Ball-pushing device and lawn mower

Abstract

The present disclosure relates to the field of lawn care machinery, and in particular to a ball-pushing device and a lawn mower. The ball-pushing device comprises a connecting assembly and a guide assembly. One end of the connecting assembly is connected to a housing of the lawn mower, and the other end thereof is connected to the guide assembly, such that the guide assembly has a degree of freedom relative to the housing. The guide assembly comprises a pushing portion and a lifting portion which are sequentially arranged from top to bottom. The pushing portion has a pushing surface in contact with a spherical object. The lifting portion is arranged on the side close to a working surface and has a gradually raised front end surface and / or rear end surface, and can move vertically relative to the housing when subjected to an upward force. Optionally, the ball-pushing device comprises a force-applying member to maintain contact with the ground, and may further comprise a ball-guiding member connected to the housing by means of a floating structure. The device can effectively push out spherical objects located in front or on both sides during the forward movement or turning process of the lawn mower to prevent the spherical objects from entering a cutting area, and also has obstacle-crossing and shock-absorbing capabilities, thereby improving the trafficability and continuous operation capabilities of the lawn mower.

Description

A ball pushing device and a lawn mower TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of lawn treatment machinery, and in particular to a ball pushing device and a lawn mower. BACKGROUND

[0002] With the development of China's economy, the greening process of cities is gradually accelerating, and large areas of lawns such as parks, football fields, and golf courses are increasing. Lawn mowers have become essential equipment for maintaining large areas of lawns.

[0003] When the lawn mower is working on the golf course, golf balls and other objects scattered on the golf course may enter the cutting assembly of the lawn mower and be cut by the high-speed rotating blades in the cutting assembly, causing damage and loss. At the same time, the golf ball contacting the blade will cause wear or breakage of the blade, affecting the cutting efficiency, cutting effect, and service life of the lawn mower. SUMMARY

[0004] Therefore, the present disclosure provides a ball pushing device and a lawn mower, which can effectively improve the floating property of the ball pushing device, so that it can float in the vertical direction when subjected to the support force of the lawn, avoiding the ball pushing device being stuck by the lawn, thereby enhancing the passability and continuous operation ability of the lawn mower on the lawn.

[0005] To achieve the above purposes, the present disclosure provides a ball pushing device, comprising:

[0006] A connecting assembly is configured to be connected to the housing of the lawn mower at one end and connected to the guide assembly at the other end;

[0007] The guide assembly comprises, from top to bottom:

[0008] A pushing part is provided with a pushing surface in contact with the spherical object;

[0009] A lifting part is located on the side close to the working surface;

[0010] The lifting part comprises:

[0011] A front end surface gradually rises in the corresponding forward direction when installed on the lawn mower;

[0012] When the guide assembly is subjected to an upward force, the guide assembly moves relative to the housing at least in the vertical direction.

[0013] The present disclosure also provides a ball pushing device, comprising:

[0014] A connecting assembly is configured to be connected to the housing of the lawn mower at one end and connected to the guide assembly at the other end;

[0015] The guide assembly comprises, from top to bottom, in sequence:

[0016] The pushing part is provided with a pushing surface in contact with the spherical object.

[0017] The lifting part is located on the side close to the working surface.

[0018] When the guide assembly is subjected to an upward force, the guide assembly moves relative to the shell at least in the vertical direction.

[0019] The at least one guide ball is arranged on the left side and / or the right side of the shell.

[0020] The present disclosure also provides a ball pushing device, comprising:

[0021] The connecting assembly is configured to be connected to the shell of the lawn mower at one end and connected to the guide assembly at the other end, and to enable the guide assembly to have at least two degrees of freedom.

[0022] The guide assembly comprises, from top to bottom, in sequence:

[0023] The pushing part is provided with a pushing surface in contact with the spherical object.

[0024] The lifting part is located on the side close to the working surface.

[0025] When the guide assembly is subjected to an upward force, the guide assembly moves relative to the shell at least in the vertical direction.

[0026] The present disclosure also provides a lawn mower, comprising:

[0027] The shell comprises a chassis and an upper cover connected to the chassis.

[0028] The moving assembly is arranged on the chassis.

[0029] The cutting assembly comprises at least one cutting element arranged on the shell.

[0030] The ball pushing device is movably arranged on the shell and arranged in front of the cutting assembly in the advancing direction of the lawn mower, and the ball pushing device comprises:

[0031] The connecting assembly is configured to movably connect with the shell to enable the ball pushing device to have at least two degrees of freedom relative to the shell.

[0032] The present disclosure also provides a ball pushing device, comprising:

[0033] The connecting assembly is configured to be connected to the shell of the lawn mower at one end and connected to the guide assembly at the other end.

[0034] The guide assembly comprises, from top to bottom, in sequence:

[0035] a pushing portion, provided with a pushing surface for contacting the spherical object;

[0036] a lifting portion, located on a side close to the working surface;

[0037] when the lifting portion is subjected to an upward force, the guide assembly moves relative to the housing at least in a vertical direction;

[0038] the length of the lifting portion is greater than the length of the pushing portion, the length being the distance from the front end to the rear end.

[0039] The present disclosure also provides a lawnmower, comprising:

[0040] a housing;

[0041] a moving assembly, provided in the housing;

[0042] a cutting assembly, provided in the housing;

[0043] and the ball pushing device according to any one of the preceding embodiments.

[0044] The present disclosure also provides a lawnmower, comprising:

[0045] a housing;

[0046] a moving assembly, provided in the housing;

[0047] a cutting assembly, provided in the housing;

[0048] a ball pushing device, comprising:

[0049] a connecting assembly, one end of which is connected to the housing and the other end of which is connected to the guide assembly;

[0050] the guide assembly comprises, from top to bottom, in sequence:

[0051] a pushing portion, provided with a pushing surface for contacting the spherical object;

[0052] a lifting portion, located on a side close to the working surface;

[0053] when the guide assembly is subjected to an upward force, the guide assembly moves relative to the housing at least in a vertical direction;

[0054] in the transverse direction of the lawnmower, the guide assembly does not exceed the projection of the outer contour of the lawnmower, or the distance by which the guide assembly exceeds the projection of the outer contour of the lawnmower is less than 20 cm, the transverse direction being perpendicular to the advancing direction.

[0055] The beneficial effect of the present disclosure is that by providing a lifting portion on the ball pushing device, the lifting portion has a front end surface gradually rising towards the advancing direction, the floating property of the ball pushing device is improved, so that it can float in the vertical direction when subjected to the support force of the lawn, avoiding the ball pushing device being stuck by the lawn, thereby enhancing the passability and continuous operation ability of the mower on the lawn. BRIEF DESCRIPTION OF DRAWINGS

[0056] Fig. 1 is a front view of a first ball pushing assembly according to an embodiment of the present disclosure;

[0057] Fig. 2 is a front view of a second ball pushing assembly according to an embodiment of the present disclosure;

[0058] Fig. 3 is a bottom view of a first guide assembly according to an embodiment of the present disclosure;

[0059] Fig. 4 is a side view of a lifting portion according to an embodiment of the present disclosure;

[0060] Fig. 5 is a schematic view of a ball guide according to an embodiment of the present disclosure;

[0061] Fig. 6 is a front view of the ball guide according to an embodiment of the present disclosure;

[0062] Fig. 7 is a side view of a second guide assembly according to an embodiment of the present disclosure;

[0063] Fig. 8 is a first top view of the second guide assembly according to an embodiment of the present disclosure;

[0064] Fig. 9 is a second top view of the second guide assembly according to an embodiment of the present disclosure;

[0065] Fig. 10 is a schematic view of a structure of a smart mower according to an embodiment of the present disclosure.

[0066] Fig. 11 is another schematic view of a structure of the smart mower shown in Fig. 10.

[0067] Fig. 12 is yet another schematic view of a structure of the smart mower shown in Fig. 10.

[0068] Fig. 13 is a schematic view of a structure of the smart mower shown in Fig. 10 in another state.

[0069] Fig. 14 is another schematic view of a structure of the smart mower shown in Fig. 13.

[0070] Fig. 15 is yet another schematic view of a structure of the smart mower shown in Fig. 13.

[0071] Fig. 16 is a schematic view of a connection structure of a connecting rod and a guide shown in Fig. 10.

[0072] Fig. 17 is another schematic view of the connection structure of the connecting rod and the guide shown in Fig. 13 of the present disclosure.

[0073] Fig. 18 is a detailed side view of the guide ball shown in an embodiment of the present disclosure.

[0074] Wherein; mower-100;

[0075] Housing-1; chassis-11; upper cover-12; impact plate-13; positioner-14; imaging sensor-15; energy module-16;

[0076] Moving assembly-2; first drive wheel-21; second drive wheel-22; first front wheel-23; second front wheel-24;

[0077] Cutting assembly-3; cutting element-31; cutter head-311; blade-312;

[0078] Guide-4; first end-41; second end-42; middle-43; front end face-44; pushing part-45; lifting part-46; rear end face-47; first connecting piece-48; second connecting piece-49;

[0079] Connecting assembly-5; connecting rod-511; end cap-512; rotating shaft-513; inner ring-514;

[0080] Fixing member-6; first plate body-61; second plate body-62; third plate body-63; fourth plate body-64; fifth plate body-65; sixth plate body-66;

[0081] Force applying member-7;

[0082] Guide ball-9; fixing member-91; floating structure-92; support member-921; floating member-922; first limiting part-923; second limiting part-924; restoring member-925; guide structure-926; bending part-927. DETAILED DESCRIPTION

[0083] In order to make the above objectives, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present disclosure, therefore the present disclosure is not limited by the specific embodiments disclosed below.

[0084] In the present disclosure, unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection", "fixed", and the like, should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0085] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0086] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms used in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0087] Noun definition:

[0088] Vertical: refers to the direction perpendicular to the working surface of the lawn, i.e. the up-down direction.

[0089] Longitudinal: refers to the corresponding forward direction and its opposite direction when installed on the mower.

[0090] Transverse: refers to the direction perpendicular to the forward direction and parallel to the working surface of the lawn, i.e. the left-right direction.

[0091] Corresponding forward direction when installed on the mower: refers to the direction of the mower on the working surface of the lawn when the mower is in the state of installation and execution of the work. The direction is usually consistent with the driving direction of the moving assembly, and corresponds to the definition of the longitudinal direction.

[0092] In the prior art, when the mower is cutting on the golf course, in order to reduce the damage of golf balls and other objects caused by the high-speed rotating blade, a ball pushing device is installed on the mower to push the golf balls to the two sides of the mower. The distance between the ball pushing accessory and the ground is small to ensure the ball pushing efficiency of the ball pushing device. However, the current ball pushing device has poor floating effect, which reduces the passability of the mower.

[0093] In order to better reflect the features of the ball pushing device in the present disclosure, the embodiments of the present disclosure will preferentially describe the ball pushing device separately, please refer to the first kind of ball pushing assembly in the main view of FIG. 1, and the main view of the second kind of ball pushing assembly in FIG. 2. In some embodiments, the ball pushing device can be composed of two parts, including a connecting assembly 5 and a guide assembly 4. In some embodiments of the present disclosure, there are various guide assemblies 4. In order to facilitate understanding, the connecting assembly 5 and the guide assembly 4 will be described respectively.

[0094] The connecting assembly 5:

[0095] The connecting assembly 5 is configured to be connected to the housing 1 of the mower 100 at one end and connected to the guide assembly 4 at the other end. In the present disclosure, the housing 1 includes a bottom plate 11 and an upper cover 12 connected to the bottom plate 11.

[0096] The connecting assembly 5 includes at least two parallel connecting rods 511, one end of the connecting rod 511 is movably connected to the housing 1, and the other end of the connecting rod 511 is movably connected to the guide assembly 4. In addition, the connecting assembly 5 can further include a spring, both ends of the spring are connected to the housing 1 and the guide assembly 4 respectively. It should be noted that the connecting assembly 5 can be connected to the housing 1 through an intermediate part, or can be directly connected to the housing 1, which is not limited here. The connecting assembly 5 realizes the connection of the guide assembly 4 to the housing 1.

[0097] As an embodiment of the present disclosure, in order to facilitate the connection of the connecting assembly 5 and the housing 1, the ball pushing device further includes a fixing member 6 which is detachably connected to the housing 1. Threaded holes are provided on the corresponding positions of the fixing member 6 and the housing 1, and screws are sequentially threaded through the threaded holes on the fixing member 6 and the housing 1 to fix the fixing member 6 on the housing 1. The threaded holes on the fixing member 6 and the housing 1 can be provided with multiple threaded holes to improve the connection stability of the fixing member 6 and the housing 1. The connection mode of the fixing member 6 and the housing 1 can also be other modes such as buckling, which is not limited here. One end of the connecting assembly 5 is connected to the fixing member 6. In other embodiments, one end of the connecting assembly 5 can be directly connected to the housing 1, which is not limited here.

[0098] In order to adapt to the bottom structure of the shell 1, the structure of the fixing member 6 comprises a first plate body 61, a second plate body 62 connected with the first plate body 61, and a third plate body 63 and a fourth plate body 64 connected with the first plate body 61 respectively. The second plate body 62 is located at the first end of the first plate body 61, the third plate body 63 and the fourth plate body 64 are located at the second end of the second plate body 62, and the third plate body 63 and the fourth plate body 64 are located on the same horizontal plane and the second plate body 62 and the fourth plate body 64 are arranged away from each other, and the second plate body 62 and the third plate body 63 are arranged in parallel and located on different horizontal planes. Threaded holes are arranged on the second plate body 62, the third plate body 63 and the fourth plate body 64 respectively, and the fixing member 6 not only adapts to the bottom structure of the shell 1, but also ensures the stability of the connection. The structure of the fixing member 6 is not limited here, and can be set according to actual needs.

[0099] As some embodiments of the present disclosure, for the convenience of understanding, the fixing member 6 is collectively described with the connecting assembly 5, and the connecting assembly 5 is provided with two groups, one group of the connecting assembly 5 is connected between the first end 41 and the middle part 43 of the guide assembly 4, and the other group of the connecting assembly 5 is connected between the second end 42 and the middle part 43, which improves the stability of the up and down movement of the guide assembly 4.

[0100] The fixing member 6 further comprises a fifth plate body 65 and a sixth plate body 66, the fifth plate body 65 is connected to the side of the third plate body 63 away from the fourth plate body 64, and the sixth plate body 66 is connected to the side of the fourth plate body 64 away from the third plate body 63, the fifth plate body 65 and the sixth plate body 66 are arranged on the two sides of the first plate body 61 along the vertical direction, and the fifth plate body 65 and the sixth plate body 66 are arranged opposite to each other. One end of one group of the connecting assembly 5 is connected to the fifth plate body 65, and one end of the other group of the connecting assembly 5 is connected to the sixth plate body 66.

[0101] In order to facilitate the installation of the connecting rod 511, the guide assembly 4 is provided with a first connecting piece 48 and a second connecting piece 49, and the first connecting piece 48 and the second connecting piece 49 are vertical plates extending along the vertical direction. The first connecting piece 48 is arranged between the first end 41 and the middle part 43 of the guide assembly 4, and the second connecting piece 49 is arranged between the second end 42 and the middle part 43 of the guide assembly 4. One group of the two groups of the connecting assembly 5 is connected to the first connecting piece 48 and the fifth plate body 65, and the other group of the two groups of the connecting assembly 5 is connected to the second connecting piece 49 and the sixth plate body 66. Specifically, the two ends of the connecting rod 511 are connected to the first connecting piece 48 and the fifth plate body 65 respectively, and the connecting rod 511 is provided with at least two, and the at least two connecting rods 511 are arranged in parallel. The second connecting piece 49 and the sixth plate body 66 are also connected by at least two parallel connecting rods 511.

[0102] The connecting rod 511 is movably connected to the first connecting member 48 or the second connecting member 49. Specifically, a rotating connecting member is connected between the connecting rod 511 and the first connecting member 48 or the second connecting member 49. One end of the connecting rod 511 is formed with an outer ring having an inner spherical surface, which is sleeved on an inner ring 514 having an outer spherical surface. The connecting rod 511 can rotate and swing at any angle relative to the inner ring 514. The inner ring 514 is fixed to the first connecting member 48 or the second connecting member 49 by a screw. Similarly, the other end of the connecting rod 511 is connected with a rotating connecting member to the fifth plate body 65 or the sixth plate body 66, so as to movably connect the connecting rod 511 to the fifth plate body 65 or the sixth plate body 66.

[0103] It should be noted that the first connecting member 48 and the second connecting member 49 can be integrally formed with the guide assembly 4 or can be separately formed. In the vertical direction, the present embodiment does not limit the position of the first connecting member 48 and the second connecting member 49. For the convenience of description, the first connecting member 48 and the second connecting member 49 will not be described in the following.

[0104] The guide assembly 4 includes:

[0105] From top to bottom, it includes:

[0106] The pushing part 45 is provided with a pushing surface in contact with the spherical object;

[0107] The lifting part 46 is located on the side close to the working surface. When the guide assembly 4 is subjected to an upward force, the guide assembly 4 moves relative to the shell 1 at least in the vertical direction.

[0108] Specifically, the present embodiment includes a plurality of guide assemblies, which will be introduced as follows:

[0109] The first guide assembly: please refer to the bottom view of the first guide assembly shown in FIG. 3 and the side view of the lifting part shown in FIG. 4:

[0110] In some embodiments of the present disclosure, the pushing part 45 is provided as a thin plate structure, preferably an aluminum sheet, with a small thickness to achieve lightweight. The shape of the pushing part 45 is at least partially similar or fitted to the shape of the front end of the shell 1 of the lawn mower 100, so that during the forward movement of the lawn mower 100, the pushing part 45 can push away the spherical object such as a golf ball in front with small resistance, while reducing the damage to the lawn caused by the protruding shape.

