Mobile wheel arrangement and lawnmower

Abstract

The application provides a mobile wheel device and a mower. The mobile wheel device comprises: a rotating wheel mechanism having a first central axis in a vertical direction; a steering mechanism for driving the rotating wheel mechanism to steer, having a second central axis in the vertical direction; an adjusting mechanism arranged between the rotating wheel mechanism and the steering mechanism, the adjusting mechanism being connected to the steering mechanism and the rotating wheel mechanism, and the adjusting mechanism being used for adjusting the relative position between the rotating wheel mechanism and the steering mechanism, so that the first central axis coincides with the second central axis or is spaced apart by a preset distance; wherein when the adjusting mechanism adjusts the first central axis to coincide with the second central axis, the rotating wheel mechanism is in a first working mode, in the first working mode, the rotating wheel mechanism rotates around its wheel shaft; when the adjusting mechanism adjusts the first central axis to be spaced apart from the second central axis by the preset distance, the rotating wheel mechanism is in a second working mode, in the second working mode, the rotating wheel mechanism is used for rotating around its wheel shaft and oscillating around the second central axis.

Description

Technical Field

[0001] This application relates to the technical field of lawn mowing equipment, and particularly to a moving wheel device and a lawn mower. Background Technology

[0002] Lawn mowers typically use multiple wheels for support and movement on the ground, allowing them to move across grass and mow the area. When a lawn mower malfunctions and cannot move on its own, it usually requires external force to push or pull it to a designated location for repairs. During this process, the steering mechanism for the wheels may fail to function, making it difficult for the wheels to turn in response to changes in thrust or traction, thus hindering the mower's movement. Utility Model Content

[0003] In view of the above, it is necessary to provide a moving wheel device and a lawnmower to solve the above-mentioned defects.

[0004] In a first aspect, this application provides a movable wheel device, comprising: a rotating wheel mechanism having a first central axis in a vertical direction; a steering mechanism for driving the rotating wheel mechanism to turn, having a second central axis in a vertical direction; and an adjusting mechanism disposed between the rotating wheel mechanism and the steering mechanism, the adjusting mechanism being connected to the steering mechanism and the rotating wheel mechanism, the adjusting mechanism being used to adjust the relative position between the rotating wheel mechanism and the steering mechanism so that the first central axis and the second central axis coincide or are spaced apart by a preset distance; wherein, when the adjusting mechanism adjusts the first central axis and the second central axis to coincide, the rotating wheel mechanism is in a first working mode, in which the rotating wheel mechanism rotates around its axle; when the adjusting mechanism adjusts the first central axis and the second central axis to be spaced apart by a preset distance, the rotating wheel mechanism is in a second working mode, in which the rotating wheel mechanism is used to rotate around its axle and deflect the second central axis.

[0005] Optionally, the steering mechanism includes: a connecting seat for connecting to the main body of the lawnmower; a first motor, which is vertically mounted on the connecting seat, and the output shaft of the first motor is connected to the adjustment mechanism to drive the adjustment mechanism and the rotating wheel mechanism to rotate, and a second central axis is formed on the output shaft of the first motor.

[0006] Optionally, the adjustment mechanism includes: a first seat, a steering mechanism disposed on and connected to the first seat; a second seat, a rotating wheel mechanism connected to the second seat; a displacement component disposed between the first seat and the second seat, and connected to the connection between the first seat and the second seat; and a drive component, which is connected to the displacement component for driving the displacement component to move, thereby moving the second seat to a position directly below the first seat, or at a predetermined distance from the first seat in the vertical direction.

[0007] Optionally, the displacement assembly includes: a first parallel link, one end of which is rotatably connected to a first base and the other end of which is rotatably connected to a second base; a second parallel link, which is parallel to and spaced apart from the first parallel link, one end of which is rotatably connected to the first base and the other end of which is rotatably connected to the second base; wherein, the drive assembly is drivenly connected to the first parallel link and is used to drive the first and second parallel links to move, so that the second base moves relative to the first base.

[0008] Optionally, the drive assembly includes: a lead screw, disposed on the first base, one end of the lead screw passing through the side wall of the first base, and the other end of the lead screw extending to the first parallel connecting rod; a sliding nut, disposed on the lead screw and threadedly connected thereto, the sliding nut being connected to the first parallel connecting rod; and an adjusting member, disposed at the end of the lead screw passing through the side wall of the first base, for rotating the lead screw.

[0009] Optionally, a sliding groove is constructed on both sides of the first parallel connecting rod, and a guide post is provided on both sides of the sliding nut. The guide post is located in the sliding groove, and the sliding nut is used to slide in the sliding groove under the drive of the adjusting member.

