JP2020184943A - Self-propelled work machine - Google Patents

Abstract

To provide a self-propelled work machine in which weight is easily balanced and which has high running property, and can stably travel.SOLUTION: The self-propelled work machine comprises: a power source 4; drive units 5, 6 driven by drive power from the power source; stationary transmission units 7, 8 and movable transmission units 9, 10 provided outside the power source; and travel units 11, 12. The units are each formed along a travel direction and forming a pair in a symmetric manner for forming travel unit groups 15A, 15B. The movable transmission units are configured in such a way that respective proximal ends are provided in both ends of the fixed transmission unit in a rotatable manner and respective distal ends have the travel units provided in a rotatable manner, and energization units 13, 14 for energizing the movable transmission unit downward are provided between the proximal ends and the distal end, therefore a heavy object can be concentrated on a center portion of the vehicle body and weight is easily balanced. Therefore, running property on a rough road can be improved and stable travelling can be achieved. The travel unit surely contacts a ground surface, therefore standing stability of the vehicle body can be secured and the drive force can be uniformly transmitted.SELECTED DRAWING: Figure 2

Description

The present invention relates to a self-propelled working machine used for various operations such as mowing.

In recent years, in the agricultural field, from the viewpoint of securing a working population and promoting mechanization, a working machine that can be easily handled even by a worker with a low degree of training is required.

For example, mowing work is performed in places where the scaffolding is unstable, such as narrow ridges and narrow gaps in structures. Mowing work is a difficult work for elderly people and workers with a low degree of training because of the work in such a bad environment.

By the way, when a self-propelled mower is used, the grass cut by the working part is collected in the central part by the housing and discharged from the rear. Therefore, since the main body portion located behind the working portion must straddle the cut grass, the position of the main body frame is set to a high position, so to speak, a waist height.
On the other hand, the height of the entire aircraft is set so that the height of the aircraft is as low as possible so that the aircraft can dive even in a place where beams or the like are installed.

In order to drive a self-propelled work machine, a running drive unit, a battery, and the like are indispensable, but since all of them are heavy objects, it is difficult to set the center of gravity of the machine with a high waist.

In many conventional self-propelled work machines of this type, the battery is arranged within the wheel distance, and the positional relationship between the axle and the base is fixed.

However, in the former case, since the battery must be arranged so as to avoid the drive shafts of the drive wheels provided on both sides of the main body, the installation space of equipment such as an actuator required for vertically driving the work part is limited. There was a drawback.

In the latter case, since the positional relationship between the axle and the base is fixed, it is inevitable that even one of the four wheels arranged at the end of the axle rides on a stepped portion such as an obstacle. At least one other wheel is in a non-grounded state. Then, the driving force decreases, and it becomes difficult to move forward or backward. Further, since the driving force to the ground is applied unevenly, the behavior during traveling tends to be unstable, and there is a drawback that the traveling posture is disturbed. Further, on a sloping ground, the ground contact friction is reduced, so that it becomes more difficult to apply a driving force and it becomes difficult to advance the vehicle body.

Japanese Unexamined Patent Publication No. 2013-146195

From the above background, an object of the present invention is to provide a self-propelled working machine that is easy to balance weight and has high running performance.

Another object of the present invention is to provide a self-propelled work machine capable of stably traveling on a narrow ridge road or a narrow gap of a structure.

