Lithium battery mower with automatic obstacle crossing structure

Abstract

The invention relates to the technical field of mowing equipment, in particular to a lithium battery mower with an automatic obstacle crossing structure, which comprises a mower body, crawler driving components arranged at two ends of the mower body, a base mounted at the upper end of the mower body, a plurality of guide columns mounted at the upper end of the base, a lifting plate slidably connected to the circumferential surfaces of the guide columns, and an electric push rod mounted in the mower body. The output end of the electric push rod is fixedly connected with the lifting plate, the cutting assembly is installed at the upper end of the lifting plate, the first rotating base is installed at the upper end of the lifting plate, the pair of front swing arms are rotationally connected to the circumference of the first rotating base, and the first connecting columns are installed on the circumferential faces of the front swing arms correspondingly. According to the cutting device, through the effect of the cutting assembly, the cutting assembly can automatically cross an obstacle when the cutting device encounters the obstacle, the effect of protecting the cutting assembly is achieved, and the service life of the cutting device is prolonged.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing equipment technology, and more specifically to a lithium-ion battery-powered lawn mower with an autonomous obstacle-crossing structure. Background Technology

[0002] A lawnmower, also known as a lawn trimmer, lawn mower, or lawn mower, is a mechanical tool used for trimming lawns, vegetation, etc. It consists of a cutter head, engine, wheels, a drive mechanism, blades, a handle, and a control unit. The cutter head is mounted on the wheels, and the engine is mounted on the cutter head. The blades are mounted on the engine's output shaft. The high-speed rotation of the blades, powered by the engine, significantly increases the speed of lawn mowing, saving workers' time and reducing manpower.

[0003] The shortcomings of existing technologies: When a lawnmower is working, if it encounters an obstacle, the lawnmower may collide with the obstacle, which can easily cause damage to the lawnmower. Some lawnmowers use cameras to check the mowing route and can avoid some trees. However, if the grass is tall, the camera may have difficulty detecting obstacles in the grass during the mowing operation and may not be able to avoid them in time. Therefore, we propose a lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure to solve the problems existing in the background art.

[0005] This invention provides the following technical solution: a lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure, comprising a body, track drive assemblies at both ends of the body, a base mounted on the upper end of the body, a housing mounted on the upper end of the base, a plurality of guide columns mounted on the upper end of the base, a lifting plate slidably connected to the circumferential surface of the guide columns, an electric push rod mounted inside the body, the output end of the electric push rod being fixedly connected to the lifting plate, a cutting assembly mounted on the upper end of the lifting plate, the cutting assembly comprising a first rotating seat, a front swing arm, a first obstacle avoidance disc, and a front blade, the first rotating seat being mounted on the upper end of the lifting plate, a pair of front swing arms being rotatably connected to the circumference of the first rotating seat, a first connecting column being mounted on the circumferential surface of each front swing arm, the first obstacle avoidance disc being mounted on the circumferential surface of the first connecting column, a first rotating shaft being rotatably connected inside each of the first connecting columns, and the front blade being mounted on the circumference of the first rotating shaft;

[0006] Preferably, a second rotating seat is installed on the upper end of the base, a rear swing arm is rotatably connected to the circumferential surface of the second rotating seat, a second connecting column is installed inside the rear swing arm, a second obstacle avoidance disk is installed on the circumferential surface of the second connecting column, a second rotating shaft is rotatably connected inside the second connecting column, and a rear blade is installed on the circumferential surface of the second rotating shaft.

[0007] Preferably, a rotary motor is installed at the upper end of the lifting plate, and a drive shaft is installed at the output end of the rotary motor. A driven shaft is rotatably connected in both the first rotating seat and the second rotating seat. The drive shaft and the driven shaft are connected by a first pulley set, and the driven shaft is connected to both the first rotating shaft and the second rotating shaft by a second pulley set.

[0008] Preferably, the upper end of the base is provided with multiple sets of obstacle avoidance and reset mechanisms. Each obstacle avoidance and reset mechanism includes a first connecting block, a second connecting block, and a reset spring. Multiple first connecting blocks are installed on the upper end of the base, and second connecting blocks are respectively installed on the lower ends of the front swing arm and the rear swing arm. The reset springs are all installed between the first connecting blocks and the second connecting blocks.

