JP6980220B2 - Remote-controlled or autonomous driving mowers and work machines - Google Patents

Description

The present invention relates to a remote-controlled or autonomous traveling type mower and a working machine.

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 a right and left first wheel on one side in the front-rear direction of the machine, a second right and left wheel on the other side in the front-rear direction of the machine, and a working device. And an engine that transmits power to the second wheel and the working device is provided.

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.

When traveling along the contour lines of the slope as described above, the mower will travel in an inclined state where the mountain side (upper side of the slope) is in the high position and the valley side (lower side of the slope) is in the low position. Therefore, there is a possibility that the aircraft will tip over to the valley side (lower side of the slope).
The present invention is to prevent the machine from tipping over to the valley side (lower side of the slope) when working while traveling along the contour lines of the slope in a remote-controlled or autonomous traveling type mower and a working machine. The purpose is to do.

(composition)
A feature of the present invention is that the remote-controlled or autonomous traveling type mower is configured as follows.
A right and left first wheel on one side in the front-rear direction of the aircraft, a second right and left wheel on the other side in the front-rear direction of the aircraft, and a cutting blade rotationally driven around the vertical axis core are provided. ,
An engine for transmitting power to the first wheel, the second wheel, and the cutting blade is provided.
In plan view, the engine is supported between the first wheel on the right and the second wheel on the right, or between the first wheel on the left and the second wheel on the left .
The engine is located on one of the left and right sides of the vertical axis core above the cutting blade, and the lateral outer end of the first wheel on the engine side and the lateral outer end of the second wheel on the engine side. It is arranged so that it protrudes laterally outward from the edge.

(Action and effect of invention)
When traveling along the contour line of the slope in a remote-operated type or autonomous traveling type mowing machine in which the right and left first wheels, the right and left second wheels, and the engine are arranged as in the present invention, the engine side The first wheel and the second wheel may be on the mountain side (upper side of the slope), and the first wheel and the second wheel on the opposite side of the engine may be on the valley side (lower side of the slope).

Since the engine is a heavy object, as in the present invention, the engine is located between the first wheel on the right and the second wheel on the right in a plan view, or between the first wheel on the left and the second wheel on the left. If you place, the center of gravity of the aircraft will be located on the engine side from the center of the left and right sides of the aircraft.
As a result, when traveling along the contour lines of the slope, the center of gravity of the aircraft is set with respect to the center of the left and right sides of the aircraft by traveling with the first and second wheels on the engine side on the mountain side (upper side of the slope). By traveling in a state of being positioned on the mountain side (upper side of the slope), it is possible to prevent the aircraft from tipping over to the valley side (lower side of the slope) .

(composition)
In the present invention, it is preferable to configure as follows.
The engine is supported so that the first wheel and the second wheel overlap with the engine in the front-rear direction.

(Action and effect of invention)
According to the present invention, since the engine is arranged at a low position of the airframe, when traveling along the contour lines of the slope, the center of gravity of the airframe is positioned on the mountain side (upper side of the slope) with respect to the center of the left and right sides of the airframe. It can be made to be positioned at a low position, and it is possible to prevent the aircraft from tipping over to the valley side (lower side of the slope).

(composition)
In the present invention, it is preferable to configure as follows.
A balance weight is supported on the outside of the engine in the left-right direction of the aircraft.

(Action and effect of invention)
According to the present invention, the center of gravity of the airframe can be positioned further away from the center of the left and right sides of the airframe toward the engine side, and the airframe can be prevented from tipping over to the valley side (lower side of the slope) of the airframe.

(composition)
A feature of the present invention is that the working machine is configured as follows.
A right and left first wheel on one side in the front-rear direction of the machine body, a second right and left wheel on the other side in the front-back direction of the machine body, and a working device are provided.
An engine for transmitting power to the first wheel, the second wheel, and the working device is provided.
In plan view, the engine is supported between the first wheel on the right and the second wheel on the right, or between the first wheel on the left and the second wheel on the left.
The width of the first wheel on the side opposite to the engine is set to be larger than the width of the first wheel on the engine side.
The width of the second wheel on the side opposite to the engine is set to be larger than the width of the second wheel on the engine side.

(Action and effect of invention)
When traveling along the contour lines of the slope in a work machine in which the right and left first wheels, the right and left second wheels, and the engine are arranged as in the present invention, the first wheel and the second wheel on the engine side are used. May be on the mountain side (upper side of the slope), and the first wheel and the second wheel on the opposite side of the engine may be on the valley side (lower side of the slope).
Since the engine is a heavy object, as in the present invention, the engine is located between the first wheel on the right and the second wheel on the right in a plan view, or between the first wheel on the left and the second wheel on the left. If you place, the center of gravity of the aircraft will be located on the engine side from the center of the left and right sides of the aircraft.
As a result, when traveling along the contour lines of the slope, the center of gravity of the aircraft is set with respect to the center of the left and right sides of the aircraft by traveling with the first and second wheels on the engine side on the mountain side (upper side of the slope). By traveling in a state of being positioned on the mountain side (upper side of the slope), it is possible to prevent the aircraft from tipping over to the valley side (lower side of the slope).
When the aircraft falls to the valley side (lower side of the slope) while traveling along the contour lines of the slope, the outer ends of the first and second wheels on the valley side (lower side of the slope) are used as fulcrums. The aircraft will fall to the valley side (lower side of the slope).

When traveling along the contour line of the slope, if the first wheel and the second wheel on the engine side are on the mountain side (upper side of the slope), the first wheel on the valley side (lower side of the slope) is according to the present invention. Since the widths of the 1st wheel and the 2nd wheel are large, the outer ends of the 1st and 2nd wheels on the valley side (lower side of the slope) can be separated from the aircraft to the outside in the left-right direction of the aircraft. This makes it possible to prevent the aircraft from tipping over to the valley side (lower side of the slope).

When traveling along the contour lines of the slope, the aircraft may skid to the valley side (lower side of the slope) along the slope of the slope.
When traveling along the contour lines of the slope, the slope of the slope causes the first and second wheels on the valley side (lower side of the slope) to touch the ground rather than the first and second wheels on the mountain side (upper side of the slope). Since the pressure tends to be high, in the present invention, the side opposite to the engine is larger than the width of the first wheel and the second wheel on the engine side against the side slip to the valley side (lower side of the slope) of the aircraft. The width of the first wheel and the second wheel of the above is set to be large.

As a result, when traveling along the contour line of the slope, if the first wheel and the second wheel on the engine side are on the mountain side (upper side of the slope), the first wheel on the valley side (lower side of the slope) and Since the width of the second wheel is large and the contact pressure is high, the first wheel and the second wheel on the valley side (lower side of the slope) catch the sideslip of the aircraft to the valley side (lower side of the slope). It is possible to prevent skidding to the valley side (lower side of the slope) of the aircraft.