In order to solve the above problems, the self-propelled work machine according to the present invention is a self-propelled work machine in which the driving force from the power source is transmitted to the traveling unit via the transmission unit, and the power source and the power source. It consists of a driving unit driven by the driving force from the vehicle, a fixed transmission unit and a movable transmission unit provided outside the power source, and a traveling unit, and each of the above parts is symmetrically formed in pairs along the traveling direction. A group of traveling parts is formed, and each base end portion of the movable transmission portion is rotatably provided at both ends of the fixed transmission portion, and the traveling portion is rotatably provided at each tip portion, and the base end portion is described above. It is characterized in that an urging portion for urging the movable transmission portion downward is provided between the portion and the tip portion.
Further, in the self-propelled work machine according to the present invention according to claim 2, in the self-propelled work machine according to claim 1, the rotation fulcrums of the movable transmission portion are orthogonal to the traveling direction from both ends of the fixed transmission portion. It is characterized in that it is formed coaxially with a rotation axis provided in a direction.
Further, the self-propelled work machine according to the present invention according to claim 3 is the self-propelled work machine according to any one of claims 1 and 2, wherein the traveling unit group is arranged line-symmetrically. To do.
Further, the self-propelled work machine according to the present invention according to claim 4 is the self-propelled work machine according to claim 1 or 2, wherein the traveling unit group is arranged point-symmetrically.
Further, in the self-propelled work machine according to the present invention according to claim 5, in the self-propelled work machine according to any one of claims 1 to 4, the movable transmission unit is installed inside the fixed transmission unit. It is characterized by that.
Further, in the self-propelled work machine according to the present invention according to claim 6, in the self-propelled work machine according to any one of claims 1 to 4, the movable transmission unit is installed outside the fixed transmission unit. It is characterized by that.
The self-propelled work machine according to the present invention according to claim 7 is the self-propelled work machine according to any one of claims 1 to 6, wherein the power source is installed on the upper surface of the vehicle body frame. And.
The self-propelled work machine according to the present invention according to claim 8 is the self-propelled work machine according to any one of claims 1 to 6, wherein the power source is installed on the lower surface of the vehicle body frame. And.
The self-propelled work machine according to the present invention according to claim 9 is the self-propelled work machine according to any one of claims 1 to 6, wherein the power source is installed from the upper surface to the lower surface of the vehicle body frame. It is characterized by.
The self-propelled work machine according to the present invention according to claim 10 is the self-propelled work machine according to any one of claims 7 to 9, wherein the vehicle body frame is made of a plate-like body.
The self-propelled work machine according to the present invention according to claim 11 is the self-propelled work machine according to any one of claims 7 to 9, wherein the vehicle body frame is made of a box-shaped body.
Further, the self-propelled work machine according to the present invention according to claim 12 is the self-propelled work machine according to claim 1, wherein all of the above-mentioned transmission units are wound transmission mechanisms by a sprocket and a chain.
The self-propelled working machine according to the thirteenth aspect of the present invention is the self-propelled working machine according to the first aspect, wherein a damper is provided at the urging portion.
The self-propelled work machine according to the present invention according to claim 14 is the self-propelled work machine according to claim 1, wherein the traveling portion is composed of wheels.

According to the present invention, it is a self-propelled work machine in which the driving force from the power source is transmitted to the traveling unit via the transmission unit, and the driving unit is driven by the power source and the driving force from the power source. It is composed of a fixed transmission part, a movable transmission part, and a traveling part provided on the outside of the power source, and each of the above parts is symmetrically formed in a pair along the traveling direction to form a traveling part group, and the movable transmission part is formed. Is provided so that each base end portion is rotatably provided at both ends of the fixed transmission portion, a traveling portion is rotatably provided at each tip portion, and the movable portion is provided between the base end portion and the tip portion. Since the urging portion for urging the transmission portion downward is provided, the heavy object can be concentrated on the central portion of the vehicle body, so that the weight can be easily balanced. Therefore, the running performance on rough terrain, rough road, and sloping terrain is improved, and stable running is possible.

Further, from the above configuration, a plurality of traveling portions provided on the vehicle body can individually follow the ground. Since the traveling part surely touches the ground, the stationary stability of the vehicle body can be ensured, and the driving force can be evenly transmitted to each traveling part in contact with the ground without impairing the driving force. Because it can be done, it can run stably.

Further, from the above configuration, there is an effect that the transmission path of the transmission unit is simplified and the configuration is simplified.

Further, according to the above configuration, since the movable transmission portion is inclined downward with respect to the fixed transmission portion, a gap is formed below the movable transmission portion and the fixed transmission portion. For this reason, the risk that the equipment of the traveling unit group other than the traveling unit, such as the movable transmission unit and the fixed transmission unit, comes into contact with obstacles during traveling is reduced. It has the effect of stable running.

The self-propelled work machine according to claim 2 is the self-propelled work machine according to claim 1, wherein the rotation fulcrum of the movable transmission portion is provided in a direction orthogonal to the traveling direction from both ends of the fixed transmission portion. Since it is formed coaxially with the rotation axis, the simplification of the transmission path is further improved.

