Lifting detection device and mower

Abstract

The utility model belongs to the technical field of lifting detection, and particularly relates to a lifting detection device and a mower, the lifting detection device comprises a walking mechanism and a lifting detection mechanism, the walking mechanism comprises a connecting bridge and two walking wheels, and the two walking wheels are connected to the two ends of the connecting bridge respectively; the two walking wheels are provided with power parts used for driving the corresponding walking wheels to rotate. The lifting detection mechanism comprises a fixing frame, a rotating piece and a detection assembly, the rotating piece comprises a rotating shaft and a swing rod, the swing rod is connected with the rotating shaft in an intersecting mode, the rotating shaft is rotationally connected with the fixing frame, the rotating shaft can rotate around the axis of the rotating shaft, and the swing rod is connected with the connecting bridge; the detection assembly is used for detecting swinging of the swinging rod; the lifting detection device can realize lifting detection.

Description

Technical Field

[0001] This application belongs to the field of lift detection technology, and particularly relates to a lift detection device and a lawnmower. Background Technology

[0002] Lawn mowers, as a type of horticultural weeding equipment, are widely used in lawn mowing in green spaces, golf courses, and gardens. During operation, the cutting blades at the bottom of the lawn mower rotate at high speed, making it inherently dangerous, especially if the operator accidentally lifts the mower while it is in operation, in which case the operator is easily cut by the cutting blades. Therefore, how to detect whether a lawn mower has been lifted is an important area of ​​research.

[0003] The above statements are for the purpose of providing background information in relation to this application only and do not necessarily constitute prior art. Utility Model Content

[0004] The purpose of this application is to provide a lifting detection device and a lawnmower that can achieve lifting detection.

[0005] The technical solution adopted in the embodiments of this application is:

[0006] In a first aspect, a lifting detection device is provided, comprising a walking mechanism and a lifting detection mechanism. The walking mechanism includes a connecting bridge and two walking wheels, which are respectively connected to both ends of the connecting bridge. The two walking wheels are provided with power components for driving the corresponding walking wheels to rotate. The lifting detection mechanism includes a fixed frame, a rotating component, and a detection component. The rotating component includes a rotating shaft and a swing rod, which are intersected and connected to the rotating shaft. The rotating shaft is rotatably connected to the fixed frame and can rotate around its own axis. The swing rod is connected to the connecting bridge. The detection component is used to detect the swing of the swing rod.

[0007] In the lifting detection device of this application embodiment, when the walking wheel is lifted, the walking wheel and the connecting bridge move downward under their own gravity, thereby causing the rotating shaft of the rotating component to rotate relative to the fixed frame, the swing rod swings downward, and the detection component detects the downward swing of the swing rod, thus detecting that the walking wheel has been lifted; the lifting detection device is rotatably connected to the fixed frame through the rotating shaft of the rotating component, thus realizing the lifting detection of the walking wheel.

[0008] In the lifting detection device of this application embodiment, when the walking wheel is lifted, the walking wheel and the connecting bridge move downward under their own gravity, thereby causing the rotating shaft of the rotating component to rotate relative to the fixed frame around its own axis, and the swing rod swings downward. The detection component detects the downward swing of the swing rod, thereby detecting that the walking wheel has been lifted. The lifting detection device realizes the lifting detection of the walking wheel through the rotating shaft of the rotating component being rotatably connected to the fixed frame and the swing of the swing rod.

[0009] In some embodiments, the rotation axis is arranged perpendicular to the swing arm.

[0010] By adopting the technical solution of this embodiment, the rotating shaft and the swing rod are vertically connected. When the rotating shaft rotates, the swing rod swings a large distance away from the end of the rotating shaft, making it easier to be detected by the lifting detection component and improving the accuracy of the lifting detection device. In addition, the rotating shaft and the swing rod are set vertically, which makes the structure regular and convenient for assembly and manufacturing.

[0011] In some embodiments, the fixing frame is provided with a rotating hole, and the rotating shaft passes through the rotating hole.

[0012] By adopting the technical solution of this embodiment, the rotating shaft passes through the rotating hole, realizing the rotational connection between the fixed frame and the rotating shaft. Its structure is simple and easy to assemble. The rotating shaft and the rotating hole are in line contact or surface contact, so that the impact absorption point is in line contact or surface contact, rather than the point contact of the linear slide rail solution. This effectively provides the impact resistance of the lifting detection device and improves the service life of the lifting detection device.

[0013] In some embodiments, the connecting bridge has a connecting hole, and the swing rod passes through the connecting hole.

[0014] By adopting the technical solution of this embodiment, the swing rod is connected to the connecting bridge by passing through the connecting hole of the connecting bridge. The connection method is simple and helps to reduce assembly costs.

[0015] In some embodiments, the lifting detection mechanism further includes a limiting mechanism, one end of the swing rod is connected to the rotating shaft, the limiting mechanism is fixed to the other end of the swing rod, and a connecting bridge is located between the limiting mechanism and the rotating shaft, with the limiting mechanism abutting against the connecting bridge.

[0016] By adopting the technical solution of this embodiment, the limiting mechanism abuts against the connecting bridge, which can prevent the connecting bridge from coming off the end of the swing rod away from the rotation axis, thereby improving the reliability of the connection between the connecting bridge and the swing rod.

[0017] In some embodiments, the limiting mechanism has a locking protrusion and a fixing hole, and the swing rod passes through the fixing hole; the swing rod has a locking groove, the locking protrusion is located in the fixing hole and protrudes from the hole wall of the fixing hole, and the locking protrusion is used to insert into the locking groove.

[0018] By adopting the technical solution of this embodiment, the swing rod and the limiting mechanism are connected by a sleeve connection. The connection between the limiting mechanism and the swing rod is simple and easy to assemble. The engaging protrusion is inserted into the engaging groove, which can prevent the swing rod from coming out of the fixing hole, improve the connection reliability of the limiting mechanism and the swing rod, and can also better prevent the connecting bridge.

