JP7129696B2 - Work machine charger - Google Patents

Work machine charger Download PDF

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JP7129696B2
JP7129696B2 JP2018151835A JP2018151835A JP7129696B2 JP 7129696 B2 JP7129696 B2 JP 7129696B2 JP 2018151835 A JP2018151835 A JP 2018151835A JP 2018151835 A JP2018151835 A JP 2018151835A JP 7129696 B2 JP7129696 B2 JP 7129696B2
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working machine
station
side coupling
charging
wheels
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JP2020027428A (en
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実美 花房
薫 瀬川
正寛 藤原
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和同産業株式会社
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Description

本発明は、無人で草刈り作業等の作業を行う自律制御型作業機に供する充電装置に関する。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a charging device for an autonomously-controlled work machine that performs unmanned mowing or other work.

従来、芝刈りを含む草刈り作業は、有人草刈り機で実施されてきた。人件費の高騰もあり、作業の無人化が求められ、草刈機が自律的に走向しつつ草刈りを行う自律制御型草刈機が各種提案されてきた（例えば、特許文献１参照）。 Conventionally, mowing work, including lawn mowing, has been carried out with manned mowers. With soaring labor costs, unmanned operation has been demanded, and various autonomous control mowers have been proposed that cut grass while the mower autonomously runs (see, for example, Patent Document 1).

特許文献１の図１に、充電ステーション（６２）（括弧付き数字は、特許文献１に記載された符号を示す。以下同様）が開示されている。また、作業車（１０）は、前輪として従動輪（１６Ｌ、１６Ｒ）を備え、後輪として駆動輪（１４Ｌ、１４Ｒ）を備え、背面に充電端子（３２）を備えている。従動輪（１６Ｌ、１６Ｒ）は、文字通り非駆動輪であって、且つ鉛直軸回りに自在に旋回する自在車輪である。 FIG. 1 of Patent Document 1 discloses a charging station (62) (numbers in parentheses indicate reference numerals described in Patent Document 1; the same applies hereinafter). The work vehicle (10) also has driven wheels (16L, 16R) as front wheels, drive wheels (14L, 14R) as rear wheels, and a charging terminal (32) on the back. The driven wheels (16L, 16R) are literally non-driving wheels and swivel wheels that freely turn around a vertical axis.

特許文献１の図５に示されるように、充電ステーション（６２）側の給電端子（７６）に、作業車（１０）側の充電端子（３２）を接触させることで、充電バッテリへの充電が開始される。 As shown in FIG. 5 of Patent Document 1, the charging of the rechargeable battery is performed by bringing the charging terminal (32) of the work vehicle (10) into contact with the power supply terminal (76) of the charging station (62). be started.

ただし、特許文献１には、充電端子（３２）を給電端子（７６）に位置決めする手順は開示されていない。
特許文献１の図１において、後輪が駆動輪（１４Ｌ、１４Ｒ）で且つ非操舵輪であるため、特許文献１の図５において、いわゆる、車庫入れと同様に、充電端子（３２）が給電端子（７６）に合致するまで、前進と後進を数回繰り返え必要がある。
無人運転であるものの、複数回前進と後進を繰り返すため、充電準備時間が長くなり、この充電準備時間が作業時間に悪影響を及ぼす。 However, Patent Document 1 does not disclose a procedure for positioning the charging terminal (32) to the power supply terminal (76).
In FIG. 1 of Patent Document 1, the rear wheels are driving wheels (14L, 14R) and non-steering wheels, so in FIG. It may be necessary to cycle forward and backward several times until it meets terminal (76).
Although it is an unmanned operation, it repeats forward and backward movements a number of times, so the charging preparation time is long, and this charging preparation time adversely affects the work time.

草刈り等の作業の迅速化と高能率化が求められる中か、充電準備時間を短縮して、作業時間を延ばすことができるシステムが望まれる。 Amid the demand for faster and more efficient work such as mowing, there is a demand for a system that can extend the work time by shortening the charging preparation time.

