Push mower

Abstract

The utility model provides a grass pushing machine. The grass pushing machine comprises a handle assembly, a walking assembly, a hub motor and a controller. The walking assembly comprises walking wheels arranged on the two opposite sides of the grass pushing machine. The hub motor is assembled in the walking wheel and used for driving the walking wheel to rotate. The controller is electrically connected to the hub motor so as to control the rotating speed of the hub motor; the handle assembly is provided with a second switch and a second trigger element; the two hub motors are mutually independent, the two second switches correspond to the two hub motors, and the controller is electrically connected to the two second switches, controls the rotating speeds of the two hub motors respectively, and controls the lawn mower to steer towards the direction of the hub motor with the smaller velocity vector when the velocity vectors of the two hub motors have deviation. Compared with the prior art, the lawn mower has the advantages that the rotating speeds of the two hub motors which are oppositely arranged and mutually independent are controlled by the controller, so that the lawn mower can steer towards the direction of the hub motor with a smaller velocity vector when the velocity vectors of the two hub motors are deviated.

Description

TECHNICAL FIELD

[0001] The utility model relates to a grass pushing machine belongs to garden tool technical field. BACKGROUND

[0002] The grass pushing machine is used as the repair tool of garden, lawn and other places, has been widely used. In the gradual replacement of grass pushing machine technology, the mowing technology has been mature, and how to improve the use experience of the user has become the thing that must be considered in the replacement process of the grass pushing machine.

[0003] However, in some existing hand-pushed mowers, the steering is realized by changing the direction of the pushing force when the operator pushes the machine. For example, to make the mower turn left, the operator can apply more force to the right side of the machine to make it turn to the left. This is undoubtedly very inconvenient.

[0004] Therefore, it is necessary to improve the existing grass pushing machine to solve the above problems. INNOVATION CONTENT

[0005] The utility model discloses a grass pushing machine, which can directly control the steering through the controller and realize zero steering to flexibly steer in a narrow space.

[0006] To achieve the above object, the utility model provides a grass pushing machine, which comprises:

[0007] A walking assembly comprising walking wheels arranged on opposite sides of the grass pushing machine;

[0008] A hub motor assembled in the walking wheel for driving the walking wheel to rotate;

[0009] A controller electrically connected to the hub motor to control the rotating speed of the hub motor;

[0010] A handle assembly provided with a second switch and a second trigger element, the second switch being operable to be triggered by the second trigger element to send a gear signal;

[0011] Wherein, the two hub motors are independent of each other, the second switch is also provided with two to correspond to the two hub motors, the controller is electrically connected to the two second switches to receive the gear signals sent by the two second switches respectively and control the rotating speeds of the two hub motors, and when there is a deviation between the speed vectors of the two hub motors, the grass pushing machine is controlled to steer towards the direction of the hub motor with smaller speed vector.

[0012] As a further improvement of the utility model, the wheel hub motor has a constant speed forward rotation state, a constant speed reverse rotation state and a stop rotation state, when one of the wheel hub motors is in the constant speed forward rotation state and the other wheel hub motor is in the reverse rotation or stop rotation state, the grass mower rotates towards the direction of the wheel hub motor in the reverse rotation or stop rotation state.

[0013] As a further improvement of the utility model, the wheel hub motor has a constant speed forward rotation state, a constant speed reverse rotation state and a stop rotation state, when one of the wheel hub motors is in the constant speed forward rotation state and the other wheel hub motor is in the reverse rotation or stop rotation state, the grass mower rotates towards the direction of the wheel hub motor in the reverse rotation or stop rotation state.

[0014] As a further improvement of the utility model, the handle assembly comprises a push rod and a handle at the end of the push rod, and the second switch and the second trigger element are arranged on the handle.

[0015] As a further improvement of the utility model, the two second switches are independent of each other and are configured to be capable of emitting a plurality of different gear signals, and after the controller receives the same or different gear signals emitted by the two second switches, the two wheel hub motors are controlled to be in the same or different rotation speeds.

[0016] As a further improvement of the utility model, the wheel hub motor has a constant speed forward rotation state, a constant speed reverse rotation state and a stop rotation state, when one of the wheel hub motors is in the constant speed forward rotation state and the other wheel hub motor is in the reverse rotation or stop rotation state, the grass mower rotates towards the direction of the wheel hub motor in the reverse rotation or stop rotation state.

