JPH0584008A - Running controller of radio control self-propelled mower - Google Patents

Abstract

PURPOSE:To make break operation unnecessary by equipping a running clutch and a running brake actuatable when the running clutch is in a neutral state and actuating the brake while interlocking it to the running clutch. CONSTITUTION:A brake servo 56 is electrically linked to a running clutch servo so that the respective servo-horns with the same phase may be rotated based on a signal from a receiver. The servo-horn is interlocked through a brake cam 57 to a brake arm and the running brake 50 is actuated only when the running clutch 26 is in a neutral state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel adjusting device for a radio-controlled self-propelled mower.

[0002]

2. Description of the Related Art In a conventional riding type self-propelled working machine, a traveling brake is generally constructed to be operated independently of a traveling clutch. In addition, a blade is attached to the lower end of the output shaft of the prime mover installed in the housing.
In the case of a radio-controlled self-propelled mower with a structure equipped with a radio receiver and an actuator that operates the steering wheel and steering wheel according to the signal from the radio receiver, it is possible to find something that links the travel brake and the travel clutch. Absent.

[0003]

The radio-controlled self-propelled lawnmower to date has the following problems. In other words, general riding or walking self-propelled mowers have a long history and are very common in operation, and since the working machine and the operator always move as a unit, the operating method is widely accepted by users. However, the radio-controlled type
It is extremely peculiar that the operation is performed only with the fingertip touching the transmitter at a place away from the work machine.In addition, since the operator is away from the work machine, grasp the situation where the work machine is placed. It is difficult and you win dangerous driving operations. In addition to such a condition, when the self-propelled mower is not equipped with a traveling brake, even if the traveling clutch is disengaged on a sloping ground or a flat ground with little traveling resistance, it will not stop immediately due to inertia, which is very dangerous.

However, even if the radio-controlled self-propelled mower is equipped with a traveling brake, it is necessary to simultaneously perform the operation of disengaging the traveling clutch and the braking operation by the transmitter unless the traveling clutch is interlocked. For a general user who does not drive, the risk avoidance operation in an emergency becomes complicated, and the effect of installing the brake is reduced by half. If a structure is adopted in which the brake operates when the traveling clutch is neutral, it is difficult to manually push the vehicle. Therefore,
When moving, you have to always rely on the power of the prime mover, which makes handling difficult. A diff is indispensable to reduce the turning radius and prevent damage to the turf due to tire slip when turning, but it is very common to provide running brakes on multiple wheels when a diff is provided. .. However, mounting the brake involves mounting an actuator that operates the brake, which leads to an increase in cost. The risk avoidance operation by the transmitter is absolutely required to be simple and not to be operated erroneously, but the operation becomes complicated with the conventional wireless transmitter. In order to solve the above problems, the present invention mounts a traveling brake interlocking with a traveling clutch to speed up the stopping operation of a work machine, and a mechanism for releasing the brake is provided to prevent inconvenience in handling, and to brake the vehicle. By directly connecting the wheel to only one wheel, the cost increase due to mounting the brake can be minimized, and by devising the mechanism and arrangement of the transmitter switch, the risk avoidance by the transmission operation can be made more reliable.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned problems, and a blade is attached to the lower end of the output shaft of a prime mover mounted on a housing, and a radio receiver and its reception are provided. For the radio-controlled self-propelled mower equipped with an actuator that operates the traveling mission and steered wheels according to the machine signal, the traveling adjustment device has the following structure. First, the traveling brake and the traveling clutch are provided so that the traveling brake operates when the traveling clutch is neutral. In the radio-controlled self-propelled mower, the function to release the operation of the traveling brake and the display function to show that the operation of the traveling brake has been released are provided. The running brake was connected to only one of the running wheels. The switch for operating the running clutch of the wireless transmitter is forward,
Reverse switches are independent of each other.These switches maintain a proper distance on one of the left and right sides of the transmitter that is difficult to operate at the same time with respect to the center line in the vertical direction on the front of the transmitter. It is arranged at an easy position, and the clutch "engaged" signal is transmitted only while inputting with a finger. In a radio-controlled self-propelled mower equipped with a differential gear and a differential lock in the traveling gear case, the differential lock and the brake are activated when the traveling clutch is neutral. In a radio-controlled self-propelled mower equipped with a mechanism that activates the diff lock only when the steered wheels are within a certain angle, the diff lock and brake are activated when the traveling clutch is in neutral. .. The work machine was provided with an emergency stop switch, and an electric circuit for stopping the prime mover when this switch was activated and an electric circuit for putting the brake into an operating state prior to the interlocking with the traveling clutch were provided.