また、特許文献１は、前輪が非駆動輪で、後輪が駆動輪であるため、作業場に存在する瘤に乗り上げるなどして、前輪が地面に付いているが、後輪が地面から浮き上がることがある。この場合には、作業車（１０）は、走行不能となる。管理者が直行して、瘤から作業車（１０）を離脱させる必要があり、管理者の負担が大きくなる。対策として、草刈機等の作業機が全輪駆動車であることが望まれる。 In Patent Document 1, the front wheels are non-driving wheels and the rear wheels are driving wheels. Therefore, the front wheels are on the ground, but the rear wheels are lifted up from the ground by riding on bumps in the workplace. There is In this case, the work vehicle (10) cannot travel. The manager has to go straight to remove the working vehicle (10) from the lump, which increases the burden on the manager. As a countermeasure, it is desired that the working machine such as the mower is an all-wheel drive vehicle.

特開２０１２－９４１２３号公報JP 2012-94123 A

本発明は、全輪駆動車であって、駆動輪の近傍に充電端子を備えているにも拘わらず、少ないトライで給電端子に充電端子を位置合わせることができる自律制御型作業機を提供することを課題とする。 To provide an autonomously controlled work machine which is an all-wheel drive vehicle and can align a charging terminal with a power supply terminal with a small number of tries even though the charging terminal is provided near the driving wheels. The challenge is to

請求項１に係る発明は、充電ステーションと、自律走行する作業機に設けられる作業機側結合部材とからなる作業機用充電装置であって、
前記作業機は、前輪及び後輪が各々電動モータを備えている、全輪駆動車であり、
前記作業機側結合部材は、前記前輪の近傍に備えられると共に充電端子を備え、
前記充電ステーションは、前記作業機側結合部材に結合するステーション側結合部と、このステーション側結合部に設けられ前記充電端子へ給電する給電端子を備え、
前記ステーション側結合部と前記作業機側結合部材の一方に、前記作業機が前進したときに前記ステーション側結合部側に前記作業機側結合部材側が乗り上がって前記前輪が地面から浮き上がる作用を発揮する勾配部が設けられていることを特徴とする。
The invention according to claim 1 is a charging device for a working machine comprising a charging station and a working machine-side coupling member provided on a working machine that travels autonomously,
The work machine is an all-wheel drive vehicle in which front wheels and rear wheels are each provided with an electric motor,
The working machine side coupling member is provided near the front wheel and has a charging terminal,
The charging station includes a station-side coupling portion coupled to the working machine-side coupling member, and a power supply terminal provided in the station-side coupling portion for supplying power to the charging terminal,
When the working machine moves forward, the working machine side connecting member rides on the station side connecting part side of one of the station side connecting part and the working machine side connecting member, and the front wheel lifts up from the ground. It is characterized in that a sloped portion is provided.

請求項１に係る発明では、勾配部を備え、この勾配部により、作業機側結合部材に近い方の前輪を地面から浮かすことができる。
自律制御により、作業機側結合部材の入口にステーション側結合部の先端を嵌めることはできる。この状態から作業機を前進させて、作業機側結合部材にステーション側結合部を十分に嵌めることを試みる。 In the invention according to claim 1, the sloped portion is provided, and the sloped portion allows the front wheel closer to the working machine side coupling member to be lifted off the ground .
Through autonomous control, the tip of the station-side coupling portion can be fitted into the inlet of the work machine-side coupling member. From this state, the work machine is moved forward, and an attempt is made to sufficiently fit the station-side coupling portion to the work machine-side coupling member.

仮に、前輪と後輪が共に地面に接しているとすると、前輪が作業機の左又は右への横移動を妨げる。作業機側結合部材の入口にステーション側結合部の先端が嵌っているにも拘わらず、後輪を前進回転させても、前輪が横移動しないため、作業機側結合部材にステーション側結合部が入っていかない。しかたなく、ステーション側結合部のセンターが作業機側結合部材のセンターにほぼ合致するまで、後輪と前進を繰り返す。すると、充電前の準備時間が長くなる。 If both the front wheels and the rear wheels were in contact with the ground, the front wheels would prevent the work implement from laterally moving to the left or right. Although the front end of the station-side coupling portion is fitted in the inlet of the work implement-side coupling member, the front wheel does not move laterally even when the rear wheel is rotated forward, so the station-side coupling portion is not attached to the work implement-side coupling member. don't go in There is no other choice but to repeat forward movement with the rear wheels until the center of the station-side coupling portion almost coincides with the center of the work machine-side coupling member. Then, the preparation time before charging becomes longer.