[0010] Optionally, the rotating wheel mechanism includes: a rotating wheel, with a first central axis formed on the rotating wheel; a second motor disposed inside the rotating wheel, with the output shaft of the second motor located on the outside of the rotating wheel; and a connecting bracket connected to the output shaft of the second motor and the adjusting mechanism.

[0011] Optionally, the first housing includes: a main body; and a connecting part disposed on the main body, the connecting part being fixedly connected to the output shaft of the first motor.

[0012] Optionally, the connecting part is arranged in a disc shape, and the output shaft of the first motor is arranged in a disc shape and adapted to the connecting part.

[0013] Secondly, this application provides a lawnmower, including a main body and a moving wheel device as described above, the moving wheel device being connected to the main body.

[0014] With the movable wheel device and lawnmower provided in this application, when the lawnmower malfunctions and cannot move autonomously, personnel can first operate the adjustment mechanism of at least part of the movable wheel device. By adjusting the operation of the adjustment mechanism, the relative position of the rotating wheel mechanism and the steering mechanism is adjusted so that the distance between the first central axis and the second central axis is preset, thereby switching the rotating wheel mechanism from the first working mode to the second working mode. Then, personnel can pull or push the lawnmower to move.

[0015] Since the rotating wheel mechanism is in the second working mode at this time, the first central axis D1 and the second central axis D2 are spaced apart, increasing the eccentricity of the rotating wheel mechanism. This allows the rotating wheel mechanism to oscillate around the second central axis according to the direction in which the person pushes or pulls the lawnmower, so that the rotating wheel mechanism can be oriented in a direction that matches the force applied by the person to the lawnmower. Compared with the case where the eccentricity of the rotating wheel mechanism is 0 when it is in the first working mode, the increased eccentricity of the rotating wheel mechanism reduces the resistance of the rotating wheel mechanism oscillating around the second central axis, improves the smoothness of the oscillation, and thus reduces the occurrence of situations where the lawnmower cannot be turned by the force applied by the person when it malfunctions. This improves the convenience for the person to push or pull the lawnmower when it malfunctions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a lawnmower in an embodiment of this application.

[0017] Figure 2 This is a first structural schematic diagram of the movable wheel device in the embodiment of this application when the rotating wheel mechanism is in the first working mode.

[0018] Figure 3 yes Figure 2 Front view of the moving wheel assembly.

[0019] Figure 4 This is a front view of the movable wheel device in the embodiment of this application when the rotating wheel mechanism is in the second working mode.

[0020] Figure 5 yes Figure 4 A schematic diagram of the moving wheel device.

[0021] Figure 6 This is a first structural disassembly diagram of the movable wheel device in the embodiment of this application when the rotating wheel mechanism is in the first working mode.

[0022] Figure 7 This is a disassembled diagram of the second structure of the movable wheel device in the embodiment of this application when the rotating wheel mechanism is in the first working mode.

[0023] Figure 8 This is a second structural schematic diagram of the movable wheel device in the embodiment of this application when the rotating wheel mechanism is in the first working mode.

[0024] Figure 9 This is a structural disassembly diagram of the adjustment structure in the embodiments of this application.

[0025] Explanation of key component symbols: 100. Lawn mower; 101. Main body; 102. Moving wheel device; 10. Rotating wheel mechanism; 11. Rotating wheel; 12. Second motor; 13. Connecting bracket; 20. Steering mechanism; 21. Connecting seat; 211. First storage slot; 212. Through hole; 22. First motor; 30. Adjustment mechanism; 31. First seat; 311. Main body; 3111. Clearance opening; 312. Connecting part; 3121. Second storage slot; 313. Extension part; 32. Second seat; 33. Displacement component; 331. First parallel connecting rod; 3311. Slide groove; 332. Second parallel connecting rod; 34. Drive component; 341. Lead screw; 342. Sliding nut; 3421. Guide column; 343. Adjusting component; D1. First central axis; D2. Second central axis. Detailed Implementation

[0026] 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 a part of the embodiments of this application, and not all of the embodiments.

[0027] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0028] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] Please see Figure 1 , Figure 1 An embodiment of the present application provides a lawnmower 100. The lawnmower 100 can travel on grass and, while traveling, performs mowing operations on the area covered by the lawnmower 100 and / or the area around the lawnmower 100, thereby trimming the vegetation on the grass.

[0030] In one embodiment, the lawnmower 100 may include a main body 101 and a wheel assembly 102.

[0031] The main body 101 may include a housing and a frame (not shown). The frame can provide mounting and support for the components of the lawnmower 100. At least some of the components of the lawnmower 100 other than the main body 101 can be fixedly mounted on the frame. The housing can cover the frame and house at least some of the components of the lawnmower 100 within the housing to protect each component.

