Self-moving mower

Abstract

The invention discloses a self-moving mower which comprises a mower body and a walking steering device, the walking steering device is used for driving the self-moving mower to move and comprises front wheels and rear wheels, and walking power of the front wheels or the rear wheels is driven by a hub motor; the front wheel or the rear wheel comprises a wheel body, a hub motor and a mounting bracket, and the wheel body is mounted on the mounting bracket through an output shaft of the hub motor; the main body shape of the output shaft of the hub motor is cylindrical, the output shaft of the hub motor is provided with a first butt joint mounting surface, the first butt joint mounting surface at least comprises a plane part, and the mounting support is provided with a second butt joint mounting surface matched with the first butt joint mounting surface. The first butt joint mounting surface and the second butt joint mounting surface form butt joint in a plane-to-plane form; the mounting bracket is fixedly or rotatably connected with the fuselage main body. According to the technical scheme, the output shaft of the hub motor can be effectively prevented from rotating, so that the hub motor effectively drives the front wheel.

Description

[0001] This application claims priority to the patent application filed on October 17, 2025, with application number 202522197808.X and the utility model title "Self-Moving Lawn Mower". Technical Field

[0002] This application relates to the field of lawn mowing equipment technology, and more particularly to a self-propelled lawn mower. Background Technology

[0003] Lawn mowers are essential equipment for lawn maintenance. With the development of the times, people have higher and higher requirements for the aesthetics and ease of use of their family yard lawns, and self-portable lawn mowers are gradually entering the mainstream lawn mower market.

[0004] In related technologies, for self-propelled lawnmowers that use hub motors for drive, the output shaft of the hub motor needs to be fixedly installed to the main body of the machine via a clamping structure to prevent relative rotation between the two in order to achieve effective drive of the wheels. However, in practical applications, it has been found that since the main body of the hub motor's output shaft is generally cylindrical, the clamping structure is prone to loosening over long-term use, causing relative rotation between the output shaft and the main body of the machine, thus affecting the driving effect of the hub motor on the wheels. Summary of the Invention

[0005] The purpose of this application is to provide a self-propelled lawnmower that improves upon the problem in existing self-propelled lawnmowers where the main body of the hub motor output shaft is generally cylindrical, which easily leads to loosening of the clamping structure between the hub motor output shaft and the main body of the machine during long-term use, causing relative rotation between the two and thus affecting the driving effect of the hub motor on the wheel.

[0006] To achieve this objective, this application provides a self-propelled lawnmower, which includes a main body and a steering device for driving the self-propelled lawnmower. The walking and steering device includes a front wheel and a rear wheel, and the walking power of the front wheel or the rear wheel is driven by a hub motor; The front wheel or the rear wheel includes a wheel body, a hub motor, and a mounting bracket. The interior of the wheel body is hollow to form a space for mounting the main body of the hub motor. The wheel body is mounted on the mounting bracket through the output shaft of the hub motor. The main body of the output shaft of the hub motor is cylindrical, and a first docking mounting surface is provided on the output shaft of the hub motor. The first docking mounting surface includes at least a planar portion. A second docking mounting surface adapted to the first docking mounting surface is provided on the mounting bracket. The first docking mounting surface and the second docking mounting surface form a planar docking. The mounting bracket is fixedly or rotatably connected to the main body of the machine.

[0007] Through the aforementioned structural design, the walking and steering device utilizes a first mating mounting surface with a planar portion and a second mating mounting surface adapted to the first mating mounting surface. This design allows for a planar mating between the output shaft of the hub motor and the mounting bracket. This ensures the stability and concentricity of the hub motor's output shaft installation, enabling the mounting bracket to effectively stop the hub motor's output shaft from rotating, preventing wobbling or wobble during high-speed rotation, and achieving effective drive of the wheel by the hub motor. Furthermore, it significantly improves the assembly precision and efficiency of the hub motor and mounting bracket, while the planar contact form also distributes load stress, enhancing the overall structural durability.

[0008] In this application, the output shaft of the hub motor is connected to the mounting bracket, and the mounting bracket is connected to the main body of the machine. The advantages of this setting are: (1) Different specifications of hub motors or wheels can be replaced according to the needs of use. For different specifications of hub motors, only the mounting bracket needs to be replaced according to the model of the output shaft of the hub motor, which improves the usage scenarios of the self-propelled lawnmower; (2) Since the hub motor has a large stress during rotation, the mounting structure of the output shaft of the hub motor will wear and even be damaged after long-term operation. By connecting the output shaft of the hub motor to the mounting bracket, the mounting bracket can be replaced separately after the mounting bracket wears out, which reduces the usage cost of the self-propelled lawnmower.

[0009] In addition, to achieve this purpose, this application embodiment also provides a self-propelled lawnmower, which includes a main body and a walking and steering device, the walking and steering device being used to drive the self-propelled lawnmower to move; The walking and steering device includes a front wheel and a rear wheel, and the walking power of the front wheel or the rear wheel is driven by a hub motor; The front wheel or the rear wheel includes a wheel body, a hub motor, and a mounting bracket. The interior of the wheel body is hollow to form a space for mounting the main body of the hub motor. The wheel body is mounted on the mounting bracket through the output shaft of the hub motor. The main body of the output shaft of the hub motor is cylindrical, and a first mating mounting surface is provided on the output shaft of the hub motor. The first mating mounting surface includes at least a planar portion. A second mating mounting surface adapted to the first mating mounting surface is provided on the mounting bracket. The first mating mounting surface and the second mating mounting surface form a planar-to-planar mating. A limiting pin is also connected between the first mating mounting surface and the second mating mounting surface. One end of the limiting pin is connected to the mounting bracket, and the other end of the limiting pin at least partially penetrates the shaft wall of the output shaft of the hub motor corresponding to the first mating mounting surface. The mounting bracket is fixedly or rotatably connected to the main body of the machine.

[0010] Through the aforementioned structural design, the walking and steering device utilizes a first mating mounting surface with a planar portion and a second mating mounting surface adapted to the first mating mounting surface. This design allows for a planar mating between the output shaft of the hub motor and the mounting bracket. This ensures the stability and concentricity of the hub motor's output shaft installation, enabling the mounting bracket to effectively stop the hub motor's output shaft from rotating, preventing wobbling or wobble during high-speed rotation, and achieving effective drive of the wheel by the hub motor. Furthermore, it significantly improves the assembly precision and efficiency of the hub motor and mounting bracket, while the planar contact form also distributes load stress, enhancing the overall structural durability.

[0011] During the operation of a self-propelled lawnmower, the front or rear wheels may encounter heavy loads when encountering obstacles. Under the torque of the wheels, significant stress is generated between the first and second mating mounting surfaces, causing deformation of the mounting bracket and resulting in relative rotation of the hub motor's output shaft relative to the mounting bracket. To address this issue, this application incorporates a limiting pin structure between the first and second mating mounting surfaces. This design further strengthens the connection stability between the hub motor's output shaft and the mounting bracket, while the limiting pin effectively prevents the hub motor's output shaft from rotating, thus avoiding relative rotation between the hub motor's output shaft and the mounting bracket, and enabling effective drive of the wheel by the hub motor. The limiting pin also prevents axial movement of the hub motor's drive shaft relative to the mounting bracket, eliminating the need for additional axial limiting components and reducing the installation cost of the hub motor. Furthermore, by extending the limiting pin through the hub motor's output shaft and placing the pin portion within the internal space of the output shaft, the wiring harness within the hub motor can be separated, preventing adhesion between the wires due to heat generated by current flow.

[0012] Optionally, in some embodiments of this application, the wall thickness of the output shaft of the hub motor corresponding to the first mating mounting surface is N, and the original wall thickness of the output shaft of the hub motor is M. The relationship between N and M satisfies: ¼M≤N≤¾M.

