WO2024056066A1 - 一种割草机 - Google Patents

一种割草机 Download PDF

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Publication number
WO2024056066A1
WO2024056066A1 PCT/CN2023/119063 CN2023119063W WO2024056066A1 WO 2024056066 A1 WO2024056066 A1 WO 2024056066A1 CN 2023119063 W CN2023119063 W CN 2023119063W WO 2024056066 A1 WO2024056066 A1 WO 2024056066A1
Authority
WO
WIPO (PCT)
Prior art keywords
lawn mower
frame
joystick
cutting
motor
Prior art date
Application number
PCT/CN2023/119063
Other languages
English (en)
French (fr)
Inventor
韦群力
石冬冬
施清华
埃歇尔·克里斯
宁承海
孙延生
丁敏
季钦
萨奇萨·尼克
陈辉
王静
薛嘉甫
布洛瓦斯·保利乌斯
赫特曼·贾奎琳
余涛
李夏子
王涛
高乃新
李志远
梅雨
朱飞
丁士源
许跃跃
Original Assignee
格力博(江苏)股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202222463616.5U external-priority patent/CN218897538U/zh
Priority claimed from CN202211131985.2A external-priority patent/CN117751750A/zh
Priority claimed from CN202222465614.XU external-priority patent/CN218244544U/zh
Priority claimed from CN202211131983.3A external-priority patent/CN117751749A/zh
Priority claimed from CN202222464012.2U external-priority patent/CN218772937U/zh
Priority claimed from CN202222464517.9U external-priority patent/CN218125542U/zh
Priority claimed from CN202222471370.6U external-priority patent/CN218604012U/zh
Priority claimed from CN202222465126.9U external-priority patent/CN218244543U/zh
Priority claimed from CN202222467150.6U external-priority patent/CN218634776U/zh
Priority claimed from CN202211132261.XA external-priority patent/CN117751751A/zh
Priority claimed from CN202211131936.9A external-priority patent/CN117751748A/zh
Priority claimed from CN202211639732.6A external-priority patent/CN118264022A/zh
Priority claimed from CN202223422873.0U external-priority patent/CN218997817U/zh
Priority claimed from CN202321711252.6U external-priority patent/CN220107756U/zh
Priority claimed from CN202322437426.0U external-priority patent/CN220733554U/zh
Priority claimed from CN202311155252.7A external-priority patent/CN117178729A/zh
Application filed by 格力博(江苏)股份有限公司 filed Critical 格力博(江苏)股份有限公司
Publication of WO2024056066A1 publication Critical patent/WO2024056066A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms

Definitions

  • the invention relates to the technical field of lawn mowers, and in particular to a lawn mower.
  • the lawn mower can replace or reduce labor, is easy to operate, fully saves manpower and time, and beautifies the environment, so it is widely used.
  • the control system of a general lawn mower has a relatively complex structure with many parts. Most of the parts are made of sheet metal. The cumulative assembly error is difficult to control. Moreover, the reset structure in the control system is complex, making it difficult to adjust the center position of the control handle later, which increases manufacturing costs. and assembly costs.
  • the present invention provides a lawn mower to improve the technical problems of the traditional lawn mower's control mechanism, which has a complicated structure, cannot automatically reset, and is inconvenient to operate.
  • the present invention provides a lawn mower, which includes a frame, a walking assembly, a cutting table assembly and a control mechanism, wherein the walking assembly, the cutting table assembly and the control mechanism are all installed on On the frame, the operating mechanism is used to control the walking of the walking components.
  • the operating mechanism includes a joystick mounting seat, a joystick, a limit component and a reset component.
  • the joystick mounting seat is rotated in the first direction and installed on the frame.
  • the joystick is rotated in the second direction and installed on the joystick mounting seat; the reset component
  • the joystick is driven to return to the initial position along the first direction; the limiting component locks the joystick in the initial position.
  • the joystick includes a joystick and a limiting plate, and the limiting plate is connected to the bottom of the joystick.
  • the joystick also includes a sleeve, which is arranged at the connection between the limiting plate and the control handle.
  • the joystick is installed on the joystick mounting base through a rotating shaft, and the rotating shaft penetrates the sleeve and is fixed to the sleeve. Together, the two ends of the rotating shaft are rotated and installed on the joystick mounting base respectively.
  • the operating mechanism further includes an elastic component, which is installed on the joystick mounting base and connected to the limiting plate.
  • the elastic component includes a spring seat and a compression spring arranged in the spring seat.
  • the spring seat is fixedly installed at the bottom of the joystick mounting seat.
  • One end of the compression spring is connected to the spring seat, and the other end is connected to the limiting plate. Connection, both sides of the limit plate are respectively provided with protrusions that cooperate with compression springs.
  • the limiting component includes a fixed seat, a limiting rod and an elastic body.
  • One end of the limiting rod is installed on the fixed seat, and the other end extends in the direction of the control rod.
  • the limiting plate is provided with a
  • the elastic body is arranged between the limit rod and the fixed base in the limit hole matched with the limit rod.
  • the limiting rod is arranged at an angle.
  • the angle between the limiting rod and the horizontal plane is 8-10°
  • the limiting hole is a waist-shaped hole.
  • the reset assembly includes a tension spring, one end of the tension spring is connected to the joystick mounting base to drive the joystick mounting base to move in the first direction.
  • the operating mechanism further includes an angle sensor, the rotation axis of the angle sensor is installed on the joystick and rotates synchronously with the joystick.
  • the operating mechanism also includes a baffle and a limit seat.
  • the baffle is fixedly installed on the frame, the limit seat is rotationally connected to the baffle, and the operating rod mounting base is fixedly installed on the limit seat.
  • the operating mechanism is installed on the frame through a fixing plate, the fixing plate is connected to the frame, the baffle is installed on the fixing plate, and the fixing plate is used to limit the operating rod mounting seat in a first direction.
  • the operating mechanism further includes a first operating handle and a second operating handle fixedly installed on the frame.
  • the first operating handle and the second operating handle are respectively provided on the front and rear sides of the operating lever.
  • the traveling assembly includes traveling wheels and a driving motor for driving the traveling wheels.
  • the operating mechanism also includes a switch for controlling the power on and off of the driving motor.
  • the joystick When the joystick is in the position of the reset assembly, When returning to the initial position, the switch is triggered and the drive motor is powered off.
  • the frame is provided with an opening corresponding to the position of the joystick to allow the joystick to rotate.
  • the invention also provides a control mechanism for a lawn mower.
  • the control mechanism includes a joystick mounting base, a joystick, a limiting component and a reset component, wherein the joystick mounting base is mounted on the lawn mower to rotate along a first direction.
  • the joystick On the frame, the joystick is rotated in the second direction and installed on the joystick mounting seat; the reset component drives the joystick to return to the initial position in the first direction; the limiting component locks the joystick in the initial position.
  • the lawn mower includes: a frame, the frame includes a front frame and a rear frame, the front frame and the rear frame are detachably connected; a standing area, a standing area Set at the rear of the frame; the traveling mechanism is installed on the frame and includes a front wheel assembly, a rear wheel assembly, and a drive motor.
  • the front wheel assembly is installed on the front frame.
  • the front wheel assembly includes front wheels and rear wheels.
  • the assembly is installed on the rear frame.
  • the rear wheel assembly includes a rear wheel.
  • the drive motor drives the front wheel and/or the rear wheel.
  • the header assembly is installed on the frame.
  • the header assembly includes a header and a cutting motor.
  • cutting knife the cutting motor drives the cutting knife to cut grass
  • battery the battery is installed on the frame
  • control device the control device is used to control the walking of the walking mechanism, the control device includes: joystick mounting base; joystick, the joystick is rotated and installed on On the joystick mount.
  • the joystick mounting base is rotatably mounted on the frame.
  • the joystick mounting base and the frame rotate relative to each other, the joystick and the joystick mounting base rotate synchronously.
  • the joystick includes a control handle and a limit plate, and the limit plate is connected to the bottom of the control handle.
  • the joystick also includes a sleeve.
  • the sleeve is arranged at the connection between the limiting plate and the joystick.
  • the joystick is installed on the joystick mounting base through a first rotating shaft.
  • the first rotating shaft penetrates the sleeve and is Fixed together with the casing, both ends of the first rotating shaft are respectively rotatably installed on the joystick mounting base.
  • control component includes a limiting component, a reset component and an elastic component; the limiting component locks the joystick in the initial position; the reset component drives the joystick to return to the initial position along the first direction; the elastic component is installed on The joystick is installed on the base and connected with the limit plate.
  • the limiting component includes a fixed seat, a limiting rod and an elastic body. One end is installed on the fixed base, and the other end extends in the direction of the joystick.
  • the limiting plate is provided with a limiting hole that matches the limiting rod, and the elastic body is arranged between the limiting rod and the fixed base.
  • the limiting rod is arranged at an angle, the angle between the limiting rod and the horizontal plane is 8 to 10 degrees, and the limiting hole is a waist-shaped hole.
  • the reset component includes a tension spring.
  • One end of the tension spring is connected to the joystick mounting base to drive the joystick mounting base to move in the first direction.
  • the elastic component includes a spring seat and a compression spring.
  • the compression spring is arranged in the spring seat.
  • the spring seat is installed at the bottom of the joystick mounting seat.
  • One end of the compression spring is connected to the spring seat, and the other end is connected to the limiter. Bit board connection.
  • the front wheel assembly includes a front fork.
  • the front fork is rotatably installed on the frame.
  • the front wheel is installed on the front fork.
  • the front end of the front fork is provided with a wheel guard plate, and the front end of the wheel guard plate exceeds the front wheel. .
  • a cushion is provided above the standing area.
  • the cushion tilts forward from bottom to top, and the cushion forms an angle of 100 to 110 degrees with the horizontal direction.
  • a control platform is provided above the standing area, and a display screen is provided on the control platform.
  • the display screen forms an angle of 150 to 160 degrees with the horizontal direction.
  • a first placement area is provided on the rack, and the battery is installed on the first placement area.
  • the first placement area is provided with a plurality of first mounting holes, and batteries of different specifications match different first mounting holes.
  • a first charging interface is provided at the rear of the lawn mower, and the first charging interface is at an angle of 15 to 30 degrees with the ground.
  • a reversible charging port cover is provided at the first charging interface.
  • a storage platform is provided on the lawn mower, and the storage platform is disposed above the battery.
  • the front end of the storage platform and the frame are provided with reinforced connection plates.
  • the lawn mower includes a control component, and the control component is disposed above the battery.
  • the lawn mower includes an electromagnetic brake and a brake release mechanism.
  • the brake release mechanism includes: a connecting seat, The connecting seat is arranged on the frame; the pulling rod is rotatably connected to the connecting seat; there are at least two pulling parts, one end of the pulling part is connected to the pulling rod, the other end is connected to the electromagnetic brake, and the pulling rod rotates to drive the pulling part to pull the two
  • the electromagnetic brake is released simultaneously to turn on or reset to turn off.
  • the lawn mower includes a frame; a cutting table, the cutting table is installed on the frame; and a walking mechanism, the walking mechanism is installed on the frame, and the walking mechanism includes a front wheel assembly and a rear wheel assembly;
  • the rack includes a front rack and a rear rack.
  • the front rack and the rear rack are detachably connected.
  • the front rack is equipped with front wheels
  • the rear rack is equipped with rear wheels.
  • the front frame includes a first cross beam and a first connecting part.
  • the first connecting part extends forward from both ends of the first cross beam.
  • the two first connecting parts are respectively equipped with front wheel assemblies. .
  • the front end of the first connecting part is a vertically downward assembly tube, and the front wheel assembly is assembled on the assembly tube so that the front wheel rotates around the axis of the assembly tube.
  • U-shaped grooves are provided on both sides of the rear end of the front frame, and the front end of the rear frame includes two square tubes.
  • the square tubes are inserted into the grooves to fix the front frame and the Rear rack.
  • two first plywood are provided on both sides of the rear end of the front frame, and second plywood is provided on the bottom surface of the two first plywood.
  • the first plywood and the second plywood form a groove;
  • the first through holes are provided at corresponding positions of the first plywood and the side wall of the square tube, and the connecting bolts pass through the first through holes to connect and fix the front frame and the rear frame.
  • the header is installed at the bottom of the frame, and the minimum distance between the header and the front wheel is 10 to 60 mm.
  • the header is installed at the bottom of the frame, and the minimum distance between the header and the rear wheels is 10 to 60 mm.
  • the lawn mower further includes a battery
  • the frame is provided with a first placement area
  • the battery is fixed in the first installation area
  • the first placement area is provided with a plurality of first mounting holes, and batteries of different specifications are Equipped with different first mounting holes.
  • the application also provides a garden tool, including a frame; a traveling mechanism, which is installed on the frame; the traveling mechanism includes a front wheel assembly, a rear wheel assembly, and a driving mechanism; and a battery, which is installed on the frame and is a cutting machine.
  • the lawn mower provides electric energy; the working part is installed on the frame; wherein, the frame includes a front frame and a rear frame.
  • the front frame and the rear frame are detachably and fixedly connected.
  • the front frame The front wheel assembly is installed, and the rear wheel assembly is installed on the rear frame.
  • the lawn mower includes a frame, a traveling mechanism, a battery, and a cutting table assembly.
  • the traveling mechanism is installed on the frame, the battery provides electrical energy for the lawn mower, and the cutting table assembly is installed on the frame.
  • the cutting table assembly includes a cutting table, a cutting part, and a cutting baffle.
  • the cutting table is installed on the lawn mower frame; it is arranged on the cutting table.
  • the cutting part includes a cutting motor and a cutting knife driven by the cutting motor; the cutting baffle
  • the plate is detachably fixed at the bottom of the cutting table, the cutting baffle is surrounded by a tool receiving cavity, and the cutting knife is arranged in the tool receiving cavity.
  • the cutting baffle includes an edge baffle and a middle baffle.
  • the receiving cavity formed by the edge baffles is provided with a grass discharge port on one side, and the grass discharge port is provided on the side or rear side of the cutting table in the forward direction.
  • the side discharge method can prevent the discharged grass from splashing on the staff and affecting the staff.
  • the middle baffle is disposed in the area enclosed by the edge baffles.
  • the middle baffle and the edge baffles enclose a number of receiving cavities, and cutting knives are provided in each of the receiving cavities.
  • three cutting knives are provided, and the three cutting knives are arranged in a triangle.
  • a grass discharge hood is provided at the grass discharge outlet, and the opening of the grass discharge hood becomes larger from the inside of the cutting table to the outside of the cutting table to facilitate the discharge of broken grass and avoid accumulation of broken grass.
  • the cutting motor penetrates the cutting table, and the cutting table at the contact point between the cutting motor and the cutting table is provided with a number of ventilation holes.
  • the airflow passes through the ventilation holes, it will take away the heat around the cutting motor and avoid the cutting motor and the cutting table.
  • the closed contact position of the header causes the problem of heat accumulation and improves the heat dissipation effect of the cutting motor.
  • rollers are provided at the front end of the header.
  • the height of the cutting baffle near the front wheel of the lawn mower from the ground is greater than the height of the cutting baffle near the rear wheel of the lawn mower.
  • the cutting blade is provided with a weed pushing part.
  • the weed pushing part is arranged on the back side in the cutting direction of the cutting blade.
  • the rotating rear edge of the cutting blade is bent downward to form the weed pushing part, thereby forming a weed pushing part.
  • the front end of the cutting knife cuts the grass, and the rear side pushes the grass part to take the cut grass away, achieving directional discharge of the cut grass.
  • the application also provides a cutting table assembly for a lawn mower, which includes a cutting table, a cutting part, and a cutting baffle; the cutting table is installed on the lawn mower frame; the cutting part is arranged on the cutting table, and the cutting part includes a cutting motor, and a cutting knife driven by a cutting motor; the cutting baffle is detachably fixed at the bottom of the cutting table, the cutting baffle surrounds a tool receiving cavity, and the cutting knife is arranged in the tool receiving cavity.
  • the lawn mower includes: a frame, a power supply device, a cutting table assembly, a brake release mechanism and at least two motors. At least two motors are arranged on the frame; the header assembly is arranged on the frame; the power supply device is arranged on the frame and is electrically connected to the header assembly and at least two motors; the brake release mechanism is arranged on the frame The brake release mechanism is connected with the brake mechanisms on at least two motors to simultaneously operate the brake mechanisms on at least two motors.
  • the brake release mechanism includes a connecting seat, a pulling rod and at least two pulling parts.
  • the pull rod includes a connecting sleeve, and the pull rod is sleeved on the connecting seat through the connecting sleeve; and the connecting sleeve is connected to the braking mechanisms on at least two motors through at least two pulling pieces.
  • the rotation of the pull rod drives the connecting sleeve to rotate, driving the pulling member connected to the connecting sleeve to move, so as to simultaneously pull the release opening or reset closing of the braking mechanism on at least two motors.
  • the pulling member is an elastic restoring member.
  • At least two elastic return members stretch to drive the braking mechanisms on at least two motors to release and open, and to balance the force of the connecting sleeve at the release position; the pull rod When the release position is rotated in the opposite direction, at least two elastic return members shrink and return to drive the connecting sleeve to return and move, and cause the braking mechanisms on at least two motors to return and close at the same time.
  • At least two motors are symmetrically arranged on the circumferential outside of the connecting sleeve.
  • the pulling member is provided with a first limiting structure at one end close to the connecting sleeve, and the shape of the first limiting structure matches the connecting sleeve.
  • one end of the pulling member is connected to the fixing hole on the connecting sleeve, and the other end of the pulling member is connected to the braking mechanism through threads.
  • a sleeve shaft is provided on the connecting seat, and the tie rod is sleeved on the sleeve shaft through the connecting sleeve.
  • the connecting sleeve is sleeved on the sleeve shaft through a spacer sleeve, and the spacer sleeve is clamped on the second limiting structure of the sleeve shaft.
  • the braking mechanism is an electromagnetic brake.
  • the electromagnetic brake is provided with a brake release plate, and the brake release plate is connected to the pulling member.
  • the invention also provides a garden tool, which includes: a frame, a working component, a power supply device, a brake release mechanism and at least two motors; at least two motors are arranged on the frame; and the working component is arranged on the frame. on; the power supply device is set on the frame and is electrically connected to the working components and at least two motors; the brake release mechanism is set on the frame, and the brake release mechanism is connected to the brake mechanisms on at least two motors to operate simultaneously Braking mechanisms located on at least two motors.
  • the brake release mechanism includes a connecting seat, a pulling rod and at least two pulling parts.
  • the pull rod includes a connecting sleeve, and the pull rod is sleeved on the connecting seat through the connecting sleeve; and the connecting sleeve is connected to the braking mechanisms on at least two motors through at least two pulling pieces.
  • the lawn mower includes: a frame, running wheels, a cutting table assembly, a mowing motor and a storage platform; the running wheels are installed at the bottom of the frame; and the cutting table assembly is installed on the frame.
  • a cutting blade is provided on the cutting table assembly; the mowing motor is connected to the cutting blade to drive the cutting blade to rotate for mowing, and the mowing motor is installed on the frame; the storage platform is arranged on the frame.
  • the lawn mower also includes: a walking motor, which drives the walking wheels to move, thereby realizing the walking of the lawn mower.
  • the lawn mower also includes: a walking motor, a battery component and a controller.
  • the walking motor drives the walking wheels to move, thereby realizing the walking of the lawn mower;
  • the battery component is electrically connected to the lawn mower motor, the walking motor and the controller respectively;
  • the controller also separately It is electrically connected to the walking motor and the lawn mower motor.
  • the lawn mower of the present invention is provided with a storage platform on the lawn mower, which increases the number of operations of the lawn mower during operation.
  • the medium carrying capacity makes it easy for workers to carry auxiliary tools or other items with them, thereby reducing the labor effort of workers during mowing and increasing the convenience of using the lawn mower.
  • a cushion block is provided on the edge of the opening of the storage cavity.
  • the function of the spacer is to isolate the casing of the storage cavity and the storage platform. The lawn mower will cause the storage platform to vibrate during the mowing process. Setting a spacer between the storage platform and the storage cavity can effectively prevent The storage platform causes wear and tear on the edges of the storage cavity.
  • a boss is provided at a position corresponding to the storage platform and the cushion block, and the boss protrudes toward the cushion block.
  • the bosses and pads can effectively increase the storage height of the storage cavity, thereby increasing the storage space of the storage cavity.
  • a support frame is provided on the tail of the rack, and the storage platform is rotatably installed on the support frame; a connector is provided between the support frame and the storage platform, and one end of the connector is installed on the support frame and connected to the support frame. The other end of the piece is mounted on the storage platform.
  • the support frame is provided with a pin hole, and the storage platform is provided with a corresponding first installation hole. The pin bolt is passed through the pin hole and the first installation hole to achieve a rotational connection between the storage platform and the support frame.
  • the support frame includes: a support rod and a mounting frame.
  • the frame is provided with a slot, the support rod is inserted into the slot, and the mounting bracket is provided at the end of the support rod.
  • the support rod is connected to the mounting frame through bolts.
  • One end of the mounting bracket is connected to the support rod, and the other end of the mounting bracket is connected to the anti-roll bar.
  • the pin hole is provided on the support rod.
  • the support frame is also provided with a connection hole
  • the storage platform is provided with a second installation hole
  • one end of the connection piece is installed on the connection hole
  • the other end of the connection piece is installed on the second installation hole .
  • the main function of the connector is to enhance the load-bearing capacity of the storage platform.
  • the connector also has a limiting function.
  • the connecting member is a rope
  • the rope can be directly installed in the connecting hole and the second installation hole.
  • pin bolts or bolts are installed in the connecting hole and the second mounting hole respectively.
  • the end of the rope is provided with a ring buckle, and the ring buckle is installed on the pin bolt or bolt. This can effectively reduce the wear and tear on the rope.
  • the storage platform is provided with a flange, and the flange is located at the rear of the storage platform. On the edge, flanging can effectively increase the strength of the storage platform and the load-bearing capacity of the storage platform.
  • friction protrusions are provided on the storage platform.
  • the through hole has two main functions: firstly, it can effectively reduce the weight of the storage board; secondly, the through hole can play a role in ventilation to maintain the dryness inside the storage cavity.
  • an operating console is provided on the casing, and control keys are provided on the operating console.
  • the control keys are used to control the lawn mower, such as controlling the speed, lights, etc. of the lawn mower.
  • the running wheel includes a front wheel assembly and a rear wheel assembly.
  • the front wheel assembly is a universal wheel, and the rear wheel assembly is driven by a traveling motor.
  • the radius of the front wheel assembly is smaller than the radius of the rear wheel assembly. The larger radius of the rear wheel assembly ensures that the lawn mower has sufficient horsepower.
  • a grass discharge cover is provided at the grass outlet of the cutting table assembly, and downwardly bent flanges are provided on both sides of the grass discharge cover.
  • the function of the grass discharge cover is to drain the grass clippings from the grass outlet.
  • the flanges on both sides of the grass discharge cover can effectively prevent the grass clippings from flying during the discharge process.
  • the grass discharge cover is rotatably mounted on the frame, and a torsion spring is provided between the frame and the grass discharge cover.
  • the grass clippings contain moisture and can easily stick to the inside of the grass discharge cover. When it is necessary to clean the inside of the grass discharge cover, just turn the grass discharge cover over and clean it. After cleaning, the grass discharge cover is reset under the action of the torsion spring.
  • the grass discharge cover is installed on the frame through two mounting plates.
  • a number of bolts are arranged between the two mounting plates, the grass discharge cover is located between the two mounting plates, the two mounting plates are rotatably mounted on the frame, and the two mounting plates are fixed between the two mounting plates.
  • the lawn mower is a standing lawn mower
  • the storage platform is arranged in the middle of the frame
  • the storage platform is provided with a connecting plate
  • the connecting plate is connected to the frame.
  • the connecting plate can effectively increase the stability of the storage platform.
  • the storage platform is provided with three flanges. Three flanges surround the storage platform into a frame with one side open, which is convenient for storing items and increases the strength of the storage platform.
  • a friction protrusion is provided on the storage platform, the friction protrusion protrudes upward, and a through hole is provided in the friction protrusion. Through hole It can reduce the weight of the entire storage platform and facilitate heat dissipation of electrical equipment (such as motors, control boards, batteries, etc.) under the storage platform.
  • the lawn mower includes: a body, a cutting system, a walking system, a control system and a display system; wherein the cutting system is installed on the body and includes at least one knife for cutting grass;
  • the cutting tool driving device; the traveling system is installed on the fuselage, including the running wheels and the driving wheel driving device used to move the lawn mower;
  • the control system is installed on the fuselage, including the operating device used to control the lawn mower, and the operation
  • the device is equipped with a speed adjustment key;
  • the display system is installed on the machine body, including identification information for displaying the walking speed and cutting speed.
  • the identification information includes: speed adjustment identification; the walking speed can be set through the speed adjustment key or the speed adjustment identification. or cutting speed.
  • the lawn mower also includes: a recording system, an energy supply system and a monitoring system;
  • the recording system includes a recording system for recording fault information of the lawn mower and corresponding fault handling measures, warning information and stage mowing information.
  • the memory includes at least one battery pack;
  • the monitoring system is used to monitor the status of the cutting system, the walking system, the control system, the recording system and the energy supply system.
  • the display system is also used to display the status of peripheral tools.
  • the status of the peripheral tool includes whether the peripheral tool is on or off.
  • the lawn mower also includes an interface for connecting the peripheral tool; the monitoring system is also used to control whether to enable the peripheral tool after detecting the peripheral tool.
  • control system further includes a joystick for controlling the lawn mowing walking system.
  • the joystick is rotated and installed on the fuselage, and the rotation angle of the joystick is positively related to the walking speed.
  • the speed control key is arranged at the end of the joystick. The walking speed and walking rotation angle of the lawn mower can be controlled by controlling the joystick.
  • control system includes two joysticks, each joystick is provided with a speed control key, and the speed control key is installed at the end of the corresponding joystick.
  • a communication system is also included, and the monitoring system is electrically connected to the communication system and the display system respectively.
  • a display system includes a display screen.
  • the display screen is arranged on the fuselage.
  • the display screen is used to display identification information of walking speed and working speed.
  • the identification information includes: speed adjustment identification; the walking speed of the fuselage can be set through the speed adjustment identification. speed or operating speed.
  • the display screen includes a status display area and a job display area.
  • the status display area is used to display status information
  • the job display area is used to display job information; the job information includes identification information.
  • the status information includes: the operator's presence status, the electromagnetic brake pull-in and release status, the time in the current time zone, cellular network signal status, remote control status, lighting equipment status, alarm light status, and At least one of the project names.
  • the project name can be the name of an item of information in the job information.
  • the project name can be lighting, settings, stage job information, etc.
  • the job information includes a fault prompt
  • the fault prompt includes fault information and corresponding fault handling measures
  • the fault information includes a fault code and corresponding fault details.
  • the operation information also includes stage operation information, and the stage operation information includes: operation area, operation duration and average hourly speed.
  • the job information also includes pause prompt information, and the pause prompt information includes the pause duration.
  • the invention also provides a garden tool.
  • the garden tool includes: a body, an operating system, a walking system, a control system and a display system; wherein the operating system is installed on the body and includes at least one tool for operation and a tool driving device. ;
  • the traveling system is installed on the fuselage, including running wheels and driving wheels used to move garden tools;
  • the control system is installed on the fuselage, including an operating device for controlling garden tools, and the operating device is provided with an adjustable Speed key;
  • the display system is set on the fuselage, including identification information for displaying walking speed and operating speed.
  • the identification information includes: speed adjustment identification; the walking speed or operating speed can be set through the speed adjustment key or speed adjustment identification.
  • the lawn mower includes: a fuselage, running wheels, a cutting table, a cutting motor, a controller and a light set, wherein the fuselage includes a frame; the running wheels are rotatably mounted on the frame; The cutting table is set on the frame, and a cutting knife is set on the cutting table; the cutting motor is set on the frame and connected to the cutting knife; the controller is set inside the fuselage and electrically connected to the cutting motor; the light group is set on the fuselage. and is electrically connected to the controller, and is lit according to a preset light-emitting mode under the control of the controller.
  • the light group has at least one light-emitting mode, and the light-emitting mode of the light group corresponds to the status of the lawn mower.
  • the light-emitting mode of the light group corresponds to the status of the lawn mower.
  • different lighting modes of the light set correspond to different states of the lawn mower.
  • the lighting mode of the light set is consistent with the status of the lawn mower.
  • the lawn mower also includes: functional components and control components.
  • the energy supply component includes a battery pack to provide energy to the lawn mower.
  • the control component includes a control panel and control keys provided on the control panel to control the lawn mower.
  • the lawn mower also includes a traveling motor, which drives the traveling wheels to roll so that the lawn mower can move according to the control method.
  • the light set includes: at least one of a headlight, a side light, a dome light or a tail light.
  • the headlight, sidelight or top light is a white light.
  • the headlight, sidelight or top light includes a lampshade and a lamp bead disposed inside the lampshade.
  • the lampshade of the headlight, sidelight or top light cooperates with the lamp bead to emit white light.
  • the lamp bead is a white lamp bead and the lampshade is a transparent lampshade.
  • the taillight is a red light; the taillight includes a taillight lampshade and a taillight lamp bead arranged inside the taillight lampshade.
  • the taillight lampshade and the taillight lampbead cooperate to emit red light to the outside.
  • the taillight lampshade is a red lampshade, and the taillight lamp beads are white or red.
  • the lawn mower is a standing lawn mower, and the headlight is arranged on the front side of the fuselage; the side lights are arranged on the left and right directions of the front side of the fuselage; and the ceiling light is arranged on the front side of the fuselage.
  • Top; taillights are set on the left and right sides of the rear of the casing.
  • the status of the lawn mower includes: charging status, charging completion status, low battery status, light on status or light off status.
  • the status of the lawn mower further includes several fault statuses.
  • the fault status includes faulty equipment and the number of faults. For example: there are two faults in the right drive controller, two faults in the left cutter controller, etc.
  • the present invention also provides a lighting indication system, including: a controller and a lamp group; wherein, the lamp group is electrically connected to the controller, and is lit according to a preset lighting mode under the control of the controller, and the lamp group has There is at least one lighting mode, and the lighting mode of the lamp group corresponds to the status of the equipment; the lighting indication system is installed on the equipment.
  • the invention also provides a garden tool, which includes: a body, a running wheel, a working component, a working motor, Controller and light set; wherein, the fuselage includes a frame; the running wheels are rotatably installed on the frame; the working components are set on the frame; the working motor is set on the frame and connected to the working components; the controller is set on the machine Inside the fuselage and electrically connected to the working motor; the lamp set is arranged on the fuselage and electrically connected to the controller, and is lit according to the preset luminous mode under the control of the controller.
  • the lamp set has at least one luminous mode, the lighting mode of the lamp set corresponds to the status of the garden tool.
  • Garden tools also include: functional components and control components.
  • the energy supply component includes a battery pack to provide energy to the garden tool.
  • the control component includes a control panel and control keys provided on the control panel to control garden tools.
  • the garden tool also includes a walking motor, which drives the walking wheels to roll so that the garden tool can move according to the control method.
  • the invention provides a working equipment system, including:
  • a positioning device that communicates with the RTK base station and collects the positioning coordinates of the operating equipment in real time
  • Control device the control device communicates with the RTK base station, and the control device generates a calibration map of the work area based on the positioning coordinate data collected and corrected by the positioning device for the work area and the base station coordinate data from the RTK base station;
  • a storage device configured to store the base station coordinates of the RTK base station and the calibration map sent by the control device
  • the control device compares the RTK base station coordinates in the calibration map with the current RTK base station coordinates of the RTK base station. If the deviation value obtained by the comparison is less than The preset value will offset the calibration map accordingly and generate a new map for use. If the deviation value obtained by comparison is greater than the preset value, an abnormality in the location of the RTK base station will be reported.
  • the positioning device when the working equipment performs map positioning on the working area, applies differential data from the RTK base station to correct the positioning coordinate data of the working equipment, and The corrected positioning coordinate data is sent to the control device, and the control device uses the corrected positioning coordinate data and the base station coordinate data from the RTK base station to generate a calibration map of the work area, and generates the calibration map Send to storage device for storage.
  • the RTK base station is a portable RTK base station.
  • the working equipment is a lawn mower.
  • control device and the positioning device communicate with the RTK base station through a communication device.
  • the communication device receives the differential data and the RTK base station coordinate data from the RTK base station, sends the differential data to the positioning device, and The RTK base station coordinate data is sent to the control device.
  • the communication device includes a radio device installed on the lawn mower.
  • the positioning device is a satellite positioning mobile station.
  • the lawn mower further includes a terminal control device, which can receive status information fed back by the lawn mower and send corresponding control instructions to the lawn mower.
  • the status information includes positioning status information and alarm information of the lawn mower.
  • the positioning status information includes high-precision positioning status information and non-high-precision positioning status information, and the high-precision positioning status information indicates that the lawn mower is in a centimeter-level positioning state.
  • the alarm information refers to the fault status of the lawn mower.
  • Status information including cutter current overcurrent, travel motor overcurrent, control temperature too high, and other fault information.
  • the terminal control device when the positioning status information received by the terminal control device is the high-precision positioning status information, the terminal control device sends a corresponding execution instruction to the lawn mower.
  • the execution instructions may include instructions to continue the current state, instructions to calibrate the map, instructions to calibrate the non-working area, instructions to add the non-working area, instructions to complete the map boundary calibration, instructions to complete the non-working area calibration, and other instructions .
  • the terminal control device when the positioning status information received by the terminal control device is the non-high-precision positioning status information, the terminal control device sends a shutdown instruction to the lawn mower. .
  • the terminal control device when the terminal control device receives the alarm information, the terminal control device displays the alarm information and notifies the operator, and the operator sends the alarm information through the terminal control device. Corresponding processing instructions are given to the lawn mower.
  • the terminal control device is a handheld terminal device.
  • the positioning device includes a satellite positioning receiving antenna installed on the lawn mower.
  • the communication device includes a wireless antenna installed on the lawn mower.
  • the communication device further includes a Bluetooth device for wireless communication with the terminal control device.
  • the communication device further includes a 4G-GPS module, which can upload the information of the control device to the server, and then the server can send the information of the control device to the The terminal control device, and the instructions of the terminal control device can also be sent to the server through the mobile network, and then further sent to the control device.
  • a 4G-GPS module which can upload the information of the control device to the server, and then the server can send the information of the control device to the The terminal control device, and the instructions of the terminal control device can also be sent to the server through the mobile network, and then further sent to the control device.
  • control device includes a map generation and management module, a trajectory planning module and a lawn mowing operation control module.
  • the lawn mower when the lawn mower is mapping the calibration map, the lawn mower travels along the boundary of the working area, and the positioning device collects the information of the lawn mower in real time. Positioning coordinates, the control device monitors in real time whether the lawn mower is in the high-precision positioning state, and if it is not in the high-precision positioning state, it will feedback positioning system abnormalities to the terminal control device; if it is always in the high-precision positioning state Then continue to record the positioning coordinates of the lawnmower until the terminal control device sends a map boundary calibration completion command, and generate and store all the positioning coordinates of the lawnmower according to the positioning coordinates of the lawnmower received between the start calibration and the end calibration command.
  • the calibration map of the working area is also stored correspondingly with the coordinates of the RTK base station sent by the RTK base station.
  • the terminal control device can further send a non-working area calibration instruction to the lawn mower, and the lawn mower moves along the non-working area.
  • the positioning device collects the positioning coordinates of the lawn mower in real time; the control device monitors in real time whether the lawn mower is in the high-precision positioning state, and feeds back to the positioning system if it is not in the high-precision positioning state.
  • the positioning coordinates of the lawn mower will continue to be recorded until the terminal control device sends a non-working area calibration completion instruction to the lawn mower; so The control device then compares the calibration map of the non-working area with the calibration map of the working area to verify whether the non-working area is within the boundary of the working area; and then based on the calibration from the start to the end
  • the positioning coordinates of the lawn mower received during the instruction generate and store the calibration map of the non-working area, and the RTK base station coordinates sent by the RTK base station are correspondingly stored.
  • the calibration map of the working area and the calibration map of the non-working area can be stored in the control device, the terminal control device, or can be combined with the The lawn mower and the terminal control device communicate on the server.
  • the calibration map when the calibration map of the mowing area is When correspondingly shifted, the calibration map is first called by the storage device and sent to the map generation and management module of the control device.
  • the map generation and management module calculates the coordinates of the RTK base station in the calibration map and the current The difference between the RTK base station coordinates of the RTK base station, and then adding the calculated difference to the coordinates of all points in the calibration map to generate the offset new map, the lawnmower Mowing operations can be carried out based on the new map.
  • the preset value is 1.5m.
  • the present invention further provides a control method for a working equipment system.
  • the working equipment system includes an RTK base station and working equipment.
  • the method includes:
  • Control the working equipment to collect positioning coordinate data along the boundary of the work area, and generate a calibration map of the work area based on the collected positioning coordinate data and the original RTK base station coordinate data;
  • the lawn mower includes a drive motor, which includes a motor housing and a drive motor winding.
  • the drive motor winding is installed in the motor housing; the motor housing is provided with At least one reinforced connector, the motor housing and the reinforced connector are made of different materials, and the material strength of the reinforced connector is greater than the material strength of the motor housing.
  • a threaded hole is provided for threaded connection with the reducer.
  • the reinforced connecting body is detachably fixed on the motor housing.
  • the reinforced connector is embedded and cast in the motor housing.
  • the motor housing is provided with one of the reinforced connectors, and the reinforced connector is provided with at least two threaded holes for threaded connection with the reducer connector.
  • At least two reinforced connectors are provided on the motor housing, and each of the reinforced connectors is provided with a threaded hole for threaded connection with the reducer connector.
  • a first circumferential stop structure is provided between the reinforced connector and the motor housing.
  • the first circumferential stop structure includes a plurality of first convex portions and a plurality of first concave portions corresponding to the plurality of first convex portions.
  • the plurality of first convex portions Disposed on one of the reinforcing connecting body and/or the motor housing, the plurality of first recesses are correspondingly disposed on the other of the reinforcing connecting body and/or the motor housing.
  • the driving device includes: a driving motor and a reducer.
  • the drive motor includes a motor housing and a first torque output end;
  • the reducer includes a fixed base, a torque input end and a second torque output end; wherein at least one reinforced connector is fixedly provided on the motor housing,
  • the motor housing and the reinforced connector are made of different materials, and the material strength of the reinforced connector is greater than the material strength of the motor housing;
  • the reinforced connector is provided with threaded holes;
  • the fixed seat of the reducer is threadedly connected to the threaded hole on the same or different reinforced connectors through a number of connectors.
  • the first torque output end drives the torque input end to rotate, and the torque input end drives the third torque input end.
  • the two torque output ends rotate, and the second torque output end is coaxially connected to the running wheel.
  • the reinforced connecting body is detachably fixed on the motor housing.
  • the reinforced connector is embedded and cast in the motor housing.
  • the motor housing is provided with one of the reinforced connectors, and the fixed base is threadedly connected to the reinforced connector through at least two connectors, and the connectors pass through The bolt holes on the fixed base are threadedly connected to the reinforced connector.
  • At least two reinforced connectors are provided on the motor housing, and the fixed base is threadedly connected to the corresponding reinforced connector through at least two connectors.
  • a first circumferential stop structure is provided between the reinforced connection body and the motor housing.
  • the first circumferential stop structure includes a plurality of first convex portions and a plurality of first concave portions corresponding to the plurality of first convex portions.
  • the plurality of first convex portions Disposed on one of the reinforcing connecting body and/or the motor housing, and the plurality of first recesses are correspondingly disposed on the other of the reinforcing connecting body and/or the motor housing.
  • a second circumferential stop structure is provided between the fixed base and the reinforced connection body.
  • the second circumferential stop structure includes a plurality of second protrusions and a plurality of second grooves corresponding to the plurality of second protrusions.
  • the plurality of second protrusions are provided on one of the reinforcing connecting body and/or the fixing base, and the plurality of second grooves are correspondingly disposed on the other of the reinforcing connecting body and/or the fixing base.
  • the reducer is a planetary gear reducer.
  • This application also provides a garden walking equipment, including: a frame, walking wheels for driving the frame to walk, a header assembly for gardening operations, and a driving device.
  • the driving device includes: a driving motor and a reducer.
  • the drive motor includes a motor housing and a first torque output end; the reducer includes a fixed base, a torque input end and a second torque output end; wherein, the motor housing is fixedly provided with at least one for connection Reinforcement connector, the motor housing and the reinforcement connector are made of different
  • the reinforced connector has a material strength greater than that of the motor shell; the reinforced connector is provided with a threaded hole; the fixed seat of the reducer is connected to the same or different reinforcements through several connectors.
  • the threaded hole on the connecting body is threadedly connected, the first torque output end drives the torque input end to rotate, the torque input end drives the second torque output end to rotate, and the second torque output end is connected with the walking
  • the wheels are coaxially connected.
  • the lawn mower includes a cutting table assembly
  • the cutting table assembly includes a cutting table, a motor controller, and multiple cutting motors, wherein the motor controller and the cutting motor are both installed on the cutting table, and Multiple cutting motors are electrically connected to a motor controller, and the motor controller centrally controls the rotation of each cutting motor.
  • a controller accommodation cavity for installing a motor controller is provided on the header.
  • the bottom of the controller accommodation cavity is an open hole structure, and at least part of the lower surface of the motor controller is exposed to in an open-cell structure.
  • a controller protective cover is provided on the controller accommodating cavity, and an air inlet is provided at a connection between the controller protective cover and the controller accommodating cavity.
  • a plurality of heat sinks are provided at the bottom of the motor controller, and the plurality of heat sinks are spaced apart along the lower surface of the motor controller.
  • the header is provided with a controller accommodation cavity for installing a motor controller.
  • the motor controller is installed in the controller accommodation cavity, and the upper surface of the motor controller is not higher than the header. the upper surface.
  • the header is provided with a motor mounting hole that penetrates the header, and the cutting motor passes through the motor mounting hole and is fixed on the header through the flange at the end.
  • the cutting motor includes a motor end cover, a motor housing, a motor rotor and a motor stator.
  • the motor end cover and the motor housing are engaged to form a motor cavity.
  • the motor rotor and motor stator are installed in inside the motor cavity.
  • the motor housing includes a connecting flange, a first housing and a second housing that are connected in sequence.
  • the outer diameter of the connecting flange is larger than the diameter of the motor mounting hole.
  • the first housing and second housing The outer diameter is less than or equal to the diameter of the motor mounting hole.
  • a first bearing mounting seat is provided in the motor end cover.
  • the first bearing mounting seat matches the first bearing of the motor rotor.
  • a second bearing mounting seat is provided in the second housing. The second bearing mount matches the second bearing of the motor rotor.
  • connection between the first housing and the second housing protrudes radially inward to form a stator support step, and the motor stator is arranged on the stator support step.
  • the connecting flange includes a plurality of first connecting parts and a plurality of second connecting parts.
  • the first connecting parts protrude from the second connecting parts in a radial direction, and the multiple first connecting sections are connected to
  • a plurality of second connecting parts are spaced apart and connected sequentially along the circumferential direction of the first housing to form a connecting flange; the first connecting part is used to connect with the motor end cover and the header.
  • the motor end cover includes an end cover body and an end cover flange.
  • the end cover flange matches the connecting flange.
  • the end cover flange is recessed downward at a position corresponding to the second connecting part and is in contact with the connecting flange.
  • the second connecting part forms a step, and the header is provided with a ventilation hole at a position corresponding to the step.
  • the height of the step is 10 to 12 mm.
  • a number of reinforcing ribs are provided on the outer surface of the motor housing.
  • a lawn mower including a frame, a traveling assembly connected to the frame, a battery installed on the frame, a cutting table assembly installed on the frame and powered by the battery, and a cutting unit installed on the mower.
  • the cutting knife assembly on the cutting table assembly; the cutting table assembly includes: a cutting table, a motor controller and multiple cutting motors.
  • the motor controller and cutting motors are both installed on the cutting table, and the multiple cutting motors are electrically connected to the motor controller.
  • the motor controller centrally controls the rotation of each cutting motor;
  • the cutting knife assembly includes multiple cutting knives, and the multiple cutting knives are correspondingly installed on the output shafts of multiple cutting motors.
  • the lawn mower includes a traveling drive mechanism, which includes a drive motor, a reducer, and a sealing structure.
  • the reducer is coaxially connected to the drive motor; a sealing structure is provided at the connection position between the drive motor and the reducer, and forms a sealing fit between the drive motor and the reducer.
  • the sealing structure includes a first sealing member, and the first sealing member is coaxially Set on the drive motor and/or the reducer.
  • the first sealing member is a first sealing ring, and a first elastic structure is provided on the first sealing ring.
  • the first elastic structure is provided along the circumferential direction where the sealing ring faces the deceleration.
  • the first elastic structure interferes with the end face of the reducer and frictionally fits with the end face to form a seal.
  • the sealing structure further includes a second sealing member, the second sealing member is coaxially disposed on the reducer, and the second sealing member has a radial direction at the connection position.
  • the flat surface is arranged opposite to the first sealing member.
  • the first sealing member is a second sealing ring
  • the second sealing ring is provided with a second elastic structure along the circumferential outer edge
  • the second sealing member is provided with a lip along the circumferential direction.
  • the lip is located on the circumferential outer side of the second sealing ring, and the second elastic structure interferes with the inner wall of the lip along the circumferential direction, and frictionally cooperates with the lip to form a seal.
  • the first sealing member is provided with a first mesa
  • the second sealing member is provided with a second mesa
  • the first mesa and the second mesa are opposite to each other at the radial plane. Set, leaving a gap between the first tabletop and the second tabletop.
  • the gap distance is 1 to 3 mm.
  • the second sealing member is provided with a first flange along the circumferential outer edge of the first mesa, and the circumferential outer edge of the first sealing member is relatively matched with the first flange. Form a seal.
  • the first sealing member is provided with a second flange along the circumferential inner edge of the second table, and the second flange extends toward the side of the reducer, and the first table
  • a sealing groove that cooperates with the second flange is provided on the upper body, the second flange is embedded in the sealing groove, and the second flange cooperates with the sealing groove to form a seal.
  • the present invention also provides a gardening tool, which comprises a body, running wheels, a driving motor, a power battery, a reducer and a sealing structure.
  • the running wheels are arranged on both sides of the fuselage; the driving motor is fixedly connected to the fuselage; the power battery is electrically connected to the driving motor; one end of the reducer is coaxially connected to the driving motor, and the reducer is coaxially connected to the driving motor. The other end is coaxially connected to the traveling wheel; a sealing structure is provided at the connection position between the driving motor and the reducer, and forms a sealing fit between the driving motor and the reducer.
  • the present invention provides a control method for a lawn mower.
  • the lawn mower is provided with a first sensor.
  • the first sensor is configured to detect whether an operator is standing on a foot pedal of the lawn mower.
  • the control method include:
  • the lawn mower is controlled to run the corresponding traveling mode.
  • the traveling mode includes a first traveling mode
  • the control signal includes a first signal
  • the first signal is configured to perform the driving mode when the operator reaches the driving position and/or Generated when selected; judging whether the trigger condition of the traveling mode is met according to the obtained control signal includes: if the first signal is obtained, judging that the triggering condition of the first traveling mode is met.
  • the traveling mode includes a second traveling mode
  • the control signal includes a second signal
  • the second signal is configured to operate when the operator reaches the pushing position and/or in the proceeding mode.
  • Generated when selected; judging whether the triggering condition of the traveling mode is satisfied according to the obtained control signal includes: if the second signal is obtained or the first signal is not obtained, judging that the triggering condition of the second traveling mode is satisfied. condition.
  • the maximum forward speed of the lawn mower when operating in the first traveling mode is greater than the maximum forward speed of the lawn mower when operating in the second traveling mode.
  • the maximum retreat speed of the lawn mower when operating in the first traveling mode is greater than the maximum retreat speed of the lawn mower when operating in the second traveling mode.
  • the forward speed when the lawn mower is running in the first traveling mode, the forward speed is set to four gears. In the first gear, the maximum forward speed is 3 to 5 mph; in the second gear, the maximum forward speed is 5 mph. ⁇ 8mph; third gear, the maximum forward speed is 9 ⁇ 11mph; fourth gear, the maximum forward speed is 13 ⁇ 15mph; When the lawn mower operates in the first traveling mode, the maximum backward speed is 3 to 5 mph.
  • the forward speed when the lawn mower is running in the second traveling mode, the forward speed is set to three gears. In the first gear, the maximum forward speed is 1.75-2.75mph; in the second gear, the maximum forward speed is 2.75 mph. ⁇ 3.25mph; in third gear, the maximum forward speed is 3.5 ⁇ 4.5mph; when the lawn mower runs in the second travel mode, the maximum backward speed is 1.75 ⁇ 2.75mph.
  • control signal includes a third signal
  • the third signal is configured to be emitted when the operating mechanism is in a non-parking state and/or a mode selection is performed.
  • determining whether the trigger condition for the traveling mode is met includes: if the third signal is obtained, determining whether the triggering condition for entering or maintaining the traveling mode is met.
  • the control signal includes a fourth signal, which is configured to be emitted when the operating mechanism is in a parking state and/or a mode selection is performed. According to the obtained control signal Determining whether the triggering condition for the traveling mode is met includes: if the fourth signal is obtained, determining whether the triggering condition for entering or maintaining the traveling mode is not met.
  • the method further includes:
  • control signal determine whether the operating conditions of the lawn mower motor are met
  • the lawn mower motor If the operating conditions of the lawn mower motor are met, the lawn mower motor operates.
  • the control signal includes a first signal, and the first signal is configured to be generated when the operator reaches the driving position and/or performs mode selection.
  • Determining whether the operating condition of the lawn mower motor is met includes: if the first signal is received, determining whether the operating condition of the lawn mower motor is met.
  • the control signal includes a third signal, which is configured to be emitted when the operating mechanism is in a non-parking state and/or a mode selection is performed; according to the control signal, it is determined Whether the operating conditions of the lawn mower motor are met include: if a third signal is received, then determining Meet the operating conditions of the mower motor as described.
  • the application also provides a control method for a lawn mower.
  • the lawn mower is provided with a foot pedal, and the foot pedal has at least a first position and a second position.
  • the control method includes:
  • This application also provides a control method for a lawn mower.
  • the lawn mower is provided with a first sensor, and the first sensor is configured to detect whether the operator is on the lawn mower.
  • the control method includes:
  • This application also provides a lawn mower, which includes:
  • a cutting table assembly which includes a mowing motor and a cutting blade
  • a traveling mechanism which includes a driving motor and a traveling wheel
  • a first sensor the first sensor is configured to detect whether the operator is on the lawn mower. If the operator is on the lawn mower, the first sensor is a first signal, and the lawn mower operates. The first traveling mode; if the operator is not on the lawn mower, the first sensor is a second signal, and the lawn mower operates in the second traveling mode.
  • the lawn mower when the lawn mower is running in the first traveling mode, it is provided with four gears.
  • the maximum speed of the drive motor is 1150-1350 rpm when moving forward; in the second gear, the driving motor is driven forward when moving forward.
  • the maximum speed of the drive motor is 2050 ⁇ 2250rpm; in the third gear, the maximum speed of the drive motor is 2950 ⁇ 3150rpm when moving forward; in the fourth gear, the maximum speed of the drive motor is 4150 ⁇ 4350rpm when moving forward; when the lawn mower is running in the first travel mode, the maximum speed is 2950 ⁇ 3150rpm.
  • the maximum speed of the drive motor is 1100 ⁇ 1300rpm.
  • the lawn mower when the lawn mower is running in the second traveling mode, it is provided with three gears.
  • the maximum speed of the drive motor when moving forward is 550-750 rpm; in the second gear, the maximum speed of the driving motor when moving forward is 550-750 rpm.
  • the rotational speed is 800-1000rpm; in third gear, the maximum rotational speed of the drive motor when moving forward is 1150-1350rpm; when the lawn mower is running in the second travel mode, the maximum rotational speed of the drive motor when moving backward is 550-750rpm.
  • the lawn mower includes a control mechanism, the control mechanism includes: a joystick, the joystick controls parking and traveling of the lawn mower; a second sensor, the The second sensor is configured to detect whether the joystick is in a parking state. If the joystick is in a non-parking state, the second sensor is a third signal and the lawn mower enters or maintains a traveling mode; When the joystick is pulled to be in the parking state, the third sensor is the fourth signal, and the lawn mower enters or remains in the parking mode.
  • the lawn mower motor is started; If the second sensor is the fourth signal and the first sensor is the second signal, the lawn mower motor does not start.
  • the lawn mower includes a foot pedal, which is rotatably mounted on the frame.
  • the first sensor is the first sensor.
  • the second signal is the first signal from the first sensor after the foot pedal is subjected to an external force exceeding a preset threshold and causes the foot pedal to rotate toward the ground to a preset angle.
  • the present application provides a foot pedal device, which includes: a foot pedal; a reset frame, which is rotatably installed on the foot pedal; and a first sensor, which is provided on the reset frame and/or the foot pedal to detect when the foot pedal is opposite to the foot pedal.
  • An in-position signal is emitted when the reset frame rotates to the set position; a reset mechanism is provided between the reset frame and the foot pedal to rotate the foot pedal after the external force acting on the foot pedal is removed, thereby enable the first sensing
  • the device releases the in-position signal.
  • a shock-absorbing pad is provided between the reset frame and the foot pedal.
  • the shock-absorbing pad contacts the reset frame. Connect.
  • a first limiting part is provided on the reset frame, and a second limiting part is provided on the foot pedal.
  • the first limiting part cooperates with the second limiting part to limit the movement of the foot pedal.
  • the maximum angle with the reset frame.
  • a buffer pad is disposed between the first limiting portion and the second limiting portion.
  • a grease nozzle is provided at the rotational connection point between the reset frame and the foot pedal, and the grease nozzle communicates with the contact point between the reset frame and the foot pedal.
  • the return mechanism includes a compression spring, one end of the compression spring is disposed at the bottom of the foot pedal, and the other end of the compression spring is disposed on the top of the return frame.
  • three compression springs are provided, and the three compression springs are distributed in an isosceles triangle.
  • the application also provides a garden tool, including: a fuselage with a limiter provided on the fuselage; a working part arranged on the fuselage; a control part controlling the work of the working part; and a foot pedal device. It includes: a foot pedal, which is rotatably installed on the fuselage; a reset frame, which is rotatably installed on the foot pedal, and the limiter limits the rotation of the reset frame away from the foot pedal; the first sensor, which is set on the reset on the frame and/or foot pedal to send out an in-position signal when the foot pedal rotates to the set position relative to the reset frame; a reset mechanism is provided between the reset frame and the foot pedal to act on the foot After the external force on the pedal is removed, the pedal rotates, thereby causing the first sensor to release the presence signal.
  • a limit hole is provided on the body, and a latch is provided on the foot pedal.
  • the latch is inserted into the limit hole to limit the rotation of the foot pedal.
  • the first sensor when the latch is inserted into the limiting hole, the first sensor releases the presence signal.
  • the control mechanism of the lawn mower of the present invention uses the reset component to rotate the joystick in the first direction, so that the joystick and the limit component cooperate to realize the unlocking and locking of the joystick and the limit component; when the joystick drives the joystick to install The seat swings in the first direction to unlock the joystick and the limit assembly.
  • the joystick can rotate in the second direction (the front and rear directions of the lawn mower) to realize the forward and backward movement of the lawn mower; when When the lawn mower stops, the joystick automatically returns to the neutral position under the action of the reset component, and the limit component is inserted into the limit hole at the bottom of the joystick to lock the joystick and the limit component.
  • Figure 1 is a schematic structural diagram of a lawn mower according to an embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of the operating mechanism of the present invention in one embodiment
  • Figure 3 is a partial structural schematic diagram of the operating mechanism of the present invention in one embodiment
  • Figure 4 is an exploded view of the operating mechanism of the present invention in one embodiment
  • Figure 5 is a schematic diagram of the cooperation and installation of the joystick, elastic component and angle sensor of the control mechanism of the present invention in one embodiment
  • Figure 6 is a schematic structural diagram of the joystick in one embodiment of the operating mechanism of the present invention.
  • Figure 7 is a schematic diagram of the cooperation and installation of the joystick, compression spring and limit component in the operating mechanism of the present invention in one embodiment
  • Figure 8 is a schematic structural diagram of the limiting component of the operating mechanism of the present invention in one embodiment
  • Figure 9 is an explosion diagram of Figure 8.
  • Figure 10 is a schematic diagram of the cooperation and installation of the joystick and the limit component in the operating mechanism of the present invention in one embodiment
  • Figure 11 is a schematic structural diagram of the first operating handle of the automatic reset operating mechanism in one embodiment of the present invention.
  • Figure 12 is a schematic structural diagram of the second operating handle of the automatic reset operating mechanism in one embodiment of the present invention.
  • Figure 13 is a schematic diagram of the shaft side of an exemplary lawn mower of the present application.
  • Figure 14 is a front view of an exemplary lawn mower of the present application.
  • Figure 15 is a schematic structural diagram of an exemplary lawn mower of the present application.
  • Figure 16 is a three-dimensional schematic diagram of an exemplary lawn mower of the present application.
  • Figure 17 is a top view of an exemplary lawn mower of the present application.
  • Figure 18 is a schematic diagram of an exemplary lawn mower of the present application.
  • Figure 19 is a partial mechanism diagram of an exemplary lawn mower of the present application.
  • Figure 20 is a left side view of a partial structure of an exemplary lawn mower of the present application.
  • Figure 21 is a partial schematic diagram of an exemplary lawn mower frame of the present application.
  • Figure 22 is a schematic diagram of the front frame of an exemplary lawn mower of the present application.
  • Figure 23 is a schematic diagram of the rear frame of an exemplary lawn mower of the present application.
  • Figure 24 is a schematic diagram of an exemplary header assembly in this application.
  • Figure 25 is a schematic diagram of an exemplary mowing deck assembly in grass discharge mode according to the present application.
  • Figure 26 is a partial structural diagram of an exemplary header assembly in this application.
  • Figure 27 is an enlarged view of area A in Figure 18 of this application.
  • Figure 28 is an enlarged view of area B in Figure 20 of this application.
  • Figure 29 is a bottom view of an exemplary lawn mower of the present application.
  • Figure 30 is a schematic diagram of an exemplary cushion angle according to the present application.
  • Figure 31 is an angular schematic diagram of an exemplary first charging interface of the present application.
  • Figure 32 is a schematic diagram of an exemplary display screen angle according to the present application.
  • Figure 33 is a schematic diagram of the dimensions of an exemplary cover of the present application.
  • Figure 34 is a height schematic diagram of an exemplary main cover member of the present application.
  • Figure 35 is a schematic diagram of the height of an exemplary battery from the ground in this application.
  • Figure 36 is a schematic structural diagram of an exemplary control device of the present application.
  • Figure 37 is a partial structural schematic diagram of an exemplary control device of the present application.
  • Figure 38 is a schematic structural diagram of an exemplary storage bin in this application.
  • Figure 39 is a partial structural schematic diagram of an exemplary storage bin of the present application.
  • Figure 40 is a schematic structural diagram of an exemplary fixed pipe in this application.
  • Figure 41 is a partial structural cross-sectional view of an exemplary fixed pipe of the present application.
  • Figure 42 is a schematic structural diagram of an exemplary brake release mechanism of the present application.
  • Figure 43 is a schematic diagram of an exemplary rack structure of this application.
  • Figure 44 is a schematic structural diagram of an exemplary front frame of the present application.
  • Figure 45 is a schematic diagram of an exemplary rear rack structure of this application.
  • Figure 46 is a schematic diagram of another exemplary lawn mower of the present application.
  • Figure 47 is a schematic diagram of another exemplary rack structure of this application.
  • Figure 48 is a schematic diagram of another exemplary front frame structure of this application.
  • Figure 49 is a schematic diagram of an exemplary header assembly in this application.
  • Figure 50 is a bottom view of an exemplary header assembly of the present application.
  • Figure 51 is a schematic structural diagram of an exemplary header assembly in this application.
  • Figure 52 is a schematic structural diagram of the grass-cutting mode of an exemplary cutting unit assembly of the present application.
  • Figure 53 is a bottom view of an exemplary cutting unit assembly in grass discharge mode according to the present application.
  • Figure 54 is a schematic structural diagram of an exemplary cutting unit assembly grass discharge mode of the present application.
  • Figure 55 is a schematic structural diagram of an exemplary header in this application.
  • Figure 56 is a three-dimensional view of a lawn mower according to an embodiment of the present invention.
  • Figure 57 is a schematic structural diagram of the brake release mechanism in a lawn mower according to an embodiment of the present invention.
  • Figure 58 is a schematic structural diagram of the brake release mechanism in the pre-tightened position in one embodiment of the present invention.
  • Figure 59 is a schematic structural diagram of the brake release mechanism in the intermediate position in one embodiment of the present invention.
  • Figure 60 is a schematic structural diagram of the brake release mechanism in the release position according to an embodiment of the present invention.
  • Figure 61 is an exploded view of the brake release mechanism in one embodiment of the present invention.
  • Figure 62 is a schematic diagram of the connection structure when the traction element and the pull rod are in the release position according to an embodiment of the present invention.
  • Figure 63 is a top view of a connection structure when the traction element and the pull rod are in the release position in an embodiment of the present invention.
  • Figure 64 is a schematic structural diagram of the storage platform of the lawn mower shown in one embodiment of the present invention.
  • Figure 65 is a structural block diagram of a lawn mower in one embodiment of the present invention.
  • Figure 66 is a schematic diagram of a display screen in an embodiment of the present invention.
  • Figure 67 is a schematic diagram of the status of a peripheral tool in an embodiment of the present invention.
  • Figure 68 shows the status of the lighting equipment and the status of the alarm light in one embodiment of the present invention
  • Figure 69 is a schematic diagram of equipment parameters in an embodiment of the present invention.
  • Figure 70 is a schematic diagram of equipment usage time in an embodiment of the present invention.
  • Figure 71 is a schematic diagram of screen brightness in an embodiment of the present invention.
  • Figure 72 is a schematic diagram of unit conversion in an embodiment of the present invention.
  • Figure 73 is a schematic diagram illustrating detailed fault codes and suggested fault handling measures in an embodiment of the present invention.
  • Figure 74 is a schematic diagram of stage operation information in an embodiment of the present invention.
  • Figure 75 is a schematic diagram of a fault prompt in an embodiment of the present invention.
  • Figure 76 is a schematic structural diagram of a standing lawn mower in one embodiment of the present invention.
  • Figure 77 is a partial enlarged view of area 7B in Figure 76 of the present invention.
  • Figure 78 is a front view of a standing lawn mower in one embodiment of the present invention.
  • Figure 79 is a rear view of the standing lawn mower in one embodiment of the present invention.
  • Figure 80 is a module schematic diagram of the lawn mower, terminal control device and RTK base station of the present invention.
  • Figure 81 is a schematic diagram of the working principle framework of the lawn mower of the present invention.
  • Figure 82 is a schematic diagram of the lawn mower defining the lawn map according to the present invention.
  • Figure 83 is a flow chart for the lawn mower of the present invention to generate a calibration map of the mowing area.
  • Figure 84 is a flow chart for the lawn mower of the present invention to call the generated calibration map to perform lawn mowing operations.
  • Figure 85 is a module schematic diagram of a lawnmower, a terminal control device and an RTK base station in an embodiment of the present invention.
  • Figure 86 is a three-dimensional view of an embodiment of the driving motor of the present application.
  • Figure 87 is an exploded view of the connection between the motor housing and the reducer holder in one embodiment of the drive motor of the present application;
  • Figure 88 is a three-dimensional view of the motor housing in an embodiment of the drive motor of the present application.
  • Figure 89 is a three-dimensional view of the reinforced connector in an embodiment of the driving motor of the present application.
  • Figure 90 is a three-dimensional cross-sectional view of the motor housing in another embodiment of the drive motor of the present application.
  • Figure 91 is a three-dimensional view of the reinforced connector in another embodiment of the drive motor of the present application.
  • Figure 92 is a three-dimensional view of the motor housing in yet another embodiment of the drive motor of the present application.
  • Figure 93 is a cross-sectional view of the motor housing in Figure 92;
  • Figure 94 is a three-dimensional view of the reinforced connector embedded in the motor housing in Figure 92;
  • Figure 95 is an exploded view of the motor housing in another embodiment of the drive motor of the present application.
  • Figure 96 is a left view of the motor housing in Figure 95 after the pressure ring is used;
  • Figure 97 is a cross-sectional view along line 11C-11C in Figure 96;
  • Figure 98 is a three-dimensional view of the reinforced connector in Figure 95;
  • Figure 99 is an exploded view of the connection between the driving device and the running wheel according to one embodiment of the present application.
  • Figure 100 is an exploded view of an embodiment of the driving device of the present application.
  • Figure 101 is a cross-sectional view of an embodiment of the driving device of the present application.
  • Figure 102 is a cross-sectional view along line 11B-11B in Figure 101;
  • Figure 103 is a cross-sectional view along line 11A-11A in Figure 101;
  • Figure 104 is a schematic structural diagram of the header assembly in one embodiment of the present invention.
  • Figure 105 is a schematic partial structural diagram of the header assembly in one embodiment of the present invention.
  • Figure 106 is a schematic structural diagram of a cutting motor in an embodiment of the header assembly of the present invention.
  • Figure 107 is a schematic structural diagram of the header assembly of the present invention from another angle according to an embodiment
  • Figure 108 is a schematic diagram of the cooperation between the controller protective cover and the header in one embodiment of the header assembly of the present invention.
  • Figure 109 is a schematic structural diagram of a motor controller of a header assembly according to an embodiment of the present invention.
  • Figure 110 is a schematic cross-sectional structural diagram of a cutting motor in an embodiment of the header assembly of the present invention.
  • Figure 111 is a schematic structural diagram of the motor end cover of the header assembly in one embodiment of the present invention.
  • Figure 112 is a schematic structural diagram of the motor housing in an embodiment of the header assembly of the present invention.
  • Figure 113 is a schematic structural diagram of the motor housing of the header assembly in one embodiment of the present invention from another angle;
  • Figure 114 is a schematic structural diagram of the motor rotor in an embodiment of the header assembly of the present invention.
  • Figure 115 is a schematic structural diagram of the motor stator in an embodiment of the header assembly of the present invention.
  • Figure 116 is a schematic structural diagram of area 13II in Figure 105;
  • Figure 117 is a schematic structural diagram of area 13I in Figure 105;
  • Figure 118 is a schematic structural diagram of the lawn mower of the present invention in one embodiment
  • Figure 119 is a schematic structural diagram of the walking drive mechanism in one embodiment of the present invention.
  • Figure 120 is a schematic exploded structural diagram of the walking drive mechanism in one embodiment of the present invention.
  • Figure 121 is a schematic structural diagram of the first sealing ring in an embodiment of the present invention.
  • Figure 122 is a schematic cross-sectional structural diagram of the walking drive mechanism at the junction of the motor and the reducer in one embodiment of the present invention
  • Figure 123 is a schematic exploded structural diagram of the walking drive mechanism in another embodiment of the present invention.
  • Figure 124 is a schematic diagram of the cooperation between the oil seal and the second sealing ring in another embodiment of the present invention.
  • Figure 125 is a schematic cross-sectional structural diagram of the second sealing ring in another embodiment of the present invention.
  • Figure 126 is a schematic cross-sectional structural diagram of the walking drive mechanism at the junction of the motor and the reducer in another embodiment of the present invention.
  • Figure 127 is a schematic exploded structural diagram of the walking drive mechanism in yet another embodiment of the present invention.
  • Figure 128 is a schematic cross-sectional structural diagram of the walking drive mechanism at the junction of the motor and the reducer in yet another embodiment of the present invention
  • Figure 129 is a schematic exploded structural view of the walking drive mechanism in yet another embodiment of the present invention.
  • Figure 130 is a schematic cross-sectional structural diagram of the traveling drive mechanism at the junction of the motor and the reducer in yet another embodiment of the present invention.
  • Figure 131 is a three-dimensional view of a garden tool according to an embodiment of the present invention.
  • Figure 132 is a schematic diagram of the connection structure between the walking drive device and the walking wheel in the garden tool according to an embodiment of the present invention.
  • Figure 133 is a schematic diagram of an exemplary lawn mower control method of the present application.
  • Figure 134 is a schematic diagram of determining the traveling mode of the lawn mower based on the first signal in an exemplary lawn mower control method of the present application;
  • Figure 135 is a schematic diagram of determining whether the lawn mower enters the traveling mode according to the third signal in an exemplary lawn mower control method of the present application;
  • Figure 136 is a schematic diagram of the operation of an exemplary lawn mower motor of the present application.
  • Figure 137 is a schematic diagram of another exemplary lawn mower control method of the present application.
  • Figure 138 is a schematic diagram of yet another exemplary lawn mower control method of the present application.
  • Figure 139 is a schematic structural diagram of an exemplary lawn mower of the present application.
  • Figure 140 is a schematic structural diagram of an exemplary lawn mower of the present application from another angle;
  • Figure 141 is a partial structural schematic diagram of an exemplary foot pedal device of the present application when it is not folded;
  • Figure 142 is a partial structural schematic diagram of an exemplary foot pedal device of the present application when it is folded;
  • Figure 143 is a schematic diagram of an exemplary foot pedal device of the present application.
  • Figure 144 is a partial structural schematic diagram of an exemplary foot pedal device of the present application.
  • Figure 145 is a schematic diagram of an exemplary foot signal switch in the engaged state of the present application.
  • Figure 146 is a schematic diagram of an exemplary control signal switch in a separated state according to the present application.
  • Figure 147 is a schematic diagram of an exemplary control signal switch in the engaged state of the present application.
  • Figure 148 is a partial schematic diagram of the joystick when the control signal switch is in a separated state according to an exemplary application
  • Figure 149 is a partial schematic diagram of the joystick when the control signal switch is in the engaged state of an exemplary control signal switch of the present application;
  • Figure 150 is a schematic structural diagram of an exemplary foot pedal device of the present application.
  • Figure 151 is a schematic structural diagram of an exemplary foot pedal device from another angle
  • Figure 152 is a bottom view of an exemplary foot pedal device of the present application.
  • Figure 153 is a front view of an exemplary foot pedal device of the present application.
  • Figure 154 is a partial structural schematic diagram of an exemplary foot pedal device of the present application.
  • Figure 155 is a schematic diagram of the partial structure of an exemplary foot pedal device of the present application from another angle;
  • Figure 156 is a schematic diagram of an exemplary lawn mower of the present application.
  • Figure 157 is a schematic diagram of an exemplary lawn mower of the present application from another angle;
  • Figure 158 is a rear view of an exemplary lawn mower of the present application.
  • Embodiment 1 Please refer to Figures 1 to 12.
  • the present invention provides a lawn mower, which can improve the problems of the lawn mower's control mechanism being complex in structure, unable to automatically reset, and inconvenient to operate.
  • the lawn mower 1 of the present invention includes a control mechanism 2310, a frame 100, a walking assembly and a cutting table assembly 300.
  • the frame 100 is the main part of the lawn mower 1 and is used to install the lawn mower.
  • the traveling assembly is installed on the frame 100 and is used to drive the lawn mower 1 to travel.
  • the traveling assembly includes the traveling wheels 201 installed on both sides of the frame 100 and the driving motors of the traveling wheels 201 (not shown in the figure).
  • the header assembly 300 includes a header 310 and a cutting part 320.
  • the header 310 is installed on the frame 100.
  • the header 310 is installed at the bottom of the frame 100, and the cutting part 320 is installed in the header 310.
  • the cutting part 320 performs lawn mowing work;
  • the control mechanism 2310 is installed on the frame 100 and is used to control the rotation speed of the walking wheels, thereby controlling the forward, backward, turning and other walking states of the lawn mower.
  • the running wheels 201 on both sides of the lawn mower 1 are each controlled by an operating mechanism 2310 to control the speed and/or steering.
  • the operating mechanism 2310 is installed on the machine corresponding to the side of the walking wheel 201. 100 on the rack.
  • the operating mechanism 2310 includes a joystick mounting base 2311, a joystick 2312, a reset component 2314 and a limiting component 2315.
  • the joystick mounting base 2311 is rotatably mounted on the frame 100, and the joystick 2312 is rotatably mounted on the joystick mounting base 2311. .
  • the joystick mounting base 2311 is rotatably mounted on the frame 100 along a first direction (for example, the left and right direction of the lawn mower), and the joystick 2312 is rotatably mounted on the frame 100 along a second direction (for example, the walking direction of the lawn mower).
  • the reset component 2314 drives the joystick mounting base 2311 to drive the joystick 2312 to reset to the initial position (neutral position) along the first direction, and the limiting component 2315 is used to lock the joystick 2312 in the initial position.
  • the operating mechanism 2310 also includes an elastic component 2313.
