Lawn mower

Abstract

A mower comprises a machine body and a lifting and overturning mechanism connected to the machine body, the lifting and overturning mechanism comprising a lifting assembly and an overturning assembly, the lifting assembly comprising a lifting driving device, the overturning assembly comprising a sliding base, a cutter support and a linkage assembly; the sliding base is configured to realize lifting movement under the driving of the lifting driving device, the cutter support is configured to connect a cutter assembly, and the linkage assembly is configured to connect the sliding base and the cutter support and to be controllable in a lifting state or an overturning state; in the case that the linkage assembly is in the lifting state, the cutter support is in an initial state, and in the case that the linkage assembly is in the overturning state, the cutter support is in an overturned state. The mower connects the sliding base and the cutter support through the linkage assembly, and can realize automatic lifting and automatic overturning of the cutter assembly by using a single lifting driving device.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a lawnmower. Background Technology

[0002] The lawnmowers used in landscaping are gradually moving towards automated control to reduce labor costs. Currently, lawnmowers on the market require manual adjustment of the cutting height of the blades during use, and disassembling or cleaning the blades is very laborious, often requiring the unlocking of multiple structures, making the replacement and cleaning of the blades cumbersome. Summary of the Invention

[0003] At least one embodiment of this disclosure provides a lawnmower, which includes a main body and a lifting and tilting mechanism connected to the main body. The lifting and tilting mechanism includes a lifting component and a tilting component. The lifting component includes a lifting drive device, and the tilting component includes a slide, a blade holder, and a linkage assembly. The slide is configured to move up and down under the drive of the lifting drive device. The blade holder is configured to connect to the blade assembly. The linkage assembly is configured to connect the slide and the blade holder and is configured to be controllably in a lifting or tilting state. When the linkage assembly is in the lifting state, the blade holder is in an initial state. When the linkage assembly is in the tilting state, the blade holder is in the tilting state.

[0004] For example, in a lawnmower provided in at least one embodiment of this disclosure, the lifting assembly further includes a lifting slide rail, the slide block is slidably connected to the lifting slide rail, and is configured to move along the lifting slide rail under the drive of the lifting drive device to realize lifting motion.

[0005] For example, in a lawnmower provided in at least one embodiment of this disclosure, the flipping assembly further includes: a limiting device disposed on at least one side of the lifting slide rail, configured to limit the lifting trajectory and the flipping trajectory, wherein the slide block is connected to a limiting slider that cooperates with the limiting device; when the limiting slider is in the lifting trajectory, the linkage assembly is in the lifting state and the blade holder is in the initial state; when the limiting slider is in the flipping trajectory, the linkage assembly is in the flipping state and the blade holder is in the flipping state.

[0006] For example, in a lawnmower provided in at least one embodiment of this disclosure, the limiting device includes a limiting block disposed on at least one side of the lifting slide rail, and the linkage assembly includes a main linkage, a first linkage, and a second linkage; the main linkage has a first connecting end and a second connecting end, wherein the first connecting end is hinged to the blade holder, the first linkage has a third connecting end and a fourth connecting end, wherein the third connecting end is hinged to the second connecting end and to the slide block, and the second linkage has a fifth connecting end and a sixth connecting end, wherein the fifth connecting end is hinged to the fourth connecting end, and the sixth connecting end is connected to the blade holder, wherein the first linkage includes a limiting engagement portion that cooperates with the limiting block, and the limiting engagement portion is configured to rotate around the limiting block.

[0007] For example, in a lawnmower provided in at least one embodiment of this disclosure, the limiting mating part is a limiting groove, the first connecting rod also includes a protrusion protruding toward the limiting block, the limiting slider is disposed on the protrusion and is opposite to the limiting block.

[0008] For example, in a lawnmower provided in at least one embodiment of this disclosure, the hinge position of the third connecting end and the second connecting end is located at the limiting groove. When the limiting groove rotates around the limiting block, the main connecting rod and the second connecting rod move relative to each other to push the blade holder to flip.

[0009] For example, in a lawnmower provided in at least one embodiment of this disclosure, the blade holder is connected to a first self-locking structure, and the main connecting rod has a second self-locking structure at the first connecting end that cooperates with the first self-locking structure. When the blade holder is in its initial state, the first self-locking structure and the second self-locking structure achieve self-locking.

[0010] For example, in a lawnmower provided in at least one embodiment of this disclosure, the first self-locking structure includes a self-locking pin and a spring supporting the self-locking pin, the self-locking pin includes a first engaging portion, and the second self-locking structure includes a second engaging portion capable of engaging with the first engaging portion.

