JP6719700B2 - snowblower - Google Patents

Description

The present invention is mainly used in individuals, farms, stores, offices, small and medium-sized offices, and other small-sized walk-behind snow blowers to collect snow from the snow accumulated by an auger and discharge it with a blower. The present invention relates to improvement of work efficiency and improvement of maneuverability of a small rotary type snow remover that throws snow at a place intended by a driver.

The small-sized walk-behind snow remover is now widely used for the individual petition in the snow country area, apart from the large snow remover used on public roads and public facilities managed by the country or prefecture. Especially in mountainous areas and foothills where large-sized aircraft cannot be accommodated, demand is now as high as essential items in snowy countries. Conventionally, the work of removing snow using this snow remover was performed by an adult male, but the number of workers has become insufficient due to the aging of the society with a declining birthrate, and elderly people and women have come to perform it. Along with this, manufacturers have been making various improvements such as automating and semi-automating maneuvering operations so that elderly people and women who do not have physical strength or physical strength can remove snow as well as skilled adult boys.

Actual Kaihei 2-136122 JP-A-10-219644 Patent No. 4400863 Patent No. 4437979 JP, 2014-114536, A Japanese Patent Laid-Open No. 2015-048698 JP-A-2015-048699

However, automation and semi-automation to date have prioritized improvement of snow removal capacity, and mainly include automatic traveling speed control according to the snow removal load (Patent Document 4) and automatic horizontal control for stable running on snow (Patent Document 5). With regard to the snow throwing function, which is the most distinctive feature of rotary snow blowers, that throws snow to abandoned places, automation has been delayed until now. Although the concept itself has existed for a long time (Patent Documents 1 and 2), it was difficult to put the product into practical use at that time both technically and costly. This is because it does not directly improve the snow removal capacity.

Snow throwing is not a serious problem in the suburbs, foothills, and mountains where there are many places to throw away, but in places where there are limited places to throw away, such as in urban areas and near suburbs, it is a problem that requires particular attention in snow removal work. In recent years, with the spread of small snow blowers, they have been used in urban areas and the suburbs, and this problem has become more and more real. For example, in the case of removing snow from a passageway to a main street or a parking lot, a car or a building may be hit unless the snow is thrown carefully. Similarly, even when making sidewalks and walkways, it may hit a car or building, but in some cases there is a risk of hitting people nearby. In snowy areas, there are some urban areas where snow removal trenches, snow mouths and other infrastructure for snow removal are in place, but it is very difficult to directly throw snow directly there. Also, if the snow is soft and fresh, the damage caused by the snowfall is small, but if it is hard and hard, the damage caused by the snowfall is great. Further, the problem is serious when not only the snow flies but also obstacles such as pebbles and dust are mixed.

The present invention is the first to automate the snow throwing of a snow remover, which has been done only for a long time, namely, "to automatically and continuously hold (lock) the snow throwing and falling position aimed by the operator in a certain snow removing work section". Provide a new-generation snow blower that can be realized and prevent various damages and dangers associated with expected snow throws. In addition, since almost no snow throwing operation is required, even beginners such as elderly people and women in recent years can operate as well as skilled adult boys. Provide an excellent snow remover with dramatically improved operability and snow removal work efficiency.

Means taken in the present invention to solve the above-mentioned problems include an auger which is a snow removing work unit for mounting a prime mover and cutting and collecting snow, a blower for discharging snow, and a shooter for determining a snow throwing direction. In a compact walking type rotary snow remover, the electric actuator drives the turning movement of the shooter that adjusts the snow throwing direction, and the shooter turning angle sensor that detects the shooter turning angle adjusts the snow throwing distance at the tip of the shooter. The vertical rotation of the deflector with the link structure is driven by an electric actuator, and a deflector rotation angle sensor that detects the deflector rotation angle is provided, and the travel distance for snow removal is determined by the rotation of the drive wheel or driven wheel and the pickup rotation sensor. The snow blower is configured to detect the snow throwing point, and the snow throwing drop point aimed at by the operator at the start of snow removing work is calculated and stored by the output signals of the configured shooter turning angle sensor and deflector rotation angle sensor, and straight snow removal is performed. In the case of work, while the snow removal is in progress, in synchronization with the output signal of the pickup type rotation sensor configured, the shooter turning angle and the deflector rotation angle at the advancing position are sequentially calculated and corrected so as to be directed toward the snowfall drop point, Corrects the shooter and deflector so that they converge to the respective sensor values, and automatically controls snow throwing so that the snow throwing drop point during snow removing work is always kept in a fixed position during one snow removing work traveling section. I configured it to be possible.