[0019] In some embodiments, the limiting mechanism includes an upper limiting member and a lower limiting member connected to each other, and the fixing hole includes a first fixing half hole and a second fixing half hole, the first fixing half hole being disposed on the upper limiting member and the second fixing half hole being disposed on the lower limiting member; the engaging protrusion includes a first engaging protrusion and a second engaging protrusion for insertion into the engaging groove, the first engaging protrusion being disposed on the upper limiting member and protruding from the hole wall of the first fixing half hole, and the second engaging protrusion being disposed on the lower limiting member and protruding from the hole wall of the second fixing half hole.

[0020] By adopting the technical solution of this embodiment, the limiting mechanism can be installed from the upper and lower sides of the swing rod by the upper and lower limiting parts respectively, so as to facilitate the insertion of the first locking protrusion and the second locking protrusion into the locking groove. The assembly operation of the limiting mechanism and the swing rod is simple and helps to reduce assembly costs.

[0021] In some embodiments, the first engagement protrusion abuts against the bottom surface of the engagement groove, and an assembly gap can be formed between the second engagement protrusion and the bottom surface of the engagement groove.

[0022] By adopting the technical solution of this embodiment, the assembly gap can provide a larger assembly space for the assembly between the upper limit component and the lower limit component and the swing rod, which is beneficial to reduce the assembly accuracy between the upper limit component and the lower limit component and the swing rod, reduce the assembly difficulty, and reduce the assembly cost and manufacturing cost; the second locking protrusion can not abut against the bottom surface of the locking groove, which can also reduce the risk of excessive limiting between the limiting mechanism and the swing rod.

[0023] In some embodiments, the fixed frame includes an upper frame and a lower frame, which are connected to form a swing space, and the swing rod is located in the swing space and can swing up and down in the swing space.

[0024] By adopting the technical solution of this embodiment, the upper frame and the lower frame can be installed from the upper and lower sides of the connecting bridge, which facilitates the assembly of the connecting bridge and the fixing frame. The assembly operation of the connecting bridge and the fixing frame is simple and helps to reduce assembly costs.

[0025] In some embodiments, the lifting detection mechanism further includes an elastic element disposed between the upper limit member and the lower frame.

[0026] By adopting the technical solution of this embodiment, the elastic element can buffer the up-and-down swing of the swing arm. In addition, the elastic element can absorb the impact, thereby improving the reliability and service life of the rotating parts.

[0027] In some embodiments, the swing arm has a stepped surface located between the rotating shaft and the connecting bridge, the connecting bridge being used to abut against the stepped surface.

[0028] By adopting the technical solution of this embodiment, the connecting bridge abuts against the step surface, which can limit the movement of the connecting bridge along the axial direction of the swing rod and improve the stability of the connection between the connecting bridge and the swing rod.

[0029] In some embodiments, the detection component includes a trigger and a detection element, the trigger being mounted on a limiting mechanism and the detection element being mounted on a fixed frame, the trigger being used to trigger the detection element when the traveling wheel is lifted.

[0030] By adopting the technical solution of this embodiment, the limiting mechanism is located at the end of the swing rod facing away from the rotating shaft. When the walking wheel is lifted, the downward movement distance of the limiting mechanism is large, making it easier for the trigger to trigger the detection element, which is beneficial to improving the accuracy of detection.

[0031] In some embodiments, the two wheels are coaxially arranged with the rotating shaft.

[0032] By adopting the technical solution of this embodiment, the two walking wheels are coaxially arranged with the rotating shaft, which can reduce the generation of torque and improve the reliability and service life of the lifting detection device.

[0033] In some embodiments, the middle part of the connecting bridge is recessed downward to form a recessed portion, which is connected to the swing arm.

[0034] By adopting the technical solution of this embodiment, the middle part of the connecting bridge is recessed to form a recessed part, which is connected to the swing arm, reducing the installation height of the swing arm and the fixed frame, thereby making full use of the bottom space of the lawnmower and improving the structural compactness.

[0035] In some embodiments, the walking mechanism further includes two steering drive components, which are respectively installed at both ends of the connecting bridge. The two steering drive components are respectively connected to two walking wheels and are used to drive the corresponding walking wheels to turn. The rotation axis of the output end of the steering drive component passes through the center point of the corresponding walking wheel.

[0036] By adopting the technical solution of this embodiment, the rotation axis of the output end of the steering drive component passes through the center point of the corresponding walking wheel, which can reduce the generation of torque and improve the reliability and service life of the lifting detection device.

[0037] Secondly, a lawnmower is provided, including the aforementioned lifting detection device.

[0038] By adopting the technical solution of this embodiment, the lawnmower can use the above-mentioned lifting detection device to realize the lifting detection of the lawnmower. Moreover, the lifting detection device has low manufacturing cost and long service life, which helps to reduce the cost of the lawnmower and increase its service life.

[0039] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of a lifting detection device provided in some embodiments of this application.

[0042] Figure 2 for Figure 1 The diagram shown is an exploded view of the lifting detection device.

[0043] Figure 3 for Figure 1 The diagram shows the structure of the lifting detection device.

[0044] Figure 4 For along Figure 3 Sectional view along line AA in the middle.

[0045] Figure 5 for Figure 2 The diagram shows the structure of the rotating component.

[0046] Figure 6 For along Figure 3 Sectional view along the middle BB line.

[0047] Figure 7 for Figure 6 A magnified view of a section at point D.

[0048] Figure 8 For along Figure 3 Sectional view of the CC line.

[0049] Figure 9 for Figure 8 A magnified view of a section at point E in the middle.

[0050] Figure 10 for Figure 2 The diagram shows the structure of the upper limit positioner.

[0051] Figure 11 for Figure 2 The diagram shows the structure of the lower limit component.