[0009] Preferably, a swing mechanism is installed on the upper end of the lifting plate. The swing mechanism includes a guide frame, a mounting shell, and a rack. The guide frame is installed on the upper end of the lifting plate. A pair of mounting shells are slidably connected to the circumferential surface of the guide frame. The rack is slidably connected inside the mounting shell. A retraction spring is installed between the rack and the mounting shell. A connecting rod is rotatably connected inside the mounting shell. A limit block is installed on the circumferential surface of the connecting rod. A toothed ring is installed on the circumferential surface of the front swing arm.

[0010] Preferably, a rotating frame is installed at the upper end of the lifting plate, and a linkage shaft is rotatably connected inside the rotating frame. A first bevel gear is installed on the circumferential surface of the drive shaft, and a second bevel gear installed on the circumferential surface of the linkage shaft meshes with the first bevel gear. A pair of reciprocating lead screws are rotatably connected inside the guide frame. The reciprocating lead screws are threadedly connected to the mounting housing, and the reciprocating lead screws are connected to the linkage shaft through a sprocket set. Each of the reciprocating lead screws has meshing gears installed on its circumferential surface.

[0011] Preferably, a fixed base is installed at the lower end of the base, and a camera is installed at the front end of the fixed base.

[0012] Preferably, the body of the device has an installation slot, in which a lithium battery is installed.

[0013] The technical effects and advantages of this invention are as follows:

[0014] 1. This invention utilizes a high-speed rotating front blade. As the front and rear blades move forward, they cut weeds along the path. When an obstacle is encountered, a point on the circumference of the first or second obstacle avoidance disc encounters resistance, causing the front and rear swing arms to rotate. The front or rear blade then autonomously bypasses the obstacle. Subsequently, through the action of a return spring, after bypassing the obstacle, the return spring rotates the front and rear swing arms back to their original positions, allowing them to continue harvesting weeds. The cutting components can autonomously overcome obstacles, protecting the cutting components and extending the equipment's lifespan.

[0015] 2. This invention controls the rotation of the connecting rod, causing the limiting block to push the rack forward. At this time, the rack engages with the toothed ring installed on the circumference of the front swing arm. Subsequently, when cutting weeds, the mounting shell is controlled to move back and forth, and the rack, through the action of the toothed ring, drives the front swing arm to swing back and forth, which can increase the weed cutting range on both sides of the front blade, thereby improving the weed cutting efficiency. When facing an environment with tall weeds, it is difficult to observe the ground situation. At this time, the connecting rod can be controlled to reset, so that the limiting block releases the rack. At this time, the rack is pulled back into the mounting shell by the action of the return spring, so that the rack disengages from the toothed ring. When the equipment moves forward, if the first obstacle avoidance plate comes into contact with some difficult-to-move obstacles, the front swing arm can rotate, achieving the effect of autonomously crossing the obstacle, which can meet the use needs in different environments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a top view of the structure in this invention;

[0018] Figure 3 This is a schematic diagram of the structure during disassembly of the casing in this invention;

[0019] Figure 4 This is a schematic diagram of the structure in the left sectional view of the present invention;

[0020] Figure 5 In this invention Figure 4 A schematic diagram of the structure of part A;

[0021] Figure 6 This is a schematic diagram of the obstacle avoidance and reset mechanism in this invention;

[0022] Figure 7 This is a schematic diagram of the disassembled cutting component in this invention;

[0023] Figure 8This is a schematic diagram of the front swing arm expanding to both sides in this invention;

[0024] Figure 9 This is a schematic diagram of the swing mechanism in this invention;

[0025] Figure 10 This is a schematic diagram of the disassembled swing mechanism in this invention.

