on the first connecting rod 121, the first connecting rod 121 generates a torque about the central axis of the second shaft 24 on the first swing arm 222, the second shaft 24 transmits the torque to the first transmission rod 232 through the rocker arm 221, and the rocker arm 221 generates a pressure or tension on the first transmission rod 232. In some cases, when the first moving wheel set 122 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension of the rocker arm 221 on the first transmission rod 232 is too large, which is easy to cause the first transmission rod 232 to be bent under the action of the pressure or to be cracked under the action of the tension. In the embodiments of the present application, the first transmission rod 232 is at least partially configured as an elastic structure, on the one hand, the first transmission rod 232 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the first transmission rod 232, avoiding damage to the first transmission rod 232, and improving the service life of the first transmission rod 232; on the other hand, the first transmission rod 232 can absorb the impact force of the rocker arm 221 acting on the first transmission rod 232 when it is elastically deformed, reducing the impact of the first transmission rod 232 on the driving member 231, and improving the service life of the driving member 231; on the other hand, the first transmission rod 232 can also absorb the impact force of the ground on the self-moving working device 1000 when it is elastically deformed, improving the stability of the self-moving working device 1000 when driving on a concave-convex road surface.

[0119] In some embodiments, the first transmission rod 232 is arranged in a bent shape. The first transmission rod 232 can include a first rod segment 2321 and a second rod segment 2322 connected to the first rod segment 2321. The end of the first rod segment 2321 away from the second rod segment 2322 is connected to the rocker arm 221. The end of the second rod segment 2322 away from the first rod segment 2321 is connected to the driving member 231. The first rod segment 2321 and the second rod segment 2322 are arranged at an angle. In some embodiments, the first transmission rod 232 can also be arranged in a wave shape, an arc shape, a polyline shape, etc. In some embodiments, the first transmission rod 232 can also be partially arranged in a curved shape, for example, at least one of the first rod segment 2321 and the second rod segment 2322 is arranged in a wave shape, an arc shape, a polyline shape, etc. In some embodiments, the first transmission rod 232 is partially or entirely configured as a spring. For example, at least one of the first rod segment 2321 and the second rod segment 2322 is configured as a spring. In some embodiments, the material of the first transmission rod 232 is partially or entirely made of an elastic material, such as rubber, plastic, etc. The first transmission rod 232 can be arranged in a straight rod.

[0120] In some embodiments, the second transmission rod 233 is at least partially configured as an elastic structure. It can be understood that under the action of gravity, the weight of the self-moving working device 1000 itself acts on the second connecting rod 131, the second connecting rod 131 generates a torque about the central axis of the second shaft 24 on the second swing arm 251, the torque acts on the second transmission rod 233 through the first sliding piece 271 and the second sliding piece 272, and generates a pressure or tension on the second transmission rod 233. When the self-moving working device 1000 runs on the uneven ground, the second moving wheel set 132 will rise and fall with the concave and convex of the ground, causing the self-moving working device 1000 to vibrate, resulting in the torque generated by the second connecting rod 131 on the second swing arm 251 becoming larger or smaller, and the pressure of the second sliding piece 272 on the second transmission rod 233 increasing or decreasing. In some cases, when the second moving wheel set 132 falls into the pit on the ground or collides with the protrusion on the ground, the pressure or tension of the second sliding piece 272 on the second transmission rod 233 is too large, which can easily cause the second transmission rod 233 to bend under the action of pressure or crack under the action of tension. In the embodiments of the present application, the second transmission rod 233 is at least partially configured as an elastic structure, on the one hand, the second transmission rod 233 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the second transmission rod 233, avoiding damage to the second transmission rod 233, and improving the service life of the second transmission rod 233; on the other hand, the second transmission rod 233 can absorb the impact force acting on the second transmission rod 233 when it is elastically deformed, reducing the impact of the second transmission rod 233 on the driving piece 231, and improving the service life of the driving piece 231; on the other hand, the second transmission rod 233 can also absorb the impact force generated by the ground on the self-moving working device 1000 when it is elastically deformed, improving the stability of the self-moving working device 1000 when running on the uneven road.