[0006]

[Operation] By linking the running clutch and running brake,
When the traveling clutch is disengaged, the brake is automatically applied, and the operation of the brake is no longer necessary, ensuring the brake operation. By providing a function to release the operation of the brake,
It is possible to perform manual movement without relying on power, and it is possible to know from the marking function that the brake operation has been released. By attaching the brake mechanism to only one wheel, the purpose can be sufficiently achieved and the cost can be minimized. By devising the arrangement on the transmitter of the operating switch of the traveling clutch linked to the brake, the stopping operation can be simplified and the operation can be performed reliably and quickly. By linking the diff lock together with the brake to the traveling clutch, the braking function at one location can be similarly given to other wheels via the diff gear. Even when the diff lock and the steered wheels are interlocked, the interlock between the running clutch and the diff lock is prioritized, so that the diff lock, the running clutch, and the running brake are linked so that the stop operation is prioritized. When the emergency stop switch is provided, the brake operates by prioritizing the interlocking of the brake and the emergency stop switch over the interlocking of the brake and the traveling clutch.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall side view of a travel adjusting device for a radio-controlled self-propelled mower according to the present invention, and FIG. 2 is a plan view thereof.
In this radio-controlled self-propelled mower, a prime mover 2 (hereinafter referred to as an engine in the present embodiment) is fixed to a housing 1 substantially in the center thereof, and the engine has an output shaft 3 in a housing substantially perpendicular to the ground. The blade 4 is attached to the end of the blade. At the rear of the housing, there are a discharge port for discharging grass cut by a blade, a discharge cover 5, and the like. Further, in the rear part of the housing, there are mounted electric components necessary for radio control and other controls, a control box 6 containing a battery and the like, a handle 7 for holding the body, a radio receiving antenna 8, a power switch 9 and the like. ..

The traveling gear case 20 is arranged at the rear portion of the housing 1 in the case of driving the rear wheels as in this example, and the rear wheel drive shafts 21 extend from both sides of the traveling gear case. 3 and 4 (a)
As shown in (b), the traveling gear case 20 is
3, input shaft 24, reverse rotation input gear 25, traveling clutch 26, differential 27, rear wheel drive shaft 21, traveling clutch arm 28, traveling clutch servo 29, clutch rod 30, and the like. The traveling clutch servo rotates the servo horn 31 in response to a signal from the receiver to move the traveling clutch 26 forward (F) and reverse through the clutch rod 30 and the traveling clutch arm 28.
It is configured to move or hold in the (R) and neutral (N) positions.

As shown in FIGS. 3 and 5, the traveling brake 50 has a brake drum 51 directly connected to the rear wheel drive shaft 21 (rear wheel).
And brake shoe mounting plate 53 connected to stay 52
It is composed by. Brake shoe mounting plate 53
Is composed of a brake shoe 54, a brake arm 55, a brake servo 56, a brake cam 57, a stopper arm 58, and the like. Brake servo 56 and traveling clutch servo 29
Are electrically interlocked so as to rotate the respective servo horns 31 and 60 in the same phase by a signal from the receiver 59. The servo horn 60 and the brake arm 55 are linked by the brake cam 57.
By setting the positional relationship among 60, the brake cam 57, and the brake arm 55, the traveling brake 50 is operated only when the traveling clutch 26 is in neutral. In addition,
Even if the traveling brake 50 is provided on the way from the input shaft of the traveling gear case 20 to the output shaft, the same mechanism can be configured. Travel brake 50 only when travel clutch 26 is neutral
As another example of operating the
(FIG. 3 (b)) Detects that the traveling clutch arm 28 is in the neutral position, and the signal causes the brake servo 56 to be actuated in the braking direction.
There is also a method of electrically connecting the 166 and the brake servo 56. In this case, the neutrality of the traveling clutch 26 can be confirmed more reliably than in the above-described embodiment, so that the traveling brake is less likely to be activated when the traveling clutch 26 is not in the neutral state due to a servo or other malfunction.

