JP6959489B2 - Mowing machine and system - Google Patents

Description

The present invention relates to a cutting work machine and a system for cutting an object.

A machine body having a traveling unit to be driven to travel and a cutting device arranged on the front side of the machine body are provided, and the cutting device is integrally projected with a power source and forward from the power source and the power source. A transmission case in which at least a part of a transmission mechanism for transmitting power from the power is installed, and a cutting unit supported by the front side of the transmission case and driven by power from a power source transmitted via the transmission mechanism. A cutting work machine supported on the machine body side so that the entire cutting device can swing up and down integrally is known (see, for example, Patent Document 1).

JP-A-2015-43725

In the cutting work machine of the above document, when adjusting the cutting height, switching from the working height to the non-working height, switching from the non-working height to the working height, etc., the entire cutting device is integrally moved up and down. Since it is oscillated, the positional relationship between the power source and the transmission case does not change, and one or a plurality of transmission members housed in the transmission case and forming at least a part of the transmission mechanism have the positional relationship. It is not necessary to provide a flexible mechanism or other means for allowing change, and the power transmission configuration from the power source to the cutting section is simplified.

On the other hand, since the entire cutting device is integrally swung up and down, it becomes difficult to adjust the front-rear balance. Specifically, the rocking fulcrum of the cutting device is located on the traveling portion side in a side view, the power source is arranged diagonally upward behind the rocking fulcrum, and the cutting portion is diagonally upward in front of the rocking fulcrum. Is arranged, a large force acts on the machine body when the cutting device swings up and down, and it becomes difficult to always maintain a good front-rear balance.

The present invention makes it possible to integrally swing the entire cutting device having a power source, a cutting unit, and a transmission case containing at least a part of a transmission mechanism for transmitting power from the power source to the cutting unit. It is an object of the present invention to provide a cutting work machine and a system that can maintain a good front-rear balance as a whole even when the cutting device swings up and down.

In order to solve the above problems, the cutting work machine of the present invention is a cutting work machine that cuts an object, and includes a machine having a traveling unit that is driven to travel and a cutting device arranged on the front side of the body. The reaping device includes a power source, a transmission case integrally projecting forward from the power source, and a transmission case in which at least a part of a transmission mechanism for transmitting power from the power source is incorporated, and the transmission case. The cutting device has a cutting portion that is supported on the front side of the cutting device and is cut and driven by power from a power source transmitted via the transmission mechanism. It is characterized in that it is integrally supported on the machine body side so as to be swingable up and down, and a balance weight is fixedly provided behind the fulcrum in the machine body.

A handle that protrudes rearward from the power source side and swings up and down integrally with the cutting device, and an elevating drive that is installed on the machine body side and swings the cutting device up and down via the handle. It may be equipped with a device.

The front-rear position of the entire center of gravity may be set to the front portion within the front-rear range of the traveling portion.

The cutting portion is rotatably supported by the transmission case around the axis of the transmission case, and a leaf spring that elastically urges the cutting portion to a predetermined posture predetermined with respect to the transmission case is the transmission case. It may be provided on the front end side.

The power source may be an electric motor, and the balance weight may be a battery that supplies electric power to the electric motor.

The cutting unit has a pair of left and right cutting rotating bodies, and the transmission mechanism is configured to rotate and drive each cutting rotating body in a direction of scraping an object rearward from between the left and right cutting rotating bodies. Immediately above the left and right cutting rotating bodies, a lodging body may be provided to lie down the object to be scraped backward.

A pair of left and right crawler type traveling devices are provided as the traveling unit, and each crawler type traveling device includes a crawler forming an annular shape in a side view, a drive sprocket for driving the crawler, and a motor for rotationally driving the drive sprocket. The motor may be arranged closer to the outside of the body in the width direction than the center of the crawler in the width direction.

A pair of left and right crawler type traveling devices are provided as the traveling unit, and each crawler type traveling device includes a crawler forming an annular shape in a side view, a drive sprocket for driving the crawler, and a motor for rotationally driving the drive sprocket. Even if the drive sprocket is arranged at the rear side in the ring of the crawler and a preventive member for preventing the object from being wrapped around the drive sprocket is arranged in front of the drive sprocket. good.

The cutting work system of the present invention is a cutting work system including the cutting work machine and a remote control tool for remotely controlling the cutting work machine by wireless communication, and the remote control tool is a left turning operation means and a right. The remote control tool has a turning operation means, and further, the remote control tool has an outbound mode in which the cutting work machine is turned left when operated by the left turning operation means and the cutting work machine is turned right when operated by the right turning operation means. It is characterized by providing a switching operation means for switching to a return mode in which the cutting work machine is turned to the right when operated by the left turning operation means and the cutting work machine is turned to the left when operated by the right turning operation means. ..

Since the fulcrum of the vertical swing of the cutting device is formed on the power source side, the cutting portion is arranged in front of this fulcrum, and the balance weight is fixedly provided behind this fulcrum, the entire cutting device is provided even when the vertical swing of the cutting device. It becomes possible to maintain a good front-rear balance.

