JP2022002495A - Work machine - Google Patents

Abstract

To provide a work machine capable of avoiding obstacles and efficient work even in situations that it is surrounded by the obstacles to avoid.SOLUTION: A work machine includes: a work part 4 positioned outside of a vehicle body 1; a detection part which is arranged near a vertical axis 33a, detects a current rotation position of the working part, and outputs many kinds of detection signal; and a control unit 6 which can control motions of a rising arm 32 and the vehicle body based on the detection signal. Speed of the vehicle body is changed by a detection signal issued on the basis of states of the current position and the previous position of a working arm 46 connected to the work part. Since the working speed and rising/lowering of the work part are automatically controlled by the control unit, an operator can control a machine body in concentration on the place only where the vehicle body travels. The work part has rising performance, so that the operator can concentrate on grass mowing without minding about a positional relation between the work part and an obstacle.SELECTED DRAWING: Figure 1

Description

The present invention relates to a working machine, and more particularly to a working machine used for mowing work and the like.

On roads, guardrails are often installed on the outside of steps such as curbs installed on the shoulders of the road. In addition, the columns for fixing guardrails are often installed outside the steps. It is difficult to mow grass in such a place.

As a countermeasure for this type, conventionally, for example, from the open state where the side cutter, which is the working part, is deployed laterally, when it comes into contact with an obstacle such as a tree or stone, it rotates to the closed state and mowed while avoiding the obstacle. There is a mowing machine that returns to the open state again by the force of the damper provided in the work part when the work is done and the obstacle treats the work part.
In such a conventional mower, the working portion is tilted because of a step such as a curb on the road surface side of the guardrail. That is, if there is a step such as a curb on the side of the guardrail column in front of and behind the work part, the work part is surrounded by multiple obstacles, and it is difficult to avoid obstacles by opening and closing the work part. Will be.

In addition, when cutting grass below the guardrail, the working part is tilted upward to avoid steps. For this reason, the tip side of the working part inevitably cuts the grass at a position higher than the height of the stepped part, and as a result, the cutting height becomes high, which not only looks bad, but also cuts the grass many times. Therefore, work efficiency is poor.

Japanese Unexamined Patent Publication No. 2009-273388 Utility Model Registration No. 3175688

Based on the above background, it is an object of the present invention to provide a working machine capable of avoiding a situation surrounded by obstacles to be avoided and capable of efficient work.

In order to solve the above-mentioned problems, the working machine according to claim 1 of the present invention is connected to a traveling vehicle body, an elevating arm provided on the vehicle body so as to be able to move up and down, and a vertical axis as a fulcrum. It is rotatable in the horizontal direction and is located near the work unit located on the outside of the vehicle body and the vertical axis. It detects the current rotation position of the work unit and outputs a plurality of types of detection signals. A detection unit, a control unit capable of controlling the operation of the elevating arm and the vehicle body based on the detection signal, and the current position and the position immediately before the work arm to which the control unit is connected to the work unit are provided. It is characterized in that the speed of the vehicle body is changed from the above-mentioned detection signal emitted based on the state.
Further, in the work machine according to claim 2 of the present invention, in the work machine according to claim 1, the detection unit detects the current position of the work unit and outputs either a first detection signal or a second detection signal. The control unit comprises detection means, and when the vehicle body receives the first detection signal while traveling at the first working speed, the control unit causes the vehicle body to travel at the second working speed after raising the elevating arm. When the vehicle body receives the second detection signal while traveling at the second working speed, the vehicle body is driven at the first working speed after the elevating arm is lowered.
Further, the working machine according to claim 3 of the present application is characterized in that, in the working machine according to claim 2, the detection means includes a limit switch.
Further, the working machine according to claim 4 of the present application is characterized in that, in the working machine according to claim 2 or 3, the first working speed is higher than the second working speed.
Further, in the working machine according to claim 5 of the present application, in the working machine according to any one of claims 2 to 4, the first detection signal is a disconnection signal and the second detection signal is a connection signal. It is characterized by.
Further, in the working machine according to claim 6 of the present application, in the working machine according to any one of claims 2 to 4, the first detection signal is a connection signal and the second detection signal is a disconnection signal. It is characterized by.
Further, the working machine according to claim 7 of the present application is the working machine according to claim 1, wherein the control unit has a detection signal value (current value) based on the current position of the working unit and a detection signal value based on the immediately preceding position. When there is a first change amount in the current value with respect to the immediately preceding value in comparison with (immediately preceding value), the first avoidance running is performed in which the vehicle body is run at the first working speed after raising the elevating arm. During the first avoidance run, the current value and the immediately preceding value are compared, and if there is a second change in the current value with respect to the immediately preceding value, the height of the elevating arm is maintained and the vehicle body is moved to the first position. It is characterized in that the second avoidance running is carried out at two working speeds.
Further, the working machine according to claim 8 of the present invention maintains the height of the elevating arm in the working machine according to claim 7 when the current value matches a preset set value during the second avoidance running. It is characterized in that the vehicle body is made to travel at the third working speed and the third avoidance traveling is performed.
Further, the working machine according to claim 9 of the present invention lowers the height of the elevating arm in the working machine according to claim 8 when the current value matches a preset initial value during the third avoidance running. It is characterized in that the vehicle body is run at the nth working speed after the nth avoidance run.
Further, the working machine according to claim 10 of the present application is characterized in that, in the working machine according to claim 9, the nth working speed is the fourth working speed and the nth avoidance running is the fourth avoiding running.
Further, the working machine according to claim 11 of the present application is characterized in that, in the working machine according to any one of claims 7 to 10, the detection means comprises a potentiometer.
Further, the working machine according to claim 12 of the present application is the working machine according to any one of claims 7 to 11, and the control unit compares the current value with the immediately preceding value during the fourth avoidance running. However, when there is a third change amount in the current value with respect to the immediately preceding value, the vehicle body is driven at the first working speed.
The working machine according to claim 13 of the present application is the working machine according to claim 7, claim 11 or claim 12, wherein the first working speed is higher than the second working speed.
Further, in the work machine according to claim 14 of the present application, in the work machine according to claim 8, claim 11 or claim 12, the first work speed is higher than the second work speed, and the second work speed is higher. It is characterized in that it is higher than the third working speed.
Further, in the working machine according to claim 15 of the present application, in the working machine according to any one of claims 7 to 12, the first working speed is higher than the second working speed, and the second working speed is The third working speed is higher than the third working speed, and the third working speed is higher than the fourth working speed.
Further, in the work machine according to claim 16 of the present application, in the work machine according to any one of claims 7 to 15, the first work speed, the second work speed, and the third work speed are all advanced. It is a speed, and the fourth working speed is a reverse speed.
Further, in the working machine according to claim 17 of the present application, in the working machine according to any one of claims 7 to 16, the first change amount is an increase value and the second change amount is a decrease value. It is characterized by.
Further, in the working machine according to claim 18 of the present application, in the working machine according to any one of claims 7 to 16, the first change amount is a decrease value and the second change amount is an increase value. It is characterized by.
Further, in the working machine according to claim 19 of the present application, in the working machine according to any one of claims 12 to 16, the first change amount is an increase value, and the second change amount and the third change amount are. It is characterized by a decrease value.
Further, in the working machine according to claim 20 of the present application, in the working machine according to any one of claims 7 to 16, the first change amount is a decrease value, and the second change amount and the third change amount are It is characterized by being an increased value.

According to the work machine according to the present invention, since the work speed and the elevating and lowering of the work unit are automatically controlled by the control unit, the operator can concentrate on the place where the vehicle body travels and operate the machine.
Moreover, since the working part has an elevating property, the worker can concentrate on the mowing work without worrying about the positional relationship between the working part and the obstacle.

Further, since the working portion rotates in the horizontal direction when it comes into contact with an obstacle, it is possible to avoid interference with an obstacle such as a curb.
Therefore, even in a situation surrounded by obstacles to be avoided, collision with obstacles can be avoided and efficient work becomes possible.

Further, the working unit can work without interfering with obstacles in the front and side by rotating in the horizontal direction and raising and lowering in the vertical direction.
Therefore, even in the avoidance running, the mowing work is continued, so that the work efficiency is improved.
The effects of claim 2 and below will be described in the section of the embodiment.

