Self-propelled device and gardening tool

Abstract

The invention discloses a self-propelled device and a gardening tool, belongs to the field of self-propelled devices, and solves the problems that the self-propelled device does not have a differential function and an idle wheel clutch assembly cannot be accurately positioned to a separation position, according to the technical scheme, the self-propelled device mainly comprises a machine shell, and a motor and a transmission mechanism are arranged in the machine shell; the transmission mechanism comprises a driving wheel, a driven wheel and an idle wheel clutch assembly, and further comprises a guiding mechanism and a differential mechanism, the guiding mechanism comprises a first guiding body and a second guiding body, the differential mechanism comprises a left wheel shaft, a right wheel shaft and a positioning sleeve, the left wheel shaft is provided with a differential left gear, and the positioning sleeve can position the right wheel shaft and the left wheel shaft in a supported mode. And two differential planetary gears are rotationally arranged in the positioning sleeve and are meshed with the differential left gear and the differential right gear. The self-propelled device is mainly used for making turning of the self-propelled device more stable and reliable. Through cooperation of the inductor and the induction piece, it can be ensured that the clutch assembly can be accurately located at the separation position.

Description

A self-propelled device and garden tool TECHNICAL FIELD

[0001] The present application discloses a self-propelled device and garden tool, belonging to the technical field of self-propelled devices. BACKGROUND

[0002] At present, existing garden machinery includes lawn mowers, rakes, snowplows, etc., but most garden machinery is heavy, in order to use more conveniently, a self-propelled device is installed in the garden machinery to reduce the burden of the user when pushing the lawn mower to mow the lawn, but the self-propelled device of the current garden machinery can only provide driving force for the garden machinery, and its clutch function is complex, when the forward speed of the garden machinery is greater than the driving speed, the driving motor in the self-propelled device will be counter-supported, causing the self-propelled device to be damaged, some existing garden machinery self-propelled devices integrate an automatic clutch at the transmission device, but the traditional automatic clutch needs a control member, such as a shift fork, and once the control member fails, the automatic clutch will also fail, and the reliability is not high.

[0003] The garden machinery self-propelled device and garden machinery disclosed in patent No. CN116171738A realize the clutch function through the idler clutch assembly and the elastic element, but the service life of the elastic element is short, and it is difficult to ensure stable limiting and guiding movement, and there is no differential function, which is difficult to meet market demand. SUMMARY

[0004] The present application aims to solve the problems that the existing self-propelled device does not have a differential function and the idler clutch assembly cannot be accurately positioned to the disengaged position, and provides a self-propelled device and garden tool, through the differential mechanism, the left wheel shaft and the right wheel shaft can form a differential, making the turning of the self-propelled device more stable and reliable, and through the cooperation of the inductor and the inductor piece, the clutch assembly can be accurately positioned to the disengaged position.

[0005] To solve the above technical problems, the present application adopts the following technical scheme:

[0006] The utility model provides an autotraveler, including the casing, be equipped with motor and drive mechanism driven by motor in casing, drive mechanism includes the driving wheel, driven wheel and idler clutch assembly of linkage cooperation, idler clutch assembly is engaged with driving wheel cooperation and can move to with driven wheel engagement, still include guiding mechanism and differential mechanism, the guiding mechanism includes the first guide body of setting on the casing and the second guide body of setting on idler clutch assembly, second guide body rotates with idler clutch assembly synchronization and can along first guide body movement, to cooperate idler clutch assembly with driven wheel's engagement and separation, the differential mechanism includes coaxial setting left wheel shaft and right wheel shaft and the positioning sleeve of locking in driven wheel, driven wheel sets up on right wheel shaft, right wheel shaft still is equipped with differential right gear, left wheel shaft is equipped with differential left gear, positioning sleeve can support positioning right wheel shaft with left wheel shaft, rotates and is equipped with two differential planetary gears in positioning sleeve, differential planetary gear is engaged with differential left gear and differential right gear.

[0007] The beneficial effects of the present application are:

[0008] The differential mechanism includes left wheel shaft, right wheel shaft and positioning sleeve, left wheel shaft is equipped with differential left gear, right wheel shaft is equipped with differential right gear, positioning sleeve rotates with driven wheel, positioning sleeve is equipped with two differential planetary gears, two differential planetary gears are engaged with differential left gear and differential right gear, when idler clutch assembly is engaged with driven wheel, idler clutch assembly transmits power to driven wheel, driven wheel rotates and drives positioning sleeve to rotate, two differential planetary gears rotate with differential left gear and differential right gear in the process of positioning sleeve rotation, thereby realizing left wheel shaft and right wheel shaft rotation, when the machine advances in a straight line, the stress of both sides of wheel shaft is the same, differential left gear and differential right gear rotate with positioning sleeve, but do not rotate around their own axes, at this time, differential left gear, differential right gear and differential planetary gear rotate at the same speed as driven wheel, and transmit power to left wheel shaft and right wheel shaft, realizing synchronous rotation of both sides of wheel shaft; when the machine turns, the angular velocity and resistance of both sides of wheel shaft are different, the resistance of the inner side of wheel shaft is greater than that of the outer side of wheel shaft, at this time, differential planetary gear rotates with driven wheel and positioning sleeve, and also rotates around its own axis, for example, when the machine turns left, the power of the inner side of differential left gear will be distributed to the outer side of differential right gear through the autorotation of differential planetary gear, relative to the inner side of differential left gear, differential planetary gear will drive the outer side of differential right gear to rotate at a higher speed, finally making the rotation speed of right wheel shaft greater than that of left wheel shaft, thereby realizing differential driving, through the differential mechanism, the possibility of slip and accelerated wear of the driving roller on the inside of the turn can be effectively avoided, and the user's experience can be significantly improved.

