Lawn mower with obstacle avoidance function

Abstract

The application discloses a mower with an obstacle avoidance function, and relates to the technical field of mowing equipment.The mower comprises a movable frame, a lifting frame, a driving mechanism, a first obstacle avoidance mechanism, a second obstacle avoidance mechanism, a stabilizing mechanism and a blocking mechanism.The movable frame is equipped with transversely retractable walking wheels.The lifting frame is slidably arranged on a T-shaped rod, and a double-disc saw is arranged at the bottom of the lifting frame.The double-disc saw is driven by a single motor through a synchronous belt, and the main shaft is in spline cooperation with a sliding hollow shaft to realize continuous lifting without power failure.The first obstacle avoidance mechanism is provided with an electric push rod and a front monitor, and the whole machine is automatically lifted when encountering shrubs.The lifting frame is lifted through a connecting rod to synchronously drive the second obstacle avoidance mechanism to individually lift the double-disc saw to form a hierarchical obstacle crossing, and the stabilizing mechanism widens the walking wheel distance to improve the anti-rollover performance of the whole machine.The second obstacle avoidance mechanism is provided with a sliding block linkage gear and rack type blocking mechanism, a T-shaped rod with a width greater than the diameter of the double-disc saw is unfolded to early separate shrub branches, and the saw blade is prevented from being wound and stuck.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing equipment technology, specifically to a lawn mower with obstacle avoidance function. Background Technology

[0002] Lawn mowers are widely used in courtyard lawns, orchards, gardens, and woodland irrigation. Among them, the double-disc saw lawn mower relies on the high-speed rotation of the two discs to cut weeds and low vegetation. It has high cutting efficiency and strong adaptability, and is one of the mainstream equipment for weeding in gardens and under forests.

[0003] However, in complex operating environments such as orchards and woodlands, the ground is covered with numerous protruding obstacles such as shrubs, seedlings, and tree stumps of varying heights, which significantly restricts the continuous operation of circular saw mowers. Existing similar equipment has several technical shortcomings in dealing with shrub obstacles, as follows: 1. Most existing lawnmowers use a single-stage obstacle avoidance structure with overall machine lifting. This structure can only overcome obstacles by raising the chassis, resulting in a limited obstacle avoidance range and adjustable height. When the current equipment detects shrubs ahead, it relies solely on the synchronous lifting of the cutting components to avoid them. If the shrubs are too tall and the lifting range is insufficient, the circular saw is very likely to collide with the shrub branches, causing the saw teeth to break.

[0004] 2. Lack of a tiered, independent lifting and obstacle avoidance structure; the cutting components and frame lift synchronously, making differentiated obstacle avoidance impossible. Most dual-disc lawnmowers on the market have their discs rigidly fixed below the frame. When the frame is raised, the discs rise simultaneously, without an independent secondary lifting mechanism. When encountering medium-height shrubs, the single-level lifting of the frame alone is insufficient for the discs to completely clear the top of the shrubs. The discs will still scrape and cut shrub branches, damaging the seedlings and causing branches to become entangled in the discs.

[0005] 3. The lack of a pre-positioned shrub-clearing mechanism makes shrub branches easily stuck at the bottom of the circular saw. The existing circular saw lacks a matching folding lever structure at the bottom, causing shrub branches and twigs to directly press against the bottom of the saw during operation. Even if the saw is raised to overcome the obstacle, residual branches will still get caught in the rotating area, resulting in entanglement and blade jamming.

[0006] To address the aforementioned issues, a lawnmower with obstacle avoidance capabilities is proposed. Summary of the Invention

[0007] To address the aforementioned problems, this invention provides a lawnmower with obstacle avoidance capabilities. Through a tiered obstacle avoidance structure that features a primary frame that lifts the entire machine and a secondary circular saw that lifts and lowers independently, along with a linked deflector mechanism and a synchronously deployed stabilizing mechanism, the invention enables layered obstacle avoidance of shrubs of varying heights, advance clearing of bushes, and increased ground contact area during the lifting process to enhance overall machine stability, protect the circular saw and seedlings, and reduce saw jamming malfunctions.

[0008] The technical solution adopted in this invention includes: A movable frame; a lifting frame is movably mounted on top of the movable frame, and a disc saw is movably mounted on the lower left and right sides of the lifting frame, and both disc saws are driven to rotate by a drive mechanism, which is mounted on the lifting frame; A primary obstacle avoidance mechanism; the primary obstacle avoidance mechanism is located between the movable frame and the lifting frame, and is used to drive the lifting frame to move up and down; A secondary obstacle avoidance mechanism; the two circular saws can move up and down relative to the lifting frame, and both are driven by the secondary obstacle avoidance mechanism. The lifting frame drives the secondary obstacle avoidance mechanism through lifting linkage. A stabilizing mechanism is provided on the movable frame. The lifting frame drives the stabilizing mechanism to work through a lifting linkage. When the circular saw and the lifting frame are raised, the stabilizing mechanism is used to increase the contact area between the bottom and the ground, thereby improving stability. A deflector mechanism is located on the lower left and right sides of the lifting frame and is movably positioned below the corresponding circular saw. It is driven by the secondary obstacle avoidance mechanism and is used to pre-pry open the top of the shrubs to prevent the circular saw from contacting the top of the shrubs.

[0009] Furthermore, the movable frame includes a T-shaped rod, a sliding sleeve, an n-shaped wheel frame, and traveling wheels; The lifting frame is movably sleeved on the outer wall of the vertical bar of the T-shaped rod. Sliding sleeves are slidably sleeved on the outer walls of both ends of the horizontal bar of the T-shaped rod. The middle end of the horizontal frame of the n-shaped wheel frame is fixed on the outer wall of the two sliding sleeves. The inner side of the vertical bar ends of the two n-shaped wheel frames is rotatably equipped with traveling wheels. The two sliding sleeves are respectively driven to slide by the stabilizing mechanism.