[0017] The utility model aims at providing another grass mower, which can directly control steering through a controller and realize zero steering to flexibly steer in a narrow space.

[0018] To achieve the above-mentioned purpose, the utility model provides another grass mower, which comprises a machine body, a cutting assembly and a walking assembly located below the machine body, and a handle assembly extending upwardly and obliquely from the rear of the machine body,

[0019] The walking assembly comprises walking wheels arranged on opposite sides of the machine body and wheel hub motors assembled on the walking wheels;

[0020] The handle assembly is provided with a second switch and a second trigger element, and the second switch is triggered by the second trigger element.

[0021] The grass mower further comprises:

[0022] A controller is electrically connected to the second switch, and the controller is configured to receive gear signals emitted by the second switch to adjust the rotation speed of the wheel hub motor.

[0023] Wherein, two wheel hub motors are independent of each other, the second switch is also provided with two, and is configured to be able to send a plurality of different gear signals, the controller receives the same or different gear signals, controls two wheel hub motors to be at the same or different rotating speeds, when the speed vectors of two wheel hub motors exist deviation, the controller controls the direction of the mower to the wheel hub motor with smaller speed vector.

[0024] As a further improvement of the utility model, the walking wheel includes first walking wheels and second walking wheels arranged in front and back in the advancing direction of the mower, the first walking wheels are respectively arranged on the left and right sides of the front end of the machine body and are pivotally connected with the machine body, the second walking wheels are respectively arranged on the left and right sides of the rear end of the machine body and are pivotally connected with the machine body, and the second switch is used for controlling the rotating speed of the second walking wheels.

[0025] As a further improvement of the utility model, the second trigger element has a plurality of different gears, when the second trigger element is in the first gear, the second switch controls the second walking wheels to rotate at a constant speed, when the second trigger element is in the second gear, the second switch controls the second walking wheels to stop rotating, and when the second trigger element is in the third gear, the second switch controls the second walking wheels to rotate at a constant speed in reverse.

[0026] As a further improvement of the utility model, the handle assembly comprises:

[0027] The push rod is provided with two and is connected with the machine body.

[0028] The handle is provided with two and is arranged opposite to each other at the ends of the corresponding push rods, and the second switch and the second trigger element are arranged on the handle.

[0029] The mower of the utility model has the advantages that the controller is electrically connected to the second switch, so that the controller can receive different gear signals sent by the second switch to control the rotating speeds of two opposite and independently arranged wheel hub motors, when the speed vectors of the two wheel hub motors exist deviation, the mower is controlled to turn to the direction of the wheel hub motor with smaller speed vector, so that the turning of the mower is considered while the advancing of the mower is controlled, and the use experience of the operator is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a structure schematic view of the mower in accordance with the preferred embodiment of the utility model.

[0031] Figure 2 It is Figure 1 The dotted circle a of figure 1 is a partial enlarged view.

[0032] Figure 3 is Figure 2 Structure diagram of the handle and the crossbar in the second embodiment.

[0033] Figure 4 is consistent with Figure 2 Structure block diagram of the handle and the controller in the second embodiment.

[0034] Figure 5 is Figure 2 Structure diagram of the control panel in the second embodiment.

[0035] Figure 6 is Figure 2 Schematic diagram of three gears of the second trigger element in the second embodiment.

[0036] Figure 7 is Figure 2 Internal structure diagram of the handle in the second embodiment.

[0037] Figure 8 is Figure 7 Partial enlarged view of the dashed circle in the second embodiment.

[0038] Figure 9 Flow chart of the control method of the lawn mower.

[0039] Figure 10 is consistent with Figure 9 Structure block diagram of the control panel and the controller shown in the flow chart. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model will be described in detail below in combination with the drawings and specific embodiments.

[0041] Please refer to Figure 1 The utility model discloses a lawn mower 100, the lawn mower 100 includes the body 1, the walking assembly 2 that is established below the body 1, cutting assembly 3 and the handle assembly 4 that is located the rear of the body 1 and extends obliquely upwards. The handle assembly 4 includes the push rod 41 that is connected with the body 1, and the handle 42 that is arranged at the end of the push rod 41, the top of the push rod 41, the position that is connected with the handle 42 is equipped with the control panel 5, the handle 42 is held for the operator to control the lawn mower 100, the control panel 5 is used to control the start-stop of the lawn mower 100, the self-propelled and steering of the walking assembly 2 and the start-stop and rotating speed of the cutting assembly 3 etc.

