Self-moving device

Abstract

The present application relates to the technical field of mowing devices, and discloses a self-moving device (100). The self-moving device comprises a chassis (110), a motor (130), and a cover body (120); the chassis comprises a mounting portion, the mounting portion (111) is located at the rear end of the chassis, and a shaft cavity (112) is provided on the mounting portion. A motor shaft (131) of the motor is located in the shaft cavity, and the axis of the motor shaft coincides with the axis of the shaft cavity; the cover body and the mounting portion are fixedly connected, the cover body comprises a grass-combing portion (121) and a fixing portion (122), the grass-combing portion and the fixing portion are formed as an integrated structure, the fixing portion is used for cooperating with the mounting portion to fix the motor shaft in the shaft cavity, the grass-combing portion comprises grass-combing teeth (123), tooth tips of the grass-combing teeth extend toward the bottom of the chassis, and the grass-combing portion is located at the rear ends of the fixing portion and the chassis. Thus, the cover body features a compact structure, and during assembly, the cover body only needs to be mounted to the chassis to achieve the functions of grass combing and fixing the motor shaft, thereby achieving simply assembly and improving assembly efficiency.

Description

Self-moving device

[0001] This application claims priority to Chinese Patent Application No. 202422641528.9, filed with the Chinese Patent Office on October 30, 2024, entitled "Self-Moving Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of lawn mowing equipment technology, and more particularly to self-moving equipment. Background Technology

[0003] A lawnmower is a gardening tool used to trim lawns, meadows, and other vegetation. Lawnmowers typically feature a rear comb, which combs and organizes grass clippings during mowing, making them easier to collect or expel. In hub motor-driven lawnmowers, a motor shaft retainer cover is used to secure and protect the motor shaft, ensuring stable and safe motor operation.

[0004] In existing lawn mowing equipment, the rear comb and the motor shaft fixing cover are two independently designed structures. During installation, the motor shaft fixing cover needs to be installed at the motor shaft and the rear comb needs to be installed at the rear of the lawn mower, which is complicated. Summary of the Invention

[0005] This application provides a self-moving device in which the combing part and the fixing part of the cover are integrated into one piece, which is compact. During assembly, it can realize the functions of combing grass and fixing the motor shaft simply by installing it with the chassis. The assembly is simple and can improve the assembly efficiency.

[0006] In a first aspect, this application provides a self-moving device, comprising: a chassis, including a mounting portion located at the rear end of the chassis, the mounting portion having a shaft cavity; a motor, the motor shaft of the motor being located within the shaft cavity, the axis of the motor shaft coinciding with the axis of the shaft cavity; and a cover fixedly connected to the mounting portion, the cover including a combing portion and a fixing portion, the combing portion and the fixing portion being an integral structure, the fixing portion being used to cooperate with the mounting portion to fix the motor shaft within the shaft cavity, the combing portion including combing teeth, the tips of the combing teeth extending toward the bottom of the chassis, the combing portion being located at the rear end of the fixing portion and the chassis.

[0007] The self-moving device provided in this application includes a cover, the combing part and the fixing part of the cover are integrated into one piece. After the cover is fixedly connected to the mounting part of the chassis, the cover can both comb the grass and cooperate with the mounting part to fix the motor shaft of the motor in the shaft cavity. Integrating the combing part and the fixing part into one piece results in a compact structure. During assembly, the functions of combing grass and fixing the motor shaft can be realized simply by installing it with the chassis, which simplifies assembly and improves assembly efficiency.

[0008] In one possible implementation, the combing part includes a comb handle, the roots of the comb teeth are fixed to the comb handle, and the number of comb teeth is at least two. The at least two comb teeth are spaced apart along the extending direction of the comb handle, which is parallel to the axial direction of the motor shaft. The comb teeth can comb and organize grass clippings. Simultaneously, the comb teeth extend in the opposite Z-direction and also act as reinforcing ribs, thereby improving the structural strength of the cover.

[0009] In one possible implementation, the fixing part includes a connecting part and sub-fixing parts located on opposite sides of the connecting part along the axial direction of the motor shaft. The connecting part is connected to the combing part, and the extending direction of the connecting part is perpendicular to the axial direction of the motor shaft. The sub-fixing parts and the combing part are arranged opposite to each other in the extending direction of the connecting part. The sub-fixing parts are located on opposite sides of the connecting part along the axial direction of the motor shaft. There can be two motors, and the shaft cavity contains two motor shafts. Alternatively, there can be two sub-fixing parts, each capable of cooperating with the mounting part to fix the two motor shafts in place within the shaft cavity.

