Rear walking type self-pushing working machine

Abstract

The rear walking type self-pushing working machine comprises a main machine and a handle device, and the main machine comprises a walking assembly and a motor for driving the walking assembly; the handle device is connected to the host; the handle device further comprises an operating piece, a connecting rod assembly, a sensing device, a first connecting piece and a second connecting piece. The operating piece comprises a holding part used for being held by a user. The connecting rod assembly comprises a first connecting rod connected to the host; the sensing device is used for sensing thrust applied to the handle device to drive the rear walking type self-pushing working machine; the first connecting piece is fixedly connected with the operating piece; the second connecting piece is fixedly connected with the connecting rod assembly; the first connecting piece and the second connecting piece are in running fit so that the operating piece can rotate relative to the connecting rod assembly. In the using process of the backward walking type self-pushing working machine, when the acting force of a user on the operating piece enables the operating piece to rotate relative to the connecting rod assembly, the speed of the backward walking type self-pushing working machine can be increased, the detection precision is higher, and the reliability is better.

Description

Technical Field

[0001] The present application relates to a garden tool, for example, to a walk-behind self-propelled working machine. Background Art

[0002] The lawn mower in the related art is a rear-propelled self-propelled working machine. The user can stand on the rear side of the lawn mower and push the lawn mower to mow the home lawn. When the user pushes the lawn mower on the grass for a long time to mow the lawn, it will consume a lot of physical strength. In order to reduce the labor intensity of the operator when mowing the lawn, self-propelled lawn mowers have appeared on the market. In some existing lawn mowers with self-propelled functions, the self-propelled function requires manual control and can only output a constant speed. The user can only follow the lawn mower and perform mowing operations. In some lawn mowers that can adapt to the walking speed of the user, the self-propelled system contained therein has a complex structure and many parts, and the self-propelled system is prone to failure or reduced detection accuracy after long-term use.

[0003] This section provides background information related to the present application which is not necessarily related art. Summary of the invention

[0004] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, the object of the present application is to provide a rear-walking self-propelled working machine with high reliability.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] A rear-propelled self-propelled working machine comprises a main body and a handle device, wherein the main body comprises a walking assembly and a motor driving the walking assembly; the handle device is connected to the main body; the handle device also comprises an operating member, a connecting rod assembly, a sensing device, a first connecting member and a second connecting member, wherein the operating member comprises a gripping portion for a user to hold; the connecting rod assembly comprises a first connecting rod connected to the main body; the sensing device is used to sense the thrust applied to the handle device to drive the rear-propelled self-propelled working machine; wherein the first connecting member is fixedly connected to the operating member; the second connecting member is fixedly connected to the connecting rod assembly; the first connecting member and the second connecting member are rotatably matched to enable the operating member to rotate relative to the connecting rod assembly.

[0007] In some embodiments, the handle device further includes a rotating shaft portion, and the first connecting member and the second connecting member are rotationally matched via the rotating shaft portion.

[0008] In some embodiments, the connecting rod assembly further includes a second connecting rod connected to the host, and an extension line of the rotating shaft portion is perpendicular to a plane formed by the first connecting rod and the second connecting rod.

[0009] In some embodiments, the second connecting member has a through hole rotatably matched with the rotating shaft portion.

[0010] In some embodiments, the second connecting member has a through hole that is rotatably matched with the first connecting member.

[0011] In some embodiments, the rear-walk self-propelled working machine further comprises a housing, the operating member is fixedly connected to the housing, and the first connecting member is fixed to the housing.

[0012] In some embodiments, the housing forms a cavity capable of accommodating the second connector.

[0013] In some embodiments, the second connector has connecting ends at both ends of its extension direction, the shell has first accommodating cavities at both ends of its extension direction, and the connecting ends are plugged into and matched with the first accommodating cavities along the first straight line or the second straight line direction.

[0014] In some embodiments, the sensing device includes a pressure sensor, and the pressure sensor is fixed to the operating member.

[0015] In some embodiments, the rear-walk self-propelled working machine further includes a trigger assembly, wherein the trigger assembly is fixed to the second connecting member, and the trigger assembly is used to trigger the pressure sensor.

[0016] In order to achieve the above-mentioned objectives, the present invention also provides a rear-propelled self-propelled working machine, including a main body and a handle device, the main body including a walking assembly and a motor driving the walking assembly; the handle device is connected to the main body; the handle device also includes an operating member, a connecting rod assembly and a sensing device, the operating member includes a holding portion for a user to hold; the connecting rod assembly includes a first connecting rod connected to the main body; the sensing device is used to sense the thrust applied to the handle device to drive the rear-propelled self-propelled working machine; wherein the operating member is configured to rotate relative to the connecting rod assembly when subjected to a force.

[0017] The benefit of the present application is that the pressure sensor of the rear-propelled self-propelled working machine has higher detection accuracy and better reliability.

[0018] During the use of the rear-propelled self-propelled working machine, when the user needs the working machine to accelerate, the user's force on the operating member will increase, causing the operating member to rotate relative to the connecting rod assembly, and the sensing device detects the change in the thrust applied to the operating member, thereby increasing the walking speed of the walking assembly to reduce the user's thrust required when the working machine accelerates forward; when the user needs the working machine to decelerate, the user's force on the operating member will decrease, thereby reducing the walking speed of the walking assembly. The forward speed of the rear-propelled self-propelled working machine is adapted to the user's walking speed, and the rear-propelled self-propelled working machine will not pull the user to run, thereby improving the user's comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of a rear-propelled self-propelled working machine;

[0020] Figure 2 yes Figure 1 A perspective view of a handle device of a part of a rear-propelled self-propelled working machine;

[0021] Figure 3 yes Figure 2 a plan view of the structure shown;

[0022] Figure 4 yes Figure 2 a cross-sectional view of the structure shown;

[0023] Figure 5 yes Figure 4 A magnified view of a portion of the area;

[0024] Figure 6 yes Figure 5 An enlarged view of the support, sliding member and preload element in FIG.

[0025] Figure 7 yes Figure 3 A plan view of the handle device of the portion in the figure when the operating members are separated;

[0026] Figure 8 yes Figure 7 A magnified view of a portion of the area;

[0027] Fig. 9 yes Figure 7 A plan view of the structure shown with a portion of the housing removed;

[0028] Fig.10 yes Fig. 9 A magnified view of a portion of the area;

[0029] Fig.11 yes Figure 2 An exploded view of the handle device of the part in FIG.