(composition)
A feature of the present invention is that the working machine is configured as follows.
A right and left first wheel on one side in the front-rear direction of the machine body, a second right and left wheel on the other side in the front-back direction of the machine body, and a working device are provided.
An engine for transmitting power to the first wheel, the second wheel, and the working device is provided.
In plan view, the engine is supported between the first wheel on the right and the second wheel on the right, or between the first wheel on the left and the second wheel on the left.
A flat plate-shaped rib projecting outward in the radial direction is provided on the left and right center side portions of the machine body at the ground contact portion of the first wheel and the second wheel on the engine side to rotate the first wheel and the second wheel. Prepared along the direction,
Flat plate-shaped ribs protruding outward in the radial direction are provided on the first wheel and the ground contact portion of the second wheel on the opposite side of the engine from the left and right center of the aircraft. It is provided along the rotation direction of the second wheel.

(Action and effect of invention)
When traveling along the contour lines of the slope in a work machine in which the right and left first wheels, the right and left second wheels, and the engine are arranged as in the present invention, the first wheel and the second wheel on the engine side are used. May be on the mountain side (upper side of the slope), and the first wheel and the second wheel on the opposite side of the engine may be on the valley side (lower side of the slope).
Since the engine is a heavy object, as in the present invention, the engine is located between the first wheel on the right and the second wheel on the right in a plan view, or between the first wheel on the left and the second wheel on the left. If you place, the center of gravity of the aircraft will be located on the engine side from the center of the left and right sides of the aircraft.
As a result, when traveling along the contour lines of the slope, the center of gravity of the aircraft is set with respect to the center of the left and right sides of the aircraft by traveling with the first and second wheels on the engine side on the mountain side (upper side of the slope). By traveling in a state of being positioned on the mountain side (upper side of the slope), it is possible to prevent the aircraft from tipping over to the valley side (lower side of the slope).
When traveling along the contour line of the slope, if the first wheel and the second wheel on the engine side are on the mountain side (upper side of the slope), the first wheel and the second wheel on the valley side (lower side of the slope) Focusing on the first wheel and the second wheel on the engine side in a state where the width of the wheel is large and the contact pressure is high, the contact pressure of the left and right center side parts of the aircraft in the contact portion of the first wheel and the second wheel is high. Become.
Similarly, focusing on the first wheel and the second wheel on the opposite side of the engine, the contact pressure of the portion of the ground contact portion of the first wheel and the second wheel opposite to the left and right center of the machine body becomes high.

According to the present invention, in the first wheel and the second wheel on the engine side, and on the first wheel and the second wheel on the opposite side to the engine, a flat plate shape protruding outward in the radial direction at the portion of the contact portion where the contact pressure becomes high. By providing the ribs of the first wheel and the second wheel along the rotation direction of the first wheel and the second wheel, it becomes easy to obtain a state in which the ribs of the first wheel and the second wheel hang on the slope (a state of biting into the slope).
As a result, it is possible to suppress skidding to the valley side (lower side of the slope) of the airframe due to the state in which the ribs of the first wheel and the second wheel hang on the slope (the state of biting into the slope).

(composition)
In the present invention, it is preferable to configure as follows.
An artificially operated operating tool is provided on the portion of the airframe on the engine side in the left-right direction of the airframe.

(Action and effect of invention)
According to the present invention, when traveling along the contour lines of the slope, the first wheel and the second wheel on the engine side are on the mountain side (upper side of the slope), so that the valley side of the aircraft (lower side of the slope) is traveled. ) Is prevented, the operator can comfortably operate an operating tool such as an operating lever for operating and stopping the working device from the mountain side (engine side).

It is a right side view of a mower. It is a plan view of a mower. It is a front view of a mower. It is a top view near the 2nd frame part. It is a top view of the mower in the state which the 1st frame part and the 2nd frame part, the right front-rear frame, the left front-rear frame and the like are removed. It is a vertical sectional front view near the transmission case. It is a vertical sectional front view near the first wheel on the right. It is a vertical sectional front view near the first wheel on the left. It is a vertical sectional right side view near the 1st frame part. It is a rear view of the vicinity of the 1st steering motor. It is a side view of a lever guide. It is an exploded perspective view of the mower which shows the cutting blade housing, the 1st frame part and the 2nd frame part, the right front-rear frame, the left front-rear frame and the like. It is a schematic diagram which shows the transmission system from an engine to a cutting blade, a 1st wheel and a 2nd wheel. It is a schematic diagram which shows the linkage state of a control device and each part.

1 to 14 show a radio-controlled remote-controlled mower, which is an example of a working machine. In FIGS. 1 to 14, "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.

As shown in FIGS. 1, 2, 3 and 12, the mower is provided with a cutting blade housing 1 for accommodating the cutting blade 8, and the cutting blade housing 1 supports a transmission case 5 and an engine 6 for traveling. The right and left first wheels 21 and the right and left second wheels 22 are provided.

As shown in FIGS. 1, 2, 3 and 12, the first frame portion 11 and the second frame portion 12 are upwardly connected to the one side portion 1b and the other side portion 1c of the cutting blade housing 1. The right front-rear frame 17 and the left front-rear frame 18 are connected over the upper portions of the first frame portion 11 and the second frame portion 12, and the left-right frame 19 is connected over the right front-rear frame 17 and the left front-rear frame 18. ing.

Below, the cutting blade housing 1, the first frame portion 11, the second frame portion 12, the right front and rear frame 17, the left front and rear frame 18, the left and right frames 19, the transmission case 5, the engine 6, the first wheel 21, the second wheel 22 The structure related to is explained.

[Structure related to cutting blade housing, transmission case and engine]
As shown in FIGS. 5 and 12, in the cutting blade housing 1 (corresponding to the machine body), in a plan view, the octagonal central portion 1a and the central portion 1a on one side (front side) of the cutting blade housing 1 in the front-rear direction. A connected one-sided portion 1b and a other-sided portion 1c connected to the other side (rear side) of the cutting blade housing 1 in the front-rear direction in the central portion 1a are provided.

As shown in FIGS. 5 and 12, an opening 1d is opened in the central portion 1a of the cutting blade housing 1. In the central portion 1a of the cutting blade housing 1, channel-shaped frames 2 are connected to the front side and the rear side of the opening 1d of the cutting blade housing 1 along the left-right direction of the cutting blade housing 1. Channel-shaped frames 3 are connected to the right and left sides of the opening 1d of the cutting blade housing 1 along the front-rear direction of the cutting blade housing 1 over the front and rear frames 2.

As shown in FIGS. 5 and 12, a U-shaped frame 4 in a plan view is inserted into and connected to the frame 2 so as to be located on the right side of the cutting blade housing 1. As shown in FIG. 1, the side cover 9 is connected to the right portion and the left portion of the central portion 1a of the cutting blade housing 1.

As shown in FIGS. 3, 5 and 6, the transmission case 5 is connected to the frame 3 and supported by the cutting blade housing 1, and the cutting blade support portion 5a extending downward from the transmission case 5 is the cutting blade. It is inserted into the opening 1d of the housing 1. The cutting blade 8 is rotatably supported by the cutting blade support portion 5a of the transmission case 5, and the cutting blade 8 is housed in the central portion 1a of the cutting blade housing 1.

As shown in FIGS. 1, 2, and 6, the engine 6 is connected to the frame 3 so as to be located on the right side of the cutting blade housing 1 and is supported by the cutting blade housing 1. As shown in FIGS. 2, 3 and 12, the balance weight 7 is attached to the frame 4 so as to be located on the right side of the cutting blade housing 1 and is supported by the cutting blade housing 1.

