Vehicles supporting ground working equipment

Abstract

A vehicle for supporting a ground working implement, such as a reel mower. The reel mower includes a reel assembly, a drive drum adapted to propel the mower during mowing operations, and transport wheels configured to drive the mower during transport. The mower may include a lift system adapted to reconfigure the mower between an operating configuration in which the drive drum engages the ground and the transport wheels are raised off the ground, and a transport configuration in which the drive drum is raised off the ground and the transport wheels engage the ground.

Description

[Technical Field]

[0001] This application claims priority and / or benefit of U.S. Provisional Patent Application No. 63 / 435,902, filed December 29, 2022, the contents of which are incorporated herein by reference in their entirety.

[0002] FIELD OF THE INVENTION The embodiments described herein relate generally to vehicles supporting ground working implements such as reel mowers, and more particularly to systems and methods adapted to reconfigure the vehicle / implement between an operating configuration and a transport configuration. [Background technology]

[0003] Reel mowers are well known, particularly in the field of golf course maintenance. Unlike rotary mowers, reel mowers typically include a series of helical (helix-shaped) blades that rotate about a horizontal reel axis transverse to the direction of travel of the mower. The reel frame that supports the rotating blades also supports a bed knife. During operation, grass blades are sheared between the rotating blades and the bed knife at a preselected cutting height.

[0004] Walk-behind reel mowers are commonly used for mowing golf course greens. In this case, the mower can make multiple parallel, side-by-side cuts along the length of the green. At the end of each cut, the reel is typically lifted and the mower rotated 180 degrees to accommodate the next cut. Depending on the mower's design, lifting the reel and rotating the mower may require a series of manual operations to minimize damage to the turf and maintain a high quality cut. Summary of the Invention [Problem to be solved by the invention]

[0005] Embodiments described herein provide a reel mower including a main frame rotatably supporting a powered drive drum and rotatable relative to the drive drum, the drive drum configured to rotate about a lateral drum axis to engage the ground and propel the reel mower when in the operating configuration. The mower also includes a reel subframe pivotally connected to the main frame about the lateral drum axis and supporting a powered cutting reel assembly, a trailing wheel subframe connected to the reel subframe, a powered transport wheel rotatably mounted to the main frame at a location spaced from the lateral drum axis, the transport wheel configured to rotate about a wheel axis parallel to the lateral drum axis to engage the ground and propel the reel mower when in the transport configuration, and an actuator operably connected to the main frame and the trailing wheel subframe. The actuator is adapted to pivot the main frame relative to the reel subframe about the lateral drum axis between an actuation configuration in which the drive drum engages the ground and the transport wheels are raised off the ground and a transport configuration in which the drive drum is raised off the ground and the transport wheels engage the ground.

[0006] In another embodiment, a ground working vehicle is provided that includes a main frame configured to support a powered drive drum for rotation relative to the main frame about a lateral drum axis. The vehicle also includes an implement subframe pivotally connected to the main frame about the lateral drum axis and supporting a ground working implement, a trailing wheel subframe pivotally connected to the implement subframe and including caster wheels, powered transport wheels rotatably mounted to the main frame at a location spaced from the lateral drum axis, and an actuator operably connected to the main frame and the trailing wheel subframe. The actuator is adapted to pivot the main frame relative to the implement subframe about the lateral drum axis between an actuation configuration in which the drive drum and implement engage the ground and the transport wheels and caster wheels are lifted off the ground, and a transport configuration in which the drive drum and implement are lifted off the ground and the transport wheels and caster wheels engage the ground.

[0007] Other embodiments described herein provide a reel mower including a main frame rotatably supporting a powered drive drum and pivotable relative to the powered drive drum, the drive drum configured to rotate about a lateral drum axis to engage the ground and propel the reel mower when the mower is in the operating configuration. The mower further includes a trailing wheel subframe pivotally connected to the main frame about the lateral drum axis, a reel subframe supported by the trailing wheel subframe and supporting a powered cutting reel assembly, a powered transport wheel rotatably mounted to the main frame at a location spaced from the lateral drum axis and configured to engage the ground and propel the reel mower when the reel mower is in the transport configuration, and an actuator connected to the main frame and the trailing wheel subframe. The actuator is adapted to pivot the main frame and the trailing wheel subframe about the lateral drum axis between an actuation configuration in which the drive drum engages the ground and the transport wheels are lifted off the ground, and a transport configuration in which the drive drum is lifted off the ground and the wheels engage the ground.

[0008] In another embodiment, a reel-type lawn mower is provided that includes a main frame having first and second lateral side panels supporting a powered drive drum that rotates relative to the main frame about a lateral drum axis, and a trailing wheel subframe pivotally connected to the main frame about the lateral drum axis and including a caster wheel. The lawn mower also includes a reel subframe supported on the trailing wheel subframe and supporting a powered cutting reel assembly, a powered transport wheel rotatably mounted to the main frame at a location spaced from the lateral drum axis, and an actuator connected to the main frame and the trailing wheel subframe. The actuator is adapted to pivot the main frame and the trailing wheel subframe about the lateral drum axis between an actuation configuration in which the drive drum engages the ground and the transport wheel and caster wheels are raised off the ground, and a transport configuration in which the drive drum is raised off the ground and the transport wheel and caster wheels engage the ground.

[0009] In yet another embodiment, a ground work vehicle is provided that includes a main frame having lateral first and second side plates supporting a powered drive drum that rotates relative to the main frame about a lateral drum axis, a trailing wheel subframe pivotally connected to the main frame about the lateral drum axis and having caster wheels, and a work implement subframe supported on the trailing wheel subframe and supporting a powered ground work implement. The vehicle also includes powered transport wheels rotatably mounted to the main frame at a location spaced from the lateral drum axis, and an actuator connected to the main frame and the trailing wheel subframe. The actuator is adapted to rotate the main frame and the trailing wheel subframe about the lateral drum axis between an actuation configuration in which the drive drum engages the ground and both the transport wheels and the caster wheels are lifted off the ground, and a transport configuration in which the drive drum is lifted off the ground and the transport wheels and the caster wheels engage the ground.