The present invention has the following effects by applying the above means.

The shooter and deflector always operate automatically during snow removal so that the snow is thrown to the target position at the start of work, so anyone can operate it easily and improve operability. You can avoid the danger of hitting or important objects and improve safety.

Almost no snow throwing operation is required, and the operator can concentrate on snow removal operation and on-snow posture operation, which greatly improves work efficiency.

Since the snow throwing drop position can be set each time by the operator's will according to the work, unlike the automatic control that operates according to the idea of the designer designed beforehand, the snow throwing position can be operated by the user's will with the feeling of the user (pilot). , Excellent human interface for backing up snow removal work by users, improving operability and increasing work efficiency.

1 is an overall view showing a first embodiment of a walking type rotary snow remover of the present invention. It is a right perspective view which shows 2nd Example of the walking type rotary snow removal machine of this invention. It is a figure which shows the structure of a shooter turning angle sensor. It is a figure which shows the structure of 1st Example of a deflector snow throwing angle sensor. It is a figure which shows the structure of 2nd Example of a deflector snow throwing angle sensor. It is a graph which shows the standard relationship based on measurement which shows the relationship between the deflector angle (elevation angle) by the snow removal machine of this invention, the output of a deflector rotation angle sensor, and the distance of a snow throwing drop point. It is a figure which shows the structure of a pickup type rotation sensor. It is a control block diagram which shows the structure of automatic snow throwing control. It is a mounting wiring block diagram which shows the structure of automatic snow throwing control. It is a control flowchart figure which shows automatic snow throwing control. It is a timing chart figure which shows the operation relation of each control element of automatic snow throwing control. It is an image figure which shows the actual appearance of automatic snow throwing control.

When putting the present invention into practical use, when the snow throwing position is changed by manually operating the shooter cross lever switch 41 for operating the shooter and the deflector during the automatic snow throwing control from the viewpoint of safety and human interface priority, the snow throwing position is automatically changed immediately. The manual priority interlock control is used to stop the operation (Fig. 9). After the snow throwing position has been corrected to the position intended by the operator, when the push button switch 43 is pressed again, the automatic control operation for maintaining the corrected snow throwing falling position is started. One-touch operation to continue the driver's intention. This is the most advanced control that uses conventional control operation devices such as switches and pushbuttons.

Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a perspective view of the snow removal machine of the first embodiment as viewed from the snow removal section side (upper figure) and the control side (lower figure). A snow blower normally uses an auger 11, which is a rotary blade of the snow remover 1, to scrape or shave snow and collect it in the center to take it in. A blower (not shown) in the center of the auger 11 rotates at high speed. In addition, the blower is discharged at the peripheral speed, and the shooter 2 causes the snow to be thrown to a place intended by the operator. In the case of manual operation of the shooter 2, the shooter cross lever switch 41 on the operation panel 4 is used to rotate the shooter body 21 in the left-right direction to rotate the deflector 22 constituted by a two-joint link at the tip of the shooter in the left-right direction of snowfall. Use to control the snow throw distance. Similarly, in the snow removing section 1, the lift position and the left and right rolling positions are operated by the snow removing section cross lever switch 42. Since the vehicle needs to travel on snow, the crawler 3 is generally used for traveling.

