Hand-push type working machine and control method thereof

Abstract

The invention discloses a gardening tool, and particularly relates to a hand-push type working machine and a control method thereof. The hand-push type working machine comprises a rack, a walking assembly, an operation assembly and a controller. The controller is configured to control the rotating speed of the first motor and the rotating speed of the second motor based on the states of the first operation piece and the second operation piece. The controller is further configured to control the first motor to rotate reversely at a preset rotating speed and control the second motor to rotate forwards at the preset rotating speed when the first operating part is operated to a preset position and the second operating part is not operated, and at the moment, the machine rotates in a zero direction. During zero steering, the speed of the first walking wheel is equal to that of the second walking wheel, and complete zero steering is achieved. And the operated preset position of the first operating part is generally the maximum position, so that the first operating part is easy to control by an operator and convenient to operate.

Description

Technical Field

[0001] The present application relates to a garden tool, in particular to a hand-propelled working machine and a control method thereof. Background Art

[0002] As a hand-pushed power tool, the snowplow can be used as an important equipment for snow removal in winter. It has major advantages such as high efficiency, economy and environmental protection. When the snowplow is working, speed adjustment and steering operations are required.

[0003] A snow blower in the related technology has an operating member with point P set in the middle position. When the operating member is pressed no more than point P, the speed of the motor gradually decreases as the pressure increases. When point P is reached, the speed of the motor drops to zero. After exceeding point P, the speed of the motor increases in the reverse direction.

[0004] This section provides background information related to the present application which is not necessarily prior art. Summary of the invention

[0005] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, one object of the present application is to provide a hand-propelled working machine and a control method thereof, in which the speeds of the first and second running wheels are equal during zero turning, thus achieving complete zero turning.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] A hand-propelled working machine, comprising:

[0008] frame;

[0009] A walking assembly, connected to the frame, for supporting the push-type working machine to move on the ground; the walking assembly comprises a first walking wheel, a first motor for driving the first walking wheel, a second walking wheel and a second motor for driving the second walking wheel;

[0010] An operating assembly is installed on the frame and is operated by an operator; the operating assembly includes a first operating member for adjusting the rotation speed of the first motor and a second operating member for adjusting the rotation speed of the second motor;

[0011] a controller configured to control the rotation speeds of the first motor and the second motor based on the states of the first operating member and the second operating member;

[0012] The controller is also configured to:

[0013] When the first operating member is operated to a preset position and the second operating member is not operated, the first motor is controlled to rotate in reverse at a preset speed, and the second motor is controlled to rotate in forward direction at a preset speed.

[0014] In some embodiments, the controller is further configured to: when the operated position of the first operating member is between the minimum position and the maximum position, control the first motor to slow down, and the greater the amplitude of the operation of the first operating member, the greater the speed of the first motor slows down.

[0015] In some embodiments, the controller is further configured to: when both the first operating member and the second operating member are operated, control the first motor and the second motor to slow down, and the motor corresponding to the one with a larger operating amplitude among the first operating member and the second operating member slows down more.

[0016] In some embodiments, the controller is further configured to control the first motor and the second motor to maintain a current rotation speed when neither the first operating member nor the second operating member is operated.

[0017] In some embodiments, the controller is further configured to: when the first operating member and the second operating member are both operated to a preset position, control the first motor and the second motor to first slow down to zero and then reversely accelerate to a preset speed.

[0018] In some embodiments, the preset position is the maximum position of the operating member.

[0019] In some embodiments, the operating amplitude of the first operating member is detected by a first position detection sensor, and the operating amplitude of the second operating member is detected by a second position detection sensor.

[0020] In some embodiments, the walk-behind working machine is a walk-behind snow blower or a walk-behind lawn mower.

[0021] A control method for a hand-propelled working machine is applied to a hand-propelled working machine as described in any of the above schemes. When the hand-propelled working machine is moving, if it is detected that a first operating member is operated, the operated position of the first operating member is detected in real time. If it is detected that the position of the first operating member reaches a preset position, the first motor is controlled to first slow down to zero and then accelerate in reverse to a preset speed, and at the same time, the second motor is controlled to rotate forward at the preset speed.