[0009] Preferably, the first guide body is arranged to be curved and provided with a tooth body on one side, and the tooth body is engaged with the second guide body. By using the above technical scheme, the first guide body guides the movement of the idler gear clutch assembly by engaging with the second guide body through the gear, which can increase the force between the first guide body and the second guide body, so that the idler gear clutch assembly can overcome the resistance and move, thereby effectively improving the reliability of the idler gear clutch assembly.

[0010] Preferably, the first guide body is arranged to be rotatable in the shell, and an elastic body is arranged on the side of the first guide body away from the second guide body and in the shell, and the elastic body is arranged to provide an elastic force to push the first guide body towards the second guide body.

[0011] Preferably, the first guide body comprises a hinged end hinged to the shell and a free end away from the hinged end, and a limiting block is arranged in the shell to limit the rotation angle of the first guide body, and the elastic body acts on the first guide body to make the free end of the first guide body abut against the limiting block. By using the above technical scheme, the limiting block can limit the rotation angle of the first guide body and also can disperse the force of the first guide body acting on the second guide body, thereby avoiding the interference of the rotation of the first guide body with the second guide body and the phenomenon of being stuck, and ensuring that the second guide body and the first guide body remain reliably engaged, so that the idler gear clutch assembly operates more reliably.

[0012] Preferably, the tooth body of the first guide body comprises a continuous transition section and a separation section, the length of the tooth protrusion of the separation section is less than the length of the tooth protrusion of the transition section, and the separation section is on the side of the free end, and when the idler gear clutch assembly is engaged with the driven gear, the second guide body contacts the separation section of the tooth body, and the second guide body moves through the transition section of the tooth body towards the free end or the hinged end. By using the above technical scheme, although the length of the tooth protrusion of the separation section is shorter, the teeth of the separation section can also engage with the second guide body to provide a force for the movement of the second guide body to the engagement position, so as to overcome the resistance to the sliding of the idler gear clutch assembly, and ensure that the sliding of the idler gear clutch assembly is smoother, which helps to improve the reliability of the idler gear clutch assembly.

[0013] Preferably, the side of the first guide body facing the second guide body is provided with a avoiding slot, and when the idler gear clutch assembly is engaged with the driven gear, there is a gap between the second guide body and the avoiding slot. By using the above technical scheme, the avoiding slot can keep the first guide body and the second guide body in a non-contact state in the engaged state, thereby avoiding the possibility of wear between the first guide body and the second guide body.

[0014] Preferably, a connecting shaft is arranged between the left wheel shaft and the right wheel shaft, and the left wheel shaft and the right wheel shaft are connected by the connecting shaft to keep the left wheel shaft and the right wheel shaft arranged concentrically.

[0015] As preferred, the left wheel shaft and the right wheel shaft are both connected with a wheel body, the left wheel shaft and the right wheel shaft are both provided with a cylindrical pin, the wheel body is provided with a ratchet wheel, the cylindrical pin and the ratchet tooth on the ratchet wheel are in transmission cooperation and realize one-way transmission. By using the foregoing technical scheme, the left wheel shaft and the right wheel shaft are both in one-way transmission with the wheel body, thereby the reverse transmission of the power can be blocked, when the forward speed of the wheel body is greater than the forward speed driven by the motor under the external force, the relative rotation between the wheel shaft and the wheel body is generated, the reverse input of the force to the motor is avoided, the motor is protected, and the service life of the motor is prolonged.

[0016] As preferred, the left wheel shaft and the right wheel shaft are both connected with a wheel body, the left wheel shaft and the right wheel shaft are both in transmission cooperation with the wheel body through the one-way bearing to realize one-way transmission.

[0017] The self-walker also shows a self-walker, including the casing, the casing is equipped with motor and the transmission mechanism driven by motor, transmission mechanism includes driving wheel, driven wheel and idler clutch assembly of linkage cooperation, idler clutch assembly and driving wheel meshing cooperation and can move to with driven wheel meshing, also includes guide mechanism, the guide mechanism includes the first guide body provided on the casing and the second guide body provided on the idler clutch assembly, second guide body rotates with idler clutch assembly synchronously and can along first guide body movement, to cooperate idler clutch assembly and driven wheel meshing and separation, idler clutch assembly includes fixedly connected idler and idler shaft, idler includes with driven wheel keeps meshing engagement state and with driven wheel separation separation state, the end of idler shaft is equipped with trigger, casing is equipped with inductor, idler is in separation state, trigger triggers inductor to shut down motor. By using the foregoing technical scheme, when idler clutch assembly is in meshing state, idler is between driving wheel and driven wheel, and idler is meshed with driving wheel and driven wheel simultaneously, after self-walker is closed, motor reverses to control driving wheel reverse rotation, idler will also reverse rotation, under the meshing effect of driven wheel, will drive idler reverse movement along first guide body, when second guide body and tooth body meshing, and will slide to separation state under the action of tooth body, when idler is in separation state, the trigger on idler shaft triggers inductor to shut down motor, the cooperation of trigger and inductor can ensure that idler shaft reaches separation state, make the movement of idler shaft more accurate and reliable, ensure that idler shaft can drive idler to separate from driven wheel, make idler and driven wheel accurate separation, can also avoid the long-time reverse of motor to cause the abrasion between second guide body and first guide body, reduce the possibility of damage of first guide body and second guide body due to friction, thereby help to improve the reliability of self-walker.

[0018] As preferred, the inductor is micro switch, the trigger is fixed on the end of idler shaft close to the cover plate, in the separation state of idler, the trigger is abutted with micro switch and triggers micro switch.

