JP6979816B2 - Working machine - Google Patents

Description

The present invention relates to an autonomous traveling type, a remote control type working machine, and a walking type working machine in which an operator does not board.

As a work machine on which an operator does not board, there are an autonomous traveling type and a remote control type mower as disclosed in Patent Document 1, and as disclosed in Patent Document 2, a long control handle extends from the machine. There is a walking mower that has been put out. Such mowers are mainly used for mowing work on slopes such as highways, river banks, and slopes of fields.

The mowers of Patent Documents 1 and 2 are provided with right and left wheels on one side in the front-rear direction of the machine, right and left wheels on the other side in the front-rear direction of the machine, and a working device, and power the wheels and the working device. It is equipped with a driving unit (engine, electric motor, battery, etc.) for transmission.

In a mower such as Patent Documents 1 and 2, a plurality of lugs are provided on the ground contact portion of the wheel by traveling on the grassland. The lug is set in a posture orthogonal to the direction of rotation of the wheel (a posture parallel to the axle of the wheel) so that the driving force of the wheel is sufficiently transmitted to the ground.

Japanese Unexamined Patent Publication No. 2015-167539 Japanese Unexamined Patent Publication No. 2013-1251

When mowing a slope, mowing is performed while traveling along the contour line of the slope from one end of the slope to the other end, and when the aircraft reaches the other end of the slope, the aircraft is mowed. May be moved slightly downward or upward along the slope, and the mowing work may be repeated while traveling along the contour line of the slope from the other end of the slope to one end. In this case, the aircraft may slide down to the valley side (lower side) of the slope.

An object of the present invention is to suppress a state in which the machine body slides down to the valley side (lower side) of the slope while sufficiently transmitting the driving force of the wheels to the ground in the working machine.

The working machine of the present invention is
The right and left wheels on one side in the front-rear direction of the aircraft, the right and left wheels on the other side in the front-rear direction of the aircraft, the working device, and the driving unit that transmits power to the wheels and the working device. Be prepared,
A plurality of lugs are connected to the ground contact portion of the wheel so as to be arranged along the rotation direction of the wheel at intervals.
The rug is
The first portion of the oblique posture extending only toward a predetermined first direction so as to intersect the rotation direction of the wheel and the first direction so as to intersect the rotation direction of the wheel It has a second portion in an oblique orientation opposite to the first portion that extends only in different second directions.
The first portion and the second portion are provided so that one end of the wheel in the rotation direction of the first portion and the other end of the wheel in the rotation direction of the second portion are connected to each other. Has been done.

According to the present invention, when the wheel is rotationally driven, the driving force of the wheel is lagged because the first portion and the second portion of the lug are in an oblique posture with respect to the rotational direction of the wheel. The aircraft moves forward (backward) sufficiently to the ground through the first part and the second part).

If the first and second parts of the lug are in an oblique posture with respect to the rotation direction of the wheels, the driving force of the wheels may be biased toward the diagonally front side (diagonal rear side) of the airframe.
According to the present invention, the first portion and the second portion of the lug are opposite to each other, the driving force of the wheel is applied diagonally from the first portion of the lug, and the driving force of the wheel is the second portion of the lug. Since the directions diagonally applied from the wheel are opposite to each other and cancel each other out, the driving force of the wheel is reasonably transmitted to the front side (rear side) of the aircraft via the first part and the second part of the lug. ..

When the working machine travels along the contour lines of the slope, according to the present invention, the first part and the second part of the lugs of the wheels also face the valley side (lower side) of the slope, so that the machine body is on the slope. Even if an attempt is made to slide down to the valley side (lower side) of the rug, the first portion and the second portion of the lug can prevent the aircraft from sliding down to the valley side (lower side) of the slope of the aircraft.
As described above, in the working machine, it is possible to obtain wheels that can stop the slipping down to the valley side (lower side) of the slope of the machine while sufficiently transmitting the driving force to the ground, and the working machine can run. Performance can be improved.

In the present invention
The middle part of the lug is bent and
The portion on one side of the bent portion of the lug is the first portion, and the portion on the other side of the bent portion of the lug is the second portion.
It is preferable that the bent portion of the lug is a portion of the first portion and the second portion that are connected to each other.

According to the present invention, by bending the intermediate portion of the lug, the first portion and the second portion of the lug can be obtained, which is advantageous in terms of simplification of the structure. Since the first part and the second part of the lug can be handled as one member, it is also advantageous in terms of reducing the number of parts.