  • the elastic component 2313 is fixedly installed on the joystick mounting base 2311 and connected to the joystick 2312.
  • the joystick 2312 is on the elastic component 2313. Under the action of , it can rotate in the second direction in the joystick mounting seat 2311; one end of the limiting component 2315 is installed on the frame 100 through the limiting mounting seat 23151, and the other end extends in the direction of the joystick 2312; the reset component 2314 One end is connected to the joystick mounting base 2311, and the other end is connected to the limit mounting base 23151; when the reset component 2314 drives the joystick mounting base 2311 to rotate, the joystick 2312 returns to neutral (the initial position, the position outside the neutral position) When, the limit component 2315 automatically locks the joystick 2312.
  • the operating mechanism 2310 also includes a position detection device.
  • the position detection device is used to detect the position of the joystick 2312 and feed back the detection signal to the controller of the driving motor of the walking wheel 201.
  • the controller operates according to the detection signal of the position detection device.
  • the corresponding rotation speed value is output to the driving motor of the traveling wheel 201, thereby controlling the traveling of the traveling wheel 201.
  • the position detection device detects the rotation angle of the joystick 2312.
  • the position detection device uses an angle sensor 2317.
  • the rotation axis of the angle sensor 2317 is installed on the joystick 2312 and rotates synchronously with the joystick 2312.
  • the drive motor is driven according to the angle sensor.
  • the information output by 2317 outputs the corresponding rotation speed, thereby controlling the walking of the walking wheel 201.
  • the joystick mounting base 2311 rotates relative to the frame 100 to drive the joystick 2312 to switch between the neutral position and the neutral position to unlock or lock the joystick 2312 and the limit assembly 2315.
  • the joystick 2312 is The rotation of the rod mounting base 2311 is used to drive the rotation shaft of the angle sensor 2317 to rotate, thereby controlling the rotation speed and/or steering of the drive motor.
  • the position detection device may also use magnetic elements or magnetic sensors.
  • the operating mechanism 2310 is connected to the frame 100 through a fixing plate 23101.
  • the fixing plate 23101 is fixed to one side of the frame 100 through fasteners such as bolts 23126.
  • the rod mounting base 2311 is rotatably mounted on the fixed plate 23101, for example, connected to the fixed plate 23101 through a rotating shaft.
  • the joystick mounting base 2311 can rotate around the rotating shaft in the first direction.
  • the upper and lower ends of the joystick mounting base 2311 are open and the surrounding side walls are closed structures.
  • the joystick 2312 penetrates the upper and lower ends of the joystick mounting base 2311 and can swing in the second direction inside the joystick mounting base 2311.
  • the first direction corresponds to the switching direction of unlocking and locking the joystick 2312
  • the second direction corresponds to the forward and backward directions of the lawn mower 1.
  • the joystick mounting base 2311 of this embodiment can rotate around the axis in the first direction, which greatly simplifies the structure of the joystick 2312, facilitates the production and installation of the joystick 2312, eliminates assembly errors and gaps, and makes the joystick 2312 in the neutral position. location is more accurate.
  • the joystick 2312 includes a joystick 23121, a limit plate 23122, and a sleeve 23123.
  • the joystick 23121 has an inverted L-shaped structure.
  • One end of the joystick 23121 is for the operator to hold, and the other end is toward the inside of the joystick mounting base 2311.
  • the sleeve 23123 is arranged along the extending direction perpendicular to the operating handle 23121 and the limiting plate 23122.
  • the joystick 2312 passes through a rotating shaft and the joystick The mounting base 2311 is connected.
  • the rotating shaft here is marked as the first rotating shaft 23124.
  • the first rotating shaft 23124 penetrates the casing 23123 and is fixed with the casing 23123 through bolts 23126. Both ends of the first rotating shaft 23124 are installed and controlled through collars 23125. on the side wall of the pole mount 2311.
  • the angle sensor 2317 may be a potentiometer, for example.
  • the potentiometer is installed on the joystick mounting base 2311 through the angle sensor mounting base 23171.
  • the rotating shaft of the potentiometer and the first rotating shaft 23124 are connected together through fasteners such as screws 23172 to realize the potentiometer. and the synchronous rotation of the joystick 2312.
  • the rotation axis of the angle sensor 2317 is driven to rotate, and the drive motor outputs a corresponding rotational speed according to the rotation angle of the angle sensor 2317.
  • the elastic component 2313 includes a spring seat 23131 and a compression spring 23132.
  • the spring seat 23131 is fixedly installed at the bottom of the joystick mounting seat 2311.
  • the joystick mounting seat 2311 faces the fixed plate.
  • the side wall of 23101 extends downward beyond the remaining side walls of the joystick mounting seat 2311.
  • the spring seat 23131 is fixedly mounted on the extra long side wall of the joystick mounting seat 2311 through fasteners such as bolts 23126.
  • the compression spring 23132 is arranged on the spring Inside the seat 23131, one end of the compression spring 23132 is connected to the spring seat 23131, and the other end is connected to the limiting plate 23122 of the operating lever 2312.
  • the elastic component 2313 includes two compression springs 23132.
  • the two compression springs 23132 are respectively provided at both ends of the spring seat 23131.
  • the joystick 2312 penetrates the joystick mounting seat 2311 from top to bottom and passes through the bottom limit plate 23122. Connected to two compression springs 23132.
  • the two sides of the limiting plate 23122 facing the compression spring 23132 are respectively provided with protrusions 231221 that cooperate with the compression spring 23132.
  • the operating lever 2312 is elastically connected to the elastic component 2313 through the protrusions 231221 on both sides of the limiting plate 23122. When the joystick 2312 rotates around the first rotation axis 23124, the joystick 2312 squeezes the compression springs 23132 on both sides.
  • the spring seat 23131 in this embodiment may be of an integrated structure, with two compression springs respectively provided at both ends of the spring seat 23131; the spring seat 23131 may also be of a split structure, with one compression spring 23132 corresponding to one spring seat 23131.
  • the limiting component 2315 includes a fixed base 23152, a limiting rod 23153 and an elastic body 23154.
  • the limiting mounting base 23151 is fixedly installed on the frame 100, and the fixed base 23152 is tightened Firmware such as bolt 23126 is installed on the limit mounting seat 23151, and the elastic body 23154 Disposed between the fixed base 23152 and the limiting rod 23153, the elastic body 23154 can be a spring, for example, and the spring is set on the limiting rod 23153.
  • One end of the limiting rod 23153 is installed on the fixed base 23152 through the retaining spring 23155, and the other end Extends toward the direction of the joystick 2312.
  • the limit plate 23122 of the joystick 2312 is provided with a limit hole 231222 that matches the limit lever 23153.
  • the limit lever 23153 is inserted into the limit hole 231222, the joystick 2312 is locked by the limit lever 23153.
  • the joystick 2312 is in neutral and cannot rotate in the second direction around the first rotating axis 23124, and the driving motor will not be driven; when the limit lever 23153 comes out of the limit hole 231222, the joystick 2312 and the limit component 2315 are unlocked, and the control lever 2312 is unlocked.
  • the rod 2312 can rotate around the first rotation axis 23124 along the second direction to control the lawn mower to move forward, backward or turn.
  • the limit rod 23153 is tilted downward at a certain angle when installed, that is, the inclination direction of the limit rod 23153 forms a certain angle ⁇ with the horizontal plane, and the angle ⁇ is 8 to 10°, for example, it can be 8°, 9° or Any value within the above range such as 10°, the limiting rod 23153 is installed at an angle, which is beneficial to the connection between the limiting rod 23153 and the limiting plate 23122.
  • the end of the limit rod 23153 is provided with an arc chamfer, and the limit hole 231222 is a waist-shaped hole, which can make the process of the limit rod 23153 coming out of the limit hole 231222 or getting stuck in more smoothly.
  • the elastic body 23154 can also be other elastic bodies with equivalent functions.
  • the elastic body 23154 is disposed between the limiting rod 23153 and the fixed base 23152.
  • the two ends of the elastic body 23154 are respectively connected to the limiting rod 23153 and the fixed base.
  • Block 23152 connects.
  • the limiting component 2315 adopts a circlip and an elastic mechanism. When the operating handle is pressed, it can automatically retract to prevent the limiting component 2315 from locking with the limiting plate 23122 below the operating handle 23121.
  • the limiting mounting base 23151 is installed on the rack 100 through the fixing plate 23101, and the limiting mounting base 23151 is connected to the fixing plate 23101.
  • the reset assembly 2314 includes a tension spring 23141.
  • One end of the tension spring 23141 is connected to the joystick mounting base 2311, and the other end is connected to the limiting mounting base 23151.
  • the joystick mounting base 2311 has a tendency to rotate toward the limiting mounting seat 23151, that is, the joystick 2312 has a tendency to be locked by the limiting assembly 2315.
  • the joystick 2312 is pressed by an external force and drives the joystick mounting base 2311 to rotate in a direction away from the limiting mounting seat 23151, the limiting rod 23153 comes out of the limiting hole 231222, and the joystick 2312 and the limiting assembly 2315 are unlocked.
  • the joystick 2312 can rotate along the second direction, thereby driving the lawn mower 1 forward, Backing up or turning, the lawn mower changes from a stopped state to a walking state; when the external force is removed, the control lever 2312 returns to the neutral position under the elastic action of the compression spring 23132, and returns to the outside of the neutral position under the elastic action of the tension spring 23141.
  • neutral at this time, the limit rod 23153 of the limit assembly 2315 is inserted into the limit hole 231222 at the bottom of the joystick 2312, the joystick 2312 is locked and cannot rotate, the driving motor stops rotating, and the lawn mower is in a stopped state.
  • the operating mechanism 2310 also includes a switch, which is used to control power on and/or power off of the drive motor.
  • the switch selection is the pressure switch 2318.
  • the pressure switch 2318 is installed on the limit mounting seat 23151.
  • the joystick 2312 returns to neutral under the action of the reset assembly 2314, the spring seat 23131 contacts the pressure switch 2318, and the pressure The switch 2318 is triggered.
  • the driving motor is in a power-off state. Even if there is no electromagnetic brake, the motor will not rotate to prevent unexpected situations.
  • the operating mechanism 2310 also includes a limiting device of the joystick fixed base 11.
  • the limiting device includes a baffle 2316 and a limiting seat 23161.
  • the baffle 2316 is secured by a fastener.
  • the bolt 23126 is installed on the fixed plate 23101
  • the limit seat 23161 is rotationally connected to the baffle 2316 through a rotating shaft
  • the rotating shaft here is marked as the second rotating shaft 23162
  • the joystick mounting base 2311 is fixedly installed on the limiting seat 23161
  • the joystick 2312 and the joystick mounting base 2311 will drive the limiter seat 23161 to rotate around the second rotation axis 23162.
  • the baffle 2316 and the limiter seat 23161 are arranged to facilitate the rotation of the joystick 2312 around the first direction. Due to the limitation of the fixed plate 23101, the rotation of the limit seat 23161 must not exceed the fixed plate 23101, and the rotation range of the joystick mounting base 2311 is limited between the fixed plate 23101 and the limit component 2315.
  • the frame 100 is provided with an opening 2321 at a position corresponding to the operating mechanism 2310.
  • the joystick 2312 enters through the opening 2321 and is rotationally connected to the joystick mounting base 2311.
  • the size and shape of the opening 2321 do not matter. Limitation is made to satisfy the rotation range of the joystick 2312 as a criterion.
  • the operating mechanism 2310 also includes a first operating handle 32127 and a second operating handle 23128.
  • the first operating handle 32127 and the second operating handle 23128 are respectively provided on the operating handle.
  • the front and rear sides of 23121 are used to stabilize the control handle when working.
  • Hand 23121 Specifically, the first control handle 32127 is fixedly installed on the fixed plate 23101 through bolts and nuts.
  • the first control handle 32127 is located on the front side of the control handle 23121. When the control lever is pushed to drive the lawn mower forward, the control handle 23121 is located on the front side of the control handle 23121.
  • the second control handle 23128 is fixedly installed on the control panel and the frame 100 through bolts and nuts.
  • the control handle 23121 is located at the rear side of the neutral position. Because of the spring force, the second control handle 23128 is pushed forward for a long time. , the hands are prone to soreness and are easy to fall off. At this time, holding the second control handle 23128 makes the hands less likely to fatigue.
  • the second control handle 23128 can also play a stabilizing role to prevent people from falling.
  • the operating mechanism 2310 controls the rotation speed and/or steering of the walking wheels 20 on both sides respectively, thereby controlling the forward, backward or steering movement of the lawn mower 1; when the lawn mower is completed, the lawn mower needs to be stopped. , release the control lever 2312 in the control mechanism 2310 to automatically reset and stop the lawn mower.
  • the control mechanism of the present invention can not only be used to control the walking of a lawn mower, but can also be used to control other garden tools of the same type.
  • the control mechanism in the lawn mower of the present invention uses an elastic component to realize automatic reset of the joystick when it rotates forward and backward, and uses the cooperation of the reset component and the limit component with the limit plate to realize the locking and unlocking of the joystick and the limit component.
  • the joystick and the limit assembly are locked, the joystick cannot be pushed forward or backward, preventing misoperation from causing danger when the vehicle is stopped; when starting the lawn mower, press the joystick, the joystick and the limit assembly are unlocked, and the joystick can rotate forward or backward. Control the lawn mower to move forward or reverse.
  • the control mechanism of the present invention has a simple structure and is easy to operate, can realize automatic reset, and improves user experience.
  • the lawn mower includes a traveling mechanism 200, a cutting table assembly 300, a battery 800, and a control assembly 810.
  • the frame 100 includes a front frame 110 and a rear frame 120.
  • the front frame 110 and the rear frame 120 are detachably connected, and the traveling mechanism 200 includes a front wheel assembly. 210.
  • the front wheel assembly 210 is installed on the front frame 110
  • the rear wheel assembly 220 is installed on the rear frame 120.
  • Different working environments require different headers 310, and different specifications of cutting units
  • the lawnmower 310 such as 48-inch, 50-inch, etc., requires different assembly spaces.
  • the front frame 110 and the rear frame 120 are detachably connected, and the wheelbase of the lawn mower can be adjusted to obtain different bottom assembly spaces to meet different needs. Adaptation requirements for header assembly 300.
  • header assembly 300 is assembled on the frame 100. Either all the header components 300 can be connected to the rear frame 120, or part of the header assembly 300 can be connected to the rear frame 120 and part to the front frame 110. Connection, the specific connection structure is not limited.
  • the header assembly 300 is partially connected to the front frame 110, preferably, the header assembly 300 and the front frame 110 are always connected during disassembly and assembly, which on the one hand reduces the steps of disassembly and assembly, and on the other hand facilitates front
  • the lower frame 110 is matched with the header assembly 300.
  • the front frame 110 and the rear frame 120 are detachably and fixedly connected through fastening bolts to facilitate the replacement of the front frame 110 .
  • two first splints 114 are provided on both sides of the rear end of the front frame 110
  • the front end of the rear frame 120 is two square tubes 121
  • the square tubes 121 are inserted between the two first splints 114
  • the corresponding positions of the square tube 121 and the first clamping plate 114 are provided with first through holes 116
  • the front frame 110 and the rear frame 120 are fastened by connecting bolts 122 passing through the first through holes 116.
  • a second clamping plate 115 is also provided on the bottom surface of the two first clamping plates 114.
  • the two first clamping plates 114 and the second clamping plate 115 are U-shaped.
  • the splint 115 supports the bottom surface of the square tube 121, which reduces the shear force received by the connecting bolt 122, increases the service life of the connecting bolt 122, and improves the connection firmness between the front frame 110 and the rear frame 120.
  • the front frame 110 is U-shaped and includes a first cross beam 111. Both ends of the first cross beam 111 are provided with first connecting portions 112 extending forward. Two The first connection parts 112 are respectively equipped with front wheel assemblies 210 .
  • the front wheel 211 is preferably a universal wheel as a steering wheel.
  • the front end of the first connecting part 112 is provided with an assembly tube 113, and a first bearing is assembled in the assembly tube 113.
  • a first rotation shaft is interference-fitted in the first bearing, and the lower end of the first rotation shaft extends out of the assembly.
  • the pipe 113 is connected to a front fork, and a front wheel 211 is rotatably connected to the front fork.
  • the front fork is provided with a wheel guard plate 118, and the front end of the wheel guard plate 118 exceeds the front wheel 211.
  • the wheel guard plate 118 collides with the obstacle earlier than the front wheel 211, which can prevent the front wheel 211 tire from colliding with the obstacle. Collision, especially when the obstacle is hard, can avoid the front The tire of the wheel 211 is damaged and the service life of the front wheel 211 is increased.
  • the wheel guard plate 118 is tilted from top to bottom toward the front of the lawn mower. Compared with the wheel guard plate 118 being placed vertically, the wheel guard plate 118 and the front wheel assembly 210 are less damaged when a collision occurs, which improves the efficiency of the lawn mower. Anti-collision capability.
  • the front end of the frame 100 is equipped with a headlight.
  • the headlight is assembled on the rear side of the first beam 111 of the front frame 110. Part of the headlight can be inserted into the through groove, or all of the headlight can be disposed on the front.
  • the back of the main frame 110 The light emitted by the headlight is directed toward the front of the lawn mower to illuminate or transmit signals.
  • the headlight is assembled on the back of the first beam 111.
  • the headlight can be installed at other positions at the front end of the frame 100 to effectively protect the headlight.
  • the specific installation location and installation structure are not limited. Please refer to Figure 8.
  • the bottom of the frame 100 is equipped with a header assembly 300.
  • the header assembly 300 includes a header 310, a cutting part 320, a height-adjusting device 350, and a locking device 360.
  • the height-adjusting device 350 is used for
  • the locking device 360 is used to lock the distance between the entire header assembly 300 and the ground.
  • the cutting part 320 includes a cutting knife 322 and a cutting motor 321.
  • One cutting motor 321 can drive one cutting knife 322 to rotate, or can drive multiple cutting knives 322 to rotate through a transmission mechanism. This application does not limit this. .
  • a cutting baffle 330 is detachably fixed at the bottom of the header 310.
  • the cutting baffle 330 surrounds a tool receiving cavity, and the cutting knife 322 is disposed in the tool receiving cavity.
  • the cutting baffle 330 is detachably connected to the header 310, which facilitates separate replacement of the cutting baffle 330 after wear, thereby saving maintenance costs and time.
  • the cutting baffle 330 is detachably connected to the header 310 through bolts, including but not limited to a mounting plate with holes provided on the cutting baffle 330, such as the cutting baffle 330 connected to the top plate of the header 310.
  • the cutting baffle 330 There is a mounting plate perpendicular to the main body of the cutting baffle 330, and the mounting plate is parallel to the top plate of the header 310, so that the cutting baffle 330 and the top plate of the header 310 can be detachably connected through bolts.
  • Header assemblies 300 of different specifications require different cutting baffles 330 .
  • larger cutting baffles 330 are required. If the cutting baffle 330 is made into a whole, it is neither convenient nor convenient to transport. Inconvenient for maintenance and replacement.
  • the cutting baffle 330 is composed of several single-section cutting baffles 330. The cutting baffles 330 of different single sections are connected to each other by bolts or directly fixed on the header 310.
  • the single-section cutting baffle 330 is The processing difficulty and transportation difficulty of the cutting baffle 330 of each section are greatly reduced. When replacing, there is no need to replace the entire cutting baffle 330. Only the cutting baffle 330 of a single section can be replaced, which facilitates transportation and maintenance.
  • the middle baffle 332 and the edge baffle 331 cooperate to form three accommodation cavities, and the cutting knife 322 is arranged in the accommodating cavity.
  • the middle baffle 332 can be disassembled as needed to meet the grass cutting mode and grass discharge mode of the lawn mower. usage requirements.
  • the middle baffle 332 where the accommodation chambers meet is provided with a notch.
  • the height of the gap is set at half the height of the middle baffle 332 . In the grass discharge mode, part of the middle baffle 332 is removed, and the receiving chambers are connected to each other. The cut grass moves from the side away from the grass discharge opening 340 to the grass discharge opening 340 until it is discharged from the grass discharge opening 340.
  • the header assembly 300 also includes a header controller 323.
  • the header controller 323 is installed on the header 310.
  • Multiple cutting motors 321 are electrically connected to the same header controller 323, as in one embodiment. , including three cutting motors 321 and three cutting knives 322.
  • Each cutting motor 321 drives a cutting knife 322 to rotate.
  • the three cutting motors 321 are electrically connected to the same cutting controller 323, and the same cutting controller 323 controls three at the same time.
  • the cutting motor 321 rotates.
  • the header 310 is provided with a controller accommodation cavity 324 for the motor controller 323.
  • the bottom of the controller accommodation cavity 324 has an opening structure, and the motor controller 323 is installed in the controller accommodation cavity 324.
  • a plurality of heat sinks 325 are provided at the bottom of the motor controller 323 , and the plurality of heat sinks 325 are spaced apart along the lower surface of the motor controller 323 .
  • the heat sink 325 can improve the heat dissipation capacity of the motor controller 323 and prevent the heat of the motor controller 323 from accumulating in the controller accommodation cavity 324, causing the motor controller 323 to malfunction.
  • the rotation axis of the cutting blade 322 when projected along the longitudinal direction of the lawn mower, the rotation axis of the cutting blade 322 whose rotation area falls into the projection of the front wheel is located on the side corresponding to the front wheel away from the grass discharge opening. That is, when viewed in the longitudinal direction of the lawn mower, the rotating area of the cutting blade 322 is divided into two parts by the rotating shaft of the cutting blade 322, and the front wheel is located on the cutting blade 322. In the rotation area close to the grass discharge opening 340.
  • the front wheel includes a first front wheel 2111 and a second front wheel 2112
  • the cutting knife 322 includes a first cutting knife 3221 and a second cutting knife 3222.
  • the projection of the first front wheel 2111 at least partially overlaps the rotation area of the first cutting knife 3221
  • the projection of the second front wheel 2112 at least partially overlaps the rotation area of the second cutting knife 3222.
  • the projection of the first front wheel 2111 will fall into the area close to the grass discharge opening 340, that is, the axis of the rotation axis of the first cutting knife 3221 is located on the side of the first front wheel 2111 away from the grass discharge opening 340; take the longitudinal line passing through the axis of the rotation axis of the second cutting knife 3222 as boundary, the cutting and rotating area of the second cutting knife 3222 is divided into two areas close to the grass discharge opening 340 and far away from the grass discharge opening 340.
  • the projection of the second front wheel 2112 will fall in the area close to the grass discharge opening 340, that is, The rotation axis of the second cutting knife 3222 is located on the side of the second front wheel 2112 away from the grass discharge opening 340 .
  • a first plane is defined that is parallel to the forward direction of the lawn mower and passes through the axis of the rotation axis of the first cutting knife 3221.
  • the projection of the first front wheel 2111 is located on the side of the plane close to the grass discharge port 340.
  • the projection of the first front wheel 2111 is completely located on the side of the plane close to the grass discharge port 340; a second plane parallel to the forward direction of the lawn mower and passing through the axis of the second cutting knife 3222 is defined.
  • the projection is located on the side of the plane close to the grass discharge opening 340.
  • the projection of the second front wheel 2112 is completely located on the side of the plane close to the grass discharge opening 340.
  • a grass discharge port 340 is provided on the left side of the cutting table 310, and the projection of the first front wheel 2111 falls in an area close to the grass discharge port 340 (the rotation axis of the first cutting knife 3221 The left side of the axis), that is, the first front wheel 2111 is located on the left side of the first plane; the projection of the second front wheel 2112 falls in the area close to the grass discharge opening 340 (the left side of the axis of the second cutting knife 3222 rotation axis), That is, the second front wheel 2112 is located on the left side of the second plane.
  • the cutting knife 322 When mowing, the grass crushed by the front wheel is sucked up, and then the cutting knife 322 cuts it and discharges it.
  • the front wheel on this side can make the grass directly close to the grass discharge opening.
  • One side of the 340 is cut off, and it is discharged directly after cutting.
  • the direction of the airflow makes the airflow near the grass discharge port relatively large, and the grass crushed by the front wheels is more easily sucked up, making it easier to cut.
  • the arrangement of the front wheel and cutting knife 322 improves the grass removal effect.
  • the cutting blade 322 may further include a third cutting blade, and the third cutting blade may be disposed between the first cutting blade 3221 and the second cutting blade 3222 .
  • the lawn mower can also be equipped with a third front wheel, a fourth cutting knife, etc., which is not limited in this application.
  • the height adjustment device 350 includes a first connecting rod 351 and a second connecting rod 352 that are rotationally connected to the frame 100.
  • the first connecting rod 351 and the second connecting rod 352 are One end is rotatably connected to the header 310, and the first connecting rod 351 and the second connecting rod 352 are also rotatably connected to the same third connecting rod 353.
  • the third connecting rod 353, the first connecting rod 351, the second connecting rod 352, and the header 310 form a structure equivalent to a parallelogram. By rotating the first connecting rod 351 or the second connecting rod 352, the entire header assembly 300 is realized. increase or decrease.
  • the height adjustment device 350 also includes a fourth connecting rod 355 and a fifth connecting rod 356.
  • the first connecting rod 351 and the second connecting rod 352 are not directly connected to the header 310.
  • the fourth connecting rod 355 is connected to the header 310.
  • a connecting rod 351 is rotationally connected
  • a fifth connecting rod 356 is rotationally connected to the second connecting rod 352
  • an end of the fourth connecting rod 355 away from the first connecting rod 351 is rotationally connected to the header 310
  • the fifth connecting rod 356 is away from the second connection.
  • One end of the rod 352 is rotationally connected to the header 310, and the first connecting rod 351, the second connecting rod 352 and the header 310 are rotationally connected through the fourth connecting rod 355 and the fifth connecting rod 356.
  • an adjusting rod 358 is provided at the tail on one side of the lawn mower, and the adjusting rod 358 is rotationally connected to the frame 100.
  • a sixth connecting rod 359 is rotatably connected to the other side of the hand-held end of the rod 358, and the sixth connecting rod 359 is rotatably connected to the second connecting rod 352 or the third connecting rod 353.
  • the adjustment rod 358 is rotated to drive the fifth connecting rod 356 or the third connecting rod 353 through the sixth connecting rod 359, thereby adjusting the height of the header 310.
  • the sixth connecting rod 359 can also be connected to the first connecting rod 351, and the selection can be made according to the actual situation.
  • the locking device 360 After adjusting the overall height of the header assembly 300 from the ground, the locking device 360 is required to lock the height of the header assembly 300.
  • the locking device 360 includes a limiting plate 362.
  • the limiting plate 362 is provided with a plurality of limiting holes 3621, and the limiting holes 3621 are fitted with limiting rods 363.
  • the limiting plate 362 is provided at the adjusting rod 358, and the adjusting rod 358 is limited by the limiting rod 363. Under the action of gravity of the assembly 300, the adjusting rod 358 tends to rotate in the first rotation direction.
  • the limiting rod 363 is provided at the front end of the adjusting rod 358 in the first rotation direction to prevent the header assembly 300 from moving downward.
  • a blocking hole 3622 protrudes from the wall of the limiting hole 3621, and a blocking block is provided on the side wall of the limiting rod 363.
  • the limiting rod 363 is inserted into the limiting hole 3621. , rotate the limiting rod 363 to dislocate the blocking block and the blocking hole 3622, to avoid the sudden fall of the header assembly 300 caused by the limiting rod 363 deviating from the limiting hole 3621.
  • the limit rod 363 is connected to the limit hole 3621 by plugging and unplugging. When the limit rod 363 is pulled out, it is easy to be lost if placed casually.
  • the limiting rod 363 is flexibly connected to the frame 100 or other parts of the lawn mower through a rope to prevent the limiting rod 363 from being lost after being pulled out.
  • the height-adjusting device 350 is rotatably connected to the header 310, and the header 310 is prone to shaking during operation.
  • a first connecting plate 357 is rotatably connected to the top surface of the header 310. An end of the first connecting plate 357 away from the header 310 is rotatably connected to the frame 100.
  • the first connecting plate 357 limits the movement trajectory of the header 310. , which can reduce the shaking of the header 310 during movement or work.
  • the rack 100 includes a front rack 110 and a rear rack 120 that are detachably connected
  • the first connecting plate 357 is preferably rotatably connected to the bottom of the front rack 110 and remains fixed during disassembly.
  • the front frame 110 and the header assembly 300 are in a connected state, which allows for more convenient adaptation, reduces the assembly process, and increases the speed of replacing the header assembly 300.
  • the header assembly 300 further includes a buffer device 370.
  • the buffer device 370 is a buffer spring.
  • One end of the buffer spring is fixed to the frame 100, and the other end is connected to the height adjustment device 350 on the non-locking device 360 side.
  • the other end of the buffer spring is connected to the adjusting rod 358.
  • the force of the buffer device 370 on the adjusting rod 358 is opposite to the force of the header assembly 300 on the adjusting rod 358.
  • the buffer device 370 can be used to buffer the header assembly 300 and reduce the shaking amplitude of the header assembly 300.
  • the buffer device 370 can also reduce the risk of workers lifting the cutter.
  • the force required when the table assembly is 300.
  • the buffer device 370 may include a plurality of buffer springs connected between the frame 100 and the header 310. The location is not limited.
  • a shielding plate 341 is provided at the grass discharge opening 340 of the cutting platform 310, and downwardly bent flanges are provided on both sides of the shielding plate 341.
  • the function of the shielding plate 341 is to divert the grass clippings from the grass outlet.
  • the flanges on both sides of the shielding plate 341 can effectively prevent the grass clippings from flying during the exporting process.
  • the shielding plate 341 is rotatably mounted on the frame 100 , and a torsion spring is provided between the frame 100 and the shielding plate 341 .
  • Grass clippings contain moisture and can easily stick to the inside of the shielding plate 341.
  • the shielding plate 341 is reset under the action of the torsion spring.
  • the shielding plate 341 is installed on the rack 100 through two mounting plates. A number of bolts are provided between the two mounting plates. The shielding plate 341 is located between the two mounting plates. The two mounting plates are rotationally mounted on the frame 100 and the shielding plate 341 is fixed between the two mounting plates.
  • a first seating area 123 is provided on the frame 100.
  • the first seating area 123 is disposed above the header assembly 300 and extends backward to above the standing area.
  • the battery 800 is installed in the first placement area 123.
  • the battery 800 is installed in the first placement area 123.
  • the structure is more rationally utilized and the center of the lawn mower is lowered.
  • the first mounting area 123 is provided with a plurality of first mounting holes 1231, and different batteries 800 are installed in different first mounting holes 1231 through bolts or screws to meet different usage needs.
  • the rack 100 includes a front rack 110 and a rear rack 120
  • the front end of the first placement area 123 extends to the connection between the front rack 110 and the rear rack 120 to achieve a larger battery. 800 installation space.
  • control component 810 is installed above the tail of the battery 800 to ensure that the control component 810 has sufficient installation space, and on the premise of improving the heat dissipation effect, it is more convenient to maintain the control component 810.
  • the lawn mower is provided with a storage platform 900.
  • the storage platform 900 is located in the middle of the frame 100 and above the battery 800.
  • the storage platform 900 is provided with a reinforced connecting plate 910, and the reinforced connecting plate 910 is connected to the frame 100. .
  • the reinforced connecting plate 910 can effectively increase the firmness of the storage platform 900. Increase the load capacity of the storage platform 900.
  • the storage platform 900 can load 120-160kg, preferably 140kg.
  • the storage platform 900 is provided with three flanges. Three flanges surround the storage platform 900 into a frame with one side open, which facilitates storage and increases the strength of the storage platform 900 .
  • the storage platform 900 is provided with friction protrusions, the friction protrusions protrude upward, and the friction protrusions are provided with through holes. The through holes can reduce the weight of the entire storage platform 900 and facilitate heat dissipation of electrical equipment (such as motors, control boards, batteries 800, etc.) below the storage platform 900.
  • a storage rack 540 is also provided on the side of the lawn mower.
  • the storage rack 540 is provided with different storage spaces such as cup holders and storage slots to meet the storage needs of workers' personal belongings.
  • the lawn mower is provided with a storage bin 550 with a first flip cover 551.
  • Electronic devices such as mobile phones and lawn mower remote controls can be placed in the storage bin 550, as well as personal belongings such as keys.
  • the storage bin 550 is provided near the display screen 530 to facilitate storage by staff. The staff checks the display screen 530 very frequently.
  • the storage bin 550 is arranged near the display screen 530 , which can also reduce the situation where the staff forgets the items in the storage bin 550 . Smartphones are used very frequently in life. Once the power of the smart phone is exhausted, life will be very inconvenient.
  • the storage bin 550 is provided with a second charging interface 552.
  • the second charging interface 552 can USB, Type-c, Lightning interfaces, etc., to facilitate charging by staff.
  • a wireless charging module can also be set at the second charging interface 552 to meet some wireless charging needs.
  • the second charging interface 552 can charge smart devices such as mobile phones and tablets, as well as devices such as lawn mower remote controls. This application does not limit the energy storage body.
  • the second charging interface 552 is provided with a waterproof protrusion 553 on the top surface of the storage bin 550.
  • the waterproof protrusion 553 is provided in the non-edge area of the top surface of the storage bin 550.
  • the first flip cover 551 is provided with a groove adapted to the waterproof protrusion 553, which can prevent rainwater from entering the storage bin 550 through the flip cover. It should be noted that the waterproof protrusion 553 can not only reduce the entry of rainwater, but also increase the number of first flips.
  • the sealing between the cover 551 and the storage bin 550 reduces dust and the like from entering the storage bin 550 .
  • the first flip cover 551 and the storage bin 550 are attracted by magnets, so that the first flip cover 551 automatically closes after easy access to items, thereby improving the sealing between the first flip cover 551 and the storage bin 550 .
  • the frame 100 is provided with a standing area, and above the standing area is a control area.
  • the control area is provided with a control device 230 and a display screen 530 to facilitate users to control the lawn mower, such as speed control, direction control, etc. Control etc.
  • the lawn mower can also be remotely controlled, and the movement of the lawn mower, mowing, etc. can be remotely controlled through a remote control device.
  • the remote control device can be a mobile phone, computer, tablet, remote control, etc., and the control connection method can be through Communication networks, Bluetooth and other communication methods are not limited in this application.
  • the lawn mower can also set parameters and specify mowing plans through the APP.
  • the lawn mower is provided with two drive motors 222, and the two drive motors 222 are respectively installed on the two rear wheels 221 to drive the two rear wheels 211 to rotate respectively.
  • An electromagnetic brake is installed on the drive motor 222.
  • the electromagnetic brake includes a brake plate 223. When the lawn mower is powered off or parked, the electromagnetic brake restricts the rotation of the drive motor 222, thus realizing the parking function. When encountering special circumstances, it needs to work. When a person manually pushes the cart, the electromagnetic brake will restrict the rotation of the rear wheels 221, making it impossible for the person to push it.
  • the lawn mower further includes a brake release mechanism.
  • the brake release mechanism includes a connection base 224, a pull rod 225, and a pulling member 226.
  • connection base 224 is installed on the frame 100, and the pull rod 225 is rotatably connected to the connection base. 224, there are two pulling members 226.
  • the two ends of the two pulling members 226 are respectively connected to the pulling rod 225 and the braking plate 223.
  • the pulling member 226 is driven to pull the two braking plates 223 away from each other. Or close to the motor, thereby simultaneously controlling the release opening or reset closing of the electromagnetic brakes on the two drive motors 222.
  • the pulling member 226 is an elastic return member, for example, the pulling member 226 is a spring.
  • the lawn mower can automatically mow the grass without driving.
  • the lawn mower can first be manually controlled or manually driven to move along the edge area to delineate the mowing area and mow the grass.
  • the machine automatically plans or manually plans the route within the mowing area to realize automatic mowing; it can also directly manually delineate the mowing area, and the lawn mower automatically drives and mows within the designated mowing area.
  • the obstacles can be identified and avoided by setting up corresponding sensors on the lawn mower, such as visual sensors, infrared sensors, lidar sensors, etc., or they can be manually placed in advance. Mark obstacles in the mowing area to enable the lawn mower to avoid obstacles.
  • This application does not enumerate specific implementation methods one by one. You can select them according to needs, and this application does not limit them.
  • the standing area includes a standing board 510 and a back cushion 520.
  • the standing board 510 is used for foot stepping, and the back cushion 520 provides support for the user.
  • the user can lean on the back cushion 520 for control.
  • the existing back cushion 520 is arranged vertically. It is inconvenient for users to lean on the back cushion 520 and there is a risk of falling.
  • the back cushion 520 is tilted forward. The staff can obtain more support by leaning on the cushion 520 when operating, which facilitates the operation, reduces the risk of falling, and improves operating comfort.
  • the inclination angle of the back cushion 520 is 100-110 degrees, that is, the angle between the back cushion 520 and the horizontal plane is 100-110 degrees, preferably 108.5 degrees, that is, the worker leans on the back cushion 520 and tilts forward 108.5 degrees, in line with the vertical angle.
  • the straight angle is 18.5 degrees.
  • control component 810 is disposed above the battery 800, in front of the cushion 520, and below the control area. On the one hand, it ensures that the control component 810 has enough installation space for easy layout and heat dissipation. On the other hand, when the control component 810 fails and needs to be checked or maintained, the control component 810 can be inspected by removing the back cushion 520. Repair and maintenance to improve the convenience of maintenance.
  • the display screen 530 of the existing control area is set horizontally.
  • the staff views the relevant display content, they need to lower their heads to view.
  • frequent lowering and raising the heads will cause fatigue for the staff.
  • the staff will be unable to view the cutter when they lower their heads.
  • the situation in front of the lawn mower is prone to collision.
  • the display screen 530 is tilted and faces the user.
  • the angle between the display screen 530 and the horizontal direction is 150 to 160 degrees, preferably 155 degrees.
  • the user can view the information on the display screen 530 with their peripheral vision. Improve work safety and avoid fatigue caused by frequent lowering and raising of head.
  • a first charging interface 711 is provided at the rear of the lawn mower.
  • the first charging interface 711 is at an angle of 60 to 75 degrees with the horizontal plane, preferably 71.5 degrees.
  • the first charging interface 711 is slanted upward, making it easier for the staff to exert force when inserting and unplugging the charging gun, making it easier to plug and pull out.
  • the first charging interface 711 is provided with a reversible charging port cover 710.
  • the charging port cover 710 is opened for charging.
  • the charging port cover 710 is automatically closed to reduce rainwater, debris, etc. from falling into the third charging port.
  • a charging interface 711 is provided to reduce the occurrence rate of failure. It should be noted that the implementation method of automatically closing the charging port cover 710 can be selected in the existing technology according to the actual situation, and this application does not limit this.
  • the standing board 510 is rotatably connected to the frame 100.
  • the operator presence detection device is the pressure switch 2318.
  • the pressure switch 2318 can send out a signal, and the control assembly 810 controls the cutting motor 321 in the traveling assembly and the header assembly 300 to power on.
  • the operator presence detection device may be a separate switch, sensor, etc., to detect whether the operator is present.
  • the bottom surface of the side wall of the standing plate 510 is provided with a fixed through hole 511, and a fixed tube 512 is fixed in the fixed through hole 511.
  • the fixed tube 512 is provided with a third limiting portion 5121 at an end close to the standing plate 510.
  • the inner diameter of the three limiting parts 5121 is smaller than the inner diameter of the fixed tube 512.
  • a third clamping block 518 is provided on one side, and the diameter of the third clamping block 518 is larger than the inner diameter of the third limiting part 5121.
  • a plug-in and pull-out block 514 is provided on the side of the plug-in and pull-out rod 513 away from the third limiting part 5121.
  • a third elastic member 517 is set on the plug-in and pull-out rod 513.
  • the third elastic member 517 is preferably a spring, and the outer ring of the spring is smaller than the plug-in and pull-out block 514.
  • the diameter is larger than the inner diameter of the third limiting part 5121.
  • the rack 100 is provided with a plug-in and pull-out hole 515, and the plug-in and pull-out hole 515 is set when the standing board 510 is folded.
  • the plug-in block 514 cooperates with the plug-in hole 515 to limit the rotation of the standing plate 510.
  • the plug-in block 514 is inserted into the plug-in hole 515.
  • the plug-in block 514 is manually pulled out, and the standing board 510 falls down naturally.
  • the end of the plug-in rod 513 away from the plug-in hole 515 is provided with a hand-held area 516.
  • the hand-held area 516 can be a hand-held ball, a hand-held block, or other components that are convenient for holding.
  • the surface of the hand-held area 516 can also be treated with anti-slip treatment. , such as surface anti-skid texture, anti-skid rubber, etc.
  • the standing board 510 When the standing board 510 needs to be stowed, rotate the standing board 510 to a predetermined position, grasp the hand-held area 516 and pull the plug-in lever 513 to make the plug-in block 514 enter the plug-in hole 515. At this time, release the hand-held area 516.
  • the insertion and extraction rod 513 can be retained in the insertion and extraction hole 515 under the action of the third elastic member 517 .
  • the lawn mower of the present application has a reasonable layout, a wider appearance, a shorter front end, and a lower center of gravity.
  • the lawn mower frame 100 is provided with an organic casing. On the one hand, the appearance of the lawn mower is neater and the beauty of the lawn mower is improved.
  • the width of the casing is 1000 ⁇ 1300mm, and the length direction is 1600 ⁇ 2000mm.
  • the preferred width is 1136mm and the length direction is 1834mm.
  • the height of the main casing from the ground is 700 ⁇ 900mm, preferably 814mm. It has better passability in harsh terrain.
  • the battery 800 has a low layout. In one embodiment, the height of the battery 800 from the ground is 630 to 670 mm, preferably 656.51 mm.
  • the control component 810 is installed in sufficient space above the battery 800, with good heat dissipation performance and convenient maintenance.
  • lights are provided at multiple places on the casing, such as taillights and turn lights at the rear, headlights at the front, etc.
  • the lights can play a role in lighting, making it convenient for workers to work under poor lighting conditions. Carry out lawn mowing operations to meet the needs of different usage scenarios.
  • different flashing frequencies and colors of lights can transmit different signals, making it easier for staff to communicate and deliver instructions.
  • the front fork of this application can effectively protect tires; the storage platform 900 can carry more than 140kg of weight, meeting the placement needs of other tools and other items; the back cushion 520 and the display screen 530 are tilted to avoid work People tend to get tired after long-term use; the charging gun is easy to plug in and out, making it more convenient to use.
  • FIGS. 56 to 57 show an exemplary lawn mower structure.
  • the lawn mower includes a frame 100 , a traveling mechanism 200 , a battery, and a cutting table 310 .
  • Figures 58 and 62 show two exemplary rack 100 structures.
  • the rack 100 includes a front rack 110 and a rear rack 120.
  • the front rack 110 and the rear rack The frame 120 is detachably connected, wherein the front frame 110 is equipped with a front wheel assembly 210 and the rear frame 120 is equipped with a rear wheel assembly 220.
  • the front frame 110 and the rear frame 120 are installed and fixed through connecting bolts 122 .
  • the front wheel assembly 210 is assembled separately on the front frame 110, and the battery, control components, etc. are assembled on the rear frame 120.
  • the header 310 When it is necessary to replace the header 310 of different specifications, such as 48-inch, 52-inch, 60-inch, etc., By replacing the adapted front frame 110 of the lawn mower, the wheelbase of the lawn mower is changed, thereby ensuring that the cutting table 310 can be assembled.
  • the cutting table 310 is located between the front wheel and the rear wheel.
  • the closest distance between the cutting table 310 and the front wheel is 10 to 60 mm
  • the distance between the cutting table 310 and the rear wheel is 10-60 mm.
  • the minimum distance is 10 to 60mm.
  • the header 310 maintains a suitable distance from the front and rear wheels. On the one hand, it is convenient to adjust the height of the header 310. On the other hand, in harsh working environments such as bumps, the header 310 will Produces a slight rocking back and forth, and keeps a certain distance from the front and rear wheels to avoid collision between the cutting table 310 and the front and rear wheels, thereby reducing the risk of damage to the lawn mower.
  • the front frame 110 of the lawn mower is U-shaped and includes a first cross beam 111. Both ends of the first cross beam 111 are provided with first connecting portions 112 extending forward, and the two first connecting portions 112 extend forward. The portions 112 are respectively equipped with front wheel assemblies 210 .
  • the front wheel is preferably a universal wheel as a steering wheel.
  • the front end of the first connecting part 112 is provided with an assembly tube 113.
  • a first bearing is assembled in the assembly tube 113.
  • a first rotating shaft is interference-fitted in the first bearing. The lower end of the first rotating shaft extends out of the assembly.
  • the piping 113 is connected to the front wheel fork, and the front wheel fork is rotatably connected to the front wheel.
  • the front wheels rotate around the first rotation axis to change direction.
  • the front end of the front wheel fork is also provided with a protective inclined plate.
  • the front edge of the protective inclined plate exceeds the front edge of the front wheel.
  • the protective inclined plate Encounter obstacles before the front wheels to avoid damage to the front wheels.
  • the first crossbeam 111 of the front frame 110 is equipped with a headlight.
  • the first crossbeam 111 is provided with a through groove 117, and the headlight is assembled on the back of the first crossbeam 111, and the headlight part is clamped.
  • the headlight light illuminates or transmits signals.
  • a recess is provided on the front side of the first beam 111, and the through groove 117 is disposed in the recess.
  • the headlight is arranged in the through-groove 117 in the recess.
  • Figure 63 shows an exemplary front frame 110 structure.
  • two first clamping plates 114 are provided on both sides of the rear end of the front frame 110.
  • the rear frame 120 The front end is composed of two square tubes 121.
  • the square tube 121 is inserted between the two first clamping plates 114.
  • a first through hole 116 is provided at the corresponding position between the square tube 121 and the first clamping plate 114, and the connecting bolt 122 passes through the first through hole 116.
  • a through hole 116 fastens the first clamping plate 114 and the square tube 121.
  • no less than four bolts are used on each side for installation, thereby achieving the fixation of the front frame 110 and the rear frame 120.
  • the first plywood 114 is arranged vertically, and the bottom surfaces of the two first plywood 114 on the same side are provided with transverse second plywood 115.
  • the first plywood 114 and the second plywood 115 form a U shape.
  • the U-shaped groove facilitates the insertion and fixation of the square tube 121 of the rear frame 120, and the second clamping plate 115 at the bottom supports the square tube 121.
  • the force between the front frame 110 and the rear frame 120 is mainly concentrated at the connection, which is reflected in the tendency of the front frame 110 and the rear frame 120 to rotate relative to each other.
  • the rotation direction is around the front wheel and the rear wheel respectively from the connection point downward.
  • the support area at the connection point between the front frame 110 and the rear frame 120 is increased, and the shear force on the connecting bolt 122 is reduced. , improve the connection firmness and extend the service life of the connecting bolt 122.
  • the front frame 110 needs to be replaced first. If the parts of the lawn mower that do not need to be replaced are installed on the front frame 110, it will inevitably increase the workload of disassembly and assembly. Once this application is implemented In this example, most components of the lawn mower are installed on the rear frame 120, such as the battery, control system, standing area, etc.
  • Figure 60 shows an exemplary rear frame 120 structure.
  • a first placement area 123 is provided, and the battery is fixed in the first placement area 123 .
  • Batteries provide electrical energy for lawn mowers. Lawn mowers of different specifications and requirements need to be equipped with appropriate batteries as needed.
  • the bottom plate of the first placement area 123 is provided with a plurality of first mounting holes 1231. Batteries of different specifications match the first mounting holes 1231 at different positions, thereby realizing the installation and fixation of batteries of different specifications to meet different uses. It should be noted that the first placement area 123 of different types of lawn mowers has different positions.
  • the first placement area 123 is set at the rear frame 120 close to the front frame 110, and the battery weight is relatively large. It is large and placed in the front position, which can balance the force caused by people standing on the rear end of the lawn mower, improve the stability of the lawn mower, and prevent the lawn mower from overturning when people stand back.
  • the location of the first placement area 123 can be selected according to the actual situation. This application does not limit this, as long as it meets the placement requirements of the battery. If it is necessary to explain, a first placement area 123 can place only one battery or multiple batteries. The multiple batteries can be connected in parallel or in series. The batteries can supply energy at the same time, or they can be used together after the power is exhausted. When using a second battery, this application does not limit this, and the choice can be made based on actual needs.
  • a battery protective plate 1232 is provided on the front end and the bottom of the first placement area 123 , and the battery protective plate 1232 is installed on the frame 100 .
  • the battery protection plate 1232 can limit the position of the battery to ensure that the battery will not be displaced during use; on the other hand, it can protect the battery.
  • Existing batteries generally choose lithium batteries or lead-acid batteries, which are useful when mowing lawns.
  • Lithium batteries are preferred in the machine field. Lithium batteries have a certain risk of spontaneous combustion in the event of a short circuit. The battery is protected by the battery protection plate 1232 to avoid battery damage and short circuit.
  • the specific installation method of the battery protective plate 1232 can be welding, bolting, riveting, etc., which can be selected according to actual needs and is not limited in this application.
  • the running mechanism 200 includes a front wheel assembly 210, a rear wheel assembly 220, a driving mechanism, a control system 230, etc.
  • the front wheel assembly 210 is a universal wheel to facilitate steering, and the driving mechanism is connected to the rear wheel assembly 220, and the driving is controlled through the control system 230.
  • the assembly drives the rear wheels to rotate, allowing the mower to move.
  • the control system 230 adjusts the speed of the two rear wheels, and the two rear wheels have a certain speed difference, thereby driving the lawn mower to turn.
  • the driving mechanism is connected with the rear wheel assembly 220 to improve the passing performance of the lawn mower and meet the needs of use in multiple working conditions.
  • the operating lever of the control system 230 According to the different installation positions of different models, such as a standing lawn mower, the operating rod is installed above the standing area to facilitate hand-held control by the user.
  • the specific installation method and location can be selected according to needs. This application There are no restrictions on this.
  • the header 310 is installed at the bottom of the frame 100.
  • a drive motor is installed on the header 310.
  • the drive motor is connected to the cutting knife to drive the cutting knife to rotate.
  • the cutting knife is arranged on the header. lower position for mowing operations.
  • the header 310 and the frame 100 are connected through a height-adjusting device 350 , and the height-adjusting device 350 can adjust the distance between the header 310 and the bottom of the frame 100 .
  • the height-adjusting device 350 can be connected to the rear frame 120 or partially connected to the front frame 110, and the selection can be made according to actual needs, and there is no limit to this.
  • the height adjustment device 350 includes a first connecting rod 351 and a second connecting rod 352.
  • the middle portions of the first connecting rod 351 and the second connecting rod 352 are both rotatably connected to the frame 100.
  • the first connecting rod 351 The lower end of the second connecting rod 352 is rotatably connected to a fourth connecting rod 355 and a fifth connecting rod 356 respectively.
  • the fourth connecting rod 355 and the fifth connecting rod 356 are respectively rotatably connected to the header.
  • the sides of the first connecting rod 351 and the second connecting rod 352 away from the fourth connecting rod 355 and the fifth connecting rod 356 are connected through a third connecting rod 353.
  • the third connecting rod 353 is connected to the first connecting rod 351 and the second connecting rod 353.
  • the rods 352 are respectively connected by rotation.
  • the height of the header can be raised or lowered by rotating the first connecting rod 351 or the second connecting rod 352.
  • the rear frame 120 is provided with a second rotary connection hole 124, a second rotary connection shaft runs through the second rotary connection hole 124, and the second connecting rod 352 is rotatably connected to the rear frame 120 through the second rotary connection shaft;
  • the front frame 110 is provided with a first rotary connection hole 118.
  • a first rotary connection shaft passes through the first rotary connection hole 118.
  • the first connecting rod 351 is rotatably connected to the front frame 110 through the first rotary shaft.
  • the installation dimensions of the header 310 of different specifications are different.
  • the rear part of the header 310 is installed on the rear frame 120 and the front part is installed on the front frame 110.
  • the rear frame 120 only needs to be provided with two on the left and right sides. Just use the rotation mounting holes to avoid providing too many rotation mounting holes on the rear frame 120 and affecting the strength of the frame 100 .
  • the front frame 110 needs to be replaced simultaneously. During the disassembly process, the connection between the header 310 and the front frame 110 does not need to be disconnected. When replacement is required, the header 310 and the front frame 110 need to be replaced. There is no need to assemble again, which effectively reduces the assembly steps and effectively increases the replacement speed.
  • header Maintaining a connection between the header 310 and the front frame 110 can also effectively increase the speed of component retrieval and prevent the installation mismatch between the header 310 and the front frame 110 from occurring.
  • the rear end of the rear frame 120 is also provided with an anti-collision device, such as a rubber anti-collision strip.
  • an anti-collision device such as a rubber anti-collision strip.
  • the frame 100 can also be used for other garden tools, and the garden tools can be lawn mowers as shown in Figures 63 to 70.
  • the garden tool includes: a frame 100, a walking mechanism 200, a battery, a working part, etc.
  • the rack 100 provides support and assembly space for the entire garden tool.
  • the rack 100 includes a front rack 110 and a rear rack 120.
  • the front rack 110 and the rear rack 120 are detachably and fixedly connected, preferably bolted.
  • the front wheel assembly 210 is installed on the front frame 110
  • the rear wheel assembly 220 is installed on the rear frame 120 .
  • the wheelbase of the garden tool can be adjusted by replacing the front frame 110 to obtain different installation spaces to meet different usage requirements.
  • connection method between the front frame 110 and the rear frame 120 can be the relationship between the front frame 110 and the rear frame 120 in the above-mentioned lawn mower.
  • the traveling mechanism 200 includes a front wheel assembly 210, a rear wheel assembly 220, a driving mechanism, etc.
  • the driving mechanism is connected to the rear wheel assembly 220, so that the garden tool is rear-wheel drive, thereby improving the garden tool's ability to pass through different terrains.
  • the battery is installed in the first placement area 123 provided on the rack 100. Different threaded holes are provided in the first placement area 123 to correspond to the installation of batteries of different specifications. It should be noted that the parts and relative connection relationships of the above-mentioned garden tools that are not described in detail can be referred to existing corresponding garden tools, and will not be described in detail in this application.
  • This application describes a lawn mower and garden tool that can be used to adjust the wheelbase of the lawn mower or other garden tools by replacing the front frame 110 to obtain different installation spaces and meet the beneficial effects of meeting the installation requirements of different working parts.
  • the lawn mower includes a frame 100, a traveling mechanism 200, a battery, a cutting table assembly 300, and a control system.
  • the traveling mechanism 200 is installed on the frame 100 and includes a front wheel, a rear wheel, a driving mechanism, etc.
  • the front wheel is a universal wheel
  • the driving mechanism is connected to the rear wheel
  • the driving mechanism drives the rear wheel to rotate.
  • battery for cutting The lawnmower provides electrical energy, including but not limited to providing electrical energy for the driving mechanism, the control mechanism, the cutting motor 321 of the cutting table assembly 300, etc.
  • the header assembly 300 solves the problem that the existing cutting baffle 330 is inconvenient to maintain and replace.
  • the control system includes speed regulation, steering and other controls.
  • the standing lawn mower is provided with a necessary standing position, and the specific structure can be selected according to needs, which is not limited in this application.
  • FIGS. 49 to 54 illustrate an exemplary header assembly 300 of the present application.
  • the header assembly 300 includes a header 310 , a cutting part 320 , and a cutting baffle 330 .
  • the cutting table 310 is installed on the frame 100 of the lawn mower, and the cutting table 310 provides an overall support and assembly position for the cutting table assembly 300 .
  • the cutting part 320 includes a cutting motor 321 and a cutting knife 322 driven by the cutting motor 321.
  • the cutting motor 321 is installed on the cutting table 310.
  • the cutting table 310 is provided with a number of through holes 311 that penetrate the top plate of the cutting table 310 from top to bottom.
  • the cutting motor 321 penetrates the cutting machine through the through holes 311.
  • the header 310 partially extends below the top plate of the header 310 .
  • the upper part of the through hole 311 is the installation part of the cutting motor 321, and the lower part of the through hole 311 is provided with a flange plate 324.
  • the top plate of the header 310 at the edge of the through hole 311 is also provided with a motor mounting hole, and the mounting bolts are used to penetrate the flange plate in sequence. 324.
  • the motor installation hole is fixed with the installation part of the cutting motor 321 to realize the installation of the cutting motor 321.
  • the cutting motor 321 partially extends below the top plate of the header 310, which is beneficial to increasing the distance between the cutting knife 322 and the top plate of the header 310, increasing the space for weeding and weeding, and reducing the number and frequency of cleaning.
  • the cutting motor 321 generates heat during use, and heat accumulation after long-term use may easily cause the cutting motor 321 to malfunction.
  • a plurality of ventilation holes 312 are arranged in a circumferential array around the edge of the through hole 311. When the airflow passes through the ventilation hole 312, it will take away the heat around the cutting motor 321, thereby avoiding the problem of heat accumulation caused by the closed contact position between the cutting motor 321 and the header 310, and improving the heat dissipation effect of the cutting motor 321.
  • the cutting knife 322 is installed on the driving shaft of the cutting motor 321, and the cutting motor 321 drives the cutting knife 322 to rotate to cut and repair the grass.
  • the rotating front end of the cutting knife 322 is a cutting edge.
  • the rear edge of the cutting blade 322 is bent downward to form the grass-pushing part 3220, thereby forming a front end of the cutting blade 322 for cutting grass and a rear-side grass-pushing part.
  • 3220 takes the cut grass away to realize the directional discharge of the cut grass, such as side discharge, rear discharge or collection into the grass collection box, etc. to avoid the cut grass falling directly on the spot and avoiding the need for Separate cleaning issues.
  • the cutting baffle 330 is detachably fixed on the cutting table 310 and surrounds a cutter receiving cavity, and the cutting knife 322 is arranged in the cutter receiving cavity.
  • the cutting baffle 330 is detachably connected to the header 310 through bolts, including but not limited to a mounting plate with holes provided on the cutting baffle 330, such as the cutting baffle 330 connected to the top plate of the header 310.
  • Header assemblies 300 of different specifications require different cutting baffles 330 .
  • the cutting baffle 330 is composed of several single-section cutting baffles 330 .
  • the cutting baffles 330 of different single sections are connected to each other by bolts or directly fixed on the header 310 .
  • the processing difficulty and transportation difficulty of the single-section cutting baffle 330 are greatly reduced.
  • the bottom edge of the front cutting baffle 330 in the forward direction of the header assembly 300 is higher than the bottom edge of the rear cutting baffle 330 , that is, the height of the front cutting baffle 330 from the ground is greater than that of the rear cutting baffle 330 .
  • the front cutting baffle 330 is located on the front side of the rear cutting baffle 330, the front cutting baffle 330 is the cutting baffle 330 close to the front wheel of the lawn mower, and the rear cutting baffle 330 is close to the rear wheel of the lawn mower.
  • Side cutting barriers When mowing the lawn, the lawn mower moves forward according to a predetermined trajectory.
  • the front cutting baffle 330 first passes through the grass to be cut, then the cutting knife 332 cuts the grass to be cut, and then the rear cutting baffle 330 moves through this area.
  • the bottom edge of the front cutting baffle 330 is higher than the bottom edge of the rear cutting baffle 330, which facilitates grass entering the cutting area and prevents the cut grass from being thrown backward from the rear cutting baffle 330.
  • the cutting height of the cutting blade 322 is flush with or slightly lower than the cutting baffle 330 at the front end. The cutting baffle 330 at the end effectively ensures that the height after cutting is the same as the expected cutting height.
  • the cutting baffle 330 includes an edge baffle 331 and a middle baffle 332.
  • the edge baffle 331 is the peripheral cutting baffle 330.
  • the edge baffle 331 is connected to form a receiving cavity with a grass discharge port 340.
  • the edge baffle 331 is a peripheral cutting baffle 330.
  • the accommodating cavity enclosed by the plate 331 has a relatively large range, and several cutting knives 322 are not closed, forming a grass discharge channel. The cut grass passes through the grass discharge channel from the side away from the grass discharge opening 340, and finally passes through the grass discharge opening 340. discharge.
  • the grass discharge port 340 is provided on the side of the cutting table 310 in the forward direction, so as to prevent the discharged grass from splashing on the workers and affecting the workers through side discharge.
  • the middle baffle 332 is detachably disposed in the accommodating cavity surrounded by the edge baffles 331, and divides the accommodating cavity surrounded by the edge baffles 331 into a number of smaller accommodating cavities 334.
  • Each of the accommodating cavities 334 is provided with a cutting knife 332.
  • the middle baffle 332 and the edge baffle 331 cooperate to form three accommodation cavities 334, and the cutting knife 322 is arranged in the accommodating cavity.
  • the middle baffle 332 can be disassembled as needed to meet the grass cutting mode and grass discharge of the lawn mower. Mode usage requirements. When the lawn mower cuts grass, the working areas of the three cutting knives 322 are closed to each other, and the cut grass is continuously cut and broken in the receiving cavity 334 until it falls to the ground.
  • the middle baffle 332 where the accommodation cavity 334 meets is provided with a notch.
  • the height of the gap is set at half the height of the middle baffle 332 .
  • part of the middle baffle 332 is removed, and the receiving cavities 334 are connected with each other.
  • the cut grass moves from the side away from the grass discharge port 340 to the grass discharge port 340 until it is discharged from the grass discharge port 340 .
  • a grass discharge baffle 333 is provided in the accommodation cavity 334 closest to the grass discharge opening 340. The grass discharge baffle 333 prevents the broken grass from re-entering into the accommodation cavity closest to the grass discharge opening 340.
  • a grass discharge cover 341 is provided at the grass discharge port 340.
  • the grass discharge cover 341 is detachably connected to the cutting table 310.
  • the grass discharge cover 341 allows the broken grass discharged from the grass discharge port 340 to move along a predetermined trajectory to avoid breaking the grass. splash.
  • the opening of the grass discharge cover 341 becomes larger from the inside of the cutting table assembly 300 to the outside of the cutting table assembly 300, which facilitates the discharge of broken grass and avoids accumulation of broken grass.
  • the grass discharge baffle 333 is arranged at an angle, one end of the grass discharge baffle 333 is close to the grass discharge opening 340, and the other end is arranged along the extension line of the side of the grass discharge cover 341, that is, the grass discharge baffle 333
  • the length direction coincides with the side of the grass discharge cover 341 to facilitate the discharge of broken grass.
  • the grass discharge cover 341 is rotatably connected to the cutting table 310. In a natural state, the grass discharge cover 341 is in the working position through the elastic member.
  • the front end of the header assembly 300 is provided with rollers 380.
  • the rollers 380 are provided at three places, respectively at both ends and the middle of the front end of the header 310.
  • the roller 380 is in contact with the ground, and the cutting table assembly 300 moves forward more stably during the working process, reducing shaking and ensuring a consistent mowing height.
  • a stepping pad 313 is provided on the top surface of the cutting table 310 , and the stepping pad 313 is disposed on a side of the cutting table 310 away from the grass discharge cover 341 .
  • the staff can first step on the stepping pad 313 and then board the lawn mower, which is convenient for the staff to board the lawn mower.
  • the stepping pad 313 is arranged on the outside of the rack 100, that is, projected in the vertical direction, and at least part of the stepping pad 313 is not blocked by the rack 100, making it convenient for workers to step on.
  • an anti-slip device is provided on the surface of the stepping pad 313, and the anti-slip device prevents workers from slipping and falling when stepping.
  • the anti-skid device can cover the surface with an anti-skid layer such as rubber, or can provide anti-skid textures on the surface of the stepping mat.
  • the specific implementation method is selected according to the actual situation and is not limited in this application.
  • the cutting table assembly of the lawn mower of the present application has the beneficial effects of convenient disassembly and replacement of the cutting baffle 330 and reducing maintenance costs.
  • the brake release mechanism is connected to the brake mechanisms on at least two drive motors at the same time through the pulling member, so as to simultaneously operate the brake mechanisms on different drive motors, thereby solving the problem of lawn mowing in the prior art.
  • the brake release mechanism on the machine being unable to operate the brake mechanisms on multiple drive motors at the same time.
  • the lawn mower 1 includes a frame 100 , a brake release mechanism 1300 , a power supply device, a cutting table assembly 300 and at least two drive motors 222 and running wheels 201 .
  • the frame 100 of the lawn mower 1 is provided with a brake release mechanism 1300, a power supply device, a cutting table assembly 300 and at least two drive motors 222 and traveling wheels 201.
  • the above power supply device is respectively connected with the cutting table assembly 300 and at least two The drive motors 222 are electrically connected.
  • each driving motor 222 on the lawn mower 1 is arranged on the frame 100 and is connected to the running wheel 201 of the lawn mower 1 .
  • the power supply device in the lawn mower 1 supplies power to at least two drive motors 222 so as to drive the running wheels 201 to rotate through the drive motors 222 to drive the lawn mower 1 to move.
  • each driving motor 222 used to drive the running wheel 201 in the lawn mower 1 is provided with a braking mechanism 1410.
  • the braking mechanism 1410 can lock or release the running wheel connected to the corresponding driving motor 222 when the lawn mower 1 is powered off. 201.
  • the user can control the drive motor 222 through the joystick on the lawn mower 1 to operate the lawn mower 1 forward or backward; when the lawn mower 1 is powered off, the lawn mower 1
  • Each drive motor 222 is locked under the action of the corresponding braking mechanism 1410, so that the running wheel 201 connected to the drive motor 222 cannot rotate, thereby driving the lawn mower 1 to maintain a stationary state.
  • the user wants to move the lawn mower 1 in a power-off state, he needs to operate the braking mechanism 1410 on each driving motor 222 on the frame 100 and release the brakes on all the driving motors 222 on the frame 100.
  • the mechanism 1410 is used to unlock all the traveling wheels 201 provided on the lawn mower 1, thereby driving the lawn mower 1 to be moved by the user.
  • the lawn mower 1 of the present invention is provided with a brake release mechanism 1300 on the frame 100, and the brake release mechanism 1300 is on the frame 100. It is located between at least two driving motors 222 and is respectively connected to the braking mechanisms 1410 on the at least two driving motors 222 through the pulling member 1330.
  • the brake release mechanism 1300 can operate the brake mechanisms 1410 respectively located on at least two drive motors 222 at the same time, and uniformly control the release, opening or reset of the brake mechanisms 1410 on all drive motors 222, so that when the lawn mower 1 is turned off, The static state or the movable state of the lawn mower 1 is switched through a single operation when the power is on, so that the user does not need to operate the brake mechanisms 1410 on different drive motors 222 when fixing or moving the lawn mower 1, but through the brake release mechanism 1300
  • the braking mechanisms 1410 on different drive motors 222 can be operated uniformly.
  • the braking mechanism 1410 on the driving motor 222 of the lawn mower 1 in the static state, the braking mechanism 1410 on the driving motor 222 of the lawn mower 1 is all in the reset closed state, all the driving motors 222 of the lawn mower 1 are locked, and the lawn mower 1 cannot be pushed by the user's external force;
  • the movable state all the braking mechanisms 1410 on the driving motors 222 of the lawn mower 1 are in the release and open state, and all the driving motors 222 of the lawn mower 1 are unlocked, and the mower can The lawnmower 1 can move driven by the user's external force.
  • the brake release mechanism 1300 includes a connecting base 1310 and a pull rod 1320 .
  • the above-mentioned connecting seat 1310 is provided on the frame 100 of the lawn mower 1, and a sleeve shaft 1312 is provided on the connecting seat 1310.
  • the above-mentioned pull rod 1320 includes a connecting sleeve 1321 and a rod body 1322.
  • the pull rod 1320 is sleeved on the sleeve shaft 1312 of the connecting seat 1310 through the connecting sleeve 1321.
  • the rod body 1322 is arranged on the connecting sleeve 1321 and extends toward the side facing the user to facilitate the user. manipulate.
  • the above-mentioned connecting sleeve 1321 is located between at least two driving motors 222 on the frame 100, and the connecting sleeve 1321 is connected to the braking mechanism 1410 on the at least two driving motors 222 through the pulling member 1330.
  • the connecting sleeve 1321 can be driven to rotate on the sleeve shaft 1312 by rotating the pull rod 1320, thereby driving the pulling member 1330 connected to the connecting sleeve 1321 to move away from or closer to the corresponding position at the same time.
  • the direction of the driving motor 222 moves, thereby simultaneously pulling the brake mechanisms 1410 on at least two driving motors 222 to open or reset to close.
  • the above-mentioned braking mechanism 1410 is an electromagnetic brake.
  • the electromagnetic brake is located at the rear of the driving motor 222.
  • the electromagnetic brake is provided with a brake release plate, and the brake release plate is connected to the pulling member 1330.
  • the electromagnetic brake when the brake release plate is pulled by the pulling member 1330, the electromagnetic brake is released to unlock the driving motor 222, so that the running wheel 201 connected to the driving motor 222 can rotate freely; brake
  • the electromagnetic brake is turned off to lock the driving motor 222 and block the rotation of the walking wheel 201 connected to the driving motor 222.
  • the plurality of pulling members 1330 can be simultaneously driven to pull the brake at the other end.
  • connection sleeve 1321 set on the connection base 1310 is located at the center of at least two drive motors 222.
  • the at least two drive motors 222 are centrally symmetrically arranged at the connection point.
  • the pulling member 1330 is an elastic return member.
  • the pulling member 1330 can be a tension spring.
  • the pulling member 1330 is provided with a first limiting structure 1331 that matches the shape of the connecting sleeve 1321 at one end close to the connecting sleeve 1321.
  • the pulling member 1330 is pulled as the connecting sleeve 1321 rotates, and moves from a position relative to the connecting sleeve 1321 to When the position is tangent to the connecting sleeve 1321, the first limiting structure 1331 at the end of the pulling member 1330 can be fit and clamped on the circumferential outer wall of the connecting sleeve 1321 to lock the relative position between the connecting sleeve 1321 and the pulling member 1330. Rotate to fix the relative positions of the connecting sleeve 1321 and the pulling member 1330 .
  • the pulling member 1330 connected between the connecting sleeve 1321 and the braking mechanism 1410 is always in a stretched state.
  • the connecting sleeve 1321 Each pulling member 1330 connected to at least two driving motors 222 is balanced by force, so that the pulling rod 1320 is maintained in the release position when there is no external force, and the at least two pulling members connected to the connecting sleeve 1321 1320 maintains the stretched state, driving the brake mechanisms 1410 on at least two drive motors 222 to release and open at the same time, so that the brake mechanisms 1410 on the lawn mower 1 maintain the release and open state;
  • the connecting sleeve 1321 shrinks and returns under the action of each pulling member 1330 connected to at least two drive motors 222, so that the braking mechanisms 1410 on at least two drive motors 222 are reset and closed at the same time.
  • the connecting sleeve 1321 is connected to the connecting sleeve 1321.
  • the plurality of pulling members 1330 are attached to the circumferential outer edge of the connecting sleeve 1321 through the first limiting structure 1331.
  • the connecting sleeve 1321 is maintained at the release position under the joint action of the plurality of pulling members 1330 and is connected to The plurality of pulling members 1330 on the connecting sleeve 1321 can continuously pull open the brake release plate on the drive motor 222, so that all the brake mechanisms 1410 on the lawn mower 1 can be released. and when the user rotates the pull rod 1320 through the release position in direction b (direction b is the rotation direction in which the connecting sleeve 1321 drives the pulling member 1330 close to the corresponding drive motor 222), the connecting sleeve 1321 on the pull rod 1320 is in multiple positions.
  • the pulling member 1330 retracts and rotates from the release position to the pretensioned position, and all the brake release plates on the lawn mower 1 connected to the pulling member 1330 can automatically reset when they do not receive sufficient traction from the pulling member 1330.
  • the brake release plate of the braking mechanism 1410 resets and closes the corresponding electromagnetic brake because it only receives the pre-tightening force of the pulling member 1330, thus locking the running wheel 201 connected to the drive motor 222.
  • the number of drive motors 222 provided on the lawn mower 1 is two, and the two drive motors 222 are symmetrically arranged on both sides of the connecting sleeve 1321 .
  • the pull rod 1320 of the brake release mechanism 1300 is in a pre-tightened position, and the pulling member 1330 connecting the connecting sleeve 1321 and the two brake mechanisms 1410 is in a pre-tensioned position.
  • the pre-tightening torque of the pulling member 1330 on the brake release plate on the electromagnetic brake is 150 to 100N.
  • the pre-tightening torque of the pulling member 1330 on the brake release plate will not pull the brake release plate, but it can release the brake.
  • the plate plays a role of tightening and fixing.
  • the pull rod 1320 rotates to the middle position between the pretension position and the release position.
  • the connection The pulling member 1330 on the connecting sleeve 1321 exerts a torque of 220 to 250N on the brake release plate on the electromagnetic brake.
  • the brake release plate has not been pulled open, the electromagnetic brake still cannot be released, and the lawn mower 1 is still in a stationary state.
