JP6193115B2 - Traveling vehicle - Google Patents

Description

  The present invention relates to a technology of a traveling vehicle that independently drives a pair of left and right drive wheels.

  Conventionally, the technique of the traveling vehicle which drives a left-right paired drive wheel each independently is known. For example, as described in Patent Document 1.

  Patent Document 1 describes a traveling vehicle that includes a traveling machine body that is supported by a pair of left and right drive wheels and a pair of left and right motors that independently drive the pair of left and right drive wheels.

  Further, as a technique for operating the traveling vehicle, a technique as described in Patent Document 2 is known. Patent Document 2 describes a traveling vehicle including a pair of left and right operation levers. By operating the pair of left and right control levers, the pair of left and right drive wheels can be driven independently of each other. In such a traveling vehicle, the traveling vehicle can be caused to travel in an arbitrary direction by rotating the pair of left and right operation levers in the front-rear direction.

  Specifically, the traveling vehicle can be moved straight by turning the pair of left and right operation levers by the same amount. Further, the traveling vehicle can be steered left or right by rotating the pair of left and right operation levers by different amounts. The steering angle at this time is determined based on the difference in the rotation amount of the pair of left and right operation levers.

  However, in such a traveling vehicle, since the steering angle of the traveling vehicle is determined by the difference in the amount of rotation of the left and right operation levers, it is necessary for the operator to get used to steering the traveling vehicle in a desired direction. There was room for improvement in operability.

  Accordingly, a configuration is conceivable in which a handle that can be swung to the left and right is provided and the traveling vehicle is driven (for example, steered) based on the operation of the operation handle. However, in the case of providing a swingable handle in this way, the tilt angle of the handle changes depending on the position of the swing fulcrum of the handle, and the operability may be deteriorated in some cases.

US Pat. No. 8,240,414 US Pat. No. 8,262,104

  The present invention has been made in view of the above circumstances, and a problem to be solved is to provide a traveling vehicle having excellent operability in a traveling vehicle in which a pair of left and right drive wheels are independently driven. That is.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1, a traveling machine body supported by a pair of left and right drive wheels, a pair of left and right motors connected to the pair of left and right drive wheels, respectively, and independently driving the pair of left and right drive wheels, A boarding part that is disposed behind the traveling machine body and is connected to the traveling machine body so that an operator can board the board and a gripping part that can be gripped by the operator who boarded the boarding part by hand. In addition, a handle connected to the traveling machine body so as to be able to swing left and right, a swing operation detection sensor for detecting a swing operation amount of the handle to the left and right, and a detection value by the swing operation detection sensor. And a control unit that controls the operation of the pair of left and right motors, the swing fulcrum of the handle from the footrest surface on which a foot rests when an operator rides on the riding portion. Up to The pair of left and right motors is located at a position that is less than half the height of the footrest surface and overlaps with the pair of left and right drive wheels in a side view. The footrest surface is disposed at a position lower than the axle of the pair of left and right drive wheels .

According to a second aspect of the present invention, the vehicle further includes a driving unit that is provided in the traveling machine body and generates power for driving the pair of left and right drive wheels and transmits the power to the pair of left and right drive wheels. The driving portion is disposed below the swing fulcrum .

According to a third aspect of the present invention, the driving unit includes at least one of the motor, the control unit, and a battery that supplies electric power to the motor .

  As effects of the present invention, the following effects can be obtained.

In the present invention , a traveling vehicle having excellent operability can be provided as a traveling vehicle that independently drives a pair of left and right drive wheels. That is, the difference between the left / right inclination angle of the handle and the right / left inclination angle of the operator's posture when the handle is swung can be reduced. As a result, the operator can operate the handle without feeling uncomfortable. In addition, since the swing fulcrum of the handle is provided at a position higher than at least the footrest surface of the riding section, a space for arranging another member below the swing fulcrum can be secured.

Further, in the present invention , the traveling machine body can be made compact, and as a result, the entire traveling vehicle can be made compact. Further, by reducing the size of the traveling machine body, it is possible to stabilize the posture of the entire traveling vehicle.

Further, in the present invention , in a work vehicle that travels using electric power, the traveling machine body can be made compact, and as a result, the entire traveling vehicle can be made compact.

Moreover, in this invention , the space for arrange | positioning another member under a rocking | fluctuation fulcrum can be ensured reliably.

The side view which showed a mode that the operator boarded the traveling vehicle which concerns on 1st embodiment of this invention. Similarly, the side view of a traveling vehicle. Similarly, a rear view. Similarly, a rear perspective view. Similarly, a plan view. The side view which showed the traveling body and the boarding part. Similarly, a rear view. The disassembled perspective view which showed the body frame and the boarding part. The disassembled perspective view which showed the boarding part. Similarly, a plan view. The side view which showed the connection part of a steering wheel and a traveling body. Similarly, a rear view. The schematic diagram which showed the structure regarding control of a traveling vehicle. The rear view which showed the state which the operator rocked the handle to the left. (A) The side surface schematic diagram which showed the boarding part which concerns on 2nd embodiment. (B) The side surface schematic diagram which showed the boarding part which concerns on 3rd embodiment. (A) The side surface schematic diagram which showed the boarding part which concerns on 5th embodiment. (B) Similarly, a schematic back view. The side surface schematic diagram which showed the boarding part which concerns on 6th embodiment. The schematic diagram which showed the structure regarding control of the traveling vehicle which concerns on 7th embodiment. Similarly, the side view which showed the traveling body and the boarding part. The schematic diagram which showed the structure regarding control of the traveling vehicle which concerns on 8th embodiment. Similarly, the side view which showed the traveling body and the boarding part. The side view which showed the traveling vehicle which concerns on 9th embodiment.

  In the following, the direction of the arrow U shown in the figure is upward, the direction of arrow D is downward, the direction of arrow L is left, the direction of arrow R is right, the direction of arrow F is forward, and arrow B Each direction is defined as a backward direction for explanation.

  Below, the whole structure of the traveling vehicle 1 which concerns on one Embodiment (1st embodiment) of this invention is demonstrated using FIGS. 1-5.

