JP2019146508A - Self-travel implement - Google Patents

Abstract

To stably travel a footpath having a narrow travel width and a narrow gap of a structure.SOLUTION: A travel part 3 is provided on each of both sides of a body part 2 in a travel direction, and drive wheels 31 have a crawler belt 34. Each travel motor 22 is provided on a body frame 21 so that, a rotary shaft core 22a of the motor is provided coaxially to a rotary shaft core 31a of each drive wheel, and the rotary shaft core is provided in a width of the crawler belt. A battery of the body part 2 is provided on the body frame so as to be positioned on a rotary shaft core wire of the drive wheel. The travel motor is directly connected to the drive wheel, so that, a barycenter of a member related to driving can be stored in a range of an installation height of the travel motor in a revolving locus of the crawler belt, and the battery is on the rotary shaft core of the drive wheel, so that, a height of a barycenter Gb of the battery can be made low. The battery is positioned on the rotary shaft core wire of the drive wheel, so that, while securing a ground height, whole height of the implement can be made low.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a self-propelled working machine used for mowing work and the like.

A mowing operation will be described as an example. Since mowing is a work under hot weather, it is a painful work not only for the elderly but also for the youth. Also, mowing work using brush cutters often caused self-damage accidents with mowing blades. Furthermore, mowing work has been performed in places where the scaffolding is unstable, such as narrow narrow roads and narrow gaps in structures.
When a self-propelled mower is used, the grass cut by the working unit is collected at the center by the housing and discharged from the rear. Therefore, since the main body part located behind the working part has to straddle the cut grass, the position of the main body frame is set high, so to speak, the waist is set high.
On the other hand, the height of the entire fuselage is set so that the height of the fuselage is as low as possible so that it can dive even in places where beams or the like are installed.

  By the way, in order to drive this kind of self-propelled working machine, a traveling motor and a battery are indispensable. However, since both are heavy objects, it is difficult to set the center of gravity of the waist-high body.

  Conventionally, for example, there has been one as disclosed in Patent Document 1. In this case, a battery is disposed within the wheel range.

  However, in Patent Document 1, since the battery must be disposed avoiding the drive shafts of the drive wheels provided on both sides of the main body, the installation space for the actuator and the like necessary for driving the working unit up and down is limited. There was a drawback of being.

JP2013-146195A

  In view of the above, the present invention is compatible with the fact that although the position up to the main body frame (hereinafter referred to as “the ground height”) is relatively high, the height of the entire aircraft must be as low as possible. It aims to achieve difficult tasks at the same time.

  It is another object of the present invention to provide a self-propelled working machine that can stably travel along a narrow road or a narrow gap between structures.

In order to solve the above problems, a self-propelled working machine according to the present invention is a self-propelled working machine comprising a main body portion and a traveling portion provided on both sides of the traveling direction of the main body portion. And a plurality of travel motors that drive each of the drive wheels, the main body includes a battery as a drive source of the travel motor, and each of the travel motors Provided in the main body frame so that the rotation axis of the motor is positioned coaxially with the rotation axis and within the width of each crawler belt, and the battery is the rotation axis of the drive wheel. It is provided in a main body frame so that it may be located on a line.
The self-propelled working machine according to the present invention according to claim 2 is the self-propelled working machine according to claim 1, characterized in that the battery is provided on the main body frame so as to be positioned on an extension line of the traveling motor. To do.
A self-propelled working machine according to a third aspect of the present invention is the self-propelled working machine according to the first or second aspect, wherein a plurality of the batteries are provided along the traveling direction.
A self-propelled working machine according to a fourth aspect of the present invention is the self-propelled working machine according to the first or second aspect, wherein one battery is provided.
The self-propelled working machine according to the present invention according to claim 5 is the self-propelled working machine according to claim 3, characterized in that the rear battery has a long side portion positioned along the traveling direction.
A self-propelled working machine according to a sixth aspect of the present invention is the self-propelled working machine according to the third aspect, wherein the front battery has a long side portion orthogonal to the traveling direction.
A self-propelled working machine according to the present invention according to claim 7 is the self-propelled working machine according to any one of claims 3 to 6, wherein the battery is fixed by different types of fixing members, The member is provided on the main body frame so as to be integrated with the main body, the other fixing member is made of an elastic body, and the battery placed on the one fixing member is removably hooked. .
A self-propelled working machine according to the present invention according to claim 8 is the self-propelled working machine according to claim 3, 5 or 6, wherein the circuit configuration of each battery is parallel.
According to a ninth aspect of the present invention, there is provided a self-propelled working machine according to the first aspect of the present invention, wherein the working section is provided in front of the main body.
According to a tenth aspect of the present invention, there is provided a self-propelled working machine according to the first aspect of the present invention, wherein a working carriage is connected to the rear of the main body.
The self-propelled working machine according to the present invention according to claim 11 is the self-propelled working machine according to claim 1, wherein a working part is provided in front of the main body part, and another working carriage is located behind the main body part. Are connected.
A self-propelled working machine according to a twelfth aspect of the present invention is the self-propelled working machine according to the first aspect, characterized in that a work carriage is connected in front of the main body.