  • the brake release plates of the two driving motors 222 on the lawn mower 1 are The stretched pulling member 1330 is pulled open, and the electromagnetic brakes of the two driving motors 222 on the lawn mower 1 are released.
  • the lawn mower 1 switches from a static state to a movable state, so that it can be moved by the user.
  • the pull rod 1320 can be rotated in the direction b past the release position, and the connecting sleeve 1321 on the pull rod 1320 is pulled by the contraction of the two pulling members 1330 and automatically returns to the pretension position. , and the brake release plate connected to the pulling member 1330 automatically resets because it does not receive sufficient traction from the pulling member 1330, and locks and closes the corresponding electromagnetic brake, realizing the switching of the lawn mower 1 from the movable state to the stationary state.
  • the brake release mechanism 1300 is provided at the bottom of the frame 100 of the lawn mower 1.
  • the above-mentioned connecting seat 1310 is installed on the bottom of the frame 100 of the lawn mower 1 through the mounting seat 1311.
  • the top of the above-mentioned connecting seat 1310 is connected to the mounting seat 1311 through bolts.
  • the above-mentioned mounting seat 1311 is connected to the bottom of the frame 100 through bolts.
  • fixed ends 1323 are provided on the outside of the connecting sleeve 1321.
  • the number of the fixed ends 1323 is the same as the number of the driving motors 222.
  • the fixed ends 1323 are along the edge of the connecting sleeve 1321. Extend radially outward. When the connecting sleeve 1321 is in the reset position, each fixed end 1323 of the connecting sleeve 1321 is opposite to the corresponding driving motor 222 .
  • one end of the pulling member 1330 is connected to the fixed end 1323 fixed on the connecting sleeve 1321, and one end of the pulling member 1330 is fixed in the fixing hole of the fixed end 1323; the above-mentioned
  • the other end of the pulling member 1330 is provided with threads, and the other end of the pulling member 1330 is connected to the braking mechanism 1410 through threads.
  • the above-mentioned connecting sleeve 1321 is sleeved on the sleeve shaft 1312 of the connecting seat 1310 through the spacer sleeve 1313, and the spacer sleeve 1313 is clamped on the second limit of the sleeve shaft 1312. bit structure.
  • the above-mentioned spacer sleeves 1313 are provided at both ends of the connecting sleeve 1321.
  • the spacer sleeves 1313 located at both ends of the connecting sleeve 1321 are sleeved on the sleeve shaft 1312 and clamped on the second limiting structure of the sleeve shaft 1312.
  • the spacer sleeve 1313 located at the top of the connecting sleeve 1321 resists the slot 1314 of the sleeve shaft 1312
  • the spacer sleeve 1313 located at the bottom of the connecting sleeve 1321 resists the nut 1316 fastened to the sleeve shaft 1312.
  • the sleeve shaft 1312 The nuts 1316 and the slots 1314 on the connecting sleeve 1321 serve as a second limiting structure to clamp the spacers 1313 at both ends of the connecting sleeve 1321 to limit and fix the connecting sleeve 1321 to the sleeve shaft 1312.
  • a gasket 1315 is provided between the spacer 1313 and the nut 1316 at the bottom of the connecting sleeve 1321.
  • the type of the above-mentioned lawn mower 1 may not be limited.
  • the above-mentioned lawn mower 1 is a vertical lawn mower.
  • the brake release mechanism 1300 on the lawnmower 1 of the present application can also be applied to other garden tools.
  • the garden tool includes a frame 100, a brake release mechanism 1300, a power supply device, a working component, at least two drive motors 222 and a walking wheel 201.
  • the frame 100 of the garden tool is provided with a brake release mechanism 1300, a power supply device, a working component and at least two drive motors 222 and a running wheel 201.
  • the above-mentioned power supply device is electrically connected to the working component and at least two drive motors 222 respectively.
  • the above-mentioned driving motor 222 is used to drive the running wheel 201 to rotate in the lawn mower 1.
  • Each driving motor 222 on the lawn mower 1 is arranged on the frame 100, and is connected with the running wheel of the garden tool. 201 connected.
  • the power supply device in the garden tool supplies power to at least two drive motors 222 so as to drive the running wheels 201 to rotate through the drive motors 222 to drive the garden tool to move.
  • each driving motor 222 used to drive the running wheel 201 in the garden tool is provided with a braking mechanism 1410.
  • the braking mechanism 1410 can lock or release the running wheel 201 connected to the corresponding driving motor 222 when the garden tool is powered off.
  • the user can control the drive motor 222 through the joystick on the garden tool to operate the garden tool forward or backward; when the garden tool is powered off, each drive motor 222 in the garden tool activates the corresponding braking mechanism 1410 It is locked under the action of , so that the running wheel 201 connected with the driving motor 222 cannot rotate, thereby driving the garden tool to maintain a stationary state.
  • the user wants to move the garden tool that is in a power-off state, he needs to operate the braking mechanism 1410 on each driving motor 222 on the frame 100 and release the braking mechanism 1410 on all the driving motors 222 on the frame 100. , to unlock all the walking wheels 201 provided on the garden tool, thereby enabling the garden tool to be moved by the user.
  • the garden tool of the present invention is provided with a brake release mechanism 1300 on the frame 100.
  • the brake release mechanism 1300 is located on the frame 100 between at least two drive motors 222. space, and are respectively connected with at least two drives through the pulling member 1330 The brake mechanism 1410 on the motor 222 is connected.
  • the brake release mechanism 1300 can operate the brake mechanisms 1410 respectively located on at least two drive motors 222 at the same time, and uniformly control the release, opening or reset of the brake mechanisms 1410 on all drive motors 222, so that when the garden tool is powered off, By switching the static state or the movable state of the garden tool in a single operation, the user does not need to operate the brake mechanisms 1410 on different drive motors 222 when fixing or moving the garden tool, and can use the brake release mechanism 1300 to control different drive motors.
  • the braking mechanism 1410 on 222 performs unified operation.
  • the braking mechanism 1410 on the driving motor 222 in the garden tool is all in the reset and closed state, all the driving motors 222 in the garden tool are locked, and the garden tool cannot be pushed by the user's external force; in the movable state, The braking mechanisms 1410 on the driving motors 222 of the garden tool are all in a release-on state, all the driving motors 222 of the garden tool are unlocked, and the garden tool can move under the external force of the user.
  • working components used in the above-mentioned garden tools are not limited, and the above-mentioned working components can be working parts such as a cutting table component, a snow blowing component, a blower, and a sowing component.
  • the pull rod for user operation is set on the connecting seat, and the connecting sleeve on the pull rod is simultaneously connected to the braking mechanism on at least two drive motors through the pulling member to ensure that the user
  • the braking mechanisms on at least two traction drive motors can be operated to release, open or reset to close at the same time.
  • the brake release mechanism used in this lawn mower has a simple and clear structure, and is easy and fast to operate. During use, the brake mechanisms on at least two drive motors can be operated simultaneously to achieve simultaneous release, opening and reset of the brake mechanisms on different drive motors. Effectively improve user experience
  • the lawn mower 1 includes a storage platform 910 , which is disposed on the frame 100 .
  • the lawn mower 1 of the present invention is provided with a storage platform 910 on the lawn mower 1, which increases the load carrying capacity of the lawn mower 1 during operation and facilitates workers to configure auxiliary tools or other items with them, thereby reducing the cost of the lawn mower 1.
  • the staff pays more labor during the mowing process, and the convenience during use of the lawn mower 1 is increased.
  • the storage platform 910 is provided with a flange 912, and the flange 912 is located on On the rear edge of the storage platform 910, the flange 912 can prevent things from slipping, and is easy to grasp to lift the storage platform 910. At the same time, the flange 912 can effectively increase the strength of the storage platform 910 and the load-bearing capacity of the storage platform 910. .
  • a plurality of friction protrusions 913 are provided on the storage platform 910 .
  • a through hole is provided in the middle of each friction protrusion 913.
  • the through hole has two main functions: firstly, it can effectively reduce the weight of the storage board; secondly, the through hole can play a role in ventilation to maintain the dryness inside the storage cavity 920. .
  • the casing 101 is provided with an operating console 162, and the operating console 162 is provided with control keys.
  • the control keys are used to control the lawn mower 1, such as controlling the speed and lighting of the lawn mower 1. wait.
  • the operation console 162 is also provided with a display screen 530 .
  • the display screen 530 is tilted.
  • the casing 101 is also provided with a taillight (not labeled).
  • the taillight faces the rear of the lawnmower 1 and is located below the storage platform 910 to serve as instructions, warnings, etc.
  • the traveling wheel 201 includes a front wheel assembly 210 and a rear wheel assembly 220.
  • the front wheel assembly 210 is a universal wheel, and the rear wheel assembly 220 is driven by a traveling motor.
  • the radius of the front wheel assembly 210 is smaller than the radius of the rear wheel assembly 220 .
  • the larger radius of the rear wheel assembly 220 can ensure that the lawn mower 1 has sufficient horsepower.
  • a grass discharge cover 341 is provided at the grass outlet of the cutting table assembly 300, and downwardly bent flanges are provided on both sides of the grass discharge cover 341.
  • the function of the grass discharge cover 341 is to drain the grass clippings from the grass outlet.
  • the flanges on both sides of the grass discharge cover 341 can effectively prevent the grass clippings from flying during the discharge process.
  • the grass discharge cover 341 is rotatably installed on the frame 100, and a torsion spring 343 is provided between the frame 100 and the grass discharge cover 341.
  • the grass clippings contain moisture and can easily stick to the inside of the grass discharge cover 341.
  • the grass discharge cover 341 is reset under the action of the torsion spring 343.
  • the grass discharge cover 341 is installed on the frame 100 through two mounting plates 342 .
  • a number of bolts are provided between the two mounting plates 342.
  • the grass discharge cover 341 is installed between the two mounting plates 342 through a number of bolts.
  • the two mounting plates 342 are rotatably mounted on the frame 100.
  • a storage platform 910 is provided in the middle of the rack 100 .
  • the storage platform 910 is provided with a connecting plate 916 , and the connecting plate 916 is connected to the rack 100 .
  • the connecting plate 916 can effectively increase the stability of the storage platform 910.
  • a standing plate is provided at the rear of the frame 100 of the standing lawn mower.
  • the storage platform 910 is provided with three flanges. Three flanges surround the storage platform 910 into a frame with one side open, which is convenient for storing items and can increase the strength of the storage platform 910.
  • the storage platform 910 is provided with friction protrusions, the friction protrusions protrude upward, and the friction protrusions are provided with through holes. The through holes can reduce the weight of the entire storage platform 910 and facilitate heat dissipation of electrical equipment (such as motors, control boards, batteries, etc.) below the storage platform 910 .
  • the lawn mower 1 of the present invention is provided with a storage platform 910 on the lawn mower 1.
  • the storage platform 910 is used to place auxiliary equipment or personal belongings of the staff.
  • the storage platform 910 is placed at the rear of the fuselage, and a storage cavity 920 is provided below it, thus forming an upper and lower two-layer storage system, in which the storage cavity 920 is used for Place small items, such as mobile phones, etc.; the storage platform 910 is used to place large items, such as auxiliary equipment, etc.
  • the lawn mower 1 is a standing lawn mower 1
  • the storage platform 910 is set in the middle of the frame 100, and an open frame is formed by setting flanges 912 on three edges. Place items.
  • An exemplary lawn mower of the present application includes: a body 10 and a cutting system 30 installed on the body 10, a walking system 20, a control system 230, a recording system 1400, an energy supply system 1500, and a monitoring system 1600. And the display system 1700; wherein, the cutting system 30 includes at least one cutter and cutter driving device for mowing the grass; the walking system 20 includes a walking wheel 201 and a walking wheel 201 driving device for moving the lawn mower 1; the control system 230 includes an operating device for controlling the lawn mower 1.
  • the operating device is provided with a speed control key; adjusting the speed control key according to the setting method can set the walking speed or cutting speed of the cutting machine, such as the walking speed or cutting speed. Set the speed gear.
  • the recording system 1400 includes a memory for recording fault information of the lawn mower 1 and corresponding fault handling measures, warning information and stage mowing information; the energy supply system 1500 includes at least one battery pack; the monitoring system 1600 is used to monitor and cut the system 30. Walking system 20, control system 230, recording system 1400 and supply
  • the display system 1700 is electrically connected to the monitoring system 1600, and the display system 1700 includes a display screen 530 for displaying monitoring results and parameter settings of the monitoring system 1600.
  • the display screen 530 is tilted on the body, and the tilt angle range is 30-60 degrees, for example, 45 degrees.
  • Monitoring results include status information and job information.
  • the monitoring results can be displayed through the display screen 530 .
  • Monitoring results can be displayed through text, icons, etc.
  • the operation information includes: identification information of walking speed and cutting speed.
  • the identification information includes: speed identification and speed regulation identification.
  • the speed identification includes a walking speed identification and a cutting speed identification.
  • the speed regulation identification includes a walking speed regulation identification and a cutting speed regulation identification.
  • the display screen 530 can display the identification information of the walking speed and the cutting speed, and the speed adjustment indicator can be adjusted to set the gear of the walking speed or the cutting speed.
  • the status information includes: operator's presence status 1603, electromagnetic brake pull-in and release status 1604, current time zone time 1605, cellular network signal status 1607, remote control status 1608, lighting equipment status 1609, alarm light status 1610 and at least one of the project name.
  • the project name can be the name of an item of information in the job information.
  • the project name can be lighting, settings, stage job information, etc.
  • the job information includes: battery power 1602, remaining charging time, estimated full charging time, peripheral tool status 1601, equipment energy consumption status 1611, equipment usage time 1612, fault prompt 1613 and other statuses.
  • the equipment usage time 1612 includes the total usage time of the equipment, the usage time of the cutting system 30, and the usage time of the blades. All job information can be displayed through the display screen 530 .
  • the fault prompt 1613 includes fault information 1614 and corresponding fault handling measures 1615, and the fault information includes fault codes and corresponding fault details.
  • the operation information also includes stage operation information, which includes: operation area, operation duration and average speed.
  • the job information also includes pause prompt information, and the pause prompt information includes the pause duration.
  • the lawn mower 1 further includes lighting equipment and an alarm light, and the lighting equipment and the warning light are arranged on the body of the lawn mower 1 .
  • Lighting equipment is used to provide lighting or light display, and alarm lights are used to alarm.
  • the monitoring system 1600 is used to monitor the working status of lighting equipment.
  • a communication system 1800 is also included, and the monitoring system 1600 also monitors the communication system 1800.
  • the device is positioned through the GPS positioning of the communication system 1800; the collected device information is sent to the cloud through the cellular network, and the remote user can check the device status through a mobile phone or computer.
  • the job information includes: peripheral tool status 1601.
  • the peripheral tool status 1601 includes whether there is a peripheral tool and whether the peripheral tool is turned on or off.
  • the lawn mower 1 also includes an interface for connecting peripheral tools; the monitoring system 1600 is also used to control whether to enable the peripheral tools after detecting the peripheral tools.
  • the control system 230 further includes a joystick 2312 for controlling the walking system 20 .
  • the joystick 2312 is rotatably mounted on the fuselage, and the rotation angle of the joystick 2312 is positively related to the walking speed.
  • the rotation angle refers to the angle between the initial position of the joystick 2312 and the current position.
  • the walking speed of the lawn mower is zero.
  • the joystick 2312 is at the extreme position (the rotation angle at this time maximum)
  • the walking speed of the lawn mower is the maximum value corresponding to the current walking speed gear.
  • the number of joysticks 2312 is two.
  • the two joysticks 2312 respectively control the driving wheels on the corresponding sides of the walking system. By using the two joysticks 2312
  • the difference in the rotation angle of the rod 2312 is used to adjust the walking direction of the lawn mower.
  • the walking speed and rotation angle of the walking system 20 can be adjusted by operating the joystick 2312.
  • Each joystick 2312 is provided with a speed control key, one of the joysticks 2312 is provided with a walking speed control key, and the other joystick 2312 is provided with a cutting speed control key.
  • the speed control key is located at the end of the joystick 2312.
  • the activity direction of the speed control key is along the direction of the gripping part of the joystick 2312.
  • the speed adjustment key is divided into three gears: high, medium and low, which can adjust the walking speed or the maximum value of the cutting speed.
  • the speed adjustment key is used to adjust the speed, the adjustment results are displayed simultaneously on the display system.
  • the speed adjustment mark on the display screen can also adjust the speed of the cutting knife and cutting machine.
  • the control system also includes several control buttons. Through the control buttons, it can be realized: turning on and off lighting equipment, turning on and off alarm lights, peripherals Starting and stopping the tool, resetting the blade usage time, selecting language, converting units, adjusting the brightness of the display 530, and statistics of periodic mowing area, mowing time, and average speed.
  • a cutting switch 231 is also provided next to the display screen 530. When the operator is present, activating the cutting switch can start the cutting system for mowing. It should be noted that when the operator is not in place, the cutting system cannot be started even if the cutting switch is turned on. The cutting system must be started after the operator is in place and then turned on the cutting switch. This starting method avoids the cutting system from being started accidentally. Increased lawnmower safety.
  • the speed adjustment key may have a split structure.
  • the speed adjustment key includes a cutting speed adjustment key and a walking speed adjustment key.
  • the cutting speed adjustment key includes a cutting acceleration key and a cutting deceleration key.
  • the walking speed adjustment key Speed keys include: walking acceleration key and walking deceleration key. When the speed adjustment key is pressed, the corresponding speed adjustment mark on the display screen 530 will be lit. For example, when the walking accelerator key is used to accelerate the walking system 20 of the cutting machine, the acceleration mark corresponding to the walking speed mark will be lit.
  • the speed adjustment key can also be an integrated structure, and the above functions can be realized through a touch screen or a swing method.
  • An exemplary lawn mower of the present application includes a display system 1700.
  • the display system 1700 includes a display screen 530.
  • the display screen 530 is provided on the fuselage.
  • the display screen is used to display identification information of walking speed and working speed. 1620.
  • the identification information includes: speed identification and speed adjustment identification; the speed adjustment identification can be used to set the walking speed or operating speed of the fuselage.
  • the display screen 530 includes a status display area 1711 and a job display area 1712.
  • the status display area 1711 is used to display status information
  • the job display area 1712 is used to display job information; the job information includes identification information.
  • the status display area is located in the upper area of the display screen in the shape of a horizontal bar, and the remaining area of the display screen is the operation display area.
  • the status information includes: operator's presence status 1603, electromagnetic brake pull-in and release status 1604, current time zone time 1605, cellular network signal status 1607, remote control status 1608, lighting equipment status 1609, alarm light status 1610 and at least one of the project name.
  • the project name can be the name of an item of information in the job information.
  • the project name can be lighting, settings, stage job information, etc.
  • the display screen 530 may be a touch screen.
  • the device parameters 1630 can be set through the display screen 530.
  • the device parameters 1630 include: language, screen brightness 1631, unit conversion 1606, statistical parameters, etc.
  • the statistical parameters include the cumulative usage time of the blade, the cumulative usage time of the device, and the cumulative usage time of the cutting system 30 .
  • the display screen 530 is also provided with a blade reset button.
  • the blade reset button is used to reset the blade usage time. When replacing the blade, you can reset the previous cumulative usage time of the blade to zero by pressing the blade reset button.
  • the screen brightness increases in steps of 25%.
  • the display screen 530 can display power information, and different states will be displayed below the power information. For example, when a fault occurs, a fault prompt is displayed. You can directly click on the fault prompt to view it. Fault details interface.
  • An interface switching key 1713 and a main switch 232 are also provided on the side of the display screen 530, and the display interface can be switched through the interface switching key.
  • the interface switching key 1713 may be a touch key.
  • the main switch 232 is provided with a safety key, the lower part of the safety key is a magnet, and the key base is provided with a sensor that can sense the magnet. If the safety key is not inserted, the main switch cannot be activated.
  • the peripheral tool status 1601 includes whether there is a peripheral tool and whether the peripheral tool is turned on or off.
  • the lawn mower 1 also includes an interface for connecting peripheral tools; the monitoring system 1600 is also used to control whether to enable the peripheral tools after detecting the peripheral tools.
  • the work information also includes stage work information 1616.
  • the stage work information 1616 includes: work area, work duration, and average hourly speed.
  • the monitoring results also include suspension prompt information, and the suspension prompt information includes the suspension duration.
  • the system of the lawn mower of the present application can also be applied to other garden tools.
  • the garden tools include: the fuselage and the operating system, walking system, control system, recording system, energy supply system, monitoring system and display system installed on the fuselage. ;
  • the operating system includes at least one tool and a tool driving device for operation;
  • the walking system includes a running wheel and a running wheel driving device for moving the garden tool;
  • the control system includes an operating device for controlling the garden tool, and the operation
  • the device is equipped with a speed control key; adjusting the speed control key can set the walking speed or working speed.
  • the recording system includes a memory for recording garden tool fault information and corresponding fault handling measures, warning information and stage operation information;
  • the energy supply system includes at least one energy package;
  • the monitoring system is used for monitoring and operating systems, walking systems, and control systems , Record the status of the system and the energy supply system;
  • the display system includes a display screen used to display the monitoring results and parameter settings of the monitoring system; the display screen is tilted on the fuselage.
  • the tilt angle range is 30-60 degrees, for example 45 degrees.
  • Monitoring results include status information and job information.
  • the monitoring results can be displayed through the display screen 530 .
  • Monitoring results can be displayed through text, icons, etc.
  • the operation information includes: the identification information of the walking speed and the cutting speed.
  • the identification information includes: the speed identification and the speed regulation identification; the speed identification includes the walking speed identification and the operation speed identification, and the speed regulation identification includes the walking speed adjustment identification and the operation speed regulation identification.
  • the display screen 530 can display the identification information of the walking speed and the cutting speed, and the walking speed or the cutting speed can be set by adjusting the speed adjustment identification.
  • the display system 1700 of the present invention can display the battery power 1602, the operator's presence status 1603, the electromagnetic brake pull-in and release status 1604, the time in the current time zone 1605, the cellular network signal status 1607 (2/3/4G, etc.), remote Control status 1608, remaining charging time, estimated time to fully charge, lighting equipment status 1609, alarm light status 1610, peripheral tool status 1601, walking system speed gear 1621, cutting system speed gear 1622, equipment energy consumption status 1611, Equipment usage time 1612, fault prompt 1613, detailed fault code 1614 and fault handling suggestions 1615 and other statuses.
  • the equipment usage time 1612 includes the total usage time of the equipment, the usage time of the cutting system 30, and the usage time of the blades. Therefore, the present invention realizes centralized management of garden tool functions and improves the degree of visualization of functions.
  • An exemplary lawn mower 1 of the present invention includes a controller and a light group 400.
  • the light group 400 is disposed on the body 10 and is electrically connected to the controller and is under the control of the controller. Illuminated according to a preset light-emitting mode, the light group 400 has at least one light-emitting mode, and the light-emitting mode of the light group 400 corresponds to the status of the lawn mower. For example, different lighting modes of the light set 400 correspond to different states of the lawnmower. In a certain embodiment, the lighting mode of the light set 400 corresponds to the status of the lawnmower 1 one-to-one.
  • the lawn mower 1 also includes: functional components and control components.
  • the energy supply component includes a battery pack to provide energy to the lawn mower 1 .
  • the control component includes a control panel and control keys provided on the control panel to control the lawn mower 1 .
  • the lawn mower 1 also includes a traveling motor, and the traveling motor drives the traveling wheel 201 to roll so that the lawn mower 1 can move according to the control method.
  • the light set 400 includes: at least one of a headlight 410 , a side light 420 , a dome light 430 or a tail light 440 .
  • the headlight 410, the side light 420 or the dome light 430 is a white light lamp.
  • the headlight 410, the side light 420 or the dome light 430 includes a lampshade and a lamp bead arranged inside the lampshade.
  • the lampshade and the lamp bead of the headlight 410, the side light 420 or the dome light 430 cooperate to emit white light to the outside.
  • the lamp beads are white and the lampshade is a transparent lampshade.
  • green lamp beads are also provided inside the lampshade of the headlamp 410, the side lamp 420 or the dome lamp 430, and the green lamp beads can emit green light. Therefore, the headlight 410, the side light 420 or the dome light 430 can emit green light according to the control instructions of the controller.
  • the taillight 440 is a red light; the taillight 440 includes a taillight lampshade and a taillight lamp bead arranged inside the taillight lampshade.
  • the taillight lampshade and the taillight lampbead cooperate to emit red light to the outside.
  • the taillight lampshade is a red lampshade, and the taillight lamp beads are white or red.
  • the headlight 410 of the lawn mower 1 is disposed on the front side of the fuselage 10 and is located at the front face of the frame.
  • the headlight 410 faces forward;
  • the side light 420 is arranged on the left and right directions on the front side of the fuselage 10;
  • the dome light 430 is arranged on the top of the fuselage 10 and faces the front;
  • the tail light 440 is arranged on the left and right directions of the rear part of the fuselage, and the tail light includes two mutually parallel light bars.
  • each light bar is arranged from top to bottom, and the two light bars are located at the left and right directions of the tail.
  • the side lights 420 may be a long light bar. In this case, the two side lights 420 are disposed in parallel on the left and right sides of the front side of the fuselage 10 . In another embodiment, the side lights 420 may be similar to the side lights 420 of the riding lawn mower 1 .
  • the two side lights 420 are symmetrical, and each side light 420 includes a first light bar and a second light bar. Light bar, the first light bar intersects with the second light bar and is smooth and excessive.
  • the status of the lawn mower 1 includes: charging status, charging completion status, low battery status, light on status or light off status.
  • the status of the lawn mower 1 also includes several fault statuses.
  • the fault status can include faulty equipment and the number of faults. For example: there are two faults in the right drive controller, two faults in the left cutter controller, etc.
  • the lawn mower 1 of the present invention is equipped with a light group 400 and a controller.
  • the light group 400 is lit according to a preset light-emitting mode under the control of the controller.
  • the light-emitting mode of the light group 400 is related to the status of the lawn mower 1.
  • One-to-one correspondence The light set 400 is arranged on the fuselage 10, so the light emitting of the light set 400 can be viewed from a long distance, and the light emitting mode of the light set 400 corresponds to the status of the lawn mower 1, so the light can be viewed from a long distance.
  • the light pattern of group 400 knows the current status of lawn mower 1 .
  • An exemplary lawn mower 1 of the present application includes a light indication system.
  • the light indication system includes: a controller and a light group 400; wherein, the light group 400 is electrically connected to the controller, and under the control of the controller, according to the preset The lighting mode is lit, and the lamp group 400 has at least one lighting mode.
  • the lighting mode of the lamp group 400 corresponds to the status of the device; the lighting indication system is installed on the device.
  • the light indication system of the lawn mower of the present application can also be applied to other garden tools.
  • the garden tool includes: a body 10, a running wheel 201, a working component, a working motor, a controller and a light group 400; among which, the body 10 includes a machine body 10 and a light group 400.
  • Electromechanical connection; the lamp group 400 is arranged on the fuselage 10 and is electrically connected to the controller, and is lit according to a preset lighting mode under the control of the controller.
  • the lamp group 400 has at least one lighting mode, so The lighting mode of the lamp set 400 corresponds to the status of the garden tool.
  • Garden tools also include: functional components and control components.
  • the energy supply component includes a battery pack to provide energy to the garden tool.
  • the control component includes a control panel and control keys provided on the control panel to control garden tools.
  • the garden tool also includes a walking motor, and the walking motor drives the walking wheel 201 to roll so that the garden tool can move according to the control method.
  • the specific corresponding relationship between the lighting mode of the light group 400 and the status of the garden tool can be as follows:
  • the white light lights After powering on, they light up in a predefined order.
  • the order of lighting can be dome light, headlight, and side light; among them, the dome light flashes first. , and then light up together with the headlights.
  • the dome light and headlights can start from the middle and light up toward both ends simultaneously.
  • the side lights on both sides can light up simultaneously, and the lights on each side light up from one end toward the other end. .
  • Red light two
  • Each taillight emits light simultaneously, with the upper part of each taillight always on and the lower part flashing.
  • the white light lights are lit in sequence.
  • the order of lighting can be the dome light, headlight, and side light.
  • the dome light and the headlight can be lit at the same time, and the lighting method can be as follows. It lights up simultaneously from the center to both ends; the middle part of the red light (that is, the part located directly behind the casing) is always on, and the two ends (that is, the parts located on the left and right sides of the tail of the fuselage) flash.
  • both the white light and the red light will be turned off.
  • the white light will work normally, and the red light will be partly on and partly flashing.
  • the white light and red light will flash at a predetermined frequency.
  • the number of red light flashes represents the faulty equipment
  • the number of white light flashes represents the number of faults.
  • the red light flashes once and the white light flashes. 2 times it means there are two faults in the right drive controller; the red light flashes 3 times, and the white light flashes 2 times, it means there are two faults in the left cutter controller, where, in one embodiment, the flashing sequence is red. After flashing once, the red light enters the off state, then the white light flashes twice, and then enters the off state. After a period of time, such as 5 seconds, it cycles again. The light flashes at an interval of 1 second.
  • the white light or red light will flash at a predetermined frequency to prompt the operator to go back and charge as soon as possible.
  • the flashing method can be: the lower the power, the faster the flashing frequency.
  • the white light flashes according to a predetermined frequency and brightness, such as breathing flashing at 30% brightness, and the red light turns off.
  • the flashing frequency of the white light lamp can be adjusted according to the charging current. For example, the greater the charging current, the faster the flashing frequency.
  • the battery pack When fully charged, the battery pack is 100% charged and the white light remains on or turns to green to remind the user Already full.
  • the white light and red light will flash according to the predetermined frequency and brightness, just like when a malfunction occurs during discharging.
  • the present invention realizes the status display of different garden tools through different lighting control logics, and the lamp set 400 is arranged on the body 10 and has a wide brightness range, so it is possible to observe the current status of the garden tools from a long distance. What. For example, a garden tool needs to be charged, but the staff does not remember whether it has been charged. They only need to observe the flashing state of the light from a distance to know whether the garden tool is in a charging state.
  • an exemplary lawn mower 1 of the present application includes a drive motor 7110.
  • the drive motor 7110 includes a motor housing 7111 and a drive motor winding installed in the motor housing 7111.
  • the drive motor winding includes a stator. Windings (unlabeled), rotor windings (unlabeled); the structures and installation methods of stator windings and rotor windings can be found in all existing stator winding or rotor winding types.
  • the stator winding is fixedly installed in the motor casing 7111, and the rotor winding is rotationally installed in the motor casing 7111, and can cooperate with the stator winding to convert electrical energy into rotating mechanical energy of the rotor winding.
  • the motor housing 7111 is provided with at least one reinforced connector 7112
  • the motor housing 7111 and the reinforced connector 7112 are made of different materials, and the reinforced connector 7112
  • the material strength is greater than the material strength of the motor housing 7111.
  • the reinforced connector 7112 is provided with a threaded hole 71121 for threaded connection with the reducer 120.
  • the threaded hole 71121 on 7112 is threaded to connect and fix the fixed base 71121 with the motor housing 7111. Because the bolts in this application can be threadedly connected to the connecting body from outside the motor housing 7111, they can be connected to the fixing seat 71121 of the reducer 120 after the entire drive motor 7110 is installed. This can make the assembly process of the drive motor 7110 and the reducer 120 easier. The assembly process is completed independently, and in this application, there is no threaded connection between the connecting bolt 7130 and the fixed seat 71121 of the reducer 120. Therefore, the material of the fixed seat 71121 of the reducer 120 does not need to be selected from a material with a relatively high connection strength. The design needs to be flexibly selected, for example, it can be made of plastic materials such as PA6 and POM with weak connection strength.
  • the installation method of the reinforced connector 7112 on the motor housing 7111 is not limited, including but not limited to in-line casting, detachable fixing, bonding, welding and other means.
  • the number of reinforcing connectors 7112 is not limited and can be one, two or more. Various forms and quantities of reinforcing connectors 7112 will be described below with examples.
  • the reinforced connector 7112 is a stop plate.
  • the shell 7111 is provided with a stop plate mounting hole 71112 that matches the outer diameter of the stop plate.
  • the stop plate is provided with a rib 71126.
  • the middle part of the stop plate is provided with a mandrel for the first torque output end 7113 to pass through. Out of the shaft hole 71124.
  • the stop plate is clamped in the stop plate mounting hole 71112 and one side of the rib 71126 is in contact with the stop 71114 in the motor housing 7111. The other side of the rib 71126 is clamped on the motor.
  • the elastic retaining ring 114 on the shell 7111 is detachably positioned and fixed along the axial direction.
  • the reinforced connecting body 7112 is provided with at least two threaded holes 71121 for threaded connection with the connector of the reducer 120 .
  • the number of threaded holes 71121 depends on the number of connecting bolts 7130 between the reducer 120 and the motor housing 7111. For example, when there are two connecting bolts 7130, the number of threaded holes 71121 corresponds to two. In this embodiment, There are four connecting bolts 7130.
  • the outer contour of the fixed base 71121 is approximately cylindrical.
  • the fixed base 71121 is provided with four bolt through holes that match the connecting bolts 7130.
  • the stop plate is provided with four threads.
  • Holes 71121, the positions of the four threaded holes 71121 correspond to the positions of the four bolt through holes, and the small ends of the four connecting bolts 7130 respectively pass through the four bolt through holes and are threadedly connected to the four threaded holes 71121.
  • the position and arrangement of the connection through holes are not limited.
  • the four bolt through holes are evenly distributed along the same circumference, so that The force of the four connecting bolts 7130 will be more even.
  • a first circumferential stopping structure (not numbered) is provided between the stop plate and the motor housing 7111.
  • the circumferential stopping of the stop plate relative to the motor housing 7111 can also be achieved by matching the outer contour of the stop plate with the contour of the stop plate mounting hole 71112, For example, a non-rotational profile that cannot relatively rotate is provided.
  • the first circumferential stop structure includes a plurality of first protrusions 71122 and a plurality of first protrusions 71122 correspondingly matching.
  • the plurality of first protrusions 71122 are provided on one of the reinforced connector 7112 and/or the motor housing 7111, and the plurality of first recesses 71111 are correspondingly provided on the reinforced connector 7112 and/or the motor housing 7111. Or on another one of the motor housings 7111.
  • the first protrusion 71122 is provided on the stop plate
  • the first recess 71111 is provided on the motor housing 7111
  • the first concave portion 71111 on the 7111 corresponds to the shape and position, and the first convex portion 71122 snaps into the first concave portion 71111 to stop it in the circumferential direction.
  • the first convex portion 71122 with a larger contact area and The first recessed portion 71111 transmits the shearing force to the motor housing 7111 evenly and dispersedly, thereby preventing damage to the weak motor housing 7111.
  • the first concave portion 71111 can also be provided on the stop plate, the first convex portion 71122 can be provided on the motor housing 7111, and the first concave portion 71122 can be provided on the stop plate.
  • a recessed portion 71111 corresponds to the shape and position of the first protruding portion 71122 on the motor housing 7111, and the first protruding portion 71122 is snapped into the first recessed portion 71111.
  • a plurality of first concave portions 71111 can also be respectively provided on the stop plate and the motor housing 7111, and a plurality of first protrusions 71122 can be respectively provided on the stop plate and the motor housing 7111.
  • the first concave portion 71111 and the first convex portion 71122 on the stop plate respectively correspond to the first convex portion 71122 and the second concave portion on the motor housing 7111. Snap.
  • FIG. 90 to 91 In another embodiment of the driving motor 7110 of the present application, only one reinforced connector 7112 is provided on the motor housing 7111, and the reinforced connector 7112 is embedded and cast in the motor housing. Within 7111. Four connecting sleeves 71123 are fixedly connected to the periphery of the reinforced connector 7112. The four connecting sleeves 71123 are respectively provided with threaded holes 71121. The threaded holes 71121 on the four connecting sleeves 71123 are used to connect with corresponding connecting bolts. 7130 threaded connection. It should be noted that the number of threaded holes 71121 is equal to the number of connecting bolts 7130 between the reducer 120 and the motor housing 7111, but it should be at least two according to the connection requirements.
  • the fixed base 71121 is provided with four connecting bolts 71121.
  • the bolts 7130 match the bolt through holes, and the small ends of the four connecting bolts 7130 respectively pass through the four bolt through holes and are threadedly connected to the four threaded holes 71121.
  • the circumferential stop between the reinforced connector 7112 and the motor housing 7111 can also be achieved through inline casting, considering the stability of the inline fixation, the reinforced connector 7112 and A first circumferential stopping structure is also provided between the motor housings 7111 .
  • the specific structure of the first circumferential stopping structure is not limited.
  • the reinforced connecting body 7112 is provided with a non-rotational outer contour, so that the motor cast later during inline casting can Correspondingly matching recesses and filling protrusions are formed on the shell 7111, thereby achieving a more stable and reliable circumferential stop and fixed connection of the reinforced connector 7112 relative to the motor shell 7111.
  • the first circumferential stop structure includes a plurality of first protrusions 71122 and a plurality of first concave portions 71111 corresponding to the plurality of first protrusions 71122.
  • the plurality of first protrusions 71122 are provided On one of the reinforcing connecting body 7112 and/or the motor housing 7111, the plurality of first recesses 71111 are correspondingly provided on the other of the reinforcing connecting body 7112 and/or the motor housing 7111.
  • the first convex part 71122 is provided on the reinforced connector 7112
  • the first concave part 71111 is provided on the motor housing 7111
  • the first recess 71111 on the shell 7111 has a corresponding shape and position.
  • the formed reinforced connector 7112 is placed into the mold of the motor shell 7111.
  • the motor shell 7111 is cast, the molten metal of the motor shell 7111 is filled and reinforced.
  • Other cavities around the connecting body 7112 form a concave portion that matches the first protruding portion 71122 and the connecting sleeve 71123.
  • each of the reinforced connectors 7112 is an independent connection. sets, each of the reinforced connectors 7112 is provided with a threaded hole 71121 for threaded connection with the connector of the reducer 120 . All the reinforced connectors 7112 are embedded and cast at corresponding positions in the motor housing 7111 for threaded connection with the connecting bolts 7130 of the reducer 120 . It should be noted that the number of reinforced connectors 7112 is equal to the number of connecting bolts 7130 between the reducer 120 and the motor housing 7111, and should be at least two according to the connection needs.
  • the motor housing 7111 includes four independent reinforced connectors 7112.
  • the fixed base 71121 is provided with four bolt through holes that match the connecting bolts 7130.
  • the small ends of the four connecting bolts 7130 pass through them respectively.
  • the four bolt through holes are threadedly connected to the threaded holes 71121 of the reinforced connector 7112.
  • the circumferential stop between the reinforced connector 7112 and the motor housing 7111 can also be achieved through in-line casting, considering the stability of the in-line fixation, the reinforced connection A first circumferential stopping structure is provided between the body 7112 and the motor housing 7111. As long as circumferential relative stopping can be achieved, the specific structure of the first circumferential stopping structure is not limited.
  • the reinforced connecting body 7112 is provided with a non-rotational outer contour, so that the motor cast later during inline casting can Correspondingly matching recesses and filling protrusions are formed on the shell 7111, thereby achieving a more stable and reliable circumferential stop and fixed connection of the reinforced connector 7112 relative to the motor shell 7111.
  • the first circumferential stop structure includes a plurality of first protrusions 71122 and a plurality of first concave portions 71111 corresponding to the plurality of first protrusions 71122.
  • the plurality of first protrusions 71122 are provided On one of the reinforcing connecting body 7112 and/or the motor housing 7111, the plurality of first recesses 71111 are correspondingly provided on the other of the reinforcing connecting body 7112 and/or the motor housing 7111. .
  • the first protrusion 71122 is provided on the reinforced connector 7112.
  • the first protrusion 71122 includes an annular protrusion 7171222 and a plurality of axial protrusions 7171221.
  • the plurality of axial protrusions 7171221 are parallel to each other.
  • a number of axial protrusions 7171221 are evenly distributed on the circumference of the reinforced connector 7112, and the annular protrusions 7171222 are provided in the middle of the reinforced connector 7112 and surround it.
  • the outer circumference of the reinforcing connecting body 7112 is one circle and connects each of the axial protrusions.
  • a recess that matches the axial protrusion and the annular protrusion 7171222.
  • a recess can also be provided on the reinforcing connector 7112 so that the molten metal of the motor housing 7111 fills the recess, thereby forming a motor.
  • Shell convex part Alternatively, concave portions and convex portions are respectively provided on the reinforced connector 7112, so that the molten metal of the motor housing 7111 fills the cavities around the concave portions and convex portions, thereby forming corresponding convex portions and concave portions of the motor housing.
  • each of the reinforced connectors 7112 is an independent connecting sleeve.
  • each of the reinforced connectors 7112 is provided with a thread for connecting with the reducer 120 Threaded hole for connection 71121.
  • the end of the reinforced connector 7112 facing away from the reducer 120 is provided with a positioning boss 71125.
  • the motor housing 7111 is provided with a connecting sleeve installation through hole 71113.
  • the reinforced connector 7112 is installed from the inner cavity of the motor housing 7111.
  • the positioning boss 71125 of 7112 is provided with a compression plate 115 on the side facing away from the reducer 120.
  • the compression plate 115 is connected to the motor housing 7111 through compression bolts 116, so that all the reinforced connectors 7112 can be detachably press-fitted.
  • the corresponding positions in the motor housing 7111 are respectively used for threaded connection with different connecting bolts 7130 .
  • the number of reinforced connectors 7112 is equal to the number of connecting bolts 7130 between the reducer 120 and the motor housing 7111, and should be at least two according to the connection needs.
  • the motor housing 7111 includes four independent reinforced connectors 7112.
  • the fixed base 71121 is provided with four bolt through holes that match the connecting bolts 7130.
  • the small ends of the four connecting bolts 7130 pass through them respectively.
  • the four bolt through holes are threadedly connected to the threaded holes 71121 of the reinforced connector 7112.
  • a first gap is provided between the reinforcing connector 7112 and the motor housing 7111.
  • Circumferential stop structure includes a plurality of first protrusions 71122 and a plurality of first recesses 71111 corresponding to the plurality of first protrusions 71122.
  • the plurality of first protrusions 71122 are provided on the reinforced connection.
  • the plurality of first recesses 71111 are correspondingly provided on the other of the reinforcing connecting body 7112 and/or the motor housing 7111.
  • the first recess 71111 is provided on one side edge of the positioning boss 71125
  • the first protrusion 71122 is provided on the motor housing 7111
  • the connecting sleeve mounting through hole 71113 is provided with a
  • the first recessed portion 71111 has a shape matching the first protruding portion 71122, and the first protruding portion 71122 cooperates with the first recessed portion 71111 to stop in the circumferential direction.
  • the first convex portion 71122 can also be provided on the reinforced connector 7112
  • the first recessed portion 71111 can be provided on the motor housing 7111
  • a plurality of first recesses 71111 can also be provided on the reinforced connector 7112 and the motor housing 7111 respectively.
  • the plurality of first protrusions 71122 are respectively provided on the motor housing 7111 and the reinforced connection body 7112.
  • the first recessed portion 71111 and the first protruding portion 71122 on the reinforced connector 7112 respectively engage with the first protruding portion 71122 and the second recessed portion on the motor housing 7111.
  • the lawn mower 1 of the present application includes a driving device 700, which is used to drive the running wheels 201 to travel.
  • the driving device 700 includes: a driving motor 7110 and a reducer 120.
  • the driving motor 7110 may be the driving motor 7110 described in any of the above embodiments.
  • the driving motor 7110 includes a motor housing 7111 and a first torque output end 7113;
  • the reducer 120 includes a fixed base 71121, a torque input end and a second torque output end 7122;
  • the motor housing 7111 is fixedly provided with at least one reinforced connector 7112 for connection.
  • the motor housing 7111 and the reinforced connector 7112 are made of different materials, and the reinforced connector The material strength of 7112 is greater than that of the motor housing 7111; the reinforced connector 7112 is provided with a threaded hole 71121; the fixed seat 71121 of the reducer 120 is connected to the same or different reinforced connector 7112 through several connectors.
  • the threaded hole 71121 of the The second torque output end 7122 rotates.
  • the second torque output end 7122 is connected to the running wheel 201 and drives the running wheel 201 to rotate.
  • a second circumferential stopper structure is provided between the fixed base 71121 and the reinforced connector 7112 to prevent the fixed base 71121 and the reinforced connector 7112 from rotating.
  • the second circumferential stop structure includes a plurality of second protrusions (not shown) and a plurality of second grooves (not shown) corresponding to the plurality of second protrusions.
  • the plurality of second protrusions are provided on one of the reinforcing connecting body 7112 and/or the fixing base 71121, and the plurality of second grooves are correspondingly disposed on the other of the reinforcing connecting body 7112 and/or the fixing base 71121 .
  • the second protrusion is provided on the reinforced connector 7112
  • the second concave portion is provided on the fixed seat 71121
  • the second protrusion on the reinforced connector 7112 and the fixed base are seat
  • the shape and position of the second concave portion on 71121 correspond to each other, and the second convex portion snaps into the second concave portion to stop it in the circumferential direction. In this way, by setting the second convex portion and the second concave portion with a larger contact area, The shearing force is evenly distributed to the fixed seat 71121 and the reinforced connector 7112.
  • the second concave portion can also be provided on the reinforced connector 7112, the second convex portion is provided on the fixed base 71121, and the third concave portion on the reinforced connector 7112
  • the two recessed parts correspond to the shape and position of the second protruding part on the fixed base 71121, and the second protruding part is snapped into the second recessed part.
  • a plurality of second concave portions can also be provided on the reinforced connector 7112 and the fixed base 71121, and a plurality of second protrusions can be provided on the corresponding portions.
  • the second concave portion and the second convex portion on the reinforced connector 7112 respectively engage with the second convex portion and the second concave portion on the fixed base 71121.
  • the second protrusion and the first protrusion are the same protrusion
  • the fixed base 71121 is provided with a second recess that matches the first protrusion.
  • the first protrusion passes through the first recess on the motor housing 7111 and extends into the second recess.
  • a bolt through hole is provided in the second recess, and the small end of the connecting bolt 7130 passes through the through hole and the extension.
  • the threaded hole 71121 on the first protruding portion 71122 inserted into the second concave portion is threadedly connected.
  • the second concave portion on the fixed base 71121 cooperates with the first convex portion 71122 to realize force transmission, which can reduce damage to the connecting bolt 7130.
  • the shear force between the fixed base 71121 and the first protrusion 71122 and between the first protrusion 71122 and the first recess can be transmitted through the protrusion and recess with a larger cross-sectional area than the connecting bolt 7130, it is possible Reduce damage to the motor housing 7111 and fixed base 71121, and increase the durability of the product.
  • the type of the reducer 120 is not limited.
  • the driving device 700 is an embodiment , the reducer 120 is a planetary gear reducer 120 .
  • the reducer 120 includes a first gear train 7121, a second gear train 7123, and a rotating bracket (second torque output end 7122).
  • the first gear train 7121 includes a first sun gear 71131, a plurality of first planet gears 71232, first row Star gear bracket 71231 and first internal ring gear 71221;
  • the second gear train 7123 includes a second sun gear 71233, a plurality of second planet gears 71212, a second planet gear bracket (i.e. fixed seat 71121) and a second internal ring gear 71222.
  • the core shaft of the first torque output end 7113 is arranged at the center of the running wheel 201 along the axial direction of the running wheel 201.
  • a first sun gear 71131 is provided on the core shaft.
  • the first sun gear 71131 is connected to the The mandrel is coaxially fixed.
  • the first planet gear bracket 71231 is rotatably connected to the first torque output end 7113.
  • the first planet gear bracket 71231 is provided with a first planet gear 71232 and a second sun gear 71233.
  • the first planet gear 71232 There are multiple first planet gears 71232 rotatably connected to the first planet gear bracket 71231, and the first planet gears 71232 are meshed with the first sun gear 71131, and the second sun gear 71233 is meshed with the first sun gear 71131.
  • the first planet gear bracket 71231 is coaxially fixed; the second planet gear bracket (i.e., the fixed seat 71121) and the reinforced connector 7112 on the motor housing 7111 are fixed through connecting bolts 7130, and the second planet gear 71212 is rotated on the bracket There are a plurality of second planet gears 71212, and the second planet gears 71212 are meshed with the second sun gear 71233; the rotating bracket (second torque output end 7122) is fixedly connected to the hub of the running wheel 201, and the third An internal gear 71221 and a second internal gear 71222 are coaxially spaced inside the rotating bracket.
  • the first internal gear 71221 and the second internal gear 71222 can be connected to the rotating bracket through interference fit or fixing pins and bolts.
  • the garden walking equipment can be, for example, a riding sweeper, a riding snowplow or a lawn mower.
  • the garden walking equipment includes: a frame 100, The header assembly 300, the driving device 700 and the power part; the power part provides electric energy for the driving device 700, and the driving device 700 provides power for the rotation of the running wheel 201; the running wheel 201 is installed on the rear side of the frame 100, and the running wheel 201 is installed on the front side of the frame 100.
  • a steering wheel 2100 is installed on the side, and the steering wheel 2100 is controlled by the control device 230 The direction of movement of the rack 100.
  • Other structural forms of the frame 100 are not limited and can be added to the structure of the frame 100 of existing garden walking equipment; the header assembly 300 is installed on the bottom of the frame 100 to perform corresponding gardening operations.
  • the running wheel 201 can be, for example, a pneumatic wheel composed of a tire and a hub, or an integrated wheel made of high molecular polymer.
  • the structure of the wheel is not limited to a certain form, but the premise is that the wheel center needs to be There is a cavity that can accommodate the reducer 120 and even the drive motor 7110.
  • the motor housing 7111 in the driving device 700 is fixedly connected to the frame 100, and the gear box in the driving device 700 is coaxially connected to the hub of the running wheel 201. It can be understood that the driving device 700 in this application is not only used as a
  • the driving element serves as a supporting structure connecting the running wheel 201 and the frame 100. Therefore, the connecting parts between the driving motor 7110 and the reducer 120 in the driving device 700 should have sufficient structural strength, and can be made of cast iron, cast aluminum, and other materials.
  • the driving device 700 in the garden walking equipment in this application can be the driving device 700 in any of the above embodiments.
  • the driving device 700 includes: a driving motor 7110 and a reducer 120 .
  • the drive motor 7110 includes a motor housing 7111 and a first torque output end 7113;
  • the reducer 120 includes a fixed base 71121, a torque input end and a second torque output end 7122; wherein, the motor housing 7111 is fixedly provided There is at least one reinforced connector 7112 for connection.
  • the motor shell 7111 and the reinforced connector 7112 are made of different materials, and the material strength of the reinforced connector 7112 is greater than that of the motor shell 7111 The material strength is; the reinforced connector 7112 is provided with a threaded hole 71121; the fixed seat 71121 of the reducer 120 is threadedly connected to the threaded hole 71121 on the same or different reinforced connector 7112 through several connectors, the The first torque output end 7113 drives the torque input end (ie, at least one first planetary gear 71232 in the first gear train 7121) to rotate, and the torque input end drives the second torque output end 7122 to rotate.
  • the two torque output ends 7122 are coaxially connected to the traveling wheel 201 . It should be noted that the parts and relative connection relationships of the above-mentioned garden walking equipment that are not described in detail can be added to the existing corresponding garden walking equipment structure, and the details will not be described again.
  • the motor, drive device and garden walking equipment are driven.
  • the motor shell and the reinforced connector are made of different materials, and the material strength of the reinforced connector is greater than the material strength of the motor shell. Therefore, a threaded hole for threaded connection with the reducer can be provided on the reinforced connector.
  • a lawn mower includes a cutting table assembly 300.
  • the cutting table assembly 300 includes a cutting table 310, a motor controller 323 and a plurality of cutting motors 321.
  • the motor controller 323 and The cutting motors 321 are all installed on the cutting table 310, and each cutting motor 321 is electrically connected to a motor controller 323, and the motor controller 130 centrally controls the rotation of each cutting motor 321.
  • the structure of the header assembly 300 of the present invention can save the installation space of the entire machine, improve the heat dissipation efficiency of the motor and motor controller, and reduce the cost of the entire vehicle.
  • the header 310 is provided with a controller accommodating cavity 324 for installing the motor controller 323.
  • the structural form of the controller accommodating cavity 324 is not limited, and it can be An independent structure can also be integrated with the header 310.
  • the middle part of one side of the header 310 is recessed downward to form a controller accommodating cavity 324, and the motor controller 323 is fixed in the controller accommodating cavity 324 through fasteners, such as screws.
  • the motor controller 323 is placed in the controller receiving cavity 324, and the upper surface of the motor controller 323 is not higher than the upper surface of the header 310 to facilitate the installation of the header 310.
  • the upper surface of the motor controller 323 can also exceed the upper surface of the header 310, but the lower surface of the motor controller 323 is lower than the upper surface of the header (that is, the motor controller 323 is at least partially located on the header.
  • the bottom of the controller accommodation cavity 324 has an opening structure, and at least part of the bottom of the motor controller 323 is placed in the opening to facilitate heat dissipation of the controller.
  • the bottom of the controller accommodation cavity 324 has a completely open structure, that is, the bottom of the motor controller 323 is completely open, so that the motor controller 323 can better dissipate heat.
  • the bottom of the motor controller 323 is provided with There are a plurality of heat sinks 325 arranged at intervals along the lower surface of the motor controller 323.
  • the heat sinks 325 extend downward in a direction perpendicular to the lower surface of the motor controller 323.
  • the height of the downward extension of the heat sink 325 does not vary.
  • the heat sink 325 is completely accommodated in the controller receiving cavity 324 .
  • the air at the bottom of the header 310 flows through the heat sink 325, taking away the heat generated by the motor controller 323, which is beneficial to the effective heat dissipation of the controller.
  • a controller protective cover 3240 is provided above the motor controller 323, and an air inlet 3243 is provided at the connection between the controller protective cover 3240 and the controller accommodation cavity 324.
  • one side wall of the controller accommodation cavity 324 is lower than the upper surface of the header 310.
  • the controller protective cover 3240 includes a cover plate 3241 and a connecting plate 3242 fixedly connected to the cover plate 3241.
  • the cover plate 3241 is connected to the control panel 3241.
  • the cover plate 3241 covers the upper opening of the controller accommodation cavity 324 and is fixed on the header 310 through fasteners.
  • the connecting plate 3242 cooperates with the side wall of the controller accommodation cavity 324 that is lower than the upper surface of the header 310 .
  • the connecting plate 3242 extends downward along a direction perpendicular to the cover plate 3241 . There is a gap between the connecting plate 3242 and the side wall of the controller accommodation cavity 324, and the gap forms an air inlet 3243.
  • the cold air above the header 310 enters the controller accommodating cavity 324 from the air inlet 1131 (the direction of the arrow in Figure 5 is the flow direction of the cold air), and flows along the gap between the controller accommodating cavity 324 and the controller 120 It flows toward the bottom of the controller accommodation cavity 324 , and the heat generated by the controller 120 flows out from the bottom of the controller accommodation cavity 324 along with the flow of cold air.
  • the air inlet 3243 can also be provided at the connection between the cover plate 3241 and the header 310 .
  • the controller protective cover 3240 can also be a cover structure, and the side wall of the cover is provided with an air inlet that matches the controller accommodation cavity 324 .
  • the controller protective cover 3240 can be fixed on the header 310 through fasteners, or can be hinged with the header 310. After the motor controller 323 is installed in the controller accommodation cavity 324, the motor controller can be installed through the controller protective cover 3240. 323 is enclosed in the controller accommodating cavity 324 to protect the motor controller 323 from external damage.
  • the header 310 is provided with a motor mounting hole 311.
  • the motor mounting hole 311 penetrates the header 310 longitudinally, and the cutting motor 321 passes through the motor mounting hole 311 and passes through the flange at the end.
  • Header assembly 300 may include one or more cutting motors 321, Each cutting motor 321 is installed in the same manner.
  • the header assembly 300 includes three cutting motors 321, and three motor mounting holes 311 are provided on the header 310.
  • the three motor mounting holes 311 are on the header 310.
  • a motor mounting hole 311 is provided in the middle of the side of the header 310 away from the controller accommodating cavity 324, and the other two motor mounting holes 311 are respectively provided on both sides of the controller accommodating cavity 324.
  • the cutting motor 321 includes a motor end cover 131, a motor housing 3212, a motor rotor 3213 and a motor stator 3214.
  • the motor end cover 131 and the motor housing 3212 are formed by snapping together.
  • the motor cavity, the motor rotor 3213 and the motor stator 3214 are installed in the motor cavity.
  • the motor rotor 3213 is provided with a first bearing 32131 and a second bearing 32132 respectively at both ends.
  • the motor rotor 3213 is rotatably mounted on the motor end cover 131 and the motor housing 3212 through the first bearing 32131 and the second bearing 32132 respectively.
  • a first bearing mounting seat 32111 is provided in the middle of the motor end cover 131.
  • the shape and size of the first bearing mounting seat 32111 match the first bearing 32131.
  • a second bearing is provided in the middle of the bottom of the motor housing 3212.
  • the shape and size of the mounting seat 32121 and the second bearing mounting seat 32121 match the second bearing 32132.
  • the motor stator 3214 is set around the periphery of the motor rotor 3213. When the motor stator 3214 receives current, according to the principle of electromagnetism, the motor rotor 3213 will run along the direction of the magnetic field of the motor stator 3214.
  • the inner wall of the motor housing 3212 corresponding to the position of the motor stator 3214 protrudes radially inward to form a stator support step 32141, and the motor stator 3214 is fixed in the motor cavity through the stator support step 32141.
  • the motor housing 3212 includes a connecting flange 32122, a first housing 32123 and a second housing 1324 that are connected in sequence.
  • the first housing 32123 is cylindrical. In the cavity structure, one end of the first housing 32123 is connected to the connecting flange 32122, and the other end of the first housing 32123 is connected to the second housing 1324.
  • the outer diameter of the connecting flange 32122 is larger than the diameter of the motor mounting hole 311 , and the outer diameter of the first housing 32123 is smaller than or equal to the diameter of the motor mounting hole 311 .
  • the connecting flange 32122 extends outward along the radial direction of the first housing 32123 and protrudes from the first housing 32123.
  • the second housing 1324 has a conical cavity structure.
  • the first housing 32123 is used to install the motor rotor 3213 and the motor stator 3214.
  • the second housing 1324 is used to install the second bearing 32132 of the motor rotor 3213.
  • a stator support step 32141 is provided at the connection between the housing 32123 and the second housing 1324, and a second bearing mounting seat 32121 matching the second bearing 32132 is provided in the second housing 1324.
  • a number of reinforcing ribs 321241 are provided on the surface of the second housing 1324, which can thin the motor casing while ensuring the strength of the motor assembly, thus greatly reducing the weight of the motor.
  • the setting of the reinforcing ribs 321241 also ensures the strength of the motor assembly. It can increase the heat dissipation area and improve the heat dissipation efficiency.
  • the connecting flange 32122 of the motor housing 3212 includes a plurality of first connecting portions 321221 and a plurality of second connecting portions 321222, wherein the first connecting portion 321221 is used to connect to the motor end cover 131 and the header 310, the second connection part 321222 is used to connect the first connection part 321221, a plurality of first connection parts 321221 and a plurality of second connection parts 321222 are arranged at intervals and along the first shell
  • the circumference of the body 32123 forms a connecting flange 32122 in a circle.
  • the first connection part 321221 protrudes outward from the second connection part 321222 along the radial direction of the first housing 32123.
  • the motor mounting hole 311 includes a first hole 3111 and a second hole 3112.
  • the diameter of the first hole 3111 matches the outer diameter of the first housing 32123, and the diameter of the second hole 3112 is larger than the first hole.
  • the hole diameter of position 3111, the first hole position 3111 corresponds to the first connecting part 321221 of the connecting flange 32122, the second hole position 3112 corresponds to the second connecting part 321222 of the connecting flange 32122, and the motor housing 3212 is passed through a fastener
  • bolts fix the first connecting part 321221 to the header 310 outside the first hole 3111. Since the diameter of the second connecting part 321222 is smaller than the diameter of the first connecting part, the hole diameter of the second hole 3112 is larger than the first hole. 3111 aperture, therefore, after the motor is installed, a larger ventilation hole 312 (the gap between the second connection part 321222 and the second hole 3112) is left in the second connection part 321222 corresponding to the position of the header 310. Ventilation hole
  • the hole shape of the ventilation hole 312 corresponds to the hole shape of the second hole position 3112, and is an arc-shaped long hole, which can realize air circulation on the upper and lower surfaces of the header 310.
  • the motor end cover 131 is matched with the motor housing 3212.
  • the motor end cover 131 includes an end cover body 32112 and a The end cover flange 32113 on the periphery of the body 32112.
  • the connecting flange 32122 is provided with a circumferential protrusion 321223 on the side facing the motor end cover 131.
  • the outer diameter of the circumferential protrusion 321223 matches the inner diameter of the end cover body 32112. .
  • a plurality of arc-shaped protrusions 321241 are spaced above the circumferential protrusion 321223, and the arc-shaped protrusions 321241 are used to guide the end cap body 32112 to be nested on the outside of the circumferential protrusion 321223.
  • the end cover flange 32113 matches the shape of the connecting flange 32122, that is, the end cover flange 32113 includes a first flange part 321131 and a second flange part 321132, and the first flange part 321131 matches the first connecting part 321221 , the second flange part 321132 matches the second connecting part 321222, and the second flange part 321132 is recessed downward compared to the first flange part 321131 to reduce the weight of the motor end cover 131 .
  • the first flange part 321131 and the first connection part 321221 are fixed on the header 310 through fasteners such as bolts, and the second flange part 321132 and the second connection part are 321222 are joined together to form a step 32114.
  • the height h of the step 32114 can be 10-12mm, for example, it can be 10mm, 11mm, 11.5mm, 12mm, etc.
  • the motor housing 3212 and the motor end cover 131 adopt a stepped design, which can reduce the overall weight of the motor assembly and facilitate disassembly, maintenance and installation; in addition, after the cutting motor 321 and the header 310 are installed, the header 310 corresponds to the steps 32114
  • the long arc-shaped holes left in the position facilitate air circulation when the header 310 is at the lowest position.
  • the cutting motor 321 and the motor controller 323 are electrically connected through the connecting wire harness 3215. That is, there is a wire harness outlet 32115 on one side of the motor end cover 131, and one end of the connecting wire harness 3215 is left.
  • the wire harness outlet 32115 is electrically connected to the cutting motor 321, and the other end is electrically connected to the motor controller 323.
  • the energy storage device supplies power to the motor controller 323, and the motor controller 323 distributes and controls the current according to the rotational speed signal and rotational speed direction required by the cutting motor 321.
  • a protective connector is used to connect the wire harness 3215 and a controller protective cover 3240 is installed above the motor controller 323 after the wire harness connection is completed, so that the protection level reaches IP65 to prevent water from entering the terminal connection, causing the motor to fail to operate.
  • the cutting table assembly of the present invention integrates the mowing motor and the motor controller on the cutting table of the lawn mower. It uses one motor controller to control the operation of multiple mowing motors at the same time, which can save the layout space of the entire machine. Reduce the cost and weight of the entire vehicle, facilitate heat dissipation of the motor controller, and enable it to maintain efficient operation for a long time.
  • the stator coil of the motor is installed in a sunken manner, so that the main components of the motor are located below the header. On the one hand, the volume of the motor is reduced, the center of gravity of the motor is lowered, and the motor runs more smoothly.
  • the heating parts of the motor are concentrated Under the header, the heat generated when the motor is running is concentrated under the header, and the cutting knife can be used as a cooling fan to speed up the dissipation of heat.
  • the present invention also provides a lawn mower.
  • the lawn mower includes a frame 100, a walking assembly, a battery 800, a cutting table assembly and a cutting knife assembly.
  • the frame 100 As a support for the entire vehicle, it is used to install other parts.
  • the walking assembly is connected to the frame 100 and is used to drive the lawn mower.
  • the battery 800 is installed on the frame 100 and serves as the driving assembly and cutting table assembly of the lawn mower.
  • the header assembly is installed at the bottom of the frame 100 .
  • the header assembly 300 includes a header 310, a motor controller 323 and a plurality of cutting motors 321.
  • the motor controller 323 is installed on the header 310, and the multiple cutting motors 321 are installed on the header 310 and are connected to the motor controller 323. Electrically connected, and the rotation of each cutting motor 321 is centrally controlled by the motor controller 323.
  • the cutting blade assembly includes a plurality of cutting blades 322 , and the number of cutting blades 322 corresponds to the number of cutting motors 321 .
  • the cutting knives 322 are installed on the output shaft of the cutting motor 321 through the knife holder in a one-to-one correspondence.
  • the structure of each component in the header assembly 300 can be referred to the above detailed description, and will not be described again here.
  • the walking assembly includes a driving wheel 2200 and a power device (not shown in the figure) that drives the driving wheel to travel.
  • the power device can be, for example, a walking motor, and the walking motor is electrically connected to the battery 800. , the battery 800 supplies power to the walking motor to drive the driving wheel 2200 to walk.
  • the lawn mower also includes a steering wheel 2100.
  • the driving wheel 2200 is installed at the rear end of the frame 100, and the steering wheel 2100 is installed at the front end of the frame 100.
  • the steering wheel 2100 is a universal wheel, which can realize the movement of the lawn mower. Steering.
  • the header 310 is provided with a plurality of connecting seats 314 and rollers 380.
  • the rollers 380 are provided at the front end of the header 310.
  • the header 310 is installed on the frame through the connecting seats 314. Bottom of 100.
  • the header 310 is provided with four connecting seats 314 , and the four connecting seats 314 are symmetrically distributed on the front and rear sides of the header 310 .
  • the header 310 is connected to the frame 100 through the four connecting seats 314 .
  • the lawn mower also includes a height adjustment device 350 for adjusting the height of the cutting table 310.
  • the height adjustment device 350 can be any structure capable of adjusting the height of the header 310.
  • the height adjustment device 350 includes a front height adjustment part 3501, a rear height adjustment part (not shown in the figure), a first link 420, a second link and a height adjustment handle 440.
  • the front height adjustment part 3501 and the rear height adjustment part The structure and connection method of the height adjustment parts are the same.
  • the front height adjustment part 3501 is hinged with the connection seat 314 on the front side of the header 310.
  • the rear height adjustment part is hinged with the connection seat 314 on the rear side of the header 310.
  • One end of the first connecting rod 420 is connected with the front adjustment part 3501.
  • the height adjustment piece 3501 is hinged, and the other end is hinged with the rear height adjustment piece.
  • the front height adjustment piece 3501 and the rear height adjustment piece are connected through the first link 420 to form a parallelogram structure, and the rear height adjustment piece is connected to the height adjustment handle 430 through the second link.
  • the height-adjusting handle 430 rotates through the rear height-adjusting part and the second link linkage to rotate the front height-adjusting part 3501 to adjust the height of the header 310.
  • the front height-adjusting parts 3501 and the rear height-adjusting parts 420 rotate around the rotating shafts.
  • the height adjustment handle 430 rotates, it drives the rear height adjustment member and the second link to rotate.
  • the rear height adjustment member simultaneously drives the front height adjustment member 3501 to rotate through the first link 420.
  • the front height adjustment member 3501 and the rear height adjustment member move on The hinge drives the header 310 to rise and fall.
  • the cutting table assembly of the present invention integrates the mowing motor and the motor controller on the cutting table, and realizes the control of multiple motors through one motor controller, saving the layout space of the whole machine, reducing the cost and weight of the whole machine; it is beneficial to the motor And the heat dissipation of the controller can maintain efficient operation for a long time.
  • a lawn mower includes a traveling mechanism.
  • the traveling driving mechanism is provided with a sealing structure at the joint between the drive motor and the reducer to achieve sealing along the circumferential and/or radial surfaces of the joint, thereby This solves the technical problem that in the existing walking drive mechanism, there is a gap between the motor and the reducer, and foreign matter and impurities are easy to enter in a harsh environment, causing the reducer to fail.
  • the above-mentioned traveling driving mechanism includes a driving motor 100, a reducer 200 and a sealing structure.
  • the reducer 200 is coaxially connected to the drive motor 100
  • the running wheel 600 is coaxially connected to the reducer 200
  • the drive motor 100 drives the running wheel 600 to rotate through the reducer 200.
  • the sealing structure is provided at the coaxial connection position of the reducer 200 and the drive motor 100, and forms a sealing fit between the drive motor 100 and the reducer 200.
  • the sealing structure in order to increase the circumferential sealing area of the sealing structure, extends radially or circumferentially from the axial overlapping position of the drive motor 100 and the reducer 200, and forms a sealing fit on the circumferential surface and/or radial surface at the axial overlapping position to prevent foreign matter from entering the reducer.
  • the purpose of the rotation gap between 200 and the drive motor 100 is not limited.
  • the driving motor 100 and the reducer 200 are coaxially arranged and fixed by bolts.
  • the first seal 300 is coaxially sleeved on the drive motor 100 and/or the reducer 200, so as to cooperate with the drive motor 100 and/or the reducer 200 to form a seal at the joint of the drive motor 100 and the reducer 200, for example, at
  • the first seal 300 is circumferentially coaxially sleeved at the connection between the drive motor 100 and the reducer 200 , and at the same time cooperates with the drive motor 100 and the reducer 200 on the inner ring and/or outer ring of the first seal 300 , to form a seal between the drive motor 100 and the reducer 200;
  • the first seal 300 is coaxially sleeved on the housing on the side of the reducer 200 facing the drive motor 100, and the first seal 300 is fixedly arranged On the outer ring gear 210 of the reducer 200, and on the side facing the
  • the first seal 300 On the side of the housing of 100 facing the reducer 200, the first seal 300 is fixedly arranged on the circumferential periphery of the housing of the drive motor 100, and is opposite to the outer ring gear end surface 211 of the reducer 200 on the side facing the reducer 200. There is a gap between the first seal 300 and the end face 211 of the outer ring gear.
  • the side of the first seal 300 facing the reducer 200 and the end face 211 of the outer ring gear are relatively matched on a radial plane to form a sealing structure, so as not to affect deceleration.
  • the sealing protection function of the internal structures of the reducer 200 and the drive motor 100 is achieved.
  • the above-mentioned reducer 200 is a planetary reducer 200.
  • the characteristic of the planetary reducer 200 is that it can produce a large reduction transmission ratio with a small axial size, and its axial length can even be smaller than the width of the running wheel 600, so the reduction speed is The device 200 can be completely hidden in the running wheel 600, thereby increasing the lateral space utilization.
  • the gap distance between the first seal 300 and the outer ring gear end surface 211 is 1 to 3 mm.
  • the gap distance may be 1 mm, 2 mm or 3 mm.
  • the drive motor 100 and the reducer 200 are coaxially arranged and fixed by bolts.
  • the first seal 300 is coaxially mounted on the housing on the side of the drive motor 100 facing the reducer 200.
  • the first seal 300 is fixedly arranged on the circumferential periphery of the drive motor 100 housing.
  • the first seal 300 is located on the drive motor 100 housing. No axial rotation occurs on the body, and the first seal 300 is disposed opposite to the outer ring gear end surface 211 of the reducer 200 on a plane facing the reducer 200 side.
  • the first seal 300 is a first seal ring 310.
  • the first seal ring 310 is sleeved and fixed on the periphery of the casing of the drive motor 100.
  • a first elastic structure 311 is provided on the first seal ring 310 .
  • the first elastic structure 311 protrudes from the side of the first seal 300 facing the reducer 200.
  • the first elastic structure 311 extends in a closed loop along the circumferential direction on the end surface of the first seal 300. .
  • the reducer 200 When the reducer 200 is coaxially assembled to the drive motor 100, one end of the first sealing ring 310 is fixed by being sleeved to achieve a sealing structure with the drive motor 100, and the first elastic structure 311 raised at the other end of the first sealing ring 310 is The interference is against the outer ring gear end face 211 of the reducer 200 (the outer ring gear end face 211 is a radial plane axially connected to the drive motor 100 and the reducer 200), and the end of the first elastic structure 311 is radially connected to the outer gear.
  • the ring end face 211 is a friction fit, and when the outer ring gear 210 rotates, the friction fit with the outer ring gear end face 211 prevents external foreign matter from entering from the collision position, thereby forming a sealing structure that does not affect the axial rotation of the reducer 200 .
  • the end of the first elastic structure 311 is configured as a double lip structure.
  • the double-lip structure at the end of the first elastic structure 311 interferes with the outer ring gear end face 211 of the reducer 200
  • the double-lip structure can form two rings of sealing structures with different radial positions on the outer ring gear end face 211.
  • the ring seal structure can form two blocks at the connection position between the drive motor 100 and the reducer 200 , thereby enhancing the sealing effect between the first sealing ring 310 and the reducer 200 .
  • a first protrusion 312 is provided on the inner ring of the first sealing ring 310, and the first protrusion 312 is inward along the circumferential direction of the first sealing ring 310.