  The traveling vehicle 1 is capable of performing a predetermined work while an operator gets on and travels. The traveling vehicle 1 mainly includes a traveling machine body 10, a driving unit 20, driving wheels 30L and driving wheels 30R, a riding unit 40, driven wheels 60L and driven wheels 60R, a handle 70, and a mower unit 90.

  The traveling machine body 10 is supported by a pair of left and right drive wheels 30L and 30R. The traveling machine body 10 is provided with a prime mover 20 for driving a pair of left and right drive wheels 30L and 30R. A riding part 40 on which an operator rides is connected to the rear part of the traveling machine body 10. A driven wheel 60L and a driven wheel 60R are provided at both left and right ends of the riding section 40, respectively. A handle 70 is connected to the upper part of the traveling machine body 10 so as to extend upward. A mower unit 90 which is a working device for lawn mowing is connected to the front portion of the traveling machine body 10.

  In the traveling vehicle 1 configured as described above, the operator can stably board the traveling vehicle 1 by getting on the riding section 40 and holding the handle 70 by hand. In addition, the operator can drive the traveling vehicle 1 arbitrarily by driving the pair of left and right drive wheels 30L and 30R independently by performing a predetermined operation. That is, the operator can move forward or backward while arbitrarily steering the traveling vehicle 1 left and right, and can turn on the spot. Further, the operator can perform the mowing work by driving the mower unit 90 by performing a predetermined operation.

  Below, the structure of each part of the traveling vehicle 1 is demonstrated.

  The traveling machine body 10 shown in FIGS. 1 and 2, FIGS. 4 to 8, and FIGS. 11 and 12 mainly includes a machine body frame 11 and a machine body cover 12.

  The body frame 11 shown in FIGS. 4 to 8 is a main structure of the traveling body 10. The body frame 11 mainly includes a lower frame 11a, a side frame 11b, a vertical frame 11c, an upper frame 11d, a front frame 11e, a handle support portion 11f, and a spring support plate 11g. The lower frame 11a, the side frame 11b, and the upper frame 11d are formed by appropriately bending a cylindrical member.

The lower frame 11 a forms the bottom of the body frame 11. The lower frame 11a is formed in a substantially rectangular shape in plan view. A flat plate 11j is fixed inside the lower frame 11a, and the bottom surface of the body frame 11 is formed by the flat plate 11j. A connection bracket 11h for connecting a riding section 40 described later is provided at the rear end of the lower frame 11a.
The side frame 11 b forms the left and right side portions of the body frame 11. The side frame 11b is formed in an inverted U shape when viewed from the side. One side frame 11b is disposed on each of the left and right sides, and is fixed to both left and right ends of the lower frame 11a.
Two vertical frames 11c are arranged on the left and right sides, and are fixed to the side frame 11b and the lower frame 11a so as to connect the upper end of the side frame 11b and the side of the lower frame 11a.
The upper frame 11d connects the left and right side frames 11b. The upper frame 11d is formed in an inverted U shape when viewed from the back (front view). The left and right end portions of the upper frame 11d are fixed to the upper portions of the left and right side frames 11b, respectively.
The front frame 11 e forms the front part of the body frame 11. One end of the front frame 11e is connected to the left and right center of the upper frame 11d. The other end of the front frame 11e extends forward and downward.

The handle support portion 11f shown in FIGS. 11 and 12 is a portion for supporting a handle 70 described later. The handle support part 11f is fixed to the lower part of the left and right center part of the upper frame 11d. A through hole is formed in the handle support portion 11f in the front-rear direction.
The spring support plate 11g is a rectangular plate member. The spring support plate 11g is fixed to the upper frame 11d so as to extend rearward from the left and right central portions of the upper frame 11d.

  The space surrounded by the machine body frame 11 configured in this manner is a storage space S for storing the constituent members of the driving unit 20 described later.

  The airframe cover 12 shown in FIGS. 1 and 2 is fixed to the airframe frame 11 so as to cover the accommodation space S of the airframe frame 11. The machine body cover 12 can cover the machine body frame 11 and a device (a driving unit 20 described later) provided on the machine body frame 11.

  The drive unit 20 shown in FIGS. 4, 6 and 7 is for generating power for driving the drive wheels 30L and 30R and transmitting the power to the drive wheels 30L and 30R. is there. The driving unit 20 mainly includes a battery 21, a left motor 22L and a right motor 22R, a left power transmission mechanism 23L, a right power transmission mechanism 23R, and a controller box 24.

  The battery 21 stores electric power for driving the traveling vehicle 1. The battery 21 is fixed on the lower frame 11 a of the body frame 11. The battery 21 is arranged in the lower part of the accommodation space S so as to extend from the front end portion to the rear end portion of the accommodation space S.

  The left motor 22L and the right motor 22R are an embodiment of the motor according to the present invention, and are power sources for independently driving the pair of left and right drive wheels 30L and 30R. The left motor 22L and the right motor 22R can generate rotational power using supplied electric power. The left motor 22L and the right motor 22R are arranged side by side in the accommodation space S. The left motor 22L and the right motor 22R are disposed just above the battery 21 and at a substantially central portion in the front and rear of the accommodation space S.

  The left power transmission mechanism 23L and the right power transmission mechanism 23R are an embodiment of the power transmission mechanism according to the present invention. After the power from the left motor 22L and the right motor 22R is appropriately decelerated, a pair of left and right drive wheels It is for transmitting to 30L and the drive wheel 30R, respectively. The left power transmission mechanism 23L is connected to the left motor 22L and fixed to the left side surface (vertical frame 11c) of the body frame 11. The right power transmission mechanism 23R is connected to the right motor 22R and is fixed to the right side surface (vertical frame 11c) of the body frame 11. The axle (output shaft) of the left power transmission mechanism 23L is coupled to the drive wheels 30L, and the axle of the right power transmission mechanism 23R is coupled to the drive wheels 30R. Since the axle of the left power transmission mechanism 23L and the axle of the right power transmission mechanism 23R are arranged on the same axis, the pair of left and right drive wheels 30L and 30R are arranged on the same axis.

