JP2022030286A - Mowing device - Google Patents

Abstract

To provide a mowing device configured to facilitate positioning of the mowing device in a simple configuration.SOLUTION: A mowing device comprises a first base member 111, a parallel link mechanism B whose one end side is rotationally provided on the first base member 111 and that can be rotationally turned in a direction parallel to a work plane, a second base member 112 provided at the other end side of the parallel link mechanism B and horizontally movable with respect to the first base member 111 via the parallel link mechanism B, a pivot shaft 12 provided at the second base member 112 and facing in a direction of crossing the work plane, a first work arm 21 pivotably provided, with the pivot shaft 12 used as a shaft and capable of coming into contact with an obstruction W that is present on the work plane, and a second work arm 31 provided separately from the first work arm 21, rotationally provided independent of the first work arm 21, with the pivot shaft 12 used as the shaft, and disposed to, when coming into contact with the obstruction W, face the first work arm 21, with the obstruction W interposed therebetween.SELECTED DRAWING: Figure 4

Description

The present invention relates to a mowing device.

Patent Document 1 "MOWING MACHINE" proposes a device for cutting vegetation around obstacles such as columns existing on the shoulder of a road.
This device includes a boom body composed of a plurality of booms connected to a vehicle or the like, and first and second arms attached to the tips of the boom bodies. Each of the first and second arms is equipped with a mowing mechanism, which is positioned so as to sandwich an obstacle by the first and second arms arranged far from the vehicle or the like, and is swiveled around a vertical axis. , It cuts the plants that exist around the obstacle.

US Publication No. 2006/0026938A1

In the device described in Patent Document 1 "MOWING MACHINE", it is necessary to adjust the obstacle to an appropriate position in order to sandwich the obstacle between the first and second arms. Therefore, in order to adjust the positions of the first and second arms by the boom body, it is necessary for the operator to visually operate the arms. Since the first and second arms are located far away from the operator, it is difficult to align them properly. Further, since this device is mounted on the vehicle, the operator needs to operate the vehicle and the mowing device at the same time, which causes a problem that the operation becomes complicated.
Further, the weight balance of the vehicle equipped with the mowing device having the boom body should be kept within an appropriate range, and the load applied to the distant tip side of the boom body is required to be as small as possible.
The present invention has been made with a focus on the above problems, and an object of the present invention is to provide a mowing device capable of easily aligning a mowing device with a simple structure.

This invention
The first base member and
A parallel link mechanism that is rotatably provided on one end side of the first base member and can rotate in a direction parallel to the work surface.
A second base member provided on the other end side of the parallel link mechanism and horizontally movable with respect to the first base member via the parallel link mechanism.
A swivel shaft provided on the second base member and oriented in a direction intersecting the work surface,
A first work arm that is provided with a swivel shaft so as to be swivelable and can come into contact with an obstacle existing on the work surface.
The first working arm is provided separately from the first working arm and is rotatably provided around the swivel shaft independently of the first working arm, and when it comes into contact with an obstacle, the obstacle is sandwiched between the first working arm. The first work arm and the second work arm arranged opposite to each other,
A mowing device, which is characterized by being equipped with
Related to.

The present invention further
The parallel link mechanism includes a front arm on the side close to the obstacle and a rear arm on the side away from the obstacle when the working arm comes into contact with the obstacle, and the swivel shaft is attached to the second base member. The mowing device, the mounting position of the front arm is closer than the mounting position of the rear arm to be mounted on the second base member.
Related to.

The present invention further
The parallel link mechanism has a first elastic body that can change its position between a deployed position and a retracted position and constantly urges the second base member toward the deployed position side with respect to the first base member.
A mowing device, which is characterized by being further equipped with
Related to.

The present invention further
The first working arm includes an actuator that drives the rotation of the first working arm.
The second working arm is bridged and connected to the first working arm and the second working arm, and has a second elastic body that constantly urges the second working arm to the side that rotates toward the first working arm. ,
A stopper that can come into contact with the second base member and regulate rotation,
A mowing device, which is characterized by being further equipped with
Related to.

The present invention further
The parallel link mechanism includes a fixture capable of preventing the parallel link mechanism from moving to the unfolded position side at the retracted position.
A mowing device, which is characterized by being further equipped with
Related to.

The present invention further
The second working arm includes a guide member capable of relatively moving an obstacle toward the first arm side.
A mowing device, which is characterized by being further equipped with
Related to.

An object of the present invention is to provide a mowing device capable of easily aligning a mowing device with a simple structure.

It is a top view of the mowing device which concerns on 1st Embodiment of this invention. The first work arm and the second work arm indicate an acceptable posture. The left side in the figure is the front in the traveling direction, and the upper part in the figure is the right side in the traveling direction, which is the traveling aircraft side. It is a side view of the grass cutting apparatus which concerns on 1st Embodiment of this invention. The back in the figure is the front in the direction of travel, and the top in the figure is the right side in the direction of travel, which is the traveling aircraft side. It is sectional drawing of the grass cutting apparatus which concerns on 1st Embodiment of this invention. FIG. 1 is a cross-sectional view taken along the line AA of FIG. It is a top view which showed the deployment position of the parallel link mechanism of the grass cutting device which concerns on 1st Embodiment of this invention. For the sake of explanation, the first base member and the second base member are represented by a cross section. It is a top view which showed the process of the parallel link mechanism of the grass cutting apparatus which concerns on 1st Embodiment of this invention shift from a deploying position to a retracting position. For the sake of explanation, the first base member and the second base member are represented by a cross section. The parallel link mechanism of the mowing device according to the first embodiment of the present invention is in the process of shifting from the deployed position to the retracted position, and the first working arm is in the process of rotating relative to the second working arm. It is a plan view. For the sake of explanation, the first base member and the second base member are represented by a cross section. A state in which the parallel link mechanism of the mowing device according to the first embodiment of the present invention is in the process of shifting from the deployed position to the retracted position, and both the first working arm and the second working arm are rotated with respect to the second base member. It is a plan view which showed. Some parts are omitted. FIG. 5 is a plan view showing a state in which the parallel link mechanism of the grass cutting device according to the first embodiment of the present invention is completely moved to the retracted position, and the first working arm and the second working arm are in an acceptable posture. Some parts are omitted. It is a top view which shows the state which the mowing device which concerns on 1st Embodiment of this invention is connected to the work machine attached to the traveling machine body. It is a top view of the mowing device which concerns on 2nd Embodiment of this invention. A guide member is attached to the second working arm. It is a top view of the parallel link which adopted the mowing apparatus which concerns on 3rd Embodiment of this invention.