[0030] Fig.12 yes Figure 4 A cross-sectional view of the pressure sensor and the trigger member when the pressure sensor is substantially not deformed;

[0031] Fig.13 yes Figure 4 A cross-sectional view of the pressure sensor and the trigger member when the pressure sensor is deformed;

[0032] Fig.14a is a plan view of a trigger member of another embodiment;

[0033] Fig.14b is a plan view of a pressure sensor and a trigger member according to another embodiment;

[0034] Fig.14c is a plan view of a pressure sensor and a trigger member of yet another embodiment;

[0035] Fig.15 is a perspective view of a handle device in a lawn mower according to another embodiment;

[0036] Fig.16 yes Fig.15 A plan view of the handle device in FIG.

[0037] Fig.17 yes Fig.15 A cross-sectional view of the handle device in FIG.

[0038] Fig.18 yes Fig.15 A three-dimensional view of the handle device in the embodiment of the present invention when the first housing portion is removed;

[0039] Fig.19 yes Fig.17 A magnified view of a portion of the area;

[0040] Fig. 20 yes Fig.18 A magnified view of a portion of the area;

[0041] Fig.21 is a perspective view of a handle device in a lawn mower according to another embodiment;

[0042] Fig. 22 yes Fig.21 A side view of the handle device in FIG.

[0043] Fig.23 yes Fig. 22 Sectional view at AA in the middle;

[0044] Fig.24 yes Fig.23 A magnified view of a portion of the area;

[0045] Fig.25 yes Fig.21An exploded view of the handle device in one direction;

[0046] Fig.26 yes Fig.21 Exploded view of the handle device in another direction.

[0047] Reference numerals:

[0048] 300, lawn mower; 301, host; 302, blade assembly; 303, chassis; 304, travel assembly; 305, motor;

[0049] 30, handle; 300a, first straight line; 300b, second straight line; 390, trigger; 391, connecting pin; 392, screw;

[0050] 31. operating member; 311. gripping portion; 312. first mounting portion; 313. second mounting portion; 314. second accommodating chamber;

[0051] 32. Connecting rod assembly; 321. First connecting rod; 322. Second connecting rod;

[0052] 33. Shell; 331. First accommodating chamber;

[0053] 34a, sensing device; 34, pressure sensor; 341, through hole;

[0054] 35. trigger assembly; 351. trigger member; 351a. trigger portion; 351b. trigger surface; 352. sliding member; 352a. sliding portion; 352b. support driving portion; 352c. step structure;

[0055] 36. Preload element;

[0056] 37, support member; 371, support hole; 371a, first hole wall portion; 371b, second hole wall portion;

[0057] 451, trigger member; 451a, spherical body; 451b, trigger surface; 451c, main body;

[0058] 452, pressure sensor; 452a, triggered surface; 453, triggering member; 453a, triggering surface;

[0059] 454, pressure sensor; 454a, triggered surface; 455, triggering member; 455a, triggering surface;

[0060] 50. handle device; 500a. first straight line;

[0061] 51, operating member; 511, gripping portion; 511a, first end; 511b, second end; 512, first mounting portion; 512a, first mounting end; 512b, first mounting cavity; 513, second mounting portion; 513a, second mounting end;

[0062] 52, connecting rod assembly; 521, first connecting rod; 522, second connecting rod;

[0063] 53, housing; 531, first accommodating chamber; 53a, first housing portion; 53b, second housing portion;

[0064] 54a, sensing device; 54, pressure sensor; 341, through hole;

[0065] 55. trigger assembly; 551. trigger member; 552. sliding member;

[0066] 57, support member; 571, support hole; 572, protrusion;

[0067] 58. Mounting parts;

[0068] 60, handle device; 600a, first straight line; 600b, second straight line; 600c, rotation axis;

[0069] 61, operating member; 611, gripping portion; 612, first mounting portion; 613, second mounting portion; 614, second accommodating cavity;

[0070] 62. Connecting rod assembly; 621. First connecting rod; 622. Second connecting rod;

[0071] 63, housing; 631, first accommodating chamber; 63a, first housing portion; 63b, second housing portion;

[0072] 64a, sensing device; 64, pressure sensor;

[0073] 65. trigger assembly; 651. trigger member; 652. sliding member;

[0074] 66. Preload element;

[0075] 67. Support member;

[0076] 681, first connecting member; 682, second connecting member; 6821, first connecting end; 68211, first plug hole; 6822, second connecting end; 68222, second plug hole; 683, rotating shaft;

[0077] 691. Connecting pin. DETAILED DESCRIPTION

[0078] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above drawings.

[0079] In this application, the terms "comprises", "includes", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0080] In this application, the term "and / or" is a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects before and after are in an "and / or" relationship.

[0081] In the present application, the terms "connect", "combine", "couple", and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, direct connection refers to two parts or components being connected together without the need for an intermediate piece, and indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0082] In the present application, it will be understood by those of ordinary skill in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerances caused by manufacturing, assembly, and use associated with a specific value, and the like. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0083] In this application, it will be understood by those skilled in the art that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0084] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, the bottom can include directly below, lower left, lower right, lower front, and lower back, etc.

[0085] In this application, the terms "controller", "processor", "central processing unit", "CPU", and "MCU" are interchangeable. When a unit "controller", "processor", "central processing unit", "CPU", or "MCU" is used to perform a specific function, unless otherwise specified, these functions can be performed by a single unit or multiple units.

[0086] In the present application, the terms “device”, “module” or “unit” may be implemented in the form of hardware or software to achieve specific functions.

[0087] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0088] like Figure 1 The rear-propelled self-propelled working machine shown is specifically a lawn mower 300 for mowing lawns. In other embodiments, the rear-propelled self-propelled working machine can also be a snow sweeper or a wheelbarrow or other working machines with a self-propelled function.

[0089] like Figure 1 As shown, the lawn mower 300 includes: a main body 301 and a handle device 30. The main body 301 includes: a blade assembly 302, a chassis 303, a travel assembly 304 and a motor 305. The blade assembly 302 is used to perform a cutting function, the chassis 303 is used to accommodate the blade assembly 302, the travel assembly 304 supports the chassis 303, and the motor 305 is used to drive the blade assembly 302 to rotate, and the motor 305 can also drive the travel assembly 304 to rotate.

