Self-propelled robotic work tool

Abstract

A self-propelled robotic work tool (1) is disclosed, comprising: a tool chassis (3); and a plurality of tool support members (61, 62, 63) attached to the tool chassis (3) and configured to rest against a ground surface (27) in a first plane (P1) during operation of the work tool (1). The work tool (1) further comprises: a plurality of snap-fit assemblies (s1-s4); and a tool body (5) attachable to the tool chassis (3) via the plurality of snap-fit assemblies (s1-s4). The plurality of snap-fit assemblies (s1-s4) are configured to allow at least a portion (5') of the tool body (5) to move relative to the tool chassis (3) in a direction (d1, d2) substantially perpendicular to the first plane (P1) between a lowered position and a raised position when the tool body (5) is attached to the tool chassis (3) via the plurality of snap-fit assemblies (s1-s4).

Description

Technical Field

[0001] This disclosure relates to self-propelled robotic work tools. More specifically, this disclosure relates to self-propelled robotic work tools comprising a tool chassis and a tool body attachable to the tool chassis. Background Technology

[0002] Self-propelled robotic work tools (such as self-propelled automatic lawnmowers) are becoming increasingly popular, partly because they can often perform tasks previously done manually. Self-propelled robotic work tools can navigate autonomously within an area, meaning without user intervention or direct control. The robotic work tool can move in systematic and / or random patterns to ensure complete coverage of the area. Some robotic work tools require the user to set boundary lines around the area where the robotic work tool will operate. These robotic work tools use sensors to locate the lines and thus determine the boundaries of the area to be covered.

[0003] In addition, robotic work tools typically include other types of positioning units and sensors, such as sensors for detecting events, such as collisions with objects in the area, lifting events, etc. Furthermore, some robotic work tools include satellite-based positioning units. Satellite-based positioning units typically utilize space-based satellite navigation systems, such as the Global Positioning System (GPS), the Russian GLONASS, the European Union's Galileo positioning system, the Chinese BeiDou Navigation Satellite System, or the Indian Regional Navigation Satellite System, to provide an estimate of the robotic work tool's current position. Typically, robotic work tools operate unattended within their operating area. Examples of such areas include lawns, gardens, parks, sports fields, and golf courses.

[0004] Typically, robotic work tools include a control unit configured to navigate the tool based on inputs from one or more positioning units and sensors of the aforementioned types. Furthermore, robotic work tools typically include one or more batteries configured to power one or more electric propulsion motors and / or one or more electrically driven tools (e.g., one or more cutting tools).

[0005] Many robotic tools include a tool chassis with multiple tool support components (such as wheels) and a tool body attached to the tool chassis. The tool body may include, for example, a shell of the robotic tool, multiple mudguards, etc.

[0006] Robotic tools typically operate in areas where substances such as dust, debris, and / or grass clippings can accumulate on their various parts and components. Furthermore, at certain times, it may be necessary or desirable to perform repairs, maintenance, or servicing on these robotic tools. Therefore, it is advantageous to have easy access to the various components of the robotic tool, for purposes such as cleaning, repair, maintenance, or replacement. However, in many cases, specialized tools and skills are required to access the various parts and components of the robotic tool. Therefore, such work is currently typically performed by professionals.

[0007] Furthermore, as noted, robotic tools may collide with objects during operation and may be subjected to rough handling by users. Therefore, it is advantageous to design robotic tools that can withstand collisions and impacts from different directions.

[0008] Furthermore, in today's consumer market, it is generally advantageous if a product (such as robotic tools and related components, systems, and devices) has conditions and / or features suitable for cost-effective manufacturing and assembly. Summary of the Invention

[0009] The purpose of this invention is to overcome or at least alleviate some of the aforementioned problems and disadvantages.

[0010] According to a first aspect of the invention, this objective is achieved by a self-propelled robotic working tool comprising: a tool chassis; a plurality of tool support members attached to the tool chassis and configured to abut against a ground surface in a first plane during operation of the working tool; a plurality of snap-fit ​​components; and a tool body attachable to the tool chassis via the plurality of snap-fit ​​components. The plurality of snap-fit ​​components are configured to allow at least a portion of the tool body to move relative to the tool chassis in a direction substantially perpendicular to the first plane between a lowered position and an raised position when the tool body is attached to the tool chassis via the plurality of snap-fit ​​components.

[0011] Because the tool body can be attached to the tool chassis via multiple snap-fit ​​components, robotic work tools are designed to allow for quick and easy attachment and removal of the tool body from the tool chassis without the need for specific tools or skills. Therefore, due to these features, cleaning, repair, maintenance, or replacement of parts and components of robotic work tools can be performed in a faster and simpler manner.

[0012] Furthermore, since multiple snap-fit ​​components are configured to allow at least a portion of the tool body to move relative to the tool chassis between a lowered position and an raised position, the relative movement between at least a portion of the tool body and the tool chassis is allowed in a simple and efficient manner, while providing conditions for quickly and easily attaching and removing the tool body from the tool chassis.

[0013] The relative movement of at least a portion of the tool body with respect to the tool chassis between a lowered position and an raised position can be utilized by a sensor used to detect various events, such as lifting events of the robotic working tool. Therefore, the robotic working tool is configured to simplify this detection while allowing for quick and easy attachment and removal of the tool body from the tool chassis without requiring specific tools or skills.

[0014] Furthermore, since the tool body can be attached to the tool chassis via multiple snap-fit ​​components, the robotic tooling is configured with conditions and features suitable for cost-effective manufacturing and assembly. This is because the tool body is attached to the tool chassis using low-cost devices (i.e., multiple snap-fit ​​components), and because the tool body can be attached to the tool chassis quickly and easily during the assembly of the robotic tooling (e.g., in a manufacturing plant).

[0015] Therefore, a robotic operation tool is provided that overcomes or at least mitigates some of the aforementioned problems and disadvantages. As a result, the above objectives are achieved.

[0016] Optionally, the plurality of snap-fit ​​components include a first snap-fit ​​component comprising a first snap-fit ​​element disposed on the tool chassis and a second snap-fit ​​element disposed on the tool body. One of the first and second snap-fit ​​elements includes a snap-fit ​​hole, and the other includes a snap-fit ​​protrusion configured to protrude into the snap-fit ​​hole when the tool body is attached to the tool chassis. This ensures a rigid and reliable connection between the tool body and the tool chassis. Furthermore, the robotic tool is configured to allow the user to remove the tool body from the tool chassis in a simple and convenient manner.