[Structures related to the first frame part and the second frame part, the right front and rear frames, the left front and rear frames, and the left and right frames]
As shown in FIGS. 1, 2, 3 and 12, the first frame portion 11 and the second frame portion 12 are provided with vertical right and left vertical frames 13 in the vertical direction, and are provided on the upper part of the right and left vertical frames 13. The right and left gear cases 14 are connected. The upper horizontal frame 15 is connected in the left-right direction over the right and left gear cases 14, and the lower horizontal frame 16 is connected in the left-right direction over the lower parts of the right and left vertical frames 13.
The right and left vertical frames 13 and the upper horizontal frame 15 have a round pipe shape, and the first frame portion 11 and the second frame portion 12 have a rectangular shape when viewed in the front-rear direction.

As shown in FIGS. 5, 9 and 12, the lower horizontal frame 16 of the first frame portion 11 is connected to one side portion 1b of the cutting blade housing 1 along the left-right direction over substantially the entire length of the first frame. The portion 11 is upwardly connected to the one side portion 1b of the cutting blade housing 1. The lower horizontal frame 16 of the second frame portion 12 is connected to the other side portion 1c of the cutting blade housing 1 over substantially the entire length in the left-right direction, and the second frame portion 12 is connected to the other side portion of the cutting blade housing 1. It is connected upward to 1c.

As shown in FIGS. 1, 2, 3 and 12, the right front and rear frames 17 in the front and rear direction are connected to each other over the right gear case 14 of the first frame portion 11 and the right gear case 14 of the second frame portion 12. There is. The left front-rear frame 18 in the front-rear direction is connected to the left gear case 14 of the first frame portion 11 and the left gear case 14 of the second frame portion 12.

As shown in FIGS. 1, 2, 3 and 12, two left and right frames 19 in the left and right directions are connected over the upper surfaces of the right front and rear frames 17 and the left front and rear frames 18, and the left and right frames 19 are right front and rear frames. 17 and the left front and rear frames 18 are projected to the right and left. Between the second frame portion 12 and the left and right frames 19, the left and right frames 27 in the left and right directions are connected to the side surfaces of the right front and rear frames 17 and the left front and rear frames 18.

As shown in FIGS. 1 and 3, a rubber plate-shaped cover 10 is connected to the lower horizontal frame 16 of the first frame portion 11 and the second frame portion 12 and extends downward, and the cover 10 is cut. It is arranged on the front side of one side portion 1b of the blade housing 1 and on the rear side of the other side portion 1c of the cutting blade housing 1.

As shown in FIGS. 1, 2, 3, 5, and 12, the frame 20 is connected to the lower horizontal frame 16 of the first frame portion 11 and extends to the front side, and the bumper 24 is connected to the frame 20. There is. The frame 20 is connected to the lower horizontal frame 16 of the second frame portion 12 and extends to the rear side, and the bumper 24 is connected to the frame 20.

As shown in FIGS. 1, 2, 3, 5, and 12, a support base 25 is connected to the lower horizontal frame 16 of the first frame portion 11 and extends to the front side, and the battery 26 is supported by the support base 25. Has been done. As a result, the battery 26 is surrounded by the lower horizontal frame 16, the frame 20, and the bumper 24 of the first frame portion 11 in a plan view.

[Transmission case, engine, and balance weight placement]
As shown in FIG. 1, the transmission case 5, the engine 6, and the balance weight 7 are arranged between the cutting blade housing 1 and the right front / rear frame 17, the left front / rear frame 18, and the left / right frame 19 in a side view. It is visually arranged between the first frame portion 11 and the second frame portion 12.

As a result, as shown in FIGS. 1 and 3, the transmission case 5, the engine 6, and the balance weight 7 project upward from the right front-rear frame 17, the left front-rear frame 18, and the left-right frame 19 in the side view and the front-rear direction view. It is not in a state of not.

As shown in FIGS. 2, 3 and 12, the right front and rear frames 17 are arranged at positions displaced from the right gear case 14 of the first frame portion 11 and the second frame portion 12 to the left and right center sides of the cutting blade housing 1. ing. As a result, as shown in FIG. 2, a space in the left-right direction is secured between the right front-rear frame 17 and the engine 6 in a plan view.

As shown in FIG. 2, the transmission case 5 and the engine 6 are arranged between the right end 19a and the left end 19b of the left and right frames 19 in a plan view, and are arranged between the left and right frames 19 in a plan view. There is.

As a result, as shown in FIG. 2, the transmission case 5 and the engine 6 do not protrude to the right from the right end 19a of the left and right frames 19 in a plan view, and from the left end 19b of the left and right frames 19 in a plan view. It is in a state where it does not protrude to the left. The balance weight 7 and the frame 4 are in a state of projecting to the right from the right end portion 19a of the left and right frames 19 in a plan view.

As shown in FIG. 2, the engine 6 is arranged (supported) between the first wheel 21 on the right and the second wheel 22 on the right in a plan view, and is between the right portions of the left and right frames 19 in a plan view. The balance weight 7 is arranged (supported) on the right outside of the engine 6.
As shown in FIG. 3, the engine 6 is arranged at a low position so that the upper part of the first wheel 21 on the right and the upper part of the second wheel 22 on the right overlap with the lower part of the engine 6 in the front-rear direction. (Supported).

[Support and steering structure of the first wheel and the second wheel]
As shown in FIGS. 1, 3, 7, 8 and 12, the right and left wheel support cases 23 are freely steerable around the vertical axis core P1 at the lower part of the right and left vertical frames 13 of the first frame portion 11. The right and left wheel support cases 23 are steerably supported around the vertical axis core P1 at the lower part of the right and left vertical frames 13 of the second frame portion 12.

As shown in FIGS. 1, 3, 7, and 8, the right and left first wheels 21 are supported by the right and left wheel support cases 23 of the first frame portion 11, and the right of the second frame portion 12. The right and left second wheels 22 are supported by the left wheel support case 23 and the left wheel support case 23. As a result, the right and left first wheels 21 are provided on one side of the cutting blade housing 1 in the front-rear direction, and the right and left second wheels 22 are provided on the other side of the cutting blade housing 1 in the front-rear direction. It is in a state of being.

As shown in FIGS. 1, 5, 9 and 10, the frame 54 is upwardly connected to the one-side portion 1b and the other-side portion 1c of the cutting blade housing 1. The first steering motor 28 is connected to the upper part of the frame 54 of the one side portion 1b of the cutting blade housing 1, and the second steering motor 29 is connected to the upper part of the frame 54 of the other side portion 1c of the cutting blade housing 1. Has been done.

As shown in FIGS. 1, 9 and 10, a fan-shaped operation gear 30 is swingably supported around the horizontal axis P2 in the front-rear direction of the frame 54 by the first steering motor 28. The pinion gear 31, which is rotationally driven in the forward and reverse directions, meshes with the operating gear 30 of the one side portion 1b of the cutting blade housing 1. The pinion gear 31, which is rotationally driven in the forward and reverse directions by the second steering motor 29, meshes with the operating gear 30 of the other side portion 1c of the cutting blade housing 1.