[0026] The attached figures are labeled as follows: 1. Body; 101. Base; 102. Housing; 103. Guide column; 104. Lifting plate; 105. Electric push rod; 2. Track drive assembly; 3. Cutting assembly; 301. First rotating seat; 302. Front swing arm; 303. First connecting column; 304. First obstacle avoidance plate; 305. First rotating shaft; 306. Front blade; 307. Second rotating seat; 308. Rear swing arm; 309. Second connecting column; 3010. Second obstacle avoidance plate; 3011. Second rotating shaft; 3012. Rear blade; 4. Rotary motor; 401. Drive shaft; 402. Driven shaft; 403. 404. First pulley assembly; 5. Second pulley assembly; 6. Obstacle avoidance and reset mechanism; 501. First connecting block; 502. Second connecting block; 503. Reset tension spring; 6. Swing mechanism; 601. Guide frame; 602. Mounting shell; 603. Rack; 604. Retraction tension spring; 605. Connecting rod; 606. Limiting block; 607. Gear ring; 608. Rotating frame; 609. Linkage shaft; 6010. First bevel gear; 6011. Second bevel gear; 6012. Reciprocating lead screw; 6013. Sprocket assembly; 6014. Gear; 7. Fixed base; 701. Camera; 8. Mounting slot; 801. Lithium battery. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The lithium-ion battery lawnmower with autonomous obstacle-crossing structure involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1-7As shown, in one embodiment, a lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure is proposed, including a body 1, track drive assemblies 2 at both ends of the body 1, a base 101 mounted on the upper end of the body 1, a housing 102 mounted on the upper end of the base 101, a plurality of guide posts 103 mounted on the upper end of the base 101, a lifting plate 104 slidably connected to the circumference of the guide posts 103, an electric push rod 105 installed inside the body 1, the output end of the electric push rod 105 being fixedly connected to the lifting plate 104, and a cutting assembly 3 mounted on the upper end of the lifting plate 104. The cutting assembly 3 includes a first rotating seat 301, a front swing arm 302, a first obstacle avoidance disc 304, and a front blade 306. The first rotating seat 301 is mounted on the upper end of the lifting plate 104. A pair of front swing arms 302 are rotatably connected to the circumference of the first rotating seat 301. A first connecting post 303 is mounted on the circumference of each front swing arm 302. The first obstacle avoidance disc 304 is mounted on the circumference of the first connecting post 303. A first rotating shaft 305 is rotatably connected inside each first connecting post 303. The front blade 306 is mounted on the circumference of the first rotating shaft 305.

[0029] In practical application, controlling the operation of the track drive assembly 2 controls the operation of the equipment. When the equipment moves, controlling the rotation of the first rotating shaft 305 drives the front blade 306 to rotate at high speed to cut the weeds in front. When encountering an obstacle, the first obstacle avoidance disc 304 will first contact the obstacle. As the equipment continues to move forward, the obstacle will generate resistance on the first obstacle avoidance disc 304, causing the front swing arm 302 to rotate on the circumferential surface of the first rotating seat 301. Subsequently, the first obstacle avoidance disc 304 and the front blade 306 bypass the obstacle, avoiding contact between the front blade 306 and the obstacle. During the grass cutting process, the cutting assembly 3 can autonomously cross the obstacle, which plays a protective role for the cutting assembly 3 and improves the service life of the equipment.

[0030] like Figure 2 and 7 As shown, in one embodiment, a second rotating seat 307 is mounted on the upper end of the base 101. A rear swing arm 308 is rotatably connected to the circumferential surface of the second rotating seat 307. A second connecting column 309 is installed inside the rear swing arm 308. A second obstacle avoidance disk 3010 is mounted on the circumferential surface of the second connecting column 309. A second rotating shaft 3011 is rotatably connected inside the second connecting column 309. A rear blade 3012 is mounted on the circumferential surface of the second rotating shaft 3011.

[0031] In practical application, the front swing arm 302, the first obstacle avoidance disc 304, and the front blade 306 are arranged in a pair to cut weeds on both sides of the front of the equipment, while weeds in the middle can be cut by the rear blade 3012. When the second obstacle avoidance disc 3010 on the rear side comes into contact with an obstacle, the rear swing arm 308 will rotate, causing the second obstacle avoidance disc 3010 and the rear blade 3012 to bypass the obstacle. During the weed cutting process, the action of the first obstacle avoidance disc 304 and the second obstacle avoidance disc 3010 can avoid... The obstacle directly contacts the front blade 306 and the rear blade 3012. At the same time, when the obstacle contacts the first obstacle avoidance plate 304 and the second obstacle avoidance plate 3010, since the first obstacle avoidance plate 304 and the second obstacle avoidance plate 3010 are circular and the front swing arm 302 and the rear swing arm 308 can rotate, when the equipment moves forward, it drives the front swing arm 302 or the swing arm to rotate. While protecting the front and rear cutter discs, it also allows the front blade 306 and the rear blade 3012 to autonomously bypass the obstacle without affecting the efficiency of the equipment in cutting weeds.

