JP6671107B2 - Unmanned working vehicle - Google Patents

Description

  The present invention relates to an unmanned working vehicle provided with a prime mover arranged on a center side of a traveling vehicle body, a plurality of electric components, and a plurality of electric wires connected to the electric components.

  The unmanned working vehicle as described above includes an engine as a prime mover, and includes a plurality of electrical components such as a control device, a geomagnetic sensor, a turf height detection sensor, a potentiometer, an encoder, a steering motor, a sensor swing motor, and a grounding device. There is one provided with a motor and the like (for example, see Patent Document 1).

JP-A-6-78603 (paragraph number 0020, FIGS. 1 to 8)

  In the unmanned working vehicle as described above, a plurality of electric wires connected to each electric component have been fixed to appropriate portions of the body frame using a cord band or the like. For this reason, it takes time for wiring, and the wire is likely to be slackened. If the wire is slackened, the wire may come into contact with the edge portion and be damaged.

  In other words, it is desired to be able to easily perform the wiring and to avoid the possibility that the electric wire contacts and damages the edge portion.

As means for solving the above problems,
A prime mover arranged at the center side of a traveling vehicle body having wheels at four corners, a body frame surrounding the prime mover and formed in a rectangular shape in plan view, a plurality of electric components, and a plurality of electric wires connected to the electric components. Prepared,
A plurality of electrical components that are a part of the plurality of electrical components are distributed and arranged along the vehicle body frame,
A control device connected to the plurality of electrical components as the part is arranged along the body frame,
The wires connecting the plurality of electrical components and the control unit is a part the dispersed deployed along the vehicle body frame, is supported by the body frame along a said body frame.

  According to this means, when a plurality of electric wires to be connected to each electric component are fixed to an appropriate portion of the vehicle body frame using a cord band or the like, the wiring is troublesome and the electric wires are easily slackened, and the slack is generated. In this case, it is possible to solve the problem that the electric wire may be damaged by contacting the edge portion.

  In addition, since the electric wires are routed along the outer periphery of the traveling vehicle body, maintenance of the wiring and the electric wires can be easily performed, and the inside of the traveling vehicle body can be easily used as an arrangement space for the prime mover and each electric component.

  As a result, it is possible to easily perform the maintenance of the wiring and the electric wires, as well as the assembling of the prime mover and each of the electric components, and to avoid the possibility that the electric wires are damaged by contacting the edge portion.

As one of the means for more suitably solving the problem,
The body frame is configured so that the front and rear fit within a range from the front end to the rear end of the wheel in a straight running state, and the left and right are fitted between outer surfaces of the left and right wheels in a straight running state. I have.

Further, as one of means for more suitably solving the problem, the vehicle body frame includes two transmission case frames also serving as a transmission case for transmitting a driving force to the wheels, and two transmission case frames. It is configured to consist of two connecting frames to be connected.
As one of the means for more suitably solving the problem,
The support of the wire to be supported on the body frame and along said body frame, and supported by a plurality of support members provided on the body frame.
According to this means, it becomes easy to wire the electric wire in a state in which the electric wire is hardly slackened.

As one of the means for more suitably solving the problem,
The support member is formed in a U-shape opening upward.

According to this means, it is possible to reliably prevent the electric wire from being displaced by the respective support members simply by wiring the electric wires so as to be supported by the respective support members.
As a result, it is possible to more reliably avoid the possibility that the electric wire contacts the edge portion and is damaged while making the wiring easier.

As one of the means for more suitably solving the problem,
A plurality of the support members are arranged at intervals over the entire circumference of the vehicle body frame.
Furthermore, as one of means for more suitably solving the problem,
The electric wire is supported in the longitudinal frame portion extending in the front and rear direction of the vehicle body frame, and in the front and rear, left and right directions along each of the horizontal frame portions extending in the left and right directions, and a linearly extending portion, In the corners of the body frame, the support member adjacent to the corner provided in the vertical frame portion, and the support member adjacent to the corner provided in the horizontal frame portion is supported over the support member, from the front-back direction A part bent twice at an obtuse angle in the left-right direction.

As one of the means for more suitably solving the problem,
A cover covering the electric wire is attached to a plurality of the support members.

  According to this means, the contact of the electric wire with another object can be prevented, and the possibility that the electric wire is damaged by the contact of the other object can be avoided. This means is particularly effective for mowers that may hit other objects such as pebbles.

It is a left view of an unmanned mower. It is a top view of an unmanned mowing machine. FIG. 2 is a cross-sectional plan view of the unmanned mower showing a configuration of a vehicle body frame and an arrangement of each electric component. FIG. 2 is a partially exploded perspective view of a main part showing a configuration of a vehicle body frame, a support structure for electric wires, and the like. FIG. 2 is a cross-sectional plan view of the unmanned mower showing a transmission structure, a support structure for electric wires, and the like. FIG. 3 is a longitudinal rear view of a main part showing a transmission structure and an arrangement of each electric component; It is a vertical section left side view of an important section showing the composition of the 1st transmission, the support structure of an electric wire, etc. FIG. 2 is a longitudinal rear view of a main part showing a transmission structure and a steering structure. It is a schematic plan view showing a transmission structure. It is a perspective view of the principal part showing arrangement of each electric component, the composition of a traveling auxiliary handle, etc. FIG. 2 is a block diagram illustrating a configuration of a control system. It is a left view of the unmanned mowing machine which shows an example of a driving assistance handle use state. It is a longitudinal section left side view of the important section showing the support structure of the traveling assistance handle. It is a schematic plan view showing arrangement of each electrical component, a support structure of electric wires, and the like. It is a longitudinal section of an important section showing an electric wire support structure. It is a longitudinal section of an important section showing another embodiment in which a support member was attached to a side end of the 1st frame. It is a longitudinal section of an important section showing another embodiment in which a support member was attached to the lower end of the 1st frame.