[0011] For example, in a lawnmower provided in at least one embodiment of this disclosure, the linkage assembly further includes: a third linkage having a seventh connecting end and an eighth connecting end, wherein the seventh connecting end is hinged to the sixth connecting end, and the eighth end is hinged to the first end.

[0012] For example, in a lawnmower provided in at least one embodiment of this disclosure, the third link includes a pushing part disposed toward the first self-locking structure. When the limiting slider moves to the limiting block and is subjected to force, the first link, the second link, and the third link are subjected to force, and the pushing part pushes the first self-locking structure to unlock the first self-locking structure and the second self-locking structure.

[0013] For example, in a lawnmower provided in at least one embodiment of this disclosure, the limiting device includes a limiting slide rail disposed on at least one side of the lifting slide rail. The limiting slide rail has a straight portion and a bent portion, which are respectively configured to limit the lifting trajectory and the flipping trajectory. The limiting slider is slidably connected to the limiting slide rail.

[0014] For example, in a lawnmower provided in at least one embodiment of this disclosure, the linkage assembly includes a fourth linkage and a fifth connecting rod. The fourth linkage has opposing ninth and tenth connecting ends, wherein the ninth connecting end is slidably connected to the limiting slide rail and includes the limiting slider, and the tenth connecting end is hinged to the blade holder. The fifth connecting rod has opposing eleventh and twelfth connecting ends, wherein the eleventh connecting end is hinged to the slide block, and the twelfth connecting end is hinged to the blade holder. The fourth linkage has a shaft hole in its middle portion, and the slide block is connected to a slide block connecting rod, the end of which is hinged to the shaft hole.

[0015] For example, in a lawnmower provided in at least one embodiment of this disclosure, the limiting device includes a limiting groove disposed on at least one side of the lifting slide rail, the limiting groove having an opening and configured to limit the flipping trajectory.

[0016] For example, in a lawnmower provided in at least one embodiment of this disclosure, the limiting slider is slidably connected to the lifting slide rail, and the linkage assembly includes a slide rod, a sixth link, and a seventh link; the slide rod has a thirteenth connecting end and a fourteenth connecting end opposite each other and a sliding guide portion disposed between the thirteenth connecting end and the fourteenth connecting end, wherein the thirteenth connecting end is hinged to the end of the limiting slider, the sixth link has a fifteenth connecting end and a sixteenth connecting end, wherein the fifteenth connecting end is hinged to the fourteenth connecting end and the sixteenth connecting end is hinged to the blade holder, and the seventh link has a fifteenth connecting end and a sixteenth connecting end, wherein the fifteenth connecting end is fixed to the slide base and slidably connected to the sliding guide portion, and the sixteenth connecting end is hinged to the blade holder.

[0017] For example, in a lawnmower provided in at least one embodiment of this disclosure, the slide bar has a limiting rotating block that cooperates with the opening. When the limiting rotating block moves to the opening, the fifteenth connecting end of the seventh link slides along the sliding guide, and the slide bar drives the limiting rotating block to rotate in the opening, causing the blade holder to flip.

[0018] For example, in a lawnmower provided in at least one embodiment of this disclosure, the lifting drive device includes a drive motor and a lead screw connected to the output end of the drive motor, and the slide includes a transmission part threadedly connected to the lead screw.

[0019] For example, in a lawnmower provided in at least one embodiment of this disclosure, the lifting drive device further includes an encoder configured to record the rotational speed of the drive motor to obtain the state of the blade holder.

[0020] For example, in a lawnmower provided in at least one embodiment of this disclosure, the lifting slide rail includes a slider slide rail, an optical axis slide rail, or a groove slide rail.

[0021] For example, at least one embodiment of the lawnmower provided in this disclosure further includes a blade assembly and a sensor; the blade assembly is connected to the blade holder, and the sensor is disposed on the lifting assembly or the tilting assembly and configured to detect the state of the blade assembly. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0023] Figure 1 This is a schematic diagram of the structure of a lawnmower provided in at least one embodiment of the present disclosure;

[0024] Figure 2 A schematic diagram of the lifting and tilting assembly of a lawnmower provided in at least one embodiment of this disclosure;

[0025] Figure 3 A schematic diagram showing the lifting and tilting assembly of a lawnmower in a tilted state, according to at least one embodiment of this disclosure;

[0026] Figure 4A A side view of the lifting and tilting assembly of a lawnmower provided in at least one embodiment of the present disclosure in a lifting state;

[0027] Figure 4B A side view of the lifting and tilting assembly of a lawnmower provided in at least one embodiment of the present disclosure in a tilted state;

[0028] Figure 5AThis is a rear view of the lifting and tilting assembly of a lawnmower in a lifting state, according to at least one embodiment of the present disclosure.

[0029] Figure 5B This is a rear view of the lifting and tilting assembly of a lawnmower in a tilted state, according to at least one embodiment of the present disclosure.