[0013] To ensure the torque resistance between the first and second mating mounting surfaces, the area of ​​the mating mounting surfaces needs to be sufficiently large. The area of ​​the second mating mounting surface can be matched to the area of ​​the first mating mounting surface. Therefore, how to set the first mating mounting surface is a key consideration. Since the first mating mounting surface is formed by cutting the surface of the hub motor's output shaft, if the width of the first mating mounting surface is set too large, the thickness of the hub motor's output shaft at the first mating mounting surface will be too low, reducing its strength and making it prone to breakage during operation. If the width of the first mating mounting surface is set too small, the contact area between the first and second mating mounting surfaces will be too small, making it easy for the hub motor's output shaft and the mounting bracket to rotate relative to each other, resulting in low installation stability. After multiple tests, for most hub motors on the market, a value of ¼M ≤ N ≤ ¾M ensures both the structural strength of the hub motor's output shaft and the installation stability between the hub motor's output shaft and the mounting bracket, which is most beneficial to the movement performance of the self-propelled lawnmower.

[0014] Optionally, in some embodiments of this application, the original wall thickness of the output shaft of the hub motor is M, the outer diameter of the hub motor is D, the width of the first mating mounting surface is W, and the relationship between M, D, and W satisfies: ≤W≤ .

[0015] To ensure the torque resistance between the first and second mating mounting surfaces, the area of ​​the mating mounting surfaces needs to be sufficiently large. The area of ​​the second mating mounting surface can be matched to the area of ​​the first mating mounting surface. Therefore, how to set the first mating mounting surface is a key consideration. The width of the first mating mounting surface is its radial dimension relative to the output shaft of the hub motor. The relative movement direction between the output shaft of the hub motor and the mounting bracket is radial, so the width of the first mating mounting surface is a key factor affecting the mating strength. The width of the first mating mounting surface is limited by the diameter of the hub motor's output shaft. Furthermore, setting the width of the first mating mounting surface also requires consideration of the wall thickness of the hub motor's output shaft, because a thicker output shaft results in higher mechanical properties and a positive impact on the anti-rotation effect. After multiple tests… ≤W≤ This ensures both the stability of the installation between the output shaft of the hub motor and the mounting bracket, and also prevents the thickness of the output shaft of the hub motor from being set too large, thus avoiding increased component costs.

[0016] Optionally, in some embodiments of this application, the first mating mounting surface is recessed relative to the cylindrical surface of the output shaft of the hub motor, so that a height difference is formed at the connection between the first mating mounting surface and the cylindrical surface.

[0017] Optionally, the mounting bracket further includes a locking block and a mounting part. The mounting part is connected to the main body of the machine body. The mounting part has a shaft hole for mounting the output shaft of the hub motor. The mounting part corresponding to the side wall of the shaft hole has an open hole so that the first mating mounting surface can be exposed from the open hole. The locking block and the mounting part are detachably mounted. The second mating mounting surface is disposed on the locking block.

[0018] By setting a locking block, the hub motor can be quickly disassembled. In addition, when the second mating mounting surface fails due to wear, the locking block can be replaced separately, reducing the cost of use.

[0019] Optionally, in some embodiments of this application, the output shaft of the hub motor is made of metal, and the second mating mounting surface is also correspondingly provided with metal.

[0020] Optionally, in some embodiments of this application, the locking block is made of metal; or, The locking block includes a main body and a docking part having the second docking mounting surface. The docking part is made of metal and is detachably mounted on the side surface of the main body facing the output shaft of the hub motor.

[0021] Optionally, in some embodiments of this application, the output shaft of the hub motor is further provided with a third mating mounting surface, which is arranged opposite to the first mating mounting surface in the radial direction of the output shaft of the hub motor; The third mating mounting surface includes at least a planar portion, and the mounting bracket is further provided with a fourth mating mounting surface adapted to the third mating mounting surface, wherein the third mating mounting surface and the fourth mating mounting surface form a planar-to-planar mating.

[0022] Optionally, in some embodiments of this application, the output shaft of the hub motor is configured as a hollow cavity, the wiring harness of the hub motor is led out from the hollow cavity of the output shaft of the hub motor, and a lead-out groove is correspondingly opened on the output shaft of the hub motor, the inner edge of the lead-out groove being arc-shaped.

[0023] Optionally, in some embodiments of this application, the limiting pin is fixed on the mounting bracket, and the limiting pin at least partially protrudes from the second mating mounting surface; The first mating mounting surface has a limiting hole adapted to the limiting pin, and when the first mating mounting surface and the second mating mounting surface form a plane-to-plane mating, the portion of the limiting pin protruding from the second mating mounting surface extends into the output shaft of the hub motor through the limiting hole.

[0024] Optionally, in some embodiments of this application, the output shaft of the hub motor and the limiting pin are both configured as hollow cavities. The wiring harness of the hub motor is led out sequentially from the hollow cavity of the output shaft of the hub motor and the hollow cavity of the limiting pin. A guide groove is correspondingly provided on the limiting pin, and the inner edge of the guide groove is arc-shaped.

[0025] Optionally, the inner diameter of the output shaft of the hub motor is d, and the length of the limiting pin extending into the output shaft of the hub motor is S, where S≤½d; the wall thickness of the output shaft of the hub motor corresponding to the first mating mounting surface is N, and the original wall thickness of the output shaft of the hub motor is M, wherein the relationship between N and M satisfies: ¼M≤N≤¾M.

[0026] Setting the length S too long will occupy the internal space of the hub motor's output shaft, affecting the passage of the wiring harness. The length S is positively correlated with the torque resistance of the hub motor's output shaft. If the wall thickness N is set too small, the hub motor's output shaft will deform under the pressure of the limit pin. If the wall thickness N is set too large, it will increase the manufacturing cost of the hub motor and make it difficult to open the limit hole. Setting ¼M≤N≤¾M can ensure that both strength performance and usage cost are considered at the same time.

[0027] Optionally, the side of the first mating mounting surface closest to the wheel body is recessed relative to the cylindrical surface of the output shaft of the hub motor, and the side of the first mating mounting surface furthest from the wheel body extends to the end of the output shaft of the hub motor.

[0028] Extending the first mating mounting surface to the end of the output shaft can increase the area of ​​the first mating mounting surface and improve the installation strength between the first mating mounting surface and the second mating mounting surface. Attached Figure Description

[0029] Figure 1 This is one of the overall structural schematic diagrams of the self-propelled lawnmower of the present invention; Figure 2 This is the second schematic diagram of the overall structure of the self-propelled lawnmower of the present invention; Figure 3This is the third schematic diagram of the overall structure of the self-propelled lawnmower of the present invention; Figure 4 This is a schematic diagram of the front wheel structure in the self-propelled lawnmower of the present invention; Figure 5 This is a schematic diagram of the front wheel mounting bracket in the self-propelled lawnmower of the present invention; Figure 6 This is a front view of the front wheel of the self-propelled lawnmower of the present invention; Figure 7 for Figure 6 Sectional view along the AA direction; Figure 8 This is a schematic diagram of the steering motor and front wheel in the self-propelled lawnmower of the present invention; Figure 9 This is one of the structural schematic diagrams of the hub motor in the self-propelled lawnmower of the present invention; Figure 10 This is the second schematic diagram of the hub motor in the self-propelled lawnmower of the present invention; Figure 11 This is a schematic diagram of the locking block in the self-moving lawnmower of the present invention; Figure 12 This is one of the structural schematic diagrams of another structure of the hub motor in the self-propelled lawnmower of the present invention; Figure 13 This is a second schematic diagram of another structure of the hub motor in the self-propelled lawnmower of the present invention; Figure 14 This is a schematic diagram of another structure of the locking block in the self-propelled lawnmower of the present invention; Figure 15 This is a schematic diagram of the suspension device in the self-propelled lawnmower of the present invention; Figure 16 This is a partially enlarged view of the suspension device in the self-propelled lawnmower of the present invention; Figure 17 This is a schematic diagram of the internal structure of the front side of the self-propelled lawnmower of the present invention; Figure 18 This is one of the structural schematic diagrams of the cutting device in the self-propelled lawnmower of the present invention; Figure 19 This is the second schematic diagram of the cutting device in the self-propelled lawnmower of the present invention; Figure 20 This is a schematic diagram of the cutting device and protective device in the self-propelled lawnmower of the present invention; Figure 21 This is a bottom view of the blade guard in the self-propelled lawnmower of the present invention; Figure 22 This is a front view of the blade cover in the self-propelled lawnmower of the present invention; Figure 23This is a rear view of the blade cover in the self-propelled lawnmower of the present invention; Figure 24 This is a side view of the blade cover in the self-moving lawnmower of the present invention.