  Hereinafter, as an example of an embodiment for carrying out the present invention, an embodiment in which the present invention is applied to an unmanned mower, which is an example of an unmanned working vehicle, will be described with reference to the drawings.

  In the unmanned mower illustrated in the present embodiment, the direction of an arrow F shown in FIG. 1 is the front side of the unmanned mower, and the direction of the symbol U is the upper side of the unmanned mower. 2 and 3, the direction of the arrow F is the front side of the unmanned mower, and the direction of the arrow L is the left side of the unmanned mower.

  As shown in FIGS. 1 to 3, FIG. 5, FIG. 6, and FIGS. 8 to 10, the unmanned mower illustrated in the present embodiment is a prime mover A mounted on the traveling vehicle body 1, and a traveling device operated by power from the prime mover A. B, a switching device C for switching the transmission state from the prime mover A to the traveling device B, and a control system D for controlling the operation of the switching device C.

  Specifically, the unmanned mowing machine includes a recoil starter type engine 2 (an example of a prime mover A) mounted on a traveling vehicle body 1 and first left and right driving wheels 3 (an example of a traveling device B) operated by power from the engine 2. ), The left and right second driving wheels 4 (an example of the traveling device B), the mowing device 5, the forward / reverse switching device 26 (an example of the switching device C) for switching the transmission state from the engine 2 to each of the driving wheels 3, 4, and , A control system D for controlling the operation of the forward / reverse switching device 26, and the like. By providing these, it is possible to cut grass while traveling between a plurality of trees in an orchard or the like.

  The engine 2 is disposed on the center side of the traveling vehicle body 1 together with the fuel tank 6 and the generator 7. The left and right first drive wheels 3 are steerably provided on the front end side of the traveling vehicle body 1. The left and right second drive wheels 4 are steerably provided at the rear end side of the traveling vehicle body 1. The mowing device 5 is disposed below the engine 2 and between the left and right first drive wheels 3 and the left and right second drive wheels 4. The forward / reverse switching device 26 is incorporated in the speed change case 8 provided between the engine 2 and the mowing device 5.

  As shown in FIGS. 1 to 8 and 10, the traveling vehicle body 1 includes a vehicle body frame 10 formed in a rectangular shape in plan view. The body frame 10 is a first frame 11 having a rectangular shape in a plan view extending along the outer periphery of the body so as to surround the engine 2, a second frame 12 located below the first frame 11, and located above the first frame 11. A third frame 13 and four vertical connecting members 14 for connecting four corners of the first frame 11 to the second frame 12 are provided.

  The first frame 11 includes four first members 11A arranged at four corners of the first frame 11, a left-right front and rear second member 11B connecting the left and right first members 11A, and a front and rear first member 11A. There are left and right third members 11C that are connected in the front-rear direction. Each first member 11A is mainly made of a casting that also serves as a transmission case. Each second member 11B is mainly made of a round pipe steel material also serving as a transmission case. Each third member 11C is mainly made of round pipe steel.

  The second frame 12 has a first lower member 12A extending from between the left and right first drive wheels 3 and between the left and right second drive wheels 4, and a left and right direction connected to front and rear ends of the first lower member 12A. The left and right third lower members 12C connected to the left and right ends of the front and rear second lower members 12B, the first lower member 12A, and the left and right directions extending between the first lower member 12A and the left and right third lower members 12C. , The front and rear fourth lower member 12D, the front and rear left and right fifth lower members 12E extending across the front and rear fourth lower members 12D, and the front and rear connected to both front and rear ends of the first lower member 12A. , The sixth lower member 12F, and the like. The first lower member 12A is mainly made of a steel plate formed in a shape in which the left and right widths at both front and rear ends are narrower than the left and right widths at the front and rear center sides. The first lower member 12A allows the left and right first drive wheels 3 and the left and right second drive wheels 4 to be steered by narrowing the left and right widths of the front and rear ends. The front and rear second lower members 12B are provided below the front and rear second members 11B with a square pipe steel material as a main material. The left and right third lower members 12C are mainly made of a steel plate material that forms a cover that covers the upper part of the mowing device 5 together with the front and rear central portions of the first lower member 12A. The front and rear fourth lower members 12D are mainly made of channel steel that reinforces the first lower member 12A and the left and right third lower members 12C. The left and right fifth lower members 12 </ b> E are mainly made of steel strip supporting the transmission case 8. The front and rear sixth lower members 12F are mainly made of a steel plate formed in a U-shape in plan view so as to have high strength.

  The third frame 13 includes an arched left and right first upper member 13A extending over the front and rear first members 11A, and a left and right front and rear second upper member 13B extending over the left and right first upper members 13A. . The third frame 13 supports a top plate 15 having a rectangular shape in a plan view.

  Each connecting member 14 is mainly made of a round pipe steel material also serving as a transmission case. The left and right connecting members 14 on the front side connect the first left and right first members 11A to the second lower member 12B on the front side. The rear left and right connecting members 14 connect the rear left and right first members 11A to the rear second lower member 12B.