[0030] Figure 6 and Figure 7 A schematic diagram of the lifting and tilting assembly of another lawnmower provided in at least one embodiment of this disclosure;

[0031] Figure 8 A schematic diagram of the lifting and tilting assembly of another lawnmower in a tilted state, provided in at least one embodiment of this disclosure;

[0032] Figure 9 and Figure 10 A schematic diagram of the lifting and tilting assembly of another lawnmower provided in at least one embodiment of this disclosure; and

[0033] Figure 11 This is a schematic diagram of the lifting and tilting assembly of another lawnmower provided in at least one embodiment of the present disclosure in a tilted state. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0035] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0036] As mentioned above, lawnmowers on the market require manual adjustment of the cutting height of the blades during use. Furthermore, disassembling the blades is very laborious when replacing or cleaning them, often requiring the unlocking of multiple mechanisms, making the replacement and cleaning of the blades cumbersome.

[0037] At least one embodiment of this disclosure provides a lawnmower, which includes a main body and a lifting and tilting mechanism connected to the main body. The lifting and tilting mechanism includes a lifting component and a tilting component. The lifting component includes a lifting drive device, and the tilting component includes a slide, a blade holder, and a linkage assembly. The slide is configured to move up and down under the drive of the lifting drive device. The blade holder is configured to connect to the blade assembly. The linkage assembly is configured to connect the slide and the blade holder and is configured to be controllably in a lifting or tilting state. When the linkage assembly is in the lifting state, the blade holder is in the initial state. When the linkage assembly is in the tilting state, the blade holder is in the tilting state.

[0038] In the lawnmower provided in this embodiment, the slide and the blade holder are connected by a linkage assembly. A single lifting drive device can be used to realize two actions: automatic lifting and automatic flipping of the blade assembly. The automatic lifting action can precisely control the height of the blade assembly, such as the ground clearance. The automatic flipping action can quickly, conveniently and quickly flip the blade assembly to change its state, such as exposing the blade assembly for easy cleaning and replacement.

[0039] The lawnmower provided in this disclosure will be described below through several specific embodiments.

[0040] This disclosure provides at least one embodiment of a lawnmower. Figure 1 A schematic diagram of the lawnmower is shown. Figure 2 A schematic diagram of the lifting and tilting mechanism of the lawnmower is shown. Figure 1 As shown, the lawnmower includes a main body 10 and a lifting and tilting mechanism 20 connected to the main body 10.

[0041] For example, the main body 10 may include a housing and a drive device (for driving the lawnmower), a power supply device (for supplying power to the lawnmower), and a control device (e.g., a controller) located inside the housing. The main body 10 is also connected to a motion device (e.g., tracks) to drive the lawnmower to move. The embodiments of this disclosure do not limit the specific structure of the main body 10.

[0042] For example, such as Figure 2As shown, the lifting and tilting mechanism 20 includes a lifting component and a tilting component. The lifting component includes a lifting drive device 201. For example, in some examples, the lifting drive device 201 may include a drive motor and a lead screw 202 connected to the output end of the drive motor, and the drive motor can drive the lead screw 202 to rotate. For example, the extension direction of the lead screw 202 is vertical, or slightly tilted from the vertical direction towards the machine body 10, thereby realizing the lifting movement. For example, in some embodiments, the lifting drive device 201 may also include an encoder configured to record the number of revolutions of the drive motor to obtain the driving state of the drive motor, and then obtain the state of the tool holder 205, such as the lifting height and position.

[0043] For example, such as Figure 2 As shown, the tilting assembly includes a slide 204, a tool holder 205, and a linkage assembly 206. The slide 204 is configured to move vertically under the drive of the lifting drive device 201. For example, in some embodiments, the slide 204 includes a transmission part 2041 threadedly connected to a lead screw 202. The lead screw 202 and the transmission part 2041 are threadedly engaged, and when the drive motor drives the lead screw 202 to rotate, the transmission part 2041 can rise or fall along the lead screw 202. For example, the transmission part 2041 can be part of the slide 204 body, for example, by using a part of the slide 204 body to be threaded to engage with the lead screw 202; or the transmission part 2041 can be a separately provided structure additionally connected to the slide 204, such as a separately provided lead screw nut.

[0044] For example, such as Figure 1 and Figure 2 As shown, the tool holder 205 is configured to connect to the tool assembly 30, meaning the tool assembly 30 can be fixed to the tool holder 205. The linkage assembly 206 is configured to connect the slide 204 and the tool holder 205, and is configured to be controllable (e.g., controlled by the lifting drive device 201) in a lifting state or a flipping state. For example, when the linkage assembly 206 is in the lifting state, the tool holder 205 is in an initial state, for example, in this initial state, the tool assembly 30 can be in a horizontal position; when the linkage assembly 206 is in the flipping state, the tool holder 205 is in a flipped state, for example, in this flipped state, the tool assembly 30 can be rotated by a certain angle, for example, rotated by about 90 degrees.