In the automatic snow throwing control operation, before the start of snow removal, the shooter cross lever switch 41 is used to roughly determine the positions of the shooter and the deflector before the snow throwing start position. In that state, if the snow blower is advanced and cut into the snow-covered wall, snow removal will start and snow will be thrown from the tip of the deflector. Immediately, the traveling speed, the posture of the snow removal section, etc. are adjusted according to the snow removal load, the traveling surface (snowy landform), etc., and after the snow removal state becomes stable, the snow throwing fall position is corrected again to the target position by the shooter cross lever switch 41. When the automatic snow throwing control push button start switch 43 is pressed, automatic snow throwing starts. The shooter main body 21 and the deflector 22 automatically operate so as to maintain the snow throwing falling position according to the snow removal progress distance. The control accuracy of the snow throwing distance is improved by setting the snow quality correction potentiometer 44 to roughly, fresh snow (powder snow), tight snow, rough snow, etc. according to the snow quality condition to be removed. FIG. 1 shows a first embodiment in which a deflector snow throwing angle sensor 1 (DS1) using a potentiometer built in an electric cylinder (deflector actuator 1, DA1) is used as a deflector snow throwing angle sensor, and FIG. It is a second embodiment in which the deflector snow throwing angle sensor 2 (DS2) invented by the present applicant is used for the snow angle sensor. It can be said that the automatic snow throwing control was triggered by the development of this sensor.

Each component of the control configuration will be described. FIG. 3 shows the configuration of the shooter turning angle sensor SS. This is also invented by the applicant (Patent Document 7). The turning motion mechanism of the shooter main body 21 drives the shooter worm wheel 212 fixed to the bottom of the shooter main body 21 by the shooter worm gear 211 attached to the output shaft of the shooter actuator SA, and the forward and reverse rotations of the shooter actuator SA cause the shooter main body 21 to rotate. 21 is rotated left and right. The forward/reverse operation of the actuator SA is performed by the shooter cross lever switch 41 (FIG. 1) on the operation panel 4. In the shooter turning angle sensor SS, an actuator bevel gear 214 is attached to the shaft tip of the worm gear 211, and the sensor bevel gear 213 attached to the shaft tip of the sensor SS is gear-coupled. The sensor is a 10-turn potentiometer. For this, a non-contact Hall IC type sensor, which has become popular in recent years and has almost no deterioration in durability, is used. It can be said that the present invention has been realized in part because it has become popular. Although a conventional sliding contact potentiometer can be functionally used, it is almost difficult to put it into practical use for a shooter that has a lot of vibration and impact in terms of stability and durability.

When detecting the turning angle of the shooter main body 21, the gear ratio of the worm gear 211 and the worm wheel 212 is such that the shooter main body 21 rotates at a total turning angle of 260° when the worm gear 211 rotates about 16 times. When the traveling direction of the snow blower is set to the turning angle reference (0°), the shooter 13 turns to the left (+) 130° when the worm gear A1 rotates about 8 forwards, and turns to the right (−) 130° when it rotates about 8 reverses. (FIG. 5) That is, the shooter 13 rotates ±130° by approximately ±8 rotations of the worm gear 211. When the gear ratio between the actuator bevel gear 214 and the sensor bevel gear 213 is set to 1:2, a multi-rotation potentiometer with 10 revolutions is used for the sensor SS, and the shooter main body 21 is oriented in the machine traveling direction (turning angle 0°). , The potentiometer output is set to the median value and fixed. As described above, when the shooter main body 21 turns ±130°, the shooter turning angle sensor SS makes ±4 rotations and shows an output value according to the turning angle at that time. The full range ±5 rotation sensor S is used at ±4 rotations to reliably detect the mechanical limit turning angle of ±130° of the shooter 13, and allow margin of ±1 rotation in consideration of failure safety. is there.