  As shown in FIGS. 1 and 2 and FIGS. 5 to 9, the traveling vehicle body 1 uses the power from the engine 2 to drive the first left and right driving wheels 3, the second left and right driving wheels 4, the mowing device 5, and the power generator. A transmission system for transmitting the power to the machine 7 is provided.

  The power transmission system includes an automatic centrifugal clutch 20 for intermittently transmitting power from the engine 2, a belt-type power transmission 21 for transmitting power from the engine 2 to the generator 7, and a flat transmission for reducing the power from the engine 2 for work. A gear-type first speed reducer 22, a meshing clutch 23 for intermittently transmitting power from the first speed reducer 22 to the mowing device 5, a worm gear-type second speed reducer 24 for reducing work power for traveling, A transmission 25 that shifts the power between high and low stages, a bevel gear type forward / backward switching device 26 that switches the power after shifting between forward and reverse, and a chain that receives forward or reverse power via a torque limiter 27 Before and after transmitting the power from the first transmission 28 (an example of an endless rotating belt type transmission) to the first driving wheel 3 on the left and right or the second driving wheel 4 on the left and right. No. Transmission 29, and the like.

  The automatic centrifugal clutch 20, the first reduction gear 22, the dog clutch 23, the second reduction gear 24, and the transmission 25 are incorporated in the transmission case 8 together with the forward / reverse switching device 26. The first transmission 28 is housed in the transmission case 9.

  The dog clutch 23 is linked to a clutch lever 30 provided on the left side of the traveling vehicle body 1. That is, the dog clutch 23 interrupts transmission to the mowing device 5 based on the manual operation of the clutch lever 30.

  The transmission 25 is switched between a high-speed transmission state, a low-speed transmission state, and a neutral state by a sliding operation of the shift member 25A. The shift member 25A is linked to a shift lever 31 provided on the left side of the traveling vehicle body 1. That is, the transmission 25 switches between a high-speed transmission state, a low-speed transmission state, and a neutral state based on a manual operation of the transmission lever 31.

  The forward / reverse switching device 26 switches between a forward transmission state, a reverse transmission state, and a neutral state by a sliding operation of the shift member 26A. The shift member 26 </ b> A slides based on a control operation of a control system D provided in the traveling vehicle body 1. That is, the forward / reverse switching device 26 switches between the forward transmission state, the reverse transmission state, and the neutral state based on the control operation of the control system D. In the unmanned mower, the state in which the forward / reverse switching device 26 is maintained in the neutral state is defined as a normal stop state of the unmanned mower.

  The first transmission device 28 includes a power distribution mechanism 28A, a chain-type first transmission mechanism (an example of an endless rotation band type first transmission mechanism) 28B, and a chain-type second transmission mechanism (endless rotation band type). (Example of the first transmission mechanism) 28C.

  The power distribution mechanism 28A includes a driving sprocket 28Aa (an example of a driving rotator 28a) that rotates integrally via an output shaft 26B of a forward / reverse switching device 26 and a torque limiter 27, and a first driven sprocket (an example of a driving rotating body 28a) that transmits to a first transmission mechanism 28B. An example of a transmission rotating body) 28Ab, a second driven sprocket (an example of a transmission rotating body) 28Ac that transmits to the second transmission mechanism 28C, and a transmission chain (endless rotation) that transmits from the driving sprocket 28Aa to the two driven sprockets 28Ab and 28Ac. An example of a movement band) 28Ad is provided.

  The first transmission mechanism 28B includes a driving sprocket 28Ba that rotates integrally with the first driven sprocket 28Ab of the power distribution mechanism 28A, a driven sprocket 28Bb that transmits to the front second transmission 29, and a transmission from the driving sprocket 28Ba to the driven sprocket 28Bb. Transmission chain 28Bc.

  The second transmission mechanism 28C includes a driving sprocket 28Ca that rotates integrally with the second driven sprocket 28Ac of the power distribution mechanism 28A, a driven sprocket 28Cb that transmits to the second transmission 29 on the rear side, and a driven sprocket 28Ca from the driving sprocket 28Ca. A transmission chain 28Cc for transmission is provided.

  Each second transmission device 29 includes a left-right transmission shaft 29A that rotates integrally with the driven sprocket 28Bb of the first transmission mechanism 28B or the driven sprocket 28Cb of the second transmission mechanism 28C, and a first left and right bevel gear that rotates integrally with the transmission shaft 29A. 29B, left and right second bevel gears 29C that mesh with and interlock with the left and right first bevel gears 29B, left and right drive shafts 29D that rotate integrally with the left and right second bevel gears 29C, and left and right third bevel gears 29E that rotate integrally with the left and right drive shafts 29D. And left and right fourth bevel gears 29F that mesh with and interlock with the left and right third bevel gears 29E. Then, the left and right fourth bevel gears 29F rotate integrally with the left and right first drive wheels 3 or the left and right second drive wheels 4.

  Each transmission shaft 29A passes through the corresponding second member 11B, and through the left and right first bevel gears 29B and the left and right second bevel gears 29C inside the left and right first members 11A connected to the respective second members 11B. To the left and right drive shafts 29D. Each drive shaft 29D passes through the inside of the corresponding connection member 14 and, inside the support case 16 connected to the lower part of each connection member 14, via the third bevel gear 29E and the fourth bevel gear 29F, the first drive wheel 3D. Or, it is transmitted to the second drive wheel 4.