[0010] In one possible implementation, a rib is provided on the connecting portion, and the rib is located on the side of the connecting portion facing the chassis. The rib can improve the structural strength of the connecting portion.

[0011] In one possible implementation, the connecting portion has a first surface, which is the surface of the connecting portion facing away from the chassis, and the sub-fixing portion has a second surface, which is the surface of the sub-fixing portion facing away from the chassis. The second surface is located on one side of the first surface along the extension direction of the tips of the comb teeth. This design can reduce the accumulation of grass clippings and lower the risk of grass clipping blockage.

[0012] In one possible implementation, the self-moving device includes a connector sleeved on and fixedly connected to the motor shaft, the connector being located within the shaft cavity; a first protrusion is provided on the sub-fixing portion, a first slot is provided on the connector, and / or, the first slot is provided on the sub-fixing portion, and the first protrusion is provided on the connector; the mounting portion has an opening facing the sub-fixing portion, at least a portion of the first protrusion passing through the opening and located within the shaft cavity, the first protrusion being located within the first slot and abutting against the inner wall of the first slot to fix the motor shaft within the shaft cavity. The first protrusion can pass through the opening into the shaft cavity and engage with the first slot located within the shaft cavity. When the first protrusion engages with the first slot, the first protrusion can be located within the first slot and abut against the inner wall of the first slot. When the cover is fixedly connected to the chassis, the first protrusion on the cover can engage with the first slot within the shaft cavity to achieve a locking action, thereby fixing the motor shaft and preventing rotation of the motor shaft.

[0013] In one possible implementation, the first protrusion has a groove, the opening of which faces the first slot. Providing a groove on the first protrusion can reduce its weight.

[0014] In one possible implementation, at least one of the connecting portion and the sub-fixing portion is provided with a first hole structure, and the mounting portion is provided with a second hole structure. The first hole structure and the second hole structure are connected and used for fasteners to pass through to fix the cover and the mounting portion. The first hole structure on the connecting portion cooperates with the second hole structure on the chassis, and the fastener passes through the first hole structure and the second hole structure to fix the cover and the mounting portion. The first hole structure on the sub-fixing portion allows for a tighter fit between the sub-fixing portion and the connecting member, better securing the motor shaft.

[0015] In one possible implementation, the fixing part is provided with a second protrusion, the mounting part is provided with a second slot, and / or, the fixing part is provided with a second slot, the mounting part is provided with a second protrusion, the second protrusion is located within the second slot and abuts against the inner wall of the second slot. The cooperation between the second protrusion and the second slot can position the mounting part and the fixing part for installation, facilitating quick installation of the mounting part and the fixing part.

[0016] In one possible implementation, the self-moving device includes a battery cover located on the side of the combing part opposite to the fixing part. The battery cover has a third protrusion extending towards the bottom of the chassis. The combing part has a third slot, and the third protrusion is located within the third slot and abuts against the inner wall of the third slot. This design, with the third slot and third protrusion working together, allows the battery cover to be quickly and accurately installed into the combing part during installation.

[0017] In one possible implementation, the third protrusion has a third hole structure, and the mounting portion has a fourth hole structure. The third hole structure and the fourth hole structure are connected and are used for fasteners to pass through to securely connect the battery cover and the mounting portion. When the battery cover and the mounting portion are installed, the fasteners pass through the third hole structure and the fourth hole structure to securely connect the battery cover and the mounting portion of the chassis together.

[0018] In one possible implementation, the self-moving device includes at least two tires, each located on opposite sides of the chassis along the axial direction of the motor shaft. There are also at least two motors, each connected to a tire in a one-to-one configuration. At least a portion of each motor is located within the tire, and the motor shaft is located outside the tire. The motor shaft is fixed within the chassis and does not rotate. When the hub motor operates, its rotational force is directly transmitted to the tire, enabling the motor to directly drive the tire to rotate, thereby moving the self-moving device.