A is a mowing device as a working machine S. As shown in FIG. 9, the mowing device A is attached to the traveling machine body T made of a tractor or the like by one or a plurality of mowing device attaching arms U.
The mowing device A is connected to a boom device or the like. The boom device (expansion / contraction means) is the same as that of Japanese Patent Application No. 2019-194694 "Working Machine", Japanese Patent Application No. 2020-14070 "Working Machine", etc. It is connected by a connection mechanism. It should be noted that the mowing device A of the present application is not limited to the boom device (expansion / contraction means) as shown in the illustration of the Japanese Patent Application Laid-Open No. 2019-187386 (Japanese Patent Application No. 2018-087440) "mowing device".

In the mowing device A, 11 is a base member. The base member 11 is composed of a first base member 111 and a second base member 112. 21 is a first working arm and 31 is a second working arm. B is a parallel link mechanism.
The first work arm 21 and the second work arm 31 are attached to a traveling machine body T made of a tractor or the like via an arm U for attaching a grass cutting device, which is also called a boom device, which is a plurality of members, and the grass cutting device A is attached to the traveling machine body T. Work in front of, behind, or to the side of. When it is attached to the mowing device mounting arm U, it is connected to the tip of the mowing device mounting arm U by a connecting portion 61 provided on the first base member 111.

The mowing device A is mounted so as to be located on the side of the traveling machine T via a plurality of mowing device mounting arms U, or via a mowing device mounting arm U that can be moved to the left and right of the traveling machine T. There is a choice when mounting it by positioning it behind and to the side of the traveling machine T, or when mounting it by positioning it to the rear and side of the traveling machine T via the mowing device mounting arm U that can move left and right. It is possible. Further, the mowing device A may be directly attached to the traveling machine body T or the three-point link elevating device or the like possessed by the traveling machine body T without using the mowing device mounting arm U.
The mowing device A can sandwich the obstacle W between the first work arm 21 and the second work arm 31 rotatably provided in a scissors shape, and the first work arm 21 and the second work. Each of the arms 31 can rotate to perform the work. The tip side of the scissors-shaped first working arm 21 and the second working arm 31 away from the rotation fulcrum axis is directed in the traveling direction. The tip ends of the first working arm 21 and the second working arm 31 to be exemplified are curved in an arc shape.

The base member 11 is provided in the mowing device A. The first base member 111 (11) is attached to the traveling machine T side of the parallel link mechanism B. The second base member 112 (11) is provided at one end of the parallel link mechanism B on the distal end side. The second base member 112 (11) can move horizontally with respect to the first base member 111 (11) provided on the other end side of the parallel link mechanism B via the parallel link mechanism B.

Reference numeral 12 is a swivel shaft. The swivel shaft 12 is provided on the second base member 112 and includes a vertical shaft oriented in a direction intersecting the work surface. Each of the first working arm 21 and the second working arm 31 can rotate horizontally with the swivel shaft 12 as the fulcrum axis. Further, the acceptable posture and the dischargeable posture are provided according to the rotational posture state of the first work arm 21 and the second work arm 31. A description of these postures will be described later.
Reference numeral 15 is a stopper. The stopper 15 is provided on the second working arm 31.
16 is a first metal fitting and 17 is a second metal fitting. The first metal fitting 16 and the second metal fitting 17 are attached so as to be connected to each other and to connect the second base member 112 (11) around the swivel shaft 12 and the first working arm 21. The first metal fitting 16 and the second metal fitting 17 rotate around the swivel shaft 12 while being connected to each other as the first working arm 21 rotates around the swivel shaft 12.

The swivel shaft 12 is provided closer to the attachment position of the front arm 13A attached to the second base member 112 (11) than the attachment position of the rear arm 13B attached to the second base member 112 (11). That is, since the swivel shaft 12 is located on the front side with respect to the second base member 112 (11), the tip portions of the first work arm 21 and the second work arm 31 connected to the swivel shaft 12 are positioned on the front side. be able to.
Therefore, when the grass cutting device A is mounted on the tip of the grass cutting device mounting arm U mounted behind the traveling machine body T as in the first embodiment shown in FIG. 9, the first working arm 21 and the second working arm The tip of 31 is located further forward. Therefore, the tip end portion of the mowing device A can be positioned on the side in the width direction with respect to the traveling direction with respect to the operator who rides on the traveling machine T and operates the mowing device A. Since the worker P does not turn to the rear for grasping the relative positional relationship between the obstacle W and the first working arm 21 and the second working arm 31, the alignment becomes easy.
Further, as shown in FIG. 6, the work is performed even when the obstacle W is located between the first work arm 21 and the second work arm 31 and is located near the fulcrum shaft 12 and has an obstacle W indicated by a two-dot chain line. The obstacle W can be visually recognized by a person without being obstructed by the second base member 112 (11) or the parallel link mechanism B, and it is easy to grasp the positional relationship of the obstacle W with respect to the mowing device A even during work.

The parallel link of the parallel link mechanism B includes a front arm 13A on the side close to the obstacle W that the working arm comes into contact with when it comes into contact with the obstacle, and a rear arm 13B on the side away from the obstacle W. The parallel link mechanism B is rotatably provided with one end side on the first base member 111 (11) and the other end side on the second base member 112 (11) so as to be rotatable in a direction parallel to the work surface. be. That is, the second base member 112 (11) can be translated with respect to the first base member 111 (11). The parallel link mechanism B has a deployed position or a retracted position depending on the rotation positions of the front arm 13A and the rear arm 13B. A description of these positions will be given later.

The parallel link mechanism B is directed to the left and right outside with respect to the traveling direction from the first base member 111 (11) at the deployment position described later. As a result, when the first work arm 21 and the second work arm 31 come into contact with the obstacle W, the first work arm 21 and the second work arm 31 move the obstacle W to the first work arm 21 and the second work arm 31. It can passively move horizontally or translate to the ground toward the traveling machine T side, which is inside the width direction with respect to the rear and the traveling direction so as to be sandwiched between the two.

The acceptable posture in the posture such as the orientation of the first work arm 21 and the second work arm 31 is the same as the first work arm 21 and the second work arm 31 shown by the solid line in FIG. 1, and 2 in FIG. A posture in which the tips of the first work arm 21 and the second work arm 31 face forward without contacting the obstacle W, such as the first work arm 21 and the second work arm 31 represented by the dotted line. To say. The posture state of the parallel link B in the acceptable posture, that is, the state of each of the unfolding position and the retracting position, which will be described later, does not matter.
The dischargeable posture in the posture such as the orientation of the first work arm 21 and the second work arm 31 means that the first work arm 21 and the second work arm 31 come into contact with the obstacle W and are horizontally inverted from the acceptable posture. It refers to the rotating posture.