[0045] For example, such as Figure 1 As shown, the lawnmower also includes a blade assembly 30, which is fixed to the blade holder 205, for example, by means of bolts or other structures. For example, the blade assembly 30 may include various types of blades such as scissor blades and disc blades. The embodiments of this disclosure do not limit the specific form of the blade assembly 30.

[0046] In the embodiments of this disclosure, the lifting and flipping assembly can automatically lift and flip under the drive of the lifting drive device 201, or it can passively lift and flip when the lawnmower encounters a rugged road surface. For example, when the lawnmower encounters a steep slope, the slide 204 can be passively lifted to adapt to the road surface, achieve better mowing effect, and protect the blade assembly 30.

[0047] For example, Figure 2 In the shown flipping assembly, the linkage assembly 206 is in a lifting state, and the tool holder 205 is in an initial state; Figure 3 A schematic diagram of the above-mentioned lifting and tilting assembly in a tilted state is shown. Figure 3 In the shown flipping assembly, the link assembly 206 is in a flipped state, and the tool holder 205 is in a flipped state, which will be described in detail later.

[0048] For example, in some embodiments, such as Figure 2 As shown, the lifting assembly may further include a lifting slide rail 203, with a slide block 204 slidably connected to the lifting slide rail 203 and configured to move along the lifting slide rail 203 under the drive of the lifting drive device 201 to achieve lifting motion. For example, this motion can be linear motion or approximately linear motion. For example, the lifting slide rail 203 can be a suitable form such as a slider slide rail, an optical axis slide rail, or a groove slide rail. The embodiments of this disclosure do not limit the specific form of the lifting slide rail 203. For example, in... Figure 2 In the embodiments described, a slider rail is used.

[0049] For example, the extension direction of the lifting track defined by the lifting slide rail 203 is the same as the extension direction of the lead screw 202, thereby limiting the degree of freedom of movement of the slide block 204, so that the slide block 204 can only move stably along the trajectory defined by the lifting slide rail 203 and the lead screw 202, thereby improving the movement stability of the slide block 204.

[0050] For example, in some embodiments, such as Figure 2 As shown, the flipping assembly may further include a limiting device 207, which is disposed on at least one side of the lifting slide rail 203, for example, on both sides of the lifting slide rail 203, and is symmetrically arranged. The limiting device 207 is configured to limit the lifting trajectory and the flipping trajectory.

[0051] For example, the slide block 204 is connected to a limiting slider 208 that cooperates with the limiting device 207. Figure 2 In this embodiment, when the limiting slider 208 and the limiting device 207 are spaced apart and do not interact with each other, the trajectory of the limiting slider 208 is the lifting trajectory defined by the limiting device 207. When the limiting slider 208 is on the lifting trajectory, the connecting rod assembly 206 is in the lifting state, and the tool holder 205 is in the initial state, that is... Figure 2 As shown in the diagram; when the limiting slider 208 contacts the limiting device 207 and they interact with each other, the trajectory of the limiting slider 208 is the flipping trajectory defined by the limiting device 207. When the limiting slider 208 is on the flipping trajectory, the connecting rod assembly 206 is in a flipped state, and the tool holder 205 is in a flipped state, that is, as shown in the diagram. Figure 3 The state shown.

[0052] For example, in Figure 2 In one embodiment, the limiting device 207 includes a limiting block 2071 disposed on at least one side of the lifting slide rail 203, for example, limiting blocks 2071 disposed on at least both sides of the lifting slide rail 203 and symmetrically arranged. At this time, the trajectory defined by the limiting block 2071 when the limiting slider 208 is below the limiting block 2071 and just reaches the limiting block 2071 is a lifting trajectory; the trajectory defined by the limiting block 2071 when the limiting slider 208 interacts with the limiting block 2071 after reaching the limiting block 2071 is a flipping trajectory.

[0053] For example, in some embodiments, such as Figure 2 As shown, the linkage assembly 206 includes a main linkage 2061, a first linkage 2062, and a second linkage 2063. The main linkage 2061 has a first connecting end A and a second connecting end B. The first connecting end A is hinged to the tool holder 205. The first linkage 2062 has a third connecting end C and a fourth connecting end D. The third connecting end C is hinged to the second connecting end B and also hinged to the slide 204, for example, the hinge point is located at the position indicated by the mark BC. The second linkage 2063 has a fifth connecting end E and a sixth connecting end F. The fifth connecting end E is hinged to the fourth connecting end D, and the sixth connecting end F is connected to the tool holder 205.