The controller box 24 accommodates equipment for controlling the operation of the traveling vehicle 1 (specifically, a control unit 24a, a left inverter 24b, a right inverter 24c, a work inverter 24d, and the like described later). The controller box 24 is arranged in the upper part of the accommodation space S so as to extend from the front of the left motor 22L and the right motor 22R to the rear through the upper part.
The control unit 24a accommodated in the controller box 24 will be described later.

  The drive wheels 30L and the drive wheels 30R are for supporting the traveling machine body 10 and causing the traveling machine body 10 to travel by rotating. The driving wheel 30L and the driving wheel 30R support the traveling machine body 10 via the driving unit 20 (the left power transmission mechanism 23L and the right power transmission mechanism 23R).

  Here, in a side view (see FIG. 6), some of the constituent members of the prime mover 20 are disposed at positions overlapping the drive wheels 30L and the drive wheels 30R. Specifically, the left motor 22L, the right motor 22R, the left power transmission mechanism 23L, and the right power transmission mechanism 23R are all disposed at positions overlapping the drive wheels 30L and the drive wheels 30R. Thus, the traveling vehicle 1 can be made compact by disposing the constituent members of the prime mover 20 so as to overlap with the drive wheels 30L and the drive wheels 30R in a side view.

  The riding section 40 shown in FIGS. 7 to 10 is disposed behind the traveling machine body 10 and connected to the traveling machine body 10 so that an operator can board the boarding unit 40. The riding section 40 mainly includes a first member 41 and a second member 43.

  The first member 41 is a plate-like member. The first member 41 mainly includes a central portion 41a, a left side portion 41b, and a right side portion 41c.

  The central portion 41a is a portion formed in a rectangular shape in plan view. The left side portion 41b and the right side portion 41c are portions formed by bending the left end portion and the right end portion of the first member 41 so as to rise.

  On the bottom surface of the first member 41, a cylindrical connecting portion 41d having a longitudinal direction substantially in the front-rear direction is provided. The first member 41 is connected to the connection bracket 11h by the swing shaft 42 being rotatably inserted into the connection bracket 11h and the connection portion 41d of the body frame 11. The swing shaft 42 is arranged with its longitudinal direction substantially in the front-rear direction. The first member 41 can swing left and right with respect to the traveling machine body 10 about the swing shaft 42.

  The second member 43 is a plate-like member. The second member 43 is formed in a rectangular shape that is slightly smaller than the central portion 41a of the first member 41 in plan view. A partition portion 43 a is formed at the left and right central portion of the second member 43. The partition part 43a is a part formed so as to swell the left and right center part of the second member 43 across the front and rear. An opening 43b that connects the inside and the outside of the partition 43a is formed at the front end of the partition 43a. The upper surface of the second member 43 is partitioned left and right by the partition portion 43a. The left surface of the upper surface of the second member 43 partitioned in this way is defined as a left foot mounting surface 44L for mounting the operator's left foot. Similarly, the right surface of the upper surface of the second member 43 is defined as a right foot mounting surface 44R for mounting the operator's right foot. By forming the partition part 43a in the second member 43, it is possible to clearly distinguish the part on which the worker's left foot is placed and the part on which the right foot is placed. The second member 43 is disposed on the upper portion of the central portion 41 a of the first member 41.

  A plurality of load sensors (a left front load sensor 50a, a left rear load sensor 50b, a right front load sensor 50c, and a right rear load sensor 50d) are arranged between the first member 41 and the second member 43. . The plurality of load sensors are an embodiment of a weight shift detection sensor according to the present invention. Specifically, the second member 43 is placed on the plurality of load sensors arranged on the upper surface of the first member 41. The plurality of load sensors can detect a load applied to the second member 43 (specifically, a load by an operator who has boarded the second member 43).

The left front load sensor 50a is disposed near the front end of the left footrest surface 44L of the second member 43 in plan view.
The left rear load sensor 50b is disposed behind the left front load sensor 50a in the plan view and in the vicinity of the rear end portion of the left footrest surface 44L of the second member 43.
The right front load sensor 50c is disposed in the vicinity of the front end of the right foot rest surface 44R of the second member 43 (a position symmetrical to the left front load sensor 50a across the partition 43a) in plan view.
The right rear load sensor 50d is disposed in the vicinity of the rear end of the right foot rest surface 44R of the second member 43 (a position symmetrical to the left rear load sensor 50b across the partition 43a) in plan view.

  As described above, the left front load sensor 50a and the right front load sensor 50c, and the left rear load sensor 50b and the right rear load sensor 50d are arranged with their positions shifted in the front-rear direction. Further, the left front load sensor 50a and the left rear load sensor 50b, the right front load sensor 50c, and the right rear load sensor 50d are arranged with their positions shifted in the left-right direction.

  The wires 51 connected to the left front load sensor 50a, the left rear load sensor 50b, the right front load sensor 50c, and the right rear load sensor 50d are gathered to the left and right centers, and the space in the partition portion 43a of the second member 43 is passed through. Guided forward through. The wiring 51 is guided to the outside of the partition part 43a through the opening 43b and connected to the control part 24a described later.

  The driven wheel 60L and the driven wheel 60R support the riding section. The driven wheel 60L and the driven wheel 60R are provided below the left side 41b and the right side 41c of the first member 41, respectively. The driven wheel 60L and the driven wheel 60R are non-driving wheels, and can rotate while freely changing the direction according to the movement of the traveling vehicle 1.

  The handle 70 shown in FIGS. 2 to 4 and FIGS. 11 and 12 is an embodiment of the handle and holding portion according to the present invention, and is connected to the traveling machine body 10 so as to be able to swing left and right. Is. The handle 70 mainly includes a fulcrum shaft 71, a handle main body 72, a gripping portion 73, and a work switch 74.

  A fulcrum shaft 71 shown in FIGS. 11 and 12 serves as a swing fulcrum of the handle 70. The fulcrum shaft 71 is rotatably inserted into the through hole of the handle support portion 11f of the body frame 11 with the longitudinal direction thereof directed in the front-rear direction.

  The handle main body 72 shown in FIGS. 2 to 4 is a main structure of the handle 70. The handle main body 72 is provided so as to extend upward from the rear upper part of the traveling machine body 10.