[0030] The specific explanations of the reference numerals in the attached figures are as follows: 1. Main body; 1-1. Top cover; 2. Walking and steering device; 2-1. Front wheel; 2-2. Rear wheel; 2-1-1. Front wheel body; 2-1-2. Anti-slip mechanism; 2-1-2-1. Anti-slip protrusion; 2-1-3. Hub motor; 2-1-3-1. First mating mounting surface; 2-1-3-2. Outlet groove; 2-1-3-3. Annular sealing groove; 2-1-3-4. Hub motor wiring harness; 2-1-3-5. Third mating mounting surface; 2-1-3-6. Limiting hole; 2-1-4. Front wheel mounting bracket; 2-1-4-1. First mounting part; 2-4-1-2. Transition part; 2-1-4-3. Second mounting part; 2-1-4-4. Annular sealing block; 2-1-5, Locking block; 2-1-5-1, Second mating mounting surface; 2-1-5-2, Main body; 2-1-5-3, Dating part; 2-1-6, Steering motor; 2-1-7, Limit pin; 3. Suspension system; 3-1. Suspension mounting base; 3-2. Cantilever body; 3-3. Cantilever hinge shaft; 3-4. Front drive mounting bracket; 3-5. Lifting trigger element; 3-6. Sealing cover; 3-7. Actuation mechanism; 4. Collision device; 5. Sensing devices; 5-1. Camera module; 6. Protective devices; 6-1. Cutter head cover; 6-1-1. Side plate of the cover; 6-1-2. Top plate of the cover; 6-1-1-1. Front section of the side plate; 6-1-1-2. Middle section of the side plate; 6-1-1-3. Rear section of the side plate; 6-1-3. Weed discharge hole; 7. Cutting device; 7-1. Cutting mechanism; 7-1-1. Cutting motor; 7-1-2. Cutting blade; 7-1-3. Motor mounting beam; 7-2, Height adjustment mechanism; 7-2-1, Height adjustment base; 7-2-2, Height adjustment linkage; 7-2-2-1, First linkage arm; 7-2-2-2, Second linkage arm; 7-2-2-3, Height adjustment crossbeam; 7-2-2-4, Height adjustment protrusion; 7-2-2-5, Reinforcing block; 7-2-3, Height adjustment drive component; 8. Heat sink; 9. Integrated circuit board; 10. Charging port; 11. Comb tooth structure; 12. Handle body; 13. Tail wing. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1 to 3 The present invention provides a self-propelled lawn mower, which includes a main body 1, a walking and steering device 2, a suspension device 3, a collision device 4, a sensing device 5, a cutting device 7, and a protective device 6.

[0033] The walking and steering device 2 is configured to drive the self-propelled lawnmower. The walking and steering device 2 can be a wheeled structure or a tracked structure. Specifically, this application embodiment provides a wheeled walking and steering device 2, which includes two front wheels 2-1 and two rear wheels 2-2. The walking and steering device 2 can be driven by front-wheel drive, rear-wheel drive, or four-wheel drive. Specifically, this application embodiment uses four-wheel drive.

[0034] The walking and steering device in this embodiment includes two front wheels 2-1 and two rear wheels 2-2. The walking power of the front wheels 2-1 or the rear wheels 2-2 is driven by a hub motor 2-1-3, and the steering power of the front wheels 2-1 is driven by a steering motor 2-1-6. The front wheels 2-1, hub motor 2-1-3, and steering motor 2-1-6 are each set in two groups and are symmetrically arranged along the center line of the main body 1.

[0035] Please see Figures 4 to 8The front wheel 2-1 includes a front wheel body 2-1-1 and an anti-slip mechanism 2-1-2 disposed on the rotating surface of the front wheel body 2-1-1. The interior of the front wheel body 2-1-1 is hollow to form a space for mounting the main body of the hub motor 2-1-3. The steering motor 2-1-6 is positioned above the front wheel 2-1. The main body of the steering motor 2-1-6 is fixed relative to the main body 1. The front wheel body 2-1-1 is keyed to the output shaft of the steering motor 2-1-6 via a front wheel mounting bracket 2-1-4. The straight line containing the central axis of the output shaft of the steering motor 2-1-6 is defined as L1. The straight line passing through the center of the wheel surface of the front wheel body 2-1-1 and perpendicular to the wheel surface is defined as L2. The straight line passing through the midpoint of the width direction of the rotating surface of the front wheel body 2-1-1 and perpendicularly intersecting L2 is defined as L3. The center point of the front wheel assembly 2-1-1 is point O, which is the intersection of lines L2 and L3. Lines L1 and L2 intersect and are perpendicular. The steering motor 2-1-6 is located directly above the front wheel assembly 2-1-1, and its output shaft is perpendicular to the mower's travel plane. Furthermore, lines L1, L2, and L3 all intersect at point O, meaning that regardless of the steering angle of the front wheel assembly 2-1-1, the orthographic projection of the central axis of the steering motor 2-1-6's output shaft onto the travel plane coincides with the center point of the orthographic projection of the corresponding front wheel assembly 2-1-1 onto the travel plane. The advantage of this configuration is that, theoretically, during the mower's movement, the output shaft of the steering motor 2-1-6 is less likely to generate externally influenced deflection torque that could cause steering deviation, thus better maintaining the accuracy of the travel direction.

[0036] Since the lawnmower's battery is installed inside the main body 1, and the hub motor 2-1-3 is installed inside the front wheel body 2-1-1, the hub motor's wiring harness 2-1-3-4 needs to be connected to the battery to power the hub motor 2-1-3. During the turning process of the front wheel 2-1, there is a directional deflection between the front wheel 2-1 and the main body 1. This will cause the hub motor's wiring harness 2-1-3-4 to twist at the connection between the front wheel mounting bracket 2-1-4 and the connecting structure (main body 1 or suspension device 3), affecting the service life of the wiring harness or causing the front wheel 2-1 to be restricted in its turning. To address this issue, in the embodiments of this application, the output shaft of the hub motor 2-1-3 is configured as a hollow cavity. The wiring harness 2-1-3-4 of the hub motor passes through the hollow cavity of the output shaft of the hub motor 2-1-3 and is then connected to the battery. This solves the problem of the wiring harness 2-1-3-4 of the hub motor 2-1-3 twisting and saves the installation space of the wiring harness, which is beneficial to the integration and miniaturization of the machine body.