[0010] Furthermore, the lifting frame includes a cross base, a support rod, a first placement platform, a second placement platform, an L-shaped connecting rod, a handrail, and a housing; A cross base is slidably fitted on the outer wall of the vertical rod of the T-shaped rod, and the intersection of the horizontal plate and the vertical plate of the cross base is slidably fitted on the outer wall of the vertical rod of the T-shaped rod. The upper middle part of the cross base is fixed with a first placement platform by a number of support rods. The first placement platform is movably disposed above the vertical bar of the T-shaped rod. The first-level obstacle avoidance mechanism is disposed between the top of the vertical bar of the T-shaped rod and the first placement platform. A second placement platform is provided above the first placement platform, and the driving mechanism is located at the upper end of the second placement platform; The left and right side walls of the second placement platform are respectively fixed with the ends of the crossbars of the L-shaped connecting rods; The lower part of the front end of the vertical plate of the cross base is provided with a shell, and the lower ends of the vertical rods of the two L-shaped connecting rods are respectively fixed to the side wall of the shell on the corresponding side. Handrails are provided on the front walls of the vertical rods of the two L-shaped connecting rods.

[0011] Furthermore, the drive mechanism includes a motor, a first transmission wheel, a second transmission wheel, a transmission belt, a main shaft, and a sliding hollow shaft; The upper end of the second placement platform is equipped with a motor, and the output shaft of the motor rotates through the second placement platform and is fixedly equipped with a first transmission wheel; The first end of the fixing rod is vertically fixed to the outer wall of the crossbar end of the L-shaped connecting rod; The first transmission wheel is provided with a second transmission wheel on its left and right sides respectively, and the two second transmission wheels are respectively rotatably located at the lower part of the second end of the fixed rod on the corresponding side; The two second drive wheels and the first drive wheel are fitted with the same drive belt on their outer sides; The lower ends of the two second transmission wheels are respectively provided with main shafts, and a sliding hollow shaft is slidably sleeved on the outer wall of the main shaft. The main shaft can drive the sliding hollow shaft to rotate by rotating. The two sliding hollow shafts respectively movably pass through the ends of the horizontal plates of the cross base on the corresponding sides, and the two circular saws are respectively fixed at the lower ends of the sliding hollow shafts on the corresponding sides; Both of the sliding hollow shafts are driven to slide by the secondary obstacle avoidance mechanism.

[0012] Furthermore, the outer wall of the spindle is provided with a plurality of sliding keys at equal angles, and the inner wall of the sliding hollow shaft is provided with a plurality of keyways at equal angles that cooperate with the sliding keys, and the plurality of sliding keys are slidably disposed in the corresponding keyways.

[0013] Furthermore, the primary obstacle avoidance mechanism is an electric push rod, and the upper end of the vertical rod of the T-shaped rod is provided with an electric push rod. The output end of the electric push rod is fixedly connected to the bottom of the first placement platform, and the electric push rod is respectively located on the inner side of several of the support rods. The lower middle part of the crossbar of the T-shaped pole is equipped with a monitor for monitoring shrubs, and the monitor and the electric push rod are electrically connected. When the monitor detects bushes on both sides, it sends a signal to the electric push rod. After receiving the signal, the electric push rod pushes the first placement platform upwards at its output end to perform first-level obstacle avoidance.

[0014] Furthermore, the secondary obstacle avoidance mechanism includes a first slider, a first through groove, a first connecting rod, a second connecting rod, a retaining ring, and a retaining groove; The cross base has two first through slots on its horizontal plate. A first slider slides through the first through slot. A first connecting frame is provided at the upper part of the outer end of the first slider. A second connecting frame is provided at the upper part of the inner end of the first slider. The upper outer wall of the vertical bar of the T-shaped rod is provided with four third connecting frames at equal angles. The first end of the first connecting rod is rotatably provided in the third connecting frames located on the left and right sides, and the second ends of the two first connecting rods are rotatably provided in the corresponding second connecting frames. The first ends of the second connecting rods are rotatably mounted in the two first connecting frames respectively; The upper outer walls of the two sliding hollow shafts are respectively provided with slots, and retaining rings are rotatably sleeved in the slots. The inner walls of the two retaining rings are respectively provided with fourth connecting frames, and the second ends of the two second connecting rods are respectively rotatably sleeved in the corresponding fourth connecting frames. The two first sliders respectively drive the stop mechanism to work through sliding.

[0015] Furthermore, the stabilizing mechanism includes a third link, a second slider, a fixed sleeve, and a sliding rod; The vertical plate of the cross base is provided with two second through holes, and a second slider slides through each of the two second through holes. A fixed sleeve passes through each of the two second sliders. The upper part of the inner end of each of the two sliding sleeves is provided with a sliding rod, and the two sliding rods slide in the fixed sleeves on the corresponding sides. The lower part of the inner wall of each of the two fixed sleeves is provided with a fifth connecting frame. The first end of the third connecting rod is rotatably provided in each of the two fifth connecting frames, and the second end of the two third connecting rods is rotatably provided in the third connecting frames located on the front and rear sides respectively.

[0016] Furthermore, the stop mechanism includes a vertical rod, a rotating rod, a T-shaped lever, a fixed shaft, a spur gear, and a rack plate; The lower ends of the two first sliders are respectively provided with the first end of the vertical rod, and the second ends of the two vertical rods are respectively hinged to the first end of the rotating rod through the fixed shaft. The fixed shaft and the second end of the vertical rod are rotatably connected. The fixed shaft and the rotating rod are fixedly connected. The second end of the rotating rod is provided with the vertical rod of the T-shaped lever on both sides. The two T-shaped levers are respectively movably located below the corresponding side of the disc saw. Spur gears are rotatably mounted on the outer walls of both ends of the two fixed shafts, and rack plates are meshed on the upper ends of the four spur gears. The four rack plates are symmetrically fixed on both sides of the cross base on the corresponding side.

[0017] Advantages of this invention: This invention features two interconnected obstacle avoidance structures: a primary lifting mechanism for the entire machine and a secondary independent lifting mechanism for the circular saw. This dual-lifting of the cutting components significantly increases the obstacle-crossing height, preventing impact and tooth breakage of the circular saw while avoiding damage to the seedlings. During obstacle avoidance, the stabilizing mechanism simultaneously pushes the two side wheels outwards to widen the wheelbase, increasing the ground contact area at the bottom of the machine and solving the problem of the center of gravity shifting upwards and the risk of tipping over after the frame is raised. The secondary obstacle avoidance mechanism synchronously drives the deflector mechanism to extend a T-shaped lever, which, after the circular saw is raised, can clear away the thin branches at the top of the shrubs, isolating the circular saw from the bushes and preventing branches from getting caught in the circular saw, causing jamming or stalling, and extending the lifespan of the saw blades.

