JP7250334B2 - Self-propelled work machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a self-propelled work machine, and more particularly to a lawn mower.

During the mowing work, the mowing blade is damaged if it collides with an obstacle, so work while avoiding any obstacles that may be in the traveling direction of the machine.

However, in the case of remote-controlled work, it is extremely difficult to accurately grasp the positional relationship between the robot and obstacles located far from the operator and to operate the robot.

In addition, even when maneuvering in the vicinity, there is an inconvenience that the maneuvering work becomes complicated while avoiding many obstacles in the work area, which imposes an excessive burden on the operator.

Japanese Patent No. 6530099

JP 2007-037489 A

SUMMARY OF THE INVENTION In view of the background described above, it is an object of the present invention to provide a self-propelled work machine that is capable of mowing grass without worrying about obstacles, and that has excellent running stability and work efficiency.

In order to solve the above problems, the self-propelled work machine according to the present invention includes a main body, running parts provided on both sides of the main body in the traveling direction, and a working part connected to the main body through a support arm. The support arm includes a vertically movable main arm including a bending portion extending forward or rearward from the main body and having a distal end bent inward in the left-right direction; The bending portion and the working arm are formed linearly in a plan view, respectively, and the working portion is connected to the main body by the vertically movable main arm. and the working arm is mounted so as to be horizontally rotatable around the connecting portion, and the connecting portion provided at the tip of the main arm is viewed from above in a working state. It is characterized in that it is provided at or near the center of gravity, which is substantially on the center line of the entire width of the fuselage and is located substantially at the center of the fuselage in a front view with the main arm in a horizontal state.
Further, the self-propelled working machine according to the present invention according to claim 2 is the self-propelled working machine according to claim 1, wherein the working arm is rotated in a direction away from the main arm by an elastic body fixed to the connecting portion. characterized in that it is biased to
A self-propelled working machine according to the present invention according to claim 3 is characterized in that, in the self-propelled working machine according to claim 1 or claim 2 , the working section is provided in front of the main body.
A self-propelled working machine according to the present invention according to claim 4 is characterized in that, in the self-propelled working machine according to claim 1 or claim 2 , the working section is provided behind the main body section.
A self-propelled working machine according to the present invention according to claim 5 is characterized in that, in the self-propelled working machine according to claim 3 , the bent portion is bent at an obtuse angle.
A self-propelled working machine according to the present invention according to claim 6 is characterized in that, in the self-propelled working machine according to claim 4 , the bent portion is bent at a narrow angle.
Further, the self-propelled work machine according to the present invention according to claim 7 is the self-propelled work machine according to any one of claims 1 to 6 , wherein the elastic body urges the connecting portion outward. characterized by
Further, the self-propelled work machine according to the present invention according to claim 8 is the self-propelled work machine according to any one of claims 1 to 7 , wherein the lowermost grounding member in the state of working in the depression of the working part is the self-propelled work machine. The point is positioned below the axle of the front wheel of the running portion.
Further, the self-propelled work machine according to the present invention according to claim 9 is the self-propelled work machine according to any one of claims 1 to 8 , wherein the working part is outside the traveling part in a normal working state. position, and in the event of an abnormality, the working portion is moved to the inner range between the traveling portions to avoid movement.