The self-propelled work machine according to claim 3 is the self-propelled work machine according to claim 1 or 2, since the traveling unit group is arranged line-symmetrically, so that the expansion of the body width is suppressed. Therefore, the adaptability is further improved.

In the self-propelled work machine according to claim 4, in the self-propelled work machine according to claim 1 or 2, the traveling unit groups are arranged point-symmetrically, so that the traveling unit groups are arranged alternately. Since the expansion of the aircraft width is further suppressed, it is possible to further improve the expandability of the adaptation area.

The self-propelled work machine according to claim 5 or 6, is the self-propelled work machine according to any one of claims 1 to 4, wherein the movable transmission unit is installed inside or outside the fixed transmission unit. Therefore, the wheelbase length a and the shaft distance length b of the traveling portion can be secured as large as possible, and the transmission portion can be within the range of the traveling portion while maintaining the vehicle body dimensions. Therefore, the running stability of the vehicle body is further improved. In particular, when the movable transmission unit is installed inside the fixed transmission unit, even when the vehicle body itself is small, the members related to the traveling drive can be efficiently accommodated within the width of the vehicle body without widening the entire width of the vehicle body.

The self-propelled work machine according to claim 7, claim 8 or claim 9 is the self-propelled work machine according to any one of claims 1 to 6, wherein the power source is the upper surface, the lower surface, or the lower surface of the vehicle body frame. Since it is installed from the upper surface to the lower surface, the space below the body frame becomes a work space, and the mowing work part that rotates the cutting blade installed below the body frame to mow the grass, and the tilling claws provided on the rotation axis. A tilling work unit that is driven to rotate to cultivate the soil, an extrusion plate is installed on the vehicle body frame in front of the traveling direction to provide an extrusion work unit that pushes out earth and sand, snow, etc., and a device that raises and lowers the mowing work unit is provided. It is possible to provide various working parts, and workability is improved.

The self-propelled work machine according to claim 10 or 11 is the self-propelled work machine according to any one of claims 7 to 9, wherein the body frame is made of a plate-shaped body or a box-shaped body. The property becomes good.

The self-propelled work machine according to claim 12 is the self-propelled work machine according to claim 1, wherein the transmission portion is composed of a winding transmission mechanism by a sprocket and a chain, so that the transmission path is simplified. Nevertheless, the transmission of driving force is more reliable.

The self-propelled work machine according to claim 13 is the self-propelled work machine according to claim 1, since a damper is provided at the urging portion, so that the vehicle body sways according to the condition of the traveling road surface such as rough terrain and rough road. Since the motion is damped, the above-mentioned running performance and followability are further improved, stable running is possible, and the adaptability is improved.

The self-propelled work machine according to claim 14 is the self-propelled work machine according to claim 1, since the traveling portion is composed of wheels, so that the weight reduction of the entire vehicle body is improved.

It is a front view which shows the embodiment of the self-propelled work machine by this invention. It is a bottom view of FIG. It is a left side view of FIG. FIG. 1 is an enlarged view of part IV. It is a figure explaining the rotation (elevation) of the movable transmission part of FIG. It is a figure explaining the rotation (lowering) of the movable transmission part of FIG. It is a partial cross-sectional view which shows the detail of the traveling part of FIG. FIG. 7 is a cross-sectional bottom view of VIII-VIII of FIG. It is a perspective view of FIG. It is a bottom view which shows the other embodiment of the self-propelled working machine by this invention. It is a front view of the main part which shows the other embodiment of FIG. It is a front view of the main part which shows still another Example of FIG. It is a front view of the main part which shows still another Example of FIG. It is a front view of the main part which shows still another Example of FIG.

Next, the self-propelled working machine according to the present invention will be described in more detail based on the drawings showing the embodiments. For convenience, the parts that perform the same function are designated by the same reference numerals, and the description thereof will be omitted.

In FIGS. 1 to 9, reference numeral 1 denotes a self-propelled work machine, and a power source 4 (an engine and a battery with a generator (not shown in this example)) is installed on the upper surface of a body frame 2 made of a plate-like body. .. Drive units 5 and 6 (motors in this embodiment) driven by energy supplied from the power source 4 are installed on the lower surface of the vehicle body frame 2. On the lower surface of the self-propelled work machine 1, fixed transmission portions 7 and 8 are provided on the mounting portions 3a and 3b. The fixed transmission units 7 and 8 together with the movable transmission units 9 and 10 form a transmission unit. Each of the transmission units transmits a driving force to the traveling units 11 and 12 via the fixed transmission units 7 and 8 and the movable transmission units 9 and 10 provided outside the power source 4. Each of the above parts is symmetrically formed in pairs along the traveling direction of the vehicle body indicated by the arrow to form the traveling parts groups 15A and 15B.