[0019] In one possible implementation, the tire is coaxially mounted with the motor shaft, and the combing section is located on the side of the motor shaft facing the rear end of the chassis. Positioning the combing section closer to the rear end of the self-moving device prevents the user's feet or hands from reaching the bottom of the device, thus preventing contact between the user's feet or hands and the blade disc, reducing the risk of accidental injury during operation, and improving safety. Attached Figure Description

[0020] Figure 1 is a schematic diagram of the structure of the self-moving device provided in an embodiment of this application;

[0021] Figure 2 is a partial structural schematic diagram of the self-moving device provided in an embodiment of this application;

[0022] Figure 3 is a schematic diagram showing the relationship between the cover and chassis of the self-moving device provided in the embodiments of this application;

[0023] Figure 4 is a schematic diagram of the structure of the cover of the self-moving device provided in the embodiment of this application;

[0024] Figure 5 is a structural schematic diagram of the cover of the self-moving device provided in the embodiment of this application from another perspective;

[0025] Figure 6 is a schematic diagram showing the relationship between the cover, chassis, and motor of the self-moving device provided in the embodiments of this application;

[0026] Figure 7 is a schematic diagram of the chassis of the self-moving device provided in the embodiments of this application;

[0027] Figure 8 is an enlarged view of point A in Figure 7;

[0028] Figure 9 is a schematic diagram showing the relationship between the battery cover and the chassis of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0029] The embodiments of this application are described below with reference to the accompanying drawings.

[0030] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0031] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0032] It should be understood that the term "and / or" used in this document is merely a description of the same field in the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0033] It should be understood that the terms "first," "second," etc., used in this application are for distinguishing purposes only and should not be construed as indicating or implying relative importance or order.

[0034] In the description of this application, the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can be fixed connections, detachable connections, mating connections or integral connections; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0036] This application provides a self-moving device 100, which may include, but is not limited to, lawnmower robots and lawnmowers. The self-moving device 100 can be used to trim and maintain lawns, turf, and other vegetation.

[0037] This application defines the forward and backward directions of the self-moving device 100 as the X direction, with the positive X direction representing the front or head of the self-moving device 100 and the negative X direction representing the rear or tail of the self-moving device 100; the left and right directions of the self-moving device 100 as the Y direction, with the positive Y direction representing the left side of the self-moving device 100 and the negative Y direction representing the right side of the self-moving device 100; and the height direction of the self-moving device 100 as the Z direction, with the positive Z direction representing the top of the self-moving device 100 and the negative X direction representing the bottom of the self-moving device 100. The self-moving device 100 is described using a lawnmower as an example.

[0038] Referring to Figures 1, 2, and 3, the self-moving device 100 includes a chassis 110, a cover 120, and a motor 130. The chassis 110 includes a mounting portion 111 located at the rear end of the chassis 110, which is the side of the chassis facing the opposite direction (X). The mounting portion 111 has a shaft cavity 112 to accommodate the motor shaft 131.

[0039] The self-moving device 100 also includes a tire 140. The motor 130 has a motor shaft 131 and can drive the tire 140 to rotate, thereby moving the self-moving device 100. Specifically, the motor 130 is the power source of the self-moving device 100. When the motor 130 is energized and started, it transmits power to the tire 140, which then rotates under the drive of the motor 130, thus propelling the entire self-moving device 100 forward or backward. The motor shaft 131 of the motor 130 is located within a shaft cavity 112 on the mounting portion 111. After the motor 130 is installed with the chassis 110, the motor 130 is located on opposite sides of the chassis 110 in the Y direction. The axis of the motor shaft 131 and the axis of the shaft cavity 112 coincide, and the axis of the motor shaft 131 extends along the Y direction, as does the axis of the shaft cavity 112.

[0040] The chassis 110 and the cover 120 are fixedly connected, and the cover 120 is specifically fixedly connected to the mounting part 111 of the chassis 110. The cover 120 is located on the side of the chassis 110 opposite to the Z-direction. The cover 120 includes a combing part 121 and a fixing part 122. The combing part 121 and the fixing part 122 are an integral structure, which can be integrated into a single integral structure through processes such as injection molding, die casting, or stamping. The integral structure can reduce the steps of separately manufacturing and assembling the combing part 121 and the fixing part 122, simplify the production process, make the overall structure of the self-moving device 100 more robust and compact, facilitate assembly, and improve assembly efficiency.

[0041] The grass-grooming section 121 includes grass-grooming teeth 123, the tips of which extend towards the bottom of the chassis 110, i.e., the grass-grooming teeth 123 extend in the opposite direction (Z). The grass-grooming section 121 is located at the rear end of the fixing section 122 and the chassis 110. The rear end of the fixing section 122 and the chassis 110 respectively refer to the end of the fixing section 122 in the opposite direction (X) and the end of the chassis 110 in the opposite direction (X). The grass-grooming section 121 can effectively groom the lawn, especially after the self-operated mobile device 100 has finished mowing, by grooming and organizing the grass clippings, making them easier to collect or remove, thus improving the cutting efficiency and effect of the self-operated mobile device 100. The grass-grooming section 121 is located at the end of the fixing section 122 and the chassis 110 in the opposite direction (X), and its blocking function prevents the user's feet or hands from reaching into the blades of the self-operated mobile device 100 from the chassis 110, reducing the risk of accidental injury during operation.