In the present invention
The driving part is displaced from the center of the left and right sides of the airframe to the right or one side, and is arranged.
In the lug of the wheel on the driving part side
The first part and the second part separated from each other are arranged on the machine body side with respect to the parts connected to each other of the first part and the second part.
In the lug of the wheel on the opposite side of the driving part
It is preferable that the first portion and the second portion separated from each other are arranged on the opposite side of the machine body with respect to the portions connected to each other of the first portion and the second portion.

According to the present invention, the center of gravity of the airframe is located from the center of the left and right sides of the airframe to the airframe side by arranging the driving part displaced from the center of the left and right sides of the airframe to one side to the right or left.
As a result, when traveling along the contour lines of the slope, the wheels on the driving part side are on the mountain side (upper side) of the slope, and the wheels on the opposite side of the driving part are on the valley side (lower side) of the slope. As a result, it is possible to travel with the center of gravity of the aircraft positioned on the mountain side (upper side) of the slope with respect to the center of the left and right sides of the aircraft, and it is possible to prevent the aircraft from tipping over to the valley side (lower side) of the slope. can.

In the above-mentioned state, if the airframe tries to slide down to the valley side (lower side) of the slope, the airframe tries to slide down to the side opposite to the driving part.
According to the present invention, in the lugs of the wheels on the driving portion side, the portions of the first portion and the second portion that are separated from each other are arranged on the machine body side with respect to the portions of the first portion and the second portion that are connected to each other. The first and second parts of the rug are open to the valley side (lower side) of the slope.
Similarly, in the lugs of the wheels on the opposite side of the driving part, the parts of the first part and the second part that are separated from each other are arranged on the opposite side of the aircraft with respect to the parts of the first part and the second part that are connected to each other. Therefore, the first part and the second part of the rug are in a state of being open to the valley side (lower side) of the slope.

As a result, when the aircraft tries to slide down to the valley side (lower side) of the slope, the wheels on the driving part side and the wheels on the opposite side of the driving part have the slope inside the first part and the second part of the lug. The condition is such that soil or the like enters, and it is possible to prevent the aircraft from slipping down to the valley side (lower side) of the slope.

In the present invention
The driving part is displaced from the center of the left and right sides of the airframe to the right or one side, and is arranged.
The width of the wheel on the side opposite to the driving part is set to be larger than the width of the wheel on the driving part side.
In the rows along the rotation direction of the wheels in the plurality of lugs, the number of the rows on the wheels on the opposite side of the driving part is larger than the number of the rows on the wheels on the driving part side. It is preferable that it is set to the one.

According to the present invention, the center of gravity of the airframe is located from the center of the left and right sides of the airframe to the airframe side by arranging the driving part displaced from the center of the left and right sides of the airframe to one side to the right or left.
As a result, when traveling along the contour lines of the slope, the wheels on the driving part side are on the mountain side (upper side) of the slope, and the wheels on the opposite side of the driving part are on the valley side (lower side) of the slope. As a result, it is possible to travel with the center of gravity of the aircraft positioned on the mountain side (upper side) of the slope with respect to the center of the left and right sides of the aircraft, and it is possible to prevent the aircraft from tipping over to the valley side (lower side) of the slope. can.

As described above, when the work machine runs along the contour lines of the slope and the aircraft falls to the valley side (lower side) of the slope, the outer end of the wheel on the valley side (lower side) of the slope is used as a fulcrum. As a result, the aircraft will fall to the valley side (lower side) of the slope. Due to the slope of the slope, the contact pressure of the wheels on the valley side (lower side) of the slope tends to be higher than that of the wheels on the mountain side (upper side) of the slope.

According to the present invention, if the wheel on the driving part side is on the mountain side (upper side) of the slope, the width of the wheel on the opposite side of the driving part (valley side (lower side) of the slope) is large. Therefore, by separating the outer end of the wheel on the opposite side of the driving part from the aircraft to the outside in the left-right direction of the aircraft, it is possible to prevent the aircraft from tipping over to the valley side (lower side) of the slope of the aircraft. can.

According to the present invention, due to the large width of the wheel on the side opposite to the driving part (valley side (lower side) of the slope), the wheel on the opposite side (valley side (lower side) of the slope) from the driving part The number of rows of lugs can be set to a reasonably large number.

As described above, according to the present invention, in addition to being able to prevent the aircraft from tipping over to the valley side (lower side) of the slope, the high contact pressure of the wheels on the side opposite to the driving part causes the driving force. Due to the fact that the lugs of the wheels on the opposite side of the part are strongly pressed against the slope, and the number of rows of lugs on the wheels on the opposite side of the driving part is large, to the valley side (lower side) of the slope of the aircraft. It is possible to enhance the function of preventing the wheel from slipping off.