In the actual control, the range is ±120°, and when it exceeds the limit, it is stopped immediately to protect the mechanism from damage. Also, if the turning angle based on the sensor output is treated as ±120°, it will be treated as the target two variables and control will be complicated. Therefore, ±120° will be treated as one variable from 60° to 300°, and it will be easy to control by treating it uniquely. I have to. The range of ±5° (175° to 185°) in the front direction is out of control. That is, 60° to 175° is left turning control, and 185° to 300° is right turning control. (Middle part of Fig. 11)

FIG. 5 shows the structure of a deflector snow throwing angle sensor 2 (DS2) invented by the present applicant (Patent Document 6) in a second embodiment of the deflector sensor. The tip portion of the shooter 2 has a link mechanism of one section for small size and two sections for medium and large-sized machines, and most of them are currently capable of electrically adjusting the snow throwing distance. At present, this part is called a deflector 22 separately from the shooter body 21. The upper left figure shows the link operation state of the deflector 22 at the time of long throw, and the upper right figure shows the link operation state of the deflector 22 at the time of near throw. The deflector 22 is composed of a driving deflector 221, a driven deflector 222, a fixed link 223, a restraining link 224, a movable link 225, and a deflector actuator 2 (DA2), of which 223 and 224 are a left and right pair. Currently, an electric cylinder is mostly used for the actuator DA2. The snow throwing angle range of the deflector 22 is approximately ±50° with respect to the horizontal plane of the aircraft (bottom row of FIG. 11).

The deflector snow throwing angle sensor 2 (DS2) is attached to the rotation support shaft portion of the fixed link 223 so as to detect the rotation angle of the restraint link 224. The rotation angle of the restraint link 224 is approximately 86° with respect to the 100° width of the snow deflecting angle range of the driven deflector 222 of ±50° (the lower stage of FIG. 11). That is, when the driven deflector 222 rotates 100° in the snow throwing angle range, the restraint link 224 rotates 86°. The two rotation angles have a similar relationship. Since a general angle sensor has a 90° width of ±45° as a standard, it is an optimum place for measurement. Further, in the present invention, a potentiometer composed of a non-contact Hall IC, which has not been deteriorated in durability of a sensor element which has been popularized in recent years, is used as the sensor. It can be said that the present invention has been realized in part because it has become popular. Although a conventional sliding contact type potentiometer is functionally possible, it is almost difficult to put it into practical use for a deflector that has many vibrations and impacts in terms of stability and durability. The lower part of FIG. 5 shows a mounted state of the deflector snow throwing angle sensor 2 (DS2), which is a completed product and is covered with a sensor cover. The potentiometer used was originally designed to be dustproof and drip-proof, so it is intended to protect against obstacles. With the above configuration, the snow throwing discharge angle of the driven deflector 222, which is the final snow discharge outlet, can be detected.

FIG. 4 shows the structure of a deflector snow throwing angle sensor 1 (DS1) which is a first embodiment of the deflector sensor. The potentiometer which outputs the expansion and contraction displacement of the cylinder built in the deflector actuator 1 (DA1) of the electric cylinder which operates the driving deflector 221 is used. It was put on the market during the development of the deflector snow throwing angle sensor 2 (DS2). Conventionally, there was no electric cylinder with a built-in potentiometer at all, but it was only for measurement or equipment, and there was no one that could be used for controlling a working machine such as the snow blower of the present application. If this was originally there was no need to develop the sensor 2.

The deflector snow throwing angle sensor 1 (DS1) is the cylinder expansion and contraction displacement amount of the deflector actuator 1 (DS1), and the deflector snow throwing angle sensor 2 (DS2) is the rotational displacement amount of the restraint link 224, which are the final snow discharge outlets. The snow throwing emission angle of the driven deflector 222 is detected instead. The deflector 22 has a function of adjusting the snow throwing distance, but the snow throwing distance is not known by the snow throwing release angle. FIG. 6 shows the relationship between the angle of the driven deflector 222, the sensor output value at that time, and the snow throwing distance in the snow removing machine according to the present invention, in each of the snow removing conditions such as snowfall time, snowfall area, snowfall time, and snowfall time. A standard characteristic diagram of "deflector angle-sensor output-snow throwing distance", which is actually measured many times, leveled, and standardized, is shown. The snow throwing distance shows three representative curves, but there are several control parameters during this period. In addition to the configuration of the developed control element, it can be said that, by quantifying and quantifying the snow throwing fall point distance, automatic snow throwing control can be realized. In actual control, "sensor output-snow throwing distance" is a problem, and this is used as a control parameter. All of the acquired valuable data are incorporated in the main control unit 5 as control table values.