[0032] like Figure 6 As shown, in one embodiment, a rotary motor 4 is installed on the upper end of the lifting plate 104, and a drive shaft 401 is installed on the output end of the rotary motor 4. A driven shaft 402 is rotatably connected in both the first rotating seat 301 and the second rotating seat 307. The drive shaft 401 and the driven shaft 402 are connected by a first pulley group 403. The driven shaft 402 is connected to the first rotating shaft 305 and the second rotating shaft 3011 by a second pulley group 404.

[0033] In practical application, the present invention controls the operation of the rotary motor 4, which in turn drives the drive shaft 401 to rotate. The drive shaft 401 drives the driven shaft 402 to rotate via the first pulley group 403. The driven shaft 402 drives the first rotating shaft 305 and the second rotating shaft 3011 to rotate via the second pulley group 404, thereby achieving the effect of controlling the front blade 306 and the rear blade 3012 to rotate simultaneously.

[0034] like Figure 3 , 6 As shown in Figure 7, in one embodiment, the upper end of the base 101 is provided with multiple sets of obstacle avoidance and reset mechanisms 5. The obstacle avoidance and reset mechanism 5 includes a first connecting block 501, a second connecting block 502 and a reset spring 503. Multiple first connecting blocks 501 are installed on the upper end of the base 101. The lower ends of the front swing arm 302 and the rear swing arm 308 are respectively installed with second connecting blocks 502. The reset springs 503 are all installed between the first connecting blocks 501 and the second connecting blocks 502.

[0035] In practical application, the present invention utilizes the return spring 503 to pull the first connecting block 501 and the second connecting block 502, aligning the first connecting block 501, the second connecting block 502, and either the first rotating shaft 305 or the second rotating shaft 3011. This effectively restricts the position of the front swing arm 302 and the rear swing arm 308 under normal conditions, keeping them in a fixed position. As the front blade 306 and the rear blade 3012 move forward, they cut weeds along their path. When encountering obstacles, the first obstacle avoidance mechanism... When the first obstacle avoidance plate 304 or the second obstacle avoidance plate 3010 comes into contact with an obstacle, a point on the circumference of the first obstacle avoidance plate 304 or the second obstacle avoidance plate 3010 will be resisted, which will cause the front swing arm 302 and the rear swing arm 308 to rotate. The front blade 306 or the rear blade 3012 will autonomously bypass the obstacle. Then, through the action of the reset spring 503, after the first obstacle avoidance plate 304 and the second obstacle avoidance plate 3010 have bypassed the obstacle, they can drive the front swing arm 302 and the rear swing arm 308 to rotate and reset their positions, maintaining their original positions to continue harvesting the weeds on the front side.

[0036] like Figure 5 , 6 As shown in Figures 8, 9, and 10, in one embodiment, a swing mechanism 6 is installed on the upper end of the lifting plate 104. The swing mechanism 6 includes a guide frame 601, a mounting shell 602, and a rack 603. The guide frame 601 is installed on the upper end of the lifting plate 104. A pair of mounting shells 602 are slidably connected to the circumferential surface of the guide frame 601. The rack 603 is slidably connected inside the mounting shell 602. A retraction spring 604 is installed between the rack 603 and the mounting shell 602. A connecting rod 605 is rotatably connected inside the mounting shell 602. A limit block 606 is installed on the circumferential surface of the connecting rod 605. A toothed ring 607 is installed on the circumferential surface of the front swing arm 302.