[0032] The movable wheel device 102 can partially enter the main body 101 and can be fixedly connected to the main body 101. The movable wheel device 102 can be supported on the ground, allowing the main body 101 to be separated from the ground. The operation of the movable wheel device 102 can move the main body 101 on the ground, thereby enabling the lawnmower 100 to travel on the ground.

[0033] It is understood that the lawnmower 100 may also include a cutting device (not shown in the figure). The cutting device may be located on the outside of the main body 101. During the movement of the main body 101, the cutting device can cut the vegetation on the ground, thereby realizing the lawnmower 100's mowing operation.

[0034] Please refer to the following: Figure 2 and Figure 3 , Figure 2 and Figure 3 An embodiment of the present application provides a moving wheel device 102.

[0035] In embodiments of this application, the length direction, width direction, and height direction of the movable wheel device 102 can be defined as a first horizontal direction, a second horizontal direction, and a vertical direction, respectively. For example, the first horizontal direction can be... Figure 2 and Figure 3 The X direction and its opposite direction are shown; the second horizontal direction can be... Figure 2 and Figure 3 The Y-direction and its opposite direction are shown; the vertical direction can be... Figures 1 to 3 The Z direction and its opposite direction are shown.

[0036] In some embodiments, the moving wheel device 102 may include a rotating wheel mechanism 10, a steering mechanism 20, and an adjustment mechanism 30.

[0037] The rotating wheel mechanism 10 may have a first central axis D1, which is arranged vertically. The rotating wheel mechanism 10 may abut against the ground. The rotating wheel mechanism 10 may be supported on the ground. The rotating wheel mechanism 10 may rotate around its axle, thereby enabling the lawnmower 100 to move on the ground.

[0038] The steering mechanism 20 can be located above the rotating wheel mechanism 10 and fixedly connected to the main body 101, thereby connecting the moving wheel device 102 to the main body 101. The steering mechanism 20 can be connected to the rotating wheel mechanism 10 via the adjusting mechanism 30. The steering mechanism 20 can have a second central axis D2, which is arranged vertically. The operation of the steering mechanism 20 can drive the rotating wheel mechanism 10 to rotate around the second central axis D2, thereby achieving the steering of the rotating wheel mechanism 10.

[0039] The adjusting mechanism 30 can be located between the steering mechanism 20 and the rotating wheel mechanism 10, and the top of the adjusting mechanism 30 can be fixedly connected to the steering mechanism 20, and the bottom can be fixedly connected to the rotating wheel mechanism 10. The adjusting mechanism 30 can adjust the relative position between the rotating wheel mechanism 10 and the steering mechanism 20, so that the first central axis D1 coincides with the second central axis D2 or is spaced apart by a preset axial distance.

[0040] Please refer to the following: Figure 4 and Figure 5 In the embodiments of this application, the rotating wheel mechanism 10 may have a first working mode and a second working mode.

[0041] like Figure 3 As shown, when the first central axis D1 coincides with the second central axis D2, the rotating wheel mechanism 10 is in the first working mode, and at this time, the steering mechanism 20 is located directly above the rotating wheel mechanism 10. When the rotating wheel mechanism 10 starts working, in the first working mode, the rotating wheel mechanism 10 can rotate around its axle; at the same time, the steering mechanism 20 can work and can drive the adjusting mechanism 30 and the rotating wheel mechanism 10 to rotate synchronously around the second central axis D2 and the first central axis D1.

[0042] like Figure 4 and Figure 5 As shown, when the first central axis D1 and the second central axis D2 are spaced apart by a preset axial distance, the rotating wheel mechanism 10 is in the second working mode. At this time, the rotating steering mechanism 20 deviates from the rotating wheel mechanism 10 in a direction perpendicular to the vertical direction. When the rotating wheel mechanism 10 cannot start working, the adjustment structure can adjust the rotating wheel mechanism 10 from the first working mode to the second working mode. At this time, the rotating wheel mechanism 10 can rotate around its wheel axle and can oscillate around the first central axis D1.

[0043] It can be understood that the centroid of the cross-section of the rotating wheel mechanism 10 can be located on the first central axis D1. Therefore, the distance between the first central axis D1 and the second central axis D2 on the steering mechanism 20 used to steer the rotating wheel mechanism 10 can indicate the eccentricity of the rotating wheel mechanism 10. When the rotating wheel mechanism 10 is in the second working mode, the preset axial distance between the first central axis D1 and the second central axis D2 is the eccentricity of the rotating wheel mechanism 10 in the second working mode.

[0044] When the lawnmower 100 is operating normally and mowing the grass, the rotating wheel mechanism 10 is in its first working mode. At this time, the steering mechanism 20 can turn the rotating wheel mechanism 10, changing its orientation. The rotating wheel mechanism 10 then moves the lawnmower 100 along its orientation. Simultaneously, the first central axis D1 coincides with the second central axis D2, and the eccentricity of the rotating wheel mechanism 10 is zero. This reduces the swaying that occurs when the rotating wheel mechanism 10 is not being turned by the steering mechanism 20, allowing it to continuously maintain its orientation in the direction adjusted by the steering mechanism 20. This enables the lawnmower 100 to travel and mow the grass according to a preset route.