In the snow blower according to the present invention, the snow throwing is performed by the deflector 22 from a short distance snowfall by oblique oblique projection to a long distance snowfall by upward oblique projection and a snow throwing distance of about 25 m. The maximum snow throwing distance in the vicinity of the deflector angle of 40° in the upward oblique projection indicates that snow throwing is a very complicated non-parabolic motion that is completely different from the rigid body motion. On the contrary, this is also the control limit. The flight trajectory of snow throwing is also asymmetrical before and after the highest point and is far from a parabola. Even if the snow throwing angle of the deflector 22 can be grasped by the sensor, it is impossible to calculate and derive the distance from the snow throwing point to the snow throwing drop point. From horizontal projection to downward oblique projection, the snow throwing distance does not significantly affect the snow removal conditions. The problem is in the case of long-distance snow throwing from horizontal projection to upward oblique projection. By collecting the actual measurement data over the whole snowfall period and organizing and standardizing it using statistical methods, it was possible to estimate the snow throw distance from the deflector angle (sensor output) under all snow removal conditions. Of course, it is necessary to obtain this standard characteristic chart for each model, but if the basic mechanism (engine, auger, blower, shooter) of the snow remover is the same, it can be used.

FIG. 7 shows the configuration of a pickup-type rotation sensor PS that detects the traveling distance for snow removal.
The principle is the same as the initial electromagnetic pickup type wheel rotation sensor for automobiles, but in the case of snow removal machines, the snow removal traveling speed is extremely low compared to the detection gears for automobiles, so there is no need for gears and there is no detection protrusion per rotation. The detection rotary body 333 having the simplest structure of two points, that is, two pulses per one rotation is used. The mounting locations are the rolling wheels (driven wheels) 33 and the rolling frame 331 that have the highest mechanical rigidity to fix the track rotation of the crawler belt 31 and support the load of the machine body. The pickup type rotation sensor PS is fixed to the wheel frame 331 by a pickup sensor bracket 332, and the detection rotor 333 is fixed to the rotation shaft of the wheel 33. Of the five rolling wheels, the one in the foremost position where the idling of the crawler belt 31 does not occur and is not generated. Further, at this position, the maintenance of the sensor PS can be easily performed. It is a traveling distance of 0.4 m (0.2 m/pulse) per one rotation of the roller wheel (33).

8 and 9 are control block diagrams of automatic snow throwing control with the above-described configuration, and FIG. 10 is a control flowchart. FIG. 9 shows the control mechanism more closely to the image of the mounted state for easy understanding. The main control unit 5, which is the heart of the control, is mounted inside the operation panel 4 (FIG. 1) at the place where the influence of vibration is minimal. In the automatic snow throwing control, when the automatic snow throwing control push button start switch 43 is pressed, the main control unit 5 reads the respective output values of the shooter turning angle sensor SS and the deflector snow throwing angle sensor 1 (DS1) at that time, A virtual snowfall point is set on a virtual plane obtained by virtually two-dimensionally expanding the running surface of the snow blower. Thereafter, according to the snow removal progress distance, the pulse output of the pickup type rotation sensor PS is received, and once every one rotation of the wheel (33), that is, every 0.4 m, the snow throwing fall point is set as a virtual snow throwing fall point. So that the snow throwing left-right direction, that is, the turning angle sensor SS value and the snow throwing distance, that is, the snow throwing angle sensor 1 (DS1) value are calculated and determined, and the shooter turning actuator SA and the deflector are converged so as to converge to the respective sensor values. Actuator 1 (DA1) is operated.

The difference in the snow quality is set mainly by the snow quality correction potentiometer (deflector angle correction potentiometer) 41 before starting the work according to the snow removal time. The snow quality here varies from region to region. Even if it is fresh snow, it is slightly different in the Chubu, Tohoku and Hokkaido areas. The same is true for rough snow. It cannot be simply distinguished from fresh snow, tight snow, and rough snow. Each snow quality has a width. However, in the end, it is the problem of snow quality, and from this fact, it is possible to use the potentiometer for snow quality correction to make finer adjustments to each snow quality, and to cope with regional differences.