[0037] Please see Figures 9 to 11In the embodiments of this application, the front wheel 2-1 or the rear wheel 2-2 includes a wheel body (specifically, the front wheel body 2-1-1), a hub motor 2-1-3, and a mounting bracket (specifically, the front wheel mounting bracket 2-1-4). The interior of the wheel body is hollow to form a space for mounting the main body of the hub motor 2-1-3. The wheel body is mounted on the mounting bracket via the output shaft of the hub motor 2-1-3. The mounting bracket is fixedly or rotatably connected to the main body 1 of the machine body. The main body of the output shaft of the hub motor 2-1-3 is cylindrical, which easily allows relative rotation with the mounting bracket. In order to achieve effective driving of the wheel body (such as the front wheel body 2-1-1) by the hub motor 2-1-3, the output shaft of the hub motor 2-1-3 needs to be fixedly mounted to the mounting bracket (such as the front wheel mounting bracket 2-1-4) and cannot rotate relative to it. To solve the above problems, in the embodiments of this application, a first docking mounting surface 2-1-3-1 is provided on the output shaft of the hub motor 2-1-3. The first docking mounting surface 2-1-3-1 includes at least a planar portion. A second docking mounting surface 2-1-5-1 adapted to the first docking mounting surface 2-1-3-1 is provided on the mounting bracket (such as the front wheel mounting bracket 2-1-4). The first docking mounting surface 2-1-3-1 and the second docking mounting surface 2-1-5-1 form a planar docking.

[0038] Through the above structural design, the walking and steering device 2, with its first mating mounting surface 2-1-3-1 having a planar portion and a second mating mounting surface 2-1-5-1 adapted to the first mating mounting surface 2-1-3-1, allows for a planar mating between the output shaft of the hub motor 2-1-3 and the mounting bracket. This ensures the stability and concentricity of the output shaft of the hub motor 2-1-3, enabling the mounting bracket to effectively stop the rotation of the output shaft of the hub motor 2-1-3, preventing wobbling or wobble during high-speed rotation of the hub motor 2-1-3, and achieving effective drive of the wheel by the hub motor 2-1-3. Furthermore, it significantly improves the assembly accuracy and efficiency of the hub motor 2-1-3 and the mounting bracket, while the planar contact form also distributes load stress, enhancing the overall structural durability.

[0039] In this application, the output shaft of the hub motor 2-1-3 is connected to the mounting bracket, and the mounting bracket is connected to the main body 1. The advantages of this setting are: (1) Different specifications of hub motor 2-1-3 or wheel body can be replaced according to the needs of use. For different specifications of hub motor 2-1-3, only the mounting bracket needs to be replaced according to the model of the output shaft of hub motor 2-1-3, which improves the usage scenarios of the self-propelled lawnmower; (2) Since the hub motor 2-1-3 has a large stress during rotation, the mounting structure of the output shaft of hub motor 2-1-3 will wear and even be damaged after long-term operation. By connecting the output shaft of hub motor 2-1-3 to the mounting bracket, the mounting bracket can be replaced separately after wear, which reduces the usage cost of the self-propelled lawnmower.

[0040] Specifically, the wall thickness of the output shaft of the hub motor 2-1-3 corresponding to the first mating mounting surface 2-1-3-1 is N, and the original wall thickness of the output shaft of the hub motor 2-1-3 is M. The relationship between N and M satisfies: ¼M≤N≤¾M. To ensure the torque resistance between the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1, the area of ​​the mating mounting surfaces needs to be large enough. The area of ​​the second mating mounting surface 2-1-5-1 can be matched according to the area of ​​the first mating mounting surface 2-1-3-1. Therefore, how to set the first mating mounting surface 2-1-3-1 is a key consideration. Since the first mating mounting surface 2-1-3-1 is formed by cutting the surface of the output shaft of the hub motor 2-1-3, if the width of the first mating mounting surface 2-1-3-1 is set too large, the thickness of the output shaft of the hub motor 2-1-3 at the first mating mounting surface 2-1-3-1 will be too low, reducing its strength and making it prone to breakage during operation. If the width of the first mating mounting surface 2-1-3-1 is set too small, the contact area between the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1 will be too small, making it easy for relative rotation to occur between the output shaft of the hub motor 2-1-3 and the mounting bracket, resulting in low installation stability. After multiple tests, it was found that for most hub motors on the market, a value of ¼M≤N≤¾M ensures both the structural strength of the output shaft of the hub motor 2-1-3 and the installation stability between the output shaft of the hub motor 2-1-3 and the mounting bracket, which is most beneficial to the movement performance of the self-propelled lawnmower.

[0041] Specifically, the original wall thickness of the output shaft of the hub motor 2-1-3 is M, the outer diameter of the hub motor 2-1-3 is D, and the width of the first mating mounting surface 2-1-3-1 is W. The relationship between M, D, and W satisfies: ≤W≤ To ensure the torque resistance between the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1, the area of ​​the mating mounting surfaces needs to be large enough. The area of ​​the second mating mounting surface 2-1-5-1 can be matched with the area of ​​the first mating mounting surface 2-1-3-1. Therefore, how to set the first mating mounting surface 2-1-3-1 is a key consideration. The width of the first mating mounting surface 2-1-3-1 is its radial dimension relative to the output shaft of the hub motor 2-1-3. The relative movement direction between the output shaft of the hub motor 2-1-3 and the mounting bracket is radial. Therefore, the width of the first mating mounting surface 2-1-3-1 is a key factor affecting the mating strength. However, the width of the first mating mounting surface 2-1-3-1 is limited by the diameter of the output shaft of the hub motor 2-1-3. Furthermore, the width of the first mating mounting surface 2-1-3-1 must also consider the wall thickness of the output shaft of the hub motor 2-1-3. A thicker wall thickness results in higher mechanical properties and a positive impact on the anti-rotation effect. After multiple tests… ≤W≤ This ensures both the stability of the installation between the output shaft of the hub motor 2-1-3 and the mounting bracket, and also prevents the thickness of the output shaft of the hub motor 2-1-3 from being set too large, thus avoiding increased component costs.

[0042] Specifically, the cooperation between the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1 not only solves the problem of relative rotation between the output shaft of the hub motor 2-1-3 and the mounting bracket, but also prevents relative sliding between them in the axial direction. Specifically, because the output shaft of the hub motor 2-1-3 is roughly cylindrical, the first mating mounting surface 2-1-3-1 is concave relative to the cylindrical surface of the output shaft, creating a height difference at the connection point. This prevents the output shaft of the hub motor 2-1-3 from moving axially relative to the mounting bracket. Therefore, by setting the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1, the relative fixation of the output shaft of the hub motor 2-1-3 and the mounting bracket in the axial and radial directions is achieved.

[0043] Please refer to Figure 5 and Figure 17In this embodiment, the mounting bracket (such as the front wheel mounting bracket 2-1-4) is a hollow structure, specifically including a locking block 2-1-5 and a mounting part. The mounting part may specifically include a first mounting part 2-1-4-1, a transition part 2-1-4-2, and a second mounting part 2-1-4-3. The first mounting part 2-1-4-1 is used to connect the output shaft of the hub motor 2-1-3 inside the wheel body, and the second mounting part 2-1-4-3 is used to connect the output shaft of the steering motor 2-1-6. The transition part 2-1-4-2 connects the first mounting part 2-1-4-1 and the second mounting part 2-1-4-3. The first mounting part 2-1-4-1, the second mounting part 2-1-4-3, and the transition part 2-1-4-2 can be a separate setting, an integrated setting, or a partially separate setting with a partially integrated setting.