It is a side view of the mowing work machine to which this invention is applied. It is a perspective view of the mowing work machine in the state where a part of the lodging cover is cut off. It is a front view of the mowing work machine in the state where the mowing device is lowered to the working height. It is a front view of the mowing work machine in the state which raised the mowing device to a non-working height. (A) and (B) are a side view and a rear view of the elevating drive device. (A) is a side view of the mowing device lowered to the working height, (B) is a side view of the mowing device positioned between the working height and the non-working height, and (C). ) Is a side view of the mowing device raised to a non-working height. It is a perspective view which shows the rolling structure of a mowing device. (A) is a perspective view showing a state in which the cutting portion is tilted downward to the left with respect to the left and right crawler type traveling devices, and (B) is a horizontal view of the cutting portion horizontally with respect to the left and right crawler type traveling devices. FIG. 3C is a perspective view showing a state in which the cutting portion is tilted downward to the right with respect to the left and right crawler type traveling devices. It is a plan sectional view which shows the structure of a crawler type traveling apparatus. It is sectional drawing which shows the support structure and power transmission structure of a mowing device. It is sectional drawing which shows the structure which adopted the engine as a power source. It is a perspective view of the mowing work machine which concerns on another Embodiment of this invention. It is a rear view of the mowing work machine which concerns on another embodiment of this invention. (A) and (B) are side views showing a state in which the mowing work machine shown in FIGS. 12 and 13 lowers the mowing device to the working height and a state in which the non-working height is raised, respectively. .. It is a perspective view which shows the structure of the crawler type traveling apparatus of the cutting work machine shown in FIG. 12 and FIG. It is a block diagram which shows the structure of the control unit which concerns on another Embodiment of this invention.

FIG. 1 is a side view of the mowing work machine to which the present invention is applied, FIG. 2 is a perspective view of the mowing work machine in a state where a part of the lodging cover is cut, and FIG. It is a front view of the mowing work machine in the state which was made to move, and FIG. 4 is a front view of the mowing work machine in the state which raised the mowing device to a non-working height. The grass cutting work machine (cutting work machine) 1 shown in these drawings autonomously runs within a predetermined range or an automatically recognized range while performing cutting work for cutting grass (object). It is a work robot that does.

The mowing work machine 1 is connected to a traveling machine (machine) 3 having a pair of left and right crawler type traveling devices (traveling portions) 2 so as to be able to move up and down to the front side of the traveling machine 3 to perform mowing work (grass cutting work). It is provided with a mowing device (cutting device) 4 and a steering handle (handle) 5 extending rearward from the mowing device 3 side.

The crawler type traveling device 2 is mounted on a drive sprocket 6 arranged on one front and rear side (front side in the illustrated example), a driven sprocket 7 arranged on the other side, and the drive sprocket 6 and the driven sprocket 7. It is provided with an annular crawler 8 to be formed.

An electric motor 9 (see FIG. 9), which is a power source, is individually provided for each of the left and right crawler type traveling devices 2 and 2, and the rotational power transmitted from the electric motor 9 to the drive sprocket 6 can switch the direction. And the speed can be changed. According to the left and right crawler type traveling devices 2 and 2 having the above configuration, the traveling machine body 3 can move forward and backward, turn left and right, and change the traveling speed.

The traveling machine body 3 has a chassis frame 11 erected and fixed between the non-operating portions of the left and right crawler type traveling devices 2 and 2, and a support projecting upward from the front end portion and the rear end portion of the chassis frame 11, respectively. It includes frames 12 and 13. The front and rear support frames 12 and 13 are formed in an inverted U shape when viewed from the front.

Installation stands 14, 16 which are plate-shaped installation members are mounted and fixed on the upper parts of the front and rear support frames 12, 13. The installation base 14 on the front side is a plate-shaped member formed in a crank shape in a side view so as to have a flat lower stage portion 14a formed on the front side and a flat upper stage portion 14b formed on the rear side. be. The installation base 16 on the rear side is a horizontal plate-shaped member.

The mowing device 4 is a cylindrical transmission case (support frame) 17 extending in a straight line in a posture facing the front-rear direction in a plan view, and a power source integrally installed on the rear end side of the transmission case 17. It has an electric motor 18 and a grass cutting portion (cutting portion) 19 supported on the front end side of the transmission case 17.

Inside the transmission case 7, at least a part of the transmission mechanism 21 (see FIG. 10) that transmits the rotational power generated by the electric motor 18 to the mowing portion 19 side is accommodated and supported.

The mowing portion 19 includes a tubular horizontal cylinder (horizontal frame) 22 extending in the left-right direction, and vertical cylinders (vertical frames) 23, 23 formed so as to project downward from the left and right ends of the horizontal cylinder 22. The cutting rotating bodies 24 and 24 rotatably supported on the lower ends of the left and right vertical cylinders 23 and 23, respectively, and the cutting rotating bodies 24 and 24 provided directly above the left and right cutting rotating bodies 24 and 24, respectively, and integrated with the cutting rotating bodies 24 and 24. The transport rotating bodies 26, 26 that rotate in the same direction, the contact portions 27, 27 arranged and formed directly under the cutting rotating bodies 24, 24, the left and right cutting rotating bodies 24, 24, and the transport rotating bodies 26, 26. A single cutting cover (falling body) 28 that collectively covers the upper part of the above, and arranged directly above the left and right transport rotating bodies 26, 26, respectively, and arranged directly below the transport rotating bodies 26, 26. It has protective covers 29 and 29 that protect and cover the cutting rotating body 24.

The left and right vertical cylinders 23 and 23 are integrally attached and fixed to the left and right end sides of the horizontal cylinder 22, respectively. The horizontal cylinder 22 and the left and right vertical cylinders 23, 23 are formed into a gate shape when viewed from the front, and form a frame of the mowing portion 19. On the lower end side of each vertical cylinder 23, a unitized cutting rotating body 24 and a transport rotating body 26 are rotatably supported around the axis of the vertical cylinder 2.

A part of the above-described transmission mechanism 21 is housed and supported inside the horizontal cylinder 22 and inside the vertical cylinders 23 and 23, respectively. Power from the electric motor 18 is transmitted to the left and right cutting rotating bodies 24 and the transport rotating bodies 26, respectively, via the transmission mechanism 21, and these are rotationally driven (grass cutting drive, cutting drive). That is, the transmission mechanism 21 is configured to transmit the power generated by the electric motor 18 to the cutting rotating body 24 and the transport rotating body 26.