It is a top view which shows the embodiment of the working machine by this invention. It is a side view of FIG. It is a front view of FIG. In the figure in which a part of FIG. 2 is omitted, (A) represents the lowest position of the elevating arm, and (B) represents the highest position of the elevating arm. It is a top view which shows the time when a working machine is traveling in parallel along an obstacle. It is a top view which shows the time when a working machine approaches an obstacle. It is a top view which shows the time when a work machine leaves an obstacle. It is a front view of FIG. 5A. It is an enlarged side view which shows the detail of the elevating part. It is an enlarged front view which shows the detail of the elevating part. (A) is an enlarged plan view of FIG. 1IX, (B) is an enlarged side view of FIG. 2IX, and (C) is a partially enlarged front view of a part of FIG. 3IX. (A) is an enlarged plan view of FIG. 1X, and (B) is an enlarged side view of FIG. 2X. FIG. 1 is a block diagram of a control unit. It is a figure which shows the embodiment of the control flow of a work machine. It is a flow chart which shows the positional relationship between a working part and an obstacle. It is an enlarged plan view which shows the other embodiment of the working machine by this invention, and shows the modification of the guide wheel. It is an enlarged plan view which shows the other embodiment of the working machine by this invention, (A) is the enlarged plan view of FIG. 1X part, (B) is the enlarged side view of FIG. 2X part. It is a figure which shows the other embodiment of the control flow. (A) is a diagram for explaining the functions of the stopper and the roller, and (B) is a diagram for explaining the functions of the stopper and the roller in other states. It is a figure explaining the relationship between the avoidance operation and a cutting blade cover, (A) is the case where it is pressed by an obstacle or the like from the front of a work part, and (B) is the case where an obstacle presses the back of a work part. show.

Next, the working machine according to the present invention will be described in more detail with reference to 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 11, the working machine includes a vehicle body 1, a traveling unit 2, an elevating unit 3, a working unit 4, a protection unit 5, a control unit 6, and a detection unit 7, and is called a radio control. It is operated by an operation transmitter (not shown) and travels in the direction indicated by the arrow.

The vehicle body 1 is provided with a main body frame 11 in the horizontal direction, and a traveling unit 2 provided with a traveling motor (not shown) for driving the drive wheels 21 described later is arranged on the main body frame 11, and the traveling motors 28a and 28b (not shown) are arranged. A battery (not shown), which is a drive source of (shown in FIG. 11), is mounted. Reference numeral 6 is a control unit installed on the main body frame 11, and a main power switch for operating the main power supply of the working machine 1 is arranged in the control unit 6. Reference numeral 21 is a main body cover.

The traveling portions 2 are arranged on both sides of the vehicle body 1 in the traveling direction. The traveling unit 2 includes the above-mentioned traveling motor (not shown), a rear wheel as a driving wheel 21, and a front wheel as a driven wheel 22, and a crawler belt 24 is hung between the two wheels via a rolling wheel 23. Further, a traveling frame 25 is fixed to the main body frame 11, and the rotating shaft cores of the traveling motor, the driving wheel 21, the driven wheel 22, and the rolling wheel 23 described above are rotatably attached to the traveling frame 25. 21a is a drive shaft of the drive wheel 21.

Reference numeral 26 denotes a plurality of guide wheels provided on the outer frame 34, and by abutting and rolling against an obstacle 90 located outside the traveling portion 2, the distance between the vehicle body 1 and the obstacle 90 is made constant. Hold. In the case of this embodiment, the guide wheel 26 is composed of a front wheel 26a and a rear wheel 26b, and abuts and rolls on an obstacle 90 such as a curb 91 located outside the traveling portion 2, and the vehicle body 1 and the obstacle 90. Keep the distance to and from constant. As a result, the distance from the foot of the obstacle 90 to the traveling portion 2 is kept constant for mowing work. Reference numeral 26c is a rotation shaft of the guide wheel 26. When the side surface of the curb 91 or the like is inclined, the guide wheel 26 is inclined as shown in FIG. That is, the rotation axis 26c of the guide wheel 26 is in a direction orthogonal to the traveling direction, and is inclined in an ascending direction from the inside to the outside of the vehicle body 1. When the side surface of the curb 91 or the like is vertical, the guide wheel 26 is laid horizontally as shown in FIG. That is, the rotation axis 26c of the guide wheel 26 is provided in the direction perpendicular to the traveling direction. As a result, the contact area of the guide wheel with respect to the curb 91 can be maximized, so that the friction with the curb 91 can be maximized. As a result, it is possible to prevent the vehicle body 1 from shifting upward with respect to the curb 91 by the guide wheel 26 slipping on the curb 91.
92 is a guardrail, 92a is a support of the guardrail, and 92b is a beam of the guardrail.

Reference numeral 27 denotes a stopper projecting from the front end portion of the outer frame 34, which regulates the bottom dead center of the working portion 4. As a result, the working portion can be kept at a constant height even if the curb 91 is interrupted in the middle. Further, even if the obstacle 90 appears again, the roller 38 described later rides on the obstacle 90, so that the work can be continued.
In the figure, T indicates a turning center, and S indicates a protective space surrounded and formed by the protective unit 5 described later.

The elevating arm 32 is connected to the elevating portion 3 by two columns 31 erected with the protective portion 5 sandwiched between the vehicle body 1 and the elevating portion 3. That is, the elevating arm 32 is pivotally attached to the support column 31 at one end portion 32b, which is a rotation fulcrum, so as to be rotatable in the vertical direction. The elevating arm 32 has a horizontal shaft 32a (shown in FIG. 4) at the tip end portion in the traveling direction, and the intermediate arm 33 is rotatably pivotally attached to the horizontal shaft 32a. A vertical shaft 33a (shown in FIG. 6) is provided at one end of the intermediate arm 33 protruding toward the working portion 4, and a cam 72 (shown in FIG. 10) is provided on the vertical shaft 33a. Reference numeral 34 denotes an outer frame provided on the outer side of the vehicle body 1 along the traveling direction. The outer frame 34 is firmly fixed to the traveling frame 25 by bolts and nuts. Reference numeral 35 is a link member having one end supported by a support column 31 integrally fixed to the outer frame 34 and the other end connected to the intermediate arm 33. The working portion 4 is connected to the intermediate arm 33 and attached to the working arm 46 which is rotatable in the horizontal direction with the vertical shaft 33a of the intermediate arm 33 as a fulcrum. The link member 35 holds the angle of the intermediate arm 33 and the inclination angle of the working portion 4 with respect to the front-rear direction at preset angles. As shown in FIG. 4 in an easy-to-understand manner, the parallel link portion 36 is composed of the elevating arm 32, the intermediate arm 33, the outer frame 34 (shown in FIGS. 1 and 2), and the link member 35. 33b shown in FIG. 10 is a mounting bracket 33b attached to the end of the intermediate arm 33 on the working portion 4 side, and the mounting bracket 33b is provided with a spring 37 for urging the working arm 46 in the traveling direction. As a result, the work arm 46 is constantly urged outward with respect to the center of the vehicle body 1. Further, a roller 38 that determines the relative height of the working portion 4 is rotatably attached to the mounting bracket 33b.

The working unit 4 is provided in front of the vehicle body 1 in the traveling direction, and is provided with a grounding blade 41, a motor 42 for operating the cutting blade 41, and a grounding unit provided so as not to interfere with the rotation of the cutting blade 41. It includes a body 43, a cutting blade cover 44 fixed to the working arm 46 so that the cut grass does not scatter, and a rotatable cutting blade guard 45 provided at the tip of the working arm 46. Reference numeral 46 denotes a working arm, the working portion 4 is rotatably supported at one end, and the other end is rotatably connected to the vertical shaft 33a of the intermediate arm 33 in the horizontal direction.