  • the circumferential outer edge of the housing on the side of the drive motor 100 facing the reducer 200 is provided with a first protrusion 312 matching the first groove 110.
  • the outer ring of the first sealing ring 310 is also provided with a clamp 500.
  • the clamp 500 is set on the outer ring of the first sealing ring 310.
  • the clamp 500 is arranged in the circumferential direction.
  • the first sealing ring 310 is constrained in the direction, so that the first sealing ring 310 is fixed on the housing of the driving motor 100 .
  • an inwardly concave second groove 313 is provided on the circumferential surface of the outer ring of the first sealing ring 310.
  • the shape of the second groove 313 matches the clamp 500, and there are inwardly recessed grooves 313 at both ends of the top of the groove body.
  • the extended flange, the clamp 500 is embedded in the second groove 313 along the circumferential direction of the first sealing ring 310, and is blocked by the top flange of the second groove 313 and fixed in the groove body.
  • the drive motor 100 and the reducer 200 are coaxially arranged and fixed by bolts.
  • the sealing structure between the drive motor 100 and the reducer 200 is provided with a first seal 300 and a second seal 400 that cooperate with each other.
  • the first seal 300 is coaxially mounted on the housing on the side of the drive motor 100 facing the reducer 200.
  • the first seal 300 is fixedly arranged on the circumferential periphery of the drive motor 100 housing.
  • the first seal 300 is located on the drive motor 100. No axial rotation occurs on the 100 shell.
  • the second seal 400 is coaxially disposed on the side of the reducer 200 facing the drive motor 100 , and the first seal 300 and the second seal 400 face each other on a radial plane at the connection position between the drive motor 100 and the reducer 200 set, and fit together to form a seal.
  • the first seal 300 is a second seal ring 320
  • the second seal ring 320 is sleeved and fixed on the periphery of the casing of the drive motor 100 .
  • the outer ring of the ring 320 is provided with a second elastic structure 322 along the circumferential outer edge.
  • the second elastic structure 322 extends annularly along the circumferential direction of the outer ring of the second sealing ring 320 .
  • the second seal 400 is an oil seal 410.
  • the oil seal 410 is provided with a plane that extends in the radial direction.
  • the oil seal 410 is coaxially connected to the external ring gear 210 of the reducer 200 on one side of the radial plane.
  • the oil seal 410 is connected in the radial direction.
  • the other side of the plane is provided with a lip 412.
  • the lip 412 is provided along the circumferential outer edge of the radial plane of the oil seal 410 , and the lip 412 extends toward the driving motor 100 side at the circumferential outer edge of the oil seal 410 .
  • the radial plane on the oil seal 410 is opposite to the side of the second sealing ring 320 facing the reducer 200 , and the lip 412 provided along the circumferential outer edge of the oil seal 410 is located on the circumferential outside of the second sealing ring 320 .
  • the second elastic structure 322 protrudingly provided on the outer ring of the ring 320 interferes with the inner wall of the lip 412 of the oil seal 410.
  • the sealing structure in this embodiment utilizes the cooperation of the second sealing ring 320 and the oil seal 410 on the radial and circumferential surfaces to effectively utilize the small gap at the connection position between the drive motor 100 and the reducer 200.
  • the increased distance between the first sealing member 300 and the second sealing member 400 improves the sealing effect of the sealing structure.
  • a fastening steel ring 411 is provided at one end of the oil seal 410 connected to the reducer 200.
  • the fastening steel ring 411 is along the circumferential direction of the radial plane of the oil seal 410.
  • the fastening steel ring 411 extends outward along the axial direction.
  • the size of the fastening steel ring 411 matches the outer ring gear 210 of the reducer 200.
  • the fastening steel ring 411 of the oil seal 410 is set on the outer ring gear of the reducer 200. 210 , for example, it is set on the outside of the outer ring gear 210 , and the oil seal 410 is firmly connected to the reducer 200 through the interference fit between the fastening steel ring 411 and the outer ring gear 210 .
  • the end of the second elastic structure 322 is configured as a double-lip structure.
  • the double-lip structure at the end of the second elastic structure 322 interferes with the inner wall of the lip 412 of the oil seal 410
  • the double-lip structure can form two rings of sealing structures with different axial positions on the inner wall of the lip 412.
  • the two-ring sealing structure Two blocks can be formed on the opposite circumferential surfaces of the second sealing ring 320 and the oil seal 410, effectively enhancing the sealing effect between the second sealing ring 320 and the oil seal 410.
  • a third groove 321 is provided on the inner ring of the second sealing ring 320, and the third groove 321 is inward along the circumferential direction of the second sealing ring 320.
  • the drive motor 100 is provided with a second protrusion 120 matching the third groove 321 on the circumferential outer edge of the housing on the side facing the reducer 200 .
  • the second protrusion 120 on the circumferential outer edge of the casing of the driving motor 100 is clamped and fixed in the third groove on the inner ring of the second sealing ring 320.
  • the drive motor 100 utilizes the interference fit between the second protrusion 120 and the third groove 321 so that the second sealing ring 320 is fixed on the housing of the drive motor 100 .
  • the first sealing member 300 is provided with a first mesa 331
  • the second sealing member 400 is provided with a second mesa 421 above.
  • the first mesa 331 of the first sealing member 300 and the second mesa 421 of the second sealing member 400 are arranged oppositely along the radial plane, and a gap is maintained between the first mesa 331 and the second mesa 421 .
  • the seal 400 uses the relative gap between the first table 331 and the second table 421 to prevent the entry of external foreign matter, thereby forming a sealing structure that does not affect the axial rotation of the reducer 200 .
  • the gap distance between the first mesa 331 and the second mesa 421 is 1 to 3 mm.
  • the gap distance may be 1 mm, 2 mm or 3 mm.
  • the first seal 300 is an end pressure plate 330.
  • the side of the end pressure plate 330 facing the reducer 200 is set as a first table 331.
  • the end pressure plate 330 is set on the driving motor.
  • On the side of the casing 100 facing the reducer 200 the end pressure plate 330 is set on the circumferential periphery of the casing of the drive motor 100, and is fixedly connected to the casing of the drive motor 100 through bolts.
  • the second seal 400 is a rotating frame 420.
  • the rotating frame 420 is fixedly connected to the outer ring gear end face 211 of the reducer 200 through bolts.
  • the second table 421 of the rotating frame 420 and the first table 331 of the first seal 300 are along the diameter. They are arranged opposite to the flat surface and cooperate with each other to form a seal.
  • the rotating frame 420 is provided with a first flange 422 on the second table 421, and the first flange 422 on the second table 421 is along the first table.
  • the circumferential outer edge of 331 is provided and extends toward the driving motor 100 side.
  • the first table 331 of the end pressure plate 330 is opposite to the second table 421 of the rotating frame 420.
  • the first flange 422 provided on the second table 421 surrounds the periphery of the end pressure plate 330 in the circumferential direction.
  • the end pressure plate 330 The circumferential outer edge of the first flange 422 cooperates with the first flange 422 on the circumferential surface to form a seal.
  • the outer edge of the end pressure plate 330 and the rotating frame 420 are also connected.
  • the relative cooperation of the upper first flange 422 forms a sealing structure on the circumferential surface.
  • the sealing structure on the circumferential surface can generate an outward centrifugal force in the gap between the end pressure plate 330 and the first flange 422 when the rotating frame 420 rotates relative to the end pressure plate 330 along with the reducer 200 to push the air into the gap. Foreign matter is thrown out to achieve efficient sealing.
  • the end pressure plate 330 is provided with a second flange 332 on the first table 331, and the second flange 332 on the first table 331 is along the The circumferential inner edge of the second table surface 421 is provided and extends toward the reducer 200 side.
  • the second table 421 of the rotating frame 420 is provided with a sealing groove 423 at a position corresponding to the second flange 332.
  • the sealing groove 423 is provided along the circumferential inner edge of the second table 421, and the shape of the sealing groove 423 is consistent with that of the second table 421. Two flanges match 332.
  • the outer ring of the sealing groove 423 is disposed as the first flange 422 located on the outer edge of the second mesa 421
  • the inner ring of the sealing groove 423 is disposed on the inner edge of the second mesa 421 .
  • the first table 331 of the end pressure plate 330 is opposite to the second table 421 of the rotating frame 420, and the second flange is provided on the first table 331.
  • 332 is embedded in the sealing groove 423 provided on the second table 421, and the second flange 332 is respectively in the sealing groove 423 and cooperates with the inner walls and the groove bottom on both sides of the sealing groove 423 to form a seal.
  • This sealing structure increases the sealing length between the end pressure plate 330 and the rotating frame 420 on multiple radial and circumferential surfaces without affecting the relative rotation of the reducer 200, effectively improving the sealing effect of the sealing structure.
  • the lawn mower 1 of the present application includes a body, a power battery, a drive motor 100, a reducer 200, a running wheel 600 and a sealing structure, as well as necessary working components, control components, control module etc.
  • the running wheels 600 are arranged on both sides of the fuselage.
  • the running wheels 600 can be, for example, pneumatic wheels composed of tires and wheel hubs, or they can be integrated wheels made of high molecular polymers.
  • the structure of the wheels is not limited to a certain However, the premise is that the center of the wheel needs to have a cavity that can accommodate the reducer 200 or even the drive motor 100 .
  • the power battery is fixed on the fuselage and electrically connected to the driving motor 100 to provide power to the driving motor 100 .
  • the drive motor 100 is fixedly installed on the fuselage and can be used as a support structure to connect the running wheel 600 and the fuselage.
  • the output end of the drive motor 100 is provided with a reducer 200.
  • the power input end of the reducer 200 is coaxial with the output shaft of the drive motor 100. connection, the power output end of the reducer 200 is coaxially connected to the traveling wheel 600.
  • the reducer 200 is a planetary reducer 200, and the reducer 200 is arranged in the cavity of the traveling wheel 600.
  • the external part of the reducer 200 serves as the power output end.
  • the ring gear 210 is connected to the cavity of the traveling wheel 600 .
  • the sealing structure is provided at the coaxial connection position of the reducer 200 and the drive motor 100 , and forms a sealing fit between the drive motor 100 and the reducer 200 .
  • the sealing structure in order to increase the circumferential sealing area of the sealing structure, is extended radially or circumferentially from the axial overlapping position of the drive motor 100 and the reducer 200, and the circumferential surface at the axially overlapping position and /Or the radial surface forms a sealing fit to prevent foreign matter from entering the rotation gap between the reducer 200 and the drive motor 100 .
  • the traveling drive mechanism and lawn mower provided by the present invention are provided with a sealing structure at the joint between the drive motor and the reducer, and the sealing structure is formed into a sealing fit by the radial surface or the circumferential surface at the axial joint position of the drive motor and the reducer.
  • Embodiment 2 Please refer to Figure 133.
  • This embodiment provides a lawn mower.
  • the lawn mower has a control method, specifically as follows:
  • Step S110 Obtain the control signal.
  • a first sensor is provided on the lawn mower, and the first sensor is configured to detect whether the operator is on the lawn mower, and send out different signals when the operator is on the lawn mower and not on the lawn mower, such as when the operator is on the lawn mower.
  • the signal of the first sensor is the first signal.
  • the signal of the first sensor is the second signal.
  • the first sensor is a foot signal switch.
  • the foot signal switch is provided on the foot device. When a person stands on the foot board, the foot signal switch is in an engaged state and sends out the first signal. When there is no person standing on the pedal, the foot signal switch is in the separated state and the second signal is sent. It should be noted that when the foot signal switch is in the separated state, there is a situation where the foot signal switch does not send a signal. At this time, the foot signal switch does not send a signal. If the foot signal switch does not send a signal, the default signal is also the second signal when the foot signal switch does not send a signal.
  • the foot signal switch when the first sensor sends the first signal, it is judged that the person is standing on the foot pedal of the lawn mower, and when the first sensor sends the second signal, it is judged that the person is not standing on the foot pedal of the lawn mower.
  • the foot signal switch when the person stands on the foot pedal, the foot signal switch is in a separated state and sends the first signal. It should be noted that at this time, there is a situation where the foot signal switch cannot send a signal, and the default is When the signal from the foot signal switch is not obtained, the foot signal switch also sends the first signal; when there is no person standing on the foot pedal, the foot signal switch is in the engaged state and sends the second signal.
  • the first sensor can monitor the position of the foot pedal to determine whether there is a person on the foot pedal. For example, when a person stands on the foot pedal, the foot pedal is rotated to the first position by the operator's gravity. , when the person is not standing on the foot pedal, the foot pedal is reset to the initial position by the force of the reset mechanism, and the first sensor determines whether there is a person standing by monitoring the position of the foot pedal. In other embodiments, the first sensor determines whether there is a person on the footrest by monitoring whether there is any obstruction on the footrest. The first sensor determines whether there is a person on the footrest. The method is selected according to actual needs. Can.
  • the lawn mower is provided with a second sensor.
  • the second sensor is used to detect whether the operating mechanism is in the parking position. If the operating mechanism is in the parking position or the non-parking position, the second sensor sends out different signals. For example, if the operating mechanism is in the non-parking position, When the parking position is in the parking position, the second sensor signal is the third signal, and when the operating mechanism is in the parking position, the second sensor signal is the fourth signal. In one embodiment, the second sensor detects the lawnmower operation The position information of the joystick is used to determine the operator's control intention.
  • the joystick When the signal of the second sensor is the fourth signal, the joystick is in the parking position, and the lawn mower enters or maintains the parking state; when the signal of the second sensor is At the third signal, the joystick is in the non-parking position, and the lawn mower enters or maintains the traveling mode. For example, after the lawn mower enters the traveling mode, it will move forward or backward according to the staff's control or the preset program. When only entering the travel mode without further control or preset program by the staff, the lawn mower will not make forward or backward movements.
  • the signal of the second sensor is the fourth signal.
  • the signal of the second sensor is the third signal.
  • the second sensor is the control signal switch of the lawn mower.
  • the control signal switch In the initial state, the control signal switch is in a combined state.
  • the second sensor signal at this time is the fourth signal.
  • the control signal switch In the separated state, the second sensor signal at this time is the third signal.
  • the control part of the lawn mower After receiving the travel signal, the control part of the lawn mower enters the travel mode. After further movement of the control handle, it controls the lawn mower to move forward or backward.
  • Step S120 Determine whether the trigger condition of the traveling mode is met according to the obtained control signal.
  • the control signal includes a first signal, and the first signal is configured to be generated when the operator reaches the driving position and/or when making a mode selection.
  • the first signal is generated when the operator reaches the driving position. Generated.
  • the first signal is generated when the operator selects the first traveling mode.
  • the first signal may be generated when the operator reaches the driving position and selects the first traveling mode.
  • the first signal is generated when the operator reaches the driving position. If the first signal is obtained, it is determined that the trigger condition of the first traveling mode is met.
  • control signal further includes a second signal, which is configured to be generated when the operator reaches the pushing position and/or when performing mode selection.
  • the second signal is generated when the operator reaches the pushing position.
  • the push position can be a fixed position, or it can be determined that the push position is when the operator is not in the driving position; in one embodiment, the second signal is generated when the mode is selected. If the second travel mode is selected, then Generate a second signal; in one embodiment, the second signal is The second signal is generated when the operator reaches the pushing position and when the second traveling mode is selected. Preferably, the second signal is generated when the operator reaches the pushing position.
  • determining whether the trigger condition of the traveling mode is met includes: if the second signal is obtained, determining whether the triggering condition of the second traveling mode is met. In an embodiment, when the first signal is not acquired, it may also be determined that the trigger condition of the second traveling mode is met. As shown in Figure 134, when the lawn mower has two traveling modes, and the first signal satisfies the triggering condition of the first traveling mode, then it is judged whether the received signal is the first signal. If it is the first signal, then It is judged that the triggering condition of the first traveling mode is met, and when it is not the first signal, it is judged that the triggering condition of the second traveling mode is met.
  • the control signal includes a third signal configured to be emitted when the operating mechanism is in a non-parking state and/or a mode selection is performed.
  • the third signal is emitted when the operating mechanism is in a non-parking state, and another In the embodiment, the third signal is sent when the driving mode is selected during the selection of the parking mode and the driving mode. In other embodiments, the third signal is sent when the operating mechanism is in the non-parking state and the driving mode is selected.
  • the third signal is issued when the control mechanism is in a non-parking state.
  • determining whether the trigger condition for the traveling mode is met includes: if the third signal is obtained, determining whether the triggering condition for entering or maintaining the traveling mode is met.
  • the control signal includes a fourth signal, which is configured to be emitted when the operating mechanism is in the parking state and/or when mode selection is performed.
  • the fourth signal is emitted when the operating mechanism is in the parking state.
  • the fourth signal is issued when the parking mode is selected during mode selection; in yet another embodiment, the fourth signal is issued when the operating mechanism is in the parking state and the parking mode is selected during mode selection.
  • the fourth signal is sent when the operating mechanism is in the parking state.
  • determining whether the triggering condition of the traveling mode is met includes: if the fourth signal is acquired, determining whether the triggering condition of entering or maintaining the traveling mode is not met. Please refer to Figure 135.
  • the third signal satisfies the triggering condition of the traveling mode, then it is determined whether the received signal is the third signal. If it is the third signal, it is determined that the triggering condition of the traveling mode is met. When If it is not the third signal, it is judged that the triggering condition of the parking mode is met.
  • Step S130 If the trigger condition of the traveling mode is met, control the lawn mower to run the corresponding traveling mode. Mode.
  • the lawn mower When the trigger condition of the traveling mode is met, the lawn mower is controlled to run the corresponding traveling mode. It should be noted that when the trigger condition of a certain traveling mode is met, the lawn mower directly enters the corresponding traveling mode when entering the traveling mode. For example, when the lawn mower meets the triggering condition of the first traveling mode, when the lawn mower enters the traveling mode, the first traveling mode is directly operated; when the lawn mower meets the second traveling mode, the lawn mower Enter travel mode and directly run the second travel mode.
  • the signal of the first signal sensor includes a first signal and a second signal
  • the signal of the second sensor includes a third signal and a fourth signal.
  • the first sensor signal and the signal of the second sensor are acquired at the same time. , and judge at the same time to determine the operating status of the lawn mower.
  • the controller first determines the signal of the first sensor and determines that the lawn mower is running in the first traveling mode or the second traveling mode, and then determines the signal of the second sensor, thereby determining that the lawn mower is in a parking state or in a parking state. Run the corresponding travel mode.
  • the controller first determines the signal of the second sensor, and then determines the signal of the first sensor if the lawn mower is running or enters the traveling mode, thereby controlling the lawn mower to run the specific first traveling mode or the second traveling mode. model.
  • the signals of the first sensor and the second sensor can be acquired in real time or when the signal states of the first sensor and the second sensor change. The selection can be made according to actual needs.
  • the lawn mower operates in different modes. In different modes, the forward and backward speeds of the lawn mower are different, thereby facilitating the use of the lawn mower in different situations.
  • the first traveling mode can also be called the normal mode, that is, the operator moves forward simultaneously with the lawn mower.
  • the second traveling mode can also be called the accompanying mode, that is, the operator does not control the lawn mower on the lawn mower. Moving forward, the person moves with the lawn mower.
  • the signal of the first sensor changes, and the operating mode of the lawn mower will also change accordingly. If the operator moves from the driving position to the pushing position, the lawn mower switches from operating the first traveling mode to operating the second traveling mode; when the operator moves from the pushing position to the driving position, the lawn mower switches from operating the second traveling mode Switch to the first travel mode, and the lawn mower's travel mode switches following the operator's movements, making it easier to control the lawn mower and meet various usage needs.
  • the maximum forward speed of the lawn mower is the first forward speed
  • the maximum backward speed is the first backward speed.
  • the first forward speed is not less than the first backward speed.
  • the maximum forward speed of the lawn mower in the second traveling mode is the second forward speed
  • the maximum backward speed is the second backward speed.
  • the second forward speed is not less than the second backward speed, so that the staff can better Operate the lawn mower for movement.
  • the first forward speed is greater than the second forward speed
  • the first backward speed is greater than the second backward speed.
  • the second forward speed is smaller than the first forward speed
  • the second backward speed is smaller than the second backward speed. It is convenient for workers to follow the lawnmower forward or backward. To meet the needs of working in special environments, the driving speed of the lawn mower is reduced, the response time of the staff is improved, personal safety is ensured, and the safety of using the lawn mower is improved.
  • the forward speed of the lawn mower is set to several gears. In one embodiment, the forward speed of the lawn mower in the first traveling mode is set to four gears. In the first gear, the first forward speed is 3 to 5 mph. , the first forward speed can be any value between 3mph and 5mph, such as 3mph, 4mph, 5mph, etc. For example, when the first forward speed is 3mph, the forward speed of the lawn mower is 0 ⁇ 3mph. When the forward speed is 5mph, the forward speed of the lawn mower is 0 ⁇ 5mph. For example, the allowable error of the first forward speed is ⁇ 0.3mph.
  • the actual first forward speed can be between 3.7mph and 4.3mph, thereby meeting the actual use requirements.
  • the first forward speed is 4mph
  • the forward speed range of the worker operating the lawn mower is 0 ⁇ 4mph.
  • the specific speed is determined according to the worker's control.
  • the specific speed is determined according to the extent and speed range of the worker pulling the control handle; in the second gear, the first forward speed is 5 to 8mph, and any value between 5 to 8mph can be selected, such as 5mph, 6mph, 7mph, the allowable error between the designed first forward speed and the actual first forward speed is ⁇ 0.3mph; third gear, the 1.
  • the forward speed is 9 to 11mph, and can be any value between 9 and 11mph, such as 9mph, 10mph, 11mph, etc.
  • the allowable error between the designed first forward speed and the actual first forward speed is ⁇ 0.3mph; Fourth gear, the first forward speed is 13 ⁇ 15mph.
  • the first forward speed can be any value between 13 ⁇ 15mph, such as 13mph, 14mph, 15mph, etc., between the designed first forward speed and the actual first forward speed
  • the allowable error is ⁇ 0.3mph.
  • the first forward speed of the fourth gear is 14mph
  • the forward speed range of the lawn mower is 0 ⁇ 14mph.
  • the actual forward speed matches the operator's operation.
  • the rotation range of the lever, the depression range of the accelerator pedal, etc. are determined. Different first forward speeds in different gears meet different traveling and mowing requirements, as well as the usage requirements of different workers.
  • the first backward speed is 3 to 5 mph.
  • the first backward speed can be any value between 3 and 5 mph, such as 3mph, 4mph, 5mph, etc., for example, the first backward speed
  • the allowable error is ⁇ 0.3mph.
  • the design first retreat speed is 4mph
  • the actual first retreat speed can be between 3.7mph and 4.3mph.
  • the first retreat speeds in different gears may also be different, and preferably the first retreat speeds are the same to prevent the lawn mower from improperly operating due to excessively fast retreat speeds.
  • the forward speed of the lawn mower is set to three gears.
  • the second forward speed is 1.75 ⁇ 2.75mph.
  • the second forward speed can be any value between 1.75 ⁇ 2.75mph, such as 1.75mph and 2mph. , 2.25mph, 2.75mph, etc.
  • second gear the second forward speed is 2.75 ⁇ 3.25mph, which can be any value between 2.75 ⁇ 3.25mph, such as 2.75mph, 3mph, 3.25mph, etc.
  • third gear the second forward speed is 3.5 ⁇ 4.5mph, it can be any value between 3.5 ⁇ 4.5mp, such as 3.5mph, 4mph, 4.5mph, etc.; for example, the allowable error between the design value and the actual value of the second forward speed is ⁇ 0.3mph .
  • the second backward speed is 1.75-2.75mph, which can be any value between 1.75-2.75mph, such as 1.75mph, 2mph, 2.25mph, 2.75mph, etc.
  • the allowable error between the design value and the actual value of the second retreat speed is ⁇ 0.3mph.
  • the second retreat speed may be different in different gears.
  • the second retreat speed in different gears is same. Different second forward speeds meet the requirements of different workers.
  • the difference in the second forward speed between adjacent gears is smaller than the first forward speed between adjacent gears. The difference between the speeds can avoid the sudden increase or decrease in speed when the difference in the second forward speed between different gears is too large, causing the worker's center of gravity to become unstable and preventing accidents such as falls.
  • the control method of the lawn mower in this application also includes:
  • Step S410 Obtain the lawn mower motor start signal.
  • the lawn mower motor start signal is usually sent by the lawn mower motor switch. After the lawn mower is powered on and the lawn mower motor switch is engaged, the lawn mower motor start signal is sent.
  • Step S320 Determine whether the operating conditions of the lawn mower motor are met according to the control signal.
  • the control signal is the first signal and/or the third signal, it is determined that the operating conditions of the lawn mower motor are met. For example, when the operator is in the driving position and/or the control mechanism is in the non-parking position. , it is judged that the operating conditions of the lawn mower motor are met, that is, when either the operator is in the driving position and the control mechanism is in the non-parking position, it is judged that the operating conditions of the lawn mower motor are met. If the operator is not in the driving position and the control mechanism is in the parking position, it is judged that the operating conditions of the lawn mower motor are not met.
  • the starting state of the lawn mower motor is determined to be maintained or changed according to the new signal state.
  • the signal of the second sensor that detects whether the operating mechanism is in the parking position remains.
  • Three signals if the signal of the first sensor that detects whether the operator is in the driving position changes from the first signal to the second signal, the lawn mower motor remains in the starting state; if the signal of the second sensor changes from the third signal to the fourth signal , the signal of the first sensor changes from the first signal to the second signal, then the lawn mower motor interrupts the starting state and is in a stopped state. In other words, only when the worker is not on the driving position board and does not pull the control handle, the lawn mower motor is in a stopped state.
  • Step S330 If the operating conditions of the lawn mower motor are met, the lawn mower motor operates.
  • the lawn mower motor runs and drives the cutting blade to rotate.
  • this application also provides a control method for a lawn mower, which is used to control the start of a lawn mower motor and is independent of the traveling mode of the lawn mower. Specifically include:
  • the lawn mower motor starts; if the signal of the second sensor is the fourth signal and the If the signal of the first sensor is the second signal, the lawn mower motor will not start.
  • the starting signal of the lawn mower motor can be obtained first, or the signal of the second sensor and the signal of the second sensor can be obtained first. signal from the first sensor.
  • the control method of the lawn mower of the present application can allow people to follow the lawn mower to work when encountering uneven ground or obstacles and other other environments. It can satisfy the lawn mowing work in various working environments. It has a simple structure and is easy to operate. Reduce usage costs and improve user experience.
  • this application also provides a control method for a lawn mower.
  • the lawn mower is provided with a foot pedal.
  • the foot pedal has at least a first position and a second position. For example, when operating When the operator is standing on the footrest, the footrest is in the first position. When the operator is not standing on the footrest, the footrest is disengaged from the first position and is in the second position.
  • Control methods specifically include:
  • Step S510 Obtain the position of the foot pedal.
  • obtaining the position of the foot pedal may be to specifically obtain whether the foot pedal is in the first position or the second position, or it may only determine whether the foot pedal is in the first position. Specifically, when the foot pedal is not in the first position, position, it is determined that the foot pedal is in the second position.
  • Step S520 Determine the position of the foot pedal. If the foot pedal is in the first position, it is determined that the trigger condition of the first traveling mode is met; if the foot pedal is in the second position, it is determined that the second travel mode is met. March Trigger conditions for the pattern.
  • the position of the foot pedal it is determined whether the operator is on the foot pedal, and whether the trigger condition of the corresponding traveling mode is met.
  • the foot pedal When the foot pedal is in the first position, it is determined that the operator is on the foot pedal, thereby determining that the triggering condition of the first traveling mode is met.
  • the lawn mower When the lawn mower enters the traveling mode, it directly enters the first traveling mode.
  • the foot pedal When the foot pedal is in the second position, it is determined that the operator is not on the foot pedal, thereby determining that the triggering condition of the first traveling mode is met.
  • the lawn mower enters the traveling mode, it directly enters the second traveling mode.
  • This application also provides a control method for a lawn mower.
  • the lawn mower is provided with a first sensor.
  • the first sensor is configured to detect whether the operator is on the lawn mower.
  • the control method specifically includes:
  • Step S610 Obtain the signal of the first sensor.
  • Step S620 Determine the signal of the first sensor. If the first sensor is the first signal, it is determined that the triggering condition of the first traveling mode is met; if the first sensor is the second signal, it is determined that the triggering condition of the second traveling mode is met.
  • the first sensor can be an inductive sensor, such as an infrared sensor, to detect whether there is a person in the driving position (including a standing position), or it can be a trigger sensor, such as a pressure switch, a contact switch, etc., when there is a person in the driving position, Send the corresponding signal.
  • the lawn mower enters the travel mode it directly runs the corresponding travel mode.
  • the lawn mower includes a frame 100, a cutting table assembly 2310, a control mechanism 2310, a walking mechanism 200, a foot pedal device 51100 and a control part.
  • the cutting table assembly 2310 is installed at the bottom of the frame 100.
  • the cutting table assembly 2310 includes a lawn mower motor and a cutting knife.
  • the lawn mowing motor drives the cutting knife to rotate to cut grass.
  • the operating mechanism 2310 includes a joystick 2312, a joystick mounting base 2311 and a second sensor.
  • the joystick 2312 is rotatably mounted on the joystick mounting base 2311.
  • the joystick mounting base 2311 is rotatably mounted on the frame 100.
  • the second sensor is fixed on the joystick mounting base 2311, and the joystick mounting base 2311 rotates with the frame 100 to realize the change of the second sensor signal; in another embodiment, the second sensor is fixed on the frame. 100, the joystick mounting base 2311 rotates with the frame 100 to realize changes in the second sensor signal.
  • the signal of the second sensor is the second signal.
  • the signal of the second sensor is the first signal.
  • the axis of rotation of the joystick 2312 around the joystick mounting base 2311 is perpendicular to the axis of rotation of the joystick mounting base 2311 around the frame 100, thereby facilitating the joystick 2312 to drive the joystick mounting base 2311 to rotate around the frame.
  • the joystick 2312 includes a left joystick and a right joystick
  • the joystick mounting base includes a left joystick mounting base and a right joystick mounting base
  • each joystick mounting base 2311 is provided with a second sensor. for better operation of the lawn mower.
  • the second sensor can be an inductive sensor, such as an infrared induction sensor, or a contact switch, such as the manipulation signal switch 2319.
  • the manipulation signal switch 2319 In the initial state, the manipulation signal switch 2319 is in the engaged state, and at this time it is the fourth signal;
  • the control signal switch 2319 changes to the off state, which is a traveling signal.
  • the second sensor is preferably a contact switch, which has low cost, high recognition rate, and is easy to use in complex environments.
  • the frame 100 is provided with a limit plate 1910, and the limit plate 1910 is provided with a limit slot 1911.
  • the limit slot 1911 The relative rotation of the joystick 2312 and the joystick mounting base 2311 is restricted.
  • the joystick mounting base 2311 and the joystick 2312 rotate synchronously, so that the joystick mounting base 2311 and the frame 100 rotate relative to each other. , so that the signal of the second sensor is switched from the second signal to the first signal.
  • the operating mechanism 2310 also includes a return device. After the external force on the joystick mounting base 2311 disappears, the return device causes the joystick mounting base 2311 to automatically return to the initial state, so that the staff can release the joystick 2312. Afterwards, the joystick mounting base 2311 automatically returns to the initial state, preventing the lawn mower from continuing to run, reducing risks, and preventing accidents such as injuries to staff.
  • the traveling mechanism 200 includes a driving motor and traveling wheels.
  • the operating mechanism 2310 controls the driving motor, and the driving motor drives the traveling wheels to rotate to control the lawn mower to move forward, backward, and turn.
  • the foot pedal device 5100 includes a foot pedal 5110 and a first sensor.
  • the first sensor detects whether the operator is on the foot pedal. When the operator is on the foot pedal, then The first sensor is the first signal. When the operator is not on the foot pedal, the first sensor is the second signal.
  • the foot pedal is rotatably installed on the frame 100. When the foot pedal 5110 is in its initial state, the signal of the first sensor is the second signal. After the foot pedal 5110 rotates toward the ground to a preset angle, the signal of the first sensor The signal is switched to the first signal.
  • the first sensor is the foot signal switch 5130.
  • the foot pedal device 5100 also includes a reset frame 5120 and a reset mechanism 5140.
  • the foot pedal 5110 is rotatably mounted on the frame 100
  • the reset frame 5120 is rotatably mounted on the foot pedal 5110
  • the foot pedal signal switch 5130 is provided on on the reset frame 5120 and/or the foot pedal 5110, so as to be turned on when the foot pedal 5110 rotates to the set position relative to the reset frame 5120.
  • the reset mechanism 5140 is provided between the reset frame 5120 and the foot pedal 5110 to rotate the foot pedal 5110 after the external force acting on the foot pedal 5110 is removed, thereby turning off the foot signal switch 5130.
  • the foot pedal 5110 receives an external force exceeding the preset threshold and rotates to the set position relative to the reset frame 5120.
  • the frame 100 is provided with a support and shock absorber 1930.
  • the support and shock absorber 1930 is disposed below the reset frame 5120.
  • the support and shock absorber 1930 provides support for the foot pedal device 5100. , so as to facilitate the operator to step on the foot pedal 5110, for example, the support shock absorber 1930 It is a horizontal hollow columnar structure.
  • the support damping member 1930 provides a buffering effect to reduce the contact between the foot pedal device 5100 and the support damping member. The impact to the operator when the shock element 1930 comes into contact.
  • the foot signal switch 5130 can be an inductive switch, such as an infrared induction switch, or a contact switch, preferably a contact switch, which has low cost, high recognition rate, and is easy to use in complex environments.
  • the foot signal switch 5130 includes two parts, one part is the main part and the other part is the contact part, which are respectively installed on the foot pedal 5110 and the reset frame 5120. When the reset frame 5120 is installed on the foot pedal 5110, When downward, when the contact part is in contact with the main body part, the foot signal switch 5130 is on, and when the contact part is separated from the main body part, the foot signal switch 5130 is off.
  • the foot signal switch 5130 When the reset frame 5120 is installed above the foot pedal 5110, when the contact part is in contact with the main body part, the foot signal switch 5130 is off, and when the contact part is separated from the main part, the foot signal switch 5130 is on. Pass.
  • the foot signal switch 5130 is a whole body, and the foot signal switch 5130 is arranged on the foot pedal 5110. In another embodiment, the foot signal switch 5130 is arranged on the reset frame 5120.
  • the reset frame 5120 is provided with a first limiting part 5121
  • the foot pedal 5110 is provided with a second limiting part 5111.
  • the first limiting part 5121 cooperates with the second limiting part 5111. , limiting the maximum angle between the foot pedal 5110 and the reset frame 5120.
  • the reset mechanism 5140 causes the foot pedal 5110 to rotate.
  • the foot pedal can be avoided. 5110 is too far away from the reset frame 5120 to facilitate the use of the foot device 5100 and facilitate people getting on and off.
  • the second limiting part 5111 includes a limiting installation part 5114 located downward at the bottom of the foot pedal 5110 and a limiting sleeve rod 5115.
  • the limiting sleeve rod 5115 extends toward the reset frame 5120.
  • the top of the limiting sleeve rod 5115 is in contact with the bottom of the first limiting part 5121, and the first limiting part 5121 restricts the further rotation of the limiting sleeve rod 5115, that is, the first limiting part 5121 and the limiting sleeve rod 5115
  • the angle between the reset frame 5120 and the foot pedal 5110 is the maximum angle, thereby preventing the angle between the foot pedal 5110 and the reset frame 5120 from being too large and making it inconvenient for the operator to step on the foot pedal 5110.
  • the reset mechanism 5140 includes a compression spring 5140.
  • One end of the compression spring 5140 is fixed on the bottom of the foot pedal 5110, and the other end of the compression spring 5110 is fixed on the top of the reset frame 5120.
  • Compression spring 5140 has stable function, stable rotation and low cost.
  • the foot pedal 5110 and the reset frame 5120 are both provided with fixed blocks 5142.
  • the fixed blocks 5142 are correspondingly provided on the foot pedal 5110 and the reset frame 5120. Both ends of the compression spring 5140 are sleeved on the fixed blocks 5142.
  • the distance between the two corresponding fixed blocks 5142 is less than the natural length of the compression spring 5140.
  • the compression spring 5140 is at the maximum angle.
  • the spring 5140 cannot be removed from the fixed block 5142 in an uncompressed state. During installation, the compression spring 5140 is directly compressed and set on the fixed block 5142 without additional fixing, which facilitates the installation and use of the compression spring 5140.
  • the frame 100 is provided with a limiting hole 1920, and the foot pedal 5100 is provided with a latch 5170.
  • the latch 5170 is inserted into the limiting hole 220 to limit the rotation of the foot pedal 5100.
  • the foot signal switch 5130 is not turned on.
  • the signal switch 5130 is in a separated state.
  • the lawn mower when the signal of the second sensor is a driving signal, if the signal of the first sensor is the first signal, the lawn mower starts the first traveling mode, and if the signal of the first sensor is the second signal, the lawn mower The machine starts the second traveling mode. If the signal from the first sensor is the first signal, it indicates that the operator is standing on the foot pedal 5110 and controls the lawn mower to start the first traveling mode. If the signal of the first sensor is the second signal, it indicates that the operator is not standing on the foot pedal 5110, and the lawn mower is controlled to start the second traveling mode. According to the different standing positions of the workers, the lawn mower starts different operating modes, making it easier for the workers to operate the lawn mower better and more conveniently.
  • the control unit controls the operating mode of the lawn mower to change accordingly. If the signal of the first sensor switches from the first signal to the second signal, then The lawn mower switches from the first traveling mode to the second traveling mode.
  • the second sensor includes two second sensors on the left and right. When the signals of the two second sensors are both travel signals, the control unit will obtain the travel signal, so as to reduce the problem of the lawn mower running when the operator accidentally touches it, and improve Lawn mowers are safe to use.
  • the operating speed of the lawn mower in the second traveling mode is lower than the operating speed of the lawn mower in the first traveling mode.
  • the forward speed of the lawn mower is the first forward speed
  • the backward speed is the first backward speed.
  • the first forward speed is greater than the first backward speed.
  • the forward speed of the lawn mower in the second traveling mode is the second forward speed
  • the backward speed is the second backward speed.
  • the second forward speed is greater than the second backward speed, so that the operator can change the speed more quickly. Good operating lawnmower for moving.
  • the first forward speed is greater than the second forward speed
  • the first backward speed is greater than the second backward speed.
  • the operator stands behind the lawn mower instead of on the foot pedal and does not move synchronously with the lawn mower.
  • the second forward speed is less than the first forward speed and the second backward speed is less than the second forward speed.
  • Reverse speed allows the operator to follow the lawnmower forward or backward. Suitable for working in special environments, the driving speed of the lawn mower is reduced to ensure personal safety.
  • the lawn mower in the first traveling mode, is equipped with multiple gears, and the maximum speed of the drive motor in different gears is different.
  • the maximum speed of the drive motor in the first gear, when moving forward, is 1150-1350 rpm, and the maximum speed can be Any value between 1150 ⁇ 1350rpm, such as 1150rpm, 1250rpm, 1251rpm, 1350rpm, etc.; in the second gear, when moving forward, the maximum speed is 2050 ⁇ 2250rpm; in the third gear, when moving forward, the maximum speed is 2950 ⁇ 3150rpm, which can be between 2950 ⁇ 3150rpm Any value, such as 2950rpm, 3050rpm, 3150rpm, etc.; in fourth gear, the maximum speed when moving forward is 4150 ⁇ 4350rpm, which can be any value between 4150 ⁇ 4350rpm, such as 4150rpm, 4250rpm, 4350rpm, etc.
  • the allowable error between the above-mentioned designed maximum speed and the actual maximum speed is ⁇ 40.
  • the designed maximum speed of fourth-gear forward is 4250 rpm
  • the actual speed can be 4250 ⁇ 40 rpm.
  • the maximum rotation speed of the lawn mower when retreating is 1100 ⁇ 1300rpm, which can be any value between 1100 ⁇ 1300rpm, such as 1100rpm, 1200rpm, 1255rpm, 1300rpm, etc.
  • the maximum rotation speed when retreating is The allowable error between the speed and the actual speed is ⁇ 40rpm.
  • the maximum speed when retreating is 1200rpm
  • the actual speed can be 1200 ⁇ 40rpm.
  • the maximum rotation speed of the driving motor when the lawn mower moves backward may be different.
  • the maximum rotation speed of the driving motor when the lawn mower moves backward is the same.
  • the maximum speed of the drive motor is different.
  • the maximum speed when moving forward is 550-750rpm, which can be anywhere between 550-750rpm. Value, such as 550rpm, 650rpm, 685rpm, 750rpm, etc.;
  • second gear the maximum speed when moving forward is 800 ⁇ 1000rpm, and can be any value between 800 ⁇ 1000rpm, such as 800rpm, 900rpm, 1000rpm, etc.;
  • third gear the maximum speed when moving forward is 1150 ⁇ 1350rpm, and can be any value between 1150 ⁇ 1350rpm, such as 1150rpm, 1250rpm, 1350rpm, etc.; for example, in the second travel mode, when the lawn mower retreats, the maximum speed of the drive motor is 550 ⁇ 750rpm, which can is any value between 550 and 750rpm, such as 550rpm, 625rpm, 650rpm, 750r
  • the maximum speed of the drive motor when the lawn mower retreats in different gears, the maximum speed of the drive motor is different, and the maximum speed of the drive motor is preferably same.
  • the allowable error between the design value of the maximum speed of forward and reverse and the actual value is ⁇ 40.
  • the design maximum speed is 1250rpm in third gear forward, then the actual maximum speed can be 1210 ⁇ 1290rpm.
  • the lawn mower motor starts; if the second sensor The signal of is the fourth signal, and the signal of the first sensor is the second signal, then the lawn mower motor does not start.
  • the lawn mower motor can be started before the lawn mower moves, or after the lawn mower moves. For example, when mowing is needed locally, the person stands on the foot pedal 5110, and the first step is to start the lawn mower. The signal from the sensor is the first signal. At this time, the switch of the lawn mower motor is turned on, and the lawn mower motor can be started.
  • the lawn mower motor when the lawn mower motor needs to be turned off, it can be turned off by directly turning off the switch of the lawn mower motor, or when the signal of the first sensor is the second signal and the signal of the second sensor is the fourth signal, the lawn mower motor is also directly turned off.
  • the second sensor includes two left and right second sensors, and the signal of any one of the two second sensors is When the signal is at the driving signal, the switch of the lawn mower motor is turned on, and the lawn mower motor can also be started, making it more convenient to control the lawn mower motor to meet the needs of mowing under different conditions.
  • the control method of the lawn mower of the present invention has the beneficial effect of conveniently switching the operating mode of the lawn mower according to the operator's standing position.
  • An exemplary lawn mower includes a foot pedal device 5100.
  • the foot pedal device includes a foot pedal 5110, a reset frame 5120, a first sensor and a reset mechanism 5140.
  • the reset frame 5120 is rotatably mounted on the foot.
  • the first sensor is used to detect whether the operator is standing on the pedal.
  • the first sensor is arranged on the reset frame 5120 and/or the pedal 5110.
  • the reset mechanism 5140 is provided between the reset frame 5120 and the foot pedal 5110 to rotate the foot pedal 5110 after the external force acting on the foot pedal 5110 is removed, thereby causing the first sensor to release the in-position signal. Whether the operator is standing on the footrest 5110 can be detected through the first sensor. When the operator is standing on the footrest 5110, the first sensor sends an in-position signal. When the operator is not standing on the footrest 5110, The first sensor releases the presence signal. For example, the first sensor is the signal switch 5130.
  • the first sensor may be a pressure sensor, an infrared induction sensor, or the like.
  • the reset frame 5120 can be rotatably installed above the foot pedal 5110, or can be rotatably installed below the foot pedal 5110.
  • the reset frame 5120 When the reset frame 5120 is rotated and installed above the foot pedal 5110, the person stands on the foot pedal 5110, and the foot pedal 5110 rotates away from the reset frame 5120.
  • the signal switch 5130 When it reaches the set position, the signal switch 5130 is turned on, and the person After the foot pedal 5110 is lowered, the reset mechanism 5140 causes the foot pedal 5110 to rotate toward the reset frame 5120 .
  • the reset frame 5120 is rotated and installed below the foot pedal 5110, the person stands on the foot pedal 5110, and the foot pedal 5110 moves toward the end of the reset frame 5120.
  • the reset mechanism 5140 causes the foot pedal 5110 to rotate in a direction away from the reset frame 5120.
  • the reset frame 5120 is rotatably installed below the foot pedal 5110.
  • the reset frame 5120 can provide support for the footrest 5110. There is no need to add an additional support structure to the footrest 5110 on the tool, which facilitates the installation of the footrest device 5100.
  • the reset frame 5120 includes a first area 5122 and a second area 5123.
  • the first area 5122 provides support for the foot pedal 5110 to ensure that workers stand stably on the foot pedal 5110.
  • the first area 5122 is parallel to the foot pedal 5110 to ensure stable support for the foot pedal 5110.
  • reinforcing ribs 5124 are provided in the first area 5122, the second area 5123, and the connection area between the first area 5122 and the second area 5123, which can improve the load-bearing capacity of the reset frame 5120.
  • a rotating mounting base 5112 is provided at the bottom of the foot pedal 5110, and a rotating shaft 5113 is provided on the rotating mounting base 5112.
  • the reset frame 5120 is rotationally installed through the rotating shaft 5113 and the rotating mounting base 5112.
  • the installation space between the reset frame 5120 and the foot pedal 5110 is increased, thereby facilitating the installation of the reset frame 5120 and the foot pedal 5110.
  • the reinforcing ribs 5124 of the reset frame 5120 are rotationally connected to the rotating mounting base 5112, ensuring a stable rotational connection between the reset frame 5120 and the foot pedal 5110, and improving the service life of the foot pedal device 5100.
  • the signal switch 5130 can be an inductive switch, such as an infrared induction switch, or a contact switch, preferably a contact switch, which has low procurement cost, high recognition rate, and is easy to use in complex environments.
  • the signal switch 5130 includes two parts, one part is the main part and the other part is the contact part, which are respectively installed on the foot pedal 5110 and the reset frame 5120. When the reset frame 5120 is installed on the foot pedal 5110 When the contact part is in contact with the main body part, the signal switch 5130 is turned on, and when the contact part is separated from the main body part, the signal switch 5130 is turned off.
  • the signal switch 5130 When the reset frame 5120 is installed above the foot pedal 5110, when the contact part is in contact with the main body part, the signal switch 5130 is turned off, and when the contact part is separated from the main body part, the signal switch 5130 is turned on.
  • the signal switch 5130 is a whole body, and the signal switch 5130 is arranged on the foot pedal 5110. In another embodiment, the signal switch 5130 is arranged on the reset frame 5120.
  • a shock absorbing pad 5150 is provided between the reset frame 5120 and the foot pedal 5110.
  • the shock absorbing pad 5150 is provided when the foot pedal 5110 rotates to a set position relative to the reset frame 5120. , the contact point between the foot pedal 5110 and the reset frame 5120.
  • By adding a shock-absorbing pad 5150 rigid contact between the foot pedal 5110 and the reset frame 5120 is avoided.
  • the wear between the foot pedal 5110 and the reset frame 5120 can be reduced, and the service life of the foot pedal 5110 and the reset frame 5120 can be extended;
  • the staff steps on the foot pedal 5110 it acts as a shock absorber to avoid damage to the staff.
  • the shock absorbing pad 5150 is made of rubber. One end of the shock absorbing pad 5150 is fixed on the first area 5122 of the reset frame 5120. When the foot pedal 5110 rotates to the set position, the shock absorbing pad 5150 moves away from the reset frame 5120. One end is in contact with the foot pedal 5110.
  • multiple shock-absorbing pads 5150 are provided, so that each area of the foot pedal 5110 can have good support and provide better shock-absorbing effect.
  • the shock-absorbing pads 5150 can be two, three, or three. Four, five, six, etc.
  • the reset frame 5120 is provided with a first limiting portion 5121
  • the foot pedal 5110 is provided with a second limiting portion 5111
  • the first limiting portion 5121 is connected to the first limiting portion 5121.
  • the two limiting parts 5111 cooperate to limit the maximum angle between the foot pedal 5110 and the reset frame 230 .
  • the reset mechanism 5140 causes the foot pedal 5110 to rotate.
  • the second limiting part 5111 includes a limiting installation part 5114 located downward at the bottom of the foot pedal 5110 and a limiting sleeve rod 5115 fixed to the limiting installation part 5114.
  • the limiting sleeve rod 5115 is perpendicular to the limiting part.
  • the mounting part 5114 is configured such that when the foot pedal 5110 rotates to the initial position, the top of the limiting sleeve rod 5115 and the first limiting part 5121 The bottoms are in contact, and the first limiting part 5121 limits the further rotation of the limiting sleeve rod 5115.
  • the angle between the reset frame 5120 and the foot pedal 5110 is the maximum angle. , thereby preventing the angle between the foot pedal 5110 and the reset frame 5120 from being too large and making it inconvenient for the staff to step on the foot pedal 5110.
  • a buffer pad 5160 is provided between the first limiting part 5121 and the second limiting part 5111.
  • a buffer pad 5160 between the first limiting part 5121 and the second limiting part 5111, it is possible to avoid rigid contact between the first limiting part 5121 and the second limiting part 5111 when the foot pedal 5110 rotates.
  • the wear and collision between the first limiting part 5121 and the second limiting part 5111 can be reduced; on the other hand, the sound when the first limiting part 5121 and the second limiting part 5111 are in contact can be reduced, and at the same time, It can play a buffering role to avoid multiple collisions between the first limiting part 5121 and the second limiting part 5111 under the action of the reset mechanism 5140.
  • the return mechanism 5140 includes a compression spring 5141.
  • One end of the compression spring 5141 is fixed on the bottom of the foot pedal 5110, and the other end of the compression spring 5110 is fixed on the top of the reset frame 5120.
  • Compression spring 5141 has stable function, stable rotation and low cost.
  • the foot pedal 5110 and the reset frame 5120 are both provided with fixed blocks 5142.
  • the fixed blocks 5142 are provided correspondingly on the foot pedal 5110 and the reset frame 5120. Both ends of the compression spring 5141 are sleeved on the fixed blocks 5142.
  • the distance between the two corresponding fixed blocks 5142 is less than the natural length of the compression spring 5141.
  • the pressure The spring 5141 cannot be removed from the fixed block 5142 in an uncompressed state.
  • the compression spring 5141 is directly compressed and set on the fixed block 5142 without additional fixing, which facilitates the installation and use of the compression spring 5141.
  • FIG. 155 Please refer to Figure 155.
  • three compression springs 5141 are provided, and the three compression springs are distributed in an isosceles triangle. By arranging three compression springs 5141, the force on the foot pedal 5110 can be evenly distributed and the rotation of the foot pedal 5110 can be ensured to be stable.
  • a grease nozzle is provided at the rotational connection between the reset frame 5120 and the foot pedal 5110, and the grease nozzle communicates with the contact point between the reset frame 5120 and the foot pedal 5110.
  • the rotational connection between the reset frame 5120 and the foot pedal 5110 is prone to wear and rust after long-term use. On the one hand, it will cause abnormal noise when the reset frame 5120 and the foot pedal 5110 rotate. On the other hand, it will make it difficult for the foot pedal 5110 to rotate. , causing the reset mechanism 5140 to be overstressed and affecting its service life.
  • lubricating oil can be injected into the connection between the reset frame 5120 and the foot pedal 5110 to ensure smooth rotation between the reset frame 5120 and the foot pedal 5110 and reduce abnormal noise and noise.
  • the grease nozzle can also be provided at the part where the foot pedal device is connected to the frame, so as to reduce wear and corrosion at the connection between the foot pedal device and the frame.
  • This application also provides a garden tool, which includes a body 10, a working part 3000, a control part and any of the above-mentioned foot devices 5100, wherein the body 10 is provided with a supporting shock-absorbing member 1930.
  • the working part 3000 is arranged on the fuselage 10, and the control part controls the operation of the working part 3000.
  • the foot pedal device 5100 includes a foot pedal 5110, a reset frame 5120, a first sensor and a reset mechanism 5140.
  • the foot pedal 5110 is rotatably installed on the fuselage 10; the reset frame 5120 is rotatably installed on the foot pedal 5110 to support the shock absorber. 1930 restricts the reset frame 5120 from rotating away from the foot pedal 5110.
  • the support shock absorber 1930 can, on the one hand, limit the support of the reset frame 5120, so that the foot pedal 5110 abuts the reset frame 5120, and on the other hand, can Provides shock absorption effect, reduces the vibration when the operator stands on the foot pedal 5110, and improves the operator's comfort.
  • the first sensor is a signal switch 5130.
  • the signal switch 5130 is provided on the reset frame 5120 and/or the foot pedal 5110 to be turned on when the foot pedal 5110 rotates to the set position relative to the reset frame 5120; reset The mechanism 5140 is disposed between the reset frame 5120 and the foot pedal 5110 to rotate the foot pedal 5110 after the external force acting on the foot pedal 5110 is removed, thereby turning off the signal switch 5130.
  • the control unit of the garden tool of the present application obtains the on and off status of the signal switch 5130, so that different working modes of the garden tool can be started.
  • a lawn mower is also called a lawnmower, a lawnmower, a lawn trimmer, etc.
  • a lawn mower is a mechanical tool used for trimming lawns, vegetation, etc., and a general lawn mower is It can only operate normally in normal mode. When encountering obstacles or uneven ground, it cannot mow the lawn clearly. You need to Multiple cycles are required to reduce the running time of the lawn mower and increase the cost of use.
  • the lawn mower also includes a running mechanism 200 and a second sensor. The control part of the lawn mower receives the signal of the second sensor and the signal of the first sensor, and controls the mode of the lawn mower according to the signal of the second sensor and the signal of the first sensor. .
  • the second sensor detects the position information of the lawn mower control lever to determine the operator's control intention.
  • the signals sent by the second sensor include two types, one is the fourth signal.
  • the lawn mower is in a parking state; one is the third signal.
  • the signal from the second sensor is the third signal, the lawn mower enters the traveling mode.
  • the The control or preset program makes forward or backward movements.
  • the lawn mower only enters the forward mode without further control or preset programs by the staff, the lawn mower will not make forward or backward movements.
  • the signal of the second sensor is the fourth signal.
  • the signal of the second sensor is the third signal.
  • the second sensor is the control signal switch of the lawn mower. In the initial state, the control signal switch is in a combined state. The second sensor signal at this time is the fourth signal. After the control handle is pulled, the control signal switch In the separated state, the second sensor signal at this time is the third signal. After receiving the travel signal, the control part of the lawn mower enters the travel mode. After further movement of the control handle, it controls the lawn mower to move forward or backward.
  • the first sensor monitors whether there is a person standing on the foot pedal. When there is a person standing on the foot pedal, the first sensor sends a first signal, which is equivalent to an on-position signal. When no person stands on the foot pedal, the first sensor When the sensor is on, the first sensor sends a second signal, which is equivalent to a release signal.
  • the first sensor is a foot signal switch, and the foot signal switch is provided on the foot device. When a person stands on the foot board, the foot signal switch is in an engaged state and sends out the first signal. When there is no person standing on the pedal, the foot signal switch is in the separated state and the second signal is sent.
  • the control If the internal detection foot signal switch does not send a signal, the default signal is also the second signal when the foot signal switch does not send a signal.
  • the first sensor sends the first signal
  • the foot pedal signal switch is in a separated state and sends out The first signal.
  • the default control unit does not detect the signal sent by the foot signal switch, and it also sends the first signal for the foot signal switch; when When there is no person standing on the foot pedal, the foot signal switch is in the engaged state and sends out the second signal.
  • the lawn mower will release parking and enter the traveling mode. If the signal from the first sensor is the first signal, the lawn mower operates in the first traveling mode; if the signal from the first sensor is the second signal, the lawn mower operates in the second traveling mode.
  • the maximum forward speed of the lawn mower is the first forward speed
  • the maximum backward speed is the first backward speed.
  • the first forward speed is not less than the first backward speed.
  • the maximum forward speed of the lawn mower in the second traveling mode is the second forward speed
  • the maximum backward speed is the second backward speed.
  • the second forward speed is not less than the second backward speed, so that This allows the staff to better operate the lawn mower for movement.
  • the first forward speed is greater than the second forward speed
  • the first backward speed is greater than the second backward speed.
  • the worker stands behind the lawn mower instead of on the foot pedal.
  • the second forward speed is smaller than the first forward speed and the second backward speed is smaller than the second backward speed, making it easier for the worker to follow the mower.
  • the mower moves forward or backward. Suitable for working in special environments, the driving speed of the lawn mower is reduced, the reaction time of the staff is improved, personal safety is ensured, and the safety of using the lawn mower is improved.
  • the lawn mower also includes other structures such as a control mechanism 2310.
  • Other structures of the lawn mower refer to existing lawn mower structures and will not be described in detail in this application.
  • a limiting hole 1920 is provided on the fuselage 10, and a latch 5170 is provided on the foot pedal device 5100.
  • the latch 5170 is inserted into the limiting hole 1920 to limit the foot pedal device 5100.
  • the pedal device 5100 and the fuselage 10 can be prevented from rotating relative to each other during transportation, thereby effectively ensuring transportation safety.
  • the signal switch 5130 is not turned on.
  • the signal switch 5130 is in an off state.
  • the present invention can detect whether the staff is standing on the foot pedal 5110, which is convenient for the staff to use.
  • Embodiment 3 The present invention provides a lawn mower, which can be a lawn mower 1, including a cutting table 310, and other components that a lawn mower usually has.
  • the lawnmower 1 further includes a stand 1819 on which two Global Navigation Satellite System (GNSS) receiving antennas 1812 and a wireless antenna 1813 are arranged.
  • the GNSS receiving antenna 1812 and the wireless antenna 1813 may also be arranged on other suitable components or positions on the lawn mower 1 .
  • the lawnmower 1 is also provided with a controller 1814 and a GNSS mobile station 1815.
  • the control device 1814 and the GNSS mobile station 1815 can be arranged at any suitable position on the lawn mower 1 .
  • the display control device 1814 and the GNSS mobile station 1815 are arranged in a box (not labeled) behind the driving seat (not numbered) of the lawn mower 1 . mark).
  • the RTK base station 1820 used in the present invention is a portable RTK base station. It can be transported to different lawns together with the lawn mower 1, and then installed on the fixed anchor point 20 (Fig. 4) next to the lawn to ensure that the lawn mower 1 pairs It is used together with the lawn mower 1 when performing mapping or mowing operations on the lawn.
  • the portable RTK base station 1820 wirelessly transmits differential data and the converged position (positioning) coordinates of the RTK base station itself to the lawnmower 1.
  • the RTK base station 1820 may include a GNSS satellite receiver (not shown), a processing unit (not shown), and a battery. (not shown), wireless signal transceiver (not shown) and other components. These components are usually included in RTK base stations to realize their functions.
  • FIG. 80 is a schematic diagram of the functional modules of the lawn mower 1, terminal control device 1830 and RTK base station 1820 of the present invention.
  • the lawn mower 1 may be the lawn mower 1 shown in FIG. 1
  • the RTK base station 1820 may be the portable RTK base station shown in FIG. 1
  • the terminal control device 1830 may be a handheld terminal, such as an APP terminal such as an iPad.
  • the lawn mower 1 includes a control device 1814, a positioning device 14 and a communication device 1818.
  • control device 1814 can control the lawn mower 1 to perform operations and/or functions such as driving, map setting/calling/offset, and mowing operations, so as to realize the intelligent driving function of the lawn mower 1 .
  • the control device 1814 may further include a map generation and management module, a trajectory planning module, a lawn mowing operation control module, etc.
  • the control device 1814 may also be called an intelligent driving controller or controller in the present invention.
  • the positioning device 14 may be a GNSS mobile station, other satellite positioning mobile stations, or other positioning devices that can cooperate with RTK base stations to realize real-time positioning functions.
  • the positioning device 14 also includes a GNSS receiving antenna 1812 on stand 1819 of 1.
  • the GNSS mobile station 1815 applies the differential data to correct the GNSS positioning coordinates (that is, the positioning coordinates of the lawn mower 1), and outputs it to the control device 1814.
  • the communication device 1818 includes a radio unit 1811.
  • the radio unit 1811 receives data/signals from the portable RTK base station 1820, including differential data and base station coordinate data.
  • the radio unit 1811 sends the differential data from the RTK base station 1820 to the positioning device (satellite positioning mobile station) 14, and transmits the base station coordinates from the RTK base station 1820 to the control device (intelligent driving controller) 1814.
  • the communication device 1818 may also include a remote control signal receiving unit 1817 used between the lawn mower 1 and the handheld terminal 1830 (such as an APP on an iPad).
  • the remote control signal receiving unit 1817 may be a Bluetooth device or other wireless communication device to receive signals from The command signal of the handheld terminal 1830.
  • the communication device 1818 may also include a 4G-GPS module 1816.
  • the lawn mower 1 can communicate with the server (such as an AWS server) 4 through a network (such as a mobile network) through the 4G-GPS module 1816.
  • the service area 1840 can communicate with the server (such as an AWS server) through the network (such as a mobile network). ) communicates with the handheld terminal 1830.
  • the handheld terminal 1830 receives the status information fed back by the lawn mower 1, and then sends corresponding instructions to the lawn mower 1 to control it to execute the sent instructions.
  • the status information fed back by the lawn mower 1 includes positioning status and alarm information.
  • the positioning status of the lawnmower 1 received by the handheld terminal 1830 includes a high-precision positioning status and a non-high-precision positioning status.
  • the high-precision positioning status refers to the RTK fixed solution
  • the non-high-precision positioning status refers to the RTK floating point solution.
  • the high-precision positioning state indicates that the lawn mower 1 is in a centimeter-level positioning state.
  • the alarm information refers to various fault states of the lawn mower 1, such as cutter current overcurrent, traveling motor overcurrent, control temperature being too high, etc.
  • the instructions that the handheld terminal 1830 can send include: an instruction to continue the current state, an instruction to calibrate the map, an instruction to calibrate the unmowable area (i.e., a non-working area), an instruction to add an unmowable area, an instruction to complete the map boundary calibration, and an instruction to mark the unmownable area. Mowing area calibration completion instructions, etc.
  • the handheld terminal 1830 is the medium for the operator to communicate with the lawn mower 1. It can send instructions to the lawn mower 1 through wireless communication methods such as Bluetooth, WiFi, and Lora.
  • the GNSS positioning mobile station (ie, positioning device) 14 collects the positioning coordinates of the lawn mower 1 in real time.
  • the GNSS positioning mobile station 1815 applies the differential data from the RTK base station 1820 to correct the positioning coordinate data of the lawn mower 1 and sends the corrected positioning coordinate data to the control device 1814 .
  • the control device 1814 uses the corrected positioning coordinate data and the base station coordinate data from the RTK base station 1820 to generate a calibration map of the lawn to be mowed, and sends the calibration map to the storage device for storage.
  • the controller 1814 compares the RTK base station coordinates in the calibration map with the RTK base station coordinates of the current RTK base station 1820 . If the deviation value obtained by comparison is less than the preset value, the calibration map will be offset accordingly, and a new map will be generated for use in mowing operations; if the deviation value obtained by comparison is greater than the preset value, an abnormal position of RTK base station 1820 will be reported.
  • the default value can be 1.5m.
  • the handheld terminal 1830 When the positioning status information received by the handheld terminal 1830 is high-precision positioning status information, the handheld terminal 1830 sends a corresponding execution instruction to the lawn mower 1.
  • the execution instruction may be an instruction to continue the current state, an instruction to calibrate the map, or an instruction to calibrate the uncuttable state.
  • the handheld terminal 1830 When the positioning status information received by the handheld terminal 1830 is non-high-precision positioning status information, the handheld terminal 1830 sends a shutdown command to the lawn mower.
  • the handheld terminal 1830 When the handheld terminal 1830 receives the alarm information, the handheld terminal 1830 displays the alarm information and notifies the operator, who then sends corresponding processing instructions to the lawn mower 1 through the terminal control device.
  • the lawn mower 1 when the lawn mower 1 is mapping to calibrate the map of the lawn 5, the lawn mower 1 travels along the boundary 1850 of the mowing area (ie, the working area) 1852 of the lawn 5 to be calibrated, and the GNSS positioning mobile station ( The positioning device) 14 collects the positioning coordinates of the lawn mower 1 in real time.
  • the controller 1814 monitors in real time whether the lawn mower 1 is in the high-precision positioning state. If it is not in the high-precision positioning state, it will feedback the positioning system abnormality to the handheld terminal 1830; if it is always in the high-precision positioning state, it will continue to record the positioning coordinates of the lawn mower 1.
  • the handheld terminal 1830 sends a map boundary calibration completion instruction to the controller 1814 of the lawn mower 1 . Since the positioning device 14 is installed on the lawn mower 1, it can be considered that the controller 1814 is actually monitoring whether the positioning system is in a high-precision positioning state in real time.
  • the controller 1814 generates a calibration map of the mowing area 1852 based on the positioning coordinates of the lawn mower 1 received between the start calibration and the end calibration command, and stores the calibration map in the storage device, and simultaneously stores the RTK sent by the RTK base station 3 accordingly. Base station coordinates.
  • the handheld terminal 1830 can further send a non-mowing area calibration instruction to the lawn mower 1.
  • the non-mowing areas are obstacles 1855, 1856, etc.
  • the lawn mower 1 travels along the boundary of the non-mowing area (obstacle) 1855 or 1856.
  • the GNSS positioning mobile station 1815 collects the positioning coordinates of the lawn mower 1 in real time.
  • the controller 1814 monitors whether the lawn mower 1 (or the positioning system) is in real time. In high-precision positioning state.
  • the positioning system abnormality will be fed back to the handheld terminal 1830; if it is always in the high-precision positioning state, the positioning coordinates of the lawn mower 1 will be continuously recorded until the handheld terminal 1830 sends the unmowable area calibration to the lawn mower 1 to complete. instruction.
  • the controller 1814 generates a calibration map of the unmowable area (obstacle, also a non-working area) 1855 or 1856 based on the positioning coordinates of the lawnmower 1 received between the start calibration and the end calibration command, and combines it with the mowing area
  • the calibration map of 1852 is compared to verify whether the boundaries of the unmowable areas 1855 and 1856 exceed the boundary 50 of the mowing area (plot to be calibrated) 1852 (or to verify whether the boundaries of the unmowable areas 1855 and 1856 are consistent with the mowing area). (the boundary 1850 of the plot to be calibrated) 1852 conflicts), and at the same time, the boundary calibration map of the unmowable areas 1855 and 1856 and the RTK base station coordinates sent by the RTK base station 1820 are correspondingly stored.
  • the calibration map of the mowing area 1852 and the calibration map of the non-mowable area 1855 or 1856 can be stored on the control device 1814, the handheld terminal 1830, or the service area 1840 that can communicate with the lawn mower and the handheld terminal 1830.
  • the calibrated map of the mowing area 1852 is offset accordingly
  • the calibrated map is first called by the storage device and sent to the map generation and management module of the control device 1814.
  • the map generation and management module calculates the difference between the RTK base station coordinates in the calibrated map and the RTK base station coordinates of the current RTK base station 1820, and then adds the calculated difference to the coordinates of all points in the calibrated map, thereby generating a new map after the offset.
  • the lawn mower 1 can perform mowing operations according to this new map.
  • the present invention provides a map identification and calling method for the lawn mower 1, which includes:
  • Step 1 is the map definition and generation process/steps, please refer to Figure 84 at the same time.
  • Map calibration is started, the lawn mower 1 travels along the boundary 1850 of the mowing area 1852 to be calibrated, and the GNSS positioning mobile station 1815 collects (monitors and records) the positioning coordinates of the lawn mower 1 in real time.
  • the GNSS positioning mobile station 1815 applies the differential data from the RTK base station 1820 to correct the positioning coordinate data of the lawn mower 1, and uses the corrected positioning coordinates
  • the data is sent to the controller 1814 of the lawnmower 1.
  • the controller 1814 applies the corrected positioning coordinate data and the base station coordinate data from the RTK base station 1820 to generate a calibration map of the mowing area 1852, and sends the calibration map to the corresponding storage device for processing. store.
  • the controller 1814 monitors the information of whether the lawn mower 1 is in a high-precision positioning state in real time. If it is not in the high-precision positioning state, the positioning system abnormality is fed back to the handheld terminal 1830; if it is always in the high-precision positioning state, the positioning coordinates of the lawnmower 1 are continuously recorded until the handheld terminal 1830 sends a map boundary calibration completion command to control
  • the processor 1814 generates and stores the calibration map of the mowing area 1852 based on the positioning coordinates of the lawnmower 1 received between the start calibration and the end calibration command, and simultaneously stores the RTK base station coordinates sent by the RTK base station 1820 accordingly.
  • the handheld terminal 1830 can further send a non-mowable area calibration instruction to the lawn mower 1 .
  • the lawnmower 1 travels along the boundary of the unmownable area (such as the obstacle 1855 or 1856), and the map generation management module of the controller 1 monitors in real time whether the GNSS positioning mobile station 1815/lawnmower 1 (or the monitoring positioning system) is in High-precision positioning status. If it is not in the high-precision positioning state, the positioning system abnormality is fed back to the handheld terminal 1830; if it is always in the high-precision positioning state, the positioning coordinates of the lawn mower 1 are continuously recorded until the handheld terminal 1830 sends an uncut signal to the lawn mower 1.
  • the controller 1814 generates a calibration map of the unmowable area 1855 or 1856 based on the positioning coordinates of the lawnmower 1 received between the start calibration and the end calibration command, and verifies whether the unmowable area 1855 or 1856 is consistent with the mowing area.
  • the boundary 1850 conflicts (that is, whether it exceeds the boundary 1850 of the mowing area), and the RTK base station coordinates sent by the RTK base station 1820 are correspondingly stored.
  • Step one further includes comparing the calibration map of the unmowable area 1855 or 1856 with the calibration map of the mowing area 1852 to verify whether the unmowable area 1855 or 1856 is within the boundary of the mowing area 1852.
  • the process of map definition and generation of the present invention includes:
  • the lawn mower 1 travels along the boundary 1850 of the mowing area 1852, and the map generation system (such as the map generation and management module of the controller 1814) collects the information of the lawn mower 1 through the GNSS positioning mobile station 1815. Positioning coordinates;
  • the controller 1814 determines whether the positioning system (GNSS positioning mobile station 1815 and lawn mower 1) is in a high-precision positioning state based on the status information provided by the GNSS positioning mobile station 1815. If so, it continues to determine whether the lawn mower 1 Complete the drive around boundary 1850, if not, issue an alarm that the positioning system status is abnormal;
  • the handheld terminal issues an instruction to store the trajectory coordinates of the lawnmower 1 to generate a calibration map, and stores the RTK base station coordinates; if the controller 1814 determines that the lawnmower 1 1. If the journey around boundary 1850 is not completed, continue back to step (3);
  • the controller 1814 determines whether it is necessary to add a calibrated unmowable area (such as obstacles 1855 and 1856). If it is determined that it is necessary, the handheld terminal 1830 issues Instructions for demarcating non-mowable areas. If it is judged that it is not necessary, the process ends (completed);
  • the controller 1814 determines whether the positioning system is in a high-precision positioning state based on the status information monitored by the controller 1814. If so, it continues to determine whether the lawn mower 1 is completed. Driving around the boundary of the non-mowable area, if not, an alarm will be issued indicating abnormal status of the positioning system;
  • step (7) If the controller 1814 determines that the lawn mower 1 has completed driving around the boundary of the unmowable area, the controller 1814 continues to verify whether the unmowable area conflicts with the boundary of the mowing area 1850 (usually means that the unmowable area has been Beyond the boundaries 1850 of the mowing area 1852). If yes, return to step (6); if not, store the unmowable area into the calibration map of step (4), and then return to step (5);
  • controller 1814 determines that the lawn mower 1 has not completed traveling around the boundary of the unmownable area, it returns to step (6).
  • the second step of the map calibration and calling method for the lawn mower 1 of the present invention is the calling process of calibrating the map.
  • the controller 1814 calls the stored calibration map from the storage device.
  • the controller 1814 of lawn mower 1 is required to calculate this RTK
  • the deviation (i.e., difference) between the positioning (position) coordinates of the base station 1820 and the corresponding RTK base station position coordinates in the calibration map, and the calibration map of Lawn 5 is offset accordingly according to the two RTK base station deviation values (difference).
  • the preset value of the RTK base station deviation range is set according to the standard deviation of GNSS single-point positioning accuracy.
  • the operator is reminded that the base station position is abnormal and checks whether the RTK base station is placed on a fixed anchor point.