[0052] The following are the labeling elements in the figure:

[0053] 100. Lifting detection device; 10. Walking mechanism; 11. Connecting bridge; 1101. Connecting hole; 111. Recess; 112. Mounting box; 1121. Box body; 1122. Top cover; 12. Walking wheel; 13. Steering drive assembly; 131. Servo motor; 132. Gear transmission mechanism; 1321. Driven wheel; 1322. Gear shaft; 14. Connecting rod; 15. Bearing; 16. Pressure plate; 20. Lifting detection mechanism; 21. Fixing frame; 2101. Rotating hole; 2102. Swinging space; 211. Upper frame; 212. Lower frame; 2121. Second fixing protrusion; 22. Rotating component; 221. Rotating shaft; 222 2221. Swing rod; 2222. Engaging groove; 2222. Stepped surface; 2223. First limiting plane; 23. Detection component; 231. Trigger; 232. Detection component; 24. First bushing; 25. Second bushing; 26. Limiting mechanism; 2601. Engaging protrusion; 2602. Fixing hole; 2603. Assembly gap; 261. Upper limit component; 2611. First fixing half hole; 2612. First engaging protrusion; 2613. Abutment protrusion; 2614. First fixing protrusion; 2615. Second limiting plane; 262. Lower limit component; 2621. Second fixing half hole; 2622. Second engaging protrusion; 27. Elastic component. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include at least one of that feature.

[0056] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0057] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0058] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0059] In the description of this application, it should be understood that the terms "inner", "outer", "side", "upper", "bottom", "front", "rear", etc., indicating the orientation or positional relationship are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0060] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example in the figure. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0061] Lawn mowers, as a type of horticultural weeding equipment, are widely used in lawn mowing in green spaces, golf courses, and gardens. During operation, the cutting blades at the bottom of the lawn mower rotate at high speed, making it inherently dangerous, especially if the operator accidentally lifts the mower while it is in operation, in which case the operator is easily cut by the cutting blades. Therefore, how to detect whether a lawn mower has been lifted is an important area of ​​research.

[0062] Based on this, the present application provides a lifting detection device. During the process of the walking wheel being lifted, the connecting bridge moves downward under its own gravity, thereby driving the rotating shaft of the rotating component to rotate around its own axis. The swing rod swings downward, and the detection component detects the swing of the swing rod, thereby identifying that the walking wheel has been lifted, thus realizing the lifting detection of the walking wheel.

[0063] The lift detection device provided in this application embodiment can be applied to lawnmowers, and of course, it can also be applied to other machines that require lift detection. The following description uses the application of the lift detection device to a lawnmower as an example.

[0064] The following combination Figures 1-11 The lifting detection device 100 of the present application embodiment will be described.

[0065] like Figures 1-4 As shown, in some embodiments, a lifting detection device 100 is provided, including a walking mechanism 10 and a lifting detection mechanism 20. The walking mechanism 10 includes a connecting bridge 11 and two walking wheels 12, which are respectively connected to both ends of the connecting bridge 11. The two walking wheels 12 are provided with power components for driving the corresponding walking wheels 12 to rotate. The lifting detection mechanism 20 includes a fixed frame 21, a rotating component 22, and a detection component 23. The rotating component 22 includes a rotating shaft 221 and a swing rod 222. The swing rod 222 is intersected and connected to the rotating shaft 221. The rotating shaft 221 is rotatably connected to the fixed frame 21 and can rotate around its own axis. The swing rod 222 is connected to the connecting bridge 11. The detection component 23 is used to detect the swing of the swing rod 222.

[0066] The walking mechanism 10 refers to the component of the lawnmower used for movement. The walking mechanism 10 includes a connecting bridge 11 and two walking wheels 12. The connecting bridge 11 is used to connect the two walking wheels 12, and can also be called a front axle or a rear axle. The connecting bridge 11 supports the two walking wheels 12. The walking wheels 12 rotate, thereby enabling the lawnmower to move, such as forward, backward, and turning.

[0067] The traveling wheel 12 is equipped with a power component, which can be located either outside or inside the traveling wheel 12. The power component drives the traveling wheel 12 to rotate, thereby enabling the traveling mechanism 10 to move. The power component can be a motor, electric motor, or other similar component. Both traveling wheels 12 are equipped with power components, and the two power components drive the two traveling wheels 12 to rotate respectively.

[0068] The lifting detection mechanism 20 can refer to a component used to detect whether the walking wheel 12 has been lifted. It should be noted that after the walking wheel 12 is lifted off the ground, the lifting detection mechanism 20 can immediately detect that the walking wheel 12 has been lifted and output a lifting signal. Alternatively, the lifting detection mechanism 20 can detect that the walking wheel 12 has been lifted and output a lifting signal after the walking wheel 12 has been lifted off the ground by a preset distance. However, if the distance between the walking wheel 12 and the ground is within the preset distance, the lifting detection mechanism 20 will not output a lifting signal. This provides a certain buffer space for the walking wheel 12 to be lifted and reduces the false judgment that the walking wheel 12 has been lifted.

[0069] The lifting detection mechanism 20 includes a fixed frame 21, a rotating component 22, and a lifting detection assembly 23. The fixed frame 21 can refer to a component used for mounting the rotating component 22. The fixed frame 21 can be fixedly connected to the body or frame of the lawnmower.

[0070] Rotating component 22 can refer to a component that can rotate relative to fixed frame 21; rotating component 22 includes rotating shaft 221 and swing rod 222. Rotating shaft 221 is rotatably connected to fixed frame 21, so that rotating shaft 221 can rotate around its own axis. Swing rod 222 is intersected and connected to rotating shaft 221. Swing rod 222 and rotating shaft 221 are not coaxial. During the rotation of rotating shaft 221 around its own axis, swing rod 222 can swing relative to fixed frame 21.

[0071] In some examples, the angle between the swing arm 222 and the rotation axis 221 can be an acute angle, a right angle, or an obtuse angle.

[0072] The swing arm 222 is connected to the connecting bridge 11. The swing arm 222 and the connecting bridge 11 can be connected by bolts, screws, snap-fits, or adhesives. When the traveling wheel 12 is lifted, the connecting bridge 11 moves downward under its own weight, thereby driving the rotating shaft 221 to rotate relative to the fixed frame 21, and the swing arm 222 swings downward.