The protection unit 5 includes a guard 51 provided between the traveling unit 2 and the working unit 4. That is, as shown in detail in FIG. 9, the protective unit 5 includes a guard 51 made of a vinyl sheet, a fixed frame 52 to which the upper portion of the guard 51 is fixed, and a working unit 4 at the front and rear ends of the fixed frame 52. It is composed of a movable frame 53 that is expanded toward the side. The total length of the fixed frame 52 and the movable frame 53, that is, the total length W4 of the guard 51 is formed longer than the total length W3 of the vehicle body. The expansion angle of the movable frame is variable. The movable frame 53 is rotatable in the horizontal direction with respect to the fixed frame 52. The tip of the movable frame 53 is curved toward the vehicle body 1 to form a curved portion 53a. Reference numeral 54 is a support frame erected on the outer frame 34, and supports the fixed frame 52. Reference numeral 55 is a spring that connects the fixed frame 52 and the movable frame 53, whereby the movable frame 53 is urged in the four directions of the working portion. The fixed frame 52 and the movable frame 53 are installed at a higher position than the vehicle body 1. Reference numeral 56 is a weight provided at the lower part of the guard 51.

The control unit 6 is provided on the vehicle body 1. The details of the control unit 6 will be described later.

7 and 8 show the details of the elevating arm 32. Reference numeral 3a is an elevating motor for raising and lowering the elevating arm 32, and 3b is an output shaft integrally provided with a pinion gear of the elevating motor 3a. The output shaft 3b has the pinion gear meshed with the elevating gear 3c. The elevating gear 3c is provided in a direction orthogonal to the elevating arm 32 and rotates in the vertical direction. Reference numeral 3d is an action pin that is raised and lowered integrally with the raising and lowering arm 32. Reference numeral 3e is a lowering regulating means projecting from the elevating gear 3c. That is, the lowering control means 3e is fixed to the raising / lowering gear 3c in a direction orthogonal to the raising / lowering gear 3c, and abuts on the working pin 3d to form a bottom dead center of the raising / lowering arm 32. Reference numeral 3f is a fulcrum pin that serves as an elevating fulcrum 3g of the elevating arm 32, and the elevating arm 32 is rotatably fitted. Reference numeral 3h is a spring provided at the end on the action point side of the elevating arm 32, which is urged upward and pushes up the elevating arm 32 and the working portion 4 by the urging force. Reference numeral 3i is a guide pin for the spring 3h. The elevating arm 32 is rotatably fitted to the fulcrum pin 3f. Reference numeral 3j is a fulcrum member of the elevating arm 32. 3k is an ascending regulating means for forming the top dead center of the elevating arm 32. 3l is a roller of the working pin 3d, 3m is a roller of the fulcrum pin 3f, 3n is a guide pipe containing the spring 3h, and 3о is a base member provided with the elevating motor 3a and the output shaft 3b. 3p is the fulcrum shaft of the lifting gear 3c, 3q is the pin holding member of the working pin 3d, 3r is the intermediate frame of the lifting arm 32, 3s is the swivel fulcrum shaft of the lifting gear 3c, and 3t is the disconnection of the working pin roller 3l. It is a stop pin. 3u is an elevating fulcrum of the elevating arm 32 formed on the fulcrum pin 3f.

FIG. 10 shows the detection unit 7. The detection means 71 (shown in FIG. 11) constituting the detection unit 7 may be composed of a limit switch 71a (first embodiment) or a potentiometer 71b (second embodiment). The detection means 71 (shown in FIG. 11) constituting the detection unit 7 is arranged in the vicinity of the vertical shaft 33a, detects the current rotation position of the work unit 4, and outputs a plurality of types of detection signals. The control unit 6 controls the operation of the elevating arm 32 and the vehicle body 1 based on the detection signal. The control unit 6 changes the speed of the vehicle body 1 from the detection signal issued based on the current position and the state of the immediately preceding position of the work arm 46 connected to the work unit 4.
Reference numeral 72 is a cam provided on the vertical shaft 33a, and by rotating together with the working arm 46 and the cutting blade cover 44, the unevenness formed on the peripheral edge of the cam 72 is brought into contact with and pressed against the detecting means 71, or these. Release it.

In the case of the first embodiment, the limit switch 71a detects the current position of the working unit 4 and outputs either the first detection signal or the second detection signal. When the vehicle body 1 receives the first detection signal while traveling at the first working speed, the control unit 6 raises the elevating arm 32 and then causes the vehicle body 1 to travel at the second working speed. When 1 receives the second detection signal while traveling at the second working speed, the vehicle body 1 is driven at the first working speed after the elevating arm 32 is lowered. The first working speed is set to be higher than the second working speed. In the case of this embodiment, the first detection signal is a disconnection signal, and the second detection signal is a connection signal.

Here, the dimensions of each part will be described. In the illustrated embodiment, the total length W _{1 of the traveling unit 2 is 765 mm, the protrusion amount W 2} from the front end of the traveling unit 2 to the working unit 4 is 400 mm, and the total length W ₃ of the machine body is 1165 mm. The width D ₁ of the crawler belt 24 is 100 mm, the total width D ₂ of the traveling unit 2 is 578 mm, the total width D _{3 of the main body is 654 mm, the total width D 4} of the machine body in the working state is 930 mm, and the machine body center line of the working part 4 in the working state. The protrusion amount D ₅ from the above is 800 mm, and the protrusion amount D ₆ during the avoidance operation is 540 mm. _{The height H 1} of the working unit 4 is 65 mm, the total height H ₂ of the machine body is 400 mm, and the total height H 3 of the protective unit 53 is 560 mm. The ground contact length L ₁ is 405 mm, the wheelbase length L ₂ is 495 mm, and the length L ₃ of the working arm 46 is 540 mm. In this embodiment, the center of gravity G of the airframe is located at a deviation of 75 mm from the center line of the airframe, 192 mm rearward in the traveling direction from the front wheels, and a ground contact height of 215 mm. The turning center T at the time of super-credit turning is located 192 mm rearward in the traveling direction from the front wheels 22 on the center line of the airframe. The super-credit turning operation refers to the operation of rotating the left and right crawlers at a constant speed in opposite directions and turning on the spot, and is also called in-situ turning. This turning center is the position of T (shown in FIG. 2).

FIG. 15 shows a second embodiment. Reference numeral 39 is a cushion provided in the direction orthogonal to the spring 37. The cushion 39 is responsible for restricting the forward rotation of the working arm 46 and cushioning the working arm 46. That is, while the spring 37 has only a function of simply urging the work arm 46 in the forward direction, the cushion 39 causes excessive rotation when the work arm 46 is returned in the forward direction by the spring 37. Stop. Since the elastic force of the cushion 39 is higher than that of the spring 37, the cushion 39 does not bend significantly when the working arm 46 is returned by the spring 37.
The remaining configuration is the same as that of the first embodiment.

In the case of the second embodiment, the control unit 6 compares the value of the detection signal based on the current position (current value) of the work unit 4 with the value of the detection signal based on the immediately preceding position (immediate value), and the above. When there is a first change amount in the current value with respect to the immediately preceding value, the elevating arm 32 is raised, and then the vehicle body 1 is made to travel at the first working speed in the first avoidance travel, and during the first avoidance travel. When the current value is compared with the immediately preceding value and there is a second change in the present value with respect to the immediately preceding value, the height of the elevating arm 32 is maintained and the vehicle body 1 is driven at the second working speed. When the second avoidance run is performed and the current value matches the preset set value during the second avoidance run, the height of the elevating arm 32 is maintained and the vehicle body 1 is run at the third working speed. If the current value matches the preset initial value during the third avoidance run, the height of the elevating arm 32 is lowered, and then the vehicle body 1 is subjected to the fourth operation. The fourth avoidance run is made to run at a speed.

Further, the control unit 6 compares the current value with the immediately preceding value during the fourth avoidance running, and if there is a third change in the current value with respect to the immediately preceding value, the vehicle body 1 is changed to the first. Run at working speed.
The first working speed is higher than the second working speed, the second working speed is higher than the third working speed, and the third working speed is set to be higher than the fourth working speed. The first working speed, the second working speed, and the third working speed are all forward speeds, and the fourth working speed is set to the reverse speed.

In each of the above embodiments, the first change amount is an increase value, and the second change amount is set to a decrease value.