  • the embodiment of Figure 84 includes the following steps:
  • the controller 1814 determines whether the deviation between the RTK base station position in the calibration map and the RTK base station positioning (position) of the current RTK base station 1820 is less than the preset value. If yes, proceed to the next step. If not, report to the handheld terminal 1830 or service Area 1840 reports abnormal base station location;
  • the controller 1814 offsets the calibration map according to the deviation between the RTK base station positioning coordinates of the calibration map and the RTK base station positioning coordinates of the current RTK base station 1820, and generates a new map for lawn mowing operations;
  • the third step of the method of the present invention is the process of offsetting the calibration map.
  • the controller 1814 compares the RTK base station coordinates in the calibration map with the RTK base station coordinates of the current RTK base station 1820 . If the deviation value obtained by comparison is less than the preset value (for example, 1.5m), the calibration map will be offset accordingly and a new map will be generated for use in mowing operations; if the deviation value obtained by comparison is greater than the preset value (for example, 1.5m) ), an abnormal position of RTK base station 1820 will be reported.
  • the preset value for example, 1.5m
  • step three the storage device calls and sends the calibration map to the control device, and the control device calculates the difference between the RTK base station coordinates in the calibration map and the RTK base station coordinates of the current RTK base station, Then the calculated difference is added to the coordinates of all points in the calibration map to generate a new offset map, and the lawn mower can perform lawn mowing operations based on the new map.
  • the latitude and longitude coordinates of RTK base station 1 are (X0, Y0),
  • the boundaries of the calibration map are ⁇ (MX1,MY1),(MX2,MY2), ⁇ ,(MXn,MYn) ⁇ ,
  • the boundary of obstacle (non-mowable area) 1 is ⁇ (1OX1,1OY1),(1OX2,1OY2), ⁇ ,(1OXn,1OYn) ⁇ ,
  • obstacle (non-mowable area) 2 The boundaries of obstacle (non-mowable area) 2 are ⁇ (2OX1,2OY1),(2OX2,2OY2), ⁇ ,(2OXn,2OYn) ⁇ ,
  • the boundary of obstacle (non-mowable area) m is ⁇ (m2OX1,mOY1), (mOX2,mOY2), ⁇ ,(mOXn,mOYn) ⁇ .
  • the boundaries of the new map generated after the offset during mowing are ⁇ ((MX1-detaX),(MY1-detaY)),((MX2-detaX),(MY2-detaY)), ⁇ ,((MXn -detaX),(MYn-detaY)) ⁇ ,
  • the obstacle 1 boundary of the new map is ⁇ ((1OX1-detaX),(1OY1-detaY)),((1OX2-detaX),(1OY2-detaY)), ⁇ ,((1OXn-detaX),(1OYn -detaY)) ⁇ ,
  • the obstacle 2 boundary of the new map is ⁇ ((2OX1-detaX),(2OY1-detaY)),((2OX2-detaX),(2OY2-detaY)), ⁇ ,((2OXn-detaX),(2OYn -detaY)) ⁇ , ⁇
  • the obstacle m boundary of the new map is ⁇ ((mOX1-detaX),(mOY1-detaY)),((mOX2-detaX),(mOY2-detaY)), ⁇ ,((mOXn-detaX),(mOYn -detaY)) ⁇ .
  • the latitude, longitude and altitude coordinates of RTK base station 1820 are (X0, Y0, H0),
  • the boundaries of the calibration map are ⁇ (MX1,MY1,MH1),(MX2,MY2,MH2), ⁇ ,(MXn,MYn,MHn) ⁇ ,
  • the boundary of obstacle (unmowable area) 1 is ⁇ (1OX1,1OY1,1OH1),(1OX2,1OY2,1OH2), ⁇ ,(1OXn,1OYn,1OHn) ⁇ ,
  • obstacle (non-mowable area) 2 The boundaries of obstacle (non-mowable area) 2 are ⁇ (2OX1,2OY1,2OH1),(2OX2,2OY2,2OH2), ⁇ ,(2OXn,2OYn,2OHn) ⁇ , ⁇
  • the boundary of obstacle (non-mowable area) m is ⁇ (m2OX1,mOY1,mOH1), (mOX2,mOY2mOH2), ⁇ ,(mOXn,mOYn mOHn) ⁇ , ⁇
  • the boundaries of the new map generated after offset during mowing are ⁇ ((MX1-detaX),(MY1-detaY),(MH1-detaH)),((MX2-detaX),(MY2-detaY),(MH2 -detaH)), ⁇ ,((MXn-detaX),(MYn-detaY),(MHn-detaH)) ⁇ ,
  • the obstacle 1 boundary of the new map is ⁇ ((1OX1-detaX),(1OY1-detaY),(1OH1-detaH)),((1OX2-detaX),(1OY2-detaY),(1OH2-detaH)), ⁇ ⁇ ,((1OXn-detaX),(1OYn-detaY),(1OHn-detaH)) ⁇ ,
  • the obstacle 2 boundary of the new map is ⁇ ((2OX1-detaX),(2OY1-detaY),(2OH1-detaH)),((2OX2-detaX),(2OY2-detaY),(2OH2-detaH)), ⁇ ⁇ ,((2OXn-detaX),(2OYn-detaY),(2OHn-detaH)) ⁇ ,
  • the obstacle m boundary of the new map is ⁇ ((mOX1-detaX),(mOY1-detaY),(mOH1-detaH)),((mOX2-detaX),(mOY2-detaY),(mOH2-detaH)), ⁇ ⁇ ,((mOXn-detaX),(mOYn-detaY),(mOHn-detaH)) ⁇ .
  • the present invention can provide a control method for a working equipment (such as a lawn mower 1) system, which includes the following steps:
  • Control the operating equipment to collect positioning coordinate data along the boundary of the work area, and generate a calibration map of the work area based on the collected positioning coordinate data and the original RTK base station coordinate data;
  • the present invention can further provide a work equipment system, which can not only be used for the lawn mower 1, but also can be used to map a certain plot of land and subsequently call all the necessary operations. Calibrated maps (e.g. for navigation) other operating equipment or situations.
  • the working equipment system of the present invention includes an RTK base station 1820 and a working equipment 1.
  • the working equipment may be a lawn mower 1, for example.
  • the operating equipment includes a control device 1814 communicating with the RTK base station 1820, a positioning device 14 and a storage device.
  • the positioning device 14 collects map positioning and calls the positioning coordinates of the system 1 in real time.
  • the local map marking and calling system 1 performs map timing on the plot 5 to be calibrated, and the positioning device 14 applies the differential data from the RTK base station 1820 to correct the positioning coordinate data of the map marking and calling system, and sends the corrected positioning coordinate data to the control Device 1814.
  • the control device 1814 uses the modified positioning coordinate data and the base station coordinate data from the RTK base station 1820 to generate a calibration map of the parcel 5 to be calibrated, and sends the calibration map to the storage device for storage.
  • the local map calibration and calling system is used to navigate the plot to be calibrated (i.e., the work area, or the area to be mowing) 5, or it is necessary to use the completed calibration map of the plot 5 to be calibrated, the control device 1814 will calibrate the map.
  • the RTK base station coordinates are compared with the RTK base station coordinates of the current RTK base station 1820. If the deviation value obtained by comparison is less than the preset value, the calibration map will be offset accordingly and a new map will be generated for navigation and other purposes; if the deviation value obtained by comparison is greater than the preset value, an alarm will be issued.
  • the RTK base station location is abnormal.
  • the RTK base station 1820 is a portable RTK base station 1820 and can be arranged at the fixed anchor point 20 near the plot 5 to be calibrated.
  • the control device 1814 and the positioning device 14 communicate with the RTK base station 1820 through the communication device 1818 letter.
  • the communication device 1818 receives the differential data and the RTK base station coordinate data from the RTK base station 1820, sends the differential data to the positioning device 14, and sends the RTK base station coordinate data to the control device 1814.
  • the communication device 1818 includes a radio device installed on the map positioning and calling system, and the positioning device 14 may be a satellite positioning mobile station.
  • the map identification and calling system of the present invention further includes a terminal control device 1830, which can receive status information fed back by the map identification and calling system, and send corresponding control instructions to the system.
  • the status information includes the positioning status information and alarm information of the map designation and calling system.
  • Positioning status information includes high-precision positioning status information and non-high-precision positioning status information.
  • the high-precision positioning status information indicates that the map determination and calling system is in centimeter-level positioning status.
  • Alarm information refers to map identification and fault status information of the calling system.
  • the terminal control device 1830 When the positioning status information received by the terminal control device 1830 is the high-precision positioning status information, the terminal control device 1830 sends corresponding execution instructions to the map marking and calling system 1.
  • the execution instructions may include instructions to continue the current status and calibrate the map. instructions.
  • the terminal control device 1830 When the positioning status information received by the terminal control device 1830 is non-high-precision positioning status information, the terminal control device 1830 sends a shutdown instruction to the map designation and calling system 1 . When the terminal control device 1830 receives the alarm information, the terminal control device 1830 displays the alarm information and notifies the operator, who then sends corresponding processing instructions to the system through the terminal control device 1830 .
  • the communication device 1818 also includes a Bluetooth device 17 and a 4G-GPS module 1816 for wireless communication with the terminal control device 1830.
  • the 4G-GPS module 1816 can upload information from the control device 1814 to the service area 1840, and then the service area 1840 can send the information of the control device 1814 to the terminal control device 1830, and the instructions of the terminal control device 1830 can also be sent to the service area 1840 through the mobile network, and then further sent to the control device 1814.
  • the system travels along the boundary 1850 of the plot 5 to be calibrated, and the positioning device 14 collects the positioning coordinates of the system in real time.
  • the control device 1814 monitors in real time whether the system 1 is in a high-precision positioning state. If it is not in a high-precision positioning state, If the positioning system is in a high-precision positioning state, the system's positioning coordinates will be continuously recorded until the terminal control device 1830 sends a map boundary calibration completion command.
  • the control device 1814 generates a calibration map of the plot 5 to be calibrated based on the positioning coordinates of the system received from the start of calibration to the end of the calibration command, and stores the calibration map in the storage device, and simultaneously stores the RTK base station sent by the RTK base station 1820 accordingly. coordinate.
  • the terminal control device 1830 can further send an obstacle calibration instruction to the system.
  • the system travels along the boundaries of the obstacles (i.e., non-working areas, or non-mowable areas) 1855 and 1856, and the positioning device 14 collects the positioning coordinates of the system 1 in real time.
  • the control device 1814 monitors in real time whether the system is in a high-precision positioning state. If it is not in a high-precision positioning state, it will feedback positioning system abnormalities to the terminal control device 1830; if it is always in a high-precision positioning state, it will continue to record the positioning coordinates of the system until the terminal control Device 1830 sends an obstacle calibration completion command to the system.
  • the control device 1814 compares the calibration map of the obstacles 1855 and 1856 with the calibration map of the plot 5 to be calibrated to verify whether the obstacles 1855 and 1856 are within the boundary 1850 of the plot 5 to be calibrated. Then, the calibration map of the obstacles 1855 and 1856 is generated and stored based on the positioning coordinates of the system received between the start calibration and the end calibration command, and the RTK base station coordinates sent by the RTK base station 1820 are correspondingly stored.
  • the calibration map of the parcel 5 to be calibrated is shifted accordingly, the calibration map is first called by the storage device and sent to the control device 1814.
  • the control device 1814 calculates the difference between the RTK base station coordinates in the calibration map and the RTK base station coordinates of the current RTK base station 1820, and then adds the calculated difference to the coordinates of all points in the calibration map, thereby generating a new offset map.
  • the system can be used for navigation or other purposes based on the new map.
  • the GNSS positioning mobile station (positioning device) 14 collects the data of the lawn mower 1 in real time.
  • the unmanned driving controller 1814 sends the stored RTK base station coordinates to the RTK base station 1820 through the communication device (module) 18, or the handheld terminal 1830 sends the stored RTK base station coordinates to the RTK base station through wireless communication methods such as Bluetooth or wifi.
  • RTK base station 1820 compares the current coordinates With the received coordinates, if the deviation value obtained by comparison is less than the preset value, the received coordinates will be set as the coordinates of the RTK base station. If the deviation value obtained by comparison is greater than the preset value, an abnormal position of the RTK base station will be reported.
  • the present invention provides a lawnmower using an RTK base station, as well as a map identification and calling method and system for the lawnmower, and solves the problem of each repositioning of the RTK base station by offsetting the map of the mowing lawn.
  • Position drift problem after generating and storing the calibration map of the lawn (including the base station coordinates of the RTK base station), the lawn mower will automatically call and offset the calibration map for subsequent mowing operations during the next mowing operation, so the lawn map occurs In case of deviation, there is no need to manually input new coordinates, thus realizing the automation of lawn mowing operations and greatly improving work efficiency.
  • the present invention provides the work equipment system and its control method as described above.
  • it can also be used when it is necessary to map a certain plot of land and for subsequent needs.
  • Other operating equipment or situations that call up the calibrated map for example, for navigation).

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Abstract

一种割草机（1），包括机架（100）、行走组件、割台组件（300）及操纵机构（2310），其中，行走组件、割台组件（300）和操纵机构（2310）均安装在机架（100）上，操纵机构（2310）用于控制行走组件的行走。操纵机构（2310）包括操纵杆安装座（2311）、操纵杆（2312）、限位组件（2315）及复位组件（2314），操纵杆安装座（2311）沿第一方向转动安装在机架（100）上，操纵杆（2312）沿第二方向转动安装在操纵杆安装座（2311）上；复位组件（2314）驱使操纵杆（2312）沿第一方向复位至初始位置；限位组件（2315）锁定处于初始位置的操纵杆（2312）。

Description

一种割草机 技术领域
本发明涉及割草机技术领域，具体涉及一种割草机。
背景技术
割草机作为一种用于对草坪、植被进行修剪的自动化机械工具，它能代替或减轻人力，而且操作方便，充分节省人力与时间，实现环境美化，因此被广泛应用。
割草机在使用过程中需要人不断地调整操作手柄来维持割草机的行驶，割草机行驶效果的好坏直接影响割草的美观程度与效果。一般割草机的操纵系统结构相对复杂，零部件较多，大部分零部件采用钣金结构，装配累计误差难以控制，而且操纵系统中的复位结构复杂，后期调整操纵手柄中位困难，增加制造及装配成本。
发明内容
鉴于以上现有技术的缺点，本发明提供一种割草机，以改善传统割草机上操纵机构的结构复杂，无法自动复位，操作不便的技术问题。
为实现上述目的及其它相关目的，本发明提供一种割草机，该割草机包括机架、行走组件、割台组件及操纵机构，其中，行走组件、割台组件和操纵机构均安装在机架上，操纵机构用于控制行走组件的行走。操纵机构包括操纵杆安装座、操纵杆、限位组件及复位组件，操纵杆安装座沿第一方向转动安装在机架上，操纵杆沿第二方向转动安装在操纵杆安装座上；复位组件驱使操纵杆沿第一方向复位至初始位置；限位组件锁定处于初始位置的操纵杆。
在本发明一示例中，操纵杆包括操纵把手和限位板，限位板连接在操纵把手的底部。
在本发明一示例中，操纵杆还包括套管，该套管设置在限位板与操纵把手的连接处，操纵杆通过转轴安装在操纵杆安装座上，转轴贯穿套管并与套管固定在一起，转轴的两端分别转动安装在操纵杆安装座上。
在本发明一示例中，操纵机构还包括弹性组件，弹性组件安装在操纵杆安装座上并与限位板连接。
在本发明一示例中，弹性组件包括弹簧座及设置在弹簧座内的压簧，弹簧座固定安装在操纵杆安装座的底部，压簧的一端连接在弹簧座上，另一端与限位板连接，限位板的两侧分别设有与压簧配合的凸起。
在本发明一示例中，限位组件包括固定座、限位杆及弹性体，限位杆的一端安装在固定座上，另一端向操纵杆的方向延伸，所述限位板上设有与所述限位杆配合的限位孔，弹性体设置在限位杆与固定座之间。
在本发明一示例中，限位杆倾斜设置。
在本发明一示例中，限位杆与水平面的夹角为8～10°，限位孔为腰型孔。
在本发明一示例中，复位组件包括拉簧，拉簧的一端与操纵杆安装座连接，以带动操纵杆安装座沿第一方向运动。
在本发明一示例中，操纵机构还包括角度传感器，该角度传感器的转动轴安装在操纵杆上，并与操纵杆同步转动。
在本发明一示例中，操纵机构还包括挡板和限位座，挡板固定安装在机架上，限位座与挡板转动连接，操作杆安装座固定安装在限位座上。
在本发明一示例中，操纵机构通过固定板安装在机架上，固定板与机架连接，挡板安装在固定板上，该固定板用以在第一方向上对操纵杆安装座进行限位。
在本发明一示例中，操纵机构还包括固定安装在机架上的第一操纵把手和第二操纵把手，第一操纵把手和第二操纵把手分别设置在操纵杆的前、后两侧。
在本发明一示例中，行走组件包括行走轮和用以驱动行走轮的驱动电机，操纵机构还包括用于控制驱动电机通、断电的开关，当操纵杆在复位组件的作 用下回至初始位置时，开关被触发触，驱动电机断电。
在本发明一示例中，机架对应操纵杆的位置设有开口，以供操纵杆转动。
本发明还提供一种用于割草机的操纵机构，该操纵机构包括操纵杆安装座、操纵杆、限位组件及复位组件，其中，操纵杆安装座沿第一方向转动安装在割草机的机架上，操纵杆沿第二方向转动安装在操纵杆安装座上；复位组件驱使所述操纵杆在所述第一方向上复位至初始位置；限位组件锁定处于初始位置的操纵杆。
本申请一割草机实施例中，割草机包括：机架，机架包括有前部机架、后部机架，前部机架与后部机架可拆卸连接；站立区，站立区设置在机架尾部；行走机构，行走机构安装于机架上，包括有前轮组件、后轮组件、驱动电机，前轮组件安装于前部机架，前轮组件包括有前轮，后轮组件安装于后部机架，后轮组件包括有后轮，驱动电机驱动前轮和/或后轮；割台组件，割台组件安装于机架上，割台组件包括有割台、切割电机、切割刀，切割电机驱动切割刀切割草；电池，电池安装于机架上；操控装置，操控装置用于控制行走机构行走，操控装置包括：操纵杆安装座；操纵杆，操纵杆转动安装在操纵杆安装座上。
于本申请一实施例中，操纵杆安装座转动安装在机架上，操纵杆安装座与机架相对转动时，操纵杆与操纵杆安装座同步转动。
于本申请一实施例中，操纵杆包括有操控把手和限位板，限位板连接在操控把手的底部。
于本申请一实施例中，操纵杆还包括套管，套管设置在限位板与操纵杆的连接处，操纵杆通过第一转轴安装在操纵杆安装座上，第一转轴贯穿套管并与套管固定在一起，第一转轴的两端分别转动安装在操纵杆安装座上。
于本申请一实施例中，操控组件包括有限位组件、复位组件和弹性组件；限位组件锁定处于初始位置的操纵杆；复位组件驱使操纵杆沿第一方向复位至初始位置；弹性组件安装在操纵杆安装座上，并与限位板连接。
于本申请一实施例中，限位组件包括固定座、限位杆及弹性体，限位杆的 一端安装在固定座上，另一端向操纵杆方向延伸，限位板上设有与限位杆配合的限位孔，弹性体设置在限位杆与固定座之间。
于本申请一实施例中，限位杆倾斜设置，限位杆与水平面的夹角为8～10度，限位孔为腰型孔。
于本申请一实施例中，复位组件包括拉簧，拉簧的一端与操纵杆安装座连接，以带动操纵杆安装座沿第一方向运动。
于本申请一实施例中，弹性组件包括有弹簧座、压簧，压簧设置在弹簧座内，弹簧座安装在操纵杆安装座的底部，压簧一端连接在弹簧座上，另一端与限位板连接。
于本申请一实施例中，前轮组件包括有前叉，前叉转动安装于机架上，前轮安装在前叉上，前叉前端设有轮防护板，轮防护板的前端超出前轮。
于本申请一实施例中，站立区上方设有靠垫，靠垫由下而上向前倾斜，靠垫与水平方向呈100～110度角。
于本申请一实施例中，站立区上方设有操控平台，操控平台上设有显示屏，显示屏与水平方向呈150～160度夹角。
于本申请一实施例中，机架上设有第一安放区，电池安装在第一安放区上，第一安放区设有若干第一安装孔，不同规格电池匹配不同第一安装孔。
于本申请一实施例中，割草机尾部设有第一充电接口，第一充电接口与地面呈15～30度角。
于本申请一实施例中，第一充电接口处设有可翻转充电口盖。
于本申请一实施例中，割草机上设置有置物平台，置物平台设置于电池的上方。
于本申请一实施例中，置物平台的前端与机架设有加强连接板。
于本申请一实施例中，割草机包括有控制组件，控制组件设置于电池上方。
于本申请一实施例中，割草机包括电磁刹车、刹车释放机构，电磁刹车设置有两个，分别安装在两个后轮的驱动电机上，刹车释放机构包括：连接座， 连接座设置在机架上；拉杆，拉杆转动连接在连接座上；至少两个牵拉件，牵拉件的一端与拉杆连接，另一端与电磁刹车连接，拉杆转动以驱使牵拉件牵引两个电磁刹车同步释放开启或复位关闭。
本申请一割草机实施例中，割草机包括机架；割台，割台安装于机架上；行走机构，行走机构安装在机架上，行走机构包括前轮组件和后轮组件；其中，机架包括有前部机架、后部机架，前部机架与后部机架可拆卸连接，前部机架安装有前轮，后部机架安装有后轮。
于本申请一实施例中，前部机架包括有第一横梁、第一连接部，第一连接部由第一横梁两端向前伸出，两个第一连接部分别装配有前轮组件。
于本申请一实施例中，第一连接部的前端为竖直向下的装配管，前轮组件装配在装配管上以使得前轮绕装配管轴线转动。
于本申请一实施例中，前部机架的后端两侧均设有U形凹槽，后部机架的前端包括两个方管，方管插入凹槽内以固定前部机架与后部机架。
于本申请一实施例中，前部机架后端两侧均设有两个第一夹板，两个第一夹板的底面设有第二夹板，第一夹板与第二夹板围成凹槽；第一夹板、方管的侧壁对应位置均设有第一通孔，连接螺栓贯穿第一通孔连接固定前部机架与后部机架。
于本申请一实施例中，割台安装于机架底部，割台与前轮的最小距离为10～60mm。
于本申请一实施例中，割台安装于机架底部，割台与后轮的最小距离为10～60mm。
于本申请一实施例中，割草机还包括有电池，机架上设置有第一安放区，电池固定在第一安装区内。
于本申请一实施例中，第一安放区设有若干第一安装孔，不同规格电池匹 配不同第一安装孔。
本申请还提供一种园林工具，包括机架；行走机构，行走机构安装在机架上，行走机构包括前轮组件、后轮组件、驱动机构；电池，电池安装在机架上，电池为割草机提供电能；工作部，工作部安装于机架上；其中，机架包括有前部机架、后部机架，前部机架与后部机架可拆卸固定连接，前部机架安装有前轮组件，后部机架安装有后轮组件。
本申请一割草机实施例中，割草机包括，机架、行走机构、电池、割台组件，行走机构安装在机架上，电池为割草机提供电能，割台组件安装在机架上，割台组件包括有割台、切割部、切割挡板，割台安装在割草机机架上；设置于割台上，切割部包括切割电机、以及切割电机驱动的切割刀；切割挡板可拆卸固定于割台底部，切割挡板围成有刀具容纳腔，切割刀设置于刀具容纳腔内。
于本申请一实施例中，切割挡板包括边缘挡板、中部挡板，边缘挡板连成的容纳腔一侧设有排草口，排草口设置于割台前进方向的侧面或后侧，通过侧排的方式可以避免排出的草飞溅到工作人员身上，对工作人员造成影响。
于本申请一实施例中，中部挡板设置于边缘挡板围成区域内，中部挡板与边缘挡板围成若干容纳腔，容纳腔内均设置有切割刀。
于本申请一实施例中，切割刀设置有三个，三个切割刀呈三角形排布。
于本申请一实施例中，排草口处设有排草罩，排草罩开口由割台内向割台外方向变大，便于碎草排出，避免碎草堆积。
于本申请一实施例中，切割电机贯穿割台，切割电机与割台接触处的割台设有若干通风孔，通风孔内气流通过时，会带走切割电机周边的热量，避免切割电机与割台接触位置密闭造成热量堆积的问题出现，提高切割电机的散热效果。
于本申请一实施例中，割台前端设有滚轮。
于本申请一实施例中，靠近所述割草机前轮的所述切割挡板离地高度大于靠近所述割草机后轮的所述切割挡板离地高度。
于本申请一实施例中，切割刀上设有推草部，推草部设置于切割刀切割方向的背侧，切割刀转动的后侧边缘进行向下弯折形成推草部，由此形成切割刀前端对草进行切割，后侧推草部将切割后的草带离，实现切割后草的定向排放。
本申请还提供一种割草机用割台组件，包括割台、切割部、切割挡板；割台安装在割草机机架上；切割部设置于割台上，切割部包括切割电机、以及切割电机驱动的切割刀；切割挡板可拆卸固定于割台底部，切割挡板围成有刀具容纳腔，切割刀设置于刀具容纳腔内。
本发明一割草机实施例中，割草机包括：机架、供电装置、割台组件、刹车释放机构和至少两个电机。至少两个电机设置在机架上；割台组件设置在所述机架上；供电装置设置在机架上，并与割台组件和至少两个电机相电连；刹车释放机构设置在机架上，刹车释放机构与至少两个电机上的刹车机构相连接，以同时操作位于至少两个电机上的刹车机构。
其中，刹车释放机构包括连接座、拉杆和至少两个牵拉件。拉杆包括连接套，拉杆通过连接套套装在连接座上；并且，连接套通过至少两个牵拉件分别与至少两个电机上的刹车机构相连接。
在本发明一示例中，拉杆转动带动连接套旋转，驱使连接于连接套上的牵拉件移动，以同时牵引至少两个电机上刹车机构的释放开启或复位关闭。
在本发明一示例中，牵拉件为弹性复位件。
在本发明一示例中，拉杆转过释放位置处时，至少两个弹性复位件拉伸，以驱使至少两个电机上的刹车机构释放开启，并使连接套在释放位置处受力平衡；拉杆沿相反方向转过释放位置时，至少两个弹性复位件收缩复位，以带动连接套复位移动，并使至少两个电机上的刹车机构同时复位关闭。
在本发明一示例中，至少两个电机中心对称的设置在连接套的周向外侧。
在本发明一示例中，牵拉件在靠近连接套的一端设置第一限位结构，第一限位结构的形状与连接套相配。
在本发明一示例中，牵拉件的一端连接于连接套上的固定孔中，牵拉件的另一端通过螺纹连接于刹车机构上。
在本发明一示例中，连接座上设置有套轴，拉杆通过连接套套装在套轴上。
在本发明一示例中，连接套通过隔套套装在套轴上，隔套卡装在套轴的第二限位结构上。
在本发明一示例中，刹车机构为电磁刹车，电磁刹车上设有刹车释放板，刹车释放板与牵拉件相连。
本发明还提供一种园林工具，该园林工具包括：机架、工作组件、供电装置、刹车释放机构和至少两个电机；至少两个电机设置在机架上；工作组件设置在所述机架上；供电装置设置在机架上，并与工作组件和至少两个电机相电连；刹车释放机构设置在机架上，刹车释放机构与至少两个电机上的刹车机构相连接，以同时操作位于至少两个电机上的刹车机构。
其中，刹车释放机构包括连接座、拉杆和至少两个牵拉件。拉杆包括连接套，拉杆通过连接套套装在连接座上；并且，连接套通过至少两个牵拉件分别与至少两个电机上的刹车机构相连接。
本发明一种割草机实施例中，割草机包括：机架、行走轮、割台组件、割草电机及储物平台；行走轮安装于机架的底部；割台组件安装于机架上，割台组件上设置有割刀；割草电机与割刀连接以驱动割刀转动进行割草，割草电机安装于机架上；储物平台设置于机架上。所述割草机还包括：行走电机，行走电机驱动行走轮运动，从而实现割草机的行走。
割草机还包括：行走电机、电池组件以及控制器，行走电机驱动行走轮运动，从而实现割草机的行走；电池组件分别与割草电机、行走电机以及控制器电连接；控制器还分别与行走电机及割草电机电连接。
本发明割草机，通过在割草机上设置有储物平台，增加割草机在运行过程 中的载物能力，便于工作人员随机身配置辅助工具或者其他物品，从而降低了工作人员在割草过程中劳动付出，并增加了割草机使用过程中的便利度。
在本发明一实施方式中，储物腔的开口边缘上设置有垫块。垫块的作用是隔离储物腔的机壳及储物平台，割草机在割草的过程中会引起储物平台的震动，在储物平台与储物腔之间设置垫块能有效防止储物平台对储物腔边缘造成磨损。
在本发明一实施方式中，储物平台与垫块对应的位置处设置有凸台，凸台朝向垫块凸起。凸台与垫块能够有效增加储物腔的容纳高度，从而增加了储物腔的容纳空间。
在本发明一实施方式中，机架尾部上设置支撑架，储物平台转动安装于支撑架上；支撑架与储物平台之间设置有连接件，连接件的一端安装在支撑架上，连接件的另一端安装在储物平台上。支撑架上设置有销孔，储物平台上对应的设置有第一安装孔，将销栓穿过销孔及第一安装孔，实现储物平台与支撑架的转动连接。
在本发明一实施方式中，支撑架包括：支撑杆以及安装架。机架上设置有插槽，所述支撑杆插入所述插槽内，所述安装架设置于所述支撑杆的端部。所述支撑杆通过螺栓与安装架连接。安装架的一端连接支撑杆，安装架的另一端连接防翻滚杆。销孔设置于支撑杆上。
在本发明一实施方式中，支撑架上还设置有连接孔，储物平台上设置有第二安装孔，连接件的一端安装于连接孔上，连接件的另一端安装于第二安装孔上。连接件的主要作用是加强储物平台的承载能力，此外，连接件还有限位功能。
在本发明一实施方式中，连接件为绳索，绳索可以直接安装于连接孔及第二安装孔内。但为了避免连接孔或者第二安装孔对绳索造成的磨损，连接孔内及第二安装孔内分别安装销栓或者螺栓，绳索的端部设置有环扣，环扣安装销栓或者螺栓上，从而能够有效降低绳索受到的磨损。
在本发明一实施方式中，储物平台上设置有翻边，翻边位于储物平台的后 边缘上，翻边能够有效增加储物平台的强度以及储物平台的承载能力。
在本发明一实施方式中，储物平台上设置有若干个摩擦凸起。每一摩擦凸起中部设置有通孔，设置通孔主要有两个作用：首先能够有效减轻置物板的重量，其次通孔能够起到通风的作用以便于维持储物腔内部的干燥度。
在本发明一实施方式中，机壳上设置有操作台，操作台上设置有操控键，操控键用于实现对割草机的操控，例如操控割草机的速度、灯光等。操作台上还设置有显示屏。显示屏呈倾斜设置。
在本发明一实施方式中，行走轮包括前轮组件及后轮组件，前轮组件为万向轮，后轮组件由行走电机驱动。前轮组件的半径小于所述后轮组件的半径。后轮组件的半径较大能够保证割草机具备足够的马力。
在本发明一实施方式中，割台组件的出草口处设置有排草罩，排草罩的两侧边上设置有朝下弯折的翻边。排草罩的作用是疏导出草口的碎草屑，同时排草罩两侧的翻边能够有效防止碎草屑在导出过程中飞扬。
在本发明一实施方式中，排草罩转动安装于机架上，机架与排草罩之间设置有扭簧。碎草屑带有水分，很容易粘在排草罩的内侧，当需要对排草罩的内侧进行清理时，将排草罩翻转过来清理即可。清理完毕后，排草罩在扭簧的作用下复位。
在本发明一实施方式中，排草罩通过两个安装板安装于机架上。两个安装板之间设置有若干个螺栓，排草罩位于两个安装板之间，两个安装板转动安装于机架上，两个安装板固定于两个安装板之间。
在本发明一实施方式中，所述割草机为站立式割草机，储物平台设置于机架的中部，储物平台上设置有连接板，连接板与机架连接。连接板能够有效增加储物平台的牢固性。
在本发明一实施方式中，储物平台的上设置有三条翻边。三条翻边将储物平台围成一个一边开口的框体，便于置物，同时能够增加储物平台的强度。储物平台上设置有摩擦凸起，摩擦凸起朝上凸起，摩擦凸起中设置有通孔。通孔 能够减轻整个储物平台的重量，并且利于储物平台下方的电气设备(例如电机、控制板、电池等)的散热。
本发明一割草机实施例中，割草机包括：机身、切割系统、行走系统、操控系统以及显示系统；其中，切割系统安装于机身上，包括至少一个用于割草的刀具及刀具驱动装置；行走系统安装于机身上，包括用于使割草机发生运动的行走轮及行走轮驱动装置；操控系统安装于机身上，包括用于操控割草机的操作装置，操作装置上设置有调速键；显示系统设置于机身上，包括用于显示行走速度与切割速度的标识信息，标识信息包括：调速标识；通过调速键或者调速标识能够设定行走速度或切割速度。
在本发明一实施方式中，割草机还包括：记录系统、供能系统及监控系统；记录系统包括用于记录割草机的故障信息及对应的故障处理措施、警示信息以及阶段割草信息的存储器；供能系统包括至少一个电池包；监控系统用于监控切割系统、行走系统、操控系统、记录系统以及供能系统有关的状态。
在本发明一实施方式中，显示系统还用于显示外设工具状态。外设工具状态包括外设工具的开启或关闭。割草机还包括用于连接外设工具的接口；监控系统还用于在检测到外设工具后控制是否启用外设工具。
在本发明一实施方式中，操控系统还包括用于操控割草行走系统的操纵杆。操纵杆转动安装于机身上，操纵杆的旋转角度与行走速度正相关。调速键设置于操纵杆的端部。通过操控操纵杆能够割草机行走速度及行走转动角度。
在本发明一实施方式中，操控系统包括两个操纵杆，每一操纵杆上分别设置有调速键，调速键安装于对应的操纵杆的端部
在本发明一实施方式中，还包括通信系统，监控系统分别与通信系统及显示系统电连接。
一种显示系统，包括显示屏，显示屏设置于机身上，显示屏用于显示行走速度与作业速度的标识信息，标识信息包括：调速标识；通过调速标识能够设定机身的行走速度或作业速度。
在本发明一实施方式中，显示屏包括状态显示区及作业显示区，状态显示区用于显示状态信息，作业显示区用于显示作业信息；作业信息包括标识信息。
在本发明一实施方式中，状态信息包括：操作者的在位状态、电磁刹车的吸合与释放状态、当前时区的时间、蜂窝网信号状态、远程控制状态、照明设备状态、报警灯状态以及项目名称的至少一个。项目名称可以为作业信息中某一项信息的名称。例如项目名称可以为灯光、设置、阶段作业信息等。
在本发明一实施方式中，作业信息包括故障提示，故障提示包括故障信息及对应的故障处理措施，故障信息包括故障代码以及对应的故障明细。
在本发明一实施方式中，作业信息还包括阶段作业信息，阶段作业信息包括：作业面积、作业时长以及平均时速。
在本发明一实施方式中，作业信息还包括暂停提示信息，暂停提示信息包括暂停时长。
本发明还提供一种园林工具，园林工具包括：机身、作业系统、行走系统、操控系统以及显示系统；其中，作业系统安装于机身上，包括至少一个用于作业的工具及工具驱动装置；行走系统安装于机身上，包括用于使园林工具发生运动的行走轮及行走轮驱动装置；操控系统安装于机身上，包括用于操控园林工具的操作装置，操作装置上设置有调速键；显示系统设置于机身上，包括用于显示行走速度与作业速度的标识信息，标识信息包括：调速标识；通过调速键或者调速标识能够设定行走速度或作业速度。
本发明一割草机实施例中，割草机包括：机身、行走轮、割台、切割电机、控制器以及灯组，其中，机身包括机架；行走轮转动安装于机架上；割台设置于机架上，割台上设置有割刀；切割电机设置于机架上，并与割刀连接；控制器设置于机身内部并与切割电机电连接；灯组设置于机身上，并与控制器电连接，且在控制器的控制下按照预设的发光方式被点亮，灯组具有至少一种发光方式，灯组的发光方式与割草机的状态相对应。例如，灯组的发光方式不同对应的割草机状态不同，在某一实施方式中，灯组的发光方式与割草机的状态一 一对应。
割草机还包括：功能组件以及操控组件。其中，供能组件包括电池包，以对割草机提供能源。操控组件包括操控面板以及设置于操控面板上的操控键，以实现对割草机的操控。割草机还包括行走电机，行走电机驱动行走轮滚动以使割草机能够按照操控方式进行移动。
在本发明一实施方式中，灯组包括：前照灯、侧照灯、顶灯或者尾灯的至少一种。
在本发明一实施方式中，前照灯、侧照灯或者顶灯为白光灯。前照灯、侧照灯或者顶灯包括灯罩以及设置于灯罩内部的灯珠，前照灯、侧照灯或者顶灯的灯罩与灯珠配合对外发出白色灯光。例如灯珠为白色灯珠，灯罩为透明灯罩。
在本发明一实施方式中，尾灯为红光灯；尾灯包括尾灯灯罩以及设置于尾灯灯罩内部的尾灯灯珠，尾灯灯罩与尾灯灯珠配合对外发出红色灯光。例如尾灯灯罩为红色灯罩，尾灯灯珠为白色或者红色灯珠。
在本发明一实施方式中，割草机为站立式割草机，前照灯设置于机身前侧；侧照灯设置于机身的前侧的左右两个方位；顶灯设置于机身的顶部；尾灯设置于机壳尾部的左右两个方位。
在本发明一实施方式中，割草机的状态包括：充电状态、充电完成状态、低电量状态、开灯状态或关灯状态。
在本发明一实施方式中，割草机的状态还包括若干个故障状态。故障状态包括故障设备以及故障个数。例如：右驱动控制器有两个故障、左割刀控制器有两个故障等。
本发明还提供一种灯光指示系统，包括：控制器及灯组；其中，灯组与控制器电连接，且在控制器的控制下按照预设的发光方式被点亮，所述灯组具有至少一种发光方式，所述灯组的发光方式与设备的状态相对应；灯光指示系统安装于设备上。
本发明还提供一种园林工具，包括：机身、行走轮、工作组件、工作电机、 控制器及灯组；其中，机身包括机架；行走轮转动安装于机架上；工作组件设置于机架上；工作电机设置于机架上，并与工作组件连接；控制器设置于机身内部并与工作电机电连接；灯组设置于机身上，并与控制器电连接，且在控制器的控制下按照预设的发光方式被点亮，所述灯组具有至少一种发光方式，所述灯组的发光方式与所述园林工具的状态相对应。
园林工具还包括：功能组件以及操控组件。其中，供能组件包括电池包，以对园林工具提供能源。操控组件包括操控面板以及设置于操控面板上的操控键，以实现对园林工具的操控。园林工具还包括行走电机，行走电机驱动行走轮滚动以使园林工具能够按照操控方式进行移动。
本发明提供一种作业设备系统，包括：
RTK基站；以及
作业设备，所述作业设备包括：
定位装置，所述定位装置与所述RTK基站通信，并实时采集所述作业设备的定位坐标；
控制装置，所述控制装置与RTK基站通信，所述控制装置根据所述定位装置对工作区域采集并修正的定位坐标数据和来自所述RTK基站的基站坐标数据生成所述工作区域的标定地图；
储存装置，配置为存储所述RTK基站的基站坐标以及所述控制装置发送的标定地图；
其中，当所述作业设备对所述工作区域进行工作时，所述控制装置将所述标定地图中的RTK基站坐标和当前所述RTK基站的RTK基站坐标进行比较，如果比较所得的偏差值小于预设值则对所述标定地图进行相应偏移、并生成新地图供使用，如果比较所得的所述偏差值大于所述预设值则报警所述RTK基站位置异常。
在本发明的一个较佳实施例中，当所述作业设备对所述工作区域进行地图标定时，所述定位装置应用来自所述RTK基站的差分数据修正所述作业设备的定位坐标数据，并将修正的定位坐标数据发送给所述控制装置，所述控制装置应用所述修正的定位坐标数据和来自所述RTK基站的基站坐标数据生成所述工作区域的标定地图，并将所述标定地图发送给储存装置进行储存。
在本发明的一个较佳实施例中，所述RTK基站为便携式RTK基站。
在本发明的一个较佳实施例中，所述作业设备为割草机。
在本发明的一个较佳实施例中，所述控制装置和所述定位装置通过通讯装置与所述RTK基站进行通信。
在本发明的一个较佳实施例中，所述通讯装置接收来自所述RTK基站的所述差分数据和所述RTK基站坐标数据，并将所述差分数据发送给所述定位装置、以及将所述RTK基站坐标数据发送给所述控制装置。
在本发明的一个较佳实施例中，所述通讯装置包括安装在所述割草机上的电台装置。
在本发明的一个较佳实施例中，所述定位装置为卫星定位移动站。
在本发明的一个较佳实施例中，所述割草机进一步包括终端控制装置，其可以接收所述割草机反馈的状态信息，并发送相应的控制指令给所述割草机。
在本发明的一个较佳实施例中，所述状态信息包括所述割草机的定位状态信息和报警信息。
在本发明的一个较佳实施例中，所述定位状态信息包括高精度定位状态信息和非高精度定位状态信息，所述高精度定位状态信息指示所述割草机处于厘米级定位状态。
在本发明的一个较佳实施例中，所述报警信息是指所述割草机的故障状 态信息，包括割刀电流过流、行走电机过流、控制温度过高、以及其它故障信息。
在本发明的一个较佳实施例中，当所述终端控制装置接收到的所述定位状态信息为所述高精度定位状态信息时，所述终端控制装置发送相应的执行指令给所述割草机，所述执行指令可包括继续当前状态的指令、标定地图的指令、标定非工作区域的指令、增加非工作区域的指令、地图边界标定完成的指令、非工作区域标定完成指令、以及其它指令。
在本发明的一个较佳实施例中，当所述终端控制装置接收到的所述定位状态信息为所述非高精度定位状态信息时，所述终端控制装置发送停机指令给所述割草机。
在本发明的一个较佳实施例中，当所述终端控制装置接收到所述报警信息时，所述终端控制装置显示所述报警信息，通知操作员，由操作员通过所述终端控制装置发送相应的处理指令给所述割草机。
在本发明的一个较佳实施例中，所述终端控制装置为手持式终端装置。
在本发明的一个较佳实施例中，所述定位装置包括安装在所述割草机上的卫星定位接收天线。
在本发明的一个较佳实施例中，所述通讯装置包括安装在所述割草机上的无线天线。
在本发明的一个较佳实施例中，所述通讯装置还包括蓝牙装置，用于与所述终端控制装置进行无线通信。
在本发明的一个较佳实施例中，所述通讯装置进一步包括4G-GPS模块，可以将所述控制装置的信息上传到服务器，然后所述服务器可以将所述控制装置的信息发送到所述终端控制装置,并且所述终端控制装置的指令也可以通过移动网络发送到所述服务器、再进一步发送到所述控制装置。
在本发明的一个较佳实施例中，所述控制装置包括地图生成及管理模块、轨迹规划模块及割草作业控制模块。
在本发明的一个较佳实施例中，当所述割草机测绘所述定标地图时，所述割草机沿所述工作区域边界行驶，所述定位装置实时采集所述割草机的定位坐标，所述控制装置实时监控所述割草机是否处于高精度定位状态，如果不在所述高精度定位状态则反馈定位系统异常到所述终端控制装置；如果一直处于所述高精度定位状态则持续记录所述割草机的定位坐标，直至所述终端控制装置发送地图边界标定完成指令，根据从开始标定到结束标定指令之间收到的所述割草机的定位坐标生成并储存所述工作区域的标定地图，同时对应储存所述RTK基站发出的所述RTK基站坐标。
在本发明的一个较佳实施例中，当完成所述标定地图后，所述终端控制装置可进一步向所述割草机发送非工作区域标定指令，所述割草机沿所述非工作区域边界行驶，所述定位装置实时采集所述割草机的定位坐标；所述控制装置实时监控所述割草机是否处于所述高精度定位状态，如果不在所述高精度定位状态则反馈定位系统异常到所述终端控制装置，如果一直处于所述高精度定位状态则持续记录所述割草机的定位坐标，直至所述终端控制装置向所述割草机发送非工作区域标定完成指令；所述控制装置接着将所述非工作区域的标定地图与所述工作区域的标定地图进行比较，以校验所述非工作区域是否在所述工作区域的边界内；然后根据从开始标定到结束标定指令之间收到的所述割草机的定位坐标生成并储存所述非工作区域的标定地图，同时对应储存所述RTK基站发出的RTK基站坐标。
在本发明的一个较佳实施例中，所述工作区域的所述标定地图以及所述非工作区域的所述标定地图可以储存在所述控制装置、所述终端控制装置、或者可与所述割草机及所述终端控制装置通信的服务器上。
在本发明的一个较佳实施例中，当对所述割草区域的所述标定地图进行 相应偏移时，所述标定地图先被所述储存装置调用、并发送给所述控制装置的地图生成及管理模块，所述地图生成及管理模块计算所述标定地图中的RTK基站坐标与当前所述RTK基站的RTK基站坐标的差值，然后将所述标定地图内的所有点的坐标加上计算出的所述差值，从而生成偏移后的所述新地图，所述割草机即可根据所述新地图来进行割草作业。
在本发明的一个较佳实施例中，所述预设值为1.5m。
本发明进一步提供一种作业设备系统的控制方法，所述作业设备系统包括RTK基站以及作业设备，所述方法包括：
获取原始RTK基站坐标；
控制所述作业设备沿工作区域边界采集定位坐标数据，根据采集到的所述定位坐标数据和所述原始RTK基站坐标数据生成所述工作区域的标定地图；
存储所述标定地图及所述原始RTK基站坐标；以及
所述作业设备对所述工作区域进行作业时，调用所述标定地图；
其中，调用所述标定地图时，
获取当前RTK基站坐标；
比较所述原始RTK基站坐标和所述当前RTK基站坐标，如果比较所得的偏差值小于预设值则对所述标定地图进行相应偏移、并生成新地图供作业使用，如果比较所得的所述偏差值大于所述预设值则报警所述RTK基站位置异常。
本发明一割草机实施例中，割草机包括驱动电机，驱动电机包括电机壳和驱动电机绕组，所述驱动电机绕组安装在所述电机壳内；所述电机壳上设置有至少一个增强连接体，所述电机壳和所述增强连接体分别由不同的材料制成，且所述增强连接体的材质强度大于所述电机壳的材质强度，所述增强连接体上设置有用于与减速器螺纹连接的螺纹孔。
在本申请驱动电机一实施例中，所述增强连接体可拆卸固定在所述电机壳上。
在本申请驱动电机一实施例中，所述增强连接体内嵌铸造在所述电机壳内。
在本申请驱动电机一实施例中，所述电机壳上设置有一个所述增强连接体，所述增强连接体上设置有至少两个用于与减速器连接件螺纹连接的螺纹孔。
在本申请驱动电机一实施例中，所述电机壳上设置有至少两个增强连接体，每一所述增强连接体上均设置有用于与减速器连接件螺纹连接的螺纹孔。
在本申请驱动电机一实施例中，所述增强连接体与所述电机壳之间设置有第一周向止动结构。
在本申请驱动电机一实施例中，所述第一周向止动结构包括若干第一凸部和与所述若干第一凸部相对应匹配的若干第一凹部，所述若干第一凸部设置在所述增强连接体和/或所述电机壳中一个上，所述若干第一凹部对应设置在所述增强连接体和/或所述电机壳中的另一个上。
本申请还提供一种驱动装置，用于驱动行走轮行走，所述驱动装置包括：驱动电机和减速器。所述驱动电机包括电机壳和第一扭矩输出端；所述减速器包括固定座、扭矩输入端和第二扭矩输出端；其中，所述电机壳上固定设置有至少一个增强连接体，所述电机壳和所述增强连接体分别由不同的材料制成，且所述增强连接体的材质强度大于所述电机壳的材质强度；所述增强连接体上设置有螺纹孔；所述减速器的固定座通过若干连接件与同一或不同增强连接体上的所述螺纹孔螺纹连接，所述第一扭矩输出端驱动所述扭矩输入端转动，所述扭矩输入端带动所述第二扭矩输出端转动，所述第二扭矩输出端与行走轮同轴连接。
在本申请驱动装置一实施例中，所述增强连接体可拆卸固定在所述电机壳上。
在本申请驱动装置一实施例中，所述增强连接体内嵌铸造在所述电机壳内。
在本申请驱动装置一实施例中，所述电机壳上设置有一个所述增强连接体，所述固定座通过至少两个连接件与所述增强连接体螺纹连接，所述连接件穿过所述固定座上的螺栓孔与所述增强连接体螺纹连接。
在本申请驱动装置一实施例中，所述电机壳上设置有至少两个增强连接体，所述固定座通过至少两个连接件分别与对应的所述增强连接体螺纹连接。
在本申请驱动装置一实施例中，所述增强连接体与所述电机壳之间设置有第一周向止动结构。
在本申请驱动装置一实施例中，所述第一周向止动结构包括若干第一凸部和与所述若干第一凸部相对应匹配的若干第一凹部，所述若干第一凸部设置在所述增强连接体和/或所述电机壳中一个上，所述若干第一凹部对应设置在所述增强连接体和/或所述电机壳中的另一个上。
在本申请驱动装置一实施例中，所述固定座与所述增强连接体之间设置有第二周向止动结构。
在本申请驱动装置一实施例中，所述第二周向止动结构包括若干第二凸起和与所述若干第二凸起相对应匹配的若干第二凹槽，所述若干第二凸起设置在所述增强连接体和/或所述固定座中一个上，所述若干第二凹槽对应设置在所述增强连接体和/或所述固定座中的另一个上。
在本申请驱动装置一实施例中，所述减速器为行星齿轮减速器。
本申请还提供一种园林行走设备，包括：机架、用于带动所述机架行走的行走轮、用于进行园林作业的割台组件、以及驱动装置，所述驱动装置包括：驱动电机和减速器。所述驱动电机包括电机壳和第一扭矩输出端；所述减速器包括固定座、扭矩输入端和第二扭矩输出端；其中，所述电机壳上固定设置有至少一个用于连接的增强连接体，所述电机壳和所述增强连接体分别由不同的 材料制成，且所述增强连接体的材质强度大于所述电机壳的材质强度；所述增强连接体上设置有螺纹孔；所述减速器的固定座通过若干连接件与同一或不同增强连接体上的所述螺纹孔螺纹连接，所述第一扭矩输出端驱动所述扭矩输入端转动，所述扭矩输入端带动所述第二扭矩输出端转动，所述第二扭矩输出端与行走轮同轴连接。
本申请一割草机实施例中，割草机包括割台组件，割台组件包括割台、电机控制器及多个切割电机，其中，电机控制器和切割电机均安装在割台上，且多个切割电机均与电机控制器电连接，并由电机控制器集中控制每一切割电机的转动。
本申请一割台组件实施例中，割台上设有用于安装电机控制器的控制器容置腔，该控制器容置腔的底部为开孔结构，电机控制器的至少部分下表面暴露于开孔结构中。
本申请一割台组件实施例中，控制器容置腔上设有控制器防护罩，所述控制器防护罩与所述控制器容置腔的连接处设有进风口。
本申请一割台组件实施例中，电机控制器的底部设有若干散热片，若干散热片沿电机控制器的下表面间隔设置。
本申请一割台组件实施例中，割台上设有用于安装电机控制器的控制器容置腔，电机控制器安装在控制器容置腔内，电机控制器的上表面不高于割台的上表面。
本申请一割台组件实施例中，割台上设有贯穿割台的电机安装孔，切割电机穿过电机安装孔并通过端部的法兰固定在割台上。
本申请一割台组件实施例中，切割电机包括电机端盖、电机壳体、电机转子和电机定子，电机端盖与电机壳体扣合形成电机腔体，电机转子和电机定子安装在电机腔体内。
本申请一割台组件实施例中，电机壳体包括依次连通的连接法兰、第一壳体和第二壳体，连接法兰的外径大于电机安装孔的孔径，第一壳体和第二壳体 的外径小于或等于电机安装孔的孔径。
本申请一割台组件实施例中，电机端盖内设有第一轴承安装座，第一轴承安装座与电机转子的第一轴承相匹配，第二壳体内设有第二轴承安装座，第二轴承安装座与电机转子的第二轴承相匹配。
本申请一割台组件实施例中，第一壳体与第二壳体的连接处沿径向向内凸起形成定子支撑台阶，电机定子设置在定子支撑台阶上。
本申请一割台组件实施例中，连接法兰包括多个第一连接部和多个第二连接部，第一连接部沿径向凸出于第二连接部，多个第一连接段与多个第二连接部间隔设置并沿第一壳体的周向依次相连形成连接法兰；第一连接部用于与电机端盖和割台连接。
本申请一割台组件实施例中，电机端盖包括端盖本体和端盖法兰，端盖法兰与连接法兰相匹配，端盖法兰对应第二连接部的位置向下凹陷并与第二连接部形成一台阶，割台对应台阶的位置设有通风孔。
本申请一割台组件实施例中，台阶的高度为10～12mm。
本申请一割台组件实施例中，电机壳体的外表面设有若干加强筋。
本申请的另一方面提供一种割草机，包括机架、与机架连接的行走组件、安装在机架上的电池、安装在机架上并由电池供电的割台组件及安装在割台组件上的切割刀组件；割台组件包括：割台、电机控制器及多个切割电机，电机控制器和切割电机均安装在割台上，且多个切割电机均与电机控制器电连接，并由电机控制器集中控制每一切割电机转动；切割刀组件包括多个切割刀，多个切割刀对应安装在多个切割电机的输出轴上。
本申请一割草机实施例中，割草机包括行走驱动机构，该行走驱动机构包括：驱动电机、减速器和密封结构。
其中，减速器与所述驱动电机同轴连接；密封结构设置在所述驱动电机和所述减速器的连接位置，并在所述驱动电机和所述减速器之间形成密封配合。
在本发明一示例中，所述密封结构包括第一密封件，所述第一密封件同轴 套装在所述驱动电机和/或所述减速器上。
在本发明一示例中，所述第一密封件为第一密封圈，所述第一密封圈上设置有第一弹性结构，所述第一弹性结构沿周向设在所述密封圈朝向所述减速器的一面上，所述第一弹性结构过盈抵触在所述减速器的端面上，并与所述端面摩擦配合形成密封。
在本发明一示例中，所述密封结构还包括第二密封件，所述第二密封件同轴设置在所述减速器上，所述第二密封件在所述连接位置处的一径向平面与所述第一密封件相对设置。
在本发明一示例中，所述第一密封件为第二密封圈，所述第二密封圈沿周向外缘设置有第二弹性结构，所述第二密封件沿周向设置有唇边，所述唇边位于所述第二密封圈的周向外侧，所述第二弹性结构沿周向过盈抵触在所述唇边内壁上，并与所述唇边摩擦配合形成密封。
在本发明一示例中，所述第一密封件上设置有第一台面，所述第二密封件上设置有第二台面，所述第一台面和第二台面在所述径向平面处相对设置，所述第一台面和第二台面之间留有间隙。
在本发明一示例中，所述间隙距离为1至3mm。
在本发明一示例中，所述第二密封件沿所述第一台面的周向外缘设置第一翻边，所述第一密封件的周向外缘与所述第一翻边相对配合形成密封。
在本发明一示例中，所述第一密封件沿所述第二台面的周向内缘设置第二翻边，所述第二翻边朝向所述减速器一侧延伸，所述第一台面上设置有与所述第二翻边配合的密封凹槽，所述第二翻边嵌入所述密封凹槽中，所述第二翻边与所述密封凹槽配合形成密封。
本发明还提供一种园林工具，该园林工具包括：机身、行走轮、驱动电机、动力电池、减速器和密封结构。
其中，行走轮设在所述机身两侧；驱动电机与所述机身固定连接；动力电池与所述驱动电机电连接；减速器一端与所述驱动电机同轴连接，所述减速器 另一端与所述行走轮同轴连接；密封结构设置在所述驱动电机和所述减速器的连接位置，并在所述驱动电机和所述减速器之间形成密封配合。
本发明提供一种割草机的控制方法，割草机上设置有第一传感器，所述第一传感器被配置为检测操纵者是否站立在所述割草机的脚踏板上，所述控制方法包括：
获取控制信号；
根据获取到的所述控制信号，判断是否满足行进模式的触发条件；
若满足行进模式的触发条件，则控制割草机运行对应的行进模式。
于本申请一示例性实施例中，所述行进模式包括第一行进模式，所述控制信号包括第一信号，所述第一信号被配置为在操纵者到达驾乘位置时和/或进行模式选择时生成；根据获取到的所述控制信号，判断是否满足行进模式的触发条件包括：若获取所述第一信号，则判断满足第一行进模式的触发条件。
于本申请一示例性实施例中，所述行进模式包括第二行进模式，所述控制信号包括第二信号，所述第二信号被配置为在操纵者到达推行位置时和/或在进行模式选择时生成；根据获取到的所述控制信号，判断是否满足行进模式的触发条件包括：若获取到所述第二信号或未获取到所述第一信号，则判断满足第二行进模式的触发条件。
于本申请一示例性实施例中，所述割草机运行第一行进模式时的最大前进速度大于所述割草机运行第二行进模式时的最大前进速度。
于本申请一示例性实施例中，所述割草机运行第一行进模式时的最大后退速度大于所述割草机运行第二行进模式时的最大后退速度。
于本申请一示例性实施例中，所述割草机运行第一行进模式时，前进速度设置有四挡，其中，一档，最大前进速度为3～5mph；二档，最大前进速度为5～8mph；三档，最大前进速度为9～11mph；四档，最大前进速度为13～15mph； 所述割草机运行第一行进模式时最大后退速度为3～5mph。
于本申请一示例性实施例中，所述割草机运行第二行进模式时，前进速度设置有三档，其中，一档，最大前进速度为1.75～2.75mph；二档，最大前进速度为2.75～3.25mph；三档，最大前进速度为3.5～4.5mph；所述割草机运行第二行进模式时最大后退速度为1.75～2.75mph。
于本申请一示例性实施例中，所述控制信号包括第三信号，所述第三信号被配置为操纵机构处于非驻车状态和/或进行模式选择时发出，根据获取到的所述控制信号，判断是否满足行进模式的触发条件包括：若获取所述第三信号，则判断满足进入或保持行进模式的触发条件。
于本申请一示例性实施例中，所述控制信号包括第四信号，所述第四信号被配置为操纵机构处于驻车状态和/或进行模式选择时发出，根据获取到的所述控制信号，判断是否满足行进模式的触发条件包括：若获取所述第四信号，则判断不满足进入或保持行进模式的触发条件。
于本申请一示例性实施例中，所述方法还包括：
获取割草电机的运行信号；
根据所述控制信号，判断是否满足所述割草电机的运行条件；
若满足割草电机的运行条件，则所述割草电机运行。
于本申请一示例性实施例中，所述控制信号包括第一信号，所述第一信号被配置为在操纵者到达驾乘位置时和/或进行模式选择时生成，根据所述控制信号，判断是否满足所述割草电机的运行条件包括：若接收到第一信号，则判断满足所述割草电机的运行条件。
于本申请一示例性实施例中，所述控制信号包括第三信号，所述第三信号被配置为操纵机构处于非驻车状态和/或进行模式选择时发出；根据所述控制信号，判断是否满足所述割草电机的运行条件包括：若接收到第三信号，则判断 满足所述割草电机的运行条件。
本申请还提供一种割草机的控制方法，所述割草机上设置有脚踏板，所述脚踏板至少具有第一位置和第二位置，所述控制方法包括：
获取所述脚踏板的位置；