The dischargeable posture is until the first work arm 21 and the second work arm 31 are completely turned backward, other than the acceptable postures of the first work arm 21 and the second work arm 31 represented by the two-dot chain line in FIG. The posture state between. As shown in FIG. 6, a state in which only the first working arm 21 is rotated rearward with respect to the traveling direction is also a dischargeable posture. The posture state of the parallel link B in the dischargeable posture, that is, the state of each of the unfolding position and the retracting position, which will be described later, does not matter.

The unfolded position of the parallel link mechanism B is a state in which the arms of the first working arm 21 and the second working arm 31 included in the parallel link mechanism B are unfolded outward in the width direction with respect to the traveling direction, that is, the figure. 1. Refers to the state shown in FIGS. 4 and 7.
The retracted position of the parallel link mechanism B is a state in which the first working arm 21 and the second working arm 31 are moved inward in the width direction with respect to the traveling direction from the deployed position, and the states shown in FIGS. 5, 6, and 8 are shown. say.

In the case of the first embodiment, the first base member 111 (11), which is the other end of the parallel link mechanism B connected to the second base member 112 (11) at the deployed position, is a swivel shaft which is a rotation fulcrum of the parallel link mechanism B. 12 It is located laterally in the width direction with respect to the traveling direction and slightly rearward from one end side. Specifically, the front arm 13A and the rear arm 13B in the deployed position are arranged so as to be tilted rearward at an angle of about 20 to 30 degrees with respect to the left and right with respect to the traveling direction.
In the initial stage where the obstacle W and the work arm (first work arm 21 and second work arm 31) come into contact with each other, the component that moves backward is provided so as to be large.
After the obstacle W and the work arm (first work arm 21 and second work arm 31) come into contact with each other, the parallel link mechanism B is provided so as to increase the component moving in the width direction by the circular motion.
The front arm 13A and the rear arm 13B at the retracted position, which is the limit position for moving the parallel link mechanism B from the deployed position to the shelter position, are inclined backward to about 70 to 80 degrees with respect to the left and right with respect to the traveling direction. can do. Therefore, the first working arm 21 and the second working arm 31 can be freely translated with respect to the first base member from the deployed position to the retracted position by the parallel link mechanism B.

The impact when the first working arm 21 and the second working arm 31 start contact with the obstacle W is alleviated by shifting to the retracted position where the parallel link mechanism B moves rearward. The first base member 111 (11), and thus the mowing device A connected to the first base member 111 (11), does not give an impact to the first work arm 21 and the second work arm 31 at the start of contact with the obstacle W.
Further, by moving the parallel link mechanism B backward, the obstacle W can avoid the forced pressing on the second working arm 31 due to the progress of the traveling machine T. As a result, the entire working machine S including the obstacle W and the second working arm 31 can be protected.

13A1 is a hole. The hole 13A1 is provided in the middle portion of the front arm 13A.
13B1 is a hole. The hole 13B1 is provided in the vicinity of the first base member 111 (11) of the rear arm 13B.

FIG. 43 illustrated in FIG. 8 is a fixture. The fixture 43 is a pin-shaped member and is provided in the parallel link mechanism B.
In the case of the first embodiment, the front arm 13A and the rear arm 13B constituting the parallel link mechanism B are brought into contact with each other, and the hole 13B1 provided in the rotation fulcrum portion of the rear arm 13B and the intermediate position in the longitudinal direction of the front arm 13A. By aligning the holes 13A1 provided in the hole 13A1 and inserting the fixing tool 43, the fixing of the second base member 112 (11) at the retracted position closest to the traveling machine body T side is completed. Among the retracted positions of the parallel link mechanism B, the position where the movement of the parallel link mechanism B is fixed by the fixing tool 43 is called a storage position.

The fixture 43 can prevent the parallel link mechanism B from moving to the unfolded position side when it takes the retracted position in the retracted position.
The fixing tool 43 included in the parallel link mechanism B allows the parallel link mechanism B to be fixed at the retracted position within the retracted position. As a result, the parallel link mechanism B does not move from the retracted position to the deployed position, and the length in the width direction can be shortened, so that the mowing device A does not get in the way when moving and traveling other than during work.

41 is the first elastic body. The first elastic body 41 is provided on the side portion of the rear arm 13B of the parallel link mechanism B.
The first elastic body 41 is composed of a gas spring, a coil spring, or the like, and the gas spring is adopted in the first embodiment. As shown in FIGS. 1 and 1, both ends of the first elastic body 41 are attached to the first base member 111 (11) and the second base member 112 (11) side of the rear arm 13B.

The first elastic body 41 can change the position of the parallel link mechanism B between the deployed position and the retracted position, and the second base member 112 (11) is deployed at the deployed position with respect to the first base member 111 (11). Always urge the side.
The parallel link mechanism B is always urged forward and laterally with respect to the traveling direction by the first elastic body 41. The parallel link mechanism B in a state where it is not in contact with the obstacle W or the like can return to the deployed position and wait for the approaching obstacle W as it progresses.

Since the first elastic body 41 is arranged on the rear side of the rotation shaft 12, it does not come into direct contact with an obstacle or the like that approaches as it moves forward.
42 is a second elastic body. The second elastic body 42 is composed of a gas spring, a coil spring, or the like, and the gas spring is adopted in the first embodiment. The second elastic body 42 is bridged and connected to the first working arm 21 and the second working arm 31, and constantly urges the second working arm 31 to the side that rotates toward the first working arm 21.

That is, the second elastic body 42 is constantly urged in the direction in which the first working arm 21 and the second working arm 31 approach each other. Therefore, the first working arm 21 and the second working arm 31 can mow the grass while in contact with the obstacle W, and can surely mow the plants around the obstacle W.
The second elastic body 42 is provided on the outside of the second working arm 31, not on the inside where the obstacle W is sandwiched between the first working arm 21 and the second working arm 31. Therefore, when the work is performed with the obstacle W sandwiched between the first working arm 21 and the second working arm 31, the second elastic body 42 does not come into contact with the obstacle.