[0010] The above summary is not intended to describe each embodiment and every example. Rather, a more complete understanding of exemplary embodiments will become apparent and understood by reference to the following detailed description of examples and claims, taken in conjunction with the accompanying drawing figures. [Brief explanation of the drawings]

[0011] Exemplary embodiments are further described with reference to the following drawing figures:

[0012] [Figure 1] FIG. 1 is a left-front perspective view of a reel-type lawn mower according to an embodiment of the present disclosure. [Figure 2] 2 is a right-rear perspective view of the reel-type lawn mower of FIG. 1. FIG. [Figure 3] 3 is a bottom perspective view of the reel type lawn mower of FIG. 1. FIG. [Figure 4] 4 is a partial left front perspective view of the lawn mower of FIG. 1 with various structures removed. [Figure 5] FIG. 5 is a partial left front perspective view similar to FIG. 4, but with additional structure removed. [Figure 6] FIG. 6 is a left front perspective view showing a portion of a frame assembly of a reel type lawn mower according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a left side view of a reel lawn mower in a transport configuration according to an embodiment of the present disclosure. [Figure 8] FIG. 8 is a left side view of the reel mower of FIG. 7 after it has been moved to the operating configuration. [Figure 9] FIG. 9 is a left-front perspective view of a reel-type lawn mower according to another embodiment of the present disclosure. [Figure 10] 10 is a partial left front perspective view of the lawn mower of FIG. 9 with various structures removed. [Figure 11] FIG. 11 is a partial left front perspective view similar to FIG. 10, but with additional structure removed. [Figure 12]12 is a perspective view of the main frame of the reel type lawn mower of FIG. 9. FIG. [Figure 13] 13 is a perspective view of the reel subframe of the reel-type lawn mower of FIG. 9. FIG. [Figure 14] FIG. 14 is a perspective view of the main frame and reel subframe of FIGS. 12 and 13 assembled to form a frame assembly. [Figure 15] FIG. 15 is a left side view of the reel mower of FIG. 9 in a transport configuration. [Figure 16] FIG. 16 is a left side view of the reel mower of FIG. 15 after it has been moved to the operating configuration.

[0013] The figures are drawn primarily for clarity and, as a result, are not necessarily drawn to scale. Additionally, various structures / components, including but not limited to fasteners, electrical components (wiring, cables, etc.), may be shown schematically or omitted from some or all of the figures if inclusion of the structure / component is not necessary to more clearly illustrate aspects of the illustrated embodiment or to understand the various exemplary embodiments described herein. However, the absence of showing / describing such structures / components in a particular figure should not be construed as limiting the scope of the various embodiments in any way. DETAILED DESCRIPTION OF THE INVENTION

[0014] In the following detailed description of exemplary embodiments, reference is made to the accompanying drawings, which form a part hereof, and it should be understood that other embodiments not described and / or shown herein are naturally contemplated.

[0015] All headings provided herein are for the convenience of the reader and should not be used to limit the meaning of the text that follows the heading, unless otherwise specified. Furthermore, unless otherwise indicated, all numbers expressing quantities and all terms expressing direction / orientation (e.g., vertical, horizontal, parallel, perpendicular, etc.) in this specification and claims should be understood to be modified in all instances by the term "about." The term "and / or," when used, means one or all of the listed elements or a combination of any two or more of the listed elements. The term "ie" is used as an abbreviation of the Latin id est, meaning "i.e." The term "eg" is used as an abbreviation of the Latin example empli gratia, meaning "for example."

[0016] Various embodiments of the present disclosure provide a ground work vehicle (e.g., a reel mower) that includes a lift system adapted to elevate a reel assembly for transporting and rotating the mower over the ground. This exemplary mower may include a propulsion or drive system that rotates the mower's transport wheels at a ground speed equivalent to the ground speed of the reel assembly's drive drum. As a result, rapid changes in ground speed are minimized during transitions between an operating configuration in which the reel assembly (drive drum) contacts the ground and the transport wheels are lifted off the ground, and a transport configuration in which the reel assembly (drive drum) is lifted off the ground and the transport wheels contact the ground. In some embodiments, the reel mower operates autonomously, and the transition between the operating and transport configurations may occur automatically. In yet another embodiment, the reel mower is operated by a remote operator, and the lift system may be remotely activated.

[0017] It should be noted that the terms "have," "include," "comprise," and variations thereof are used in the accompanying description and claims in a non-limiting sense, meaning "including, but not limited to." Additionally, the terms "a," "an," "the," "at least one," and "one or more" are used interchangeably herein. Furthermore, relative terms such as "left," "right," "front," "fore," "forward," "rear," "aft," "rearward," "top," "bottom," "side," "upper," "lower," "above," "below," "horizontal," and "vertical" may be used from the perspective shown in a particular figure or while the mower 100 is in an operational configuration (e.g., while the wheels 106 and 108 are resting on a generally level ground surface 103, as shown in FIG. 7 ). These terms are used for ease of explanation only and do not limit the interpretation of the described embodiments. Similarly, terms such as "first" and "second" may be used to describe various elements herein. However, such terms are used merely to distinguish one element from another, and the use of "first" does not necessarily imply a requirement for "second." Furthermore, when certain elements are described as being operably attached, connected, or coupled to other elements, this may indicate that these elements are directly attached, connected, or coupled, or indirectly attached, coupled, or coupled through intervening elements.

[0018] Additionally, the suffixes "a" and "b" may be used throughout this description to indicate various left- and right-hand components / features, respectively. However, in most relevant respects, the components / features designated with the suffixes "a" and "b" are largely identical or mirror images of one another. Unless otherwise noted, it is understood that a description of an individual component / feature (e.g., a component / feature identified with an "a" suffix) also applies to the opposing component / feature (e.g., a component / feature identified with a "b" suffix). Similarly, a description of a component / feature without a suffix may apply to both the corresponding left- and right-hand components / features, unless otherwise noted.