[0121] The second transmission rod 233 can be arranged in a curved manner. For example, the second transmission rod 233 is arranged in a wavy manner. The second transmission rod 233 can include a first segment 2331, a second segment 2332 and a third segment 2333 connected in sequence. The first segment 2331 is configured to be connected with the second sliding member 272. The third segment 2333 is configured to be connected with the driving member 231. The first segment 2331 and the second segment 2332, and the second segment 2332 and the third segment 2333 are arranged in an angle manner respectively. The first segment 2331, the second segment 2332 and the third segment 2333 are arranged in a wavy manner. In some embodiments, the second transmission rod 233 can also be arranged in an arc shape, a polyline shape or the like. In some embodiments, the second transmission rod 233 can also be arranged in a curved manner locally, for example, at least one of the first segment 2331, the second segment 2332 and the third segment 2333 is arranged in a wavy manner, an arc shape, a polyline shape or the like. In some embodiments, the second transmission rod 233 is configured as a spring locally or as a whole. For example, at least one of the first segment 2331, the second segment 2332 and the third segment 2333 is configured as a spring. In some embodiments, the second transmission rod 233 is made of an elastic material locally or as a whole, for example, rubber, plastic or the like. In some embodiments, the first transmission rod 232 and the first transmission rod 232 are at least partially configured as an elastic structure to improve the service life of the driving mechanism 23 and improve the stability of the self-moving working device 1000 during driving.

[0122] The driving member 231 is hingedly connected with the first transmission rod 232 and the second transmission rod 233. Specifically, the driving member 231 is pivotally connected or ball-hingedly connected with the first transmission rod 232, and / or the driving member 231 is pivotally connected or ball-hingedly connected with the second transmission rod 233. For example, the driving member 231 is pivotally connected with the first transmission rod 232 and the second transmission rod 233. One of the driving member 231, the first transmission rod 232 and the second transmission rod 233 is provided with a third pivot shaft (not shown), and the other two are provided with a third pivot hole 2343. Alternatively, two of the driving member 231, the first transmission rod 232 and the second transmission rod 233 are provided with a third pivot shaft (not shown), and the other one is provided with a third pivot hole 2343. The third pivot shaft is arranged in the third pivot hole 2343. The driving member 231, the first transmission rod 232 and the second transmission rod 233 can rotate around the central axis of the third pivot shaft. In some embodiments, the self-moving working device 1000 further comprises a third pivot shaft independently arranged relative to the driving member 231, the first transmission rod 232 and the second transmission rod 233, and the driving member 231, the first transmission rod 232 and the second transmission rod 233 are provided with a third pivot hole 2343, and the third pivot shaft is arranged in the third pivot hole 2343 of the driving member 231, the first transmission rod 232 and the second transmission rod 233, respectively. The third pivot shaft is rotatably connected with the driving member 231, the first transmission rod 232 and the second transmission rod 233. In this way, the driving member 231 and the first transmission rod 232, and the driving member 231 and the second transmission rod 233 share the same third pivot shaft, which can simplify the structure of the driving mechanism 23. The connection between the first transmission rod 232 and the driving member 231 and the connection between the second transmission rod 233 and the driving member 231 can be the central axis of the third pivot shaft. In some embodiments, the third pivot shaft can be provided as two, one of which is connected to the driving member 231 and the first transmission rod 232, and the other of which is connected to the driving member 231 and the second transmission rod 233.

[0123] In some embodiments, the driving member 231 is pivotally connected with the first transmission rod 232, and the driving member 231 is ball-hingedly connected with the second transmission rod 233. In some embodiments, the driving member 231 is ball-hingedly connected with the first transmission rod 232, and the driving member 231 is pivotally connected with the second transmission rod 233. In some embodiments, the driving member 231 and the first transmission rod 232, and the driving member 231 and the second transmission rod 233 are ball-hingedly connected.