[0090] The handle device 30 is connected to the main body 301, and the handle device 30 is connected to the rear end of the main body 301. The handle device 30 is used for operation by the user. The handle device 30 can also be rotated relative to the main body 301 to accommodate users of different heights. The handle device 30 can also be rotated relative to the main body 301 to a folded state, in which case the lawn mower 300 occupies a smaller space, thereby facilitating storage of the lawn mower 300.

[0091] like Figures 1 to 6 As shown, the handle device 30 includes: an operating member 31, a connecting rod assembly 32, a housing 33, a sensing device 34a, a trigger assembly 35 and a preload element 36, wherein the sensing device 34a includes a pressure sensor 34. The operating member 31 includes a gripping portion 311, a first mounting portion 312 and a second mounting portion 313, wherein the gripping portion 311 is used for a user to grip, and the first mounting portion 312 and the second mounting portion 313 are respectively arranged at both ends of the gripping portion 311. In this embodiment, the first mounting portion 312 extends along a first straight line 300a, and the second mounting portion 313 extends along a second straight line 300b parallel to the first straight line 300a. When the user needs to push the lawn mower 300 to mow the lawn, the user can stand at the rear side of the handle device 30 and hold the gripping portion 311 by hand to apply a forward thrust to the gripping portion 311, thereby driving the lawn mower 300 to walk on the ground.

[0092] The connecting rod assembly 32 is used to connect the operating member 31 and the host 301. The connecting rod assembly 32 includes a first connecting rod 321 and a second connecting rod 322. One end of the first connecting rod 321 is connected to the host 301, and the other end is connected to the first mounting portion 312. One end of the second connecting rod 322 is connected to the host 301, and the other end is connected to the second mounting portion 313. The first connecting rod 321 extends along a first straight line 300a, and the second connecting rod 322 extends along a second straight line 300b parallel to the first straight line 300a.

[0093] The housing 33 extends in the left-right direction, and the housing 33 connects the first connecting rod 321 and the second connecting rod 322. The handle device 30 also includes a trigger 390 for starting the blade assembly 302, and the trigger 390 is rotatably connected to the housing 33. The housing 33 is formed with a first accommodating cavity 331, and the first connecting rod 321 extends into the first accommodating cavity 331 along the first straight line 300a. The housing 33 is also fixedly connected to the connecting rod assembly 32.

[0094] The pressure sensor 34 is used to sense the thrust applied to the handle device 30 to drive the lawn mower 300 forward. In this embodiment, the pressure sensor 34 is a resistive strain sensor. In other embodiments, the pressure sensor can also be a piezoelectric film sensor, or the pressure sensor can also be a ceramic sensor. The trigger component 35 can apply a force to the pressure sensor 34 when the grip portion 311 is subjected to a thrust, and the trigger component 35 can drive the pressure sensor 34 to deform. In this way, when the user applies a thrust to the grip portion 311, the trigger component 35 will apply a force to the pressure sensor 34, and the pressure sensor 34 will deform and generate an electrical signal. The lawn mower 300 can also include a signal processing device and a controller, and the electrical signal generated by the pressure sensor 34 is sent to the signal processing device, and the signal processing device sends the processed signal to the controller, and the controller controls the lawn mower 300 to walk on the ground, and accelerates the lawn mower 300 when the thrust applied by the user increases, and also decelerates the lawn mower 300 when the thrust applied by the user decreases. When the user accelerates, the thrust applied to the handle device 30 by the user increases, and the controller also controls the forward speed of the lawn mower 300 to increase. Similarly, when the user decelerates, the thrust applied to the handle device 30 by the user decreases, and the controller also controls the forward speed of the lawn mower 300 to decrease. Thus, the forward speed of the lawn mower 300 is adapted to the walking speed of the user, and the lawn mower 300 does not pull the user to run, thereby improving the user's comfort.

[0095] In this embodiment, the ratio of the component force of the thrust received by the gripping portion 311 along the direction of the first straight line 300a to the deformation amount of the pressure sensor 34 along the direction of the first straight line 300a is greater than or equal to 40N / mm and less than or equal to 1200N / mm. Alternatively, in other embodiments, the ratio of the component force of the thrust received by the gripping portion 311 along the direction of the first straight line 300a to the deformation amount of the pressure sensor 34 along the direction of the first straight line 300a is greater than or equal to 1200N / mm and less than or equal to 5000N / mm.

[0096] In this embodiment, the pressure sensor 34 is connected to the operating member 31, and the trigger assembly 35 is connected to the connecting rod assembly 32. In this way, the pressure sensor 34 and the operating member 31 form a first integral body that moves together, and the trigger assembly 35 and the connecting rod assembly 32 form a second integral body that moves together. In this way, the trigger assembly 35 follows the connecting rod assembly 32 and remains in a position in the direction of the first straight line 300a, while the pressure sensor 34 moves with the operating member 31, thereby reducing the number of moving parts, facilitating the installation of the pressure sensor 34 and the trigger assembly 35, and simplifying the structure of the lawn mower 300. At the same time, because the operating member 31 may be deformed or shaken during operation, for example, the positions of the first mounting portion 312 and the second mounting portion 313 change, at this time, the position of the trigger assembly 35 relative to the connecting rod assembly 32 in the direction of the first straight line 300a remains fixed, so that the connecting rod assembly 32 can relatively stably apply a force to the pressure sensor 34, thereby improving the detection accuracy of the pressure sensor 34 and also making the lawn mower 300 still reliable after long-term use.

[0097] Specifically, if Figures 5 to 11 As shown, in this embodiment, the trigger assembly 35 includes: a trigger member 351 and a sliding member 352, and the trigger member 351 is used to contact the pressure sensor 34 to apply a force to the pressure sensor 34. The sliding member 352 is used to connect the trigger member 351 to the first connecting rod 321. In this embodiment, the sliding member 352 and the trigger member 351 are two different parts. In other embodiments, the sliding member 352 can also be integrally formed with the trigger member 351. In this embodiment, the sliding member 352 is connected to the connecting rod assembly 32 through a connecting pin 391, and the connecting pin 391 extends in a direction perpendicular to the first straight line 300a.