Further, on the front end side of the transmission case 17, the back side of the central portion in the left-right direction of the horizontal cylinder 22 is connected and supported so as to be rotatable left-right around the axis of the transmission case 17. That is, the mowing portion 19 is supported by the transmission case 17 so as to be rotatable (rollable) around the axis of the transmission case 17.

Further, the mowing device 4 is supported by the traveling machine body 3 so as to be integrally swingable up and down with the swing axis X in the left-right direction formed at a position overlapping the electric motor 18 in the side view as a fulcrum. .. By swinging up and down with the swing axis X as a fulcrum, the mowing portion 19 (grass cutting device 4) is moved up and down to adjust the vertical position of the mowing height, ascend to the non-working height, and descend to the working height. Is done. Incidentally, the details of the support structure for the vertical swing will be described later.

By locating the heavy electric motor 18 on the traveling machine body 3 side, it becomes easy to maintain a good front-rear balance of the entire mowing work machine 1. In addition, a battery (balance weight) 31 is arranged behind the rocking shaft X in the traveling machine body 3 in order to maintain a front-rear balance with the mowing portion 19 arranged in front of the rocking shaft X. As a result, the overall front-rear balance becomes even better.

The battery 31 drives the mowing device 4 by supplying electric power to the electric motor 18 to drive the electric motor 18. Further, the battery 31 is fixedly installed between the front and rear support frames 12 and 13 in the chassis frame 11.

Each cutting rotating body 24 has a plurality of cutting blades 32 formed so as to project radially from its own rotation center, and the plurality of cutting blades 32 are arranged side by side at predetermined intervals in the rotation direction of the cutting rotating body 24 to mow grass. It rotates integrally when driven. The left and right cutting rotating bodies 24, 24 are arranged so that the rotation loci of the cutting blades 32 overlap in a plan view.

Each transport rotating body 26 has a plurality of transport portions 33 formed so as to project radially from the center of rotation of the transport rotating body 26. The plurality of transport units 33 are arranged side by side in the rotation direction of the transport rotating body 26, and integrally rotate during the mowing drive. The same number of transport portions 33 as the cutting blades 32 are provided, and the transport portions 33 are arranged directly above the corresponding cutting blades 32. The left and right transport rotating bodies 26, 26 are integrally attached to the upper surfaces of the cutting rotating bodies 24, 24 directly underneath to form a unit, forming a cutting unit. Then, the transport rotating body 26 is integrally rotationally driven together with the cutting rotating body 24 directly underneath. That is, the left and right transport rotating bodies 26, 26 are also rotationally driven in the direction of scraping the object rearward between each other, like the left and right cutting rotating bodies 24, 24.

The contact portion 27 is formed so as to project downward from the cutting rotating body 24, restricts the descent of the grass cutting device 4 to a predetermined height or less, and the rotating cutting rotating body 24 and the transport rotating body 26 dig soil. To prevent.

The cutting cover 28 is bent in an inverted U shape in a front view so as to cover the right upper side and the left and right side of the left and right cutting units, respectively, and is formed by a plurality of (three in the illustrated example) mounting brackets 34. They are attached and fixed to the horizontal frame 22 respectively.

The front end portion of the cutting cover 28 is inclined forward toward the upper side in a side view, and the upper end portion thereof constitutes the lodging portion 28a. At the time of mowing work while traveling forward, the laid-down portion 28a of the mowing cover 28 abuts on the middle part or the upper part of the grass to lay down the grass forward, and promotes the rearward scraping by the left and right mowing units.

The protective cover 29 is provided for each of the left and right cutting units (cutting rotating body 24 and conveying rotating body 26), and is formed in a fan shape in a plan view so as to cover the upper side and the outer side of the cutting unit. The protective cover 29 is attached and fixed to the lower part of the vertical cylinder 23 in a state of being positioned directly under the cutting cover 28.

Behind the grass cutting section 19 having the configuration, a discharge rotor 36 in the left-right direction that discharges the grass cut by the grass cutting section 19 and scraped backward is rotatably arranged. The discharge rotor 36 is arranged between the left and right crawler type traveling devices 2 and 2.

The discharge rotor 36 has a plurality of blades 36a that project radially and extend in the axial direction, and the plurality of blades 36a are arranged side by side at predetermined intervals in the axial direction of the rotation shaft 37 of the discharge rotor 36. During the forward traveling of the traveling machine body 3, the grass that has been cut and scraped backward is sent further rearward by the rotationally driven discharge rotor 36.

The steering handle 5 extends obliquely upward from the traveling machine body 3 side to the rear side. Specifically, the steering handle 5 is formed in a U shape with the front open in a plan view, and the left and right front ends thereof are attached and fixed to the electric motor 18 of the traveling machine body 3. With this configuration, the steering handle 5 is integrally swung up and down with the mowing device 4 around the swing shaft X as a fulcrum.

Then, an elevating drive device 38 for driving the mowing device 4 up and down (elevating drive) via the steering handle 5 is provided. The elevating drive device 38 is installed directly below the rear end of the steering handle 5 in the traveling machine body 3.

Next, the configuration of the elevating drive device 38 will be described with reference to FIGS. 1, 5 and 6.

5 (A) and 5 (B) are a side view and a rear view of the elevating drive device. The elevating drive device 38 includes an elevating side frame 39 that is formed in a U shape in rear view and is bolted onto the chassis frame 11, and a reel 41 that is rotatably supported in the U shape of the elevating side frame 39. A tension spring that elastically connects the reel drive gear 42, the wire 43 wound around the reel 41, and the end portion of the wire 43 on the feeding side from the reel 41 to the horizontal portion on the rear end side of the steering handle 5. (Elastic member) 44, an electric motor (actuator) 46 mounted and supported on the elevating side frame 39, and a reel drive gear 42 supported by the rotational power of the electric motor 46 in a U shape of the elevating side frame 39. A transmission case (gear box) 47 for gear transmission is provided.