[0018] In addition to the objectives, features and advantages described above, the present invention has other objectives, features and advantages, which will be further described in detail below with reference to the figures. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the lifting frame structure of the present invention; Figure 3 This is a schematic diagram of the assembly of the bottom traveling wheels of the frame of the present invention; Figure 4 This is a side sectional view of the overall structure of the present invention; Figure 5 This is a partial schematic diagram of the transmission of the two-stage obstacle avoidance mechanism of the present invention; Figure 6 This is an enlarged view of the sliding hollow shaft and retaining ring assembly of the present invention; Figure 7 This is a schematic diagram of the sliding hollow shaft of the present invention; Figure 8 This is a schematic diagram of the cutting operation state of the present invention; Figure 9 This is a schematic diagram of the obstacle avoidance working state of the present invention; Figure 10 This is a schematic diagram of the structure of the secondary obstacle avoidance mechanism and the stabilization mechanism of the present invention; Figure 11 This is a schematic diagram of the overall structure of the deflector mechanism of the present invention.

[0021] Figure label: 1 is a cross base, 2 is an L-shaped connecting rod, 3 is a handrail, 4 is a motor, 5 is a second transmission wheel, 6 is a first transmission wheel, 7 is an electric push rod, 8 is a fixed sleeve, 9 is a rack plate, 10 is a spur gear, 11 is a circular saw, 12 is a sliding sleeve, 13 is an n-shaped wheel frame, 14 is a traveling wheel, 15 is a second placement platform, 16 is a T-shaped rod, 17 is a first slider, 18 is a second slider, 19 is a vertical rod, 20 is a rotating rod, 21 is a third connecting rod, 22 is a first connecting rod, 23 is a second connecting rod, 24 is a sliding hollow shaft, and 25 is a retaining ring; 101 is the first through slot, 102 is the second through hole, 103 is the outer shell, 104 is the support rod, and 105 is the first placement platform; 201 is a fixed rod; 501 is the main spindle, and 502 is the slide key; 601 is a transmission belt; 801 is the fifth connecting frame; 1201 is a sliding rod; 1601 is the third connecting frame; 1701 is the second connecting frame, and 1702 is the first connecting frame; 2001 is a fixed shaft, and 2002 is a T-shaped lever; 2401 is the card slot, and 2402 is the key slot; 2501 is the fourth connecting frame. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0023] In the description of the invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention.

[0024] refer to Figures 1 to 11 A lawnmower with obstacle avoidance capabilities includes: The movable frame serves as the foundation for the machine's movement, with a lifting frame slidably mounted on top to provide vertical lifting guidance support. Independently lifting disc saws 11 are mounted on the lower left and right sides of the lifting frame. The rotational power of the disc saws 11 is supplied by a drive mechanism fixed on the lifting frame. The drive mechanism synchronously drives the disc saws 11 on both sides to rotate at high speed, completing the cutting of weeds and low vegetation. The movable frame, combined with the walking wheels 14, enables the machine to move freely on the ground. The primary obstacle avoidance mechanism, located between the movable frame and the lifting frame, is the primary obstacle avoidance execution component of the entire machine. When obstacles such as shrubs or saplings are detected in front of the equipment, the primary obstacle avoidance mechanism directly drives the entire lifting frame to be vertically raised along the movable frame, thereby raising the cutting components as a whole and completing the basic primary obstacle avoidance, thus preventing low obstacles from directly impacting the circular saw. Secondary obstacle avoidance mechanism; the two side disc saws 11 are not rigidly fixed to the lifting frame, and can move up and down independently relative to the lifting frame. The overall lifting action of the lifting frame will synchronously trigger the operation of the secondary obstacle avoidance mechanism; the secondary obstacle avoidance mechanism independently drives the two side sliding hollow shafts 24 to lift the disc saws 11 upward again, further increasing the height of the disc saws to adapt to taller shrubs and prevent the disc saws from scratching or cutting the branches of seedlings. The stabilizing mechanism is integrally mounted on a movable frame and is mechanically linked to the lifting action of the lifting frame. When the lifting frame and the circular saw 11 are raised simultaneously to avoid obstacles, the stabilizing mechanism simultaneously pushes the two side traveling wheels 14 to slide outward to widen the wheel track, increasing the contact support area between the bottom of the machine and the ground; this compensates for the risk of tipping over caused by the upward shift of the machine's center of gravity after the frame is raised. The obstruction mechanism consists of two groups arranged correspondingly on the lower left and right sides of the lifting frame, directly below the circular saw 11 on the same side. Power is supplied by the secondary obstacle avoidance mechanism. When the obstacle avoidance action is initiated and the circular saw 11 is raised, the obstruction mechanism simultaneously extends a T-shaped lever to preemptively push aside the thin branches at the top of the shrubs, preventing them from directly contacting or getting caught in the high-speed rotating circular saw 11, thus avoiding branch entanglement and blade jamming.

[0025] The movable frame includes a T-shaped rod 16, a sliding sleeve 12, an n-shaped wheel frame 13, and traveling wheels 14; The T-shaped bar 16 is divided into two parts: a vertical upright and a horizontal crossbar. The vertical upright provides a vertical sliding guide for the lifting frame. The entire lifting frame is slidably fitted onto the outside of the vertical upright of the T-shaped bar 16, thereby enabling the lifting frame to move up and down along the vertical upright. The horizontal crossbar provides a horizontal mounting track for the extension of the traveling wheels 14. The outer walls of the left and right ends of the crossbar of the T-shaped bar 16 are fitted with sliding sleeves 12, which can slide left and right along the axis of the crossbar. The sliding sleeves 12 are the connecting carriers of the traveling wheels and the n-shaped wheel frame 13. When the stabilizing mechanism is working, it directly pushes and pulls the sliding sleeves 12 to move laterally along the crossbar, thereby changing the lateral distance between the two traveling wheels.

[0026] The middle of the crossbeam of the n-shaped wheel frame 13 is fixedly connected to the outer side of each sliding sleeve 12. The n-shaped wheel frame 13 extends downward to form two vertical rods, which serve as a transition support connecting the sliding sleeve 12 and the traveling wheel 14. It moves laterally in sync with the sliding sleeve 12, and drives the traveling wheel to expand or retract as a whole.