[0019] Referring to the drawings, FIGS. 1-3 illustrate an exemplary ground work vehicle configured as a reel mower 100 (shown in an operational mode or configuration in these figures and, for example, in a transport mode or configuration in FIG. 7 ) in accordance with an embodiment of the present disclosure. (In FIGS. 1-3 , like reference numbers refer to like parts and assemblies throughout the views.)

[0020] As shown in these figures, the exemplary reel mower 100 may include a frame assembly 102 that is supported on and against the ground 103 (when in the transport configuration) by ground-engaging members that may include at least one powered transport wheel 106 (e.g., a first transport wheel 106a located on the first or left side of the frame assembly / main frame, and a second transport wheel 106b located on the second or right side (opposite side) of the frame assembly / main frame) and at least one trailing wheel 108. The powered transport wheels 106 may each rotate about a generally horizontal wheel axis 107 to effectively self-propel the mower in a direction parallel to the longitudinal axis 101 of the mower when configured in the transport configuration. Additionally, as described in more detail below, the speed and direction of rotation of the transport wheels 106 may be independently controlled, allowing the mower to change direction (e.g., pivot). Trailing wheels 108 may be configured as passive caster wheels and may support the rear of the mower, as described in more detail below. When mower 100 is in the transport configuration, wheels 106, 108 rest on the ground 103, but when the mower is in the operating configuration, the wheels are raised (spaced) off the ground, such that portions of reel assembly 110 (e.g., rollers 120, 122 and drive drum 124) form ground-engaging members.

[0021] The vehicle may further include an implement subframe that supports a ground working implement. For example, when configured as a reel mower, the mower 100 may include a reel subframe 160 (pivotally connected to the mower main frame about a lateral drum axis, as described below) that supports the powered cutting reel assembly 110, which includes the powered cutting reel 112 and drive drum 124 (see FIG. 3). As known in the art, the cutting reel 112 may include a series of helical blades 114 that rotate about a lateral reel axis 115. During operation of the cutting reel 112, the blades 114, driven by a reel motor 116, may rotate about the reel axis 115. As the blades 114 rotate and the mower 100 is propelled over the ground 103 by the drive drum 124, grass blades sandwiched between the blades 114 and the bed knife 118 of the cutting reel 112 are sheared at a preselected cutting height. Although described herein in the context of a reel-type mower, embodiments of the present disclosure may be applied to most ground working vehicles. For example, the subframe 160 may support most ground working implements (rotating cutting blades, aerators, dethatchers, etc.) without departing from the scope of the present disclosure.

[0022] In the illustrated embodiment, reel motor 116 (and propulsion motor 170, described below) is an electric motor that receives power from an onboard energy storage device, such as a battery pack 300. However, such a configuration is exemplary, and other embodiments may utilize other motors (e.g., hydraulic motors) and other power sources (e.g., hydraulic pumps, internal combustion engines).

[0023] The reel assembly 110 may further include a front roller 120 and a rear roller 122 for supporting the cutting reel 112 against the ground 103 when in the operating configuration. To propel the mower 100 when in the operating configuration (e.g., while mowing), the drive drum 124 may be driven as described in more detail below. An optional collection bin 126 may be provided to collect grass clippings generated by the cutting reel 112.

[0024] In some embodiments, mower 100 may further include a handle or handle assembly 200 extending from the main frame, as shown in FIGS. 1 and 2 . Handle assembly 200 may be used to manually operate the mower, for example, by an operator grasping handgrips 202 and walking behind the mower during operation. In embodiments in which mower 100 is configured to operate autonomously (or via remote control), handle assembly 200 may be optional and / or removable. For example, a handle assembly may be attached to mower 100 to enable initial training of the autonomous mower by an operator guiding the mower along the boundaries of the area to be mowed. Thereafter, the handle assembly may be removed to enable autonomous operation with minimal interference that may result from a protruding handle assembly. Alternatively, the handle may remain attached to the mower and, when not being used for training / manual operation of the mower, may optionally be repositioned (e.g., rotated) rather than removed. In some embodiments, the repositioned handle may support and position various sensors for operation of the autonomous mower (e.g., vision sensors, infrared sensors, radio detection and ranging (radar) sensors, light detection and ranging (lidar) sensors, etc.) As shown in Figures 1 and 2, the handle assembly 200 may include various controls 204 to permit manual operation and / or training of the mower 100.

[0025] Figure 4 is a partial perspective view of mower 100 with various structures removed to better illustrate the propulsion system according to an embodiment of the present disclosure. An exemplary propulsion system can be configured to propel the mower in both an operating (mowing) configuration and a transport (non-mowing) configuration. Figure 5 is a similar view with additional structures removed to better illustrate various components of frame assembly 102.

[0026] As shown in these figures, the frame assembly 102 may include a main frame 130, a trailing wheel subframe 150 operably connected to the main frame and pivotally connected about a lateral drum axis 155, and a reel subframe 160 supported by the trailing wheel subframe 150. The exemplary main frame 130 may include first (left) and second (right) lateral side plates 131 rigidly connected to each other by lateral shafts or cross beams 132, as shown in FIG. 5 (only the right side plate 131b is shown, but a corresponding left side plate is also provided). The cross beam 132 may include left and right wheel support arms 134 (134a, 134b) that support the respective left and right transport wheels 106. The arms 134 are welded or otherwise secured to the lateral cross beams 132 so that the arms 134, cross beams 132, and side plates 131 form a single structure, e.g., the transport wheels are operatively and rotatably mounted to the main frame 130 at a position spaced from the lateral drum axis 155.

[0027] The trailing wheel subframe 150 is shown alone in FIG. 6 along with the drive drum 124 and reel subframe 160. As shown in this figure, the trailing wheel subframe 150 may include a lateral crossbar 151 that rigidly supports one or more frame rails 152 and one or more support rails 153. The subframe 150 is pivotally attached to the drive drum 124 via fixed arms 154 (154a, 154b), allowing the trailing wheel subframe to pivot relative to the drive drum (and thus the main frame 130) about a lateral drum axis 155. In other words, the main frame 130 rotatably supports the powered drive drum 124 and is pivotable relative to the drive drum 124.