[0054] It should be noted that in the embodiments of this disclosure, the “connection” between one structure and another can be a direct connection or an indirect connection, as long as the two have a certain degree of mutual constraint. The “hinged connection” between one structure and another can be a direct hinge or an indirect hinge, as long as the two can rotate relative to each other. The embodiments of this disclosure do not limit the specific form of “connection / connection”.

[0055] Combination Figure 2 and Figure 3The first link 2062 includes a limiting engagement portion that mates with the limiting stop 2071. For example, the limiting engagement portion can be a limiting groove 2072. The limiting engagement portion (e.g., the limiting groove 2072) is configured to rotate around the limiting stop 2071. In this case, the first link 2062 will rotate relative to the main link 2061 and the second link 2063, causing the relative position of the slide 204 and the tool holder 205 to change, and the tool holder 205 to flip. For example, in other embodiments, the limiting engagement portion can also be other forms that can mate with the limiting stop 2071, such as a structure with an arc-shaped edge or a linear edge that can mate with the edge of the limiting stop 2071.

[0056] For example, in some embodiments, such as Figure 2 and Figure 3 As shown, the first link 2062 also includes a protrusion 2073 protruding toward the limit block 2071. The limit slider 208 is disposed on the protrusion 2073 and opposite to the limit block 2071. Thus, when the limit slider 208 reaches the limit block 2071, it will first contact the limit block 2071. When the lifting drive device 201 continues to drive upward, the limit block 2071 will generate a blocking force on the limit slider 208, so that the limit slider 208 will not continue to rise, but will cause the limit groove 2072 to rotate around the limit block 2071 to realize the flipping action.

[0057] For example, such as Figure 2 and Figure 3 As shown, the hinge position between the third connecting end C and the second connecting end B is located at the limiting groove 2072, that is, it is set next to the limiting groove 2072. Thus, when the limiting groove 2072 rotates around the limiting block 2071, the main connecting rod 2061 and the second connecting rod 2063 move relative to each other, and the second connecting rod 2063 pushes the tool holder 205 to flip.

[0058] For example, in some embodiments, such as Figure 2 and Figure 3 As shown, the tool holder 205 is connected to a first self-locking structure 209. Figure 4A and Figure 4B Side views of the lifting and tilting assembly in both the lifting and tilting states are shown. (Combined with...) Figure 4A The main connecting rod 2061 has a second self-locking structure 210 at the first connecting end A, which cooperates with the first self-locking structure 209. When the tool holder 205 is in the initial state, the first self-locking structure 209 and the second self-locking structure 210 achieve self-locking, that is, as Figure 4A The state shown.

[0059] For example, such as Figures 2-4AAs shown, the first self-locking structure 209 includes a self-locking pin 2091 and a spring 2092 supporting the self-locking pin 2091. The self-locking pin 2091 includes a first engaging portion, and the second self-locking structure 210 includes a second engaging portion that can engage with the first engaging portion. When the first self-locking structure 209 and the second self-locking structure 210 are self-locked, the first engaging portion and the second engaging portion are engaged together, thereby keeping the tool holder 205 in its initial state and preventing the tool assembly 30 from being unexpectedly lifted by an obstacle when it encounters an obstacle.

[0060] For example, in some embodiments, such as Figure 4A As shown, the linkage assembly 206 may further include a third linkage 2064, which has a seventh connecting end G and an eighth connecting end H. The seventh connecting end G is hinged to the sixth connecting end F, and the eighth end H is hinged to the first end A.

[0061] For example, such as Figure 4A As shown, the third link 2064 includes a pushing part 2093 disposed toward the first self-locking structure 209. When the limiting slider 208 moves to the limiting stop 2071 and is subjected to force, the first link 2062, the second link 2063 and the third link 2064 are subjected to force, and the pushing part 2093 applies a pushing force to the first self-locking structure 209 to push the first self-locking structure 209, for example, by pushing the self-locking pin 2091, to unlock the first self-locking structure 209 and the second self-locking structure 210, for example, by disconnecting the first latching part from the second latching part, thereby facilitating the tool holder 205 to change from the lifting state to the flipping state.