  As shown in FIGS. 11 and 12, the vicinity of the lower end of the handle main body 72 is branched to the left and right, and is fixed to the rear end of the fulcrum shaft 71 through a pair of left and right spacers 72 a. As a result, the handle main body 72 is connected to the traveling machine body 10 so as to be able to swing left and right.

  Near the lower end of the handle main body 72 (above the fulcrum shaft 71), a pair of left and right left spring support plates 75L and a right spring support plate 75R are provided. The left spring support plate 75L and the right spring support plate 75R are arranged so as to sandwich the rear end portion of the spring support plate 11g of the body frame 11. A left spring 76L, which is a compression coil spring, is disposed between the left spring support plate 75L and the spring support plate 11g. A right spring 76R that is a compression coil spring is disposed between the right spring support plate 75R and the spring support plate 11g. The spring constants of the left spring 76L and the right spring 76R are preset so as to have the same value. The left spring 76L and the right spring 76R urge the handle main body 72 evenly left and right, so that the handle main body 72 is held in an upright state.

  The grip portion 73 shown in FIGS. 2 to 4 is a portion that can be gripped by the operator who has boarded the riding portion 40. The grip portion 73 is formed so as to extend from the upper end portion of the handle main body portion 72 toward the left and right. The height of the grip portion 73 (that is, the height of the upper end portion of the handle main body portion 72) is a height at which an operator who has boarded the riding portion 40 can easily grasp it by hand (for example, a height equivalent to the chest of the operator ( (See FIG. 1))).

  The work switch 74 is an operation tool for switching on / off of the operation of the mower unit 90 described later. The work switch 74 is provided in the middle of the handle main body 72 in the vertical direction.

  In the handle 70 configured as described above, the operator can swing the handle 70 (handle main body 72) to the left and right using the fulcrum shaft 71 as a swing fulcrum. At this time, the handle main body 72 is biased so as to return to an upright state by the left spring 76L and the right spring 76R (see FIG. 12), and as the amount of swing operation of the handle main body 72 increases, the handle main body 72 increases. The power also grows. As a result, the operator can easily return the swinging handle main body 72 to an upright state, and the operability of the handle 70 can be improved.

  Further, the fulcrum shaft 71 of the handle 70 is located above the driving unit 20 (the accommodation space S of the traveling machine body 10). That is, as shown in FIG. 2, the fulcrum shaft 71 is provided at a position higher than the footrest surfaces (the left footrest surface 44L and the right footrest surface 44R) of the riding section 40. Specifically, the fulcrum shaft 71 is provided at a height h from the footrest surface of the riding section 40. The mounting position of the fulcrum shaft 71 is set so that the height h is not more than half of the height H from the footrest surface of the riding portion 40 to the grip portion 73. Particularly in the present embodiment, the height h is set to be one third or more of the height H. That is, in the present embodiment, the relationship of H / 3 ≦ h ≦ H / 2 is established.

  Further, as shown in FIG. 11, a rotation angle sensor 80 is connected to the front end portion of the fulcrum shaft 71. The rotation angle sensor 80 is an embodiment of the swing operation detection sensor according to the present invention. The rotation angle sensor 80 is configured by a potentiometer. The rotation angle sensor 80 is fixed in the vicinity of the upper end portion of the front frame 11 e and is connected to the front end portion of the fulcrum shaft 71. As a result, the rotation angle sensor 80 can detect the rotation angle of the fulcrum shaft 71 and, in turn, can detect the swing operation amount of the handle 70.

  The mower unit 90 shown in FIGS. 2, 4 and 5 is an embodiment of the working device according to the present invention, and is a working device for performing lawn mowing work. The mower unit 90 is disposed in front of the traveling machine body 10 and connected to the traveling machine body 10. The mower unit 90 mainly includes a blade 91, a blade motor 92, a gauge wheel 93, and a lift link 94.

  In the mower unit 90, two blades 91 are rotatably provided. A blade motor 92 for driving the blade 91 is connected to the blade. At the front end portion of the mower unit 90, a gauge wheel 93 that can rotate while freely changing the direction according to the movement of the traveling vehicle 1 is provided. The mower unit 90 is connected to the traveling machine body 10 via an elevating link 94 so as to be movable up and down.

  Below, the structure for controlling the driving | running | working of the traveling vehicle 1 is demonstrated using FIG.

  The control unit 24a controls the operation of each connected device. The control unit 24a includes a storage unit, an arithmetic processing unit, and the like. The control unit 24a stores a program for controlling each device and various data.

The control unit 24a is connected to the left front load sensor 50a, the left rear load sensor 50b, the right front load sensor 50c, and the right rear load sensor 50d, and can receive the detection results of loads by these load sensors.
The control unit 24 a is connected to the rotation angle sensor 80 and can receive the detection result of the swing operation amount of the handle 70 by the rotation angle sensor 80.
The control unit 24 a is connected to the work switch 74 and can receive a signal related to the operation of the work switch 74.

The control unit 24a is connected to the left inverter 24b and can control the operation of the left inverter 24b. The controller 24a can arbitrarily control the rotational speed of the drive wheels 30L by arbitrarily supplying power from the battery 21 to the left motor 22L via the left inverter 24b.
The controller 24a is connected to the right inverter 24c and can control the operation of the right inverter 24c. The control unit 24a can arbitrarily control the rotation speed of the drive wheels 30R by arbitrarily supplying power from the battery 21 to the right motor 22R via the right inverter 24c.
The control unit 24a is connected to the work inverter 24d and can control the operation of the work inverter 24d. The control unit 24a can supply the electric power from the battery 21 to the blade motor 92 via the work inverter 24d, thereby rotating the blade 91 to perform the lawn mowing work.

  Below, when an operator drives the traveling vehicle 1 comprised as mentioned above, the control performed by the control part 24a is demonstrated.

  When driving the traveling vehicle 1, the operator gets on the riding section 40 and grasps the grip 73 of the handle 70 with his / her hand (see FIG. 1). At this time, the left foot of the operator is placed on the left footrest surface 44L, and the right foot is placed on the right footrest surface 44R (see FIG. 10).