[0098] The operating member 31 is formed with a second accommodating cavity 314, which is formed at one end of the first mounting portion 312 away from the gripping portion 311. The second accommodating cavity 314 is open toward the connecting rod assembly 32, and the pressure sensor 34 is arranged in the second accommodating cavity 314. In this embodiment, the pressure sensor 34 is mounted to the first mounting portion 312, and the pressure sensor 34 is fixedly connected to the first mounting portion 312 by a screw 392. The trigger assembly 35 is mounted to the connecting rod assembly 32, and specifically, the sliding member 352 in the trigger assembly 35 is fixedly connected to the first connecting rod 321, and the positions of the sliding member 352 and the trigger member 351 in the direction of the first straight line 300a are kept synchronous. The pressure sensor 34 is arranged outside the housing 33, which is conducive to the assembly of the pressure sensor 34. When the pressure sensor 34 is severely deformed after long-term use, or when the pressure sensor 34 fails to detect, the user can more conveniently replace the pressure sensor 34. In other embodiments, the pressure sensor can also be mounted to the connecting rod assembly, and the trigger assembly can be mounted to the first mounting portion.

[0099] like Figure 5 , Figure 8 and Fig.10 As shown, the trigger member 351 is at least partially disposed in the second accommodating cavity 314. Figures 10 to 13 As shown, the trigger member 351 includes a trigger portion 351a, and the trigger portion 351a includes a trigger surface 351b for contacting the pressure sensor 34. In this embodiment, the trigger member 351 is a ball, the trigger portion 351a is a spherical body, and the trigger surface 351b is a spherical surface. A hole is formed on the pressure sensor 34, and the hole is specifically a through hole 341. The spherical surface is embedded in the through hole 341 to contact the edge of the through hole 341. In other embodiments, the hole formed on the pressure sensor for contacting the trigger member can also be a blind hole. Fig.12 As shown, when the trigger member 351 contacts the pressure sensor 34 but does not apply a force to the pressure sensor 34 or applies a small force F, the position of the through hole 341 is substantially unchanged, and the trigger surface 351b contacts the edge of the through hole 341 and applies a force F uniformly to a circle of the edge, so that the force F applied by the trigger member 351 to the pressure sensor 34 extends along the first straight line 300a. Fig.13 As shown, when the trigger member 351 applies a large force F to the pressure sensor 34, the pressure sensor 34 is deformed and the position of the through hole 341 changes, but the through hole 341 is still symmetrical about the plane passing through the first straight line 300a, so that the force F applied by the trigger member 351 to the pressure sensor 34 still extends along the first straight line 300a. In this way, the spherical surface on the trigger member 351 contacts the through hole 341, so that the force F received by the pressure sensor 34 basically extends along the direction of the first straight line 300a, thereby improving the accuracy of the detection. It should be noted that the spherical portion is a part of a ball. The spherical portion can be a part of a standard ball, or a part of a shape similar to a sphere. For example, the spherical portion is a part of a shape similar to a duck egg. In other words, there is no strict requirement that the shape of the spherical portion is a part of a standard ball. As long as the solution that can basically achieve the above-mentioned technical effect of improving the accuracy of detection of the present application belongs to the protection scope of the present application.

[0100] In this embodiment, the area of ​​the projection of the trigger surface 351b in the plane perpendicular to the first straight line 300a is larger than the area of ​​the projection of the through hole 341 in the plane. In this way, even when the pressure sensor 34 is deformed and the ball rotates, the trigger surface 351b is always in contact with the through hole 341 through the spherical surface. The projection of the portion of the trigger surface 351b in contact with the through hole 341 in the plane perpendicular to the first straight line 300a is still symmetrical about the first straight line 300a, so that the force F applied by the trigger surface 351b to the pressure sensor 34 still extends along the first straight line 300a.

[0101] The pressure sensor 34 is connected to the operating member 31, and the trigger member 351 is arranged between the pressure sensor 34 and the connecting rod assembly 32. In the direction along the first straight line 300a, the position of the trigger member 351 relative to the connecting rod assembly 32 remains fixed, which can further reduce the detection error caused by the movement of the ball. In other embodiments, the pressure sensor can also be connected to the connecting rod assembly, and the trigger member is connected to the operating member. The trigger member is a ball arranged between the operating member and the pressure sensor. In this case, the position of the pressure sensor relative to the connecting rod assembly in the first straight line direction remains fixed.

[0102] It can be understood that the trigger surface 351b is at least a part of a spherical surface. In this embodiment, the trigger surface 351b is a complete spherical surface.

[0103] In other embodiments, the shape of the trigger member may not be a ball. For example, in the embodiment shown in FIG. 14 , the trigger member 451 includes a main body 451c and a spherical body 451a for contacting the pressure sensor, the spherical body 451a is a part of a ball, and the trigger surface 451b for contacting the pressure sensor formed by the spherical body 451a is a half spherical surface. Similarly, it can be understood that in other embodiments, the spherical body 451a can be integrally formed with the sliding member, so that as long as a spherical body 451a is formed at the end of the sliding member, a force along the direction of the first straight line 300a can be applied to the pressure sensor.

[0104] exist Fig.14a In the embodiment shown, the trigger surface 451b is a semi-spherical surface. In other embodiments, the ratio of the area of ​​the trigger surface to the corresponding spherical surface can be any value.

[0105] like Fig.14b In the embodiment shown, the pressure sensor 452 is formed with a triggered surface 452a for contacting the trigger surface 453a of the trigger member 453, and the shape of the triggered surface 452a is a part of a sphere, while the trigger surface 453a can be a plane. In this embodiment, the triggered surface 452a is the hole wall of the hole, and the hole wall is a part of the sphere.

[0106] Or, if Fig.14c In the illustrated embodiment, the triggered surface 454a formed by the pressure sensor 454 is the surface of the upwardly protruding spherical portion, the surface of the spherical portion is a part of the spherical surface, and the triggering surface 455a of the triggering member 455 can be a plane.

[0107] The preload element 36 is used to bias the trigger assembly 35 so that the trigger assembly 35 applies a preload force to the pressure sensor 34. In this way, the nonlinear electrical signal output by the pressure sensor 34 at the beginning of deformation can be filtered out, thereby improving the accuracy of the signal processed by the signal processing device.