  As shown in FIG. 1, FIG. 3 and FIG. 8, each front support case 16 supports the first drive wheel 3 and the front drive shaft 29D. Each support case 16 on the rear side supports the second drive wheel 4 and the drive shaft 29D on the rear side. Each support case 16 is attached to the lower part of the corresponding connecting member 14 so as to be rotatable around the axis of the drive shaft 29D. Thus, the left and right first drive wheels 3 and the left and right second drive wheels 4 are provided as steering wheels.

  As shown in FIGS. 1 to 3, 8, and 11, the control system D includes a first steering unit 41 that steers the first left and right drive wheels, and a second steering unit 42 that steers the second left and right drive wheels 4. A forward / reverse switching unit 43 for operating the forward / backward switching device 26; a first contact detection unit 44 for detecting contact of another object at the front end of the traveling vehicle body 1; , A non-contact type object detector 46 for detecting an object such as a tree existing in a preset range, a lamp 47 for reporting the state of the unmanned mower, and various controls. And a control device 48 for executing an operation.

  The first steering unit 41 is integrated with a first steering motor 41A attached to the front sixth lower member 12F, a first sector gear 41B that converts the rotational power of the first motor 41A into swing, and a first sector gear 41B. A swinging first operation arm 41C, a first operation rod 41D for interlockingly connecting the first operation arm 41C to the right front support case 16, a first linkage rod 41E for interlockingly connecting the front left and right support cases 16, and The left and right first limit switches 41F for detecting that the left and right first drive wheels 3 have reached the left or right limit steering angle due to the contact of the first sector gear 41B are provided.

  The second steering unit 42 includes a second steering motor 42A attached to the rear sixth lower member 12F, a second sector gear 42B that converts the rotational power of the second motor 42A into swing, and a second sector gear 42B. A second operation arm 42C that swings integrally, a second operation rod 42D that interlocks and connects the second operation arm 42C to the left rear support case 16, a second link rod 42E that interlocks and connects the left and right support cases 16 on the front side, And left and right second limit switches 42F for detecting that the left and right second drive wheels 4 have reached either the left or right limit steering angle due to the contact of the second sector gear 42B.

  The forward / backward switching unit 43 includes a third forward / backward switching third motor 43A that slides the shift member 26A of the forward / backward switching device 26 via a shift fork (not shown) or the like.

  The first contact detection unit 44 includes a first contact member 44A that swings back and forth between the non-contact position and the contact detection position, a first left and right spring 44B that urges the first contact member 44A back to the non-contact position, And a first switch 44C for detecting the displacement of the first contact member 44A to the contact detection position. The first contact member 44A is attached to the left and right first support portions 12Ba provided on the front second lower member 12B so as to be able to swing back and forth via a first support shaft 44D facing left and right. The first switch 44C is attached to a second support portion 12Bb provided on the front second lower member 12B.

  The second contact detection unit 45 includes a second contact member 45A that swings back and forth between the non-contact position and the contact detection position, a left and right second spring 45B that urges the second contact member 45A to return to the non-contact position, And a second switch 45C for detecting the displacement of the second contact member 45A to the contact detection position. The second contact member 45A is attached to the left and right first support portions 12Ba provided on the rear second lower member 12B so as to be able to swing back and forth via a second support shaft 45D facing left and right. The second switch 45C is attached to a second support portion 12Bb provided on the rear second lower member 12B.

  The object detector 46 transmits a signal propagating in the air such as a laser or an ultrasonic wave toward a preset range, and acquires a reflected signal generated by a collision with the object. The object detector 46 is mounted on the top 15 together with the lamp 47 in a mounted state.

  The control device 48 is attached to the rear end of the third frame 13. The control device 48 includes an input unit 48A, a receiving unit 48B, a traveling mode control unit 48C, a steering control unit 48D, a forward / reverse control unit (an example of a control unit) 48E, a contact control unit 48F, a teaching control unit 48G, and an emergency stop. Various functional units such as a control unit 48H are provided. Each functional unit is constructed by one or both of hardware and software with a CPU as a core.

  The input unit 48A receives detection information from various detection devices such as the limit switches 41F and 42F of each of the steering units 41 and 42 provided in the unmanned mower and the contact detection units 44 and 45, and receives the received detection information. Is output to various control devices such as the traveling mode control unit 48C and the steering control unit 48D.

  The receiving unit 48B receives various command information transmitted from the remote controller 49, and outputs the received command information to various control devices such as the traveling mode control unit 48C and the steering control unit 48D.

  The traveling mode control unit 48C switches the traveling mode between the remote operation mode and the automatic traveling mode based on the information from the receiving unit 48B. In the automatic driving mode, the driving mode control unit 48C changes the driving mode based on information from the receiving unit 48B based on various types of information such as a driving route manually input by the user. The mode is switched to the traveling mode or the second automatic traveling mode in which the vehicle travels automatically based on various information such as the traveling route obtained in the teaching traveling. Information such as a traveling route used in the automatic traveling mode is provided in a storage unit 48K of the control device 48.