[0017] Optionally, the width of the snap-fit ​​hole, measured in a direction perpendicular to the first plane, is greater than the width of the snap-fit ​​protrusion. This allows at least a portion of the tool body to move relative to the tool chassis between a lowered position and an raised position in a simple and cost-effective manner. This is because the width of the snap-fit ​​hole being greater than the width of the snap-fit ​​protrusion provides a clearance, allowing the snap-fit ​​protrusion to move within the snap-fit ​​hole as at least a portion of the tool body moves relative to the tool chassis between the lowered and raised positions. Furthermore, these features eliminate the need to configure one or both of the first and second snap-fit ​​elements to be movable relative to the robot tool or tool chassis.

[0018] Optionally, the snap-fit ​​protrusion is configured to abut against the inner defining surface of the snap-fit ​​hole when the tool body is attached to the tool chassis via multiple snap-fit ​​components, to prevent the tool body from moving beyond the raised position. Thus, movement of at least a portion of the tool body relative to the tool chassis between the lowered and raised positions is allowed in a simple and cost-effective manner, while ensuring attachment of the tool body to the tool chassis of the robotic tool.

[0019] Optionally, one of the first and second snap-fit ​​elements is formed as a cantilever. This provides a user-friendly robotic tool that allows for quick and easy attachment and removal of the tool body to and from a tool chassis without requiring specific tools or skills. Furthermore, the robotic tool is configured with features suitable for cost-effective manufacture and assembly.

[0020] Optionally, the first snap-fit ​​assembly is located at the front section of the working tool as seen from the forward movement direction of the working tool. Thus, the robotic working tool is configured to allow for quick and easy attachment and removal of the tool body to and from the tool chassis, and to allow the front section of the tool body to move between a lowered position and an raised position relative to the tool chassis in a simple and cost-effective manner.

[0021] Optionally, the plurality of snap-fit ​​components includes a second snap-fit ​​component, wherein the first and second snap-fit ​​components are disposed on corresponding sides of the vertical longitudinal center plane of the working tool. This further ensures a rigid and reliable attachment between the tool body and the tool chassis.

[0022] Optionally, the plurality of snap-fit ​​components includes a third snap-fit ​​component, wherein the first snap-fit ​​component and the third snap-fit ​​component are disposed on corresponding sides of the vertical and horizontal center plane of the working tool. This further ensures a rigid and reliable attachment between the tool body and the tool chassis.

[0023] Optionally, the working tool includes a top cover that can be attached to the tool body via a releasable attachment device. This allows for a simple and cost-effective improvement in the aesthetic appearance of the robotic working tool. Furthermore, the top cover prevents dust and debris from entering the tool body from the top of the robotic working tool.

[0024] Optionally, when the top cover is attached to the tool body, the top cover prevents access to at least one of the multiple snap-fit ​​components. Therefore, when the top cover is attached to the tool body, accidental opening of at least one snap-fit ​​component is prevented in a simple and effective manner. Consequently, when the top cover is attached to the tool body, accidental separation of the tool body from the tool chassis is effectively prevented.

[0025] Optionally, the tool body includes a plurality of holes, each hole being disposed at a snap-fit ​​assembly among a plurality of snap-fit ​​components, and having dimensions allowing a portion of at least one finger of a user to be inserted into the hole to contact the snap-fit ​​assembly, wherein a top cover is configured to cover the plurality of holes when attached to the tool body. Due to the plurality of holes, the robotic working tool is configured to allow a user to easily unlock the snap-fit ​​assembly by inserting at least one finger into one of the holes. Furthermore, since the top cover is configured to cover the plurality of holes when attached to the tool body, accidental opening of the snap-fit ​​assembly can be prevented in a simple and effective manner when the top cover is attached to the tool body. Consequently, accidental separation of the tool body from the tool chassis is effectively prevented when the top cover is attached to the tool body. Moreover, since these features and conditions are configured for a substantially flat top cover, they contribute to a more aesthetically pleasing appearance for the robotic working tool.

[0026] Optionally, the working tool includes a plurality of fastening members that can be attached to the tool body, and each fastening member is configured to prevent one of the plurality of snap-fit ​​components from opening when attached to the tool body. Thus, accidental opening of the snap-fit ​​components, and thereby accidental separation of the tool body from the tool chassis, can be further prevented quickly and effectively simply by attaching the plurality of fastening members to the tool body.

[0027] Optionally, the top cover includes multiple fastening members, each configured to prevent one of the multiple snap-fit ​​components from opening when the top cover is attached to the tool body. Therefore, accidental opening of the snap-fit ​​components, and consequently accidental separation of the tool body from the tool chassis, can be further prevented more quickly and effectively simply by attaching the top cover to the tool body.

[0028] Optionally, the working tool includes a fixing assembly comprising a first fixing structure disposed on a tool chassis and a second fixing structure disposed on a tool body, wherein the first and second fixing structures are configured to abut against each other when the tool body is attached to the tool chassis to prevent movement of the tool body relative to the tool chassis in a direction substantially perpendicular to the first plane while allowing movement of the tool body relative to the tool chassis in a direction substantially perpendicular to the first plane. Therefore, due to the fixing assembly, low or no force is obtained on the multiple snap-fit ​​components in the event of a collision between the robotic working tool and an external object in a direction substantially parallel to the first plane. As a result, a more rigid and durable robotic working tool is provided, and wear on the multiple snap-fit ​​components can be reduced. Furthermore, due to these features, accidental opening of the snap-fit ​​components can be further prevented, and thus accidental separation of the tool body from the tool chassis can also be prevented.

[0029] Optionally, the fixing assembly includes a first pair of fixing elements and a second pair of fixing elements, each pair including a fixing element disposed on the tool chassis and a fixing element disposed on the tool body, wherein the first pair of fixing elements and the second pair of fixing elements are disposed on corresponding sides of the vertical longitudinal center plane of the working tool. Therefore, a more rigid and durable robotic working tool can be provided, for example, because the rotation of the tool body relative to the tool chassis can be effectively prevented by the first pair of fixing elements and the second pair of fixing elements.

[0030] Optionally, the fixing assembly includes a third pair of fixing elements, which includes fixing elements disposed on the tool chassis and fixing elements disposed on the tool body, wherein the third pair of fixing elements is located on a side of the vertical-to-lateral center plane of the working tool that is different from the first pair of fixing elements and the second pair of fixing elements. Therefore, a more rigid and durable robotic working tool can be provided, for example, because rotation of the tool body relative to the tool chassis can be effectively prevented by the first pair of fixing elements, the second pair of fixing elements, and the third pair of fixing elements.

[0031] Optionally, the working tool includes a sensor configured to detect movement of the tool body from a descending position to an ascending position. Thus, the robotic working tool is configured to detect events such as lifting events of the robotic working tool in a simple and efficient manner, while allowing the tool body to be quickly and easily attached to and removed from the tool chassis without requiring specific tools or skills.