As shown in FIGS. 1, 2, 3 and 5, in the right and left wheel support cases 23 of the first frame portion 11, the tie rod 32 is connected over the front arm 23a of the right and left wheel support cases 23. Has been done. As shown in FIGS. 1, 5, 9 and 10, the linking rod 33 is connected to the arm 30a connected to the operation gear 30 and the rear arm 23b of the right wheel support case 23.

In this case, as shown in FIGS. 1 and 5, the tie rod 32 is arranged on the lower side of the bumper 24, the frame 20, and the support base 25 in a side view, and the rear side of the bumper 24 (one side portion of the cutting blade housing 1). It is arranged on the 1b side).

As shown in FIGS. 1, 2 and 5, in the right and left wheel support cases 23 of the second frame portion 12, the tie rod 32 is connected over the rear arm 23a of the right and left wheel support cases 23. .. As shown in FIGS. 1, 5, 9 and 10, the linking rod 33 is connected to the arm 30a connected to the operation gear 30 and the front arm 23b of the left wheel support case 23.

In this case, as shown in FIGS. 1 and 5, the tie rod 32 is arranged on the lower side of the bumper 24 and the frame 20 in a side view, and is arranged on the front side of the bumper 24 (the other side portion 1c side of the cutting blade housing 1). Has been done.

As a result, as shown in FIGS. 1 and 5, the operation gear 30 is swung around the horizontal axis P2 by the first steering motor 28 to steer the right and left first wheels 21. be able to. By swinging the operation gear 30 around the horizontal axis P2 by the second steering motor 29, the right and left second wheels 22 can be steered.

As shown in FIGS. 1 and 9, potentiometers 55 and 56 are provided at the positions of the horizontal axis P2. The potentiometer 55 can detect the steering angles of the right and left first wheels 21, and the potentiometer 56 can detect the steering angles of the right and left second wheels 22.

As shown in FIGS. 1 and 9, the first steering motor 28 and the second steering motor 29 are located between the cutting blade housing 1 and the right front / rear frame 17, the left front / rear frame 18, and the left / right frame 19 in a side view. It is arranged between the first frame portion 11 and the second frame portion 12 in a side view.

As shown in FIGS. 2 and 4, the first steering motor 28 and the second steering motor 29 are arranged between the right end portion 19a and the left end portion 19b of the left and right frames 19 in a plan view, and are located on the right side. It is arranged between the front-rear frame 17 and the left front-rear frame 18.

As shown in FIGS. 1 and 2, the first steering motor 28 is arranged between the upper horizontal frame 15 and the left and right frames 19 of the first frame portion 11 in a plan view and a side view. The second steering motor 29 is arranged between the upper horizontal frame 15 of the second frame portion 12 and the left and right frames 19, 27 in a plan view and a side view.

As shown in FIG. 5, the linking rod 33 of the first wheel 21 is provided on the right side of the cutting blade housing 1, the linking rod 33 of the second wheel 22 is provided on the left side of the cutting blade housing 1, and the cutting blade 8 is provided. Is driven to rotate counterclockwise in the plan view shown in FIG.
In this state, the grass cut and blown by the cutting blade 8 is blown to the left side of the cutting blade housing 1 along the inner wall of the central portion 1a of the cutting blade housing 1 at the front portion of the cutting blade housing 1 and cut. At the rear of the blade housing 1, the blade housing 1 is blown to the right side of the cutting blade housing 1 along the inner wall of the central portion 1a of the cutting blade housing 1. As a result, the state in which the grass cut and blown by the cutting blade 8 is entangled with the linking rod 33 is reduced.

[Structure of 1st wheel and 2nd wheel]
As shown in FIGS. 7 and 8, the axle 34 extends to the right from the right wheel support case 23, and the axle 34 extends to the left from the left wheel support case 23.
As shown in FIG. 7, the first wheel 21 on the right and the second wheel 22 on the right include a wheel body 35 obtained by pressing a plate material into a dish shape, and a boss portion connected to a central portion of the wheel body 35. 36 is connected to the axle 34 by a bolt 37.

As shown in FIGS. 3 and 7, in the first wheel 21 on the right and the second wheel 22 on the right, a radius is formed on the left and right center side portions of the cutting blade housing 1 on the ground contact portion 35a which is the outer peripheral surface of the wheel body 35. A flat plate-shaped rib 35b projecting outward in the direction is provided along the rotation direction of the first wheel 21 on the right and the second wheel 22 on the right. A flat plate-shaped drive portion 35c having a large number of irregularities on the outer peripheral portion is connected to the ground contact portion 35a of the wheel body 35 along the rotation direction of the first wheel 21 on the right and the second wheel 22 on the right.

As shown in FIGS. 3 and 8, the left first wheel 21 and the left second wheel 22 include two wheel bodies 38 and 39 obtained by pressing a plate material into a dish shape. The boss portion 36 connected to the central portion of the wheel bodies 38 and 39 is connected to the axle 34 by bolts 37, and the wheel bodies 38 and 39 are connected side by side to the axle 34.

As shown in FIGS. 3 and 8, in the left first wheel 21 and the left second wheel 22, what is the left-right center of the cutting blade housing 1 at the ground contact portions 38a and 39a which are the outer peripheral surfaces of the wheel bodies 38 and 39? Flat plate-shaped ribs 38b and 39b projecting outward in the radial direction are provided on the opposite side along the rotation direction of the left first wheel 21 and the left second wheel 22. A flat plate-shaped drive portion 38c having a large number of irregularities on the outer peripheral portion is connected to the ground contact portion 38a of the wheel body 38 along the rotation direction of the left first wheel 21 and the left second wheel 22.

Looking at the two wheel bodies 38 and 39 as one left first wheel 21 and one left second wheel 22 in the left first wheel 21 and the left second wheel 22, FIG. 3 and FIG. As shown in FIG. 8, a state in which ribs 39b are provided on the portions of the ground contact portions 38a and 39a of the left first wheel 21 and the left second wheel 22 opposite to the left and right center of the cutting blade housing 1. Therefore, the ribs 38b are provided at the left and right center portions of the ground contact portions 38a and 39a of the left first wheel 21 and the left second wheel 22.

With the above structure, as shown in FIGS. 3, 7, and 8, the engine is wider than the width W1 of the right first wheel 21 and the right second wheel 22 (ground contact portion 35a of the wheel body 35) on the engine 6 side. The width W2 of the left first wheel 21 and the left second wheel 22 (grounding portions 38a, 39a of the wheel bodies 38, 39) on the opposite side of 6 is set to be large.

As shown in FIGS. 3, 7, and 8, when the first wheel 21 and the second wheel 22 are rotationally driven, the driving force of the first wheel 21 and the second wheel 22 is reduced to the first wheel 21 and the second wheel 22. It is transmitted to the ground via the drive units 35c and 38c of the above. The skidding of the mower is suppressed by the ribs 35b, 38b, 39b and the drive portions 35c, 38c of the first wheel 21 and the second wheel 22.

[Outline of transmission system from engine to cutting blade, 1st wheel and 2nd wheel]
As shown in FIG. 13, the power of the engine 6 is transmitted to the transmission shaft 46 via the centrifugal clutch 41, the brake 42, and the transmission shaft 43, and the power of the transmission shaft 46 is transmitted to the transmission shaft 46 via the cutting blade clutch 48. It is transmitted to the cutting blade 8.