  In the remote operation mode, the steering control unit 48D controls the operation of the first steering unit 41 based on information from the input unit 48A, the receiving unit 48B, and the like, and steers the left and right first drive wheels 3. Control, the second steering control for controlling the operation of the second steering unit 42 to steer the left and right second drive wheels 4, and the first drive for the left and right by controlling the operations of the first steering unit 41 and the second steering unit 42. Third steering control for steering the wheel 3 and the left and right second drive wheels 4 in the same direction, and controlling the operation of the first and second steering units 41 and 42 to control the left and right first drive wheels 3 and the left and right. Or the fourth steering control for steering the second drive wheel 4 in the opposite direction. Further, in the automatic traveling mode, the steering control unit 48D performs the first steering unit 41 and the second steering unit 42 based on the information from the storage unit 48K and the information from the input unit 48A according to the selected automatic traveling mode. The automatic steering control for steering either one or both of the left and right first drive wheels 3 and the left and right second drive wheels 4 by controlling one or both of the above operations is executed.

  In the remote operation mode, the forward / reverse control unit 48E controls the operation of the forward / reverse switching unit 43 based on the information from the receiving unit 48B, and causes the forward / reverse switching device 26 to move in the forward transmission state, the reverse transmission state, and the neutral state. The switching control for switching to either of the above is executed. In the automatic traveling mode, the forward / reverse control unit 48E controls the operation of the forward / reverse switching unit 43 based on the information from the storage unit 48K corresponding to the selected automatic traveling mode, and Automatic switching control is performed to switch any one of the forward transmission state, the reverse transmission state, and the neutral state.

  The contact control unit 48F, when detecting contact with another object based on the detection information from the first contact detection unit 44 or the second contact detection unit 45, performs priority control prior to the above-described control operation. In the priority control, first, the lamp 47 is turned on to notify the contact of another object. Further, by controlling the operation of the forward / reverse switching unit 43, the transmission state of the forward / reverse switching device 26 is switched to the transmission state opposite to the transmission state at the time of contact detection, and the unmanned mower is moved in the traveling direction at the time of contact detection. And run in the opposite direction. When the first contact detection unit 44 and the second contact detection unit 45 no longer detect contact with another object due to the traveling, the operation of the forward / reverse switching unit 43 is controlled to switch the forward / backward switching device 26 to the neutral state. To stop the unmanned mower. In this stopped state, when the command information from the remote controller 49 is received via the receiving unit 48B, the priority control ends.

  In the remote control mode, when detecting the switch to the teaching mode based on the information from the receiving unit 48B, the teaching control unit 48G performs various operations from the input unit 48A and the receiving unit 48B obtained by the remote control at this time. The first teaching control is performed to acquire information such as a traveling route from the information of the above and write the acquired information into the storage unit 48K. In the automatic driving mode, when the teaching control unit 48G detects the switching to the teaching mode based on the information from the receiving unit 48B, the various kinds of information from the input unit 48A obtained in the automatic driving at this time. The second teaching control that acquires information such as a traveling route from the controller and writes the acquired information in the storage unit 48K is performed.

  When the input unit 48A and the receiving unit 48B output an emergency stop command, the emergency stop control unit 48H stops the engine 2 by taking measures such as shutting off the supply of fuel to the engine 2, thereby performing unmanned mowing. Emergency stop control for emergency stop of the machine is executed.

  The remote controller 49 includes a dial-operation-type traveling mode command unit 49A for instructing switching of the traveling mode, a two-axis operation-type neutral return type first steering command unit 49B for outputting a command relating to two-wheel steering, and four-wheel steering. Two-axis operation type neutral return type second steering command unit 49C that outputs a command relating to operation, a three-position switching type forward / reverse switching command unit 49D that outputs a command relating to operation of the forward / reverse switching device 26, switching to teaching mode And a two-position switching-type teaching command unit 49E for instructing an emergency stop, a button-operated emergency stop command unit 49F for instructing an emergency stop, and the like.

As shown in FIG. 1, FIG. 2, FIG. 10, FIG. 12, and FIG. 13, the traveling vehicle body 1 allows a traveling assist handle (an example of an artificial operation tool) 50 to be attached to and detached from the rear end of the top plate 15. It has a mounting portion 15A. By attaching the travel assist handle 50 to the attachment portion 15A, the travel assist handle 50 can be put into a use state that enables human power assist in traveling of the unmanned mower.
Thereby, in the traveling route of the unmanned mower, for example, a slope with a large inclination angle that cannot be driven by the unmanned mower alone, a gap smaller than a vehicle width that cannot be passed, or a step that cannot be climbed over, etc. If an obstacle is present, the driving assist handle 50 is attached to the mounting portion 15A to push up the unmanned mower, pull up the unmanned mower, or tilt the unmanned mower to the left or right so that the unmanned mower enters the gap. It is possible to perform human power assist related to running such as raising the front and rear ends of the unmanned mower. As a result, the unmanned mower can be moved and run irrespective of the existence of obstacles that hinder the running of the unmanned mower.

  The traveling assist handle 50 includes a fixing portion 50A fixed to the mounting portion 15A using a bolt with a knob (not shown), a long extension portion 50B extending rearward from the fixed portion 50A to the vehicle body, and an extension. The grip 50C has a loop-like gripping portion 50C connected to the extended end of the portion 50B. When the traveling assist handle 50 is attached to the traveling vehicle body 1, the grip 50 </ b> C is located behind the second contact member 45 </ b> A located at the rear end of the traveling vehicle body 1. This makes it easier for the unmanned mower to assist the human power from behind the vehicle.