According to the self-propelled working machine according to the present invention, the travel motor is directly connected to the drive wheel, so that the center of gravity of the member related to the drive falls within the range of the travel motor installation height in the crawler belt rotation trajectory. In addition, since the battery is located on the rotation axis of the drive wheel, the height of the center of gravity Gb of the battery can be lowered. As a result, the center of gravity G of the aircraft is lowered.
Furthermore, since the battery is located on the rotational axis of the drive wheel, the overall height of the aircraft can be kept low while ensuring the ground clearance. Therefore, the main body can travel across the cut grass.

  In addition, each traveling motor is provided in the main body frame so as to be located within the width of the crawler belt, so that it is possible to secure a space for installing equipment, particularly a battery, and to make the entire width of the airframe as much as possible. It can be narrowed. This makes it possible to travel even in places where the road width is narrow, such as narrow narrow roads and narrow gaps in structures.

  In addition, since heavy objects such as a traveling motor and a battery are dispersedly arranged, the rotational moment in the left-right direction can be suppressed toward the traveling direction, and it is possible to travel stably even on an inclined land.

  Further, according to the self-propelled working machine according to the second aspect, since the battery is located on the extension line of the running motor, the effect that the overall height of the machine body can be kept low while ensuring the ground height is further ensured.

  According to the self-propelled working machine according to the third aspect, since a plurality of the batteries are provided along the traveling direction, the driving life of each part can be further prolonged.

  Further, according to the self-propelled working machine according to the fourth aspect, since only one battery is provided, there is an effect that it is easier to balance the center of gravity G of the machine body.

  Further, according to the self-propelled working machine according to the fifth aspect, since the long side portion of the rear battery is positioned along the traveling direction, the installation space for the battery provided between the traveling motors can be reduced. Thereby, since the body width can be further narrowed, it is possible to travel even on a saddle-shaped thin traveling path provided in the field.

  According to the self-propelled working machine according to the sixth aspect, since the long side portion of the front battery is positioned orthogonal to the traveling direction, it is possible to arrange the heavy working portion at the center of the airframe. . This has the effect of making it easier to balance the center of gravity of the aircraft.

  According to the self-propelled working machine according to claim 7, the battery is fixed by a different type of fixing member, the one fixing member is provided in the main body frame so as to be integrated with the main body portion, and the other fixing member is an elastic body. Since the battery placed on the one fixing member is detachably hooked, the battery can be fixed more reliably.

  Further, according to the self-propelled working machine according to the eighth aspect, since the circuit configuration of each battery is parallel, the driving life of each part is further improved.