[0111] In some embodiments of the present disclosure, the pushing part 45 can take different forms:

[0112] In one way, the pushing part 45 is an integral planar or curved structure, which can form a continuous contact surface to ensure stable pushing away effect on the ball;

[0113] In another mode, the pushing part 45 can be composed of several strip structures, which keep gaps between the strip structures, so as to reduce the material usage and the overall weight while maintaining the ball pushing function;

[0114] In another mode, the pushing part 45 can adopt a fence-like or grid-like structure, which can further reduce the air resistance and the accumulation of grass clippings and improve the self-cleaning ability of the device while ensuring the guidance of the ball.

[0115] In addition, the surface of the pushing part 45 can be a smooth plane or a curved surface with a certain curvature. The smooth plane can provide stable contact, while the curved surface can help gradually disperse the force on the ball during pushing, avoiding the ball from jumping up due to instantaneous impact.

[0116] Please refer to FIG. 4, in some embodiments of the present disclosure, the lifting part 46 includes a front end surface 44, which gradually rises along the corresponding advancing direction when the device is installed on the lawn mower 100;

[0117] When the guiding assembly 4 is subjected to an upward force, the guiding assembly 4 moves relative to the housing 1 at least in the vertical direction. In this embodiment, the front end surface 44 gradually rises along the advancing direction of the lawn mower 100, so that the ball-shaped object or the ground protrusion can be gradually guided upward during the advancing of the lawn mower 100. At the same time, the pushing part 45 provides a continuous pushing force to the ball-shaped object, so that it can be separated from the cutting area. Thus, the guiding assembly 4 not only has the ball pushing function, but also has reliable obstacle crossing ability.

[0118] When the guiding assembly 4 is subjected to an upward force, for example, the ball-shaped object or the lawn protrusion acts on the front end surface 44, the guiding assembly 4 can move relative to the housing 1 at least in the vertical direction under the cooperation of the connecting assembly, so as to absorb the external force and smoothly cross the obstacle.

[0119] Further, the lifting part 46 is arranged below the pushing part 45, and the lifting part 46 is preferably a disc structure with a curvature, the overall curvature of which faces upward, so as to form a front end surface 44 which gradually rises along the corresponding advancing direction when the device is installed on the lawn mower 100, and a rear end surface 47 which gradually rises along the corresponding advancing direction when the device is installed on the lawn mower 100. Thus, when the lawn mower 100 advances, the front end surface 44 can contact and gradually lift the ground protrusion or the ball-shaped object, realizing a smooth obstacle crossing process; when the lawn mower 100 retreats, the rear end surface 47 can also play a role, avoiding the hard collision between the ball pushing device and the ground or the obstacle during the retreat of the lawn mower 100.

[0120] Further, the lifting portion 46 and the pushing portion 45 can be integrally formed. In order to improve the adaptability of the mower 100 on uneven lawns, the bottom side of the lifting portion 46 in contact with the ground can be coated with a flexible material, such as rubber, thermoplastic elastomer (TPE), polyurethane (PU), etc., so that when the ball pushing device contacts the ground, it can produce moderate deformation, reduce the impact force, and improve the passability of the mower 100.

[0121] In addition, the lifting portion 46 and the pushing portion 45 can also be separately arranged. The separate structure allows the pushing portion 45 and the lifting portion 46 to be independently replaced or optimized. At this time, the lifting portion 46 can be integrally made of a flexible material, or only the bottom area can use a flexible material to achieve both sufficient structural strength and ensure the flexibility and cushioning performance of the ground contact

[0122] Further, the lifting portion 46 can also be made of a material with a smooth surface, such as an engineering plastic with a low friction coefficient (such as polyoxymethylene POM, polytetrafluoroethylene PTFE) or a metal / composite material with a surface polishing treatment. Such smooth material can significantly reduce the friction between the lifting portion 46 and the lawn or obstacles when the lifting portion 46 contacts the lawn or obstacles, making the ball pushing device more smooth when passing through obstacles and reducing damage to the lawn surface.

[0123] Further, in the case of a certain contact area between the lifting portion 46 and the ground, in order to reduce the area of the lawn affected by the lifting portion 46, multiple independent lifting portions 46 can be designed, which are spaced apart in the transverse direction and extend longitudinally. In this way, the contact area with the ground can be ensured to be unchanged and the area of the grass affected can be reduced. Specifically, the guide assembly 4 includes at least two lifting portions 46, and the multiple lifting portions 46 are arranged in the transverse direction of the mower 100 and are spaced apart from each other, and the transverse direction is perpendicular to the advancing direction of the mower 100. By arranging multiple spaced-apart lifting portions 46, the ball pushing device can contact the ground or spherical objects at different transverse positions, improving the overall guide coverage. Even if a certain lifting portion 46 cannot contact the ground due to terrain fluctuations, other lifting portions 46 can still effectively guide, thereby ensuring the continuous operation ability and ball pushing effect of the mower 100 under complex terrain conditions.

[0124] The diameter of the lifting portion 46 ranges from 5mm to 50mm. Alternatively, the diameter of the lifting portion 46 ranges from 12mm to 42mm. Alternatively, the diameter of the lifting portion 46 ranges from 30mm to 42mm.

[0125] As some embodiments of the present disclosure, the length of the lifting portion 46 is the same as that of the pushing portion 45 in the longitudinal direction, which can be understood as the thickness, i.e. the distance from the front to the back of the pushing portion 45 in the longitudinal direction, and the distance from the front end to the back end of the lifting portion 46. In this way, the contact area of the lifting portion 46 with the ground is small, which may affect the obstacle crossing ability. Therefore, in the present disclosure, the obstacle crossing ability of the ball pushing device when encountering obstacles can be enhanced by making the front-to-back extension range of the lifting portion 46 greater than that of the pushing portion 45. Specifically, when the front end face 44 is gradually lifted, the longer lifting portion 46 can increase the contact area with the ground, and can more smoothly guide the lawn mower 100 to cross the lawn protrusions or embedded spherical objects on the ground, avoiding the jamming phenomenon caused by the lifting portion 46 being too short.

[0126] As some embodiments of the present disclosure, the ball pushing device is connected with the shell 1 through a connecting assembly 5. The connecting assembly 5 includes at least two parallel connecting rods 511, and each connecting rod 511 is provided with a rotary connecting piece at each end, which cooperates with the shell 1 and the guide assembly 4, respectively. Through the arrangement of the rotary connecting piece, the connecting end can rotate or swing in multiple directions, so that the guide assembly 4 has multiple degrees of freedom of movement relative to the shell 1. The rotary connecting piece can include a knuckle bearing, a cylindrical bushing, a needle bearing and a universal joint.

[0127] Specifically, the movement space provided by the rotary connecting piece enables the guide assembly 4 to have translational degrees of freedom in the vertical direction to adapt to the ground undulations, and also have certain translational degrees of freedom in the lateral or longitudinal direction to avoid jamming when encountering obstacles. In addition, the rotary characteristic of the rotary connecting piece also enables the guide assembly 4 to make angular adjustment around the longitudinal axis. Thus, the guide assembly 4 can move or swing flexibly according to different working scenarios, ensuring the smoothness and stability of the ball pushing device during the ball pushing or obstacle crossing process. Compared with fixed connection, this kind of connecting structure through connecting rods + rotary connecting pieces not only enhances the movement flexibility of the guide assembly, but also disperses the stress, avoiding local wear or breakage caused by single-point rigid connection, thereby improving the durability and reliability of the ball pushing device.

[0128] In order to ensure that the guide assembly 4 can maintain reliable contact with the ground when the terrain undulates slightly or encounters slight protrusions, the present embodiment further provides a force applying piece 7 on the connecting assembly 5. The force applying piece 7 is preferably a tension spring, and its two ends are connected to non-adjacent two ends of the two parallel connecting rods 511. Through this arrangement, the tension spring can exert a vertical downward tension on the guide assembly 4, so that the lowest end of the guide assembly 4 is always close to the ground, thereby improving the success rate of guiding the spherical object by the ball pushing device.

[0129] In another embodiment, the force applying member 7 can also be in the form of a counterweight, which exerts a constant downward pressure on the guide assembly 4 by gravity, to achieve the same effect. In specific applications, the tension spring and the counterweight can also be used in combination, to simultaneously achieve the effects of elastic return and stable downward pressure. In addition, the force applying member 7 can also include magnetic attraction structures and magnetic repulsion structures.

[0130] As can be seen, by introducing the force applying member 7 in the connecting rod + rotating connecting member structure, not only the multi-degree-of-freedom movement capability of the guide assembly 4 is ensured, but also it is ensured that the guide assembly 4 is always in effective contact with the ground in the working state, realizing the dual functions of pushing the ball and overcoming obstacles.

[0131] In addition, the connecting assembly 5 can also use elastic members instead of rigid connecting rods. Specifically, the connecting assembly 5 can include at least one set of tension springs or torsion springs, which are connected between the housing 1 and the guide assembly 4, respectively. Since the spring itself has the characteristics of stretching and rotating, it can deform when subjected to external force from the ground or the ball, allowing the guide assembly 4 to move freely in the vertical direction, the lateral direction or the longitudinal direction relative to the housing 1, and automatically return under the action of the elastic force when the external force disappears. This spring-based connection not only provides multiple degrees of freedom, but also has a certain buffering effect, which can effectively reduce the impact force when the guide assembly 4 hard contacts with the ground protrusions.

[0132] As shown in the ball guiding device schematic diagram of FIG. 5, in order to ensure the omnidirectional protection of the lawn mower 100, as some embodiments of the present disclosure, the ball pushing device can also include at least one ball guiding device 9. The ball guiding device 9 is arranged on the left side and / or the right side of the housing 1 of the lawn mower 100, and is close to the working surface. By arranging the ball guiding device 9 on both sides of the housing, when the spherical object is located in the area on both sides of the front end of the lawn mower 100, the ball guiding device 9 can guide it longitudinally, guiding the ball to a position away from the cutting area, so as to avoid the ball entering the blade area.

[0133] In some embodiments of the disclosure, in order to improve the overall strength of the ball pushing device, the ball guiding device 9 can be integrally formed with the guide assembly 4, which makes the front end guiding and the lateral guiding of the ball pushing device work cooperatively as a whole, ensuring that the ball can be effectively guided away from the mowing path in different directions.

[0134] In some embodiments of the disclosure, the ball guiding device 9 is made of flexible material, such as rubber, elastomer or composite material, etc. When the ball guiding device 9 is subjected to upward force from the ground or the ball, it can be moderately deformed, thereby reducing the impact on the lawn or the ball while maintaining the guiding effect. The flexible ball guiding device is particularly suitable for application scenarios such as golf courses, which require both lawn protection and ball safety.

[0135] As shown in the front view of the guide ball in FIG. 6, in some embodiments, the guide ball 9 is connected to the housing 1 through a floating structure 92. The floating structure 92 allows the guide ball 9 to move relative to the housing 1 at least in the vertical direction when subjected to an upward force. Through this floating installation method, the guide ball 9 can automatically lift when encountering ground protrusions or obstacles, avoiding damage caused by rigid collision, and returning to the original position after the external force disappears, ensuring the continuous and reliable operation of the ball pushing device.

[0136] In one comprehensive embodiment, the ball pushing device includes a guide assembly 4, a connecting assembly 5, and optionally a force applying member 7 and a guide ball 9.

[0137] The guide assembly 4 includes, from top to bottom, a pushing part 45 and a lifting part 46. The pushing part 45 is a thin plate structure, preferably an aluminum sheet, with a small thickness to achieve lightweight, and its shape is at least partially similar or fitted to the front end shape of the housing 1 of the lawn mower 100, so that it can push away golf balls and other spherical objects with less resistance during the forward movement of the lawn mower 100, reducing damage to the lawn. The surface of the pushing part 45 can be flat or curved, or composed of several strips, fences or grid structures, to reduce weight, air resistance and improve self-cleaning ability while ensuring the function of pushing balls.

[0138] The lifting part 46 is preferably a disc structure with an overall upward curvature, which forms a front end surface 44 gradually rising in the forward direction and a rear end surface 47 gradually rising in the backward direction. When the lawn mower 100 moves forward or backward, the front end surface 44 or the rear end surface 47 can contact the ground or the ball and gradually lift, thereby achieving a smooth obstacle crossing process and avoiding hard collision. The lifting part 46 can be integrally formed with the pushing part 45, for example, as a whole cylindrical steel pipe; or it can be separately arranged and made of or coated with flexible or low-friction materials (such as rubber, TPE, PU, POM, PTFE) to enhance the cushioning and compliance and reduce friction on the lawn. In order to reduce the impact on the lawn, the lifting part 46 can be designed as multiple independent units arranged in a transverse direction, thereby reducing the pressure area while maintaining the coverage of the guide. The diameter of the lifting part 46 is preferably 12mm-42mm, and its longitudinal extension is greater than that of the pushing part 45, to improve the smoothness and reliability when crossing protrusions.

[0139] The pushing device is connected with the shell 1 through a connecting assembly 5. The connecting assembly 5 comprises at least two parallel connecting rods 511, and the two ends of the connecting rods 511 are connected with the shell 1 and the guide assembly 4 through rotary connections respectively. The rotary connections can be joint bearings, cylindrical bushings, needle bearings or universal joints, etc., which can provide translational freedom in the vertical, horizontal or longitudinal directions and allow rotation around the longitudinal axis. In this way, the guide assembly 4 has multi-degree-of-freedom mobility relative to the shell 1, which is suitable for the ups and downs of the lawn and the impact of obstacles. Compared with fixed installation, this structure not only enhances flexibility, but also disperses stress, avoiding local wear or breakage.

[0140] In order to ensure that the guide assembly 4 always maintains contact with the ground, a force applying member can also be provided on the connecting assembly 5. The force applying member can be a tension spring connected at non-adjacent ends of the two parallel connecting rods 511 to apply a vertical downward tension to the guide assembly 4, or a counterweight to apply pressure by gravity. In some embodiments, a magnetic attraction or magnetic repulsion structure can also be used to achieve the downward pressing or resetting of the guide assembly 4 by magnetic force. Through the action of the force applying member, the guide assembly 4 can quickly reset after being lifted by external force, thereby ensuring the continuity of pushing the ball and overcoming obstacles.

[0141] In some embodiments, the pushing device further comprises at least one ball guide 9. The ball guide 9 is arranged on the left and / or right side of the shell 1 of the lawn mower 100, close to the working surface, for guiding the balls on both sides in front of the lawn mower 100 to the outside to avoid entering the cutting area. The ball guide 9 can be integrally formed with the guide assembly 4, or can be independently installed, and can be made of flexible material to produce moderate deformation when subjected to upward force, thereby reducing impact and protecting the lawn and the balls. In addition, the ball guide 9 can be connected with the shell 1 through a floating structure 92, so that it moves vertically relative to the shell 1 when encountering ground protrusions, avoiding rigid collision and automatically resetting after the external force disappears.

[0142] In some embodiments, the pushing portion can be in front of the lifting portion in the advancing direction of the lawn mower, or the pushing portion can be behind the lifting portion. The present disclosure is not limited. In FIG. 1, the pushing portion is in front of the lifting portion.

[0143] Therefore, the pushing device in the present embodiment realizes the comprehensive technical effects of lightweight, stable ball pushing, smooth obstacle overcoming, cushioning protection and omnidirectional guidance through the cooperation of the "pushing portion 45 + lifting portion 46" guide assembly with the "connecting assembly + rotary connection + force applying member", combined with the optional ball guide, ensuring the smooth operation of the lawn mower 100 in complex lawn environments.

[0144] Second guide assembly:

[0145] Please refer to Fig. 2, as well as the second guide assembly side view as shown in Fig. 7, the first top view of the second guide assembly as shown in Fig. 8, and the second top view of the second guide assembly as shown in Fig. 9.

[0146] The difference between the first guide assembly and the second guide assembly is that the shapes of the guide assemblies are different, so the present disclosure will not describe the common features except for the shapes.

[0147] In some embodiments, the guide assembly 4 is in the form of a cylindrical structure as a whole, which is composed of a pushing part 45 and a lifting part 46. The pushing part 45 is located in the middle and upper region of the cylindrical structure, which is mainly used to directly contact and push the spherical object; the lifting part 46 is located in the lower region of the cylindrical structure, close to the working surface, and gradually rises in the forward direction, so as to smoothly lift when encountering ground protrusions or spherical objects.

[0148] As some embodiments of the present disclosure, the pushing part 45 and the lifting part 46 are integrally formed, and the whole is a cylindrical steel pipe. The cylindrical steel pipe is transversely arranged at the front side of the shell 1, and the outer surface is continuously curved, naturally forming the two functional regions of the pushing part 45 and the lifting part 46. This structure is simple to manufacture, high in strength, and can ensure long-term stable use.

[0149] As some embodiments of the present disclosure, the pushing part 45 and the lifting part 46 are separately arranged, and are respectively processed and formed to be assembled into a whole cylindrical structure. For example, the pushing part 45 can adopt a metal sheet or an alloy ring-shaped part, and the lifting part 46 can adopt a semicircular arc part covered with flexible material, and the two are assembled to form the overall cylindrical shape. This way is convenient for optimal design of different materials of parts, for example, the pushing part 45 uses high-strength material to ensure the ball pushing effect, and the lifting part 46 uses flexible or low-friction material to improve the obstacle crossing and buffering performance.

[0150] In some embodiments of the present disclosure, the pushing part can take different forms:

[0151] In one way, the pushing part is a whole plane or curved surface structure, which can form a continuous contact surface to ensure stable pushing effect on the ball;

[0152] In another way, the pushing part can be composed of a plurality of strip structures, and gaps are maintained between the strip structures, so as to reduce the amount of material and the overall weight while maintaining the ball pushing function;

[0153] In another way, the pushing part can adopt a fence-like or grid-like structure, which can further reduce air resistance and grass accumulation while ensuring the guidance of the ball, and improve the self-cleaning ability of the device.