The first working arm 21 and the second working arm 31 are each made of a substantially plate-shaped body.
As shown in FIGS. 2 and 3, the first work arm 21 and the second work arm 31 are laminated and can be swiveled in the horizontal direction about a swivel shaft 12 attached to the base member 112 (11). It is attached to the second base member 112 (11). The first working arm 21 and the second working arm 31 are provided with a first cutting blade portion 24 and a second cutting blade portion 34, which are rotationally driven by cutting blade motors 242 and 342, respectively, on the tip side thereof. The first working arm 21 and the second working arm 31 can mow the grass at the first cutting blade portion 24 and the second cutting blade portion 34 while being in contact with the obstacle W existing on the work surface.
When the second work arm 31 is provided separately from the first work arm 21 and is rotatably provided around the swivel shaft 12 independently of the first work arm 21 and comes into contact with the obstacle W. It is arranged so as to face the first working arm 21 with the obstacle W interposed therebetween.

The first working arm 21 includes an operating means (actuator, cylinder) 14 which is an operating means for driving the rotation of the first working arm 21.
The operating means 14 includes an actuator and a hydraulic cylinder in this embodiment. The operating means 14 is attached to the base member 11. In the first embodiment, the operating means 14 is attached to the rear portion of the second base member 112. 141 is a rod provided at the tip of the operating means 14. The rod 141 expands and contracts by the operating means 14 which is a hydraulic cylinder. The operating means 14 turns and drives the first working arm 21.

The operating means (actuator, cylinder) 14 expands and contracts the rod 141 to rotate the first working arm 21 via the first metal fitting 16 and the second metal fitting 17.
Since the first work arm 21 is provided so as to be able to swivel around the swivel shaft 12, the swivel operation is possible by coming into contact with the obstacle W existing on the work surface.

The stopper 15 provided in the second work arm 31 regulates the rotation of the second work arm 31 in contact with the first work arm 21 which is rotationally driven by the operating means 14.
The stopper 15 can stably maintain the positions of the first work arm 21 and the second work arm 31 in the acceptable posture, and the operator can properly position the contact position between the obstacle W and the second work arm 31. It is easy to adjust to.
The stopper 15 can come into contact with the second base member 112 (11) and restricts rotation. As shown in FIGS. 1, 4, 5 to 8, the stopper 15 abuts on the front end portion of the second base member 112 (11), and the second working arm 31 separates from the first working arm 21. Since the movement to the traveling machine T side, which is the direction to be planned, is restricted, the acceptable posture can be maintained.

The operation of the operating means 14 that expands and contracts by the hydraulic cylinder by the rod 141 restricts the operation of the first working arm 21 and the second working arm 31 within a movable range until it is regulated by the stopper 15.
Since the stopper 15 keeps the opening angle between the first work arm 21 and the second work arm 31 at an acute angle in the acceptable posture and the acceptable posture, the work area of the mowing device A does not unnecessarily expand and is smooth. You can mow the grass.

Reference numeral 23 is a contact portion. The contact portion 23 is provided between the swivel shaft 12 of the first working arm 21 and the first cutting blade portion 24 which is a working portion. The contact portion 23 is provided in a concave shape. The obstacle W that has reached the contact portion 23 rotates the first working arm 21 to the rear side by pressing the contact portion 23.
Reference numeral 24 is a first cutting blade portion. The first cutting blade portion 24 is a cutting blade, a cutting blade portion, or a working portion. The first cutting blade portion 24 is attached to the lower part of the first working arm 21. The first working arm 21 has one or more cutting blade portions at the lower portion.

The second working arm 31 has one or more cutting blades at the bottom. In this embodiment, the second cutting blade portion 34 is provided in the lower part of the second working arm 31. The second cutting blade portion 34 is provided near the swivel shaft 12 of the second working arm 31.
The second cutting blade portion 34 is a cutting blade, a cutting blade portion, or a working portion.

The first working arm 21 and the second working arm 31 are attached to the second base member 112 (11) so as to be able to swivel in the horizontal direction about the swivel shaft 12, and the first cutting blade portion 24 and the second cutting blade portion 24 are attached. 34 is horizontally movable.
Therefore, while sandwiching the obstacle W inside the first working arm 21 and the second working arm 31 facing each other, the grass around the entire circumference of the obstacle W is formed by the first cutting blade portion 24 and the second cutting blade portion 34. Mow.

The second work arm 31 may be provided with a second work arm guide portion. The second work arm guide portion is provided on the lower surface of the side along the first work arm 21 side from the tip end portion of the second work arm 31. The sides are reinforced because they come into contact with the obstacle W. The second work arm guide portion is provided so as to face the first work arm guide portion 26 provided on the first work arm 21 side.
The second working arm guide portion is tilted rearward with respect to the traveling direction toward the first working arm 21 side to guide the obstacle W to the contact portion 23.
The first working arm 21 and the second working arm 31 are mounted on top of each other by the swivel shaft 12 which is the mounting end. Therefore, the first work arm guide portion attached to the first work arm 21 and the second work arm guide portion attached to the second work arm are arranged vertically.

241 and 341 are cutting blades, respectively. Four cutting blades 241 are provided on the rotating shaft of the first cutting blade portion 24, and four cutting blades 341 are provided on the rotating shaft of the second cutting blade portion 34 at equal intervals. The number of cutting blades 241, 341 included in the first cutting blade portion 24 and the second cutting blade portion 34 is not limited.
As shown in FIGS. 1 and 2, the cutting blades 241 and cutting blades 341 provided on the first cutting blade portion 24 and the second cutting blade portion 34 when viewed from the traveling direction rotate in the horizontal direction.

242 and 342 are hydraulic motors. The hydraulic motor 242 is attached on the rotation center axis of the first cutting blade portion 24 of the motor base included in the first working arm 21.
The hydraulic motor 342 is provided on the rotation center axis of the second cutting blade portion 34 of the motor base included in the second working arm 31, respectively.
The hydraulic motor 242 and the hydraulic motor 342 rotate the cutting blade 241 and the cutting blade 341 provided in the first cutting blade portion 24 and the second cutting blade portion 34, respectively.

Reference numeral 5 is a detection unit. The detection unit 5 is provided close to the first cutting blade portion 24, which is a working portion, and is positioned so as to project to the side of the first cutting blade portion 24, which is a working portion, as shown in FIG. 1 and below. It is possible to detect an obstacle by causing the side portion to come into contact with the obstacle W.
Reference numeral 51 is a sensor arm. The sensor arm 51 is provided in the detection unit 5. The sensor arm 51 is a contact sensor and is provided along the front outer periphery of the first working arm 21.