[0037] In practical applications, when facing low-height lawns with no fixed obstacles, the connecting rod 605 can be rotated. The connecting rod 605 drives the limiting block 606 to rotate, which in turn pushes the rack 603 forward within the mounting housing 602. At this time, the rack 603 engages with the toothed ring 607 mounted on the circumferential surface of the front swing arm 302. Subsequently, when cutting weeds, the mounting housing 602 is controlled to move back and forth, simultaneously driving the rack 603 to move back and forth. The rack 603, through the action of the toothed ring 607, drives the front swing arm 302 to swing back and forth, increasing the cutting speed. The increased cutting range of the front blade 306 on both sides improves the efficiency of cutting weeds. When facing an environment where weeds are tall and it is difficult to observe the ground conditions, the connecting rod 605 can be reset, causing the limit block 606 to release the limit on the rack 603. At this time, the rack 603 is pulled back into the mounting shell 602 by the action of the retraction spring 604, so that the rack 603 is disengaged from the toothed ring 607. When the equipment moves forward, if the first obstacle avoidance plate 304 comes into contact with some difficult-to-move obstacles, the front swing arm 302 can rotate, achieving the effect of autonomously crossing the obstacle.

[0038] In one embodiment of the present invention, when the front swing arm 302 swings back and forth, if there are some movable small obstacles on the lawn, the front swing arm 302 can swing back and forth, causing the first obstacle avoidance plate 304 to swing. When the first obstacle avoidance plate 304 comes into contact with the obstacle, it can push the obstacle to both sides without interfering with the forward movement of the equipment.

[0039] like Figure 6 , 9 As shown in Figure 10, in one embodiment, a rotating frame 608 is installed on the upper end of the lifting plate 104. A linkage shaft 609 is rotatably connected inside the rotating frame 608. A first bevel gear 6010 is installed on the circumferential surface of the drive shaft 401. A second bevel gear 6011 installed on the circumferential surface of the linkage shaft 609 meshes with the first bevel gear 6010. A pair of reciprocating screws 6012 are rotatably connected inside the guide frame 601. The reciprocating screws 6012 are threadedly connected to the mounting housing 602. The reciprocating screws 6012 are connected to the linkage shaft 609 through a sprocket set 6013. Gears 6014 that mesh with each other are installed on the circumferential surface of the reciprocating screws 6012.

[0040] In practical application, when the rotary motor 4 rotates, it drives the first bevel gear 6010 to rotate via the drive shaft 401. The first bevel gear 6010 drives the linkage shaft 609 to rotate via the second bevel gear 6011. The linkage shaft 609 drives the reciprocating screw 6012 to rotate via the sprocket set 6013. At this time, the gear 6014 causes the two reciprocating screws 6012 to rotate in opposite directions, thereby driving a pair of mounting shells 602 and rack 603 to move back and forth. When the rack 603 meshes with the toothed ring 607, it can drive the front swing arm 302 to swing, increasing the cutting range. When the rack 603 separates from the toothed ring 607, the first obstacle avoidance disc 304 can autonomously overcome the obstacle when it comes into contact with it, thus meeting the usage requirements in different environments.

[0041] like Figure 4 As shown, in one embodiment, a mounting base 7 is installed at the lower end of the base 101, and a camera 701 is installed at the front end of the mounting base 7.

[0042] In practical application, the device's movement path is monitored by the camera 701. When encountering trees, the device's movement path can be controlled according to the monitoring image, allowing the device to pass through both sides of the trees. When passing through the trees, the first obstacle avoidance disc 304 will contact the outer edge of the tree, thereby causing the front swing arm 302 to rotate inward, so that the first obstacle avoidance disc 304 and the front blade 306 can pass over the tree. Subsequently, the first obstacle avoidance disc 304 and the front blade 306 are reset by the action of the reset spring 503, thus avoiding the trees without affecting the cutting of weeds.

[0043] In one embodiment of the present invention, when the control arm 302 rotates to cut weeds at a low height, the camera 701 can monitor the ground environment and, while meeting the cutting efficiency requirements, can control the device to bypass some fixed obstacles.

[0044] like Figure 4 As shown, in one embodiment, a mounting slot 8 is provided inside the body 1, and a lithium battery 801 is installed in the mounting slot 8.

[0045] In practical applications, the lithium battery 801 stores power to supply power to the device during operation, thus meeting the requirements of energy conservation and environmental protection.

[0046] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0047] Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other.