  As shown in FIGS. 1, 2, 10, and 11, the traveling vehicle body 1 includes a main switch 52 for interrupting power supply from the battery 51 to the control device 48 at the rear end of the top 15, and an emergency stop. Is provided.

The emergency stop switch 53 commands the emergency stop control unit 48H to execute the above-described emergency stop control, similarly to the emergency stop command unit 49F of the remote controller 49.
Thus, for example, when the unmanned mowing machine is derailed while traveling on a narrow ridge road or the like and falls unmovable, by operating the emergency stop switch 53 or the emergency stop command unit 49F, the unmanned The mower can be brought to an emergency stop.

  Since the emergency stop state of the unmanned mower by the emergency stop control is a stop state obtained by stopping the engine 2 while the unmanned mower is running, the forward / reverse switching device 26 is used in the emergency stop state of the unmanned mower. Is switched to the forward transmission state or the reverse transmission state. Therefore, for example, in order to return the unmanned mower in an emergency stopped state to a normal running position or a running position, the travel assist handle 50 is attached to the unmanned mower and the unmanned mower is driven to travel by human power. However, the load on the transmission system is too heavy, and it is difficult to move the unmanned mower with human power.

Therefore, this unmanned mowing machine is provided as an example of a notifying unit that notifies the control system D of switching to the use state of the driving assist handle 50 together with the mounting portion 15A of the driving assist handle 50 at the rear end of the top plate 15. A neutral switch 54 for outputting a neutral switching command to the input unit 48A of the control device 48 is provided. The control device 48 includes an auxiliary control unit 48L that controls the operation of the forward / reverse switching device 26 in preference to the forward / reverse control unit 48E based on a neutral switching command from the input unit 48A. The auxiliary control unit 48L includes, as a control program, a neutral control unit that switches the forward / reverse switching device 26 to the neutral state based on the neutral switching command.
Thereby, for example, when returning the unmanned mowing machine in an emergency stopped state to the normal traveling posture or the traveling position, the neutral switch 54 is operated after the traveling assist handle 50 is attached to the attaching portion 15A. Accordingly, the forward / reverse switching device 26 can be switched to the neutral state, and the load on the power transmission system when the unmanned mower is traveled and moved manually using the travel assist handle 50 can be significantly reduced. As a result, the unmanned mower can be easily moved and moved by human power, and the unmanned mower can be easily returned to a normal running posture or a running position in a de-wheeled state.
Further, the auxiliary control unit 48L controls the operation of the forward / reverse switching device 26 prior to the forward / backward control unit 48E, so that the unmanned mower is traveled and traveled manually using the travel assist handle 50. The possibility that the forward / reverse switching device 26 unexpectedly switches to the forward transmission state or the reverse transmission state due to an erroneous operation of the remote controller 49 can be avoided.

  The neutral switch 54 outputs a neutral switching command in the previous operation and, when operated again, outputs a priority release command for releasing the priority of the auxiliary control unit 48L to the input unit 48A of the control device 48. . That is, the neutral switch 54 also functions as a switch for instructing the auxiliary control unit 48L to cancel the priority.

The auxiliary control unit 48L includes, as a control program, stop control means for stopping the control operation of the forward / reverse switching device 26 based on a priority release command from the input unit 48A.
Thereby, for example, after returning the unmanned mower to the normal running posture or the running position in the manual running using the driving assist handle 50, by operating the neutral switch 54 again, the remote control of the unmanned mower or the automatic Driving can be enabled.

  As shown in FIGS. 1 to 5, FIGS. 7 to 12, FIGS. 14 and 15, the traveling vehicle body 1 includes, as an electrical component E, the above-described generator 7, first motor 41 </ b> A, left and right first limit switches 41 </ b> F, 2 motor 42A, left and right second limit switches 42F, third motor 43A, first switch 44C, second switch 45C, object detector 46, lamp 47, control device 48, battery 51, main switch 52, emergency stop switch 53 And a neutral switch 54, an electromagnetic pickup type vehicle speed sensor 55 used for calculating a traveling distance, and the like.

The first frame 11 includes a plurality of support members 57 that support a plurality of electric wires 56 connected to each electrical component E.
Thus, by supporting each electric wire 56 on each support member 57, it is possible to easily wire the plurality of electric wires 56 along the first frame 11 so as to be located on the outer peripheral side of the traveling vehicle body 1. As a result, it is possible to easily perform the wiring work and the maintenance of each of the electric wires 56, while avoiding the possibility that the electric wires 56 come into contact with the engine 2, the fuel tank 6, and the like.
Further, the space inside the first frame 11 can be easily used as an arrangement space for various devices such as the engine 2 and the fuel tank 6. As a result, assembling and maintenance of the engine 2 and the fuel tank 6 and the like are facilitated.

  The plurality of support members 57 are attached to the upper end of the first frame 11 at a predetermined pitch over the entire circumference of the first frame 11. By this attachment, a wiring path over the entire circumference of the first frame 11 is secured above the first frame 11.

As shown in FIGS. 4, 5, 7, and 15, each support member 57 is formed in a U-shape opening upward.
Accordingly, each support member 57 can prevent the electric wires 56 from being displaced in the horizontal direction along the first frame 11 using the above-described wiring path. As a result, it is easy to maintain the state in which the plurality of electric wires 56 are located on the outer peripheral side of the traveling vehicle body 1 along the first frame 11, and the electric wires 56 can more reliably reduce the risk of contact with the engine 2 and the fuel tank 6. Can be avoided.