According to the self-propelled working machine according to the present invention, since the working part projecting sideways in front of the machine body is provided on the opposite side to the bending part of the main arm with the connecting part as the apex, This prevents a large difference in balance between the left and right sides, and contributes to driving stability by reducing straight running due to uneven load on the running part and ensuring stability against overturning on slopes.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows embodiment of the self-propelled working machine by this invention. FIG. 2 is a front view of FIG. 1; 2 is a plan view of FIG. 1 in a non-working state; FIG. 4 is a front view of FIG. 3; FIG. FIG. 4 is a rear view when the main arm is in a working state; FIG. 11 is a rear view when the main arm is inverted to a non-working state; (A) is an enlarged view of the VII section in FIG. 5, and (B) is an enlarged view of the VII section in FIG. (A) is an enlarged plan view of a main part in a working state, and (B) is a cross-sectional view of (A). (A) is an enlarged plan view of a main part in a non-working state, and (B) is a cross-sectional view of (A). FIG. 2 is an enlarged vertical cross-sectional view taken along the arrow A in FIG. 1; FIG. 11 is an enlarged view of a main portion of FIG. 10; FIG. 10X-X is an enlarged cross-sectional view, where (A) shows the state in which the connecting portion is fixed, and (B) shows the state in which the working arm is fixed by the third fixing portion; (A) is a main part front view showing details of an elevating arm, and (B) is a main part side view of (A). (A) is a front view of essential parts used for explaining the ground followability, and (B) is a side view of essential parts of (A). FIG. 10 is a schematic plan view showing another embodiment of the self-propelled working machine according to the present invention; Fig. 10 is a schematic plan view showing still another embodiment of the self-propelled work machine according to the present invention;

Next, the self-propelled working machine according to the present invention will be described in more detail based on the drawings showing the embodiments. For the sake of convenience, parts having the same functions are denoted by the same reference numerals, and descriptions thereof are omitted.

1 to 14, the self-propelled working machine 1 is composed of a main body 2, a traveling part 3, and a working part 4, and is operated by an operation transmitter (not shown) called a radio control to travel in the direction of the arrow. do.

The body portion 2 has a body frame 21 provided in a horizontal direction, and a running portion 3 having a running motor (not shown) for driving a drive wheel 31, which will be described later, is arranged on the body frame 21. The driving source of the running motor. A barrel battery (not shown) is placed. A control unit 23 is installed on the body frame 21, and a main power switch for operating a main power source of the self-propelled work machine 1 is arranged in the control unit. 24 is a body cover.

The running portions 3 are arranged on both sides of the body portion 2 in the traveling direction. The traveling unit 3 includes the above-described traveling motor (not shown), rear wheels as driving wheels 31 and front wheels as driven wheels 32, and a crawler belt 34 is stretched between the two wheels via rollers 33. As shown in FIG. A running frame 35 is fixed to the body frame 21, and the rotating shafts of the running motor, driving wheels 31, driven wheels 32 and rollers 33 are rotatably attached to the running frame 35. As shown in FIG.

The working portion 4 is provided in front of the main body portion 2 in the direction of travel, and is provided with a cutting blade 41, a motor 42 for operating the cutting blade 41, and a mechanism for preventing the rotation of the cutting blade 41 from being hindered. It consists of a grounding body 43 and a cutting blade cover 44 provided to prevent cut grass from scattering. The lowest point of the working unit 4 in the working state, that is, the position of the grounding member 43 is below the position of the front wheel 32 . As will be described later, the working unit 4 can select a working state or a non-working state.

Reference numeral 5 denotes an elevating arm provided on the main body 2 and capable of being raised and lowered. A main arm 7 of a support arm 6 is attached to the lifting arm 5 . The support arm 6 consists of a vertically movable main arm 7 and a working arm 11 connected to the main arm 7 via a connecting portion 9 .

The main arm 7 consists of a base portion 72 , an extension portion 73 and a bending portion 74 . The base portion 72 is transversely provided in the direction perpendicular to the advancing direction, and the rotating shaft 71 (shown in FIGS. 8 and 9) provided at the end portion is the arm fixing hole 50a (FIG. 8) of the boss portion 50 of the elevating arm 5. , as shown in FIG. 9). The extension portion 73 is formed by bending from the base portion 72 in the traveling direction. The bent portion 74 is formed by bending a portion of the distal end portion side inwardly at an obtuse bending angle C from a bending point 74a. The bent portion 74 and the working arm 11 are formed in a triangular shape with the connecting portion 9 as the apex.

A through hole 75 is provided in the peripheral surface of the rotating shaft 71 , and a first fixing pin 76 for fixing the main arm 7 is detachably inserted into the through hole 75 by a spring 77 . 78 is a protrusion for locking the first fixing pin 76 in the hole 75 . A first fixing portion 79 is formed by the first fixing pin 76 , the spring 77 and the projection 78 described above.