[0154] In addition, the surface of the pushing part can be a smooth plane or a curved surface with a certain arc. The smooth plane can provide stable contact, and the arc surface can help gradually disperse the force on the ball during pushing, avoiding the ball from jumping up due to instantaneous impact.

[0155] In some embodiments of the present disclosure, the pushing part has a pushing surface in contact with the spherical object.

[0156] In some embodiments of the present disclosure, the lifting part 46 has a front end surface 44 inclined upward relative to the horizontal plane, and the inclined direction is toward the advancing direction of the mower 100. Similarly, when the mower 100 advances, the front end surface 44 can protect the guide assembly 4 and make the guide assembly 4 more fit the undulating ground, increasing the smoothness of the movement of the mower 100.

[0157] In some embodiments of the present disclosure, the lifting part 46 has a rear end surface 47 inclined upward relative to the horizontal plane, and the inclined direction is toward the retreating direction of the mower 100. Similarly, when the mower 100 retreats, the rear end surface 47 can protect the guide assembly 4 and make the guide assembly 4 more fit the undulating ground, increasing the smoothness of the movement of the mower 100.

[0158] The front end surface 44 and the rear end surface 47 are arranged at the bottom of the lifting part 46 to realize the above-mentioned functions. The cross section of the bottom of the guide assembly 4 is arc-shaped or V-shaped. That is, the front end surface 44 and the rear end surface 47 are arc surfaces or planes. Alternatively, the front end surface 44 and the rear end surface 47 are both arc surfaces, the guide assembly 4 can contact obstacles from multiple angles and can decompose impact force, increasing the service life. And the cross section of the bottom of the guide assembly 4 is arc-shaped, which can reduce the pressure of the guide assembly 4 on the lawn and reduce the damage of the guide assembly 4 to the lawn.

[0159] Alternatively, the cross section of the guide assembly 4 is circular, the front end surface 44 and the rear end surface 47 are both arc surfaces, the guide assembly 4 is a circular rod structure, and the preparation process is simple. Alternatively, the cross section of the guide assembly 4 can also be semicircular, elliptical, semicircular at the bottom and any shape at the top. In other embodiments, the cross section of the bottom of the guide assembly 4 can also be an inverted trapezoidal structure, the two oblique sides of the trapezoidal structure are the front end surface 44 and the rear end surface 47, respectively, and the lowest end of the guide assembly 4 is a plane that contacts the lawn.

[0160] When the guide assembly 4 is a cylindrical structure, the diameter of the guide assembly 4 ranges from 5 mm to 50 mm. Alternatively, the diameter of the guide assembly 4 ranges from 12 mm to 42 mm. Alternatively, the diameter of the guide assembly 4 ranges from 30 mm to 42 mm.

[0161] In another comprehensive embodiment, the ball pushing device adopts a guide assembly 4 in the form of a whole cylinder. The guide assembly 4 is combined by a pushing part 45 and a lifting part 46. The pushing part 45 is located in the middle and upper area of the cylinder structure and is mainly used for direct contact with the ball object and pushing it out. The lifting part 46 is located in the lower area of the cylinder structure and is close to the working surface, gradually rising along the advancing direction of the mower 100, thereby playing a smooth lifting role when encountering ground protrusions or balls.

[0162] In some embodiments, the pushing part 45 and the lifting part 46 can be integrally formed and the whole structure is a transversely arranged cylindrical steel pipe. The outer surface of the cylindrical steel pipe is continuously arc-shaped, naturally forming the functional division of the pushing part 45 and the lifting part 46, which is simple in structure, high in strength, and can work stably for a long time. In another embodiment, the pushing part 45 and the lifting part 46 are separately arranged and assembled into a whole cylindrical appearance after being processed respectively. For example, the pushing part 45 can adopt a metal sheet or an alloy ring-shaped part, and the lifting part 46 can adopt a semi-circular arc part covered with flexible material. Through the separate design, the material properties of the pushing part and the lifting part can be optimized respectively, such as using high-strength material for the pushing part to ensure the ball pushing ability, and using flexible or low-friction material for the lifting part to improve the cushioning performance and obstacle crossing performance.

[0163] The pushing part 45 can adopt different forms according to needs. In one way, the pushing part is a whole plane or curved surface, which can stably contact and push the ball away; in another way, the pushing part is composed of several strip structures with gaps between the strips, thereby reducing the weight and material consumption while ensuring the ball pushing function; in still another way, the pushing part can adopt a fence-like or grid-like structure, which helps to reduce air resistance and avoid accumulation of grass clippings, thereby improving the self-cleaning ability. The surface of the pushing part 45 can be a smooth plane to provide stable contact, or a curved surface with a certain curvature to disperse the force during ball pushing and avoid the ball being bounced up.

[0164] The lifting part 46 is further provided with a front end face 44 and a rear end face 47. The front end face 44 faces the advancing direction of the mower 100 and gradually rises along the advancing direction, which can contact the ground or the ball and gradually lift when the mower 100 advances, thereby smoothly crossing the obstacles. The rear end face 47 faces the retreating direction of the mower 100 and gradually rises along the retreating direction, which can also play a guiding and buffering role when the mower 100 reverses. The front end face 44 and the rear end face 47 can be arc faces or planes, preferably arc faces, in order to contact the obstacles at multiple angles and disperse the impact force, and at the same time form a bottom arc cross section to reduce the pressure and damage to the lawn.

[0165] The cross-sectional shape of the guide assembly 4 can be diversified as needed. In one embodiment, the guide assembly 4 is circular in cross-section as a whole, simple in structure and easy to manufacture. In another embodiment, the cross-section is semicircular or elliptical to achieve a better fit with the lawn; or a combined structure of "semicircular bottom and arbitrary shape top" to balance stability and design freedom. In other ways, the cross-section can be an inverted trapezoid, with the two sloping sides as the front end face 44 and the rear end face 47 respectively, and the bottom plane in contact with the lawn to provide more stable support.

[0166] In terms of size, the overall diameter of the guide assembly 4 is preferably in the range of 5mm-50mm, more preferably 12mm-42mm, and further preferably 30mm-42mm. By limiting the diameter range, both sufficient structural strength and guide contact area are ensured, and the size is not too large to cause the lawn mower front end space occupation or lawn compression.

[0167] In summary, the cylindrical guide assembly 4 of the comprehensive embodiment has the advantages of high strength, simple processing, stable ball pushing and smooth obstacle crossing. Through different structural forms and material selection, it can also achieve an optimized balance between lightweight, cushioning and lawn protection, thereby significantly improving the operation reliability and safety of the lawn mower in the court environment.

[0168] Although the foregoing embodiments have described the structure and various modifications of the ball pushing assembly 4 in detail, in order to further illustrate the positional relationship and matching function of the ball pushing assembly in actual use, the present disclosure also provides a lawn mower 100 installed with the ball pushing assembly 4. This is because the guide range, relative relationship with the cutting assembly 3 and the moving assembly 2 of the ball pushing assembly 4 will be different under different installation positions and arrangements, which directly affects the ball pushing effect and the overall stability of the lawn mower. For example, the gap between the ball pushing assembly 4 and the driving wheel / driven wheel, the coverage relationship between the ball pushing assembly 4 and the cutting area, the height difference between the lowest end of the ball pushing assembly 4 and the lowest end of the moving assembly, etc. Features need to be clearly defined in combination with the overall structure of the lawn mower 100.

[0169] Therefore, in order to more comprehensively illustrate the technical solutions of the present disclosure, the installation position and related size features of the ball pushing assembly 4 will be described in combination with the overall structure of the lawn mower 100.

[0170] In some embodiments, the present disclosure also provides a lawn mower 100, which can be a hand-push lawn mower, a smart lawn mower, a riding lawn mower, a standing lawn mower, or a lawn mower with multiple working modes, such as a lawn mower with an automatic working mode and a user-operated manual working mode, etc. The type of the lawn mower is not specifically limited herein, and it can only realize the mowing work, as shown in FIGS. 10-15. The lawn mower 100 comprises a housing 1, a moving assembly 2, a cutting assembly 3, and a ball pushing device.

[0171] The housing 1 is used to support and protect the internal structure, and the housing 1 can comprise a chassis 11 and an upper cover 12 connected with the chassis 11. The chassis 11 is arranged close to the working surface and is used to carry the moving assembly 2 and the cutting assembly 3.

[0172] The moving assembly 2 is arranged on the chassis 11 and is used to drive the lawn mower 100 to move on the lawn surface, and can comprise a driving wheel and a driven wheel.

[0173] The cutting assembly 3 is arranged below the housing 1 and is used to perform the mowing work.

[0174] The ball pushing device is installed on one side of the housing 1 close to the working surface, and is preferably arranged in front of the lawn mower 100. Through the ball pushing device, the spherical object such as a golf ball in front of the lawn mower 100 can be pushed out of the mowing path during the forward movement of the lawn mower 100, so as to avoid the ball being rolled into the cutting area. The specific structure of the ball pushing device can adopt the scheme in any of the foregoing embodiments, and will not be described here again.

[0175] As in some embodiments of the present disclosure, since the guide assembly 4 in the ball pushing device can float, it is necessary to limit its position relationship with the lawn mower 100 in different states to avoid the golf ball entering the cutting assembly 3. The guide assembly 4 can be close to the ground, and the guide assembly 4 is located below the housing 1. The size of the gap between the guide assembly 4 and the housing 1 needs to be smaller than the size of the golf ball, so as to avoid the golf ball entering the housing 1 from the gap between the guide assembly 4 and the housing 1. The diameter of the golf ball is 42 mm.

[0176] Specifically, the housing 1 further comprises a collision plate 13 movably arranged on the front side of the chassis 11, the guide assembly 4 is located below the collision plate 13, the distance between the collision plate 13 and the plane where the lowest end of the moving assembly 2 is located is 55 mm, and the diameter of the guide assembly 4 is greater than or equal to 12 mm and less than or equal to 42 mm, so that the guide assembly 4 forms a stable forward pushing force on the golf ball and reduces the probability of the guide assembly 4 sliding over the golf ball.

[0177] When the lowest end of the guide assembly 4 is flat, and the guide assembly 4 moves relative to the housing 1 at least in the vertical direction, the difference between the height of the front end surface 44 moving relative to the housing 1 and the height of the rear end surface 47 moving relative to the housing 1 is less than a set value, so as to avoid the front end surface 44 being raised relative to the rear end surface 47, causing the guide assembly 4 to slide over the golf ball. The set value is set according to the error, that is, when the guide assembly 4 moves up and down relative to the housing 1 under the action of external force, the guide assembly 4 will not rotate relative to the axis in the transverse direction of the housing 1, and the bottom surface of the guide assembly 4 is always parallel to the plane of the horizontal plane, so as to ensure that the guide assembly 4 always abuts the ground, and the problem of the front end surface 44 being raised does not occur, avoiding the golf ball entering the bottom of the guide assembly 4 from the raised front end surface 44, and further improving the guiding effect of the guide assembly 4 on the golf ball. Alternatively, when the guide assembly 4 moves relative to the housing 1 at least in the vertical direction, the height of the front end surface 44 moving relative to the housing 1 is the same as the height of the rear end surface 47 moving relative to the housing 1.

[0178] In some embodiments, in the projection plane along the forward direction of the mower 100, the transverse length of the projection of the guide assembly 4 is greater than or equal to the transverse length of the projection of the housing. The guide assembly 4 guides the golf ball in contact with the guide assembly 4 on the ground to move outside the coverage track of the housing 1. Alternatively, the first end 41 and the second end 42 of the guide assembly 4 each extend outside the housing 1, so that the coverage track of the guide assembly 4 at least covers the coverage track formed by the housing 1. In this embodiment, the golf ball is guided to outside the coverage track of the housing 1, so as to not only avoid the golf ball contacting the blade of the cutting element 31, but also avoid the golf ball entering the bottom of the housing 1 affecting the movement assembly 2, effectively avoiding the golf ball entering the bottom of the housing 1 hindering the forward movement of the mower 100.

[0179] The mower 100 further comprises a cutting assembly 3 arranged in the housing 1. The cutting assembly 3 comprises at least one cutting element 31 arranged in the housing 1. The cutting assembly 3 further comprises a driving element (not shown) arranged in the housing 1 and connected with the cutting element 31. The cutting element 31 rotates around its own axis under the driving action of the driving element to perform cutting work. Alternatively, the cutting element 31 is arranged below the chassis 11. Specifically, the housing 1 further comprises a deck (not shown) arranged below the chassis 11, the cutting assembly 3 is arranged on the deck, the driving element is mounted on the deck, the cutting element 31 and the output end of the driving element are connected, and the cutting element 31 is located below the deck. In other embodiments, the cutting element can also be arranged on the front side, rear side or side of the housing.

[0180] The cutting element 31 comprises a cutter head 311 and blades 312 arranged on the cutter head 311. In the rotation process, the blades 312 rotate away from the end of the cutter head 311 to form a circular profile, which is the cutting area of the cutting element 31. In the forward process of the mower 100, the circular profile formed by the blades 312 forms the cutting track of the cutting element 31, that is, the mowing area formed on the lawn when the mower 100 is cutting. The cutting element 31 can also comprise at least two layers of blades 312 arranged on the cutter head 311. When the running profiles formed by the two layers of blades 312 are different in size, the cutting track is formed by the circular profile with the largest size among the two layers of blades 312.

[0181] The number of cutting elements 31 arranged is one, two, three, etc. In some embodiments, the cutting assembly 3 comprises two cutting elements 31, and the number of driving elements arranged is also two, and the two driving elements and the two cutting elements 31 are one-to-one corresponding, and the two driving elements respectively drive one cutting element 31 to rotate. Optionally, along the forward direction of the mower 100, the two cutting elements 31 are distributed in staggered positions at the bottom of the chassis 11, avoiding being arranged in a straight line to cause the occupied space to become larger, which is beneficial to improve the structural compactness of the mower 100. And in order to avoid the situation of grass leakage, the cutting areas of the two cutting elements 31 are connected or at least partially overlapped. Among them, the forward direction of the mower 100 is indicated by the arrow A in FIG. 1.

[0182] When the cutting assembly 3 only comprises one cutting element 31, the cutting element 31 rotates to form a cutting area, and in the projection plane along the forward direction of the mower 100, the transverse width of the projection of the cutting assembly 3 is the transverse width of the cutting area. When the cutting assembly 3 comprises at least two cutting elements 31, in the projection plane along the forward direction of the mower 100, the transverse width of the projection of the cutting assembly 3 is the transverse length of the projection of all cutting elements 31. That is, in the projection plane along the forward direction of the mower 100, the transverse width of the cutting area is the transverse length of the projection of the cutting track formed by all cutting elements 31. For example, please refer to FIG. 3 or FIG. 6, the transverse width of the cutting area is the width of the cutting track formed by the two cutting elements 31. Specifically, the transverse direction of the mower 100 is indicated by the arrow B in FIG. 2.

[0183] When the mower 100 performs cutting work on the golf course, the mower 100 is easy to crush the golf ball, causing the mower 100 to run unevenly, resulting in uneven cutting of the lawn. In some embodiments, the lateral width of the ball pushing device is greater than or equal to the lateral width of the cutting area. Further, the moving assembly includes two driven wheels arranged on both sides of the housing; the lateral width of the ball pushing device is greater than or equal to the sum of the lateral width of the cutting area and the two driven wheels. The guide assembly 4 guides the golf ball in contact with the guide assembly 4 to move outside the movement track of the drive wheel, so that the golf ball is away from the two drive wheels, effectively reducing the two drive wheels crushing the golf ball causing the mower 100 to run unevenly, improving the cutting flatness of the lawn. In combination with the above, the ball pushing device can include a guide assembly 4 and a ball guide 9, so the lateral width of the ball pushing device includes the lateral width of the guide assembly 4 and the lateral width of the ball guide 9.

[0184] Through the above scheme, when the mower 100 advances in the working area to perform cutting work, the golf ball located in front of the advancing direction of the mower 100 will enter the bottom of the housing 1 and contact the cutting element 31, and the guide assembly 4 guides the golf ball located in front of the advancing direction of the mower 100 to outside the cutting track of the cutting element 31, effectively reducing the golf ball and the like contacting the cutting element 31, thereby reducing the loss caused by the golf ball and the like being cut by the high-speed rotating blade 312, also reducing the golf ball and the like contacting the blade 312 causing the blade 312 to wear or break, improving the cutting effect, cutting effect and service life of the mower 100, reducing the loss, and improving the use safety.

[0185] In some embodiments, along the vertical direction of the mower 100, the guide assembly 4 is arranged below the housing 1, and the projection of the housing 1 along the vertical direction at least partially covers the projection of the guide assembly 4 along the vertical direction. The guide assembly 4 is at least partially arranged below the housing 1, which is a reasonable layout that does not need to increase the length or width size of the mower 100, ensuring the passability of the mower 100. Optionally, along the advancing direction of the mower 100, the guide assembly 4 is arranged between the front end of the housing 1 and the cutting element 31, and the guide assembly 4 is completely arranged below the housing 1 and does not exceed the front end of the housing 1. As described above, the housing 1 further includes a collision plate 13 movably arranged on the front side of the chassis 11. Along the advancing direction of the mower 100, the guide assembly 4 is arranged between the front end of the collision plate 13 and the cutting element 31, and the guide assembly 4 does not exceed the front end of the collision plate 13, which can ensure that the collision plate 13 first contacts the obstacle when the housing 1 advances, improve the detection reliability, protect the guide assembly 4, and ensure the cutting coverage of the mower 100.

[0186] Optionally, the guide assembly 4 is located between the front end of the chassis 11 and the front end of the impact plate 13. The projection of the guide assembly 4 in the vertical direction does not overlap the projection of the chassis 11 in the vertical direction. The projection of the impact plate 13 in the vertical direction covers the projection of the guide assembly 4 in the vertical direction. In some embodiments, the guide assembly 4 can be mounted on the impact plate 13. The impact plate 13 and the guide assembly 4 are synchronously and movably connected to the chassis 11, and can move vertically upward to improve the obstacle crossing ability of the mower 100 when encountering uneven ground. Optionally, the guide assembly 4 and the impact plate 13 are integrally formed.