[0044] To facilitate the disassembly and installation of the wheel body, the mounting part is connected to the main body 1. The mounting part (specifically, the first mounting part 2-1-4-1) has a shaft hole for mounting the output shaft of the hub motor 2-1-3. The mounting part corresponding to the side wall of the shaft hole has an open hole so that the first mating mounting surface 2-1-3-1 can be exposed through the open hole. The locking block 2-1-5 is detachably installed with the mounting part. Specifically, the locking block 2-1-5 and the mounting part (specifically, the first mounting part 2-1-4-1) can be installed with screws or other quick-release connection mechanisms. The second mating mounting surface 2-1-5-1 is disposed on the locking block 2-1-5. When it is necessary to disassemble the wheel body and the hub motor 2-1-3, simply remove the locking block 2-1-5 from the first mounting part 2-1-4-1, and then remove the wheel body (such as the front wheel body 2-1) and the hub motor 2-1-3. Similarly, when it is necessary to assemble the wheel body and the hub motor 2-1-3, insert the output shaft of the hub motor 2-1-4 into the shaft hole of the mounting part (specifically, the first mounting part 2-1-4-1), and then install the locking block 2-1-5 accordingly to lock the output shaft of the hub motor 2-1-3. In this way, by setting the locking block 2-1-5, the hub motor 2-1-3 can be quickly disassembled. In addition, when the second mating mounting surface 2-1-5-1 fails due to wear, the locking block 2-1-5 can be replaced separately, reducing the cost of use.

[0045] Specifically, the output shaft of the hub motor 2-1-3 is made of metal, and correspondingly, the second mating mounting surface 2-1-5-1 is also made of metal to improve the wear resistance between the two. Preferably, the locking block 2-1-5 can be made of metal, so that the second mating mounting surface 2-1-5-1 is also made of metal; alternatively, the locking block 2-1-5 can include a main body 2-1-5-2 and a mating part 2-1-5-3 with the second mating mounting surface 2-1-5-1. The mating part 2-1-5-3 can be detachably mounted on the side surface of the main body 2-1-5-2 facing the output shaft of the hub motor 2-1-3 using a detachable structure such as a screw structure or a snap-fit ​​structure. The mating part 2-1-5-3 is made of metal, so that the second mating mounting surface 2-1-5-1 is also made of metal. Compared to the former, the latter uses less metal, which can make the structure of the locking block 2-1-5 lighter and effectively reduce its corresponding cost. The docking part 2-1-5-3 can be used as Figure 11 The small structure shown allows it to be embedded in the surface of the main body 2-1-5-2 facing the output shaft of the hub motor 2-1-3, or it can be... Figure 14 The sheet-like structure shown allows it to be laid and installed on the surface of the main body 2-1-5-2 facing the output shaft of the hub motor 2-1-3. Compared to the latter, the former uses less metal material, which can further reduce the weight of the locking block 2-1-5 structure and reduce its corresponding cost. Of course, in order to accommodate the detachable setting of the wheel body, the hub motor wiring harness 2-1-3-4 adopts at least a two-stage connection. Specifically, the wiring harness connecting one end of the hub motor 2-1-3 and the wiring harness connecting the battery end can be connected by a quick-release connector, which can be set in the cavity inside the mounting bracket (such as the front wheel mounting bracket 2-1-4).

[0046] Please see Figures 9 to 10 The wiring harness of the hub motor 2-1-3 is led out from the internal cavity of the output shaft of the hub motor 2-1-3. To reduce wear on the wiring harness, a lead-out groove 2-1-3-2 is correspondingly provided on the output shaft of the hub motor 2-1-3, and the inner edge of the lead-out groove 2-1-3-2 is arc-shaped. The working environment of the lawnmower generates a large amount of dust and grass clippings. If not protected, dust and grass clippings will enter the interior of the hub motor 2-1-3, affecting its service life. To solve this problem, an annular sealing groove 2-1-3-3 can be provided along the circumference of the front wheel body 2-1 or the main body of the hub motor 2-1-3 near the mounting bracket (such as the front wheel mounting bracket 2-1-4). In this embodiment, the annular sealing groove 2-1-3-3 is provided on the main body of the hub motor 2-1-3; please refer to [link to relevant documentation]. Figure 7The mounting bracket (such as the front wheel mounting bracket 2-1-4) has an annular sealing block 2-1-4-4 corresponding to the annular sealing groove 2-1-3-3 on the side near the front wheel. The annular sealing block 2-1-4-4 is installed inside the annular sealing groove 2-1-3-3, which does not affect the rotation of the front wheel 2-1 and also achieves the dustproof effect for the hub motor 2-1-3. Of course, in this application, the annular sealing groove 2-1-3-3 can also be set on the mounting bracket (such as the front wheel mounting bracket 2-1-4), and the annular sealing block 2-1-4-4 can be installed on the front wheel 2-1 or the main body of the hub motor 2-1-3, which can also achieve the dustproof effect for the hub motor 2-1-3.

[0047] Please see Figures 12 to 14 A limiting pin 2-1-7 is also connected between the first docking mounting surface 2-1-3-1 and the second docking mounting surface 2-1-5-1. One end of the limiting pin 2-1-7 is connected to a mounting bracket (such as the front wheel mounting bracket 2-1-4), and the other end of the limiting pin 2-1-7 at least partially penetrates the shaft wall of the output shaft of the hub motor 2-1-3 corresponding to the first docking mounting surface 2-1-3-1.

[0048] During the operation of the self-propelled lawnmower, the front wheel 2-1 or rear wheel 2-2 may encounter a large load when encountering obstacles. Under the torque of the wheels, a large stress will be generated between the first docking mounting surface 2-1-3-1 and the second docking mounting surface 2-1-5-1, causing deformation of the mounting bracket. As a result, the output shaft of the hub motor 2-1-3 will rotate relative to the mounting bracket. To solve the above problem, this application also incorporates a structural design with a limit pin 2-1-7 connecting the first docking mounting surface 2-1-3-1 and the second docking mounting surface 2-1-5-1. This design can further strengthen the connection stability between the output shaft of the hub motor 2-1-3 and the mounting bracket, while also allowing the mounting bracket to effectively stop the rotation of the output shaft of the hub motor 2-1-3 through the limit pin 2-1-7, thereby achieving effective drive of the wheel body by the hub motor 2-1-3. The locating pin 2-1-7 prevents the drive shaft of the hub motor 2-1-3 from moving axially, thus eliminating the need for additional axial limiting components and reducing the installation cost of the hub motor 2-1-3. Furthermore, by extending the locating pin 2-1-7 through the output shaft of the hub motor 2-1-3, and positioning a portion of the locating pin 2-1-7 within the internal space of the output shaft, the wiring harness within the hub motor 2-1-3 can be separated, preventing the wiring harnesses from sticking together due to heat generated by current flow.

[0049] Specifically, the limiting pin 2-1-7 is fixed on the mounting bracket, and at least partially protrudes from the second mating mounting surface 2-1-5-1. The first mating mounting surface 2-1-3-1 has a limiting hole 2-1-3-6 adapted to the limiting pin 2-1-7. When the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1 form a plane-to-plane mating, the portion of the limiting pin 2-1-7 protruding from the second mating mounting surface 2-1-5-1 extends through the limiting hole 2-1-3-6 into the output shaft of the hub motor 2-1-3. In this way, the limiting pin 2-1-7 can further effectively stop the rotation of the output shaft of the hub motor 2-1-3, thereby achieving effective drive of the wheel by the hub motor 2-1-3.

[0050] Specifically, the output shaft of the hub motor 2-1-3 and the limiting pin 2-1-7 are both set as hollow cavities. At this time, the wiring harness of the hub motor 2-1-3 can also be led out from the hollow cavity of the output shaft of the hub motor 2-1-3 and the hollow cavity of the limiting pin 2-1-7 in sequence. In order to reduce the wear of the wiring harness, a guide groove (not shown) can also be opened on the limiting pin 2-1-7. The inner edge of the guide groove is arc-shaped.