Reference numeral 81 denotes a ring-shaped first restricting body, which is rotatably provided on the rotating shaft 71 . Two protrusions, that is, a starting point protrusion 81a and an end point protrusion 81b are provided on the peripheral surface of the first restricting body 81, and a contact pin 51 (shown in FIGS. ) and the lift stops. FIG. 5 shows a state in which the main arm 7 is lowered to the maximum limit in the working state and regulated by the first regulating body 81 . 6 shows a state in which the main arm 7 is reversed and regulated by the first regulating body 81 to a non-working state. 7A shows the operation of the first restricting body 81 in the working state, and FIG. 7B shows the operation of the first restricting body 81 in the non-working state. A distal end portion 74b of the bent portion 74 of the main arm 7 is bent vertically as shown in FIG.

Reference numeral 9 denotes a connecting portion made of a connecting fitting, which is connected to the tip portion 74b of the main arm 7 so as to be rotatable in the horizontal direction. More specifically, as shown in FIGS. 10 to 12, the connecting portion 9 has a rotating shaft 91 fitted to the distal end portion 74b of the main arm 7 so as to be rotatable in the horizontal direction, and a connecting portion extending in the horizontal direction. Working arm 11 is connected to piece 90 . The connecting portion 9 is provided at the center of gravity G located substantially on the center line of the overall width _D3 of the fuselage in plan view and substantially in the center of the fuselage in front view. An elastic body 93 is wound around a guide rod 94 and biased in the horizontal direction. The biasing force of the elastic body 93 is set to be smaller than the running force of the aircraft when it collides with an obstacle. Due to the urging force of the elastic body 93, the working part 4, which has been subjected to avoidance operation during work, returns to its original position, as will be described later.

The rotating shaft 91 serves as a rotating fulcrum, and the second restricting body 12 of the working arm 11 is provided in the vicinity thereof. The second restricting body 12 includes an upper second restricting body 12a that restricts excessive upward rotation of the working arm 11 in the working state, and a lower second restricting body 12a that restricts excessive downward rotating of the working arm 11. It consists of a body 12b, which together restricts excessive vertical rotation of the working arm 11. As shown in FIG. That is, since excessive inclination of the cutting blade 41 with respect to the ground causes problems such as an unclean cut, an upper second restricting body 12a and a lower second restricting body 12b are provided in the vicinity of the rotation fulcrum of the connecting portion 9. be fixed. The upper second restricting body 12 prevents the working arm 11 from rotating excessively and forming an excessive angle with the cutting blade in the working state. Further, the lower second restricting body 12b restricts the working arm 11 from excessive downward rotation in the working state. In this embodiment, the working arm 11 is regulated so as not to rotate below the horizontal.
In the non-working state, rotation of the working arm 11 is fixed by a third fixing portion 16 (shown in FIG. 12) provided on the side portion of the connecting portion 9 . Since the position of the working arm 11 is fixed relative to the connecting part 9 even in the non-working state by the third fixing part 16, the working part is prevented from interfering with the main body part.

A second fixing portion 92 comprises a second fixing pin 92a, a second fixing hole 92b into which the second fixing pin 92a is inserted, and a spring 92c for biasing the second fixing pin 92a. Reference numeral 13 denotes a pivot shaft that serves as a fulcrum for pivoting the working arm 11 in the vertical direction.
A third fixing portion 16 is composed of a third fixing pin 14 detachably inserted by a spring 15 (shown in FIGS. 12A and 12B). A spring 15 biased toward the working arm 11 is wound around the third fixing pin 14 , and the third fixing pin 14 is provided at the base of the working arm 11 in a direction orthogonal to the working arm 11 . A protrusion 14a is provided on the peripheral surface of the third fixing pin 14, and the working arm 11 is locked by inserting the protrusion 14a into the lock hole 14c when fixing. A third fixing hole 11 a is provided on the peripheral surface of the working arm 11 . The third fixing pin 14 is inserted into the third fixing hole 11a through a long slide hole 14b.
10 and 11 best illustrate the second fixing portion 92. FIG. FIG. 12(A) shows a state in which the connecting portion 9 is fixed by the second fixing pin 92a of the second fixing portion 92 after the working portion 4 is in the retracted position, and FIG. 12(B) shows the state in which the working portion 4 is in the retracted position. After fixing, the working arm 11 is fixed by the third fixing pin 14 of the third fixing portion 16. FIG.