[0019] As preferred, the inductor is a Hall switch, the trigger is fixed to the end of the idler shaft close to the cover plate, the trigger is a magnet, and in the disengaged state of the idler, the inductor is on the extension line of the idler shaft; or, the inductor is a photosensitive element, the trigger is a light emitter, and in the disengaged state of the idler, the inductor is in the irradiation range of the light emitter.

[0020] As preferred, one end of the casing is provided with a receiving groove and a cover plate for closing the receiving groove, the first guide body and the second guide body are both in the receiving groove, and the inductor is fixed to the cover plate. With the foregoing technical scheme, the receiving groove and the cover plate can wrap the first guide body and the second guide body, reduce the entry of other foreign matters into the interior of the receiving groove, prevent the first guide body and the second guide body from being damaged by external foreign matters, and help to prolong the service life of the first guide body and the second guide body.

[0021] As preferred, the idler clutch assembly further comprises a sliding block in rotational cooperation with the idler shaft, one end of the idler shaft extends into the receiving groove and is fixedly connected with the second guide body, and the casing is provided with a sliding groove for the sliding block to slide, the sliding groove is a circular arc structure coaxially arranged with the driving wheel.

[0022] The present application also shows a garden tool comprising the self-propelled device, wherein the self-propelled device is any one of the self-propelled devices described above.

[0023] Other features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] The present application will be further described below in combination with the drawings:

[0025] Fig. 1 is a structural schematic view of a self-propelled device according to the present application;

[0026] Fig. 2 is a sectional view of a self-propelled device according to the present application;

[0027] Fig. 3 is an exploded view of a differential mechanism in a self-propelled device according to the present application;

[0028] Fig. 4 is an exploded view of a wheel shaft and a wheel body in a self-propelled device according to the present application;

[0029] Fig. 5 is an exploded view of an idler clutch assembly in a self-propelled device according to the present application;

[0030] Fig. 6 is a local enlarged view of part A in Fig. 5;

[0031] Fig. 7 is a schematic view of an idler in a disengaged state in a self-propelled device according to the present application;

[0032] Fig. 8 is a schematic view of an idler in an engaged state in a self-propelled device according to the present application;

[0033] Fig. 9 is a schematic view of a garden tool according to the present application.

[0034] Reference signs: 1, housing; 11, sliding groove; 12, accommodating groove; 121, limiting block; 13, cover plate; 21, motor; 22, driving wheel; 23, control board; 24, battery pack; 3, idler clutch assembly; 31, idler shaft; 32, idler; 33, second guide body; 34, sliding block; 35, first guide body; 351, hinged end; 352, elastic body; 353, tooth body; 3531, separation section; 3532, transition section; 354, avoiding groove; 361, trigger; 362, inductor; 4, driven wheel; 41, differential mechanism; 411, differential right gear; 412, differential left gear; 413, positioning sleeve; 414, differential planetary gear; 5, wheel shaft; 51, right wheel shaft; 52, left wheel shaft; 53, connecting shaft; 55, cylindrical pin; 56, ratchet wheel; 561, ratchet teeth; 6, wheel body; 61, universal wheel. DETAILED DESCRIPTION

[0035] The technical solutions of the embodiments of the present application will be explained and described below in combination with the drawings of the embodiments of the present application. However, the following embodiments are only preferred embodiments of the present application, and are not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor also belong to the protection scope of the present application.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0037] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Embodiment one:

[0039] As shown in FIG. 1 to FIG. 4, the embodiment shows a self-walker, comprising a casing 1, a motor 21 and a transmission mechanism driven by the motor 21 are arranged in the casing 1, the transmission mechanism comprises a driving wheel 22, a driven wheel 4 and an idler clutch assembly 3 which are connected in linkage, the idler clutch assembly 3 is engaged with the driving wheel 22 and can move to engage with the driven wheel 4, further comprising a guide mechanism and a differential mechanism 41, the guide mechanism comprises a first guide body 35 arranged on the casing 1 and a second guide body 33 arranged on the idler clutch assembly 3, the second guide body 33 rotates synchronously with the idler clutch assembly 3 and can move along the first guide body 35 to cooperate with the engagement and disengagement of the idler clutch assembly 3 and the driven wheel 4, the differential mechanism 41 comprises coaxially arranged left wheel shaft 52 and right wheel shaft 51 and a positioning sleeve 413 locked on the driven wheel 4, the driven wheel 4 is arranged on the right wheel shaft 51, the right wheel shaft 51 is further provided with a differential right gear 411, the left wheel shaft 52 is provided with a differential left gear 412, the positioning sleeve 413 supports and positions the right wheel shaft 51 and the left wheel shaft 52, two differential planetary gears 414 are rotatably arranged in the positioning sleeve 413, the differential planetary gears 414 are engaged with the differential left gear 412 and the differential right gear 411.