The steered wheels (front wheels) 80 are, as shown in FIG. 2, a shaft 82 of a swing arm 81 at the front of the housing 1.
A collar-shaped bracket that is attached so that it can rotate with respect to
It is rotatably attached to 83. Further, there is a steering servo 84 near the center of the front part of the housing 1, and an arm fixed to the bracket 83 by the steering servo horn 85.
A steering rod 88 is provided at 87.

A transmitter 100 required for radio control is shown in FIG.
As shown in FIG. 8, this is provided with the antenna 101 on the upper part,
On the front transmission panel 102, there is a power switch 103 in the center, a steering lever 104 on the right, an engine control lever 105 on the left, a traveling clutch forward switch 106 on the left side,
The reverse switch 107 is on the upper left, the engine stop switch 108 is on the upper right, and the declock switch 160 is on the right.
Is provided.

On the other hand, on the side of the self-propelled mower body shown in FIG.
A signal line that connects the receiver 59 and the brake servo 56 shown in FIG.
A brake release switch 121 and a pilot lamp 122 are provided in the middle of 120. To release the traveling brake,
Turn on the transmitter 100 and the working machine (receiver 59), and turn on the brake release switch 121 with the traveling clutch switch (forward 106 or reverse 107) of the transmitter turned on (that is, the traveling brake is inactive). Then, the signal from the receiver 59 is cut off, and the brake servo 56 is held in the inoperative state. At this time, at the same time, the brake release switch 121 is electrically linked so that the pilot lamp 122 indicating the brake non-operation state lights up at the same time.

FIG. 6 shows a case where the brake is mechanically released as another embodiment of the brake device.
With this structure, the brake servo 56 is mounted on the brake shoe mounting plate 53 via the servo base 130, and the servo base 130 is rotatable around a pin 131 and is held in a fixed position by a spring 132 and a stopper 133. On the other hand, the servo base 130 has a spring 134 and a brake cam.
A control cable 135 is connected via 137, and a brake release lever 136 is connected to the other end of the control cable 135. When the brake release lever is pulled, the servo base 130 rotates against the force of the spring 134, the brake cam 137 and the servo horn 60 separate, and the brake is forcibly applied regardless of the signal from the receiver to the brake servo. Will be canceled.

The traveling brake 50 shown on the left side of FIG.
As shown in, the brake drum 51 is fixed to only one of the left and right rear wheel drive shafts 21 extending from the traveling gear case 20, and the brake shoe mounting plate 53 is fixed to the stay 52. No brake-related parts are attached to the other rear-wheel drive shafts. For example, when going down a slope, the traveling clutch 26 (FIG. 3) and the traveling brake 50 are interlocked, so that either the engine brake or the traveling brake increases the vehicle speed while the grip of the tire 150 on the road surface is maintained. As the vehicle speed is suppressed, the vehicle speed will not greatly exceed the normal work speed due to inertia. Therefore, even in the case of the differential type, since the vehicle speed is relatively low, the traveling direction of the working machine does not suddenly change even if the brake is applied to only one wheel. This has been confirmed by testing. Also,
The present invention is also advantageous in that respect, because it is better that the number of brakes mounted is small in order to reduce the manufacturing cost. This advantage is also present in the case of running gear cases without differentials.