[0042] Specifically, the push rod 41 is provided with two, the control panel 5 is connected between two push rod 41, the handle 42 is also provided with two and extends from the corresponding push rod 41 towards obliquely upwards respectively.

[0043] Please combine Figure 2As shown, in the embodiment, the two handles 42 are both provided in the shape of a horn and symmetrical to each other. Each handle 42 comprises a base portion 421 fixedly connected with the push rod 41 and a holding portion 422 extending outwardly from the base portion 421, the extending direction of the base portion 421 is the same as the longitudinal axis of the push rod 41, and in the extending direction of the push rod 41, the holding portion 422 of each handle 42 extends towards the other handle 42, so that the holding portions 422 of the two handles 42 are both located between the two push rods 41 in the horizontal plane.

[0044] Please refer to Figure 3 As shown, a horizontal bar 411 is horizontally connected between the two push rods 41, and the inclination angle a of the holding portion 422 with respect to the horizontal bar 411 is 60°. Of course, in other embodiments, the inclination angle of the holding portion 422 is not limited and can be adjusted between 0-360° according to actual needs, and the two handles 42 are not necessarily provided in the shape of a horn, which is not limited.

[0045] The handle 42 is provided with a first trigger element 423 on the side facing the operator, i.e. the direction away from the control panel 5, and a second trigger element 424 on the side opposite to the first trigger element 423, the first trigger element 423 and the second trigger element 424 are both integrated on the holding portion 422 and arranged on the upper and lower sides of the holding portion 422, so as to facilitate the use of the operator.

[0046] Please refer to Figure 4 As shown, specifically, the first trigger element 423 comprises a trigger portion 4232 accommodated in the holding portion 422 and a pressing portion 4231 extending out of the holding portion 422, when the operator presses the pressing portion 4231, the trigger portion 4232 triggers a first switch 4230 in the holding portion 422, so that the first switch 4230 sends out a first starting signal. The first switch 4230 can be a sensor or a micro switch, which is not limited.

[0047] In the embodiment, the first switches 4230 of the two handles 42 are connected in parallel with each other, therefore, triggering of any one of the first switches 4230 will send out the first starting signal. Such arrangement simplifies the operation steps and improves the user experience of the operator.

[0048] Please refer to Figure 5As shown, the control panel 5 is provided with a third trigger element 51 and a fourth trigger element 52, both of which are designed in a pressing manner, in use, first press the third trigger element 51 to power on the grass mower 100 and activate the display screen 53, then press the pressing part 4231 of one of the first trigger elements 423 to make the first switch 4230 send a first start signal, at this time, the grass mower 100 is in a standby state. Then, if you want to start the grass mower 100 to enter the mowing mode, press the fourth trigger element 52 to make the fourth trigger element 52 send a second start signal, at this time, the cutting assembly 3 formally starts to run.

[0049] Preferably, the control panel 5 is also provided with a fifth trigger element 54, which can adjust the rotating speed of the cutting assembly 3, so that the cutting assembly 3 can work at different rotating speeds. Of course, the control panel 5 can integrate multiple functions, which can be adjusted according to actual conditions, which is not limited here.

[0050] In this embodiment, because the first trigger element 423 is integrated on the holding part 422, when the operator holds the holding part 422, the first trigger element 423 can be naturally touched at the same time, and the first trigger element 423 is kept in an activated state at all times. Therefore, the grass mower 100 of the utility model is set to: press the fourth trigger element 52 while keeping at least one first trigger element 423 in an activated state, and the grass mower 100 will start the mowing mode, and when both first trigger elements 423 are in an inactivated state (i.e. the operator's hands are away from the holding part 422), the grass mower 100 is powered off and stops running, avoiding accidents.

[0051] The grass mower 100 has a self-propelled mode, when the grass mower 100 is in a standby state, the self-propelled mode of the grass mower 100 can be activated by pressing the second trigger element 424, without the need for manual pushing, improving the practicability.