[0028] As seen in FIG. 6 , the drive drum 124 can be divided to include independently rotatable, coaxial first (left) and second (right) drive drum portions or sections 124a and 124b (collectively, drive drums or drum sections 124), driven by first (left) and second (right) propulsion motors 170a and 170b, respectively (see FIG. 4 ). Such a configuration allows the drive drum sections 124a and 124b to control the direction of the mower 100 (when in the operating (mowing) configuration) in a manner similar to a conventional zero-turn vehicle. To provide this functionality, each drive drum section 124 can be driven (by its own propulsion motor 170; see FIG. 4 ) via a dedicated drive shaft 125 / drum sheave 176, as described in more detail below. While described herein as a “drum,” the drive drum sections may be configured as wheels, tracks, rollers, or other suitable drive members without departing from the scope of this disclosure.

[0029] 6, the reel subframe 160 may be connected to the trailing wheel subframe 150 by being attached to the frame rails 152 as shown. To allow for adjustment, the frame rails 152 may include an array of mounting holes 157 to which the reel subframe is secured. When the reel subframe 160 is attached to the trailing wheel subframe 150, the reel subframe 160 can move (e.g., pivot about the drum axis 155) in unison with the trailing wheel subframe 150.

[0030] Continuing with reference to FIGS. 4 through 6, an example propulsion system used in a lawn mower may be powered by a power source, e.g., an energy storage device such as a battery pack 300, which in some embodiments is supported by the trailing wheel subframe 150. For example, in addition to securing the trailing wheel 108, the trailing wheel subframe 150 (e.g., support rails 153) may provide a structure to support the battery pack 300, as shown in FIGS. 1 through 3. The battery pack 300 may provide energy to at least the electric reel motor 116 (see FIG. 3) for powering the reel assembly 110 (e.g., to rotate the helical blade 114), and first (left) and second (right) propulsion motors 170a, 170b (e.g., to rotate the transport wheels 106a, 106b and / or drive drum sections 124a, 124b, respectively) secured to each side plate 131a (see FIG. 2), 131b, as shown in FIG. 4.

[0031] 4, each propulsion motor 170 may include a motor sheave 171 for powering a main sheave 172 via a toothed belt (not shown). The main sheave 172 (which may be journaled on the respective side plate 131) may drive a shaft to which a drive sheave 173 is connected. A belt 174 is wrapped around the drive sheave 173, an idler sheave 175 (which may also be journaled on the respective side plate), a drum sheave 176 (rigidly attached to the respective drive shaft 125 so as to power the corresponding drum section 124), and a wheel sheave 177 (configured to drive a hub 178 supporting the associated transport wheel 106). As will be appreciated, relative movement of the main frame 130, trailing wheel subframe 150, and reel subframe 160 does not affect the tension of the belt 174 because each (left and right) sheave 171, 172, 173, 175, and 177 moves in a fixed relationship relative to the lateral drum axis 155 (the axis about which sheave 176 rotates). As a result, all sheaves wrapped around the belt 174 maintain their relative relationship as the lawnmower 100 moves between the working configuration and the transport configuration. Each propulsion motor 170 (170a, 170b) can drive its respective wheel 106 (106a, 106b) and drum section 124a, 124b at the same ground speed. In other words, the first drum section and the second drum section are driven at a ground speed equal to the ground speed of the first transport wheel and the second transport wheel, respectively, during transitions between the working configuration and the transport configuration. As a result, the transition between the operating configuration (drive drum 124 / drum sections 124a, 124b contacting the ground 103 and propelling the reel mower 100) and the transport configuration (transport wheels 106 engaging the ground and propelling the mower) occurs smoothly and without abrupt changes in ground speed.

[0032] Figures 7 and 8 are partial side views of the mower 100 in transport and operating configurations, respectively. Again, in the transport configuration shown in Figure 7, the reel assembly 110 (including the drive drum; see Figure 3) is elevated above the ground 103, and the transport wheels 106 and trailing wheels 108 can contact or rest on the ground 103 to support the mower 100. Differential rotation of the powered transport wheels 106 can propel and control the speed and direction of the mower by rotating about wheel axes 107 that are parallel to the drum axis.

[0033] 8, the reel assembly 110 is lowered, the front roller 120, the rear roller 122 and the drive drum 124 contact or rest on the ground surface 103, and the transport wheels 106 and the trailing wheels 108 are lifted or clear of the ground surface. Differential rotation of the drive drum sections 124a, 124b about the lateral drum axis 155 can propel the reel mower 100 in the operating configuration (e.g., control both the speed and direction of the mower).

[0034] To reconfigure the mower 100 between the transport configuration ( FIG. 7 ) and the operating configuration ( FIG. 8 ), the mower 100 may include an actuator, such as an electric linear actuator 190, connected to the main frame and the trailing wheel subframe and adapted to pivot the main frame about the lateral drum axis relative to the reel subframe. The actuator may include a housing 191 and a rod 192 that can be selectively extended and retracted from the housing. The housing 191 may include a pivot 194 (see FIGS. 1 and 5 ) for rotatably mounting the actuator to a bracket 193 fixed to the lateral cross beams 132, such that the actuator can rotate about an actuator pivot axis 195 (see FIG. 1 ). The rod 192 also includes a pivot 196 configured to rotatably mount a distal end of the rod 192 to a portion of the trailing wheel subframe 150 (e.g., frame extension 156). In some embodiments, an electronic controller 197 (see FIG. 5 ) may be provided and operably connected to the actuator 190. The controller may be configured to automatically transition the mower 100 between the operating configuration and the transport configuration by providing power to the actuators.