13 and 14 show details of the lifting arm 5. FIG. Reference numeral 52 denotes a lifting motor; 52a, an output shaft of the lifting motor 52; The lifting gear 53 is provided in a direction orthogonal to the lifting arm 5 and rotates in the vertical direction. Reference numeral 54 denotes an action pin that moves up and down integrally with the lifting arm 5 . Reference numeral 55 denotes a descent restricting means projecting from the elevating gear 52. As shown in FIG. That is, the descent restricting means 55 is fixed to the lifting gear 53 in a direction orthogonal to the lifting gear 53 and contacts the working pin 54 to form the bottom dead center of the lifting arm 5 . A fulcrum pin 56 serves as a lifting fulcrum of the lifting arm 5, and the lifting arm 5 is rotatably fitted thereon. A spring 57 is provided at the end of the elevating arm 5 on the operating point side, and is biased upward. 58 is a guide pin for the spring 57 . The elevating arm 5 is rotatably fitted to the fulcrum pin 54 . 59 is a fulcrum member of the lifting arm 5 .

Here, the first restricting body 81, the second restricting body 12, the first fixing portion 79, the second fixing portion 92 and the third fixing portion 16 are summarized.
The first regulating body 81 has a starting point projection 81a and an end point projection 81b, and hits a contact pin 51 provided on the lifting arm 5 to stop the lifting. That is, the terminal point protrusion 81b is brought into contact with the contact pin 51 in the non-working state, and the starting point protrusion 81a is brought into contact with the contact pin 51 in the working state. As a result, excessive lowering of the main arm 7 is prevented during operation, and when the mower 4 is lifted by the lifting arm 5, it is prevented from being dragged on the ground due to insufficient floating. Further, the main arm 7 is fixed in a non-working state to prevent contact between the mower 4 and the main body 2 when retracted (FIGS. 8 and 9).
The second restricting body 12 consists of an upper second restricting body 12a and a lower second restricting body 12b. Restricts excessive vertical rotation. This also prevents excessive lowering of the working arm 11 in the non-working state (FIG. 11).
The first fixing portion 79 is composed of a detachable first fixing pin 76 , and by inserting the first fixing pin 76 into the through hole 75 of the rotating shaft 71 and the first restricting body 81 , the main arm 7 can be rotated. is fixed (Figs. 8 and 9).
The second fixing portion 92 is composed of a detachable second fixing pin 92a. When storing, the connecting portion 9 is fixed by inserting the second fixing pin 92a into the second fixing hole 92b of the connecting portion 9. This prevents contact between the portion 4 and the main arm 7 and the body portion 2 . That is, by inserting the detachable first fixing pin 76 into the through hole 75 of the main arm 7 and the second fixing pin 92a into the second fixing hole 92b of the connecting portion 9, the main arm in the non-operating state can be adjusted. 7 and connecting part 9 are fixed (FIGS. 10 to 12).
The third fixing portion 16 consists of a detachable third fixing pin 14, and the working arm 11 is fixed by inserting the third fixing pin 14 into the third fixing hole 11a of the working arm 11 (Figs. Figure 12).