In the case of the illustrated embodiment, the first working speed is 50% of the traveling speed in the forward direction, the second working speed is 30% of the traveling speed in the forward direction, and the third working speed of the latter second embodiment is 20 of the traveling speed in the forward direction. %, The fourth working speed is set to 20% of the traveling speed in the reverse direction.
The first change amount is set to the state 2 (increase value), and the second change amount is set to the state 3 (decrease value).

Next, the step of detecting the obstacle 90 by the working machine according to the present invention will be described with reference to FIGS. 12, 13, and 16.

(1) In the case of the first embodiment First, after the cutting blade is turned on (S1) and the cutting mode is turned on (S2), the mowing work is started. At this time, the working speed is set to the first working speed in the forward direction (50% of the traveling speed in this embodiment) (S3).
The positional relationship between the working unit and the obstacle 90 at this time is state 1 (FIG. 13 (A)).

In the mowing work, as shown in FIG. 6, when the cutting blade cover 44 comes into contact with the support column 92a of the guardrail 92, which is an obstacle 90 in front, the work arm 46 moves to the vehicle body 1 as shown by a solid line in FIG. 13 (B). It rotates to the side and becomes state 2.
Since the cam 72 provided on the vertical shaft 33a is interlocked by this rotation, the detection means 71a is turned on (S4), and the traveling of the vehicle body 1 is stopped (S5).

Next, the working unit 4 moves up (S6).

Specifically, when the detection means 71a is turned on, the vehicle body 1 is stopped and the working unit 4 is raised by the elevating unit 3. The elevating portion 3 has a bottom dead center formed by the descent restricting means 3e, and the working portion 4 is raised via the elevating arm 32 and the intermediate arm 33. Since the cutting blade cover 44 is maintained in contact with the support column 92a of the guardrail 92 (FIG. 13 (B)), the working portion 4 is also in a state of being rotated toward the vehicle body, and is a rotation fulcrum of the working portion 4. The cam 72 (shown in FIG. 10) provided on the vertical shaft 33a, which is a fulcrum, also maintains a rotated state. Therefore, the detection means 71a maintains the ON state. There is a roller 38 near the horizontal rotation fulcrum portion of the working portion 4, and as the working portion 4 rises, the roller 38 also rises. Therefore, for example, when the cutting blade of the raised working portion 4 is separated from the curb 91, the cutting blade is located at a position higher than the height of the curb 91, so that there is no interference between the cutting blade and the curb 91.

When a predetermined time elapses (S7), it is considered that the working unit 4 is located above the curb 91, and the ascending operation is stopped (S8).

The working speed after the ascending operation becomes a predetermined second working speed (30% of the running speed in this embodiment) (S9), and the mowing work is restarted at this slow running speed.
The positional relationship between the working unit 4 and the obstacle 90 in this state is the state 3 and the state 4 shown in FIGS. 13 (C) and 13 (D), and the cutting blade cover 44 abuts on the obstacle 90 in this way. While rolling, mow the grass above the curb 91 and so on.

When the state 5 shown in FIG. 13 (E) is reached, the cutting blade cover 44 is separated from the obstacle 90, so that the detecting means 71a detects this (S10) and the traveling is stopped (S11).

Then, the working unit 4 moves down (S12).

When the predetermined time elapses (S13), it is considered that the work has reached the normal work position, and the lowering operation is stopped (S14).

Specifically, when the state 5 shown in FIG. 13 (E) is reached, the cutting blade cover 44 rotates back to the original position (the same position as the state 1). Then, the cam 72 also rotates at the same time, the pressed state of the detecting means 71a is released, and the detecting means 71a is turned off. The control unit 6 detects this state and lowers the working unit 4.

When ascending, the working unit 4 is supported by the descending regulating means 3e of the elevating unit 3. By performing the descending operation, the working unit 4 gradually descends along with the descending of the descending regulating means 3e. There is a roller 38 near the horizontal rotation fulcrum portion of the working portion 4, and when the roller 38 comes into contact with the curb 91 due to the lowering of the working portion 4, the lowering of the working portion 4 is stopped. Even after that, even if the lowering regulating means 3e descends, the height of the working portion 4 (relative height to the curb 91) is maintained by the contact between the roller 38 and the curb 91.

In the first embodiment, there is no state 5 shown in FIG. 13 (F). Then, when the state 7 shown in FIG. 13 (G) is reached, the process returns to step 3 (S3), the state 1 is reached, and the mowing work at the first working speed is restarted.

(2) Second Embodiment With reference to FIG. 16, first, the cutting blade is turned on (S21), the cutting mode is turned on (S22), the potentiometer value is stored (S23), and then the mowing work is started. To. At this time, the working speed is set to the first working speed in the forward direction (50% of the traveling speed in this embodiment) (S24).
The positional relationship between the working unit 4 and the obstacle 90 at this time is state 1 (FIG. 13 (A)).

In the mowing work, when the cutting blade cover 44 comes into contact with the support column 92a of the guardrail 92, which is an obstacle 90 in front, the work arm 46 rotates toward the vehicle body side as shown by the solid line in FIG. 13B, and the state 2 become.
As a result of this rotation, as shown in FIG. 13B, the positional relationship between the working unit 4 and the obstacle 90 becomes state 2, so that the potentiometer value of the detection means including the potentiometer 71b (shown in FIG. 15) changes. Then, it becomes the first change amount (S25).

Then, the traveling of the vehicle body 1 is stopped (S26).

Next, the working unit 4 moves up (S27). Since the step of the ascending operation is the same as that of the first embodiment, it is omitted.

When a predetermined time elapses (S28), it is considered that the working unit 4 is located above the curb 91, and the ascending operation is stopped (S29).

Next, the first avoidance run is performed. The working speed of the first avoidance running is set to the first working speed in the forward direction (50% of the running speed in this embodiment) (S30). The positional relationship between the working unit 4 and the obstacle 90 at this time is state 2 (FIG. 13 (B)).

When the position (potentiometer value) of the working portion 4 moves in the direction of the obstacle 90 (the support column 92a of the guardrail 92), that is, when the position of the state 3 shown in FIG. It is traveled at two working speeds (30% of the traveling speed in this embodiment) (S32).

Next, the control unit determines whether or not the position (potentiometer value) of the work unit 4 matches the set value (S33). The positional relationship between the working unit 4 and the obstacle 90 at this time is state 4 (FIG. 13 (D)).

When step 33 (S33) is yes, the process proceeds to step 34 (S34), the third avoidance run occurs, and the car runs at the third working speed (20% of the running speed in this embodiment).

Next, the control unit 6 determines whether or not the position (potentiometer value) of the working unit 4 matches the initial value (S35). The positional relationship between the working unit 4 and the obstacle 90 at this time is state 5 (FIG. 13 (E)).

If step 35 (S35) is yes, the process proceeds to step 36 (S36) and the vehicle is stopped (S36).

Next, the working unit 4 (cutting unit) descends (S37), and when a predetermined time elapses (S38), the descending operation is stopped (S39). The positional relationship between the working unit 4 and the obstacle 90 up to this point is state 5 (FIG. 13 (E)).

Next, the fourth avoidance run occurs, and the work speed becomes the reverse (back run) at the fourth work speed (20% of the running speed in this embodiment) (S40).
At this time, the positional relationship between the working unit 4 and the obstacle 90 changes from the position of the state 6 shown in FIG. 13 (F) to the position of the state 5 shown in FIG. 13 (E) due to the backward movement of the vehicle body 1.

To elaborate on this point, when the work arm 46 hits the guardrail 92 and is forcibly moved to the front side by moving backward, it can be bent by the elasticity of the cushion 39. FIG. 15A shows this state, that is, the position where the working unit 4 has moved to the front side in the traveling direction.
Then, since the work arm 46 can rotate slightly forward, the potentiometer 71b, which is a detection means, detects the rotation forward and stops the reverse movement of the machine body (FIG. 13). State 6) of (F).

Next, when the control unit 6 determines that the cutting blade cover 44 has separated from the obstacle 90 and has changed to the forward side (S41), the working unit 4 is in the state 7 shown in FIG. 13 (G), so that step 24 (S24). ), The working unit 4 works at the first working speed.