[0032] Alternatively, the working tool is a self-propelled robotic lawnmower. Because the tool body can be attached to the tool chassis via multiple snap-fit ​​components, the robotic lawnmower is designed to allow for quick and easy attachment and removal of the tool body from the tool chassis without requiring specific tools or skills. Therefore, due to these features, cleaning, repair, maintenance, or replacement of the robotic lawnmower's components and parts can be performed quickly and easily.

[0033] Furthermore, relative movement between at least a portion of the robotic lawnmower's tool body and the tool chassis is permitted in a simple and efficient manner, while also providing conditions for quickly and easily attaching and removing the tool body from the tool chassis.

[0034] Furthermore, because the tool body can be attached to the tool chassis via multiple snap-fit ​​components, the robotic lawnmower is configured with conditions and features suitable for cost-effective manufacturing and assembly. This is because the tool body is attached to the tool chassis using low-cost devices (i.e., multiple snap-fit ​​components), and because the tool body can be attached to the tool chassis quickly and easily during the assembly of the robotic lawnmower (e.g., in a manufacturing plant).

[0035] Further features and advantages of the invention will become apparent when examined in light of the appended claims and the following detailed description. Attached Figure Description

[0036] Various aspects of the invention, including its particular features and advantages, will be readily understood from the exemplary embodiments discussed in the following detailed description and accompanying drawings:

[0037] Figure 1 A self-propelled robotic work tool according to some embodiments is shown.

[0038] Figure 2 It shows Figure 1 The first top view of the robotic work tool shown.

[0039] Figure 3 It shows in Figure 1 and Figure 2 The second top view of the robotic work tool shown.

[0040] Figure 4 It shows in Figure 1 and Figure 2 The first cross-section of the robotic work tool shown.

[0041] Figure 5 It shows Figure 4 An enlarged view of a portion of the first section.

[0042] Figure 6 References are shown Figures 1 to 5 The second section of the explained robotic work tool.

[0043] Figure 7 It shows Figure 6 The second section shows the tool body in the rising position.

[0044] Figure 8 A perspective view of the lower side of the tool body is shown.

[0045] Figure 9 A perspective view of the underside of the top cover is shown, and

[0046] Figure 10 References are shown Figures 1 to 9 A top view of the tool chassis of a robotic work tool. Detailed Implementation

[0047] The various aspects of the invention will now be described more fully. The same reference numerals throughout refer to the same elements. For the sake of brevity and / or clarity, well-known functions or constructions will not be described in detail.

[0048] Figure 1 A self-propelled robotic work tool 1 according to some embodiments of the present disclosure is shown. For the sake of simplicity and clarity, the self-propelled robotic work tool 1 is referred to as "work tool 1" in some places herein. According to the illustrated embodiment, the work tool 1 is a self-propelled robotic lawnmower, that is, a robotic lawnmower capable of autonomously navigating and mowing an area without user intervention or control. Furthermore, according to the illustrated embodiment, the robotic work tool 1 is a small or medium-sized robotic lawnmower configured for mowing areas used for aesthetic and recreational purposes, such as gardens, parks, urban parks, sports fields, and lawns around houses, apartments, commercial buildings, offices, etc.

[0049] According to another embodiment, as described herein, the robotic work tool 1 can be another type of robotic work tool that is capable of autonomously navigating and operating in an area without user intervention or control, such as a street sweeper, snow removal tool, mine clearance robot, or any other robotic work tool that needs to operate in a methodological and systematic or location-oriented manner in a work area.

[0050] The robotic tool 1 includes a tool chassis 3 and a plurality of tool support members 61, 63 attached to the tool chassis 3. Each tool support member 61, 63 is configured to abut against a ground surface 27 in a first plane P1 during operation of the robotic tool 1 to support the tool chassis 3 relative to the ground surface 27. Therefore, when the robotic tool 1 is located on a flat ground surface 27, the first plane P1 extends along the ground surface 27.

[0051] According to the illustrated embodiment, tool support members 61 and 63 are wheels 61 and 63 of the robotic tool 1. According to the illustrated embodiment, the robotic tool 1 includes four wheels 61 and 63, namely two drive wheels 61 and two support wheels 63. The drive wheels 61 of the robotic tool 1 can each be driven by a motor of the robotic tool 1 to provide power and / or steering for the robotic tool 1. Such motors can be mounted on the tool chassis 3 of the robotic tool 1, as further explained herein.

[0052] The robot's working tool 1 also includes the tool body 5. In Figure 1 In the middle, the tool body 5 is attached to the tool chassis 3 of the robot working tool 1. Furthermore, in Figure 1 The diagram shows the longitudinal direction ld of the robot tool 1. The longitudinal direction ld of the robot tool 1 extends in the longitudinal plane LP of the robot tool 1. The longitudinal plane LP is parallel to the first plane P1. Therefore, the longitudinal direction ld of the robot tool 1 is parallel to the first plane P1, and thus also parallel to the ground surface 27 when the robot tool 1 is positioned on the flat ground surface 27. Furthermore, the longitudinal direction ld of the robot tool 1 is parallel to the forward movement direction fd and the reverse movement direction rd of the robot tool 1.

[0053] According to the illustrated embodiment, the drive wheel 61 of the robotic tool 1 is a non-steering wheel with a fixed rolling direction relative to the tool chassis 3. The respective rolling direction of the drive wheel 61 of the robotic tool 1 is substantially parallel to the longitudinal direction ld of the robotic tool 1. According to the illustrated embodiment, the support wheel 63 is a non-driving wheel. Furthermore, according to the illustrated embodiment, the support wheel 63 can pivot about a respective pivot axis, such that the rolling direction of the respective support wheel 63 can follow the travel direction of the robotic tool 1.

[0054] From the above, it can be understood that when the drive wheel 61 of the robot tool 1 rotates at the same speed in the forward rotation direction and no wheel slippage occurs, the robot tool 1 will... Figure 1The robot tool 1 moves in the forward direction fd shown in the diagram. Similarly, when the drive wheel 61 of the robot tool 1 rotates at the same speed in the opposite direction and no wheel slippage occurs, the robot tool 1 will move as shown in the diagram. Figure 1 It moves in the opposite direction rd, as shown in the diagram. The opposite direction rd is opposite to the forward direction fd.

[0055] According to the illustrated embodiment, the robotic work tool 1 can be referred to as a four-wheel front-wheel drive robotic work tool 1. According to another embodiment, the robotic work tool 1 may be provided with a different number of wheels 61, 63, such as three wheels. Furthermore, according to another embodiment, the robotic work tool 1 may be provided with another configuration of driven and non-driven wheels, such as rear-wheel drive or all-wheel drive.