When the electric motor 46 is rotationally driven to the side where the wire 43 is fed out from the reel 41, the mowing device 4 is lowered by its own weight, while the wire 43 is rotationally driven to the side where the wire 43 can be wound around the reel 41 (the side to be fed in). And the mowing device 4 is raised. By the way, the electric motor 46 is driven by the electric power supply from the battery 31.

FIG. 6A is a side view of the mowing device lowered to the working height, and FIG. 6B is a side view of the mowing device positioned between the working height and the non-working height. (C) is a side view of a state in which the mowing device is raised to a non-working height. As shown in FIG. 3A, the mowing device 4 is lowered to the working height by feeding out the wire 43 by the elevating drive device 38. As shown in FIG. 3B, the elevating height of the mowing device 4 is adjusted by feeding and feeding the wire 43 by the elevating drive device 38. As shown in FIG. 3C, the mowing device 4 is raised to a non-working height by carrying in the wire 43 by the elevating drive device 38.

Next, the rolling structure of the mowing device 4 will be described in detail with reference to FIGS. 7 and 8.

FIG. 7 is a perspective view showing a rolling structure of the mowing device. At the front end of the transmission case 17, a cross-shaped support plate 48 extending in the vertical and horizontal directions in the axial direction of the transmission case 17 is fixedly installed. A horizontal cylinder 22 (mowing portion 19) is supported on the support plate 48 so as to be rollable (rotatable to the left and right around the axis of the transmission case 17), and the mowing portion 19 is predetermined with respect to the transmission case 17. An urging mechanism 49 is provided to elastically urge the posture (specifically, a horizontal posture in the left-right direction).

The urging mechanism 49 is composed of a leaf spring (elastic member) 51 having a T-shape in a plan view. The leaf spring 51 has a mounting portion 51a protruding from the central portion of the horizontal cylinder 22 in the left-right direction toward the transmission case 17 side (rear side), and a pair of left and right acting portions 51b protruding from the central portion on both sides of the horizontal cylinder 22 in the left-right direction. , 51b and. In the leaf spring 51, the mounting portion 51a is detachably bolted to the upper end portion of the support plate 48, and the left and right acting portions 51b and 51b are in contact with the left and right side portions of the horizontal cylinder 22 in a state of being elastically deformed to mow the grass. The portion 19 is urged in a horizontal posture in the left-right direction.

FIG. 8 (A) is a perspective view showing a state in which the cutting portion is tilted downward to the left with respect to the left and right crawler type traveling devices, and FIG. 8 (B) is a left-right direction with respect to the left and right crawler type traveling devices. It is a perspective view which shows the horizontal state |

When the mowing portion 19 is rotated (rolled) to one of the left and right sides, the acting portion 51b on the other side is further elastically deformed to increase the elastic force, and the working portion 51b on the one side has a shape close to a no-load state. The elastic force is weakened by the restoration, and the urging force that restores the mowing portion 19 to the horizontal posture in the left-right direction acts (see FIGS. 8A and 8C). On the other hand, when the mowing portion 19 is switched to a horizontal posture in the left-right direction, the left and right acting portions 51b and 51b are elastically deformed to the same extent and the same elastic force acts to maintain the posture (FIG. 8 (B)).

Next, the configuration of the crawler type traveling device 2 will be described in detail based on FIG.

FIG. 9 is a plan sectional view showing the structure of the crawler type traveling device. As shown in the figure, the crawler type traveling device 2 includes the drive sprocket 6, the driven sprocket 7, and the electric motor 9 described above, and a storage box (drive case) in the front-rear direction in which the electric motor 9 is housed and also functions as a main frame. ) 52.

The electric motor 9 is installed on the front side in the accommodation box 52, and the output shaft 9a of the electric motor 9 projects to the outside side of the accommodation box 52. The drive sprocket 7 is attached to the protruding end of the output shaft 9a so as to rotate integrally. By the way, electric power is supplied to the electric motor 9 from the battery 31.

At the rear position of the electric motor 9 in the accommodation box 52, a support mechanism 54 is provided that supports the rotating shaft 53 of the driven sprocket 7 so as to be adjustable in the front-rear position and rotatably around the shaft. Insertion holes 52a and 52a through which the rotary shaft 53 is inserted are bored on the left and right side surfaces of the storage box 52, respectively. It protrudes into.

By adjusting the front-rear position of the driven sprocket 7 and the rotating shaft 53 by the support mechanism 54, the tension of the crawler 8 hung on the driven sprocket 7 and the driven sprocket 6 is appropriately maintained. In addition, since the main frame is composed of the accommodating box 52, the situation where grass is caught in the crawler type traveling device 1 can be efficiently prevented. Incidentally, the above-mentioned insertion hole 52a is formed long in the front-rear direction so as to allow such adjustment of the front-rear position of the rotating shaft 53 and the driven sprocket 7.

The power of at least one of the left and right crawler type traveling devices 2 is transmitted to the discharge rotor 36 described above to drive the rotation. Specifically, rotational power is transmitted to the discharge rotor 36 from the output shaft 9a of the electric motor 9 and the rotary shaft 53.

Further, the front-rear position of the center of gravity of the mowing work machine 1 is set to a front-end portion (specifically, a portion closer to the front by about 10%) within the front-rear range of the left and right crawler-type traveling devices 1. Therefore, it is possible to prevent the traveling aircraft 3 from falling backward when climbing a slope or the like.