[0124] The first transmission rods 232 can be provided in a plurality. The plurality of first transmission rods 232 are respectively hinged to the driving member 231. The plurality of first transmission rods 232 are arranged at intervals along the left-right direction Y of the mobile working device 1000 and distributed on both sides of the driving member 231. The rocker arms 221 are provided in a plurality, and the number of the rocker arms 221 corresponds to the number of the first transmission rods 232. The plurality of first transmission rods 232 are connected to the plurality of rocker arms 221 one by one. When the mobile working device 1000 is installed with the collecting member 600, the center of gravity of the mobile working device 1000 is closer to the rear end of the main body 11, and thus the rocker arms 221 generate greater force on the first transmission rods 232. In the embodiment, on the one hand, the plurality of first transmission rods 232 can disperse the force of the rocker arms 221, reduce the force acting on a single first transmission rod 232, and improve the service life of the driving mechanism 23; on the other hand, the plurality of first transmission rods 232 are distributed on both sides of the driving member 231, which can improve the balance when the first transmission rods 232 drive the rocker arms 221 to rotate together with the first shaft 21, so that the first shaft 21 is balanced in force. Exemplarily, the number of the first transmission rods 232 is provided as an even number, and the even number of first transmission rods 232 is divided into two groups, and the two groups of first transmission rods 232 are distributed on both sides of the driving member 231. For example, the first transmission rods 232 can be provided in two, four, etc. Of course, in some embodiments, the first transmission rods 232 can also be provided in an odd number.

[0125] The driving member 231 can be provided in one or more. In some embodiments, the driving member 231 is provided in one, and the first transmission rod 232 and the second transmission rod 233 are connected to the driving member 231 together to achieve common adjustment of the first connecting rod 121 and the second connecting rod 131, and reduce the structural complexity of the driving mechanism 23. In some embodiments, the driving member 231 is provided in two, one of the two driving members 231 is used to connect with the first transmission rod 232, and the other of the two driving members 231 is used to connect with the second transmission rod 233. In this way, the two driving members 231 can independently drive the first transmission rod 232 and the second transmission rod 233, so as to be able to independently adjust the rotation of the first connecting rod 121 relative to the central axis of the first shaft 21 and independently adjust the rotation of the second connecting rod 131 relative to the central axis of the second shaft 24, improve the ground clearance of the main body 11 and the flexibility of adjusting the moment of inertia of the mobile working device 1000.

[0126] The driving member 231 comprises a telescopic portion 2311 and a driving portion 2312. The driving portion 2312 is fixedly connected with the main body 11. The telescopic portion 2311 is connected with the first transmission rod 232 and the second transmission rod 233. The driving portion 2312 is configured to drive the telescopic portion 2311 to extend relative to the driving portion 2312 towards the front of the self-propelled working device 1000 or to retract relative to the driving portion 2312 towards the rear of the self-propelled working device 1000. An end of the telescopic portion 2311 away from the driving portion 2312 is an output execution end of the driving mechanism 23. The extension direction D1 of the telescopic portion 2311 is parallel to or collinear with the telescopic direction.