Here, the mutual relationship between the cutting blade cover 44, the guide wheel 26, the roller 38, the detecting means 71a, the cam 72, and the spring 37 will be described in detail.
When the obstacle 90 shown in FIGS. 5A to 5B is approaching, the cutting blade cover 44 is raised together with the roller 38 (at this time, the detection means 71a and the cam 72 are also raised), and the curb 91 which is the obstacle 90 is reached. When approaching, the cutting blade cover 44 gets over the upper part of the curb 91 by traveling, and then turns the vehicle body 1 along the front-rear direction of the curb 91 while using the guide wheel 26, particularly the front wheel 26a, as a guide. Next, the guide wheel 26 is grounded to the curb 91 and swiveled in a positional relationship where work is possible. Next, the cutting blade cover 44 and the roller 38 are lowered until the roller 38 comes into contact with the upper surface of the curb 91, and the workable posture is taken. After that, as the vehicle travels, the control of the control unit 6 described above starts.
At this time, the guide wheel 26 is grounded to the curb 91, and the curb 91 and the vehicle body 1 are guided at regular intervals. Therefore, even if the vehicle body 1 tries to approach the curb 91 side, the vehicle body 1 is on the curb 91 side. Will not stop by. That is, since the guide wheel 26 does not guide the vehicle body 1 in the direction away from it, the maneuvering operation for turning the vehicle body 1 is reduced, which leads to labor saving in maneuvering.

Further, as the vehicle body 1 advances, the cutting blade cover 44 rotates as the cutting blade cover 44 comes into contact with, for example, the support column 92a as an obstacle 90. As a result, the cam 72 that rotates in the horizontal direction integrally with the cutting blade cover 44 operates the detecting means 71a. By the rotation of the cutting blade cover 44, the spring 37 expands and stores the urging force. When the cutting blade cover 44 further rotates toward the vehicle body 1 as the vehicle body 1 advances, the spring 37 further accumulates urging force. After that, when the support column 92a of the guardrail 92, which is an obstacle 90, moves relatively rearward from the cutting blade cover 44 (FIG. 13 (E)), the cutting blade cover 44 rotates due to the urging force of the spring 37, and the original cutting blade cover 44 is rotated. Return to position. At this time, the operation of the detection means 71a by the cam 72 is stopped.

The control according to the present invention functions when the working machine shown in FIG. 5A travels along the curb 91 which is an obstacle 90, and then the working unit 4 encounters a support column 92a which is an obstacle 90.
It should be noted that the above series of operations are not involved when the obstacle 90 shown in FIGS. 5B to 5C is withdrawn.

(About the parallel link part)
In the above embodiment, the parallel link portion 36 is not provided on the movable elevating arm 32 and is firmly fixed to the fixed outer frame 34. As a result, it is possible to secure the strength stability and simultaneously achieve the parallel elevating and lowering of the working part and the compactness, which are difficult to stand side by side.

That is, the link member 35 constituting the parallel link portion 36 is provided so as to be hung on the rotatable intermediate arm 33 on the elevating arm 32, and the working portion 4 connected to the intermediate arm 33 does not change the angle. Allows you to go up and down. The link member 35 allows the rotating surface of the cutting blade 41 of the working portion 4 to be kept parallel to the ground, which is the working surface, at all times. Therefore, even if the grass grows up and down, it is possible to mow the grass growing from the ground at a constant height without forming unevenness such as unevenness in the left-right direction.

Further, the elevating arm 32 and the link member 35 are arranged so as to be offset outward from the central portion of the vehicle body 1, and the intermediate arm 33 connected to the elevating arm 32 is positioned so that its end portion protrudes to the outside of the vehicle body 1. A working portion 4 is provided at the end of the intermediate arm 33. That is, the work unit 4 located on the far outside of the traveling unit is moved up and down in parallel by the offset link member 35 while ensuring the strength stability. In other words, since the link mechanism is configured in a wide range in a plan view, it is easy to support the rotational moment of the working portion 4 at the offset position without significantly increasing the strength of each link member.

This point will be described in detail. Regarding the strength stability, since the parallel link portion 36 is installed on the outer frame 34 which is a fixing member, the distance between the fulcrums of each rotation fulcrum of the parallel link mechanism formed by each member can be widely arranged. Therefore, even if the tip of the intermediate arm 33 extending to the outside of the vehicle body 1 which is a part of the parallel link mechanism and the working portion 4 connected to the tip portion 4 are strongly swung back and forth and left and right due to a collision or the like. , The load on the rotation fulcrum is reduced. As a result, the strength of the parallel link portion 36 as a whole of the parallel link mechanism is maintained, and there is an effect of achieving strength stability.

Further, since the parallel link method is adopted, it is possible to prevent the member related to elevating and lowering from protruding upward. That is, even if there is, for example, a tunnel-shaped obstacle 90 above the vehicle body 1 or above the working portion 4, the work can be continued while diving.

Regarding the parallel elevating ability of the working portion 4, by setting (that is, making it an attachment) via the parallel link portion 36 that connects the working portion 4 to the fixing member, the elevating arm 32 that originally moves up and down at the fulcrum of one axis. The working unit 4 connected to the above can be moved up and down in parallel as if in the side view of FIG. By providing the members related to the parallel operation, that is, the intermediate arm 33, the outer frame 34, and the link member 35 separately from the vehicle body 1 side including the elevating arm 32, the members individually required depending on the work environment. Changes can be minimized. In other words, the vehicle body 1 side including the elevating arm 32 can be given versatility, and the working unit 4 as an attachment can be set. As a result, the working part as an attachment can be made into, for example, a working part capable of cleaning the road surface.

Further, since the load can be distributed to the parallel link portion 36 without being concentrated on a part by the link member 35 and the fixed outer frame 34, the strength of the parallel link portion 36 can be ensured without enlarging each member.

Furthermore, regarding compactification, assuming that all the members related to the parallel link are mounted on the elevating arm 32, the elevating arm 32 is the weight of all the members such as the link member of the working portion 4, and the working portion 4 is used. It will be subject to impact load when operating. In such a case, the driving force for raising and lowering the elevating arm becomes large, and it is naturally necessary to increase the output of the motor of the elevating part and the strength of the elevating arm 32. If the elevating part becomes large, it cannot be accommodated in the vehicle body, which hinders the compactification of the vehicle body on the vehicle body side and the stability of the balance. Further, from the viewpoint of ensuring the strength of each rotation fulcrum portion of the link mechanism, in the above embodiment, it is not necessary to secure an extremely large strength of the rotation fulcrum portion, which can contribute to compactification. ..

Further, regarding the installation location of the parallel link portion 36, according to the above embodiment, the vehicle body 1 including a part of the elevating portion 3 and the elevating arm 32 is made versatile, and various working portions 4 connected to the elevating arm 32 are provided. By changing it, the adaptability to the work place is improved. In this regard, changing the elevating part entirely impairs the versatility of the vehicle body, and providing an enlarged elevating part for the working part also hinders compactification. Therefore, in the above embodiment, the elevating part 3 is configured with the minimum necessary elevating ability and strength without enlarging the elevating part 3. On the other hand, in the above embodiment, the working portion 4 is arranged far away from the outside of the vehicle body 1, so that a certain space is secured between the traveling portion and the working portion 4. In the above embodiment, by arranging the link member 35 in this space to form the parallel link portion 36, the problems of strength stability, parallel elevating and lowering of the working portion 4, and compactification can be solved. be.

Next, regarding the point that the parallel link portion 36 is fixed to the outer frame 34 which is a fixing member, an approach is made from the relationship with the working portion 4, and the parallel ascending / descending property of the working portion 4 will be described. Normally, when cutting grass, it is required to mow it uniformly at a certain height with respect to the ground. Regarding this point, if the raising and lowering of the working unit 4 is not parallel, there is an inconvenience that the rotating surface of the cutting blade 41 is inclined and the cutting height of the grass is not constant. The rotating surface formed by the rotation of the cutting blade 41 with the progress of the vehicle body 1 or the rotation axis of the cutting blade 41 is always oriented in the vertical direction with respect to the working surface due to the parallel ascending and descending of the working portion 4. Further, due to the parallel ascending / descending property of the working portion 4, the rotating surface of the cutting blade 41 follows the unevenness on the ground, so that the cutting height of the ground and the grass becomes constant. Further, since the ground and the rotating surface of the cutting blade 41 move up and down in parallel, the rotation locus of the cutting blade 41 seen from the front in the traveling direction becomes linear, and the cutting height of the grass can be kept constant.