Next, the support structure and the power transmission structure of the mowing device 4 will be described with reference to FIGS. 1, 7 and 10.

FIG. 10 is a cross-sectional view showing a support structure and a power transmission structure of the mowing device. As shown in FIGS. 1, 7 and 10, the electric motor 18 that drives the cutting device 4 to cut has a motor main body (main body) 56 and a support case 57 that supports the main body 56.

At least a part of the main body 56 is housed and fixed inside the support case 57, and the rear end portion of the transmission case 17 is fixed to the front side thereof. The output shaft 56a provided on the main body 56 of the electric motor 18 and to which the generated rotational power is output has the same axis as the transmission case 17 and faces the transmission case 17 side in the support case 57. become.

Support shafts 58 and 58 having the same axial shape as the swing shaft X are inserted into the left and right side portions of the support case 57, and each support shaft 58 is rotatably supported around its own axis by a bearing 59. It is attached to the case 57. On the other hand, fixing brackets 61 and 61 projecting rearward are welded to the U-shaped left and right strut-shaped portions of the support frame 12 described above.

Then, by detachably fixing the enlarged collar-shaped fixing portions 58a and 58a of the left and right support shafts 58 and 58 to the corresponding left and right fixing brackets 61 and 61, respectively, the mowing device 4 moves the traveling machine body. It is supported by the support frame 12 of No. 3 so as to be swingable up and down.

Next, the power transmission structure of the mowing device 4 will be described. The transmission mechanism 21 is rotatably supported in the transmission case 17 and has the same axis as the output shaft 56a. 62, left and right transmission shafts (transmission shafts) 63 in the left-right direction rotatably supported in the horizontal cylinder 22, and the vertical cylinders 23, 23 rotatably supported in the left and right vertical cylinders 23, 23, respectively. Mowing drive shafts 64 and 64 forming the same axis, a pair of bevel gears 66 and 67 that mesh with each other so that power is transmitted from the front-rear transmission shaft 63 to the left-right transmission shaft 63, and a vertical transmission shaft from the left-right transmission shaft 63. It is provided with a pair of bevel gears 68 and 69 that mesh with each other so that power is transmitted to 64. Further, the front-rear transmission shaft 62 is connected and fixed by the coupling 71 so as to rotate integrally with the output shaft 56a.

The rotational power output from the output shaft 56a of the electric motor 18 is transmitted in the order of the front-rear transmission shaft 62 → the left-right transmission shaft 63 → the left and right cutting drive shafts 64 and 64, and drives the mowing portion 19 to mow.

Next, a configuration for making the mowing work machine 1 function as a work robot will be described with reference to FIGS. 1 to 4.

A control unit (control unit) 72 in which a microcomputer or the like, wireless communication means, GPS or the like is built in a housing is installed on the installation table 16, and information is provided at the rear end of the steering handle 5 via a fixture 73. The terminal 74 is detachably attached, and the LRF76 and the camera 77 are installed on the upper surface side of the lower portion 14a of the installation 14 via a movable mechanism 78 so that the sensing range can be changed.

The information terminal 74 and the control unit 72 are wirelessly communicated with each other to form a control unit that controls each unit. A U-shaped support member 79 with an open front is mounted on the movable mechanism 78, and an LRF76 is installed in the U-shape of the support member 79 with the front facing forward. The camera 77 is installed with the front facing the upper end surface of the 79. The movable mechanism 76 rotates the LRF 76 and the camera 77 left and right together with the support member 79 to change the sensing range thereof.

Further, each crawler type traveling device 2 is provided with a traveling detecting means (not shown) composed of a rotation sensor or the like, and the vertical rocking position detecting means for detecting the vertical rocking position (elevating position) of the mowing device 4 is used for mowing the grass. It is composed of a potentiometer provided on the swing fulcrum side of the device 4, a rotation sensor for detecting the rotation speed of the reel 41, and the like.

The control unit drives the mowing device 4 ascending when the reverse traveling is detected by the traveling detecting means described above. As a result, for example, it is possible to efficiently prevent the entire mowing machine 1 from leaning forward due to the inertial force at the time of backing and the cutting unit 19 from touching the ground.

The control unit also drives the mowing device 4 ascending even when the left / right turning is detected by the above-mentioned traveling detection means. This also prevents the mowing device 4 from being grounded and turning left and right with high resistance to reduce energy efficiency.

Then, the control unit automatically performs mowing work in a predetermined range or an automatically identified range by using these sensing information. Incidentally, GPS, which is a position detecting means provided in the control unit 72, is not indispensable, and self-position identification may be performed using sensing information from the LRF 76 or the camera 77.

On the other hand, it is also possible to remotely control the mowing work machine 1 by wireless communication between the information terminal 74 and the control unit 72 using the information terminal 74. In this case, the sensing result by the LRF 76 or the camera 77 is used for photographing. It is also possible to display the generated image on the information terminal 74 to facilitate remote control.

According to the grass mowing work machine 1 configured as described above, the grass mowed while being scraped backward by a pair of left and right mowing units (cutting rotating body 24 and transport rotating body 26) while the traveling machine 3 is traveling forward. Is surely laid down forward by the action of the cutting unit and the cutting cover 28, and is further fed backward by the discharge rotor 36. This makes it possible to efficiently mow tall grass. By the way, in order to enhance the forward-moving action of the left and right cutting units, the transmission mechanism 21 sets the scraping speed faster than the forward traveling speed.

Further, since an electric motor 9 is provided for each of the crawler type traveling devices 2 and 2 as a power source of the traveling system and an electric motor 18 is provided separately from the electric motor 9 as a power source of the working system, a structure for transmitting power is provided. Becomes simple.