[0042] The fixing part 122 can cover the outer wall surface of the shaft cavity 112. The fixing part 122 can be fixedly connected to the mounting part 111 and cooperate with the mounting part 111 to fix the motor shaft 131 in the shaft cavity 112.

[0043] The self-moving device 100 provided in this application includes a cover 120. The combing part 121 and the fixing part 122 of the cover 120 are integrated into one piece. After the cover 120 is fixedly connected to the mounting part 111 of the chassis 110, the cover 120 can comb grass and also cooperate with the mounting part 111 to fix the motor shaft 131 of the motor 130 in the shaft cavity 112. Integrating the combing part 121 and the fixing part 122 into one piece results in a compact structure. During assembly, the functions of combing grass and fixing the motor shaft 131 can be realized simply by installing it with the chassis 110. This simplifies assembly and improves assembly efficiency.

[0044] In one possible implementation, referring to Figures 4 and 5, the combing part 121 includes a comb handle 124, with the roots of the comb teeth 123 fixed to the comb handle 124. The number of comb teeth 123 is at least two, and can be four, five, or six, etc. At least two comb teeth 123 are spaced apart along the extending direction of the comb handle 124, which is parallel to the axial direction of the motor shaft 131. The axial direction of the motor shaft 131 is the Y-direction, and the extending direction of the comb handle 124 can be parallel to or also in the Y-direction. The at least two comb teeth 123 extend along the Y-direction, allowing them to comb and organize grass clippings. Simultaneously, the comb teeth 123 extend in the opposite Z-direction, also acting as reinforcing ribs, thereby improving the structural strength of the cover 120.

[0045] In one possible implementation, referring to Figures 4 and 5, the fixing part 122 includes a connecting part 125 and sub-fixing parts 126 located on opposite sides of the connecting part 125 along the axial direction of the motor shaft 131. The connecting part 125 and the sub-fixing parts 126 are an integral structure. After the motor 130 is installed with the mounting part 111, the motor 130 is located on opposite sides of the chassis 110 in the Y direction, and the axial direction of the motor shaft 131 is the Y direction. The sub-fixing parts 126 are located on opposite sides of the connecting part 125 in the Y direction. There can be two motors 130, and the shaft cavity 112 contains two motor shafts 131. There are also two sub-fixing parts 126, and both sub-fixing parts 126 can cooperate with the mounting part 111 to fix the two motor shafts 131 in the shaft cavity 112 respectively. The connecting part 125 extends in the X direction and is perpendicular to the axial direction (Y direction) of the motor shaft 131. The connecting part 125 is connected to the combing part 121. The connecting part 125 is connected between the combing part 121 and the sub-fixing part 126. The combing part 121 is located on the side of the connecting part 125 in the opposite direction of X. The sub-fixing part 126 and the combing part 121 are arranged opposite to each other in the extending direction of the connecting part 125.

[0046] In one possible implementation, referring to FIG5, a rib 1251 is provided on the connecting portion 125, and the rib 1251 is located on the side of the connecting portion 125 facing the chassis 110. The rib 1251 can extend in the X direction, consistent with the extension direction of the connecting portion 125. The number of ribs 1251 can be at least one, and when the number of ribs 1251 is at least two, the ribs 1251 can be spaced apart in the Y direction on the connecting portion 125. The rib 1251 can improve the structural strength of the connecting portion 125.

[0047] In one possible implementation, referring to Figures 3 and 4, the connecting portion 125 has a first surface 1252, which is the surface of the connecting portion 125 facing away from the chassis 110, i.e., the surface of the connecting portion 125 in the opposite Z direction. The sub-fixing portion 126 has a second surface 1261, which is the surface of the sub-fixing portion 126 facing away from the chassis 110, i.e., the surface of the sub-fixing portion 126 in the opposite Z direction. The second surface 1261 is located on one side of the first surface 1252 along the extension direction of the tips of the comb teeth 123. The extension direction of the tips of the comb teeth 123 is in the opposite Z direction. The second surface 1261 is located on one side of the first surface 1252 along the opposite Z direction. It can be understood that when the self-moving device 100 is working, the second surface 1261 is closer to the ground than the first surface 1252, which can reduce the accumulation of grass clippings and reduce the risk of grass clipping blockage.