この点、本発明では、前輪が地面から浮いているため、後輪を前進回転させると、作業機側結合部材の奥までステーション側結合部が、容易に嵌まり、充電前の準備時間がごく短くなる。
本発明により、全輪駆動車であって、駆動輪の近傍に充電端子を備えているにも拘わらず、１回のトライ、又は少ないトライで給電端子に充電端子を位置合わせることができる自律制御型作業機が提供される。 In this respect, according to the present invention, since the front wheels are lifted from the ground, when the rear wheels are rotated forward, the station-side coupling portion is easily fitted to the back of the working machine-side coupling member, and the preparation time before charging is very short. Shorten.
According to the present invention, in an all-wheel drive vehicle, even though the charging terminals are provided near the drive wheels, the autonomous control is capable of aligning the charging terminals with the power supply terminals with one or fewer tries. A mold work machine is provided.

自律制御型作業機の正面図である。1 is a front view of an autonomously controlled work machine; FIG. 自律制御型作業機の右側面図である。Fig. 2 is a right side view of the autonomously controlled working machine; 自律制御型作業機の底面図である。It is a bottom view of an autonomously-controlled work machine. 自律制御型作業機の平面視構成図である。1 is a plan view configuration diagram of an autonomously controlled work machine; FIG. 本発明に係る作業機用充電装置の構成図である。1 is a configuration diagram of a working machine charging device according to the present invention; FIG. 図５の６－６線矢視図である。6 is a view taken along line 6-6 in FIG. 5; FIG. 自律制御型作業機の作用説明図である。FIG. 4 is an explanatory view of the action of the autonomous control work machine; 作業機用充電装置の作用説明図である。FIG. 4 is an operation explanatory view of the working machine charging device; 作業機用充電装置の変更例を説明する図である。It is a figure explaining the example of a change of the charging device for working machines.

本発明の実施の形態を添付図に基づいて以下に説明する。 An embodiment of the present invention will be described below with reference to the accompanying drawings.

図１に示すように、自律制御型作業機（以下、作業機という）１０は、前輪１１と、左後輪１２Ｌと、右後輪１２Ｒを備えている。また、作業機１０は、カバー１３の前面中央に横長矩形の開口部１４を有している。この開口部１４の奥に、作業機側結合部材（図４、符号３６）が配置される。
図２に示すように、前輪１１と、後輪車軸１５との間に、カッターハウジング１６を有する。 As shown in FIG. 1, an autonomously controlled work machine (hereinafter referred to as a work machine) 10 includes a front wheel 11, a left rear wheel 12L, and a right rear wheel 12R. The work machine 10 also has a horizontally long rectangular opening 14 at the center of the front surface of the cover 13 . A work machine side coupling member ( FIG. 4 , reference numeral 36 ) is arranged at the back of the opening 14 .
As shown in FIG. 2, a cutter housing 16 is provided between the front wheel 11 and the rear wheel axle 15 .

図３に示すように、底面視で、機体１８に、旋回する刈刃１９と、この刈刃１９より前に配置される前輪１１と、刈刃１９より後に配置される後輪１２Ｌ、１２Ｒとを備える作業機１０において、この作業機１０は、刈刃１９より前輪１１側に配置される左ワイヤセンサ２１Ｌ及び右ワイヤセンサ２１Ｒを備えている。 As shown in FIG. 3, when viewed from the bottom, the machine body 18 includes a turning cutting blade 19, a front wheel 11 arranged in front of the cutting blade 19, and rear wheels 12L and 12R arranged behind the cutting blade 19. The work machine 10 includes a left wire sensor 21L and a right wire sensor 21R arranged closer to the front wheel 11 than the cutting blade 19. As shown in FIG.