As shown in FIG. 13, the power of the transmission shaft 46 is transmitted to the output shaft 72 via the worm mechanism 64, the transmission shaft 63, the transmission 71, and the forward / reverse switching device 76, and the power of the output shaft 72 is transmitted to the output shaft 72. It is transmitted to the right and left first wheels 21 and the right and left second wheels 22 via the transmission chains 87 and 89 and the transmission shafts 88 and 90.
The transmission structure from the engine 6 to the cutting blade 8, the transmission structure from the engine 6 to the first wheel 21 and the second wheel 22, and the operation system of each part will be described below.

[Transmission structure to cutting blade and structure of cutting blade]
As shown in FIGS. 6 and 13, the input shaft 40 is arranged in the transmission case 5 in the left-right direction, and the input shaft 40 and the output shaft 6a of the engine 6 are connected via the centrifugal clutch 41 and the brake 42. There is. The transmission shaft 43 is vertically supported by the transmission case 5, and the bevel gear 40a of the input shaft 40 and the bevel gear 43a at the lower part of the transmission shaft 43 are in mesh with each other.

As shown in FIGS. 2, 6 and 13, the transmission shaft 43 projects upward from the upper surface of the transmission case 5, and the pulley 43b is connected to the protruding portion of the transmission shaft 43. A generator 44 (dynamo) is supported on the upper portion of the transmission case 5, and a transmission belt 45 is attached over the pulley 43b of the transmission shaft 43 and the input pulley 44a of the generator 44.

As shown in FIGS. 6 and 13, the transmission shaft 46 is vertically supported by the transmission case 5, and the transmission gear 43c of the transmission shaft 43 and the transmission gear 46a of the transmission shaft 46 are in mesh with each other. The transmission shaft 47 is supported concentrically with the transmission shaft 46 on the lower side of the transmission shaft 46, and a cutting blade clutch 48 is provided between the transmission shaft 46 and the transmission shaft 47.

As shown in FIGS. 6 and 13, the cutting blade clutch 48 has an occlusal portion 46b provided in the lower part of the transmission shaft 46 and an occlusal portion vertically slidably supported by a spline structure in the upper part of the transmission shaft 47. A portion 47a and a spring 47b that urges the occlusal portion 47a on the occlusal side (upper side) of the occlusal portion 46b are provided.

As shown in FIGS. 6 and 13, a cylindrical support member 49 is slidably supported vertically on the cutting blade support portion 5a of the transmission case 5, and the cutting blade drive shaft 50 is supported around the vertical axis core P3. The cutting blade 8 (corresponding to a working device) is connected to the lower part of the cutting blade drive shaft 50.

As shown in FIGS. 6 and 13, the transmission shaft 47 and the cutting blade drive shaft 50 are supported concentrically. A spline portion 47c is provided in the lower part of the transmission shaft 47, a spline portion 50a is provided in the upper part of the cutting blade drive shaft 50, and the spline portion 47c of the transmission shaft 47 is inserted into the spline portion 50a of the cutting blade drive shaft 50. There is.
As a result, the transmission shaft 47, the cutting blade drive shaft 50, and the cutting blade 8 rotate integrally, and by changing the position of the cutting blade drive shaft 50 up and down with respect to the transmission shaft 47, the cutting blade 8 You can change the height.

With the above structure, as shown in FIGS. 6 and 13, the power of the engine 6 is transmitted to the generator 44 via the centrifugal clutch 41, the input shaft 40, the transmission shaft 43 and the transmission belt 45, and the generator 44 Is driven. The power of the transmission shaft 43 is transmitted to the transmission shaft 46, the cutting blade clutch 48, the transmission shaft 47, and the cutting blade drive shaft 50, and the cutting blade 8 is rotationally driven around the vertical axis core P3.

As shown in FIG. 6, the cutting blade 8 freely rotates around the vertical axis core P4 at a plurality of disc-shaped support plates 51 connected to the lower part of the cutting blade drive shaft 50 and the outer peripheral portion of the support plate 51. It is provided with a freely supported blade portion 52.

[Operation system of cutting blade clutch]
As shown in FIG. 6, in the cutting blade clutch 48, the occlusal portion 47a of the transmission shaft 47 is urged by the spring 47b of the transmission shaft 47 on the occlusal side (upper side) of the transmission shaft 46 with the occlusal portion 46b. , The cutting blade clutch 48 is urged to the transmission state by the spring 47b of the transmission shaft 47.

As shown in FIGS. 1, 2, 4, and 11, a box-shaped lever guide 57 is connected to a portion near the second frame portion 12 in the right front and rear frame 17. The cutting blade clutch lever 58 (corresponding to an operating tool) is swingably supported around the vertical vertical axis core of the lever guide 57, and the cutting blade clutch lever 58 and the cutting blade clutch 48 (engagement of the transmission shaft 47) are supported. The wire 59 is connected to the operation unit (not shown) of the unit 47a).

The state shown in FIGS. 6 and 11 is a state in which the cutting blade clutch lever 58 is operated to the transmission position, the wire 59 is pulled toward the occlusal portion 47a of the transmission shaft 47, and the spring 47b of the transmission shaft 47 operates. The occlusal portion 47a of the transmission shaft 47 is engaged with the occlusal portion 46b of the transmission shaft 46, and the cutting blade clutch 48 is operated in the transmission state.

As shown in FIGS. 6 and 11, when the cutting blade clutch lever 58 is operated to the cutoff position, the wire 59 is pulled toward the cutting blade clutch lever 58, and the occlusal portion 47a of the transmission shaft 47 is the occlusal portion of the transmission shaft 46. Separated from 46b, the cutting blade clutch 48 is operated in the disengaged state.

[Change the height of the cutting blade]
As shown in FIGS. 1, 5, 6 and 9, the operation shaft 60 is rotatably supported around the horizontal axis P6 in the left-right direction by the cutting blade support portion 5a of the transmission case 5, and the arm 60a of the operation shaft 60a. Is engaged with the support member 49.

As shown in FIGS. 1, 5 and 9, the operating shaft 60 extends to the right from the cutting blade support portion 5a of the transmission case 5, and the cutting blade height lever 61 is connected to the extending portion of the operating shaft 60. ing. A lever guide 62 is connected to the cutting blade housing 1 and the right front and rear frame 17, and the cutting blade height lever 61 is inserted into the lever guide 62.

As shown in FIGS. 1 and 9, the cutting blade height lever 61 and the lever guide 62 are arranged between the cutting blade housing 1 and the right front / rear frame 17, the left front / rear frame 18, and the left / right frame 19 in a side view. It is arranged between the first frame portion 11 and the second frame portion 12 in a side view. As shown in FIGS. 5 and 9, the cutting blade height lever 61 and the lever guide 62 are arranged directly below the right front and rear frame 17 in a plan view.

As shown in FIGS. 1, 5, 6 and 9, by operating the cutting blade height lever 61 up and down along the lever guide 62, the operation shaft 60 transmits the positions of the support member 49 and the cutting blade drive shaft 50. It can be changed up and down with respect to the shaft 47, and the height of the cutting blade 8 can be changed. By engaging and holding the cutting blade height lever 61 with the lever guide 62 at a desired position, the height of the cutting blade 8 can be held at a desired height.