The traveling unit group will be described in detail. The traveling unit groups 15A and 15B are arranged line-symmetrically with respect to the center line l along the traveling direction of the vehicle body frame 2. That is, the traveling unit group 15A includes the driving unit 5, the fixed transmission unit 7, the movable transmission unit 9, the traveling unit 11, and the urging unit 13, and the traveling unit group 15B is the driving unit. It is composed of 6, the fixed transmission unit 8, the movable transmission unit 10, the traveling unit 12, and the urging unit 14. Each of the urging portions 13 and 14 includes springs 13a and 14a (shown in FIG. 4) and guide pins 13b and 14b (shown in FIG. 4), respectively. The guide pins 13b and 14b are provided so as to face each other in the springs 13a and 14a, and are separated at all times and when the springs 13a and 14a are extended (FIGS. 4 and 6), but come into contact with each other when the springs 13a and 14a are retracted. (Fig. 5).

As best shown in FIG. 2, the movable transmission units 9a and 9b are arranged outside the drive unit 5 and inside the fixed transmission unit 7, and each base end portion is provided at both ends of the fixed transmission unit 7. The portions are rotatably provided, and the traveling portions 11a and 11b are rotatably provided at each tip portion. The urging portions 13 and 13 for urging the movable transmission portions 9a and 9b downward are provided between the base end portion and the tip end portion, respectively. Therefore, the fixed transmission portion 7 of the traveling portion group 15A is arranged on the outermost side of the vehicle body frame 2.
Further, as shown best in FIG. 2, the movable transmission units 10a and 10b are arranged outside the drive unit 6 and inside the fixed transmission unit 8, and each base end portion is the fixed transmission unit 8 In addition to being rotatably provided at both ends of the above, traveling portions 12a and 12b are rotatably provided at each tip. The urging portions 14 and 14 that urge the movable transmission portions 10a and 10b downward are provided between the base end portion and the tip end portion, respectively. Therefore, the fixed transmission portion 8 of the traveling portion group 15B is arranged on the outermost side of the vehicle body frame 2.

The traveling units 11 and 12 can move forward and backward. The turning performance of the traveling units 11 and 12 depends on the speed difference of rotation caused by the difference in output rotation of the left and right drive units 5 and 6. In this embodiment, the traveling units 11a and 11b or the traveling units 12a and 12b have the same rotation speed.

The movable transmission unit 9 is formed coaxially with the rotation axes 17a and 17b of the fixed transmission unit 7 in which the rotation fulcrums f ₁ and f ₁ are provided in the directions orthogonal to the traveling direction from both ends of the fixed transmission unit 7. It rotates below each of the rotation fulcrums f ₁ and f ₁ .
Similarly, the movable transmission unit 10 is coaxial with the rotation axes 18a and 18b of the fixed transmission unit 8 provided so that the rotation fulcrums f ₂ and f ₂ are provided in the directions orthogonal to the traveling direction from both ends of the fixed transmission unit 8. It is formed and rotates below the respective rotation fulcrums f ₂ and f ₂ .

As shown in FIGS. 7 and 8, the fixed transmission portion 7 is provided with a main sprocket 20a and a driven sprocket 20b at both ends in the case 19, and a chain 21 is provided between the main sprocket 20a and the driven sprocket 20b. It is rotatably hung.
The movable transmission unit 9a provided on the drive unit 5 side is provided with a main sprocket 24a and a driven sprocket 24b at both ends of the case 23a, and a chain 25 is rotatably hung between the main sprocket 24a and the driven sprocket 24b. It will be handed over. The movable transmission portion 9b provided on the opposite side is provided with a main sprocket 27a and a driven sprocket 27b at both ends of the case 23b, and a chain 28 is rotatably hung between the main sprocket 27a and the driven sprocket 27b. It becomes.