As described above, on the operation panel 102 of the transmitter shown in FIG. 7, the traveling clutch forward switch 106 is arranged at the side of the corner and the reverse switch 107 is arranged at the upper surface of the corner. Push the push button to move forward, and release it to neutralize. Further, the reverse switch 107 is a toggle type and is set so that when the switch is pulled forward, the reverse switch 107 is started, and when released, the switch is neutral. When operating the transmitter, since the transmitter is supported by the middle finger, ring finger, and little finger of each of the left and right hands, the forward switch is operated by the index finger. Further, since the reverse switch is also operated by the index finger, it is difficult to operate these switches at the same time. In addition, the forward switch is a push type and the reverse switch is a toggle type, so there are few erroneous operations. When the work implement must be stopped urgently, a momentary operation is required. Therefore, it is necessary that even an operator who is not used to operating the work implement can reflexively stop the work implement.
For this, the method of stopping when the finger is released from the travel switch is the most suitable. In the present invention, since the traveling clutch 26 and the traveling brake 50 are interlocked and the transmitter switch has the above-mentioned function, the operation of stopping the working machine can be quickly and reliably performed by a simple operation of releasing the finger from the traveling switch. You can

The transmitter / receiver is provided with one channel (switch 160) for differential lock operation (FIG. 7). This switch is a toggle type, and when it is pushed up, the dog clutch 163 (Fig. 3) and the claw 1
The 62 are set to engage and send a signal that when they are pushed down, they separate. Actuator for operating dog clutch operated by signal from receiver 59 (Fig. 1)
161 is provided (FIG. 4 (b)), a diff lock claw portion 162 (FIG. 3) and a dog clutch 163 corresponding thereto are provided in the traveling gear case, and a clutch fork for opening / closing the dog clutch is provided.
A micro switch 166 (Fig. 4 (b)) is provided near the 164, the rod 165, and the traveling clutch arm 28 (Fig. 4) so that the diff lock can be actuated only when the traveling clutch is in neutral and prior to the command from the receiver. It is electrically connected. As a result, the brake mounted on only one wheel is also effective on the other wheel connected by the differential lock, and a stronger braking operation can be obtained.

Further, as shown in FIG. 2, a sensor 18 for detecting the steering angle around the steering servo horn 85 for the front wheels.
In the case where 0 is provided and the sensor 180 and the dog clutch operating actuator 161 are electrically interlocked so that the diff lock is entered when the steering angle is within a certain range,
In response to a signal from the micro switch 166 mounted near the traveling clutch in priority to this interlocking, the micro switch 166 is activated so that the diff lock is turned on when the traveling clutch 28 is in the neutral position.
And the dog clutch operating actuator 161 are electrically linked. As a result, the diff lock and the running clutch 28 and the running brake 50 are interlocked so that the stop operation is given the highest priority.

Furthermore, an emergency stop switch 190 is provided at a position where it can be easily operated from the front of the work machine. When this switch is turned on, the secondary current of the engine is connected to the engine through a relay so that the secondary current is kept grounded. When the stop switch is turned on, an electric circuit 192 that puts the traveling brake into an operating state is given priority over the interlocking with the traveling clutch to enhance the traveling safety of the self-propelled mower by remote control operation.

[0019]

The traveling control device for a wirelessly controlled self-propelled mower according to the present invention has the above-described relationship between the traveling clutch and the traveling brake, so that the traveling of the working machine is ensured with a minimum of operations. It is possible to stop. Also,
In particular, when a diff lock control function is provided to enhance running performance on slopes and uneven surfaces, the diff lock mechanism can be used to increase braking force. That is, it becomes possible to increase the braking force by exerting the action of the brake mounted only on one rear wheel on the other wheel by the diff lock. Even when the steering operation and the diff lock are interlocked, the stop function can be ensured by giving priority to the interlocking relationship between the brake, the traveling clutch, and the diff lock. When equipped with an emergency stop switch, safety can be enhanced by using this switch to apply the travel brake with priority over the interlocking with the travel clutch. As a result, only one wheel is required for the brake device, and it is possible to achieve high-safe driving at low cost.