[0052] Specifically, the walking assembly 2 includes walking wheels arranged on opposite sides of the machine body 1, and in the advancing direction of the grass mower 100, the walking wheels include first walking wheels 21 and second walking wheels 22 arranged in front and back, the first walking wheels 21 are respectively arranged on the left and right sides of the front end of the machine body 1 and are pivotally connected with the machine body 1, and the second walking wheels 22 are respectively arranged on the left and right sides of the rear end of the machine body 1 and are pivotally connected with the machine body 1. It can be understood that the second walking wheels 22 are driven by a hub motor, and the first walking wheels 21 are only guide wheels. In order to facilitate description, the advancing direction of the grass mower 100 is defined as the front-back direction, and the width direction of the grass mower 100 is defined as the left-right direction, and the front-back direction is perpendicular to the left-right direction.

[0053] In the embodiment, the first walking wheels 21 are universal wheels, which can be turned to any direction as needed to adapt to different environments. The second walking wheels 22 are controlled by the second trigger elements 424 to realize the self-walking mode of the grass mower 100.

[0054] Please refer to Figure 6 The second trigger elements 424 are triggers and include multiple gears, such as a first gear 4241, a second gear 4242 and a third gear 4243, to control different rotating speeds of the corresponding second walking wheels 22. The two second trigger elements 424 are independent of each other to control the corresponding second walking wheels 22 on the same or different sides to have the same or different rotating speeds. Under the first gear 4241, the second walking wheels 22 rotate at a constant speed. Under the second gear 4242, the second walking wheels 22 stop rotating. Under the third gear 4243, the second walking wheels 22 rotate at a constant speed in the opposite direction. Of course, in other embodiments, not limited to only three gears, other gears can be added on the basis of keeping the three gears, which is not limited.

[0055] Preferably, the second trigger elements 424 are connected with second switches 4240 in the holding portions 422. When the second trigger elements 424 are activated, the second switches 4240 are triggered by the second trigger elements 424 to control the rotating speeds of the second walking wheels 22. Optionally, the second switches 4240 are potentiometers, pressure switches, Hall sensors or gratings.

[0056] When at least one of the two first trigger elements 423 is in the activated state, the two second trigger elements 424 are pulled at the same time to switch from the first gear 4241 to the third gear 4243 within a predetermined time to activate the second switches 4240 to send a self-walking start signal. At this time, the two second trigger elements 424 are released at the same time to return from the third gear 4243 to the first gear 4241, and the self-walking mode is started. At this time, a round of start procedure is completed. Thereafter, the user only needs to hold one or two holding portions 422 to ensure that the first trigger elements 423 remain in the activated state, so that the grass mower 100 can be in the running and self-walking modes. Preferably, the predetermined time is 1 second.

[0057] The grass mower 100 also has a steering control function. The two second walking wheels 22 are each equipped with a hub motor, which can be controlled by the second switches 4240 to drive the second walking wheels 22 to rotate.

[0058] Preferably, the second switch 4240 can control the rotating speed of the hub motor, so that the hub motor has a constant-speed forward rotating state, a constant-speed reverse rotating state and a stop rotating state. In turn, the walking wheel also has a constant-speed forward rotating state, a constant-speed reverse rotating state and a stop rotating state.

[0059] When one of the hub motors is in a constant-speed forward rotating state and the other hub motor is in a reverse rotating or stop rotating state, the mower turns towards the hub motor in the reverse rotating or stop rotating state.

[0060] When one of the hub motors is in a constant-speed reverse rotating state and the other hub motor is in a stop rotating state, the mower turns away from the hub motor in the stop rotating state.

[0061] When both of the hub motors are in a constant-speed reverse rotating state, the mower 100 as a whole retreats at a constant speed.

[0062] In other words, when the mower 100 is in the self-propelled mode, pulling one of the second trigger elements 424 to the second gear position 4242 stops the corresponding second walking wheel 22 from rotating, and the mower 100 turns towards the second walking wheel 22 that stops rotating. At this time, if the second trigger element 424 is continuously pulled to the third gear position 4243, the corresponding second walking wheel 22 reverses at a constant speed, and the mower 100 can turn towards the second walking wheel 22 that reverses at a constant speed more quickly. Similarly, when it is necessary to turn in the other direction, the other second trigger element 424 can be pulled to control the corresponding second walking wheel 22 to stop rotating or reverse at a constant speed. This is due to the relative independence of the two second trigger elements 424.