[0022] A hand-propelled working machine, comprising:

[0023] frame;

[0024] A walking assembly is connected to the frame and is used to support the hand-push working machine to move on the ground; the walking assembly includes a first walking wheel, a first motor for driving the first walking wheel, a second walking wheel and a second motor for driving the second walking wheel;

[0025] An operating assembly is installed on the frame and is operated by an operator; the operating assembly includes a first operating member for adjusting the rotation speed of the first motor and a second operating member for adjusting the rotation speed of the second motor;

[0026] a controller configured to control the rotation speeds of the first motor and the second motor based on the states of the first operating member and the second operating member;

[0027] The controller is also configured to:

[0028] When both the first operating member and the second operating member are operated, the first motor and the second motor are controlled to decelerate, and the motor corresponding to the one of the first operating member and the second operating member with a larger operating range decelerates more.

[0029] The benefit of the present application is that: when the first operating member is operated to the preset position and the second operating member is not operated, the first motor is controlled to reverse at a preset speed and the second motor is controlled to forward at a preset speed, and the machine has zero turn, and at zero turn, the speeds of the first running wheel and the second running wheel are equal, achieving complete zero turn. In addition, the preset position of the first operating member being operated is generally the maximum position, which is easy for the operator to control and convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of a snow sweeper provided in an embodiment of the present application at a first angle;

[0031] Figure 2 is a schematic structural diagram of a snow sweeper provided in an embodiment of the present application at a second angle;

[0032] Figure 3 This is a schematic diagram of the structure of the walking assembly involved in some embodiments of the present application. Figure 1 ;

[0033] Figure 4 This is a schematic diagram of the structure of the walking assembly involved in some embodiments of the present application. Figure 2 ;

[0034] Figure 5 This is a schematic diagram of the structure of the walking assembly involved in some embodiments of the present application. Figure 3 ;

[0035] Figure 6 This is a schematic diagram of the structure of the walking assembly involved in other embodiments of the present application. Figure 1 ;

[0036] Figure 7 This is a schematic diagram of the structure of the walking assembly involved in other embodiments of the present application. Figure 2 ;

[0037] Figure 8 This is a schematic diagram of the structure of the walking assembly involved in other embodiments of the present application. Figure 3 ;

[0038] Figure 9This is a schematic diagram of the structure of the walking assembly involved in other embodiments of the present application. Figure 4 .

[0039] In the figure:

[0040] 10. Frame; 11. Snow inlet housing; 12. Snow throwing housing; 13. Battery pack housing; 14. Air outlet;

[0041] 20. Snow-clearing assembly; 21. First rotating shaft; 22. Snow-clearing paddle;

[0042] 30. Snow throwing assembly; 31. Second rotating shaft; 32. Snow throwing cylinder;

[0043] 40. Battery pack assembly;

[0044] 50. Travel assembly; 51. First travel wheel; 52. Second travel wheel; 53. First motor; 531. First output shaft; 5311. Hollow joint; 54. Second motor; 541. Second output shaft; 55. Connector; 56. Fixing member;

[0045] 60. first heat dissipation device; 61. heat dissipation motor; 62. fan; 63. heat sink;

[0046] 70. air guide cover; 71. air guide channel; 72. air guide port;

[0047] 80. handle assembly; 81. first connecting rod; 82. second connecting rod; 83. first handle; 84. second handle;

[0048] 90. operating assembly; 91. first operating member; 92. second operating member. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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).

[0054] 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.

[0055] 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.

[0056] 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.

[0057] In the present application, the terms “device”, “module” or “unit” may be implemented in the form of hardware or software to achieve specific functions.

[0058] 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.).

[0059] The present application provides a hand-pushed working machine. In this embodiment, the hand-pushed working machine is a snow sweeper. Of course, in other embodiments, the hand-pushed working machine can also be a lawn mower, etc. Figures 1 to 9 As shown, the snowplow mainly includes a frame 10, a snowplow assembly 20, a snow throwing assembly 30, an energy device, a walking assembly 50, a first heat dissipation device 60, a handle assembly 80, an operating assembly 90 and a controller.