In the present invention
In a row along the direction of rotation of the wheel in the plurality of lugs, in the wheel having the plurality of rows.
It is preferable that the positions of the intervals are set to the same phase of the wheels so that they are aligned in the left-right direction of the airframe.

When a plurality of rows of lugs are provided in a state of being connected to the ground contact portion of the wheel so that a plurality of lugs are arranged along the rotation direction of the wheel at intervals, according to the present invention, the position of the spacing is the position of the aircraft. Since the wheels are set in the same phase so that they line up in the left-right direction, the vicinity of the gap does not become a narrow area, and it is unlikely that stones or impurities will enter the vicinity of the gap and will not come off. Become.

It is the whole right side view of the mower. It is the whole plan view of the mower. It is a transmission system diagram which shows the transmission system from an engine to a wheel and a cutting blade. It is a schematic diagram which shows the linkage state of a control device and each part. It is sectional drawing of the right wheel. It is sectional drawing of the left wheel. It is a development view which shows the arrangement state of the lugs on the right and left wheels. It is a developed view which shows the arrangement state of the lugs in the left wheel in the 1st alternative embodiment of the invention. It is a development view which shows the arrangement state of the lugs in the left wheel in the 2nd alternative embodiment of the invention. It is a development view which shows the arrangement state of the lugs in the left wheel in the 2nd alternative embodiment of the invention. It is a development view which shows the arrangement state of the lugs in the right wheel in the 3rd alternative embodiment of the invention.

1 to 11 show a remote-controlled mower by radio control as an example of a working machine. In FIGS. 1 to 11, "F" indicates the front direction of the mower, and "B" indicates the rear direction of the mower. "U" indicates the upward direction of the mower, and "D" indicates the downward direction of the mower. "R" indicates the right direction of the mower, and "L" indicates the left direction of the mower.

(Overall composition of the mower)
As shown in FIGS. 1 and 2, in the mowing machine, the cutting blade housing 1 (corresponding to the machine body) is provided, and the cutting blade housing 1 accommodates the cutting blade 2 (corresponding to a working device). The transmission case 3 and the engine 4 (corresponding to the driving part) are supported by 1.

The right wheel 5 and the left wheel 6 on one side in the front-rear direction of the cutting blade housing 1 and the right wheel 5 and the left wheel 6 on the other side in the front-rear direction of the cutting blade housing 1 are provided. The cutting blade housing 1 is supported by the cutting blade housing 1. A cover 7 that covers the upper side of the transmission case 3 and the engine 4 and the like is provided.

(Structure related to cutting blade and engine)
As shown in FIGS. 1 and 2, the front and rear frames 8 are sucked in the left-right direction and connected to the cutting blade housing 1, and the frame 9 is connected to the cutting blade housing 1 along the front-rear direction. It is connected over the frame 8.

The transmission case 3 is connected to the frame 9 and supported by the cutting blade housing 1, and the cutting blade support portion 3a extending downward from the transmission case 3 is inserted into the cutting blade housing 1. The cutting blade 2 is rotatably supported by the cutting blade support portion 3a of the transmission case 3, and the cutting blade 2 is housed in the cutting blade housing 1.

As shown in FIGS. 1, 2, and 3, the cutting blade 2 is freely rotatable around the vertical axis P2 at a plurality of disc-shaped support plates 2a and a plurality of locations on the outer peripheral portion of the support plate 2a. It is provided with a blade portion 2b.

When the cutting blade 2 is rotationally driven inside the cutting blade housing 1, pebbles and the like on the ground may be bounced off by the cutting blade 2 and scattered to the outside of the cutting blade housing 1. As shown in the above, right and left cover portions 50 for stopping scattered objects from the cutting blade housing 1 are provided on the right and left portions of the cutting blade housing 1.

As shown in FIGS. 1 and 2, the engine 4 is connected to the frame 8 so as to be located on the right side of the cutting blade housing 1 and is supported by the cutting blade housing 1.
In a plan view, the engine 4 is displaced to the right from the left and right center CL of the cutting blade housing 1, and the engine 4 is arranged between the right wheels 5. The engine 4 is arranged at a low position so that the upper part of the right wheel 5 and the lower part of the engine 4 overlap each other in the front-rear direction.