After all, I was able to virtually set the snow throwing drop point because I was able to grasp the relationship of "deflector angle-sensor output-snow throw distance" after hard work. On the other hand, the angle correction of the snow throwing in the left and right direction can be calculated. Each correction angle operation width naturally varies depending on each rotation sensor pulse (each advance position). If it is easy to understand the control model, and if automatic snow throwing occurs within the range of true lateral symmetry turning angles, that is, 120° to 60° or 240° to 300° (Fig. 11), each corrected turning angle for each rotation sensor pulse The working width increases or decreases so as to draw a Gaussian distribution. FIG. 11 shows a state of automatic snow throwing control, and FIG. 12 shows an image thereof. Initially, the correction operation was performed for each pulse of the pickup type rotation sensor PS, that is, for every 0.2 m of traveling distance, but it is not necessary at all, and every 2 pulses (every 0.4 m) or every 4 pulses (0.8 m). Each time) was found to be sufficient.

Here, the relation of "deflector angle-sensor output-snow throwing distance" naturally assumes a stable snow removal work state. That is, it is assumed that the rotation speeds of the snow removal rotation parts of the snow removal portion 1, the auger 11, and the blower (not shown) are constant (full power output in the working machine), but in reality, the rotation speed is constantly changed due to the snow removal load fluctuation. Is fluctuating. However, if the number of revolutions of the snow blower continues to remove snow, the automatic snow throwing control function is hardly affected. Although the snow throwing drop points are points for control purposes, they are spread because they are scattered and projected in the actual snow throwing operation of the snow remover. The change in the snow throwing distance according to the change in the rotation speed due to the load change is rounded into the spread of the snow throwing falling point.

On the other hand, it becomes a problem when heavy snow removal work is performed such that the rotation speed continuously decreases. This is likely to happen if the other party is left unattended for a long period of time and the layers are closed, or if it is a layer of hard snow that repeats between water (liquid phase) and ice (solid phase) many times in early spring. When the number of revolutions is decreased, the snow throwing distance must be corrected accordingly, but the change in the number of revolutions can be corrected by the snow quality correction potentiometer 44. Not only that, but it can also correct the snow throwing distance depending on the height of the snow throwing point. The automatic snow throwing control assumes a virtual plane on the running surface of the snow remover, but in actual work, snow throwing is often performed at a position higher or lower than the running surface.

These are the things that were understood during the test of the development machine of the present invention. At the beginning of development, the difference in snow throwing distance depending on the snow quality is too clear, and it is impossible to detect it automatically and incorporate it into the control program.Therefore, only this control parameter is used for the snow removal condition, that is, mainly the snow quality condition. The detailed relation of "deflector angle-sensor output-snow throwing distance" in FIG. However, the root of automatic snow throwing control is correction of the snow throw distance control value. The change in the number of revolutions and the change in the height of the snow throwing drop point are also changes in the snow removal condition, and it is natural that the snow throwing distance can be corrected by the potentiometer 44 like the snow quality. In addition, these snow removal conditions are not as wide in dynamic range as snow quality, so correction and adjustment can be performed very easily. The snow quality correction potentiometer 44 function is also a versatile snow throw distance correction operator. Since the relationship between the grasped "deflector angle-sensor output-snow throwing distance" and the snow quality was accurate data, such applications became possible.

When it is desired to change the snow throwing drop point during automatic snow throwing, the shooter cross lever switch 41 is simply operated in that manner, and the automatic control is immediately canceled, and the shooter 2 operates while the switch is manually operated. The shooter cross lever switch 41 can directly operate the shooter swing actuator SA and the deflector actuator DA, and the switch output is input to the main control unit 5 in parallel, and when the switch 41 is operated, the manual priority interlock that immediately cancels the automatic control. (FIG. 9). When the push button start switch 43 is pressed again after changing the snow throwing drop point, the automatic snow throwing is continued to the new snow throwing drop point. Without any other setting operation, one-touch automatically continues the operator's intention. The above control is of course basically impossible with conventional electronic circuits. It is possible only when using microcomputer control. It has been more than 30 years since microcomputers were first built into products and used, and finally, it became an era when it could be used at the working machine level such as the snow blower of the present invention.