[0040] The differential mechanism 41 comprises a left wheel shaft 52, a right wheel shaft 51 and a positioning sleeve 413, the differential left gear 412 is arranged on the left wheel shaft 52, the differential right gear 411 is arranged on the right wheel shaft 51, the positioning sleeve 413 rotates synchronously with the driven wheel 4, two differential planetary gears 414 are arranged in the positioning sleeve 413, the two differential planetary gears 414 are meshed with the differential left gear 412 and the differential right gear 411, when the idler clutch assembly 3 is meshed with the driven wheel 4, the idler clutch assembly 3 transmits power to the driven wheel 4, the driven wheel 4 rotates to drive the positioning sleeve 413 to rotate, the two differential planetary gears 414 drive the differential left gear 412 and the differential right gear 411 to rotate in the process of rotating with the positioning sleeve 413, so as to realize the rotation of the left wheel shaft 52 and the right wheel shaft 51, when the machine straightly advances, the forces of the two side wheel shafts 5 are the same, the differential left gear 412 and the differential right gear 411 rotate with the positioning sleeve 413, but do not rotate around their own axes, at this time, the differential left gear 412, the differential right gear 411 and the differential planetary gear 414 rotate at the same speed as the driven wheel 4, and transmit power to the left wheel shaft 52 and the right wheel shaft 51, so as to realize the synchronous rotation of the two side wheel shafts 5; when the machine turns, the angular velocities of the two side wheel shafts 5 and the resistances are different, the resistance of the inner side wheel shaft 5 is greater than that of the outer side wheel shaft 5, at this time, the differential planetary gear 414 rotates with the driven wheel 4 and the positioning sleeve 413, and also rotates around its own axis, for example, when the machine turns left, the power of the inner side differential left gear 412 is distributed to the outer side differential right gear 411 through the autorotation of the differential planetary gear 414, compared with the inner side differential left gear 412, the differential planetary gear 414 drives the outer side differential right gear 411 to rotate at a higher speed, so as to finally make the rotation speed of the right wheel shaft 51 greater than that of the left wheel shaft 52, thereby realizing differential driving, through the differential mechanism 41, the possibility that the driving roller on the inner side of the turn slips and the abrasion of the driving roller is accelerated can be effectively avoided, and the use experience of the user can be significantly improved.

[0041] As shown in FIG. 2 and FIG. 3, the differential mechanism 41 in the embodiment comprises an axle 5, the axle 5 comprises a left axle 52, a right axle 51 and a connecting shaft 53 arranged between the left axle 52 and the right axle 51, the left axle 52 and the right axle 51 are both provided with a mounting groove for inserting the connecting shaft 53 at the opposite ends, the left axle 52 and the right axle 51 are concentrically arranged through the connecting shaft 53, that is, the left axle 52 and the right axle 51 both rotate around the connecting shaft 53, in addition, the left axle 52 and the right axle 51 are relatively rotatable with the connecting shaft 53, that is, the left axle 52 and the right axle 51 can also rotate relatively, the differential left gear 412 and the differential right gear 411 are respectively fixed at the opposite ends of the left axle 52 and the right axle 51, and the differential left gear 412 and the differential right gear 411 are both in a positioning sleeve 413, the positioning sleeve 413 is sleeved on the outer circumferential side of the left axle 52 and the right axle 51, and the positioning sleeve 413 can rotate around the left axle 52 and the right axle 51, two differential planetary gears 414 are rotatably arranged in the inside of the positioning sleeve 413, the differential planetary gears 414, the differential left gear 412 and the differential right gear 411 are all conical gears, and the two differential planetary gears 414 are simultaneously in mesh with the differential left gear 412 and the differential right gear 411, when the idler clutch assembly 3 is in the meshing state and the idler clutch assembly 3 is in mesh with the driven wheel 4, the idler clutch assembly 3 transmits power to the driven wheel 4, the driven wheel 4 rotates to drive the positioning sleeve 413 to rotate, the two differential planetary gears 414 drive the differential left gear 412 and the differential right gear 411 to rotate in the process of rotating with the positioning sleeve 413, so as to realize the rotation of the left axle 52 and the right axle 51.

[0042] When the self-propelled device advances straight, the two side axles 5 bear the same force, the differential planetary gears 414 rotate with the positioning sleeve 413 and the driven wheel 4, but do not rotate around their own axes, at this time, the differential left gear 412, the differential right gear 411 and the differential planetary gears 414 rotate at the same speed as the driven wheel 4, the torque is transmitted to the differential left gear 412 and the differential right gear 411 and drives the left axle 52 and the right axle 51 to rotate, finally the two side axles 5 rotate at the same speed.

[0043] When the self-propelled device turns, the turning radius of the inner side axle 5 is smaller than that of the outer side axle 5, so the resistance of the inner side axle 5 is greater than that of the outer side axle 6; at this time, the differential planetary gears 414 rotate with the driven wheel 4 and the positioning sleeve 413, and also rotate around their own axes; taking the left turn of the self-propelled device as an example, the power of the inner side differential left gear 412 will be distributed to the outer side differential right gear 411 through the autorotation of the differential planetary gears 414, relative to the inner side differential left gear 412, the differential planetary gears 414 will drive the outer side differential right gear 411 to rotate at a higher speed, finally the speed of the right axle 51 is greater than that of the left axle 52, so as to realize differential driving.

[0044] As shown in FIG. 4, the self-propelled device in the embodiment further comprises two wheel bodies 6, each of which is connected to the left wheel shaft 52 and the right wheel shaft 51 through a ratchet wheel 56, the inner side of the wheel body 6 is provided with an internal gear, the ratchet wheel 56 is in engagement with the internal gear of the wheel body 6, the side of the ratchet wheel 56 facing the wheel shaft 5 is provided with a ratchet tooth 561, the outer circumferential side of the wheel shaft 5 is provided with a cylindrical pin 55, the cylindrical pin 55 is in one-way engagement with the ratchet tooth 561, that is, the wheel shaft 5 can only drive the ratchet wheel 56 to rotate in one direction, when the wheel shaft 5 rotates in the other direction, the ratchet wheel 56 will rotate relative to the wheel shaft 5, thereby blocking the power transmission, when the forward speed of the self-propelled device is greater than the forward speed driven by the motor 21 under the external force, for example, when the self-propelled device is downhill or turning, although the ratchet wheel 56 rotates with the wheel shaft 5 in the same direction, because the rotating speed of the ratchet wheel 56 is greater than that of the wheel shaft 5, the wheel shaft 5 will rotate in the opposite direction relative to the ratchet wheel 56, in this direction, the ratchet wheel 56 will rotate relative to the wheel shaft 5 to block the power transmission, thereby avoiding the reverse input of the force to the motor 21; when the external force disappears, the rotating speed of the ratchet wheel 56 decreases until the one end of the cylindrical pin 55 abuts against the ratchet tooth 561 again and drives the ratchet wheel 56 to rotate again, thereby restoring the normal output.