[0035] Starting in the transport configuration ( FIG. 7 ), the mower 100 can be transitioned to the operating configuration ( FIG. 8 ) by retracting the actuator 190 (e.g., retracting the rod 192 relative to the housing 191). When the actuator 190 is retracted, the main frame (via the lateral cross beams 132) is generally pulled toward the trailing wheel subframe 150 (e.g., the main frame 130 and trailing wheel subframe pivot about the lateral drum axis 155). As this occurs, the trailing wheel subframe 150 pivots about the lateral drum axis 155 (counterclockwise in FIGS. 7 and 8 ). As this pivot occurs, the reel subframe 160 / reel assembly 110 lowers toward the ground 103 until the front roller 120, rear roller 122, and drive drum 124 rest on the ground 103. During this transition, the trailing wheel subframe 150 pivots (counterclockwise in FIGS. 7 and 8 ) about the lateral drum axis 155, ultimately lifting the trailing wheel 108 off the ground 103. As the actuator 190 continues to retract, the main frame 130 (which supports the transport wheel 106) may also pivot (clockwise in FIGS. 7 and 8 ) about the lateral drum axis 155, causing the transport wheel 106 to be lifted off the ground 103 (as it is pulled by the actuator 190 toward the trailing wheel subframe 150). Thus, as shown in FIG. 8 , when the mower is in the operating configuration, only the reel assembly 110 (cutting reel 112, rollers 120, 122, and drive drum 124) is in contact with the ground 103. To return to the transport position, the actuator 190 is extended, and the above process can generally be reversed.

[0036] The movement of the frame assembly 102 relative components (e.g., main frame 130, trailing wheel subframe 150, and reel subframe 160) can be affected by the location of the center of gravity (CG) 113 of the mower 100 (see FIG. 7). More specifically, the desired movement of the frame assembly components described above occurs because the CG is located longitudinally at or forward of the lateral drum axis 155 (e.g., between the drum axis 155 and the transport wheels 106) when the reel mower is in both the operating and transport configurations. The exact location of the CG can be selected and controlled to provide the desired transitional operation between the operating and transport configurations, as well as balanced and consistent operation of the mower in both configurations. The location of the CG can be adjusted, for example, by changing the length of the fixed arm 154 or by changing the position (and size / weight) of the battery pack 300 on the trailing wheel subframe 150.

[0037] The accompanying figures show the handle assembly 200 attached, however, as noted above, the handle assembly 200 is optional or may be removed if the mower is operated autonomously or by remote control.

[0038] 9-16 illustrate a reel mower 400 according to another embodiment of the present disclosure. The reel mower 400 is similar in many respects to the reel mower 100 described herein. As a result, various components and subsystems of the reel mower 400 that are the same as or similar to corresponding components and systems of the mower 100 will not be described in detail herein. For convenience, components that are similar to components of the reel mower 100 will often be designated by the same series of reference numerals (e.g., the reference numeral 4XX of the reel mower 400 may correspond to the reference numeral 1XX of the reel mower 100).

[0039] As shown in FIG. 9 , the exemplary reel mower 400 can include a frame assembly 402 supported relative to the ground 103 by ground-engaging members including powered transport wheels 406 (e.g., a first transport wheel 406a located on a first or left side of the frame assembly and a second transport wheel 406b located on a second or right (opposite) side) of the frame assembly) and at least one trailing wheel 408. Similar to the mower 100, the speed and direction of rotation of the transport wheels 406 can be independently controlled to allow the mower to change direction (e.g., perform turns). The trailing wheels 408 can be configured as passive caster wheels and can support the rear of the mower in the transport configuration (described further below). Similar to mower 100, when the mower is in the operating configuration, wheels 406, 408 may be lifted (spaced) off of ground 103, such that portions of reel assembly 410 (e.g., rollers 420, 422 and drive drum 424 (sections 424a, 424b); see FIG. 11) form ground-engaging members (described further below).

[0040] The vehicle may further include an implement subframe that supports a ground working implement. For example, when configured as a reel mower, the mower 400 may include a reel subframe 460 that supports a powered cutting reel assembly 410, as shown in FIG. 10 (various structures have been removed from FIGS. 10 and 11 to show the features of the mower 400). Similar to the reel subframe 160, the reel subframe 460 includes a powered cutting reel 412 (driven by a reel motor 416 adapted to rotate the reel about a reel axis) and a drive drum 424 (sections 424a, 424b in FIG. 11). Although described as a cutting reel assembly 410, the subframe 460 may support most ground working implements without departing from the scope of this disclosure. Similar to lawnmower 100, reel motor 416 (and traction motors 470a, 470b, described below) are electric motors that receive power from an on-board energy storage device, such as battery pack 300, as previously described herein. However, this configuration is by way of example only, and other embodiments may utilize other motors (e.g., hydraulic motors) and other power sources (e.g., hydraulic pumps, internal combustion engines) without departing from the scope of this disclosure.

[0041] As shown in Figure 11, the reel assembly 410 may further include a front roller 420 and a rear roller 422 for supporting the cutting reel 412 against the ground 103 in the operating configuration. To propel the mower 400 in the operating configuration (e.g., while mowing), the drive drum 424 may be driven as described further below. Optionally, a collection bin 426 (see Figure 9) may be provided for collecting grass clippings generated by the cutting reel 412. Although not shown, the mower 400 may also include a handle assembly (e.g., the handle assembly 200 shown in Figures 1 and 2).

[0042] 10 and 11 are partial perspective views of a lawnmower 400 with various structures removed to better illustrate the propulsion system and other aspects of the exemplary propulsion system according to embodiments of the present disclosure. This exemplary propulsion system can be configured to propel the lawnmower in both an operating (mowing) configuration and a transport (non-mowing) configuration.

[0043] As shown in these figures, the frame assembly 402 may include a main frame 430 (see also FIGS. 12 and 14) configured to support the drive drum 424 for rotation relative to the main frame about a lateral drum axis 455, and a reel subframe 460 (see also FIGS. 13 and 14) that supports the cutting reel assembly 410. The reel subframe 460 is pivotally connected to the main frame 430 about the lateral drum axis 455. The frame assembly may further include a trailing wheel subframe 450 (best shown in FIGS. 15 and 16) with caster wheels 408. However, unlike the mower 100, the trailing wheel subframe 450 may be pivotally connected to the reel subframe 460, as described further below.