Here, the dimensions of each part will be explained. In the illustrated embodiment, the total length _W1 of the traveling portion 3 is 765 mm, the amount of protrusion _W2 from the front end of the traveling portion 3 to the working portion 4 is 804 mm, and the total length _W3 of the machine body is 1569 mm. The width _D1 of the crawler belt 34 is 100 mm, the total width _D2 of the running section 3 is 578 mm, the total width _D3 of the main body is 654 mm, the total width _D4 of the machine body in the working state is 874 mm, and the center line of the working section 4 in the working state. The amount of protrusion D ₅ from the rear is 547 mm, and the amount of protrusion D ₆ during the avoidance operation is 290 mm. The height H ₁ of the working part 4 is 89 mm, and the total height H ₂ of the fuselage is 400 mm. The extension 73 has a length of 474 mm and the working arm 11 has a length of 416 mm. The ground contact height L ₁ is 405 mm, and the wheelbase length L ₂ is 495 mm. In this embodiment, the center of gravity G of the fuselage is located 10 mm off the center line of the fuselage, 192 mm behind the front wheels in the direction of travel, and at a ground height of 195 mm.

(1) Machine body operation during normal operation The support arm 6 is moved up and down by the main arm 7 and the working arm 11 while the mower 4 maintains an appropriate ground angle. In the present invention, "appropriate ground angle" means that the mower 4 can be kept parallel to the ground surface when it comes into contact with the ground surface, and does not mean that the angle is maintained perfectly.

The mowing section 4 performs the mowing operation at the position indicated by the solid line in FIG.

At this time, the mowing part 4 is working at a position protruding outward from the traveling part due to the biasing force of the elastic body 93 .

(2) Operation of machine body in case of abnormality When the mowing unit 4 collides with an obstacle, the mowing unit 4 performs the following avoidance operation.
That is, since the mowing part 4 overcomes the biasing force of the elastic body 93 and is pushed by the obstacle, the mowing part 4 rotates to the inner side, ie, to the position indicated by the two-dot chain line in FIG.

When the fuselage passes through the obstacle, the working arm 11 is rotated outward by the biasing force of the elastic body 93, that is, to the position indicated by the solid line in FIG. 1, and returns to its original position. Therefore, the mowing work can be continued as before. Since the cutting blade remains rotated during the evasive action, there is no interruption of the mowing operation.

Therefore, the operator can work without worrying about the collision between the mowing part 4 and an obstacle, and the machine can be easily operated.

Now, the running stability will be explained. In this embodiment, since the working portion 4 projected outward by the working arm 11 in front of the machine body and the bent portion 74 of the main arm 7 are provided on opposite sides with the connecting portion 9 as the apex, the moving direction of the machine body is This prevents a large difference in balance between the left and right sides of the vehicle, and contributes to driving stability, such as reducing straightness due to uneven load on the running part and ensuring stability against overturning on slopes.

This point will be explained in detail. If the ground contact load is biased to either one of the left and right running portions 3 and becomes an unbalanced load, the running portion 3 on the side with the smaller ground contact load slips, making it difficult for the driver to travel as intended. For example, even if the machine is operated to go straight, the driving force is not transmitted to the ground due to the slippage of one of the traveling parts 3, and as a result the machine turns without going straight. Alternatively, when turning to the side of the left and right traveling parts 3 with a larger ground load, the traveling part 3 on the side with a smaller ground load slips, making it impossible to turn the machine body. occurs. In particular, when traveling on the ground that slopes to the left and right sides of the machine body, the above-described disadvantages become more pronounced. Regarding overturning, similarly to the above, when traveling on the ground GL sloping to the left and right sides of the aircraft, if a situation occurs in which the traveling part 3 on the side with the larger ground contact load is located on the lower side of the inclined surface, there is a risk of overturning. In order to ensure safety, it is necessary to avoid the occurrence of the above-mentioned situation as much as possible. When there is an unbalanced load, if the left and right tilt directions are switched, the operator's feeling of operation will change, so for safe operation of the work machine, the center of gravity G in the left and right direction of travel should be as close to the center as possible. is preferred.

Therefore, in order for the operator to operate the airframe smoothly without worrying about the terrain on which it is traveling, the position of the center of gravity G of the airframe as a whole should be set to the position where the left and right running parts 3, 3 touch the ground. Positioning near the center is important.
In the present invention, as described above, the left-right balance with respect to the traveling direction of the machine body is prevented from significantly changing, so stability is ensured against deterioration of straightness due to uneven load on the running part 3 and overturning on a slope. It is possible.