[0187] Optionally, the guide assembly 4 can at least partially protrude out of the housing 1 in the forward direction of the mower 100. When the front side of the chassis 11 is not provided with the impact plate 13, the guide assembly 4 can at least partially protrude out of the chassis 11. When the front side of the chassis 11 is provided with the impact plate 13, the guide assembly 4 can at least partially protrude out of the impact plate 13.

[0188] In other embodiments, the guide assembly 4 is arranged between the front end of the housing 1 and the front wheel in the forward direction of the mower 100. Alternatively, the guide assembly 4 is arranged between the front wheel and the cutting element 31. Alternatively, the guide assembly 4 can be arranged in front of the housing 1.

[0189] In the present disclosure, the guide assembly 4 is not arranged on the deck, and the cutting element 31 can be adjusted in height within the use range without being affected, thereby ensuring that the mower 100 can be adjusted in cutting height.

[0190] As described above, in order to ensure that the guide assembly 4 can effectively prevent the golf ball from contacting the cutting element 31, the distance between the guide assembly 4 and the ground is small, and then the grass is pressed down by the guide assembly 4. The blade 312 adopts a non-flanged blade 312, and when the cutter head 311 rotates, there is no upward airflow, so the grass pressed down by the guide assembly 4 needs to be completely erected by its own elasticity before it can be cut. In the present embodiment, the housing 1 further comprises an impact plate 13 movably arranged on the front side of the chassis 11, the guide assembly 4 is located below the impact plate 13, and the distance between the guide assembly 4 and the cutting element 31 in the forward direction of the mower 100 is greater than 11 cm. When the mower 100 advances, the grass is bent by the guide assembly 4, but the distance between the guide assembly 4 and the cutting element 31 in the longitudinal direction of the housing 1 is large, so that the grass can recover to the height of contacting the cutting element 31 under the action of its own elasticity before entering the cutting element 31, and the grass can be fully cut by the cutting element 31, reducing missed cutting and improving the cutting efficiency of the cutting assembly 3. At the same time, it reduces the cutting of the grass in the bent state by the cutting element 31, which causes uneven cutting.

[0191] The material of the guide assembly 4 is not limited, as long as it does not affect the return of the mower 100 to the base station. Optionally, the material of the guide assembly 4 is plastic or aluminum. When the mower 100 returns to the base station for charging and other maintenance operations, a magnetic strip is arranged near the base station to guide the mower 100 to return. When the material of the guide assembly 4 is iron, it will affect the return of the mower 100.

[0192] As described above, the housing 1 of the mower 100 of the present disclosure is provided with a guide ball 9 on one side. There is a gap between the lowest end of the guide ball 9 and the plane where the lowest end of the moving assembly 2 is located. The gap is greater than 0 and less than or equal to 21 mm. Optionally, the gap is greater than or equal to 20 mm and less than or equal to 21 mm. When the mower 100 turns, the side resistance is large. The gap between the lowest end of the guide ball 9 and the ground can reduce the resistance caused by the guide ball 9, and can also ensure that the guide ball 9 pushes the golf ball away.

[0193] The front end of the guide ball 9 has a guide structure 926. Optionally, the guide structure is an arc surface inclined upward relative to the horizontal plane, and the inclined direction is toward the advancing direction of the housing 1. When the guide ball 9 contacts an obstacle, the guide structure can contact the obstacle in a sliding or rolling manner to protect the guide ball 9 and increase the smoothness of the movement of the mower 100.

[0194] Please refer to FIG. 3 and FIG. 6. In the transverse direction of the mower 100, the outermost end of the guide ball 9 exceeds the housing 1. The golf ball is guided to the outside of the coverage track of the housing 1, thereby not only avoiding the contact between the golf ball and the blades of the cutting element 31, but also avoiding the golf ball entering the bottom of the housing 1 to affect the moving assembly 2, effectively avoiding the golf ball entering the bottom of the housing 1 to hinder the advancement of the mower 100.

[0195] In the transverse direction of the mower 100, the outermost end of the guide ball 9 exceeds the drive wheel. The guide assembly 4 guides the golf ball contacted by the guide assembly 4 to move to the outside of the movement track of the drive wheel, so that the golf ball is away from the two drive wheels, effectively reducing the vibration of the mower 100 caused by the two drive wheels rolling over the golf ball, and improving the cutting flatness of the lawn.

[0196] In some embodiments, the gap between the guide ball 9 and the drive wheel is less than 42 mm. By limiting the distance between the guide ball 9 and the drive wheel to be less than the diameter of the golf ball, when the mower 100 advances or turns or moves on a slope, the golf ball can be effectively prevented from entering the front of the drive wheel from the gap between the guide ball 9 and the drive wheel to cause the mower 100 to vibrate, and the golf ball can also be effectively prevented from entering the cutting area of the cutting element 31 from the gap between the guide ball 9 and the drive wheel to cause the golf ball to be damaged and the mower 100 to be damaged.

[0197] Please refer to FIG. 6, FIG. 10, FIG. 12, FIG. 13 and FIG. 15, the rear end of the guide ball 9 has a bent portion 927 which is bent outwardly relative to the body of the guide ball 9. Specifically, the bent portion 927 of the guide ball 9 located at the side of the first driving wheel 21 is bent towards the outside of the first driving wheel 21, and the bent portion 927 of the guide ball 9 located at the side of the second driving wheel 22 is bent towards the outside of the second driving wheel 22. The body of the guide ball 9 is arranged below the housing 1, and the outermost end of the guide ball 9 exceeds the driving wheels in the transverse direction of the lawn mower 100, so that the body of the guide ball 9 does not need to be arranged outside the housing 1, the transverse width of the lawn mower 100 is not increased, the passability of the lawn mower 100 is improved, and the two driving wheels are effectively prevented from crushing golf balls to cause the lawn mower 100 to vibrate and improve the cutting flatness of the lawn.

[0198] When the guide ball 9 and the guide assembly 4 are arranged separately, the gap between the guide ball 9 and the guide assembly 4 is less than 42 mm. By limiting the gap between the guide ball 9 and the guide assembly 4 to be less than the diameter of the golf ball, the golf ball can be effectively prevented from entering the bottom of the lawn mower 100 from the gap between the guide ball 9 and the guide assembly 4 when the lawn mower 100 moves forward, turns or moves on a slope.

[0199] Optionally, in order to reduce the smoothness of the lawn mower 100 when turning and the damage of the guide ball 9 to the lawn, the guide ball 9 is in a round rod structure, and the diameter of the guide ball 9 ranges from 5 mm to 50 mm. Optionally, the diameter of the guide ball 9 ranges from 12 mm to 42 mm. Optionally, the diameter of the guide ball 9 ranges from 30 mm to 42 mm.

[0200] In some embodiments of the present disclosure, the housing 1 further comprises a collision plate 13 movably arranged at the front side of the chassis 11, and a sensor is arranged on at least one of the collision plate 13 and the chassis 11. When the collision plate 13 collides with an obstacle, the collision plate 13 moves relative to the chassis 11, and the sensor detects that the obstacle is collided. Optionally, a Hall sensor (not shown) is arranged on one of the collision plate 13 and the chassis 11, and a magnet (not shown) is arranged on the other one of the collision plate 13 and the chassis 11. When the lawn mower 100 collides with an obstacle, the collision plate 13 moves relative to the chassis 11, the Hall sensor and the magnet move relative to each other, the Hall sensor detects that the magnetic field changes, and it is detected that the lawn mower 100 collides with the obstacle. In other embodiments, the sensor can also be a microswitch, which is not limited here.

[0201] The mower 100 further comprises a moving assembly 2 on which the chassis 11 is arranged. The moving assembly 2 supports and drives the housing 1 to move in the working area according to the received driving instructions. The moving assembly 2 comprises two driving wheels arranged opposite to each other on two sides of the housing 1, specifically, the two driving wheels comprise a first driving wheel 21 and a second driving wheel 22 arranged at the rear end of the housing 1. The first driving wheel 21 and the second driving wheel 22 are driven to rotate by a motor. The moving assembly 2 further comprises a first front wheel 23 and a second front wheel 24 arranged at the front end of the housing 1. The first front wheel 23 and the second front wheel 24 are steering wheels. The two groups of driving wheels serve as rear wheels, and the two steering wheels serve as front wheels. The steering wheels are used to realize the steering of the housing 1, and the driving wheels are used to drive the movement of the housing 1. In other embodiments, the two groups of driving wheels can be arranged at the front end of the housing as front wheels. Alternatively, the mower can comprise three groups of driving wheels, one group of driving wheels serving as front wheels at the front end of the housing, and the other two groups of driving wheels serving as rear wheels at the rear end of the housing, and the movement of the housing is realized by the movement of the three groups of driving wheels. Alternatively, the mower 100 can comprise four groups of driving wheels, two groups of driving wheels serving as front wheels at the front end of the housing, and the other two groups of driving wheels serving as rear wheels at the rear end of the housing.

[0202] Referring to FIGS. 8, 9, 12 and 15, in the transverse direction of the mower 100, the guide assembly 4 comprises a first end portion 41 and a second end portion 42 arranged opposite to each other, and a middle portion 43 between the first end portion 41 and the second end portion 42. In order to realize the guide assembly 4 guiding the golf ball on the ground in contact with the guide assembly 4 to move to the outside of the cutting track of the cutting element 31, in the advancing direction of the mower 100, the middle portion 43 is located in front of the first end portion 41 and the second end portion 42. When the golf ball contacts the guide assembly 4, the housing 1 continues to move forward, and because the middle portion 43 is located in front of the two ends, the golf ball will not only move forward under the driving action of the guide assembly 4, but also move in the transverse direction from the middle portion 43 towards the first end portion 41 or the second end portion 42, until it moves to the outside of the guide assembly 4. In this embodiment, the size of the guide assembly 4 is greater than the size of the cutting track of the cutting element 31 in the transverse direction of the mower 100, so as to ensure that the golf ball removed from both sides of the guide assembly 4 is located outside the cutting track of the cutting element 31.

[0203] From the perspective of top view, the pushing surface is a convex surface or a plane in the advancing direction. The advancing direction refers to the corresponding advancing direction of the ball pushing device when it is installed on the mower 100. Specifically, the guide assembly 4 can have a V-shaped structure or an arc-shaped structure, and the like, which will not be listed one by one, as long as the middle portion 43 is located in front of the first end portion 41 and the second end portion 42. Alternatively, when the guide assembly 4 has a V-shaped structure, the included angle formed thereby can be 130°, but is not limited thereto, and can also be 120°, 125°, 135°, 140°, and the like, which will not be listed one by one.

[0204] Optionally, the guiding assembly 4 can also be configured to prevent the golf ball from contacting the cutting element 31, the guiding assembly 4 does not guide the golf ball to move out of the cutting track of the cutting element 31, but keeps the golf ball in contact with the guiding assembly 4 all the time, because the guiding assembly 4 is located in front of the cutting element 31, thus effectively avoiding the golf ball from contacting the cutting element 31. When the golf ball keeps in contact with the guiding assembly 4, at this time the golf ball is located in front of the guiding assembly 4 and the guiding assembly 4 moves synchronously, the user can clean the golf ball located in front of the guiding assembly 4 after a period of time, thus improving the efficiency of the guiding assembly 4 in preventing the golf ball from contacting the cutting element 31. In this embodiment, the guiding assembly 4 can extend in the transverse direction of the housing 1, or the middle part 43 of the guiding assembly 4 is located close to the rear end of the housing 1 relative to the first end part 41 and the second end part 42, which is not limited herein. The front end and the rear end of the housing 1 are located in front of and behind the housing 1 in the advancing direction of the housing 1 respectively.

[0205] Optionally, the guiding assembly 4 can have both the function of guiding the golf ball out of the cutting track of the cutting element 31 and the function of keeping the golf ball in contact with the guiding assembly 4 all the time. For example, the middle part 43 of the guiding assembly 4 is located in front of the first end part 41 and the second end part 42, and the guiding assembly 4 at least partially extends in the transverse direction of the housing 1.

[0206] Please refer to FIG. 1 and FIG. 4, the ground of the working area such as a golf course has ups and downs, in order to improve the obstacle crossing ability of the mower 100, the guiding assembly 4 is movably arranged on the housing 1, and the guiding assembly 4 has at least two degrees of freedom of movement relative to the housing 1, so as to improve the obstacle crossing ability of the mower 100 in complex terrain. The movable characteristics of the guiding assembly 4 enable the mower 100 to automatically adapt to the ground ups and downs during the advancing process, avoid the interruption of the advancing process caused by local jamming, and at the same time maintain the continuous operation of the cutting assembly 3 on the lawn.

[0207] The degrees of freedom of the guiding assembly 4 relative to the housing 1 include at least two of the degrees of freedom of movement in the vertical direction, the degrees of freedom of movement in the horizontal transverse direction, the degrees of freedom of movement in the horizontal longitudinal direction, the degrees of freedom of rotation around the horizontal transverse axis, and the degrees of freedom of rotation around the horizontal longitudinal axis. Among them, the vertical direction of the housing 1 is shown by arrow C in FIG. 1, the horizontal transverse direction is the transverse direction of the mower 100, shown by arrow B in FIG. 2, and the horizontal longitudinal direction is the advancing direction of the mower 100, shown by arrow A in FIG. 1.

[0208] As some embodiments of this disclosure, the degrees of freedom of the guiding component 4 relative to the housing 1 include vertical movement. As shown in FIG1, the guiding component 4 is in a lower position, and as shown in FIG4, the guiding component 4 is in a higher position. The guiding component 4 moves up and down vertically with the undulating ground to achieve dynamic obstacle avoidance. While maintaining its guiding function for objects such as golf balls, it eliminates the risk of rigid collisions, allowing the lawnmower 100 to smoothly cross obstacles with large height differences. This effectively avoids problems such as the lawnmower 100 being hindered from moving forward or damaging the ground when the guiding component 4 encounters undulating ground.

[0209] As some embodiments of this disclosure, please refer to Figures 1, 2, 11, and 14. When encountering undulating ground, the guide assembly 4 can not only move vertically up and down, but also has rotational freedom to rotate about a horizontal longitudinal axis. The height at which the first end 41 moves relative to the housing 1 and the height at which the second end 42 moves relative to the housing 1 are different. When the guide assembly 4 encounters a slope or depression near the side of the first end 41 or the second end 42, the height at which the first end 41 moves relative to the housing 1 and the height at which the second end 42 moves relative to the housing 1 are different when the guide assembly 4 moves vertically relative to the housing 1. The guide assembly 4 conforms more closely to the undulations of the ground, preventing the guide assembly 4 from passing over the golf ball and causing the golf ball to contact the cutting element 31. Furthermore, it effectively reduces the vertical movement jamming caused by the guide assembly 4 only being able to move up and down synchronously relative to the housing 1 as a whole, further improving the obstacle-crossing ability of the lawnmower 100.

[0210] In some embodiments of this disclosure, the guide assembly 4 is made of a rigid material. When the side near the first end 41 encounters undulating ground, the guide assembly 4 rotates about a horizontal longitudinal axis following the undulations of the ground. Because the side near the first end 41 encounters undulating ground, the first end 41 moves upward relative to the housing 1 under the action of the undulating ground. The second end 42 does not encounter undulating ground, so the height of the second end 42 does not increase. Because the guide assembly 4 is made of a rigid material, the movement of the guide assembly 4 is rotation about a horizontal longitudinal axis, and the first end 41 moves upward.

[0211] In other embodiments, the guide assembly 4 may include at least two connected parts. The first part is provided with a first end 41, and the second part is provided with a second end 42. The first part and the second part are flexibly connected. When there is undulating ground in front of the first part and no undulating ground in front of the second part, the first part rotates upward or downward about the connection between the first part and the second part as an axis, while the second part remains stationary. This allows the guide assembly 4 to move at different heights relative to the housing 1 at the same time and better conform to the undulations of the ground.

[0212] The mower 100 further comprises a limiting structure, at least one of the guide assembly 4 and the housing 1 is connected with the limiting structure, and the limiting structure is used to limit the distance of the guide assembly 4 moving relative to the housing 1. For example, when the guide assembly 4 has a vertical moving degree of freedom relative to the housing 1, the guide assembly 4 can move up and down relative to the housing 1 from the initial position. The initial position is the position of the guide assembly 4 when the mower 100 is parked on the ground and is not affected by any external force. The distance of the guide assembly 4 moving upward relative to the housing 1 from the initial position has a maximum value, that is, when the guide assembly 4 moves upward relative to the housing 1 to the maximum value, the guide assembly 4 cannot continue to move upward. The setting of the maximum value can be made according to actual needs. At the same time, setting the maximum value simplifies the structure of the mower 100. The limiting function of the limiting structure can be realized by the connecting assembly 5 (see below) connected to the housing 1 by the guide assembly 4, or the limiting structure is the housing 1 arranged above the guide assembly 4, and the guide assembly 4 can move upward relative to the housing 1 until the top of the guide assembly 4 abuts against the bottom of the housing 1, and the guide assembly 4 cannot continue to move upward. In this embodiment, the housing 1 further comprises a collision plate 13 movably arranged on the front side of the chassis 11, and the guide assembly 4 can move upward relative to the housing 1 until the top of the guide assembly 4 abuts against the collision plate 13, and the guide assembly 4 cannot continue to move upward.