[0045] Embodiment two:

[0046] As shown in FIGS. 5 to 8, the self-propelled device in the embodiment further comprises a casing 1 and a guiding mechanism, the casing 1 is provided with a motor 21 and a transmission mechanism driven by the motor 21, the transmission mechanism comprises a driving wheel 22, a driven wheel 4 and an idler clutch assembly 3 in linkage cooperation, the idler clutch assembly 3 is in engagement with the driving wheel 22 and can move to engage with the driven wheel 4, the guiding mechanism comprises a first guiding body 35 arranged on the casing 1 and a second guiding body 33 arranged on the idler clutch assembly 3, the second guiding body 33 rotates synchronously with the idler clutch assembly 3 and can move along the first guiding body 35 to cooperate with the engagement and disengagement of the idler clutch assembly 3 with the driven wheel 4, the idler clutch assembly 3 comprises an idler wheel 32, an idler shaft 31 and a sliding block 34 fixedly connected, the output end of the motor 21 is rotationally connected with the driving wheel 22, the driving wheel 22 is in engagement with the idler wheel 32, the driving wheel 22 drives the idler wheel 32 to rotate, the idler shaft 31 passes through the idler wheel 32 and the sliding block 34 at the same time, the idler shaft 31 is in close cooperation with the idler wheel 32 to realize synchronous rotation, the sliding block 34 is in rotational cooperation with the idler shaft 31, in the process of the idler wheel 32 rotating with the driving wheel 22, the idler shaft 31 drives the sliding block 34 to slide along the sliding groove 11, when the idler wheel 32 is at the two ends of the sliding groove 11, the idler wheel 32 is in the engagement state and the disengagement state respectively, when the idler wheel 32 is in the engagement state, the idler wheel 32 is in engagement with the driving wheel 22 and the driven wheel 4 at the same time, so that the power of the driving wheel 22 can be transmitted to the driven wheel 4; when the idler wheel 32 is in the disengagement state, the idler wheel 32 is disengaged from the driven wheel 4, thereby blocking the power transmission between the driving wheel 22 and the driven wheel 4.

[0047] In addition, the first guide body 35 is rotationally connected to the shell 1, the first guide body 35 has a movement tendency of rotating towards the idler shaft 31, one side of the first guide body 35 towards the idler shaft 31 is provided with a tooth body 353, when the idler 32 is in a separated state, the idler 32 is only engaged with the driving wheel 22 and is kept separated from the driven wheel 4, the second guide body 33 at the end of the idler shaft 31 is kept engaged with the tooth body 353 of the first guide body 35, after the motor 21 is started, the driving wheel 22 drives the idler 32 to rotate, the second guide body 33 and the idler shaft 31 rotate with the idler 32, under the meshing action of the tooth body 353, the second guide body 33 drives the idler shaft 31 to slide along the second guide body 33 to the engaged state, so as to drive the entire idler clutch assembly 3 to slide to the other end of the sliding groove 11, through the cooperation of the tooth body 353 of the first guide body 35 and the second guide body 33 of the idler shaft 31, the acting force between the second guide body 33 and the first guide body 35 can be effectively increased, so as to facilitate overcoming the resistance suffered by the sliding of the idler shaft 31, to ensure that the idler shaft 31 can slide smoothly, so that the sliding of the idler clutch assembly 3 is more smooth, thereby effectively improving the reliability of the idler clutch assembly 3.

[0048] When the idler 32 is in an engaged state, the two sides of the idler 32 are kept engaged with the driving wheel 22 and the driven wheel 4 respectively, the center axes of the idler 32, the driving wheel 22 and the driven wheel 4 are all on the same straight line, so that the power transmission is more smooth and reliable, at this time, the second guide body 33 and the first guide body 35 are in a separated state, to avoid the interference of the first guide body 35 to the rotation of the second guide body 33, to reduce the possibility of wear of the second guide body 33 and the first guide body 35; in addition, it can also prevent the first guide body 35 from generating resistance to the rotation of the idler 32, to reduce the energy loss in the power transmission process, which is helpful to improve the efficiency of power transmission.

[0049] The end of the idler shaft 31 is provided with a trigger 361 in this embodiment, and the housing 1 is provided with a sensor 362, the position of the sensor 362 corresponds to the separation position of the idler shaft 31. When the robot is turned off, the motor 21 will automatically reverse, and under the meshing action of the driven wheel 4, the idler 32 will be driven to slide reversely. When the second guide body 33 meshes with the tooth body 353 and slides to the separation position under the action of the tooth body 353, the trigger 361 on the idler shaft 31 triggers the sensor 362 to shut down the motor 21. The cooperation between the trigger 361 and the sensor 362 can ensure that the idler shaft 31 reaches the separation position, making the movement of the idler shaft 31 more accurate and reliable, ensuring that the idler shaft 31 can drive the idler 32 to disengage from the driven wheel 4, so that the idler 32 and the driven wheel 4 are accurately separated. At the same time, it can also avoid the long-term reverse rotation of the motor 21, which can cause wear between the second guide body 33 and the first guide body 35, reduce the possibility of damage to the first guide body 35 and the second guide body 33 due to friction, and further improve the reliability of the robot.