  As shown in FIGS. 1 to 3, 5 and 14, the first motor 41 </ b> A and the left and right first limit switches 41 </ b> F of each electrical component E are close to the front second member 11 </ b> B in the first frame 11. In this state, it is provided behind the front second member 11B. The first switch 44C is disposed in front of the front second member 11B in a state of being close to the front second member 11B. The second motor 42A and the left and right second limit switches 42F are arranged in front of the rear second member 11B in a state of being close to the rear second member 11B of the first frame 11. The second switch 45C is provided behind the rear second member 11B in a state of being close to the rear second member 11B. The control device 48 is disposed above the rear second member 11B in a state of being close to the rear second member 11B. The battery 51 is disposed below the left third member 11C in a state of being close to the left third member 11C of the first frame 11. The vehicle speed sensor 55 is disposed below the right third member 11C in a state of being close to the right third member 11C of the first frame 11.

That is, each of the electrical components E is distributed and arranged along the first frame 11 formed in a rectangular shape in plan view so as to extend over the entire outer periphery of the traveling vehicle body 1.
This facilitates assembly and maintenance of the plurality of electric components E, and connects the plurality of electric components E to the plurality of electric wires 56 to be routed to the outer peripheral side of the traveling vehicle body 1 along the first frame 11. It will be easier. In particular, by arranging the control device 48 along which the many electric wires 56 are concentrated along the first frame 11, the wiring of each electric wire 56 along the first frame 11 becomes easy.
Further, the space inside the first frame 11 can be further easily used as a space for arranging various devices such as the engine 2 and the fuel tank 6, and the assembling and maintenance of the engine 2 and the fuel tank 6 can be further easily performed.

  Among the electrical components E, the control device 48, the main switch 52, the emergency stop switch 53, and the neutral switch 54 are centrally arranged at the rear end of the top board 15. This facilitates wiring between the switches 52 to 54 and the control device 48.

  As shown in FIGS. 1 to 5, FIG. 7, FIG. 8, FIG. 10, FIG. 14 and FIG. 15, the traveling vehicle body 1 includes a first cover 58 that covers a plurality of electric wires 56 wired along the first frame 11. A first cover 58A that covers the plurality of electric wires 56 along the front second member 11B of the frame 11, a second cover 58B that covers the plurality of electric wires 56 along the rear second member 11B of the first frame 11, and A third cover 58C is provided to cover the plurality of electric wires 56 along the third member 11C on the right side of the one frame 11.

Each of the covers 58A to 58C is formed in a shape having a downward U-shaped cross section that opens downward, and is attached over a plurality of support members 57.
Thereby, the plurality of electric wires 56 wired above the first frame 11 along the first frame 11 can be covered by the cover 58 from above. That is, the plurality of electric wires 56 wired along the first frame 11 can be covered and covered by the first frame 11 and the cover 58. As a result, it is possible to avoid a risk that another object such as a tool may be caught on each electric wire 56 at the time of maintenance of the engine 2 or the like, and that a pebble or the like which the mowing device 5 bounces off during the mowing operation may come into contact with each electric wire 56. be able to.

  Each of the covers 58A to 58C is detachably connected to each support member 57 by a bolt. Thus, when performing maintenance or the like on the plurality of electric wires 56 covered with the covers 58A to 58C, the covers 58A to 58C can be easily removed.

  As shown in FIGS. 1 to 3, 5, 10, and 14, the traveling vehicle body 1 includes a side cover 59 that covers a left side portion thereof. The side cover 59 is formed such that its upper portion 59A functions as a fourth cover 58D that covers a plurality of electric wires 56 along the third member 11C on the left side of the first frame 11 in the cover 58 described above.

As shown in FIGS. 2, 7, and 8, the first transmission 28 has the drive sprocket 28Aa of the power distribution mechanism 28A inserted between the first drive wheel 3 and the second drive wheel 4 on the right. In this state, it is disposed above the steering area of the first driving wheel 3 and the second driving wheel 4 on the right side.
Thus, for example, the left and right width of the traveling vehicle body 1 can be narrower than when the first transmission 28 is provided on the right outside of the steering area. As a result, in remote control or automatic traveling, the unmanned mower can be passed through narrower trees and the like, and work efficiency can be improved.
Further, the position of the center of gravity of the vehicle can be lowered and the stability of the vehicle body can be improved as compared with the case where the entire first transmission device 28 is disposed above the steering region. In particular, by disposing the driving sprocket 28Aa low, it is possible to dispose the forward-reverse switching device 26 and the like that transmits to the driving sprocket 28Aa low. As a result, it is easy to improve the stability of the vehicle body by lowering the position of the center of gravity of the vehicle.

In the power distribution mechanism 28A, a first driven sprocket 28Ab and a second driven sprocket 28Ac interlocking with the driving sprocket 28Aa are arranged side by side above and below the driving sprocket 28Aa.
Thereby, the first driven sprocket 28Ab and the second driven sprocket 28Ac are arranged at a high position where they do not enter between the first driving wheel 3 and the second driving wheel 4 on the left side, in other words, at a position higher than the steering area. doing.