Further, since the elevating drive device 38 raises and lowers the mowing device 4 via the steering handle 5, it is not necessary to separately prepare a member for connecting the elevating drive device 38 and the mowing device 4, and the structure can be simplified. The steering handle 5 also functions as a member that covers and protects the rear side and the left and right sides of the traveling machine body 3.

Further, since the battery 31 functions as a balance weight, it is not necessary to separately provide a member for adjusting the front-rear balance, and the number of parts can be reduced.

Further, due to the above-mentioned rolling structure and the configuration of the urging mechanism 49, the mowing portion 19 can be switched to an appropriate left / right inclination angle even when mowing the grass on the left / right inclined surface, so that the grass growing on the left / right inclined surface is also efficiently mowed. Will be possible.

The cover body 81 may be erected between the front and rear installation bases 14 and 16 to protect the upper side of the traveling machine body 3. The above-mentioned control unit 72 may be provided on the upper surface of the cover 81, but the cover body 81 may be used as a housing and the control unit 72 may be provided inside the cover body 81.

Further, when the mowing work machine 1 is to be remotely controlled, the LRF76 is not indispensable, and only the camera 77 is sufficient. Therefore, it is possible to omit the members installed on the lower 14a of the installation table 14 and the lower 14a itself. Is. Further, the camera 76 may be arranged at the front end portion of the upper surface of the cover body 81 in a posture of photographing the front.

Further, as described above, the elevating drive device 38 elevates and drives the mowing device 4 via the steering handle 5, but the elevating drive device 38 may be installed directly on the swing shaft X side. .. Specifically, a drive shaft that has the same axis as the swing shaft X and that rotates around the shaft integrally with the mowing device 4 is provided, and the output shaft of the electric motor 46 is directly connected and fixed to the rotation shaft. Alternatively, they are connected via the gear box 47.

According to the elevating drive device 38 having the above configuration, various members can be centrally arranged on the swing shaft X, so that the whole can be compactly formed.

Further, the control unit 72 can also control the drive / drive stop and drive speed of the electric motors 9 and 9 for driving left and right, but when going straight up and down to the forward side or the reverse side, or when turning left and right, left and right. The electric motors 9 and 9 of the above are not started at the same time, but are controlled so as to deviate from the starting timing for a predetermined time. By the control, the starting load of the electric motors 9 and 9 is reduced and the driving time is extended.

By the way, the time from the start of one of the left and right electric motors 9 and 9 to the start of the other is set to such a time that the traveling direction of the traveling machine 3 is not changed to a direction not intended by the operator. It is 0.1 seconds. As a result, the maximum output and power consumption of the single battery 31 that supplies power to the left and right electric motors 9 and 9 can be reduced. In addition to this, the electric motor 9 on the outer side of the turning may be driven first at the time of turning.

Further, the left and right cutting units are driven to the side of the traveling machine body 3 which is displaced rearward toward the center side in the width direction, and the left and right cutting units are rotationally driven to the side of the traveling machine body 3 which is displaced forward to move the cut grass to the traveling machine body. It may be discharged to the left and right outside of 3.

Next, another embodiment of the present invention will be described with reference to FIGS. 10 and 11.

FIG. 11 is a cross-sectional view showing a configuration in which an engine is used as a power source. As shown in FIGS. 10 and 11, in the above-described embodiment, the electric motor is adopted as the power source 18 of the working system, but in this embodiment, the engine is adopted as the power source 18.

Specifically, the engine 18 is composed of an engine main body (main body) 82 and the above-mentioned support case 57. The support case 57 is the same as that described above. Since the engine body 82 is larger in size than the motor body 56, the engine body 82 in which only the output shaft 82a is housed in the support case 57 is detachably attached to the support case 5 by the attachment 83. Incidentally, at least a part of the support case 57 is detachably housed and mounted in the support case 57. In addition, the output shaft 82a has the same axis as the front-rear transmission shaft 62, and is integrally rotatably connected and fixed to the front-rear transmission shaft 62 by a coupling 71.

According to this configuration, even when the power source 18 is changed from the electric motor to the engine, the same support case 57 can be used, so that the support case 57 is highly versatile. Further, the transmission mechanism 21 can also be used with the same configuration.

Next, based on FIGS. 12 to 15, another embodiment of the present invention will be described which is different from the above-described embodiment.

12 and 13 are perspective views and rear views of the mowing work machine according to another embodiment of the present invention, and FIGS. 14 (A) and 13 (B) show the mowing work machine shown in FIGS. 12 and 13 using the mowing device. It is a side view which shows the state which lowered to the working height, and the state which raised the non-working height, respectively. In the above-described embodiment, the elevating drive device 38 which is an elevating mechanism provided with the electric motor 46 which is an actuator is provided, but in this embodiment, the elevating mechanism 84 which omits the actuator from the elevating drive device 38 is provided.

Similar to the elevating drive device 38 of the above-described form, the elevating mechanism 84 can swing the mowing device 4 up and down around the swing shaft X by fixing the support shaft 58 to the fixing bracket 61 of the traveling machine body 3. It is supported by the traveling machine body 3.

An elevating lever 87 is attached and fixed to the transmission case 14 of the mowing device 4 by an attachment bracket 86. The elevating lever 87 is formed so as to project rearward from the mounting bracket 87 and is formed in a side view shape in which the front-rear halfway portion is bent downward. A grip 87a is formed at the rear end of the elevating lever 87, and a release lever 88 is arranged directly below the grip 87a.

The release lever 88 is supported by the elevating lever 87 so as to be able to swing up and down, and is elastically urged to the lower side, which is the side separated from the grip 87a, by an urging member (not shown).