[0127] It can be understood that the extension direction D1 of the telescopic portion 2311 and the extension direction of the line L1 between the connection position P2 of the telescopic portion 2311 and the first shaft 21 are arranged at an angle, and the extension direction D1 of the telescopic portion 2311 and the extension direction of the line L2 between the connection position P4 of the telescopic portion 2311 and the second shaft 24 are arranged at an angle. The force of the first transmission rod 232 acting on the telescopic portion 2311 is along the extension direction of the line L1 between the connection position P2 of the telescopic portion 2311 and the first shaft 21. The force of the second transmission rod 233 acting on the telescopic portion 2311 is along the extension direction of the line L2 between the connection position P4 of the telescopic portion 2311 and the second shaft 24. The force of the first transmission rod 232 and the second transmission rod 233 acting on the telescopic portion 2311 can be decomposed into a first component along the extension direction D1 of the telescopic portion 2311 and a second component perpendicular to the extension direction D1 of the telescopic portion 2311. The first component causes compression or stretching of the telescopic portion 2311. The second component causes torque on the telescopic portion 2311 and tends to cause the telescopic portion 2311 to bend, and increases the friction between the telescopic portion 2311 and the driving portion 2312, resulting in increased wear between the telescopic portion 2311 and the driving portion 2312, reducing the service life of the driving member 231. In some cases, when the self-propelled working device 1000 travels over a bump or a protrusion on the ground, the first mobile wheel set 122 and the second mobile wheel set 132 impact the ground, causing the first transmission rod 232 and the second transmission rod 233 to impact the telescopic portion 2311, and when the second component is too large, the second component is likely to cause the telescopic portion 2311 to bend, causing damage to the telescopic portion 2311.

[0128] When the collection member 600 is installed on the self-moving working device 1000, the distance between the overall center of gravity of the self-moving working device 1000 and the first shaft 21 is less than the distance between the overall center of gravity of the self-moving working device 1000 and the second shaft 24 along the traveling direction X of the self-moving working device 1000, and the force exerted on the telescopic part 2311 by the first transmission rod 232 is greater than the force exerted on the telescopic part 2311 by the second transmission rod 233. In the embodiment, based on the driving part 2312 driving the telescopic part 2311 to extend towards the front of the self-moving working device 1000 or to retract towards the back of the self-moving working device 1000, the distance between the connection point P2 of the telescopic part 2311 and the central axis of the second shaft 24 can be increased, so as to reduce the included angle θ formed by the extension direction D1 of the telescopic part 2311 and the extension direction of the line L1 between the connection point P2 of the telescopic part 2311 and the central axis of the first shaft 21, and further reduce the second component force of the first transmission rod 232 acting on the telescopic part 2311, so as to reduce the risk of bending damage of the telescopic part 2311, reduce the friction between the telescopic part 2311 and the driving part 2312, reduce the wear between the telescopic part 2311 and the driving part 2312, and prolong the service life of the driving member 231.

[0129] In some embodiments, a partition 236 is arranged between the first transmission rod 232 and the telescopic part 2311 to separate the first transmission rod 232 from the telescopic part 2311, so as to avoid direct contact between the first transmission rod 232 and the telescopic part 2311, reduce the wear caused by the rotation of the first transmission rod 232 relative to the telescopic part 2311, and prolong the service life of the driving mechanism 23.

[0130] In some embodiments, the first transmission rod 232 and the telescopic part 2311 can be connected by a spherical hinge. One of the first transmission rod 232 and the telescopic part 2311 is provided with a spherical head, and the other of the first transmission rod 232 and the telescopic part 2311 is provided with a spherical groove. A partition 236 is arranged between the first transmission rod 232 and the telescopic part 2311, and the partition 236 is sleeved on the spherical head and accommodated in the spherical groove, so as to reduce the wear caused by the rotation of the first transmission rod 232 relative to the telescopic part 2311, and prolong the service life of the driving mechanism 23.