Then, the power distribution mechanism 28A transfers the first transmission mechanism from the front first driven sprocket 28Ab arranged at a high position as described above to the front transmission shaft 29A located above the steering region of the first drive wheel 3. It is transmitted through 28B. Also, the power distribution mechanism 28A moves the second driven sprocket 28Ac, which is disposed at a high position as described above, from the second driven sprocket 28Ac to the rear transmission shaft 29A, which is located above the steering region of the second drive wheel 4, to the second power transmission mechanism 29A. Power is transmitted through the transmission mechanism 28C. By transmitting the power in this manner, the entire first power transmission mechanism 28B and the second power transmission mechanism 28C are disposed at a position higher than the steering area.
Thus, even if the drive sprocket 28Aa of the power distribution mechanism 28A is arranged low to lower the vehicle center of gravity, the entire first transmission mechanism 28B and the second transmission mechanism 28C are arranged at a position higher than the steering area. can do. As a result, the possibility that the first transmission mechanism 28B and the second transmission mechanism 28C come into contact with the left first driving wheel 3 or the second driving wheel 4 can be reliably avoided.

  Further, since the power distribution mechanism 28A is a chain type, by disposing the drive sprocket 28Aa of the power distribution mechanism 28A low, the drive sprocket 28Aa is separated from the upper first driven sprocket 28Ab and the second driven sprocket 28Ac. This can be easily dealt with by increasing the length of the transmission chain 28Ad. Thereby, it is easy to improve the stability of the vehicle body by lowering the driving sprocket 28Aa and lowering the position of the center of gravity of the vehicle.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment. Hereinafter, another representative embodiment of the present invention will be exemplified.

[1] A self-starter type engine 2 may be provided as the prime mover A, or an electric motor may be provided instead of the engine 2.

[2] The configuration of the frame 11 can be variously changed. For example, at least one of each of the second member 11B and each of the third members 11B may be configured to have a square pipe steel as a main material.

[3] The support member 57 may be provided on the third frame 13, the connecting member 14, and the like.

[4] As shown in FIG. 16, a plurality of support members 57 are attached to a lateral end of the first frame 11 at a predetermined pitch over the entire circumference of the first frame 11. May be secured on the lateral side of the first frame 11 over the entire circumference of the first frame 11.

[5] As shown in FIG. 17, a plurality of support members 57 are attached to the lower end of the first frame 11 at a predetermined pitch over the entire circumference of the first frame 11, and Alternatively, a wiring route may be secured over the entire circumference of the first frame 11.

[6] The shape of the support member 57 can be variously changed, and may be formed in, for example, a C shape or an L shape. Further, the support member 57 may have a shape having a locking projection that locks into a locking hole provided in the first frame 11.

[7] The number of the covers 58 can be variously changed. For example, the cover 58 may include at least one of the first cover 58A to the third cover 58C. Further, a dedicated fourth cover 58D for covering the plurality of electric wires 56 along the third member 11C on the left side of the first frame 11 may be provided.

[8] The shape of the cover 58 can be variously changed according to the shape of the support member 57 and the like, and may be formed in, for example, a flat plate shape or an L-shape.

  The present invention relates to an unmanned operation such as an unmanned mowing machine, an unmanned grass collector, an unmanned cleaning machine including a motor arranged on the center side of a traveling vehicle body, a plurality of electric components, and a plurality of electric wires connected to the electric components. Can be applied to cars.

1 running body 11 frame
48 control device 56 electric wire 57 support member 58 cover A prime mover E electrical equipment

Claims (8)

A prime mover arranged at the center side of a traveling vehicle body having wheels at four corners, a body frame surrounding the prime mover and formed in a rectangular shape in plan view, a plurality of electric components, and a plurality of electric wires connected to the electric components. Prepared,
A plurality of electrical components that are a part of the plurality of electrical components are distributed and arranged along the vehicle body frame,
A control device connected to the plurality of electrical components as the part is arranged along the body frame,
Wherein a said part dispersed deployed along the vehicle frame and a plurality of electrical components and electrical wires for connecting the control unit, an unmanned working vehicle which is supported by the body frame along a said body frame.   2. The vehicle body frame according to claim 1, wherein the vehicle body frame falls within a range from a front end to a rear end of the wheel in a front-rear direction, and fits between respective outer surfaces of the left and right wheels in a left-right direction. 3. Unmanned working vehicle.   3. The vehicle body frame according to claim 1, wherein the vehicle body frame includes two transmission case frames that also serve as a transmission case that transmits driving force to the wheels, and two connection frames that connect the two transmission case frames. 4. Unmanned working vehicle. Unattended operations according to said along a body frame supporting said wire to be supported on the body frame, any one of claims 1 3 wherein a support by a plurality of supporting members provided in the body frame car. The unmanned working vehicle according to claim 4 , wherein the support member is formed in a U-shape opening upward. A plurality of said support members, unmanned working vehicle according to claim 4 or 5 comprises arranged at intervals over the entire circumference of the body frame. The electric wire is supported in the longitudinal frame portion extending in the front and rear direction of the vehicle body frame, and in the front and rear, left and right directions along each of the horizontal frame portions extending in the left and right directions, and a linearly extending portion, In the corners of the body frame, the support member adjacent to the corner provided in the vertical frame portion, and the support member adjacent to the corner provided in the horizontal frame portion is supported over the support member, from the front-back direction The unmanned working vehicle according to any one of claims 4 to 6 , further comprising a portion bent twice at an obtuse angle in the left-right direction. The unmanned working vehicle according to any one of claims 4 to 7 , wherein a cover that covers the electric wire is attached to a plurality of the support members.

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