  Further, according to the self-propelled working machine according to any one of claims 9 to 12, since the working part can be provided or / and connected to the front or / and the rear of the main body, depending on the working environment. The work content can be varied.

It is a top view which shows embodiment of the self-propelled working machine by this invention. It is a front view of FIG. It is a partially cutaway right view of FIG. It is a left view of FIG. (A) is a top view which shows the Example of the fixing member of FIG. 1, (B) is a front view of (A).

  Next, the self-propelled working machine according to the present invention will be described in more detail with reference to the drawings showing embodiments. For convenience, portions having the same function are denoted by the same reference numerals and description thereof is omitted.

  The self-propelled working machine 1 includes a main body 2, a traveling unit 3, and a working unit 4, and is operated by an operation transmitter 5 called a radio control and travels in the direction indicated by an arrow.

  The main body 2 includes a main body frame 21 provided in a horizontal direction, and a main body frame 21 provided with a travel unit 3 including a travel motor 22 that drives a drive wheel 31 described later, and a battery serving as a drive source of the travel motor 22 23 and 24 are placed.

  In the present embodiment, the rear battery 23 placed rearward in the traveling direction is positioned on an extension line of the travel motor 22 so as to be positioned on a rotation axis 31a of the drive wheel 31 described later. It is fixed to. That is, the battery 23 is placed on the first fixing member 25 provided integrally with the main body frame 21 so that the long side portion 23a is positioned along the traveling direction, and from the upper side from the band-shaped elastic body. The second fixing member 26 is securely fixed so as to be removable.

  The front battery 24 placed forward in the traveling direction is placed horizontally so that the long side portion 24a is positioned perpendicular to the traveling direction, adjacent to the rear battery 23, and the second battery from above. The fixing member 26 is securely fixed so as to be removable. Gb1 represents the center of gravity of the battery 23, and Gb2 represents the center of gravity of the front battery 24. Reference numeral 25 a denotes a locking portion of the first fixing member 25, and a locking protrusion 26 a formed on the lower end portion of the second fixing member 26 is hooked in the locking hole (not shown).

  Reference numeral 27 denotes a control unit installed on the main body frame 21, and 28 denotes an operation switch for operating the traveling unit 3.

The traveling unit 3 is disposed on both sides of the main body unit 2 in the traveling direction. The traveling unit 3 includes the traveling motor 22, the rear wheel as the driving wheel 31, and the front wheel as the driven wheel 32, and a crawler belt 34 is stretched between the two wheels via the rolling wheel 33. A traveling frame 35 is fixed to the main body frame 21, and the rotation shafts of the traveling motor 22, the drive wheel 31, the driven wheel 32, and the wheel 33 are rotatably attached to the traveling frame 35.
The travel motor 22 for driving the drive wheels is provided on the travel frame 35 so that the rotation axis 22a is positioned coaxially with the rotation axis 31a of the drive wheels 31. That is, the traveling motor 22 is fixed to the traveling frame 35 with the rotating shaft core 22a protruding from both left and right ends. Since the rotating shaft core 31a of the driving wheel 31 is directly connected to the rotating shaft core 22a without using a transmission member, the driving wheel 31 can be rotated. The travel motor 22 is provided on the travel frame 35 so that its center of gravity Gm is positioned within the width of the crawler belt 34 described later.

  The working unit 4 includes a housing 41 that can be raised and lowered, and is provided in front of the main body 2 in the traveling direction. The housing 41 includes an upper surface 41a and an upstanding side surface 41b. The upper surface and the front surface are opened, and the center portion of the rear surface is cut away. A mower 42 is rotatably provided in the upper surface 41a. Thereby, the cut grass is guided to the side surface 41b and discharged from the rear surface. Further, a splash prevention guard 41c is suspended from the upper surface 41a in front of the housing to prevent foreign matter from flying forward due to the rotation of the mower 42.