  When the worker moves the weight back and forth (specifically, puts weight on the toe or heel), the control unit 24a moves the traveling vehicle 1 forward or backward based on the weight movement of the worker back and forth. . This will be specifically described below.

  The control unit 24a is configured to move the operator back and forth based on loads constantly detected by a plurality of load sensors (a left front load sensor 50a, a left rear load sensor 50b, a right front load sensor 50c, and a right rear load sensor 50d). Calculate weight shift. Specifically, the control unit 24a determines the total value of the loads detected by the left front load sensor 50a and the right front load sensor 50c, and the total value of the loads detected by the left rear load sensor 50b and the right rear load sensor 50d. The weight shift of the operator is calculated from the change in the balance.

  It should be noted that the detection values (detection values when neither forward nor reverse) of the plurality of load sensors serving as a reference for calculating weight shift can be set by any method. For example, it can be stored in the control unit 24a in advance, or the control unit 24a can store the detection values of the plurality of load sensors when the operator gets on the riding unit 40.

  When it is determined that the weight shift of the worker has occurred, the control unit 24a supplies power to the left motor 22L and the right motor 22R to drive the drive wheels 30L and the drive wheels 30R. Specifically, when a forward weight shift occurs, the control unit 24a causes the driving wheel 30L and the driving wheel 30R to rotate forward and the traveling vehicle 1 to move forward. When the rearward weight shift occurs, the control unit 24a rotates the driving wheel 30L and the driving wheel 30R backward to move the traveling vehicle 1 backward. Further, the control unit 24a increases the rotational speeds of the drive wheels 30L and the drive wheels 30R as the weight shift amount of the worker increases, and moves the traveling vehicle 1 forward or backward at high speed.

  When the operator swings the handle 70 left and right, the control unit 24a turns the traveling vehicle 1 left or right based on the swing operation amount of the handle 70. This will be specifically described below.

  The control unit 24a supplies electric power to the left motor 22L and the right motor 22R based on the swinging operation amount of the handle 70 that is always detected by the rotation angle sensor 80, and drives the drive wheels 30L and 30R. Specifically, when the handle 70 is swung to the left (see FIG. 14), the control unit 24a causes the driving wheel 30L to rotate backward and the driving wheel 30R to rotate forward, so that the traveling vehicle 1 is moved on the spot. To turn left. In addition, when the handle 70 is swung to the right, the control unit 24a causes the driving wheel 30L to rotate forward and the driving wheel 30R to rotate backward, causing the traveling vehicle 1 to turn right on the spot.

  Furthermore, when the operator's weight change and the swinging operation of the handle 70 are performed simultaneously, the control unit 24a can turn left and right (that is, turn left or right) while the traveling vehicle 1 moves forward or backward. Thus, the operator can drive the traveling vehicle 1 intuitively by performing weight movement and swinging operation of the handle 70.

  When the operator operates the work switch 74 (ON operation), the control unit 24a supplies power to the blade motor 92 and rotates the blade 91. Lawn mowing work can be performed by running the traveling vehicle 1 in this state. Further, when the operator operates the work switch 74 (OFF operation), the control unit 24a stops supplying power to the blade motor 92 and stops the rotation of the blade 91.

  Hereinafter, the relationship between the inclination of the handle 70 and the posture of the operator when the handle 70 is swung will be described.

  As shown in FIG. 14, the height h from the footrest surface of the fulcrum shaft 71 serving as the swing fulcrum of the handle 70 is not more than half of the height H from the footrest surface of the grip portion 73 and 3 The height is set to be 1 / minute or more.

  Thus, by arranging the swing fulcrum of the handle 70 as low as possible, the tilt angle of the handle 70 to the left and right and the tilt angle of the operator's posture to the left and right when the handle 70 is swung. And the difference can be reduced. As a result, a sense of incongruity when operating the handle 70 can be eliminated, and the operability of the handle 70 can be improved.

  Further, by ensuring a minimum height h (H / 3 or more) from the footrest surface to the swing fulcrum of the handle 70, a space for placing other devices below the handle 70 is secured. be able to. In the present embodiment, the driving vehicle 1 can be made compact by disposing the prime mover 20 below the handle 70.

  Below, 2nd embodiment of the traveling vehicle which concerns on this invention is described.

  In the riding section 40 according to the first embodiment, the weight shift of the worker is detected using the plurality of load sensors, but the weight shift of the worker is detected using the rotation angle sensor 52. It is also possible to do.

  Specifically, as shown in FIG. 15A, the second member 43 is connected to the upper portion of the first member 41 via the rotation shaft 45 so as to be rotatable. The rotating shaft 45 is disposed at the center in the front-rear direction of the second member 43 with the longitudinal direction directed in the left-right direction. The rotating shaft 45 is fixed to the second member 43 and can rotate integrally with the second member 43. The second member 43 can be rotated (oscillated) back and forth by the weight shift of the operator who has boarded the second member 43. The springs 46 are respectively disposed below the front and rear end portions of the second member 43. The second member 43 is biased by the spring 46 so as to return to a position parallel to the first member 41. A rotation angle sensor 52 is provided on the rotation shaft 45. The rotation angle sensor 52 can detect the rotation angle of the rotation shaft 45, and thus the swing angle of the second member 43 relative to the first member 41 can be detected.

  The control unit 24 a can calculate the weight shift of the operator from the swing angle of the second member 43 detected by the rotation angle sensor 52. The said control part 24a can drive the driving wheel 30L and the driving wheel 30R based on the calculated weight shift of the worker, and can make the traveling vehicle 1 move forward or backward.

  Below, 3rd embodiment of the traveling vehicle which concerns on this invention is described.

  In the boarding part 40 according to the second embodiment, the weight shift of the worker is detected using the rotation angle sensor 52, but the weight shift of the worker is detected using the limit switch 53. Is also possible.

  Specifically, as shown in FIG. 15 (b), contact-type limit switches 53 are arranged at the front end portion and the rear end portion of the upper surface of the first member 41. When the second member 43 swings back and forth by a predetermined angle with respect to the first member 41, the front end portion or the rear end portion of the second member 43 contacts the limit switch 53. Thereby, it can be detected that the second member 43 swings forward or backward relative to the first member 41.