[0060] Reference Figure 1 and Figure 2The snow-clearing assembly 20 includes a first rotating shaft 21 and a snow-clearing paddle 22 disposed on the first rotating shaft 21. The snow-clearing paddle 22, as a functional element, can be driven to rotate around the first axis to achieve the function of snow-clearing. The snow-throwing assembly 30 includes a second rotating shaft 31 and a snow-throwing paddle disposed on the second rotating shaft 31. The snow-throwing paddle, as a functional element, can be driven to rotate around the second axis to achieve the function of snow-throwing. The second axis is perpendicular to the first axis. The motor can drive the snow-clearing paddle 22 to rotate around the first axis and simultaneously drive the snow-throwing paddle to rotate around the second axis. The specific structure of the motor driving the first rotating shaft 21 and the second rotating shaft 31 at the same time adopts the existing technology and will not be described in detail here. The motor can be an internal combustion engine powered by fuel combustion, or it can be an electric motor powered by electricity. In this embodiment, the motor is an electric motor. The energy device is electrically connected to the motor to provide power for the rotation of the motor. The energy device is a battery pack assembly 40, and the battery pack assembly 40 includes at least one battery pack.

[0061] The frame 10 includes a snow inlet housing 11 and a snow throwing housing 12. The snow inlet housing 11 is located at the front side. The snow inlet housing 11 is formed with a first space for accommodating a snow paddle 22, and at least part of the snow paddle 22 is located in the first space. The snow throwing housing 12 is connected to the rear side of the snow inlet housing 11. The snow throwing housing 12 is formed with a second space for accommodating a snow throwing paddle, and the snow throwing paddle is located in the second space. The second space is connected to the first space. The snow throwing assembly 30 also includes a snow throwing cylinder 32, which is connected to the outer side of the snow throwing housing 12 and is connected to the second space. The snow throwing cylinder 32 is used for throwing snow. When the snowplow is sweeping snow, under the action of the snow paddle 22, snow enters the snow inlet housing 11 from the snow inlet, and the snow paddle 22 can transfer at least part of the scraped snow to the snow throwing paddle, and then throw it to the snow throwing cylinder 32 through the snow throwing paddle, and finally discharged from the snow outlet of the snow throwing cylinder 32. The snow throwing assembly 30 is used to change the movement trajectory of snow to direct the snow to a distant place, or in other words, to guide the snow throwing direction of the snowplow.

[0062] The frame 10 further includes a battery pack housing 13 , which is connected to the rear side of the snow throwing housing 12 , and the battery pack assembly 40 is disposed in the battery pack housing 13 .

[0063] The travel assembly 50 is connected to the frame 10 and is used to support the snowplow to move on the ground. The travel assembly 50 includes travel wheels and a travel motor for driving the travel wheels. The travel wheels include a first travel wheel 51 and a second travel wheel 52, which are respectively located on both sides of the frame 10. The first travel wheel 51 and the second travel wheel 52 can both rotate relative to the frame 10 to move the snowplow on the ground. The travel motor includes a first motor 53 and a second motor 54, the first motor 53 is used to drive the first travel wheel 51, and the second motor 54 is used to drive the second travel wheel 52. The first motor 53 and the second motor 54 are hub motors.

[0064] The first motor 53 includes a first output shaft 531 mounted on the frame 10, and the second motor 54 includes a second output shaft 541 mounted on the frame 10, and the first output shaft 531 and the second output shaft 541 are coaxially arranged. Both side walls of the frame 10 are provided with fixed grooves, and the first output shaft 531 is fixed in a fixed groove corresponding thereto, and the second output shaft 541 is fixed in another fixed groove corresponding thereto. In some embodiments, the fixed groove has an open notch, and when the output shaft is assembled with the frame 10, the output shaft can be inserted into the fixed groove from the notch of the fixed groove, and the output shaft can also be inserted into the fixed groove from the center hole of the fixed groove. In some embodiments, the fixed groove is a closed groove, and when the output shaft is assembled with the frame 10, the output shaft can only be inserted into the fixed groove from the center hole of the fixed groove. In addition, the output shaft can be fixed to the fixed groove by a fixing member 56, and a flat position can also be machined on the output shaft to limit the rotation of the output shaft, and the rotation of the output shaft can also be limited by a key structure.