In FIG. 8, 5a is an output shaft of the drive unit 5, 26a is a rotation shaft of the movable transmission unit 9a, and 26b is a rotation shaft of the movable transmission unit 9b. The rotation shaft 26a of the movable transmission unit 9a is formed coaxially with the output shaft 5a of the drive unit 5 and the rotation shaft 17a of the fixed transmission unit 7, and the rotation shaft 26b of the movable transmission unit 9b is the rotation of the fixed transmission unit 7. It is formed coaxially with the shaft 17b. Reference numeral 29 denotes a coupling that connects the drive unit output shaft and the rotation shaft 26a. Reference numeral 30 denotes a rotation stopper that regulates the movable transmission portions 9a and 9b to rotate below the rotation fulcrum f ₁ , and is installed on the lower surfaces of both ends of the fixed transmission portion 7. Similarly, the both end lower surface of the fixed transmission portion 8 is provided rotation stopper 31 to restrict that the movable transmission part 10a, 10b rotates the lower side of the rotation supporting point f _2.

The operation of the self-propelled work machine 1 is performed by an operation transmitter (not shown) called a radio control.

According to the above embodiment, since the power source 4 which is a heavy object is provided in the center of the vehicle body and the traveling groups 15A and 15B are arranged line-symmetrically, it is easy to balance the weight and the rough terrain. The running performance on rough roads and slopes is improved, and the position of the center of gravity can be lowered. By lowering the center of gravity of the aircraft, the risk of the aircraft falling can be reduced. In particular, when traveling on a slope, it is possible to travel more stably if the center of gravity is lowered as much as possible. As a result, safer work becomes possible, and the work machine becomes easier for the operator to handle.

Further, from the above configuration, a plurality of traveling units 11 and 12 provided on the vehicle body can individually follow the traveling road surface G. Since the traveling units 11 and 12 are surely in contact with the traveling road surface G, the stationary stability of the vehicle body can be ensured, and the driving force is not impaired, and the traveling units 11 and 12 are in contact with the traveling road surface G. The driving force can be transmitted evenly. Therefore, stable running of the vehicle body is possible.
This point will be described in more detail with reference to FIGS. 4 to 6. When the traveling portion 11a traveling on the traveling road surface G rides on the protruding portion G1, the movable transmission portion 9a is rotated upward, but when the tip portions of the opposing guide pins 13b and 13b come into contact with each other, the movable transmission portion Since the rotation of 9a is restricted, the rotation of the movable transmission unit 9a is stopped (FIG. 5). On the contrary, when the traveling portion 11a falls into the recessed portion G2, the movable transmission portion 9a is rotated downward by the urging force of the urging portion 13, but the pin end portion 13c projecting to the side of the case 23a is a rotation stopper. When it comes into contact with 30, further rotation is restricted, so that the rotation of the movable transmission portion 9a is stopped (FIG. 6). In such a movement of the traveling unit, since each of the wheels 9a, 9b, 10a, and 10b can be operated independently and independently, the traveling units 9 and 10 have a large stable traveling performance.

The rotation fulcrums f ₁ and f _{2 of the} movable transmission portions 9 and 10 are coaxial with the rotation shafts 17a, 17b, 18a and 18b provided in the directions orthogonal to the traveling direction from both ends of the fixed transmission portions 7 and 8. Since it is formed, the transmission path is simplified and contributes to stable running. Moreover, since the rotation of the movable transmission portions 9 and 10 is regulated by the guide pins 13b and 14b and the rotation stoppers 30 and 31, they rotate below the rotation fulcrums f ₁ and f ₂ . Therefore, since it is not necessary for the operator to take an avoidance action such as unevenness of the traveling road surface G, the operation is not complicated and the handling is easy. In addition, since the airframe can be constructed lightweight without being complicated, maintainability is facilitated.

With the above configuration, since the movable transmission portions 9 and 10 are inclined downward with respect to the fixed transmission portions 7 and 8, a gap is formed below the movable transmission portions 9 and 10 and the fixed transmission portions 7 and 8. For this reason, the risk that the devices of the traveling parts groups 15A and 15B excluding the traveling parts 11 and 12, such as the movable transmission parts 9, 10 and the fixed transmission parts 7, 8 etc., come into contact with obstacles during running is reduced, so that the road is rough. Regardless of whether or not it has the effect of stable driving regardless of the driving path.