  An appropriate number of mowers 42 (two in this embodiment) is provided, and each mower 42 is provided with an appropriate number of mowing blades 42a (four in this embodiment, a total of eight). 43 is an elevating arm for elevating the housing 41, 44 is an elevating fulcrum shaft for the elevating arm 41, and 45 is an elevating cylinder for elevating the housing 41. In addition, a grounding body 46 is provided below the mower 42 in the housing 41 so as to ensure a gap with the uneven ground surface so as not to hinder the rotation of the mowing blade 42a. .

  Here, the dimension of each part is demonstrated. In the illustrated embodiment, the total length W1 of the traveling unit 3 is 745 mm, the ring width D1 between the center lines of the crawler belt 34 is 480 mm, and the overall height H1 is 370 mm. The overall length W2 of the machine from the front end of the housing 41 to the rear end of the traveling unit 3 is 1320 mm, the total width D2 of the housing 41 is 800 mm, the ground height H2 of the main body frame 21 is 172 mm, and the housing 41 height H3 is 157 mm. The crawler belt 34 has a width D4 of 100 mm. The length between the rotation axis of the driven wheel 32 and the rotation axis of the wheel 33, that is, the ground contact length L1 is 405 mm, and the length between the rotation axis of the driven wheel 32 and the rotation axis of the drive wheel 31, that is, the shaft. The distance L2 is 494 mm. Thus, the self-propelled working machine 1 is configured in a small size so that the radio control can be operated.

  In the present embodiment, since the traveling motor 22 is directly connected to the drive wheel 31, the center of gravity of the driving member is set within the range of the installation height of the traveling motor 22 in the rotation trajectory of the crawler belt 34. Can do. Further, since the battery 23 is located on the rotation axis 31a of the drive wheel 31, the height of the center of gravity Gb1 of the battery can be lowered. As a result, the height of the center of gravity G1 of the fuselage is lowered. Furthermore, since the battery 23 is located on the rotational axis of the drive wheel, that is, on the extension line of the traveling motor 22, the overall height of the airframe can be kept low while securing the ground clearance. Therefore, the main body can travel across the cut grass.

  In addition, since heavy objects such as the traveling motor 22 and the batteries 23 and 24 are dispersedly arranged, the rotational moment in the left-right direction can be suppressed in the traveling direction, and the low center of gravity G of the airframe is lowered, so that it is stable even on sloping ground. It is possible to travel on the road.

Here, the lowering of the center of gravity will be specifically described based on the illustrated embodiment. First, each numerical value is confirmed as follows.
(Height) Ground height H2 of the main body frame 21 / total height H1 = 172/370 = 0.465 <1>
(Width) Aircraft half width D3 / Wheel width D1 = 240/480 = 0.5 <2>
(Length) Contact length L1 / Total length W1 of traveling part 3 = 405/745 = 0.544 <3>

From <1>, since the ground height H2 of the main body frame 21 on which heavy objects such as the traveling motor 22 and the batteries 23 and 24 are placed is lower than the middle of the total body height H1, the center of gravity G of the body is lowered. , Running is stable. <2> Since the center of gravity G of the fuselage is located just half the width of the fuselage, stable running is possible. From <3>, since the ground contact length L1 is larger than the half value of the traveling portion 3 full length W1, the ground contact surface becomes long and stable traveling is possible.
Thus, although the self-propelled working machine 1 according to the present embodiment is waist high, the center of gravity G of the airframe is lowered, so that stable running is possible, and because the waist is high, the grass cut by the main body 2 is removed. It is possible to travel across the road.

  Further, the point that the center of gravity Gm of the traveling motor 22 is positioned in the width D4 of the crawler belt 34 will be described in more detail. Assume that the traveling motor 22 protrudes from the width D4 of the crawler belt 34. In this case, if the traveling motor 22 protrudes inward, it becomes difficult to mount the battery 23, so the battery 23 must be moved forward or backward of the traveling motor 22 to be mounted. Therefore, the front-rear length of the aircraft is increased. Further, when the traveling motor 22 protrudes outward, the traveling motor 22 protrudes outward from the main body 2, so that it becomes an obstacle during traveling and may cause a collision.