[0027] Two sets of traveling wheels 14 are respectively rotatably mounted on the inner side of the lower end of the vertical rod of the corresponding n-shaped wheel frame 13, providing rolling support for the movement of the whole machine on the ground; when the sliding sleeve 12 slides laterally, it will drive the traveling wheels 14 to move laterally through the n-shaped wheel frame 13, thereby realizing the change of wheel distance.

[0028] The lifting frame includes a cross base 1, a support rod 104, a first placement platform 105, a second placement platform 15, an L-shaped connecting rod 2, a handrail 3, and an outer shell 103; The cross base 1 has a cross-shaped integrated structure, formed by the intersection of horizontal and vertical plates. The intersection of the horizontal and vertical plates is directly slidably fitted onto the outer wall of the vertical rod of the T-shaped rod 16, forming a sliding guide pair for the overall lifting of the lifting frame. The horizontal plate of the cross base 1 has first through slots 101 on the left and right sides for assembling the first slider 17 of the secondary obstacle avoidance mechanism. The end of the horizontal plate is for the sliding hollow shaft 24 to pass through and be installed. The vertical plate has a second through hole 102 for assembling the second slider 18 of the stabilizing mechanism. The lower front end of the vertical plate provides an installation reference for the outer shell 103 and is the bottom bearing base for all functional components of the lifting frame.

[0029] Multiple support rods 104 are vertically erected at the upper middle of the cross base 1, and their top ends jointly support and fix the first placement platform 105, so that the first placement platform 105 is suspended above the top of the vertical rod of the T-shaped rod 16. An installation space is reserved between the top of the vertical rod of the T-shaped rod 16 and the bottom of the first placement platform 105 for assembling the electric push rod 7 of the first-level obstacle avoidance mechanism. The support rods 104 form an enclosed space to house the electric push rod 7, which provides protection and limit for the electric push rod 7. The output end of the electric push rod 7 is fixedly connected to the first placement platform 105. When the push rod extends or retracts, it directly drives the first placement platform 105 and the entire lifting frame to rise and fall synchronously along the vertical rod of the T-shaped rod 16, realizing the lifting action of the entire machine for first-level obstacle avoidance. The second placement platform 15 is fixedly mounted above the first placement platform 105, serving as a dedicated support platform for the entire machine's drive mechanism. The power components, such as the motor 4 and the first transmission wheel 6, are all arranged on the upper part of the second placement platform 15. The left and right side walls of the second placement platform 15 extend outward to provide rigid connection points for the L-shaped connecting rod 2, connecting the upper power structure and the lower cutting shell as a whole. The L-shaped connecting rod 2 is divided into two sections: a horizontal crossbar and a vertical bar, arranged symmetrically in two sets. The ends of the horizontal bars are fixed to both sides of the second placement platform 15, supporting the upper power platform. The lower ends of the vertical bars are fixedly connected to the side wall of the outer shell 103 at the front end of the cross base 1, achieving a rigid connection between the upper drive mechanism and the lower cutting shell. During the lifting and raising operation of the entire machine, the L-shaped connecting rod 2 synchronously transmits tension and support force, ensuring that the second placement platform 15, the outer shell 103, and the circular saw 11 rise and fall synchronously, avoiding misalignment and deformation of the upper and lower structures. At the same time, the outer side of the horizontal bar of the L-shaped connecting rod 2 can be extended with a fixing rod 201 for installing the second transmission wheel 5, completing the downward transmission of power. The outer shell 103 is fixedly assembled on the lower front end of the vertical plate of the cross base 1 and is held and fixed by the vertical rods of the L-shaped connecting rods 2 on both sides. Two sets of handrails 3 are respectively installed on the front wall of the vertical rods of the left and right L-shaped connecting rods 2. The height is adapted to manual operation. The operator can hold the handrails 3 to push the whole machine to move, which is convenient for turning and moving in narrow areas of orchards and woodlands. The handrails rise and fall synchronously with the lifting frame. When lifting to avoid obstacles, the grip height is adjusted synchronously, and the operation is more consistent.

[0030] The drive mechanism includes a motor 4, a first transmission wheel 6, a second transmission wheel 5, a transmission belt 601, a main shaft 501, and a sliding hollow shaft 24; The motor 4 is fixedly mounted on the upper end of the second placement platform 15, forming a stable installation. The output shaft of the motor 4 passes downward through the second placement platform 15, and the shaft end is rigidly connected to the first transmission wheel 6, serving as the power input wheel for the entire machine. When the motor 4 is running, it directly drives the first transmission wheel 6 to rotate synchronously, providing basic power for the entire transmission system. The fixing rod 201 is vertically fixed to the end of the crossbar of the L-shaped connecting rod 2, and extends outward to form an independent mounting fulcrum for suspending the assembly of the second transmission wheel 5, and arranging the split transmission components in the area directly above the disc saw 11. The left and right sets of second transmission wheels 5 are respectively rotatably mounted on the lower ends of the two side fixed rods 201. The first transmission wheel 6 and the two second transmission wheels 5 are all fitted with the same transmission belt 601, forming a belt drive structure. When the first transmission wheel 6 rotates, it drives the left and right second transmission wheels 5 to rotate synchronously and in the same direction by relying on the friction of the transmission belt 601, so as to realize the synchronous drive of the two side disc saws 11 by a single motor, ensuring that the cutting speed of the left and right disc saws 11 is consistent and the operation is stable. Each second transmission wheel 5 has its lower end coaxially fixed to the main shaft 501. A sliding hollow shaft 24 is fitted onto the outer wall of the main shaft 501, forming a spline transmission pair that can slide relative to each other and rotate synchronously. The main shaft 501 rotates continuously following the second transmission wheel, and can drive the sliding hollow shaft 24 to rotate synchronously by means of the mating structure; at the same time, the sliding hollow shaft 24 can slide vertically upward along the outer wall of the main shaft, and complete the lifting action under the drive of the secondary obstacle avoidance mechanism, without interrupting the power transmission throughout the lifting process; Two sliding hollow shafts 24 pass vertically through the ends of the left and right horizontal plates of the cross base 1, and the disc saw 11 is fixedly installed at the lower end of the shafts; when the sliding hollow shafts 24 rotate, they directly drive the disc saw to rotate at high speed to complete the cutting of weeds and shrubs. The vertical sliding movement of the hollow sliding shaft 24 is entirely driven and controlled by the secondary obstacle avoidance mechanism. When the equipment triggers the obstacle avoidance program and the entire lifting frame is raised, the secondary obstacle avoidance mechanism synchronously pulls the hollow sliding shaft upward along the main shaft, and the disc saw 11 is simultaneously raised to avoid obstacles; the sliding fit structure between the main shaft 501 and the hollow sliding shaft 24 ensures that the rotational power of the disc saw 11 is uninterrupted during the lifting process.