[0051] Specifically, the inner diameter of the output shaft of hub motor 2-1-3 is d, and the length of the limit pin 2-1-7 extending into the output shaft of hub motor 2-1-3 is S, where S≤½d; the wall thickness of the output shaft of hub motor 2-1-3 corresponding to the first mating mounting surface 2-1-3-1 is N, and the original wall thickness of the output shaft of hub motor 2-1-3 is M. The relationship between N and M satisfies: ¼M≤N≤¾M.

[0052] If the length S is set too long, the internal space of the output shaft of the hub motor 2-1-3 will be occupied, affecting the passage of the wiring harness. The length S is positively correlated with the torque resistance of the output shaft of the hub motor 2-1-3. If the wall thickness N is set too small, the output shaft of the hub motor 2-1-3 will deform under the pressure of the limit pin 2-1-7. If the wall thickness N is set too large, on the one hand, it will increase the manufacturing cost of the hub motor 2-1-3, and on the other hand, it will make it difficult to open the limit hole 2-1-3-6. Setting ¼M≤N≤¾M can ensure that both strength performance and usage cost are considered at the same time.

[0053] Specifically, the side of the first mating mounting surface 2-1-3-1 closest to the wheel body is concave relative to the cylindrical surface of the output shaft of the hub motor 2-1-3, while the side of the first mating mounting surface 2-1-3-1 furthest from the wheel body extends to the end of the output shaft of the hub motor 2-1-3. Extending the first mating mounting surface 2-1-3-1 to the end of the output shaft increases its area and improves the mounting strength between the first mating mounting surface 2-1-3-1 and the second mating mounting surface 2-1-5-1.

[0054] Specifically, the output shaft of the hub motor 2-1-3 is also provided with a third mating mounting surface 2-1-3-5, which is radially opposite to the first mating mounting surface 2-1-3-1 on the output shaft of the hub motor 2-1-3. The third mating mounting surface 2-1-3-5 includes at least a planar portion, and the mounting bracket (such as the front wheel mounting bracket 2-1-4) is also provided with a fourth mating mounting surface (not shown) that is adapted to the third mating mounting surface 2-1-3-5. The third mating mounting surface 2-1-3-5 and the fourth mating mounting surface also form a planar-to-planar mating. Thus, by forming a planar connection between the output shaft of the hub motor 2-1-3 and the mounting bracket (such as the front wheel mounting bracket 2-1-4) on both sides of the radial direction of the output shaft, the stability and concentricity of the installation of the output shaft of the hub motor 2-1-3 can be further ensured. In other words, the mounting bracket (such as the front wheel mounting bracket 2-1-4) can effectively stop the rotation of the output shaft of the hub motor 2-1-3, so as to prevent the hub motor 2-1-3 from shaking or wobbling when rotating at high speed, and to achieve effective driving of the front wheel 2-1 by the hub motor 2-1-3.

[0055] Please see Figures 4 to 6 To improve the grip of the wheels, embodiments of this application provide an anti-slip mechanism 2-1-2 for the front wheel 2-1 and / or the rear wheel 2-2. The anti-slip mechanism 2-1-2 includes anti-slip protrusions 2-1-2-1. The cross-section of the anti-slip protrusions 2-1-2-1 can be circular, rectangular, irregular, elliptical, etc. The size and shape of each anti-slip protrusion 2-1-2-1 can be the same or different. The spacing between adjacent anti-slip protrusions 2-1-2-1 can be the same or different. Specifically, in this embodiment, the anti-slip protrusions are arranged in a 2-1-2-1 staggered pattern. Compared to the horizontal and vertical alignment, the staggered arrangement provides stronger grip, especially when the lawnmower is traveling on a slope where the two sides of the machine are not at the same height, making it prone to tipping over. The 2-1-2-1 arrangement of the anti-slip protrusions in this application provides stronger adhesion to the traveling surface compared to the horizontal and vertical alignment, reducing the probability of the lawnmower tipping over. In this embodiment, the distance d between adjacent anti-slip protrusions is greater than or equal to 10 mm and less than or equal to 30 mm.

[0056] Please see Figures 15 to 16 The suspension device 3 of the self-propelled lawnmower is located on the front side of the main body 1, and its purpose is to enable the self-propelled lawnmower to adapt to the terrain during movement. The suspension device 3 of this embodiment includes a suspension mounting base 3-1, a cantilever body 3-2, and a cantilever hinge shaft 3-3. The suspension mounting base 3-1 is fixedly mounted on the main body 1, and the cantilever body 3-2 is mounted on the suspension mounting base 3-1 through the cantilever hinge shaft 3-3. The cantilever body 3-2 can rotate relative to the suspension mounting base 3-1. Front drive mounting supports 3-4 are respectively provided at both ends of the cantilever body 3-2. The front drive mounting supports 3-4 are used to provide a carrier for the installation of the front wheel 2-1, the hub motor 2-1-3, and the steering motor 2-1-6. The main body of the steering motor 2-1-6 is fixedly mounted on the upper surface of the front drive mounting bracket 3-4. The output shaft of the steering motor 2-1-6 extends from the upper surface of the front drive mounting bracket 3-4 to the lower surface of the front drive mounting bracket 3-4. The output shaft of the steering motor 2-1-6 is connected to the second mounting part 2-1-4-3 of the front wheel mounting bracket 2-1-4, thereby completing the connection between the front wheel 2-1, the hub motor 2-1-3, the steering motor 2-1-6, and the suspension device 3. The suspension device 3 of this embodiment enables the lawnmower to adapt to the terrain during operation. Specifically, when the lawnmower travels on a flat surface, the cantilever body 3-2 is in a first position so that the two front wheels 2-1 are at the same height as the travel surface. When the lawnmower travels on an uneven surface, the cantilever body 3-2 rotates relative to the first position to adjust the relative height of the two front wheels 2-1, thereby adapting to the terrain of the uneven travel surface and preventing the front wheels from being suspended in the air.

[0057] Please see Figure 16The suspension device 3 in this embodiment also has the function of detecting fuselage lift. Specifically, an actuation mechanism 3-7 is provided between the cantilever body 3-1 and the suspension mounting base 3-1. When the cantilever body 3-1 is not under the pressure of the fuselage body 1 (lifted state), the cantilever body 3-2 is moved to a second position by the actuation force of the actuation mechanism 3-7, and the second position is different from the first position. Specifically, the actuation mechanism 3-7 can be a spring, which can be configured to provide inward tension, outward tension, or other mechanisms that can provide power. The actuation mechanism 3-7 can also be provided between the cantilever hinge shaft 3-3 and the suspension mounting base 3-1, or between the cantilever body 3-2 and the fuselage body 1. To achieve the lift detection function, the lift trigger element 3-5 and the lift sensing element are also required. In this embodiment, the lift trigger element 3-5 is set on the cantilever hinge shaft 3-3, and the lift sensing element is set on the suspension mounting base 3-1 or the main body 1. The cantilever hinge shaft 3-3 drives the lift trigger element 3-5 to move, thereby causing a relative displacement between the lift trigger element 3-5 and the lift sensing element to generate a signal difference or signal on / off. The attitude and position of the cantilever body 3-2 are identified by the signal difference or signal on / off. Of course, the positions of the lift trigger element 3-5 and the lift sensing element can also be interchanged to achieve the same lift signal detection. Specifically, when the lawnmower is on a flat travel surface, the cantilever body 3-2 is in the first position, and a first signal is generated between the lift trigger element 3-5 and the lift sensing element. When the lawnmower is lifted, the cantilever body 3-2 is in the second position, and a second signal is generated between the lift trigger element 3-5 and the lift sensing element, thereby distinguishing whether the lawnmower has been lifted. The lift-off trigger element 3-5 and the lift-off sensor in the embodiments of this application can be components of a Hall sensor.