[0056] According to the illustrated embodiment, the robotic tool 1 includes a control device 21. The control device 21 can be configured to control the movement and steering of the robotic tool 1 by controlling a motor of the robotic tool 1 arranged to drive the drive wheels 61 of the robotic tool 1. According to another embodiment, the control device 21 can be configured to turn the robotic tool 1 by controlling the angle of its steering wheels. According to yet another embodiment, the robotic tool can be an articulated robotic tool, wherein the control device 21 can be configured to turn the robotic tool by controlling the angle between the frame portions of the articulated robotic tool.

[0057] Control device 21 can be configured to control the movement and steering of the robotic tool 1 to navigate it within the area to be operated. The robotic tool 1 may also include one or more sensors arranged to sense magnetic fields, and / or one or more positioning units, and / or one or more sensors arranged to detect impending or ongoing collisions with objects. Additionally, the robotic tool 1 may include a communication unit connected to control device 21. This communication unit can be configured to communicate with a remote communication unit to receive instructions from and / or send information to the remote communication unit. This communication can be performed wirelessly via a wireless connection (e.g., the Internet) or a wireless local area network (WLAN) or a wireless connection for exchanging data over short distances using short wavelengths, specifically ultra-high frequency (UHF) radio waves in the Industrial, Scientific, and Medical (ISM) band from 2.4 to 2.486 GHz.

[0058] The control device 21 can be configured to control the movement and steering of the robotic tool 1 using inputs from one or more of the aforementioned sensors and / or units, so as to navigate the robotic tool 1 in a systematic and / or random pattern to ensure complete coverage of the area. Furthermore, the robotic tool 1 may include one or more batteries configured to power its components. As an example, the one or more batteries may be configured to power the motor of the robotic tool 1 in an amount controlled by the control device 21.

[0059] Figure 2 It shows Figure 1 The first top view of the robot working tool 1 shown. Figure 2 In the diagram, the robot tool 1 is shown as viewed in a direction perpendicular to the first plane P1. Figure 2 In the image, each drive wheel 61, 62 of the robot's working tool 1 can be seen. Furthermore, in... Figure 2 In the image, the top cover 7 of the robot's working tool 1 can be clearly seen. Figure 1 The top cover 7 is also shown. The top cover 7 is attached to the tool body 5 of the robot working tool 1. The features, functions and advantages of the top cover 7 are explained further below.

[0060] Figure 3 It shows in Figure 1 and Figure 2 The second top view of the robot working tool 1 shown. Figure 3 In the middle, the top cover 7 has been removed from the tool body 5.

[0061] like Figure 3 As shown, the robot working tool 1 includes multiple snap-fit ​​components s1, s2, s3, and s4. For the purpose of simplicity and clarity, the reference numerals for the multiple snap-fit ​​components s1, s2, s3, and s4 are abbreviated as "s1-s4" in some places herein. The robot working tool 1 according to the illustrated embodiment includes four snap-fit ​​components s1-s4, namely a first snap-fit ​​component s1, a second snap-fit ​​component s2, a third snap-fit ​​component s3, and a fourth snap-fit ​​component s4. However, according to another embodiment, the robot working tool 1 may include another number of snap-fit ​​components s1-s4, for example, a number between one and eight snap-fit ​​components.

[0062] As further explained herein, the tool body 5 can be attached to the tool chassis 3 via multiple snap-fit ​​components s1-s4. Moreover, the tool body 5 can be detached from the tool chassis 3 via multiple snap-fit ​​components s1-s4.

[0063] Figure 4 It shows in Figure 1 and Figure 2 The first cross-section of the robot working tool 1 shown. The first cross-section is in relation to... Figure 1 The first plane P1 shown is in a plane perpendicular to the robot working tool 1 and is formed at the position where the first and second snap-fit ​​components s1 and s2 are provided.

[0064] According to the illustrated embodiment, the first and second snap-fit ​​components s1 and s2 have the same but mirror-image design. Therefore, in the following text, reference will primarily be made to the first snap-fit ​​component s1.

[0065] Figure 5 It shows Figure 4 An enlarged view of a portion of the first cross-section, which includes a first snap-fit ​​assembly s1. The first snap-fit ​​assembly s1 includes a first snap-fit ​​element e1 disposed on the tool base 3. Furthermore, the first snap-fit ​​assembly s1 includes a second snap-fit ​​element e2 disposed on the tool body 5. According to the illustrated embodiment, the first snap-fit ​​element e1 includes a snap-fit ​​hole 11, and the second snap-fit ​​element e2 includes a snap-fit ​​protrusion 13. Figure 5 As shown, the snap-fit ​​protrusion 13 is configured to protrude into the snap-fit ​​hole 11 when the tool body 5 is attached to the tool base 3.

[0066] According to another embodiment, the second snap-fit ​​element e2 may include a snap-fit ​​hole 11, and the first snap-fit ​​element e1 may include a snap-fit ​​protrusion 13, which is configured to protrude into the snap-fit ​​hole 11 when the tool body 5 is attached to the tool chassis 3.

[0067] exist Figure 5 The diagram shows two directions, d1 and d2. Figure 1 The directions d1 and d2 are also shown. For example... Figure 1 As shown, directions d1 and d2 are both perpendicular to the first plane P1. Figure 1 As shown, directions d1 and d2 can be called vertical directions because when the first plane P1 is horizontal, directions d1 and d2 point to the vertical direction, that is, when the robot tool 1 is positioned in the expected upright use position on a flat horizontal surface.

[0068] Unless otherwise specified, please refer to the following as well. Figures 1 to 5 .like Figure 5 As shown, the width w2 of the snap-fit ​​hole 11, measured in directions d1 and d2 perpendicular to the first plane P1, is greater than the width w1 of the snap-fit ​​protrusion 13. Furthermore, as described above, the first and second snap-fit ​​assemblies s1 and s2 are identical but have a mirror image design. Figure 4As shown, the second snap-fit ​​assembly s2 includes a first snap-fit ​​element e1' disposed on the tool chassis 3 and a second snap-fit ​​element e2' disposed on the tool body 5. Therefore, the first and second snap-fit ​​elements e1 and e2 of the first snap-fit ​​assembly s1 are identical to, but mirror images of, the first and second snap-fit ​​elements e1' and e2' of the second snap-fit ​​assembly s2.

[0069] Thus, as further explained herein, the multiple snap-fit ​​components s1-s4 are configured to allow at least a portion of the tool body 5 to move relative to the tool chassis 3 in directions d1, d2 substantially perpendicular to the first plane P1 between a lowered position and an raised position when the tool body 5 is attached to the tool chassis 3 via the multiple snap-fit ​​components s1-s4. Figures 1 to 5 In the image, tool body 5 is shown in a descending position.