[0031] Several sliding keys 502 are installed at equal angles on the outer wall of the main shaft 501. Several keyways 2402 that cooperate with the sliding keys 502 are opened at equal angles on the inner wall of the sliding hollow shaft 24. Several sliding keys 502 are slidably installed in the corresponding keyways 2402. The main shaft 501 and the sliding hollow shaft 24 adopt a spline sliding fit structure that is axially sliding and circumferentially synchronously transmitting torque, which is used to solve the need for continuous power transmission when the disc saw is raised and lowered to avoid obstacles.

[0032] The primary obstacle avoidance mechanism is an electric push rod 7. The electric push rod 7 is arranged between the top of the vertical rod of the T-shaped rod 16 and the bottom surface of the first placement platform 105, and is completely housed in the internal space enclosed by multiple support rods 104. The cylinder of the electric push rod 7 is fixed to the upper end of the vertical rod of the T-shaped rod 16, and the telescopic output end is rigidly fixed to the bottom of the first placement platform 105. The shrub monitor is fixedly mounted in the middle of the lower end of the T-shaped bar 16, located in the front area of ​​the whole machine cutting disc saw 11. It can collect signals of shrubs and seedlings obstacles in front and on both sides in real time, and accurately predict protruding obstacles on the path of the disc saw 11. An electrical signal connection is established between the monitor and the electric actuator 7 via a wire. The monitor acts as the signal acquisition end, and the electric actuator 7 acts as the execution end. The monitor scans the area in front of the equipment in real time and continuously transmits detection signals to the electric actuator 7. Specifically, when the equipment is in normal weeding operation: the monitor does not detect obstacles such as shrubs or seedlings, and there is no trigger signal output. The electric actuator 7 remains in a retracted state, and the first placement platform 105, the entire lifting frame, and the circular saw 11 remain in a low position. The circular saw 11 cuts weeds close to the ground. When the monitor detects obstacles such as shrubs or seedlings on both sides of the travel route, it immediately sends an upward trigger electrical signal to the electric actuator 7. After receiving the signal, the output end of the electric actuator 7 extends upward, pushing the first placement platform 105 upward as a whole. The first placement platform 105 drives the cross base 1, the lifting frame, the drive mechanism, and the circular saws 11 on both sides to move upward along the vertical bar of the T-shaped bar 16 simultaneously via the support rod 104, completing the synchronous lifting of the entire machine and achieving the first level of overall obstacle avoidance.

[0033] The secondary obstacle avoidance mechanism includes a first slider 17, a first through groove 101, a first connecting rod 22, a second connecting rod 23, a retaining ring 25, and a retaining groove 2401; Two sets of first through slots 101 are symmetrically opened on the left and right horizontal plates of the cross base 1. The first through slots 101 serve as horizontal sliding tracks. The first slider 17 passes through the slots and can slide horizontally back and forth along the slots. The upper inner end of the first slider 17 near the center of the equipment is fixed with a second connecting frame 1701, and the upper outer end away from the center of the equipment is fixed with a first connecting frame 1702. These are used to hinge the first connecting rod 22 and the second connecting rod 23, respectively. At the same time, the lower end of the first slider 17 is connected to a stop mechanism. The lateral displacement of the first slider 17 can directly drive the stop mechanism to move synchronously. Four third connecting frames 1601 are arranged at equal angles on the outer circumference of the upper end of the vertical T-shaped rod 16. The left and right sets of third connecting frames 1601 serve as fixed hinge fulcrums for the first connecting rod 22. One end of the first connecting rod 22 is rotatably mounted on the third connecting frame 1601 of the T-shaped rod 16, and the other end is hinged to the second connecting frame 1701 of the corresponding side first slider 17. The T-shaped rod 16 is a movable frame fixing component. When the lifting frame is raised, the first connecting rod 22 forms a swing rod structure with a fixed fulcrum, pushing the first slider 17 to slide horizontally outward along the first through groove 101. The second connecting rod 23 is provided with hinge joints at both ends. One end is rotatably mounted on the first connecting frame 1702 at the outer end of the first slider 17, and the other end is hinged to the fourth connecting frame 2501 on the retaining ring 25. When the first slider 17 slides outward, the second connecting rod 23 pulls the retaining ring 25 upward, providing upward lifting power for the sliding hollow shaft 24. An annular groove 2401 is formed on the outer wall of the upper end of the sliding hollow shaft 24. The retaining ring 25 is rotatably fitted inside the groove 2401, forming a mating structure that allows relative rotation and synchronous axial lifting. A fourth connecting bracket 2501 is fixed inside the retaining ring 25 to bear the lifting force of the second connecting rod 23. Because the sliding hollow shaft 24 rotates continuously during operation, the retaining ring can rotate freely in the groove and will not rotate synchronously with the sliding hollow shaft, avoiding the connecting rod from twisting and jamming, and ensuring that the lifting action is not affected by the rotation of the blade. Specifically, when the electric push rod 7 is in the retracted state, the entire lifting frame falls to the lowest position; the first connecting rod 22 is in an inclined and retracted state, pulling the first slider 17 to retract inwards, and the second connecting rod 23 falls synchronously. The retaining ring 25, the sliding hollow shaft 24, and the disc saw 11 fall to the lowest cutting position, and the stop mechanism retracts synchronously, without affecting normal ground-level grass cutting. At this time, the state is as follows: Figure 8The state is shown. After the monitor identifies the shrub obstacle, the electric push rod 7 pushes the first placement platform 105, driving the entire lifting frame to move upward along the vertical bar of the T-shaped rod 16; the T-shaped rod 16 remains fixed, and the first connecting rods 22 on the left and right sides swing with the third connecting frame 1601 as the fulcrum. The other end of the first connecting rod 22 pushes the first slider 17 to slide horizontally outward along the first through groove 101; the outward movement of the first slider 17 drives the second connecting rod 23 to lift the retaining ring 25 upward. The retaining ring 25 drives the sliding hollow shaft 24 to slide upward along the main shaft 501 through the retaining groove 2401. The two disc saws 11 on both sides are simultaneously raised relative to the lifting frame again, completing the secondary independent obstacle avoidance and further increasing the height of the disc saws 11 off the ground. While the first slider 17 slides horizontally, it directly drives the blocking mechanism to unfold synchronously, realizing the secondary lifting of the disc saws 11 and the shrub pre-blocking action mechanical synchronous linkage without the need for an additional power source.