[0058] However, when the lawnmower is traveling on an uneven surface, the front wheels adapt to the terrain, and the cantilever body 3-2 may also be in a second position, which can cause false lifting detection. To solve this problem, this embodiment of the application uses other data to eliminate interference caused by uneven road surfaces to the lifting detection. Specifically, this embodiment of the application can combine the wheel speed and / or the torque of the drive motor corresponding to the wheel and / or the tilt sensor to determine whether the vehicle body is lifted.

[0059] Furthermore, the precise operation of the cantilever hinge rotation 3-3, lifting the sensing element 3-5, and lifting the detection element all require an environment free from foreign object interference. Therefore, it is necessary to prevent grass clippings and dust from entering the space between the cantilever body 3-2 and the suspension mounting base 3-1. To achieve this effect, in this embodiment of the application, a sealing cover 3-6 is provided between the cantilever body 3-2 and the suspension mounting base 3-1. The sealing cover 3-6 is made of an elastic and stretchable material to accommodate the rotation of the cantilever body 3-2.

[0060] The suspension mounting base 3-1, cantilever body 3-2, cantilever hinge shaft 3-3, and front drive mounting bracket 3-4 are all made of rigid metal materials, specifically aluminum, to ensure sufficient load-bearing capacity.

[0061] Please see Figure 1 and Figure 2 The self-propelled lawnmower includes a collision device 4, which is located at the front of the main body of the machine. It is used to buffer and absorb energy from external collisions and to perform corresponding obstacle avoidance actions by sensing obstacles in front of the self-propelled lawnmower. The main body of the collision device 4 can be straight, curved, or other shapes.

[0062] Please see Figures 18 to 20The cutting device 7 in this embodiment is a power device for mowing lawns. The cutting device 7 includes a cutting mechanism 7-1 and a height adjustment mechanism 7-2. The height adjustment mechanism 7-2 includes a height adjustment base 7-2-1, a height adjustment link 7-2-2, and a height adjustment drive component 7-2-3. The height adjustment base 7-2-1 is fixed relative to the main body 1. The height adjustment drive component 7-2-3 is rotatably mounted on the height adjustment base 7-2-1. The rotation of the height adjustment drive component 7-2-3 can be driven by a height adjustment motor or manually. The height adjustment drive component 7-2-3 includes a height adjustment drive surface, which is a continuous, unevenly curved surface, such as a spiral surface. The height adjustment drive surface abuts against the height adjustment link 7-2-2 to adjust the height of the height adjustment link 7-2-2. One end of the height adjustment linkage 7-2-2 is hinged to the height adjustment base 7-2-1. The height adjustment linkage 7-2-2 includes a first linkage arm 7-2-2-1, a second linkage arm 7-2-2-2, and a height adjustment crossbeam 7-2-2-3. The first linkage arm 7-2-2-1 and the second linkage arm 7-2-2-2 are connected by the height adjustment crossbeam 7-2-2-3. The height adjustment crossbeam 7-2-2-3 is provided with a height adjustment protrusion 7-2-2-4, which abuts against the height adjustment drive surface. Specifically, the height adjustment protrusion 7-2-2-4 is located above the height adjustment drive surface. The first ends of the first linkage arm 7-2-2-1 and the second linkage arm 7-2-2-2 are respectively hinged to the height adjustment base 7-2-1. The other ends of the first linkage arm 7-2-2-1 and the second linkage arm 7-2-2-2 are connected to the cutting mechanism 7-1. The cutting mechanism 7-1 is moved up and down by the rotation of the height adjustment drive 7-2-3. The cutting height adjustment range of this embodiment is 20-90mm.

[0063] More specifically, the first linkage arm 7-2-2-1, the second linkage arm 7-2-2-2, and the height adjustment beam 7-2-2-3 are all provided with upper and lower layers to ensure that the cutting angle remains fixed during the height adjustment process of the height adjustment mechanism 7-2. The cutting mechanism 7-1 includes a cutting motor 7-1-1 and a cutting disc 7-1-2. The fixed end of the cutting motor 7-1-1 is hinged to the other end of the two sets of first linkage arms 7-2-2-1 and the other end of the two sets of second linkage arms 7-2-2-2. The power end of the cutting motor 7-1-1 is connected to the cutting disc 7-1-2.

[0064] In the embodiments of this application, the cutting mechanism 7-1 is configured as two sets. The cutting motors 7-1-1 of the two sets of cutting mechanisms 7-1 are connected through motor mounting beams 7-1-3. The two sections of the motor mounting beams 7-1-3 are respectively hinged to the other ends of the two sets of first connecting arms 7-2-2-1 and the other ends of the two sets of second connecting arms 7-2-2-2. The two cutting discs 7-1-2 are staggered inside the main body 1 of the machine body to increase the cutting area. In the embodiments of this application, the first connecting arm 7-2-2-1 and the second connecting arm 7-2-2-2 have the same structure. The first connecting arm 7-2-2-1 and the second connecting arm 7-2-2-2 can be set as straight lines, or they can be set as broken lines or arcs according to the internal structure of the machine body, the height adjustment stroke, and other requirements. In order to improve the strength of the height adjustment beam 7-2-2-3, a reinforcing block 7-2-2-5 is provided on the height adjustment beam 7-2-2-3.

[0065] If the cutting device 7 is fixed to the main body 1 via the height adjustment base 7-2-1, the load on the main body 1 will be too large, making it prone to sinking deformation or damage. To solve this problem, in this embodiment, the height adjustment base 7-2-1 is directly connected to the suspension mounting base 3-1. In this way, the weight of the cutting device 7 is directly transmitted to the front wheel 2-1 through the suspension device 3, avoiding the direct force on the main body 1 before being transmitted to the front wheel 2-1. This solves the problem of the main body 1 being prone to sinking deformation or damage, thereby improving the service life of the entire machine. Specifically, in this embodiment, the height adjustment base 7-2-1 can be fully connected to the suspension mounting base 3-1, or partially connected to the suspension mounting base 3-1 and partially connected to the main body 1.

[0066] Please see Figures 21 to 24The protective device 6 in this embodiment includes a cutter head cover 6-1. The cutter head cover 6-1 is disposed around the cutting cutter head 7-1-2 to achieve safety protection for the cutting cutter head 7-1-2. The front and rear ends of the cutter head cover 6-1 are provided with grass inlets. The cutter head cover 6-1 includes a top cover plate 6-1-2 and side cover plates 6-1-1 connected to both sides of the top cover plate 6-1-2. The output shaft of the cutting motor 7-1-1 passes through the top cover plate 6-1-2 and connects to the cutting cutter head 7-1-2 located below the top cover plate 6-1-2. In a preferred embodiment, a grass discharge hole 6-1-3 is provided on the side plate 6-1-1 of the protective cover. The design of the grass discharge hole 6-1-3 needs to balance grass discharge efficiency and safety requirements. If the size of the grass discharge hole 6-1-3 is too small, the grass clippings generated by the cutting disc 7-1-2 during grass cutting cannot be effectively discharged through the grass discharge hole 6-1-3. If the size of the grass discharge hole 6-1-3 is too large, the user's fingers or other parts may pass through the grass discharge hole 6-1-3 and come into contact with the cutting disc 7-1-2, causing a safety hazard. In this embodiment, the grass discharge hole 6-1-3 is set as a rectangle, with the length of the rectangle extending approximately along the front-rear direction of the main body 1. The length of the grass discharge hole 6-1-3 is greater than or equal to 10mm, and the width of the grass discharge hole 6-1-3 is greater than or equal to 3mm and less than or equal to 8mm, thereby balancing grass discharge effect and safety protection function.