[0073] The detection component 23 can refer to a component that can detect the swing of the swing arm 222. The detection component 23 can detect whether the walking wheel 12 has been lifted by detecting the change in the distance between the swing arm 222 and the fixed frame 21.

[0074] For example, when the swing arm 222 swings downward, the distance between the fixed frame 21 and the swing arm 222 increases. The detection component 23 detects that the distance between the fixed frame 21 and the swing arm 222 has increased, and thus concludes that the walking wheel 12 has been lifted, and outputs a lift signal.

[0075] In this embodiment of the lifting detection device 100, when the walking wheel 12 is lifted, the walking wheel 12 and the connecting bridge 11 move downward under their own gravity, thereby causing the rotating shaft 221 of the rotating component 22 to rotate relative to the fixed frame 21, and the swing rod 222 swings downward. The detection component 23 detects the downward swing of the swing rod 222, thus detecting that the walking wheel 12 has been lifted. The lifting detection device 100 realizes the lifting detection of the walking wheel 12 by rotating the rotating shaft 221 of the rotating component 22 and rotating the fixed frame 21 and intersecting the swing rod 222 with the rotating shaft 221.

[0076] In related technologies, in some four-wheel drive lawnmowers, all four wheels 12 have steering functions, and lift detection can be performed by floating a single wheel 12. However, this method results in a complex structure of the walking mechanism 10, higher costs, and a significant increase in the weight of the lawnmower. Based on this, in some two-wheel drive lawnmowers using a solid axle suspension, the lift detection function is performed by detecting the floating amount of the two follower wheels of the lawnmower or by adding a vertical linear guide rail between the solid axle and the fixed frame 21, and detecting by raising and lowering the solid axle. This simplifies the structure of the walking mechanism 10, reduces costs, and decreases the weight of the lawnmower. In contrast, the lift detection device 100 of this application embodiment has its detection mechanism located between the connecting axle 11 and the fixed frame 21, which simplifies the structure of the walking mechanism 10, reduces costs, and decreases the weight of the lawnmower. Furthermore, for the linear guide rail lift detection solution, the rotating component 22 of the lift detection device 100 of this application embodiment has a simpler structure and is easier to assemble.

[0077] In related technologies, lawnmowers use a method where the lift detection function is stacked on the front axle assembly, and the front axle is raised and lowered via four linear guide rails and a slider. This method offers good reliability for the lift detection function, but it involves a large number of parts and has high assembly costs. In addition, when the lawnmower encounters obstacles such as bumps during operation, the impact will directly affect the guide rails. Under prolonged impact conditions, the guide rails may become damaged, leading to jamming during lifting. In contrast, the lift detection device 100 of this application embodiment is rotatably connected to the fixed frame 21 via a rotating shaft 221. It has fewer parts and lower assembly costs. Furthermore, when the lawnmower is impacted, the rotation of the rotating shaft 221 can reduce the impact, thereby improving the reliability and service life of the lift detection device 100.

[0078] See Figure 5 As shown, in some embodiments, the rotation shaft 221 is arranged perpendicularly to the swing arm 222.

[0079] The rotating shaft 221 is set perpendicularly to the swing rod 222, and the swing rod 222 and the rotating shaft 221 can form an L-shaped, T-shaped or other structure.

[0080] By adopting the technical solution of this embodiment, the rotating shaft 221 is vertically connected to the swing rod 222. When the rotating shaft 221 rotates, the swing rod 222 swings a large distance away from the end of the rotating shaft 221, making it easier to be detected by the lifting detection component 23 and improving the accuracy of the lifting detection device 100. In addition, the rotating shaft 221 and the swing rod 222 are arranged vertically, which makes the structure regular and convenient for assembly and manufacturing.

[0081] In some embodiments, the fixing frame 21 is provided with a rotating hole 2101, and the rotating shaft 221 passes through the rotating hole 2101.

[0082] The fixed frame 21 is provided with a rotating hole 2101, and the rotating shaft 221 passes through the rotating hole 2101. The rotating shaft 221 and the rotating hole 2101 are in clearance fit, and the rotating shaft 221 can rotate within the rotating hole 2101.

[0083] In some examples, the fixed frame 21 is provided with two rotating holes 2101, and two rotating shafts 221 are connected to both sides of the swing rod 222. The rotating component 22 has a T-shaped structure, and the two rotating shafts 221 are respectively inserted into the two rotating holes 2101. The swing rod 222 is located between the two rotating holes 2101. The two rotating shafts 221 are supported by the two rotating holes 2101, which can improve the connection reliability between the rotating component 22 and the fixed frame 21 and improve the structural reliability of the lifting detection device 100.

[0084] By adopting the technical solution of this embodiment, the rotating shaft 221 passes through the rotating hole 2101, realizing the rotational connection between the fixed frame 21 and the rotating shaft 221. Its structure is simple and easy to assemble. The rotating shaft 221 and the rotating hole 2101 are in line contact or surface contact, so that the impact absorption point is in line contact or surface contact, rather than the point contact of the linear slide rail solution, which effectively provides the impact resistance of the lifting detection device 100 and improves the service life of the lifting detection device 100.

[0085] See Figure 6 and Figure 7 As shown, in some embodiments, the lifting detection mechanism 20 includes a first bushing 24, which is installed in the rotating hole 2101, and the rotating shaft 221 passes through the first bushing 24.

[0086] The first bushing 24 can refer to a hollow tubular component; the first bushing 24 has a circular tube structure. The first bushing 24 is installed in the rotating hole 2101, and the rotating shaft 221 passes through the first bushing 24. The first bushing 24 can separate the rotating shaft 221 from the hole wall of the rotating hole 2101.

[0087] By adopting the technical solution of this embodiment, the first bushing 24 serves as an intermediate layer between the rotating hole 2101 and the rotating shaft 221, which can transform the direct friction between the rotating hole 2101 and the rotating shaft 221 into friction between the first bushing 24 and the rotating shaft 221, and between the first bushing 24 and the hole wall of the rotating hole 2101, thereby protecting the surfaces of the rotating hole 2101 and the rotating shaft 221 and extending their service life.

