CN114946379A - Header elevating gear and lawn mower - Google Patents

Abstract

The invention provides a header lifting device and a mower, wherein the header lifting device comprises a front heightening rotating shaft assembly, a connecting rod assembly, a rear heightening rotating shaft assembly and an electric push rod; the front heightening rotating shaft assembly and the rear heightening rotating shaft assembly are respectively arranged at two ends of the cutting table, are fixedly connected with the cutting table and are in sliding connection with the rack; one end of the connecting rod assembly is rotationally connected with the front height-adjusting rotating shaft assembly, and the other end of the connecting rod assembly is rotationally connected with the rear height-adjusting rotating shaft assembly; the stiff end and the header fixed connection of electric push rod, the output of electric push rod with before turn up the pivot subassembly or turn up the pivot subassembly after and rotate to be connected. According to the header lifting device provided by the invention, the height of the header is adjusted by combining the electric push rod with the front heightening rotating shaft assembly, the connecting rod assembly and the rear heightening rotating shaft assembly, so that the header lifting device is simple in structure, convenient to operate and high in operation precision.

Description

Header elevating gear and lawn mower

Technical Field

The invention relates to the technical field of garden equipment, in particular to a header lifting device and a mower.

Background

When the lawn mower works, an operator needs to lift the header frequently according to the lawn condition so as to adjust the height of the header from the ground.

When present lawn mower highly adjusted the header, need manual operation, it is inconvenient to operate.

Disclosure of Invention

The invention solves the problem that the existing mower is inconvenient to operate when the height of the header is adjusted.

In order to solve the problems, the invention provides a header lifting device which comprises a front heightening rotating shaft assembly, a connecting rod assembly, a rear heightening rotating shaft assembly and an electric push rod;

the front heightening rotating shaft assembly and the rear heightening rotating shaft assembly are respectively arranged at two ends of a header, the front heightening rotating shaft assembly and the rear heightening rotating shaft assembly are fixedly connected with the header, and the front heightening rotating shaft assembly and the rear heightening rotating shaft assembly are in sliding connection with a rack;

one end of the connecting rod assembly is rotatably connected with the front heightening rotating shaft assembly, and the other end of the connecting rod assembly is rotatably connected with the rear heightening rotating shaft assembly;

the stiff end of electric push rod with header fixed connection, the output of electric push rod with preceding heightening pivot subassembly or back heightening pivot subassembly rotates and is connected.

Optionally, the front height-adjusting rotating shaft assembly comprises a front height-adjusting rotating shaft, a first supporting rod and a first connecting plate; the output end of the electric push rod is fixedly connected with the front heightening rotating shaft; the front heightening rotating shaft is connected with the rack in a sliding manner; the number of the first supporting rods and the number of the first connecting plates are two; the two first supporting rods and the two first connecting plates are respectively arranged at two ends of the front heightening rotating shaft; the bottom of the first support rod is fixedly connected with the header; one end of the first connecting plate is rotatably connected with the front heightening rotating shaft, and the other end of the first connecting plate is rotatably connected with the top end of the first supporting rod.

Optionally, the rear heightening rotating shaft assembly comprises a rear heightening rotating shaft, a second support rod and a second connecting plate; the rear heightening rotating shaft is connected with the rack in a sliding manner; the number of the second supporting rods and the number of the second connecting plates are two; the two second supporting rods and the two second connecting plates are respectively arranged at two ends of the rear heightening rotating shaft; the bottom of the second supporting rod is fixedly connected with the header; one end of the second connecting plate is rotatably connected with the rear heightening rotating shaft, and the other end of the second connecting plate is rotatably connected with the top end of the second supporting rod.

Optionally, the connecting rod assembly includes a connecting rod, and a third connecting plate and a fourth connecting plate respectively disposed at two ends of the connecting rod; one end of the third connecting plate is rotatably connected with the connecting rod, and the other end of the third connecting plate is rotatably connected with the front heightening rotating shaft; one end of the fourth connecting plate is rotatably connected with the connecting rod, and the other end of the fourth connecting plate is rotatably connected with the rear heightening rotating shaft.

Another object of the present invention is to provide a lawn mower, comprising a frame, a header disposed below the frame, the header lifting device, a traveling gear train and a control module; the header is connected with the rack through the header lifting device; the walking wheel train is connected with the frame; the header, the header lifting device and the traveling gear train are in signal connection with the control module.