[0045] When the lawnmower 100 malfunctions, neither the rotating wheel mechanism 10 nor the steering mechanism 20 can start working. However, at this time, the axles inside the steering mechanism 20 and the rotating wheel mechanism 10 can rotate under the action of external force. Personnel can push or pull the lawnmower 100 to make the rotating wheel mechanism 10 rotate around the axle, thereby allowing the lawnmower 100 to travel on the ground under the action of external force, thus moving the lawnmower 100 to the designated location for maintenance. At this time, by adjusting the adjustment mechanism 30, the rotating wheel mechanism 10 can be put into the second working mode, so that the first central axis D1 and the second central axis D2 are spaced apart, increasing the eccentricity of the rotating wheel mechanism 10. This allows the rotating wheel mechanism 10 to swing around the second central axis D2 according to the direction in which the person pushes or pulls the lawnmower 100, so that the rotating wheel mechanism 10 can be oriented in a direction that matches the force applied by the person to the lawnmower 100. Compared with the case where the eccentricity of the rotating wheel mechanism 10 is 0, the increase in the eccentricity of the rotating wheel mechanism 10 can reduce the resistance of the rotating wheel mechanism 10 swinging around the second central axis D2, improve the smoothness of the swinging of the rotating wheel mechanism 10, thereby reducing the occurrence of the lawnmower 100 being unable to turn due to the force applied by the person when it malfunctions, and improving the convenience for the person to push or pull the lawnmower 100 when it malfunctions.

[0046] It is understood that the lawnmower 100 may include multiple moving wheel devices 102, which may be spaced apart at the bottom of the main body 101. When the lawnmower 100 malfunctions and a person needs to manually push or pull it, the person can adjust the adjustment mechanism 30 in some of the moving wheel devices 102 to switch the corresponding rotating wheel mechanism 10 to the second working mode; or, the person can adjust the adjustment mechanism 30 in all the moving wheel devices 102 to switch all the rotating wheel mechanisms 10 to the second working mode. The embodiments of this application do not limit this.

[0047] It is understood that the verticality of the preset axis spacing can be adaptively adjusted according to the size specifications of the moving wheel device 102. In the embodiments of this application, the value of the preset axis spacing is not specifically limited.

[0048] In the embodiments of this application, the fixing method during fixed connection and fixed installation is not specifically limited. For example, the fixing method may include, but is not limited to, screw fixing, bolt fixing, welding fixing, integral molding fixing, and interference fixing.

[0049] Please refer to the following: Figure 6 and Figure 7 In some embodiments, the steering mechanism 20 may include a connecting seat 21 and a first motor 22. The connecting seat 21 may be fixedly connected to the bottom of the main body 101. The body of the first motor 22 may be vertically mounted on the connecting seat 21 and fixedly connected to the connecting seat 21. The output shaft of the first motor 22 may extend vertically out of the bottom of the body. The second central axis D2 may be formed on the output shaft of the first motor 22. The output shaft of the first motor 22 may be fixedly connected to the adjustment mechanism 30.

[0050] When the first motor 22 is working, it can drive the adjustment mechanism 30 and the rotating wheel mechanism 10 connected to the adjustment mechanism 30 to rotate around the second central axis D2, thereby adjusting the orientation of the rotating wheel mechanism 10 and enabling the lawnmower 100 to turn while in motion.

[0051] It is understood that a first storage slot 211 and a through hole 212 can be provided on the connecting base 21. The first storage slot 211 can be located on the top of the connecting base 21 and can accommodate the body of the first motor 22. The output shaft of the first motor 22 can pass through the through hole 212 in a vertical direction and be connected to the adjustment mechanism 30.

[0052] It is understandable that the rotation angle of the output shaft of the first motor 22 can be equal to the rotation angle of the rotating wheel mechanism 10. When the output shaft of the first motor 22 rotates 360 degrees, the output shaft of the first motor 22 can return to the zero point of rotation, at which time the rotation angle of the rotating wheel mechanism 10 can return to 0 degrees.

[0053] Please refer to the following: Figure 8 In some embodiments, the rotating wheel mechanism 10 may include a rotating wheel 11, a second motor 12, and a connecting bracket 13.