  Next, the arrangement of the batteries 23 and 24 will be described. Since the long side part 23a is located along the advancing direction, the battery 23 can narrow the body width. Therefore, it is possible to easily travel on a narrow traveling road on the ridge provided in the field or in a place where obstacles stand up. As for the front battery 24, since the long side portion 24a is positioned perpendicular to the traveling direction, the working portion 4 is moved toward the main body portion 2 side. As a result, the balance of the center of gravity of the machine body is shifted forward. In this embodiment, the ground contact length L1 of the crawler belt 34 is relatively increased as described above. Therefore, the ground contact surface pressure is not biased in the front-rear direction, and the traveling instability is reduced. Can be prevented.

  In addition, according to the present embodiment, because it is radio-controlled, there is an advantage that it does not become work under hot weather in the summer, etc., and the advantage that the operator does not have to stand or walk by himself / herself in an unstable place There is.

  Since the battery is mounted in two places on the front and rear and the circuit configuration is a parallel circuit, the driving life of each part can be extended. Since it takes a long time to charge the battery, the interruption of the work due to the lack of charge adversely affects the work efficiency, which can be prevented.

  The self-propelled working machine according to the present invention is not limited to the above-described embodiment. First, regarding the center of gravity G of the body, even if the rotational axis of the travel motor 22 or the batteries 23 and 24 is slightly deviated from the rotational axis of the illustrated embodiment, it is permissible as long as it does not affect the center of gravity G of the body. Further, the dimensions of the respective parts described in the text are examples. Furthermore, the number of batteries may be one.

  With respect to the working unit, in addition to the working unit 4 in the illustrated embodiment, a working carriage (not shown) can be connected to the rear of the main body unit 2 for towing work. Further, the working unit 4 is not provided, and a working cart (not shown) can be connected to the rear of the main body unit 2 to perform the towing work. Furthermore, a work cart (not shown) can be connected and pulled in front of the main body 2.

  Further, the work content of the working unit is arbitrary. For example, the work cart may be loaded with materials and harvested products. Moreover, this machine can also be applied to, for example, building demolition work.

The self-propelled working machine according to the present invention can be used for mowing work.

DESCRIPTION OF SYMBOLS 1 Self-propelled working machine 2 Main-body part 21 Main body frame 22 Traveling motor 22a Rotation shaft center 23 Back part battery 23a Long side part 24 Front part battery 24a Long side part 25 1st fixing member 25a Locking part 26 2nd fixing member 26a Engagement Stop projection 27 Control unit 28 Operation switch 3 Traveling unit 31 Drive wheel 31a Rotating shaft core 32 Driven wheel 33 Rolling wheel 34 Crawler belt 35 Traveling frame 4 Working unit 41 Housing 41a Bottom surface 41b Side surface 42 Mower
42a Mowing blade 43 Lifting arm 44 Lifting fulcrum shaft 45 Lifting cylinder 46 Grounding body 5 Operation transmitter G Center of gravity (airframe)
Gm Center of gravity (travel motor)
Gb1 center of gravity (rear battery)
Gb2 center of gravity (front battery)