  When it is detected that the second member 43 swings forward, the control unit 24a causes the driving wheel 30L and the driving wheel 30R to roll forward and move the traveling vehicle 1 forward. Further, when the control unit 24a detects that the second member 43 swings rearward, the control unit 24a rotates the driving wheel 30L and the driving wheel 30R backward to move the traveling vehicle 1 backward.

  In the third embodiment, the contact-type limit switch 53 is used. However, other sensors (contact-type sensors and non-contact-type sensors) can be used.

  Below, 4th embodiment of the traveling vehicle which concerns on this invention is described.

  In the traveling vehicle 1 according to the first embodiment, the traveling vehicle 1 is turned left or right based on the swing operation amount of the handle 70. However, the traveling vehicle 1 is moved to the left based on the weight shift of the operator. Or it is also possible to make it the structure rotated to the right. Hereinafter, a specific description will be given with reference to FIG.

  The control unit 24a calculates the weight shift in the front-rear direction and the weight shift in the left-right direction based on the loads that are constantly detected by the plurality of load sensors. Specifically, the control unit 24a determines the total value of the loads detected by the left front load sensor 50a and the right front load sensor 50c, and the total value of the loads detected by the left rear load sensor 50b and the right rear load sensor 50d. The weight shift before and after the operator is calculated from the change in the balance. Further, the control unit 24a balances the total load detected by the left front load sensor 50a and the left rear load sensor 50b with the total load detected by the right front load sensor 50c and the right rear load sensor 50d. From the change, the weight shift of the worker from side to side is calculated.

  When the control unit 24a determines that weight shift in the front-rear direction has occurred, the control unit 24a drives the drive wheels 30L and the drive wheels 30R to move the traveling vehicle 1 forward or backward. The control unit 24a moves the traveling vehicle 1 forward or backward at a higher speed as the weight shift amount in the front-rear direction is larger.

  Further, when the control unit 24a determines that the weight shift to the left and right has occurred, the control unit 24a rotates the driving wheel 30L and the driving wheel 30R in opposite directions, and turns the traveling vehicle 1 left or right. The controller 24a turns the traveling vehicle 1 to the left or right at a higher speed as the weight shift amount to the left and right is larger.

  Further, when the forward / backward weight shift and the left / right weight shift occur simultaneously, the control unit 24a turns left and right (that is, turns left or right) while the traveling vehicle 1 moves forward or backward. Thus, the operator can drive the traveling vehicle 1 intuitively only by weight shift.

  In the traveling vehicle 1 according to the fourth embodiment, the drive wheel 30L and the drive wheel 30R are not controlled based on the swing operation amount of the handle 70. For this reason, the handle 70 may be fixed to the traveling machine body 10 so as not to swing.

  In the fourth embodiment, the traveling vehicle 1 is turned left or right only by shifting the weight of the operator to the left and right, but in addition to that, based on the amount of swing operation of the handle 70 to the left and right. The traveling vehicle 1 may be configured to turn left or right. For example, when only a weight shift to the left and right is detected, the traveling vehicle 1 is turned gently, and when a swing operation of the handle 70 is detected in addition to the weight shift to the left and right, the traveling vehicle 1 is quickly moved. It is also possible to make it a structure to turn.

  Below, 5th embodiment of the traveling vehicle which concerns on this invention is described.

  In the riding section 40 according to the fourth embodiment, the weight shift of the operator is detected using the plurality of load sensors, but the work is performed using the first rotation angle sensor 54a and the second rotation angle sensor 54b. It is also possible to adopt a configuration for detecting a person's weight shift.

  Specifically, as shown in FIG. 16, a third member 47 is provided further above the second member 43 of the riding section 40. A rotation shaft 48 a is provided between the first member 41 and the second member 43. The second member 43 can swing back and forth with respect to the first member 41 around the rotation shaft 48a. A first rotation angle sensor 54a is provided on the rotation shaft 48a, and the swing angle of the second member 43 can be detected. A rotation shaft 48 b is provided between the second member 43 and the third member 47. The third member 47 can swing left and right with respect to the second member 43 around the rotation shaft 48b. The rotation shaft 48b is provided with a second rotation angle sensor 54b, and the swing angle of the third member 47 can be detected. The springs 46 are disposed below the front and rear ends of the second member 43 (between the first member 41). The second member 43 is biased by the spring 46 so as to return to a position parallel to the first member 41. In addition, springs 46 are disposed below the left and right ends of the third member 47 (between the second member 43). The third member 47 is biased by the spring 46 so as to return to a position parallel to the second member 43.

  In the riding section 40 configured as described above, the operator gets on the third member 47. The control unit 24a can calculate the weight shift of the operator forward and backward from the swing angle of the second member 43 detected by the first rotation angle sensor 54a. Further, the control unit 24a can calculate the weight shift of the operator from side to side from the swing angle of the third member 47 detected by the second rotation angle sensor 54b.

  In the fifth embodiment, the first rotation angle sensor 54a and the second rotation angle sensor 54b are used. However, as in the third embodiment, the operator can move the body weight back and forth and left and right using the limit switch. It is also possible to detect.

  Below, 6th embodiment of the traveling vehicle which concerns on this invention is described.

  In the riding section 40 according to the fifth embodiment, the member (third member 47) on which the operator rides can be swung back and forth and left and right using the rotation shafts (the rotation shaft 48a and the rotation shaft 48b). It is also possible to use a ball joint 49.

  Specifically, as shown in FIG. 17, a ball joint 49 is provided below the central portion of the second member 43 (between the first member 41). The ball portion 49 a of the ball joint 49 is fixed to the second member 43, and the tray 49 b of the ball joint 49 is fixed to the first member 41. The second member 43 can swing in an arbitrary direction with respect to the first member 41 by the sphere 49a being slidably supported by the tray 49b. The second member 43 is provided with a gyro sensor 55, and the swing direction and swing angle of the second member 43 can be detected. The springs 46 are respectively disposed below the front and rear ends of the second member 43 (between the first member 41) and below the left and right ends. The second member 43 is biased by the spring 46 so as to return to a position parallel to the first member 41.