[0054] When the rotation angle of the rotating wheel mechanism 10 is 0 degrees, the axis of the rotating wheel 11 can coincide with the second horizontal direction. The first central axis D1 can be formed on the rotating wheel 11, and the centroid of the cross-section of the rotating wheel 11 can be located on the first central axis D1. The outer periphery of the rotating wheel 11 can abut against the ground, and the rotation of the rotating wheel 11 can realize the rolling of the rotating wheel 11 on the ground, thereby moving the lawnmower 100 on the ground.

[0055] The second motor 12 can be housed inside the rotating wheel 11. The body of the second motor 12 can be fixedly connected to the rotating wheel 11, and the output shaft of the second motor 12 can extend out to one side of the rotating wheel 11, thus being located on the outside of the rotating wheel 11. The output shaft of the second motor 12 can form the axle of the rotating wheel mechanism 10.

[0056] The connecting bracket 13 extends from one side of the rotating wheel 11 to the bottom of the adjusting mechanism 30. One side of the bottom of the connecting bracket 13 is fixedly connected to the output shaft of the second motor 12. When the second motor 12 is working, the output shaft of the second motor 12 and the machine body can rotate relative to each other, thereby allowing the machine body of the second motor 12 and the rotating wheel 11 to rotate synchronously, realizing the rolling of the rotating wheel 11 on the ground and the movement of the lawnmower 100. The top of the connecting bracket 13 can be fixedly connected to the adjusting mechanism 30.

[0057] It is understood that the rotating wheel 11 may include a tire and a hub. The second motor 12 may be a hub motor and may be fixedly mounted on the inside of the hub. The tire may be wrapped around the outside of the hub and fixedly connected to the hub. The tire may be a tubeless tire or an inflatable tire, and the tire may be made of a flexible material. When the bottom of the tire contacts the ground, under the gravity of the lawnmower 100, the bottom of the tire may compress and deform. As the tire rotates, the position originally located at the bottom of the tire may separate from the ground and return to its original shape under the support of its own elasticity and / or the air filling the tire, while the position moved to the bottom of the tire continues to compress and deform.

[0058] Meanwhile, when the lawnmower 100 is traveling on the grass, there may be uneven areas on the grass. With the support of its own elasticity and / or internal air, the tire can increase or decrease the degree of compression deformation when it comes into contact with the uneven area, depending on the distance of the convex or concave part of the area. This can reduce the shaking of the lawnmower 100 when it travels over uneven areas and improve the stability of the lawnmower 100 when it travels on the grass.

[0059] Please refer to the following: Figure 9In some embodiments, the adjustment mechanism 30 may include a first seat 31, a second seat 32, a displacement component 33, and a drive component 34.

[0060] The first base 31 may include a main body 311 and a connecting part 312. The main body 311 may extend along a first horizontal direction. The connecting part 312 may be disc-shaped and fixedly connected to the top of the main body 311. A second storage slot 3121 may be formed on the connecting part 312, and the output shaft of the first motor 22 may be disc-shaped and adapted to the second storage slot 3121. The output shaft of the first motor 22 may be stored in the second storage slot 3121 and fixedly connected to the connecting part 312, thereby realizing the connection between the steering mechanism 20 and the adjustment structure.

[0061] The first seat 31 and the second seat 32 can be arranged at intervals in the vertical direction, with the first seat 31 located above the second seat 32. The bottom of the second seat 32 can be fixedly connected to the top of the connecting bracket 13 to realize the connection between the rotating wheel mechanism 10 and the adjusting mechanism 30.

[0062] The displacement component 33 can be located between the first seat 31 and the second seat 32, and is movably connected to the first seat 31 and the second seat 32. When the displacement component 33 moves, the relative positions of the first seat 31 and the second seat 32 in the first horizontal direction and the vertical direction can be adjusted. When the vertical distance between the first seat 31 and the second seat 32 reaches the upper limit, the second seat 32 is located directly below the first seat 31. At this time, the distance between the first central axis D1 and the second central axis D2 is 0, and the rotating wheel mechanism 10 is in the first working mode. When the vertical distance between the first seat 31 and the second seat 32 decreases to a preset seat spacing, the distance between the first central axis D1 and the second central axis D2 reaches the preset axial spacing, and the rotating wheel mechanism 10 is in the second working mode.

[0063] The drive component 34 can be connected to the displacement component 33 and can drive the displacement component 33 to move, thereby moving the second seat 32 to directly below the first seat 31, or to move to a position where it is vertically spaced by a preset seat distance from the first seat 31.

[0064] It is understood that the preset seat distance can be adaptively adjusted according to the size specifications of the rotating wheel 11 device. In the embodiments of this application, the value of the preset seat distance is not specifically limited.

[0065] It is understandable that when the vertical distance between the first seat 31 and the second seat 32 is shortened, the distance between the first central axis D1 and the second central axis D2 increases, and the eccentricity of the rotating wheel mechanism 10 increases. This reduces the difficulty of the rotating wheel mechanism 10 swaying around the second central axis D2 under the action of external force, and improves the convenience for personnel to move the lawnmower 100 by pushing or pulling it manually.