[0065] See also Figures 3 to 5 In some embodiments, the projections of the first output shaft 531 and the second output shaft 541 on the ground have an overlapping area. Specifically, a hollow joint 5311 is provided on one of the first output shaft 531 and the second output shaft 541, and the end of the other is inserted into the hollow joint 5311. In some embodiments, the first output shaft 531 and the second output shaft 541 are threadedly connected, an internal thread is provided on the inner wall of the hollow joint 5311, and an external thread is provided on the other, and the first output shaft 531 and the second output shaft 541 are threadedly connected through the internal thread and the external thread. In some embodiments, the first output shaft 531 and the second output shaft 541 can also be an interference fit, for example, the hollow joint 5311 is provided on the first output shaft 531, and the end of the second output shaft 541 is inserted into the hollow joint 5311 by interference.

[0066] In some embodiments, the first output shaft 531 and the second output shaft 541 are integrally formed.

[0067] See also Figures 6 to 9In some embodiments, the first output shaft 531 and the second output shaft 541 are connected through the connecting member 55. For example, the first output shaft 531 and the second output shaft 541 are both inserted into the connecting member 55; or, the first output shaft 531 and the second output shaft 541 are both sleeved outside the connecting member 55; or, one of the first output shaft 531 and the second output shaft 541 is inserted into the connecting member 55, and the other is sleeved outside the connecting member 55. An interference fit connection may be adopted between the first output shaft 531 and / or the second output shaft 541 and the connecting member 55; alternatively, the first output shaft 531 and / or the second output shaft 541 and the connecting member 55 are fixed by a fixing member 56. Specifically, a first fixing hole is provided on the first output shaft 531 and / or the second output shaft 541, and the axis of the first fixing hole is perpendicular to the axis of the first output shaft 531 and / or the second output shaft 541; a second fixing hole is provided on the connecting member 55, and the axis of the second fixing hole is perpendicular to the axis of the first output shaft 531 and / or the second output shaft 541; the fixing member 56 is simultaneously passed through the first fixing hole and the second fixing hole, and the exposed two ends of the fixing member 56 are fixed by a limiting structure.

[0068] Continue to refer to Figures 6 to 9 The first heat sink 60 is connected to the rack 10, and includes a heat sink motor 61 and a fan 62 driven by the heat sink motor 61; at least part of the heat sink motor 61 is located in the accommodation space of the rack 10, and the heat sink airflow generated by the rotation of the fan 62 flows through the travel motor. Two first heat sinks 60 are provided, and the two first heat sinks 60 correspond to the first motor 53 and the second motor 54 one by one.

[0069] In some embodiments, the fan 62 is located outside the frame 10 and directly faces the travel motor, that is, the wind from the fan 62 blows directly to the travel motor. In some embodiments, the fan 62 is located inside the frame 10 (this situation is not shown in the figure), and the heat dissipation airflow generated when the fan 62 rotates is transmitted to the travel motor through the air guide cover 70. The air guide cover 70 is connected to the frame 10, and the air guide cover 70 is formed with an air guide channel 71 and two air guide ports 72 both connected to the air guide channel 71, one of the air guide ports 72 directly faces the first motor 53, and the other air guide port 72 directly faces the second motor 54. The airflow generated by the fan 62 flows through the air guide channel 71, and then is guided to the first motor 53 and the second motor 54 through the two air guide ports 72. The fan 62 can be a blowing fan 62, or a suction fan 62. The arrangement position of the fan 62 in the frame 10 is not limited, as long as it is ensured that the airflow generated by the fan 62 can flow through the air guide channel 71.

[0070] In addition, in addition to the first heat dissipation device 60, the snow blower also has a second heat dissipation device, that is, a main heat dissipation device for dissipating heat for the motor, battery pack assembly 40 and controller of the snow blower. The frame 10 has a heat dissipation air duct, and the air guide cover 70 is arranged at the air outlet 14 of the heat dissipation air duct. The heat dissipation airflow generated by the second heat dissipation device can not only dissipate heat for the motor, battery pack assembly 40 and controller, but also flow to the air guide cover 70 through the heat dissipation air duct, and then be transmitted to the travel motor through the air guide cover 70.

[0071] The first heat dissipation device 60 also includes a heat sink 63, which is used to dissipate heat for the output shaft of the travel motor. In some embodiments, the heat sink 63 is directly fixed to the output shaft of the travel motor (this situation is not shown in the figure). In some embodiments, the heat sink 63 is fixedly arranged on the frame 10, and can be arranged on the inside of the frame 10 or on the outside of the frame 10. In order to improve the compactness of the structure, the heat sink 63 can be sleeved on the output shaft of the heat dissipation motor 61. The heat sink 63 is windmill-shaped, including a plurality of branch pieces distributed at circumferential intervals, and each branch piece is connected to the frame 10.