(Transmission structure to the cutting blade)
As shown in FIG. 3, the power of the output shaft 4a of the engine 4 is transmitted to the transmission shaft 18 via the centrifugal clutch 16 and the brake 17 inside the transmission case 3, and is transmitted from the transmission shaft 18 to the transmission belt 19 via the transmission belt 19. It is transmitted to the generator 20.

Inside the transmission case 3, the power of the transmission shaft 18 was transmitted to the transmission shaft 21, and the power of the transmission shaft 21 was supported inside the cutting blade support portion 3a of the transmission case 3 via the cutting blade clutch 22. It is transmitted to the cutting blade drive shaft 23.

A cutting blade 2 (support plate 2a) is connected to the lower part of the cutting blade drive shaft 23, and the cutting blade 2 is rotationally driven. The cutting blade clutch 22 can be operated in a transmission state and a cutoff state by a cutting blade clutch lever (not shown) supported by the cutting blade housing 1.

(Wheel support structure and transmission structure)
As shown in FIG. 3, inside the transmission case 3, the transmission shaft 21 is provided with a worm mechanism 24. The power of the transmission shaft 21 is transmitted from the worm mechanism 24 to the forward / reverse switching device 28 via the transmission shaft 25, the transmission shaft 26, and the transmission shaft 27. Outside the transmission case 3, the power of the forward / backward switching device 28 is transmitted to the transmission shaft 31 via the torque limiter 29 and the transmission chain 30.

The transmission 26 can be changed to a low speed state and a high speed state by sliding the shift member, and can be operated to the low speed state and the high speed state by the speed change lever (not shown) supported by the cutting blade housing 1. can. The forward / backward switching device 28 can be operated in a forward state, a reverse state, and a neutral state by sliding the shift member.

As shown in FIGS. 32 is supported along the shaft core P1 in the vertical direction, and the power of the transmission shaft 31 is transmitted to the transmission shaft 32.

As shown in FIGS. 1 and 2, the right wheel support case 10 steers around the transmission shaft 32 (shaft core P1) supported in the vertical direction in the right part of the front part and the rear part of the cutting blade housing 1. It is supported freely. The left wheel support case 11 is steerably supported around a transmission shaft 32 (axis core P1) supported in the vertical direction in the front and rear left portions of the cutting blade housing 1.

As shown in FIGS. 1, 2 and 3, the axle 33 is supported by the right and left wheel support cases 10 and 11, the wheels 5 and 6 are connected to the axle 33, and the power of the transmission shaft 32 is the axle 33. The wheels 5 and 6 are rotationally driven.

As shown in FIGS. 1 and 2, the tie rod 12 is connected to the arms 10a and 11a of the right and left wheel support cases 10 and 11. The rod 15 is connected to the first steering motor 13 (see FIG. 4) attached to the cutting blade housing 1 and the arm 10b of the right wheel support case 10, and is connected by the first steering motor 13. , Right and left wheels 5 and 6 on one side in the front-rear direction of the cutting blade housing 1 are steered.

The rod 15 is connected to the second steering motor 14 (see FIG. 4) attached to the cutting blade housing 1 and the arm 11b of the left wheel support case 11, and is connected by the second steering motor 14. The right and left wheels 5 and 6 on the other side of the cutting blade housing 1 in the front-rear direction are steered.

(Structure of right wheel)
As shown in FIG. 5, the right wheel 5 has a cylindrical axle 34, a first lateral side portion 35 in which the plate material is pressed into a dish shape, and a second lateral side in which the plate material is pressed into a dish shape. A portion 36 is provided, and the first lateral side portion 35 and the second lateral side portion 36 are connected to the axle 34.

As shown in FIGS. It is connected to form a flat plate-shaped rib 38 that protrudes outward in the radial direction. The axle 33 is inserted into the axle 34, and the axles 33 and 34 are connected by bolts.

As shown in FIGS. 1, 2, 5, and 7, a plurality of lugs 39 are connected to the ground contact portion 37 so as to line up along the rotation direction A1 of the right wheel 5 with an interval W1.
As shown in FIG. 7, the lug 39 is formed by bending the intermediate portion 40, and is intermediate between the first portion 41 and the lug 39, which are one side portions from the intermediate portion 40 (bent portion) of the lug 39. A second portion 42, which is a portion on the other side from the portion 40 (folded portion), is provided.

As shown in FIG. 7, the first portion 41 of the lug 39 is in an oblique posture with respect to the rotation direction A1 of the right wheel 5. The second portion 42 of the lug 39 is in an oblique posture in the direction opposite to that of the first portion 41 of the lug 39 with respect to the rotation direction A1 of the right wheel 5. The outer peripheral portions of the first portion 41 and the second portion 42 of the lug 39 are formed in an uneven shape.