Optionally, a swing rod combination is arranged on the header, one end of the swing rod combination is rotatably connected with the header, and the other end of the swing rod combination is rotatably connected with the rack.

Optionally, the traveling wheel train comprises a right front wheel, a left front wheel, a right rear wheel and a left rear wheel which are rotatably connected with the frame, and a right traveling motor, a right reduction gearbox, a left traveling motor and a left reduction gearbox, wherein the right traveling motor, the right reduction gearbox and the right rear wheel are sequentially connected; the left walking motor, the left reduction gearbox and the left rear wheel are sequentially connected; the right walking motor and the left walking motor are in signal connection with the control module.

Optionally, the system further comprises a path planning module, and the path planning module is in signal connection with the control module.

Optionally, the system further comprises an obstacle avoidance module, and the obstacle avoidance module is in signal connection with the control module.

Optionally, the obstacle avoidance module includes an obstacle avoidance radar.

Compared with the prior art, the header lifting device provided by the invention has the following advantages:

according to the header lifting device provided by the invention, the height of the header is adjusted by combining the electric push rod with the front heightening rotating shaft assembly, the connecting rod assembly and the rear heightening rotating shaft assembly, so that the header lifting device is simple in structure, convenient to operate and high in operation precision.

Drawings

Fig. 1 is a schematic structural view of a header lifting device when an electric push rod is connected with a front heightening rotating shaft assembly;

FIG. 2 is a top view of FIG. 1;

fig. 3 is a schematic structural diagram of a header lifting device when an electric push rod is connected with a rear heightening rotating shaft assembly according to the invention;

fig. 4 is a schematic structural diagram of a header lifting device when the electric push rod is connected with the rear heightening rotating shaft assembly;

FIG. 5 is a schematic view of a mower according to the present invention;

FIG. 6 is a top view of FIG. 5;

fig. 7 is a schematic view of the traveling gear train according to the present invention.

Description of reference numerals:

1-front height-adjusting rotating shaft component; 11-front heightening the rotating shaft; 12-a first support bar; 13-a first connection plate; 2-a connecting rod assembly; 21-a connecting rod; 22-a third connection plate; 23-a fourth connecting plate; 3-rear height adjustment of the rotating shaft component; 31-back-up of the rotating shaft; 32-a second support bar; 33-a second connecting plate; 4-an electric push rod; 5, cutting table; 51-oscillating bar combination; 52-right cutter assembly; 53-middle cutter assembly; 54-left cutter assembly; 6-a frame; 7-a traveling gear train; 71-the right front wheel; 72-left front wheel; 73-right rear wheel; 74-left rear wheel; 75-a right travel motor; 76-right reduction gearbox; 77-left walking motor; 78-left reduction gearbox.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," "radial," and the like are used in the orientations and positional relationships indicated in the drawings for the purpose of simplifying the description, and are not intended to indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered as limiting the present invention.

Furthermore, the terms "first" and "second" are used merely to simplify the description and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the first feature being "on" or "under" the first feature may comprise the first feature being in direct contact with the second feature or the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. The first feature being "under," "below," and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or merely indicates that the first feature is at a lower level than the second feature.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In order to solve the problem that the operation is inconvenient when the height of the header is adjusted at present, the invention provides a header lifting device, and as shown in figures 1 to 4, the header lifting device comprises a front height-adjusting rotating shaft component 1, a connecting rod component 2, a rear height-adjusting rotating shaft component 3 and an electric push rod 4; the front heightening rotating shaft assembly 1 and the rear heightening rotating shaft assembly 3 are respectively arranged at two ends of the cutting table 5, the front heightening rotating shaft assembly 1 and the rear heightening rotating shaft assembly 3 are both fixedly connected with the cutting table 5, and the front heightening rotating shaft assembly 1 and the rear heightening rotating shaft assembly 3 are both connected with the rack 6 in a sliding manner; one end of the connecting rod assembly 2 is rotatably connected with the front height-adjusting rotating shaft assembly 1, and the other end of the connecting rod assembly is rotatably connected with the rear height-adjusting rotating shaft assembly 3; the stiff end and the header 1 fixed connection of electric push rod 4, the output of electric push rod 4 with before heighten pivot subassembly 1 or after heighten pivot subassembly 3 and rotate and be connected.