[0044] 12, 13, and 14 respectively show an example main frame 430 alone, a reel subframe 460 alone, and the two components assembled to form the frame assembly 402. As shown in these figures, both the main frame 430 and the reel subframe 460 are formed of tubular welded construction, as opposed to the plate-like construction of the corresponding components of the mower 100. The example main frame 430 may include lateral first (left) and second (right) side tubes 431 that support the journals of both the transport wheels 406 and the drive drum 424. In other words, the main frame 430 rotatably supports the powered drive drum 424 and is pivotable relative to the drive drum 424. The side tubes 431 are rigidly connected to each other by lateral tubes or cross beams 432. In addition to securing the cross beams 432 to the side tubes 431 with rigid flanges (e.g., bolted), the main frame structure may also be further rigidified by including four tie rods 434, such that the tie rods 434, cross beams 432, and side tubes 431 form a unitary structure. Similar to the lawnmower 100, the structure of the main frame 430 effectively rotatably mounts the transport wheels to the main frame at a location spaced from the lateral drum axis 455.

[0045] As shown in FIG. 13 , the reel subframe 460 comprises structure that can be pivotally mounted to the main frame 430, whereby the two components pivot relative to one another about the lateral drum axis 455. The reel subframe further includes features (e.g., a mounting plate 461) to which the cutting reel assembly can be mounted, and structure 462 that defines an opening 463 configured to allow the trailing wheel subframe 450 (see FIG. 15 ) to be pivotally mounted thereto, whereby the trailing wheel subframe pivots relative to the reel subframe about pivot axis 464. Thus, the reel subframe 460 and attached trailing wheel subframe 450 can be pivotally coupled to the main frame 430 about the lateral drum axis 455, as shown in FIG. 14 .

[0046] Similar to the drive drum 124 already described above, the drive drum 424 is configured to rotate about a drum axis 455 to engage the ground and propel the reel mower (when in the operating configuration). Accordingly, the drive drum may be split to include independently rotatable coaxial left and right drive drum portions or sections 424a and 424b (see FIG. 11). The first (left) and second (right) drive drum portions are driven by first (left) and second (right) propulsion motors 470a and 470b, respectively (only the left motor 470a is shown in FIG. 11; see FIG. 9). Thus, the mower 400 may provide the same split-drum benefits described above in connection with the mower 100. The motors 470 may each include a planetary gearbox, along with gears 471, 472, and 473, described below, to provide the desired drive ratio for the drive drum 424 without the use of belts or pulleys.

[0047] 11 , an exemplary propulsion system for use with lawn mower 400 may be powered by a power source, e.g., an energy storage device such as battery pack 300, which in some embodiments is supported by reel subframe 460 and mounted, e.g., to structure 462 described above. Again, battery pack 300 may provide energy to at least electric reel motor 416 for powering reel assembly 410, and left and right propulsion motors 470 mounted to reel subframe 460.

[0048] Unlike mower 100, reel mower 400 may have a reel motor 416 mounted above the reel assembly 410 and provide drive power via a tension belt 417 wound around an input sheave 419 connected to the blade drive shaft of the cutting reel 412. By locating the reel motor 416 above the cutting reel rather than to the side, the width of the mower may be reduced.

[0049] Continuing with reference to FIG. 11 , each propulsion motor 470 may drive an output gear 471 adapted to mesh with an intermediate gear 472. The intermediate gear 472 may mesh with an input gear 473 to which a drive shaft 427 of each drive drum section 424 a, 424 b of the drive drum is connected. As shown in FIG. 10 , the drive shaft 427 further projects outwardly beyond the frame assembly 402 and has a drive sheave 475 attached to its end. A belt 474 is wound around a wheel sheave 477 attached to a stub shaft connected to the drive sheave 475 and the associated transport wheel 406. As can be appreciated, movement of the main frame 430 relative to the reel sub-frame 460 / trailing wheel sub-frame 450 (e.g., as the mower transitions between the operating and transport configurations) does not affect the tension of the belt 474 and / or the gears 471, 472, and 473. This is because each (left and right) gear 471, 472, 473 and sheave 475, 477 moves fixedly relative to the lateral drum axis 455.

[0050] Additionally, similar to the lawnmower 100, each propulsion motor 470 may drive both its respective wheel 406 and its respective drum section 424 at the same ground speed. As a result, the first and second drum sections are driven at a ground speed equivalent to the ground speed of the first and second transport wheels, respectively, during transition between the working and transport configurations. Thus, the transition between the working and transport configurations occurs smoothly and without abrupt changes in ground speed.

[0051] Figures 15 and 16 are partial side views (with various structures removed) of mower 400 in transport and operating configurations, respectively. In the transport configuration shown in Figure 15, implement / reel assembly 410 (including drive drum 424) is elevated above ground 103, and transport wheels 406 and trailing wheels 408 may engage or rest on ground 103 to support mower 400 above ground 103. Differential rotation of powered transport wheels 406 may propel and control the speed and direction of the mower by rotating about a wheel axis (see wheel axis 107 in Figure 3), which is parallel to the drum axis.

[0052] 16, the reel assembly 410 is lowered so that the implement (e.g., front roller 420 and rear roller 422) and drive drum 424 contact or are in contact with the ground 103, and the transport wheels 406 and trailing wheels 408 are elevated or spaced apart from the ground. Driven differential rotation of the drive drum sections 424a, 424b (see FIG. 11) about the lateral drum axis 455 may propel the reel mower 400 (e.g., control both the speed and direction of the mower) when in the operating configuration.