[0063] When both of the second trigger elements 424 are pulled to the third gear position 4243, the mower 100 as a whole retreats at a constant speed. When both of the first trigger elements 423 are in the inactive state, the self-propelled mode is terminated. If it is necessary to start the self-propelled mode again thereafter, a new round of starting procedures still needs to be performed, so as to avoid accidental touch to the maximum extent.

[0064] That is, the turning of the mower 100 is realized by using the speed difference between the two second walking wheels 22. When there is a difference between the speed vector of one of the second walking wheels 22 and the speed vector of the other second walking wheel 22, the mower 100 turns towards the second walking wheel 22 with the smaller speed vector, and zero turning can be realized. Of course, the different rotating speeds of the two second walking wheels 22 can also be regarded as different rotating speeds of the two hub motors.

[0065] Please refer to Figure 7 and Figure 8As shown, the holding part 422 of the handle 42 is further provided with a toggle switch 425, the toggle switch 425 is in transmission connection with the second trigger element 424, and the toggle switch 425 can rotate relative to the holding part 422. In the extension direction of the push rod 41, the toggle switch 425 is located between the first trigger element 423 and the second trigger element 424, when the toggle switch 425 is rotated by toggling, the second trigger element 424 is driven to switch gears.

[0066] Specifically, the holding part 422 is provided with a response piece 426 connected with the toggle switch 425, and the response piece 426 is provided with a driven part 4261 arranged in a staggered manner with the toggle switch 425. The second trigger element 424 includes a triggering part 4244 accommodated in the holding part 422 and arranged corresponding to the driven part 4261, when the driven part 4261 is rotated by rotating the toggle switch 425, the driven part 4261 can abut against and push the triggering part 4244 to displace, thereby realizing gear shifting of the second trigger element 424. The triggering part 4244 is used to trigger the second switch 4240 to adjust the gear of the lawn mower 100.

[0067] In the embodiment, the triggering part 4244 is arranged adjacent to the response piece 426, and one side of the triggering part 4244 facing the response piece 426 is provided with an abutting wall 42440. The abutting wall 42440 is configured to abut against the driven part 4261 during rotation of the driven part 4261, and the driven part 4261 can push the abutting wall 42440 to displace.

[0068] When the second trigger element 424 is in the first gear position 4241, a gap is left between the driven part 4261 and the abutting wall 42440. At this time, the toggle switch 425 is rotated, so that the driven part 4261 is rotated towards the abutting wall 42440 to abut against the abutting wall 42440, and the abutting wall 42440 is pushed to move, and the second trigger element 424 moves from the first gear position 4241 to the second gear position 4242.

[0069] The top end of the abutting wall 42440 is further provided with a positioning groove 42441, when the driven part 4261 is rotated to disengage from the abutting wall 42440, the driven part 4261 is clamped in the positioning groove 42441. At this time, the toggle switch 425 cannot continue to rotate, and the second trigger element 424 is in the second gear position 4242.

[0070] That is, the toggle switch 425 is a switch for stopping the lawn mower 100 in the running state, which can provide the user with another way to stop the lawn mower 100 from running, instead of being limited to only the second trigger element 424.

[0071] The response member 426 is further provided with a reset device 4262. When the driven part 4261 is in the state of being clamped with the positioning groove 42441 and the second trigger element 424 is continuously pulled and moved towards the third gear position 4243, the driven part 4261 is disengaged from the clamping with the positioning groove 42441, and the driven part 4261 is reset to have a gap with the abutting wall 42440. At this time, the second trigger element 424 can be adjusted to the first gear position 4241, the second gear position 4242 or the third gear position 4243. Preferably, the reset device 4262 is a torsional spring.

[0072] Please refer to Figure 4 , Figure 9 and Figure 10 , the utility model further provides a control method of the lawn mower 100, which is used to control the start and stop, steering and the like of the lawn mower 100.

[0073] The lawn mower 100 further comprises a power-on switch 511, a fourth switch 521, a fifth switch 541 and a controller 8. The controller 8 is electrically connected to the first switch 4230, the second switch 4240, the power-on switch 511, the fourth switch 521 and the fifth switch 541, and receives the signals sent by the first switch 4230, the second switch 4240, the power-on switch 511, the fourth switch 521 and the fifth switch 541 to control the lawn mower 100.