The elevating arm 5 has a structure in which the machine body is supported only at the bottom by the elevating gear 53 and the action pin 54. Therefore, even if the mowing part 4 runs over an obstacle, the mowing part 4 does not touch the ground. can follow.

That is, when the work unit 4 is moved up and down, the pivot points in the vertical direction are the pivot point 56 of the lifting arm (shown in FIGS. 13 and 14) and the pivot point 71 of the main arm 7 (shown in FIGS. 8 and 9). ) and the pivot point 13 of the working arm 11 (shown in FIGS. 11 and 12). In particular, the fulcrum 56 of the elevating arm 5 and the fulcrum 71 of the main arm 7, which have pivot shafts extending in the lateral direction of the traveling direction, exhibit the effect of following the ground. More specifically, the vertical movement of the working unit 4 is handled by the elevation of the elevating arm 5 , and the inclination of the working unit 4 is maintained by the rotation of the main arm 7 supported by the elevating arm 5 . That is, in the case of the depression P1 shown in FIG. 5 or in the case of the convex ground P2 shown in FIG. By providing the fulcrum 56 and the rotation fulcrum 71 of the main arm 7, the degree of freedom in approaching the cutting blade 41 to the ground is increased, and the plane of rotation of the cutting blade 41 can be kept parallel to the ground. As a result, during mowing work, the mowing blade may come into contact with the ground and be damaged, or the angle between the rotating surface of the mowing blade and the ground is bad. You can fix the problem.
Further, by vertically rotating the rotating fulcrum 13 of the working arm 11, it is possible to cope with the inclination of the machine body in the horizontal direction of the traveling direction. Furthermore, since the working arm 11 has some play in the vertical direction, it is rotated downward by its own weight, and is rotated upward by the pressing force of the obstacle that collides with it. Therefore, according to the present embodiment, the ground followability is remarkably improved as compared with the conventional one.

In this way, by providing a total of three rotation fulcrum shafts in the vertical direction, it is possible to cope with inclined surfaces and irregularities in the front, rear, left, and right directions. Further, even if the mowing part 4 is rotating for avoidance and there is an uneven portion in the area for avoidance rotation, the cooperation of the three parts of the lifting arm 5, the main arm 7 and the working arm 11 enables this movement. Mowing work can be done while following the ground even when rotating in the area.

In the present embodiment, the lowest point of the grounding member 43 in the working state of the working unit 4 is positioned below the driven wheel 32 of the traveling unit 3 . Therefore, even in a situation where the working surface on which the working unit 4 is located in front of the traveling unit 3 is recessed from the working surface on which the working unit 4 is in contact with the ground, the working unit 4 can follow the recessed working surface. , it is possible to follow not only the convex portion P2 but also the concave portion P1.

Further, by adopting the configuration as shown in the illustrated embodiment, it is possible to simultaneously achieve the simplification of the arms connecting the mowing part 4 and the securing of the mowing performance, which have been difficult to achieve at the same time. In other words, the center of gravity of the entire machine body can be positioned centrally with respect to the ground contact area of the traveling part, even though the mowing part 4 overhangs the front part of the machine body. This solves the front-rear balance problem in addition to the above-described ground-following effect of the mower 4 . In other words, since the front-rear balance is good, there is no such phenomenon that the mower 4 sinks forward or 'tucks forward'. As a result, since the mowing part 4 can mow while maintaining a proper positional relationship with the ground, it is possible for the operator to mow without having to check the condition of the ground all at once. .

Regarding this ground followability, for example, in the case of the configuration as in Document 2, the auxiliary cutter unit U2 is rotated at two points, the horizontal axis of the connecting pin 15 and the vertical axis of the rotation fulcrum shaft 12. is. When the auxiliary cutter unit U2 is used to overcome unevenness on the ground, the auxiliary cutter C2 located far from the connecting pin 15 is inevitably higher than the ground when the connecting pin 15 pushes it upwards. This makes it difficult to mow the grass. Specifically, if only the auxiliary cutter C2 in the immediate vicinity of the connecting pin 15 of the auxiliary cutter unit U2 has unevenness, the auxiliary cutter positioned farther from this auxiliary cutter C2 will float above the height of the unevenness. I have a problem with cutting grass.