[0070] Figure 6 References are shown Figures 1 to 5 The second section of the robot's working tool 1 is explained. The second section is in relation to... Figure 1 The first plane P1 shown is perpendicular to the plane and is formed at the location where the first and third snap-fit ​​components s1 and s3 are provided on the robot working tool 1. Figure 6 In the image, tool body 5 is shown in a descending position.

[0071] Figure 7 It shows Figure 6 The second section shows part 5' of the tool body 5 in the raised position. Unless otherwise stated, refer also below. Figures 1 to 7 For example, when a user lifts the robot working tool 1 by applying force to part 5' of the tool body 5, part 5' on the tool body 5 can move from a lowered position to an raised position.

[0072] As can be understood from the above description, according to the illustrated embodiment, the first and second snap-fit ​​components s1 and s2 allow a portion 5' of the robot tool 1 to move through a large-sized snap-fit ​​hole 11. Furthermore, according to the illustrated embodiment, portion 5' is the front portion of the tool body 5 as seen relative to the forward movement direction fd of the robot tool 1.

[0073] like Figure 6 and Figure 7As shown, the working tool 1 includes a sensor 35. The sensor 35 is configured to detect the movement of a portion 5' of the tool body 5 from a lowered position to an raised position. According to the illustrated embodiment, the sensor 35 is mounted on the tool chassis 3 and is a Hall effect sensor, sometimes referred to as a Hall sensor, which is a type of sensor that uses the Hall effect to detect the presence and magnitude of a magnetic field. Figure 6 and Figure 7 As shown, the robot tool 1 includes a magnet 35' mounted on the tool body 5. Thus, the sensor 35 can detect whether part 5' of the tool body 5 is in a descending or ascending position.

[0074] Sensor 35 can be operatively connected to control device 21, and control device 21 can be configured to cancel the operation of one or more devices or systems when sensor 35 detects that part 5' of tool body 5 has moved from a lowered position to an raised position. As an example, when sensor 35 detects that part 5' of tool body 5 has moved from a lowered position to an raised position, control device 21 can cancel the operation of the propulsion motor and / or tool (e.g., the cutting tool of robot tool 1) of robot working tool 1.

[0075] Moreover, such as Figure 7 As shown, when the tool body 5 is attached to the tool chassis 3 via multiple snap-fit ​​components s1 and s3, the snap-fit ​​protrusion 13 of the first snap-fit ​​component s1 is configured to abut against the inner defining surface 15 of the snap-fit ​​hole 11 to prevent part 5' of the tool body 5 from moving beyond the raised position.

[0076] The difference between the width w1 of the snap-fit ​​protrusion 13 and the width w2 of the snap-fit ​​hole 11, measured in directions d1 and d2 perpendicular to the first plane P1, can determine the distance the tool body 5' moves between the lowered and raised positions. However, according to the illustrated embodiment, as... Figure 5 As shown, the tool base 3 includes a resting surface 43. When the tool body 5 is attached to the tool base 3 and when the tool body 5 is in a lowered position relative to the tool base 3, a portion 45 of the tool body 5 is configured to abut against the resting surface 43. Therefore, according to some embodiments, the movement distance of the portion 5' of the tool body 5 between the lowered position and the raised position can be less than the difference between the width w1 of the snap-fit ​​protrusion 13 and the width w2 of the snap-fit ​​hole 11 measured in directions d1, d2 perpendicular to the first plane P1.

[0077] According to the illustrated embodiment, the width w1 of the snap-fit ​​protrusion 13, measured in directions d1 and d2 perpendicular to the first plane P1, is approximately 53% of the width w2 of the snap-fit ​​hole 11. According to another embodiment, the width w1 of the snap-fit ​​protrusion 13, measured in directions d1 and d2 perpendicular to the first plane P1, can be in the range of 20%-90% of the width w2 of the snap-fit ​​hole 11, or in the range of 35%-70%.

[0078] According to the illustrated embodiment, the joint between the resting surface 43 and the portion 45 of the tool body 5 is horizontal, i.e., parallel to the first plane P1. However, according to another embodiment, the joint between the resting surface 43 and the portion 45 of the tool body 5 may be inclined to facilitate the discharge of liquids and substances from the joint.

[0079] As in Figure 5 As best shown in the illustrated embodiment, the first snap-fit ​​element e1 of the first snap-fit ​​assembly s1 is formed as a cantilever. The first snap-fit ​​element e1 is flexible and can move from a locked position to an unlocked position. In the locked position, the protrusion 13 of the second snap-fit ​​element e2 protrudes into the snap-fit ​​hole 11 of the first snap-fit ​​element e1; in the unlocked position, the protrusion 13 of the second snap-fit ​​element e2 does not protrude into the snap-fit ​​hole 11 of the first snap-fit ​​element e1. Figure 5 In the diagram, the first snap-fit ​​element e1 is shown in the locked position. According to the illustrated embodiment, the first snap-fit ​​element e1 is biased toward the locked position by its own rigidity and can be bent... Figure 5 Move to the right side of the screen and then to the unlock position.

[0080] However, as Figure 5 As shown, the fastening member 23 attached to the tool body 5 prevents the first snap-fit ​​element e1 from moving to the unlocked position, thereby preventing the first snap-fit ​​assembly s1 from opening. Figure 5 As shown and further explained below, according to the illustrated embodiment, the top cover 7 includes a plurality of fastening members 23, each fastening member being configured to prevent one of the plurality of snap-fit ​​components s1-s4 from opening when the top cover 7 is attached to the tool body 5.

[0081] Figure 8 A perspective view of the lower side of tool body 5 is shown. Unless otherwise stated, please refer to the following as well. Figures 1 to 8 When the tool body 5 is attached to the tool chassis 3, the lower side of the robot working tool 1 faces the tool chassis 3. Figure 8 In the middle, the top cover is not attached to the tool body 5.

[0082] Figure 9 A perspective view of the lower side of the top cover 7 is shown. Unless otherwise noted, please refer to the following as well. Figures 1 to 9 When the top cover 7 is attached to the tool body 5, the lower side of the top cover 7 faces the tool body 5.

[0083] The top cover 7 can be attached to the tool body 5 via releasable attachment devices 17, 17'. According to the illustrated embodiment, the releasable attachment devices 17, 17' include a plurality of protrusions 17 provided on the top cover 7, these protrusions being configured to engage with holes 17' in the tool body 5 to attach the top cover 7 to the tool body 5. The holes 17' in the tool body 5 are also visible and... Figure 3 As shown in the image.