[0108] The handle device 30 further includes a support member 37, which is used to support the sliding member 352, and the support member 37 is disposed in the first accommodating cavity 331 formed by the housing 33. The support member 37 is also fixedly connected to the operating member 31. The support member 37 can also be considered as a part of the first whole, so that the support member 37, the operating member 31 and the pressure sensor 34 constitute the above-mentioned first whole. When the user applies a thrust to the grip portion 311, the support member 37, the operating member 31 and the pressure sensor 34 together generate a small movement along the first straight line 300a relative to the second whole. It should be noted that the distance of the movement generated by the first whole relative to the second whole is less than or equal to 3 mm, and the movement generated by the first whole relative to the second whole is used to provide the trigger member 351 with a stroke to cause the pressure sensor 34 to deform. In other words, the distance of the movement of the first whole along the first straight line 300a is the same as the stroke of the trigger member 351, and is also the same as the size of the deformation of the pressure sensor 34. Therefore, the movement of the operating member 31, the pressure sensor 34, and the support member 37 relative to the connecting rod assembly 32 is very small, and the user can hardly feel the movement of the operating member 31, the pressure sensor 34, and the support member 37 relative to the connecting rod assembly 32. In other words, for the user, it can also be considered that the operating member 31, the pressure sensor 34, and the support member 37 have not moved relative to the connecting rod assembly 32.

[0109] In this embodiment, the operating member 31 and the pressure sensor 34 are both arranged outside the housing 33, and the support member 37 is arranged inside the housing 33. The screw 392 passes through the support member 37, the pressure sensor 34 and the operating member 31 in sequence, so as to fix and connect the three together to form a first integral body. The support member 37 is formed with a support hole 371, and the sliding member 352 includes a sliding portion 352a arranged inside the support hole 371 and a driving portion 352b in contact with the trigger member 351. The pre-tightening element 36 is arranged in the first accommodating cavity 331 formed by the housing 33, and the pre-tightening element 36 biases the driving portion 352b. In this embodiment, the pre-tightening element 36 is a spring, and further, the pre-tightening element 36 is a butterfly spring, which is sleeved on the sliding portion 352a and supports the driving portion 352b. In other embodiments, the pre-tightening element 36 can also be a coil spring, and the pre-tightening element 36 can also be a rubber member. The preload element 36 indirectly biases the trigger member 351 via the sliding member 352 so that the trigger member 351 is always in contact with the pressure sensor 34 .

[0110] When the operating member 31 is pushed, the first whole moves relative to the second whole, and the support member 37 moves relative to the sliding member 352 along the first straight line 300a, causing the pressure sensor 34 to deform. The stroke of the relative motion is the same as the stroke of the motion of the first whole relative to the second whole, and the maximum value of the relative motion of the support member 37 relative to the sliding member 352 is also less than or equal to 3 mm. In this embodiment, in fact, the sliding member 352 is fixed relative to the host 301, and the support member 37 moves relative to the host 301 along with the operating member 31, so that the support member 37 and the sliding member 352 generate relative motion. Because the motion is relative, the motion of the support member 37 relative to the sliding member 352 can also be considered as the motion of the sliding member 352 relative to the support member 37.

[0111] In other embodiments, the sliding member 352 may also be formed with a sliding hole, and the support member 37 extends into the sliding hole to support the sliding member 352 .

[0112] In this embodiment, the support member 37 is made of a first material, and the sliding member 352 is made of a second material, which is different from the first material. The support member 37 and the sliding member 352 are made of different materials, so that the support member 37 and the sliding member 352 have different viscosities, thereby reducing the friction coefficient between the support member 37 and the sliding member 352. In this way, when the support member 37 and the sliding member 352 generate relative motion, the friction force generated between the support member 37 and the sliding member 352 is small, so that the pressure sensor 34 can more accurately sense the thrust applied by the user to the grip 311, thereby improving the detection accuracy of the pressure sensor 34, thereby improving the reliability of the lawn mower 300.

[0113] The friction coefficient between the support member 37 and the sliding member 352 is greater than 0 and less than or equal to 0.3, so that the force transmitted to the pressure sensor 34 is more accurate. Furthermore, the friction coefficient between the support member 37 and the sliding member 352 is greater than 0 and less than or equal to 0.1. In order to further reduce the influence of the friction force between the support member 37 and the sliding member 352 on the thrust applied by the user, the friction coefficient between the support member 37 and the sliding member 352 is greater than 0 and less than or equal to 0.05.

[0114] Specifically, in this embodiment, the support member 37 is a metal member, and the sliding member 352 is a plastic member. In other embodiments, the support member may be a plastic member, and the sliding member may be a metal member. Alternatively, in one embodiment, the first material is a first metal, and the second material is a second metal, that is, the support member and the sliding member are made of two different metal materials.

[0115] The surface roughness Ra of the support member 37 is less than or equal to 10 nanometers, and the surface roughness Ra of the sliding member 352 is less than or equal to 10 nanometers. Furthermore, the surface roughness Ra of the support member 37 is less than or equal to 3.2 nanometers, and the surface roughness Ra of the sliding member 352 is less than or equal to 3.2 nanometers. In this way, when the support member 37 and the sliding member 352 are in relative motion, the friction between the support member 37 and the sliding member 352 is small, so that the measured value of the thrust detected by the pressure sensor 34 is more accurate. In other embodiments, the support member and the sliding member can also be made of the same material, for example, the support member and the sliding member are both made of plastic. At this time, in order to reduce the friction factor between the support member and the sliding member, a metal layer can be plated on the surface of the support member or the sliding member, for example, chrome is plated on the surface of the support member or the sliding member, so that the surface roughness of the support member and the sliding member can be reduced. It should be noted that when a material layer is plated on the surface of the support member or the sliding member, the surface roughness of the support member or the sliding member refers to the surface roughness of the material layer.

[0116] like Figure 6 As shown, the support hole 371 is centered on the first straight line 300a. The sliding portion 352a is partially disposed in the support hole 371. The support hole 371 has a first hole wall portion 371a and a second hole wall portion 371b. In the direction along the first straight line 300a, the first hole wall portion 371a and the second hole wall portion 371b are located at different positions. The first hole wall portion 371a has a first inner diameter, and the second hole wall portion 371b has a second inner diameter, and the first inner diameter is greater than the second inner diameter. In other words, the first hole wall portion 371a and the second hole wall portion 371b are cylindrical holes with different inner diameters, respectively. The sliding member 352 is formed with a step structure 352c, so that the sliding member 352 can contact both the first hole wall portion 371a and the second hole wall portion 371b. In this way, the contact area between the sliding member 352 and the support member 37 can be reduced, thereby further reducing the influence of the sliding member 352 and the support member 37 on the force during relative movement, thereby improving the accuracy of the thrust applied by the user to the gripping portion 311 detected by the pressure sensor 34.