[0066] Thus, when the rotating wheel mechanism 10 switches from the first working mode to the second working mode, the shortening of the distance between the first seat 31 and the second seat 32 can cause the rotating wheel mechanism 10 to rise.

[0067] When all the rotating wheel mechanisms 10 in the rotating wheel device of the lawnmower 100 are switched to the second working mode, the degree of compression deformation of the tire of each rotating wheel 11 when it contacts the ground can be the same as or similar to the degree of compression deformation of the tire of each rotating wheel 11 when it contacts the ground when the rotating wheel mechanism 10 is in the first working mode.

[0068] When the rotating wheel mechanism 10 in the rotating wheel 11 device of the lawnmower 100 switches to the second working mode, the tires of the rotating wheel mechanism 10 in the second working mode are compressed and deformed by the ground pressure, which is less than the tires of the rotating wheel mechanism 10 in the first working mode. At this time, in all the rotating wheel mechanisms 10 in the first and second working modes, the tires of the rotating wheel 11 can maintain contact with the ground and work together to support the lawnmower 100.

[0069] In some embodiments, the displacement component 33 may include a first parallel link 331 and a second parallel link 332.

[0070] One end of the first parallel link 331 can be rotatably connected to the first base 31, and the other end can be rotatably connected to the second base 32. The second parallel link 332 is parallel to and spaced apart from the first parallel link 331. One end of the second parallel link 332 can be rotatably connected to the first base 31, and the other end can be rotatably connected to the second base 32. When the first parallel link 331 moves, the second parallel link 332 can move synchronously.

[0071] The drive assembly 34 can be connected to the first parallel link 331 for transmission. The drive assembly 34 can drive the first parallel link 331 and the second parallel link 332 to move, so that the second seat 32 moves relative to the first seat 31, thereby adjusting the distance between the first central axis D1 and the second central axis D2.

[0072] It is understood that the drive assembly 34 can adjust the extension direction of the first parallel link 331 and the second parallel link 332 by driving the first parallel link 331 and the second parallel link 332 to move, thereby adjusting the vertical distance between the first seat 31 and the second seat 32, as well as the distance between the first central axis D1 and the second central axis D2.

[0073] When the rotating wheel mechanism 10 is in the first working mode, the first central axis D1 and the second central axis D2 can coincide. At this time, the vertical distance between the first seat 31 and the second seat 32 reaches the upper limit, and the extension directions of the first parallel link 331 and the second parallel link 332 can coincide in the vertical direction. At this time, the first seat 31, the second seat 32, the first parallel link 331 and the second parallel link 332 cooperate to form a rectangular projection in the second horizontal direction.

[0074] When the drive assembly 34 drives the first parallel link 331 and the second parallel link 332 to move, the first parallel link 331 and the second parallel link 332 gradually tilt, so that the extension direction of the first parallel link 331 and the second parallel link 332 forms an acute angle with the vertical direction. At this time, the distance between the first seat 31 and the second seat 32 in the vertical direction can be shortened, and the distance between the first central axis D1 and the second central axis D2 can be increased. When the distance between the first seat 31 and the second seat 32 decreases to the preset seat distance, the distance between the first central axis D1 and the second central axis D2 can reach the preset axis distance. At this time, the rotating wheel mechanism 10 switches to the second working mode, and the first seat 31, the second seat 32, the first parallel link 331 and the second parallel link 332 cooperate to form a parallelogram projection in the second horizontal direction.

[0075] Thus, the cooperation between the first parallel link 331, the second parallel link 332 and the drive assembly 34 can be adjusted by adjusting the tilt angle of the first parallel link 331 and the second parallel link 332, thereby adjusting the distance between the first base 31 and the second base 32, and adjusting the distance between the first central axis D1 and the second central axis D2, that is, adjusting the eccentricity of the rotating wheel mechanism 10, so that the rotating wheel mechanism 10 can switch between the first working mode and the second working mode.

[0076] It is understood that a rotary connection can be achieved through a rotary connector, allowing two components to rotate relative to each other. In the embodiments of this application, the type of rotary connector is not specifically limited. For example, the rotary connector can be, but is not limited to, a pin, bearing, or hinge.

[0077] It is understood that through slots can be formed in both the first parallel link 331 and the second parallel link 332. The through slot on the first parallel link 331 can penetrate through the first parallel link 331 along its thickness direction, and the through slot on the second parallel link 332 can penetrate through the second parallel link 332 along its thickness direction. The formation of through slots can reduce the weight of the first parallel link 331 and the second parallel link 332, and reduce the difficulty for the drive assembly 34 to drive the first parallel link 331 and the second parallel link 332 to move.