[0084] In addition, such as Figure 3 As shown, the tool body 5 includes multiple holes 19, each hole being located at one of the multiple snap-fit ​​components s1-s4. The size of each hole 19 allows a portion of at least one of the user's fingers to be inserted into the hole 19 to contact the snap-fit ​​component s1-s4. Thus, when the top cover 7 is removed from the tool body 5, the user can move the first snap-fit ​​elements e1, e1', e1" of the multiple snap-fit ​​components s1-s4 from the locked position to the unlocked position, as shown. Figure 3 The situation is shown.

[0085] However, through comparison Figure 2 and Figure 3 As can be seen, when the top cover 7 is attached to the tool body 5, the top cover 7 is configured to cover multiple holes 19. Therefore, when the top cover 7 is attached to the tool body 5, it prevents access to the snap-fit ​​components s1-s4. Thus, when the top cover 7 is attached to the tool body 5, accidental opening of the snap-fit ​​components s1-s4 can be prevented in a simple and effective manner.

[0086] Moreover, such as Figure 9 As shown, the top cover 7 includes a plurality of fastening members 23. As described above, each fastening member 23 is configured to prevent one of the plurality of snap-fit ​​assemblies s1-s4 from opening when the top cover 7 is attached to the tool body 5. According to the illustrated embodiment, the top cover 7 includes four fastening members 23, since the robotic working tool 1 according to the illustrated embodiment includes four snap-fit ​​assemblies s1-s4.

[0087] By comparison Figure 3 , Figure 4 , Figure 5 , Figure 8 and Figure 9 It can be seen that when the top cover 7 is attached to the tool body 5, each fastening member 23 is configured to protrude into one of the plurality of holes 19. Furthermore, as in Figure 4As best shown, each fastening member 23 is configured to protrude into a hole 19 at a position adjacent to the first snap-fit ​​elements e1, e1', to prevent the first snap-fit ​​elements e1, e1' from moving to the unlocked position. Thus, when the top cover 7 is attached to the tool body 5, it can be further ensured that the tool body 5 is attached to the tool chassis 3 via the multiple snap-fit ​​components s1-s4.

[0088] like Figure 3 As shown, each of the first and second snap-fit ​​assemblies s1 and s2 is located at the front section 1' of the working tool 1 as seen from the forward movement direction fd relative to the working tool 1. Furthermore, as... Figure 3 As shown, the first and second snap-fit ​​components s1 and s2 are positioned on corresponding sides S1 and S2 of the vertical longitudinal center plane P2 of the working tool 1. That is, in Figure 3 The diagram shows the vertical longitudinal center plane P2 of the working tool 1. The vertical longitudinal center plane P2 of the working tool 1 extends in the vertical direction of the robot working tool 1 and is therefore perpendicular to the first plane P1. Furthermore, the vertical longitudinal center plane P2 of the working tool 1 extends along the longitudinal direction ld of the robot working tool 1 at its lateral center, and is therefore called the vertical longitudinal center plane P2. The lateral center can be defined as a position on the robot working tool 1 that is equidistant from both lateral sides of the robot working tool 1.

[0089] In addition, Figure 3 The diagram shows a vertical transverse center plane P3. This vertical transverse center plane P3 of the working tool 1 extends in the vertical direction of the robot working tool 1 and is therefore perpendicular to the first plane P1. Furthermore, this vertical transverse center plane P3 extends along the transverse direction Lad of the robot working tool 1 at its longitudinal center, and is therefore called the vertical transverse center plane P3. The longitudinal center can be defined as a position on the robot working tool 1 that is equidistant from both sides of its longitudinal direction.

[0090] like Figure 3 As shown, according to the illustrated embodiment, compared to the first and second snap-fit ​​components s1 and S2, the third and fourth snap-fit ​​components s3 and S4 are disposed on opposite sides S2' of the vertical and horizontal center plane P3 of the working tool 1. That is, the first and second snap-fit ​​components s1 and S2 are disposed on the first side s1' of the vertical and horizontal center plane P3, and the third and fourth snap-fit ​​components s3 and S4 are disposed on the second side s2' of the vertical and horizontal center plane P3, wherein the second side s2' is opposite to the first side s1' of the vertical and horizontal center plane P3.

[0091] The third and fourth snap-fit ​​components s3 and s4 may include the same features, functions, and advantages as the first and second snap-fit ​​components s1 and s2 described herein. However, according to the illustrated embodiment, as in Figure 6 and Figure 7 As best shown in the diagram, the third snap-fit ​​assembly s3 is provided with a snap-fit ​​hole 11 of the first snap-fit ​​element e1” that is smaller than the snap-fit ​​hole 11 of the first snap-fit ​​assembly s1.

[0092] According to the illustrated embodiment, the fourth snap-fit ​​assembly s4 is identical to the third snap-fit ​​assembly s3, but has a mirror-image design. In other words, as shown... Figure 6 and Figure 7 As shown, the fourth snap-fit ​​assembly s4 has the same snap-fit ​​hole size and shape as the third snap-fit ​​assembly s3. Therefore, when the tool body 5 is attached to the tool base 3, the third and fourth snap-fit ​​assemblies s3 and s4 prevent the rear portion of the tool body 5 from being raised relative to the tool base 3. However, each of the third and fourth snap-fit ​​assemblies s3 and s4 allows the front portion 5' of the tool body 5 to be raised from a lowered position to an raised position by slight rotation of the snap-fit ​​protrusion 13" within the snap-fit ​​hole 11' when the tool body 5 is attached to the tool base 3.

[0093] According to another embodiment, each of the third and fourth snap-fit ​​assemblies s3, s4 can be configured to allow the rear portion of the tool body 5 to be raised from a lowered position to an raised position when the tool body 5 is attached to the tool chassis 3. According to this embodiment, the third and fourth snap-fit ​​assemblies s3, s4 can be configured to allow this movement of the rear portion of the tool body 5 by including a large snap-fit ​​hole 11” identical in size to the snap-fit ​​holes 11 of the first and second snap-fit ​​assemblies s1, s2 according to embodiments herein.

[0094] like Figure 3 As shown and further explained below, the robotic work tool 1 includes a fixing component 29 configured to prevent the tool body 5 from moving relative to the tool chassis 3 in directions d3-d6 that are substantially parallel to the first plane P1 when at least a portion 5' of the tool body 5 is allowed to move relative to the tool chassis 3 in directions d1, d2 that are substantially perpendicular to the first plane P1.

[0095] Figure 10 References are shown Figures 1 to 9The diagram shows a top view of the tool chassis 3 of the robotic work tool 1. The fixing assembly includes a first fixing structure f1 disposed on the tool chassis 3. According to the illustrated embodiment, the first fixing structure f1 includes a plurality of fixing elements 31, 32, 33, and 34 disposed on the tool chassis 3. Furthermore, according to the illustrated embodiment, each of the fixing elements 31, 32, 33, and 34 is C-shaped, but different types of shapes may be provided.