The header 5 is provided with a plurality of cutting knife assemblies for mowing, the header 5 is preferably provided with a right cutting knife assembly 52, a middle cutting knife assembly 53 and a left cutting knife assembly 54, wherein the right cutting knife assembly 52 comprises a right cutting knife body and a right cutting knife motor for driving the right cutting knife body to move, the middle cutting knife assembly 53 comprises a middle cutting knife body and a middle cutting knife motor for driving the middle cutting knife body to move, and similarly, the left cutting knife assembly 51 comprises a left cutting knife body and a left cutting knife motor; drive header 5 through header elevating gear and go up and down, highly adjust between header 5 and the ground to the realization is to the regulation of each cutting knife body height on header 5, thereby makes the height of the cutting knife body after adjusting and the high looks adaptation of the plant of waiting to cut, improves the cutting effect.

The header lifting device provided by the application is characterized in that the front heightening rotating shaft group 1 and the rear heightening rotating shaft group 3 are respectively arranged at two ends of the header 5, the front heightening rotating shaft group 1 and the rear heightening rotating shaft group 3 are connected through the connecting rod component 2, when the height of the header 5 needs to be adjusted, the electric push rod 4 is started, the output end of the electric push rod 4 extends out or contracts, the output end extends out or contracts, meanwhile, pushing force or pulling force is applied to the front heightening rotating shaft group 1 or the rear heightening rotating shaft group 3, so that under the action of the pulling force or the pushing force, the relative position between the header 5 and the front heightening group 1 or the rear heightening group 3 is changed, and the front heightening group 1 or the rear heightening group 3 is in sliding connection with the rack 6, therefore, the heights of the front heightening rotating shaft group 1 and the rear heightening rotating shaft group 3 are not changed, so that when the relative position is changed, the height of the header 5 changes, and the height of the header 5 is adjusted.

The electric push rod 4 in the application can be connected with the front height-adjusting rotating shaft component 1 and can also be connected with the rear height-adjusting rotating shaft component 3; the electric push rod 4 is preferably connected with the front heightening rotating shaft assembly 1.

Because link assembly 2's one end is rotated with preceding height-adjusting pivot subassembly 1 and is connected, and the other end rotates with height-adjusting pivot subassembly 3 after with and is connected, consequently, through this link assembly 2 for preceding height-adjusting pivot subassembly 1 and height-adjusting pivot subassembly 3 after can the synchronous motion, thereby make this header elevating gear can follow both ends and go up and down to header 5, improve the stability of going up and down the action to header 5.

According to the header lifting device provided by the invention, the height of the header 5 is adjusted by combining the electric push rod 4 with the front heightening rotating shaft assembly 1, the connecting rod assembly 2 and the rear heightening rotating shaft assembly 3, so that the header lifting device is simple in structure, convenient to operate and high in operation precision.

Specifically, the front heightening rotating shaft assembly 1 in the present application includes a front heightening rotating shaft 11, a first support rod 12 and a first connecting plate 13; wherein the output end of the electric push rod 4 is fixedly connected with the front heightening rotating shaft 11; the front heightening rotating shaft 11 is connected with the frame 6 in a sliding way; the number of the first supporting rods 12 and the number of the first connecting plates 13 are two; the two first supporting rods 12 and the two first connecting plates 13 are respectively arranged at two ends of the front heightening rotating shaft 11; the bottom of the first supporting rod 12 is fixedly connected with the cutting table 5; one end of the first connecting plate 13 is rotatably connected to the front heightening rotating shaft 11, and the other end of the first connecting plate 13 is rotatably connected to the top end of the first supporting rod 12.

Both ends of the front heightening rotating shaft 11 are provided with a first supporting rod 12 and a first connecting plate 13, so that both ends of the front heightening rotating shaft 11 are rotatably connected with the header 5, and the stability of the header lifting device structure is improved.