[0117] like Fig.15 FIG. 2 is a perspective view of a handle device 50 of another lawn mower, which may also be another rear-propelled self-propelled working machine having a handle device 50. Figures 15 to 20As shown, the lawn mower can have the same main machine as the lawn mower 300, and the handle device 50 has the same operating member 51, connecting rod assembly 52, sensing device 54a, trigger assembly 55 and pre-tightening element as the handle device 30. The main difference is that the housing 33 in the lawn mower 300 is fixedly connected to the connecting rod assembly 32, while the housing 53 in the lawn mower is fixedly connected to the operating member 51. The structures of the lawn mower 300 that can be applied to this embodiment can be the same as this embodiment, and will not be described in detail.

[0118] The operating member 51 includes a gripping portion 511 for a user to hold, and the two ends of the gripping portion 511 in its extension direction are respectively defined as a first end 511a and a second end 511b. The operating member 51 also includes a first mounting portion 512 and a second mounting portion 513. The first mounting portion 512 includes a first mounting end 512a for mounting a sensing device 54a or a triggering member 551, and the second mounting portion 513 includes a second mounting end 513a for mounting a sensing device 54a or a triggering member 551. The sensing device 54a includes a pressure sensor 54 for sensing the thrust applied to the handle device 50 to drive the lawn mower, and the triggering member 551 can apply a force to the pressure sensor 54 when the gripping portion 511 is subjected to thrust to drive the pressure sensor 54 to deform. The first mounting portion 512 is arranged at the first end 511a of the gripping portion 511, and the second mounting portion 513 is arranged at the second end 511b of the gripping portion 511. In this embodiment, the first mounting end 512a forms a first mounting cavity 512b, the second mounting end 513a forms a second mounting cavity, the number of the pressure sensors 54 is 2, and the two pressure sensors 54 are respectively arranged in the first mounting cavity 512b and the second mounting cavity. The trigger member 551 can apply a force to the pressure sensor 54 along the direction of the first straight line 500a.

[0119] The handle device 50 further includes a support member 57 for supporting the operating member 51 and fixedly connected to the operating member 51, and the pressure sensor 54 is also fixedly connected to the support member 57 and the operating member 51. The trigger assembly 55 further includes a sliding member 552, and the sliding member 552 is fixedly connected to the connecting rod assembly 52. ​​The support member 57 is also formed with a support hole 571, and the sliding member 552 passes through the support hole 571 and contacts the trigger member 551. When the user applies a force to the grip portion 511, the first whole formed by the operating member 51, the support member 57 and the pressure sensor 54 is slightly displaced relative to the second whole formed by the trigger member 551, the sliding member 552 and the connecting rod assembly 52, and the trigger member 551 causes the pressure sensor 54 to deform through the slight displacement, so that the pressure sensor 54 outputs a signal. The slight displacement is the same as the deformation amount of the pressure sensor 54.

[0120] In this embodiment, the housing 53 is fixedly connected to the first mounting end 512a and the second mounting end 513a, so the housing 53 can also be referred to as a connector for fixing the first mounting end 512a and the second mounting end 513a. For the convenience of explanation, the technical solution of the present application is described below using the housing 53 instead of the connector. In fact, the housing 53 is also a connector. The connecting rod assembly 52 includes a first connecting rod 521 and a second connecting rod 522. The extension direction of the first mounting portion 512 is the same as the extension direction of the first connecting rod 521, and the extension direction of the second mounting portion 513 is the same as the extension direction of the second connecting rod 522. The first mounting portion 512 extends along the first straight line 500a, and the second mounting portion 513 extends in a direction parallel to the first straight line 500a. The grip portion 511 is fixedly connected to the upper ends of the first mounting portion 512 and the second mounting portion 513, and the housing 53 is fixedly connected to the lower ends of the first mounting portion 512 and the second mounting portion 513. In this way, the housing 53 can ensure that the distance L1 between the first mounting end 512a and the second mounting end 513a remains substantially unchanged. On the one hand, the trigger member 551 can substantially apply a force to the pressure sensor 54 along the direction of the first straight line 500a. On the other hand, the housing 53 can avoid the increase of the friction between the support member 57 and the sliding member 552 caused by the change of the distance L1 between the first mounting end 512a and the second mounting end 513a, thereby reducing the influence of the friction between the support member 57 and the sliding member 552 on the force. The housing 53 is fixedly connected to the first mounting end 512a and the second mounting end 513a, so that the pressure sensor 54 can more accurately detect the thrust applied by the user to the gripping portion 511, thereby improving the detection accuracy. The housing 53 is fixedly connected to the first mounting end 512a and the second mounting end 513a, and does not limit the housing 53 to be directly connected to the first mounting end 512a or the second mounting end 513a. The housing 53 can be indirectly fixed to the first mounting end 512a and the second mounting end 513a through other parts. For example, in this embodiment, a portion of the shell 53 is arranged between the first connecting rod 521 and the second connecting rod 522, and the two ends of the shell 53 are fixedly connected to the two support members 57, and the two support members 57 are fixedly connected to the first mounting portion 512 and the second mounting portion 513, respectively, so that the shell 53 is fixedly connected to the first mounting portion 512 and the second mounting portion 513.

[0121] One end of the first mounting portion 512 is connected to the first end 511a of the gripping portion 511, and the other end is the first mounting end 512a, which is far away from the first end 511a. One end of the second mounting portion 513 is connected to the second end 511b of the gripping portion 511, and the other end is the second mounting end 513a, which is far away from the second end 511b.

[0122] The housing 53 is formed with a first accommodating cavity 531, the connecting rod assembly 52 is inserted into the first accommodating cavity 531, the support member 57 is at least partially disposed in the first accommodating cavity 531, the housing 53 is fixedly connected to the support member 57, and the support member 57 is fixedly connected to the operating member 51 and the pressure sensor 54. The pressure sensor 54 is disposed outside the first accommodating cavity 531, and the pressure sensor 54 is disposed in the first installation cavity 512b and the second installation cavity.