[0096] like Figure 8 As shown, the fixing assembly includes a second fixing structure f2 disposed on the tool body 5. The first and second fixing structures f1 and f2 are configured to abut against each other when the tool body 5 is attached to the tool chassis 3, to prevent movement of the tool body 5 relative to the tool chassis 3 in directions d3-d6 substantially parallel to the first plane P1 while allowing movement of the tool body 5 relative to the tool chassis in directions d1 and d2 substantially perpendicular to the first plane P1. According to the illustrated embodiment, the first fixing structure f1 includes a plurality of fixing elements 31', 32', 33', and 34' disposed as protrusions on the tool body 5. The two fixing elements 31' and 32' of the tool body 5 are also... Figure 10 As shown in the image. Figure 10 As shown, the fixing elements 31' and 32' of the tool body 5 are configured to protrude into the C-shaped recesses formed by the fixing elements 32, 33, and 34 provided on the tool base 3.

[0097] The positions of the fixing components 31, 31', 32, 32', 33, 33', 34, and 34' are also... Figure 3 As shown, even if the component itself is not visible. This is illustrated by comparison. Figure 3 , Figure 8 and Figure 10 As can be seen from the illustrated embodiment, the fixing assembly 29 includes first and second pairs of fixing elements 31, 31', 32, 32'. Each pair of fixing elements includes fixing elements 31, 32 disposed on the tool base 3 and fixing elements 31', 32' disposed on the tool body 5. The first and second pairs of fixing elements 31, 31', 32, 32' are disposed on corresponding sides S1, S2 of the vertical longitudinal center plane P2 of the working tool 1.

[0098] Furthermore, the fixing assembly 29 includes a third pair of fixing elements 33, 33', which includes a fixing element 33 disposed on the tool chassis 3 and a fixing element 33' disposed on the tool body 5. The third pair of fixing elements 33, 33' are disposed on a side S2' of the vertical and horizontal center plane P3 of the working tool 1, which is different from the first and second pairs of fixing elements 31, 31', 32, 32'. This provides a robust and durable fixation for the tool body 5 relative to the tool chassis 3.

[0099] As in Figure 6 and Figure 7 As best shown, the widths of the snap-fit ​​holes 11, 11” of the snap-fit ​​components s1, s3, measured in a direction parallel to the longitudinal direction ld of the robot tool 1, are greater than the widths of the snap-fit ​​protrusions 13, 13” of the snap-fit ​​components s1, s3. Furthermore, as... Figure 5 As shown, the robotic tool 1 has a specific gap between the tool body 5 and the tool chassis 3 in the region of the snap-fit ​​assembly s1. The fixing assembly 29 is configured to fix the tool body 5 relative to the tool chassis 3 in a direction substantially parallel to the first plane P1, d3-d6, with a tolerance smaller than this gap and the width difference between the snap-fit ​​holes 11, 11' and the snap-fit ​​protrusions 13, 13' measured in a direction parallel to the longitudinal direction ld of the robotic tool 1. Due to these features, for example, a smaller force is obtained at the snap-fit ​​assemblies s1-s4 when a collision occurs between the robotic tool 1 and an external object. Thus, a more durable robotic tool 1 is provided, and the tool body 5 can be more securely attached to the tool chassis 3 via multiple snap-fit ​​assemblies s1-s4.

[0100] As understood from the description herein, due to the features of the robotic tool 1, the user is allowed to easily remove the tool body 5 from the tool chassis 3 by: removing the top cover 7 from the tool body 5, inserting one or more fingers into the hole 19, and unlocking the snap-fit ​​components s1-s4 by moving the first snap-fit ​​elements e1, e1', e1" to the unlock position, and applying a separation force between the tool body 5 and the tool chassis 3, for example, by lifting the tool body 5 relative to the tool chassis 3. Thus, various tasks, such as cleaning, repairing, maintaining, or replacing parts and components of the robotic tool 1, can be performed quickly and easily.

[0101] Furthermore, due to the features of the robotic tool 1, users can quickly and easily attach the tool body 5 to the tool chassis 3. For example... Figure 5 As shown, each of the first and second snap-fit ​​elements e1 and e2 includes inclined surfaces 47 and 49. The inclined surfaces 47 and 49 ensure that the first snap-fit ​​element e1 moves to the unlocked position when the tool body 5 is positioned in the intended assembly position on the tool chassis 3. When the tool body 5 is positioned in the intended assembly position on the tool chassis 3, the snap-fit ​​elements e1 and e2 of the snap-fit ​​assemblies s1-s4 are engaged with each other.

[0102] Therefore, according to the illustrated embodiment, the tool body 5 can be easily attached to the tool chassis 3 by positioning the tool body 5 at the desired attachment position on the tool chassis 3. During this process, the first snap-fit ​​element e1 of the snap-fit ​​assembly s1-s4 moves from a locked position to an unlocked position, and then moves back to the locked position when the snap-fit ​​protrusion 13 reaches the snap-fit ​​hole 11. When the tool body 5 is attached to the tool chassis 3, the user can be instructed to remove the top cover 7 from the tool body 5.

[0103] Furthermore, due to the hole 19 in the tool body 5, the user can visually and / or by sensing whether all the snap-fit ​​components s1-s4 are in the locked position, and then attach the top cover 7 to the tool body 5 to further secure the tool body 5 to the tool chassis 3.

[0104] According to the illustrated embodiment, the tool body 5 does not include electronic components. Conversely, all electronic components of the robotic tool 1 are housed in the tool chassis 3, such as sensors 35, control devices 21, and propulsion motors 66 and 67. That is, as shown... Figure 10 As shown, the tool chassis 3 includes a pair of propulsion motors 66 and 67. Each propulsion motor 66 and 67 is configured to rotate drive wheels 61 and 62 via shafts 61' and 62'. Figure 6 and Figure 7 One of the shafts 61' is also shown. According to the illustrated embodiment, each propulsion motor 66, 67 is an electric motor. Furthermore, the robotic work tool 1 according to the illustrated embodiment includes a battery configured to provide power to the electronic components of the robotic work tool 1. According to the illustrated embodiment, the battery is disposed in the tool chassis 3.

[0105] The tool body 5 according to the illustrated embodiment is a passive component because it does not include electronic or mechanical components for the operation of the robotic tool 1. Instead, according to the illustrated embodiment, the tool body 5 includes purely structural and aesthetic components and parts, such as mudguards for the plurality of tool support members 61, 62, 63, etc.