左ワイヤセンサ２１Ｌ及び右ワイヤセンサ２１Ｒは、刈刃１９の旋回円２２より外であれば、任意の位置に配置することができる。旋回円２２から前にαだけ離れた位置で、且つ旋回円２２から左に（図では右へ）βだけ離れた位置に左ワイヤセンサ２１Ｌを配置する。同様に、旋回円２２から前にαだけ離れた位置で、且つ旋回円２２から右にβだけ離れた位置に右ワイヤセンサ２１Ｒを配置する。βはαと同じであっても異なっていても差し支えない。 The left wire sensor 21L and the right wire sensor 21R can be arranged at arbitrary positions outside the turning circle 22 of the cutting blade 19 . The left wire sensor 21L is arranged at a position a distance α in front of the turning circle 22 and a distance β to the left (to the right in the drawing) of the turning circle 22 . Similarly, the right wire sensor 21R is arranged at a position a distance α in front of the turning circle 22 and a distance β to the right from the turning circle 22 . β can be the same as or different from α.

図４は、図３を反転した平面図である。
図４に示すように、刈刃１９は刈刃モータ２４で駆動される。この刈刃モータ２４はバッテリ２５から給電されると共にドライバ２６を介して、制御部２７で回転速度及び正転、停止、逆転が制御される。刈刃モータ２４が過負荷状態になったときには逆転制御される。 FIG. 4 is a plan view in which FIG. 3 is reversed.
As shown in FIG. 4, the cutting blade 19 is driven by a cutting blade motor 24. As shown in FIG. The cutting blade motor 24 is supplied with power from a battery 25 and controlled by a control unit 27 via a driver 26 to control the rotational speed and normal rotation, stop, and reverse rotation. Reverse rotation control is performed when the cutting blade motor 24 is overloaded.

前輪１１は前輪モータ２８で駆動される。この前輪モータ２８はバッテリ２５から給電されると共にドライバ２９を介して、制御部２７で回転速度及び正転、停止、逆転が制御される。
前輪１１は操舵輪であり、操舵モータ３１で操舵される。この操舵モータ３１は、バッテリ２５から給電されると共にドライバ３２を介して、制御部２７で直進、左操舵、右操舵の制御がなされる。 The front wheels 11 are driven by a front wheel motor 28 . The front wheel motor 28 is supplied with power from the battery 25 and controlled by the controller 27 via the driver 29 to control the rotational speed, forward rotation, stop, and reverse rotation.
The front wheels 11 are steering wheels and are steered by a steering motor 31 . The steering motor 31 is supplied with power from the battery 25 and is controlled by the controller 27 via the driver 32 for straight traveling, left steering, and right steering.

左後輪１２Ｌは左後輪モータ３３Ｌで駆動される。この左後輪モータ３３Ｌはバッテリ２５から給電されると共にドライバ３４Ｌを介して、制御部２７で回転速度及び正転、停止、逆転が制御される。
同様に、右後輪１２Ｒは右後輪モータ３３Ｒで駆動される。この右後輪モータ３３Ｒはバッテリ２５から給電されると共にドライバ３４Ｒを介して、制御部２７で回転速度及び正転、停止、逆転が制御される。 The left rear wheel 12L is driven by a left rear wheel motor 33L. The left rear wheel motor 33L is supplied with power from the battery 25 and controlled by the control unit 27 via the driver 34L to control the rotational speed, normal rotation, stop, and reverse rotation.
Similarly, the right rear wheel 12R is driven by a right rear wheel motor 33R. The right rear wheel motor 33R is supplied with power from the battery 25 and controlled by the control unit 27 via the driver 34R to control the rotational speed, forward rotation, stop, and reverse rotation.

ところで、従来の技術で説明した作業車は、全輪駆動車ではない。そのため、何らかの理由（例えば、刈刃を囲うカッターハウジングが瘤に乗り上げるなど）で、駆動輪である後輪が地面から浮き上がると、走行不能となる。この場合、管理者が作業車まで走っていって、瘤から作業車を離脱させる。これでは管理者の負担が大きくなる。 By the way, the work vehicle described in the related art is not an all-wheel drive vehicle. Therefore, if for some reason (for example, the cutter housing that encloses the cutting blade rides on a bump) the rear wheels, which are the drive wheels, lift off from the ground, the machine cannot run. In this case, the manager runs to the work vehicle and removes the work vehicle from the lump. This increases the burden on the administrator.