[0131] In some embodiments, when the first swing mechanism 22 is in the first state, the direction of the line between the connection point P1 of the first transmission rod 232 and the central axis of the first shaft 21 is set to be an acute angle with the height direction Z of the mobile working device 1000 or is set to be parallel to the height direction Z of the mobile working device 1000. When the first swing mechanism 22 is in transition from the first state to the second state, the telescopic part 2311 pushes the first transmission rod 232 to drive the swing arm 221 to rotate, so that the connection point P1 of the first transmission rod 232 and the swing arm 221 moves from the side close to the front of the mobile working device 1000 to the side close to the rear of the mobile working device 1000 along the central axis of the first shaft 21; or, when the first swing mechanism 22 is in transition from the first state to the second state, the telescopic part 2311 pulls the first transmission rod 232 to drive the swing arm 221 to rotate, so that the connection point P1 of the first transmission rod 232 and the swing arm 221 moves from the side close to the rear of the mobile working device 1000 to the side close to the front of the mobile working device 1000 along the central axis of the first shaft 21. In this way, when the telescopic part 2311 drives the first transmission rod 232 to move the swing arm 221, the movement range of the connection point P1 of the first transmission rod 232 and the swing arm 221 along the height direction Z of the mobile working device 1000 can be reduced, so that the change range of the included angle θ can be reduced, the second component force of the first transmission rod 232 acting on the telescopic part 2311 can be reduced, the risk of bending damage of the telescopic part 2311 can be reduced, and the service life of the driving member 231 can be improved. The angle between the direction of the line between the connection point P1 of the first transmission rod 232 and the swing arm 221 and the central axis of the first shaft 21 and the height direction Z of the mobile working device 1000 when the first swing mechanism 22 is in the first state can be set according to actual needs, which is not limited in the present application. For example, the angle can be 0°, 5°, 10°, 20°, 30°, 45°, etc.

[0132] In some embodiments, the length of the first transmission rod 232 is greater than the length of the rocker arm 221. The difference between the length of the projection of the line between the connection position P2 of the first transmission rod 232 and the central axis of the first shaft 21 along the height direction Z of the mobile working device 1000 and the length of the rocker arm 221 is less than or equal to a preset value, so that the length of the projection is approximately equal to the length of the rocker arm 221. In this way, when the first transmission rod 232 drives the rocker arm 221 to rotate around the central axis of the first shaft 21, the movement range of the connection position P1 of the first transmission rod 232 along the height direction Z of the mobile working device 1000 can be reduced, thereby reducing the change range of the included angle θ, reducing the second component force of the first transmission rod 232 acting on the telescopic part 2311, reducing the risk of bending damage of the telescopic part 2311, and improving the service life of the driving member 231. The preset range can be set according to actual needs, which is not limited in the present application. For example, the preset value can be half, one third, one fourth, one fifth, etc. of the length of the projection of the line between the connection position P2 of the first transmission rod 232 and the central axis of the first shaft 21 along the height direction Z of the mobile working device 1000. For another example, the preset value can be 0.

[0133] The driving member 231 can be configured as one of an electric push rod, a screw nut assembly, a gear rack assembly, and a piston cylinder. For example, the driving member 231 can be configured as an electric push rod, the telescopic part 2311 is configured as a push rod, and the driving part 2312 is configured as a driving motor. In some embodiments, the driving member 231 can also be configured as a screw nut assembly, one of the telescopic part 2311 and the driving part 2312 is configured as a screw rod, and the other is configured as a nut. In some embodiments, the driving member 231 can be configured as a gear rack assembly, the telescopic part 2311 is configured as a rack, and the driving part 2312 is configured as a gear. In some embodiments, the driving member 231 can be configured as a piston cylinder, the telescopic part 2311 is configured as a piston rod, and the driving part 2312 is configured as a cylinder body.

[0134] The mobile working device 1000 further comprises a connecting seat 235. The connecting seat 235 is fixedly arranged relative to the main body 11. The driving part 2312 is installed on the connecting seat 235. The connecting seat 235 is provided in plurality. For example, the connecting seat 235 is provided in two. The two connecting seats 235 are located at the two ends of the driving part 2312 along the traveling direction X of the mobile working device 1000, and the two ends of the driving part 2312 are respectively connected with the two connecting seats 235, so that the driving part 2312 is fixedly connected to the main body 11.