[0048] In one possible implementation, referring to FIG6, the self-moving device 100 includes a connector 150, which is sleeved on a motor shaft 131. The connector 150 has a through hole through which the motor shaft 131 passes, thereby allowing the connector 150 to be sleeved on the motor shaft 131. The connector 150 and the motor shaft 131 are fixedly connected and do not move relative to each other. After the connector 150 is sleeved on the motor shaft 131, the connector 150 and the motor shaft 131 are together housed within a shaft cavity 112. The connector 150 is located within the shaft cavity 112, and the connector 150 may be partially or completely housed within the shaft cavity 112. The connector 150 can abut against a sub-fixing part 126 to fix the motor shaft 131 within the shaft cavity 112. When the cover 120 is installed with the mounting part 111, the sub-fixing part 126 can be fixedly connected with the mounting part 111. After the mounting part of the chassis 110 is installed with the cover 120, the sub-fixing part 126 abuts against and presses the connector 150, so that the connector 150 is fixed in the shaft cavity 112. The connector 150 is fixedly connected with the motor shaft 131, so that the fixing part 122 can fix the motor shaft 131 and prevent the motor shaft 131 from rotating.

[0049] Specifically, referring to Figures 5, 6, 7, and 8, the sub-fixing part 126 is provided with a first protrusion 1262, and the connecting member 150 is provided with a first slot 151, and / or, the sub-fixing part 126 is provided with a first slot 151, and the connecting member 150 is provided with a first protrusion 1262. The sub-fixing part 126 may be provided with a first protrusion 1262, and the connecting member 150 may be provided with a first slot 151. Alternatively, the sub-fixing part 126 is provided with a first slot 151, and the connecting member 150 is provided with a first protrusion 1262. Alternatively, the sub-fixing part 126 is provided with both a first protrusion 1262 and a first slot 151, and the connecting member 150 is provided with both a first slot 151 and a first protrusion 1262.

[0050] The connector 150 is located in the shaft cavity 112 of the mounting part 111. The mounting part 111 has an opening 113 facing the sub-fixing part 126. After the cover 120 and the mounting part 111 of the chassis 110 are installed, at least part of the first protrusion 1262 passes through the opening 113 and is located in the shaft cavity 112. The first protrusion 1262 is located in the first slot 151 and abuts against the inner wall of the first slot 151. The first slot 151 can cooperate with the first protrusion 1262 to fix the motor shaft 131 in the shaft cavity 112.

[0051] The following is a detailed description using the example of a first protrusion 1262 provided on the fixing part 126 and a first slot 151 provided on the connector 150.

[0052] In one embodiment, referring to Figures 5, 6, 7, and 8, a first protrusion 1262 is provided on the sub-fixing part 126. The first protrusion 1262 is located on one side of the sub-fixing part 126 in the positive Z direction and extends along the positive Z direction to form a protrusion. A first slot 151 is provided on the connector 150, located on the side of the connector 150 in the negative Z direction. The wall surface of the connector 150 on the negative Z direction side is flat, with a portion of the wall surface recessed in the positive Z direction to form a slot structure. During assembly, the connector 150 is sleeved on the motor shaft 131, and the motor shaft 131 and the connector 150 are together housed in the shaft cavity 112. The mounting part 111 has an opening 113 in the negative Z direction, which communicates with the slot of the first slot 151 in the negative Z direction. In the Z direction, the projection of the opening 113 coincides with the projection of the first slot 151. The opening 113 allows the first protrusion 1262 to pass through. The first protrusion 1262 can pass through the opening 113 into the shaft cavity 112 and engage with the first slot 151 located within the shaft cavity 112. When the first protrusion 1262 engages with the first slot 151, the first protrusion 1262 is located within the first slot 151 and abuts against the inner wall of the first slot 151. When the cover 120 is fixedly connected to the chassis 110, the first protrusion 1262 on the cover 120 can engage with the first slot 151 within the shaft cavity 112 to achieve a locking action, thereby fixing the motor shaft and preventing the motor shaft from rotating.