[0053] To reconfigure the mower 400 between the transport configuration ( FIG. 15 ) and the operating configuration ( FIG. 16 ), the mower 400 may include an actuator, for example, an electric linear actuator 490 such as a ball screw operably connected to the main frame and the trailing wheel subframe and adapted to pivot the main frame about the lateral drum axis relative to the reel subframe. The actuator may include a housing 491 and a rod 492 selectively extendable from the housing. The housing 491 includes a pivot 494 for pivotally mounting the actuator 490 to a bracket 493 fixed to the lateral cross beams 432 (e.g., the actuator may be connected to the main frame 430), thereby allowing the actuator to pivot about an actuator pivot axis 495 (see FIG. 14 ). The rod 492 also includes a pivot 496 configured to pivotally mount a distal end of the rod to a first arm 482 of a bell crank 480 pivotally mounted to the reel subframe via pivot 481. A second arm 484 of the bell crank 480 may be pivotally attached to a first end of a tie rod 486 via pivot 485. A second end of the tie rod 486 may be connected to the trailing wheel subframe 450 via pivot 487. As described above, the trailing wheel subframe may be pivotally coupled to the reel subframe 460 via opening 463 for pivoting relative to the reel subframe 460 about pivot axis 464 (see FIG. 13 ). In some embodiments, an electronic controller 197 (see FIG. 5 ) may be provided and operably connected to the actuator 490. The controller may be configured to automatically transition the mower 400 between the operating configuration and the transport configuration by supplying power to the actuator.

[0054] Starting in the transport configuration ( FIG. 15 ), the mower 400 may transition to the operating configuration ( FIG. 16 ) by retracting the actuator 490 (e.g., retracting the rod 492 relative to (e.g., into) the housing 491). As the actuator 490 retracts, the connection of the cross beam 432 at the bracket 493 causes the main frame 430 to pivot clockwise relative to the reel subframe 460 about the lateral drum axis 455. This pivoting motion also causes the trailing wheel subframe 450 to pivot about the pivot axis 464 (counterclockwise in FIGS. 15 and 16 ). As this pivoting motion occurs, the reel subframe 460 / reel assembly 410 descends toward the ground 103 until the front and rear rollers 420, 422 and drive drum 424 contact the ground 103. During this transition, the trailing wheel subframe 450 ultimately lifts the trailing wheel 408 off the ground 103 (as shown in FIG. 16). Additionally, clockwise pivoting of the main frame 430 about the lateral drum axis 455 (FIGS. 15 and 16) lifts the transport wheel 406 off the ground 103. Thus, as shown in FIG. 16, when the mower is in the operating configuration, the reel assembly 410 (rollers 420, 422) and drive drum 424 are in contact with the ground 103. To return to the transport position, the actuator 490 may be extended, generally reversing the process described above.

[0055] The geometry of the frame assembly 402 (e.g., main frame 430, reel subframe 460, and trailing wheel subframe 450) and the relative positions of the motor 470 and battery pack 300 maintain the center of gravity of the mower 400 vertically (longitudinal position) above the drive drum 424, at least in the operating configuration. This center of gravity location may provide the mower 400 with improved balance and increased drive drum traction and steering control.

[0056] In some embodiments, drive drum sections 424a, 424b (and 124a, 124b) may include friction-enhancing surfaces. For example, the cylindrical outer surface of the drive drum section may be rubber coated or sleeved to improve traction while minimizing damage to the turf. Other friction-enhancing surfaces include abrasive coatings, studs, axial or spiral grooves, etc. A rubber or abrasive coating on the drive drum may be preferred to avoid leaving noticeable marks on the turf.

[0057] Aspects of the present disclosure are set forth in the claims. However, the following non-limiting examples are provided, and are not intended to be exhaustive. Any one or more features of these examples may be combined with any one or more features of any other example, embodiment, or aspect described herein.

[0058] Example 1: A reel mower includes a main frame rotatably supporting a powered drive drum and pivotable relative to the drive drum, the drive drum configured to rotate about a lateral drum axis when the reel mower is in an operating configuration to engage the ground and propel the reel mower; a reel subframe pivotally connected to the main frame about the lateral drum axis and supporting a powered cutting reel assembly; a trailing wheel subframe connected to the reel subframe; and a powered transport wheel rotatably mounted to the main frame at a location spaced from the lateral drum axis. The transport wheel includes a powered transport wheel configured to rotate about a wheel axis parallel to the lateral drum axis to engage the ground and propel the reel mower when the reel mower is in the transport configuration, and an actuator operably connected to the main frame and the trailing wheel subframe, the actuator adapted to pivot the main frame about the lateral drum axis relative to the reel subframe between a working configuration in which the drive drum engages the ground and the transport wheel is raised off the ground, and a transport configuration in which the drive drum is raised off the ground and the transport wheel engages the ground.

[0059] Example 2: The reel mower of Example 1, wherein the powered transport wheel includes a first transport wheel disposed on a first side of the main frame and a second transport wheel disposed on an opposite side of the first side.

[0060] Example 3: The reel mower of Example 2, wherein the first transport wheel and the second transport wheel are driven by the first propulsion motor and the second propulsion motor, respectively.

[0061] Example 4: The reel mower of any one of Examples 1 to 3, wherein the powered cutting reel assembly is driven by the reel motor.

[0062] Example 5: The reel lawn mower of any one of Examples 1 to 4, further comprising an energy storage device supported by the trailing wheel subframe.

[0063] Example 6: The reel lawn mower of any one of Examples 1 to 4, further comprising an energy storage device supported by the reel subframe.

[0064] Example 7: The reel mower of any one of Examples 1 to 6, further comprising a front end, a rear end, and a longitudinal axis extending between the front and rear ends, wherein the center of gravity of the reel mower is located at or forward of the longitudinal position of the lateral drum axis when the reel mower is in both the operating configuration and the transport configuration.

[0065] Example 8: The reel mower of any one of Examples 1 to 7, further comprising an electronic controller configured to automatically transition the mower between the operating configuration and the transport configuration.

[0066] Example 9: The reel lawn mower of any one of Examples 1 to 8, wherein the trailing wheel subframe is pivotally connected to the reel subframe.