The sensor arm 51 includes a first sensor arm 511 and a second sensor arm 512. The first sensor arm 511 and the second sensor arm 512 that constitute the detection unit 5 are provided so as to be horizontally rotatable.
As shown in FIGS. 1, 4, 8, 10, and 11, one end of the first sensor arm 511 is attached to the outside of the first working arm 21 on the left side in the traveling direction. One end of the second sensor arm 512 is attached to the inside of the first working arm 21 on the side through which the obstacle W passes from the attachment end of the first sensor arm to the first working arm 21.

The first sensor arm 511 and the second sensor arm 512 are partially overlapped with each other. The first sensor arm 511 is a rotation fulcrum shaft 511a provided at the outer end portion on the left side in the traveling direction, and the second sensor arm 512 is provided with a rotation fulcrum shaft 512a provided at the outer end portion on the left side in the traveling direction. It is rotatable in the horizontal direction.
As shown in FIG. 1, the first sensor arm 511 and the second sensor arm 512, which are the sensor arms 51 in a state where the obstacle W is not detected, are outward from the first cutting blade portion 24, which is a working portion, in a plan view. It is in a protruding state.

By forming the sensor arm 51 of the detection unit 5 with a plurality of the first sensor arm 511 and the second sensor arm 512, the tip portion and the working unit separated from the rotation fulcrum shaft 511a of the first sensor arm 511. It is possible to improve the detection accuracy while keeping the distance from the cutting blade portion 24 within a certain range.
Since the tip of the sensor arm 51 can be kept within a certain distance from the first cutting blade portion 24 which is the working part, it is possible to detect an obstacle within a certain distance from the first cutting blade part 24 which is the working part. can.

The switch 52 is provided in the detection unit 5 so as to be able to contact the contact piece 53 provided in the vicinity of the rotation fulcrum shaft 511a of the first sensor arm 511.
When the switch 52 comes into contact with the contact piece 53, it is possible to generate a signal as to whether or not the sensor arm 51 has rotated.
The contact piece 53 included in the sensor arm 51 is made of a so-called cam piece. The contact piece 53, together with the first sensor arm 511, is rotatable and can come into contact with the switch 52.

54 is an urging body. The urging body 54 is provided in the detection unit 5. The urging body 54 urges the sensor arm 51 toward the side outside the radial direction with respect to the rotation axis of the first cutting blade portion 24, which is a working portion.
Reference numeral 55 is a connecting portion. The connecting portion 55 includes a sliding portion 551 and a pin 552. The sliding portion 551 is formed in a long hole shape in the first sensor arm 511, which is one of the sensor arms.

The connecting portion 55 connects one end of the first sensor arm 511, which is the sensor arm 51, to the intermediate portion of the second sensor arm 512. The connecting portion 55 connects one end of the first sensor arm 511 and the intermediate portion of the second sensor arm 512.
The pin 552 is provided on the second sensor arm 512, which is the other sensor arm, so as to project toward the sliding portion 551, and is fitted to the sliding portion 551. The pin 552 is slidable with respect to the sliding portion 551 within the range of the elongated hole provided in the sliding portion 551.

The sliding portion 551 has a long hole shape and is provided on the first sensor arm 511. The sliding portion 551 is provided so as to be farther from the rotation fulcrum shaft 511a of the first sensor arm 511 toward the major axis direction. The pin 552 provided on the second sensor arm 512, which is another sensor arm, can interlock the rotation of the sensor arms 511 and 512 with each other by sliding on the inner circumference of the elongated hole of the sliding portion 551. .. The shape of the sliding portion 551 and the positions of the sliding portion 551 and the pin 552 can be freely set in consideration of the detection sensitivity, the shape of the first cutting blade portion 24 which is the working portion, and the like.

56 is a curved portion. The curved portion 56 is formed on the sensor arm 51 so as to be curved along the first cutting blade portion 24 which is a working portion.
The outer side surface of the curved portion 56 is provided so that the detection portion 5 is positioned so as to substantially coincide with the outer peripheral edge of the side surface of the first cutting blade portion 24, which is a working portion, in a plan view in a detection state. Alternatively, it is provided so as to be located inside the outer peripheral edge of the side surface of the first cutting blade portion 24 which is a working portion.

Since the tip of the first working arm 21 in the plan view is provided so as to cover the first cutting blade portion 24, the first cutting blade portion 24 does not protrude from the first working arm 21, and the obstacle W The first cutting blade portion 24 does not come into contact with the surface. In the case of the embodiment, since the tip portion of the first working arm 21 is curved in an arc shape, the outer peripheral edge of the first working arm 21 rotates while in contact with the obstacle W, so that the obstacle W is smoothly smoothed. Can be guided to the contact portion 23.

When the obstacle W is in contact with and pressed against the sensor arm 51, it coincides with the outer peripheral edge of the first working arm 21 or is located inside the outer peripheral edge of the side surface of the first cutting blade portion 24 which is a working portion. That is, the first cutting blade portion 24 can work at a position as close as possible to the obstacle W. Further, when the obstacle W sandwiched between the first working arm 21 and the second working arm 31 and heading toward the contact portion 23 passes by the side of the first cutting blade portion 24 which is the working portion, the sensor in the detection state. Since the arm 51 does not protrude laterally from the working portion, it does not hinder the approach of the working portion to the obstacle W as much as possible. Therefore, the grass that grows around the obstacle W can be mowed as close as possible to the obstacle W without the sensor arm 51 interfering with the obstacle W.

In the first working arm 21 of the first embodiment, when the obstacle W toward the contact portion 23 passes by the side of the first cutting blade portion 24 which is the working portion, it is the first that the obstacle W comes into contact with the obstacle W. Only one working arm 21, or the first working arm 21 and the sensor arm 51. Therefore, the obstacle W can be guided to the contact portion 23 along the outer circumference of the first working arm 21.

Since the horizontally rotating sensor arm 51 is provided with a curved portion 34, the sensor arm 51 can be arranged along the curved portion even when the outer peripheral edge of the first working arm 21 to which the sensor arm 51 is attached is curved. .. Further, since the sensor arm 51 can be arranged so as to be substantially aligned with the edge of the first cutting blade portion 24 which is the working portion in the plan view of the detection state, the sensor arm 51 can be arranged from the first cutting blade portion 24 which is the working portion. It does not protrude in the direction of the obstacle W, and it is possible to prevent an excessive pressing force from being applied to the sensor arm 51 and the obstacle W.
At the tip of the sensor arm 51 composed of a plurality of sensor arms, which is separated from the rotation fulcrum, the tip does not protrude significantly to the outside as compared with the case where the sensor arm 51 is composed of only one sensor arm, so that the installation location can be small. Space can be used effectively and parts can be arranged properly.