  In FIG. 17, the illustration of the springs 46 disposed below the left and right ends of the second member 43 is omitted. Further, the number of springs 46 is not limited, and it is sufficient that the second member 43 can be urged so as to return to a position parallel to the first member.

  In the boarding section 40 configured as described above, the worker boardes the second member 43. The control unit 24a can calculate the weight shift of the operator from front to back and from side to side from the swing direction and swing angle of the second member 43 detected by the gyro sensor 55.

  Although the gyro sensor 55 is used in the sixth embodiment, it is also possible to detect the weight shift of the operator from front to back and from side to side using limit switches as in the third embodiment.

  Below, 7th embodiment of the traveling vehicle which concerns on this invention is described.

  The traveling vehicle 1 according to the first embodiment is configured to drive the drive wheels 30L and the drive wheels 30R using the electric power stored in the battery 21, but the drive wheels 30L and the drive wheels 30R using the power of the engine 100. It is also possible to adopt a configuration in which

  Specifically, as shown in FIG. 18, the traveling vehicle 1 according to the seventh embodiment includes an engine 100, a reduction gear 101, a left hydraulic pump 102L, a right hydraulic pump 102R, a left hydraulic motor 104L, A hydraulic motor 104R and a working clutch 105 are provided.

  The power of the engine 100 is appropriately reduced by the reduction gear 101 and transmitted to the left hydraulic pump 102L and the right hydraulic pump 102R, respectively. The left hydraulic pump 102L and the right hydraulic pump 102R use hydraulic power from the engine 100 to pump hydraulic fluid. The hydraulic fluid pumped from the left hydraulic pump 102L and the right hydraulic pump 102R is supplied to the left hydraulic motor 104L and the right hydraulic motor 104R, respectively. The left hydraulic motor 104L is connected to the drive wheel 30L, and the right hydraulic motor 104R is connected to the drive wheel 30R. The left hydraulic motor 104L and the right hydraulic motor 104R can drive the drive wheel 30L and the drive wheel 30R, respectively. The control unit 24a controls the operation of the left hydraulic pump 102L and the right hydraulic pump 102R (more specifically, the discharge amount of the hydraulic oil), so that the hydraulic oil supplied to the left hydraulic motor 104L and the right hydraulic motor 104R. Thus, the rotation of the drive wheel 30L and the drive wheel 30R can be controlled. The left hydraulic pump 102L and the left hydraulic motor 104L form a left HST (hydrostatic continuously variable transmission) 106L. The right hydraulic pump 102R and the right hydraulic motor 104R form a right HST 106R.

  The power of the engine 100 is transmitted to the work clutch 105 via the speed reducer 101. At this time, the power transmitted from the engine 100 to the working clutch 105 may or may not be decelerated by the reduction gear 101. The power transmitted to the work clutch 105 is transmitted to the blade 91 of the mower unit 90 via a belt for power transmission. The operation of the working clutch 105 is controlled by the control unit 24a. The blade 91 can be rotated or stopped by operating the working clutch 105 arbitrarily.

  As shown in FIG. 19, the prime mover 20 according to the seventh embodiment is also arranged in the accommodating space S of the body frame 11 as in the first embodiment. Specifically, the engine 100 is disposed at the rear portion of the accommodation space S, and the reduction gear 101 is disposed at the front and rear central portions of the accommodation space S. Further, the left HST 106L and the right HST 106R are disposed above the reduction gear 101. The controller box 24 in which the control unit 24a and the like are accommodated is disposed in the upper part of the accommodation space S.

  Also in the seventh embodiment, as in the first embodiment, some of the constituent members of the prime mover 20 are arranged at positions overlapping the drive wheels 30L and the drive wheels 30R in a side view. Specifically, as shown in FIG. 19, the reduction gear 101, the left side HST 106L, and the right side HST 106R are all disposed at positions overlapping the drive wheels 30L and 30R. Thus, the traveling vehicle 1 can be made compact by disposing the constituent members of the prime mover 20 so as to overlap with the drive wheels 30L and the drive wheels 30R in a side view.

  Below, 8th embodiment of the traveling vehicle which concerns on this invention is described.

  The traveling vehicle 1 according to the seventh embodiment is configured to pump hydraulic oil using the left and right hydraulic pumps (the left hydraulic pump 102L and the right hydraulic pump 102R), but the hydraulic oil is supplied using one hydraulic pump 102. It is also possible to adopt a configuration for pumping.

  Specifically, as shown in FIG. 20, the traveling vehicle 1 according to the eighth embodiment includes an engine 100, a reduction gear 101, a hydraulic pump 102, a left adjustment valve 103L, a right adjustment valve 103R, and a left hydraulic pressure in the driving unit 20. A motor 104L, a right hydraulic motor 104R, and a working clutch 105 are provided.

  The power of the engine 100 is appropriately decelerated by the reduction gear 101 and transmitted to the hydraulic pump 102. The hydraulic pump 102 pumps hydraulic oil using power from the engine 100. The hydraulic oil pumped from the hydraulic pump 102 is supplied to the left hydraulic motor 104L and the right hydraulic motor 104R via the left adjustment valve 103L and the right adjustment valve 103R. The left hydraulic motor 104L is connected to the drive wheel 30L, and the right hydraulic motor 104R is connected to the drive wheel 30R. The left hydraulic motor 104L and the right hydraulic motor 104R can drive the drive wheel 30L and the drive wheel 30R, respectively. The control unit 24a can control the hydraulic oil supplied to the left hydraulic motor 104L and the right hydraulic motor 104R by controlling the operation of the left adjustment valve 103L and the right adjustment valve 103R. The rotation of the wheel 30R can be controlled.