[0106] It should be understood that the foregoing description is a illustrative account of various exemplary embodiments, and the invention is defined solely by the appended independent claims. Those skilled in the art will recognize that exemplary embodiments can be modified, and different features of exemplary embodiments can be combined to create embodiments different from those described herein, without departing from the scope of the invention as defined by the appended independent claims.

[0107] As used herein, the terms “comprising” or “including” are open-ended and include one or more of the described features, elements, steps, components, or functions, but do not exclude the presence or addition of one or more other features, elements, steps, components, functions, or groups thereof.

Claims

1. A self-propelled robotic work tool (1) comprising: a tool chassis (3), a plurality of tool support members (61, 62, 63) attached to the tool chassis (3) and configured to abut against a ground surface (27) in a first plane (PI) during operation of the work tool (1), a plurality of snap-fit assemblies (sl-s4), and a tool body (5) attachable to the tool chassis (3) via the plurality of snap-fit assemblies (sl-s4), wherein the plurality of snap-fit assemblies (sl-s4) are configured to allow at least a portion (5') of the tool body (5) to move relative to the tool chassis (3) in a direction (dl, d2) substantially perpendicular to the first plane (PI) between a lowered position and a raised position when the tool body (5) is attached to the tool chassis (3) via the plurality of snap-fit assemblies (sl-s4), wherein the plurality of snap-fit assemblies (sl-s4) comprises a first snap-fit assembly (sl) including a first snap-fit element (el) provided on the tool chassis (3) and a second snap-fit element (e2) provided on the tool body (5), and wherein one of the first snap-fit element (el) and the second snap-fit element (e2) comprises a snap-fit hole (11) and the other of the first snap-fit element (el) and the second snap-fit element (e2) comprises a snap-fit protrusion (13) configured to protrude into the snap-fit hole (11) when the tool body (5) is attached to the tool chassis (3); and wherein in the lowered position the snap-fit protrusion is disengaged from both axial ends of the snap-fit hole.

2. The work tool (1) according to claim 1, wherein A width (w2) of the snap-fit hole (11) measured in the direction (dl, d2) perpendicular to the first plane (PI) is greater than a width (wl) of the snap-fit protrusion (13).

3. The work tool (1) according to claim 1, wherein The snap-fit protrusion (13) is configured to abut against an inner delimiting surface (15) of the snap-fit hole (11) when the tool body (5) is attached to the tool chassis (3) via the plurality of snap-fit assemblies (sl-s4) to prevent the tool body (5) from moving beyond the raised position.

4. The work tool (1) according to claim 1, wherein One of the first snap-fit element (el) and the second snap-fit element (e2) is formed as a cantilever.

5. The work tool (1) according to claim 1, wherein The first snap-fit assembly (sl) is provided at a front section (1') of the work tool (1) seen in relation to a forward movement direction (fd) of the work tool (2).

6. The work tool (1) according to claim 1, wherein The plurality of snap-fit assemblies (sl-s4) comprises a second snap-fit assembly (s2), and wherein the first snap-fit assembly (sl) and the second snap-fit assembly (s2) are provided at respective sides (SI, S2) of a vertical longitudinal center plane (P2) of the work tool (1).

7. The work tool (1) according to claim 1, wherein The plurality of snap-fit assemblies (s1-s4) comprises a third snap-fit assembly (s3), and wherein the first snap-fit assembly (s1) and the third snap-fit assembly (s3) are disposed at respective sides (S1', S2') of a vertical transversal central plane (P3) of the work tool (1).

8. The work tool (1) according to any one of the preceding claims 1 to 7, wherein, The work tool (1) comprises a top cover (7) attachable to the tool body (5) by releasable attachment means (17, 17').

9. The work tool (1) according to claim 8, wherein The top cover (7) prevents access to at least one of the plurality of snap-fit assemblies (s1-s4) when the top cover (7) is attached to the tool body (5).

10. The work tool (1) according to claim 8, wherein The tool body (5) comprises a plurality of holes (19), each disposed at one of the plurality of snap-fit assemblies (s1-s4) and having a size allowing a portion of at least one finger of a user to be inserted into the hole (19) to contact the snap-fit assembly, and wherein the top cover (7) is configured to cover the plurality of holes (19) when attached to the tool body (5).

11. A work tool (1) according to any one of the preceding claims 1 to 7, wherein The work tool (1) comprises a plurality of fastening members (23) attachable to the tool body (5), and wherein each of the fastening members (23) is configured to prevent one of the plurality of snap-fit assemblies (s1-s4) from opening when attached to the tool body (5).

12. The work tool (1) according to claim 8, wherein The top cover (7) comprises a plurality of fastening members (23), each configured to prevent one of the plurality of snap-fit assemblies (s1-s4) from opening when the top cover (7) is attached to the tool body (5).

13. The work tool (1) according to any one of the preceding claims 1 to 7, wherein The work tool (1) comprises a securing assembly (29) comprising a first securing structure (f1) disposed on the tool chassis (3) and a second securing structure (f2) disposed on the tool body (5), and wherein the first securing structure (f1) and the second securing structure (f2) are configured to abut against each other when the tool body (5) is attached to the tool chassis (3) to prevent the tool body (5) from moving relative to the tool chassis (3) in a direction (d3-d6) substantially parallel to the first plane (P1) while allowing the tool body (5) to move relative to the tool chassis (3) in a direction (d1, d2) substantially perpendicular to the first plane (P1).

14. The work tool (1) according to claim 13, wherein The securing assembly (29) comprises a first pair of securing elements and a second pair of securing elements (31, 31', 32, 32'), each pair of securing elements comprising a securing element (31, 32) disposed on the tool chassis (3) and a securing element (31', 32') disposed on the tool body (5), and wherein the first pair of securing elements and the second pair of securing elements (31, 31', 32, 32') are disposed at respective sides (S1, S2) of a vertical longitudinal central plane (P2) of the work tool (1).

15. The work tool (1) according to claim 14, wherein Said fixation assembly (29) comprises a third pair of fixation elements (33, 33') comprising a fixation element (33) arranged on the tool chassis (3) and a fixation element (33') arranged on the tool body (5), and wherein said third pair of fixation elements (33, 33') is arranged at a different side (S2') of the vertical transverse centre plane (P3) of the work tool (1) than said first and second pair of fixation elements (31, 31', 32, 32').

16. The work tool (1) according to any one of the preceding claims 1-7, wherein, Said work tool (1) comprises a sensor (35) configured to detect movement of the tool body (5) from the lowered position to the raised position.

17. The work tool (1) according to any one of the preceding claims 1-7, wherein, Said work tool (1) is a self-propelled robot lawnmower.

Images