[0135] Referring to FIG. 8, in some embodiments, the self-moving working device 1000 further comprises a bumper 500. The bumper 500 can be mounted on the self-moving working device 1000 or the housing 300, and arranged on the front side of the self-moving working device 1000. When there is an obstacle in the direction of travel of the self-moving working device 1000, the bumper 500 can be used to touch the obstacle to avoid the housing 300 colliding with the obstacle and causing damage to the vehicle body. In some embodiments, the bumper 500 is provided with a touch sensor (such as a contact sensor, an ultrasonic sensor, a visual sensor, etc.), which is used to identify the obstacle in a contact or non-contact manner, and the self-moving working device 1000 performs an obstacle avoidance operation when encountering the obstacle. In some embodiments, the self-moving working device 1000 further comprises a collecting member 600. The collecting member 600 can be mounted on the self-moving working device 1000 or the housing 300, and arranged on the rear side of the self-moving working device 1000. The collecting member 600 is used to collect grass clippings, fallen leaves, etc. on the lawn.

[0136] The above merely describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements shall be encompassed within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A self-moving work apparatus characterized by comprising: The self-moving working device comprises: a main body, one end of which is provided with a first moving wheel set and the other end of which is provided with a second moving wheel set in the advancing direction of the self-moving working device, the first moving wheel set and the second moving wheel set being capable of rolling relative to the ground; a first swing mechanism arranged at one end of the main body close to the first moving wheel set and connected with the first moving wheel set; a second swing mechanism arranged at one end of the main body close to the second moving wheel set and connected with the second moving wheel set; a driving mechanism arranged on the main body between the first moving wheel set and the second moving wheel set, the output end of the driving mechanism being connected with the first swing mechanism and the second swing mechanism respectively, for driving the first swing mechanism and / or the second swing mechanism to swing in a vertical plane parallel to the advancing direction of the self-moving working device, so as to change the distance between the first moving wheel set and the second moving wheel set and the height of the main body relative to the ground.

2. The self-moving work apparatus according to claim 1, characterized by, When the first swing mechanism and / or the second swing mechanism swings, at least one of the first moving wheel set and the second moving wheel set moves towards the other, and drives the main body to move away from the ground.

3. The self-moving work apparatus according to claim 1, characterized by, The self-moving working device further comprises a first shaft connected with the main body, the first swing mechanism comprises a first connecting rod and a first swing arm, the first swing arm is connected with the end of the first shaft, the first connecting rod is connected with the first swing arm, the first connecting rod is connected with the first moving wheel set, the central axis of the first moving wheel set is spaced apart from the central axis of the first shaft, and the driving mechanism is used for driving the first swing arm to drive the first connecting rod to rotate around the central axis of the first shaft.

4. The self-moving work apparatus according to claim 3, characterized by, The driving mechanism comprises a driving member and a first transmission rod, the driving member is fixedly connected with the main body, the driving member is hinged with the first transmission rod, the first transmission rod is connected with the first swing arm, and the driving member is used for driving the first transmission rod to drive the first swing arm to rotate around the central axis of the first shaft.

5. The self-moving work apparatus according to claim 4, characterized by, The self-moving working device further comprises a rocker arm, one end of the rocker arm is connected with the first transmission rod, the other end of the rocker arm is connected with the first shaft, and the rocker arm is fixed relative to the first swing arm.

6. The self-moving work apparatus according to claim 4, characterized by, The first transmission rod is provided in plurality, the plurality of first transmission rods are respectively hinged with the driving member, the plurality of first transmission rods are arranged at intervals in the left-right direction of the self-moving working device, and are distributed on both sides of the driving member.

7. The self-moving work apparatus according to claim 3, characterized by, The first connecting rod is located on the side of the first shaft close to or away from the ground, and / or the first connecting rod is located on the side of the first shaft away from or close to the second swing mechanism.

8. The self-moving work apparatus according to claim 5, characterized by, The connection between the first transmission rod and the rocker arm is located on the side of the line between the connection between the first transmission rod and the driving member and the central axis of the first shaft away from or close to the ground.