[0088] In some embodiments, the connecting bridge 11 is provided with a connecting hole 1101, and the swing rod 222 passes through the connecting hole 1101.

[0089] The swing rod 222 and the connecting hole 1101 can be connected by an interference fit or a clearance fit.

[0090] By adopting the technical solution of this embodiment, the swing rod 222 is connected to the connecting bridge 11 by passing through the connecting hole 1101 of the connecting bridge 11. The connection method is simple and helps to reduce assembly costs.

[0091] In some embodiments, the lifting detection mechanism 20 includes a second bushing 25, which is installed in the connection hole 1101, and the swing rod 222 passes through the second bushing 25.

[0092] The second bushing 25 can refer to a hollow tubular component; the second bushing 25 has a circular tube structure. The second bushing 25 is installed in the connecting hole 1101, and the swing rod 222 passes through the second bushing 25. The second bushing 25 can separate the swing rod 222 from the hole wall of the connecting hole 1101.

[0093] In some examples, the number of second bushings 25 is one.

[0094] In some examples, there are two second bushings 25, which are inserted into the connection hole 1101 from both ends to better separate the swing rod 222 from the hole wall of the connection hole 1101.

[0095] By adopting the technical solution of this embodiment, the second bushing 25 serves as an intermediate layer between the connecting hole 1101 and the swing rod 222, which can transform the direct friction between the connecting hole 1101 and the swing rod 222 into friction between the second bushing 25 and the swing rod 222, and between the second bushing 25 and the hole wall of the connecting hole 1101, thereby protecting the surfaces of the connecting hole 1101 and the swing rod 222 and extending the service life of the connecting hole 1101 and the swing rod 222.

[0096] See Figure 4 and Figures 8-11 As shown, in some embodiments, the lifting detection mechanism 20 further includes a limiting mechanism 26, one end of the swing rod 222 is connected to the rotating shaft 221, the limiting mechanism 26 is fixed to the other end of the swing rod 222, and the connecting bridge 11 is located between the limiting mechanism 26 and the rotating shaft 221. The limiting mechanism 26 is used to abut against the connecting bridge 11.

[0097] The limiting mechanism 26 can refer to a component used to prevent the connecting bridge 11 from disengaging from the end of the swing arm 222 away from the rotating shaft 221.

[0098] In some examples, the limiting mechanism 26 may be an annular component fitted onto the end of the swing arm 222 away from the rotation axis 221.

[0099] In some examples, the limiting mechanism 26 may be a protrusion fixed to the end of the swing arm 222 away from the rotation axis 221 and capable of protruding out of the outer peripheral surface of the swing arm 222.

[0100] By adopting the technical solution of this embodiment, the limiting mechanism 26 abuts against the connecting bridge 11, which can prevent the connecting bridge 11 from coming off the end of the swing rod 222 away from the rotating shaft 221, thereby improving the reliability of the connection between the connecting bridge 11 and the swing rod 222.

[0101] In some embodiments, the limiting mechanism 26 has a locking protrusion 2601 and a fixing hole 2602, and the swing rod 222 passes through the fixing hole 2602; the swing rod 222 is provided with a locking groove 2221, the locking protrusion 2601 is located in the fixing hole 2602 and protrudes from the hole wall of the fixing hole 2602, and the locking protrusion 2601 is used to insert into the locking groove 2221.

[0102] The swing rod 222 passes through the fixing hole 2602 of the limiting mechanism 26, so that the limiting mechanism 26 is sleeved on the outside of the swing rod 222. The hole wall of the fixing hole 2602 protrudes to form a locking protrusion 2601, and the outer peripheral surface of the swing rod 222 is recessed to form a locking groove 2221. The locking protrusion 2601 is inserted into the locking groove 2221, which can prevent the swing rod 222 from coming out of the fixing hole 2602.

[0103] The shape of the engaging groove 2221 can be varied. For example, the engaging groove 2221 can rotate one or half a turn around the axis of the swing rod 222.

[0104] By adopting the technical solution of this embodiment, the swing rod 222 and the limiting mechanism 26 are connected by a sleeve connection. The connection between the limiting mechanism 26 and the swing rod 222 is simple and easy to assemble. The engaging protrusion 2601 is inserted into the engaging groove 2221, which can prevent the swing rod 222 from coming out of the fixing hole 2602, thereby improving the connection reliability of the limiting mechanism 26 and the swing rod 222, and can also better block the connecting bridge 11.

[0105] In some embodiments, the limiting mechanism 26 includes an upper limiting member 261 and a lower limiting member 262 connected to each other. The fixing hole 2602 includes a first fixing half-hole 2611 and a second fixing half-hole 2621. The first fixing half-hole 2611 is disposed on the upper limiting member 261, and the second fixing half-hole 2621 is disposed on the lower limiting member 262. The engaging protrusion 2601 includes a first engaging protrusion 2612 and a second engaging protrusion 2622 for insertion into the engaging groove 2221. The first engaging protrusion 2612 is disposed on the upper limiting member 261 and protrudes from the hole wall of the first fixing half-hole 2611. The second engaging protrusion 2622 is disposed on the lower limiting member 262 and protrudes from the hole wall of the second fixing half-hole 2621.

[0106] The limiting mechanism 26 includes an upper limit member 261 and a lower limit member 262. The upper limit member 261 and the lower limit member 262 are installed on the upper and lower sides of the swing rod 222 respectively. The upper limit member 261 and the lower limit member 262 can be fixedly connected by bolts, screws, snap-fit, adhesive or other means.

[0107] Both the upper limit member 261 and the lower limit member 262 have a semi-circular structure. The semi-circular hole formed by the upper limit member 261 is the first fixing half-hole 2611, and the semi-circular hole formed by the lower limit member 262 is the second fixing half-hole 2621. The upper limit member 261 and the lower limit member 262 are located on the upper and lower sides of the swing rod 222. The first fixing half-hole 2611 and the second fixing half-hole 2621 form a fixing hole 2602, and the swing rod 222 passes through the fixing hole 2602. The hole wall of the first fixing half-hole 2611 protrudes to form a first engaging protrusion 2612, and the hole wall of the second fixing half-hole 2621 protrudes to form a second engaging protrusion 2622. Both the first engaging protrusion 2612 and the second engaging protrusion 2622 can be inserted into the engaging groove 2221 to prevent the swing rod 222 from falling out of the fixing hole 2602.