[0034] The stabilizing mechanism includes a third link 21, a second slider 18, a fixed sleeve 8, and a slide bar 1201; The vertical plate of the cross base 1 has two symmetrically opened second through holes 102, which serve as the horizontal sliding track of the second slider 18. The second slider 18 is inserted through the second through hole 102 and can slide horizontally back and forth along the front and back direction of the through hole. Each second slider 18 rigidly penetrates the fixed sleeve 8, and the fixed sleeve 8 moves laterally synchronously with the second slider 18. A sliding rod 1201 is integrally fixed to the upper inner end of the sliding sleeves 12 on both sides of the movable frame. The sliding rod 1201 extends into the inner cavity of the corresponding fixed sleeve 8, forming an axially telescopic sliding pair. The sliding rod 1201 and the fixed sleeve 8 are interlocked, which can transmit lateral pushing and pulling forces and adapt to the height difference generated during the lifting process of the lifting frame, preventing the mechanism from jamming. A fifth connecting frame 801 is fixedly installed on the lower part of the inner wall of the fixed sleeve 8, providing a rotational hinge fulcrum for one end of the third link 21, thereby converting the lateral movement of the fixed sleeve 8 into the swinging motion of the third link 21.

[0035] The third connecting rod 21 is a bidirectional hinged transmission rod. One end is rotatably mounted on the fifth connecting frame 801, and the other end is hinged to the third connecting frame 1601 on the front and rear sides of the outer wall of the T-shaped rod 16. The third connecting frame 1601 provides a fixed swing fulcrum for the third connecting rod 21. Specifically, when the equipment is in an obstacle-free action, the electric push rod 7 retracts, and the entire lifting frame falls to a low position. The cross base 1 is positioned too low, and the third connecting rod 21 tilts inward, pulling the second slider 18 and the fixed sleeve 8 closer to the center of the equipment. The sliding rod 1201 retracts into the fixed sleeve 8, and the sliding sleeves 12 on both sides, the n-shaped wheel frame 13, and the traveling wheels 14 retract inward, minimizing the wheelbase of the entire machine and facilitating operation in narrow spaces. When the monitor identifies the shrub, the electric actuator 7 pushes the lifting frame and the cross base 1 to rise along the vertical bar of the T-shaped rod 16. The T-shaped rod 16 remains stationary, and the third connecting rod 21 swings upward with the third connecting frame 1601 on the front and rear sides as a fixed fulcrum. The other end of the third connecting rod 21 pushes the fifth connecting frame 801, the fixed sleeve 8, and the second slider 18 to slide outward along the second through hole 102. When the fixed sleeve 8 moves outward, it pushes and pulls the sliding sleeve 12 along the horizontal bar of the T-shaped rod 16 to slide outward to the front and rear sides of the equipment through the sliding rod 1201. The sliding sleeve 12 synchronously drives the n-shaped wheel frame 13 and the traveling wheel 14 to extend outward, widening the wheelbase of the whole machine and increasing the contact area between the bottom and the ground, thus increasing stability.

[0036] The deflector mechanism includes a vertical rod 19, a rotating rod 20, a T-shaped lever 2002, a fixed shaft 2001, a spur gear 10, and a rack plate 9; The lower ends of the two first sliders 17 are respectively equipped with the first ends of vertical rods 19. The second ends of the two vertical rods 19 are respectively hinged to the first ends of rotating rods 20 via fixed shafts 2001. The fixed shafts 2001 and the second ends of vertical rods 19 are rotatably connected. The fixed shafts 2001 and rotating rods 20 are fixedly connected. The vertical rods of T-shaped levers 2002 are respectively installed on both sides of the second end of rotating rods 20. The two T-shaped levers 2002 are respectively movably installed below the corresponding side disc saws 11. Spur gears 10 are fixedly installed on the outer walls of both ends of the two fixed shafts 2001. Rack plates 9 are respectively meshed on the upper ends of the four spur gears 10. The four rack plates 9 are symmetrically fixed on both sides of the horizontal plate of the corresponding side cross base 1. (Refer to...) Figure 11When the first slider 17 slides outward, both the cross base 1 and the disc saw 11 are in an upward avoidance state. During this process, the vertical rod 19 at the bottom of the first slider 17 and the rotating rod 20 hinged to it slide outward synchronously. The rotation point of the rotating rod 20 is the fixed shaft 2001, so the fixed shaft 2001 also moves outward synchronously. While the fixed shaft 2001 moves outward, it drives the spur gears 10 at both ends to move outward. Since the rack plate 9 is fixed, the spur gears 10 will cause [something] during the outward sliding process. The rotating shaft 2001, which is coaxial with it, rotates from bottom to top. The rotating rod 20, which is fixedly installed with the fixed shaft 2001, also rotates from bottom to top. Finally, it drives the T-shaped levers 2002 on both sides to unfold upward. After unfolding, the overall width of the T-shaped levers 2002 on both sides is greater than the diameter of the corresponding side disc saw 11. When the equipment moves forward, the T-shaped levers 2002 can push the branches of the top of the shrubs on the path of travel away from the outside of the disc saw 11 in advance, so that the shrub branches completely avoid the cutting rotation area of ​​the disc saw 11.