With the above structure, in the first portion 41 and the second portion 42 of the lug 39, the first portion of the lug 39 is connected so that the ends (intermediate portion 40 of the lug 39) of the right wheel 5 in the rotation direction A1 are connected to each other. The portion 41 and the second portion 42 are provided. The bent portion (intermediate portion 40) of the lug 39 is a portion of the lug 39 that connects the first portion 41 and the second portion 42 to each other.

As shown in FIGS. 2 and 7, in the right wheel 5, the rib 38 is arranged at the end of the ground contact portion 37 on the cutting blade housing 1 side (machine side).
In the lug 39 of the right wheel 5, the first portion 41 and the second portion 42 of the lug 39 are separated from each other with respect to the intermediate portion 40 of the lug 39 (the portion of the first portion 41 and the second portion 42 connected to each other). The portions 41a and 42a are arranged on the cutting blade housing 1 side (machine body side) (rib 38 side).

(Structure of left wheel)
As shown in FIG. 6, the left wheel 6 has a cylindrical axle 34, a right and left first lateral side portions 35 in which a plate material is pressed into a dish shape, and a second wheel in which the plate material is pressed into a dish shape. A lateral portion 36 is provided, and the right and left first lateral portions 35 and the second lateral portion 36 are connected to the axle 34.

As shown in FIGS. 2 and 6, the outer peripheral portion of the left first lateral side portion 35 is extended to form the left ground contact portion 37, and the end portion of the left ground contact portion 37 is the second lateral side portion. It is a flat plate-shaped rib 38 that is connected to the outer peripheral portion of 36 and projects outward in the radial direction. The outer peripheral portion of the right first lateral side portion 35 is extended to form the right ground contact portion 37, and the end portion of the right ground contact portion 37 is connected to the end portion of the left ground contact portion 37. The axle 33 is inserted into the axle 34, and the axles 33 and 34 are connected by bolts.

As shown in FIGS. 2, 6 and 7, similarly to the right wheel 5, a plurality of lugs 39 are grounded on the right and left so as to be arranged along the rotation direction A1 of the left wheel 6 with an interval W1. It is connected to the portion 37.

The lug 39 is formed by bending the intermediate portion 40, and the first portion 41, which is a portion on one side from the intermediate portion 40 (bent portion) of the lug 39, and the intermediate portion 40 (bent portion) of the lug 39. ) Is provided with a second portion 42, which is a portion on the other side.

As shown in FIG. 7, the first portion 41 of the lug 39 is in an oblique posture with respect to the rotation direction A1 of the left wheel 6. The second portion 42 of the lug 39 is in an oblique posture in the direction opposite to the first portion 41 of the lug 39 with respect to the rotation direction A1 of the left wheel 6. The outer peripheral portions of the first portion 41 and the second portion 42 of the lug 39 are formed in an uneven shape.

With the above structure, in the first portion 41 and the second portion 42 of the lug 39, the first portion of the lug 39 is connected so that the ends (intermediate portion 40 of the lug 39) of the left wheel 6 in the rotation direction A1 are connected to each other. The portion 41 and the second portion 42 are provided. The bent portion (intermediate portion 40) of the lug 39 is a portion of the lug 39 that connects the first portion 41 and the second portion 42 to each other.

As shown in FIGS. 2 and 7, in the left wheel 6, the rib 38 is arranged at the end of the left ground contact portion 37 opposite to the cutting blade housing 1 side (machine side).
In the lug 39 of the left wheel 6, the first portion 41 and the second portion 42 of the lug 39 are separated from each other with respect to the intermediate portion 40 of the lug 39 (the portion of the first portion 41 and the second portion 42 connected to each other). The portions 41a and 42a are arranged on the side opposite to the cutting blade housing 1 (the side opposite to the machine body) (the rib 38 side).

(Contrast between right wheel and left wheel)
As shown in FIGS. 5, 6 and 7, the width W3 of the left wheel 6 on the opposite side of the engine 4 is about twice as large as the width W2 of the right wheel 5 on the engine 4 side. It has become.

The row of the wheels 5 and 6 along the rotation direction A1 in the plurality of lugs 39 is one row in the right wheel 5 on the engine 4 side. On the other hand, the left wheel 6 on the opposite side of the engine 4 has two rows, which is more than one row.