When the release lever 88 is swung toward the grip 87a (upward) against the elastic force of the urging member so as to be gripped together with the grip 87a, a locking mechanism (not shown) is released and the mowing device 4 Can be swung (up and down) up and down with the swing shaft X as a fulcrum. On the other hand, when the release lever 88 is released, the release lever 88 is swung downward by the elastic force of the urging member, the locking mechanism is locked, and the mowing device 4 is raised and lowered at that time. Locked with.

Further, the mowing device 4 is urged upward by a damper 90 which is an urging member erected between the support frame 12 of the traveling machine body 3 and the elevating lever 87, and is operated when the mowing device 4 is lifted. The force is reduced.

Incidentally, the portion of the traveling machine 2 above the chassis frame 11 is covered by the body cover 89. The grip 87a and the release lever 88 at the rear end of the elevating lever 87 project rearward from the body cover 89. The body cover 89 has an elevating lever 87 and a release lever 88 so as to allow an arc-shaped movement of the elevating lever 87 and the release lever 88 with the swing axis X as a fulcrum. A notch 89a to be inserted is formed.

Further, an operation hole 89b for exposing an emergency stop button 91 for stopping the driving of each part is formed at a position closer to the rear on the upper surface of the body cover 89.

According to the elevating mechanism 84 having the above configuration, the mowing device 4 can be continuously elevated and adjusted steplessly even during the mowing operation.

FIG. 15 is a perspective view showing the configuration of the crawler type traveling device of the cutting work machine shown in FIGS. 12 and 13. In the above-described embodiment, in each crawler type traveling device 2, the electric motor 9 for traveling driving is centered in the width direction (left and right inside) of the traveling machine body 3 with respect to the center in the width direction of the crawler type traveling device 2 (crawler 8). ) However, in this embodiment, as shown in FIGS. 12, 13 and 15, in each crawler type traveling device 2, the electric motor 9 for driving the traveling and the power from the electric motor 9 are provided. The transmission case 92, which is equipped with a transmission mechanism that decelerates and transmits the drive sprocket 6, is arranged at a location closer to the left and right outside of the traveling machine body 3 with respect to the center in the width direction of the crawler 8 forming an annular shape in a side view. There is. The transmission case 92 and the electric motor 9 are unitized.

From this arrangement configuration, the drive case 52 is also arranged closer to the left and right outer sides of the traveling machine body 3 with respect to the center in the width direction of the crawler type traveling device 2. Incidentally, the drive case 52 has a fixed side dividing piece 52a which is a concave case arranged on the left and right inner sides, and a detachable side dividing piece 52b which is a concave case arranged on the left and right outer sides.

With the concave inner surface of the fixed-side divided piece 52a and the concave inner surface of the detachable-side divided piece 52b facing each other, the detachable-side divided piece 52b is put on the fixed-side divided piece 52a so as to be detachably attached. The transmission case 92 and the electric motor 9 are housed in the drive case 52.

Incidentally, in the above-described embodiment, the drive sprocket 6 is arranged at the front position of the crawler 8 forming an annular shape in the side view of the crawler type traveling device 2, and the driven sprocket 7 is arranged at the rear position. The drive sprocket 6 and the driven sprocket 7 are arranged so that the positional relationship before and after this is reversed.

Specifically, the drive sprocket 6 is arranged at the rear position of the crawler type traveling device 2, and the driven sprocket 7 is arranged at the front position. Correspondingly, the electric motor 9 and the transmission case 92 are also arranged in the drive case 52 (crawler type traveling device 2) at a rearward position to shorten the transmission distance.

According to the crawler type traveling device 2 having the above configuration, the drive case 52 does not protrude inward from the crawler 8 to the left and right, so that the mowed grass is caught by the drive case 52 and the drive sprocket 6 during forward traveling while mowing the grass. Is definitely prevented. In other words, a space S through which the cut grass passes without being caught is formed between the left and right crawler type traveling devices 2.

In the crawler type traveling device 2, the crawler 8 is made difficult to be detached from the front and rear sprockets 6 and 7 by widening the left and right width of the crawler 8, so that the detachment prevention mechanism can be omitted. Incidentally, the drive sprocket 6 is arranged on the center side in the width direction of the crawler 8.

Further, the adjustment mechanism for adjusting the tension by changing the distance between the front and rear sprockets 6 and 7 is also omitted, and the configuration is simplified.

Further, as shown by hidden lines in FIGS. 13 and 15, a prevention plate (prevention member) 93 inclined inward to the left and right toward the rear may be arranged at a predetermined interval on the front side of the drive sprocket 6. .. At least a part (all in this example) of the prevention plate 93 is arranged at a position overlapping the crawler 8 in a plan view, and it is efficient that the cut grass is wrapped around the drive sprocket 6 by the prevention plate 92. Is prevented. The prevention plate 92 may extend from the rear end portion of the inclined portion in a plan view to the rear side.

Next, based on FIG. 16, another embodiment of the present invention will be described which is different from the above-described embodiment.

FIG. 16 is a block diagram showing a configuration of a control unit according to another embodiment of the present invention.

In the illustrated example, the various sensors 76 and 77 described above are connected to the input side of the control unit 72, and the electric motors 9 and 9 provided on the left and right crawler type traveling devices 2 and 2 are connected to the output side. , An electric motor 18 for driving the mowing device 4 is connected. Further, the wireless communication means 94 is connected to the control unit 72 so as to be input / output.

Further, a remote control tool 96 for wirelessly remotely controlling the mowing work machine 1 is provided, and the remote control tool 96 and the mowing work machine 1 constitute a mowing work system (cutting work system).