[0213] When the guide assembly 4 can move downward relative to the housing 1 from the initial position along the vertical direction, the limiting structure limits the distance of the guide assembly 4 moving downward relative to the housing 1 from the initial position. When the front of the guide assembly 4 is a pit, when the guide assembly 4 enters the pit, the guide assembly 4 moves downward relative to the housing 1 from the initial position, and when the guide assembly 4 moves downward relative to the housing 1 to the lowest position, the guide assembly 4 cannot continue to move downward. Similarly, the limiting function of the limiting structure can be realized by the connecting assembly 5 connected to the housing 1 by the guide assembly 4.

[0214] When the guide assembly 4 has a horizontal transverse moving degree of freedom relative to the housing 1, the limiting structure limits the distance of the guide assembly 4 moving along the horizontal transverse direction. When the guide assembly 4 encounters uneven ground, the guide assembly 4 moves within a certain range along the horizontal transverse direction to improve the obstacle crossing ability of the guide assembly 4 and prevent the guide 2 from excessive displacement and cause the overall structure to be complex. Similarly, when the guide assembly 4 has a horizontal longitudinal moving degree of freedom relative to the housing 1, the limiting structure limits the distance of the guide assembly 4 moving along the horizontal longitudinal direction. When the guide assembly 4 has a rotating degree of freedom of rotating around a horizontal transverse axis relative to the housing 1, the limiting structure limits the distance of the guide assembly 4 rotating around the horizontal transverse axis. When the guide assembly 4 has a rotating degree of freedom of rotating around a horizontal longitudinal axis relative to the housing 1, the limiting structure limits the distance of the guide assembly 4 rotating around the horizontal longitudinal axis.

[0215] The mower 100 further comprises a reset structure, at least one of the guide assembly 4 and the housing 1 is connected with the reset structure, and the reset structure generates a restoring force for returning the guide assembly 4 to the initial position when the guide assembly 4 moves relative to the housing 1. When the ground in front of the guide assembly 4 has a convex slope, as the housing 1 advances, the guide assembly 4 contacts the slope and moves upward in the vertical direction relative to the housing 1 along with the increase of the height of the slope, so as to continue to abut against the surface of the slope and avoid the problem of damaging the slope, when the height of the slope decreases, the guide assembly 4 moves downward in the vertical direction under the action of its own gravity and the reset structure, and the guide assembly 4 returns to the initial position after passing over the slope. The reset structure can also be an elastic member, a counterweight, a magnetic attraction structure, a magnetic repulsion structure, etc., which are not listed one by one.

[0216] In some embodiments, the guide assembly 4 rotates relative to the housing 1 by an angle less than 2° about the axis in the vertical direction. That is, the first end 41 and the second end 42 rotate in the horizontal plane by an angle less than 2°, by limiting the rotation angle of the guide assembly 4 in the horizontal plane, the entry of the golf ball from the side of the housing 1 into the bottom of the housing 1 is reduced. Alternatively, the guide assembly 4 rotates relative to the housing 1 by an angle less than 1° or 0.5° about the axis in the vertical direction, etc.

[0217] In order to ensure the success rate of the guide assembly 4 guiding the golf ball in contact therewith outside the cutting track of the cutting element 31, the gap between the lowest end of the guide assembly 4 and the plane where the lowest end of the moving assembly 2 is located is less than a preset value, which is less than the height of the golf ball. However, the ground of the golf course not only has a flat ground, but also has an undulating ground, and when the housing 1 advances, it may undulate up and down in the vertical direction. In order to ensure that the guide assembly 4 can guide all golf balls in contact therewith outside the cutting track of the cutting element 31 during the undulation process, the preset value is 0.5 mm, that is, the gap between the bottom of the guide assembly 4 and the ground is very small, thereby effectively avoiding the guide assembly 4 passing from the top of the golf ball. When the mower 100 is parked on a flat ground, the plane where the lowest end of the moving assembly 2 is located is a horizontal plane.

[0218] As shown in FIGS. 13-15, in some embodiments, the guide assembly 4 is suspended on the housing 1, that is, the gap between the lowest end of the guide assembly 4 and the plane where the lowest end of the moving assembly 2 is located is greater than 0 and less than or equal to 0.5 mm. When the lawn mower 100 is located on a flat ground, the gap between the lowest end of the guide assembly 4 and the horizontal plane is greater than 0 and less than 0.5 mm. The specific gap value can be set according to actual needs, such as 0.4 mm, 0.3 mm, 0.2 mm, 0.1 mm, etc. This setting ensures that the guide assembly 4 will not pass over the top of the golf ball, ensures that the golf ball is in contact with the guide assembly 4 and is guided by the guide assembly 4 to the outside of the cutting track of the cutting element 31, and ensures the success rate of the guide assembly 4 guiding the golf ball. Moreover, the guide assembly 4 maintains a small distance from the ground, and when the protruding distance of the protruding ground is less than the preset value, the guide assembly 2 will not contact the protrusion, thereby improving the obstacle crossing ability of the lawn mower 100 and ensuring the smoothness of the movement of the lawn mower 100. The golf ball is generally located on the ground, and at least part of the golf ball is embedded in the ground and exceeds a small distance, or the golf ball is located in the hole and exceeds the ground by a small distance. The golf ball that exceeds the ground by a distance of less than 0.5 mm will not contact the guide assembly 4, and the guide assembly 4 will pass over it, but the golf ball that exceeds the ground by a small distance will be in contact with the cutting element 31, and even if the golf ball is located in the cutting track of the cutting element 31, it will not contact the blade of the cutting element 31. The specific setting of the preset value can be set according to the height of the cutting element 31 from the ground, and the preset value can be greater than 0.5 mm but needs to be less than the height of the cutting element 31 from the ground, which ensures the obstacle crossing ability of the lawn mower 100 and simultaneously guides the golf ball that will contact the cutting element 31 away, thereby ensuring the smoothness of the work of the lawn mower 100.

[0219] When the guide assembly 4 is suspended on the housing 1, that is, the limiting structure limits the gap between the lowest position of the guide assembly 4 and the plane where the lowest end of the moving assembly 2 is located. When the ground in front of the guide assembly 4 has a pit, as the housing 1 advances, the guide assembly 4 is not subjected to external force and maintains the positional relationship relative to the housing 1, but by setting the specific value of the preset value, the golf ball that will contact the cutting element 31 can be in contact with the guide assembly 4 and be guided by the guide assembly 4, and the golf ball that will not contact the cutting element 31 can pass under the guide assembly 4, thereby also avoiding the contact between the golf ball and the cutting element 31 and protecting the normal cutting work of the golf ball and the lawn mower 100.

[0220] In some embodiments, the gap between the lowest end of the guide assembly 4 and the plane where the lowest end of the moving assembly 2 is located is 0. This arrangement can effectively ensure that the guide assembly 4 contacts the ground, so as to ensure the guiding effect on the golf ball, avoid the golf ball from passing through the bottom of the guide assembly 4 and contacting the high-speed rotating blade, and improve the cutting efficiency, cutting effect of the mower 100 and reduce the cost of replacing the blade. In this embodiment, the limiting structure limits the contact between the guide assembly 4 in the lowest position and the plane where the lowest end of the moving assembly 2 is located.

[0221] As shown in FIGS. 10-12, in some embodiments, when the mower 100 is suspended, the lowest end of the guide assembly 4 is lower than the plane where the lowest end of the moving assembly 2 is located. When the mower 100 is suspended, the moving assembly 2 is away from the ground, and no external force acts on the guide assembly 4. When the mower 100 is on the flat ground, the gap between the lowest end of the guide assembly 4 and the plane where the lowest end of the moving assembly 2 is located is 0. When the ground in front of the guide assembly 4 has a pit, as the housing 1 advances, the guide assembly 4 keeps abutting the pit with a lowered height, and the guide assembly 4 moves downward relative to the housing 1 along the vertical direction under the action of gravity and the like, so as to continue to abut the ground of the pit. When the height of the pit rises, the guide assembly 4 moves upward relative to the housing along the vertical direction under the abutting action of the pit. This arrangement ensures that the lowest end of the guide assembly 4 always abuts the ground, ensures the success rate of guiding the golf ball out of the cutting track of the cutting element 31, and when the ground undulates, the guide assembly 4 can move up and down relative to the housing 1 along the vertical direction as the ground undulates, improves the obstacle crossing ability of the mower 100, and can avoid damaging the ground by the guide assembly 4.

[0222] In some embodiments, the mower 100 further comprises a force applying member, at least one of the guide assembly 4 and the housing 1 is connected with the force applying member, and the force applying member applies at least downward force to the guide assembly 4, so that the lowest end of the guide assembly 4 can always abut the ground, and the success rate of guiding the golf ball out of the cutting track of the cutting element 31 is ensured.

[0223] Please refer to FIGS. 2-4, in some embodiments, the lifting portion 46 of the guide assembly 4 has oppositely arranged front end face 44 and rear end face 47 along the advancing direction of the mower 100. The front end face 44 is upwardly inclined relative to the horizontal plane, and the inclined direction is toward the advancing direction of the housing 1. When the guide assembly 4 contacts the obstacle, the front end face 44 can contact the obstacle in a sliding or rolling manner, convert at least part of the horizontal impact force into vertical upward component force, reduce the impact force, reduce the risk of structural deformation or rupture of the guide assembly 4, and protect the guide assembly 4. When the ground in front of or obliquely in front of the guide assembly 4 has an undulating area, under the action of the front end face 44, the guide assembly 4 moves more smoothly to the undulating area. The specific inclination angle of the front end face 44 is not limited here.

[0224] In some embodiments, the rear end surface 47 is inclined upward relative to the horizontal plane, and the inclination direction is toward the rearward direction of the mower 100. Similarly, when the mower 100 is moving backward, the rear end surface 47 can protect the guide assembly 4 and make the guide assembly 4 more conform to the uneven ground, increasing the smoothness of the movement of the mower 100.

[0225] The front end surface 44 and the rear end surface 47 are arranged at the bottom of the lifting portion 46 to achieve the above-mentioned functions. The cross section of the bottom of the guide assembly 4 is arc-shaped or V-shaped. That is, the front end surface 44 and the rear end surface 47 are arc surfaces or flat surfaces. Alternatively, the front end surface 44 and the rear end surface 47 are both arc surfaces, the guide assembly 4 can contact obstacles from multiple angles and can decompose the impact force, increasing the service life. Moreover, the cross section of the bottom of the guide assembly 4 is arc-shaped, which can reduce the pressure of the guide assembly 4 on the lawn and reduce the damage of the guide assembly 4 to the lawn.

[0226] Alternatively, the cross section of the guide assembly 4 is circular, the front end surface 44 and the rear end surface 47 are both arc surfaces, the guide assembly 4 is a round rod structure, and the preparation process is simple. Alternatively, the cross section of the guide assembly 4 can also be semi-circular, elliptical, semi-circular at the bottom and any shape at the top. In other embodiments, the cross section of the bottom of the guide assembly 4 can also be an inverted trapezoidal structure, the two oblique sides of the trapezoidal structure are the front end surface 44 and the rear end surface 47, respectively, and the lowest end of the guide assembly 4 is a flat surface that contacts the lawn.

[0227] When the guide assembly 4 is a round rod structure, the diameter of the guide assembly 4 ranges from 5 mm to 50 mm. Alternatively, the diameter of the guide assembly 4 ranges from 12 mm to 42 mm. Alternatively, the diameter of the guide assembly 4 ranges from 30 mm to 42 mm.

[0228] In this embodiment, the lifting portion 46 can conform to the ground, and the lifting portion 46 is located below the housing 1. The size of the gap between the guide assembly 4 and the housing 1 needs to be smaller than the size of a golf ball to avoid the golf ball entering the housing 1 from the gap between the guide assembly 4 and the housing 1. The diameter of the golf ball is 42 mm. Specifically, the guide assembly 4 is located below the impact plate 13, the distance between the impact plate 13 and the plane where the lowest end of the moving assembly 2 is located is 55 mm, the diameter of the guide assembly 4 is greater than or equal to 12 mm, and the diameter of the guide assembly 4 is less than or equal to 42 mm, so that the guide assembly 4 forms a stable forward thrust on the golf ball, reducing the probability of the guide assembly 4 sliding over the golf ball.

[0229] In some embodiments, the bottom of the guide has a flexible material, which can be a rubber piece, an elastic piece, etc., to further reduce the damage of the guide to the lawn.

[0230] When the lowest end of the guide assembly 4 is flat, and the guide assembly 4 moves relative to the housing 1 at least in the vertical direction, the difference between the height at which the front end surface 44 moves relative to the housing 1 and the height at which the rear end surface 47 moves relative to the housing 1 is less than a set value, so as to avoid the front end surface 44 being raised relative to the rear end surface 47, causing the guide assembly 4 to slide over the golf ball from above. The set value is set according to an error, that is, when the guide assembly 4 moves up and down relative to the housing 1 under the action of an external force, the guide assembly 4 does not rotate relative to the housing 1 about the axis in the transverse direction, and the bottom surface of the guide assembly 4 is always parallel to the plane of the horizontal surface, so as to ensure that the guide assembly 4 always abuts the ground and the problem of the front end surface 44 being raised does not occur, thereby avoiding the golf ball entering the bottom of the guide assembly 4 from the raised front end surface 44, and further improving the guiding effect of the guide assembly 4 on the golf ball. Alternatively, when the guide assembly 4 moves relative to the housing 1 at least in the vertical direction, the height at which the front end surface 44 moves relative to the housing 1 is the same as the height at which the rear end surface 47 moves relative to the housing 1.

[0231] As shown in FIGS. 11-12, 14-15, in some embodiments, the projection of the guide assembly 4 in the projection plane in the forward direction of travel of the mower 100 has a transverse length that is greater than or equal to the transverse length of the projection of the housing. The guide assembly 4 guides the golf ball in contact with the guide assembly 4 on the ground to move outside the coverage track of the housing 1. Alternatively, the first end 41 and the second end 42 of the guide assembly 4 each extend beyond the housing 1, so that the coverage track of the guide assembly 4 at least covers the coverage track formed by the housing 1. In this embodiment, the golf ball is guided to move outside the coverage track of the housing 1, thereby not only avoiding contact between the golf ball and the blades of the cutting element 31, but also avoiding the golf ball entering the bottom of the housing 1 to affect the movement assembly 2, effectively avoiding the golf ball entering the bottom of the housing 1 to hinder the forward movement of the mower 100.

[0232] When the mower 100 performs cutting work on a golf course, the mower 100 is prone to crushing golf balls, causing the mower 100 to vibrate and the lawn to be unevenly cut. In some embodiments, the projection of the guide assembly 4 in the projection plane in the forward direction of travel of the mower 100 covers at least two drive wheels in the transverse direction. In the transverse direction of the mower 100, the two ends of the guide assembly 4 each extend beyond the two drive wheels, or the two ends of the guide assembly 4 are flush with the outer sides of the two drive wheels, or one end of the guide assembly 4 extends beyond a drive wheel and the other end is flush with the outer side of the drive wheel. The guide assembly 4 guides the golf ball in contact with the guide assembly 4 to move outside the movement track of the drive wheels, so that the golf ball is away from the two drive wheels, effectively reducing the crushing of the golf ball by the two drive wheels, causing the mower 100 to vibrate, and improving the cutting flatness of the lawn.

[0233] In some embodiments, the guide assembly 4 is arranged below the housing 1 along the vertical direction of the mower 100, and a projection of the housing 1 along the vertical direction at least partially covers a projection of the guide assembly 4 along the vertical direction. The guide assembly 4 is arranged at least partially below the housing 1, which is reasonable in layout and does not increase the length or width dimension of the mower 100, thereby ensuring the passability of the mower 100. Optionally, along the forward direction of the mower 100, the guide assembly 4 is arranged between the front end of the housing 1 and the cutting element 31, and the guide assembly 4 is completely arranged below the housing 1 and does not exceed the front end of the housing 1. As described above, the housing 1 further comprises a collision plate 13 movably arranged on the front side of the chassis 11. Along the forward direction of the mower 100, the guide assembly 4 is arranged between the front end of the collision plate 13 and the cutting element 31, and the guide assembly 4 does not exceed the front end of the collision plate 13, which can ensure that the collision plate 13 first contacts the obstacle when the housing 1 advances, improve the detection reliability, protect the guide assembly 4, and ensure the cutting coverage of the mower 100.

[0234] Optionally, the guide assembly 4 is located between the front end of the chassis 11 and the front end of the collision plate 13. The projection of the guide assembly 4 along the vertical direction does not overlap the projection of the chassis 11 along the vertical direction. The projection of the collision plate 13 along the vertical direction covers the projection of the guide assembly 4 along the vertical direction. In some embodiments, the guide assembly 4 can be mounted on the collision plate 13. The collision plate 13 and the guide assembly 4 are synchronously and movably connected with the chassis 11, and can move vertically upward to improve the obstacle crossing ability of the mower 100 when encountering uneven ground. Optionally, the guide assembly 4 and the collision plate 13 are integrally formed.

[0235] Optionally, along the forward direction of the mower 100, the guide assembly 4 can at least partially exceed the housing 1. When the front side of the chassis 11 is not provided with the collision plate 13, the guide assembly 4 can at least partially exceed the chassis 11. When the front side of the chassis 11 is provided with the collision plate 13, the guide assembly 4 can at least partially exceed the collision plate 13.

[0236] In other embodiments, along the forward direction of the mower 100, the guide assembly 4 is arranged between the front end of the housing 1 and the front wheel. Alternatively, the guide assembly 4 is arranged between the front wheel and the cutting element 31. Alternatively, the guide assembly 4 can be arranged in front of the housing 1.

[0237] In the present disclosure, the guide assembly 4 is not arranged on the deck, and the cutting element 31 can be adjusted in height within the use range and is not affected, thereby ensuring that the mower 100 can adjust the cutting height.