When the obstacle W comes into contact with the sensor arm 51, the sensor arm 51 rotates backward. Then, the switch installed behind the sensor arm 51 is pushed through the contact piece to put the switch on.
In this embodiment, the sensor arm 51 is provided along the front outer periphery of the first work arm 21, but the sensor arm 51 may be provided along the front outer periphery of the second work arm 31 to perform the same operation. ..

The sensor arm 51 of the detection unit 5 is composed of a plurality of first sensor arms 511 and second sensor arms 512. However, since the first sensor arm 511 and the second sensor arm 512, which are the sensor arms 51 of each other, have a connected structure, only one switch for emitting a signal needs to be arranged. Therefore, the wiring and circuit for sending the signal and the internal program of the control unit for processing the signal can be simplified.
Further, by connecting the plurality of sensor arms 51, the moving distance related to the rotation of the tip portion of the sensor arm can be shortened. When the obstacle W touches and presses and each sensor arm 51 rotates, the variation in the detection accuracy of the switch caused by the difference in the distance from each rotation fulcrum portion 511a, 512a to the position where the obstacle W is pressed can be seen. It can be made as small as possible, improving the certainty of detecting the obstacle W.

The rotation of the first sensor arm 511 is transmitted in conjunction with the second sensor arm 512, which is another sensor arm, via the connecting portion 55, and the second sensor arm 512, which is another sensor arm, is similarly transmitted. Rotate in the same direction. When the obstacle W presses against the second sensor arm 512, which is another sensor arm, and the second sensor arm 512 rotates, the second sensor, which is another sensor arm, is passed through the connecting portion 55. The rotation of the arm 512 is transmitted to the first sensor arm 511, and the first sensor arm 511 also rotates in the same direction to operate the switch.

The rotation of each sensor arm 51 (first sensor arm 511, second sensor arm 512) rotates in the horizontal direction, and a plurality of sensor arms 51 (first sensor arm 511, second sensor arm 512) are arranged so as to overlap each other while overlapping a part of each other in the horizontal direction. Since there are no horizontal gaps or steps between the sensor arms 51 (first sensor arm 511, second sensor arm 512), the obstacle W is not caught or caught.
This point is important because the first embodiment of the present invention works while the obstacle W slides horizontally with respect to the sensor arm 51.

In order to turn the first work arm 21 and the second work arm 31 from the acceptable posture to the ejectable posture or from the ejectable posture to the acceptable posture, the rod 141 of the operating means 14 is expanded and contracted. A sensor arm 51 is used to control the operation of the rod 141.
By expanding and contracting the rod 141 of the operating means 14, the first working arm 21 and thus the second working arm 31 are rotated around the obstacle W to prevent damage due to the arm collision with the obstacle W.
The sensor arm 51 is a sensing mechanism for the device side to actively turn with respect to the obstacle W.

The operation of the mowing device A will be described. As shown in FIGS. 1 to 9, the mowing device A is pushed or pulled forward by the traveling machine T in the traveling direction to mow the mowing. Obstacle W may be present during the work.
Since the first elastic body 41 urges the second working arm 31 in the direction toward the first working arm 21, the first working arm 21 and the second working arm 31 are in close proximity to each other, and the tip portion between them is located. Is closed. Further, the tip of the first working arm 21 is directed forward by the operating hand 14. At the same time, since the second working arm 31 is pushed by the first working arm 21, it is directed forward against the urging force of the second elastic body 42. Therefore, the first working arm 21 and the second working arm 31 are in an acceptable posture.

In a normal mowing operation state, as shown in FIGS. 1 and 4, the first elastic body 41 that urges the second working arm 31 toward the first working arm 21 is extended. At this time, the rod 141 of the operating means 14 is in an extended state.
The sensor arm 51 (first sensor arm 511, second sensor arm 512) is not in contact with the obstacle W and does not detect the obstacle W.
The first work arm 21, the second work arm 31, and the sensor arm 51 take such a state and are in an acceptable posture, and the traveling machine body T moves the mowing device A forward in the traveling direction.

In the mowing device A, when there is an obstacle W in progress, the obstacle W comes into contact with the second working arm 31 as shown in FIGS. 4 to 8.

In FIG. 4, which is a plan view of the grass cutting device A according to the first embodiment of the present invention, the parallel link mechanism B is in a normal state, and represents the moment when the obstacle W and the second working arm 31 come into contact with each other. The obstacle W is in contact with an improper position. In the case of the first embodiment illustrated in FIG. 4, the obstacle W is arranged on the hydraulic motor 242 arranged on the cutting blade 241 rotation axis of the first working arm 21 and on the cutting blade 341 rotation axis of the second working arm 31. It shows a state in which the hydraulic motor 342 is in contact with the tip of the second working arm 31.

When the traveling machine T travels while maintaining the traveling speed from the state shown in FIG. 4, the state shown in FIG. 5 which is a plan view of the grass cutting device according to the first embodiment of the present invention is obtained. FIG. 5 shows a state in which the obstacle W and the second working arm 31 come into contact with each other, and then the parallel link mechanism B moves in parallel and shifts to the retracted state.
In the parallel link mechanism B, when the obstacle W presses the second working arm 31 toward the relative rear side, the second base member 112 (11) side moves rearward in the traveling direction and moves from the deployed state to the retracted state. Moving. Due to the operation of the parallel link mechanism B accompanying the contact of the obstacle W, the second working arm 31 passively moves to one side in the left-right direction relative to the obstacle W, and the obstacle W moves to the first working arm. It is located between 21 and the second working arm 31.

As shown in FIG. 5, since the traveling machine T keeps the traveling speed, the first base member 111 (11) continues to move forward together with the traveling machine T. The other end of the parallel link mechanism B, together with the second base member 112 (11), moves in parallel to the first base member 111 (11) in the rearward and inward directions in the row direction, while the first working arm 21, The obstacle W is positioned at a position substantially in the middle of the second working arm 31.
Since the first elastic body 41 is constantly urging the second base member 112 (11) in the direction of advancing and returning to the leftward deployment position, the obstacle W is the first working arm 21 or the second working. It can be brought into contact with the arm 31, and the cutting blade 241 and the cutting blade 341 can cut the plants around the obstacle W.
The obstacle W comes into contact with the first working arm 21, and the obstacle W contacts and senses the sensor arm 51, so that the sensor arm 51 rotates backward. The switch 52 installed behind the sensor arm 51 is pushed to put the switch on.