The structure of the rear heightening rotating shaft component 3 can be the same as or different from that of the front heightening rotating shaft component 1; in order to simplify the structure, the structure of the rear heightening rotating shaft assembly 3 is preferably the same as that of the front heightening rotating shaft assembly 1, and specifically, the rear heightening rotating shaft assembly 3 in the present application comprises a rear heightening rotating shaft 31, a second support rod 32 and a second connecting plate 33; wherein, the rear heightening rotating shaft 31 is connected with the frame 6 in a sliding way; the number of the second support rods 32 and the number of the second connecting plates 33 are two; two second support rods 32 and two second connection plates 33 are respectively disposed at two ends of the rear heightening rotating shaft 31; the bottom of the second support rod 32 is fixedly connected with the header 5; one end of the second connecting plate 33 is rotatably connected to the rear heightening rotating shaft 31, and the other end of the second connecting plate 33 is rotatably connected to the top end of the second supporting rod 32.

In order to realize the rotary connection of the connecting rod assembly 2 with the front heightening rotating shaft assembly 1 and the rear heightening rotating shaft assembly 3, the connecting rod assembly 2 in the application comprises a connecting rod 21, and a third connecting plate 22 and a fourth connecting plate 23 which are respectively arranged at two ends of the connecting rod 21; one end of the third connecting plate 22 is rotatably connected with the connecting rod 21, and the other end is rotatably connected with the front heightening rotating shaft 11; one end of the fourth connecting plate 23 is rotatably connected to the connecting rod 21, and the other end is rotatably connected to the rear heightening rotating shaft 31.

When the height of the header 5 needs to be adjusted, the output end of the electric push rod 4 extends or contracts according to an instruction, and meanwhile, the front height-adjusting rotating shaft 11 is driven to rotate; the front heightening rotating shaft 11 transmits the motion to the rear heightening rotating shaft 31 through the connecting rod 21, so that the synchronous swing of the front heightening rotating shaft assembly 1 and the rear heightening rotating shaft assembly 3 is realized; the front heightening rotating shaft 11 is connected with the header 5 through a first supporting rod 12, the rear heightening rotating shaft 31 is connected with the header 5 through a second supporting rod 32, and the header 5 is driven to ascend and descend through the first supporting rod 12 and the second supporting rod 32.

The application provides a header elevating gear, through electric push rod 4 and the cooperation of increaseing pivot subassembly and link assembly 2, not only can realize adjusting the level of header 5, can also realize the infinitely variable control to header 5.

Specifically, in the working process of the header lifting device, the telescopic speed of the electric push rod 4 is a fixed value and is marked as v; recording the working time of the electric push rod 4 as t, and then setting the expansion amount s of the output end of the electric push rod 4 as v × t; because the header elevating gear that this application provided, it realizes the lift to header 5 to heighten pivot subassembly 1 and heighten 3 motions of pivot subassembly after and before driving through electric push rod 4, consequently, header 5's the lift volume is related with the flexible volume of electric push rod 4 output.

In the process of performing fixed-gear adjustment on the header 5 through the header lifting device provided by the application, a user selects a corresponding lifting gear according to needs, specifically, the lifting gear in the application refers to a set mowing height every 0.5 inch (12.7mm) when a commercial-grade lawn mower generally sets the mowing height, and each set mowing height is called a gear; therefore, after the user selects a gear, the lifting amount of the header 5 is selected, and the stretching amount of the output end of the electric push rod 4 is selected; and because the telescopic speed of the output end of the electric push rod 4 is a fixed value, the working time of the electric push rod 4 can be determined according to the selected gear and the telescopic speed of the electric push rod 4.

Through this gear setting mode of adjusting, the user can be accurate location preset height of mowing. For the understanding, the present application exemplarily provides a relationship between the height of the header 5 and the output end of the electric push rod 4, i.e. the length and the output end of the push rod, as shown in the following table:

header height H (m)	Push rod length L (mm)	Push rod stroke (relative to minimum mounting distance mm)
			1	333.55	13.55
1.5	340.775	20.775
			2	347.404	27.404
2.5	353.688	33.688
			3	359.742	39.742
3.5	365.608	45.608
			4	371.281	51.281
4.5	376.711	56.711
			5	381.814	61.814

Through the header elevating gear that this application provided highly carries out the infinitely variable control in-process to header 5, the user confirms the elevating height of header 5 through the time of stirring the rocker, and the time of should stirring the rocker is the operating time of electric putter 4 promptly, because the flexible speed of 4 outputs of electric putter is a definite value, can confirm the flexible volume of 4 outputs of electric putter according to the time of stirring the rocker and flexible speed, has also confirmed the lift volume of header 5 exactly.