[0123] The housing 53 specifically includes: a first housing portion 53a and a second housing portion 53b, the first housing portion 53a and the second housing portion 53b can be separated from each other, and the first housing portion 53a and the second housing portion 53b can also be docked to form a whole. When the first housing portion 53a and the second housing portion 53b are docked, the first housing portion 53a and the second housing portion 53b surround and form a first accommodating cavity 531 for inserting the connecting rod assembly 52. ​​In other embodiments, the operating member 51 can also be inserted into the first accommodating cavity 531. The handle device 50 also includes a mounting member 58, and the mounting member 58 is used to fix the housing 53 with the support member 57. In this embodiment, the support member 57 includes a protrusion 572 extending out of the housing 53, and the mounting member 58 includes a screw, which passes through the first housing portion 53a, the protrusion 572 and the second housing portion 53b in sequence, so as to fix the housing 53 with the support member 57.

[0124] In the direction along the first straight line 500a, the distance L2 between the gripping portion 511 and the housing 53 is greater than or equal to 40 mm and less than or equal to 200 mm. The ratio of the distance L2 between the housing 53 and the gripping portion 511 to the dimension L3 of the operating member 51 in the direction along the first straight line 500a is greater than or equal to 0.5 and less than 1. In this way, the distance between the housing 53 and the gripping portion 511 is large enough, so that the distance between the first mounting portion 512 and the second mounting portion 513 can be better ensured.

[0125] When the first mounting end 512a and the second mounting end 513a are not fixedly connected by the shell 53, the distance L1 between the first mounting end 512a and the second mounting end 513a may change due to the different directions of the thrust applied by the user, or the distance L1 between the first mounting end 512a and the second mounting end 513a may change due to the deformation of the operating member 51 caused by long-term work, or the distance L1 between the first mounting end 512a and the second mounting end 513a may change due to the collision of the operating member 51 by other objects. These situations will cause the thrust measurement value detected by the pressure sensor 54 to be different from the actual value of the thrust applied by the user to the grip 511, thereby affecting the speed of the controller to control the motor and not being able to adapt to the walking speed of the user or the thrust applied by the user. For example, when the shell 53 is not connected to the first mounting end 512a and the second mounting end 513a, the distance L1 between the first mounting end 512a and the second mounting end 513a will change between L±3 mm. When the shell 53 is fixedly connected to the first mounting end 512a and the second mounting end 513a, the distance L1 between the first mounting end 512a and the second mounting end 513a will vary between L±0.5 mm, which greatly reduces the variation of the distance between the first mounting end 512a and the second mounting end 513a of the operating member 51, thereby improving the detection accuracy of the pressure sensor 54.

[0126] like Fig.21 FIG. 2 is a perspective view of a handle device 60 of another lawn mower, which may also be other rear-propelled self-propelled working machines having a handle device 60. Figure 21 to Figure 26 As shown, the lawn mower can have the same main machine as the lawn mower 300, and the handle device 60 has the same operating member 61, connecting rod assembly 62, sensing device 64a, trigger assembly 65 and preload element 66 as the handle device 30. The main difference is that the housing 33 in the lawn mower 300 is fixedly connected to the connecting rod assembly 32, while the housing 63 in the lawn mower is fixedly connected to the operating member 61, and the operating member 61 is configured to rotate relative to the connecting rod assembly 62 when subjected to an applied force. When the user needs to push the lawn mower to mow the lawn, the user can stand on the rear side of the handle device 60 and hold the gripping portion 611 by hand to apply a forward thrust to the gripping portion 611, thereby driving the lawn mower to walk on the ground. The structures of the lawn mowers in the lawn mower 300 that can be applied to this embodiment can all be the same as those in this embodiment, and will not be described in detail.

[0127] The handle device 60 further includes a first connecting member 681, a second connecting member 682 and a rotating shaft portion 683. The first connecting member 681 is fixed to the housing 63, that is, the first connecting member 681 is fixedly connected to the operating member 61, the second connecting member 682 is fixed to the connecting rod assembly 62, and the rotating shaft portion 683 is rotatably connected to the first connecting member 681 and the second connecting member 682 so that the operating member 61 can rotate relative to the connecting rod assembly 62. The extension line of the rotating shaft portion 683 is perpendicular to the plane formed by the first connecting rod 621 and the second connecting rod 622 of the connecting rod assembly 62, and the extension line of the rotating shaft portion 683 and the rotation axis 600c of the operating member 61 and the housing 63.

[0128] In one embodiment, the second connecting member 682 has a through hole that is rotatably matched with the rotating shaft portion 683. The first connecting member 681 is a shaft-shaped structure, and the rotating shaft portion 683 is a bearing. The first connecting member 681 is inserted into the inner ring of the rotating shaft portion 683, and then the outer ring of the rotating shaft portion 683 is inserted into the through hole of the second connecting member 682, so that the first connecting member 681 can rotate around the rotation axis 600c relative to the second connecting member 682. Of course, in other embodiments, the first connecting member can also be provided with a through hole that matches the rotating shaft portion, and the second connecting member is provided with a rotating shaft, which can also achieve the above effect, and will not be repeated here.

[0129] The sensing device 64a includes a pressure sensor 64, which is used to sense the thrust applied to the handle device 60 to drive the lawn mower forward. The pressure sensor 64, the operating member 61, the housing 63 and the first connecting member 681 are fixedly connected, and the trigger assembly 65, the connecting rod assembly 62 and the second connecting member 682 are fixedly connected. In this way, the pressure sensor 64, the operating member 61, the housing 63 and the first connecting member 681 form a first integral body that moves together, and the trigger assembly 65, the connecting rod assembly 62 and the second connecting member 682 form a second integral body that moves together. In this way, the trigger assembly 65 remains unchanged in the direction of the first straight line 600a or the second straight line 600b following the connecting rod assembly 62, and the pressure sensor 64 moves with the rotation of the operating member 61. The position of the trigger assembly 65 relative to the connecting rod assembly 62 in the direction of the first straight line 600a or the second straight line 600b is kept fixed, so that the connecting rod assembly 62 can relatively stably apply a force to the pressure sensor 64, thereby improving the detection accuracy of the pressure sensor 64 and also making the lawn mower still reliable after long-term use.

[0130] The trigger assembly 65 includes a trigger member 651 and a sliding member 652. The trigger member 651 is used to contact the pressure sensor 64 to apply a force to the pressure sensor 64. The sliding member 652 is used to connect the trigger member 651 to the second connecting rod 622. In this embodiment, the sliding member 652 and the trigger member 651 are two different parts. In other embodiments, the sliding member 652 can also be integrally formed with the trigger member 651. In this embodiment, the sliding member 652 is connected to the second connecting rod 622 through a connecting pin 691, and the connecting pin 691 extends in a direction perpendicular to the second straight line 600b.