In order to solve the above problems, a self-propelled working machine according to the present invention is a self-propelled working machine comprising a main body portion and a traveling portion provided on both sides of the traveling direction of the main body portion, wherein the traveling portion is a crawler belt. And a plurality of travel motors that drive each of the drive wheels, the main body includes a battery that is a drive source of the travel motor, and each of the travel motors is the drive wheel. The main body frame is provided so that the rotation axis of the motor is located coaxially with the rotation axis of the motor, and the center of gravity of each traveling motor is located within the width of each crawler belt, and the battery is driven It is provided in a main body frame so that it may be located on the axis of rotation axis of a ring.
The self-propelled working machine according to the present invention according to claim 2 is the self-propelled working machine according to claim 1, characterized in that the battery is provided on the main body frame so as to be positioned on an extension line of the traveling motor. To do.
A self-propelled working machine according to a third aspect of the present invention is the self-propelled working machine according to the first or second aspect, wherein a plurality of the batteries are provided along the traveling direction.
A self-propelled working machine according to a fourth aspect of the present invention is the self-propelled working machine according to the first or second aspect, wherein one battery is provided.
The self-propelled working machine according to the present invention according to claim 5 is the self-propelled working machine according to claim 3, characterized in that the rear battery has a long side portion positioned along the traveling direction.
A self-propelled working machine according to a sixth aspect of the present invention is the self-propelled working machine according to the third aspect, wherein the front battery has a long side portion orthogonal to the traveling direction.
A self-propelled working machine according to the present invention according to claim 7 is the self-propelled working machine according to any one of claims 3 to 6, wherein the battery is fixed by different types of fixing members, The member is provided on the main body frame so as to be integrated with the main body, the other fixing member is made of an elastic body, and the battery placed on the one fixing member is removably hooked. .
A self-propelled working machine according to the present invention according to claim 8 is the self-propelled working machine according to claim 3, 5 or 6, wherein the circuit configuration of each battery is parallel.
According to a ninth aspect of the present invention, there is provided a self-propelled working machine according to the first aspect of the present invention, wherein the working section is provided in front of the main body.
According to a tenth aspect of the present invention, there is provided a self-propelled working machine according to the first aspect of the present invention, wherein a working carriage is connected to the rear of the main body.
The self-propelled working machine according to the present invention according to claim 11 is the self-propelled working machine according to claim 1, wherein a working part is provided in front of the main body part, and another working carriage is located behind the main body part. Are connected.
A self-propelled working machine according to a twelfth aspect of the present invention is the self-propelled working machine according to the first aspect, characterized in that a work carriage is connected in front of the main body.

Claims (12)

In a self-propelled working machine consisting of a main body part and traveling parts provided on both sides in the traveling direction of the main body part,
The travel unit includes travelable drive wheels provided with a crawler belt, and a plurality of travel motors for driving the drive wheels.
The main body includes a battery as a drive source for the travel motor,
Each of the travel motors is provided on the main body frame such that the rotation axis of the motor is positioned coaxially with the rotation axis of each of the drive wheels, and is positioned within the width of each of the crawler belts.
A self-propelled working machine characterized in that the battery is provided on a main body frame so that the battery is positioned on a rotation axis of the drive wheel.   2. The self-propelled working machine according to claim 1, wherein the battery is provided on the main body frame so as to be positioned on an extension line of the traveling motor.   The self-propelled working machine according to claim 1 or 2, wherein a plurality of the batteries are provided along a traveling direction.   The self-propelled working machine according to claim 1 or 2, wherein one battery is provided.   4. The self-propelled working machine according to claim 3, wherein the rear battery has a long side located along the traveling direction.   4. The self-propelled working machine according to claim 3, wherein the front battery has a long side portion orthogonal to the traveling direction.   The self-propelled working machine according to any one of claims 3 to 6, wherein the battery is fixed by different types of fixing members, and the one fixing member is provided on the main body frame so as to be integrated with the main body portion. A self-propelled working machine characterized in that the other fixing member is made of an elastic body, and the battery placed on the one fixing member is detachably hooked.   The self-propelled working machine according to claim 3, 5 or 6, wherein the circuit configuration of each battery is parallel.   2. The self-propelled working machine according to claim 1, wherein a working part is provided in front of the main body part.   2. The self-propelled working machine according to claim 1, wherein a work carriage is connected to the rear of the main body.   2. The self-propelled working machine according to claim 1, wherein a working unit is provided in front of the main body, and another work cart is connected to the rear of the main body.   2. The self-propelled working machine according to claim 1, wherein a work carriage is connected in front of the main body.

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