In the left wheel 6, as described above, there are two rows along the rotation direction A1 of the wheels 5 and 6 in the plurality of lugs 39. In this case, the positions of the intervals W1 are set to the same phase of the left wheel 6 so as to line up in the left-right direction of the cutting blade housing 1.
Also in the right and left wheels 5 and 6, the positions of the intervals W1 are set in the same phase of the right and left wheels 5 and 6 so as to be aligned in the left-right direction of the cutting blade housing 1.

As shown in FIGS. 5 and 6, a balance weight 43 is provided on the right wheel 5. On the other hand, the left wheel 6 is not provided with the balance weight 43.
As shown in FIG. 5, a disk-shaped balance weight 43 is provided, the balance weight 43 is arranged inside the right wheel 5 and connected to the axle 34, and the balance weight 43 is the right wheel. It is provided concentrically with 5.

As shown in FIGS. 2 and 5, the balance weight 43 is provided on the right wheel 5, and the engine 4 is displaced to the right from the left and right center CL of the cutting blade housing 1, so that the engine 4 is mowed. The blade housing 1 is displaced from the left and right center CL toward the balance weight 43.

As shown in FIG. 5, in the right wheel 5, the balance weight 43 is provided between the first lateral side portion 35 and the second lateral side portion 36. The outer end portion 43a of the balance weight 43 is in a state of being close to (or in contact with) the inner surface (the surface on the axle 33, 34 side) of the ground contact portion 37, and the outer end portion 43a of the balance weight 43 is the ground contact portion 37. It is arranged closer to the axles 33 and 34.

(Radio control of mower)
This mower is a remote-controlled type by radio control.
As shown in FIG. 4, the control device 44, the receiver 45, the operation stop switch 46 operated by the operator, the accelerator motor 47 operating the accelerator 4b and the brake 17 of the engine 4, and the forward / backward switching device 28 are operated. The motor 48 is provided in the cutting blade housing 1.

The accelerator 4b of the engine 4 is urged to the low speed side (idling side) by a spring (not shown), and the brake 17 is urged to the braking side by a spring (not shown).
In the idling state of the engine 4, the centrifugal clutch 16 is in the disconnected state and the brake 17 is in the braking state. The accelerator motor 47 operates the brake 17 in the released state, the accelerator 4b of the engine 4 is operated to the high speed side, and the centrifugal clutch 16 is in the transmission state.

The control device 44 operates the first steering motor 13, the second steering motor 14, the accelerator motor 47, and the forward / backward motor 48, and the operation signals of the receiver 45 and the operation stop switch 46 are sent to the control device 44. It has been entered.

The receiver 45 receives the operation signal of the transmitter 49 operated by the operator, and the control device 44 sets the first steering motor 13 and the second steering motor based on the operation signal of the transmitter 49 (receiver 45). 14. Operate the accelerator motor 47 and the forward / backward motor 48.

When the right and left wheels 5 and 6 on one side in the front-rear direction of the cutting blade housing 1 are steered by the first steering motor 13, and the front and rear of the cutting blade housing 1 by the second steering motor 14. When steering the right and left wheels 5 and 6 on the other side of the direction, the first steering mode, the second steering mode, the in-phase mode, and the anti-phase described in (1) to (4) below are used. The mode can be selected by the transmitter 49.

(1) First steering in which the right and left wheels 5 and 6 on the other side are steered by the first steering motor 13 with the right and left wheels 5 and 6 on the other side fixed in the straight-ahead position. mode.
(2) A second steering operation in which the right and left wheels 5 and 6 on the other side are steered by the second steering motor 14 with the right and left wheels 5 and 6 on one side fixed in the straight-ahead position. mode.

(3) An in-phase mode in which the right and left wheels 5 and 6 on one side and the other side are steered in the same direction by the first steering motor 13 and the second steering motor 14 to translate the mower.
(4) Opposite phase mode in which the right and left wheels 5 and 6 on one side and the other side are steered in opposite directions by the first steering motor 13 and the second steering motor 14 to turn the mower in a small turn. ..

When mowing a slope, the mowing machine runs from one end of the slope to the other end along the contour line of the slope, and when the mowing machine reaches the other end of the slope, the mowing machine is used. May be moved slightly downward or upward along the slope, and the mowing work may be repeated while traveling along the contour line of the slope from the other end of the slope to one end.

In the above-mentioned mowing work, according to the mowing machine of the present invention, the right wheel 5 on the engine 4 side is on the mountain side (upper side) of the slope, and the left wheel 6 on the opposite side of the engine 4 is on the valley side (lower side) of the slope. In this state, the vehicle may run along the contour lines.