[0062] For example, Figure 5A and Figure 5B The diagrams show the rear view of the lifting and tilting assembly in both its lifting and tilting states. Figure 2 and Figure 3 , Figure 4A and Figure 4B as well as Figure 5A and Figure 5B When the tool holder 205 is in its initial state, combined with Figure 1The blade assembly 30 connected to the blade holder 205 can be in a working state, such as in a lawn mowing state. At this time, the first self-locking structure 209 and the second self-locking structure 210 achieve self-locking to maintain the stability of the blade assembly 30. After the lifting drive device 201 drives the slide 204 to rise, the blade holder 205 drives the blade assembly 30 to rise. When the limiting slider 208 reaches the limiting stop 2071 and the lifting drive device 201 continues to drive, the first self-locking structure 209 and the second self-locking structure 210 are pushed by the pushing part 2093 to unlock. At this time, the lifting drive device 201 continues to drive, and the limiting groove 2072 rotates around the limiting stop 2071. At this time, the first connecting rod 2062, the main connecting rod 2061, and the second connecting rod 2063 will all rotate relative to each other, so that the relative position of the slide 204 and the blade holder 205 changes. The blade holder 205 drives the blade assembly 30 to flip. At this time, the blade assembly 30 can be replaced and cleaned.

[0063] For example, when the lifting and flipping assembly returns from the flipping state to the lifting state, under the elastic force of the spring 2092 of the first self-locking structure 209, the first locking part of the first self-locking structure 209 and the second locking part of the second self-locking structure 210 will automatically engage to achieve self-locking between the first self-locking structure 209 and the second self-locking structure 210.

[0064] Therefore, in the lawnmower provided in this embodiment, the slide 204 and the blade holder 205 are connected by the linkage assembly 206, and a single lifting drive device 201 can be used to realize both automatic lifting and automatic flipping of the blade assembly 30. The automatic lifting action can precisely control the height of the blade assembly 30, such as the ground clearance, to cope with rugged environments, such as steep slopes; the automatic flipping action can quickly, conveniently, and easily flip the blade assembly 30, for example, to expose the blade assembly 30 for easy cleaning and replacement.

[0065] For example, in other embodiments, components such as the limiting device 207, the limiting slider 208, and the connecting rod assembly 206 may also take other forms.

[0066] For example, Figure 6 and Figure 7 A schematic diagram of the lifting and tilting assembly in another lawnmower provided in at least one embodiment of this disclosure is shown for clarity. Figure 7 Compared to Figure 6 Some external structures were removed, such as the limit slide rail 2074 and the fourth link 2065.

[0067] like Figure 6 and Figure 7As shown, the limiting device 207 includes a limiting slide rail 2074 disposed on at least one side of the lifting slide rail 203. For example, the limiting device 207 includes limiting slide rails 2074 disposed on both sides of the lifting slide rail 203 and symmetrically arranged. The limiting slide rail 2074 has a straight portion 741 and a bent portion 742, which are respectively configured to limit the lifting trajectory and the flipping trajectory. The limiting slider 208 is slidably connected to the limiting slide rail 2074.

[0068] For example, when the limit slider 208 slides to the straight section 741, the linkage assembly 206 is in a lifting state, the tool holder 205 is in an initial state, and the tool assembly 30 connected to the tool holder 205 can be in a working state, such as in a grass-cutting state; when the limit slider 208 slides to the bent section 742, the linkage assembly 206 is in a flipped state, the tool holder 205 is in a flipped state, and the tool assembly 30 connected to the tool holder 205 flips. At this time, the tool assembly 30 can be replaced and cleaned.

[0069] For example, in Figure 6 and Figure 7 In one embodiment, the lifting slide rail 203 is a grooved slide rail, such as a dovetail groove slide rail.

[0070] For example, such as Figure 6 and Figure 7 As shown, the linkage assembly 206 includes a fourth link 2065 and a fifth connecting rod 2066. The fourth link 2065 has opposing ninth connecting ends I and tenth connecting ends J. The ninth connecting end I is slidably connected to the limiting slide rail 2074 and includes a limiting slider 208. For example, in some examples, the fourth link 2065 is formed as a limiting slider 208 at the end of the ninth connecting end I, or, in other embodiments, a limiting slider 208 may be additionally provided at the ninth connecting end I. The tenth connecting end J is hinged to the tool holder 205. The fifth connecting rod 2066 has opposing eleventh connecting ends K and twelfth connecting ends L. The eleventh connecting end K is hinged to the slide 204, and the twelfth connecting end L is hinged to the tool holder 205. The fourth link 2065 has a shaft hole X in its middle. The slide 204 is connected to a slide connecting rod 2041, the end of which is hinged to the shaft hole X.

[0071] Therefore, in Figure 6 and Figure 7In the embodiment, when the lifting drive device 201 drives the slide 204 and the limiting slider 208 slides on the straight portion 741 of the limiting slide rail 2074, the linkage assembly 206 is in a lifting state, and the tool holder 205 is in an initial state; when the lifting drive device 201 continues to drive the slide 204 to rise, and the limiting slider 208 slides to the bent portion 742 of the limiting slide rail 2074, the linkage assembly 206 is in a flipped state, and the tool holder 205 is in a flipped state, such as... Figure 8 As shown.