[0048] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure, comprising a body (1), characterized in that: The machine body (1) is provided with track drive components (2) at both ends. A base (101) is installed on the upper end of the machine body (1). A housing (102) is installed on the upper end of the base (101). Multiple guide columns (103) are installed on the upper end of the base (101). A lifting plate (104) is slidably connected to the circumferential surface of the guide columns (103). An electric push rod (105) is installed inside the machine body (1). The output end of the electric push rod (105) is fixedly connected to the lifting plate (104). A cutting component (3) is installed on the upper end of the lifting plate (104). The cutting component (3) includes a first rotating seat ( 301), front swing arm (302), first obstacle avoidance plate (304) and front blade (306), the first rotating seat (301) is installed on the upper end of the lifting plate (104), a pair of front swing arms (302) are rotatably connected to the circumference of the first rotating seat (301), a first connecting column (303) is installed on the circumference of each front swing arm (302), the first obstacle avoidance plate (304) is installed on the circumference of the first connecting column (303), a first rotating shaft (305) is rotatably connected inside each of the first connecting column (303), and the front blade (306) is installed on the circumference of the first rotating shaft (305).

2. The lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 1, characterized in that: A second rotating seat (307) is installed on the upper end of the base (101). A rear swing arm (308) is rotatably connected to the circumferential surface of the second rotating seat (307). A second connecting column (309) is installed inside the rear swing arm (308). A second obstacle avoidance disk (3010) is installed on the circumferential surface of the second connecting column (309). A second rotating shaft (3011) is rotatably connected inside the second connecting column (309). A rear blade (3012) is installed on the circumferential surface of the second rotating shaft (3011).

3. The lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 1, characterized in that: A rotary motor (4) is installed on the upper end of the lifting plate (104). A drive shaft (401) is installed on the output end of the rotary motor (4). A driven shaft (402) is rotatably connected in both the first rotating seat (301) and the second rotating seat (307). The drive shaft (401) and the driven shaft (402) are connected by a first pulley group (403). The driven shaft (402) is connected to the first rotating shaft (305) and the second rotating shaft (3011) by a second pulley group (404).

4. The lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 3, characterized in that: The upper end of the base (101) is provided with multiple sets of obstacle avoidance and reset mechanisms (5). Each obstacle avoidance and reset mechanism (5) includes a first connecting block (501), a second connecting block (502), and a reset spring (503). Multiple first connecting blocks (501) are installed on the upper end of the base (101). The lower ends of the front swing arm (302) and the rear swing arm (308) are respectively equipped with second connecting blocks (502). The reset springs (503) are all installed between the first connecting blocks (501) and the second connecting blocks (502).

5. A lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 3, characterized in that: A swing mechanism (6) is installed on the upper end of the lifting plate (104). The swing mechanism (6) includes a guide frame (601), a mounting shell (602), and a rack (603). The guide frame (601) is installed on the upper end of the lifting plate (104). A pair of mounting shells (602) are slidably connected to the circumferential surface of the guide frame (601). The rack (603) is slidably connected inside the mounting shell (602). A retraction spring (604) is installed between the rack (603) and the mounting shell (602). A connecting rod (605) is rotatably connected inside the mounting shell (602). A limit block (606) is installed on the circumferential surface of the connecting rod (605). A toothed ring (607) is installed on the circumferential surface of the front swing arm (302).

6. A lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 5, characterized in that: A rotating frame (608) is installed on the upper end of the lifting plate (104). A linkage shaft (609) is rotatably connected inside the rotating frame (608). A first bevel gear (6010) is installed on the circumferential surface of the drive shaft (401). A second bevel gear (6011) installed on the circumferential surface of the linkage shaft (609) meshes with the first bevel gear (6010). A pair of reciprocating screws (6012) are rotatably connected inside the guide frame (601). The reciprocating screws (6012) are threadedly connected to the mounting shell (602). The reciprocating screws (6012) are connected to the linkage shaft (609) through a sprocket set (6013). Each of the reciprocating screws (6012) has meshing gears (6014) installed on its circumferential surface.

7. A lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 1, characterized in that: A mounting base (7) is installed at the lower end of the base (101), and a camera (701) is installed at the front end of the mounting base (7).

8. A lithium-ion battery-powered lawnmower with an autonomous obstacle-crossing structure according to claim 1, characterized in that: The body (1) has an installation slot (8) inside, and a lithium battery (801) is installed in the installation slot (8).

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