When the switch 52 is turned on, the solenoid valve of the hydraulic control valve of the operating means 14 is operated to shorten the rod 141 of the operating means 14. Hereinafter, the sensor arm 51 is used to control a series of operations until the rod 141 is shortened.

When the traveling machine T travels while maintaining the traveling speed from the state shown in FIG. 5, the state shown in FIG. 6 is obtained.
In the state shown by the solid line in FIG. 6, the first working arm 21 is opened outward by the pressing of the obstacle W by the progress of the traveling machine T, and the obstacle W is the first working arm 21 and the second working arm 31. It will be in a state of being located in between. The obstacle W represented by the alternate long and short dash line in FIG. 6 is a position where the traveling machine T advances and further moves relative to each other. The first working arm 21 represented by the two-dot chain line in FIG. 6 is the original position of the first working arm 21, which is the position of the acceptable posture.

When the obstacle W enters between the first working arm 21 and the second working arm 31, the obstacle W turns on the switch 52 and shortens the rod 141 of the operating means 14. Then, as shown by the solid line from the state shown by the two-dot chain line in FIG. 6, the first working arm 21 swivels in a direction away from the second working arm 21 with the swivel shaft 12 as the swivel center.
At this time, since the second elastic body 42 performs a shortening operation, the repulsive force is further increased as compared with the case of the acceptable posture. As shown in FIG. 6, when the obstacle W moves relative to the vicinity of the contact portion 23, the second working arm 31 swivels to the side of the first working arm 21 shown by the solid line by the second elastic body 42.
By shortening the rod 141 of the operating means 14, the first working arm 21 and the second working arm 31 connected to the first working arm 21 are rotated around the obstacle W, and the arm collides with the obstacle W. Prevent damage.

As shown in FIG. 6, in the second elastic body 42, the obstacle W is brought into contact between the first working arm 21 and the second working arm 31, so that the cutting blade 241 and the cutting blade 341 are around the obstacle W. You can mow the position as close as possible.
While the obstacle W is passing between the cutting blade 241 and the cutting blade 341 of the first working arm 21 and the second working arm 31, the first elastic body 41 obstructs the first working arm 21 and the second working arm 31. Push forward with respect to the object W. By urging the first elastic body 41 toward the deployment position side and continuing the progress of the traveling machine body T in the traveling direction, the obstacle W can be efficiently sent to the contact portion 23 or the vicinity of the turning shaft 12.
After that, the obstacle W is relatively moved to the turning shaft 12 side, which is the rotation fulcrum of the first working arm 21 and the second working arm 31.

As shown in FIG. 6, the mowing device A further advances with the obstacle W sandwiched between the first working arm 21 and the second working arm 31. Then, the obstacle W comes into contact with the contact portion 23 and the sensor arm 51 (first sensor arm 511, second sensor arm 512). At the same time, the obstacle W continues to move toward the swivel shaft 12 and then presses the contact portion 23. By pressing the sensor arm 51, the switch 52 is switched on, and the first working arm 21 rotates about the swivel shaft 12 as the center of rotation. The second working arm 31 connected to the first working arm 21 can also rotate in conjunction with the first working arm 21 due to the increased repulsive force of the second elastic body 42.

The traveling machine T and the mowing device A proceed further. When the rod 141 of the operating means 14 further contracts with the progress of the traveling machine body T, the first working arm 21 further rotates to the rear side with the turning shaft 12 as the center of rotation.
Since the second work arm 31 is connected to the first work arm 21 that can be swiveled, it swivels in conjunction with the first work arm 21. Further, the second working arm 31 is rotatable separately from the first working arm 21, but is urged toward the first working arm 21 by the second elastic body 42, so that the obstacle W is swiveled by the swivel shaft 12. And, it turns while sandwiching it near the contact portion 23.
Then, the tips of the first working arm 21 and the second working arm 31 of the mowing device A in contact with the obstacle W face the rear side.

When the traveling machine T travels while maintaining the traveling speed from the state shown in FIG. 6, the state shown in FIG. 7 is obtained. The solid line shown in FIG. 7 is the unfolding position in which the parallel link mechanism B is completely restored to the unfolding side, and the first working arm 21 and the second working arm 31 show the dischargeable posture. The first working arm 21 and the second working arm 31, which are represented by a two-dot chain line in FIG. 7, represent an acceptable posture.

As shown by the solid line in FIG. 7, the obstacle W relatively leaves the contact portion 23 facing the rear side as the traveling machine T advances, and the first working arm 21 and the second working arm 21 facing the rear side. Toward the tip of the work arm 31.
The first elastic body 41 is sandwiched between the first working arm 21 and the second working arm 31, and passively operates according to the relative position of the obstacle W located near the swivel shaft 12 and the contact portion 23. It expands and contracts by the operation of the parallel link mechanism B. The ejectable posture is illustrated assuming that the parallel link mechanism B is in the unfolded position as shown in FIG. 7, but the parallel link mechanism B is not always in the unfolded position. That is, it is possible to form a dischargeable posture regardless of the position of the parallel link mechanism B.

In the dischargeable posture, the obstacle W separates from the first working arm 21 and the second working arm 31 as the traveling machine T advances. At the time of withdrawal, the obstacle W pushes away the second working arm 31 and moves relative to the rear side. Since the second working arm 31 is urged by the second elastic body 42, after the obstacle W pushes away the second working arm 31, it rotates again toward the first working arm 21.

When the obstacle W separates from the first working arm 21 and the second working arm 31, the sensor arm 51 does not come into contact with the obstacle W and therefore does not detect the obstacle W.
When the sensor arm 51 no longer detects the obstacle W, the switch 52 is turned off and the rod 141 of the operating means 14 is extended. Then, the first working arm 21 returns to the original position with the tip end facing forward.
The second working arm 31 is the elastic force of the second elastic body 42, and the second working arm 21 also moves along with the first working arm 21 that rotates and moves.

FIG. 8 shows the retracted position when the parallel link mechanism B is completely retracted. In the completely retracted state (retracted state) in which the parallel link mechanism B is fixed by the fixing tool 43, the movement of the parallel link mechanism B is restricted by the fixing tool 43, so that the parallel link mechanism B does not return to the deployed position.