[Transmission structure from engine to forward / backward switching device]
As shown in FIGS. 6 and 13, the transmission shaft 63 is supported in the front-rear direction by the transmission case 5 so as to intersect the vicinity of the transmission shaft 46, and a worm mechanism 64 is provided over the transmission shafts 46 and 63. ing.

As shown in FIGS. 6 and 13, in the worm mechanism 64, the worm gear 46c is connected to the transmission shaft 46, the worm foil 63a is connected to the transmission shaft 63, and the worm gear 46c of the transmission shaft 46 and the worm of the transmission shaft 63 are connected. The foil 63a is in occlusal.

As shown in FIG. 13, the transmission shaft 68 is supported in the front-rear direction by the transmission case 5, and the transmission 71 is provided over the transmission shafts 63 and 68.
In the transmission 71, the low-speed gear 65 and the high-speed gear 66 are externally fitted to the transmission shaft 63 so as to be relatively rotatable, and the shift member 67 is integrally rotated and slidably fitted to the transmission shaft 63 by the spline structure. Has been done. A low-speed gear 69 and a high-speed gear 70 are connected to the transmission shaft 68, and the low-speed gears 65 and 69 are occluded and the high-speed gears 66 and 70 are occluded.

As shown in FIG. 13, when the shift member 67 is engaged with the low speed gear 65, the power of the transmission shaft 63 is transmitted to the transmission shaft 68 in a low speed state via the low speed gear 69. When the shift member 67 is engaged with the high-speed gear 66, the power of the transmission shaft 63 is transmitted to the transmission shaft 68 in a high-speed state via the high-speed gear 70.

As shown in FIGS. 6 and 13, the traveling transmission unit 5b extends from the transmission case 5 to the left side, and the output shaft 72 is supported by the traveling transmission unit 5b of the transmission case 5, and the transmission shaft 68 and the output shaft are supported. A forward / backward switching device 76 is provided over 72.

As shown in FIGS. 6 and 13, in the forward / backward switching device 76, the forward bevel gear 73 and the reverse bevel gear 74 are externally fitted to the output shaft 72 so as to be relatively rotatable, and the shift member 75 is fitted with the output shaft 72 due to the spline structure. It is integrally rotated and slidably fitted to the output shaft 72. A bevel gear 68a is connected to the transmission shaft 68, and the bevel gear 68a of the transmission shaft 68 meshes with the forward bevel gear 73 and the reverse bevel gear 74.

As shown in FIGS. 6 and 13, when the shift member 75 is engaged with the forward bevel gear 73, the power of the transmission shaft 68 is transmitted to the output shaft 72 in the forward state via the forward bevel gear 73. When the shift member 75 is engaged with the reverse bevel gear 74, the power of the transmission shaft 68 is transmitted to the output shaft 72 in the reverse state via the reverse bevel gear 74. When the shift member 75 is operated to a neutral position where it does not mesh with both the forward bevel gear 73 and the reverse bevel gear 74, the power is cut off at the position of the shift member 75.

[Transmission structure from the forward / backward switching device to the right and left first wheels and the right and left second wheels]
As shown in FIGS. 5, 6 and 12, a support frame 53 is connected to the right portion of the frame 2. As shown in FIGS. 2, 6 and 12, the traveling transmission case 77 is connected to the left gear case 14 of the first frame portion 11, the left gear case 14 of the second frame portion 12, and the support frame 53. Has been done.

As shown in FIGS. 6 and 13, the output shaft 72 is inserted into the traveling transmission case 77, and the sprocket 81 is attached to the output shaft 72 via the torque limiter 84 inside the traveling transmission case 77. ing. As a result, when a larger load than a predetermined value is applied to the right and left first wheels 21 and the right and left second wheels 22, the torque limiter 84 slips and the large load is not applied to the output shaft 72.

As shown in FIGS. 6 and 13, the sprockets 85 and 86 are supported to rotate integrally inside the traveling transmission case 77, and the transmission chain 87 is attached over the sprockets 81 and 85. There is.

As shown in FIGS. 7, 8 and 13, the transmission shaft 88 is supported inside the gear case 14 and the upper horizontal frame 15 of the first frame portion 11 and the second frame portion 12, and inside the traveling transmission case 77. , A transmission chain 89 is attached over the sprocket 88a and the sprocket 86 connected to the transmission shaft 88.

As shown in FIGS. 7, 8 and 13, the transmission shaft 90 is supported inside the right and left vertical frames 13 of the first frame portion 11 and the second frame portion 12. Inside the right and left gear cases 14 of the first frame portion 11 and the second frame portion 12, the bevel gear 88b connected to the transmission shaft 88 and the bevel gear 90a connected to the upper part of the transmission shaft 90 are in mesh with each other. ..
Inside the right and left wheel support cases 23 of the first frame portion 11 and the second frame portion 12, the bevel gear 90b connected to the lower part of the transmission shaft 90 and the bevel gear 34a connected to the axle 34 mesh with each other. There is.

With the above structure, as shown in FIGS. 7, 8 and 13, the power of the output shaft 72 is transmitted to the axle 34 via the torque limiter 84, the transmission chains 87 and 89, and the transmission shafts 88 and 90, and is transmitted to the right and the axle 34. The left first wheel 21 and the right and left second wheels 22 are rotationally driven.

As shown in FIGS. 6 and 13, a detection gear 78 for detecting the traveling speed of the mower is connected to the output shaft 72 between the traveling transmission unit 5b of the transmission case 5 and the traveling transmission case 77. A speed sensor 79 that detects the traveling speed of the mower from the rotation speed of the detection gear 78 is supported by the support frame 53.

As shown in FIGS. 1 and 2, a traveling transmission case 77 is provided on the left side of the transmission case 5 along the front-rear direction of the cutting blade housing 1. The traveling transmission case 77 is arranged between the cutting blade housing 1 and the right front / rear frame 17, the left front / rear frame 18, and the left / right frame 19 in a side view, and cuts more than the left end portion 19b of the left / right frame 19 in a plan view. It is arranged on the left and right center sides of the blade housing 1.

[Engine accelerator and brake operation system]
As shown in FIGS. 2, 4 and 14, the support bracket 80 is connected to the left and right frames 19 and 27, and the accelerator motor 93 is supported by the support bracket 80. The wire 94 is connected to the accelerator motor 93 and the accelerator 6b of the engine 6, and the wire 95 is connected to the accelerator motor 93 and the brake 42.

As shown in FIGS. 2, 4, and 14, the accelerator 6b of the engine 6 is urged to the low speed side (idling side) by a spring (not shown), and the wire 94 is pulled toward the accelerator motor 93 by the accelerator motor 93. When operated, the accelerator 6b of the engine 6 is operated to the high speed side. The brake 42 is operated to the braking side by a spring (not shown), and when the wire 95 is pulled toward the accelerator motor 93 by the accelerator motor 93, the brake 42 is operated to the released state.

As shown in FIGS. 13 and 14, when the wires 94 and 95 are operated to the accelerator 6b and the brake 42 side of the engine 6 by the accelerator motor 93, the engine 6 is in the idling state and the centrifugal clutch 41 is in the cutoff state. , The brake 42 is in the braking state. As a result, the cutting blade 8, the right and left first wheels 21, and the right and left second wheels 22 are braked.