This point will be described in detail with reference to FIGS. 4 to 6. Since the movable transmission portions 9 and 10 can be rotated in the vertical direction, the traveling portions 11 and 12 can be grounded while absorbing the irregularities G1 and G2 of the traveling road surface G. Therefore, all the wheels of the traveling portions 11 and 12 can be brought into contact with the traveling road surface G, and the traveling stability is improved. Further, since the fixed transmission portions 7 and 8 are located above the rotation shafts 11c and 12c of the traveling portions 11 and 12, the movable transmission portions 9 and 10 rotate upward by absorbing the unevenness G1 and G2 of the road surface. However, the fixed transmission portions 7 and 8 are not located below the rotating shafts 11c and 12c of the traveling portions 11 and 12. Therefore, the height (ground clearance) from the road surface G to the fixed transmission parts 7 and 8 can be kept constant, and the fixed transmission parts 7 and 8 and the drive parts 5 and 6 and the vehicle body frame 2 and further the vehicle body can be maintained. It is possible to prevent the on-board product (not shown) of the work unit installed on the frame 2 from colliding with the traveling road surface G.

Since the traveling unit groups 15A and 15B are arranged line-symmetrically, the expansion of the body width is suppressed. Therefore, the adaptability is improved.

Since the movable transmission parts 9 and 10 are installed inside the fixed transmission parts 7 and 8, the wheelbase length a and the wheelbase length b of the traveling parts 11 and 12 are secured as large as possible, and the vehicle body dimensions are maintained. However, the fixed transmission portions 7 and 8 and the movable transmission portions 9 and 10 can be kept within the range of the traveling portions 11 and 12 without protruding to the outside of the traveling portions 11 and 12. This effect is desirable because even when the vehicle body itself is small, the members related to the traveling drive can be efficiently accommodated within the width of the vehicle body without widening the entire width of the vehicle body.

Since the power source 4 is installed on the upper surface of the vehicle body frame 2, the space below the vehicle body frame 2 becomes a work space, and a cutting blade (not shown) installed below the vehicle body frame 2 is rotated to mow the grass. Work unit, cultivation work unit that cultivates soil by rotationally driving the tillage claws provided on a rotating shaft (not shown), extrusion work unit (not shown) that pushes out earth and sand, snow, etc. by installing an extrusion plate on the vehicle body frame in front of the traveling direction It is possible to provide various work parts, such as providing a device for raising and lowering a mowing work part (not shown), and the workability is improved.

Since all of the transmission units 7, 8, 9, and 10 are wound transmission mechanisms by a sprocket and a chain, the transmission of the driving force is reliable even though the transmission path is simplified.

Since the traveling portions 11 and 12 are composed of wheels, the configuration as the traveling portion is simplified and the weight reduction of the entire vehicle body is improved.

The self-propelled working machine according to the present invention is not limited to the above-described embodiment. For example, as shown in FIG. 10, the traveling unit groups 16A and 16B can be arranged point-symmetrically with respect to the center point P of the self-propelled working machine 1. In this case, since the traveling unit groups 16A and 16B are arranged alternately, the expansion of the aircraft width is further suppressed, so that the adaptability can be further improved.

When the vehicle body is large, the movable transmission units 9 and 10 may be installed outside the fixed transmission units 7 and 8. In this case, the vehicle body is arranged from the inside to the outside with the fixed transmission portions 7, 8 and the movable transmission portions 9, 10 and the traveling portions 11, 12.

Further, as shown in FIG. 11, when the dampers 13d and 14d are provided on the urging portions 13 and 14, the swing of the vehicle body is damped according to the condition of the traveling road surface such as rough terrain and rough road. The running performance and followability are further improved, stable running is possible, and the adaptability is improved.

Further, the power source 4 can be installed from the lower surface or the upper surface to the lower surface of the vehicle body frame 2 depending on the work content of the working unit.

The type of the power source 4 is arbitrary, and may be, for example, an engine including a charged battery or a hydraulic pump. In the latter case, the drive units 5 and 6 use a hydraulic drive unit.

Further, the shape of the vehicle body frame 2 can be appropriately deformed according to the work content of the working portion, and may be, for example, a box-shaped body.