[0074] In the embodiment, the power-on switch 511, the fourth switch 521 and the fifth switch 541 are integrated on the control panel 5, and the third trigger element 51 is operable to trigger the power-on switch 511, the fourth trigger element 52 is operable to trigger the fourth switch 521, and the fifth trigger element 54 is operable to trigger the fifth switch 541.

[0075] The controller 8 is configured to:

[0076] receive the start signals sent by the first switch 4230 and the power-on switch 511;

[0077] determine the time sequence of the start signals sent by the first switch 4230 and the power-on switch 511,

[0078] When the start signal sent by the power-on switch 511 is earlier than the start signal sent by the first switch 4230, the lawn mower 100 is allowed to enter the state of waiting for starting;

[0079] When the start signal sent by the power-on switch 511 is later than the start signal sent by the first switch 4230, the starting of the lawn mower 100 is prohibited.

[0080] That is, the start signals sent by the power-on switch 511 and the first switch 4230 are sequentially received by the controller 8 to control the lawn mower 100 to enter the state of waiting for starting. The state of waiting for starting is between the state of rest and the state of starting of the lawn mower 100, and the operator can start the lawn mower 100 on the basis that the lawn mower 100 is in the state of waiting for starting, which undoubtedly guarantees the safety of the operator.

[0081] The controller 8 receives the start signal sent by the power-on switch 511 and receives the start signal sent by the first switch 4230 within a predetermined time to control the lawn mower 100 to enter the state of waiting for starting. By presetting the time period, the lawn mower 100 can still be started after a long interval due to a false touch, which further improves the practicability. Of course, the specific preset time can be adjusted according to the actual situation, and no limitation is made in this regard.

[0082] When the lawn mower 100 is in the state of waiting for starting, the controller 8 receives the start signal sent by the second switch 4240 to allow the lawn mower 100 to enter the self-propelled mode; the controller 8 receives the start signal sent by the fourth switch 521 to control the starting of the cutting assembly 3; and the controller 8 receives the signal sent by the fifth switch 541 to control the rotating speed of the cutting assembly 3. That is, the lawn mower 100 can enter the self-propelled mode by setting the second switch 4240, and the cutting assembly 3 can be controlled by setting the fourth switch 521 and the fifth switch 541. In other embodiments, other switches can be integrated to make the lawn mower 100 compatible with more starting functions in the state of waiting for starting.

[0083] The second switch 4240 can send a plurality of different gear signals, and the controller 8 receives the different gear signals to control the walking assembly 2 to walk at different rotating speeds, that is, to control the rotating speed of the hub motor. The second switch 4240 is provided with two and is independent of each other to control two second walking wheels 22 respectively, and the controller 8 receives the different gear signals sent by the two second switches 4240 to control the rotating speed and the steering of the walking assembly 2.

[0084] Specifically, when the speed vectors of the two hub motors are different, the controller controls the mower 100 to turn in the direction of the hub motor with the smaller speed vector. In this way, the turning of the mower 100 is realized.

[0085] The hub motors have a constant-speed forward rotation state, a constant-speed reverse rotation state, and a stop rotation state. When one of the hub motors is in the constant-speed forward rotation state and the other hub motor is in the reverse rotation state or the stop rotation state, the mower 100 rotates in the direction of the hub motor in the reverse rotation state or the stop rotation state.

[0086] When one of the hub motors is in the constant-speed reverse rotation state and the other hub motor is in the stop rotation state, the mower rotates in the direction away from the hub motor in the stop rotation state.

[0087] When both of the hub motors are in the constant-speed reverse rotation state, the mower 100 retreats as a whole.

[0088] That is, the second switches 4240 are independently arranged, so that the second switches 4240 can control the turning of the mower 100 while controlling the movement of the mower 100, which is simple and convenient.

[0089] In the embodiment, the controller 8 is further arranged to control the mower 100 to be powered off and stopped when both of the first switches 4230 are in the untriggered state. In this way, the safety of use is further ensured.

[0090] In summary, the mower 100 of the utility model is electrically connected to the second switches 4240, so that the controller 8 can receive different gear signals sent by the second switches 4240 to control the rotation speeds of the two relatively and independently arranged hub motors. When the speed vectors of the two hub motors are different, the controller controls the mower 100 to turn in the direction of the hub motor with the smaller speed vector. The turning of the mower 100 can be considered while controlling the movement of the mower 100, which improves the use experience of the operator.

[0091] The above embodiments are only used to illustrate the technical solutions of the utility model and not to limit it. Although the utility model is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the utility model can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the utility model.