As shown in FIGS. 13 and 14, when the wires 94 and 95 are pulled toward the accelerator motor 93 by the accelerator motor 93, the brake 42 is operated to the released state and the rotation speed of the engine 6 rises from the idling state. Along with this, the centrifugal clutch 41 is in a transmission state.
As a result, the power of the engine 6 is transmitted to the cutting blade 8, the right and left first wheels 21, and the right and left second wheels 22.

As shown in FIG. 14, a potentiometer 96 for detecting the operating position of the accelerator motor 93 is provided, and the opening degree of the accelerator 6b of the engine 6 can be detected by the potentiometer 96.

As shown in FIGS. 2 and 4, the accelerator motor 93 is arranged between the cutting blade housing 1 and the right front / rear frame 17, the left front / rear frame 18, and the left / right frame 19 in the side view, and is the first in the side view. It is arranged between the frame portion 11 and the second frame portion 12. The accelerator motor 93 is arranged between the right end 19a and the left end 19b of the left and right frames 19 in a plan view, and is arranged directly below the left and right frames 27 in a plan view.

[Operation system of forward / backward switching device]
As shown in FIGS. 2, 4 and 5, the support plate 82 is connected to the upper surface of the transmission case 5, and the operation shaft 97 for operating the shift member 75 (see FIG. 13) is from the transmission case 5 and the support plate 82. The arm 97a is connected to the extending portion of the operation shaft 97 so as to extend upward. A forward / backward motor 98 is supported by the support plate 82, and a pair of springs 99 are connected to the arm 98a operated by the forward / backward motor 98 and the arm 97a of the operation shaft 97.

As shown in FIGS. 2, 4 and 5, the forward / backward motor 98 is operated to rotate the arm 98a of the forward / backward motor 98 in the forward and reverse directions, and the operation shaft 97 is operated via the spring 99. It is rotated in the forward and reverse directions. As a result, as shown in FIG. 13, the shift member 75 does not occlude both the forward position that meshes with the forward bevel gear 73, the reverse position that occludes the reverse bevel gear 74, and both the forward bevel gear 73 and the reverse bevel gear 74 by the operation shaft 97. Operated in a neutral position.

As shown in FIG. 14, a potentiometer 100 for detecting the operating position of the forward / backward motor 98 is provided, and the operation position (forward position, reverse position, and neutral position) of the forward / backward switching device 76 is detected by the potentiometer 100. Can be done.

As shown in FIGS. 2, 4 and 5, the forward / backward motor 98 is arranged between the cutting blade housing 1 and the right front / rear frame 17, the left front / rear frame 18, and the left / right frame 19 in the side view. It is arranged between the first frame portion 11 and the second frame portion 12. The forward / backward motor 98 is arranged between the right end 19a and the left end 19b of the left / right frame 19 in a plan view, and is arranged directly below the left / right frame 19 in a plan view.

[Arrangement of transmission operation system, shift lever and cutting blade clutch lever]
As shown in FIGS. 1, 2, 4, and 11, the speed change lever 91 (corresponding to the operating tool) is swingably supported around the vertical axis axis core of the lever guide 57 in the vertical direction. An operation unit (not shown) of the transmission 71 for operating the shift member 67 (see FIG. 13) is provided, and the operation unit of the transmission 71 is urged to a low speed state by a spring (not shown). The wire 92 is connected to the speed change lever 91 and the operation unit of the speed change device 71.

The states shown in FIGS. 1, 2, 4 and 11 are states in which the shift lever 91 is operated at a low speed position, the wire 92 is pulled toward the shift member 67 of the transmission 71, and the shift member 67 is operated by a spring. It is a low speed state of the transmission 71 engaged with the low speed gear 65.
When the speed change lever 91 is operated to the high speed position, the wire 92 is pulled toward the speed change lever 91 side, the shift member 67 meshes with the high speed gear 66, and the speed change device 71 is in the high speed state.

As shown in FIGS. Has been done.

As a result, as shown in FIGS. 1, 2 and 4, the cutting blade clutch lever 58 and the shifting lever 91 pass through the first frame portion 11, the second frame portion 12, and the right front and rear frames 17 of the cutting blade housing 1. It is in a state of being supported by the part on the engine 6 side in the left-right direction.
The cutting blade clutch lever 58 and the shifting lever 91 are arranged between the right end portion 19a and the left end portion 19b of the left and right frame 19 in a plan view, and are in a state where they do not protrude to the right outside from the right end portion 19a of the left and right frame 19. It is arranged between the second frame portion 12 and the left and right frames 19 in a plan view.

[Radio-controlled mower]
This mower is a remote-controlled type by radio control. As shown in FIGS. 1, 2, 3, 9, and 12, a support plate 101 connecting two plate members is connected over the first frame portion 11, the right front-rear frame 17, and the left front-rear frame 18. The control device 102 is connected to the front portion 101a of the support plate 101.

As shown in FIGS. 1, 2, 3, 9, and 12, the upper portion 101b of the support plate 101 is bent, and the recess 101c extending over the right front-rear frame 17 and the left front-rear frame 18 is provided in the upper portion 101b of the support plate 101. Has been done. The receiver 103 and the operation stop switch 104 operated by the operator are connected to the recess 101c of the support plate 101.

As shown in FIG. 14, the control device 102 operates the first steering motor 28, the second steering motor 29, the accelerator motor 93, and the forward / backward motor 98, and the potentiometers 55, 56, 96, 100. The detection signal, the operation signal of the receiver 103 and the operation stop switch 104 are input to the control device 102.

As shown in FIG. 14, the receiver 103 receives the operation signal of the transmitter 105 operated by the operator, and the control device 102 is the first steering motor based on the operation signal of the transmitter 105 (receiver 103). 28, the second steering motor 29, the accelerator motor 93, and the forward / backward motor 98 are operated.
When the first wheel 21 and the second wheel 22 are steered by the first steering motor 28 and the second steering motor 29, the first steering mode, the first steering mode, according to the following (1) to (4). Two steering mode, in-phase mode, and anti-phase mode can be selected by the transmitter 105.

(1) A first steering mode in which the first wheel 21 is steered by the first steering motor 28 with the second wheel 22 fixed in a straight-ahead position.
(2) A second steering mode in which the second wheel 22 is steered by the second steering motor 29 with the first wheel 21 fixed in the straight-ahead position.
(3) An in-phase mode in which the first wheel 21 and the second wheel 22 are steered in the same direction by the first steering motor 28 and the second steering motor 29 to translate the mower.
(4) An anti-phase mode in which the first wheel 21 and the second wheel 22 are steered in opposite directions by the first steering motor 28 and the second steering motor 29 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 operation, according to the mowing machine of the present invention, the right first wheel 21 and the second wheel 22 on the engine 6 side are on the mountain side (upper side of the slope), and the left first wheel 21 on the opposite side of the engine 6 is used. And, with the second wheel 22 on the valley side (lower side of the slope), the vehicle may travel along the contour line.

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. In one method, 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 Embodiment of the Invention]
The engine 6 is arranged (supported) between the left first wheel 21 and the left second wheel 22 in a plan view, and the balance weight 7 is arranged (supported) on the left outer side of the engine 6 in the front-rear direction. The engine 6 may be arranged (supported) at a lower position so that the upper part of the left first wheel 21 and the upper part of the left second wheel 22 and the lower part of the engine 6 overlap with each other visually.