判断所述脚踏板的位置，若所述脚踏板在第一位置，则判断满足第一行进模式的触发条件；若所述脚踏板在第二位置，则判断满足第二行进模式的触发条件。
本申请还提供一种割草机的控制方法，所述割草机上设置有第一传感器，所述第一传感器被配置为检测操纵者是否在割草机上，所述控制方法包括：
获取所述第一传感器的信号；
判断所述第一传感器的信号，若所述第一传感器为第一信号，则判断满足第一行进模式的触发条件；若所述第一传感器为第二信号，则判断满足第二行进模式的触发条件。
本申请还提供一种割草机，所述割草机包括：
机架；
割台组件，所述割台组件包括割草电机和割刀；
行走机构，所述行走机构包括驱动电机和行走轮；
第一传感器，所述第一传感器被配置为检测操纵者是否在割草机上，若所述操纵者在所述割草机上，则所述第一传感器为第一信号，所述割草机运行第一行进模式；若所述操纵者未在所述割草机上，则所述第一传感器为第二信号，所述割草机运行第二行进模式。
于本申请一示例性实施例中，所述割草机运行第一行进模式时，设置有四挡，其中，一档，前进时驱动电机最大转速为1150～1350rpm；二挡，前进时驱 动电机最大转速为2050～2250rpm；三档，前进时驱动电机最大转速为2950～3150rpm；四挡，前进时驱动电机最大转速为4150～4350rpm；所述割草机运行第一行进模式时，后退时驱动电机最大转速为1100～1300rpm。
于本申请一示例性实施例中，所述割草机运行第二行进模式时，设置有三档，其中，一档，前进时驱动电机最大转速为550～750rpm；二挡，前进时驱动电机最大转速为800～1000rpm；三档，前进时驱动电机最大转速为1150～1350rpm；所述割草机运行第二行进模式时，后退时驱动电机最大转速为550～750rpm。
于本申请一示例性实施例中，所述割草机包括操纵机构，所述操纵机构包括：操纵杆，所述操纵杆操纵所述割草机的驻车和行进；第二传感器，所述第二传感器被配置为检测所述操纵杆是否处于驻车状态，若所述操纵杆处于非驻车状态，则所述第二传感器为第三信号，所述割草机进入或保持行进模式；拖所述操纵杆处于驻车状态，则所述第三传感器为第四信号，所述割草机进入或保持驻车模式。
于本申请一示例性实施例中，所述割草电机的开关开启后，所述第二传感器为第三信号和/或所述第一传感器为第一信号时，所述割草电机启动；若所述第二传感器为第四信号且所述第一传感器为第二信号时，则所述割草电机不启动。
于本申请一示例性实施例中，所述割草机包括脚踏板，所述脚踏板转动安装在所述机架上，所述脚踏板初始状态时，所述第一传感器为第二信号，所述脚踏板受到超过预设阈值的外力使得所述脚踏板向地面转动至预设角度后，所述第一传感器为第一信号。
本申请提供一种脚踏装置，包括：脚踏板；复位架，复位架转动安装在脚踏板上；第一传感器，设置在复位架和/或脚踏板上，以在脚踏板相对于复位架转动至设定位置时发出在位信号；复位机构，复位机构设置在复位架与脚踏板之间，以在作用于脚踏板上的外力移除后使脚踏板回转，从而使所述第一传感 器解除在位信号。
于本申请一示例性实施例中，复位架和脚踏板之间设置有减震垫，减震垫设置于脚踏板相对于复位架转动至设定位置时，脚踏板与复位架抵接处。
于本申请一示例性实施例中，复位架上设置有第一限位部，脚踏板上设置有第二限位部，第一限位部与第二限位部配合，限制脚踏板与复位架间最大角度。
于本申请一示例性实施例中，第一限位部与第二限位部之间设置有缓冲垫。
于本申请一示例性实施例中，复位架与脚踏板转动连接处设置有注油嘴，注油嘴连通复位架与脚踏板相接触处。
于本申请一示例性实施例中，复位机构包括压簧，压簧的一端设置在脚踏板底部，压簧的另一端设置在复位架的顶部。
于本申请一示例性实施例中，压簧设置有3个，三个压簧呈等腰三角形分布。
本申请还提供一种园林工具，包括：机身，机身上设置有限位件；工作部，工作部设置于机身上；控制部，控制部控制工作部工作；脚踏装置，脚踏装置包括：脚踏板，脚踏板转动安装在机身上；复位架，复位架转动安装在脚踏板上，限位件限制复位架向远离脚踏板方向转动；第一传感器，设置在复位架和/或脚踏板上，以在脚踏板相对于复位架转动至设定位置时发出在位信号；复位机构，复位机构设置在复位架与脚踏板之间，以在作用于脚踏板上的外力移除后使脚踏板回转，从而使所述第一传感器解除在位信号。
于本申请一示例性实施例中，机身上设置有限位孔，脚踏装置上设置有插销，脚踏装置收起时，插销插入限位孔以限止脚踏装置转动。
于本申请一示例性实施例中，插销插入限位孔时，第一传感器解除在位信号。
本发明的有益效果在于：
本发明割草机的操纵机构，利用复位组件使操纵杆沿第一方向转动，使得操纵杆与限位组件配合，实现操纵杆与限位组件的解锁与锁止；当操纵杆带动操纵杆安装座沿第一方向摆动，使得操纵杆与限位组件解锁，此时，操纵杆可沿第二方向(割草机行走的前、后方向)转动，实现割草机的前、后行走；当割草机停止时，在复位组件的作用下，操纵杆自动复位至中位，限位组件插入操纵杆底部的限位孔，实现操纵杆与限位组件锁止。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明割草机于一实施例中的结构示意图；
图2为本发明操纵机构于一实施例中结构示意图；
图3为本发明操纵机构于一实施例中的局部结构示意图；
图4为本发明操纵机构于一实施例中的爆炸图；
图5为本发明操纵机构于一实施例中的操纵杆、弹性组件及角度传感器的配合安装示意图；
图6为本发明操纵机构于一实施例中操纵杆的结构示意图；
图7为本发明操纵机构于一实施例中操纵杆、压簧及限位组件的配合安装示意图；
图8为本发明操纵机构于一实施例中限位组件的结构示意图；
图9为图8的爆炸示意图；
图10为本发明操纵机构于一实施例中操纵杆与限位组件的配合安装示意图；
图11为本发明自动复位操纵机构于一实施例中第一操纵把手的结构示意图；
图12为本发明自动复位操纵机构于一实施例中第二操纵把手的结构示意图；
图13为本申请一示例性割草机轴侧示意图；
图14为本申请一示例性割草机主视图；
图15为本申请一示例性割草机结构示意图；
图16为本申请一示例性割草机立体示意图；
图17为本申请一示例性割草机俯视图；
图18为本申请一示例性割草机示意图；
图19为本申请一示例性割草机部分机构示意图；
图20为本申请一示例性割草机部分结构左视图；
图21为本申请一示例性割草机机架部分示意图；
图22为本申请一示例性割草机前部机架示意图；
图23为本申请一示例性割草机后部机架示意图；
图24为本申请一示例性割台组件示意图；
图25为本申请一示例性排草模式割台组件示意图；
图26为本申请以示例性割台组件部分结构示意图；
图27为本申请图18中A区域放大图；
图28为本申请图20中B区域放大图；
图29为本申请一示例性割草机仰视图；
图30为本申请一示例性靠垫角度示意图；
图31为本申请一示例性第一充电接口角度示意图；
图32为本申请一示例性显示屏角度示意图；
图33为本申请一示例性覆盖件尺寸示意图；
图34为本申请一示例性主要覆盖件高度示意图；
图35为本申请一示例性电池离地高度示意图；
图36为本申请一示例性操控装置结构示意图；
图37为本申请一示例性操控装置部分结构示意图；
图38为本申请一示例性储物仓处结构示意图；
图39为本申请一示例性储物仓处部分结构示意图；
图40为本申请一示例性固定管处结构示意图；
图41为本申请一示例性固定管处部分结构剖视图；
图42为本申请一示例性刹车释放机构结构示意图；
图43为本申请一示例性机架结构示意图；
图44为本申请一示例性前部机架结构示意图；
图45为本申请一示例性后部机架结构示意图；
图46为本申请另一示例性割草机示意图；
图47为本申请另一示例性机架结构示意图；
图48为本申请另一示例性前部机架结构示意图；
图49为本申请一示例性割台组件示意图；
图50为本申请一示例性割台组件仰视图；
图51为本申请一示例性割台组件结构示意图；
图52为本申请一示例性割台组件碎草模式结构示意图；
图53为本申请一示例性割台组件排草模式仰视图；
图54为本申请一示例性割台组件排草模式结构示意图；
图55为本申请一示例性割台结构示意图；
图56为本发明一实施例中割草机的三维视图。
图57为本发明一实施例中刹车释放机构在割草机中的结构示意图。
图58为本发明一实施例中刹车释放机构在预紧位置的结构示意图。
图59为本发明一实施例中刹车释放机构在中间位置的结构示意图。
图60为本发明一实施例中刹车释放机构在释放位置的结构示意图。
图61为本发明一实施例中刹车释放机构的爆炸视图。
图62为本发明一实施例中牵引件与拉杆处于释放位置时的一连接结构示意图。
图63为本发明一实施例中牵引件与拉杆处于释放位置时的一连接结构俯视图。
图64为本发明一实施方式中所示的割草机的储物平台的结构示意图；
图65为本发明一实施方式中割草机的结构框图；
图66为本发明一实施方式中显示屏的显示示意图；
图67为本发明一实施方式中外设工具状态的示意图；
图68为本发明一实施方式中照明设备状态以及报警灯状态；
图69为本发明一实施方式中设备参数的示意图；
图70为本发明一实施方式中设备使用时间的示意图；
图71为本发明一实施方式中屏幕亮度的示意图；
图72为本发明一实施方式中单位转换的示意图；
图73为本发明一实施方式中详细故障代码及故障处理措施建议的示意图；
图74为本发明一实施方式中阶段作业信息的示意图；
图75为本发明一实施方式中故障提示的示意图；
图76为本发明一实施方式中站立式割草机的结构示意图；
图77为本发明图76中7B区域的局部放大图；
图78为本发明一实施方式中站立式割草机的前视图；
图79为本发明一实施方式中站立式割草机的后视图；
图80为本发明割草机、终端控制装置和RTK基站的模块示意图。
图81为本发明割草机的工作原理框架示意图。
图82为本发明割草机进行草坪地图标定的示意图。
图83为本发明割草机生成割草区域的标定地图的流程图。
图84为本发明割草机调用生成的标定地图进行割草作业的流程图。
图85为本发明一实施例中割草机、终端控制装置和RTK基站的模块示意图。
图86为本申请驱动电机一实施例的三维视图；
图87为本申请驱动电机一实施例中电机壳与减速器固定座的连接爆炸图；
图88为本申请驱动电机一实施例中电机壳的三维视图；
图89为本申请驱动电机一实施例中增强连接体的三维视图；
图90为本申请驱动电机另一实施例中电机壳的三维剖视图；
图91为本申请驱动电机另一实施例中增强连接体的三维视图；
图92为本申请驱动电机再一实施例中电机壳的三维视图；
图93为图92中电机壳的剖面图；
图94为图92中电机壳中内嵌的增强连接体三维图；
图95本申请驱动电机又一实施例中电机壳的爆炸图；
图96为图95中电机壳采取压圈后的左视图；
图97为图96中11C-11C向剖视图；
图98为图95中增强连接体的三维图；
图99为本申请驱动装置一实施例与行走轮的连接爆炸图；
图100为本申请驱动装置一实施例的爆炸图；
图101为本申请驱动装置一实施例的剖视图；
图102为图101中的11B-11B向剖视图；
图103为图101中的11A-11A向剖视图；
图104为本发明割台组件于一实施例中的结构示意图；
图105为本发明割台组件于一实施例中局部结构示意图；
图106为本发明割台组件于一实施例中切割电机的结构示意图；
图107为本发明割台组件于一实施例另一角度的结构示意图；
图108为本发明割台组件于一实施例中控制器防护罩与割台的配合示意图；
图109为本发明割台组件于一实施例电机控制器的结构示意图；
图110为本发明割台组件于一实施例中切割电机的剖面结构示意图；
图111为本发明割台组件于一实施例中电机端盖的结构示意图；
图112为本发明割台组件于一实施例中电机壳体的结构示意图；
图113为本发明割台组件于一实施例中电机壳体另一角度的结构示意图；
图114为本发明割台组件于一实施例中电机转子的结构示意图；
图115为本发明割台组件于一实施例中电机定子的结构示意图；
图116为图105中区域13II的结构示意图；
图117为图105中区域13I的结构示意图；
图118为本发明割草机于一实施例中的结构示意图；
图119为本发明一实施例中行走驱动机构的结构示意图；
图120为本发明一实施例中行走驱动机构的爆炸结构示意图；
图121为本发明一实施例中第一密封圈结构示意图；
图122为本发明一实施例中行走驱动机构在电机和减速器结合处的剖面结构示意图；
图123为本发明另一实施例中行走驱动机构的爆炸结构示意图；
图124为本发明另一实施例中油封与第二密封圈的配合示意图；
图125为本发明另一实施例中第二密封圈的剖面结构示意图；
图126为本发明另一实施例中行走驱动机构在电机和减速器结合处的剖面结构示意图；
图127为本发明又一实施例中行走驱动机构的爆炸结构示意图；
图128为本发明又一实施例中行走驱动机构在电机和减速器结合处的剖面结构示意图；
图129为本发明再一实施例中行走驱动机构的爆炸结构示意图；
图130为本发明再一实施例中行走驱动机构在电机和减速器结合处的剖面结构示意图；
图131为本发明一实施例中园林工具的三维视图；
图132为本发明一实施例中园林工具中行走驱动装置与行走轮的连接结构示意图；
图133为本申请一示例性割草机控制方法的示意图；
图134为本申请一示例性割草机控制方法中根据第一信号判断割草机行进模式的示意图；
图135为本申请一示例性割草机控制方法中根据第三信号判断割草机是否进入行进模式的示意图；
图136为本申请一示例性割草电机运行的示意图；
图137为本申请另一示例性割草机控制方法的示意图；
图138为本申请再一示例性割草机控制方法的示意图；
图139为本申请一示例性割草机结构示意图；
图140为本申请一示例性割草机另一角度结构示意图；
图141为本申请一示例性脚踏装置未收起时部分结构示意图；
图142为本申请一示例性脚踏装置收起时部分结构示意图；
图143为本申请一示例性脚踏装置示意图；
图144为本申请一示例性脚踏装置部分结构示意图；
图145为本申请一示例性脚踏信号开关接合状态时示意图；
图146为本申请一示例性操纵信号开关分离状态时示意图；
图147为本申请一示例性操纵信号开关接合状态时示意图；
图148为本申请一示例性操纵信号开关分离状态时操纵杆处部分示意图；
图149为本申请一示例性操纵信号开关接合状态时操纵杆处部分示意图；
图150为本申请一示例性脚踏装置结构示意图；
图151为申请一示例性脚踏装置另一角度结构示意图；
图152为本申请一示例性脚踏装置仰视图；
图153为本申请一示例性脚踏装置主视图；
图154为本申请一示例性脚踏装置部分结构示意图；
图155为本申请一示例性脚踏装置部分结构另一角度示意图；
图156为本申请一示例性割草机示意图；
图157为本申请一示例性割草机另一角度示意图；
图158为本申请一示例性割草机后视图。
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其它优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。还应当理解，本发明实施例中使用的术语是为了描述特定的具体实施方案，而不是为了限制本发明的保护范围。下列实施例中未注明具体条件的试验方法，通常按照常规条件，或者按照各制造商所建议的条件。
当实施例给出数值范围时，应理解，除非本发明另有说明，每个数值范围的两个端点以及两个端点之间任何一个数值均可选用。除非另外定义，本发明中使用的所有技术和科学术语与本技术领域的技术人员对现有技术的掌握及本发明的记载，还可以使用与本发明实施例中所述的方法、设备、材料相似或等同的现有技术的任何方法、设备和材料来实现本发明。
须知，本说明书中所引用的如“上”、“下”、“左”、“右”、“中间”及“一”等的用语，亦仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。
实施例1：请参阅图1至图12，本发明提供一种割草机，可改善割草机操纵机构结构复杂、无法自动复位、操作不便的问题。
请参阅图1，本发明的割草机1包括操纵机构2310、机架100、行走组件及割台组件300，其中，机架100为割草机1的主体部分，用于安装割草机的其他结构，行走组件安装在机架100上，用于驱动割草机1的行走，行走组件包括安装在机架100两侧的行走轮201及行走轮201的驱动电机(图中未示出)，割台组件300包括割台310和切割部320，割台310安装在机架100上，本实施例中，割台310安装在机架100的底部，切割部320安装在割台310内，通过切割部320进行割草工作；操纵机构2310安装在机架100上，用于控制行走轮的转速，进而控制割草机的前行、后退、转弯等行走状态。
请参阅图1至图4，在一实施例中，割草机1两侧的行走轮201各由一个操纵机构2310控制转速和/或转向，操纵机构2310安装在对应行走轮201一侧的机架100上。操纵机构2310包括操纵杆安装座2311、操纵杆2312、复位组件2314及限位组件2315，其中，操纵杆安装座2311转动安装在机架100上，操纵杆2312转动安装在操纵杆安装座2311上。具体的，操纵杆安装座2311沿第一方向(例如，割草机的左右方向)转动安装在机架100上，操纵杆2312沿第二方向(例如，割草机的行走方向)转动安装在操纵杆安装座2311上；复位组件2314驱使操纵杆安装座2311带动操纵杆2312沿第一方向复位至初始位置(空挡位)，限位组件2315用于锁定处于初始位置的操纵杆2312。
请参阅图2至图5，在一实施例中，操纵机构2310还包括弹性组件2313，弹性组件2313固定安装在操纵杆安装座2311上，并与操纵杆2312连接，操纵杆2312在弹性组件2313的作用下，可在操纵杆安装座2311内沿第二方向转动；限位组件2315的一端通过限位安装座23151安装在机架100上，另一端向操纵杆2312的方向延伸；复位组件2314的一端与操纵杆安装座2311连接，另一端与限位安装座23151连接；当复位组件2314带动操纵杆安装座2311转动，以使操纵杆2312回到空挡(初始位置，中位外侧的位置)时，限位组件2315自动锁定操纵杆2312，此时操纵杆2312无法转动，割草机1停止行走；当拉动操纵杆2312使其回到中位(中间位置)时，限位组件2315与操纵杆2312脱 开，此时，操纵杆2312可在操纵杆安装座2311沿第二方向转动。较佳的，操纵机构2310还包括位置检测装置，位置检测装置用于检测操纵杆2312的位置，并将检测信号反馈给行走轮201的驱动电机的控制器，控制器根据位置检测装置的检测信号输出相应的转速值给行走轮201的驱动电机，从而控制行走轮201的行走。在一示例中，位置检测装置检测操纵杆2312的转动角度，位置检测装置采用角度传感器2317，角度传感器2317的转动轴安装在操纵杆2312上，并与操纵杆2312同步转动，驱动电机根据角度传感器2317输出的信息输出相应的转速，进而控制行走轮201的行走。操纵杆安装座2311相较于机架100转动，可驱动操纵杆2312在中位与空挡之间切换，以实现操纵杆2312与限位组件2315的解锁或锁止，操纵杆2312相较于操纵杆安装座2311转动，用于带动角度传感器2317的转动轴转动，进而控制驱动电机的转速和/或转向。在其他实施例中，位置检测装置还可以采用磁性元件或磁传感器等。
请参阅图2、图4至图6，在一实施例中，操纵机构2310通过固定板23101与机架100连接，固定板23101通过紧固件例如螺栓23126固定在机架100的一侧，操纵杆安装座2311可转动地安装在固定板23101上，例如通过一转轴与固定板23101连接，操纵杆安装座2311可绕转轴沿第一方向转动。操纵杆安装座2311的上、下端为开口状、四周侧壁为封闭状结构，操纵杆2312贯穿操纵杆安装座2311的上、下端，并可在操纵杆安装座2311的内部沿第二方向摆动，其中，第一方向对应操纵杆2312解锁、锁止的转换方向，第二方向对应割草机1前行、后退的方向。本实施例的操纵杆安装座2311能够绕轴沿第一方向转动，大大简化了操纵杆2312的结构，方便操纵杆2312的制作及安装，消除了装配误差及间隙，使得操纵杆2312在中位的位置更加准确。作为示例，操纵杆2312包括操纵把手23121、限位板23122及套管23123，操纵把手23121呈倒置的L型结构，操纵把手23121的一端供操作者握持，另一端向操纵杆安装座2311内部延伸，与限位板23122通过套管23123连接，套管23123沿着垂直于操纵把手23121和限位板23122的延伸方向设置。操纵杆2312通过一转轴与操纵杆 安装座2311连接，此处的转轴记为第一转轴23124，第一转轴23124贯穿套管23123并通过螺栓23126与套管23123固定在一起，第一转轴23124的两端分别通过轴环23125安装操纵杆安装座2311的侧壁上。角度传感器2317例如可采用电位器，电位器通过角度传感器安装座23171安装在操纵杆安装座2311上，电位器的转轴与第一转轴23124通过紧固件例如螺钉23172连接在一起，以实现电位器与操纵杆2312的同步转动。操纵杆2312沿第二方向转动时带动角度传感器2317的转动轴转动，驱动电机根据角度传感器2317转动角度输出相应转速。
请参阅图3至图7，在一实施例中，弹性组件2313包括弹簧座23131和压簧23132，弹簧座23131固定安装在操纵杆安装座2311的底部，例如，操纵杆安装座2311朝向固定板23101的侧壁向下延伸，超出操纵杆安装座2311的其余侧壁，弹簧座23131通过紧固件例如螺栓23126固定安装在操纵杆安装座2311的超长侧壁上，压簧23132设置在弹簧座23131的内部，压簧23132的一端与弹簧座23131相连，另一端与操纵杆2312的限位板23122相连。较佳的，弹性组件2313包括两个压簧23132，两个压簧23132分别设置在弹簧座23131的两端，操纵杆2312自上至下贯穿操纵杆安装座2311，通过底部的限位板23122与两个压簧23132连接。较佳的，限位板23122朝向压簧23132的两侧分别设有与压簧23132配合的凸起231221，操纵杆2312通过限位板23122两侧的凸起231221与弹性组件2313实现弹性连接。当操纵杆2312绕第一转轴23124转动时，操纵杆2312挤压两侧的压簧23132，由于压簧23132的弹性作用，在松开操纵杆2312后，操纵杆2312会自动回至中位。本实施例中的弹簧座23131可以是一体式结构，两个压簧分别设置在弹簧座23131的两端；弹簧座23131也可以是分体式结构，一个压簧23132对应一个弹簧座23131。
请参阅图4至图10，在一实施例中，限位组件2315包括固定座23152、限位杆23153及弹性体23154，限位安装座23151固定安装在机架100上，固定座23152通过紧固件例如螺栓23126安装在限位安装座23151上，弹性体23154 设置在固定座23152与限位杆23153之间，弹性体23154例如可以采用弹簧，弹簧套设在限位杆23153上，限位杆23153的一端通过卡簧23155安装在固定座23152上，另一端向操纵杆2312的方向延伸。操纵杆2312的限位板23122上设有与限位杆23153配合的限位孔231222，当限位杆23153插入限位孔231222时，操纵杆2312被限位杆23153锁止，此时操纵杆2312处于空挡，无法绕第一转轴23124沿着第二方向转动，驱动电机不会被驱动；当限位杆23153从限位孔231222中脱出，此时操纵杆2312与限位组件2315解锁，操纵杆2312可绕第一转轴23124沿着第二方向转动，进而控制割草机向前、向后或转弯行走。较佳的，限位杆23153安装时向下倾斜一定角度，即限位杆23153的倾斜方向与水平面呈一定夹角α，α的角度为8～10°，例如可以为8°、9°或10°等上述范围内的任意数值，限位杆23153倾斜安装，有利于限位杆23153与限位板23122的连接。进一步的，限位杆23153的端部设有弧形倒角，限位孔231222为腰型孔，可使限位杆23153从限位孔231222中的脱出或者卡进过程更流畅。在其他实施例中，弹性体23154也可采用其他具有同等功能的弹性体，弹性体23154设置在限位杆23153和固定座23152之间，弹性体23154的两端分别与限位杆23153和固定座23152连接。本实施例中，限位组件2315采用卡簧、弹性机构，按压操纵把手时，可以自动回缩，防止限位组件2315与操纵把手23121下方限位板23122锁死。另外，在本实施例中，限位安装座23151通过固定板23101安装在机架100上，限位安装座23151与固定板23101连接。
请参阅图4和图7，在一示例中，复位组件2314包括拉簧23141，拉簧23141的一端连接在操纵杆安装座2311上，另一端连接在限位安装座23151上。在拉簧23141的弹性作用下，操纵杆安装座2311具有向限位安装座23151方向转动的趋势，即操纵杆2312具有被限位组件2315锁止的趋势。具体的，当操纵杆2312受到外力按压，带动操纵杆安装座2311向背离限位安装座23151的方向转动时，限位杆23153从限位孔231222中脱出，操纵杆2312与限位组件2315解锁，此时操纵杆2312可沿第二方向转动，进而带动割草机1前行、 后退或转弯，割草机由停止状态转变为行走状态；当去除外力后，操纵杆2312在压簧23132的弹性作用下回至中位，在拉簧23141的弹性作用下，回到中位外侧的空挡，此时，限位组件2315的限位杆23153插入操纵杆2312底部的限位孔231222内，操纵杆2312被锁止，无法转动，驱动电机停止转动，割草机处于停止状态。
请参阅图3和图4，较佳的，操纵机构2310还包括开关，该开关用以控制驱动电机的通电和/或断电。本实施例中，开关选择为压力开关2318，压力开关2318安装在限位安装座23151上，当操纵杆2312在复位组件2314的作用下回至空挡时，弹簧座23131与压力开关2318接触，压力开关2318被触发，此时，驱动电机处于断电状态，即使在没有电磁刹车的情况下，电机也不会转动，防止意外情况的发生。
请参阅图2至图4，在一实施例中，操纵机构2310还包括操纵杆固定座11的限位装置，该限位装置包括挡板2316和限位座23161，挡板2316通过紧固件例如螺栓23126安装在固定板23101上，限位座23161通过一转轴与挡板2316转动连接，此处的转轴记为第二转轴23162，操纵杆安装座2311固定安装在限位座23161上，操作操纵杆2312，操纵杆安装座2311会带动限位座23161绕第二转轴23162转动，挡板2316和限位座23161的设置便于使操纵杆2312绕第一方向转动。由于固定板23101的限制，限位座23161的转动不得超出固定板23101，操纵杆安装座2311的转动范围限制在固定板23101与限位组件2315之间。为方便操纵杆2312的操作，机架100对应操纵机构2310的位置上设有一开口2321，操纵杆2312由开口2321进入与操纵杆安装座2311转动连接，此处，对于开口2321的尺寸和形状不做限制，以满足操纵杆2312的转动幅度为准则。
请参阅图2、图11和图12，在一实施例中，操纵机构2310还包括第一操纵把手32127和第二操纵把手23128，第一操纵把手32127和第二操纵把手23128分别设置在操纵把手23121的前、后侧，用于工作状态时，稳定操纵把 手23121。具体的，第一操纵把手32127通过螺栓、螺母固定安装在固定板23101上，第一操纵把手32127位于操纵把手23121的前侧，在推动操纵杆使割草机向前行驶时，操纵把手23121位于中位前侧，因为有弹簧力作用，长时间推动，手容易酸痛，且容易脱手，此时握住第一操纵把手32127，手不易疲劳，在斜坡处，第一操纵把手32127也能起稳定作用，防止人摔倒。第二操纵把手23128通过螺栓、螺母固定安装在控制面板及机架100上，在推动操纵杆使割草机向后退时，操纵把手23121位于中位后侧，因为有弹簧力作用，长时间推动，手容易酸痛，且容易脱手，此时握住第二操纵把手23128，手不易疲劳，在斜坡处，第二操纵把手23128也能起稳定作用，防止人摔倒。
割草机1工作时，通过操纵机构2310分别控制两侧行走轮20的转速和/或转向，进而控制割草机1的前行、后退或转向；当割草完成，需要停止割草机时，松开操纵机构2310中的操纵杆2312即可自动复位，实现割草机停止。
本发明的操纵机构不仅可用于控制割草机的行走，还可用于控制其他同类型的园林工具。
本发明割草机中的操纵机构，利用弹性组件实现操纵杆前后转动时的自动复位，利用复位组件及限位组件与限位板的配合实现操纵杆与限位组件的锁止与解锁，当操纵杆与限位组件锁止时，操纵杆无法前后推动，防止车辆停止时，误操作产生危险；当启动割草机时，按压操纵杆，操纵杆与限位组件解锁，操纵杆可前后转动控制割草机前后移动或转向。本发明的操纵机构结构简单、操作方便可实现自动复位，提升用户体验感。
示例性的，割草机包括有行走机构200、割台组件300、电池800、控制组件810。
请参阅图21，一实施例中，机架100包括有前部机架110、后部机架120，前部机架110与后部机架120可拆卸连接，行走机构200包括有前轮组件210、后轮组件220、操控装置230，前部机架110上安装有前轮组件210，后部机架120上安装有后轮组件220。不同工作环境需要不同的割台310，不同规格的割 台310，如48寸、50寸等需要不同的装配空间，前部机架110与后部机架120可拆卸连接，可以调节割草机的轴距，从而获得不同的底部装配空间，满足不同割台组件300的适配需要。需要说明的是，割台组件300装配在机架100上，既可以全部割台组件300全部与后部机架120连接，也可以部分与后部机架120连接、部分与前部机架110连接，具体连接结构不做限制。当割台组件300部分与前部机架110连接，作为优选，拆装时，割台组件300与前部机架110始终保持处于连接状态，一方面减少拆装的步骤，另一方面便于前部机架110与割台组件300进行匹配。
一实施例中，前部机架110与后部机架120通过紧固螺栓进行可拆卸固定连接，方便前部机架110的更换。作为优选，前部机架110的后端两侧均设有两个第一夹板114，后部机架120的前端为两个方管121，方管121插入到两个第一夹板114之间，方管121与第一夹板114的对应位置均设有第一通孔116，通过连接螺栓122贯穿第一通孔116对前部机架110与后部机架120进行紧固。为了提高第一夹板114与方管121之间的连接牢固度，两个第一夹板114的底面还设有第二夹板115，两个第一夹板114与第二夹板115呈U形，第二夹板115对方管121的底面进行支撑，降低了连接螺栓122收到的剪切力，提高了连接螺栓122的使用寿命，提高了前部机架110与后部机架120的连接牢固度。
请参阅图22，一示例性实施例中，前部机架110呈U形，包括有一第一横梁111，第一横梁111的两端均设有向前伸出第一连接部112，两个第一连接部112分别装配有前轮组件210。前轮211优选万向轮作为转向轮。如一实施例中，第一连接部112的前端设有装配管113，装配管113内装配有第一轴承，第一轴承内过盈配合有第一转动轴，第一转动轴的下端伸出装配管113连接有前叉，前叉上转动连接有前轮211。前叉上设有轮防护板118，轮防护板118的前端超出前轮211，在发生碰撞时，轮防护板118早于前轮211与障碍物碰撞，可以避免前轮211轮胎与障碍物发生碰撞，尤其是障碍物为硬质时，可以避免前 轮211轮胎受损，提高前轮211的使用寿命。作为优选，由上而下向割草机前方倾斜，轮防护板118倾斜设置相较于轮防护板118竖直设置，在碰撞发生时轮防护板118及前轮组件210受损更小，提高防碰撞能力。
一实施例中，机架100的前端装配有前灯，前灯装配在前部机架110的第一横梁111后侧面，前灯部分可以伸入镶嵌到贯穿槽内，也可全部设置于前部机架110的背面。前灯发出的光照向割草机的前方，起到照明或传递信号的作用。前灯装配于第一横梁111背面，割草机与障碍物碰撞时，避免前灯与障碍物发生接触碰撞，导致前灯受损的问题出现，有效的对前灯进行防护。其他实施例中，前灯可以装配在机架100前端的其他位置，可以有效对前灯进行保护即可，具体安装位置、安装结构不做限制。请参阅图8，机架100的底部装配有割台组件300，一实施例中，割台组件300包括有割台310、切割部320、调高装置350、锁定装置360，调高装置350用于调节割台组件300整体与地面的距离，锁定装置360用于锁定割台组件300的整体与地面的距离。一实施例中，切割部320包括有切割刀322、切割电机321，一个切割电机321可以驱动一个切割刀322转动，也可以通过传动机构驱动多个切割刀322转动，本申请对此不做限定。
一实施例中，割台310底部可拆卸固定有切割挡板330，切割挡板330围成刀具容纳腔，切割刀322设置在刀具容纳腔内。切割挡板330与割台310可拆卸连接，方便在切割挡板330磨损后单独更换，节约了维修的成本和时间。一实施例中，切割挡板330与割台310通过螺栓可拆卸连接，包括但不限于在切割挡板330上设置有孔的安装板，如与割台310顶板连接的切割挡板330，设有垂直于切割挡板330主体的安装板，安装板与割台310顶板平行，方便切割挡板330与割台310顶板通过螺栓可拆卸连接。不同规格的割台组件300，需要的切割挡板330也不同，对于较大的割台组件300，需要较大的切割挡板330，若切割挡板330为一个整体，既不方便运输，也不方便维保更换。一实施 例中，切割挡板330由若干单节切割挡板330组成，不同单节的切割挡板330彼此通过螺栓连接或直接固定在割台310上，相较于整个一体的切割挡板330，单节的切割挡板330加工难度、运输难度均大大降低，更换时也不需要整体更换，仅更换单节的切割挡板330即可，方便运输和维保。
一示例性的，切割刀322设有三个，三个切割刀322呈三角形排布。中部挡板332与边缘挡板331配合围成三个容纳腔，切割刀322设置在容纳腔内，作为优选，中部挡板332根据需要可以进行拆卸，满足割草机碎草模式、排草模式的使用要求。割草机碎草时，三个切割刀322的工作区间彼此封闭，切割后的草在容纳腔内被不断切割、打碎，直至落地。一实施例中，容纳腔相接处的中部挡板332设有缺口，作为优选，缺口高度设置在中部挡板332的一半高度处。排草模式时，部分中部挡板332拆除，容纳腔之间彼此连通，切割后的草由远离排草口340的一侧向排草口340处移动，直至由排草口340排出。
一实施例中，割台组件300还包括有割台控制器323，割台控制器323安装在割台310上，多个切割电机321与同一个割台控制器323电连接，如一实施方式中，包括有三个切割电机321、三个切割刀322，每个切割电机321驱动一个切割刀322转动，三个切割电机321电连接同一个切割控制器323，同一个切割控制器323同时控制三个切割电机321转动。一实施例中，割台310上设有电机控制器323的控制器容纳腔324，控制器容纳腔324的底部为开孔结构，电机控制器323安装在控制器容纳腔内324。电机控制器323的底部设有若干散热片325，若干所述散热片325沿电机控制器323的下表面间隔设置。散散热片325可以提高电机控制器323的散热能力，避免电机控制器323热量堆积在控制器容纳腔324内，造成电机控制器323出现故障。
参阅图29，一实施例中，沿割草机纵向投影，转动区域落入有前轮投影的切割刀322的转动轴线位于对应前轮远离排草口一侧。即在割草机纵向方向看，通过切割刀322转动轴将切割刀322转动区域一分为二，前轮位于切割刀322 靠近排草口340的转动区域内。具体的，前轮包括第一前轮2111和第二前轮2112，切割刀322包括第一切割刀3221和第二切割刀3222，在正向前进或后退状态时，沿割草机纵向投影，第一前轮2111的投影与第一切割刀3221转动区域至少部分重叠，第二前轮2112的投影与第二切割刀3222转动区域至少部分重叠。以穿过第一切割刀3221转轴轴线的纵向线为界，将第一切割刀3221切割转动区域分为靠近排草口340和远离排草口340的两个区域，第一前轮2111的投影将落入在靠近排草口340的区域内，即第一切割刀3221的转轴轴线位于第一前轮2111远离排草口340一侧；以穿过第二切割刀3222转轴轴线的纵向线为界，将第二切割刀3222切割转动区域分为靠近排草口340和远离排草口340的两个区域，第二前轮2112的投影将落入在靠近排草口340的区域内，即第二切割刀3222的转轴轴线位于第二前轮2112远离排草340口一侧。换言之，定义一平行于割草机前进方向，且穿过第一切割刀3221转轴轴线的第一平面，第一前轮2111的投影位于该平面靠近排草340口一侧，在本实施中，第一前轮2111的投影完全位于该平面靠近排草340口一侧；定义一平行于割草机前进方向，且穿过第二切割刀3222转轴轴线的第二平面，第二前轮2112的投影位于该平面靠近排草340口一侧，在本实施中，第二前轮2112的投影完全位于该平面靠近排草340口一侧。例如，参见图17，从割草机底部看，割台310左侧设有排草口340，第一前轮2111的投影落入在靠近排草口340的区域内(第一切割刀3221转轴轴线的左侧)，即第一前2111轮位于第一平面左侧；第二前轮2112的投影落入在靠近排草口340的区域内(第二切割刀3222转轴轴线的左侧)，即第二前轮2112位于第二平面左侧.割草时，被前轮压倒的草被吸起来，然后切割刀322割掉排出，前轮在这一侧可以使得草直接在靠近排草口340的一侧被割掉，割完直接排出去，另外，气流的风向使得靠近排草口的气流比较大，被前轮碾压的草更容易被吸起来，便于切割。通过前轮和切割刀322的排布提升了排草效果。一实施例中，切割刀322包括还可以包括第三切割刀，第三切割刀可设置于第一切割刀3221和第二切割刀3222之间。在另一实施例 中，割草机还可设置第三前轮、第四切割刀等，本申请对此不做限定。
请继续参阅图20，本申请一实施例中，调高装置350包括有与机架100转动连接的第一连接杆351、第二连接杆352，第一连接杆351与第二连接杆352的一端均与割台310转动连接，第一连接杆351与第二连接杆352还转动连接有同一个第三连接杆353。第三连接杆353、第一连接杆351、第二连接杆352、割台310形成一等同于平行四边形结构，通过转动第一连接杆351或第二连接杆352，实现对割台组件300整体的提升或下降。一实施例中，调高装置350还包括有第四连接杆355、第五连接杆356，第一连接杆351、第二连接杆352不直接与割台310连接，第四连接杆355与第一连接杆351转动连接，第五连接杆356与第二连接杆352转动连接，第四连接杆355远离第一连接杆351的一端与割台310转动连接，第五连接杆356远离第二连接杆352的一端与割台310转动连接，通过第四连接杆355、第五连接杆356实现第一连接杆351、第二连接杆352与割台310的转动连接。在割台310的重力作用下，上升或下降过程中割台310始终保持水平，保证割台310移动平稳。
本申请一实施例中，为了方便站立于割草机上的工作人员进行割台组件300高度的调节，割草机一侧的尾部设有调节杆358，调节杆358与机架100转动连接，调节杆358手持端的另一侧转动连接有第六连接杆359，第六连接杆359与第二连接杆352或第三连接杆353转动连接。当进行高度调节时通过转动调节杆358，通过第六连接杆359带动第五连接杆356或第三连接杆353，从而实现割台310高度的调节。需要说明的是，在另一实施例中，第六连接杆359也可以与第一连接杆351连接，根据实际情况进行选择。
请参与图25，在调节割台组件300整体的离地高度后，需要锁定装置360对割台组件300进行高度的锁定。锁定装置360包括有限位板362，限位板362上设有若干限位孔3621，限位孔3621内配合有限位杆363。一实施例中，限位板362设置于调节杆358处，通过限位杆363对调节杆358进行限位，在割台 组件300重力的作用下，调节杆358有向第一转动方向转动的趋势，限位杆363设置于调节杆358第一转动方向的前端，以避免割台组件300向下移动。作为优选，限位孔3621处壁突出有卡孔3622，限位杆363侧壁设有卡块，在卡块与卡孔3622相对应的情况下，限位杆363插入到限位孔3621内，转动限位杆363使得卡块与卡孔3622错位，避免限位杆363脱离限位孔3621导致割台组件300突然掉落的情况出现。
限位杆363与限位孔3621插拔连接，当限位杆363拔出后随意放置容易丢失。本申请一实施例中，通过绳子将限位杆363与机架100或割草机的其他部件进行柔性连接，避免限位杆363拔出后丢失。
调高装置350与割台310转动连接，在工作过程中割台310易晃动。一实施例中，割台310的顶面转动连接有第一连接板357，第一连接板357远离割台310的一端与机架100转动连接，第一连接板357限制割台310的移动轨迹，可以减少割台310在移动或工作过程中的晃动。需要说明的是，当机架100包括可拆卸连接的前部机架110与后部机架120时，第一连接板357优选转动连接在前部机架110的底部，在进行拆卸时，保持前部机架110与割台组件300处于连接状态，可以更方便的进行适配，同时减少了装配工序，提高了更换割台组件300的速度。
一实施例中，割台组件300还包括有缓冲装置370，作为优选，缓冲装置370为缓冲弹簧，缓冲弹簧的一端与机架100相固定，另一端与非锁定装置360侧的调高装置350相连接，作为优选，缓冲弹簧的另一端与调节杆358相连接，缓冲装置370作用于调节杆358的作用力与割台组件300作用于调节杆358的作用力相反。当遇到颠簸区域割台组件300晃动时，通过缓冲装置370可以对割台组件300进行缓冲，降低割台组件300的晃动幅度，另一方面，缓冲装置370还可以降低工作人员在升高割台组件300时所需要的力。在其他实施例中，缓冲装置370可以包括多个缓冲弹簧，连接在机架100与割台310之间，连接 位置不做限定。
一实施例中，割台310的排草口340处设置有遮挡板341，遮挡板341的两侧边上设置有朝下弯折的翻边。遮挡板341的作用是疏导出草口的碎草屑，同时遮挡板341两侧的翻边能够有效防止碎草屑在导出过程中飞扬。
在本申请一实施方式中，遮挡板341转动安装于机架100上，机架100与遮挡板341之间设置有扭簧。碎草屑带有水分，很容易粘在遮挡板341的内侧，当需要对遮挡板341的内侧进行清理时，将遮挡板341翻转过来清理即可。清理完毕后，遮挡板341在扭簧的作用下复位。
本申请一实施方式中，遮挡板341通过两个安装板安装于机架100上。两个安装板之间设置有若干个螺栓，遮挡板341位于两个安装板之间，两个安装板转动安装于机架100上，遮挡板341固定于两个安装板之间。
一实施例中，机架100上设有第一安放区123，第一安放区123第一安放区123设置于割台组件300的上方、向后延伸至站立区上方。第一安放区123内安装有电池800，电池800安装于第一安放区123内，结构利用更加合理，降低割草机中心。一实施例中，第一安放区123设有若干第一安装孔1231，通过螺栓或螺钉将不同的电池800安装在不同的第一安装孔1231，以满足不同的使用需要。机架100包括前部机架110与后部机架120的实施例中，第一安放区123的前端延伸至前部机架110与后部机架120连接处，以获得实现更大的电池800安装空间。
一实施例中，控制组件810安装在电池800尾部的上方，保证控制组件810具有足够的安装空间，在提高散热效果的前提下，更方便对控制组件810进行维保。
一实施例中，割草机上设置有置物平台900，置物平台900设置于机架100的中部、电池800的上方，置物平台900上设置有加强连接板910，加强连接板910与机架100连接。加强连接板910能够有效增加置物平台900的牢固性， 增加置物平台900的负载能力。一实施例中，置物平台900负载120～160kg，优选负载140kg。
一实施方式中，置物平台900上设置有三条翻边。三条翻边将置物平台900围成一个一边开口的框体，便于置物，同时能够增加置物平台900的强度。置物平台900上设置有摩擦凸起，摩擦凸起朝上凸起，摩擦凸起中设置有通孔。通孔能够减轻整个置物平台900的重量，并且利于置物平台900下方的电气设备(例如电机、控制板、电池800等)的散热。
一实施例中，割草机的侧面还设置有置物架540，置物架540上设置有杯架、放置槽等不同的放置空间，以满足工作人员随身物品的放置需要。
一实施例中，割草机上设置有带有第一翻转盖551的储物仓550，储物仓550内可以放置手机、割草机遥控器等电子设备，也可以放置钥匙等随身物品，方便工作人员使用。一实施例中，储物仓550设置于显示屏530附近，以方便工作人员存放。工作人员查看显示屏530非常频繁，储物仓550设置在显示屏530附近，也可以减少出现工作人员遗忘储物仓550内物品的情况出现。智能手机在生活中使用非常频繁，一旦智能手机电量耗尽，就会导致生活很不方便，本申请一实施例中，储物仓550内设有第二充电接口552，第二充电接口552可以为USB、Type-c、Lightning接口等，以方便工作人员充电使用，作为优选，第二充电接口552处还可以设置无线充电模块，以满足部分无线充电的需要。需要说明的是，第二充电接口552既可以为手机、平板等智能设备充电，也可以为割草机远程遥控器等设备进行充电，本申请对蓄能主体不做限制。第二充电接口552为了避免雨水等进入到储物仓550内，储物仓550顶面设有防水凸起553，防水凸起553设置在储物仓550顶面非边缘区域，第一翻转盖551上设有与防水凸起553相适应的凹槽，可以避免雨水由翻转盖进入到储物仓550内，需要说明的是，防水凸起553既可以减少雨水进入，也可以增加第一翻转盖551与储物仓550的密封性，减少灰尘等进入到储物仓550。为了方便使用， 第一翻转盖551与储物仓550之间通过磁铁吸附，方便取用物品后第一翻转盖551自动闭合，提高第一翻转盖551与储物仓550之间的密封性。
一实施例中，机架100上设有站立区，站立区上方为操控区域，操控区域内设有操控装置230、显示屏530，以方便使用人员对割草机进行操控，如速度操控、方向操控等。本申请一实施例中，割草机还可以进行远程操控，通过遥控装置远程控制割草机的行进、割草等，遥控装置可以为手机、电脑、平板、遥控器等，控制连接方式可以通过通信网络、蓝牙等通信方式，对此本申请不做限制。另外，割草机还能够通过APP设置参数，指定割草方案等。
一实施例中，割草机设有两个驱动电机222，两个驱动电机222分别安装在两个后轮221，以分别驱动两个后轮211转动。驱动电机222上安装有电磁刹车，电磁刹车包括有制动板223，当割草机断电或驻车时，电磁刹车限制驱动电机222转动，从而实现驻车功能，当遇到特殊情况需要工作人员手动推车时，电磁刹车会限制后轮221转动，导致工作人员无法推动。一实施例中，割草机还包括有刹车释放机构，刹车释放机构包括有连接座224、拉杆225、牵拉件226，其中连接座224安装在机架100上，拉杆225转动连接在连接座224上，牵拉件226设有两个，两个牵拉件226的两端分别连接拉杆225、制动板223，当拉杆225转动时，驱使牵拉件226牵引两个制动板223远离或靠近电机，从而同时控制两个驱动电机222上电磁刹车的释放开启或复位关闭。一实施例中，牵拉件226为弹性复位件，如牵拉件226为弹簧。
一实施例中，割草机可以无人驾驶自动进行割草工作，对于无人驾驶路径的规划，可以首先通过人工控制或人工驾驶割草机沿边缘区域移动，划定割草区域，割草机自动规划或人工规划割草区域内的行进路线，实现自动割草；还可以直接人工划定割草区域，割草机在划定的割草区域内自动驾驶、割草。对于割草区域内的障碍物，可以通过在割草机上设置相应的传感器如视觉传感器、红外传感器、激光雷达传感器等实现障碍物的识别、规避，也可以人工预先在 割草区域内标注障碍物，以实现割草机对障碍物的躲避。对于具体的实现方式本申请不一一列举，根据需要进行选择，本申请不做限定。
一实施例中，站立区包括有站立板510、靠垫520，站立板510用于脚踩，靠垫520为使用人员提供支撑，使用人员可以倚靠在靠垫520上进行操控。现有的靠垫520为竖直设置，使用人员倚靠在靠垫520上不方便操作且有跌落风险，本申请一实施例中，靠垫520向前倾斜。工作人员进行操作时倚靠在靠垫520上，可以获得更多的支撑，方便进行操作，降低跌落风险，提高操作舒适度。一实施例中，靠垫520的倾斜角度为100～110度，即靠垫520与水平面的角度为100～110度，优选108.5度，即工作人员倚靠在靠垫520上，向前倾斜108.5度，与竖直面的角度为18.5度。
一实施例中，控制组件810设置于电池800的上方，靠垫520的前方，操控区的下方。一方面保证了控制组件810具有足够的安装空间，方便布置、利于散热，另一方面，当控制组件810出现故障需要排查或维保时，通过将靠垫520拆下，即可对控制组件810进行维修保养，提高维保的便利性。
现有操控区域的显示屏530水平设置，工作人员查看相关的显示内容时，需要低头查看，一方面频繁的低头、抬头会导致工作人员劳累，另一方面，工作人员向下低头导致无法查看割草机前方的情况，容易出现碰撞的情况。本申请一实施例中，显示屏530倾斜设置，显示屏530朝向使用人员，显示屏530与水平方向角度为150～160度，优选155度，使用人员用余光即可查看显示屏530信息，提高工作时的安全性，避免频繁低头、抬头带来的劳累。
现有的割草机充电接口通常水平设置，由于割草机的高度限制，工作人员水平插拔充电枪不方便发力，导致插拔比较困难。本申请一实施例中，割草机的尾部设有第一充电接口711，第一充电接口711与水平面呈60～75度角，优选71.5度。第一充电接口711斜向上倾斜，工作人员插拔充电枪时更方便发力，便于插拔。
一实施例中，第一充电接口711处设有可翻转充电口盖710，充电时充电口盖710打开进行充电，充电完成后充电口盖710自动闭合，减少雨水、碎屑等落入到第一充电接口711内，减少故障的发生率。需要说明的是，充电口盖710自动闭合的实现方式根据实际情况在现有技术中进行选择，本申请对此不做限制。
请参阅图24，本申请一实施例中，站立板510转动连接在机架100上，当站立板510处于放下状态时，工作人员站立在站立板510上进行割草机的操作，当站立板510处于收起状态时，站立式割草机可作为手推式割草机，满足不同场景下的使用需要。一实施例中，操作者在位检测装置为压力开关2318当工作人员操作控制手柄时，压力开关2318即可发出信号，控制组件810控制行走组件和割台组件300中的切割电机321上电。进一步的，当操纵杆2312离开压力开关2318时，若控制割刀电机321的割刀开关处于开启状态，则此时切割电机321不动作，需要重新启动割刀开关，此时切割电机321才能够动作，即需要压力开关2318先响应，然后开启割刀开关，切割电机321才会开始动作。另一实施例中，操作者在位检测装置可以为单独的开关、传感器等，以检测操作者是否在位。
一实施方式中，站立板510的侧壁底面设有固定通孔511，固定通孔511内固定有固定管512，固定管512靠近站立板510的端部设有第三限位部5121，第三限位部5121内径小于固定管512内径，固定管512内设有插拔杆513，插拔杆513一端由第三限位部5121侧贯穿固定管512，插拔杆513伸出固定管512的一侧设有第三卡块518，第三卡块518直径大于第三限位部5121内径。插拔杆513远离第三限位部5121一侧设有插拔块514，插拔杆513上套设有第三弹性件517，第三弹性件517优选弹簧，弹簧外圈小于插拔块514直径，大于第三限位部5121内径。
机架100上设置有插拔孔515，插拔孔515设置在站立板510收起状态时 插拔块514所对应的位置，插拔块514与插拔孔515配合，限制站立板510转动。当站立板510收起时，插拔块514插入到插拔孔515内，当需要放下时，手动拔出插拔块514，站立板510自然落下。通过插拔孔515与插拔块514的配合，实现站立板510两个状态，满足不同场景的使用要求，如特殊恶劣地形下，割草机难以通行，工作人员下割草机推行，更便于割草机通过正常情况下难以通过的地形。一实施方式中，插拔杆513远离插拔孔515的一端设有手持区516，手持区516可以为手持小球、手持块等方便收握的部件，手持区516的表面还可以做防滑处理，如表面防滑纹路、设置防滑橡胶等。当站立板510需要收起时，转动站立板510到既定的位置，抓住手持区516拉动插拔杆513，使插拔块514进入到插拔孔515中，此时松开手持区516，插拔杆513在第三弹性件517的作用下可保持在插拔孔515中。本申请的割草机，布局合理，整车外观比例更宽、前端更矮、重心更低。割草机机架100上设置有机壳，一方面割草机的外观更加整齐，提高割草机的美观，另一方面可以对割草机的部分零部件，如控制组件等提供保护。机壳的宽度为1000～1300mm、长度方向1600～2000mm，优选宽度1136mm、长度方向1834mm，主体机壳距离地面高度700～900mm，优选814mm，恶劣地形通过性更好。电池800布局低，一实施例中电池800离地高度630～670mm，优选656.51mm，控制组件810安装在电池800上方的充足空间，散热性能好、方便维保。
本申请一实施例中，机壳上多处设置有灯，如尾部设置尾灯、转向灯，前部设置前灯等，灯光一方面可以起到照明的作用，方便工作人员在照明不良的情况下进行割草作业，满足不同的使用场景需要。另一方面灯光不同的闪烁频率、不同的颜色可以传递不同的信号，便于工作人员之间进行交流，传递指示内容等。
本申请的前叉可以有效保护轮胎；置物平台900可以承载140kg以上重物，满足其他工具等物品的放置需要；靠垫520、显示屏530倾斜设置，避免工作 人员长期使用容易劳累；充电枪的插拔便于用力，更加方便使用。
示例性的，请参阅图56～图57，图56～图57示出了一示例性割草机结构，割草机包括有机架100、行走机构200、电池、割台310。
请参阅图58、图62，图58、图62示出了两示例性机架100结构，机架100包括有前部机架110、后部机架120，前部机架110与后部机架120可拆卸连接，其中前部机架110安装有前轮组件210、后部机架120安装有后轮组件220。作为优选，前部机架110与后部机架120通过连接螺栓122进行安装固定。前轮组件210单独装配在前部机架110上，电池、控制组件等装配在后部机架120上，当需要更换不同规格的割台310时，如48寸、52寸、60寸等，割草机通过更换适配的前部机架110，改变了割草机的轴距，从而保证了割台310可以进行装配。
一示例性实施例中，割台310装配在割草机上后，割台310位于前轮和后轮之间，割台310与前轮的最近距离为10～60mm，割台310与后轮的最近距离为10～60mm，割台310与前轮、后轮均保持合适的距离，一方面是便于割台310进行高度的调节，另一方面是在颠簸等恶劣工作环境中，割台310会产生轻微的前后晃动，与前轮、后轮保持一定的距离，避免割台310与前轮、后轮发生碰撞，减少割草机受损风险。
请查阅图59，图59示出了一示例性前部机架110结构。一实施例中，割草机的前部机架110呈U形，包括有一第一横梁111，第一横梁111的两端均设有向前伸出第一连接部112，两个第一连接部112分别装配有前轮组件210。前轮优选万向轮作为转向轮。如一实施例中，第一连接部112的前端设有装配管113，装配管113内装配有第一轴承，第一轴承内过盈配合有第一转动轴，第一转动轴的下端伸出装配管113连接有前轮叉，前轮叉上转动连接有前轮。进行转向时，前轮绕第一转动轴转动实现变向。一实施例中，前轮叉的前端还设置有防护斜板，防护斜板的前沿超出前轮前沿，当遇到障碍物时，防护斜板 早于前轮碰到障碍物，避免前轮磕碰受损。
一实施例中，前部机架110的第一横梁111处装配有前灯，作为优选，第一横梁111处设有贯穿槽117，前灯装配于第一横梁111的背面，前灯部分卡在贯穿槽117内，前灯灯光进行照明或传递信号。一实施例中，第一横梁111前侧设有凹陷，贯穿槽117设置于凹陷内。前灯设置凹陷处的贯穿槽117内，当遇到障碍物或碰撞时，第一横梁111可以保护前灯，避免前灯直接碰撞受损。
请参阅图63，图63示出了一示例性前部机架110结构，一实施例中，前部机架110的后端两侧均设有两个第一夹板114，后部机架120的前端为两个方管121，方管121插入到两个第一夹板114之间，方管121与第一夹板114之间的对应位置设有第一通孔116，通过连接螺栓122贯穿第一通孔116对第一夹板114与方管121进行紧固，作为优选，每侧使用不少于四颗螺栓进行安装，从而实现前部机架110与后部机架120的固定。一实施例中，第一夹板114为竖向设置，同侧两个第一夹板114的底面设有横向的第二夹板115，第一夹板114与第二夹板115围成U形。U形的凹槽方便后部机架120的方管121插入固定，底部的第二夹板115为方管121进行支撑。受到割草机各部件重力影响，前部机架110与后部机架120之间的受力主要集中在连接处，表现在前部机架110与后部机架120有相对转动的趋势，转动方向为分别绕前轮、后轮由连接处向下，通过增加第二夹板115，增加前部机架110与后部机架120连接处的支撑面积，降低连接螺栓122受到的剪切力，提高连接牢固度，延长连接螺栓122的使用寿命。
需要更换不同规格的割台310时，前部机架110需要进行先行更换，若割草机无需更换的部件安装在前部机架110上，那必然增加拆装的工作量，本申请一实施例中，割草机的大部分部件安装在后部机架120上，如电池、控制系统、站立区等。
请参阅图60，图60示出了一示例性后部机架120结构，后部机架120上 设有第一安放区123，第一安放区123内固定电池。电池为割草机提供电能，不同规格、不同要求的割草机需要根据需要安装合适的电池。作为优选，第一安放区123的底板设有若干的第一安装孔1231，不同规格的电池匹配不同位置的第一安装孔1231，从而实现不同规格电池的安装固定，满足不同的使用要去。需要说明的是，形式不同的割草机第一安放区123位置不同，如站立式割草机，第一安放区123设置在后部机架120靠近前部机架110的位置，电池重量较大，放置在靠前的位置，可以平衡人员站立在割草机后端带来的力，提高割草机的稳定性，避免人员靠后站立时割草机发生倾覆。对于第一安放区123的设置位置，根据实际情况进行选择，本申请对此不做限定，满足电池的安放需要即可。还需要说明的时，一个第一安放区123可以仅安放一个电池，也可以安放多个电池，多个电池之间可以并联或串联，电池可以同时供能，也可以一块使用电量耗尽后再使用第二块电池，本申请对此不做限定，根据实际需要进行选择。
参阅图60，一实施例中，第一安放区123的前端、底面均设有电池防护板1232，电池防护板1232安装在机架100上。电池防护板1232一方面可以对电池进行限位，保证在使用过程中电池不会发生位移；另一方面，可以对电池进行防护，现有的电池一般选择锂电池或铅酸电池，在割草机领域优选锂电池，锂电池在短路的情况下有一定自燃的风险，通过电池防护板1232对电池进行防护，避免电池受损短路。需要说明的是，电池防护板1232的具体安装方式可以选择焊接、螺栓连接、铆接等，根据实际需要进行选择，本申请不做限定。
行走机构200包括前轮组件210、后轮组件220、驱动机构、操控系统230等，其中前轮组件210为万向轮方便转向，驱动机构与后轮组件220相连接，通过操控系统230控制驱动组件驱动后轮转动，从而实现割草机的移动。当需要转向时，通过操控系统230调节两个后轮的速度，两个后轮具有一定的速度差，从而带动割草机进行转向。驱动机构与后轮组件220相连接，提高割草机的通过性能，满足多工况的使用需要。需要说明的是，操控系统230的操作杆， 根据不同的车型安装位置不同，如站立式割草机，操作杆安装于站立区的上方，方便使用人员手持操控，以方便使用人员操控，具体的安装方式、位置等根据需要进行选择，本申请对此不做限制。
请参阅图57，割台310安装在机架100的底部，一实施例中，割台310上安装有驱动电机，驱动电机与切割刀连接，用以驱动切割刀旋转，切割刀设置在割台下方位置，以进行割草作业。一实施例中，割台310与机架100通过调高装置350进行连接，调高装置350可以调节割台310与机架100底部之间的距离。需要说明的是，调高装置350可以与后部机架120连接，也可以部分与前部机架110连接，根据实际需要进行选择，对此不做限制。如一实施例中，调高装置350包括有第一连接杆351、第二连接杆352，第一连接杆351、第二连接杆352中部均转动连接在机架100上，第一连接杆351、第二连接杆352的下端分别转动连接有第四连接杆355、第五连接杆356，第四连接杆355与第五连接杆356分别与割台转动连接。第一连接杆351、第二连接杆352远离第四连接杆355、第五连接杆356的一侧通过第三连接杆353相连接，第三连接杆353与第一连接杆351、第二连接杆352分别转动连接。当需要进行高度调节时，通过转动第一连接杆351或第二连接杆352，可以实现割台高度的升降。后部机架120设有第二转动连接孔124，第二转动连接孔124内贯穿有第二转动连接轴，第二连接杆352通过第二转动连接轴转动连接在后部机架120上；前部机架110设有第一转动连接孔118，第一转动连接孔118内贯穿有第一转动连接轴，第一连接杆351通过第一转动轴转动连接在前部机架110上。不同规格割台310的安装尺寸不同，割台310的后部安装在后部机架120上、前部安装在前部机架110上，后部机架120仅需要设置左右两侧的两个转动安装孔即可，避免在后部机架120上设置较多的转动安装孔孔，影响机架100强度。在更换割台310时需要同步更换前部机架110，在拆卸过程中可以不解除割台310与前部机架110之间的连接，在需要更换时，割台310与前部机架110之间不需要再次进行装配，有效的减少了装配步骤，有效的提高更换速度。割台 310与前部机架110之间保持连接，也可以有效的提高部件找寻速度，防止割台310与前部机架110安装不匹配问题的出现。
一实施例中，后部机架120的后端还设有防撞装置，如橡胶防撞条等，割草机在倒车过程中与障碍物发生碰撞时，通过防撞装置进行缓冲，避免后部机架120碰撞受损，降低割草机碰撞振动。
示例性的，机架100还可以用于其他园林工具，园林工具可以为如图63～图70所示的割草机。园林工具包括：机架100、行走机构200、电池、工作部等。机架100为整个园林工具提供支撑和装配空间，机架100包括有前部机架110、后部机架120，前部机架110和后部机架120可拆卸固定连接，优选螺栓固定，前部机架110上安装有前轮组件210、后部机架120上安装有后轮组件220。当不同的园林工具需要更换不同的工作部或其他需要时，通过更换前部机架110可以调整园林工具的轴距，获得不同的安装空间，满足不同的使用要求。需要说明的是，前部机架110与后部机架120之间的连接方式可以为上述割草机中前部机架110与后部机架120之间的关系。行走机构200包括有前轮组件210、后轮组件220、驱动机构等，作为优选，驱动机构与后轮组件220相连接，以使得园林工具为后驱驱动，提高园林工具不同地形的通过能力。电池安装在机架100上设置的第一安放区123内，第一安放区123内设置不同的螺纹孔，以对应不同规格电池的安装。需要说明的是，上述园林工具未详细描述的部分及相对连接关系，可以参照现有相应的园林工具，本申请不再赘述。
本申请一种割草机及园林工具，可以通过更换前部机架110调节割草机或其他园林工具的轴距，获得不同的安装空间，满足不同工作部安装要求的有益效果。
示例性的，割草机包括有机架100、行走机构200、电池、割台组件300、控制系统。行走机构200安装在机架100上，包括有前轮、后轮、驱动机构等，其中前轮为万向轮，驱动机构与后轮连接，驱动机构驱动后轮转动。电池为割 草机提供电能，包括但不限于为驱动机构、控制机构、割台组件300的切割电机321等提供电能。割台组件300解决现有的切割挡板330不方便维保、更换的问题。
控制系统包括调速、转向等控制。站立式割草机设有必要的站立位置，对于具体结构根据需要进行选择，本申请对此不做限定。
示例性的，请参阅图49～图54，图49～图54示出了本申请一示例性的割台组件300，割台组件300包括有割台310、切割部320、切割挡板330。其中割台310安装在割草机的机架100上，割台310为割台组件300提供整体的支撑和装配位置。
切割部320包括切割电机321，以及切割电机321驱动的切割刀322。一实施例中，切割电机321安装在割台310上，作为优选，割台310的上设有若干自上而下的贯穿割台310顶板的贯穿孔311，切割电机321通过贯穿孔311贯穿割台310，部分伸入到割台310顶板的下方。贯穿孔311的上方为切割电机321的安装部，贯穿孔311的下方设有法兰盘324，贯穿孔311边缘的割台310顶板上还设有电机安装孔，使用安装螺栓依次贯穿法兰盘324、电机安装孔后与切割电机321的安装部固定，实现对切割电机321的安装。切割电机321部分伸入到割台310顶板的下方，有利于增加切割刀322到割台310顶板的距离，增加除草排草空间，减少清理次数和频率。
切割电机321在使用过程中会产生热量，长时间使用后热量堆积容易导致切割电机321出现故障。为了提高切割电机321的散热效果，一实施例中，贯穿孔311的边缘圆周阵列有若干通风孔312。通风孔312内气流通过时，会带走切割电机321周边的热量，避免切割电机321与割台310接触位置密闭造成热量堆积的问题出现，提高切割电机321的散热效果。
切割刀322安装在切割电机321的驱动轴上，切割电机321驱动切割刀322转动进行草地的切割、修理。一实施例中，切割刀322转动的前端为切割刃， 转动的后侧设有推草部3220，作为优选，切割刀322转动的后侧边缘进行向下弯折形成推草部3220，由此形成切割刀322前端对草进行切割，后侧推草部3220将切割后的草带离，实现切割后草的定向排放，如切割后的草进行侧排、后排或收集到集草箱内等，以避免切割后的草直接落在原地，避免需要单独进行清理的问题。
切割挡板330可拆卸固定在割台310上，围成有刀具容纳腔，切割刀322设置在刀具容纳腔内。一实施例中，切割挡板330与割台310通过螺栓可拆卸连接，包括但不限于在切割挡板330上设置有孔的安装板，如与割台310顶板连接的切割挡板330，设有垂直于切割挡板330主体的安装板，安装板与割台310顶板平行，方便切割挡板330与割台310顶板通过螺栓可拆卸连接。不同规格的割台组件300，需要的切割挡板330也不同，对于较大的割台组件300，需要较大的切割挡板330，若切割挡板330为一个整体，既不方便运输，也不方便维保更换。一实施例中，切割挡板330由若干单节切割挡板330组成，不同单节的切割挡板330彼此通过螺栓连接或直接固定在割台310上，相较于整个一体的切割挡板330，单节的切割挡板330加工难度、运输难度均大大降低，更换时也不需要整体更换，仅更换单节的切割挡板330即可，方便运输和维保。
一实施例中，割台组件300前进方向的前端切割挡板330底边高于后端切割挡板330底边，即前端切割挡板330的离地高度大于后端切割挡板330的离地高度，前端切割挡板330位于后端切割挡板330的前侧，前端切割挡板330为靠近割草机前轮侧的切割挡板330，后端切割挡板330为靠近割草机后轮侧的切割挡板。在进行割草工作时，割草机按照预定轨迹向前移动，前端切割挡板330首先经过待割草，而后切割刀332对待割草进行切割，而后后端切割挡板330移动经过此区域。前端切割挡板330的底边高于后端切割挡板330的底边，方便草进入到切割区域，避免切割后的碎草由后侧切割挡板330处向后甩出。作为优选，切割刀322的切割高度与前端的切割挡板330平齐或略低于前 端的切割挡板330，有效的保证切割后的高度与预期的切割高度相同。
一实施例中，切割挡板330包括边缘挡板331、中部挡板332，边缘挡板331为外围的切割挡板330，边缘挡板331连接成设有排草口340的容纳腔，边缘挡板331围成的容纳腔范围较大，若干切割刀322之间不封闭，形成有排草通道，切割后的草由远离排草口340的一侧经由排草通道，最终由排草口340排出。作为优选，排草口340设置于割台310前进方向的侧面，通过侧排的方式避免排出的草飞溅到工作人员身上，对工作人员造成影响。中部挡板332可拆卸设置在边缘挡板331围成的容纳腔内，将边缘挡板331围成的容纳腔分隔为若干较小的容纳腔334，容纳腔334内均设有切割刀332。
一示例性实施例中，切割刀322设有三个，三个切割刀322呈三角形排布。中部挡板332与边缘挡板331配合围成三个容纳腔334，切割刀322设置在容纳腔内，作为优选，中部挡板332根据需要可以进行拆卸，满足割草机碎草模式、排草模式的使用要求。割草机碎草时，三个切割刀322的工作区间彼此封闭，切割后的草在容纳腔334内被不断切割、打碎，直至落地。一实施例中，容纳腔334相接处的中部挡板332设有缺口，作为优选，缺口高度设置在中部挡板332的一半高度处。排草模式时，部分中部挡板332拆除，容纳腔334之间彼此连通，切割后的草由远离排草口340的一侧向排草口340处移动，直至由排草口340排出。为了便于碎草排出，一实施例中，距离排草口340最近的容纳腔334内设有排草挡板333，排草挡板333阻止碎草重新进入到距离排草口340最近的容纳腔334内。
一实施例中，排草口340处设有排草罩341，排草罩341与割台310可拆卸连接，排草罩341使得排草口340排出的碎草沿既定轨迹移动，避免碎草飞溅。排草罩341的开口由割台组件300内向割台组件300外方向变大，便于碎草排出，避免碎草堆积。作为优选，排草挡板333倾斜设置，排草挡板333的一端靠近排草口340，另一端沿排草罩341侧边的延长线设置，即排草挡板333 的长度方向与排草罩341的侧边相重合，方便碎草排出。排草罩341与割台310转动连接，自然状态下，通过弹性件使得排草罩341处于工作位。
一实施例中，割台组件300的前端设有滚轮380，作为优选，滚轮380设有三处，分设于割台310前端的两端、中部。行进过程中，滚轮380与地面相接触，割台组件300在工作过程中向前移动更加的稳定，减少晃动，保证割草高度一致。
一实施例中，割台310的顶面设有踩踏垫313，踩踏垫313设置于割台310远离排草罩341的一侧。在进行登机操作时，工作人员可以先踩踏到踩踏垫313上，而后登上割草机，方便工作人员登上割草机。作为优选，踩踏垫313设置于机架100的外侧，即竖直方向投影，踩踏垫313至少部分区域不被机架100遮挡，方便工作人员踩踏。一实施例中，踩踏垫313的表面设置有防滑装置，防滑装置避免工作人员踩踏时出现脚滑跌落的情况出现。防滑装置可以为表面覆盖橡胶等防滑层、也可以为在踩踏垫的表面设置防滑纹路，具体实现方式根据实际情况进行选择，本申请不做限制。
本申请割草机的割台组件，具有切割挡板330方便拆卸、更换，降低维修保养成本的有益效果。
本申请一示例性的割草机，通过牵拉件将刹车释放机构同时与至少两个驱动电机上的刹车机构相连，以同时操作不同驱动电机上的刹车机构，从而解决现有技术中割草机上的刹车释放机构无法同时操作多个驱动电机上刹车机构的技术问题。
请参见图56至图58，割草机1包括机架100、刹车释放机构1300、供电装置、割台组件300和至少两个驱动电机222和行走轮201。其中，割草机1的机架100上设置有刹车释放机构1300、供电装置、割台组件300和至少两个驱动电机222和行走轮201，上述供电装置分别与割台组件300和至少两个驱动电机222相电连。在本实施例中，上述驱动电机222在割草机1中用于驱使行 走轮201转动，割草机1上的各个驱动电机222设置在机架100上，并均与割草机1的行走轮201相连接。割草机1中供电装置为至少两个驱动电机222供电，以通过驱动电机222驱使行走轮201转动，来驱动割草机1移动。其中，割草机1中用于驱动行走轮201的各个驱动电机222上均设置有刹车机构1410，刹车机构1410能够在割草机1断电情况下锁定或释放对应驱动电机222连接的行走轮201。例如，当割草机1通电时，用户可通过割草机1上的操纵杆控制驱动电机222，来操作割草机1前进或后退；当割草机1断电时，割草机1中的各个驱动电机222在对应刹车机构1410的作用下锁定，使得与驱动电机222连接的行走轮201无法转动，从而驱使割草机1维持静止状态。而当用户想要移动处于断电状态下的割草机1时，则需要分别对机架100上各个驱动电机222上的刹车机构1410进行操作，释放机架100上全部驱动电机222上的刹车机构1410，以解锁割草机1上设置的全部行走轮201，从而驱使割草机1能够被用户所移动。
因此，如图57所示，为统一操作位于不同驱动电机222上的刹车机构1410，本发明的割草机1在机架100上设置有刹车释放机构1300，刹车释放机构1300在机架100上位于至少两个驱动电机222之间，并通过牵拉件1330分别与至少两个驱动电机222上的刹车机构1410相连接。上述设置方式中，刹车释放机构1300能够同时操作分别位于至少两个驱动电机222上的刹车机构1410，统一控制全部驱动电机222上刹车机构1410的释放开启或复位关闭，从而在割草机1断电时通过单次操作切换割草机1的静止状态或可移动状态，使得用户在固定或移动割草机1时无需分别操作位于不同驱动电机222上的刹车机构1410，而通过刹车释放机构1300便能对不同驱动电机222上的刹车机构1410进行统一操作。其中，在静止状态下，割草机1中驱动电机222上的刹车机构1410全部处于复位关闭状态，割草机1中全部驱动电机222被锁定，割草机1无法在用户外力下被推动；在可移动状态下，割草机1中驱动电机222上的刹车机构1410全部处于释放开启状态，割草机1中全部驱动电机222被解锁，割 草机1能够在用户外力驱动下移动。
具体地，请参见图57至图61，上述刹车释放机构1300包括连接座1310和拉杆1320。上述连接座1310设置在割草机1的机架100上，连接座1310上设置有套轴1312。上述拉杆1320包括连接套1321和杆体1322，拉杆1320通过连接套1321套装在连接座1310的套轴1312上，杆体1322则设置在连接套1321上，并朝向面向用户的一侧延伸，以便于用户操纵。其中，上述连接套1321在机架100上位于至少两个驱动电机222之间，连接套1321分别通过牵拉件1330与至少两个驱动电机222上的刹车机构1410相连接。当用户操作割草机1的刹车释放机构1300时，可通过转动拉杆1320来带动连接套1321在套轴1312上转动，进而驱使连接于连接套1321上的牵拉件1330同时向远离或靠近对应驱动电机222的方向移动，从而同时牵引至少两个驱动电机222上刹车机构1410的释放开启或复位关闭。
如图57和图61所示，上述刹车机构1410为电磁刹车，电磁刹车位于驱动电机222的尾部，电磁刹车上设置有刹车释放板，刹车释放板与牵拉件1330相连接。其中，在本实施例的刹车机构1410中，刹车释放板受牵拉件1330牵引拉开时释放开启电磁刹车，从而解锁驱动电机222，使得与驱动电机222连接的行走轮201可以自由转动；刹车释放板在受牵拉件1330牵引复位时关闭电磁刹车，以锁定驱动电机222，卡死与驱动电机222连接行走轮201的转动。
因此，当用户转动拉杆1320，来引导一端连接于连接套1321上的多个牵拉件1330向背离对应驱动电机222的方向移动时，可同时驱使多个牵拉件1330在另一端拉开刹车释放板，以解锁割草机1上全部的行走轮201，使割草机1从静止状态切换为可移动状态；当用户转动拉杆1320，来引导一端连接于连接套1321上的多个牵拉件1330向靠近对应驱动电机222的方向移动时，可同时驱使多个牵拉件1330在另一端推动刹车释放板复位，以锁定割草机1上全部的行走轮201，使割草机1从可移动状态切换为静止状态。
请参见图57至60，在本发明的一实施例中，套装在连接座1310上的连接套1321位于至少两个驱动电机222的中心位置，上述至少两个驱动电机222中心对称的设置在连接套1321的周向外侧。
请参见图57至图59，在本实施例中，牵拉件1330为弹性复位件，例如，上述牵拉件1330可以为拉簧。牵拉件1330在靠近连接套1321的一端设置有与连接套1321形状相配的第一限位结构1331，上述牵拉件1330在随连接套1321转动受牵引，由与连接套1321相对位置移动至与连接套1321相切位置时，可使牵拉件1330端部的第一限位结构1331贴合卡装于连接套1321的周向外壁上，以锁定连接套1321和牵拉件1330的相对转动，从而起到固定连接套1321和牵拉件1330相对位置的作用。
如图58至图60所示，在本实施例中，连接于连接套1321和刹车机构1410之间的牵拉件1330一直处于拉伸状态，拉杆1320转过释放位置处时，连接套1321在各个与至少两个驱动电机222相连接的牵拉件1330的作用下受力平衡，使得拉杆1320在没有外力作用时维持在释放位置处，而连接于连接套1321上的至少两个牵拉件1320则维持拉伸状态，驱使至少两个驱动电机222上的刹车机构1410同时释放开启，从而使得割草机1上的刹车机构1410均维持释放开启状态；拉杆1320沿相反方向转过释放位置时，连接套1321在各个与至少两个驱动电机222相连接的牵拉件1330的作用下收缩复位，使得至少两个驱动电机222上的刹车机构1410同时复位关闭。