  As shown in FIG. 21, the prime mover 20 according to the eighth embodiment is also arranged in the accommodating space S of the body frame 11 as in the first embodiment. Specifically, the engine 100 is disposed at the rear portion of the accommodation space S, the speed reduction device 101 is disposed at the front and rear central portions of the accommodation space S, and the hydraulic pump 102 is disposed at the front portion of the accommodation space S. Further, the left hydraulic motor 104L and the right hydraulic motor 104R are disposed above the reduction gear 101. The controller box 24 in which the control unit 24a and the like are accommodated is disposed in the upper part of the accommodation space S.

  Also in the eighth embodiment, as in the first embodiment, some of the constituent members of the prime mover 20 are arranged at positions overlapping the drive wheels 30L and the drive wheels 30R in a side view. Specifically, as shown in FIG. 21, the reduction gear 101, the hydraulic pump 102, the left hydraulic motor 104L, and the right hydraulic motor 104R are arranged at positions that overlap with the drive wheels 30L and 30R as a whole. . Thus, the traveling vehicle 1 can be made compact by disposing the constituent members of the prime mover 20 so as to overlap with the drive wheels 30L and the drive wheels 30R in a side view.

  Below, 9th embodiment of the traveling vehicle which concerns on this invention is described.

  In the ninth embodiment, as shown in FIG. 22, the riding section 40 and the handle 70 are configured to be swingable back and forth. Specifically, the front end portion of the riding section 40 is connected to the traveling machine body 10 so as to be rotatable. By lifting the rear end portion of the riding section 40, the riding section 40 can be swung forward and folded. The riding section 40 is held by a holding mechanism (not shown) in a posture that swings forward (a state where the rear end portion is directed upward).

  Further, the handle 70 is provided with a swing shaft in the middle of the handle main body 72 in the vertical direction, and the tip end side (the gripping portion 73 side) can swing back and forth around the swing shaft. The distal end side of the handle 70 can be held at an arbitrary position by a holding mechanism (not shown).

  With this configuration, an operator can drive the traveling vehicle 1 while walking without getting on the riding section 40. At this time, by swinging the handle 70 back and forth to a desired position, the handle 70 can be adjusted to a position where it can be easily held. In this case, since the operator's weight shift cannot be detected, an operating tool (not shown) for driving the traveling vehicle 1 is provided on the handle 70.

  In each of the above embodiments, the driven wheels (the driven wheel 60L and the driven wheel 60R) are provided so as to support the left side portion 41b and the right side portion 41c of the riding portion 40. It is also possible to provide a configuration. For example, a configuration in which one driven wheel is provided below the central portion 41a of the riding section 40 or a configuration in which a driven wheel is provided at the rear of the body frame 11 (lower frame 11a) may be employed. In other words, the driven wheels can be configured to support the traveling vehicle 1 by arranging the driven wheels at arbitrary positions different from the rotation axes of the drive wheels 30L and 30R. Further, the number of driven wheels is not limited and any number may be provided.

  In each of the above-described embodiments, the mower unit 90 is exemplified as the working device. However, other working devices (for example, a snow removal device) can be used.

  In each of the above embodiments, the rotation angle sensor (rotation angle sensor 80 and the like) is configured by a potentiometer. However, other sensors (rotary encoder, gyroscope) can be used as long as the rotation angle can be detected. It is also possible to use a sensor or the like.

  Further, in each of the above embodiments, the traveling vehicle 1 is driven based on the weight movement of the operator and the swinging operation of the handle 70, but the present invention is not limited to this. For example, an operation tool such as a joystick may be provided on the handle 70 and the traveling vehicle 1 may be driven based on the weight shift of the operator and the operation of the operation tool.

  Further, the handle 70 described in each of the above embodiments is an example, and the shape and the like (for example, the shape and position of the grip portion 73) can be arbitrarily changed. At this time, the height of the fulcrum shaft 71 serving as the swing fulcrum of the handle 70 is set to be less than half of the height of the grip portion 73 from the footrest surface and more than one third. It is desirable.

  Further, the number and arrangement of the load sensors described in the above embodiments are examples, and the number and arrangement are not limited. For example, by increasing the number of load sensors, it is possible to improve the detection accuracy of the operator's weight shift and to prevent malfunction of the traveling vehicle 1 when one of the load sensors fails. .

  In addition, the arrangement of the members of the prime mover 20 described in each of the above embodiments is merely an example, and by arranging as many members as possible in positions overlapping the driving wheels 30L and 30R in a side view, the traveling machine body 10 can be made compact.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 10 Traveling machine body 20 Driving part 21 Battery 22L Left motor 22R Right motor 23L Left power transmission mechanism 23R Right power transmission mechanism 24 Controller box 24a Control part 30L Driving wheel 30R Driving wheel 40 Riding part 41 First member 43 Second member 50a left front load sensor 50b left rear load sensor 50c right front load sensor 50d right rear load sensor 70 handle 80 rotation angle sensor 90 mower unit

Claims (3)

A traveling machine body supported by a pair of left and right drive wheels;
A pair of left and right motors respectively connected to the pair of left and right drive wheels and independently driving the pair of left and right drive wheels;
A boarding unit disposed behind the traveling machine body and connected to the traveling machine body, on which an operator can board;
A handle that is formed so as to be able to be gripped with a hand by an operator who has boarded the boarding portion, and is connected to the traveling machine body so as to be swingable to the left and right;
A swing operation detection sensor for detecting a swing operation amount to the left and right of the handle;
A control unit that controls the operation of the pair of left and right motors based on a value detected by the swing operation detection sensor;
Comprising
The swing fulcrum of the handle is
The height of the worker is less than half of the height from the footrest surface on which the operator places his / her foot when riding on the riding portion to the grip portion, and is provided at a position higher than the height of the footrest surface. ,
The pair of left and right motors are
In side view, the whole is disposed at a position overlapping with the pair of left and right drive wheels ,
The footrest surface is
It is formed at a position lower than the axle of the pair of left and right drive wheels,
Traveling vehicle. Provided in the traveling machine body, further comprising a driving unit for generating power for driving the pair of left and right drive wheels and transmitting the power to the pair of left and right drive wheels;
The prime mover is disposed below the swing fulcrum;
The traveling vehicle according to claim 1. The prime mover is
Including at least one of the motor, the controller, and a battery that supplies power to the motor;
The traveling vehicle according to claim 2 .

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