Since the outer frame 34 and the link member 35 are located outside the traveling portion and the outer frame 34 is firmly attached to the traveling frame of the traveling portion by bolts and nuts (not shown), an elevating arm for raising and lowering the working portion 4 The elevating unit 3 for driving the 32 may only have the ability to support and elevate the weights of the elevating arm 32, the intermediate arm 33, and the working unit 4. When the parallel link mechanism is incorporated on the elevating arm 32, the elevating part 3 for elevating and driving the elevating arm 32 must be moved up and down in addition to the weight of the parallel link mechanism, and the load on the drive motor of the elevating part 3 is not applied. growing. In order to solve this, a motor having a larger size is required to secure the output of the motor, and as a result, there is a problem that the size of the entire machine body also increases. However, in the above embodiment, the parallel link portion 36 is configured. The offset link member 35 does not increase the output or dimensions of the motor, and can be manufactured at low cost while making the entire machine compact.

Here, the roles of the stopper 27 and the roller 38 will be described.
The stopper 27 is provided at the front end portion of the outer frame 34, and unlike the descent restricting means 3e, the stopper 27 determines the absolute lower limit of the elevating arm 32 according to the height of the curb 91 or the like. As a result, even if the elevating arm 32 is inadvertently lowered by the operator, the intermediate arm 33 comes into contact with the stopper 27 surface, so that the working portion 4 does not lower too much. That is, a head-on collision between the end of the curb 91 and the working portion 4 is prevented during traveling.

Further, due to the descent restricting means 3e, even if the curb 91 undulates with respect to the traveling road surface of the vehicle body 1, the working portion 4 is pushed up by the roller 38 located on the upper surface of the curb 91 so as to follow the undulation. The intermediate arm 33 rises away from the stopper 27. At the same time, the descending control means 3e that regulates only the bottom dead center of the elevating portion 3 also rises away from the regulation point.
That is, by rolling the upper part of the curb 91, the roller 38 can make the relative height of the working portion 4 located below the upper part of the curb 91 constant as shown in FIG. 17A. .. Further, as shown in FIG. 17B, even if the upper part of the curb 91 has undulations, the roller 38 rolls following the undulations, so that the working unit 4 can follow the undulations accordingly. In this case, it is necessary to lower the bottom dead center formed by the descent restricting means 3e of the elevating portion 3 in advance.

(About the guide wheel)
According to the above embodiment, the guide wheel 26 for guiding the direction of the vehicle body 1 is provided on the outside of the traveling portion 2, and the guide wheel 26 comes into contact with the surface of the obstacle 90 and rolls. It becomes simple, and by interposing the guide wheel 26 between the traveling portion 2 and the curb 91, it is possible to physically avoid contact between the curb 91 having a convex portion and the traveling portion 2, and further, the obstacle 90 Even when grass is overgrown on the side of the traveling portion 2, it is possible to reliably catch the curb 91 by contact, so that it is possible to reliably and stably grasp and mow the presence of grass in the mowing work. .. Therefore, the worker is freed from the burden of having to monitor the direction in which the work machine travels and the mowing status in the work unit at the same time, the work load is reduced, and the work efficiency can be improved.

By bringing the guide wheel 26 into contact with an obstacle 90 such as a curb 91 located outside the traveling portion 2, the distance between the vehicle body 1 and the curb 91 can be kept constant. Further, this makes it possible to mow the grass while keeping the distance from the foot of the curb 91 to the side constant.

The guide wheel 26 is provided along the traveling direction, and the vehicle body 1 can be positioned substantially parallel to the curb 91 by bringing the front wheel 26a and the rear wheel 26b into contact with the curb 91 or the like. In the case of the curb 91 which is linear in a plan view, the vehicle body 1 is arranged parallel to the longitudinal direction of the curb 91, and in the case of the curb 91, the tangential direction of this curve and the vehicle body 1 are parallel.

Therefore, the crawler belt is prevented from slipping in the lateral direction, and the crawler belt can travel without imposing a burden on the traveling unit 2, so that the driving force required by the traveling unit 2 does not need to be increased. Therefore, in the case of the above embodiment, it is possible to prolong the working time and protect the members related to the driving of the motor or the like by saving the electric power required by the motor.

Since the rearmost rear wheel 26b is arranged in front of the turning center T of the vehicle body 1, when turning to the side where the guide wheel 26 is not arranged, the vehicle body 1 can be moved away from the curb 91. can.

The turning center T when the working machine makes a super-credit turning operation is _{an intermediate position of the ground contact length L 1 in} the front-rear direction of the traveling portion 2 and an approximately intermediate position of the left and right traveling portions 2 (the left and right center portions of the vehicle body 1). ) Is located. Therefore, in the traveling unit 2, the area required for turning can be minimized as much as possible.

The guide wheel 26 is set so that the rotation axis is parallel to the surface of the curb 91 that comes into contact with the ground. In the illustrated embodiment, the vehicle body 1 is installed at an angle in the downward direction in order to be grounded to the side surface of the inclined curb 91 (FIG. 6). As a result, the guide wheel 26 comes into contact with the ground while standing perpendicular to the inclined surface of the curb 91, so that the ground contact area can be increased and the friction can be increased, and the vehicle body 1 slides down with respect to the curb 91. It is possible to prevent it from slipping up.

Further, by providing the guide wheels 26 inclined as shown in the figure, the base of the guide wheels 26 can be installed higher than the ground. Therefore, the ground height of the outer frame 34 as the base can be increased, and the outer frame 34 can be reduced from hitting stones, dust, and the like scattered on the traveling road surface.

Since there is a working portion 4 on the outer side of the guide wheel 26, ground work (grass cutting work) on the side beyond the curb 91 becomes possible.

(About the protection section)
According to the above embodiment, the presence of the long guard 51 in the front-rear direction between the traveling unit 2 and the working unit 4 prevents scattered objects and prevents injuries and damages to the operator and the vehicle body.

Further, the guard 51 constitutes a guard body in which the movable frames before and after the fixed frame are expanded outward. That is, a protective space S is formed so as to cover the periphery of the working portion 4 that generates scattered objects by the movable frame 53 that is expanded toward the working portion 4 side. Since this protective space S moves with the progress of the vehicle body 1, a constant space is always formed between the protective space S and the working portion 4. Therefore, the rebound of scattered objects is prevented.
Since the upper portions of the fixed frame 52 and the guard 51 are set higher than the vehicle body 1, it is possible not only to protect the vehicle body 1 but also to suppress the scattering of foreign matter to surrounding workers and objects.

Since the weight 56 is provided at the lower part of the guard 51, it is possible to prevent the guard 51 made of a vinyl sheet from rolling up, and the effect of preventing scattered objects is further improved.

Since the movable frame 53 overhanging from the vehicle body 1 in the front-rear direction is rotatable in the horizontal direction, the movable frame 53 rotates toward the vehicle body 1 even if it comes into contact with an obstacle 90 such as a guardrail 92 when turning. It moves to prevent the fixed frame 52 from being damaged.

Since the movable frame 53 is provided with the spring 55, it is possible to maintain the expanded state (deployed state) on the working portion 4 side. Therefore, the work can be continued while maintaining the shatterproof state.

Further, the spring 55 of the movable frame 53 can be maintained in a state of being bent toward the vehicle body 1 side (retracted state). That is, the movable frame 53 can be urged in both directions of storage and deployment. By doing so, the movable frame 53 can be in a state of being stored in the vehicle body 1 side when the working machine is moving and traveling other than during working, so that the guard 51 does not get in the way during moving traveling.

Since the tip of the movable frame 53 is curved toward the vehicle body 1, the curved portion 53a can follow the unevenness and undulations of the obstacle 90 with which the movable frame 53 abuts. Therefore, the work efficiency is further improved.