When the mower reaches one (the other) end of the slope, one of the first steering mode, the second steering mode, the in-phase mode, and the anti-phase mode described in (1) to (4) above. Based on one, the mower may be steered, the mower may be moved forward and backward, and the mower may be moved slightly downward or upward along the slope.

(First Different Form of Implementation of the Invention)
As shown in FIG. 8, in the two rows along the rotation direction A1 of the wheels 5 and 6 in the plurality of lugs 39 of the left wheel 6, the position of the interval W1 and the lug 39 are located in the left-right direction of the cutting blade housing 1. The distance W1 between the two rows may be shifted so as to be lined up.

(Second alternative form of carrying out the invention)
As shown in FIGS. 9 and 10, in the two rows along the rotation direction A1 of the wheels 5 and 6 in the plurality of lugs 39 of the left wheel 6, the lug 39 of the right ground contact portion 37 and the left ground contact portion 37. The lugs 39 may be opposite to each other.
In the structure shown in FIGS. 9 and 10, as shown in FIG. 8, the above-mentioned two rows of intervals W1 may be shifted so that the position of the interval W1 and the lug 39 are aligned in the left-right direction of the cutting blade housing 1. ..

(Third alternative form of carrying out the invention)
As shown in FIG. 11, the directions of the lugs 39 may be alternately reversed in one row along the rotation direction A1 of the wheels 5 and 6 in the plurality of lugs 39 of the right wheel 5.
The configuration shown in FIG. 11 may be applied to the left wheel 6 shown in the above-mentioned (form for carrying out the invention) (first alternative form of carrying out the invention) (second alternative form of carrying out the invention). ..

(Fourth Different Embodiment of the Invention)
In the row along the rotation direction A1 of the wheels 5 and 6 in the plurality of lugs 39 of the right and left wheels 5 and 6, the row of the right wheel 5 may be two rows and the row of the left wheel 6 may be three rows. good.
The width W2 of the right wheel 5 and the width W3 of the left wheel 6 may be the same, and the row of the right wheel 5 and the row of the left wheel 6 may be the same number.
In the row along the rotation direction A1 of the wheels 5 and 6 in the plurality of lugs 39 of the right and left wheels 5 and 6, the number of lugs 39 may be 3, 5, 6, or the like instead of 4. ..
In the left wheel 6, the rib 38 may also be formed between the right ground contact portion 37 and the left ground contact portion 37.

(Fifth alternative form of carrying out the invention)
In the lug 39, instead of bending the intermediate portion 40 of the lug 39 to include the first portion 41 and the second portion 42 of the lug 39, the first portion 41 and the second portion 42 of the lug 39 are divided into separate parts. The first portion 41 and the second portion 42 of the lug 39 may be butted against each other.

According to this structure, the portion where the first portion 41 and the second portion 42 of the lug 39 are butted together becomes a portion where the first portion 41 and the second portion 42 of the lug 39 are connected to each other. In this case, a slight gap may be provided between the first portion 41 and the second portion 42 of the lug 39 in the portion where the first portion 41 and the second portion 42 of the lug 39 are butted against each other.

(Sixth Different Embodiment of the Invention)
The engine 4 may be arranged (supported) between the left wheels 6 in a plan view, and the balance weight 43 may be provided on the left wheels 6.

According to this structure, the structure of the left wheel 6 of the above-mentioned (form for carrying out the invention) (first different form of carrying out the invention) to (fifth different form of carrying out the invention) described above is attached to the right wheel 5. On the left wheel 6, the structure of the right wheel 5 of the above-mentioned (form for carrying out the invention) (first different form of carrying out the invention) to (fifth different form of carrying out the invention) is applied. You can adopt it.

Instead of the engine 4, an electric motor (not shown) and a battery (not shown) may be provided as a driving unit. According to this structure, an electric motor for driving the wheels 5 and 6 and an electric motor for driving the cutting blade 2 may be separately provided.

The present invention is not only a remote-controlled work machine operated by radio control, but also an autonomous traveling type work machine that automatically travels while avoiding obstacles by detecting obstacles such as trees by a radar sensor or the like. It can also be applied to a walking type work machine in which a worker holds the control handle and performs various operations by extending the long control handle from the top.
The present invention is not limited to a mowing machine, but also a working machine equipped with a tilling device (corresponding to a working device) for cultivating the ground, and a working machine equipped with a spraying device (corresponding to a working device) for spraying chemicals, water, etc. Can also be applied.