Claims

1. A lawn mower characterized by comprising: The mower comprises: a walking assembly comprising walking wheels arranged on opposite sides of the mower; a wheel hub motor arranged in the walking wheel and used to drive the walking wheel to rotate; a controller electrically connected to the wheel hub motor to control the rotating speed of the wheel hub motor; a handle assembly provided with a second switch and a second trigger element, the second switch being operable to be triggered by the second trigger element to send a gear signal; wherein the two wheel hub motors are independent of each other, the second switch is also provided with two second switches to correspond to the two wheel hub motors, the controller is electrically connected to the two second switches to receive the gear signals sent by the two second switches respectively, and the rotating speed of the two wheel hub motors is controlled, and when there is a deviation between the speed vectors of the two wheel hub motors, the mower is controlled to turn in the direction of the wheel hub motor with the smaller speed vector.

2. The lawn roller of claim 1, wherein: The wheel hub motor has a constant-speed forward rotation state, a constant-speed reverse rotation state and a stop rotation state, when one of the wheel hub motors is in the constant-speed forward rotation state and the other is in the constant-speed reverse rotation state or the stop rotation state, the mower rotates in the direction of the wheel hub motor in the constant-speed reverse rotation state or the stop rotation state.

3. The lawn roller of claim 1, wherein: The wheel hub motor has a constant-speed forward rotation state, a constant-speed reverse rotation state and a stop rotation state, when one of the wheel hub motors is in the constant-speed reverse rotation state and the other is in the stop rotation state, the mower rotates in the direction away from the wheel hub motor in the stop rotation state.

4. The lawn roller of claim 1, wherein: The handle assembly comprises a push rod and a handle at the end of the push rod, and the second switch and the second trigger element are arranged on the handle.

5. The lawn roller of claim 4, wherein: The two second switches are independent of each other and are configured to send multiple different gear signals, and the controller receives the same or different gear signals sent by the two second switches to control the two wheel hub motors to be at the same or different rotating speeds.

6. The lawn roller of claim 1, wherein: The wheel hub motor has a constant-speed forward rotation state, a constant-speed reverse rotation state and a stop rotation state, when both of the wheel hub motors are in the constant-speed reverse rotation state, the mower rotates backward at a constant speed.

7. A mower comprising a body, a cutting assembly and a walking assembly arranged below the body, and a handle assembly extending upwardly and obliquely from the rear of the body, characterized in that: the walking assembly comprises walking wheels arranged on opposite sides of the body and wheel hub motors arranged on the walking wheels; the handle assembly is provided with a second switch and a second trigger element, and the second switch is operable to be triggered by the second trigger element; the mower further comprises: a controller electrically connected to the second switch, the controller being configured to receive the gear signal sent by the second switch to adjust the rotating speed of the wheel hub motor. The two wheel hub motors are independent of each other, the second switch also has two to correspond to the two wheel hub motors, the two second switches are independent of each other and are configured to be able to send a plurality of different gear signals, the controller receives the same or different gear signals sent by the two second switches, controls the two wheel hub motors to be at the same or different rotating speeds, and controls the mower to turn towards the wheel hub motor with the smaller speed vector when the speed vectors of the two wheel hub motors have a deviation.

8. The lawn roller of claim 7, wherein: The walking wheels include first walking wheels and second walking wheels arranged in front and back in the advancing direction of the mower, the first walking wheels are arranged on the left and right sides of the front end of the machine body and are pivotally connected with the machine body, the second walking wheels are arranged on the left and right sides of the rear end of the machine body and are pivotally connected with the machine body, and the second switch is used for controlling the rotating speed of the second walking wheels.

9. The lawn roller of claim 8, wherein: The second trigger element has a plurality of different gears, when the second trigger element is in the first gear, the second switch controls the second walking wheels to rotate at a constant speed, when the second trigger element is in the second gear, the second switch controls the second walking wheels to stop rotating, and when the second trigger element is in the third gear, the second switch controls the second walking wheels to rotate at a constant speed in the opposite direction.

10. The lawn roller of claim 7, wherein: The handle assembly includes: push rods, two of which are arranged on the machine body; grips, two of which are arranged at the ends of the corresponding push rods and are arranged opposite to each other, and the second switch and the second trigger element are arranged on the grips.

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