[0108] By adopting the technical solution of this embodiment, the limiting mechanism 26 can be installed from the upper and lower sides of the swing rod 222 respectively through the upper limiting member 261 and the lower limiting member 262, so as to facilitate the insertion of the first locking protrusion 2612 and the second locking protrusion 2622 into the locking groove 2221. The assembly operation of the limiting mechanism 26 and the swing rod 222 is simple and helps to reduce the assembly cost.

[0109] In some embodiments, the first engaging protrusion 2612 is used to abut against the bottom surface of the engaging groove 2221, and an assembly gap 2603 can be formed between the second engaging protrusion 2622 and the bottom surface of the engaging groove 2221.

[0110] The bottom surface of the engagement groove 2221 can refer to the groove wall surface opposite to the groove opening of the engagement groove 2221. When the lawnmower is parked on the ground, the first engagement protrusion 2612 abuts against the upper part of the bottom surface of the engagement groove 2221, and the second engagement protrusion 2622 is spaced apart from the lower part of the bottom surface of the engagement groove 2221 to form an assembly gap 2603.

[0111] In some examples, the upper and lower parts of the bottom surface of the engaging groove 2221 are provided with first limiting planes 2223, and the end face of the first engaging protrusion 2612 is provided with a second limiting plane 2615. By using the second limiting plane 2615 to abut against the upper first limiting plane 2223, the rotation of the swing rod 222 within the fixing hole 2602 can be restricted, thus achieving a better positioning effect. In addition, the area between the lower first limiting plane 2223 and the second engaging protrusion 2622... The large assembly gap 2603 provides more assembly space for the assembly of the upper limit member 261 and the lower limit member 262 with the swing rod 222, which helps to reduce the assembly accuracy between the upper limit member 261 and the lower limit member 262 and the swing rod 222, reduce the assembly difficulty, and reduce the assembly cost and manufacturing cost. In addition, the second locking protrusion 2622 can not abut against the bottom surface of the locking groove 2221, which can also reduce the risk of over-limiting between the limiting mechanism 26 and the swing rod 222.

[0112] By adopting the technical solution of this embodiment, the assembly gap 2603 can provide a larger assembly space for the assembly between the upper limit member 261 and the lower limit member 262 and the swing rod 222, which is beneficial to reduce the assembly accuracy between the upper limit member 261 and the lower limit member 262 and the swing rod 222, reduce the assembly difficulty, and reduce the assembly cost and manufacturing cost; the second locking protrusion 2622 can not abut against the bottom surface of the locking groove 2221, which can also reduce the risk of over-limiting between the limiting mechanism 26 and the swing rod 222.

[0113] See Figure 4 As shown, in some embodiments, the fixed frame 21 includes an upper frame 211 and a lower frame 212, which are connected to form a swing space 2102. The swing rod 222 is located in the swing space 2102 and can swing up and down in the swing space 2102.

[0114] After the upper frame 211 and the lower frame 212 are connected vertically, a swing space 2102 is formed between them. This swing space 2102 can accommodate the middle part of the connecting bridge 11 and also provides space for the downward swing of the connecting bridge 11. The upper frame 211 and the lower frame 212 can be fixedly connected by bolts, screws, snap-fit, adhesive, or other methods.

[0115] By adopting the technical solution of this embodiment, the upper frame 211 and the lower frame 212 can be installed from the upper and lower sides of the connecting bridge 11, which facilitates the assembly of the connecting bridge 11 and the fixing frame 21. The assembly operation of the connecting bridge 11 and the fixing frame 21 is simple and helps to reduce assembly costs.

[0116] In some embodiments, after the upper frame 211 and the lower frame 212 are connected, a rotating hole 2101 is formed. This allows the upper frame 211 and the lower frame 212 to be connected from the upper and lower sides of the connecting bridge 11 after the swing rod 222 passes through the connecting bridge 11. This enables the assembly of the connecting bridge 11 and the fixed frame 21, as well as the assembly of the fixed frame 21 and the rotating component 22. The assembly operation is simple and helps to reduce assembly costs.

[0117] In some embodiments, the lifting detection mechanism 20 further includes an elastic element 27 disposed between the upper limit member 261 and the lower frame 212.

[0118] The elastic element 27 is an elastic component, which can be a spring, an elastic block, or other similar component.

[0119] The elastic element 27 is located between the upper limit member 261 and the lower frame 212. When the traveling wheel 12 is lifted, the swing rod 222 swings downward, and the swing rod 222 drives the upper limit member 261 to move downward, thereby compressing the elastic element 27. When the traveling wheel 12 is parked on the ground, the elastic element 27, under the action of its own elastic restoring force, gives the swing rod 222 an upward swinging force to facilitate the reset of the swing rod 222.

[0120] In some examples, the upper limit member 261 has an abutment protrusion 2613 on the side facing away from the rotation shaft 221. The abutment protrusion 2613 protrudes from the end face of the swing rod 222 away from the rotation shaft 221. The elastic member 27 is located between the abutment protrusion 2613 and the lower frame 212. The elastic member 27 is located on the side of the swing rod 222 facing away from the rotation shaft 221, which can reduce the risk of interference between the swing rod 222 and the elastic member 27.

[0121] In some examples, the elastic element 27 is a spring, the abutment protrusion 2613 is provided with a first fixed protrusion 2614, the lower frame 212 is provided with a second fixed protrusion 2121, one end of the spring is sleeved on the first fixed protrusion 2614, and the other end of the spring is sleeved on the second fixed protrusion 2121, thereby fixing the spring. Its structure is simple, the assembly operation is convenient, and it is beneficial to reduce costs.