When going up and down to header 5 through this infinitely variable control's mode, can be when stirring the rocker, observe the lifting height of header 5, when the header goes up and down to the height of needs, stop stir the rocker can, consequently, the header elevating gear that this application provided, the height of adjustment header 5 to needs that the user can be random.

The header lifting device provided by the invention can realize fixed gear adjustment of the header 5 and can also perform stepless adjustment on the header 5, and a user can freely select two adjustment modes according to requirements in the working process, so that the header lifting device provided by the application is convenient to operate and wide in application range.

Another object of the present invention is to provide a lawn mower, as shown in fig. 5 and 6, comprising a frame 6, a header 5 disposed below the frame 6, a header lifting device as described above, a travel gear train 7, and a control module; the header 5 is connected with the frame 6 through a header lifting device; the traveling wheel train 7 is connected with the frame 6; header 5, header elevating gear and walking train 7 all with control module signal connection.

According to the mower provided by the invention, the header lifting device is arranged, and the electric push rod 4 is combined with the front heightening rotating shaft assembly 1, the connecting rod assembly 2 and the rear heightening rotating shaft assembly 3 to adjust the height of the header 5, so that the mower has the advantages of simple structure, convenience in operation and high operation precision, and is beneficial to reducing the operation difficulty of the mower and improving the mowing efficiency and the mowing effect.

Specifically, be provided with pendulum rod combination 51 on the header 5 in this application, the one end and the header 5 of pendulum rod combination 51 are rotated and are connected, and the other end rotates with frame 6 and is connected.

By providing the swing link combination 51, the distance of the header 2 swinging in the front-rear direction is restricted, and the stability of the header 5 during lifting is improved.

Referring to fig. 7, the traveling gear train 7 in the present application includes a right front wheel 71, a left front wheel 72, a right rear wheel 73, a left rear wheel 74, a right traveling motor 75, a right reduction gearbox 76, a left traveling motor 77, a left reduction gearbox 78, which are rotatably connected to the frame 6, wherein the right traveling motor 75, the right reduction gearbox 76, and the right rear wheel 73 are connected in sequence; the left walking motor 77, the left reduction box 78 and the left rear wheel 74 are connected in sequence; the right walking motor 75 and the left walking motor 77 are in signal connection with the control module.

By controlling the right traveling motor 75 and the left traveling motor 77, respectively, zero turning of the lawnmower can be realized, and flexibility in the working process is improved.

The lawn mower provided by the application further comprises a path planning module, and the path planning module is in signal connection with the control module.

The path planning module is arranged on the mower and used for planning the traveling route of the traveling gear train 7; the optimal path planning module comprises a dotting surveying instrument, wherein waypoint data and fixed obstacles of a grassland are acquired through the dotting surveying instrument, and the waypoint data and the fixed obstacle information are transmitted to the control module, so that the control module plans a traveling path according to the received waypoint data and the received fixed obstacle information.

The application provides a lawn mower still keeps away the barrier module, keeps away barrier module and control module signal connection.

The obstacle avoidance module is arranged on the mower and used for detecting obstacles; specifically, the preferable obstacle avoidance module comprises an obstacle avoidance radar.

The number of the further preferred obstacle avoidance radars of this application is a plurality of, installs a plurality of radars all around at the lawn mower promptly, and control module receives the signal of each radar feedback to carry out corresponding control according to feedback signal.

The application provides a lawn mower can also include self-driving appearance, through self-driving appearance and control module signal connection, realizes the autopilot of lawn mower.

The mower provided by the application can be controlled in a wireless remote control, wire control and autonomous operation mode; the operation of the mower can be controlled by inputting parameters such as the height of the header, the rotating speed of a cutting knife, the walking speed and the like through an APP capable of realizing human-computer interaction and a human-computer interaction system.

Through setting up and keeping away barrier system, can survey the peripheral environment of lawn mower, prevent that lawn mower work in-process from causing the injury to peripheral people or animal.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.