1 Aircraft 2 Working equipment 4 Driving part 5, 6 Wheels 37 Grounding part 39 Lag 40 Intermediate part 41 1st part 41a part 42 2nd part 42a part A1 Rotation direction CL Left and right center W1 Spacing W2 Width W3 Width

Claims (7)

The right and left wheels on one side in the front-rear direction of the aircraft, the right and left wheels on the other side in the front-rear direction of the aircraft, the working device, and the driving unit that transmits power to the wheels and the working device. Be prepared,
A plurality of lugs are connected to the ground contact portion of the wheel so as to be arranged along the rotation direction of the wheel at intervals.
The rug is
The first portion of the oblique posture extending only toward a predetermined first direction so as to intersect the rotation direction of the wheel and the first direction so as to intersect the rotation direction of the wheel It has a second portion in an oblique orientation opposite to that of the first portion that extends only in different second directions.
The first portion and the second portion are provided so that one end of the wheel in the rotation direction of the first portion and the other end of the wheel in the rotation direction of the second portion are connected to each other. The working machine that is being used. The middle part of the lug is bent and
The portion on one side of the bent portion of the lug is the first portion, and the portion on the other side of the bent portion of the lug is the second portion.
The working machine according to claim 1, wherein the bent portion of the lug is a portion of the first portion and the second portion connected to each other. The driving part is displaced from the center of the left and right sides of the airframe to the right or one side, and is arranged.
In the lug of the wheel on the driving part side
The first part and the second part separated from each other are arranged on the machine body side with respect to the parts connected to each other of the first part and the second part.
In the lug of the wheel on the opposite side of the driving part
The invention according to claim 1 or 2, wherein the first part and the second part separated from each other are arranged on the opposite side of the machine body with respect to the parts connected to each other of the first part and the second part. Working machine. The driving part is displaced from the center of the left and right sides of the airframe to the right or one side, and is arranged.
The width of the wheel on the side opposite to the driving part is set to be larger than the width of the wheel on the driving part side.
In the rows along the rotation direction of the wheels in the plurality of lugs, the number of the rows on the wheels on the opposite side of the driving part is larger than the number of the rows on the wheels on the driving part side. The working machine according to any one of claims 1 to 3 set in the machine. In a row along the direction of rotation of the wheel in the plurality of lugs, in the wheel having the plurality of rows.
The working machine according to any one of claims 1 to 4, wherein the positions of the intervals are set in the same phase of the wheels so that the positions of the intervals are aligned in the left-right direction of the machine body. The right and left wheels on one side in the front-rear direction of the aircraft, the right and left wheels on the other side in the front-rear direction of the aircraft, the working device, and the driving unit that transmits power to the wheels and the working device. Be prepared,
A plurality of lugs are connected to the ground contact portion of the wheel so as to be arranged along the rotation direction of the wheel at intervals.
The rug is
It has a first portion having an oblique posture with respect to the rotation direction of the wheel and a second portion having an oblique posture opposite to the first portion with respect to the rotation direction of the wheel.
The first portion and the second portion are provided so that one end of the wheel in the rotation direction of the first portion and the other end of the wheel in the rotation direction of the second portion are connected to each other. Be ,
The driving part is displaced from the center of the left and right sides of the airframe to the right or one side, and is arranged.
The width of the wheel on the side opposite to the driving part is set to be larger than the width of the wheel on the driving part side.
In the rows along the rotation direction of the wheels in the plurality of lugs, the number of the rows on the wheels on the opposite side of the driving part is larger than the number of the rows on the wheels on the driving part side. The work machine set for the thing. The right and left wheels on one side in the front-rear direction of the aircraft, the right and left wheels on the other side in the front-rear direction of the aircraft, the working device, and the driving unit that transmits power to the wheels and the working device. Be prepared,
A plurality of lugs are connected to the ground contact portion of the wheel so as to be arranged along the rotation direction of the wheel at intervals.
The rug is
It has a first portion having an oblique posture with respect to the rotation direction of the wheel and a second portion having an oblique posture opposite to the first portion with respect to the rotation direction of the wheel.
The first portion and the second portion are provided so that one end of the wheel in the rotation direction of the first portion and the other end of the wheel in the rotation direction of the second portion are connected to each other. Be,
The driving part is displaced from the center of the left and right sides of the airframe to the right or one side, and is arranged.
In the lug of the wheel on the driving part side
The first part and the second part separated from each other are arranged on the machine body side with respect to the parts connected to each other of the first part and the second part.
In the lug of the wheel on the opposite side of the driving part
A working machine in which a portion of the first portion and the second portion separated from each other is arranged on the side opposite to the machine body with respect to a portion of the first portion and the second portion connected to each other.

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