[0078] When the rotating wheel mechanism 10 is in the first working mode, the thickness direction of the first parallel link 331 and the second parallel link 332 can coincide with the first horizontal direction.

[0079] In some embodiments, the first base 31 may further include an extension 313. The extension 313 may protrude vertically from the bottom of the main body 311 and be located on one side of the main body 311 in the first horizontal direction. The extension 313 may be integrally formed and fixed with the main body 311.

[0080] The first parallel link 331 has grooves 3311 on both sides in the second horizontal direction, and the grooves 3311 can extend along the extension direction of the first parallel link 331.

[0081] The drive assembly 34 may include a lead screw 341, a sliding nut 342, and an adjusting member 343. The lead screw 341 may extend in a first horizontal direction and may be disposed in a through slot in the first parallel connecting rod 331 in the first horizontal direction. The lead screw 341 is located vertically between the main body 311 and the second seat 32. The lead screw 341 is rotatably connected to the extension 313.

[0082] The sliding nut 342 can be sleeved on the lead screw 341 and can be threadedly connected to the lead screw 341. Guide posts 3421 can be fixedly connected to both sides of the sliding nut 342 in the second horizontal direction, and the guide posts 3421 can extend along the second horizontal direction. The guide posts 3421 can be housed in corresponding grooves 3311 and are slidably connected to the grooves 3311 along their extension direction. Rotation of the lead screw 341 can cause the sliding nut 342 and guide posts 3421 to move along the first horizontal direction. At this time, the sliding nut 342 can move through the through slot opened in the first parallel connecting rod 331, and the guide posts 3421 can slide within the grooves 3311.

[0083] The adjusting member 343 may be located on the side of the extension 313 opposite to the sliding nut 342 in the first horizontal direction. The adjusting member 343 may be fixedly connected to the lead screw 341 and is used to rotate the lead screw 341.

[0084] It is understood that when the lead screw 341 rotates and causes the sliding nut 342 to move along the first horizontal direction, the guide post 3421 moves within the slide groove 3311 while moving along the first horizontal direction, thereby driving the first parallel link 331 to rotate and causing the second parallel link 332 to rotate synchronously; the rotation of the first parallel link 331 and the second parallel link 332 can adjust the eccentricity of the rotating wheel mechanism 10, thereby allowing the rotating wheel mechanism 10 to switch between the first working mode and the second working mode.

[0085] In some cases, the lead screw 341 can pass through the extension 313 along the first horizontal direction and be directly rotatably connected to the extension 313. In other cases, the adjusting member 343 can pass through the extension 313 along the first horizontal direction and be fixedly connected to the extension 313, and the lead screw 341 can be rotatably connected to the extension 313 through the adjusting member 343. The embodiments of this application are not limited in this respect.

[0086] In the embodiments of this application, the type of adjusting member 343 is not specifically limited. For example, adjusting member 343 can be a rotary handle, which allows the lead screw 341 to rotate synchronously by turning the adjusting member 343. Alternatively, adjusting member 343 can be a driving component such as a motor or rotary cylinder, and its output shaft can be coaxially and fixedly connected to the lead screw 341. When adjusting member 343 is working, its output shaft rotates, thereby causing the lead screw 341 to rotate synchronously.

[0087] It is understood that two clearance openings 3111 can be provided on the main body 311. The two clearance openings 3111 can respectively accommodate the top of the first parallel link 331 and the top of the second parallel link 332, and can provide space for the rotation of the first parallel link 331 and the second parallel link 332.

[0088] It is understood that the first parallel link 331 and the second parallel link 332 can have the same structure and can be used interchangeably. The second parallel link 332 can also have a sliding groove 3311. When assembling the adjustment mechanism 30, the operator can select either the first parallel link 331 or the second parallel link 332 to connect to the drive assembly 34, thus enabling the adjustment mechanism 30 to adjust the eccentricity of the drive wheel mechanism.

[0089] With the mobile wheel device 102 and lawnmower 100 provided in the embodiments of this application, when the lawnmower 100 malfunctions and cannot move autonomously, a person can first operate at least part of the adjustment mechanism 30 of the mobile wheel device 102. By adjusting the operation of the adjustment mechanism 30, the relative position of the rotating wheel mechanism 10 and the steering mechanism 20 is adjusted so that the distance between the first central axis D1 and the second central axis D2 reaches a preset axial distance, thus switching the rotating wheel mechanism 10 to the second working mode. Then, the person can pull or push the lawnmower 100 to move, and the rotating wheel 11 in the rotating wheel mechanism 10 can rotate under external force, thereby rolling on the ground, so that the lawnmower 100 can travel on the ground.