[0053] In one possible implementation, a groove 1263 is provided on the first protrusion 1262, with the opening of the groove 1263 facing the first slot 151. The first protrusion 1262 can be provided on the sub-fixing part 126 or on the connector 150. When the first protrusion 1262 is provided on the sub-fixing part 126, as shown in Figures 5 and 6, the first protrusion 1262 extends along the positive Z direction, the first slot 151 is located on one side of the first protrusion 1262 in the positive Z direction, and the groove 1263 is provided on the first protrusion 1262 with the opening facing the positive Z direction. When the first protrusion 1262 is provided on the connector 150, the first protrusion 1262 extends along the negative Z direction, the first slot 151 is located on the side of the first protrusion 1262 in the negative Z direction, and the groove 1263 is provided on the first protrusion 1262 with the opening facing the negative Z direction. Providing a groove 1263 on the first protrusion 1262 can reduce the weight of the first protrusion 1262.

[0054] In one possible implementation, referring to Figures 4, 5, and 8, at least one of the connecting portion 125 and the sub-fixing portion 126 is provided with a first hole structure 1253. The connecting portion 125 may have the first hole structure 1253; or the sub-fixing portion 126 may have the first hole structure; or both the connecting portion 125 and the sub-fixing portion 126 may have the first hole structure 1253. The mounting portion 111 is provided with a second hole structure 114, and the first hole structure 1253 and the second hole structure 114 are connected. The first hole structure 1253 and the second hole structure 114 are used to pass through the fastener 200 to securely connect the cover 120 and the mounting portion 111.

[0055] In one embodiment, both the connecting portion 125 and the sub-fixing portion 126 are provided with a first hole structure 1253, and the mounting portion 111 is provided with a second hole structure 114 at a position corresponding to the connecting portion 125 and the sub-fixing portion 126. The first hole structure 1253 and the second hole structure 114 are connected. The first hole structure 1253 on the connecting portion 125 cooperates with the second hole structure 114 on the mounting portion 111, and the fastener 200 passes through the first hole structure 1253 and the second hole structure 114 to fix the cover 120 and the mounting portion 111. The first hole structure 1253 on the sub-fixing portion 126 cooperates with the second hole structure 114 on the mounting portion 111, and the fastener 200 passes through the first hole structure 1253 and the second hole structure 114 to fix the cover 120 and the chassis 110. The first hole structure 1253 provided on the sub-fixing part 126 can make the contact between the sub-fixing part 126 and the connecting member 150 tighter, and better fix the motor shaft 131.

[0056] In one embodiment, as shown in Figures 2, 4, 5 and 8, a first hole structure 1253 may be provided on the sub-fixing part 126. The first hole structure 1253 can penetrate the first protrusion 1262. When the sub-fixing part 126 is fixedly connected to the mounting part 111, the first hole structure 1253 located on the first protrusion 1262 can further deepen the abutment between the first protrusion 1262 and the first slot 151.

[0057] In one embodiment, as shown in Figures 2, 4, 5, and 8, the fastener 200 can be a screw, and the first hole structure 1253 and the second hole structure 114 can be threaded holes, allowing the cover 120 to be fixedly connected to the chassis 110 via threaded engagement. Furthermore, the cover 120 and the chassis 110 are detachable for easy disassembly and replacement.

[0058] In one possible implementation, the fixing part 122 is provided with a second protrusion 1221, and the mounting part 111 is provided with a second slot 115, and / or, the fixing part 122 is provided with a second slot 115, and the mounting part 111 is provided with a second protrusion 1221. The fixing part 122 may be provided with a second protrusion 1221, and the mounting part 111 may be provided with a second slot 115. Alternatively, the fixing part 122 is provided with a second slot 115, and the mounting part 111 is provided with a second protrusion 1221. Alternatively, the fixing part 122 is provided with a second protrusion 1221 and a second slot 115, and the mounting part 111 is provided with a second slot 115 and a second protrusion 1221. When the cover 120 is fixedly connected to the mounting part 111, the second protrusion 1221 is located within the second slot 115 and abuts against the inner wall of the second slot 115. The second slot 115 can cooperate with the second protrusion 1221 to connect the cover 120 and the mounting part 111 together. The cooperation between the second protrusion 1221 and the second slot 115 can position the mounting part 111 and the fixing part 122 for installation, facilitating the quick installation of the mounting part 111 and the fixing part 122.