Further, since the movable frame 53 is constantly urged by the spring 55, it can pass through the uneven surface of the obstacle 90 while maintaining the deployed state. The movable frame 53 can pass through the uneven surface of the obstacle 90 in both the deployed state and the retracted state.

Here, the reason why the protection unit 5 can be shortened will be described. Since the above-described embodiment has the ability to follow the guard 51, it does not make a large turn to the front and back of the traveling unit 2 as in a large machine that has a large work range and turns to the rear side to work, but within a certain range. Since the work is performed, it is only necessary to protect the vehicle body 1 and its surroundings as necessary. This is the first reason why the protection unit 5 according to the above embodiment can be shortened. Secondly, since the work range of the work unit 4 is limited, there is a reason that the range should be protected. In the above embodiment, since the turning area (turning radius) of the entire working machine at the time of turning is made as small as possible with respect to the turning center T, the turning operation is easy even in a narrow place, and the operator can easily handle it. Because.

(About the obstacle detection mechanism)
According to the first embodiment, since the detection means 71 includes the limit switch 71a, the control unit 6 determines the transition from the open state to the closed state of the work arm 46 by turning the switch on and off, and the detection signal is determined. Since the control operation has a one-to-one correspondence, the configuration of the control unit 6 and the control operation by the control unit 6 can be simplified.

As described above, since the working speed and the ascending / descending of the working unit 4 are automatically controlled by the control unit 6, the operator can concentrate on the place where the vehicle body 1 travels and steer the vehicle body 1. That is, since the working unit 4 has an elevating property, the worker can concentrate on the mowing work without worrying about the positional relationship between the working unit 4 and the obstacle 90.

Further, since the working unit 4 rotates in the horizontal direction when it comes into contact with the obstacle 90, it is possible to avoid interference with the obstacle 90 such as the curb 91. Therefore, even in a situation surrounded by an obstacle 90 to be avoided, a collision with the obstacle 90 can be avoided, and efficient work becomes possible.

The working unit 4 can work by rotating in the horizontal direction and raising and lowering in the vertical direction without interfering with obstacles 90 in the front and side. Therefore, even in the avoidance running, the mowing work is continued, so that the work efficiency is improved.

Further, according to the second embodiment, the control unit 6 recognizes the unfolded state of the work unit 4 by the degree of rotation of the work arm 46, and can control the traveling speed corresponding to the unfolded state, so that it is more precise and complicated. Can be controlled.

The control unit 6 constantly monitors the current state of the working unit 4 by comparing the current value and the two values at the immediately preceding position relative to each other. Therefore, the burden of viewing the work environment by the worker is reduced, and the worker can concentrate on the mowing work.

For example, if there is no change between the current value and the two values at the immediately preceding position as the initial values, the control unit 6 recognizes that the posture of the vehicle body 1 remains unchanged in the open state. If there is a change in the binary value, it is recognized that the vehicle is passing through the obstacle 90. In the latter case, when the change in the binary value is increasing, the control unit 6 determines that the working unit 4 is shifting from the open state to the closed state, and when the change in the binary value is decreasing. Determines that the working unit 4 has transitioned from the closed state to the open state.

The control unit 6 controls to maintain the first working speed until the working unit 4 shifts from the closed state to the open state. Therefore, in the second embodiment, the speed of passing through the obstacle 90 can be increased as compared with the case of the first embodiment, so that the work efficiency is further improved.

Further, when the working unit 4 shifts from the closed state to the open state, the working unit 4 performs an obstacle 90 (for example, a support column) by performing a second avoidance running that further reduces the second working speed from the first working speed. It can be moved as close as possible to 92a) and along the obstacle 90.

Further, when the control unit 6 determines that the detection signal has reached the set value during the transition to the open state, the transition to the third avoidance travel, in which the vehicle travels at a slower third working speed, is performed. As a result, the working unit 4 can be moved along the obstacle 90 with higher accuracy.

If the work is carried out at the first work speed at which the work speed is high, the vehicle body 1 may advance during the transition from the closed state to the open state, and the grass on the front side of the obstacle 90 may be left uncut. However, according to the above embodiment, since the working speed can be changed to a speed slower than the initial speed, there is no possibility of that.

Further, in the case of the fourth avoidance running, the back running is performed and the back running can be performed, so that it is possible to cope with the case where there is a leftover cut.

To further explain the fourth avoidance run, when the work unit 4 comes into contact with the obstacle 90 and is pressed during the reverse movement, that is, in the state 6, the work unit 4 is shown in FIG. 13 (F). ) Rotates forward as shown by the solid line. That is, it moves further to the side or the front side from the open state. At this time, based on the detection signal from the detection means 71b, the control unit 6 determines that the obstacle 90 has come into contact with the rear of the work unit 4, stops the fourth avoidance running, and then stops the fourth avoidance running, that is, the state 7 (FIG. 13 (G)). ), The forward work is restarted at the first work speed.

In addition, the cushion 39 bends due to elasticity during the fourth avoidance run, so that the working portion 4 moves further to the side or the front side from the open state as shown by the two-dot chain line in FIG. And can regulate and maintain the normally open position. This makes it possible to simplify the mechanism related to control.

As the working unit 4 changes from the open state to the closed state, the current value received by the control unit 6 changes due to the change in the resistance value of the potentiometer 71b which is the detecting means. This enables more precise and complicated control.

In the above, the open state refers to the state 1 and the state 5 in the first embodiment, and refers to the state 1, the state 5 and the state 7 in the second embodiment. The closed state refers to states 2 to 4 in the first embodiment, and refers to states 2 to 4 in the second embodiment.

Here, the relationship between the avoidance operation and the cutting blade cover 44 will be described. When the machine comes into contact with an obstacle, the avoidance operation of the working portion 4 and the rotation operation of the rotation center portion of the cutting blade cover 44 cooperate with each other to perform an avoidance operation against the obstacle. That is, when the working portion 4 comes into contact with an obstacle, the working portion 4 has a cutting blade cover 44 having a diameter larger than the diameter of the cutting blade 41, so that the vertical shaft 33a rolls or slides the obstacle. Rotates horizontally around the axis. The rotation of the working unit 4 is shown in FIG. 18 (B) when the machine body 1 advances in the direction of the arrow and is pressed against the obstacle 90 or the like from the front or side of the working unit 4. It becomes the position indicated by. Further, when the machine body 1 moves backward in the counter-arrow direction and the obstacle 90 presses the rear of the working portion 4, the position is shown by the solid line in FIG. 18 (A).
Therefore, it is possible to prevent damage to the cutting blade 41, prevent damage to obstacles, and continue the work.

In the above embodiment, the elevating arm 32 has a structure in which the vehicle body 1 is supported only downward by the elevating gear 3c and the action pin 3d. Therefore, as described above, even if the mowing portion 4 rides on the obstacle 90, the mowing is performed. The part 4 can follow the ground.

That is, when the working portion 4 is moved up and down, the vertical rotation fulcrum portion is the rotation fulcrum 3f of the raising and lowering arm 32 (shown in FIGS. 7 and 8) and the horizontal axis 32a of the raising and lowering arm 32 to the intermediate arm 33 (FIG. 1). (Shown in) and the rotation fulcrum 46a (shown in FIG. 1) of the work arm 46. In particular, the ground following effect is exhibited by the rotation fulcrum 3f and the horizontal axis 32a of the elevating arm 32 having a rotation axis extending in the left-right direction in the traveling direction. More specifically, the vertical movement of the working unit 4 is in charge of raising and lowering the elevating arm 32, and the inclination of the working unit 4 is maintained by the rotation of the intermediate arm 33 supported by the elevating arm 32.
Further, by vertically rotating the rotation fulcrum 46a of the work arm 46, it is possible to cope with the inclination of the machine body in the left-right direction. Further, since the work arm 46 has some play in the vertical direction, the downward follow-up is rotated by its own weight, and the upward follow-up is rotated by the pressing force of the colliding obstacle 90. Therefore, according to the present embodiment, the ground followability is significantly improved as compared with the conventional case.