[0238] As mentioned above, in order to ensure that the guide assembly 4 can effectively prevent the golf ball from contacting the cutting element 31, the distance between the guide assembly 4 and the ground is small, and the guide assembly 4 will press the grass down. The blade 312 adopts a blade 312 without a turned-up edge, and when the cutter 311 rotates, there is no upward airflow, so the grass pressed down by the guide assembly 4 needs to be completely erected by its own elasticity before it can be cut. In this embodiment, the housing 1 further comprises a collision plate 13 movably arranged on the front side of the bottom plate 11, and the guide assembly 4 is located below the collision plate 13. In the forward direction of the mower 100, the distance between the guide assembly 4 and the cutting element 31 is greater than 11 cm. When the mower 100 advances, the grass is bent by the guide assembly 4, but the distance between the guide assembly 4 and the cutting element 31 in the longitudinal direction of the housing 1 is large, so that the grass can recover to the height of contacting the cutting element 31 under the action of its own elasticity before entering the cutting element 31. The grass can be fully cut by the cutting element 31, reducing missed cutting and improving the cutting efficiency of the cutting assembly 3. At the same time, it reduces the cutting unevenness caused by the cutting of the grass in the bent state by the cutting element 31.

[0239] The material of the guide assembly 4 is not specifically limited, as long as it does not affect the return of the mower 100 to the base station. Optionally, the material of the guide assembly 4 is plastic or aluminum, and the vicinity of the base station is provided with a magnetic stripe when the mower 100 returns to the base station for charging and other maintenance operations to guide the mower 100 to return. If the material of the guide assembly 4 is iron, it will affect the return of the mower 100.

[0240] Please refer to FIGS. 1-3 and 7, the mower 100 further comprises a connecting assembly 5 connecting the guide assembly 4 and the housing 1, the connecting assembly 5 comprises at least two groups, the connecting assembly 5 comprises at least two parallel connecting rods 511, one end of the connecting rod 511 is movably connected with the housing 1, and the other end of the connecting rod 511 is movably connected with the guide assembly 4. The connecting assembly 5 is used to connect the guide assembly 4 to the housing 1, and to realize that the guide assembly 4 has at least two degrees of freedom relative to the housing 1.

[0241] In order to facilitate the connection between the connecting assembly 5 and the housing 1, the mower 100 further comprises a fixing member 6 detachably connected with the housing 1, and threaded holes are arranged on the fixing member 6 and the housing 1 in corresponding positions. Screws are sequentially inserted through the threaded holes on the fixing member 6 and the housing 1 to fix the fixing member 6 on the housing 1. The threaded holes on the fixing member 6 and the housing 1 can be provided in multiple numbers to improve the connection stability of the fixing member 6 and the housing 1. The connection mode of the fixing member 6 and the housing 1 can also be other modes such as buckling, etc., which are not specifically limited here. One end of the connecting assembly 5 is connected to the fixing member 6. In other embodiments, one end of the connecting assembly 5 can be directly connected to the housing 1, which is not specifically limited here.

[0242] In order to adapt to the bottom structure of the shell 1, the structure of the fixing member 6 comprises a first plate body 61, a second plate body 62 connected with the first plate body 61, and a third plate body 63 and a fourth plate body 64 connected with the first plate body 61 respectively. The second plate body 62 is located at the first end of the first plate body 61, the third plate body 63 and the fourth plate body 64 are located at the second end of the second plate body 62, and the third plate body 63 and the fourth plate body 64 are located on the same horizontal plane and the second plate body 62 and the fourth plate body 64 are arranged away from each other, and the second plate body 62 and the third plate body 63 are arranged in parallel and located on different horizontal planes. Threaded holes are arranged on the second plate body 62, the third plate body 63 and the fourth plate body 64 respectively, and the fixing member 6 not only adapts to the bottom structure of the shell 1, but also ensures the stability of the connection. The structure of the fixing member 6 is not limited here, and can be set according to actual needs.

[0243] In the embodiment, two groups of the connecting assemblies 5 are arranged, one group of the connecting assemblies 5 is connected between the first end 41 and the middle part 43 of the guide assembly 4, and the other group of the connecting assemblies 5 is connected between the second end 42 and the middle part 43, which improves the stability of the up-down movement of the guide assembly 4.

[0244] The fixing member 6 further comprises a fifth plate body 65 and a sixth plate body 66, the fifth plate body 65 is connected to the side of the third plate body 63 away from the fourth plate body 64, the sixth plate body 66 is connected to the side of the fourth plate body 64 away from the third plate body 63, and the fifth plate body 65 and the sixth plate body 66 are arranged on the two sides of the first plate body 61 along the vertical direction. One end of one group of the connecting assemblies 5 is connected to the fifth plate body 65, and one end of the other group of the connecting assemblies 5 is connected to the sixth plate body 66.

[0245] The guide assembly 4 is connected with a first connecting member 48 and a second connecting member 49, the first connecting member 48 and the second connecting member 49 are vertical plates extending along the vertical direction, the first connecting member 48 is arranged between the first end 41 and the middle part 43 of the guide assembly 4, and the second connecting member 49 is arranged between the second end 42 and the middle part 43 of the guide assembly 4. One group of the connecting assemblies 5 is connected with the first connecting member 48 and the fifth plate body 65, and the other group of the connecting assemblies 5 is connected with the second connecting member 49 and the sixth plate body 66. Specifically, the two ends of the connecting rod 511 are connected with the first connecting member 48 and the fifth plate body 65 respectively, and at least two connecting rods 511 are arranged in parallel. At least two connecting rods 511 are also arranged in parallel between the second connecting member 49 and the sixth plate body 66.

[0246] The connecting rod 511 is movably connected to the first connecting member 48 or the second connecting member 49. Specifically, a rotating connecting member is connected between the connecting rod 511 and the first connecting member 48 or the second connecting member 49. One end of the connecting rod 511 is formed with an outer ring having an inner spherical surface, which is sleeved on an inner ring 514 having an outer spherical surface. The connecting rod 511 can rotate and swing at any angle relative to the inner ring 514. The inner ring 514 is fixed to the first connecting member 48 or the second connecting member 49 by a screw. Similarly, the other end of the connecting rod 511 is connected with a rotating connecting member to the fifth plate body 65 or the sixth plate body 66, so as to movably connect the connecting rod 511 to the fifth plate body 65 or the sixth plate body 66.

[0247] In another embodiment, as shown in FIGS. 16 and 17, the first connecting member 48 is provided with a rotating shaft 513 having an end cover 512. The rotating shaft 513 is fixedly connected to the first connecting member 48. The connecting rod 511 is rotatably arranged on the rotating shaft 513. The distance between the end cover 512 and the connecting member 48 is greater than the thickness of the connecting rod 511, so that the connecting rod 511 can swing relative to the connecting member 48. Similarly, the connecting rod 511 is movably connected to the second connecting member 49, the fifth plate body 65 or the sixth plate body 66 through the rotating shaft 513. The distance between the end cover 512 and the second connecting member 49, the fifth plate body 64 or the sixth plate body 66 is greater than the thickness of the connecting rod 511. The connecting rod 511 can rotate and swing relative to the second connecting member 49, the fifth plate body 65 or the sixth plate body 66. By rotating and swinging of all the connecting rods 511 relative to the rotating shaft 513, the guide assembly 4 has at least two degrees of freedom relative to the shell 1.

[0248] In other embodiments, the connecting rod 511 can also be connected to the first connecting member 48 and the like by other means, such as a universal joint. The connection mode of the connecting rod 511 to the first connecting member 48, the second connecting member 49, the fifth plate body 65 and the sixth plate body 66 is not specifically limited herein, as long as the guide assembly 4 has at least two degrees of freedom relative to the shell 1.

[0249] As shown in FIG. 2, the connecting rod 511 is a straight rod. The connecting rod 511 can also have a bent portion. The shape of the connecting rod 511 is set according to the spatial layout and the like.

[0250] Please refer to FIG. 2, the mower 100 further comprises force applying members 7 connecting the housing 1 and the guide assembly 4. Specifically, two force applying members 7 are provided, one of which connects the first connecting member 48 and the fifth plate body 65, and the other of which connects the second connecting member 49 and the sixth plate body 66. For example, when the guide assembly 4 moves upward relative to the housing 1 along the vertical direction, the force applying members 7 apply at least downward force to the guide assembly 4. When the guide assembly 4 is not subjected to the force of the slope, the guide assembly 4 is in the initial position. When the guide assembly 4 is subjected to the force of the slope, the guide assembly 4 moves upward relative to the housing 1, and the force applying members 7 store energy. When the height of the slope decreases, the guide assembly 4 is reset under the action of the force applying members 7 and its own gravity. In the embodiment, when the guide assembly 4 is in the initial position (the mower 100 is parked on a flat ground and the guide assembly 4 is not subjected to external force), the force applying members 7 are in the energy storage state, so that the lowest end of the guide assembly 4 can always abut against the ground, thereby ensuring the success rate of guiding the golf ball outside the cutting track of the cutting element 31.

[0251] It should be noted that in the embodiment, the connecting assembly 5 is provided with two groups, and each group of the connecting assembly 5 comprises two parallel connecting rods 511, both ends of the connecting rods 511 being movably connected to the guide assembly 4 and the fixed member 6 by means of rotating connecting members or the like. The connecting assembly 5, together with the force applying members 7 and the collision plate 13, functions as a limiting structure. Specifically, the collision plate 13 limits the distance of upward movement of the guide assembly 4 along the vertical direction and the angle of upward rotation of the guide assembly 4 about the horizontal transverse axis, and the connecting assembly 5, in cooperation with the force applying members 7, limits the distance of downward movement of the guide assembly 4 along the vertical direction, the angle of downward rotation of the guide assembly 4 about the horizontal transverse axis, the distance of horizontal transverse movement of the guide assembly 4, the distance of horizontal longitudinal movement of the guide assembly 4, and the angle of rotation of the guide assembly 4 about the horizontal longitudinal axis.

[0252] Due to the provision of the two groups of connecting assemblies 5 and the parallel arrangement of the first connecting member 48, the second connecting member 49, the fifth plate body 65 and the sixth plate body 66, the angle of rotation of the guide assembly 4 about the vertical axis relative to the housing 1 is limited to less than 2°.

[0253] The gravity of the guide assembly 4 and the force applying members 7 function as a reset structure, generating a restoring force for returning the guide assembly 4 to the initial position. In addition, the force applying members 7 also function as force applying members, so that the lowest end of the guide assembly 4 can always abut against the ground.

[0254] Please see FIG. 10, FIG. 12, FIG. 13 and FIG. 15, the mower 100 further comprises at least one guide ball 9, which is arranged on one side of the housing 1. When the mower 100 turns during operation, the guide ball 9 can prevent the golf ball from entering the bottom of the housing 1 from the side of the housing 1 and contacting the cutting element 31, further ensuring that the golf ball can be away from the cutting track of the cutting element 31, effectively avoiding the golf ball contacting the cutting element 31, thereby avoiding the golf ball being cut and damaged by the blade 312, also avoiding the golf ball contacting the high-speed rotating blade 312 to cause the blade 312 to wear or break, improving the cutting effect, cutting effect and service life of the mower 100, reducing loss and improving use safety. In the embodiment, two guide balls 9 are arranged, and the two guide balls 9 are respectively located on the two sides of the housing 1, so that the guide ball 9 can prevent the golf ball from contacting the high-speed rotating blade 312 no matter whether the mower 100 turns left or right.

[0255] Optionally, the guide assembly 4 and the guide ball 9 are integrally formed, and there is no gap between the guide assembly 4 and the guide ball 9, so as to ensure the success rate of preventing the golf ball from contacting the blade 312. Optionally, the guide assembly 4 and the guide ball 9 are separately arranged, so as to reduce replacement cost and can be respectively installed on the housing 1 according to requirements.

[0256] Please see FIG. 10, FIG. 12, FIG. 13 and FIG. 15, the guide ball 9 can be fixedly connected to the housing 1. Specifically, the guide ball 9 can be fixedly connected to the chassis 11. The manner in which the guide ball 9 is fixed to the chassis 11 is not limited, which can be screw connection or clamping, etc. In the embodiment, the guide ball 9 is connected to the chassis 11 through a fixing member 91. The fixing member 91 and the guide ball 9 can be integrally formed, so as to increase the strength and service life of the two. Optionally, the fixing member 91 is a fixed plate, so as to prevent the golf ball and the like from entering the chassis 11 from the gap between the guide ball 9 and the housing 1.

[0257] Please see FIG. 14 and FIG. 15, the guide ball 9 and the housing 1 are connected through a floating structure 92, and the guide ball 9 has at least a vertical direction of movement freedom relative to the housing 1. The guide ball 9 is installed on the chassis 11 through the floating structure 92. When the ground in front of the guide ball 9 has a convex slope, with the advance of the housing 1, the guide ball 9 contacts the slope, and moves upward along the vertical direction relative to the housing 1 with the increase of the height of the slope, so as to continue to abut against the surface of the slope and avoid damaging the slope. When the height of the slope decreases, that is, the guide ball 9 loses external force, the guide ball 9 moves downward along the vertical direction under the action of its own gravity, and the guide assembly 4 resets after the guide ball 9 passes the slope.

[0258] As shown in FIGS. 5-6, specifically, the floating structure 92 includes a support 921 connected to the base plate 11, and a floating member 922 movably arranged on the support 921. The support 921 can be fixed to the base plate 11 by screws or the like. The support 921 is provided with a through hole (not shown) penetrating the support 921 in the vertical direction, and the floating member 922 is movably arranged in the through hole. The cross-sectional dimension of the through hole is greater than that of the floating member 922, so that the floating member 922 can move up and down in the through hole. One end of the floating member 922 is connected to the guide ball 9. Under the action of an external force, the guide ball 9 drives the floating member 922 to move upward in the vertical direction synchronously. When the external force is removed, the guide ball 9 can reset under the action of its own gravity.

[0259] The floating structure 92 further includes a first limiting portion 923 and a second limiting portion 924. The first limiting portion 923 limits the range of downward movement of the floating member 922 in the vertical direction, and the second limiting portion 924 limits the range of upward movement of the floating member 922 in the vertical direction. The first limiting portion 923 and the second limiting portion 924 cooperate to limit the distance of upward and downward movement of the floating member 922 in the vertical direction. Specifically, the first limiting portion 923 is arranged at the end of the floating member 922 away from the guide ball 9, and the second limiting portion 924 is arranged at the end of the floating member 922 close to the guide ball 9. The cross-sectional dimension of the first limiting portion 923 is greater than that of the through hole, and the first limiting portion 923 cannot extend into the through hole. When the first limiting portion 923 abuts against the support 921, the guide ball 9 is located at the lowest position. Alternatively, the cross-sectional dimension of the second limiting portion 924 is greater than that of the through hole, and similarly, the second limiting portion 924 cannot extend into the through hole. When the second limiting portion 924 abuts against the support 921, the guide ball 9 is located at the highest position. Alternatively, the second limiting portion 924 is also the guide ball 9 itself. When the guide ball 9 abuts against the support 921, it cannot continue to move upward, and the guide ball 9 is located at the highest position. Alternatively, as the floating member 922 moves upward relative to the support 921, the support 921 is installed on the base plate 11, and the support 921 and the base plate 11 have a moving space for the floating member 922. By setting the height of the moving space, the height of upward movement of the floating member 922 is limited.

[0260] As shown in the detailed side view of the guide ball member in FIG. 18, the floating structure 92 optionally further comprises a restoring member 925, which generates a restoring force to return the guide assembly 4 to the initial position when the guide assembly 4 moves relative to the housing 1. When the ground in front of the guide assembly 4 has a convex slope, as the housing 1 advances, the guide assembly 4 contacts the slope and moves upward in the vertical direction relative to the housing 1 as the height of the slope increases, to continue to abut the surface of the slope and avoid damaging the slope. When the height of the slope decreases, i.e., the guide assembly 4 loses external force, the guide assembly 4 moves downward in the vertical direction to the initial position under the action of gravity and the restoring member 925, and continues to abut the ground. The restoring member 925 can also be an elastic member, a counterweight, a magnetic attraction structure, a magnetic repulsion structure, etc., which are not listed here.

[0261] Optionally, the restoring member 925 is a spring sleeved on the floating member 922. When the guide ball member 9 is in the lowest position, the spring is in a force storage state, to ensure that the guide ball member 9 is in the lowest position, and to ensure the blocking ability of the guide ball member 9 for the golf ball.

[0262] In order to ensure the balance of the guide ball member 9 in the vertical direction, and to reduce shaking or deflection or jamming in the vertical direction, the floating member 922 is provided in two, and the two floating members 922 are connected to the two ends of the guide ball member 9. A spring is sleeved on each floating member 922.

[0263] The lowest end of the guide ball member 9 and the plane where the lowest end of the moving assembly 2 is located have a gap. The gap is greater than 0 and less than or equal to 21 mm. Optionally, the gap is greater than or equal to 20 mm and less than or equal to 21 mm. Because the side resistance is large when the lawn mower 100 turns, the guide ball member 9 has a gap between the lowest end and the ground, and by setting the height of the gap, the resistance caused by the guide ball member 9 can be reduced, and the guide ball member 9 can push the golf ball away.

[0264] The front end of the guide ball member 9 has a guide structure 926. Optionally, the guide structure is an arc surface upwardly inclined relative to the horizontal plane, and the inclined direction is toward the advancing direction of the housing 1. When the guide ball member 9 contacts an obstacle, the guide structure can contact the obstacle in a sliding or rolling manner, to protect the guide ball member 9 and increase the smoothness of the movement of the lawn mower 100.

[0265] Please refer to FIG. 3 and FIG. 6. In the transverse direction of the lawn mower 100, the outermost end of the guide ball member 9 exceeds the housing 1. The golf ball is guided to the outside of the coverage track of the housing 1, so as to not only avoid the contact between the golf ball and the blades of the cutting element 31, but also avoid the golf ball entering the bottom of the housing 1 to affect the moving assembly 2, effectively avoiding the golf ball entering the bottom of the housing 1 to hinder the advancement of the lawn mower 100.