対して、図４に示す本発明の作業機１０は、全輪駆動車であるため、前輪１１が地面に接していれば、後輪１２Ｌ、１２Ｒが浮いたとしても、自力での離脱が可能となり、走行が継続される。結果、管理者の負担が大幅に軽減される。 On the other hand, since the working machine 10 of the present invention shown in FIG. 4 is an all-wheel drive vehicle, if the front wheels 11 are in contact with the ground, even if the rear wheels 12L and 12R are lifted, the working machine 10 can be detached by itself. and the running is continued. As a result, the burden on the administrator is greatly reduced.

また、本発明の作業機１０では、前輪１１は、左右２輪であってもよいが、実施例では、１輪とした。１輪であれば、前輪モータ２８、ドライバ２９、操舵モータ３１及びドライバ３２の数が半分になり、コストダウンが図れる。 Further, in the work machine 10 of the present invention, the front wheels 11 may be two wheels, right and left, but in the embodiment, only one wheel is used. With one wheel, the number of front wheel motors 28, drivers 29, steering motors 31 and drivers 32 is halved, resulting in cost reduction.

作図の都合で、カバー１３の外に示したバッテリ２５及び制御部２７は、カバー１３内に配置される。
カバー１３の前部に、例えばＶ字形状の作業機側結合部材３６が収納され、この作業機側結合部材３６に充電端子３７が設けられている。充電端子３７を介して、外部からバッテリ２５へ充電される。 The battery 25 and the controller 27 shown outside the cover 13 for convenience of drawing are arranged inside the cover 13 .
For example, a V-shaped working machine side connecting member 36 is accommodated in the front portion of the cover 13 , and a charging terminal 37 is provided on the working machine side connecting member 36 . The battery 25 is charged from the outside via the charging terminal 37 .

また、制御部２７は、左ワイヤセンサ２１Ｌと右ワイヤセンサ２１Ｒから、エリアワイヤの検知信号を受ける。 The control unit 27 also receives area wire detection signals from the left wire sensor 21L and the right wire sensor 21R.

本発明に係る作業機用充電装置４０の構成を、図５及び図６に基づいて説明する。
図５に示すように、作業機用充電装置４０は、機体１８に固定される作業機側結合部材３６と地面（又は地上固定物）４１に固定される充電ステーション４２とからなる。
充電ステーション４２は、作業機側結合部材３６に結合する、例えばくさび状のステーション側結合部４３を備えている。このステーション側結合部４３は、先尖り形状を呈し、ハの字に形成される側面４４に給電端子４５を備えている。 The configuration of the working machine charging device 40 according to the present invention will be described with reference to FIGS. 5 and 6. FIG.
As shown in FIG. 5 , the working machine charging device 40 includes a working machine side coupling member 36 fixed to the machine body 18 and a charging station 42 fixed to the ground (or ground fixed object) 41 .
The charging station 42 includes, for example, a wedge-shaped station-side coupling portion 43 that is coupled to the work machine-side coupling member 36 . The station-side coupling portion 43 has a pointed shape, and has a power supply terminal 45 on a side surface 44 formed in an inverted V shape.

図６に示すように、機体１８に固定される作業機側結合部材３６は、天板３８を備えている。この天板３８の底面３９は水平（ほぼ水平を含む）に延びる平坦面である。
対して、ステーション側結合部４３は、上面が先端に向かって下り勾配とされた勾配部４６を有している。 As shown in FIG. 6 , the working machine side connecting member 36 fixed to the machine body 18 has a top plate 38 . A bottom surface 39 of the top plate 38 is a flat surface extending horizontally (including substantially horizontally).
On the other hand, the station-side coupling portion 43 has an inclined portion 46 whose upper surface slopes downward toward the tip.

以上の述べた作業機１０の作用を、図７～図８に基づいて説明する。
図７に示すように、作業機１０は、全輪駆動車であって、矢印（１）のように直進し、矢印（２）のように左旋回し、矢印（３）のように右旋回し、矢印（４）のように後進する。 The operation of the working machine 10 described above will be described with reference to FIGS. 7 and 8. FIG.
As shown in FIG. 7, the working machine 10 is an all-wheel drive vehicle, which runs straight as indicated by arrow (1), turns left as indicated by arrow (2), and turns right as indicated by arrow (3). , as indicated by arrow (4).