The above is the automatic snow throwing control of the snow blower of the present invention. Applicant has named this as lock-on snow throwing. The target with the missile locked on may escape, but the snow throwing drop point with the lock on of the snow blower of the present application remains locked. It locks the snowfall drop point intended by the operator and automatically continues snowfall at the locked position. The concept of many years could be realized for the first time with the present invention. The performance of this automatic snow throwing is such that it can aim at the bed of a truck for removing snow. Even in the case of the operation of a skilled adult boy, it is possible to prevent various damages and dangers associated with conventional snow throwing, and the snow throwing operation is almost unnecessary. Even beginners can operate like a mature adult boy, dramatically improving maneuverability and snow removal work efficiency, and contributing to the aging population with a declining birthrate in this field.

It can be used for all machines that obliquely project a flying object (for example, a water sprinkler).

1 Snow Removal Section 2 Shooter 3 Crawler 4 Control Panel 5 Main Control Unit 11 Auger 12 Auger Case 21 Shooter Main Body 22 Deflector 31 Crawler Belt 32 Sprocket (Drive Wheel)
33 Rolling wheels (driven wheels)
41 Shooter cross lever switch 42 Snow removing part cross lever switch 43 Snow throw automatic control push button start switch 44 Snow throw automatic control Snow quality correction potentiometer (= deflector angle correction potentiometer)
121 actuator/sensor cover 122 actuator bracket 123 shooter sensor bracket 211 shooter worm gear 212 shooter worm wheel 213 sensor bevel gear 214 actuator bevel gear
221 Drive deflector 222 Driven deflector 223 Fixed link 224 Restraint link 225 Movable link 331 Rolling frame 332 Pickup sensor bracket 333 Detection rotor SA Shooting swing actuator SS Shooting swing angle sensor DA1 Deflector actuator 1
DA2 deflector actuator 2
DS1 Deflector Snow throw angle sensor 1
DS2 Deflector Snow throw angle sensor 2
PS pickup type rotation sensor

Claims (1)

Small walking type rotary snow remover equipped with a motor, an auger that is a snow removal work unit that removes and collects snow, a blower that discharges snow, and a shooter that determines the direction of snow removal. An electric actuator is used to drive the turning of the shooter to adjust the snowfall, and the electric actuator is used to drive the vertical rotation of the deflector with a link structure that adjusts the snow throwing distance at the tip of the shooter by providing a shooter turning angle sensor that detects the shooting angle Along with the deflector rotation angle sensor that detects the deflector rotation angle, the snow removal machine is configured to detect the travel distance for snow removal with the rotation of the drive wheel or the driven wheel , and the shooter turning angle sensor. Is a sensor for detecting a rotation angle of a worm gear that swivels the shooter, and the deflector rotation angle sensor is a sensor for detecting a rotation angle of a rotating shaft of the deflector, or an electric cylinder that is the electric actuator. A small walk-type rotary snow remover with a built-in displacement sensor that detects expansion and contraction of the cylinder and automatic snow throwing control to keep the snow throwing position at a fixed position The snow throwing drop point aimed at by the operator is standardized based on the output signals of the shooter turning angle sensor and the deflector rotation angle sensor and the actual measurement data of the snow throwing drop point distance under all snow removal conditions pre-installed in the control unit. was calculated in a control table value, the running surface of the snowplow set virtual projection snow falling point on the two-dimensionally extended imaginary plane, storage, and ongoing straight snow removal, the output of the pickup type rotation sensor In synchronization with the signal, the shooter turning angle and the deflector rotation angle are sequentially inversely calculated and corrected in correspondence with the snow throwing drop point, and the shooter and deflector are corrected so that they converge to the respective sensor values. A control structure for automatic snow throwing control of a small walk-type rotary snow remover that always keeps the snow falling point in a fixed position in a straight running section for one snow removal operation .