[0131] exist Figure 24 to Figure 26 In the illustrated embodiment, the operating member 61 further comprises a first mounting portion 612 and a second mounting portion 613 respectively connected to both ends of the gripping portion 611, wherein the first mounting portion 612 and the second mounting portion 613 are symmetrically arranged. The operating member 61 is formed with a second accommodating cavity 614, which is formed at one end of the second mounting portion 613 away from the gripping portion 611. The second accommodating cavity 614 is open toward the connecting rod assembly 62, and the pressure sensor 64 is arranged in the second accommodating cavity 614. The handle device 60 further comprises a support member 67, which is fixed in the housing 63 and fixedly connected to the second mounting portion 613 of the operating member 61, and the support member 67 is partially accommodated in the second accommodating cavity 614 of the second mounting portion 613, and the trigger member 651 is located between the support member 67 and the pressure sensor 64. Specifically, when the user applies force to the grip portion 611, the first entity consisting of the operating member 61, the shell 63, the support member 67, the first connecting member 681 and the pressure sensor 64 rotates slightly relative to the second entity consisting of the trigger member 651, the sliding member 652, the connecting rod assembly 62 and the second connecting member 682. The trigger member 651 causes the pressure sensor 64 to deform through the slight rotation, thereby causing the pressure sensor 64 to output a signal.

[0132] The second connecting member 682 has a first connecting end 6821 fixedly connected to the first connecting rod 621 and a second connecting end 6822 fixedly connected to the second connecting rod 622. The first connecting member 681 can rotate relative to the second connecting member 682 through the rotating shaft portion 683. Fig.25 In other words, the operating member 61 fixedly connected to the first connecting member 681 can rotate around the rotation axis 600c relative to the connecting rod assembly 62 fixedly connected to the second connecting member 682. In this embodiment, the first connecting member 681 is integrally formed with the housing 63.

[0133] The housing 63 includes a first housing portion 63a and a second housing portion 63b, and the first housing portion 63a and the second housing portion 63b can be separated from each other, and the first housing portion 63a and the second housing portion 63b can also be docked to form a whole. When the first housing portion 63a and the second housing portion 63b are docked, the first housing portion 63a and the second housing portion 63b surround and form a cavity for accommodating the second connecting member 682. The cavity has a first accommodating cavity 631 at both ends of its extending direction (left-right direction), and the two first accommodating cavities 631 are respectively used to accommodate the first connecting end 6821 and the second connecting end 6822 of the second connecting member 682. Specifically, a first jack 68211 is provided in the first connecting end 6821, and the first connecting rod 621 of the connecting rod assembly 62 is inserted into the first jack 68211 of the first connecting end 6821 of the second connecting member 682 along the first straight line 600a. A second plugging hole 68222 is defined in the second connecting end 6822 , and the second connecting rod 622 of the connecting rod assembly 62 is inserted into the second plugging hole 68222 of the second connecting end 6822 of the second connecting member 682 along the second straight line 600 b .

[0134] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A rear-propelled self-propelled working machine, comprising: A host (301) includes a travel component (304) and a motor (305) for driving the travel component (304); A handle device (60) connected to the host (301); The handle device (60) comprises: An operating member (61), comprising a gripping portion (611) for a user to grip; A connecting rod assembly (62), comprising a first connecting rod (621) connected to the main machine (301); a sensing device (64a) for sensing a thrust applied to the handle device (60) to drive the rear-propelled self-propelled working machine; A first connecting member (681) fixedly connected to the operating member (61); A second connecting member (682) fixedly connected to the connecting rod assembly (62); The first connecting member (681) and the second connecting member (682) are rotatably matched to enable the operating member (61) to rotate relative to the connecting rod assembly (62).

2. The rear-propelled self-propelled working machine according to claim 1, characterized in that: The handle device (60) further comprises a rotating shaft portion (683), and the first connecting member (681) and the second connecting member (682) are rotationally matched via the rotating shaft portion (683).

3. The rear-propelled self-propelled working machine according to claim 2, characterized in that: The connecting rod assembly (62) further comprises a second connecting rod (622) connected to the main machine (301), and an extension line of the rotating shaft portion (683) is perpendicular to a plane formed by the first connecting rod (621) and the second connecting rod (622).

4. The rear-propelled self-propelled working machine according to claim 2, characterized in that: The second connecting member (682) has a through hole that is rotatably matched with the rotating shaft portion (683).

5. The rear-propelled self-propelled working machine according to claim 1, characterized in that: The second connecting member (682) has a through hole that is rotatably matched with the first connecting member (681).

6. The rear-propelled self-propelled working machine according to claim 1, characterized in that: The handle device (60) further comprises a shell (63), the operating member (61) is fixedly connected to the shell (63), and the first connecting member (681) is fixed to the shell (63).

7. The rear-propelled self-propelled working machine according to claim 6, characterized in that: The housing (63) forms a cavity capable of accommodating the second connecting member (682).

8. The rear-propelled self-propelled working machine according to claim 6, characterized in that: The second connecting member (682) has connecting ends at both ends of its extension direction, and the shell (63) has first accommodating cavities (631) at both ends of its extension direction. The connecting ends are plugged into and matched with the first accommodating cavities (631) along the first straight line (600a) or the second straight line (600b).

9. The rear-propelled self-propelled working machine according to any one of claims 1 to 8, characterized in that: The sensing device (64a) comprises a pressure sensor (64), and the pressure sensor (64) is fixed to the operating member (61).

10. The rear-propelled self-propelled working machine according to claim 9, characterized in that: The handle device (60) further comprises a trigger assembly (65), wherein the trigger assembly (65) is fixed to the second connecting member (682), and the trigger assembly (65) is used to trigger the pressure sensor (64).

11. A rear-propelled self-propelled working machine, comprising: A host (301) includes a travel component (304) and a motor (305) for driving the travel component (304); A handle device (60) connected to the host (301); The handle device (60) comprises: An operating member (61), comprising a gripping portion (611) for a user to grip; A connecting rod assembly (62), comprising a first connecting rod (621) connected to the main machine (301); a sensing device (64a) for sensing a thrust applied to the handle device (60) to drive the rear-propelled self-propelled working machine; Wherein, the operating member (61) is arranged to rotate relative to the connecting rod assembly (62) when subjected to an acting force.

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