具体地，当用户沿方向a转动拉杆1320并将拉杆1320转过释放位置时(方向a为连接套1321带动牵拉件1330背离对应驱动电机222移动的转动方向)，连接于连接套1321上的多个牵拉件1330通过第一限位结构1331贴合在连接套1321的周向外缘上，上述连接套1321在多个牵拉件1330的共同作用下维持在释放位置处，而连接于连接套1321上的多个牵拉件1330能够持续拉开驱动电机222上的刹车释放板，以使得割草机1上全部的刹车机构1410维持释 放开启状态；而当用户沿方向b将拉杆1320转过释放位置时(方向b为连接套1321带动牵拉件1330靠近对应驱动电机222移动的转动方向)，拉杆1320上的连接套1321在多个牵拉件1330的收缩牵引下从释放位置向预紧位置复位转动，而割草机1上全部与牵拉件1330相连的刹车释放板在未受到牵拉件1330足够的牵引力时可自动复位，并且刹车机构1410的刹车释放板在连接套1321转动至预紧位置时，由于仅受到牵拉件1330的预紧力而复位关闭对应电磁刹车，从而锁定驱动电机222连接的行走轮201。
例如，在本实施例的一示例中，割草机1上设置的驱动电机222数量为两个，两个驱动电机222对称设置在连接套1321的两侧。如图58所示，当断电的割草机1处于静止状态时，刹车释放机构1300的拉杆1320处于预紧位置，连接连接套1321和两个刹车机构1410的牵拉件1330处于拉伸预紧状态，牵拉件1330对电磁刹车上的刹车释放板的预紧扭力为150至100N，牵拉件1330对刹车释放板的预紧扭力并不会拉开刹车释放板，但可以对刹车释放板起到拉紧固定的作用。如图59和图60所示，而当用户要移动断电状态下的割草机1，则通过沿方向a转动拉杆1320，当拉杆1320转动至预紧位置和释放位置的中间位置时，连接于连接套1321上的牵拉件1330对电磁刹车上的刹车释放板的扭力为220至250N，此时刹车释放板仍未被拉开，电磁刹车仍无法释放，割草机1依旧处于静止状态；继续沿方向a转动拉杆1320，当拉杆1320转过释放位置时，连接套1321上的两个牵拉件1330通过各自的第一限位结构1331相对贴合卡装在连接套1321的周向外壁上，连接套1321在两个牵拉件1330的相对作用力下受力平衡保持静止状态，使得拉杆1320无需用户操作自发维持在释放位置处；而在释放位置处拉杆1320上的连接套1321连接的两个牵拉件1330处于拉伸状态，两个牵拉件1330对各自连接的刹车释放板的扭力为390至420N，此时割草机1上两个驱动电机222的刹车释放板被拉伸的牵拉件1330拉开，割草机1上的两个驱动电机222的电磁刹车均被释放，割草机1由静止状态切换为可移动状态，从而能够被用户移动。
此外，当用户需要割草机1继续保持静止状态时，可沿方向b转动拉杆1320过释放位置，拉杆1320上的连接套1321则受到两个牵拉件1330的收缩牵引自动转回预紧位置，而连接于牵拉件1330的刹车释放板也因未受到牵拉件1330足够的牵引力自动复位，锁定关闭对应电磁刹车，实现割草机1由可移动状态到静止状态的切换。
请参见图61，在本发明的一实施例中，上述刹车释放机构1300设置在割草机1机架100的底部。其中，上述连接座1310通过安装座1311安装在割草机1的机架100底部，上述连接座1310顶部通过螺栓与安装座1311相连接，上述安装座1311通过螺栓连接于机架100底面上。
请参见图61和图60，在本发明的一实施例中，上述连接套1321的外侧设置有固定端1323，上述固定端1323的数量与驱动电机222数量相同，固定端1323沿连接套1321的径向向外延伸。当连接套1321处于复位位置时，连接套1321的各个固定端1323与各自对应的驱动电机222相对。
请参见图61和图62，在本发明中，上述牵拉件1330的一端连接于固定在连接套1321的固定端1323上，牵拉件1330的一端固定在固定端1323的固定孔中；上述牵拉件1330的另一端上设置有螺纹，牵拉件1330的另一端通过螺纹连接于刹车机构1410上。
请参见图61，在本发明的一实施例中，上述连接套1321通过隔套1313套装在连接座1310的套轴1312上，所述隔套1313则卡装在套轴1312上的第二限位结构上。具体地，上述隔套1313设在连接套1321的两端，位于连接套1321两端的隔套1313套装在套轴1312上并卡装在套轴1312的第二限位结构上。其中，位于连接套1321顶部的隔套1313抵触在套轴1312的卡槽1314上，而位于连接套1321底部的隔套1313则抵触在紧固连接在套轴1312的螺母1316上，套轴1312上的螺母1316和卡槽1314作为第二限位结构配合夹持位于连接套1321两端的隔套1313，以将连接套1321限位固定在套轴1312上。此外， 在本实施例中，位于连接套1321底部的隔套1313与螺母1316之间还设有垫片1315。
需要说明的是，上述割草机1的类型可以不受限定，例如，如图556所示，在本发明的一实施例中，上述割草机1为立式割草机。
本申请割草机1上的刹车释放机构1300还可以应用于其他园林工具上，园林工具包括机架100、刹车释放机构1300、供电装置、工作组件和至少两个驱动电机222和行走轮201。其中，园林工具的机架100上设置有刹车释放机构1300、供电装置、工作组件和至少两个驱动电机222和行走轮201，上述供电装置分别与工作组件和至少两个驱动电机222相电连，在本实施例中，上述驱动电机222在割草机1中用于驱使行走轮201转动，割草机1上的各个驱动电机222设置在机架100上，并均与园林工具的行走轮201相连接。园林工具中供电装置为至少两个驱动电机222供电，以通过驱动电机222驱使行走轮201转动，来驱动园林工具移动。其中，园林工具中用于驱动行走轮201的各个驱动电机222上均设置有刹车机构1410，刹车机构1410能够在园林工具断电情况下锁定或释放对应驱动电机222连接的行走轮201。例如，当园林工具通电时，用户可通过园林工具上的操纵杆控制驱动电机222，来操作园林工具前进或后退；当园林工具断电时，园林工具中的各个驱动电机222在对应刹车机构1410的作用下锁定，使得与驱动电机222连接的行走轮201无法转动，从而驱使园林工具维持静止状态。而当用户想要移动处于断电状态下的园林工具时，则需要分别对机架100上各个驱动电机222上的刹车机构1410进行操作，释放机架100上全部驱动电机222上的刹车机构1410，以解锁园林工具上设置的全部行走轮201，从而驱使园林工具能够被用户所移动。
因此，为统一操作位于不同驱动电机222上的刹车机构1410，本发明的园林工具在机架100上设置有刹车释放机构1300，刹车释放机构1300在机架100上位于至少两个驱动电机222之间，并通过牵拉件1330分别与至少两个驱动 电机222上的刹车机构1410相连接。上述设置方式中，刹车释放机构1300能够同时操作分别位于至少两个驱动电机222上的刹车机构1410，统一控制全部驱动电机222上刹车机构1410的释放开启或复位关闭，从而在园林工具断电时通过单次操作切换园林工具的静止状态或可移动状态，使得用户在固定或移动园林工具时无需分别操作位于不同驱动电机222上的刹车机构1410，而通过刹车释放机构1300便能对不同驱动电机222上的刹车机构1410进行统一操作。其中，在静止状态下，园林工具中驱动电机222上的刹车机构1410全部处于复位关闭状态，园林工具中全部驱动电机222被锁定，园林工具无法在用户外力下被推动；在可移动状态下，园林工具中驱动电机222上的刹车机构1410全部处于释放开启状态，园林工具中全部驱动电机222被解锁，园林工具能够在用户外力驱动下移动。
需要说明的是，上述园林工具中采用工作组件的类型可不受限定，上述工作组件可以为割台组件，吹雪组件，吹风机以及播种组件等工作部件。
本发明的割草机和园林工具，将供用户操作的拉杆套装在连接座上，并通过牵拉件将拉杆上的连接套同时与至少两个驱动电机上的刹车机构相连接，以保证用户在转动拉杆时能够同时操作牵引至少两个驱动电机上的刹车机构释放开启或复位关闭。该割草机采用的刹车释放机构，结构简单清晰，操作方便快捷，在使用过程中能够同时操作位于至少两个驱动电机上刹车机构，实现不同驱动电机上刹车机构的同时释放开启和复位关闭，有效提升了用户体验
示例性的，割草机1包括储物平台910，储物平台910设置于机架100上。
本发明割草机1，通过在割草机1上设置有储物平台910，增加割草机1在运行过程中的载物能力，便于工作人员随机身配置辅助工具或者其他物品，从而降低了工作人员在割草过程中劳动付出，并增加了割草机1使用过程中的便利度。
在本发明一实施方式中，储物平台910上设置有翻边912，翻边912位于 储物平台910的后边缘上，翻边912能够避免东西滑落，且方便抓握以便掀起储物平台910，同时，翻边912能够有效增加储物平台910的强度以及储物平台910的承载能力。
在本发明一实施方式中，储物平台910上设置有若干个摩擦凸起913。每一摩擦凸起913中部设置有通孔，设置通孔主要有两个作用：首先能够有效减轻置物板的重量，其次通孔能够起到通风的作用以便于维持储物腔920内部的干燥度。
在本发明一实施方式中，机壳101上设置有操作台162，操作台162上设置有操控键，操控键用于实现对割草机1的操控，例如操控割草机1的速度、灯光等。操作台162上还设置有显示屏530。显示屏530呈倾斜设置。
在本发明一实施方式中，机壳101上还设置有尾灯(未标示)，尾灯朝向割草机1的后部，且位于储物平台910下方位置，以起到指示、示警等作用。
在本发明一实施方式中，行走轮201包括前轮组件210及后轮组件220，前轮组件210为万向轮，后轮组件220由行走电机驱动。前轮组件210的半径小于所述后轮组件220的半径。后轮组件220的半径较大能够保证割草机1具备足够的马力。
在本发明一实施方式中，割台组件300的出草口处设置有排草罩341，排草罩341的两侧边上设置有朝下弯折的翻边。排草罩341的作用是疏导出草口的碎草屑，同时排草罩341两侧的翻边能够有效防止碎草屑在导出过程中飞扬。
在本发明一实施方式中，排草罩341转动安装于机架100上，机架100与排草罩341之间设置有扭簧343。碎草屑带有水分，很容易粘在排草罩341的内侧，当需要对排草罩341的内侧进行清理时，将排草罩341翻转过来清理即可。清理完毕后，排草罩341在扭簧343的作用下复位。
在本发明一实施方式中，排草罩341通过两个安装板342安装于机架100上。两个安装板342之间设置有若干个螺栓，排草罩341通过若干个螺栓安装于两个安装板342之间，两个安装板342转动安装于机架100上。
请参阅图64，在本发明一实施方式中，储物平台910设置于机架100的中部，储物平台910上设置有连接板916，连接板916与机架100连接。连接板916能够有效增加储物平台910的牢固性。站立式割草机的机架100的尾部设置有站立板。
请参阅图64，在本发明一实施方式中，储物平台910的上设置有三条翻边。三条翻边将储物平台910围成一个一边开口的框体，便于置物，同时能够增加储物平台910的强度。储物平台910上设置有摩擦凸起，摩擦凸起朝上凸起，摩擦凸起中设置有通孔。通孔能够减轻整个储物平台910的重量，并且利于储物平台910下方的电气设备(例如电机、控制板、电池等)的散热。
本发明割草机1，通过在割草机1上设置储物平台910，储物平台910用于放置辅助设备或者工作人员的随身物品。当割草机1是坐骑式割草机1时，储物平台910置于机身尾部，且其下方设置有储物腔920，从而形成了上下两层置物体系，其中储物腔920用于放置小物品，例如手机等；储物平台910用于放置大型物品，例如辅助设备等。当割草机1是站立式割草机1，则将储物平台910设置于机架100的中部，并通过在三个边缘处设置翻边912形成一个开口状的框体，框体用于放置物品。
请参阅图65，本申请一示例性割草机包括：机身10以及安装于机身10上的切割系统30、行走系统20、操控系统230、记录系统1400、供能系统1500、监控系统1600以及显示系统1700；其中，切割系统30包括至少一个用于割草的刀具及刀具驱动装置；行走系统20包括用于使割草机1发生运动的行走轮201及行走轮201驱动装置；操控系统230包括用于操控割草机1的操作装置，操作装置上设置有调速键；按照设定方式调节调速键能够对切割机的行走速度或切割速度进行设定，例如对行走速度或切割速度的档位进行设定。记录系统1400包括用于记录割草机1的故障信息及对应的故障处理措施、警示信息以及阶段割草信息的存储器；供能系统1500包括至少一个电池包；监控系统1600用于监控与切割系统30、行走系统20、操控系统230、记录系统1400以及供 能系统1500有关的状态；显示系统1700与监控系统1600电连接，显示系统1700包括用于显示监控系统1600的监控结果及参数设置的显示屏530。显示屏530在机身上呈倾斜设置，倾斜角度范围为30-60度，例如为45度。
监控结果包括状态信息以及作业信息。监控结果均可以通过显示屏530进行显示。监控结果可以通过文字、图标等进行显示。作业信息包括：行走速度与切割速度的标识信息，标识信息包括：速度标识及调速标识；速度标识包括行走速度标识与切割速度标识，调速标识包括行走调速标识以及切割调速标识。显示屏530能够显示行走速度与切割速度的标识信息，调节调速标识能够设定行走速度或切割速度的档位。
在本发明一实施方式中，状态信息包括：操作者的在位状态1603、电磁刹车的吸合与释放状态1604、当前时区的时间1605、蜂窝网信号状态1607、远程控制状态1608、照明设备状态1609、报警灯状态1610以及项目名称的至少一个。项目名称可以为作业信息中某一项信息的名称。例如项目名称可以为灯光、设置、阶段作业信息等。
在本发明一实施方式中，作业信息包括：电池电量1602、充电剩余时间、预计充满电的时间、外设工具状态1601、设备能耗状态1611、设备使用时间1612、故障提示1613等状态。设备使用时间1612包括设备的总使用时间、切割系统30的使用时间、刀片的使用时间。作业信息均可以通过显示屏530进行显示。
其中，故障提示1613包括故障信息1614及对应的故障处理措施1615，故障信息包括故障代码以及对应的故障明细。作业信息还包括阶段作业信息，阶段作业信息包括：作业面积、作业时长以及平均时速。作业信息还包括暂停提示信息，暂停提示信息包括暂停时长。
在本发明一实施方式中，割草机1上还包括照明设备及报警灯，照明设备及报警灯设置于割草机1的机身上。照明设备用于提供照明或者进行灯光显示，报警灯用于报警。监控系统1600用于监控照明设备的工作状态。
请参阅图65，在本发明一实施方式中，还包括通信系统1800，监控系统1600还监控通信系统1800。通过通信系统1800的GPS定位进行设备的定位；收集设备信息通过蜂窝网发送至云端，远程用户可以通过手机或者计算机查看设备状态。
请参阅图66，在本发明一实施方式中，作业信息包括：外设工具状态1601。外设工具状态1601包括是否存在外设工具、外设工具的开启或关闭。割草机1还包括用于连接外设工具的接口；监控系统1600还用于在检测到外设工具后控制是否启用外设工具。
在本发明一实施方式中，操控系统230还包括用于操控行走系统20的操纵杆2312。操纵杆2312转动安装于机身上，操纵杆2312的旋转角度与行走速度正相关。旋转角度是指操纵杆2312的初始位置与当前位置之间的角度，当操纵杆2312位于初始位置时，割草机的行走速度为零，当操纵杆2312的位置处于极限位置(此时旋转角度最大)时，割草机的行走速度为当前行走速度档位对应的最大值，操纵杆2312的数量为两个，两个操纵杆2312分别控制行走系统对应侧的驱动轮，通过使两个操纵杆2312的旋转角度差异来调节割草机的行走方向。通过操控操纵杆2312能够调节行走系统20的行走速度及转动角度。
每一操纵杆2312上分别设置有调速键，其中一个操纵杆2312上设置行走调速键，另一个操纵杆2312上设置切割调速键。调速键位于操纵杆2312的末端，调速键的活动方向沿操纵杆2312握持部的方向，当操作者握紧操作杆时，拇指自然的位于操纵杆2312的末端，此时操作者只需向手心方向活动按压大拇指，则完成速度的调节，符合人体工学。
在一个实施例中，调速键分为高中低三档，能够调整行走速度或者切割转速的最大值。当时使用调速键调整速度时，显示系统上，同步显示调整结果。同时显示屏上的调速标识也能够调节割刀和切割机行走的转速。
请参阅图66，在本发明一实施方式中，操控系统还包括若干个操控按键，通过操控按键能够实现：照明设备的打开与关闭，报警灯的打开与关闭，外设 工具的启动与停止，刀片使用时间的重置，语言的选择，单位的转换，显示屏530的亮度调整，阶段性的割草面积、割草时间、平均时速的统计。显示屏530的旁侧还设置有切割开关231，当操作者在位时，启动切割开关可以启动切割系统进行割草。需要说明的是，当操作者不在位时，即便启动切割开关也无法启动切割系统，必须当操作者就位后再启动切割开关才能启动切割系统，这种启动方式避免了切割系统被误启动，增加了割草机的安全性。
在本发明一实施方式中，调速键可以为分体式结构，调速键包括切割调速键以及行走调速键，其中切割调速键包括切割加速键以及切割减速键调速键；行走调速键包括：行走加速键以及行走减速键。当按调速键时，显示屏530上对应的调速标识会被点亮。例如，使用行走加速键对切割机的行走系统20进行加速时，行走速度标识对应的加速标识会被点亮。此外，调速键还可以是一体式结构，通过触摸屏或者摆动方式实现上述功能。
请参阅图65，本申请一示例性割草机包括一种显示系统1700，显示系统1700包括显示屏530，显示屏530设置于机身上，显示屏用于显示行走速度与作业速度的标识信息1620，标识信息包括：速度标识与调速标识；通过调速标识能够设定机身的行走速度或作业速度。
在本发明一实施方式中，显示屏530包括状态显示区1711及作业显示区1712，状态显示区1711用于显示状态信息，作业显示区1712用于显示作业信息；作业信息包括标识信息。其中，状态显示区位于显示屏的上方区域，呈横条状，显示屏的其余区域为作业显示区。
在本发明一实施方式中，状态信息包括：操作者的在位状态1603、电磁刹车的吸合与释放状态1604、当前时区的时间1605、蜂窝网信号状态1607、远程控制状态1608、照明设备状态1609、报警灯状态1610以及项目名称的至少一个。项目名称可以为作业信息中某一项信息的名称。例如项目名称可以为灯光、设置、阶段作业信息等。
请参阅图65及图69，在本发明一实施方式中，显示屏530可以为触摸屏， 通过显示屏530能够对设备参数1630进行设置，设备参数1630包括：语言、屏幕亮度1631、单位转换1606以及统计参数等。统计参数包括刀条累计使用时间设备累计使用时间以及切割系统30累计使用时间。显示屏530上还设置有刀条重置按键。刀条重置按键用于重置刀条使用时间。更换刀条时，可以通过刀条重置按键将先前的刀条累计使用时间清零。屏幕亮度1631按照25％逐级递增。
请参阅图75至图77，在本发明一实施方式中，显示屏530上能够显示电量信息，电量信息下方会显示不同的状态，例如当出现故障时，显示故障提示，直接点击故障提示可查看故障明细界面。显示屏530的旁侧还设置有界面切换键1713及主开关232，通过界面切换键能够实现显示界面的切换。界面切换键1713可以为触摸键。主开关232设置有安全钥匙，安全钥匙的下部为磁铁，钥匙座处设置有传感器能够感应到磁铁。安全钥匙不插入，则主开关无法启动。
请参阅图65及图67，在本发明一实施方式中，外设工具状态1601包括是否存在外设工具、外设工具的开启或关闭。割草机1还包括用于连接外设工具的接口；监控系统1600还用于在检测到外设工具后控制是否启用外设工具。
在本发明一实施方式中，作业信息还包括阶段作业信息1616，阶段作业信息1616包括：作业面积、作业时长以及平均时速。监控结果还包括暂停提示信息，暂停提示信息包括暂停时长。
本申请割草机的系统还可以应用于其他园林工具上，园林工具包括：机身以及安装于机身上的作业系统、行走系统、操控系统、记录系统、供能系统、监控系统以及显示系统；其中，作业系统包括至少一个用于作业的工具及工具驱动装置；行走系统包括用于使园林工具发生运动的行走轮及行走轮驱动装置；操控系统包括用于操控园林工具的操作装置，操作装置上设置有调速键；调节调速键能够设定行走速度或作业速度。记录系统包括用于记录园林工具的故障信息及对应的故障处理措施、警示信息以及阶段作业信息的存储器；供能系统包括至少一个能源包；监控系统用于监控与作业系统、行走系统、操控系统、 记录系统以及供能系统有关的状态；显示系统包括用于显示监控系统的监控结果及参数设置的显示屏；显示屏呈倾斜设置于机身上。倾斜角度范围为30-60度，例如为45度。
监控结果包括状态信息以及作业信息。监控结果均可以通过显示屏530进行显示。监控结果可以通过文字、图标等进行显示。作业信息包括：行走速度与切割速度的标识信息，标识信息包括：速度标识及调速标识；速度标识包括行走速度标识与作业速度标识，调速标识包括行走调速标识以及作业调速标识。显示屏530能够显示行走速度与切割速度的标识信息，调节调速标识能够设定行走速度或切割速度。
本发明显示系统1700能够显示电池电量1602、操作者的在位状态1603、电磁刹车的吸合与释放状态1604、当前时区的时间1605、蜂窝网信号状态1607(2/3/4G等)、远程控制状态1608、充电剩余时间、预计充满电的时间、照明设备状态1609、报警灯状态1610、外设工具状态1601、行走系统速度档位1621、切割系统速度档位1622、设备能耗状态1611、设备使用时间1612、故障提示1613、详细故障代码1614及故障处理措施建议1615等状态。设备使用时间1612包括设备的总使用时间、切割系统30的使用时间、刀片的使用时间。因此本发明实现了园林工具的功能集中管理，并提高了功能的可视化程度。
请参阅图78，本发明一示例性一种割草机1包括控制器以及灯组400，其中，灯组400设置于机身10上，并与控制器电连接，且在控制器的控制下按照预设的发光方式被点亮，灯组400具有至少一种发光方式，灯组400的发光方式与割草机的状态相对应。例如，灯组400的发光方式不同对应的割草机状态不同，在某一实施方式中，灯组400的发光方式与割草机1的状态一一对应。
割草机1还包括：功能组件以及操控组件。其中，供能组件包括电池包，以对割草机1提供能源。操控组件包括操控面板以及设置于操控面板上的操控键，以实现对割草机1的操控。割草机1还包括行走电机，行走电机驱动行走轮201滚动以使割草机1能够按照操控方式进行移动。
请参阅图78至图79，在本发明一实施方式中，灯组400包括：前照灯410、侧照灯420、顶灯430或者尾灯440的至少一种。
请参阅84，在本发明一实施方式中，前照灯410、侧照灯420或者顶灯430为白光灯。前照灯410、侧照灯420或者顶灯430包括灯罩以及设置于灯罩内部的灯珠，前照灯410、侧照灯420或者顶灯430的灯罩与灯珠配合对外发出白色灯光。例如灯珠为白色灯珠，灯罩为透明灯罩。
请参阅图78，在本发明一实施方式中，前照灯410、侧照灯420或者顶灯430的灯罩内部还设置有绿色灯珠，绿色灯珠能够发射绿光。因此，前照灯410、侧照灯420或者顶灯430可以根据控制器的控制指令发出绿光。
请参阅图79，在本发明一实施方式中，尾灯440为红光灯；尾灯440包括尾灯灯罩以及设置于尾灯灯罩内部的尾灯灯珠，尾灯灯罩与尾灯灯珠配合对外发出红色灯光。例如尾灯灯罩为红色灯罩，尾灯灯珠为白色或者红色灯珠。
请参阅图78及图79，在本发明一实施方式中，割草机1前照灯410设置于机身10前侧且位于机架的前脸处，前照灯410朝向前方；侧照灯420设置于机身10的前侧的左右两个方位；顶灯430设置于机身10的顶部并朝向前方；尾灯440设置于机壳尾部的左右两个方位，尾灯包括两个相互平行的灯条，每一灯条自上而下设置，两个灯条分别位于尾部的左右两个方位。
在割草机中，侧照灯420可以是一个长条状的灯条，此时两个侧照灯420平行的设置于机身10的前侧的左右两个方位。在另一个实施方式中，侧照灯420可以类似于坐骑式割草机1的侧照灯420，两个侧照灯420呈对称状，每一侧照灯420包括第一灯条及第二灯条，第一灯条与第二灯条相交且圆滑过度。
在本发明一实施方式中，割草机1的状态包括：充电状态、充电完成状态、低电量状态、开灯状态或关灯状态。
在本发明一实施方式中，割草机1的状态还包括若干个故障状态。故障状态可以包括故障设备以及故障个数。例如：右驱动控制器有两个故障、左割刀控制器有两个故障等。
本发明割草机1，其上设置有灯组400及控制器，灯组400在控制器的控制下按照预设的发光方式被点亮，灯组400的发光方式与割草机1的状态一一对应。灯组400是设置在机身10上的，所以灯组400的发光可以通过远距离进行观看，而灯组400的发光方式与割草机1的状态一一对应，因此可以通过远距离查看灯组400的灯光形态得知割草机1当前的状态。
本申请一示例性割草机1包括一种灯光指示系统，灯光指示系统包括：控制器及灯组400；其中，灯组400与控制器电连接，且在控制器的控制下按照预设的发光方式被点亮，所述灯组400具有至少一种发光方式，所述灯组400的发光方式与设备的状态相对应；灯光指示系统安装于设备上。
本申请割草机的灯光指示系统还可以应用于其他园林工具上，园林工具包括：机身10、行走轮201、工作组件、工作电机、控制器及灯组400；其中，机身10包括机架100；行走轮201转动安装于机架100上；工作组件设置于机架100上；工作电机设置于机架100上，并与工作组件连接；控制器设置于机身10内部并与工作电机电连接；灯组400设置于机身10上，并与控制器电连接，且在控制器的控制下按照预设的发光方式被点亮，所述灯组400具有至少一种发光方式，所述灯组400的发光方式与所述园林工具的状态相对应。
园林工具还包括：功能组件以及操控组件。其中，供能组件包括电池包，以对园林工具提供能源。操控组件包括操控面板以及设置于操控面板上的操控键，以实现对园林工具的操控。园林工具还包括行走电机，行走电机驱动行走轮201滚动以使园林工具能够按照操控方式进行移动。
灯组400的发光方式与园林工具的状态的具体对应关系可以是以下方式：
工具的电池包处于放电工作过程中时：
上电后按照预定义的顺序依次点亮，例如以站立式切割机为例，白光灯依次点亮，其点亮先后顺序可以是顶灯、前照灯、侧照灯；其中，顶灯先闪烁一下，再与前照灯一起点亮，顶灯及前照灯可以自中间开始并同步朝向两端点亮，两侧的侧照灯可以同步点亮，每一侧照灯从一端朝向另一端点亮。红光灯，两 个尾灯同步发光，每一尾灯上部分常亮下部分闪烁。以坐骑式割草机为例，白光灯依次点亮，其点亮先后顺序可以是顶灯及前照灯、侧照灯，其中，顶灯与前照灯可以同时点亮，其点亮方式可以为自中间同步朝向两端点亮；红光灯中间部位(即位于机壳正后方的部分)常亮、两个端部(即位于机身尾部左右两侧的部分)闪烁。
完成预定义的点亮过程后：
如果通过开关或者通讯的方式接收到的信号是关灯指令，则白光灯和红光灯都会关闭。
如果通过开关或者通讯的方式接收到的信号是开灯指令，则白光灯正常工作，红光灯部分常亮、部分闪烁。
如果车辆有设备发生故障，白光灯和红光灯会按照预定频率进行闪烁工作，比如：红光灯闪烁次数代表故障设备，白灯闪烁次数代表故障数量，比如红光灯闪烁1次，白光灯闪烁2次，代表右驱动控制器有两个故障；红光灯闪烁3次，白光灯闪烁2次，代表左割刀控制器有两个故障，其中，在一个实施例中，闪烁顺序为红灯闪烁1次后，红灯进入关闭状态，然后白灯闪烁2次，然后进入关闭状态，待一段时间后，例如为5秒钟后，再次循环。灯光闪烁的间隔为1秒。
也可以只要有设备发生故障，白光灯和红光灯一起闪烁提示。
如果电量下降到预警阈值，白光灯或红光灯按照预定频率进行闪烁工作，提示操作者尽快回去充电，闪烁方式可以是：电量越低，闪烁频率越快。
车辆在处于充电过程中时：
正常充电时，白光灯按照预定频率和亮度进行闪烁，比如按照30％亮度呼吸式闪烁，红光灯关闭。
正常充电时，白光灯的闪烁频率可以根据充电电流的大小调整闪烁频率，比如说充电电流越大，闪烁频率越快。
充满电时，电池包电量100％，白光灯保持常亮或者变为绿光灯，提示用户 已经充满。
充电时发生故障，白光灯和红光灯根据预定频率和亮度进行闪烁，和放电时遇到故障一样。
本发明通过不同的灯光控制逻辑实现不同的园林工具的状态显示，而灯组400设置于机身10上，且亮度射程范围较广，因此可以实现远距离观测园林工具当下时刻所处的状态时什么。例如需要对园林工具进行充电，然而工作人员不记得是否对其进行了充电，只需要从远处观察一下灯光的闪烁状态就可以获得园林工具是否处于充电状态。
请参阅图86和图87，本申请一示例性割草机1包括驱动电机7110，驱动电机7110包括电机壳7111和安装在所述电机壳7111内的驱动电机绕组，驱动电机绕组包括定子绕组(未标号)、转子绕组(未标号)；定子绕组、转子绕组的结构及安装方式可参见现有一切的定子绕组或转子绕组类型。本实施例中定子绕组固定安装在电机壳7111内，转子绕组转动安装在电机壳7111内，并能够与定子绕组互相配合将电能转换成转子绕组的旋转机械能，转子绕组的一端设置有第一扭矩输出端7113，所述电机壳7111上设置有至少一个增强连接体7112，所述电机壳7111和所述增强连接体7112分别由不同的材料制成，且所述增强连接体7112的材质强度大于所述电机壳7111的材质强度，所述增强连接体7112上设置有用于与减速器120螺纹连接的螺纹孔71121。当需要将驱动电机7110与减速器120连接时，连接螺栓7130的小端可以在驱动电机7110组件安装完成后，从减速器120的固定座71121上的螺栓通孔内穿过再与增强连接体7112上的螺纹孔71121螺纹连接，从而将固定座71121与电机壳7111相连接固定。因为本申请中螺栓可以从电机壳7111外部与连接体螺纹连接，因此可以在整个驱动电机7110安装完成后再与减速器120的固定座71121连接，可以使驱动电机7110装配过程与减速器120装配过程独立完成，并且本申请中连接螺栓7130与减速器120的固定座71121之间无螺纹连接，因此减速器120的固定座71121材质可以不用选择连接强度比较高的材质，可以根据 设计需要灵活选择，例如可以为连接强度较弱的PA6，POM等塑料材质。
本申请中增强连接体7112在电机壳7111上的安装方式，可以不受限定，包括但不限于内嵌铸造、可拆卸固定、粘接、焊接等手段。增强连接体7112的数量也不受限定，可以为一个、两个或更多个，以下将对各种形式和数量的增强连接体7112分别举例进行说明。
请参阅图86至图89，在本申请驱动电机7110一实施例中，所述电机壳7111上仅设置一个增强连接体7112，所述增强连接体7112为一止动盘，所述电机壳7111上设置有与止动盘外径相配的止动盘安装孔71112，所述止动盘上设置有挡边71126，止动盘的中部设置有供第一扭矩输出端7113的芯轴穿出的轴孔71124。所述止动盘卡装在所述止动盘安装孔71112内且挡边71126的一侧与电机壳7111内的挡块71114接触定位，挡边71126的另一侧通过卡装在电机壳7111上的弹性挡圈114沿轴向可拆卸定位固定。所述增强连接体7112上设置有至少两个用于与减速器120连接件螺纹连接的螺纹孔71121。螺纹孔71121的数量根据减速器120与电机壳7111之间的连接螺栓7130数量而定，例如当连接螺栓7130为两个时，则螺纹孔71121的数量对应为两个，本实施例中，连接螺栓7130为四个，固定座71121的外轮廓为近似圆柱形，所述固定座71121上设置有四个与连接螺栓7130相匹配的螺栓通孔，所述止动盘上设置有四个螺纹孔71121，四个螺纹孔71121的位置与四个螺栓通孔的位置相对应，四个连接螺栓7130的小端分别穿过所述四个螺栓通孔与四个所述螺纹孔71121螺纹连接。只要能够实现固定座71121与电机壳7111的稳定连接，所述连接通孔的位置和排布不受限定，较佳地，本实施例中，四个螺栓通孔沿同一圆周均布，这样四个连接螺栓7130的受力会更加均匀。
请参阅图86至图89，在本申请一实施例中，所述止动盘与所述电机壳7111之间设置有第一周向止动结构(未标号)。虽然也可以通过止动盘外轮廓与止动盘安装孔71112轮廓的配合来实现止动盘相对于电机壳7111的周向止动， 例如设置不能相对转动的非回转类轮廓等，但较佳地，所述第一周向止动结构包括若干第一凸部71122和与所述若干第一凸部71122相对应匹配的若干第一凹部71111，所述若干第一凸部71122设置在所述增强连接体7112和/或所述电机壳7111中一个上，所述若干第一凹部71111对应设置在所述增强连接体7112和/或所述电机壳7111中的另一个上。在本实施例中，所述第一凸部71122设置于所述止动盘上，所述第一凹部71111设置于电机壳7111上，止动盘上的第一凸部71122和电机壳7111上的第一凹部71111形状位置相对应，第一凸部71122卡入至第一凹部71111内以在沿周向止动的同时，这样可以通过设置接触面积较大的第一凸部71122和第一凹部71111，将剪切力均匀分散地传递给电机壳7111，可以避免强度较弱的电机壳7111损坏。在本申请驱动电机另一实施例中，也可以将所述第一凹部71111设置于所述止动盘上，所述第一凸部71122设置于电机壳7111上，止动盘上的第一凹部71111和电机壳7111上的第一凸部71122形状位置相对应，第一凸部71122卡入至第一凹部71111内。在本申请驱动电机7110再一实施例中，也可以将多个第一凹部71111分别设置于所述止动盘和电机壳7111上，将多个所述第一凸部71122分别对应设置于所述电机壳7111和所述止动盘上，止动盘上的第一凹部71111和第一凸部71122，分别对应与电机壳7111上的第一凸部71122和第二凹部相对应卡合。
请参阅图90至91，在本申请驱动电机7110另一实施例中，所述电机壳7111上也仅设置一个增强连接体7112，所述增强连接体7112内嵌铸造在所述电机壳7111内。所述增强连接体7112的周边固定连接有四个连接套71123，所述四个连接套71123分别设置有螺纹孔71121，所述四个连接套71123上的螺纹孔71121用于与对应的连接螺栓7130螺纹连接。需要说明的是，螺纹孔71121的数量与减速器120与电机壳7111之间的连接螺栓7130数量相等，但根据连接需要应至少为两个，所述固定座71121上设置有四个与连接螺栓7130相匹配的螺栓通孔，四个连接螺栓7130的小端分别穿过所述四个螺栓通孔与四个所述螺纹孔71121螺纹连接。
请继续参阅图90至91，虽然通过内嵌铸造也可以实现增强连接体7112与电机壳7111之间的周向止动，但考虑到内嵌固定的稳定性，所述增强连接体7112与所述电机壳7111之间也设置有第一周向止动结构。只要能够实现周向相对止动，第一周向止动结构的具体结构不受限定，例如将增强连接体7112设置成非回转形外轮廓，从而在内嵌铸造时在在后铸造的电机壳7111上形成对应匹配的凹部和填充凸起，从而实现增强连接体7112相对于电机壳7111更为稳定可靠的周向止动和固定连接。但较佳地，所述第一周向止动结构包括若干第一凸部71122和与所述若干第一凸部71122相对应匹配的若干第一凹部71111，所述若干第一凸部71122设置在所述增强连接体7112和/或所述电机壳7111中一个上，所述若干第一凹部71111对应设置在所述增强连接体7112和/或所述电机壳7111中的另一个上。本实施例中，所述第一凸部71122设置于所述增强连接体7112上，所述第一凹部71111设置于电机壳7111上，增强连接体7112上的第一凸部71122和电机壳7111上的第一凹部71111形状位置相对应，铸造时，将成型的增强连接体7112放入电机壳7111的模具内，浇铸电机壳7111时，电机壳7111的金属熔液填充增强连接体7112周围的其它空腔，从而形成与所述第一凸部71122和连接套71123相匹配的凹部。
请参阅图92至图94，在本申请驱动电机7110再一实施例中，所述电机壳7111上设置有至少两个增强连接体7112，每一所述增强连接体7112都为独立的连接套，每一所述增强连接体7112上均设置有用于与减速器120连接件螺纹连接的螺纹孔71121。所有的所述增强连接体7112均内嵌铸造在所述电机壳7111内的对应位置，用于与减速器120的连接螺栓7130螺纹连接。需要说明的是，增强连接体7112的数量与减速器120与电机壳7111之间的连接螺栓7130数量相等，根据连接需要应至少为两个，考虑到连接的稳定性，本实施例中，所述电机壳7111包括有四个独立的增强连接体7112，所述固定座71121上设置有四个与连接螺栓7130相匹配的螺栓通孔，四个连接螺栓7130的小端分别穿过所述四个螺栓通孔与所述增强连接体7112的螺纹孔71121螺纹连接。
请继续参阅图92至图94，虽然也可以通过内嵌铸造也可以实现增强连接体7112与电机壳7111之间的周向止动，但考虑到内嵌固定的稳定性，所述增强连接体7112与所述电机壳7111之间设置有第一周向止动结构。只要能够实现周向相对止动，第一周向止动结构的具体结构不受限定，例如将增强连接体7112设置成非回转形外轮廓，从而在内嵌铸造时在在后铸造的电机壳7111上形成对应匹配的凹部和填充凸起，从而实现增强连接体7112相对于电机壳7111更为稳定可靠的周向止动和固定连接。但较佳地，所述第一周向止动结构包括若干第一凸部71122和与所述若干第一凸部71122相对应匹配的若干第一凹部71111，所述若干第一凸部71122设置在所述增强连接体7112和/或所述电机壳7111中一个上，所述若干第一凹部71111对应设置在所述增强连接体7112和/或所述电机壳7111中的另一个上。本实施例中，所述第一凸部71122设置于所述增强连接体7112上，所述第一凸部71122包括环形凸部7171222和若干轴向凸部7171221，若干轴向凸部7171221相平行，且沿增强连接体7112的轴向延伸，若干轴向凸部7171221均布在所述增强连接体7112的圆周上，所述环形凸部7171222设置在所述增强连接体7112的中部，并环绕所述增强连接体7112的外圆一周，并连接各个所述轴向凸部。铸造时，将成型的增强连接体7112放入电机壳7111的模具内，浇铸电机壳7111时，电机壳7111的金属熔液填充轴向凸部与环形凸部7171222周围的空腔，从而形成与所述轴向凸部和环形凸部7171222相匹配的凹部。当然本领域技术人员可以理解的是，若不考虑增强连接体7112的体积与强度，也可以在增强连接体7112上设置凹部，使电机壳7111的金属熔液填充连凹部，从而形成电机壳凸部。或者，在增强连接体7112上分别设置凹部和凸部，使电机壳7111的金属熔液填充凹部和凸部周围的空腔，从而形成对应的电机壳凸部和电机壳凹部。
请参阅图85至图98，在本申请驱动电机7110又一实施例中，所述电机壳7111上设置有至少两个增强连接体7112，所述增强连接体7112都为一独立的连接套，每一所述增强连接体7112上均设置有用于与减速器120连接件螺纹 连接的螺纹孔71121。所述增强连接体7112背离减速器120的一端设置有定位凸台71125，所述电机壳7111上设置有连接套安装通孔71113，所述增强连接体7112从电机壳7111的内腔安装在所述连接套安装通孔71113内，且所述定位凸台71125朝向减速器120的一侧抵靠在所述电机壳7111的内壁上以沿轴向定位，所有的所述增强连接体7112的定位凸台71125背离减速器120的一侧设置有压紧盘115，压紧盘115通过压紧螺栓116与电机壳7111连接，从而将所有的所述增强连接体7112可拆卸压装在所述电机壳7111内的对应位置，分别用于与不同的连接螺栓7130螺纹连接。需要说明的是，增强连接体7112的数量与减速器120与电机壳7111之间的连接螺栓7130数量相等，根据连接需要应至少为两个，考虑到连接的稳定性，本实施例中，所述电机壳7111包括有四个独立的增强连接体7112，所述固定座71121上设置有四个与连接螺栓7130相匹配的螺栓通孔，四个连接螺栓7130的小端分别穿过所述四个螺栓通孔与所述增强连接体7112的螺纹孔71121螺纹连接。
请继续参阅图95至图98，为了防止增强连接体7112转动，导致连接螺栓7130松动，在本申请一实施例中，所述增强连接体7112与所述电机壳7111之间设置有第一周向止动结构。所述第一周向止动结构包括若干第一凸部71122和与所述若干第一凸部71122相对应匹配的若干第一凹部71111，所述若干第一凸部71122设置在所述增强连接体7112和/或所述电机壳7111中一个上，所述若干第一凹部71111对应设置在所述增强连接体7112和/或所述电机壳7111中的另一个上。在本实施例中，所述第一凹部71111设置于所述定位凸台71125的一侧边缘，所述第一凸部71122设置于电机壳7111上，连接套安装通孔71113上设置有与所述第一凹部71111形状相配的第一凸部71122，第一凸部71122与第一凹部71111相配合以沿周向止动。在本申请驱动电机7110另一实施例中，也可以将所述第一凸部71122设置于所述增强连接体7112上，所述第一凹部71111设置于电机壳7111上。在本申请驱动电机7110再一实施例中，也可以将多个第一凹部71111分别设置于所述增强连接体7112和电机壳7111上， 将多个所述第一凸部71122分别对应设置于所述电机壳7111和所述增强连接体7112上。增强连接体7112上的第一凹部71111和第一凸部71122，分别对应与电机壳7111上的第一凸部71122和第二凹部相对应卡合。
请参阅图99至图101，本申请的割草机1包括一种驱动装置700，该驱动装置700用于驱动行走轮201行走，所述驱动装置700包括：驱动电机7110和减速器120。所述驱动电机7110可以为上述任一实施例中所述的驱动电机7110。在本申请驱动装置700一实施例中，所述驱动电机7110包括电机壳7111和第一扭矩输出端7113；所述减速器120包括固定座71121、扭矩输入端和第二扭矩输出端7122；其中，所述电机壳7111上固定设置有至少一个用于连接的增强连接体7112，所述电机壳7111和所述增强连接体7112分别由不同的材料制成，且所述增强连接体7112的材质强度大于所述电机壳7111的材质强度；所述增强连接体7112上设置有螺纹孔71121；所述减速器120的固定座71121通过若干连接件与同一或不同增强连接体7112上的所述螺纹孔71121螺纹连接，所述第一扭矩输出端7113驱动所述扭矩输入端(即第一齿轮系7121内的至少一个第一行星轮71232)转动，所述扭矩输入端带动所述第二扭矩输出端7122转动，所述第二扭矩输出端7122与行走轮201相连接，并带动所述行走轮201转动。
在本申请驱动装置700一实施例中，所述固定座71121与所述增强连接体7112之间设置有防止所述固定座71121与所述增强连接体7112转动的第二周向止动结构。所述第二周向止动结构包括若干第二凸起(未示出)和与所述若干第二凸起相对应匹配的若干第二凹槽(未示出)，所述若干第二凸起设置在所述增强连接体7112和/或所述固定座71121中一个上，所述若干第二凹槽对应设置在所述增强连接体7112和/或所述固定座71121中的另一个上。在申请驱动装置700一实施例中，所述第二凸部设置于所述增强连接体7112上，所述第二凹部设置于固定座71121上，增强连接体7112上的第二凸部和固定座 71121上的第二凹部形状位置相对应，第二凸部卡入至第二凹部内以在沿周向止动的同时，这样可以通过设置接触面积较大的第二凸部和第二凹部，将剪切力均匀分散地传递给固定座71121和增强连接体7112。在本申请驱动装置700另一实施例中，也可以将所述第二凹部设置于所述增强连接体7112上，所述第二凸部设置于固定座71121上，增强连接体7112上的第二凹部和固定座71121上的第二凸部形状位置相对应，第二凸部卡入至第二凹部内。在本申请驱动装置700再一实施例中，也可以将多个第二凹部分别设置于所述增强连接体7112和固定座71121上，将多个所述第二凸部分别对应设置于所述固定座71121和所述增强连接体7112上，增强连接体7112上的第二凹部和第二凸部，分别对应与固定座71121上的第二凸部和第二凹部相对应卡合。
如图87和图88所示，在本申请另外一实施例中，第二凸起和第一凸起为同一凸起，固定座71121上设置有与所述第一凸起相配的第二凹部，第一凸起穿过电机壳7111上的第一凹部伸出至第二凹部内，第二凹部内设置有螺栓通孔，所述连接螺栓7130的小端穿过所述通孔与伸入至所述第二凹部内的第一凸部71122上的螺纹孔71121螺纹连接。这种设置方式，当减速器120上的扭转反作用力作用于固定座71121时，固定座71121上的第二凹部与第一凸部71122对应配合实现力的传递，可以减少连接螺栓7130的破坏，同时，因固定座71121与第一凸部71122之间、第一凸部71122与第一凹部之间的剪切力可以选择截面积相对于连接螺栓7130更大的凸部和凹部传递，因此可以减少电机壳7111、固定座71121的损坏，增加了产品的耐用性。
请参阅图101至图103，本申请中只要能够达到设定减速比，并能给与驱动电机7110固定实现外转子输出，减速器120的类型不受限定，在本申请驱动装置700一实施例中，所述减速器120为行星齿轮减速器120。所述减速器120包括第一齿轮系7121、第二齿轮系7123和转动支架(第二扭矩输出端7122)，所述第一齿轮系7121包括第一太阳轮71131、若干第一行星轮71232、第一行 星轮支架71231和第一内齿圈71221；所述第二齿轮系7123包括第二太阳轮71233、若干第二行星轮71212、第二行星轮支架(即固定座71121)和第二内齿圈71222。第一扭矩输出端7113的芯轴沿所述行走轮201的轴向设置于所述行走轮201的中心，所述芯轴上设有第一太阳轮71131，所述第一太阳轮71131与所述芯轴同轴固接。所述第一行星轮支架71231与所述第一扭矩输出端7113转动连接，所述第一行星轮支架71231上设有第一行星轮71232和第二太阳轮71233，所述第一行星轮71232设有多个，所述第一行星轮71232与所述第一行星轮支架71231转动连接，且第一行星轮71232与所述第一太阳轮71131啮合，所述第二太阳轮71233与所述第一行星轮支架71231同轴固接；第二行星轮支架(即固定座71121)与电机壳7111上的增强连接体7112通过连接螺栓7130固定，所述第二行星轮71212支架上转动设置有多个第二行星轮71212，所述第二行星轮71212与所述第二太阳轮71233啮合；所述转动支架(第二扭矩输出端7122)与所述行走轮201的轮毂固接，第一内齿圈71221和第二内齿圈71222同轴间隔设置在所述转动支架的内部，第一内齿圈71221和第二内齿圈71222与转动支架可通过过盈配合或者固定销、螺栓等固接，从而带动转动支架转动，所述第一内齿圈71221与所述第一行星轮71232啮合，所述第二内齿圈71222与所述第二行星轮71212啮合。本申请设置了两组行星轮机构，两组行星轮机构的内齿圈(即第一内齿圈71221和第二内齿圈71222)均与所述转动支架固接，因此能够从转动支架的两端对其进行驱动，使动力分配更加均匀；另外，两组行星轮之间的差动配合实现了从驱动电机7110到行走轮201的两级减速，传动比更大，扭矩提升更加显著。
本申请还提供一种园林行走设备，该园林行走设备例如可以为骑乘式清扫机、骑乘式扫雪机或割草机，以割草机为例，园林行走设备包括：机架100、割台组件300、驱动装置700和动力部；动力部为驱动装置700提供电能，驱动装置700为行走轮201的转动提供动力；机架100的后侧安装有行走轮201，机架100的前侧安装有转向轮2100，转向轮2100在操控装置230作用下控制 机架100的移动方向。机架100的其它结构形式不受限定，可参加现有园林行走设备的机架100结构；割台组件300安装于所述机架100的底部上，进行对应的园林作业。
所述行走轮201例如可以是由轮胎和轮毂构成的充气车轮，也可以是由高分子聚合物制成的一体式车轮，车轮的结构不拘泥于某一种形式，然而前提是，车轮中心需要具有能够容纳减速器120甚至驱动电机7110的空腔。驱动装置700内的电机壳7111与所述机架100固接，驱动装置700内的齿轮箱与行走轮201的轮毂同轴连接；可以理解的是，本申请中的驱动装置700不仅仅作为驱动元件，更要作为连接行走轮201和机架100的支撑结构，因此驱动装置700内驱动电机7110和减速器120的连接部件应当具有足够的结构强度，例如可以采用铸铁、铸铝等材料。
本申请中园林行走设备中的驱动装置700可以为上述任一实施例中的驱动装置700，在申请园林行走设备一实施例中，所述驱动装置700包括：驱动电机7110和减速器120。所述驱动电机7110包括电机壳7111和第一扭矩输出端7113；所述减速器120包括固定座71121、扭矩输入端和第二扭矩输出端7122；其中，所述电机壳7111上固定设置有至少一个用于连接的增强连接体7112，所述电机壳7111和所述增强连接体7112分别由不同的材料制成，且所述增强连接体7112的材质强度大于所述电机壳7111的材质强度；所述增强连接体7112上设置有螺纹孔71121；所述减速器120的固定座71121通过若干连接件与同一或不同增强连接体7112上的所述螺纹孔71121螺纹连接，所述第一扭矩输出端7113驱动所述扭矩输入端(即第一齿轮系7121内的至少一个第一行星轮71232)转动，所述扭矩输入端带动所述第二扭矩输出端7122转动，所述第二扭矩输出端7122与行走轮201同轴连接。需要说明的是，上述园林行走设备未详细描述的部分及相对连接关系可参加现有相应的园林行走设备结构，具体不再赘述。
本申请驱动电机、驱动装置和园林行走设备，所述电机壳和所述增强连接体分别由不同的材料制成，且所述增强连接体的材质强度大于所述电机壳的材质强度，因此可以在所述增强连接体上设置用于与减速器螺纹连接的螺纹孔，这种设置方法，可以在驱动电机组件安装完成后，从减速器侧将减速器的固定座与增强连接体上的螺纹孔螺纹连接，可以使驱动电机装配过程与减速器装配过程独立完成，并且采用该种结构减速器的固定座材质不再受限制，可以根据设计需要灵活选择。
请参阅图104和图105，本发明一示例性实施例的割草机包括割台组件300，割台组件300包括割台310、电机控制器323及多个切割电机321，电机控制器323和切割电机321均安装在割台310上，且每一切割电机321均与电机控制器323电连接，并由电机控制器130集中控制每一切割电机321的转动。本发明的割台组件300的结构，可节省整机的安装空间、提高电机与电机控制器的散热效率、降低整车成本。
请参阅图104至图106，在一实施例中，割台310上设有用于安装电机控制器323的控制器容置腔324，控制器容置腔324的结构形式不做限制，其可以是独立的结构，也可以与割台310一体成型。例如，割台310一侧中部向下凹陷形成控制器容置腔324，电机控制器323通过紧固件，例如螺钉固定在控制器容置腔324内。电机控制器323置于控制器容置腔324内，电机控制器323的上表面不高于割台310的上表面，以便割台310的安装。当然，在其他实施例中，电机控制器323的上表面也可超出割台310的上表面，但电机控制器323的下表面低于割台上表面(即电机控制器323至少部分位于割台内)。较佳的，控制器容置腔324的底部为开孔结构，电机控制器323的底部至少部分置于开孔处，便于控制器的散热。进一步的，控制器容置腔324的底部为完全开口结构，即电机控制器323的底部完全处于开放式状态，使得电机控制器323得到更好的散热。
请参阅图104、图106和图107，在一实施例中，电机控制器323的底部设 有若干散热片325，若干散热片325沿着电机控制器323的下表面间隔设置，散热片325沿着垂直于电机控制器323下表面的方向向下延伸，散热片325向下延伸的高度不超出割台310的下边缘，即散热片325完全容纳在控制器容置腔324内。割台310底部的空气流经散热片325，将电机控制器323产生的热量带走，有利于控制器的有效散热。
请参阅图104、图105和图108，较佳的，电机控制器323的上方设有控制器防护罩3240，控制器防护罩3240与控制器容置腔324的连接处设有进风口3243，本实施例中，控制器容置腔324的一侧壁低于割台310的上表面，控制器防护罩3240包括盖板3241及与盖板3241固定连接的连接板3242，盖板3241与控制器容置腔324的上开口相匹配，盖板3241遮盖在控制器容置腔324的上方，并通过紧固件固定在割台310上。连接板3242与控制器容置腔324低于割台310上表面的侧壁相配合，连接板3242沿着与盖板3241垂直的方向向下延伸。连接板3242与控制器容置腔324的侧壁之间留有空隙，该空隙形成进风口3243。割台310上方的冷空气从进风口1131进入控制器容置腔324(图5中的箭头方向为冷空气的流动方向)，并沿着控制器容置腔324与控制器120之间的间隙向控制器容置腔324的底部流动，控制器120产生的热量随着冷空气的流动从控制器容置腔324的底部流出。当然，在盖板3241与割台310的连接处也可设置进风口3243。在其他实施例中，控制器防护罩3240也可以为罩体结构，罩体的侧壁上设有与控制器容置腔324配合的进风口。此处对于控制器防护罩3240的形状不做限制，能将控制器容置腔324的上开口覆盖皆可。控制器防护罩3240可以通过紧固件固定在割台310上，也可以与割台310铰接，待电机控制器323安装在控制器容置腔324后，通过控制器防护罩3240将电机控制器323封闭在控制器容置腔324内，保护电机控制器323不受外界损害。
请参阅图104和图105，在一实施例中，割台310上设有电机安装孔311，电机安装孔311纵向贯穿割台310，切割电机321穿过电机安装孔311通过端部的法兰固定在割台310上。割台组件300可以包括一个或多个切割电机321， 每个切割电机321的安装方式相同，例如割台组件300包括三个切割电机321，割台310上对应设置三个电机安装孔311，较佳的，三个电机安装孔311在割台310上呈三角分布，即在割台310背离控制器容置腔324的一侧中部设置一个电机安装孔311，另外两个电机安装孔311分别设置在控制器容置腔324的两侧。此种安装方式使得割台310的受力更加均匀。
请参阅图109至图115，在一实施例中，切割电机321包括电机端盖131、电机壳体3212、电机转子3213和电机定子3214，电机端盖131与电机壳体3212扣合形成电机腔体，电机转子3213和电机定子3214安装在电机腔体内。电机转子3213的两端分别设有第一轴承32131和第二轴承32132，电机转子3213分别通过第一轴承32131和第二轴承32132转动安装在电机端盖131和电机壳体3212上。较佳的，电机端盖131的中部设有第一轴承安装座32111，第一轴承安装座32111的形状和尺寸与第一轴承32131相匹配，电机壳体3212的底部中间设有第二轴承安装座32121，第二轴承安装座32121的形状和尺寸与第二轴承32132相匹配。电机定子3214套装在电机转子3213的外围，当电机定子3214接收电流，根据电生磁的原理，电机转子3213会沿着电机定子3214的磁场方向进行运转。优选的，电机壳体3212对应电机定子3214的位置内壁沿径向向内凸起形成定子支撑台阶32141，电机定子3214通过定子支撑台阶32141固定在电机腔体内。
请参阅图105、图112和图113，在一示例中，电机壳体3212包括依次连通的连接法兰32122、第一壳体32123和第二壳体1324，第一壳体32123为圆柱形空腔结构，第一壳体32123的一端与连接法兰32122连接，第一壳体32123的另一端与第二壳体1324连接。连接法兰32122的外径大于电机安装孔311的孔径，第一壳体32123的外径小于或等于电机安装孔311的孔径。连接法兰32122沿着第一壳体32123的径向方向向外延伸，突出于第一壳体32123。第二壳体1324为圆锥形的空腔结构，第一壳体32123用于安装电机转子3213和电机定子3214，第二壳体1324用于安装电机转子3213的第二轴承32132，第一 壳体32123与第二壳体1324的连接处设置有定子支撑台阶32141，第二壳体1324内设有与第二轴承32132匹配的第二轴承安装座32121。较佳的，第二壳体1324的表面设有若干加强筋321241，可以在确保电机总成强度的同时，减薄电机壳体，进而极大地减轻电机的重量，而且加强筋321241的设置还可以增大散热面积，提高散热效率。
请参阅图105、图112、图113、图116和图117，电机壳体3212的连接法兰32122包括多个第一连接部321221和多个第二连接部321222，其中，第一连接部321221用于与电机端盖131和割台310连接，第二连接部321222用于连接第一连接部321221，多个第一连接部321221和多个第二连接部321222间隔设置并沿第一壳体32123的周向围成一圈形成一连接法兰32122。第一连接部321221沿第一壳体32123的径向方向向外突出于第二连接部321222，切割电机321安装在割台310的电机安装孔311内时，通过第一连接部321221固定在割台310上，此时，电机安装孔311对应第二连接部321222的位置留有通风孔通风孔312，以便割台310上、下表面的空气流通。优选的，电机安装孔311包括第一孔位3111和第二孔位3112，第一孔位3111的孔径与第一壳体32123的外径相匹配，第二孔位3112的孔径大于第一孔位3111的孔径，第一孔位3111对应于连接法兰32122的第一连接部321221，第二孔位3112对应于连接法兰32122的第二连接部321222，电机壳体3212通过紧固件例如螺栓将第一连接部321221固定在第一孔位3111外侧的割台310上，由于第二连接部321222的直径小于第一连接部的直径，第二孔位3112的孔径大于第一孔位3111的孔径，因此，电机安装后，第二连接部321222对应割台310的位置留有较大的通风孔通风孔312(第二连接部321222与第二孔位3112之间的间隙)，该通风孔通风孔312的孔型对应于第二孔位3112的孔型，为圆弧形长条孔，可以实现割台310上、下表面的空气流通。
请参阅图109、图111、图112、图113和图116，电机端盖131与电机壳体3212配合连接。作为示例，电机端盖131包括端盖本体32112和位于端盖本 体32112外围的端盖法兰32113。为方便电机端盖131与电机壳体3212的配合，连接法兰32122朝向电机端盖131的一侧设有一圆周凸起321223，圆周凸起321223的外径与端盖本体32112的内径相匹配。较佳的，圆周凸起321223的上方还间隔设有多个弧形凸起321241，弧形凸起321241用于引导端盖本体32112嵌套在圆周凸起321223的外侧。端盖法兰32113与连接法兰32122的形状相匹配，即端盖法兰32113包括第一法兰部321131和第二法兰部321132，第一法兰部321131与第一连接部321221相匹配，第二法兰部321132与第二连接部321222相匹配，且第二法兰部321132相较于第一法兰部321131向下凹陷，以减轻电机端盖131的重量。电机端盖131与电机壳体3212配合连接时，第一法兰部321131与第一连接部321221通过紧固件例如螺栓固定在割台310上，第二法兰部321132与第二连接部321222相贴合形成一台阶32114，该台阶32114的高度h可为10～12mm，例如可以为10mm、11mm、11.5mm、12mm等等。电机壳体3212与电机端盖131采用台阶式设计，可降低电机总成的总体重量，便于拆卸、维修与安装；此外，切割电机321与割台310安装后，割台310对应台阶32114的位置留有的圆弧形长条孔便于割台310在最低位置时的空气流通。
请参阅图104、图105、图109和图111，切割电机321与电机控制器323通过连接线束3215实现电连接，即，电机端盖131的一侧留有线束出口32115，连接线束3215的一端通过线束出口32115与切割电机321电连接，另一端与电机控制器323电连接。储能装置给电机控制器323供电，电机控制器323根据切割电机321所需要的转速信号，转速方向进行分配和控制电流。优选的，连接线束3215采用防护接头并在线束连接完成后在电机控制器323上方加装控制器防护罩3240，使防护等级达到IP65，避免端子连接处进水，导致电机无法运行。
本发明的割台组件将割草电机和电机控制器集成安装在割草机的割台上，利用一个电机控制器同时控制多个割草电机的运转，可节省整机的布置空间， 降低整车成本和自身重量，便于电机控制器的散热，使其能够保持长时间的高效运转。另外，电机的定子线圈采用下沉式安装，使电机的主体部件位于割台的下方，一方面减小电机体积，使电机的重心下降，电机运行更加平稳，另一方面，电机的发热部件集中在割台的下方，电机运转时产生的热量集中在割台下方，切割刀可作为散热风扇，加快热量的消散。
请参阅图104、图105、图109和图18，本发明还提供一种割草机，该割草机包括机架100、行走组件、电池800、割台组件和切割刀组件，机架100作为整车支撑，用于安装其他零部件，行走组件与机架100相连接，用于驱动割草机的行走，电池800安装在机架100上，为割草机的驱动组件及割台组件供电，割台组件安装在机架100的底部。其中，割台组件300包括割台310、电机控制器323及多个切割电机321，电机控制器323安装在割台310上，多个切割电机321安装在割台310且均与电机控制器323电连接，并由电机控制器323集中控制每一切割电机321的转动。切割刀组件包括多个切割刀322，切割刀322的数量对应于切割电机321的数量。切割刀322通过刀座一一对应安装在切割电机321的输出轴上。割台组件300中各部件的结构可参见上文中的具体描述，在此不做赘述。
请参阅图118，在一实施例中，行走组件包括驱动轮2200及带动驱动轮行走的动力装置(图中未示出)，动力装置例如可以为行走电机，，该行走电机与电池800电连接，电池800为行走电机供电，以驱动驱动轮2200行走。较佳的，割草机还包括转向轮2100，驱动轮2200安装在机架100的后端，转向轮2100安装在机架100的前端，转向轮2100为万向轮，可以实现割草机的转向。
请参阅图104和图118，在一实施例中，割台310上设有多个连接座314和滚轮380，滚轮380设置在割台310的前端，割台310通过连接座314安装在机架100的底部。例如，割台310上设有四个连接座314，四个连接座314对称分布在割台310的前、后两侧，割台310通过四个连接座314与机架100连接。较佳的，割草机还包括用于调节割台310高度的调高装置350，调高装置 350可以为任意能调节割台310高度的结构。作为示例，调高装置350包括前调高件3501、后调高件(图中未示出)、第一连杆420、第二连杆及调高手柄440，前调高件3501和后调高件结构及连接方式相同，前调高件3501与割台310前侧的连接座314铰接，后调高件与割台310后侧的连接座314铰接，第一连杆420一端与前调高件3501铰接，另一端与后调高件铰接，前调高件3501和后调高件通过第一连杆420连接形成平行四边形结构，后调高件通过第二连杆与调高手柄430铰接，调高手柄430转动通过后调高件和第二连杆联动前调高件3501转动以调节割台310的高度。前调高件3501之间设有转轴(图中未示出)，后调高件之间设有转轴，前调高件3501和后调高件420绕转轴转动。当调高手柄430转动时，带动后调高件和第二连杆转动，后调高件通过第一连杆420同时带动前调高件3501转动，前调高件3501和后调高件上的铰链带动割台310的升降。
本发明割草机的其他未详述的结构，皆可通过本领域的常规结构实现，在此不做详述。
本发明的割台组件，将割草电机与电机控制器集成在割台上，且通过一个电机控制器实现多电机的控制，节省整机的布置空间，降低整机成本和自重；有利于电机和控制器的散热，可保持长时间的高效运转。
本申请一示例性实施例的割草机包括行走机构，行走驱动机构在驱动电机和减速器接合处设置密封结构，以实现沿接合处的周向面和/或径向面上实现密封，从而解决现有技术的行走驱动机构因电机和减速器之间存在间隙，而在恶劣的环境中易有异物杂质进入导致减速器失效的技术问题。
请参见图119至图132，上述行走驱动机构包括驱动电机100、减速器200和密封结构。其中，减速器200与驱动电机100同轴连接，行走轮600与减速器200同轴连接，驱动电机100通过减速器200驱动行走轮600转动。密封结构设置在减速器200和驱动电机100的同轴连接位置，并在驱动电机100和减速器200之间形成密封配合。在一实施例中，为增加密封结构的周向密封面积， 密封结构由驱动电机100和减速器200轴向重叠位置的径向或周向延伸，并在轴向重叠位置处的周向面和/或径向面形成密封配合，以实现阻止异物进入减速器200和驱动电机100之间旋转间隙的目的。
请参见图119，在本发明的一实施例中，驱动电机100与减速器200同轴设置，并通过螺栓连接固定。第一密封件300同轴套装在驱动电机100和/或减速器200上，从而在驱动电机100和减速器200的结合部处与驱动电机100和/或减速器200配合形成密封，例如，在一示例中，第一密封件300沿周向同轴套装在驱动电机100和减速器200连接处，并同时在第一密封件300的内圈和/或外圈与驱动电机100和减速器200相配合，以形成驱动电机100和减速器200之间的密封；在另一示例中，第一密封件300同轴套装在减速器200朝向驱动电机100一侧壳体上，第一密封件300固定设置在减速器200的外齿圈210上，并在朝向驱动电机100一侧与驱动电机100的壳体端面相对配合形成密封效果；在又一示例中，第一密封件300同轴套装在驱动电机100朝向减速器200一侧壳体上，第一密封件300固定设置在驱动电机100壳体的周向外围，并在朝向减速器200一面上与减速器200的外齿圈端面211相对设置，第一密封件300与外齿圈端面211留有间隙，第一密封件300朝向减速器200的一面与外齿圈端面211通过在径向平面上相对配合来形成密封结构，以在不影响减速器200和驱动电机100相对转动的前提下实现对减速器200和驱动电机100内部结构的密封保护功能。
其中，上述减速器200为行星减速器200，行星减速器200的特点是能够以较小的轴向尺寸产生较大的减速传动比，其轴向长度甚至可以小于行走轮600的宽度，因此减速器200能够完全藏匿于行走轮600内，进而增加横向空间利用率。
其中，第一密封件300和外齿圈端面211之间的间隙距离为1至3mm，示例性地，该间隙距离可以为1mm、2mm或3mm。
请参见图120至图122，在本发明的一实施例中，驱动电机100与减速器200同轴设置，并通过螺栓连接固定。第一密封件300同轴套装在驱动电机100朝向减速器200一侧壳体上，第一密封件300固定设置在驱动电机100壳体的周向外围，第一密封件300在驱动电机100壳体上不发生轴向转动，第一密封件300在朝向减速器200一侧的平面上与减速器200的外齿圈端面211相对设置。
如图120至图122所示，在本实施例中，第一密封件300为第一密封圈310，第一密封圈310套装固定在驱动电机100的壳体外围上，第一密封圈310上设置有第一弹性结构311，第一弹性结构311凸出设置在第一密封件300朝向减速器200的一面上，第一弹性结构311沿周向在第一密封件300的端面上作闭环延伸。当减速器200同轴装配至驱动电机100上时，第一密封圈310一端通过套装固定实现与驱动电机100之间的密封结构，第一密封圈310另一端凸起的第一弹性结构311则过盈抵触在减速器200的外齿圈端面211上(外齿圈端面211为相对驱动电机100和减速器200轴向连接的一径向平面)，第一弹性结构311末端沿径向在外齿圈端面211上抵触配合，并在外齿圈210转动时通过与外齿圈端面211的摩擦配合阻止外部异物从抵触位置进入，进而实现形成不影响减速器200轴向转动的密封结构。
如图121和图122所示，在本实施例的一示例中，第一弹性结构311的末端设置为双唇结构。当第一弹性结构311末端的双唇结构过盈抵触在减速器200的外齿圈端面211上时，双唇结构在外齿圈端面211上可形成两圈不同径向位置的密封结构，借以两圈密封结构能够在驱动电机100和减速器200连接位置形成两道阻拦，进而增强第一密封圈310和减速器200之间的密封效果。
如图121和图122所示，在本实施例的一示例中，第一密封圈310的内圈上设置有第一凸起312，第一凸起312沿第一密封圈310的周向内缘设置，驱动电机100朝向减速器200一侧壳体的周向外缘上设置有与第一凸起312相配 的第一凹槽110。当第一密封圈310套装在驱动电机100的壳体上时，第一密封圈310内圈上的第一凸起312卡装固定在驱动电机100壳体周向外缘的第一凹槽110内，驱动电机100壳体通过将具有弹性形变特性的第一凸起312夹紧在第一凹槽110中，以使得第一密封圈310固定在驱动电机100的壳体上。
如图120所示，在本实施例的一示例中，第一密封圈310外圈还设有卡箍500，卡箍500套装在第一密封圈310的外圈上，卡箍500在周向方向上对第一密封圈310进行约束，使得第一密封圈310套装固定在驱动电机100的壳体上。其中，第一密封圈310外圈的周向面上设置有向内凹陷的第二凹槽313，第二凹槽313的形状与卡箍500相配，并且在槽体顶部两端设置有向内延伸的翻边，卡箍500沿第一密封圈310周向嵌入第二凹槽313中，并受第二凹槽313顶部翻边阻拦固定在槽体中。
请参见图123至图126，在一些实施例中，驱动电机100与减速器200同轴设置，并通过螺栓连接固定。驱动电机100和减速器200之间的密封结构设置有相互配合的第一密封件300和第二密封件400。其中，第一密封件300同轴套装在驱动电机100朝向减速器200一侧壳体上，第一密封件300固定设置在驱动电机100壳体的周向外围，第一密封件300在驱动电机100壳体上不发生轴向转动。第二密封件400同轴设置在减速器200朝向驱动电机100的一侧，第一密封件300和第二密封件400在驱动电机100和减速器200之间连接位置处的一径向平面相对设置，并相互配合形成密封。
如图123至图126所示，在本发明的一实施例中，第一密封件300为第二密封圈320，第二密封圈320套装固定在驱动电机100的壳体外围上，第二密封圈320的外圈上沿周向外缘设置有第二弹性结构322，第二弹性结构322沿第二密封圈320外圈的周向作环状延伸。第二密封件400为油封410，油封410上设置有一平面，该平面沿径向延伸，油封410在径向平面的一侧与减速器200的外齿圈210同轴连接，油封410在径向平面的另一侧设置有唇边412，唇边 412沿油封410径向平面的周向外缘设置，唇边412在油封410周向外缘处向驱动电机100一侧延伸。当减速器200同轴装配至驱动电机100上时，第二密封圈320套装在驱动电机100朝向减速器200一侧壳体上，油封410的一端与减速器200的外齿圈210同轴连接，油封410上的径向平面与第二密封圈320朝向减速器200的一面相对设置，油封410上沿周向外缘设置的唇边412位于第二密封圈320的周向外侧，第二密封圈320外圈上凸起设置的第二弹性结构322过盈抵触在油封410的唇边412内壁上，第二弹性结构322末端沿周向面与唇边412内壁抵触配合，并在外齿圈210沿轴向转动时通过沿周向与油封410唇边412内壁摩擦配合来阻止外部异物从抵触位置进入，进而实现形成不影响减速器200轴向转动的密封结构。
如图124至图126所示，本实施例中密封结构利用第二密封圈320和油封410在径向面和周向面的配合，有效利用驱动电机100和减速器200连接位置处较小间隙距离来增加的第一密封件300和第二密封件400配合的密封面积，提升了密封结构的密封效果。
如图123和图126所示，在本实施例的一示例中，油封410与减速器200连接的一端设置有紧固钢圈411，紧固钢圈411沿油封410径向平面的周向内缘设置，紧固钢圈411沿轴向向外延伸，紧固钢圈411尺寸与减速器200的外齿圈210相匹配，油封410的紧固钢圈411套装在减速器200的外齿圈210上，例如套装在外齿圈210外侧，油封410通过紧固钢圈411与外齿圈210的过盈配合来实现与减速器200的紧固连接。
如图125和图126所示，在本实施例的一示例中，第二弹性结构322的末端设置为双唇结构。当第二弹性结构322末端的双唇结构过盈抵触在油封410的唇边412内壁上时，双唇结构在唇边412内壁上可形成两圈不同轴向位置的密封结构，两圈密封结构能够在第二密封圈320和油封410相对的周向面上形成两道阻拦，有效增强了第二密封圈320和油封410之间的密封效果。
如图125和图126所示，在本实施例的一示例中，第二密封圈320的内圈上设置有第三凹槽321，第三凹槽321沿第二密封圈320的周向内缘设置，驱动电机100朝向减速器200一侧壳体的周向外缘上设置有与第三凹槽321相配的第二凸起120。当第二密封圈320套装在驱动电机100的壳体上时，驱动电机100壳体周向外缘上的第二凸起120卡装固定在第二密封圈320内圈上的第三凹槽321中，驱动电机100利用第二凸起120与第三凹槽321的过盈配合，使得第二密封圈320固定在驱动电机100的壳体上。
请参见图127至图130，在一些实施例中，第一密封件300上设置有第一台面331，第二密封件400上述有第二台面421。第一密封件300的第一台面331和第二密封件400的第二台面421沿径向平面相对设置，第一台面331和第二台面421之间保持间隙，第一密封件300和第二密封件400利用第一台面331和第二台面421相对之间的间隙来阻止外部异物的进入，进而形成不影响减速器200轴向转动的密封结构。
其中，第一台面331和第二台面421之间的间隙距离为1至3mm，示例性地，该间隙距离可以为1mm、2mm或3mm。
请参见图127和图128，在本发明的一实施例中，第一密封件300为端面压板330，端面压板330朝向减速器200的一面设置为第一台面331，端面压板330套装在驱动电机100壳体朝向减速器200一侧上，端面压板330套装在驱动电机100壳体的周向外围，并通过螺栓与驱动电机100壳体固定连接。第二密封件400为旋转架420，旋转架420通过螺栓固定连接于减速器200的外齿圈端面211上，旋转架420的第二台面421与第一密封件300的第一台面331沿径向平面相对设置，并相互配合形成密封。
如图127和图128所示，在本实施例的一示例中，旋转架420在第二台面421上设置有第一翻边422，第二台面421上的第一翻边422沿第一台面331的周向外缘设置，并向驱动电机100一侧延伸。当驱动电机100和减速器200轴 向连接时，端面压板330的第一台面331与旋转架420的第二台面421相对设置，第二台面421上设置的第一翻边422沿周向包围在端面压板330的外围，端面压板330的周向外缘在周向面上与第一翻边422相对配合形成密封。在本示例中，端面压板330和旋转架420之间，除了利用第一台面331和第二台面421的相对配合形成在径向面上的密封结构，还通过端面压板330外缘与旋转架420上第一翻边422的相对配合形成在周向面上的密封结构。该周向面的密封结构可在旋转架420随减速器200一起相对端面压板330发生相对转动时，能够在端面压板330和第一翻边422之间的间隙产生向外的离心力以将进入间隙的异物甩出，从而实现高效密封。
进一步，如图129和图130所示，在本实施例的一实施例中，端面压板330在第一台面331上设置有第二翻边332，第一台面331上的第二翻边332沿第二台面421的周向内缘设置，并向减速器200一侧延伸。旋转架420的第二台面421在对应第二翻边332的位置处设置有密封凹槽423，密封凹槽423沿第二台面421的周向内缘设置，并且密封凹槽423的形状与第二翻边332相匹配。在一示例中，密封凹槽423的外圈设置为位于第二台面421外缘的第一翻边422，密封凹槽423的内圈设置在第二台面421内缘。
如图130所示，当驱动电机100和减速器200轴向连接时，端面压板330的第一台面331与旋转架420的第二台面421相对设置，第一台面331上设置的第二翻边332嵌入第二台面421上设置的密封凹槽423中，第二翻边332分别在密封凹槽423中分别与密封凹槽423两侧内壁和槽底相对配合形成密封。该密封结构在不影响减速器200相对转动的前提下，增加了端面压板330和旋转架420之间在多个径向面和周向面上的密封长度，有效提升了密封结构的密封效果。