Claims (10)

1. A header lifting device is characterized by comprising a front heightening rotating shaft assembly (1), a connecting rod assembly (2), a rear heightening rotating shaft assembly (3) and an electric push rod (4);

the front heightening rotating shaft assembly (1) and the rear heightening rotating shaft assembly (3) are respectively arranged at two ends of a cutting table (5), the front heightening rotating shaft assembly (1) and the rear heightening rotating shaft assembly (3) are fixedly connected with the cutting table (5), and the front heightening rotating shaft assembly (1) and the rear heightening rotating shaft assembly (3) are in sliding connection with a rack (6);

one end of the connecting rod assembly (2) is rotatably connected with the front heightening rotating shaft assembly (1), and the other end of the connecting rod assembly is rotatably connected with the rear heightening rotating shaft assembly (3);

the stiff end of electric push rod (4) with header (1) fixed connection, the output of electric push rod (4) with before heighten pivot subassembly (1) or after heighten pivot subassembly (3) and rotate and be connected.

2. The header lifting device according to claim 1, wherein the front elevation spindle assembly (1) comprises a front elevation spindle (11), a first support bar (12) and a first connection plate (13); the output end of the electric push rod (4) is fixedly connected with the front heightening rotating shaft (11); the front heightening rotating shaft (11) is connected with the rack (6) in a sliding manner; the number of the first supporting rods (12) and the number of the first connecting plates (13) are two; the two first supporting rods (12) and the two first connecting plates (13) are respectively arranged at two ends of the front heightening rotating shaft (11); the bottom of the first support rod (12) is fixedly connected with the header (5); one end of the first connecting plate (13) is rotatably connected with the front heightening rotating shaft (11), and the other end of the first connecting plate (13) is rotatably connected with the top end of the first supporting rod (12).

3. The header lifting device according to claim 2, wherein the rear elevation spindle assembly (3) comprises a rear elevation spindle (31), a second support bar (32) and a second connection plate (33); wherein the rear heightening rotating shaft (31) is connected with the frame (6) in a sliding way; the number of the second supporting rods (32) and the number of the second connecting plates (33) are two; the two second support rods (32) and the two second connecting plates (33) are respectively arranged at two ends of the rear heightening rotating shaft (31); the bottom of the second supporting rod (32) is fixedly connected with the header (5); one end of the second connecting plate (33) is rotatably connected with the rear heightening rotating shaft (31), and the other end of the second connecting plate (33) is rotatably connected with the top end of the second supporting rod (32).

4. The header lifting device according to claim 3, wherein the link assembly (2) comprises a link (21), and a third connecting plate (22) and a fourth connecting plate (23) respectively provided at both ends of the link (21); one end of the third connecting plate (22) is rotatably connected with the connecting rod (21), and the other end of the third connecting plate is rotatably connected with the front heightening rotating shaft (11); one end of the fourth connecting plate (23) is rotatably connected with the connecting rod (21), and the other end of the fourth connecting plate is rotatably connected with the rear heightening rotating shaft (31).

5. A lawn mower, characterized by comprising a frame (6), a header (5) arranged below the frame (6), a header lifting device according to any one of claims 1 to 4, a travelling wheel train (7) and a control module; the header (5) is connected with the frame (6) through the header lifting device; the walking wheel train (7) is connected with the frame (6); the cutting table (5), the cutting table lifting device and the walking wheel train (7) are in signal connection with the control module.

6. A mower as claimed in claim 5, wherein said header (5) is provided with a rocker assembly (51), one end of said rocker assembly (51) being rotatably connected to said header (5) and the other end being rotatably connected to said frame (6).

7. A mower as claimed in claim 5, wherein said travelling wheel train (7) comprises a right front wheel (71), a left front wheel (72), a right rear wheel (73), a left rear wheel (74) rotatably connected to said frame (6), and a right travelling motor (75), a right reduction gearbox (76), a left travelling motor (77), a left reduction gearbox (78), wherein said right travelling motor (75), said right reduction gearbox (76), said right rear wheel (73) are connected in sequence; the left walking motor (77), the left reduction box (78) and the left rear wheel (74) are connected in sequence; the right walking motor (75) and the left walking motor (77) are in signal connection with the control module.

8. The lawnmower of claim 5, further comprising a path planning module in signal connection with the control module.

9. The mower of claim 5, further comprising an obstacle avoidance module in signal connection with said control module.

10. The lawnmower of claim 9, wherein the obstacle avoidance module comprises an obstacle avoidance radar.

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