平面視概念図である図８（ａ）に示すように、自律制御走行により、ステーション側結合部４３の先端に、作業機側結合部材３６を部分的に嵌めることはできる。
仮に、前輪１１が、地面に接していると、この前輪１１が車幅方向の移動を妨げるため、これ以上は、ステーション側結合部４３を作業機側結合部材３６に嵌めることができない。 As shown in FIG. 8A, which is a conceptual plan view, it is possible to partially fit the work implement side coupling member 36 to the tip of the station side coupling portion 43 by autonomous control traveling.
If the front wheels 11 were in contact with the ground, the front wheels 11 would hinder movement in the vehicle width direction, so that the station-side coupling portion 43 could no longer be fitted to the work implement-side coupling member 36 .

この点、本発明では、側面視概念図である図８（ｂ）に示すように、後輪１２Ｌ、１２Ｒの駆動力で作業機１０が前進し、この前進によりステーション側結合部４３側の勾配部４６に、作業機側結合部材３６側の天板３８が乗り上がる。勾配部４６が作業機１０から見ると上がり勾配であるため、前輪１１が地面４１から距離δだけ浮き上がる。 In this regard, in the present invention, as shown in FIG. 8B, which is a conceptual side view, the driving force of the rear wheels 12L and 12R advances the work implement 10, and this advance causes the slope of the station-side coupling portion 43 side to increase. The top plate 38 on the working machine side coupling member 36 side rides on the portion 46 . Since the sloped portion 46 has an upward slope when viewed from the work machine 10 , the front wheels 11 are lifted from the ground 41 by a distance δ.

図８（ａ）において、前輪１１が地面の抵抗を受けないため、後輪１２Ｌ、１２Ｒで前進されると、作業機側結合部材３６が車幅方向に簡単に移動し、結果、作業機側結合部材３６にステーション側結合部４３が十分に挿入される。
よって、作業機１０が全輪駆動車であるにも拘わらず、ステーション側結合部４３に作業機側結合部材３６を十分に嵌めることができる自律制御型作業機が提供される。 In FIG. 8(a), since the front wheels 11 do not receive resistance from the ground, when the rear wheels 12L and 12R are driven forward, the working machine side coupling member 36 easily moves in the vehicle width direction. The station side coupling portion 43 is fully inserted into the coupling member 36 .
Therefore, an autonomously controlled work machine is provided in which the work machine side coupling member 36 can be sufficiently fitted to the station side coupling portion 43 even though the work machine 10 is an all-wheel drive vehicle.

変更例を図９に示す。
図９に示すように、ステーション側結合部４３の上面を、ほぼ水平に延びる平坦面として、作業機側結合部材３６の天板３８の底面３９に勾配部４６を設けてもよい。
よって、勾配部４６は、ステーション側結合部４３と作業機側結合部材３６との何れに設けてもよい。 A modified example is shown in FIG.
As shown in FIG. 9 , the upper surface of the station-side coupling portion 43 may be formed as a substantially horizontally extending flat surface, and the bottom surface 39 of the top plate 38 of the working machine-side coupling member 36 may be provided with a sloped portion 46 .
Therefore, the inclined portion 46 may be provided on either the station-side coupling portion 43 or the working machine-side coupling member 36 .

尚、実施例では、作業機側結合部材３６を前輪１１の近傍に設けたが、作業機側結合部材３６は後輪１２Ｌ、１２Ｒの近傍に設けてもよい。
作業機側結合部材３６を後輪１２Ｌ、１２Ｒの近傍に設けた場合には、勾配部４６の作用と前輪１１の後進作用とで、後輪１２Ｌ、１２Ｒが地面から浮き上がる。 Although the working machine side connecting member 36 is provided near the front wheel 11 in the embodiment, the working machine side connecting member 36 may be provided near the rear wheels 12L and 12R.
When the working machine side coupling member 36 is provided in the vicinity of the rear wheels 12L and 12R, the rear wheels 12L and 12R are lifted off the ground by the action of the inclined portion 46 and the rearward movement action of the front wheels 11 .