[0266] In the transverse direction of the mower 100, the outermost end of the ball guide 9 exceeds the drive wheels. The guide assembly 4 guides the golf ball in contact with the guide assembly 4 to move outside the movement track of the drive wheels, so that the golf ball is far away from the two drive wheels, effectively reducing the two drive wheels rolling on the golf ball causing the mower 100 to walk and bounce, improving the cutting flatness of the lawn.

[0267] In some embodiments, the gap between the ball guide 9 and the drive wheel is less than 42mm. By limiting the distance between the ball guide 9 and the drive wheel to be less than the diameter of the golf ball, it can effectively avoid the golf ball entering the front of the drive wheel from the gap between the ball guide 9 and the drive wheel when the mower 100 is moving forward or turning or on a slope, causing the mower 100 to bounce, and also effectively avoid the golf ball entering the cutting area of the cutting element 31 from the gap between the ball guide 9 and the drive wheel, causing the golf ball to be damaged and the mower 100 to be damaged.

[0268] Please refer to FIG. 6, FIG. 12, FIG. 15, FIG. 18, the ball guide 9 has a bending part 927 at the rear end, and the bending part 927 is bent outward relative to the body of the ball guide 9. Specifically, the bending part 927 of the ball guide 9 located on the side of the first drive wheel 21 is bent towards the outside of the first drive wheel 21, and the bending part 927 of the ball guide 9 located on the side of the second drive wheel 22 is bent towards the outside of the second drive wheel 22. The body of the ball guide 9 is arranged below the housing 1, and in the transverse direction of the mower 100, the outermost end of the ball guide 9 exceeds the drive wheels, so that the body of the ball guide 9 does not need to be arranged outside the housing 1, without increasing the transverse width of the mower 100, improving the passability of the mower 100, and effectively reducing the two drive wheels rolling on the golf ball causing the mower 100 to walk and bounce, improving the cutting flatness of the lawn.

[0269] When the ball guide 9 and the guide assembly 4 are separately arranged, the gap between the ball guide 9 and the guide assembly 4 is less than 42mm. Similarly, by limiting the distance between the ball guide 9 and the guide assembly 4 to be less than the diameter of the golf ball, it can effectively avoid the golf ball entering the bottom of the mower 100 from the gap between the ball guide 9 and the guide assembly 4 when the mower 100 is moving forward or turning or on a slope.

[0270] Optionally, in order to reduce the smoothness of the mower 100 when turning and the damage of the ball guide 9 to the lawn, the ball guide 9 is a round rod structure, and the diameter of the ball guide 9 ranges from 5mm to 50mm. Optionally, the diameter of the ball guide 9 ranges from 12mm to 42mm. Optionally, the diameter of the ball guide 9 ranges from 30mm to 42mm.

[0271] Referring to FIGS. 10-15, the lawn mower 100 is capable of autonomously moving in the lawn area and autonomously performing the mowing work. The lawn mower 100 comprises not only the above-described structure, but also a controller (not shown) and an energy module 16. The energy module 16 is configured to provide energy for various operations of the lawn mower 100, and can comprise a rechargeable battery and a charging connection structure, which is usually a charging electrode sheet that can be matched with a charging electrode sheet arranged at a docking station to charge the lawn mower 100. The controller is in signal connection with the above-described moving assembly 2, the mowing assembly 3, etc., and is configured to control the automatic movement and work of the lawn mower 100. The functions performed by the controller include controlling the mowing assembly 3 to start or stop working, controlling the moving assembly 2 to move, judging the power of the energy module 16 and timely controlling the lawn mower 100 to return to the docking station for automatic docking and charging, executing corresponding programs in combination with the data of the environmental sensor, etc.

[0272] In order to realize the self-movement and mowing work of the lawn mower 100 without the intervention of the user and improve the user experience, the lawn mower 100 further comprises a positioner 14 arranged on the housing 1 to obtain the position coordinates of the lawn mower 100. The lawn mower 100 can realize automatic navigation according to the position coordinates of the lawn mower 100 and move along a preset path. The positioner 14 comprises a positioner 14 configured to receive at least one of a satellite signal and a base station signal and output positioning data. The controller is arranged in the housing 1 and is configured to obtain the position data of the lawn mower 100 according to the positioning data output by the positioner 14.

[0273] The positioner 14 can be offset or centrally arranged on the housing 1. Alternatively, the positioner 14 can be detachably connected to the housing 1. On the other hand, the positioner 14 can obtain the coordinate information of the position where the positioner 14 is located by absolute positioning or relative positioning. Correspondingly, the positioner 14 can comprise a visual sensor (such as a monocular camera, a multiocular camera, a depth camera, etc.), an image sensor, a satellite positioning sensor, etc. Correspondingly, the positioner 14 can obtain the coordinate information of the position where the positioner 14 is located by using one or more of the following positioning technologies: GPS technology, visual simultaneous localization and mapping (VSLAM) technology, real-time kinematic (RTK) positioning technology, etc.

[0274] In some embodiments, the lawn mower 100 comprises an imaging sensor 15 to enable the lawn mower 100 to move while avoiding obstacles. The imaging sensor 15 is connected to the housing 1 and is configured to collect an image in the forward direction of the housing 1, which is at least partially an image of the work surface in the forward direction. The collected image is located within the field of view of the imaging sensor 15. The imaging sensor 15 can be a camera or a laser radar commonly used in the industry, etc.

[0275] In summary, by arranging a guide in front of the cutting element, and the projection of the guide along the forward direction of the mower is greater than or equal to the transverse length of the cutting assembly, the guide guides the objects such as golf balls to the cutting area away from the cutting element, which can effectively reduce the contact between the golf balls and the high-speed rotating blades, reduce the loss of golf balls and damage to the blades, improve the cutting effect and service life of the mower, improve the safety in use, and the guide has at least two degrees of freedom of movement relative to the housing, which is more suitable for the ups and downs of the ground, reduces the blocking of the mower by the ups and downs of the ground during the advancing process, and improves the obstacle-crossing ability of the mower.

[0276] In one comprehensive embodiment of the present disclosure, a mower 100 is provided. The mower 100 comprises a housing 1 including a chassis 11 and an upper cover 12 connected to the chassis 11; a moving assembly 2 mounted on the chassis 11 for driving the mower 100 to travel in a working area such as a lawn; and a cutting assembly 3 mounted on the housing 1 for trimming the lawn.

[0277] In order to avoid the spherical objects (such as golf balls) from entering the cutting area and improve the passability of the mower, a ball pushing device is arranged on the front side of the housing 1 of the mower 100 and close to the working surface.

[0278] The ball pushing device comprises a connecting assembly 5, a guide assembly 4, and optionally a force applying member and a ball guiding member 9.

[0279] The connecting assembly 5 is used to connect the guide assembly 4 to the housing 1. The connecting assembly 5 can comprise at least two parallel connecting rods 511, and each connecting rod 511 is movably connected to the housing 1 and the guide assembly 4 through rotary connecting members at both ends thereof. The rotary connecting members can be joint bearings, cylindrical bushings, needle bearings or universal joints to provide translational freedom in vertical, lateral or longitudinal directions, and rotational freedom around the longitudinal axis. Through this arrangement, the guide assembly 4 can have multi-degree-of-freedom mobility relative to the housing 1, so as to adapt to complex terrain.

[0280] In some embodiments, the connecting assembly 5 can further comprise a force applying member such as a tension spring, a counterweight or a magnetic attraction structure. The force applying member is used to apply a vertical downward pressure to the guide assembly 4, so that the lowest end of the guide assembly 4 always keeps close to the ground, thereby improving the reliability of ball pushing and obstacle crossing. In further embodiments, the connecting assembly 5 can also be composed of elastic members such as at least one set of tension springs or torsional springs, which are connected between the housing 1 and the guide assembly 4, respectively, to provide multi-degree-of-freedom and cushioning effect by elastic deformation.

[0281] The guide assembly 4 comprises a pushing part 45 and a lifting part 46 in sequence from top to bottom:

[0282] The pushing part 45 is preferably a thin sheet structure, such as an aluminum sheet, with a small thickness to achieve light weight. The shape of the pushing part 45 is at least partially similar to or fits the shape of the front end of the housing 1, and can push the spherical object away with less resistance when the mower 100 moves forward, reducing damage to the lawn. The structure of the pushing part 45 can be a whole plane or curved surface, spliced by several strip structures, or a fence / grid structure, to achieve stable contact, light weight, and self-cleaning functions, respectively. The surface of the pushing part 45 can be a smooth plane or an arc surface, thereby dispersing the force during the ball pushing process and avoiding the ball jumping up.

[0283] The lifting part 46 is located below the pushing part 45 and close to the working surface. It is preferably a disc structure with an overall upward curvature, forming a front end surface 44 that gradually rises in the forward direction and a rear end surface 47 that gradually rises in the backward direction. When the mower 100 moves forward or backward, the front end surface 44 or the rear end surface 47 can contact and gradually lift the ground or the ball, thereby achieving a smooth obstacle crossing process. The bottom of the lifting part 46 can be made of flexible material as a whole, or only the bottom area is coated with flexible material, such as rubber, TPE, PU, to deform moderately when contacting the ground, reducing impact and improving passability. The lifting part 46 can also be made of low-friction engineering plastic (such as POM, PTFE) or polished metal / composite material to further reduce friction.

[0284] In other embodiments, the pushing part 45 and the lifting part 46 are integrally formed as a cylindrical steel pipe with a continuous arc-shaped outer surface, naturally forming the pushing function area and the lifting function area, simple to manufacture and high in strength, suitable for long-term use. The pushing part 45 and the lifting part 46 can also be separately provided and assembled into a cylindrical structure after independent processing, in order to optimize the material properties of different areas, such as using high-strength metal for the pushing part and flexible or low-friction material for the lifting part.

[0285] The cross section of the lifting part 46 can be various, such as arc-shaped, V-shaped, semicircular, elliptical, or inverted trapezoidal. The front end surface 44 and the rear end surface 47 are preferably arc surfaces, thereby being able to disperse impact force, reduce damage to the lawn, and prolong service life. When the cross section is inverted trapezoidal, the two inclined sides serve as the front end surface and the rear end surface, and the bottom plane contacts the lawn, providing more stable support. The diameter of the lifting part 46 ranges from 5mm to 50mm, more preferably from 12mm to 42mm, and further preferably from 30mm to 42mm.

[0286] In order to improve the obstacle crossing ability, the length of the lifting part 46 in the longitudinal direction is greater than the thickness of the pushing part 45, so as to provide a larger contact area when encountering obstacles and avoid jamming. Further, the lifting part 46 can be designed as a plurality of independent units arranged at intervals in the transverse direction of the mower 100, so that even if part of the units do not contact the ground under complex terrain conditions, the other units can still function to improve the overall guidance coverage.

[0287] In some embodiments, the ball pushing device further comprises at least one ball guide 9 arranged on the left and / or right side of the housing 1 and close to the working surface. The ball guide 9 is used to guide the ball to an area away from the cutting assembly 3 when the ball is located in the area on both sides of the front end of the mower, so as to avoid entering the blade range. The ball guide 9 can be integrally formed with the guide assembly 4 or can be installed independently. The material thereof can be a flexible material that can deform when subjected to an upward force, thereby protecting the lawn and the ball. The ball guide 9 can also be connected to the housing 1 through a floating structure 92, which is lifted in the vertical direction when subjected to an external force and returns to its original position after the external force disappears, thereby avoiding rigid collision and improving the service life.

[0288] Through the above structure, the mower 100 in the present comprehensive embodiment is provided with a ball pushing device on the front side of the housing, and the pushing part 45 and the lifting part 46 cooperate to effectively push the ball away from the cutting area and smoothly cross the lawn protrusions. The connecting assembly 5 and the rotating connecting piece provide the guide assembly 4 with multi-degree-of-freedom movement capability, and cooperate with the force applying piece to ensure stable contact with the ground. The ball guide 9 further expands the guide range and prevents the ball from entering the blade area from both sides. Therefore, the mower 100 not only can realize safe and reliable ball pushing function, but also can significantly reduce lawn damage, improve obstacle crossing ability and adaptability, and ensure operation continuity and stability in complex environments.

[0289] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the disclosure.

[0290] The above embodiments only express several implementation manners of the present disclosure, and the description is specific and detailed, but it should not be understood as a limitation on the scope of the disclosed patent. It should be noted that for those skilled in the art, without departing from the concept of the present disclosure, a number of modifications and improvements can be made, which are within the scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the appended claims.

Claims

1. A ball pushing device, comprising: a connecting assembly (5) configured to be connected to a housing (1) of a mower (100) at one end and connected to a guiding assembly (4) at the other end; the guiding assembly (4) comprises, from top to bottom: a pushing part (45) provided with a pushing surface for contacting a spherical object; a lifting part (46) located on a side close to a working surface; the lifting part (46) comprises: a front end surface (44) gradually rising along a corresponding advancing direction when the lifting part (46) is installed on the mower (100) ; when the guiding assembly (4) is subjected to an upward force, the guiding assembly (4) moves relative to the housing (1) at least in a vertical direction. 2.The ball pushing device according to any one of the preceding claims, wherein the lifting part (46) comprises: a rear end surface (47) gradually rising along a corresponding retreating direction when the lifting part (46) is installed on the mower (100). 3.The ball pushing device according to any one of the preceding claims, wherein the lifting part (46) is integrally formed with the pushing part (45), and a bottom of the lifting part (46) comprises a flexible material. 4.The ball pushing device according to any one of the preceding claims, wherein the lifting part (46) is separately formed with the pushing part (45), and the lifting part (46) comprises a flexible material, or a bottom of the lifting part (46) comprises a flexible material. 5.The ball pushing device according to any one of the preceding claims, wherein the guiding assembly (4) comprises at least two lifting parts (46), and the lifting parts (46) are spaced apart from each other in a transverse direction, and the transverse direction is perpendicular to the advancing direction. 6.The ball pushing device according to any one of the preceding claims, wherein a length of the lifting part (46) is greater than a length of the pushing part (45), and the length is a distance from a front end to a rear end. 7.The ball pushing device according to any one of the preceding claims, wherein the ball pushing device has at least two degrees of freedom relative to the housing (1). 8.The ball pushing device according to any one of the preceding claims, wherein the degrees of freedom are at least two of: a translational degree of freedom in a vertical direction; a translational degree of freedom in a transverse direction; a translational degree of freedom in a longitudinal direction; a rotational degree of freedom about a longitudinal axis. 9.The ball pushing device according to any one of the preceding claims, wherein the connecting assembly (5) comprises at least two connecting rods (511) arranged in parallel; two ends of the connecting rod (511) are rotatably connected to the housing (1) and the guiding assembly (4) respectively through rotary connectors. 10.The ball pushing device according to any one of the preceding claims, further comprising: at least one ball guide (9) arranged on a left side and / or a right side of the housing (1). 11.The ball pushing device according to any one of the preceding claims, wherein the ball guide (9) is integrally formed with the guiding assembly (4). 12.The ball pushing device according to any one of the preceding claims, wherein the ball guide (9) comprises a flexible material, and the ball guide (9) is deformed when subjected to an upward force. 13.The ball pushing device according to any one of the preceding claims, further comprising: a floating structure (92) connecting the guide ball (9) and the housing (1), when the guide ball (9) is subjected to an upward force, the guide ball (9) moves relative to the housing (1) at least in the vertical direction.

14. The ball pushing device according to any one of the preceding claims, further comprising: a force applying member (7) configured to apply a vertical downward pressure to the guide assembly (4).

15. The ball pushing device according to any one of the preceding claims, wherein the force applying member (7) comprises one or more of a counterweight, a tension spring, a magnetic attraction structure, and a magnetic repulsion structure.

16. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is in any one of the following forms or a combination thereof: a continuous whole pushing surface; a pushing surface composed of a plurality of spaced pushing bars; a pushing surface having a fence-like structure; a pushing surface having a grid-like structure.

17. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is a curved surface or a flat surface convex to the advancing direction.

18. A ball pushing device, comprising: a connecting assembly (5) configured to connect, at one end, a housing (1) of a lawn mower (100) and, at the other end, a guide assembly (4); the guide assembly (4) comprising, in order from top to bottom: a pushing portion (45) provided with a pushing surface configured to contact a spherical object; a lifting portion (46) located on a side close to a working surface; when the guide assembly (4) is subjected to an upward force, the guide assembly (4) moves relative to the housing (1) at least in the vertical direction; at least one guide ball (9) provided on the left side and / or the right side of the housing (1).

19. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) comprises: a front end surface (44) gradually rising along an advancing direction corresponding to the installation of the lawn mower (100).

20. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) comprises: a rear end surface (47) gradually rising along a retreating direction corresponding to the installation of the lawn mower (100).

21. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) is integrally formed with the pushing portion (45), and the bottom of the lifting portion (46) comprises a flexible material.

22. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) is separately formed with the pushing portion (45), and the lifting portion (46) comprises a flexible material, or the bottom of the lifting portion (46) comprises a flexible material.

23. The ball pushing device according to any one of the preceding claims, wherein the guide assembly (4) comprises at least two lifting portions (46), and the lifting portions (46) are spaced apart from each other in a transverse direction perpendicular to an advancing direction corresponding to the installation of the lawn mower (100).

24. The ball pushing device according to any one of the preceding claims, wherein the length of the lifting portion (46) is greater than the length of the pushing portion (45), and the length is the distance from the front end to the rear end.

25. The ball pushing device according to any one of the preceding claims, wherein the ball pushing device has at least two degrees of freedom relative to the housing (1).

26. The ball pushing device according to any one of the preceding claims, wherein the degrees of freedom are at least two of: a translational degree of freedom in a vertical direction; a translational degree of freedom in a lateral direction; a translational degree of freedom in a longitudinal direction; a rotational degree of freedom about a longitudinal axis.