In this regard, according to the present embodiment, even on a road surface with convex portions formed on the running surface as shown in FIG. , a decrease in straight running due to uneven load on the running portion 3, and stability against overturning on a slope.

Regarding the running stability, in Document 2, the presence of many transmission members for the auxiliary cutter C2 deteriorates the balance of the entire aircraft, and if running in this state, it becomes difficult to run as intended by the operator. .

On the other hand, according to the present embodiment, the number of parts is relatively small, the parts projecting from the machine body related to mowing can be kept lightweight, and the center-of-gravity balance of the whole machine body can be properly maintained. It has excellent performance and running stability, allowing the operator to concentrate on mowing.

In the case of the above embodiment, even if the height of the working unit 4 itself is higher than that of the main arm 7, interference with the working unit 4 can be avoided by the bent portion 74, so the height of the working unit 4 itself is limited. Avoidance operation can be performed in the central part of the airframe without providing a

(1) Working state The grass cutting unit 4 is in a non-working state indicated by a two-dot chain line in FIG. This reversing operation is stopped when the starting point projection 81a abuts against the abutment pin 51. As shown in FIG.

As shown in FIGS. 1 and 2, the mower 4 has a main arm 7 that extends forward along the traveling direction.

At this time, the front portion of the working arm 11 is at the position indicated by the solid line in FIG. 1, that is, at the position outside the traveling portion, and the mowing portion 4 cuts grass at this position.

Since the start point projection 81a abuts against the abutment pin 51, the main arm 7 is prevented from descending excessively downward. is prevented from dragging.

(2) Non-working state (when stored)
First, the working arm 11 is rotated inward, and the mowing part 4 is moved to the position indicated by the two-dot chain line in FIG. 1, that is, the avoidance position.

In this state, when the main arm 7 is manually lifted and reversed by the operator, the support arm 6 and the mower 4 are reversed and rotated as shown in FIG. By this reversing operation, the support arm 6 and the mowing part 4 are folded and stored above the main body part 2 in the region of the traveling parts 3, 3, as shown in FIGS. This reversal operation stops when the end point projection 81b hits the contact pin 51. As shown in FIG. As a result, excessive lowering of the main arm 7 is prevented, and contact between the main arm 7 and the mower 4 and the main body 2 is prevented.

The mowing part 4 and the support arm 6 are fixed by the first fixing part 79 and the second fixing part 92 . That is, by fixing the first fixing portion 79 with the pin 76 and fixing the second fixing portion 92 with the pin 92a, the mowing portion 4 and the support arm 6 are securely fixed above the main body portion 2. Contact between the support arm 6 and the body portion 2 is prevented.

In addition, when the machine body is placed on a truck or the like and transported, the posture of the machine body is fixed, so that the machine body can be transported safely and reliably.

In addition, in the non-working state, both the overall height and overall length are compactly reduced, which is convenient for storage and the like.

The present invention is not limited to the above embodiments. For example, the bending direction of the main arm 7 may be opposite to that in FIG. In other words, if the bending portion 74 of the main arm 7 bent inward and the working portion 4 projecting outward are set in opposite directions with the connecting portion 9 as the apex, the directionality of the bending of the main arm 7 is does not matter.

Further, if the position of the connecting portion 9 is in the vicinity of the position of the center of gravity G, it is not necessary to provide it exactly at the position of the center of gravity G.

The working portion 4 may be provided behind the body portion 2 in the traveling direction. In this case, the bending angle D of the bending portion 74 of the main arm 7 is bent at a narrow angle as shown in FIG.