The remote control tool 96 includes an operation side control unit 97 composed of a microcomputer or the like, and on the input side of the operation side control unit 97, a forward travel operation means 98 for operating the mowing work machine 1 in the forward travel mode and a reverse travel operation unit 98 are provided. The reverse travel operation means 99 to be operated, the left turn operation means 101 to operate the left turn when moving forward or backward, the left turn operation means 102 to operate the right turn when moving forward or backward, and the switching operation means 103 are connected. ing. Further, a wireless communication means 104 is connected to the operation side control unit 97 so that input and output can be performed, and the wireless communication means 104 enables the remote control tool 96 to remotely control the mowing work machine 1 wirelessly.

The operation side control unit 97 or the control unit 72 has an outbound mode (normal mode) in which the mowing work machine 1 is driven according to the operation of the operation means 98, 99, 101, 102 described above, and the operation means 98, 99, 101, It has a return mode (reversal mode) for driving the mowing work machine 1 on the opposite side of the operation of 102.

Specifically, at the time of the return motor, the control unit 72 causes the mowing work machine 1 to travel forward when the forward travel operation means 98 is operated, and causes the grass mowing work machine 1 to travel backward when the reverse travel operation means 99 is operated, and turns left. When the operation means 101 is operated, the mowing work machine 1 is made to turn left, and when the right turn operation means 102 is operated, the mowing work machine 1 is made to turn right.

On the other hand, at the time of the return motor, the control unit 72 causes the mowing work machine 1 to travel backward when the forward travel operation means 98 is operated, and causes the grass mowing work machine 1 to travel forward when the reverse travel operation means 99 is operated, and the left turn operation means 101. The mowing work machine 1 is turned to the right during the operation of, and the mowing work machine 1 is turned to the left when the right turning operation means 102 is operated.

According to this configuration, when the mowing work machine 1 moves away from the operator, the direction in which the operator faces and the forward direction of the mowing work machine 1 coincide with each other, so that the operation direction and the response direction of the mowing work machine 1 Since this is reversed on the return route, the operation direction and the response direction of the mowing work machine 1 are reversed to improve operability.

Instead of the electric motors 9 and 18 described above, a hydraulic motor or other actuator may be used.

1 Mowing work machine (cutting work machine)
2 Crawler type traveling device (traveling part)
3 Traveling aircraft (airframe)
4 Mowing device (cutting device)
5 Steering handle (handle)
6 Drive sprocket 8 Crawler 9 Electric motor (motor, actuator, power source)
17 Transmission case 18 Power source (electric motor, engine, motor)
19 Mowing section (cutting section)
21 Transmission mechanism 24 Mowing rotating body 28 Mowing cover (falling body)
31 Battery (balance weight)
38 Lifting drive device 51 Leaf spring 103 Switching operation means

Claims (9)

A cutting work machine that cuts objects
An aircraft that has a traveling unit that is driven to travel,
It is equipped with a cutting device arranged on the front side of the machine.
The reaping device includes a power source, a transmission case integrally projecting forward from the power source, and at least a part of a transmission mechanism for transmitting power from the power source, and a transmission case on the front side of the transmission case. It has a cutting unit that is supported by the power source and driven by the power from the power source transmitted via the transmission mechanism.
The cutting device is supported on the machine body side so as to be able to swing up and down integrally with the power source side as a fulcrum in a side view.
A cutting work machine characterized in that a balance weight is fixedly provided behind the fulcrum in the machine body. A handle that protrudes rearward from the power source side and swings up and down integrally with the cutting device.
The mowing work machine according to claim 1, further comprising an elevating drive device installed on the machine body side and swinging the mowing device up and down via the handle. The cutting work machine according to claim 1 or 2, wherein the front-rear position of the entire center of gravity is set to the front portion within the front-rear range of the traveling portion. The cutting portion is rotatably supported by the transmission case around the axis of the transmission case.
The cutting work machine according to any one of claims 1 to 3, wherein a leaf spring that elastically urges the cutting portion to a predetermined posture predetermined with respect to the transmission case is provided on the front end side of the transmission case. The power source is an electric motor,
The cutting work machine according to any one of claims 1 to 4, wherein the balance weight is a battery that supplies electric power to an electric motor. The cutting section has a pair of left and right cutting rotating bodies.
The transmission mechanism is configured to rotationally drive each cutting rotating body in a direction in which the object is scraped backward from between the left and right cutting rotating bodies.
The cutting work machine according to any one of claims 1 to 5, wherein a lodging body is provided directly above the left and right cutting rotating bodies to lie down the object to be scraped backward. A pair of left and right crawler type traveling devices are provided as the traveling unit.
Each crawler type traveling device has a crawler forming an annular shape in a side view, a driving sprocket for driving the crawler, and a motor for rotating the driving sprocket.
The cutting work machine according to any one of claims 1 to 6, wherein the motor is arranged closer to the outside in the width direction of the machine body than the center in the width direction of the crawler. A pair of left and right crawler type traveling devices are provided as the traveling unit.
Each crawler type traveling device has a crawler forming an annular shape in a side view, a driving sprocket for driving the crawler, and a motor for rotating the driving sprocket.
The drive sprocket is located rearward within the crawler ring and
The cutting work machine according to any one of claims 1 to 7, wherein a preventing member for preventing the object from being wrapped around the driving sprocket is provided in front of the driving sprocket. A cutting work system including the cutting work machine according to any one of claims 1 to 8 and a remote control tool for remotely controlling the cutting work machine by wireless communication.
The remote control tool has a left turn operation means and a right turn operation means.
Further, the remote control tool includes an outbound mode in which the cutting work machine is turned left when operated by the left turning operation means and the cutting work machine is turned right when operated by the right turning operation means, and an outbound mode in which the cutting work machine is turned right when operated by the left turning operation means. A mowing work system characterized by being provided with a switching operation means for switching between a return mode in which the mowing work machine is turned to the right and the mowing work machine is turned to the left when operated by the right turning operation means.

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