27. The ball pushing device according to any one of the preceding claims, wherein the connecting assembly (5) comprises at least two parallel connecting rods (511); both ends of the connecting rods (511) are rotatably connected to the housing (1) and the guiding assembly (4) respectively.

28. The ball pushing device according to any one of the preceding claims, wherein the ball guiding member (9) is integrally formed with the guiding assembly (4).

29. The ball pushing device according to any one of the preceding claims, wherein the ball guiding member (9) comprises a flexible material, and the ball guiding member (9) is deformed when subjected to an upward force.

30. The ball pushing device according to any one of the preceding claims, further comprising: a floating structure (92), wherein the ball guiding member (9) is connected to the housing (1) via the floating structure (92), and when the ball guiding member (9) is subjected to an upward force, the ball guiding member (9) moves relative to the housing (1) at least in a vertical direction.

31. The ball pushing device according to any one of the preceding claims, further comprising: a force applying member (7) configured to apply a vertical downward pressure to the guiding assembly (4).

32. The ball pushing device according to any one of the preceding claims, wherein the force applying member (7) comprises one or more of a counterweight, a tension spring, a magnetic attraction structure, and a magnetic repulsion structure.

33. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is in any one of the following forms or a combination thereof: a continuous and integral pushing surface; a pushing surface composed of a plurality of spaced pushing bars; a pushing surface having a fence-like structure; a pushing surface having a grid-like structure.

34. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is a curved surface or a flat surface convexly arranged towards a corresponding advancing direction when the ball pushing device is installed on the lawn mower (100).

35. A ball pushing device, comprising: a connecting assembly (5) configured to be connected to a housing (1) of a lawn mower (100) at one end and to a guiding assembly (4) at the other end, and to enable the guiding assembly (4) to have at least two degrees of freedom; the guiding assembly (4) comprises, from top to bottom, in sequence: a pushing portion (45) provided with a pushing surface configured to contact a spherical object; a lifting portion (46) located on a side close to a working surface; when the guiding assembly (4) is subjected to an upward force, the guiding assembly (4) moves relative to the housing (1) at least in a vertical direction.

36. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) comprises: a front end surface (44) gradually rising along a corresponding advancing direction when the ball pushing device is installed on the lawn mower (100).

37. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) comprises: The rear end surface (47) is gradually raised in the corresponding backward direction when the mower (100) is installed.

38. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) is integrally formed with the pushing portion (45), and the bottom of the lifting portion (46) comprises a flexible material.

39. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) is separately formed with the pushing portion (45), and the lifting portion (46) comprises a flexible material, or the bottom of the lifting portion (46) comprises a flexible material.

40. The ball pushing device according to any one of the preceding claims, wherein the guide assembly (4) comprises at least two lifting portions (46), and the lifting portions (46) are spaced apart from each other in a transverse direction, which is perpendicular to the corresponding forward direction when the mower (100) is installed.

41. The ball pushing device according to any one of the preceding claims, wherein the length of the lifting portion (46) is greater than the length of the pushing portion (45), and the length is the distance from the front end to the rear end.

42. The ball pushing device according to any one of the preceding claims, wherein the degrees of freedom are at least two of the following: a translational degree of freedom in the vertical direction; a translational degree of freedom in the transverse direction; a translational degree of freedom in the longitudinal direction; a rotational degree of freedom about the longitudinal axis.

43. The ball pushing device according to any one of the preceding claims, wherein the connecting assembly (5) comprises at least two connecting rods (511) arranged in parallel; the two ends of the connecting rod (511) are rotatably connected with the housing (1) and the guide assembly (4) respectively.

44. The ball pushing device according to any one of the preceding claims, further comprising: at least one ball guide (9) arranged on the left side and / or the right side of the housing (1).

45. The ball pushing device according to any one of the preceding claims, wherein the ball guide (9) is integrally formed with the guide assembly (4).

46. The ball pushing device according to any one of the preceding claims, wherein the ball guide (9) comprises a flexible material, and the ball guide (9) deforms when subjected to an upward force.

47. The ball pushing device according to any one of the preceding claims, further comprising: a floating structure (92), wherein the ball guide (9) is connected with the housing (1) through the floating structure (92), and when the ball guide (9) is subjected to an upward force, the ball guide (9) moves relative to the housing (1) at least in the vertical direction.

48. The ball pushing device according to any one of the preceding claims, further comprising: a force applying member (7) configured to apply a vertical downward pressure to the guide assembly (4).

49. The ball pushing device according to any one of the preceding claims, wherein the force applying member (7) comprises one or more of a counterweight, a tension spring, a magnetic attraction structure, and a magnetic repulsion structure.

50. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is in any one of the following forms or a combination thereof: a continuous and integral pushing surface; a pushing surface composed of a plurality of spaced-apart pushing strips; a pushing surface having a fence-like structure; a pushing surface having a grid-like structure.

51. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is a curved surface or a flat surface protruding in a forward direction corresponding to a forward direction of the mower (100) when the ball pushing device is installed on the mower (100).

52. A ball pushing device, comprising: a connecting assembly (5) configured to be connected to a housing (1) of a mower (100) at one end and connected to a guiding assembly (4) at the other end; the guiding assembly (4) comprising, in order from top to bottom: a pushing portion (45) provided with a pushing surface configured to contact a spherical object; a lifting portion (46) located on a side close to a working surface; when the lifting portion (46) is subjected to an upward force, the guiding assembly (4) moves relative to the housing (1) at least in a vertical direction; a length of the lifting portion (46) is greater than a length of the pushing portion (45), the length being a distance from a front end to a rear end.

53. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) comprises: a front end surface (44) gradually rising in a forward direction corresponding to a forward direction of the mower (100) when the ball pushing device is installed on the mower (100).

54. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) comprises: a rear end surface (47) gradually rising in a backward direction corresponding to a backward direction of the mower (100) when the ball pushing device is installed on the mower (100).

55. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) is integrally formed with the pushing portion (45), and a bottom of the lifting portion (46) comprises a flexible material.

56. The ball pushing device according to any one of the preceding claims, wherein the lifting portion (46) is separately formed from the pushing portion (45), and the lifting portion (46) comprises a flexible material, or a bottom of the lifting portion (46) comprises a flexible material.

57. The ball pushing device according to any one of the preceding claims, wherein the guiding assembly (4) comprises at least two lifting portions (46), and the lifting portions (46) are spaced apart from each other in a transverse direction perpendicular to a forward direction corresponding to a forward direction of the mower (100) when the ball pushing device is installed on the mower (100).

58. The ball pushing device according to any one of the preceding claims, wherein the ball pushing device has at least two degrees of freedom relative to the housing (1).

59. The ball pushing device according to any one of the preceding claims, wherein the degrees of freedom are at least two of: a translational degree of freedom in a vertical direction; a translational degree of freedom in a transverse direction; a translational degree of freedom in a longitudinal direction; a rotational degree of freedom about a longitudinal axis.

60. The ball pushing device according to any one of the preceding claims, wherein the connecting assembly (5) comprises at least two connecting rods (511) arranged in parallel; two ends of the connecting rod (511) are rotatably connected to the housing (1) and the guiding assembly (4) respectively via rotary connectors.

61. The ball pushing device according to any one of the preceding claims, further comprising: at least one ball guide (9) arranged on a left side and / or a right side of the housing (1).

62. The ball pushing device according to any one of the preceding claims, wherein the ball guide (9) is integrally formed with the guiding assembly (4).

63. The ball pushing device according to any one of the preceding claims, wherein the ball guide (9) comprises a flexible material, and the ball guide (9) is deformed when subjected to an upward force.

64. The ball pushing device according to any one of the preceding claims, further comprising: a floating structure (92), wherein the ball guide (9) is connected to the housing (1) via the floating structure (92), and when the ball guide (9) is subjected to an upward force, the ball guide (9) moves relative to the housing (1) at least in a vertical direction.

65. The ball pushing device according to any one of the preceding claims, further comprising: a force applying member (7) configured to apply a vertical downward pressure to the guide assembly (4).

66. The ball pushing device according to any one of the preceding claims, wherein the force applying member (7) comprises one or more of a counterweight, a tension spring, a magnetic attraction structure, and a magnetic repulsion structure.

67. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is in any one of the following forms or a combination thereof: a continuous and integral pushing surface; a pushing surface composed of a plurality of spaced pushing bars; a pushing surface having a fence-like structure; a pushing surface having a grid-like structure.

68. The ball pushing device according to any one of the preceding claims, wherein the pushing surface is a curved surface or a flat surface convexly arranged in a forward direction of travel, wherein the forward direction of travel corresponds to a forward direction of travel of the lawn mower (100) when the ball pushing device is installed on the lawn mower (100).

69. A lawn mower comprising: a housing (1); a moving assembly (2) provided on the housing (1); a cutting assembly (3) provided on the housing (1); and a ball pushing device according to any one of claims 1 to 68.

70. The lawn mower according to any one of the preceding claims, wherein the lawn mower (100) further comprises a limiting structure, and at least one of the ball pushing device and the housing (1) is connected to the limiting structure; the limiting structure is configured to limit a distance of movement of the ball pushing device relative to the housing (1) in a vertical direction.

71. The lawn mower according to any one of the preceding claims, wherein the moving assembly (2) comprises two driven wheels arranged on opposite sides of the housing (1); in a forward direction of travel of the lawn mower (100), the driven wheels are arranged in front of the cutting assembly, and the pushing portion (45) is arranged in front of the driven wheels.

72. The lawn mower according to any one of the preceding claims, wherein a side of the housing (1) is provided with a ball guide (9); a lowest end of the ball guide (9) and a lowest end of the moving assembly (2) have a gap in a vertical direction.

73. The lawn mower according to any one of the preceding claims, wherein the gap is greater than 0 mm and less than or equal to 21 mm.

74. The lawn mower according to any one of the preceding claims, wherein a gap between the ball guide (9) and the ball pushing device is less than 42 mm.

75. The lawn mower according to any one of the preceding claims, wherein the moving assembly (2) comprises two drive wheels arranged on opposite sides of the housing (1), and a gap between the ball guide (9) and the drive wheels is less than 42 mm.

76. The lawn mower according to any one of the preceding claims, wherein the cutting assembly (3) performs work to form a cutting area; the lateral width of the ball pushing device is greater than or equal to the lateral width of the cutting area, the lateral direction being perpendicular to the advancing direction of the lawn mower (100).

77. The lawn mower according to any one of the preceding claims, wherein the moving assembly comprises two driven wheels arranged on opposite sides of the housing; the lateral width of the ball pushing device is greater than or equal to the sum of the lateral widths of the cutting area and the two driven wheels.

78. The lawn mower according to any one of the preceding claims, wherein the lateral width of the ball pushing device is greater than or equal to the overall width of the lawn mower (100), the lateral direction being perpendicular to the advancing direction of the lawn mower (100).

79. The lawn mower according to any one of the preceding claims, wherein the gap between the lowest end of the pushing portion (45) and the lowest end of the moving assembly (2) in the vertical direction is less than 0.5 mm.

80. A lawn mower comprising: a housing (1); a moving assembly (2) arranged in the housing (1); a cutting assembly (3) arranged in the housing (1); a ball pushing device comprising: a connecting assembly (5) connected at one end to the housing (1) and at the other end to a guiding assembly (4); the guiding assembly (4) comprises in order from top to bottom: a pushing portion (45) provided with a pushing surface for contacting a spherical object; a lifting portion (46) located on the side close to the working surface; when the guiding assembly (4) is subjected to an upward force, the guiding assembly (4) moves relative to the housing (1) at least in the vertical direction; in the lateral direction of the lawn mower (100), the guiding assembly (4) does not exceed the projection of the overall contour of the lawn mower (100), or the distance by which the guiding assembly (4) exceeds the projection of the overall contour of the lawn mower (100) is less than 20 cm, the lateral direction being perpendicular to the advancing direction.

81. [Amended according to Rule 26 10.11.2025] The lawn mower according to any one of the preceding claims, wherein the ball pushing device comprises: at least one ball guiding member (9) arranged on the left side and / or the right side of the housing (1).

82. The lawn mower according to any one of the preceding claims, wherein in the lateral direction of the lawn mower (100), the ball guiding member (9) does not exceed the projection of the overall contour of the lawn mower (100), or the distance by which the ball guiding member (9) exceeds the projection of the overall contour of the lawn mower (100) is less than 20 cm.

83. The lawn mower according to any one of the preceding claims, wherein the lifting portion (46) comprises: a front end surface (44) gradually rising in the corresponding advancing direction when the lawn mower (100) is installed.

84. The lawn mower according to any one of the preceding claims, wherein the lifting portion (46) comprises: a rear end surface (47) gradually rising in the corresponding retreating direction when the lawn mower (100) is installed.

85. The lawn mower according to any one of the preceding claims, wherein the lifting portion (46) is integrally formed with the pushing portion (45), and the bottom of the lifting portion (46) comprises a flexible material.

86. The lawnmower of any of the preceding claims, wherein the lifting portion (46) is formed separately from the pushing portion (45), and wherein the lifting portion (46) comprises a flexible material or the bottom of the lifting portion (46) comprises a flexible material.

87. The lawnmower of any of the preceding claims, comprising at least two lifting portions (46), which are spaced apart from each other in a transverse direction, which is perpendicular to the corresponding advancing direction when the lawnmower (100) is mounted.

88. The lawnmower of any of the preceding claims, wherein the length of the lifting portion (46) is greater than the length of the pushing portion (45), the length being the distance from the front end to the rear end.

89. The lawnmower of any of the preceding claims, wherein the ball pushing device has at least two degrees of freedom relative to the housing (1).

90. The lawnmower of any of the preceding claims, wherein the degrees of freedom are at least two of the following: a translational degree of freedom in the vertical direction; a translational degree of freedom in the transverse direction; a translational degree of freedom in the longitudinal direction; a rotational degree of freedom about the longitudinal axis.

91. The lawnmower of any of the preceding claims, wherein the ball pushing device comprises: a connecting assembly (5) configured to establish a movable connection with the housing (1) to enable the ball pushing device to have at least two degrees of freedom relative to the housing (1).

92. The lawnmower of any of the preceding claims, wherein the connecting assembly (5) comprises at least two connecting rods (511) arranged in parallel; the two ends of the connecting rod (511) are rotatably connected to the housing (1) and the guide assembly (4) respectively.

93. The lawnmower of any of the preceding claims, further comprising a limiting structure, at least one of the ball pushing device and the housing (1) being connected to the limiting structure; the limiting structure is configured to limit the distance that the ball pushing device moves in the vertical direction relative to the housing (1).

94. The lawnmower of any of the preceding claims, wherein the moving assembly (2) comprises two driven wheels arranged on opposite sides of the housing (1); in the advancing direction of the lawnmower (100), the driven wheels are arranged in front of the cutting assembly, and the pushing portion (45) is arranged in front of the driven wheels.

95. The lawnmower of any of the preceding claims, wherein the ball guide (9) is integrally formed with the ball pushing device.

96. The lawnmower of any of the preceding claims, wherein the ball guide (9) comprises a flexible material, and the ball guide (9) deforms when subjected to an upward force.

97. The lawnmower of any of the preceding claims, further comprising: a floating structure (92), the ball guide (9) is connected to the housing (1) via the floating structure (92), and when the ball guide (9) is subjected to an upward force, the ball guide (9) moves relative to the housing (1) at least in the vertical direction.

98. The lawnmower of any of the preceding claims, wherein the lowest end of the ball guide (9) and the lowest end of the moving assembly (2) have a gap in the vertical direction.

99. The lawnmower of any one of claims, wherein the gap is greater than 0 mm and less than or equal to 21 mm.

100. The lawnmower of any one of claims, wherein the gap between the ball guide (9) and the ball pushing device is less than 42 mm.

101. The lawnmower of any one of claims, wherein the moving assembly (2) comprises two drive wheels arranged opposite on both sides of the housing (1), and wherein the gap between the ball guide (9) and the drive wheels is less than 42 mm.

102. The lawnmower of any one of claims, wherein the cutting assembly (3) performs work to form a cutting area; and wherein the lateral width of the ball pushing device is greater than or equal to the lateral width of the cutting area, the lateral being perpendicular to the direction of advancement of the lawnmower (100).

103. The lawnmower of any one of claims, wherein the moving assembly comprises two driven wheels arranged opposite on both sides of the housing; and wherein the lateral width of the ball pushing device is greater than or equal to the sum of the lateral width of the cutting area and the lateral width of the two driven wheels.

104. The lawnmower of any one of claims, wherein the lateral width of the ball pushing device is greater than or equal to the lateral width of the outer profile of the lawnmower (100), the lateral being perpendicular to the direction of advancement of the lawnmower (100).

105. The lawnmower of any one of claims, wherein the gap between the lowest end of the pushing portion (45) and the lowest end of the moving assembly (2) in the vertical direction is less than 0.5 mm.

106. The lawnmower of any one of claims, wherein the ball pushing device further comprises: a force applying member (7) configured to apply a vertically downward pressure to the guiding assembly (4).

107. The lawnmower of any one of claims, wherein the force applying member (7) comprises one or more of a counterweight, a tension spring, a magnetic attraction structure, and a magnetic repulsion structure.

108. The lawnmower of any one of claims, wherein the pushing surface is in any one of the following forms or a combination thereof: a continuous and integral pushing surface; a pushing surface composed of a plurality of pushing bars arranged at intervals; a pushing surface having a fence-like structure; a pushing surface having a grid-like structure.

109. The lawnmower of any one of claims, wherein the pushing surface is a curved surface or a flat surface convex to the direction of advancement, the direction of advancement referring to the corresponding direction of advancement when the ball pushing device is installed on the lawnmower (100).

110. The lawnmower of any one of claims, wherein the distance between the pushing surface and the front side of the housing in the direction of advancement of the lawnmower (100) is less than 5 cm.

111. The lawnmower of any one of claims, wherein the difference between the curvature of at least part of the pushing surface and the curvature of the front side of the housing (1) is not greater than 10%.

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