[0050] As shown in FIG. 5, the housing 1 is provided with a sliding groove 11 in this embodiment, and the overall structure of the sliding groove 11 is a circular arc structure coaxially arranged with the driving wheel 22. The structure of the sliding block 34 is matched with the structure of the sliding groove 11. During the movement of the sliding block 34 along the sliding groove 11, the sliding block 34 rotates around the center axis of the driving wheel 22, that is, the movement track of the sliding block 34 is a circular arc coaxial with the driving wheel 22. The included angle between the sliding block 34 in the meshing position and the separation position is a, and 35°≤a≤40°, so that the idler 32 can be stably separated from the driven wheel 4, and the space occupied by the idler clutch assembly 3 can be reduced, which helps to reduce the overall volume of the robot. When a<35°, the rotation angle of the idler 32 around the driving wheel 22 is small, which may cause the idler 32 to still contact with the driven wheel 4 at the separation position, preventing the driven wheel 4 from being damaged by collision with the idler 32. When a>40°, the rotation angle of the idler 32 around the driving wheel 22 is large, that is, the length of the sliding groove 11 is long, and the sliding groove 11 will occupy more space, thereby increasing the volume of the housing 1. In addition, increasing the sliding distance of the sliding block 34 will also increase the probability of failure of the clutch, which will reduce the reliability of the idler clutch assembly 3.

[0051] As shown in FIG. 5, the idler clutch assembly 3 in the embodiment includes two sliders 34, and the idler shaft 31 passes through the idler 32 and the two sliders 34 at the same time, wherein the idler shaft 31 is tightly fitted with the idler 32 to enable the idler shaft 31 to rotate synchronously with the idler 32, the two sliders 34 are respectively located at two sides of the idler 32, and the slider 34 is rotationally fitted with the idler shaft 31 to enable the idler shaft 31 to rotate relative to the slider 34, and the slider 34 does not interfere with the rotation of the idler shaft 31. By arranging the two sliders 34, the force borne by the idler shaft 31 can be more uniform, the possibility of the idler shaft 31 being inclined can be avoided, and the sliding of the entire idler clutch assembly 3 can be ensured to be smoother and more reliable. In addition, the second guide body 33 is fixed to the end of the idler shaft 31 to enable the second guide body 33 to rotate synchronously with the idler shaft 31. Of course, it can be understood that in other embodiments, the second guide body 33 can also be an integral structure with the idler shaft 31, that is, the second guide body 33 is made on the surface of the idler shaft 31.

[0052] As shown in FIGS. 1 and 5, the inductor 362 in the embodiment is a non-contact switch, and specifically, the inductor 362 in the embodiment is a Hall switch, and the trigger 361 is a magnet. The magnet is embedded in the end of the idler shaft 31. When the magnet is close to the Hall switch, the Hall switch is triggered. In addition, the battery pack 24 and the control panel 23 are also arranged in the casing 1. The control panel 23 controls the battery pack 24 to supply power to the motor 21. The Hall switch is electrically connected with the control panel 23. When the idler shaft 31 is in the separation position, the Hall switch is on the extension line of the idler shaft 31. At this time, the distance between the magnet and the Hall switch is the shortest, and the Hall switch can be triggered. The Hall switch transmits a signal to the control panel 23. After receiving the signal, the control panel 23 cuts off the power supply of the motor 21, so that the motor 21 is stopped, and the motor 21 can be stopped in time after the idler clutch assembly 3 reaches the separation position, to ensure the accuracy of the sliding position of the idler clutch assembly 3, and also to avoid the long-time invalid operation of the motor 21, and reduce the energy loss.

[0053] Of course, it can be understood that in other embodiments, the inductor 362 can also be a photosensitive element, and the trigger 361 is a light emitter. In the separation state, the inductor 362 is in the irradiation range of the light emitter.

[0054] Of course, it can be understood that in other embodiments, the inductor 362 can also be a contact switch. Specifically, the inductor 362 can be a micro switch, and the trigger 361 is fixed to the end of the idler shaft 31 close to the cover plate 13, or the idler shaft 31 can also be the trigger 361. In the separation state, the trigger 361 is in contact with the inductor 362.

[0055] As shown in FIG. 6, the housing 1 in the embodiment is provided with a containing groove 12, which is arranged on the back of one of the sliding grooves 11. One end of the idler shaft 31 penetrates the sliding groove 11 and extends into the containing groove 12. The second guide body 33 at the end of the idler shaft 31 is located in the containing groove 12. The first guide body 35 includes a hinged end 351 rotatably connected with the housing 1 and a free end away from the hinged end 351. The first guide body 35 is rotatably connected with the containing groove 12 through the hinged end 351. The tooth body 353 is arranged on the side surface of the free end facing the idler shaft 31. The side of the first guide body 35 away from the second guide body 33 is provided with an elastic body 352. The elastic body 352 is a compression spring. One end of the elastic body 352 is positioned on the side wall of the containing groove 12, and the other end acts on the side of the first guide body 35 away from the idler shaft 31, i.e. the side of the first guide body 35 acted on by the elastic body 352, so that the first guide body 35 has a movement tendency of rotating towards the idler shaft 31. In addition, in order to limit the rotation angle of the first guide body 35, the containing groove 12 is provided with a limiting block 121. The limiting block 121 abuts against the free end of the first guide body 35 and can limit the rotation of the first guide body 35 on the side facing the idler shaft 31. The elastic body 352 acts on the first guide body 35 to make the first guide body 35 abut against the limiting block 121.