In the case of the embodiment shown in FIG. 16, the main arm 7, which is vertically rotatably connected to the lifting arm 5, extends straight without being bent, and the distal end portion 74b of the working arm 11 is connected to the connecting portion 9. is rotatably connected in the horizontal direction. In this case, since the bent portion 74 is not formed in the main arm 7, the center of gravity G of the fuselage is eccentric in the same direction as the working arm 11, not in the central portion, and is shifted to the working arm 11 side by about 45 mm. Also, in the avoidance motion of the working part 4, it swings so as to be positioned below the main arm 7 as indicated by the two-dot chain line. The rest of the configuration is the same as in the embodiment described in FIG.

Also, the self-propelled work machine according to the present invention does not necessarily have to be operated by radio control.

The self-propelled work machine according to the present invention can also be used for mowing.

1 self-propelled work machine 2 main body 21 main body frame 23 control part 24 main body cover 3 traveling part 31 driving wheel 32 driven wheel 33 roller 34 crawler belt 35 traveling frame 4 working part (mowing part)
41 Cutting blade 42 Motor 43 Grounding member 44 Cutting blade cover 5 Elevating arm 50 Boss 50a Arm fixing hole 51 Abutment pin 52 Elevating motor 52a Output shaft 53 Elevating gear 54 Action pin 55 Lowering restricting means 56 Fulcrum pin 57 Spring 58 Guide pin 59 fulcrum member 6 support arm 7 main arm 71 rotating shaft 72 base 73 extension 74 bending portion 74a bending point 74b tip portion 75 through hole 76 first fixing pin 77 spring 78 projection 79 first fixing portion 81 first restricting body 81a Start point projection 81b End point projection 9 Connecting portion 90 Connecting piece 91 Rotating shaft 92 Second fixing portion 92a Second fixing pin 92b Second fixing hole 92c Spring 93 Elastic body 94 Guide rod 11 Working arm 11a Third fixing hole 12 2 regulating bodies 12a Upper second regulating body 12b Lower second regulating body 13 Rotation shaft (rotation fulcrum)
14 Third Fixing Pin 14a Projection 14b Slide Hole 14c Lock Hole 15 Spring 16 Third Fixing Part

Claims (9)

It consists of a main body, running sections provided on both sides of the main body in the traveling direction, and working sections connected to the main body via support arms,
The support arm includes a vertically movable main arm that extends forward or rearward from the main body and includes a bending portion in which the tip portion is bent inward in the left-right direction; a connecting portion connecting the working arm and the main arm;
The bending portion and the working arm are each formed in a straight line in a plan view,
The working part is vertically movable with respect to the main body by means of a vertically movable main arm, and the working arm is attached so as to be horizontally rotatable around the connecting part,
The connecting part provided at the tip of the main arm is located on the center line of the overall width of the fuselage in plan view in the working state, and the center of gravity is located in the approximate center of the fuselage when viewed from the front when the main arm is horizontal. A self-propelled working machine, characterized by being provided near the center of gravity . 2. The self-propelled working machine according to claim 1, wherein said working arm is biased by an elastic body fixed to said connecting portion so as to rotate in a direction away from said main arm. working machine. 3. The self-propelled working machine according to claim 1 , wherein said working section is provided in front of said main body. 3. The self-propelled working machine according to claim 1 , wherein said working portion is provided behind said body portion. 4. The self-propelled work machine according to claim 3 , wherein said bent portion is bent at an obtuse angle. 5. The self-propelled working machine according to claim 4 , wherein said bent portion is bent at a narrow angle. 7. The self-propelled work machine according to claim 1 , wherein the elastic body urges the connecting portion outward. 8. The self-propelled work machine according to any one of claims 1 to 7 , wherein the lowest point of the grounding member in the working state of the working section in the depression is located below the axle of the front wheel of the traveling section. A self-propelled work machine characterized by: 9. The self-propelled work machine according to any one of claims 1 to 8 , wherein the working portion is positioned outside the traveling portion during normal working conditions, and the working portion is positioned between the traveling portions in an abnormal state. A self-propelled work machine characterized in that the avoidance operation is performed in a range inside of the.

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