[0037] Implementation method of the present invention: Adjust the equipment to its initial state and move it to the work area. When the equipment is in its initial state, the wheel distance between the two walking wheels 14 is the smallest, the cross base 1 and the two circular saws 11 are close to the ground, and the T-shaped levers under the circular saws 11 are all in the retracted state, avoiding the working area of ​​the circular saws 11. Both sides of the equipment are the working targets of the equipment. Start the motor 4. The motor 4 drives the first transmission wheel 6, the transmission belt 601 and the two second transmission wheels 5 to rotate synchronously. The main shaft 501 drives the sliding hollow shaft 24 and the circular saw 11 to rotate at high speed through the sliding key 502, and enters the cutting standby state. At this time, push the equipment forward to realize the grass cutting work. When the monitor has no shrub detection signal, the electric actuator 7 remains retracted, the entire lifting frame falls to a low position, and the circular saw 11 remains close to the ground. When the monitor detects the shrub signal, the electric push rod 7 receives the signal and extends its output end upward, pushing the first placement platform 105 upward. Through the support rod 104, it drives the cross base 1, the entire lifting frame, the drive mechanism, and the disc saw 11 to move upward synchronously along the vertical bar of the T-shaped rod 16, completing the overall lifting of the cutting assembly and achieving first-level obstacle avoidance. During the overall lifting of the lifting frame, the T-shaped rod 16 remains fixed, and the third connecting rod 21 swings upward with the third connecting frame 1601 on the front and rear sides of the T-shaped rod 16 as the fulcrum, pushing the fifth connecting frame 801, the fixed sleeve 8, and the second slider 18 to slide outward along the second through hole 102. The fixed sleeve 8 pushes the sliding sleeve 12 to slide outward along the horizontal bar of the T-shaped rod 16 through the sliding rod 1201, driving the n-shaped wheel frame 13 and the traveling wheel 14 to extend outward synchronously. The wheelbase of the whole machine is widened, and the bottom ground contact area is increased, which offsets the problem of the center of gravity shifting upward after the frame is raised and prevents the equipment from tipping over.

[0038] When the lifting frame moves upward, the first connecting rods 22 on the left and right sides swing around the third connecting frames 1601 on both sides of the T-shaped rod 16 as fulcrums, pulling the first slider 17 to slide horizontally outward along the first through groove 101; the outward movement of the first slider 17 drives the second connecting rod 23 to pull the retaining ring 25 upward, the retaining ring 25 rotates in the retaining groove 2401 of the sliding hollow shaft 24, and simultaneously drives the sliding hollow shaft 24 to slide upward along the main shaft 501, the two side disc saws 11 are raised again relative to the lifting frame, forming a two-level obstacle avoidance, further raising the height of the disc saws 11 off the ground; the first sliding When block 17 slides outward, the lower vertical rod 19 moves outward synchronously, driving the fixed shaft 2001 and spur gear 10 to roll and mesh outward along the fixed rack plate 9; the gear meshing transmission drives the fixed shaft 2001 and rotating rod 20 to rotate upward, eventually driving the T-shaped levers 2002 on both sides to fully unfold upward; the overall width of the unfolded T-shaped lever 2002 is greater than the diameter of the disc saw 11 on the same side. When the equipment continues to move forward, the T-shaped lever 2002 will push the top branches of the shrub away and divert them to the outside of the disc saw 11 in advance, so that the thin branches are completely removed from the rotating cutting area of ​​the disc saw 11.

[0039] After the machine has completely passed the shrub area, the monitor outputs no shrub signal, the electric push rod 7 retracts, causing the entire lifting frame to fall and reset; all linkage mechanisms move in the opposite direction to restore to the initial state.

[0040] This equipment adopts a purely mechanical linkage hierarchical obstacle avoidance structure with a first-level whole-machine lifting and a second-level independent lifting of the disc saw. It is equipped with a synchronously linked stabilizing mechanism and a deflector mechanism. Through the monitoring device and electric push rod, the shrubs can automatically overcome obstacles. The double lifting structure greatly increases the obstacle-crossing height and effectively protects the disc saw and seedlings. When the frame is lifted, the traveling wheels automatically expand outward to widen the wheel track, solving the problem of easy tipping due to the raised center of gravity. At the same time, the T-shaped deflector opens synchronously to divert the shrub branches in advance, avoiding the branches from getting tangled in the saw blade and jamming the rotation.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lawnmower with obstacle avoidance function, characterized in that: include: A movable frame; a lifting frame is movably mounted on the top of the movable frame, and a disc saw (11) is movably mounted on the lower left and right sides of the lifting frame, and both disc saws (11) are driven to rotate by a drive mechanism, which is mounted on the lifting frame; A primary obstacle avoidance mechanism; the primary obstacle avoidance mechanism is located between the movable frame and the lifting frame, and is used to drive the lifting frame to move up and down; Level 2 obstacle avoidance mechanism; The two circular saws (11) can move up and down relative to the lifting frame, and are both driven by the secondary obstacle avoidance mechanism. The lifting frame drives the secondary obstacle avoidance mechanism to work through lifting linkage. Stable institutions; Located on the movable frame, the lifting frame drives the stabilizing mechanism through lifting linkage. When the disc saw (11) and the lifting frame are raised, they are used to increase the contact area between the bottom and the ground, thereby improving stability. Deflector mechanism; Located on the lower left and right sides of the lifting frame, and respectively movably positioned below the corresponding side of the disc saw (11), driven by the secondary obstacle avoidance mechanism, it is used to clear away the top of the shrub in advance to prevent the disc saw (11) from contacting the top of the shrub.

2. The lawnmower with obstacle avoidance function according to claim 1, characterized in that: The movable frame includes a T-shaped rod (16), a sliding sleeve (12), an n-shaped wheel frame (13), and a traveling wheel (14). The lifting frame is movably sleeved on the outer wall of the vertical bar of the T-shaped rod (16). Sliding sleeves (12) are slidably sleeved on the outer walls of both ends of the horizontal bar of the T-shaped rod (16). The middle end of the horizontal frame of the n-shaped wheel frame (13) is fixed on the outer wall of the two sliding sleeves (12). The inner side of the vertical bar ends of the two n-shaped wheel frames (13) is respectively provided with traveling wheels (14). The two sliding sleeves (12) are respectively driven to slide by the stabilizing mechanism.

3. The lawnmower with obstacle avoidance function according to claim 2, characterized in that: The lifting frame includes a cross base (1), a support rod (104), a first placement platform (105), a second placement platform (15), an L-shaped connecting rod (2), a handrail (3), and a shell (103). A cross base (1) is slidably sleeved on the outer wall of the vertical rod of the T-shaped rod (16), and the intersection of the horizontal plate and the vertical plate of the cross base (1) is slidably sleeved on the outer wall of the vertical rod of the T-shaped rod (16). The upper middle part of the cross base (1) is fixedly provided with a first placement platform (105) by a number of support rods (104). The first placement platform (105) is movably disposed above the vertical rod of the T-shaped rod (16). The first-level obstacle avoidance mechanism is disposed between the top of the vertical rod of the T-shaped rod (16) and the first placement platform (105). A second placement platform (15) is provided above the first placement platform (105), and the driving mechanism is located at the upper end of the second placement platform (15); The left and right side walls of the second placement platform (15) are respectively fixed with the ends of the crossbars of the L-shaped connecting rods (2); The lower part of the front end of the vertical plate of the cross base (1) is provided with a shell (103), and the lower ends of the vertical rods of the two L-shaped connecting rods (2) are respectively fixed on the side wall of the shell (103) on the corresponding side. Handrails (3) are provided on the front wall of the vertical rods of the two L-shaped connecting rods (2).