[0059] In one embodiment, referring to Figures 3 and 5, a second protrusion 1221 is provided on the fixing part 122. The second protrusion can be provided on the sub-fixing part 126. The second protrusion 1221 extends in the positive Z direction. A second slot 115 is provided on the mounting part 111. When the cover 120 is fixedly connected to the mounting part 111, the second protrusion 1221 is located in the second slot 115 and abuts against the inner wall of the second slot 115. The second slot 115 can cooperate with the second protrusion 1221 to connect the cover 120 and the mounting part 111 together.

[0060] In one possible implementation, referring to FIG9, the self-moving device 100 includes a battery (not shown) and a battery cover 160, the battery being able to power some structures of the self-moving device 100 (e.g., motors and circuits).

[0061] The battery cover 160 is located on the side of the combing section 121 opposite to the fixing section 122, that is, the battery cover 160 is located on the side of the combing section 121 opposite to the X direction. The battery is installed inside the self-moving device 100, and the battery cover 160 is installed on the side of the self-moving device 100 opposite to the X direction. The battery cover 160 is used to cover the battery and fix the battery inside the self-moving device 100. The battery cover 160 can protect the battery from dust, water and other external factors that may damage the battery. A third protrusion 161 is provided on the battery cover 160, the third protrusion 161 extends toward the bottom of the chassis 110, and the third protrusion 161 extends in the opposite Z direction on the battery cover 160. The comb section 121 is provided with a third slot 1211, and a third protrusion 161 corresponds to the third slot 1211. Therefore, when the battery cover 160 is installed, the third protrusion 161 on the battery cover 160 inserts into the third slot 1211 and abuts against the inner wall of the third slot 1211. This cooperative design of the third slot 1211 and the third protrusion 161 allows the battery cover 160 to be quickly and accurately installed into the comb section 121 during installation.

[0062] In one possible implementation, a third hole structure 162 is provided on the third protrusion 161, and a fourth hole structure 116 is provided on the mounting portion 111. The third hole structure 162 and the fourth hole structure 116 are connected and are used to pass through the fastener 200 to fix the battery cover 160 and the mounting portion 111. Referring to Figures 8 and 9, the battery cover 160 is located on the opposite side of the chassis 110 in the X direction and is fixedly connected to the mounting portion 111 of the chassis 110. The third hole structure 162 is provided on the third protrusion 161 of the battery cover 160 and penetrates the third protrusion 161 in the X direction. The fourth hole structure 116 is provided on the mounting portion 111. The third hole structure 162 and the fourth hole structure 116 are connected. When the battery cover 160 and the mounting part 111 are installed, the fastener 200 passes through the third hole structure 162 and the fourth hole structure 116 to securely connect the battery cover 160 and the mounting part 111 of the chassis 110 together.

[0063] In one embodiment, the fastener can be a screw, and the third hole structure 162 and the fourth hole structure 116 can be threaded holes, which can fix the battery cover 160 to the chassis 110 through threaded engagement, ensuring that the battery is firmly installed inside the self-moving device 100 and preventing the battery from loosening or falling off during use. At the same time, the battery cover 160 and the chassis 110 can be disassembled, which facilitates the removal and replacement of the battery.

[0064] In one possible implementation, the self-moving device 100 includes tires 140, with at least two tires 140, and the number of tires 140 can be two, four, etc. At least two tires 140 are located on opposite sides of the chassis 110 along the axial direction of the motor shaft. The tires 140 can be the rear wheels of the self-moving device 100, that is, the tire 140 on the opposite side of the X direction of the self-moving device 100 is the rear wheel of the self-moving device 100. In this embodiment, referring to Figures 1 and 6, the number of tires 140 is two. And the two tires 140 are located on opposite sides of the chassis 110 in the Y direction. The number of motors 130 is at least two, and the number of motors 130 can be two, four, etc. The motors 130 and tires 140 are matched one-to-one. A one-to-one matching connection between the motors 130 and tires 140 means that the number of motors 130 is the same as the number of tires 140, each tire 140 is connected to one motor 130, and each tire 140 is driven by one motor 130. The motor 130 is at least partially located inside the tire 140, and the motor shaft 131 is located on the outside of the tire 140. Alternatively, the motor 130 can be a hub motor, with its housing and some structural components directly mounted inside the tire 140. The motor shaft 131 is located on the outside of the tire 140 and within the shaft cavity 112 of the chassis 110. During operation, the motor shaft 131 is fixed within the chassis 110 and does not rotate. When the hub motor is operating, its rotational force is directly transmitted to the tire 140, enabling the hub motor to directly drive the tire 140 to rotate, thereby moving the self-moving device 100.