[0056] As shown in FIG. 7, at this time, the idler shaft 31 is in the engagement state. After the motor 21 is started, the driving pulley 22 is driven to rotate counterclockwise, the driven pulley 32 is driven to rotate clockwise by the driving pulley 22, and the second guide body 33 rotates synchronously with the driven pulley 32. Since the second guide body 33 is engaged with the tooth body 353 of the first guide body 35 at this time, the second guide body 33 will drive the idler shaft 31 to slide along the tooth body 353 under the engagement of the tooth body 353, i.e. the idler shaft 31 will slide along the sliding groove 11, until the idler shaft 31 slides to the engagement position, so that the driven pulley 32 is engaged with the driving pulley 22 and the driven pulley 4 at the same time, thereby realizing the transmission of power. Referring to FIG. 8.

[0057] As shown in FIG. 8, after the self-propelled device is turned off, the output end of the motor 21 will rotate reversely, the driving pulley 22 is driven to rotate clockwise, the driven pulley 32 is driven to rotate counterclockwise by the driving pulley 22, and the second guide body 33 rotates synchronously with the driven pulley 32. The second guide body 33 will drive the idler shaft 31 to slide reversely under the engagement of the driven pulley 4, until the idler shaft 31 slides to the disengagement position, so that the driven pulley 32 is disengaged from the driven pulley 4, thereby realizing the blocking of power. Referring to FIG. 7. In addition, when the idler shaft 31 is in the disengagement position, the trigger 361 on the idler shaft 31 triggers the inductor 362, the inductor 362 transmits a signal to the control board 23, the control board 23 cuts off the power supply of the motor 21, so that the motor 21 is turned off, the movement of the idler shaft 31 is more accurate and reliable, and the possibility of long-time reverse rotation of the motor 21 is avoided, the possibility of damage of the motor 21 is reduced, thereby helping to improve the reliability of the self-propelled device.

[0058] As shown in FIG. 6, the tooth body 353 in the embodiment includes a continuous transition section 3532 and a separate section 3531, the length of the tooth protrusion of the separate section 3531 is less than that of the transition section 3532, and the length of the tooth protrusion of the separate section 3531 is reduced when the idler shaft 31 slides from the meshing position to the disengaging position, which can reduce the force of the tooth of the separate section 3531 on the second guide body 33. During the rotation of the second guide body 33, the second guide body 33 can push the first guide body 35 to rotate away from the idler shaft 31, so that the second guide body 33 is separated from the tooth body 353, thereby avoiding the possibility of the second guide body 33 and the tooth body 353 being stuck, and preventing the motor 21 from being damaged due to excessive load. In addition, although the length of the tooth protrusion of the separate section 3531 is relatively short, the tooth of the separate section 3531 can still mesh with the second guide body 33 to provide a force for the movement of the second guide body 33 to the meshing position, so as to overcome the resistance to the sliding of the idler clutch assembly 3, ensure the smooth sliding of the idler clutch assembly 3, and help to improve the reliability of the idler clutch assembly 3.

[0059] As shown in FIG. 6, the first guide body 35 in the embodiment is provided with a clearance groove 354 on the side facing the idler shaft 31. In the meshing state, the outer circumferential side of the second guide body 33 is in clearance fit with the clearance groove 354, and the clearance groove 354 can keep the first guide body 35 and the second guide body 33 in a non-contact state in the meshing state, thereby avoiding the possibility of wear of the first guide body 35 and the second guide body 33.

[0060] The idler clutch assembly 3 in the embodiment can also be manually unlocked. When the motor is abnormally powered off or the battery pack is pulled out, causing the idler clutch assembly to not be separated from the driven wheel, the user can pull the garden tool backward to make the wheel body rotate in the reverse direction, thereby driving the driven wheel to move at a high speed. Then, the garden tool is stopped, and the idler clutch assembly moves to the disengaging position under the action of the reverse inertia force, thereby realizing manual disengagement.

[0061] Embodiment Three:

[0062] As shown in Figure 9, the embodiment also shows a garden tool, which comprises a machine body, a self-propelled device driving the machine body forward, and a universal wheel 61 controlling the turning of the machine body, the self-propelled device comprises a motor 21, a transmission mechanism driven by the motor 21, a guide mechanism, and a differential mechanism 41, the self-propelled device adopts the self-propelled device as described in Embodiment One, the differential mechanism 41 comprises two wheel shafts 5 and wheel bodies 6 connected to the two wheel shafts 5 respectively, the machine body is connected with two universal wheels 61, the two universal wheels 61 are arranged on the two sides of the machine body respectively, and a universal structure is arranged between the universal wheels 61 and the machine body, when the garden tool turns, the two wheel bodies 6 will generate a speed difference under the action of the differential mechanism 41 during the turning process, the rotating speed of the two wheel bodies 6 is proportional to the turning radius, the two universal wheels 61 automatically turn under the action of the universal structure, and the combination of the universal wheels 61 and the wheel bodies 6 can achieve the effect of flexible and free turning, thereby making the turning of the garden tool more stable and helping to improve the user experience.

[0063] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification not deviating from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A self-propelled device, comprising a housing (1), wherein a motor (21) and a transmission mechanism driven by the motor (21) are disposed within the housing (1), the transmission mechanism comprising a drive wheel (22), a driven wheel (4), and an idler wheel clutch assembly (3) that are linked together, the idler wheel clutch assembly (3) engaging with the drive wheel (22) and movable to engage with the driven wheel (4), characterized in that, The guiding mechanism comprises a first guiding body (35) arranged on the casing (1) and a second guiding body (33) arranged on the idler clutch assembly (3), the second guiding body (33) rotates synchronously with the idler clutch assembly (3) and can move along the first guiding body (35) to cooperate with the engagement and disengagement of the idler clutch assembly (3) and the driven wheel (4), and the differential mechanism (41) comprises coaxially arranged left and right wheel shafts (52 and 51) and a positioning sleeve (413) attached to the driven wheel (4), the driven wheel (4) is arranged on the right wheel shaft (51), and a differential right gear (411) is arranged on the right wheel shaft (51), a differential left gear (412) is arranged on the left wheel shaft (52), and the positioning sleeve (413) can support the right and left wheel shafts (51 and 52), two differential planetary gears (414) are rotatably arranged in the positioning sleeve (413), and the differential planetary gears (414) are in mesh with the differential left gear (412) and the differential right gear (411).