4. The lawnmower with obstacle avoidance function according to claim 3, characterized in that: The drive mechanism includes a motor (4), a first transmission wheel (6), a second transmission wheel (5), a transmission belt (601), a main shaft (501), and a sliding hollow shaft (24). The upper end of the second placement platform (15) is provided with a motor (4), and the output shaft of the motor (4) rotates through the second placement platform (15) and is fixedly provided with a first transmission wheel (6). The first end of the fixing rod (201) is vertically fixed to the outer wall of the crossbar end of the L-shaped connecting rod (2); The first transmission wheel (6) is provided with a second transmission wheel (5) on its left and right sides respectively, and the two second transmission wheels (5) are respectively rotatably located at the lower part of the second end of the fixed rod (201) on the corresponding side; The two second drive wheels (5) and the first drive wheel (6) are fitted with the same drive belt (601) on their outer sides. The lower ends of the two second transmission wheels (5) are respectively provided with main shafts (501), and a sliding hollow shaft (24) is slidably sleeved on the outer wall of the main shaft (501). The main shaft (501) can drive the sliding hollow shaft (24) to rotate by rotating. The two sliding hollow shafts (24) are respectively movably inserted through the ends of the cross plate of the cross base (1) on the corresponding side, and the two circular saws (11) are respectively fixed at the lower ends of the sliding hollow shafts (24) on the corresponding side; Both of the sliding hollow shafts (24) are driven to slide by the secondary obstacle avoidance mechanism.

5. The lawnmower with obstacle avoidance function according to claim 4, characterized in that: The outer wall of the main shaft (501) is provided with a plurality of sliding keys (502) at equal angles, and the inner wall of the sliding hollow shaft (24) is provided with a plurality of keyways (2402) at equal angles that cooperate with the sliding keys (502), and the plurality of sliding keys (502) are slidably disposed in the corresponding keyways (2402).

6. The lawnmower with obstacle avoidance function according to claim 4, characterized in that: The first-level obstacle avoidance mechanism is an electric push rod (7). The upper end of the vertical rod of the T-shaped rod (16) is provided with an electric push rod (7). The output end of the electric push rod (7) is fixedly connected to the bottom of the first placement platform (105). The electric push rod (7) is respectively located on the inner side of several of the support rods (104). The lower end of the crossbar of the T-shaped pole (16) is provided with a monitor for monitoring shrubs, and the monitor and the electric push rod (7) are electrically connected. When the monitor detects shrubs on both sides, it sends a signal to the electric push rod (7). After receiving the signal, the output end of the electric push rod (7) pushes the first placement platform (105) upward to perform first-level obstacle avoidance.

7. The lawnmower with obstacle avoidance function according to claim 6, characterized in that: The secondary obstacle avoidance mechanism includes a first slider (17), a first through groove (101), a first connecting rod (22), a second connecting rod (23), a retaining ring (25), and a retaining groove (2401); The cross base (1) has two first through slots (101) on its horizontal plate. A first slider (17) slides through the first through slot (101). A first connecting frame (1702) is provided on the upper part of the outer end of the first slider (17). A second connecting frame (1701) is provided on the upper part of the inner end of the first slider (17). The upper outer wall of the vertical rod of the T-shaped rod (16) is provided with four third connecting frames (1601) at equal angles. The first end of the first connecting rod (22) is rotatably provided in the third connecting frame (1601) located on the left and right sides, and the second end of the two first connecting rods (22) is rotatably provided in the corresponding second connecting frame (1701). The first end of the second connecting rod (23) is rotatably provided in each of the two first connecting frames (1702); The upper outer walls of the two sliding hollow shafts (24) are respectively provided with slots (2401), and retaining rings (25) are rotatably sleeved in the slots (2401). The inner walls of the two retaining rings (25) are respectively provided with fourth connecting frames (2501), and the second ends of the two second connecting rods (23) are respectively rotatably sleeved in the corresponding fourth connecting frames (2501). The two first sliders (17) respectively drive the stop mechanism to work by sliding.

8. The lawnmower with obstacle avoidance function according to claim 7, characterized in that: The stabilizing mechanism includes a third link (21), a second slider (18), a fixed sleeve (8), and a slide bar (1201). The vertical plate of the cross base (1) is provided with two second through holes (102), and a second slider (18) slides through the two second through holes (102). A fixed sleeve (8) is fixedly passed through the two second sliders (18). The upper part of the inner end of the two sliding sleeves (12) is provided with a sliding rod (1201), and the two sliding rods (1201) slide in the fixed sleeve (8) on the corresponding side. The lower part of the inner wall of the two fixed sleeves (8) is provided with a fifth connecting frame (801). The first end of the third connecting rod (21) is rotatably provided in the two fifth connecting frames (801), and the second end of the two third connecting rods (21) is rotatably provided in the third connecting frame (1601) located on the front and rear sides respectively.

9. The lawnmower with obstacle avoidance function according to claim 7, characterized in that: The stop mechanism includes a vertical rod (19), a rotating rod (20), a T-shaped lever (2002), a fixed shaft (2001), a spur gear (10), and a rack plate (9); The lower ends of the two first sliders (17) are respectively provided with the first end of the vertical rod (19), and the second ends of the two vertical rods (19) are respectively hinged to the first end of the rotating rod (20) through the fixed shaft (2001). The fixed shaft (2001) and the second end of the vertical rod (19) are rotatably connected through each other. The fixed shaft (2001) and the rotating rod (20) are fixedly connected. The second ends of the rotating rod (20) are respectively provided with the vertical rods of the T-shaped levers (2002) on both sides. The two T-shaped levers (2002) are respectively movably located below the corresponding side of the disc saw (11). Spur gears (10) are fixed on the outer walls of the two fixed shafts (2001) respectively. The upper ends of the four spur gears (10) are respectively meshed with rack plates (9). The four rack plates (9) are symmetrically fixed on both sides of the cross base (1) on the corresponding side.

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