[0067] Example 10: The reel-type lawn mower of any one of Examples 1 to 9, wherein the drive drum includes a first drum section and a second drum section that are independently rotatable and coaxial, the first drum section being driven by a first propulsion motor, and the second drum section being driven by a second propulsion motor.

[0068] Example 11: The reel mower of Example 10, wherein the first drum section and the second drum section are driven at a ground speed equal to the ground speed of the first transport wheel and the second transport wheel, respectively, during transition between the working configuration and the transport configuration.

[0069] Example 12: The reel-type lawn mower of any one of Examples 1 to 11, wherein the main frame further comprises a lateral cross beam, and the actuator is operably connected to the lateral cross beam and the trailing wheel subframe.

[0070] Example 13: The reel lawn mower of any one of Examples 1 to 12, wherein the actuator includes a linear actuator.

[0071] Example 14: The reel mower of any one of Examples 1 to 13, further comprising an operator handle assembly extending from the main frame.

[0072] Example 15: A ground work vehicle includes a main frame configured to support a drive drum to rotate the drive drum relative to the main frame about a lateral drum axis; a work implement subframe pivotally connected to the main frame about the lateral drum axis and supporting a ground work implement; a trailing wheel subframe pivotally connected to the work implement subframe and including caster wheels; a powered transport wheel rotatably mounted to the main frame at a location spaced from the lateral drum axis; and an actuator operably connected to the main frame and the trailing wheel subframe, the actuator adapted to pivot the main frame about the lateral drum axis relative to the work implement subframe between an actuation configuration in which the drive drum and work implement engage the ground and both the transport wheels and caster wheels are lifted off the ground, and a transport configuration in which the drive drum and work implement are lifted off the ground and both the transport wheels and caster wheels engage the ground.

[0073] The complete disclosures of the patents, patent documents, and publications cited herein are incorporated by reference in their entirety, as if each were individually incorporated. If there is a conflict between the disclosure of this application and the disclosures of documents incorporated by reference herein, the disclosure of this application shall control.

[0074] While exemplary embodiments have been described and reference has been made to possible variations thereof, it should be understood that these and other variations, combinations, and modifications will be apparent to those skilled in the art, and that the claims are not limited to the exemplary embodiments set forth herein.

Claims

1. a main frame rotatably supporting a powered drive drum and pivotable relative to the powered drive drum, the drive drum configured to rotate about a lateral drum axis to engage the ground and propel the reel mower when the reel mower is in an operating configuration; a reel subframe pivotally connected to the main frame about the lateral drum axis, the reel subframe supporting a powered cutting reel assembly; a trailing wheel subframe connected to the reel subframe; a powered transport wheel rotatably mounted to the main frame at a location spaced from the lateral drum axis, the powered transport wheel configured to rotate about a wheel axis parallel to the lateral drum axis to engage the ground and propel the reel mower when the reel mower is in the transport configuration; an actuator operably connected to the main frame and the trailing wheel subframe, the operating arrangement in which the drive drum engages the ground and the transport wheels are elevated from the ground; between the transport arrangement, the drive drum being lifted off the ground and the transport wheels engaging the ground; the actuator adapted to pivot the main frame relative to the reel subframe about the lateral drum axis; A reel type lawn mower equipped with:

2. 2. The reel mower of claim 1, wherein the powered transport wheels include a first transport wheel located on a first side of the main frame and a second transport wheel located on a second side opposite the first side.

3. 3. The reel mower of claim 2, wherein the first transport wheel and the second transport wheel are driven by a first propulsion motor and a second propulsion motor, respectively.

4. 4. A reel mower as claimed in any one of claims 1 to 3, wherein the powered cutting reel assembly is driven by a reel motor.

5. 5. A reel lawn mower according to claim 1, further comprising an energy storage device supported by the trailing wheel subframe.

6. 5. The reel mower of claim 1, further comprising an energy storage device supported by the reel subframe.

7. 7. A reel mower as claimed in any one of claims 1 to 6, further comprising a front end, a rear end and a longitudinal axis extending between the front and rear ends, wherein when the reel mower is in both the operating and transport configurations, the centre of gravity of the reel mower is located at or forward of the longitudinal position of the lateral drum axis.

8. 8. A reel mower according to any preceding claim, further comprising an electronic controller configured to automatically transition the mower between the operating configuration and the transport configuration.

9. 9. A reel lawn mower according to any one of claims 1 to 8, wherein the trailing wheel sub-frame is pivotally connected to the reel sub-frame.

10. 3. The reel mower of claim 2, wherein the drive drum comprises independently rotatable coaxial first and second drum sections, the first drum section driven by a first propulsion motor and the second drum section driven by a second propulsion motor.

11. 11. The reel mower of claim 10, wherein the first drum section and the second drum section are driven at a ground speed equal to the ground speed of the first transport wheel and the second transport wheel, respectively, during transition between the operating configuration and the transport configuration.

12. 12. A reel type lawn mower according to any one of claims 1 to 11, wherein the main frame further comprises a lateral cross beam, and the actuator is operably connected to the lateral cross beam and the trailing wheel sub-frame.

13. 13. A reel mower as claimed in any preceding claim, wherein the actuator comprises a linear actuator.

14. 14. A reel mower according to any preceding claim, further comprising an operator handle assembly extending from the main frame.

15. a main frame configured to support a powered drive drum for rotation relative to the main frame about a lateral drum axis; a work implement subframe pivotally connected to the main frame about the lateral drum axis and supporting a ground work implement; a trailing wheel subframe pivotally connected to the implement subframe and including a caster wheel; a powered transport wheel rotatably mounted on the main frame at a location spaced from the lateral drum axis; an actuator operably connected to the main frame and the trailing wheel subframe, an operating configuration in which the drive drum and the work implement engage the ground and both the transport wheels and the caster wheels are elevated off the ground; between the drive drum and a transport configuration in which the work implement is elevated off the ground and both the transport wheels and the caster wheels engage the ground; the actuator adapted to pivot the main frame relative to the implement subframe about the lateral drum axis; A ground-based vehicle equipped with

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