[0090] Since the rotating wheel mechanism 10 is in the second working mode at this time, the first central axis D1 and the second central axis D2 are spaced apart, thereby increasing the eccentricity of the rotating wheel mechanism 10. This allows the rotating wheel mechanism 10 to swing around the second central axis D2 according to the direction in which the person pushes or pulls the lawnmower 100, so that the rotating wheel mechanism 10 can be oriented in a direction that matches the force applied by the person to the lawnmower 100. Compared with the case where the eccentricity of the rotating wheel mechanism 10 is 0, the increase in the eccentricity of the rotating wheel mechanism 10 can reduce the resistance of the rotating wheel mechanism 10 swinging around the second central axis D2, improve the smoothness of the swinging of the rotating wheel mechanism 10, thereby reducing the occurrence of the lawnmower 100 being unable to turn due to the force applied by the person when it malfunctions, and improving the convenience for the person to push or pull the lawnmower 100 when it malfunctions.

[0091] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A movable wheel device, characterized in that, include: A rotating wheel mechanism having a first central axis along the vertical direction; A steering mechanism for driving the rotating wheel mechanism to turn, having a second central axis along the vertical direction; An adjustment mechanism is disposed between the rotating wheel mechanism and the steering mechanism. The adjustment mechanism is connected to the steering mechanism and the rotating wheel mechanism. The adjustment mechanism is used to adjust the relative position between the rotating wheel mechanism and the steering mechanism so that the first central axis and the second central axis coincide or are spaced apart by a preset distance. When the adjusting mechanism adjusts the first central axis and the second central axis to coincide, the rotating wheel mechanism is in a first working mode, in which the rotating wheel mechanism rotates around its wheel axle; when the adjusting mechanism adjusts the first central axis and the second central axis to be spaced at a preset distance, the rotating wheel mechanism is in a second working mode, in which the rotating wheel mechanism is used to rotate around its wheel axle and deflect the second central axis.

2. The moving wheel device according to claim 1, characterized in that, The steering mechanism includes: Connecting bracket, used for connecting to the main body of the lawnmower; A first motor is mounted on the connecting seat along the vertical direction. The output shaft of the first motor is connected to the adjusting mechanism to drive the adjusting mechanism and the rotating wheel mechanism to rotate. The second central axis is formed on the output shaft of the first motor.

3. The moving wheel device according to claim 1 or 2, characterized in that, The adjustment mechanism includes: The first seat, the steering mechanism is disposed on the first seat and connected thereto; The second seat body, the rotating wheel mechanism is connected to the second seat body; A displacement component is disposed between the first base and the second base, and is connected to the connection between the first base and the second base; A driving component, which is connected to the displacement component, is used to drive the displacement component to move so as to move the second seat to a position directly below the first seat or at a predetermined distance from the first seat in the vertical direction.

4. The moving wheel device according to claim 3, characterized in that, The displacement component includes: The first parallel connecting rod has one end rotatably connected to the first base and the other end rotatably connected to the second base; The second parallel link is parallel to and spaced apart from the first parallel link. One end of the second parallel link is rotatably connected to the first base, and the other end of the second parallel link is rotatably connected to the second base. The drive assembly is connected to the first parallel link and is used to drive the first parallel link and the second parallel link to move, so that the second seat moves relative to the first seat.

5. The moving wheel device according to claim 4, characterized in that, The driving component includes: A lead screw is disposed on the first base body, one end of the lead screw passes through the side wall of the first base body, and the other end of the lead screw extends to the first parallel connecting rod; A sliding nut is provided on the lead screw and threadedly connected to it; the sliding nut is connected to the first parallel connecting rod. An adjusting element is located at one end of the lead screw that passes through the side wall of the first seat, and is used to rotate the lead screw.

6. The moving wheel device according to claim 5, characterized in that, The first parallel connecting rod has a sliding groove on both sides, and the sliding nut has a guide post on both sides. The guide post is located in the sliding groove, and the sliding nut is used to slide in the sliding groove under the drive of the adjusting member.

7. The moving wheel device according to claim 1, characterized in that, The rotating wheel mechanism includes: A rotating wheel, wherein the first central axis is formed on the rotating wheel; A second motor is located inside the rotating wheel, and the output shaft of the second motor is located outside the rotating wheel; A connecting bracket is connected to the output shaft of the second motor and the adjustment mechanism.

8. The moving wheel device according to claim 3, characterized in that, The first seat body includes: Main body; A connecting part is provided on the main body, and the connecting part is fixedly connected to the output shaft of the first motor.

9. The moving wheel device according to claim 8, characterized in that, The connecting part is arranged in a disc shape, and the output shaft of the first motor is arranged in a disc shape and is adapted to the connecting part.

10. A lawnmower, characterized in that, It includes a main body and a moving wheel device as described in any one of claims 1 to 9, wherein the moving wheel device is connected to the main body.

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