[0065] In one possible implementation, referring to Figures 2 and 9, the motor 130 is partially located inside the tire 140, and the motor shaft 131 is located outside the tire 140. The tire 140 and the motor shaft 131 are coaxially arranged, and the line connecting the centers of the two tires 140 coincides with the axis of the motor shaft 131. The combing part 121 is located on the side of the motor shaft 131 facing the rear end of the chassis 110. The side of the motor shaft 131 facing the rear end of the chassis 110 is the side of the motor shaft 131 in the opposite X direction. The combing part 121 is located on the side of the motor shaft 131 in the opposite X direction. The combing part 121 is located closer to the rear end of the self-moving device 100, which can prevent the user's feet or hands from reaching into the bottom of the self-moving device through the combing part 121, thereby preventing the user's feet or hands from contacting the blade disc, reducing the risk of accidental injury to the user during operation, and improving safety.

[0066] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A self-moving device, characterized in that, include: The chassis includes a mounting section located at the rear end of the chassis, and the mounting section has a shaft cavity. An electric motor, wherein the motor shaft is located within the shaft cavity, and the axis of the motor shaft coincides with the axis of the shaft cavity; The cover is fixedly connected to the mounting part. The cover includes a combing part and a fixing part. The combing part and the fixing part are an integral structure. The fixing part is used to cooperate with the mounting part to fix the motor shaft in the shaft cavity. The combing part includes combing teeth. The tips of the combing teeth extend towards the bottom of the chassis. The combing part is located at the rear end of the fixing part and the chassis.

2. The self-moving device according to claim 1, characterized in that, The combing part includes a comb handle, the roots of the comb teeth are fixed on the comb handle, the number of comb teeth is at least two, the at least two comb teeth are spaced apart along the extension direction of the comb handle, and the extension direction of the comb handle is parallel to the axial direction of the motor shaft.

3. The self-moving device according to claim 1, characterized in that, The fixing part includes a connecting part and sub-fixing parts located on opposite sides of the connecting part along the axial direction of the motor shaft. The connecting part is connected to the combing part, and the extending direction of the connecting part is perpendicular to the axial direction of the motor shaft. The sub-fixing parts and the combing part are arranged opposite to each other in the extending direction of the connecting part.

4. The self-moving device according to claim 3, characterized in that, The self-moving device includes a connector, which is sleeved on the motor shaft and fixedly connected to the motor shaft, and the connector is located inside the shaft cavity; The sub-fixing part is provided with a first protrusion, the connector is provided with a first slot, and / or the sub-fixing part is provided with a first slot and the connector is provided with a first protrusion; The mounting portion has an opening toward the sub-fixing portion, at least a portion of the first protrusion passes through the opening and is located within the shaft cavity, the first protrusion is located within the first slot and abuts against the inner wall of the first slot to fix the motor shaft within the shaft cavity.

5. The self-moving device according to claim 3, characterized in that, At least one of the connecting part and the sub-fixing part is provided with a first hole structure, and the mounting part is provided with a second hole structure. The first hole structure and the second hole structure are connected and are used to pass through fasteners to fix the cover and the mounting part.

6. The self-moving device according to any one of claims 1-5, characterized in that, The fixing part is provided with a second protrusion, the mounting part is provided with a second slot, and / or the fixing part is provided with a second slot, the mounting part is provided with a second protrusion, the second protrusion is located in the second slot and abuts against the inner wall of the second slot.

7. The self-moving device according to any one of claims 1-5, characterized in that, The self-moving device includes a battery cover located on the side of the combing part away from the fixing part. The battery cover has a third protrusion extending toward the bottom of the chassis. The combing part has a third slot, and the third protrusion is located in the third slot and abuts against the inner wall of the third slot.

8. The self-moving device according to claim 7, characterized in that, The third protrusion is provided with a third hole structure, and the mounting part is provided with a fourth hole structure. The third hole structure and the fourth hole structure are connected and are used for fasteners to pass through to fix the battery cover and the mounting part.

9. The self-moving device according to any one of claims 1-5, characterized in that, The self-moving device includes tires, and the number of tires is at least two. The at least two tires are located on opposite sides of the chassis along the axial direction of the motor shaft. The number of motors is at least two. The motors are matched and connected to the tires one-to-one. The motors are at least partially located inside the tires, and the motor shafts are located on the outside of the tires.

10. The self-moving device according to claim 9, characterized in that, The tire is coaxially arranged with the motor shaft, and the combing part is located on the side of the motor shaft facing the rear end of the chassis.

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