[0072] For example, Figure 9 and Figure 10 A schematic diagram of the lifting and tilting assembly in another lawnmower according to at least one embodiment of the present disclosure is shown for clarity. Figure 10 Compared to Figure 9 Some external structures, such as the limiting slide 2075, were removed.

[0073] like Figure 9 and Figure 10 As shown, the limiting device 207 includes a limiting groove 2075 disposed on at least one side of the lifting slide rail 203. The limiting groove 2075 has an opening 751 and is configured to limit the flipping trajectory. For example, in Figure 9 and Figure 10 In the embodiment, the lifting slide rail 203 is an optical axis slide rail. For example, there are two optical axis slide rails, which are symmetrically arranged on both sides of the lead screw 202.

[0074] For example, such as Figure 9 and Figure 10 As shown, the limiting slider 208 is slidably connected to the lifting slide rail 203. The linkage assembly 206 includes a slide rod 2067, a sixth link 2068, and a seventh link 2069. The slide rod 2067 has a thirteenth connecting end M and a fourteenth connecting end N, and a sliding guide Y disposed between the thirteenth connecting end M and the fourteenth connecting end N. The thirteenth connecting end M is hinged to the end of the limiting slider 208. The sixth link 2068 has a fifteenth connecting end P and a sixteenth connecting end Q. The fifteenth connecting end P is hinged to the fourteenth connecting end N, and the sixteenth connecting end Q is hinged to the tool holder 205. The seventh link 2069 has a fifteenth connecting end R and a sixteenth connecting end S. The fifteenth connecting end R is fixed to the slide block 204 and slidably connected to the sliding guide Y. The sixteenth connecting end S is hinged to the tool holder 205.

[0075] For example, slide bar 2067 has a limiting block 752 that cooperates with opening 751. The limiting block 752 can move along limiting slide groove 2075. When the limiting block 752 moves to opening 752, the fifteenth connecting end R of seventh link 2068 slides along sliding guide Y. Slide bar 2067 drives limiting block 752 to rotate in opening 751, and tool holder 205 flips.

[0076] Therefore, in Figure 9 and Figure 10 In the embodiment, when the lifting drive device 201 drives the slide 204 and the limiting rotating block 752 slides in the non-opening portion 751 of the limiting slide groove 2075, the linkage assembly 206 is in a lifting state, the tool holder 205 is in an initial state, and the tool assembly 30 connected to the tool holder 205 can be in a working state, such as in a mowing state; when the lifting drive device 201 continues to drive the slide 204 to rise, the limiting rotating block 752 slides to the opening portion 751, and the lifting drive device 201 continues to drive, the fifteenth connecting end R of the seventh link 2068 slides along the sliding guide portion Y, the limiting rotating block 752 rotates in the opening portion 751, the linkage assembly 206 is in a flipped state, and the tool holder 205 is in a flipped state, such as... Figure 11 As shown, at this time, the tool assembly 30 connected to the tool holder 205 is flipped, allowing for the replacement and cleaning of the tool assembly 30.

[0077] For example, in some embodiments, the lawnmower may also include a sensor (not shown); the sensor may be disposed on the lifting assembly or the tilting assembly and configured to detect the working state of the lifting assembly or the tilting assembly, thereby detecting the state of the blade assembly 30.

[0078] For example, in some examples, the sensor can be a displacement sensor or a contact sensor, such as a photoelectric encoder, magnetic encoder, Hall element, micro switch, etc., installed at both ends of the lifting track to detect whether the lifting and tilting assembly has completed a preset action, and thus detect the state of the tool assembly 30. Alternatively, the displacement sensor or contact sensor can also be installed near the rotating shaft of the rotatable mechanism to sense changes in angle or angular velocity, thereby obtaining relevant state information of the lifting or tilting assembly. Alternatively, the sensor can be a current sensor or a voltage sensor, set at the output end of the drive motor 201, to sense whether there is a load or whether a stall has occurred by monitoring the current and voltage of the drive motor, in order to determine the state of the tool assembly 30. Alternatively, the sensor can be a force sensor, set on the lifting and rotating assembly, to determine the current state by sensing material deformation or pressure. The embodiments of this disclosure do not limit the specific form of the sensor.

[0079] For example, in some embodiments, the lawnmower may also include a controller (not shown), which may be located inside the main body 10. The controller is configured to communicate with the lifting drive device 201 and the sensor, and is configured to receive the detection information of the sensor and control the lifting drive device 201 according to the detection information of the sensor, such as controlling the drive motor of the lifting drive device 201 to rotate forward or reverse, thereby controlling the blade holder 205 to be in a lifting state or a flipping state, thereby realizing the automatic lifting and flipping action of the lawnmower.