[0067] The protective side panel 6-1-1 of this application embodiment may include a middle section 6-1-1-2, a front section 6-1-1-1, and a rear section 6-1-1-3. The front section 6-1-1-1 and the rear section 6-1-1-3 are both connected to the middle section 6-1-1-2. The front section 6-1-1-1 and the middle section 6-1-1-2 are set at an obtuse angle, and the rear section 6-1-1-3 and the middle section 6-1-1-2 are also set at an obtuse angle. Grass drainage holes 6-1-3 are provided in the front section 6-1-1-1, the middle section 6-1-1-2, and the rear section 6-1-1-3.

[0068] Please see Figure 17 The sensing device 5 in this embodiment includes a camera module 5-1 and an RTK module. The camera module 5-1 is installed at the front of the main body 1. The lower end of the camera module 5-1 is located inside the top cover 1-1 of the main body 1. The lower end of the camera module 5-1 is connected to the upper end face of the heat sink 8. An integrated circuit board 9 is installed on the lower end face of the heat sink 8. A heat dissipation cavity is formed between the heat sink 8 and the top cover 1-1 of the main body 1. The heat sink 8 can simultaneously dissipate heat from the camera module 5-1 and the integrated circuit board 9, reducing the number of heat sinks 8 used, solving the internal space problem of the body, and facilitating the miniaturization of the machine.

[0069] Please see Figure 3The self-propelled lawnmower of this application embodiment also includes a comb tooth structure 11. The comb tooth structure 11 includes, but is not limited to, being disposed between the collision device 4 and the suspension device 3, the front section of the blade guard 6-1, and the rear end of the main body 1. The distance between adjacent comb teeth of the comb tooth structure 11 is greater than or equal to 10 mm and less than or equal to 30 mm.

[0070] Please see Figure 2 The self-propelled lawnmower of this application embodiment also includes a handle structure. The handle structure is installed at the rear end of the main body 1 to facilitate manual movement of the self-propelled lawnmower. The handle structure includes a handle body 12 and a tail wing plate 13. The tail wing plate 13 is disposed at both ends of the handle body 12. The handle body 12 and the tail wing plate 13 are integrated. The tail wing plate 13 is fixedly connected to the main body 1 by screws.

[0071] Please see Figure 1 The self-propelled lawnmower in this embodiment also includes a charging port 10. The charging port 10 contains charging electrodes that connect with the charging tongue on the charging base station to charge the self-propelled lawnmower. To improve the connection accuracy between the charging port 10 and the charging tongue of the charging base station, the charging tongue of the charging base station is designed to swing left and right, allowing for connection at various angles and improving the charging success rate. Specifically, in this embodiment, the charging port 10 is located at the front end of the main body 1, positioned between the collision device 4 and the camera module 5-1. This arrangement allows the camera module 5-1 to remain within the internal space of the charging base station while the lawnmower is charging, preventing external environmental pollution or damage to the camera.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-propelled lawnmower, characterized in that, The self-propelled lawnmower includes a main body and a walking and steering device, which is used to drive the self-propelled lawnmower to move. The walking and steering device includes a front wheel and a rear wheel, and the walking power of the front wheel or the rear wheel is driven by a hub motor; The front wheel or the rear wheel includes a wheel body, a hub motor, and a mounting bracket. The interior of the wheel body is hollow to form a space for mounting the main body of the hub motor. The wheel body is mounted on the mounting bracket through the output shaft of the hub motor. The main body of the output shaft of the hub motor is cylindrical, and a first docking mounting surface is provided on the output shaft of the hub motor. The first docking mounting surface includes at least a planar portion. A second docking mounting surface adapted to the first docking mounting surface is provided on the mounting bracket. The first docking mounting surface and the second docking mounting surface form a planar docking. The mounting bracket is fixedly or rotatably connected to the main body of the machine.

2. A self-propelled lawnmower, characterized in that, The self-propelled lawnmower includes a main body and a walking and steering device, which is used to drive the self-propelled lawnmower to move. The walking and steering device includes a front wheel and a rear wheel, and the walking power of the front wheel or the rear wheel is driven by a hub motor; The front wheel or the rear wheel includes a wheel body, a hub motor, and a mounting bracket. The interior of the wheel body is hollow to form a space for mounting the main body of the hub motor. The wheel body is mounted on the mounting bracket through the output shaft of the hub motor. The main body of the output shaft of the hub motor is cylindrical, and a first mating mounting surface is provided on the output shaft of the hub motor. The first mating mounting surface includes at least a planar portion. A second mating mounting surface adapted to the first mating mounting surface is provided on the mounting bracket. The first mating mounting surface and the second mating mounting surface form a planar-to-planar mating. A limiting pin is also connected between the first mating mounting surface and the second mating mounting surface. One end of the limiting pin is connected to the mounting bracket, and the other end of the limiting pin at least partially penetrates the shaft wall of the output shaft of the hub motor corresponding to the first mating mounting surface. The mounting bracket is fixedly or rotatably connected to the main body of the machine.

3. The self-propelled lawnmower according to claim 1 or 2, characterized in that, The first mating mounting surface is concave to the cylindrical surface of the output shaft of the hub motor. The wall thickness of the output shaft of the hub motor corresponding to the first mating mounting surface is N, and the original wall thickness of the output shaft of the hub motor is M. The relationship between N and M satisfies: ¼M≤N≤¾M. Alternatively, the original wall thickness of the output shaft of the hub motor is M, the outer diameter of the hub motor is D, and the width of the first mating mounting surface is W. The relationship between M, D, and W satisfies: ≤W≤ .

4. The self-propelled lawnmower according to claim 1 or 2, characterized in that, The first mating mounting surface is recessed relative to the cylindrical surface of the output shaft of the hub motor, so that a height difference is formed at the connection between the first mating mounting surface and the cylindrical surface.

5. The self-propelled lawnmower according to claim 1 or 2, characterized in that, The mounting bracket further includes a locking block and a mounting part. The mounting part is connected to the main body of the machine body. The mounting part has a shaft hole for mounting the output shaft of the hub motor. The mounting part corresponding to the side wall of the shaft hole has an open hole so that the first mating mounting surface can be exposed from the open hole. The locking block and the mounting part are detachably installed. The second mating mounting surface is disposed on the locking block.

6. The self-propelled lawnmower according to claim 5, characterized in that, The output shaft of the hub motor is made of metal, and the second mating mounting surface is also made of metal.

7. The self-propelled lawnmower according to claim 1 or 2, characterized in that, The output shaft of the hub motor is also provided with a third docking mounting surface, which is arranged opposite to the first docking mounting surface in the radial direction of the output shaft of the hub motor. The third mating mounting surface includes at least a planar portion, and the mounting bracket is further provided with a fourth mating mounting surface adapted to the third mating mounting surface, wherein the third mating mounting surface and the fourth mating mounting surface form a planar-to-planar mating.

8. The self-propelled lawnmower according to claim 2, characterized in that, The limiting pin is fixed on the mounting bracket, and the limiting pin at least partially protrudes from the second mating mounting surface; The first mating mounting surface has a limiting hole adapted to the limiting pin, and when the first mating mounting surface and the second mating mounting surface form a plane-to-plane mating, the portion of the limiting pin protruding from the second mating mounting surface extends into the output shaft of the hub motor through the limiting hole.

9. The self-propelled lawnmower according to claim 8, characterized in that, The inner diameter of the output shaft of the hub motor is d, and the length of the limiting pin extending into the output shaft of the hub motor is S, where S≤½d.

10. The self-propelled lawnmower according to claim 9, characterized in that, The wall thickness of the output shaft of the hub motor corresponding to the first docking mounting surface is N, and the original wall thickness of the output shaft of the hub motor is M. The relationship between N and M satisfies: ¼M≤N≤¾M.

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