In the first embodiment of the present invention, the swivel shaft 12 which is the rotation fulcrum shaft of the first work arm 21 and the second work arm 31 may be the same shaft.
In the present invention, the first working arm 21 is swiveled according to the expansion and contraction of the rod 141.
The second working arm 31 is attached to the first working arm 21 and swivels while being buffered by the second elastic body 42.
As shown in FIG. 4, the parallel link mechanism B has been described as being movable when the obstacle W comes into contact with the second working arm 31, but the parallel link mechanism B is movable even if the obstacle W comes into contact with the first working arm. Is movable as well.
The alignment of the first working arm 21 and the second working arm 31 with respect to the obstacle W in the traveling direction to the left and right is performed by translation by the parallel link mechanism B accompanying the contact with the first working arm 21 and the second working arm 31. It is done passively.

The front side of the contact portion 23 of the first embodiment of the present invention can form a closed portion C in which the first working arm 21 and the second working arm 31 are closed and closed.
By expanding and contracting the rod 141 of the operating means 14 while advancing the traveling machine body T, the first working arm 21 and thus the second working arm 31 are rotated around the obstacle W located in the closed portion C, and the obstacle W is rotated. Prevents damage due to arm collision with.
In the embodiment described, the sensor arm 51 is composed of two sensor arms 511 and a second sensor arm 512, but three or more sensor arms may be further connected to each other. In this case, since the moving distance related to the rotation of the tip of each sensor arm can be shortened, further improvement in the detection accuracy of the switch can be expected.

In the first embodiment of the present invention, the mowing device A located at the tip of the boom device U is independently horizontally moved (or translated with respect to the work surface) by the parallel link mechanism B provided in the mowing device A. And align it to the proper position. As a result, the mowing device performs the positioning independently and passively without operating the boom device U, which is the telescopic means, so that the burden on the operator is reduced and the labor is reduced.

In the first embodiment of the present invention, since the drive device for aligning the working portion with respect to the obstacle W can be omitted by the parallel link mechanism B, the structure related to the alignment can be simplified and the drive device and the like can be simplified. Weight can be reduced. As a result, the weight of the entire mowing device can be reduced, so that the weight balance of the vehicle can be kept good, especially when it is connected to the telescopic means and further mounted on the vehicle.

In the mowing device according to the second embodiment of the present invention illustrated in FIG. 10, 32 is a guide member. The guide member 32 is provided on the second working arm 31. The guide member 32 can move the obstacle W relative to the first working arm 21 side.
In the second embodiment showing the plan view in FIG. 10, even if the obstacle W is located at a position largely deviated to the right from the work arm (first work arm 21, second work arm 31) by the guide member 32, the obstacle W is obstructed. An object can be guided between the first working arm 21 and the second working arm 31.

Since the guide member 32 provided on the second work arm 31 protrudes in front of the second work arm 31, the first work arm W is previously subjected to the first step with respect to the obstacle W before the obstacle W is located near the second work arm. The work arm 21 and the second work arm 31 are brought into proper positions. The guide member 32 can reliably align the left and right sides. The front end portion of the guide member 32 shown in FIG. 10 is projected toward the side of the traveling machine body T side, which is outside from the rotation center axis of the second cutting blade portion 34, which is a working portion. The amount of protrusion to the side is not limited and can be freely set as needed. Further, the guide member 32 may be provided at the front end portion of the first work arm 21.

In the third embodiment illustrated in FIG. 11, 13D is a right arm and 13C is a left arm. In the third embodiment, since it can swing greatly to the left and right, the entry range of the obstacle W can be widened. Further, by combining the guide member 32 of the second embodiment, the approach range of the obstacle W can be further increased.

As in the second embodiment, the parallel link mechanism B is tilted outward in the width direction in the traveling direction (backward diagonal 45-degree angle to 25-degree angle) with respect to the first base member 111 (11) toward the rear. When arranged, the first working arm 21 and the second working arm 31 can be largely translated to the left and right. As a result, even if the obstacle W is largely displaced in the left-right direction, the obstacle W can be reliably moved in parallel so as to be in an appropriate position.

11 Base member 111 First base member 112 Second base member 12 Swing shaft 13 Arm 13A Front arm 13B Rear arm 14 Operating means (actuator, cylinder)
15 Stopper 21 First working arm 22 Swivel regulation means guide (swivel regulation means)
23 Contact part 24 First cutting blade part (cutting blade, cutting blade part, working part)
31 Second work arm 32 Swivel regulation protrusion (swivel regulation means)
34 Second cutting blade (cutting blade, cutting blade, working part)
41 1st elastic body 42 2nd elastic body 5 Detection unit 51 Sensor arm 511 1st sensor arm 511a Rotating fulcrum shaft of 1st sensor arm 512 2nd sensor arm 512a Rotating fulcrum shaft of 2nd sensor arm 52 Switch 53 Contact piece 54 Biasing body 55 Connecting part 551 Sliding part 552 Pin 56 Curved part 61 Connecting part A Mowing device S Working machine T Traveling machine W Obstacle

Claims (6)

The first base member and
A parallel link mechanism that is rotatably provided on one end side of the first base member and can rotate in a direction parallel to the work surface.
A second base member provided on the other end side of the parallel link mechanism and horizontally movable with respect to the first base member via the parallel link mechanism.
A swivel shaft provided on the second base member and oriented in a direction intersecting the work surface,
A first work arm that is provided with a swivel shaft so as to be swivelable and can come into contact with an obstacle existing on the work surface.
The first working arm is provided separately from the first working arm and is rotatably provided around the swivel shaft independently of the first working arm, and when it comes into contact with an obstacle, the obstacle is sandwiched between the first working arm. The first work arm and the second work arm arranged opposite to each other,
A mowing device characterized by being equipped with. The parallel link mechanism includes a front arm on the side close to the obstacle and a rear arm on the side away from the obstacle when the working arm comes into contact with the obstacle, and the swivel shaft is attached to the second base member. A mowing device in which the mounting position of the front arm is closer than the mounting position of the rear arm to be mounted on the second base member. The parallel link mechanism has a first elastic body that can change its position between a deployed position and a retracted position and constantly urges the second base member toward the deployed position side with respect to the first base member.
The mowing device according to claim 1, further comprising. The first working arm includes an actuator that drives the rotation of the first working arm.
The second working arm is bridged and connected to the first working arm and the second working arm, and has a second elastic body that constantly urges the second working arm to the side that rotates toward the first working arm. ,
A stopper that can come into contact with the second base member and regulate rotation,
The mowing device according to claim 1 or 2, further comprising. The parallel link mechanism includes a fixture capable of preventing the parallel link mechanism from moving to the unfolded position side at the retracted position.
The mowing device according to claim 2 or 3, further comprising. The second working arm includes a guide member capable of relatively moving an obstacle toward the first arm side.
The mowing device according to any one of claims 1 to 4, further comprising.

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