[0080] For example, the controller can be a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The central processing unit (CPU) can be an x86 or ARM architecture, etc. The embodiments of this disclosure do not limit the specific form of the controller.

[0081] The following points also need to be explained:

[0082] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0083] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the present disclosure, i.e., these drawings are not drawn to actual scale. It is understood that when an element is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0084] (3) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0085] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. The scope of protection of this disclosure shall be determined by the scope of the claims.

Claims

1. A lawnmower, comprising a main body and a lifting and tilting mechanism connected to the main body, wherein, The lifting and tilting mechanism includes: Lifting assembly, including a lifting drive device, and Flip components, including: The slide is configured to move vertically under the drive of the lifting drive device. Tool holder, configured to connect tool assemblies, and The linkage assembly is configured to connect the slide and the tool holder, and is configured to be controllably in a lifting or tilting state. Specifically, when the linkage assembly is in the lifting state, the tool holder is in the initial state; when the linkage assembly is in the flipping state, the tool holder is in the flipping state. The lifting assembly further includes a lifting slide rail, the slide block is slidably connected to the lifting slide rail, and is configured to move along the lifting slide rail under the drive of the lifting drive device to realize lifting motion; The flipping assembly further includes: a limiting device disposed on at least one side of the lifting slide rail, configured to limit the lifting trajectory and the flipping trajectory. The slide block is connected to a limiting slider that cooperates with the limiting device. When the limiting slider is in the lifting trajectory, the linkage assembly is in the lifting state and the tool holder is in the initial state. When the limiting slider is in the flipping trajectory, the linkage assembly is in the flipping state and the tool holder is in the flipping state. The limiting device includes a limiting block disposed on at least one side of the lifting slide rail. The linkage assembly includes: The main connecting rod has a first connecting end and a second connecting end, wherein the first connecting end is hinged to the tool holder. The first connecting rod has a third connecting end and a fourth connecting end, wherein the third connecting end is hinged to the second connecting end and also hinged to the slide block. The second link has a fifth connecting end and a sixth connecting end, wherein the fifth connecting end is hinged to the fourth connecting end, and the sixth connecting end is connected to the tool holder. The first connecting rod includes a limiting engagement part that cooperates with the limiting block, and the limiting engagement part is configured to rotate around the limiting block.

2. The lawnmower according to claim 1, wherein, The limiting mating part is a limiting groove, and the first connecting rod also includes a protrusion that protrudes toward the limiting stop block. The limiting slider is disposed on the protrusion and is opposite to the limiting block.

3. The lawnmower according to claim 2, wherein, The hinge position between the third connecting end and the second connecting end is located at the limiting groove. When the limiting groove rotates around the limiting block, the main connecting rod and the second connecting rod move relative to each other to push the tool holder to flip.

4. The lawnmower according to any one of claims 1-3, wherein, The tool holder is connected to a first self-locking structure, and the main connecting rod has a second self-locking structure at the first connecting end that cooperates with the first self-locking structure. When the tool holder is in its initial state, the first self-locking structure and the second self-locking structure achieve self-locking.

5. The lawnmower according to claim 4, wherein, The first self-locking structure includes a self-locking pin and a spring supporting the self-locking pin, wherein the self-locking pin includes a first engaging portion. The second self-locking structure includes a second locking portion capable of engaging with the first locking portion.

6. The lawnmower according to claim 4, wherein, The linkage assembly also includes: The third link has a seventh connecting end and an eighth connecting end, wherein the seventh connecting end is hinged to the sixth connecting end, and the eighth connecting end is hinged to the first connecting end.

7. The lawnmower according to claim 6, wherein, The third link includes a pushing part disposed toward the first self-locking structure. When the limiting slider moves to the limiting block and is subjected to force, the first connecting rod, the second connecting rod and the third connecting rod are subjected to force, and the pushing part pushes the first self-locking structure to unlock the first self-locking structure and the second self-locking structure.

8. The lawnmower according to any one of claims 1-3, wherein, The lifting drive device includes a drive motor and a lead screw connected to the output end of the drive motor. The slide includes a transmission part that is threadedly connected to the lead screw.

9. The lawnmower according to claim 8, wherein, The lifting drive device also includes: An encoder is configured to record the revolutions of the drive motor in order to obtain the state of the tool holder.

10. The lawnmower according to any one of claims 1-3, wherein, The lifting slide rail includes a slider slide rail, an optical axis slide rail, or a slide groove slide rail.

11. The lawnmower according to any one of claims 1-3, further comprising: The tool assembly is connected to the tool holder, and A sensor, disposed on the lifting assembly or the tilting assembly, is configured to detect the state of the cutting tool assembly.

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