In the case of the above-mentioned structure, the traveling transmission case 77 may be provided on the right side of the transmission case 5. The first wheel 21 on the right and the second wheel 22 on the right may be provided with the wheel bodies 38 and 39, and the first wheel 21 on the left and the second wheel 22 on the left may be provided with the wheel bodies 35. The cutting blade clutch lever 58, the shifting lever 91, and the lever guide 57 may be provided on the left front and rear frame 18, which is a portion of the cutting blade housing 1 on the engine 6 side in the left-right direction.

[Second alternative form of carrying out the invention]
The first wheel 21 and the second wheel 22 on the opposite side of the engine 6 are provided with one wheel (not shown) instead of the two wheels 38 and 39, and have a large width W2. It may be a thing.

[Third alternative form of carrying out the invention]
The ribs 38b at the center of the left and right sides of the ground contact portions 38a and 39a of the first wheel 21 and the second wheel 22 on the opposite side of the engine 6 may be abolished.
In the ground contact portions 35a, 38a, 39a of the first wheel 21 and the second wheel 22, ribs are formed on both the left and right center side portions of the cutting blade housing 1 and the left and right center side portions of the cutting blade housing 1. May be provided.

[Fourth Different Embodiment of the Invention]
When the cutting blade clutch lever 58, the shift lever 91 and the lever guide 57 are provided on the engine 6 side portion of the cutting blade housing 1 in the left-right direction, the cutting blade clutch lever 58, the shift lever 91 and the lever guide 57 are viewed in a plan view. It may be arranged between the first frame portion 11 and the left and right frames 19.

As an operation tool to be artificially operated other than the cutting blade clutch lever 58, the shifting lever 91 and the lever guide 57, the operation stop switch 104 is arranged in the same manner as the cutting blade clutch lever 58, the shifting lever 91 and the lever guide 57. You may.

By providing the cutting blade clutch lever 58, the shifting lever 91 and the lever guide 57, and the operation stop switch 104 not in the right front / rear frame 17 and the left front / rear frame 18, but in another low position portion of the cutting blade housing 1, the cutting blade is provided. It may be provided on the portion of the housing 1 on the engine 6 side in the left-right direction.

[Fifth Different Embodiment of the Invention]
In FIGS. 1, 2, and 3, since the left and right frames 19 are connected to the upper surfaces of the right front-rear frame 17 and the left front-rear frame 18, the upper end portion of the transmission case 5 and the upper end portion of the engine 6 are viewed from the side and in the front-rear direction. Therefore, the right front / rear frame 17 and the left front / rear frame 18 may be projected upward, but the left / right frame 19 may not be projected upward.

In FIGS. 1, 2, and 3, the left and right frames 19 may be connected to the lower surfaces of the right front and rear frames 17 and the left front and rear frames 18. In this structure, the upper end portion of the transmission case 5 and the upper end portion of the engine 6 project upward from the left / right frame 19 in the side view and the front-rear direction view, but do not project upward from the right front-rear frame 17 and the left front-rear frame 18. You can do it.

Instead of including one right front / rear frame 17 and one left front / rear frame 18, a plurality of right front / rear frames 17 may be provided, or a plurality of left front / rear frames 18 may be provided. In this case, at least one of the right front-rear frame 17 or the left front-rear frame 18 may be arranged at the center of the left and right of the cutting blade housing 1 in a plan view.
Instead of including two left and right frames 19, three or more left and right frames 19 may be provided. When three or more left and right frames 19 are provided, at least one left and right frames 19 may be provided directly above the transmission case 5 and the engine 6.

[Sixth Different Embodiment of the Invention]
The cutting blade height lever 61 and the lever guide 62 may be arranged directly under the left front-rear frame 18 in a plan view, or may be arranged between the right front-rear frame 17 and the left front-rear frame 18 in a plan view.

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 6 Engine 7 Balance weight 8 Cutting blade 21 1st wheel 22 2nd wheel 35a Grounding part of 1st wheel on engine side 35a Grounding part of 2nd wheel on engine side 35b Rib 38a 1st wheel on the opposite side of engine 38a Grounding part of the second wheel on the opposite side of the engine 39a Grounding part of the first wheel on the opposite side of the engine 39a Grounding part of the second wheel on the opposite side of the engine 39b Rib 58 Operating tool 91 Operating tool
P3 Vertical axis W1 Width of the first wheel on the engine side W1 Width of the second wheel on the engine side W2 Width of the first wheel on the opposite side of the engine W2 Width of the second wheel on the opposite side of the engine

Claims (6)

A right and left first wheel on one side in the front-rear direction of the aircraft, a second right and left wheel on the other side in the front-rear direction of the aircraft, and a cutting blade rotationally driven around the vertical axis core are provided. ,
An engine for transmitting power to the first wheel, the second wheel, and the cutting blade is provided.
In plan view, the engine is supported between the first wheel on the right and the second wheel on the right, or between the first wheel on the left and the second wheel on the left .
The engine is located on one of the left and right sides of the vertical axis core above the cutting blade, and the lateral outer end of the first wheel on the engine side and the lateral outer end of the second wheel on the engine side. A remote-controlled or autonomous-driving mower that is placed so that it protrudes laterally from the edge. The remote-controlled or autonomous driving type mower according to claim 1, wherein the engine is supported so that the first wheel and the second wheel overlap with the engine in a front-rear direction view. The remote-controlled or autonomous driving type mower according to claim 1 or 2 , wherein a balance weight is supported on the outside of the engine in the left-right direction of the machine. A right and left first wheel on one side in the front-rear direction of the machine body, a second right and left wheel on the other side in the front-back direction of the machine body, and a working device are provided.
An engine for transmitting power to the first wheel, the second wheel, and the working device is provided.
In plan view, the engine is supported between the first wheel on the right and the second wheel on the right, or between the first wheel on the left and the second wheel on the left.
The width of the first wheel on the side opposite to the engine is set to be larger than the width of the first wheel on the engine side.
A working machine set so that the width of the second wheel on the side opposite to the engine is larger than the width of the second wheel on the engine side. A right and left first wheel on one side in the front-rear direction of the machine body, a second right and left wheel on the other side in the front-back direction of the machine body, and a working device are provided.
An engine for transmitting power to the first wheel, the second wheel, and the working device is provided.
In plan view, the engine is supported between the first wheel on the right and the second wheel on the right, or between the first wheel on the left and the second wheel on the left.
A flat plate-shaped rib projecting outward in the radial direction is provided on the left and right center side portions of the machine body at the ground contact portion of the first wheel and the second wheel on the engine side to rotate the first wheel and the second wheel. Prepared along the direction,
Flat plate-shaped ribs protruding outward in the radial direction are provided on the first wheel and the ground contact portion of the second wheel on the opposite side of the engine from the left and right center of the aircraft. A working machine provided along the rotation direction of the second wheel. The remote control type or autonomous according to any one of claims 1 to 3 , wherein an artificially operated operating tool is provided in the portion of the airframe on the engine side in the left-right direction of the airframe. Traveling mower.

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