[0122] By adopting the technical solution of this embodiment, the elastic element 27 can buffer the up and down swing of the swing rod 222. In addition, the elastic element 27 can absorb the impact, thereby improving the reliability and service life of the rotating element 22.

[0123] In some embodiments, the swing arm 222 has a stepped surface 2222, which is located between the rotating shaft 221 and the connecting bridge 11, and the connecting bridge 11 is used to abut against the stepped surface 2222.

[0124] Step surface 2222 refers to a surface on the swing rod 222 that has different diameters or shapes, thus forming a step-like structure.

[0125] For example, one end of the swing rod 222 is a cylindrical structure, and the other end is a rectangular structure. The connection between the rectangular structure and the cylindrical structure forms a stepped surface 2222. The end face of the rectangular structure protrudes from the outer circumference of the cylindrical structure, thus forming the stepped surface 2222. There are two rotating shafts 221, which are respectively connected to opposite sides of the rectangular structure, so that the rotating shafts 221 form a T-shaped structure.

[0126] The connecting bridge 11 abuts against the step surface 2222. The connecting bridge 11 and the step surface 2222 can abut directly against each other. The connecting bridge 11 can also abut against the step surface 2222 through the second bushing 25.

[0127] By adopting the technical solution of this embodiment, the connecting bridge 11 abuts against the step surface 2222, which can limit the movement of the connecting bridge 11 along the axial direction of the swing rod 222 and improve the stability of the connection between the connecting bridge 11 and the swing rod 222.

[0128] In some embodiments, the detection component 23 includes a trigger 231 and a detection component 232. The trigger 231 is mounted on the limiting mechanism 26, and the detection component 232 is mounted on the fixing frame 21. The trigger 231 is used to trigger the detection component 232 when the walking wheel 12 is lifted.

[0129] The trigger element 231 can refer to a component that can trigger the detection element 232 to output a lift signal. The detection element 232 is used in conjunction with the trigger element 231.

[0130] In some examples, the trigger 231 can be a magnet, and the detection element 232 can be a Hall sensor. When the wheel 12 is lifted, the magnet moves away from the Hall sensor, changing the magnetic field distribution around the Hall sensor. The Hall sensor generates a Hall voltage under the influence of the magnetic field, and the position and distance changes of the magnetic object are determined by detecting the change in the Hall voltage.

[0131] In some examples, the trigger 231 and the detector 232 use principles such as capacitance or inductance to detect changes in the distance between the limiting mechanism 26 and the fixing frame 21.

[0132] The trigger 231 is fixed to the limiting mechanism 26. The trigger 231 can be installed on the upper limit member 261 or the lower limit member 262.

[0133] The test piece 232 is installed on the fixed frame 21. The test piece 232 can be installed on the upper frame 211 and the lower frame 212.

[0134] The number of detection elements 232 can be one or more. If there are multiple detection elements 232, they can be installed in different positions. The trigger element 231 can trigger the detection elements 232 in different positions to improve the accuracy of the lift detection.

[0135] For example, there are two detection elements 232. The trigger element 231 is installed on the upper limit member 261. The trigger element 231 is located between the upper frame 211 and the upper limit member 261. The upper frame 211 covers the trigger element 231, which can reduce the damage to the trigger element 231. One detection element 232 is installed on the upper side of the upper frame 211 and is set opposite to the trigger element 231. The other detection element 232 is installed on the left side of the upper frame 211 and is set opposite to the trigger element 231. The detection element 232 and the trigger element 231 are set opposite to each other, which helps to reduce the distance between the trigger element 231 and the detection element 232. The trigger element 231 can trigger the detection element 232 in time.

[0136] By adopting the technical solution of this embodiment, the limiting mechanism 26 is located at the end of the swing rod 222 facing away from the rotating shaft 221. When the walking wheel 12 is lifted, the downward movement distance of the limiting mechanism 26 is large, making it easier for the trigger 231 to trigger the detection element 232, which is beneficial to improving the accuracy of detection.

[0137] In some embodiments, the two wheels 12 are coaxially arranged with the rotating shaft 221.

[0138] The axes of the two traveling wheels 12 are collinear with the axis of the rotating shaft 221.

[0139] By adopting the technical solution of this embodiment, the two walking wheels 12 are coaxially arranged with the rotating shaft 221, which can reduce the generation of torque and improve the reliability and service life of the lifting detection device 100.

[0140] In some embodiments, the middle part of the connecting bridge 11 is recessed downward to form a recess 111, and the recess 111 is connected to the swing rod 222.

[0141] In some examples, the recess 111 has a U-shaped structure; in other examples, the recess 111 may be trapezoidal or the like.

[0142] By adopting the technical solution of this embodiment, the middle part of the connecting bridge 11 is recessed to form a recessed part 111, which is connected to the swing arm 222, thereby reducing the installation height of the swing arm 222 and the fixing frame 21, thus making full use of the bottom space of the lawnmower and improving the structural compactness.

[0143] See Figure 2As shown, in some embodiments, the walking mechanism 10 further includes two steering drive components 13, which are respectively installed at both ends of the connecting bridge 11. The two steering drive components 13 are respectively connected to two walking wheels 12 and are used to drive the corresponding walking wheels 12 to turn. The rotation axis of the output end of the steering drive component 13 passes through the center point of the corresponding walking wheel 12.

[0144] The steering drive assembly 13 can refer to the part that drives the walking wheels 12 to turn, and it is also the power component for steering the lawnmower.

[0145] In some examples, the steering drive assembly 13 is directly a servo motor 131, and the output shaft of the servo motor 131 directly drives the walking wheel 12 to turn. The axis of the output shaft of the servo motor 131 is the rotation axis of the output end of the steering drive assembly 13.

[0146] In some examples, the steering drive assembly 13 includes a servo motor 131 and a gear transmission mechanism 132. The output shaft of the servo motor 131 is connected to the travel wheel 12 through the gear transmission mechanism 132. The driven wheel 1321 of the gear transmission mechanism 132 is the output end of the steering drive assembly 13. The driven wheel 1321 is the final output component of the entire transmission process. The axis of the driven wheel 1321 is the rotation axis of the output end of the steering drive assembly 13.