In this way, by setting the number of vertical rotation fulcrum axes to a total of three, it is possible to deal with inclined surfaces and unevenness in the front-back and left-right directions. Further, even if the mowing portion 4 is in the avoidance rotation and there is an uneven portion in the avoidance rotation region, the elevating arm 32, the intermediate arm 33, and the work arm 46 cooperate with each other. It is possible to mow the grass while following the ground even when rotating in the area.

The invention of the present application is not limited to the above embodiment. For example, the working unit 4 does not perform mowing work, but may perform work such as road surface cleaning, for example.

The guide wheel 26 can adjust the contact angle with respect to the contact surface of the obstacle 90.

It is also possible that the determination of the open / closed state by the increase / decrease value of the above two values by the control unit 6 is opposite to the determination of the above-described embodiment. That is, the first change amount is a decrease value, the second change amount is an increase value, the first change amount is an increase value, the second change amount and the third change amount are a decrease value, and the first change amount is a decrease value. The decrease value may be used, and the second change amount and the third change amount may be used as the increase value.
Further, the on / off of the detection signal may be performed by using the first detection signal as a connection signal and the second detection signal as a disconnection signal, contrary to the above embodiment.

Further, the working speed can be changed to be higher than that of the above embodiment, that is, more than four working speeds. In this case, more precise control becomes possible, and the work accuracy in the work unit 4 is further improved.

Further, the degree of rotation of the working unit 4 and the increase / decrease of the detection signal are not limited to those of the above embodiment.

Next, the constituent material of the guard 51 is arbitrary as long as it can be seen from the outside, and may be, for example, a net-like material.

Further, the urging direction of the spring 55 connecting the movable frame 53 and the fixed frame 52 may be urged in one direction of the vehicle body, contrary to the embodiment.

The type of potentiometer does not matter. Although the cutting blade 41 is illustrated by a string-shaped wire cutter, it does not have to be this method, and a steel knife may be rotated. The height of the rotating surface of the cutting blade can be freely changed according to the work location and the setting of the cutting height.

Further, the ground contact body 43 may be in contact with the traveling ground at normal times.
Further, if the position of the vertical axis 33a is close to the position of the center of gravity G, it is not necessary to provide the vertical axis 33a exactly at the position of the center of gravity G.
Further, the working unit 4 may have the lowest point in the working state, that is, the position of the ground contact body 43 on the lower side than the upper portion of the front wheel 22.

Further, the working machine according to the present invention does not necessarily have to be operated by a radio control. For example, it can be adopted as a self-sustaining traveling work machine or the like that can travel and work at the self-judgment of the working machine.

The working machine according to the present invention can be used for ground work such as mowing work.

1 Body 11 Main body frame 12 Main body cover 2 Traveling part 21 Drive wheel 21a Drive shaft 22 Driven wheel 23 Rolling wheel 24 Crawler belt 25 Traveling frame 26 Guide wheel 26a Front wheel 26b Rear wheel 26c Rotating shaft 27 Stopper 28a Right traveling motor 28b Left traveling motor 3 Elevating part 3a Elevating motor 3b Output shaft 3c Elevating gear 3d Action pin 3e Descent control means 3f fulcrum pin 3g Elevation fulcrum 3h Spring 3i Guide pin 3j fulcrum member 3k Elevation control means 3l Action pin roller 3m fulcrum pin roller 3n Supporting shaft 3q Pin holding member 3r Intermediate frame 3s Swivel fulcrum shaft 3t Retaining pin 3u Lifting fulcrum 31 Strut 32 Lifting arm 32a Horizontal shaft 32b One end 33 Intermediate arm 33a Vertical shaft 33b Mounting bracket 34 Outer frame 35 Link member 35a Mounting bracket 36 Parallel link part 37 Spring 38 Roller 39 Cushion 4 Working part 41 Cutting blade 42 Motor 43 Grounding body 44 Cutting blade cover 45 Cutting blade guard 46 Working arm 46a Rotating fulcrum 5 Protective part 51 Guard 52 Fixed frame 53 Movable frame 53a Curved part 54 Support frame 55 Spring 56 Weight 6 Control unit 7 Detection unit 71 Detection means 71a Limit switch 71b Potentialometer 72 Cam 90 Obstacle 91 Edge stone 92 Guard rail 92a Strut 92b Beam T Swivel center S Protective space

Claims (20)

A vehicle body that can travel, an elevating arm provided on the vehicle body so as to be able to move up and down, and a vehicle body that is connected to the elevating arm and can rotate horizontally with a vertical axis as a fulcrum, and is located on the outer side of the vehicle body. A working unit, a detection unit located near the vertical axis that detects the current rotation position of the working unit and outputs a plurality of types of detection signals, and an elevating arm and a vehicle body based on the detection signals. Equipped with a control unit that can control the operation,
A work machine characterized in that the control unit changes the speed of the vehicle body from the detection signal emitted based on the current position and the state of the immediately preceding position of the work arm connected to the work unit. In the work machine according to claim 1, the detection unit comprises a detection means that detects the current position of the work unit and outputs either a first detection signal or a second detection signal, and the control unit is the above-mentioned control unit. When the vehicle body receives the first detection signal while traveling at the first working speed, the vehicle body is driven at the second working speed after raising the elevating arm, and the vehicle body is traveling at the second working speed. A working machine characterized in that, when a second detection signal is received, the vehicle body is moved at the first working speed after the elevating arm is lowered. The work machine according to claim 2, wherein the detection means includes a limit switch. The working machine according to claim 2 or 3, wherein the first working speed is higher than the second working speed. The working machine according to any one of claims 2 to 4, wherein the first detection signal is a disconnection signal and the second detection signal is a connection signal. The working machine according to any one of claims 2 to 4, wherein the first detection signal is a connection signal and the second detection signal is a disconnection signal. In the work machine according to claim 1, the control unit compares the value of the detection signal based on the current position of the work unit (current value) with the value of the detection signal based on the immediately preceding position (immediate value).
When there is a first change amount in the current value with respect to the immediately preceding value, the first avoidance running is performed in which the vehicle body is run at the first working speed after the elevating arm is raised, and the above is performed during the first avoidance running. The second avoidance of comparing the current value with the immediately preceding value and causing the vehicle body to travel at the second working speed while maintaining the height of the elevating arm when there is a second change amount in the present value with respect to the immediately preceding value. A work machine characterized by running. In the work machine according to claim 7, when the current value matches the preset set value during the second avoidance running, the height of the elevating arm is maintained and the vehicle body is run at the third working speed. A work machine characterized by making the third avoidance run. In the working machine according to claim 8, when the current value matches the preset initial value during the third avoidance running, after lowering the height of the elevating arm, the vehicle body is moved to the nth working speed. A work machine characterized in that the nth avoidance run is carried out. The work machine according to claim 9, wherein the nth work speed is the fourth work speed, and the nth avoidance run is the fourth work speed. The work machine according to any one of claims 7 to 10, wherein the detection means comprises a potentiometer. In the work machine according to any one of claims 7 to 11, the control unit compares the current value with the immediately preceding value during the fourth avoidance running, and sets the current value to the immediately preceding value. 3 A working machine characterized in that the vehicle body is driven at the first working speed when there is a change amount. The working machine according to claim 7, claim 11 or claim 12, wherein the first working speed is higher than the second working speed. In the working machine according to claim 8, claim 11, or claim 12, the first working speed is higher than the second working speed, and the second working speed is higher than the third working speed. A featured work machine. In the working machine according to any one of claims 7 to 12, the first working speed is higher than the second working speed, the second working speed is higher than the third working speed, and the above. A working machine characterized in that the third working speed is higher than the fourth working speed. In the work machine according to any one of claims 7 to 15, the first work speed, the second work speed, and the third work speed are all forward speeds, and the fourth work speed is backward. A working machine characterized by speed. The working machine according to any one of claims 7 to 16, wherein the first change amount is an increase value and the second change amount is a decrease value. The work machine according to any one of claims 7 to 16, wherein the first change amount is a decrease value and the second change amount is an increase value. The working machine according to any one of claims 12 to 16, wherein the first change amount is an increase value, and the second change amount and the third change amount are decrease values. .. The working machine according to any one of claims 7 to 16, wherein the first change amount is a decreasing value, and the second change amount and the third change amount are increasing values. ..

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