[0072] Reference Figure 1 and Figure 2 The handle assembly 80 is connected to the frame 10, and the handle assembly 80 includes connecting rods arranged opposite to each other. Here, they are defined as a first connecting rod 81 and a second connecting rod 82. One end of the first connecting rod 81 and one end of the second connecting rod 82 are connected to the frame 10. The other end of the first connecting rod 81 forms a first handle 83, and the other end of the second connecting rod 82 forms a second handle 84. The first handle 83 and the second handle 84 are used for users to hold, that is, the user can control the snow blower by holding the first handle 83 and the second handle 84.

[0073] The operating assembly 90 includes a first operating member 91 and a second operating member 92. The first operating member 91 is disposed on the first handle 83, and the second operating member 92 is disposed on the second handle 84. The first operating member 91 is used to adjust the speed of the first motor 53, and the second operating member 92 is used to adjust the speed of the second motor 54. In some embodiments, the first operating member 91 and the second operating member 92 are operated in a pressing manner. In some embodiments, the first operating member 91 and the second operating member 92 are operated in a rotating manner.

[0074] The controller is configured to control the rotation speed of the first motor 53 and the second motor 54 based on the states of the first operating member 91 and the second operating member 92. The rotation speed includes the magnitude and direction of the speed. Specifically, when the first operating member 91 and the second operating member 92 are not operated, that is, when the first operating member 91 and the second operating member 92 are both at the minimum position, the first motor 53 and the second motor 54 are controlled to maintain the current rotation speed, and the snowplow keeps moving forward at the current speed.

[0075] When both the first operating member 91 and the second operating member 92 are operated, and the operating positions are both between the minimum position and the maximum position, the first motor 53 and the second motor 54 are controlled to slow down, and the motor corresponding to the one with the larger operating amplitude of the first operating member 91 and the second operating member 92 slows down more. That is, if the operating amplitude of the first operating member 91 is greater than the operating amplitude of the second operating member 92, the speed reduction of the first motor 53 is greater than the speed reduction of the second motor 54, the snowplow turns in the direction of the first operating member 91, and the turning radius is not zero. If the operating amplitude of the second operating member 92 is greater than the operating amplitude of the first operating member 91, the speed reduction of the second motor 54 is greater than the speed reduction of the first motor 53, the snowplow turns in the direction of the second operating member 92, and the turning radius is not zero.

[0076] When the first operating member 91 is operated and the operating position is between the minimum position and the maximum position, the first motor 53 is controlled to slow down, and the greater the amplitude of the operation of the first operating member 91, the more the first motor 53 slows down, and the second motor 54 maintains the current speed. At this time, the snowplow turns in the direction of the first operating member 91, and the turning radius is not zero. When the second operating member 92 is operated and the operating position is between the minimum position and the maximum position, the second motor 54 is controlled to slow down, and the greater the amplitude of the operation of the second operating member 92, the more the second motor 54 slows down, and the first motor 53 maintains the current speed. At this time, the snowplow turns in the direction of the second operating member 92, and the turning radius is not zero.

[0077] When the first operating member 91 is operated to the preset position and the second operating member 92 is not operated, the first motor 53 is controlled to first reduce the speed to zero and then reversely accelerate to the preset speed, and the second motor 54 rotates forward at the preset speed. At this time, the snowplow turns in the direction of the first operating member 91, and the turning radius is zero, that is, the snowplow turns zero in place. When the second operating member 92 is operated to the preset position and the first operating member 91 is not operated, the second motor 54 is controlled to first reduce the speed to zero and then reversely accelerate to the preset speed, and the first motor 53 rotates forward at the preset speed. At this time, the snowplow turns in the direction of the second operating member 92, and the turning radius is zero, that is, the snowplow turns zero in place. In this embodiment, the preset position is the maximum position.

[0078] When the first operating member 91 and the second operating member 92 are both operated to the preset position, the first motor 53 and the second motor 54 are controlled to first slow down to zero and then reversely accelerate to the preset speed, and the snowplow moves backward at the preset speed. Similarly, the preset position is the maximum position.