如图131和图132所示，本申请的割草机1包括机身、动力电池、驱动电机100、减速器200、行走轮600和密封结构，以及必要的工作组件、操纵组件、 控制模块等。
其中，行走轮600设置在机身两侧，行走轮600例如可以是由轮胎和轮毂构成的充气车轮，也可以是由高分子聚合物制成的一体式车轮，车轮的结构不拘泥于某一种形式，然而前提是，车轮中心需要具有能够容纳减速器200甚至驱动电机100的空腔。动力电池固定在机身上，并与驱动电机100相电连，以为驱动电机100提供电力。驱动电机100固定设置在机身上，可作为连接行走轮600和机身的支撑结构，驱动电机100的输出端设置有减速器200，减速器200的动力输入端与驱动电机100输出轴同轴连接，减速器200的动力输出端则与行走轮600同轴连接，例如减速器200为行星减速器200，减速器200设置在行走轮600的空腔中，减速器200中作为动力输出端的外齿圈210与行走轮600腔体相连接。
如图119所示，密封结构设置在减速器200和驱动电机100的同轴连接位置，并在驱动电机100和减速器200之间形成密封配合。在一实施例中，为增加密封结构的周向密封面积，密封结构由驱动电机100和减速器200轴向重叠位置的径向或周向延伸，并在轴向重叠位置处的周向面和/或径向面形成密封配合，以实现阻止异物进入减速器200和驱动电机100之间旋转间隙的目的。
本发明提供的行走驱动机构和割草机，在驱动电机和减速器接合处设置密封结构，并使密封结构由驱动电机和减速器轴向接合位置的径向面或周向面形成密封配合，从而有效利用驱动电机和减速器连接位置处较小间隙增加密封结构的密封长度，进而在不影响减速器轴向转动的同时阻止异物杂质进入减速器和驱动电机之间旋转间隙，实现有效密封效果
实施例2：请参阅图133，本实施例提供一种割草机，割草机具有一种控制方法，具体如下：
步骤S110、获取控制信号。
割草机整机上电后，割草机进入待机状态、获取控制信号。控制信号可以 由割草机上的传感器、开关等发出，也可以由操纵者在选择运行模式时发出，也可以由远程操纵时发出。一实施例中，割草机上设置有第一传感器，第一传感器被配置为检测操纵者是否在割草机上，操纵者在割草机上与不在割草机上时，发出不同信号，如操纵者在割草机上时，第一传感器的信号为第一信号，操纵者未在割草机上时，第一传感器的信号为第二信号。一实施例中，第一传感器为脚踏信号开关，脚踏信号开关设置于脚踏装置上，当人员站立在脚踏板上时，脚踏信号开关处于接合状态，发出第一信号，当脚踏板上未站立人员时，脚踏信号开关处于分离状态，发出第二信号，需要说明的是，当脚踏信号开关处于分离状态时，存在脚踏信号开关不发出信号的情况，此时脚踏信号开关未发出信号，则默认脚踏信号开关未发出信号时，也为第二信号。换言之，当第一传感器发出第一信号时，判断人员站立在割草机的脚踏板上，当第一传感器发出第二信号时，判断人员未站立在割草机的脚踏板上。在另一实施例中，当人员站立在脚踏板上时，脚踏信号开关处于分离状态，发出第一信号，需要说明的是，此时存在脚踏信号开关无法发出信号的情况，则默认未获取到脚踏信号开关发出的信号时，也为脚踏信号开关发出第一信号；当脚踏板上未站立人员时，脚踏信号开关处于接合状态，发出第二信号。另一实施例中，第一传感器可以监测脚踏板的位置判断是否有人员在脚踏板上，如人员站立在脚踏板上时，脚踏板受到操纵者的重力作用转动到第一位置，当人员未站立在脚踏板上时，脚踏板受到复位机构的作用力复位到初始位置，第一传感器通过监测脚踏板的位置判断是否有人员站立。在其他实施例中，第一传感器通过监测脚踏板上是否有遮挡等方式判断脚踏板上是否有人员，第一传感器判断脚踏板上是否有人员的实现方式，根据实际需要进行选择即可。
示例性的，割草机上设置有第二传感器，第二传感器用于检测操纵机构是否处于驻车位，操纵机构处于驻车位和非驻车位是，第二传感器发出不同信号，如操纵机构处于非驻车位时，第二传感器信号为第三信号，当操纵机构处于驻车位时，第二传感器信号为第四信号。一实施例中，第二传感器检测割草机操 纵杆的位置信息，从而判断工作人员的操控意图，当第二传感器的信号为第四信号时，操纵杆处于驻车位置，割草机进入或保持驻车状态；当第二传感器的信号为第三信号时，操纵杆处于非驻车位置，割草机进入或保持行进模式，示例性的，割草机进入行进模式后，根据工作人员的操控或预设的程序作出前进或后退动作，仅进入行进模式而工作人员未进一步的操控或未预设程序时，割草机并不作出前进或后退动作。示例性的，操控手柄初始状态下，第二传感器的信号为第四信号，当工作人员控制操控手柄脱离初始位置后，第二传感器的信号为第三信号。一实施例中，第二传感器为割草机的操纵信号开关，初始状态下，操纵信号开关处于结合状态，此时的第二传感器信号为第四信号，当扳动操控手柄后，操纵信号开关处于分离状态，此时的第二传感器信号为第三信号，割草机的控制部接收到行进信号后进入行进模式，待操控手柄进一步动作后，控制割草机前进或后退。
步骤S120、根据获取到的所述控制信号，判断是否满足行进模式的触发条件。
根据获得控制信号，进一步判断是否满足行进模式的触发条件。示例性的，控制信号包括第一信号，第一信号被配置为在操纵者到达驾乘位置时和/或进行模式选择时生成，一实施例中，第一信号在操纵者到达驾乘位置时生成，另一实施例中，第一信号在操纵者进行模式选择第一行进模式时形成，在其他实施例中，第一信号可以通过操纵者到达驾乘位置和选择第一行进模式时生成，优选的，第一信号在操纵者到达驾乘位置时生成。若获取第一信号，则判断满足第一行进模式的触发条件。示例性的，控制信号还包括第二信号，所述第二信号被配置为在操纵者到达推行位置时和/或在进行模式选择时生成，一实施例中，第二信号在操纵者到达推行位置时生成，推行位置可以为固定位置，也可以认定操纵者未在驾乘位置时均为推行位置；一实施例中，第二信号在进行模式选择时生成，如选择第二行进模式，则生成第二信号；一实施例中，第二信号在 操纵者到达推行位置时和选择第二行进模式时生成，优选的，第二信号由操纵者到达推行位置时生成。根据获取到的所述控制信号，判断是否满足行进模式的触发条件包括：若获取到所述第二信号，则判断满足第二行进模式的触发条件。一实施例中，在未获取到第一信号时，也可以判断满足第二行进模式的触发条件。如图134所示，当割草机存在两种行进模式时，第一信号对应满足第一行进模式的触发条件，则判断接收到的信号是否为第一信号，当为第一信号时，则判断满足第一行进模式的触发条件，当不是第一信号时，则判断满足第二行进模式的触发条件。
示例性的，控制信号包括第三信号被配置为操纵机构处于非驻车状态和/或进行模式选择时发出，一实施例中，第三信号在操纵机构处于非驻车状态时发出，另一实施例中，第三信号在进行驻车模式和行进模式的选择中，选择行进模式时发出，在其他实施例中，则有操纵机构处于非驻车状态和选择行进模式时发出，优选的，第三信号在操纵机构处于非驻车状态时发出。根据获取到的控制信号，判断是否满足行进模式的触发条件包括：若获取第三信号，则判断满足进入或保持行进模式的触发条件。示例性的，控制信号包括第四信号，所述第四信号被配置为操纵机构处于驻车状态和/或进行模式选择时发出，一实施例中，第四信号为操纵机构处于驻车状态时发出；另一实施例中，第四信号为进行模式选择中，选择驻车模式时发出；再一实施例中，则存在操纵机构处于驻车状态和进行模式选择时选择驻车模式时发出，优选的，第四信号为操纵机构处于驻车状态时发出。根据获取到的所述控制信号，判断是否满足行进模式的触发条件包括：若获取所述第四信号，则判断不满足进入或保持行进模式的触发条件。请参阅图135，一实施例中，第三信号对应满足行进模式的触发条件，则判断收到的信号是否为第三信号，当为第三信号时，则判断满足行进模式的触发条件，当不是第三信号时，则判断满足驻车模式的触发条件。
步骤S130、若满足行进模式的触发条件，则控制割草机运行对应的行进模 式。
当满足行进模式的触发条件时，控制割草机运行对应的行进模式。需要说明的是，当满足某一行进模式的触发条件时，割草机在进入行进模式时直接对应进入到对应的行进模式。示例性的，当割草机满足第一行进模式的触发条件时，则在割草机进入到行进模式时，直接运行第一行进模式；当割草机满足第二行进模式时，割草机进入行进模式，直接运行第二行进模式。
示例性的，第一信号传感器的信号包括第一信号和第二信号，第二传感器的信号包括第三信号和第四信号，一实施例中，第一传感器信号和第二传感器的信号同时获取，同时判断，从而确定割草机的运行状态。另一实施例中，控制器先判断第一传感器的信号，确定割草机运行第一行进模式或第二行进模式后，再判断第二传感器的信号，从而确定割草机为驻车状态或运行对应的行进模式。在其他实施例中，控制器先判断第二传感器的信号，若割草机运行或进入行进模式，再判断第一传感器的信号，从而控制割草机运行具体的第一行进模式或第二行进模式。示例性的，第一传感器和第二传感器的信号可以为实时获取，也可以在第一传感器和第二传感器的信号状态发生变化时获取，根据实际需要进行选择。
示例性的，根据第一传感器的信号，割草机运行不同的模式，不同模式下，割草机的前进、后退速度不同，从而方便不同情况下割草机的使用。如操纵者在驾乘位置上，割草机运行第一行进模式，第一行进模式也可以称为普通模式，即人员在割草机同步前进。当特殊地形或部分区域需要反复割草时，操纵者在推行位置上，割草机运行第二行进模式，第二行进模式也可以称为随行模式，即人员未在割草机上控制割草机前进，人跟随割草机移动。当操纵者状态发生改变时，第一传感器的信号发生改变，割草机的运行模式也会随之改变。如操纵者由驾乘位置移动到推行位置，割草机由运行第一行进模式切换为运行第二行进模式；操纵者由推行位置移动到驾乘位置，则割草机由运行第二行进模式 切换到第一行进模式，割草机的行进模式跟随操纵者的动作进行切换，更便于对割草机进行控制，满足多样的使用需求。
示例性的，第一行进模式下割草机前进最大速度为第一前进速度，最大后退速度为第一后退速度，为了保障安全，方便操作，第一前进速度不小于第一后退速度。第二行进模式下，第二行进模式下割草机的最大前进速度为第二前进速度，最大后退速度为第二后退速度，第二前进速度不小于第二后退速度，以便于工作人员更好的操作割草机进行移动。
示例性的，同等档位下，第一前进速度大于第二前进速度，第一后退速度大于第二后退速度。当处于第二行进模式下，操纵者未在割草机上，存在操纵者与割草机不能同步移动的情况，通过第二前进速度小于第一前进速度，第二后退速度小于第二后退速度，便于工作人员跟随割草机前进或后退。满足特殊环境下工作，割草机行驶速度降低，提高工作人员的反应时间，保证人身安全，提高割草机使用的安全性。
第一行进模式下，割草机前进速度设置有若干档，一实施例中，第一行进模式下割草机的前进速度设置有四挡，其中，一档，第一前进速度为3～5mph，第一前进速度可以为3～5mph之间的任意数值，如3mph、4mph、5mph等，示例性的，当第一前进速度为3mph时，割草机的前进速度为0～3mph，当第一前进速度为5mph时，割草机的前进速度为0～5mph。示例性的，第一前进速度的允许误差为±0.3mph，如设计第一前进速度为4mph，实际第一前进速度可以在3.7mph～4.3mph之间，从而满足实际使用要求。换言之，当割草机处于第一行进模式的一档时，若第一前进速度为4mph，工人操作割草机的前进速度范围为0～4mph，具体的速度根据工人的操控确定，如对于设有操控手柄的割草机，具体的速度根据工人扳动操控手柄的幅度及速度范围确定；二档，第一前进速度为5～8mph，可以选择5～8mph之间的任意数值，如5mph、6mph、7mph，设计的第一前进速度与实际的第一前进速度之间的允许误差为±0.3mph；三档，第 一前进速度为9～11mph，可以为9～11mph之间的任意数值，如9mph、10mph、11mph等，设计的第一前进速度与实际的第一前进速度之间的允许误差为±0.3mph；四档，第一前进速度为13～15mph，第一前进速度可以为13～15mph之间的任意数值，如13mph、14mph、15mph等，设计的第一前进速度与实际的第一前进速度之间的允许误差为±0.3mph，一实施例中，四挡的第一前进速度为14mph，则割草机的前进速度范围为0～14mph，实际前进速度与操纵者的操作相匹配，如根据操纵杆的转动幅度、油门踏板的踩踏幅度等确定。不同档位下不同的第一前进速度，满足不同的行进要求、割草要求，满足不同工作人员的使用要求。割草机运行第一行进模式时，第一后退速度为3～5mph，第一后退速度可以为3～5mph之间的任意数值，如3mph、4mph、5mph等，示例性的，第一后退速度的允许误差为±0.3mph，如设计第一后退速度为4mph，实际第一后退速度可以为3.7mph～4.3mph之间。在其他实施例中，不同档位下的第一后退速度也可以不同，优选第一后退速度相同，以防止后退速度过快，导致割草机操作不当的情况出现。
第二行进模式下，割草机前进速度设置有三档，其中，一档，第二前进速度为1.75～2.75mph，第二前进速度可以为1.75～2.75mph之间任意数值，如1.75mph、2mph、2.25mph、2.75mph等；二档，第二前进速度为2.75～3.25mph，可以为2.75～3.25mph之间任意数值，如2.75mph、3mph、3.25mph等；三档，第二前进速度为3.5～4.5mph，可以为3.5～4.5mp之间的任意数值，如3.5mph、4mph、4.5mph等；示例性的，第二前进速度的设计数值与实际数值之间的允许误差为±0.3mph。示例性的，割草机运行第二行进模式时，第二后退速度为1.75～2.75mph，可以为1.75～2.75mph之间的任意数值，如1.75mph、2mph、2.25mph、2.75mph等。示例性的，第二后退速度的设计数值与实际数值之间的允许误差为±0.3mph，在其他实施例中，不同档位下第二后退速度可以不同，优选不同档位下第二后退速度相同。不同的第二前进速度满足不同工作人员的使用要求，相邻档位之间的第二前进速度的差值，小于相邻档位之间第一前进 速度之间的差值，可以避免不同档位之间第二前进速度的差值过大时，导致速度突然提升或降低，使得工作人员重心不稳，防止工作人员跌倒等意外事故的发生。
割草机在工作时，需要割草电机启动，驱动割刀转动进行割草，但现有的割草机，只有操纵者在驾乘位置时，割草电机才能启动，为了便于满足不同的使用需求。请参阅图136，本申请割草机的控制方法还包括：
步骤S410、获取到割草电机启动信号。
割草电机启动信号通常由割草电机开关发出，在割草机电源接通后，割草电机开关接合时，发出割草电机启动信号。
步骤S320、根据所述控制信号，判断是否满足所述割草电机的运行条件。
根据前述的控制信号，判断是否满足割草电机的运行条件。示例性的，若控制信号为第一信号和/或第三信号时，判断满足割草电机的运行条件，示例性的，当操纵者在驾乘位置和/或操纵机构处于非驻车位置时，判断满足割草电机的运行条件，即操纵者在驾乘位置和操纵机构处于非驻车位置二者中任意一个满足时，则判断满足割草电机的运行条件。若操纵者未在驾乘位置和操纵机构处于驻车位置二者均满足时，则判断不满足割草电机的运行条件。
需要说明的是，当控制信号任一个发生改变时，割草电机的启动状态根据新的信号状态确定保持或改变，示例性的，检测操纵机构是否处于驻车位置的第二传感器的信号保持第三信号，检测操纵者是否在驾乘位置的第一传感器的信号由第一信号变化为第二信号，则割草电机保持启动状态；如第二传感器的信号由第三信号变化为第四信号，第一传感器的信号由第一信号变化为第二信号，则割草电机中断启动状态，处于停止状态。换言之，仅工人未在驾乘位置板上，且未扳动操控手柄时，割草电机处于停止状态。
步骤S330、若满足割草电机的运行条件，则割草电机运行。
当满足割草电机的运行条件时，割草电机运行，带动切割刀转动工作。
示例性的，本申请还提供一种割草机的控制方法，该控制方法用于控制割草电机的启动，与割草机的行进模式相互独立。具体包括：
获取割草电机启动信号；
获取第二传感器的信号和第一传感器的信号；
若所述第二传感器的信号为第三信号和/或所述第一传感器的信号为第一信号，则所述割草电机启动；若所述第二传感器的信号为第四信号且所述第一传感器的信号为第二信号，则所述割草电机不启动。
需要说明的是，上述获取割草电机启动信号与获取第二传感器的信号和第一传感器的信号之间没有先后顺序，可以先获取割草电机启动信号，也可以先获取第二传感器的信号和第一传感器的信号。
本申请割草机的控制方法可以在遇到地面不平或者遇到障碍物等其他环境下，人跟随割草机行走工作，可在各种工作环境下满足割草工作，结构简单，操作方便，降低使用成本，提升用户体验。
请参阅图137，本申请还提供一种割草机的控制方法，所述割草机上设置有脚踏板，所述脚踏板至少具有第一位置和第二位置，示例性的，当操纵者站立在脚踏板上时，脚踏板处于第一位置，当操纵者未站立在脚踏板上时，脚踏板脱离第一位置，处于第二位置。控制方法具体包括：
步骤S510、获取脚踏板的位置。
示例性的，获取脚踏板的位置可以为具体获得脚踏板处于第一位置或第二位置，也可以仅判断脚踏板是否处于第一位置，具体的，当脚踏板未处于第一位置时，则判定脚踏板处于第二位置。
步骤S520、判断所述脚踏板的位置，若所述脚踏板在第一位置，则判断满足第一行进模式的触发条件；若所述脚踏板在第二位置，则判断满足第二行进 模式的触发条件。
根据脚踏板的位置，从而判断操纵者是否在脚踏板上，从而判断是否满足对应的行进模式的触发条件。当脚踏板处于第一位置时，判断操纵者在脚踏板上，从而判断满足第一行进模式的触发条件，当割草机进入行进模式时，直接进入到第一行进模式中。当脚踏板处于第二位置时，判断操纵者未在脚踏板上，从而判断满足第一行进模式的触发条件，当割草机进入行进模式时，直接进入到第二行进模式中。
请参阅图138，本申请还提供一种割草机的控制方法，割草机上设置有第一传感器，第一传感器被配置为检测操纵者是否在割草机上，控制方法具体包括：
步骤S610、获取第一传感器的信号。
步骤S620、判断第一传感器的信号，若第一传感器为第一信号，则判断满足第一行进模式的触发条件；若第一传感器为第二信号，则判断满足第二行进模式的触发条件。示例性的，当操纵者在割草机上时，第一传感器为第一信号；当操纵者未在割草机上时，第一传感器为第二信号。第一传感器可以为感应式传感器，如红外传感器，检测驾乘位置(包括站立位置)是否有人员，也可以为触发式传感器，如压力开关、接触开关等，当驾乘位置上有人员时，发出对应的信号。在割草机进入行进模式时，直接运行对应的行进模式。
请参阅图139～图140，本申请还提供一种割草机，割草机包括机架100、割台组件2310、操纵机构2310、行走机构200、脚踏装置51100和控制部。
其中，割台组件2310安装在机架100的底部，割台组件2310包括割草电机和割刀，割草电机驱动割刀转动进行割草。
请参阅图146～图149，操纵机构2310包括操纵杆2312、操纵杆安装座2311和第二传感器，操纵杆2312转动安装在操纵杆安装座2311上，操纵杆安装座 2311转动安装在机架100上。一实施例中，第二传感器固定在操纵杆安装座2311上，操纵杆安装座2311与机架100相转动，实现第二传感器信号的变化；另一实施例中，第二传感器固定在机架100上，操纵杆安装座2311与机架100相转动，实现第二传感器信号的变化。当操纵杆安装座2311处于初始状态时，第二传感器的信号为第二信号，当操纵杆2312带动操纵杆安装座2311绕机架转动后，第二传感器的信号为第一信号。一实施例中，操纵杆2312绕操纵杆安装座2311转动的轴线，与操纵杆安装座2311绕机架100转动的轴线相垂直，从而便于操纵杆2312带动操纵杆安装座2311绕机架转动。一实施例中，操纵杆2312包括左操纵杆和右操纵杆，操纵杆安装座包括左操纵杆安装座和右操纵杆安装座，每个操纵杆安装座2311上均设置有一个第二传感器，以更好的对割草机进行操作。示例性的，第二传感器可以为感应式传感器，如红外感应传感器，也可以为接触式开关，如操纵信号开关2319，初始状态时，操纵信号开关2319处于接合状态，此时为第四信号；当操纵杆2312带动操纵杆安装座2311绕机架转动后，操纵信号开关2319变化为断开状态，此时为行进信号。第二传感器优选接触式开关，成本低，识别率高，便于复杂环境的使用。
请参阅图148～图149，一实施例中，机架100上设置有限位板1910，限位板1910上设置有限位槽1911，当操纵杆2312位于限位槽1911内时，限位槽1911限制操纵杆2312与操纵杆安装座2311相对转动，向限位槽1911外转动操纵杆2312时，操纵杆安装座2311与操纵杆2312同步转动，以使得操纵杆安装座2311与机架100相对转动，使得第二传感器的信号由第二信号切换为第一信号。
一实施例中，操纵机构2310还包括回位装置，回位装置在操纵杆安装座2311上的外力消失后，使得操纵杆安装座2311自动回到初始状态，从而工作人员在松开操纵杆2312后，操纵杆安装座2311自动回到初始状态，避免割草机继续运行，降低危险，防止工作人员受伤等意外事故。
行走机构200包括驱动电机和行进轮，操纵机构2310控制驱动电机，驱动电机驱动行进轮转动，以操控割草机前进、后退、转弯。
请参阅图143～图145，脚踏装置5100包括脚踏板5110和第一传感器，示例性的，第一传感器检测操纵者是否在脚踏板上，当操纵者在脚踏板上时，则第一传感器为第一信号，当操纵者未在脚踏板上时，则第一传感器为第二信号。示例性的，脚踏板转动安装在机架100上，脚踏板5110初始状态时，第一传感器的信号为第二信号，脚踏板5110向地面转动至预设角度后，第一传感器的信号切换为第一信号，一实施例中，第一传感器为脚踏信号开关5130，脚踏板5110处于初始状态时，脚踏信号开关5130处于分离状态，当脚踏板5110受到超过预设阈值的外力向地面转动至预设角度后，脚踏信号开关5130切换为接合状态。一实施例中，脚踏装置5100还包括复位架5120和复位机构5140，脚踏板5110转动安装在机架100上，复位架5120转动安装在脚踏板5110上，脚踏信号开关5130设置在复位架5120和/或脚踏板5110上，以在脚踏板5110相对于复位架5120转动至设定位置时接通。复位机构5140设置在复位架5120与脚踏板5110之间，以在作用于脚踏板5110上的外力移除后使脚踏板5110回转，从而使脚踏信号开关5130断开。当操纵者站立到脚踏板5110上时，脚踏板5110受到超过预设阈值的外力，相对于复位架5120转动至设定位置，即脚踏板5110向地面转动至预设角度后，使得脚踏信号开关5130接合，由第二信号切换为第一信号；当操纵者由脚踏板5110离开后，脚踏板5110在复位机构5140的作用下回转，脚踏信号开关5130分离，切换为的第二信号，实现对操纵者是否站立到脚踏板5110上进行监控，便于园林工具根据操纵者是否站立到脚踏板5110上制定不同的运行模式。
请参阅图141～图142，一实施例中，机架100上设置有支撑减震件1930，支撑减震件1930设置于复位架5120的下方，支撑减震件1930对脚踏装置5100提供支撑，从而便于操纵者踩踏在脚踏板5110上，示例性的，支撑减震件1930 为横置中空柱状结构，当操作者站立到脚踏板5110上时，脚踏装置5100接触到支撑减震件1930时，支撑减震件1930提供缓冲效果，以减少脚踏装置5100与支撑减震件1930接触时对操作者的冲击。
示例性的，脚踏信号开关5130可以为感应式开关，如红外感应开关，也可以为接触式开关，优选接触式开关，成本低，识别率高，便于复杂环境的使用。一实施例中，脚踏信号开关5130包括两部分，一部分为主体部，另一部分为触点部，分别安装在脚踏板5110和复位架5120上，当复位架5120安装在脚踏板5110的下方时，触点部与主体部相接触时，脚踏信号开关5130为接通，触点部与主体部分离时，脚踏信号开关5130为断开。当复位架5120安装在脚踏板5110的上方时，触点部与主体部相接触时，脚踏信号开关5130为断开，触点部与主体部相分离时，脚踏信号开关5130为接通。一实施例中，脚踏信号开关5130为一个整体，脚踏信号开关5130设置在脚踏板5110上，另一实施例中，脚踏信号开关5130设置在复位架5120上。
请参阅图143，示例性的，复位架5120上设置有第一限位部5121，脚踏板5110上设置有第二限位部5111，第一限位部5121与第二限位部5111配合，限制脚踏板5110与复位架5120间最大角度。当脚踏板5110上的外力消失，即人离开脚踏板5110后，复位机构5140使得脚踏板5110回转，通过第一限位部5121与第二限位部5111配合，可以避免脚踏板5110过多的远离复位架5120，便于脚踏装置5100的使用，便于人员上下。示例性的，第二限位部5111包括脚踏板5110底部向下设置的限位安装部5114和限位套杆5115，限位套杆5115向复位架5120方向延伸，当脚踏板5110回转到初始位置时，限位套杆5115顶部与第一限位部5121底部相接触，第一限位部5121限制限位套杆5115进一步回转，即第一限位部5121与限位套杆5115接触时，复位架5120与脚踏板5110之间的角度为最大角度，从而避免脚踏板5110与复位架5120之间角度过大，操纵者不方便踩踏脚踏板5110。
请参阅图144，示例性的，复位机构5140包括压簧5140，压簧5140的一端固定在脚踏板5110底部，压簧5110的另一端固定在复位架5120的顶部。脚踏板5110外力作用消失时，压簧5140在自身弹性作用下，使得脚踏板5110回转。压簧5140作用稳定，回转稳定，成本较低。示例性的，脚踏板5110和复位架5120上均设置有固定块5142，固定块5142在脚踏板5110和复位架5120上对应设置，压簧5140的两端套设在固定块5142上，当脚踏板5110与复位架5120处于最大角度时，对应设置的两个固定块5142之间的距离小于压簧5140的自然长度，换言之，脚踏板5110与复位架5120处于最大角度时，压簧5140在未压缩状态下无法由固定块5142上取下。在安装时，直接将压簧5140压缩后套设在固定块5142上，不需要额外进行固定，方便压簧5140的安装、使用。
示例性的，机架100上设置有限位孔1920，脚踏装置5100上设置有插销5170，脚踏装置5100收起时，插销5170插入限位孔220以限止脚踏装置5100转动。通过设置插销5170和限位孔220，可以防止运输时，脚踏装置5100与机架100发生相对转动，有效的保证运输安全。示例性的，插销5170插入限位孔220时，脚踏信号开关5130不接通，当脚踏装置5100收起时，在复位机构5140的作用下，信号开关5130处于分离状态。
一实施例中，第二传感器的信号为行车信号时，若第一传感器的信号为第一信号，则割草机启动第一行进模式，若第一传感器的信号为第二信号，则割草机启动第二行进模式。第一传感器的信号为第一信号，则表明此时操纵者站立在脚踏板5110上，控制割草机启动第一行进模式。若第一传感器的信号为第二信号，则表明操纵者未站立在脚踏板5110上，控制割草机启动第二行进模式。根据工人站立位置的不同，割草机启动不同的运行模式，便于工人更好、更便捷的操作割草机。进一步的，在割草机的运行过程中，第一传感器的信号改变后，控制部控制割草机的运行模式随之改变，如第一传感器的信号由第一信号切换为第二信号，则割草机由第一行进模式切换为第二行进模式。进一步 的，第二传感器包括左右两个第二传感器，两个第二传感器的信号均为行进信号时，控制部才会获得行进信号，以减少操纵者误触时割草机运行的问题出现，提高割草机的使用安全。
一实施例中，同等档位下，第二行进模式下割草机的运行速度，低于第一行进模式下割草机的运行速度。进一步的，第一行进模式下割草机前进速度为第一前进速度，后退速度为第一后退速度，为了保障安全，方便操作，在同等档位下，第一前进速度大于第一后退速度。第二行进模式下，第二行进模式下割草机前进速度为第二前进速度，后退速度为第二后退速度，同档位下，第二前进速度大于第二后退速度，以便于操纵者更好的操作割草机进行移动。
进一步的，同等档位下，第一前进速度大于第二前进速度，第一后退速度大于第二后退速度。当处于第二行进模式下，操纵者站立在割草机的后方而不是脚踏板上，不与割草机同步移动，通过第二前进速度小于第一前进速度，第二后退速度小于第二后退速度，便于操纵者跟随割草机前进或后退。满足特殊环境下工作，割草机行驶速度降低，保证人身安全。
示例性的，第一行进模式下割草机设置有多个档位，不同档位的驱动电机最大转速不同，其中一档，前进时，驱动电机的最大转速为1150～1350rpm，最大转速可以为1150～1350rpm之间任意数值，如1150rpm、1250rpm、1251rpm、1350rpm等；二挡，前进时，最大转速为2050～2250rpm；三档，前进时最大转速为2950～3150rpm，可以为2950～3150rpm之间的任意数值，如2950rpm、3050rpm、3150rpm等；四挡，前进时最大转速为4150～4350rpm，可以为4150～4350rpm之间的任意数值，如4150rpm、4250rpm、4350rpm等。示例性的，上述设计最大转速与实际最大转速之间的允许误差为±40，如四挡前进的设计的最大转速为4250rpm，实际转速可以为4250±40rpm。示例性的，第一行进模式下，割草机后退时的最大转速为1100～1300rpm，可以为1100～1300rpm之间任意数值，如1100rpm、1200rpm、1255rpm、1300rpm等，后退时最大转 速与实际转速之间的允许误差为±40rpm，如后退时最大转速为1200rpm，实际转速可以为1200±40rpm。在其他实施例中，不同档位时，割草机后退时驱动电机的最大转速可以不相同，优选不同档位时，割草电机后退时驱动电机的最大转速相同。
示例性的，第二行进模式下，割草机不同档位下前进时，驱动电机的最大转速不同，其中，一档，前进时最大转速为550～750rpm，可以为550～750rpm之间的任意数值，如550rpm、650rpm、685rpm、750rpm等；二挡，前进时最大转速为800～1000rpm，可以为800～1000rpm之间的任意数值，如800rpm、900rpm、1000rpm等；三档，前进时最大转速为1150～1350rpm，可以为1150～1350rpm之间的任意数值，如1150rpm、1250rpm、1350rpm等；示例性的，第二行进模式下，割草机后退时，驱动电机最大转速为550～750rpm，可以为550～750rpm之间的任意数值，如550rpm、625rpm、650rpm、750rpm等，在其他实施例中，割草机在不同档位下后退时，驱动电机的最大转速不同，优选驱动电机的最大转速相同。示例性的，第二行进模式下，前进和后退的最大转速设计数值与实际数值的允许误差为±40，如三档前进时设计最大转速为1250rpm，则实际最大转速可以为1210～1290rpm。
一实施例中，割草电机的开关开启后，第二传感器的信号为行进信号和第一传感器的信号为第一信号两者中的任一项满足时，割草电机启动；若第二传感器的信号为第四信号，且第一传感器的信号为第二信号，则割草电机不启动。为了满足不同情况下割草的要求，割草电机的启动可以在割草机行进之前，也可以在割草机行进之后，如局部需要割草时，人站立在脚踏板5110上，第一传感器的信号为第一信号，此时启动割草电机的开关，割草电机即可启动。如割草电机需要关闭时，直接关闭割草电机的开关即可关闭，或者第一传感器的信号为第二信号且第二传感器的信号为第四信号时，割草电机也直接关闭。进一步的，第二传感器包括有左右两个第二传感器，两个第二传感器中任一个的信 号处于行车信号时，割草电机的开关开启，也可启动割草电机，更便利的操控割草电机，满足不同条件下的割草需要。
本发明割草机的控制方法，具有方便根据操纵者的站立位置切换割草机运行模式的有益效果。
请参阅图151～图153，一示例性的割草机包括脚踏装置5100，脚踏装置包括脚踏板5110、复位架5120、第一传感器和复位机构5140，其中复位架5120转动安装在脚踏板5110上，第一传感器用于检测操作者是否站立在脚踏板上，第一传感器设置在复位架5120和/或脚踏板5110上，在脚踏板5110相对于复位架5120转动至设定位置时发出在位信号。复位机构5140设置在复位架5120与脚踏板5110之间，以在作用于脚踏板5110上的外力移除后使脚踏板5110回转，从而使第一传感器解除在位信号。通过第一传感器可以检测操作者是否站立在脚踏板5110上，当操作者站立到脚踏板5110上时，第一传感器发出在位信号，当操作者未站立到脚踏板5110上时，第一传感器解除在位信号。示例性的，第一传感器为信号开关5130，当工作人员站立到脚踏板5110上时，脚踏板5110相对于复位架5120转动至设定位置，使得信号开关5130接通；当工作人员由脚踏板5110离开后，脚踏板5110在复位机构5140的作用下回转，信号开关5130断开，实现对工作人员是否站立到脚踏板5110上进行监控，便于园林工具根据工作人员是否站立到脚踏板5110上制定不同的运行模式。在其他实施例中，第一传感器可以为压力传感器、红外感应传感器等。
示例性的，复位架5120可以转动安装在脚踏板5110的上方，也可以转动安装在脚踏板5110的下方。当复位架5120转动安装在脚踏板5110的上方时，人站立在脚踏板5110上，脚踏板5110向远离复位架5120的方向转动，到达设定位置时，信号开关5130接通，人由脚踏板5110下来后，复位机构5140使得脚踏板5110向靠近复位架5120方向回转。当复位架5120转动安装在脚踏板5110的下方时，人站立在脚踏板5110上，脚踏板5110向靠近复位架5120的 方向转动，人离开脚踏板5110后，复位机构5140使得脚踏板5110向远离复位架5120方向回转。优选的，复位架5120转动安装在脚踏板5110的下方，在将脚踏装置5100安装在工具上时，仅需要将复位架5120与工具相对固定，或工具对复位架5120的底部提供支撑即可，当人站立到脚踏板5110时，复位架5120可以对脚踏板5110提供支撑，不需要在工具上增加对脚踏板5110额外支撑的结构，方便脚踏装置5100的安装。
请参阅图154、图155，示例性的，复位架5120包括第一区5122和第二区5123，当脚踏板5110转动至设定位置时，第二区5123与脚踏板5110之间的距离大于第一区5122与脚踏板5110之间的距离。第一区5122为脚踏板5110提供支撑，从而保证工作人员在脚踏板5110上站立稳定，第二区5123与脚踏板5110之间具有一定的空间，以用于安装信号开关5130和复位机构5140。优选的，当脚踏板5110转动至设定位置时，第一区5122平行于脚踏板5110，以保证为脚踏板5110提供稳定的支撑。示例性的，第一区5122、第二区5123以及第一区5122和第二区5123的连接区域均设置有加强筋5124，可以提高复位架5120的承载能力。
请参阅图151，示例性的，脚踏板5110的底部设置有转动安装座5112，转动安装座5112上设置有转动轴5113，复位架5120通过转动轴5113与转动安装座5112转动安装。通过设置转动安装座5112增加复位架5120与脚踏板5110之间的安装空间，方便复位架5120与脚踏板5110的安装。示例性的，复位架5120的加强筋5124与转动安装座5112转动连接，保证复位架5120与脚踏板5110之间转动连接稳定，提高脚踏装置5100的使用寿命。
示例性的，信号开关5130可以为感应式开关，如红外感应开关，也可以为接触式开关，优选接触式开关，采购成本低，识别率高，便于复杂环境的使用。一实施例中，信号开关5130包括两部分，一部分为主体部，另一部分为触点部，分别安装在脚踏板5110和复位架5120上，当复位架5120安装在脚踏板5110 的下方时，触点部与主体部相接触时，信号开关5130为接通，触点部与主体部分离时，信号开关5130为断开。当复位架5120安装在脚踏板5110的上方时，触点部与主体部相接触时，信号开关5130为断开，触点部与主体部相分离时，信号开关5130为接通。一实施例中，信号开关5130为一个整体，信号开关5130设置在脚踏板5110上，另一实施例中，信号开关5130设置在复位架5120上。
请参阅图154～图155，示例性的，复位架5120和脚踏板5110之间设置有减震垫5150，减震垫5150设置于脚踏板5110相对于复位架5120转动至设定位置时，脚踏板5110与复位架5120抵接处。通过增设减震垫5150，避免脚踏板5110与复位架5120刚性接触，一方面，可以减少脚踏板5110与复位架5120之间的磨损，延长脚踏板5110和复位架5120的使用寿命；另一方面，在工作人员踩上脚踏板5110时，起到减震的作用，避免对工作人员造成损害。示例性的，减震垫5150为橡胶材质，减震垫5150的一端固定在复位架5120的第一区5122，当脚踏板5110转动至设定位置时，减震垫5150远离复位架5120的一端与脚踏板5110抵接。示例性的，减震垫5150设置有多个，以使得脚踏板5110各区域均可以有良好的支撑，同时可以提供更好的减震效果，减震垫5150可以为两个、三个、四个、五个、六个等。
请参阅图151、图152、图155，示例性的，复位架5120上设置有第一限位部5121，脚踏板5110上设置有第二限位部5111，第一限位部5121与第二限位部5111配合，限制脚踏板5110与复位架230间最大角度。当脚踏板5110上的外力消失，即人离开脚踏板5110后，复位机构5140使得脚踏板5110回转，通过第一限位部5121与第二限位部5111配合，可以避免脚踏板5110过多的远离复位架5120，便于脚踏装置5100的使用，便于人员上下。示例性的，第二限位部5111包括脚踏板5110底部向下设置的限位安装部5114和与限位安装部5114相固定的限位套杆5115，限位套杆5115垂直于限位安装部5114设置，当脚踏板5110回转到初始位置时，限位套杆5115顶部与第一限位部5121 底部相接触，第一限位部5121限制限位套杆5115进一步回转，即第一限位部5121与限位套杆5115接触时，复位架5120与脚踏板5110之间的角度为最大角度，从而避免脚踏板5110与复位架5120之间角度过大，工作人员不方便踩踏脚踏板5110。
请参阅图155，示例性的，第一限位部5121与第二限位部5111之间设置有缓冲垫5160。通过在第一限位部5121与第二限位部5111之间增设缓冲垫5160，可以避免脚踏板5110回转时，第一限位部5121与第二限位部5111之间刚性接触，一方面，可以减少第一限位部5121与第二限位部5111之间的磨损、碰撞，另一方面，可以降低第一限位部5121与第二限位部5111接触时的声音，同时还可以起到缓冲的作用，避免在复位机构5140的作用下，第一限位部5121与第二限位部5111之间发生多次碰撞。
请参阅图154～图155，示例性的，复位机构5140包括压簧5141，压簧5141的一端固定在脚踏板5110底部，压簧5110的另一端固定在复位架5120的顶部。脚踏板5110外力作用消失时，压簧5141在自身弹性作用下，使得脚踏板5110回转。压簧5141作用稳定，回转稳定，成本较低。示例性的，脚踏板5110和复位架5120上均设置有固定块5142，固定块5142在脚踏板5110和复位架5120上对应设置，压簧5141的两端套设在固定块5142上，当脚踏板5110与复位架5120处于最大角度时，对应设置的两个固定块5142之间的距离小于压簧5141的自然长度，换言之，脚踏板5110与复位架5120处于最大角度时，压簧5141在未压缩状态下无法由固定块5142上取下。在安装时，直接将压簧5141压缩后套设在固定块5142上，不需要额外进行固定，方便压簧5141的安装、使用。
请参阅图155，示例性的，压簧5141设置有3个，三个压簧呈等腰三角形分布。通过设置3个压簧5141，可以使得脚踏板5110的受力均匀，保证脚踏板5110回转稳定。
示例性的，复位架5120与脚踏板5110转动连接处设置有注油嘴，注油嘴连通复位架5120与脚踏板5110相接触处。复位架5120与脚踏板5110之间转动连接，长期使用容易磨损、锈蚀，一方面会导致复位架5120与脚踏板5110转动时发出异响，另一方面，会使得脚踏板5110回转困难，导致复位机构5140受力过大，影响使用寿命。通过设置注油嘴，可以向复位架5120与脚踏板5110连接处的注入润滑油，保证复位架5120与脚踏板5110之间的转动顺畅，减少异响、噪音。示例性的，注油嘴还可以设置于脚踏装置与机架连接的部分，以减少脚踏装置与机架连接处的磨损、锈蚀。
本申请还提供一种园林工具，包括机身10、工作部3000、控制部和上述任一项的脚踏装置5100，其中机身10上设有支撑减震件1930。工作部3000设置在机身10上，控制部控制工作部3000工作。脚踏装置5100包括脚踏板5110、复位架5120、第一传感器和复位机构5140，脚踏板5110转动安装在机身10上；复位架5120转动安装在脚踏板5110上，支撑减震件1930限制复位架5120向远离脚踏板5110方向转动。示例性的，在操作者踩踏在脚踏板5110上时，支撑减震件1930一方面可以对复位架5120进行限位支撑，使得脚踏板5110与复位架5120抵接，另一方面，可以提供减震效果，减少操作者站立到脚踏板5110上的振动，提高操作者的使用舒适度。示例性的，第一传感器为信号开关5130，信号开关5130设置在复位架5120和/或脚踏板5110上，以在脚踏板5110相对于复位架5120转动至设定位置时接通；复位机构5140设置在复位架5120与脚踏板5110之间，以在作用于脚踏板5110上的外力移除后使脚踏板5110回转，从而使信号开关5130断开。本申请园林工具的控制部获取信号开关5130的接通和断开状态，从而可以启动园林工具不同的工作模式。
请参阅图156～图158，示例性的，割草机又称除草机、剪草机、草坪修剪机等，割草机是一种用于修剪草坪、植被等的机械工具，一般割草机只能在普通模式下正常运行，当遇到障碍物或者地面不平时，无法清楚割干净草坪，需 要多次循环，降低割草机运行时间，增加使用成本。割草机还包括行走机构200和第二传感器，割草机的控制部接收第二传感器的信号和第一传感器的信号，根据第二传感器的信号和第一传感器的信号控制割草机的模式。第二传感器检测割草机操纵杆的位置信息，从而判断工作人员的操控意图，第二传感器发出的信号包括两种，一种为第四信号，当第二传感器的信号为第四信号时，割草机处于驻车状态；一种为第三信号，当第二传感器的信号为第三信号时，割草机进入行进模式，示例性的，割草机进入行进模式后，根据工作人员的操控或预设的程序作出前进或后退动作，仅进入行进模式而工作人员未进一步的操控或未预设程序时，割草机并不作出前进或后退动作。示例性的，操控手柄初始状态下，第二传感器的信号为第四信号，当工作人员控制操控手柄脱离初始位置后，第二传感器的信号为第三信号。一实施例中，第二传感器为割草机的操纵信号开关，初始状态下，操纵信号开关处于结合状态，此时的第二传感器信号为第四信号，当扳动操控手柄后，操纵信号开关处于分离状态，此时的第二传感器信号为第三信号，割草机的控制部接收到行进信号后进入行进模式，待操控手柄进一步动作后，控制割草机前进或后退。
示例性的，第一传感器监测脚踏板上是否有人员站立，当有人员站立到脚踏板上时，第一传感器发出第一信号，相当于在位信号，当没有人员站立到脚踏板上时，第一传感器发出第二信号，相当于解除在位信号。一实施例中，第一传感器为脚踏信号开关，脚踏信号开关设置于脚踏装置上，当人员站立在脚踏板上时，脚踏信号开关处于接合状态，发出第一信号，当脚踏板上未站立人员时，脚踏信号开关处于分离状态，发出第二信号，需要说明的是，当脚踏信号开关处于分离状态时，存在脚踏信号开关不发出信号的情况，此时控制部检测脚踏信号开关未发出信号，则默认脚踏信号开关未发出信号时，也为第二信号。换言之，当第一传感器发出第一信号时，判断人员站立在割草机的脚踏板上，当第一传感器发出第二信号时，判断人员未站立在割草机的脚踏板上。在另一实施例中，当人员站立在脚踏板上时，脚踏信号开关处于分离状态，发出 第一信号，需要说明的是，此时存在脚踏信号开关无法发出信号的情况，则默认控制部未监测到脚踏信号开关发出的信号时，也为脚踏信号开关发出第一信号；当脚踏板上未站立人员时，脚踏信号开关处于接合状态，发出第二信号。
若所述行进传感器的信号为开启信号，则所述割草机解除驻车，进入行进模式。若所述第一传感器的信号为第一信号，则所述割草机运行第一行进模式；若所述第一传感器的信号为第二信号，则所述割草机运行第二行进模式。
第一行进模式下割草机前进最大速度为第一前进速度，最大后退速度为第一后退速度，为了保障安全，方便操作，在同等档位下，第一前进速度不小于第一后退速度。第二行进模式下，第二行进模式下割草机的最大前进速度为第二前进速度，最大后退速度为第二后退速度，同档位下，第二前进速度不小于第二后退速度，以便于工作人员更好的操作割草机进行移动。
示例性的，同等档位下，第一前进速度大于第二前进速度，第一后退速度大于第二后退速度。当处于第二行进模式下，工作人员站立在割草机的后方而不是脚踏板上，通过第二前进速度小于第一前进速度，第二后退速度小于第二后退速度，便于工作人员跟随割草机前进或后退。满足特殊环境下工作，割草机行驶速度降低，提高工作人员的反应时间，保证人身安全，提高割草机使用的安全性。
示例性的，割草机还包括操纵机构2310等其他结构，割草机的其他结构参考现有割草机结构，本申请不做赘述。
请参阅图157，示例性的，机身10上设置有限位孔1920，脚踏装置5100上设置有插销5170，脚踏装置5170收起时，插销5170插入限位孔1920以限止脚踏装置5100转动。通过设置插销5170和限位孔1920，可以防止运输时，脚踏装置5100与机身10发生相对转动，有效的保证运输安全。示例性的，插销5170插入限位孔1920时，信号开关5130不接通，当脚踏装置5100收起时，在复位机构5140的作用下，信号开关5130处于断开状态。
本发明可以检测工作人员是否站立在脚踏板5110上，便于工作人员使用。
实施例3：本发明提供一种割草机，它可以是割草机1，包括割台310、以及割草机通常可以具有的其它元部件。割草机1进一步包括立架1819，其上布置有两个全球导航卫星系统(Global Navigation Satellite System，GNSS)接收天线1812和无线天线1813。GNSS接收天线1812和无线天线1813也可以布置在割草机1上的其它合适的部件或位置。割草机1还设有控制器1814和GNSS移动站1815。控制装置1814和GNSS移动站1815可以设置在割草机1上的任意合适的位置，显示控制装置1814和GNSS移动站1815布置在割草机1的驾驶座位(未标号)后面的箱体(未标号)内。
本发明所使用的RTK基站1820是便携RTK基站，它可以随割草机1一起运到不同的草坪，然后安装在草坪旁边的固定锚点20(图4)上，以在割草机1对草坪进行地图标定或割草作业时与割草机1一起配合使用。便携RTK基站1820无线传输差分数据和RTK基站本身收敛的位置(定位)坐标到割草机1，RTK基站1820可以包括有GNSS卫星接收机(未图示)、处理单元(未图示)、电池(未图示)、无线信号收发器(未图示)等部件，这些元部件是RTK基站通常应包括的以实现其功能。
图80为本发明割草机1、终端控制装置1830和RTK基站1820的功能模块示意图。割草机1可以为图1所示的割草机1，RTK基站1820可以是图1示意的便携式RTK基站，而终端控制装置1830可以是手持终端，例如iPad等APP终端。割草机1包括控制装置1814、定位装置14和通讯装置1818。
其中，控制装置1814可控制割草机1执行行驶、地图标定/调用/偏移、以及割草作业等运作或/和功能，实现割草机1的智能驾驶功能。控制装置1814可进一步包括地图生成及管理模块、轨迹规划模块、及割草作业控制模块等。控制装置1814在本发明又可称为智能驾驶控制器或控制器。
定位装置14可以是GNSS移动站、其它卫星定位移动、或者其它可以配合RTK基站共同实现实时定位功能的定位装置。定位装置14还包括布置在割草机 1的立架1819上的GNSS接收天线1812。GNSS移动站1815应用差分数据修正GNSS定位坐标(即割草机1的定位坐标)，并输出给控制装置1814。
如图88所示，通讯装置1818包括电台单元1811，电台单元1811接收来自便携RTK基站1820的数据/信号，包括差分数据和基站坐标数据。电台单元1811将来自RTK基站1820的差分数据发送给定位装置(卫星定位移动站)14，将来自RTK基站1820的基站坐标传送给控制装置(智能驾驶控制器)1814。通讯装置1818还可以包括用于割草机1与手持终端1830(例如iPad上的APP)之间的遥控信号接收单元1817，遥控信号接收单元1817可以是蓝牙设备或其它无线通讯设备，以接收来自手持终端1830的指令信号。通讯装置1818还可以包括4G-GPS模块1816，割草机1通过4G-GPS模块1816可以通过网络(例如移动网络)与服务器(例如AWS服务器)4通信，服务区1840可以通过网络(例如移动网络)与手持终端1830进行通信。
手持终端1830接收割草机1反馈的状态信息，然后发送相应的指令到割草机1以控制其执行所发送的指令。割草机1反馈的状态信息包括定位状态及报警信息。手持终端1830接收到的割草机1的定位状态包括高精度定位状态和非高精度定位状态，高精度定位状态是指RTK固定解，而非高精度定位状态是指RTK浮点解。其中，高精度定位状态指示割草机1处于厘米级定位状态。报警信息是指割草机1的各种故障状态，如割刀电流过流上、行走电机过流、控制温度过高等。
手持终端1830可以发送的指令有：继续当前状态的指令、标定地图的指令、标定不可割草区域(即非工作区域)的指令、增加不可割草区域的指令、地图边界标定完成的指令、不可割草区域标定完成指令等。手持终端1830是操作员与割草机1沟通的媒介，它可以通过蓝牙、WiFi、Lora等无线通讯方式发送指令给割草机1。
本发明中，可同时参阅图81和82，GNSS定位移动站(即定位装置)14实时采集割草机1的定位坐标。当割草机对待割草草坪(可为工作区域)5进行 地图标定时，GNSS定位移动站1815应用来自RTK基站1820的差分数据修正割草机1的定位坐标数据，并将修正的定位坐标数据发送给控制装置1814。控制装置1814应用修正的定位坐标数据和来自RTK基站1820的基站坐标数据生成待割草草坪的标定地图，并将标定地图发送给储存装置进行储存。当割草机1对待割草草坪5进行割草作业时，控制器1814将标定地图中的RTK基站坐标和当前RTK基站1820的RTK基站坐标进行比较。如果比较所得的偏差值小于预设值则对标定地图进行相应偏移，并生成新的地图供割草作业使用；如果比较所得的偏差值大于预设值则报警RTK基站1820位置异常。预设值可为1.5m。
当手持终端1830接收到的定位状态信息为高精度定位状态信息时，手持终端1830发送相应的执行指令给割草机1，执行指令可以是继续当前状态的指令、标定地图的指令、标定不可割草区域的指令、增加不可割草区域的指令、地图边界标定完成的指令、不可割草区域标定完成指令等指令中的一种。
当手持终端1830接收到的定位状态信息为非高精度定位状态信息时，手持终端1830发送停机指令给割草机。
当手持终端1830接收到报警信息时，手持终端1830显示所述报警信息，通知操作员，由操作员通过所述终端控制装置发送相应的处理指令给割草机1。
可参图83及84，当割草机1测绘以标定草坪5的地图时，割草机1沿待标定草坪5的割草区域(即工作区域)1852的边界1850行驶，GNSS定位移动站(定位装置)14实时采集割草机1的定位坐标。控制器1814实时监控割草机1是否处于高精度定位状态，如果不在高精度定位状态则反馈定位系统异常到手持终端1830；如果一直处于高精度定位状态则持续记录割草机1的定位坐标，直至手持终端1830发送地图边界标定完成指令给割草机1的控制器1814。由于定位装置14装设在割草机1上，所以可认为控制器1814其实是在实时监控定位系统是否处于高精度定位状态。控制器1814根据从开始标定到结束标定指令之间收到的割草机1的定位坐标生成割草区域1852的标定地图，并将标定地图储存到储存装置，同时对应储存RTK基站3发出的RTK基站坐标。
当完成标定割草区域1852的地图后，手持终端1830可进一步向述割草机1发送不可割草区域标定指令，不可割草区域即障碍物1855、1856等。割草机1沿不可割草区域(障碍物)1855或1856的边界行驶，GNSS定位移动站1815实时采集割草机1的定位坐标，控制器1814实时监控割草机1(或者定位系统)是否处于高精度定位状态。如果不在高精度定位状态则反馈定位系统异常到手持终端1830；如果一直处于高精度定位状态则持续记录割草机1的定位坐标，直至手持终端1830向割草机1发送不可割草区域标定完成指令。控制器1814根据从开始标定到结束标定指令之间收到的割草机1的定位坐标生成不可割草区域(障碍物，亦为非工作区域)1855或1856的标定地图，并与割草区域1852的标定地图比较校验不可割草区域1855、1856的边界是否超出割草区域(待标定地块)1852的边界50(或者说校验不可割草区域1855、1856的边界是否与割草区域(待标定地块)1852的边界1850冲突)，同时对应储存不可割草区域1855、1856的边界标定地图和RTK基站1820发出的RTK基站坐标。
割草区域1852的标定地图以及不可割草区域1855或1856的标定地图可以储存在控制装置1814、手持终端1830、或者可与割草机及手持终端1830通信的服务区1840上。
本发明中，当对割草区域1852的标定地图进行相应偏移时，标定地图先由储存装置调用、并发送给控制装置1814的地图生成及管理模块，地图生成及管理模块计算标定地图中的RTK基站坐标与当前RTK基站1820的RTK基站坐标的差值，然后将标定地图内的所有点的坐标加上计算出的差值，从而生成偏移后的新地图，割草机1即可根据这个新地图来进行割草作业。
进一步地，本发明提供一种用于割草机1的地图标定及调用方法，包括：
步骤一为地图标定及生成流程/步骤，可同时参阅图84。开始地图标定，割草机1沿待标定的割草区域1852的边界1850行驶，GNSS定位移动站1815实时采集(监测并记录)割草机1的定位坐标。GNSS定位移动站1815应用来自RTK基站1820的差分数据修正割草机1的定位坐标数据，并将修正的定位坐标 数据发送给割草机1的控制器1814，控制器1814应用修正的定位坐标数据和来自RTK基站1820的基站坐标数据生成割草区域1852的标定地图，并将标定地图发送给相应的储存装置进行储存。
控制器1814实时监测割草机1是否处于高精度定位状态的信息。如果不在高精度定位状态，则反馈定位系统异常到用于手持终端1830；如果一直处于高精度定位状态，则持续记录割草机1的定位坐标，直至手持终端1830发送地图边界标定完成指令，控制器1814根据从开始标定到结束标定指令之间收到的割草机1的定位坐标生成并储存割草区域1852的标定地图，同时对应储存RTK基站1820发出的RTK基站坐标。
当完成上述标定地图后，手持终端1830可进一步向割草机1发送不可割草区域标定指令。割草机1沿不可割草区域(例如障碍物1855或1856)的边界行驶，控制器1的地图生成管理模块实时监控GNSS定位移动站1815/割草机1(或者说监控定位系统)是否处于高精度定位状态。如果不在高精度定位状态，则反馈定位系统异常到手持终端1830；如果一直处于所述高精度定位状态，则持续记录割草机1的定位坐标，直至手持终端1830向割草机1发送不可割草区域标定完成指令。控制器1814根据从开始标定到结束标定指令之间收到的割草机1的定位坐标生成不可割草区域1855或1856的标定地图，并校验不可割草区域1855或1856是否与割草区域边界1850冲突(即是否超出割草区域边界1850)，同时对应储存RTK基站1820发出的RTK基站坐标。
步骤一进一步包括将不可割草区域1855或1856的标定地图与割草区域1852的标定地图进行比较，以校验不可割草区域1855或1856是否在割草区域1852的边界内。
图83所示的实施例中，本发明地图标定和生成的流程包括：
(1)开始地图标定；
(2)割草机1沿割草区域1852的边界1850行驶，地图生成系统(例如控制器1814的地图生成及管理模块)通过GNSS定位移动站1815采集割草机1的 定位坐标；
(3)控制器1814根据GNSS定位移动站1815提供的状态信息来判断定位系统(GNSS定位移动站1815和割草机1)是否处于高精度定位状态，如果是，则继续判断割草机1是否完成绕边界1850的行驶，如果为否，则发出定位系统状态异常的警报；
(4)如果控制器1814判断割草机1已完成绕边界1850的行驶，则手持终端发出指令储存割草机1轨迹坐标生成标定地图，并储存RTK基站坐标；如果控制器1814判断割草机1未完成绕边界1850的行驶，则继续回到步骤(3)；
(5)储存割草机1轨迹坐标生成标定地图、并储存RTK基站坐标之后，控制器1814判断是否需要增加标定不可割草区域(例如障碍物1855和1856)，如果判断需要则手持终端1830发出标定不可割草区域的指令，如果判断不需要则流程结束(完成)；
(6)手持终端1830发出标定不可割草区域的指令后，控制器1814根据控制器1814监测的状态信息来判断定位系统是否处于高精度定位状态，如果是，则继续判断割草机1是否完成绕不可割草区域边界的行驶，如果为否，则发出定位系统状态异常的警报；
(7)如果控制器1814判断割草机1已完成绕不可割草区域边界的行驶，控制器1814继续校验不可割草区域是否与割草区域边界1850冲突(通常是指不可割草区域已经超出了割草区域1852的边界1850)。如果是，则回到步骤(6)；如果否，则储存不可割草区域到步骤(4)的标定地图中，然后回到步骤(5)；
(8)如果控制器1814判断割草机1未完成绕不可割草区域边界的行驶，则回到步骤(6)。
本发明用于割草机1的地图标定及调用方法的步骤二为标定地图的调用流程。当割草机1对割草区域1852进行割草作业时，控制器1814从储存装置调用储存的标定地图。在地图调用时需要割草机1的控制器1814计算出本次RTK 基站1820的定位(位置)坐标与标定地图中对应的RTK基站位置坐标的偏差(即差值)，并且根据两次RTK基站偏差值(差值)相应地偏移草坪5的标定地图。
并且根据GNSS单点定位精度标准差设置RTK基站偏差范围预设值，当偏差超过预设值时提醒操作员基站位置异常，检查RTK基站是否放在了固定锚点上。
图84的实施例中包括以下步骤：
(1)开始调用草坪90的标定地图；
(2)由储存有标定地图的储存装置来选择用于割草作业的标定地图；
(3)控制器1814判断标定地图中RTK基站位置与当前RTK基站1820的RTK基站定位(位置)偏差是否小于预设值，如果是则进入下一步骤，如果否，则向手持终端1830或者服务区1840报告基站位置异常；
(4)控制器1814根据标定地图RTK基站定位坐标与当前RTK基站1820的RTK基站定位坐标之间的偏差来偏移标定地图，生成新地图用于割草作业；
(5)流程结束(完成)。
本发明方法的步骤三是对标定地图进行偏移的流程。控制器1814将标定地图中的RTK基站坐标和当前RTK基站1820的RTK基站坐标进行比较。如果比较所得的偏差值小于预设值(例如1.5m)，则对标定地图进行相应偏移，并生成新的地图供割草作业使用；如果比较所得的偏差值大于预设值(例如1.5m)，则报警RTK基站1820位置异常。
步骤三中，所述储存装置调用、并将所述标定地图发送给所控制装置，所述控制装置计算所述标定地图中的RTK基站坐标与当前所述RTK基站的RTK基站坐标的差值，然后将所述标定地图内的所有点的坐标加上计算出的所述差值，从而生成偏移后的新地图，所述割草机即可根据所述新地图来进行割草作业。
以下就本发明的标定地图偏移方法举例说明：
绘制标定地图时RTK基站1位置的经纬度坐标为(X0,Y0)，
标定地图的边界为{(MX1,MY1),(MX2,MY2),···,(MXn,MYn)}，
障碍物(不可割草区域)1边界为{(1OX1,1OY1),(1OX2,1OY2),···,(1OXn,1OYn)}，
障碍物(不可割草区域)2边界为{(2OX1,2OY1),(2OX2,2OY2),···,(2OXn,2OYn)}，
·····
障碍物(不可割草区域)m边界为{(m2OX1,mOY1),(mOX2,mOY2),···,(mOXn,mOYn)}。
下一次割草时，RTK基站坐标为(X1,Y1),则需要偏移的偏移量(差值)为(detaX,detaY)＝((X1-X0),(Y1-Y0)),
割草时经过偏移后生成的新地图的边界为{((MX1-detaX),(MY1-detaY)),((MX2-detaX),(MY2-detaY)),···,((MXn-detaX),(MYn-detaY))}，
新地图的障碍物1边界为{((1OX1-detaX),(1OY1-detaY)),((1OX2-detaX),(1OY2-detaY)),···,((1OXn-detaX),(1OYn-detaY))}，
新地图的障碍物2边界为{((2OX1-detaX),(2OY1-detaY)),((2OX2-detaX),(2OY2-detaY)),···,((2OXn-detaX),(2OYn-detaY))}，·
····
新地图的障碍物m边界为{((mOX1-detaX),(mOY1-detaY)),((mOX2-detaX),(mOY2-detaY)),···,((mOXn-detaX),(mOYn-detaY))}。
同理，一种具有高程(海拔)信息的地图偏移方法举例：
绘制标定地图时RTK基站1820位置的经纬度和海拔坐标为(X0,Y0,H0)，
标定地图的边界为{(MX1,MY1,MH1),(MX2,MY2,MH2),···,(MXn,MYn,MHn)}，
障碍物(不可割草区域)1边界为{(1OX1,1OY1,1OH1),(1OX2,1OY2,1OH2),···,(1OXn,1OYn,1OHn)}，
障碍物(不可割草区域)2边界为{(2OX1,2OY1,2OH1),(2OX2,2OY2,2OH2),···,(2OXn,2OYn,2OHn)}，·
····
障碍物(不可割草区域)m边界为{(m2OX1,mOY1,mOH1),(mOX2,mOY2mOH2),···,(mOXn,mOYn mOHn)}，····
下次割草时，RTK基站坐标为(X1,Y1,H1),则需要偏移的偏移量(差值)为(detaX,detaY,detaH)＝((X1-X0),(Y1-Y0),(H1-H0)),
割草时经过偏移后生成的新地图的边界为{((MX1-detaX),(MY1-detaY),(MH1-detaH)),((MX2-detaX),(MY2-detaY),(MH2-detaH)),···,((MXn-detaX),(MYn-detaY),(MHn-detaH))}，
新地图的障碍物1边界为{((1OX1-detaX),(1OY1-detaY),(1OH1-detaH)),((1OX2-detaX),(1OY2-detaY),(1OH2-detaH)),···,((1OXn-detaX),(1OYn-detaY),(1OHn-detaH))}，
新地图的障碍物2边界为{((2OX1-detaX),(2OY1-detaY),(2OH1-detaH)),((2OX2-detaX),(2OY2-detaY),(2OH2-detaH)),···,((2OXn-detaX),(2OYn-detaY),(2OHn-detaH))}，
····
新地图的障碍物m边界为{((mOX1-detaX),(mOY1-detaY),(mOH1-detaH)),((mOX2-detaX),(mOY2-detaY),(mOH2-detaH)),···,((mOXn-detaX),(mOYn-detaY),(mOHn-detaH))}。
综上，本发明可提供一种作业设备(例如割草机1)系统的控制方法，包括以下步骤：
获取原始RTK基站坐标；
控制作业设备沿工作区域边界采集定位坐标数据，根据采集到的定位坐标数据和原始RTK基站坐标数据生成工作区域的标定地图；
存储标定地图及原始RTK基站坐标；以及
作业设备对工作区域进行作业时，调用标定地图；
其中，调用标定地图时，
获取当前RTK基站坐标；
比较原始RTK基站坐标和当前RTK基站坐标，如果比较所得的偏差值小于预设值则对标定地图进行相应偏移、并生成新地图供作业使用，如果比较所得的偏差值大于预设值则报警RTK基站位置异常。
在本发明的又一实施例中，本发明可进一步提供一种作业设备系统，其不仅可以用于割草机1，还可以用于需要对某一地块进行地图标定、以及后续需要调用所标定的地图(例如用于导航)的其它作业设备或场合。本发明的作业设备系统包括RTK基站1820和作业设备1，作业设备例如可以是割草机1。作业设备包括与RTK基站1820通信的控制装置1814、定位装置14和储存装置。定位装置14实时采集地图标定及调用系统1的定位坐标。当地图标定及调用系统1对待标定地块5进行地图标定时，定位装置14应用来自RTK基站1820的差分数据修正该地图标定及调用系统的定位坐标数据、并将修正的定位坐标数据发送给控制装置1814。控制装置1814应用所述修正的定位坐标数据和来自所述RTK基站1820的基站坐标数据生成待标定地块5的标定地图，并将该标定地图发送给储存装置进行储存。当地图标定及调用系统对待标定地块(即工作区域，或称待割草区域)5进行导航、或者需要使用该待标定地块5的已经完成的标定地图时，控制装置1814将标定地图中的RTK基站坐标和当前RTK基站1820的RTK基站坐标进行比较。如果比较所得的偏差值小于预设值则对该标定地图进行相应偏移、并生成新地图以用于导航等使用用途；如果比较所得的所述偏差值大于所述预设值，则报警所述RTK基站位置异常。
RTK基站1820为便携式RTK基站1820，可布置在所述待标定地块5附近的固定锚点20。
控制装置1814和定位装置14通过通讯装置1818与RTK基站1820进行通 信。通讯装置1818接收来自RTK基站1820的差分数据和RTK基站坐标数据，并将差分数据发送给定位装置14、以及将RTK基站坐标数据发送给控制装置1814。
通讯装置1818包括安装在该地图标定及调用系统上的电台装置，而定位装置14可以是卫星定位移动站。
本发明地图标定及调用系统进一步包括终端控制装置1830，其可以接收地图标定及调用系统反馈的状态信息，并发送相应的控制指令给该系统。状态信息包括该地图标定及调用系统的定位状态信息和报警信息。定位状态信息包括高精度定位状态信息和非高精度定位状态信息。高精度定位状态信息指示该地图标定及调用系统处于厘米级定位状态。报警信息是指地图标定及调用系统的故障状态信息。
当终端控制装置1830接收到的定位状态信息为所述高精度定位状态信息时，终端控制装置1830发送相应的执行指令给地图标定及调用系统1，执行指令可包括继续当前状态的指令和标定地图的指令。
当终端控制装置1830接收到的定位状态信息为非高精度定位状态信息时，终端控制装置1830发送停机指令给地图标定及调用系统1。当终端控制装置1830接收到报警信息时，终端控制装置1830显示该报警信息，通知操作员，由操作员通过终端控制装置1830发送相应的处理指令给该系统。
在本发明的一个较佳实施例中，通讯装置1818还包括用于与终端控制装置1830进行无线通信的蓝牙装置17和4G-GPS模块1816。4G-GPS模块1816可以将控制装置1814的信息上传到服务区1840，然后服务区1840可以将控制装置1814的信息发送到终端控制装置1830,并且终端控制装置1830的指令也可以通过移动网络发送到服务区1840、再进一步发送到控制装置1814。
当地图标定及调用系统1测绘待标定地块5的定标地图时，该系统沿待标定地块5的边界1850行驶，定位装置14实时采集该系统的定位坐标。控制装置1814实时监控该系统1是否处于高精度定位状态，如果不在高精度定位状 态则反馈定位系统异常到终端控制装置1830，如果一直处于高精度定位状态则持续记录该系统的定位坐标，直至终端控制装置1830发送地图边界标定完成指令。控制装置1814根据从开始标定到结束标定指令之间收到的该系统的定位坐标生成待标定地块5的标定地图，并将标定地图储存到储存装置，同时对应储存RTK基站1820发出的RTK基站坐标。
当完成待标定地块5的标定地图后，终端控制装置1830可进一步向该系统发送障碍物标定指令。该系统沿所述障碍物(即非工作区域，或称不可割草区域)1855、1856边界行驶，定位装置14实时采集该系统1的定位坐标。控制装置1814实时监控该系统是否处于高精度定位状态，如果不在高精度定位状态则反馈定位系统异常到终端控制装置1830；如果一直处于高精度定位状态则持续记录该系统的定位坐标，直至终端控制装置1830向该系统发送障碍物标定完成指令。控制装置1814接着将障碍物1855、1856的标定地图与待标定地块5的标定地图进行比较，以校验障碍物1855、1856是否在待标定地块5的边界1850内。然后，根据从开始标定到结束标定指令之间收到的该系统的定位坐标生成并储存障碍物1855、1856的标定地图，同时对应储存RTK基站1820发出的RTK基站坐标。
当对待标定地块5的标定地图进行相应偏移时，标定地图先被储存装置调用、并发送给控制装置1814。控制装置1814计算标定地图中的RTK基站坐标与当前RTK基站1820的RTK基站坐标的差值，然后将标定地图内的所有点的坐标加上计算出的差值，从而生成偏移后的新地图，该系统即可根据新地图来进行导航或用于其它用途。
如图91所示，在本发明的一个实施例中，当无人驾驶割草机1对待割草草坪5进行割草作业时，GNSS定位移动站(定位装置)14实时采集割草机1的定位坐标，由无人驾驶控制器1814通过通讯装置(模块)18将所存RTK基站坐标发送到RTK基站1820，或者手持终端1830通过蓝牙或wifi等无线通讯方式将所存RTK基站坐标基站发送到RTK基站1820,RTK基站1820对比当前坐标 与接收到的坐标，如果比较所得的偏差值小于预设值则将接收到的坐标设置为RTK基站坐标，如果比较所得的偏差值大于预设值则报警RTK基站位置异常。
综上所述，本发明提供应用RTK基站的割草机、以及用于该割草机的地图标定及调用方法与系统，通过偏移割草草坪的地图来解决RTK基站每次重新定位时的位置漂移问题，在生成并储存草坪的标定地图(包括RTK基站的基站坐标)，在下一次割草时割草机会自动调用和偏移该标定地图用于后续的割草作业，因此在发生草坪地图偏差情况时无需人工输入新的坐标，从而实现了割草作业的自动化，大大提高了工作效率。
进一步地，本发明提供如前所描述的作业设备系统及其控制方法，除了可以用于割草机标定和调用地图之外，还可以用在需要对某一地块进行地图标定、以及后续需要调用所标定的地图(例如用于导航)的其它作业设备或情形。
所以，本发明有效克服了现有技术中的一些实际问题从而有很高的利用价值和使用意义。上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (20)

  1. 一种割草机，其特征在于，包括：
    机架；
    行走组件，安装在所述机架上；
    割台组件，安装在所述机架上；及
    操纵机构，用于控制所述行走组件的行走，所述操纵机构包括：
    操纵杆安装座，沿第一方向转动安装在所述机架上；
    操纵杆，沿第二方向转动安装在所述操纵杆安装座上；
    复位组件，驱使所述操纵杆沿所述第一方向复位至初始位置；
    限位组件，锁定处于所述初始位置的所述操纵杆。
  2. 根据权利要求1所述的割草机，其特征在于，所述操纵杆包括操纵把手和限位板，所述限位板连接在所述操纵把手的底部。
  3. 根据权利要求2所述的割草机，其特征在于，所述操纵杆还包括套管，所述套管设置在所述限位板与所述操纵把手的连接处，所述操纵杆通过转轴安装在所述操纵杆安装座上，所述转轴贯穿所述套管并与所述套管固定在一起，所述转轴的两端分别转动安装在所述操纵杆安装座上。
  4. 根据权利要求2所述的割草机，其特征在于，所述操纵机构还包括弹性组件，所述弹性组件安装在所述操纵杆安装座上，并与所述限位板连接；所述弹性组件包括弹簧座及设置在所述弹簧座内的压簧，所述弹簧座安装在所述操纵杆安装座的底部，所述压簧的一端连接在所述弹簧座上，另一端与所述限位板连接，所述限位板的两侧分别设有与所述压簧配合的凸起。
  5. 根据权利要求2所述的割草机，其特征在于，所述限位组件包括固定座、限位杆及弹性体，所述限位杆的一端安装在所述固定座上，另一端向所述操纵杆的方向延伸，所述限位板上设有与所述限位杆配合的限位孔，所述弹性体设置在所述限位杆与所述固定座之间。
  6. 根据权利要求5所述的割草机，其特征在于，所述限位杆倾斜设置。
  7. 根据权利要求6所述的割草机，其特征在于，所述限位杆与水平面的夹角为8～10°，所述限位孔为腰型孔。
  8. 根据权利要求1所述的割草机，其特征在于，所述复位组件包括拉簧，所述拉簧的一端与所述操纵杆安装座连接，以带动所述操纵杆安装座沿所述第一方向运动。
  9. 根据权利要求1所述的割草机，其特征在于，所述操纵机构还包括角度传感器，所述角度传感器的转动轴安装在所述操纵杆上，并与所述操纵杆同步转动。
  10. 根据权利要求1所述的割草机，其特征在于，所述操纵机构还包括挡板和限位座，所述挡板固定安装在所述机架上，所述限位座与所述挡板转动连接，所述操纵杆安装座固定安装在所述限位座上。
  11. 根据权利要求10所述的割草机，其特征在于，所述操纵机构通过固定板安装在所述机架上，所述固定板与所述机架连接，所述挡板安装在所述固定板上，所述固定板用以在所述第一方向上对所述操纵杆安装座进行限位。
  12. 根据权利要求1所述的割草机，其特征在于，所述操纵机构还包括固定安装在所述机架上的第一操纵把手和第二操纵把手，所述第一操纵把手和所述第二操纵把手分别设置在所述操纵杆的前、后两侧。
  13. 根据权利要求1所述的割草机，其特征在于，所述行走组件包括行走轮和用以驱动所述行走轮的驱动电机，所述操纵机构还包括用以控制所述驱动电机通、断电的开关，当所述操纵杆在所述复位组件的作用下回至所述初始位置时，所述开关被触发，所述驱动电机断电。
  14. 根据权利要求1所述的割草机，其特征在于，所述机架包括有前部机架、后部机架，所述前部机架与所述后部机架可拆卸连接，所述前部机架安装有前轮组件，所述后部机架安装有后轮组件。
  15. 根据权利要求1所述的割草机，其特征在于，所述割草机包括站立区，所述站立区设置在所述机架尾部；所述站立区上方设有靠垫，所述靠垫由下而上向前倾斜，所述靠垫与水平方向呈100～110度角。
  16. 根据权利要求1所述的割草机，其特征在于，所述割草机包括站立区，所 述站立区设置在所述机架尾部；所述站立区上方设有操控平台，所述操控平台上设有显示屏，所述显示屏与水平方向呈150～160度夹角。
  17. 根据权利要求1所述的割草机，其特征在于，所述机架上设有第一安放区，所述电池安装在所述第一安放区上，所述第一安放区设有若干第一安装孔，不同规格所述电池匹配不同所述第一安装孔。
  18. 根据权利要求1所述的割草机，其特征在于，所述割草机尾部设有第一充电接口，所述第一充电接口与地面呈15～30度角，所述第一充电接口处设有可翻转充电口盖。
  19. 根据权利要求1所述的割草机，其特征在于，所述割草机包括刹车释放机构，其设置在所述机架上，所述刹车释放机构与所述至少两个电机上的刹车机构相连接；所述刹车释放机构包括：
    连接座，其设置在所述机架上；
    拉杆，所述拉杆包括连接套，所述拉杆通过所述连接套套装在所述连接座上；以及
    至少两个牵拉件，所述连接套通过所述至少两个牵拉件分别与所述至少两个电机上的刹车机构相连接。
  20. 根据权利要求19所述的割草机，其特征在于，所述拉杆转动带动所述连接套旋转，驱使连接于所述连接套上的牵拉件移动，以同时牵引所述至少两个电机上刹车机构的释放开启或复位关闭；所述牵拉件为弹性复位件；所述拉杆转过释放位置处时，所述至少两个弹性复位件拉伸，以驱使所述至少两个电机上的刹车机构释放开启，并使所述连接套在释放位置处受力平衡；所述拉杆沿相反方向转过释放位置时，所述至少两个弹性复位件收缩复位，以带动所述连接套复位移动，并使所述至少两个电机上的刹车机构同时复位关闭。
PCT/CN2023/119063 2022-09-16 2023-09-15 一种割草机 WO2024056066A1 (zh)

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