9. The self-moving work apparatus according to claim 3, characterized by, The self-moving working device further comprises a second shaft connected with the main body, the second swing mechanism further comprises a second connecting rod and a second swing arm, the second shaft, the second connecting rod and the driving mechanism are connected with the second swing arm respectively, the second connecting rod is connected with the second moving wheel set, the central axis of the second moving wheel set is not collinear with the central axis of the second shaft, and the driving mechanism is used for driving the second swing arm to drive the second connecting rod to rotate around the central axis of the second shaft.

10. The self-moving work apparatus according to claim 9, characterized by, The second swing mechanism further comprises a first sliding piece connected with the second swing arm, and the driving mechanism is used for driving the first sliding piece to move along the advancing direction of the self-moving working device, so that the first sliding piece drives the second swing arm to rotate around the central axis of the second shaft.

11. The self-moving work apparatus according to claim 10, characterized by, The second swing mechanism further comprises a mounting base, a second sliding piece and a guide rod, the mounting base is fixed relative to the main body, the mounting base is provided with an accommodating space, the first sliding piece, the second sliding piece and the guide rod are located in the accommodating space, the axial direction of the guide rod is perpendicular to the left-right direction of the self-moving working device, the second sliding piece is slidably sleeved on the guide rod, one of the first sliding piece and the second sliding piece is provided with a guide sliding groove, and the other of the first sliding piece and the second sliding piece is arranged in the guide sliding groove, and the driving mechanism is connected with the second sliding piece to drive the second sliding piece to slide along the guide rod.

12. The self-moving work apparatus according to claim 11, characterized by, The self-moving working device further comprises an elastic piece, one end of the elastic piece is connected with the mounting base, and the other end of the elastic piece is connected with one of the second shaft, the second swing arm and the second connecting rod.

13. The self-moving work apparatus according to claim 9, characterized by, The second swing mechanism further comprises a rotating shaft, the rotating shaft is used for being connected with the main body, the central axis of the rotating shaft is perpendicular to the central axis of the second shaft, and the second shaft is rotatable around the central axis of the rotating shaft.

14. The self-moving work apparatus according to claim 10, characterized by, The second connecting rod is located on one side of the second shaft close to or away from the ground, and / or the second connecting rod is located on one side of the second shaft close to or away from the first swing mechanism.

15. The self-moving work apparatus according to claim 10, characterized by, The distance between the connection position of the first swing arm and the first connecting rod and the first shaft is greater than or equal to the distance between the connection position of the second connecting rod and the second swing arm and the second shaft.

16. The self-moving work apparatus according to claim 10, characterized by, The driving mechanism comprises a driving piece, a first transmission rod and a second transmission rod, the driving piece is fixedly connected with the main body, the driving piece is connected with the first transmission rod and the second transmission rod respectively, the first transmission rod is connected with the first swing arm, and the second transmission rod is connected with the second swing arm.

17. The self-moving work apparatus according to claim 16, characterized by, The connection position of the first sliding piece and the second swing arm is located on one side of the line connecting the connection position of the second transmission rod and the driving piece and the central axis of the second shaft away from or close to the ground.

18. The self-moving work apparatus according to claim 16, characterized by, The first transmission rod is at least partially configured as an elastic structure, and / or the second transmission rod is at least partially configured as an elastic structure.

19. The self-moving work apparatus according to claim 16, characterized by, The driving member comprises a telescopic part and a driving part, the driving part is fixed on the main body, the telescopic part is connected with the driving part, the driving part is used for extending the telescopic part towards the front end of the self-moving working device or retracting the telescopic part towards the rear end of the self-moving working device, and the telescopic part is connected with the first transmission rod and the second transmission rod respectively.

20. The self-moving work apparatus according to claim 19, characterized by, The driving member is provided as one, and the first transmission rod and the second transmission rod are connected on the driving member together, or the driving member is provided as two, one of the two driving members is connected with the first transmission rod, and the other of the two driving members is connected with the second transmission rod.

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