[0147] In some examples, the connecting bridge 11 has mounting boxes 112 at both ends, and the steering drive assembly 13 is installed inside the mounting box 112. The mounting box 112 protects the steering drive assembly 13. A connecting rod 14 is provided on the lower side of the mounting box 112. The upper end of the connecting rod 14 is connected to the gear shaft 1322 of the driven wheel 1321, and the lower end of the connecting rod 14 is connected to the travel wheel 12, so as to install the travel wheel 12 on the lower side of the mounting box 112. The gear shaft 1322 of the driven wheel 1321 can be installed in the mounting box 112 via a bearing 15.

[0148] In some examples, the mounting box 112 includes a box body 1121 and a top cover 1122, with the steering drive assembly 13 mounted inside the box body 1121 and the top cover 1122 covering the opening of the box body 1121.

[0149] In some examples, the lower end of the connecting rod 14 is connected to the axle of the traveling wheel 12 via a pressure plate 16.

[0150] The center point of the traveling wheel 12 can be the intersection of the axis of the traveling wheel 12 and the bisecting plane of the traveling wheel 12 in its width direction.

[0151] By adopting the technical solution of this embodiment, the rotation axis of the output end of the steering drive assembly 13 passes through the center point of the corresponding walking wheel 12, which can reduce the generation of torque and improve the reliability and service life of the lifting detection device 100.

[0152] In some embodiments, a lawnmower is provided, including the aforementioned lift detection device 100.

[0153] By adopting the technical solution of this embodiment, the lawnmower can use the above-mentioned lifting detection device 100 to realize the lifting detection of the lawnmower. Moreover, the lifting detection device 100 has low manufacturing cost and long service life, which is conducive to reducing the cost of the lawnmower and increasing its service life.

[0154] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A lift-off detection device, characterized by include: The walking mechanism includes a connecting bridge and two walking wheels, with the two walking wheels respectively connected to both ends of the connecting bridge; The two wheels are equipped with power components for driving the corresponding wheels to rotate; The lifting detection mechanism includes a fixed frame, a rotating component, and a detection assembly. The rotating component includes a rotating shaft and a swing rod. The swing rod is intersected and connected to the rotating shaft. The rotating shaft is rotatably connected to the fixed frame. The rotating shaft can rotate around its own axis. The swing rod is connected to the connecting bridge. The detection assembly is used to detect the swing of the swing rod.

2. The lift-off detection apparatus of claim 1, wherein: The rotation axis is perpendicular to the swing arm.

3. The lift-off detection apparatus of claim 2, wherein: The fixed frame is provided with a rotating hole, and the rotating shaft passes through the rotating hole.

4. The lift-off detection apparatus according to any one of claims 1 to 3, characterized in that: The connecting bridge is provided with a connecting hole, and the swing rod passes through the connecting hole.

5. The lift-off detection apparatus of claim 4, wherein: The lifting detection mechanism further includes a limiting mechanism. One end of the swing rod is connected to the rotating shaft, and the limiting mechanism is fixed to the other end of the swing rod. The connecting bridge is located between the limiting mechanism and the rotating shaft, and the limiting mechanism is used to abut against the connecting bridge.

6. The lifting detection device according to claim 5, characterized in that: The limiting mechanism has a locking protrusion and a fixing hole, and the swing rod passes through the fixing hole; the swing rod has a locking groove, the locking protrusion is located in the fixing hole and protrudes from the hole wall of the fixing hole, and the locking protrusion is used to insert into the locking groove.

7. The lift-off detection apparatus of claim 6, wherein: The limiting mechanism includes an upper limiting member and a lower limiting member connected to each other, and the fixing hole includes a first fixing half hole and a second fixing half hole, the first fixing half hole being disposed on the upper limiting member and the second fixing half hole being disposed on the lower limiting member; The engaging protrusion includes a first engaging protrusion and a second engaging protrusion for insertion into the engaging groove. The first engaging protrusion is located on the upper limit member and protrudes from the wall of the first fixing half hole, and the second engaging protrusion is located on the lower limit member and protrudes from the wall of the second fixing half hole.

8. The lift-off detection apparatus of claim 7, wherein: The first engagement protrusion abuts against the bottom surface of the engagement groove, and an assembly gap can be formed between the second engagement protrusion and the bottom surface of the engagement groove.

9. The lift-off detection apparatus of claim 7, wherein: The fixed frame includes an upper frame and a lower frame, which are connected to form a swing space. The swing rod is located in the swing space and can swing up and down in the swing space.

10. The lift-off detection apparatus of claim 9, wherein: The lifting detection mechanism also includes an elastic element, which is disposed between the upper limit member and the lower frame.

11. The lift-off detection apparatus of claim 5, wherein: The swing arm has a stepped surface located between the rotating shaft and the connecting bridge, and the connecting bridge is used to abut against the stepped surface.

12. The lift-off detection apparatus of claim 5, wherein: The detection component includes a trigger and a detection element. The trigger is mounted on the limiting mechanism, and the detection element is mounted on the fixed frame. The trigger is used to activate the detection element when the walking wheel is lifted.

13. The lift-off detection apparatus according to any one of claims 1 to 3, characterized in that: The two wheels are coaxially arranged with the rotating shaft.

14. The lift-off detection apparatus according to any one of claims 1 to 3, characterized in that: The middle part of the connecting bridge is recessed downward to form a recessed portion, which is connected to the swing rod.

15. The lifting detection device according to any one of claims 1 to 3, characterized in that: The walking mechanism also includes two steering drive components, which are respectively installed at both ends of the connecting bridge. The two steering drive components are respectively connected to the two walking wheels and are used to drive the corresponding walking wheels to turn. The rotation axis of the output end of the steering drive component passes through the center point of the corresponding walking wheel.

16. A lawnmower characterised by: The lifting detection device includes any one of claims 1 to 15.

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