また、実施例では、作業機側結合部材３６はＶ字形状とし、ステーション側結合部４３はくさび状にしたが、作業機側結合部材３６をくさび状とし、ステーション側結合部４３をＶ字形状としてもよい。
なお、Ｖ字形状は、Ｕ字形状やコ字形状でもよい。この場合、くさび状はＵ字形状やコ字形状に対応する形状に変更する。
よって、作業機側結合部材３６の形状、構造は任意であり、ステーション側結合部４３は作業機側結合部材３６に対応する形状、構造であればよく、実施例に限定されるものではない。 Further, in the embodiment, the working machine side connecting member 36 is V-shaped and the station side connecting portion 43 is wedge-shaped. may be
Note that the V-shape may be a U-shape or a U-shape. In this case, the wedge shape is changed to a shape corresponding to the U shape or U shape.
Therefore, the working machine side connecting member 36 may have any shape and structure, and the station side connecting portion 43 may have any shape and structure corresponding to the working machine side connecting member 36, and is not limited to the embodiment.

また、本発明は、自律制御型草刈機の他、ゴルフ場で芝を刈る自律制御型芝刈機、畠で農作業を行う自律制御型農作業機、農作物を運搬する自律制御型運搬機、除雪を行う自律制御型除雪機、路上の雪を取り除く自律制御型清掃機などの作業機に適用して差し支えない。 In addition to the autonomous control lawn mower, the present invention also includes an autonomous control lawn mower for mowing grass at a golf course, an autonomous control agricultural work machine for farming in a field, an autonomous control type transporter for transporting crops, and a snow removal machine. It may be applied to work machines such as an autonomously controlled snow blower and an autonomously controlled cleaning machine for removing snow on the road.

本発明の作業機は、起伏に富んだ地面での草刈りに好適である。 The working machine of the present invention is suitable for mowing on uneven ground.

１０…自律制御型作業機（作業機）、１１…前輪、１２Ｌ…左後輪、１２Ｒ…右後輪、１８…機体、１９…刈刃、２８…電動モータ（前輪モータ）、３３Ｌ…電動モータ（左後輪モータ）、３３Ｒ…電動モータ（右後輪モータ）、３６…作業機側結合部材、３７…充電端子、４０…作業機用充電装置、４２…充電ステーション、４３…ステーション側結合部、４５…給電端子、４６…勾配部。 DESCRIPTION OF SYMBOLS 10... Autonomous control type working machine (working machine), 11... Front wheel, 12L... Left rear wheel, 12R... Right rear wheel, 18... Body, 19... Cutting blade, 28... Electric motor (front wheel motor), 33L... Electric motor (left rear wheel motor) 33R electric motor (right rear wheel motor) 36 working machine side coupling member 37 charging terminal 40 charging device for working machine 42 charging station 43 station coupling portion , 45... feeding terminal, 46... slope portion.

Claims (1)

充電ステーションと、自律走行する作業機に設けられる作業機側結合部材とからなる作業機用充電装置であって、
前記作業機は、前輪及び後輪が各々電動モータを備えている、全輪駆動車であり、
前記作業機側結合部材は、前記前輪の近傍に備えられると共に充電端子を備え、
前記充電ステーションは、前記作業機側結合部材に結合するステーション側結合部と、このステーション側結合部に設けられ前記充電端子へ給電する給電端子を備え、
前記ステーション側結合部と前記作業機側結合部材の一方に、前記作業機が前進したときに前記ステーション側結合部側に前記作業機側結合部材側が乗り上がって前記前輪が地面から浮き上がる作用を発揮する勾配部が設けられていることを特徴とする作業機用充電装置。 A working machine charging device comprising a charging station and a working machine-side coupling member provided for an autonomously traveling working machine,
The work machine is an all-wheel drive vehicle in which front wheels and rear wheels are each provided with an electric motor,
The working machine side coupling member is provided near the front wheel and has a charging terminal,
The charging station includes a station-side coupling portion coupled to the working machine-side coupling member, and a power supply terminal provided in the station-side coupling portion for supplying power to the charging terminal,
When the working machine moves forward, the working machine side connecting member rides on the station side connecting part side of one of the station side connecting part and the working machine side connecting member, and the front wheel lifts up from the ground. A charging device for a working machine, characterized in that a sloped portion is provided to allow the charging device to run.
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