[0079] The operation range of the first operating member 91 is detected by the first position detection device, and the operation range of the second operating member 92 is detected by the second position detection device. Both the first position detection device and the second position detection device are sensors, including but not limited to Hall sensors, switches, angle sensors, encoders, tension and pressure sensors, and electroencephalographic sensors.

[0080] 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 hand-push working machine, include: Frame (10); A walking assembly (50) connected to the frame (10) and used for supporting the push-type working machine to move on the ground; the walking assembly (50) comprises a first walking wheel (51), a first motor (53) for driving the first walking wheel (51), a second walking wheel (52) and a second motor (54) for driving the second walking wheel (52); an operating assembly (90) mounted on the frame (10) and operable by an operator; the operating assembly (90) comprises a first operating member (91) for adjusting the rotation speed of the first motor (53) and a second operating member (92) for adjusting the rotation speed of the second motor (54); a controller configured to control the rotation speeds of the first motor (53) and the second motor (54) based on the states of the first operating member (91) and the second operating member (92); Characterized in that the controller is also configured to: When the first operating member (91) is operated to a preset position and the second operating member (92) is not operated, the first motor (53) is controlled to rotate in reverse at a preset speed, and the second motor (54) is controlled to rotate in forward direction at the preset speed.

2. The hand-push working machine according to claim 1, It is characterized in that The controller is also configured to control the first motor (53) to slow down when the operated position of the first operating member (91) is between the minimum position and the maximum position, and the greater the amplitude of the operation of the first operating member (91), the greater the speed of the first motor (53) is reduced.

3. The hand-push working machine according to claim 1, It is characterized in that The controller is also configured to: when both the first operating member (91) and the second operating member (92) are operated, control the first motor (53) and the second motor (54) to slow down, and the motor corresponding to the one with a larger operating amplitude between the first operating member (91) and the second operating member (92) slows down more.

4. The hand-push working machine according to claim 1, It is characterized in that The controller is also configured to control the first motor (53) and the second motor (54) to maintain a current rotation speed when neither the first operating member (91) nor the second operating member (92) is operated.

5. The hand-push working machine according to claim 1, It is characterized in that The controller is also configured to: when the first operating member (91) and the second operating member (92) are both operated to a preset position, control the first motor (53) and the second motor (54) to first slow down to zero and then reversely accelerate to a preset speed.

6. The hand-push working machine according to claim 5, It is characterized in that The preset position is the maximum position of the operating member when it is operated.

7. The hand-push working machine according to claim 1, It is characterized in that The operating amplitude of the first operating member (91) is detected by a first position detection device, and the operating amplitude of the second operating member (92) is detected by a second position detection device.

8. The hand-push working machine according to claim 1, It is characterized in that The hand-push working machine is a hand-push snow sweeper or a hand-push lawn mower.

9. A control method for a hand-propelled working machine, It is characterized in that Applied to a hand-propelled working machine as described in any one of claims 1 to 8, when the hand-propelled working machine is moving, if it is detected that the first operating member (91) is operated, the operated position of the first operating member (91) is detected in real time, and if it is detected that the position of the first operating member (91) reaches a preset position, the first motor (53) is controlled to first slow down to zero and then accelerate in reverse to a preset speed, and at the same time, the second motor (54) is controlled to rotate forward at the preset speed.

10. A hand-push working machine, include: Frame (10); A walking assembly (50) connected to the frame (10) and used for supporting the push-type working machine to move on the ground; the walking assembly (50) comprises a first walking wheel (51), a first motor (53) for driving the first walking wheel (51), a second walking wheel (52) and a second motor (54) for driving the second walking wheel (52); an operating assembly (90) mounted on the frame (10) and operable by an operator; the operating assembly (90) comprises a first operating member (91) for adjusting the rotation speed of the first motor (53) and a second operating member (92) for adjusting the rotation speed of the second motor (54); a controller configured to control the rotation speeds of the first motor (53) and the second motor (54) based on the states of the first operating member (91) and the second operating member (92); Characterized in that the controller is also configured to: When both the first operating member (91) and the second operating member (92) are operated, the first motor (53) and the second motor (54) are controlled to slow down, and the motor corresponding to the one with a larger operating amplitude between the first operating member (91) and the second operating member (92) slows down more.

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