[Brief description of drawings]

FIG. 1 is an overall side view of a travel adjusting device for a wirelessly controlled self-propelled mower.

FIG. 2 is an overall plan view of a travel adjusting device for a wirelessly controlled self-propelled mower.

FIG. 3 is a view showing a cross section taken along the line BB in FIG. 4 (a) of the traveling gear case and a part of a rear wheel.

FIG. 4A is a side view of the traveling gear case, and FIG. 4B is a rear view of a main part of the traveling gear case.

5 is a diagram showing a cross section of the rear wheel taken along the line AA in FIG.

6 is a cross-sectional view taken along the line AA in FIG. 3 showing another example of FIG.

FIG. 7 is a front view of a transmitter.

FIG. 8 is a side view of the transmitter.

[Explanation of symbols]

 2 prime mover 3 output shaft 4 blade 5 discharge cover 8 radio reception antenna 9 power switch 20 traveling gear case 21 rear wheel drive shaft 24 input shaft 26 traveling clutch 27 differential 28 traveling clutch arm 29 traveling clutch servo 30 clutch rod 31 servo horn 50 traveling Brake 51 Brake drum 54 Brake shoe 56 Brake servo 57 Brake cam 59 Receiver 60 Servo horn 84 Steering servo 85 Steering servo horn 88 Steering rod 100 Transmitter 101 Antenna 103 Power switch 104 Steering lever 105 Engine control lever 106 Travel clutch forward switch 107 Travel clutch reverse switch 108 Engine stop switch 120 Signal line 121 Brake release switch 122 Pilot lamp 136 Brake release lever 137 Brake cam 160 Switch 161 Dog clutch Acting actuator 162 differential lock pawl 163 dog clutch 164 clutch fork 165 rod 166 microswitch 180 sensor 190 emergency stop switch 192 electrical circuits

Claims (7)

[Claims] 1. A wirelessly steered self-propelled vehicle comprising a housing, a blade mounted on a lower end of an output shaft of a prime mover, and a wireless receiver and an actuator for operating a traveling mission and steered wheels according to signals from the wireless receiver. In the lawn mower, a traveling brake and a traveling clutch are provided so that the traveling brake is activated when the traveling clutch is in a neutral state. 2. The radio-controlled self-propelled mower according to claim 1, further comprising a function for releasing the operation of the traveling brake and a display function for indicating that the operation of the traveling brake is released. A traveling control device for a radio-controlled self-propelled mower. 3. The traveling control device for a wirelessly controlled self-propelled mower according to claim 1, wherein the traveling brake is connected to only one of the traveling wheels. 4. The switch for operating the traveling clutch of the wireless transmitter is an independent switch for each of forward and reverse movements, and they are simultaneously provided near one of the left and right sides with respect to the center line of the front and up direction of the transmitter. Keeping an appropriate distance that is difficult to operate, and arranging it at a position where it is easier to move forward compared to reverse operation, and to transmit the clutch "engaged" signal only while inputting with each finger. A travel control device for a radio-controlled self-propelled mower. 5. A radio-controlled self-propelled mower equipped with a diff and a diff lock in a traveling gear case, wherein the diff lock and the brake are activated when the traveling clutch is neutral. apparatus. 6. A radio-controlled self-propelled mower equipped with a mechanism in which a diff lock operates only when the steered wheels are within a certain steering angle, and when the traveling clutch is neutral, the diff lock and the brake are prioritized. A travel control device for a wirelessly controlled self-propelled mower that is activated. 7. A radio control system in which an emergency stop switch is provided on a work machine, and an electric circuit for stopping the prime mover when the switch is operated and an electric circuit for putting a brake into an operating state in preference to interlocking with a traveling clutch are provided. Adjusting device for self-propelled mowers.