The dampers 13d and 14d installed in the urging portions 13 and 14 may be charged in the coil spring 13a as shown in FIG. 11, but may be separated as shown in FIG. Further, it is not necessary to install the dampers 13d and 14d as shown in FIGS. 1 to 9. The transmission members of the fixed transmission units 7 and 8 may be other mechanisms, for example, a transmission mechanism using a bevel gear and a shaft, as long as the transmission is reliable and synchronized.

In the illustrated example, the traveling portion shows a wheel with a tire, but the wheel may be a wheel without a tire, or a crawler belt 32 may be erected on the wheel as shown in FIG. Further, the traveling portion may have four or more even-numbered wheels.

Further, as shown in FIG. 14, the operation unit 33 may be provided to operate the self-propelled work machine 1.

The invention of the present application can be utilized for agricultural work and the like.

1 Self-propelled work machine 2 Body frame 3a Mounting part 3b Mounting part 4 Power source 5 Drive part 6 Drive part 7 Fixed transmission part 8 Fixed transmission part 9 Movable transmission part 9a Movable transmission part 9b Movable transmission part 10 Movable transmission part 10a Movable Transmission part 10b Movable transmission part 11 Running part 11a Running part 11b Running part 11c Rotating shaft 12 Running part 12a Running part 12b Running part 12c Rotating shaft 13 Biasing part 13a Spring 13b Guide pin 13c Pin end 13d Damper 14 Biasing part 14a Spring 14b Guide pin 14c Pin end 14d Damper 15A Traveling unit group 15B Traveling unit group 16A Traveling unit group 16B Traveling unit group 17a Rotating shaft 17b Rotating shaft 18a Rotating shaft 18b Rotating shaft 19 Case 20a Sprocket 20b Sprocket 21 chain 23a Case 24a sprocket 24b sprocket 25 chain 26a rotating shaft 26b rotating shaft 27a sprocket 27b sprocket 28 chain 29 coupling 30 rotating stopper 31 rotating stopper 32 crawler belt 33 operating part a wheelbase length b shaft distance length f ₁ rotation fulcrum f ₂ Rotating fulcrum G Running road surface G1 Protruding part G2 Recessed part

Claims (14)

It is a self-propelled work machine in which the driving force from the power source is transmitted to the traveling unit via the transmission unit.
It consists of a power source, a drive unit driven by a driving force from the power source, a fixed transmission unit and a movable transmission unit provided outside the power source, and a traveling unit.
Each of the above parts is symmetrically formed in pairs along the traveling direction to form a traveling part group.
In the movable transmission portion, each base end portion is rotatably provided at both ends of the fixed transmission portion, a traveling portion is rotatably provided at each tip portion, and between the base end portion and the tip portion. A self-propelled work machine characterized in that an urging portion for urging the movable transmission portion downward is provided in each of the above. The self-propelled work machine according to claim 1, wherein the rotation fulcrum of the movable transmission portion is formed coaxially with a rotation axis provided in a direction orthogonal to the traveling direction from both ends of the fixed transmission portion. Self-propelled work machine. The self-propelled work machine according to any one of claims 1 and 2, wherein the traveling unit group is arranged line-symmetrically. The self-propelled work machine according to claim 1 or 2, wherein the traveling unit group is arranged point-symmetrically. The self-propelled work machine according to any one of claims 1 to 4, wherein the movable transmission unit is installed inside the fixed transmission unit. The self-propelled work machine according to any one of claims 1 to 4, wherein the movable transmission unit is installed outside the fixed transmission unit. The self-propelled work machine according to any one of claims 1 to 6, wherein the power source is installed on the upper surface of the vehicle body frame. The self-propelled work machine according to any one of claims 1 to 6, wherein the power source is installed on the lower surface of the vehicle body frame. The self-propelled work machine according to any one of claims 1 to 6, wherein the power source is installed from the upper surface to the lower surface of the vehicle body frame. The self-propelled work machine according to any one of claims 7 to 9, wherein the vehicle body frame is made of a plate-like body. The self-propelled work machine according to any one of claims 7 to 9, wherein the body frame is made of a box-shaped body. The self-propelled work machine according to claim 1, wherein the transmission unit is composed of a winding transmission mechanism consisting of a sprocket and a chain. The self-propelled work machine according to claim 1, wherein a damper is provided in the urging portion. The self-propelled work machine according to claim 1, wherein the traveling portion is composed of wheels.

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