2. A self-propelled device according to claim 1, wherein, The first guiding body (35) is arranged in a curved manner and is provided with a tooth body (353) on one side, and the tooth body (353) is in meshing cooperation with the second guiding body (33).

3. A self-propelled device according to claim 2, wherein, The first guiding body (35) is rotatably arranged in the casing (1), and an elastic body (352) is arranged on the side of the first guiding body (35) away from the second guiding body (33), the elastic body (352) is arranged in the casing (1) and is used to provide an elastic force for pushing the first guiding body (35) towards the second guiding body (33).

4. A self-propelled device according to claim 3, wherein, The first guiding body (35) comprises a hinged end (351) hinged to the casing (1) and a free end away from the hinged end (351), and a limiting block (121) is arranged in the casing (1) to limit the rotation angle of the first guiding body (35), and the elastic body (352) acts on the first guiding body (35) to make the free end of the first guiding body (35) abut against the limiting block (121).

5. A self-propelled device according to claim 4, wherein, The tooth body (353) of the first guiding body (35) comprises a continuous transition section (3532) and a separation section (3531), the length of the tooth protrusion of the separation section (3531) is smaller than the length of the tooth protrusion of the transition section (3532), the separation section (3531) is located on one side of the free end, and when the idler clutch assembly (3) is disengaged from the driven wheel (4), the second guiding body (33) contacts the separation section (3531) of the tooth body (353), and the second guiding body (33) moves through the transition section (3532) of the tooth body (353) to the free end or the hinged end (351).

6. The automaton of claim 3, wherein, The side of the first guiding body (35) facing the second guiding body (33) is provided with an avoiding groove (354), and when the idler clutch assembly (3) is engaged with the driven wheel (4), there is a gap between the second guiding body (33) and the avoiding groove (354).

7. The automaton of claim 1, wherein, The left and right wheel shafts (52 and 51) are connected by a connecting shaft (53) to keep the left and right wheel shafts (52 and 51) coaxially arranged.

8. The automaton of claim 1, wherein, The left wheel shaft (52) and the right wheel shaft (51) are connected with the wheel body (6), and the left wheel shaft (52) and the right wheel shaft (51) are provided with cylindrical pins (55), the wheel body (6) is provided with a ratchet wheel (56), the cylindrical pins (55) are in transmission cooperation with the ratchet teeth (561) on the ratchet wheel (56) and realize one-way transmission.

9. The automaton of claim 1, wherein, The left wheel shaft (52) and the right wheel shaft (51) are connected with the wheel body (6), and the left wheel shaft (52) and the right wheel shaft (51) are in transmission cooperation with the wheel body (6) through the one-way bearing to realize one-way transmission.

10. A self-propelled vehicle comprising a housing (1) in which a motor (21) is provided and a drive mechanism driven by the motor (21), the drive mechanism comprising a driving wheel (22), a driven wheel (4) and an idler clutch assembly (3) which is in meshing engagement with the driving wheel (22) and is movable into meshing engagement with the driven wheel (4), characterized in that, Further comprising a guide mechanism, the guide mechanism comprises a first guide body (35) arranged on the casing (1) and a second guide body (33) arranged on the idler clutch assembly (3), the second guide body (33) rotates synchronously with the idler clutch assembly (3) and can move along the first guide body (35) to cooperate with the engagement and separation of the idler clutch assembly (3) and the driven wheel (4), the idler clutch assembly (3) comprises a fixedly connected idler (32) and an idler shaft (31), the idler (32) comprises an engagement state of keeping engagement with the driven wheel (4) and a separation state of being separated from the driven wheel (4), and the end of the idler shaft (31) is provided with a trigger (361), the casing (1) is provided with a sensor (362), when the idler (32) is in the separation state, the trigger (361) triggers the sensor to shut down the motor (21).

11. A self-propelled device according to claim 10, wherein, The sensor (362) is a micro switch, and the trigger (361) is fixed to the end of the idler shaft (31) close to the cover plate (13), and in the separation state of the idler (32), the trigger (361) abuts against and triggers the micro switch.

12. The automaton of claim 10, wherein, The sensor (362) is a Hall switch, the trigger (361) is fixed to the end of the idler shaft (31) close to the cover plate (13), the trigger (361) is a magnet, and in the separation state of the idler (32), the sensor (362) is on the extension line of the idler shaft (31); or, the sensor (362) is a photosensitive element, and the trigger (361) is a light emitter, and in the separation state of the idler (32), the sensor (362) is in the irradiation range of the light emitter.

13. The automaton of claim 10, wherein, One end of the casing (1) is provided with a containing groove (12) and a cover plate (13) for closing the containing groove (12), the first guide body (35) and the second guide body (33) are both in the containing groove (12), and the sensor (362) is fixed to the cover plate (13).

14. The automaton of claim 10, wherein, The idler clutch assembly (3) further comprises a sliding block (34) in transmission cooperation with the idler shaft (31), one end of the idler shaft (31) extends into the containing groove (12) and is fixedly connected with the second guide body (33), the casing (1) is provided with a sliding groove (11) for sliding of the sliding block (34), and the sliding groove (11) is a circular arc structure coaxially arranged with the driving wheel (22).

15. A garden tool comprising a self-propelled device, characterized in that The self-propelled device adopts the self-propelled device according to any one of claims 1 to 14.

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