JP7274745B2 - Self-propelled work machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a self-propelled work machine that is operated by an operator or that travels automatically, and more particularly to details of the machine body configuration related to the running performance of the self-propelled work machine.

Japanese Unexamined Patent Application Publication No. 2002-100001 discloses a self-propelled working machine that includes a traveling part and a working part that has a blade for removing snow or the like in front thereof. This snow remover is capable of vertically rotating the blades by vertically rotating an operation handle connected to the blades. The center of gravity of the driving battery is positioned between the rotating shafts of the driving wheels and the driven wheels arranged in front and behind the crawler belt for traveling. The operator grips the operating handle and pushes out the snow with the blade integrally connected with the operating handle to remove the snow.

JP 2014-91945 A

During snow removal work, if the driving part loses friction with the ground, the crawler belt for traveling will idle against the ground, making it impossible to travel, and the snow removal work will stop. In addition, the contact pressure between the traveling crawler belt and the ground changes depending on the snow quality depending on the amount of moisture, the condition of the road surface due to the presence or absence of pavement, and the like. In order to avoid such a situation, when using the snow blower described in Patent Document 1, the operator applies a load to the operating handle in either the upward or downward direction so that the contact pressure of the crawler belt of the traveling portion is appropriate. There is a current situation that is adjusted to be Further, the snow quality varies depending on the region, season, and weather, and the road surface conditions also vary depending on the place of use and the region. In addition, it is desired that the aircraft has a configuration that allows anyone, even an unskilled person, to operate the aircraft easily.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a self-propelled work machine that can improve adaptability to a work target while reducing labor.

In order to achieve the above object, one aspect of the present invention is to provide a vehicle body, a running section arranged on both sides of the vehicle body and capable of moving forward and backward and turning left and right, and a vehicle body arranged in the front part of the vehicle body. The gist of the invention is that it is a self-propelled work machine that includes a battery and a weight that is arranged at the rear part of the vehicle body.

In order to achieve the above object, another aspect of the present invention is to provide a vehicle body, a traveling section arranged on both left and right sides with respect to the traveling direction of the vehicle body so as to be able to travel, a battery arranged in the front part of the vehicle body, and a weight arranged at the rear of the vehicle body, wherein the center of gravity of the entire machine body of the self-propelled work machine in a state of being fully loaded with weights is the front wheels and the rear wheels of the traveling part when viewed from the side. The center of gravity of the entire body of a self-propelled work machine that is located near the line connecting the upper part of the ring and that is in the state of empty weight is greater than the center of gravity of the whole body of the self-propelled work machine that is fully loaded with weights. The gist is that it is a self-propelled work machine located at a lower position.

In order to achieve the above object, still another aspect of the present invention is to provide a vehicle body, a running portion disposed on both sides of the vehicle body and capable of moving forward and backward and turning left and right, and A self-propelled work machine having a battery and a weight arranged at the rear of the vehicle body, at least one of the height of the battery arranged on the vehicle body and the height of the weight arranged on the vehicle body. is a self-propelled work machine whose height is set to be 1.0 to 2.0 times the height of the traveling part.

According to the present invention, it is possible to provide a self-propelled work machine that can improve adaptability to a work target while reducing labor.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view of the self-propelled working machine which showed an example of embodiment. BRIEF DESCRIPTION OF THE DRAWINGS It is the side view which looked at the self-propelled working machine which showed an example of embodiment from the left side of the advancing direction. BRIEF DESCRIPTION OF THE DRAWINGS It is the front view which looked at the self-propelled working machine which showed an example of embodiment from the back side of the advancing direction.

An embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG. In the description, the left side shown in FIG. 1 is the front side with respect to the traveling direction, the right side is the rear side with respect to the traveling direction, the lower side is the left side with respect to the traveling direction, and the upper side is the right side with respect to the traveling direction. In addition, the lower side shown in FIG. 2 will be described as the lower side of the fuselage, and the upper side as the upper side of the fuselage. In addition, in the description of the drawings, the same or similar parts may be denoted by the same or similar reference numerals, and descriptions thereof may be omitted. In addition, the drawings used for explanation are schematic, and the relationship with the dimensions of each part may differ from the actual one. Moreover, the technical idea of the present invention can be modified in various ways within the technical scope defined by the claims.

First, the outline of the invention will be explained. In the self-propelled working machine of the present invention, traveling parts 20 are arranged on the left and right sides of the vehicle body 10 in the direction of travel so that they can be driven by electric motors 26, so that the machine can move forward and backward and turn. At the front part of the vehicle body 10 and the traveling part 20, there is provided a working part 30 having a blade 31 having a width wider than the width of the outer side of the traveling part provided on the left and right sides. The working unit 30 can be driven vertically by a cylinder 38 or the like.

A battery 40 is installed in the upper front portion of the vehicle body 10 and serves as a power source for the electric motor 26 and the cylinder 38 . A controller 50 is arranged behind the battery 40 in the upper part of the vehicle body 10, and receives commands from an operation unit (not shown) or data of a travel route stored in a storage unit (not shown) incorporated in the controller 50. is taken out, a drive command or the like is transmitted to the electric motor 26, the cylinder 38, etc., and the self-propelled work machine can be driven. One or more weights are mounted on the upper portion of the vehicle body 10 behind the control unit 50, and the front-rear balance of the self-propelled work machine can be adjusted by adjusting the number of weights to be mounted.

Each part will be explained in detail. The vehicle body 10 is provided in the shape of a box elongated in the front-rear direction, and serves as the skeleton of the self-propelled work machine. By making it box-shaped, a space is created inside to ensure strength while reducing weight.

Traveling portions 20 are arranged on the left and right side portions of the vehicle body 10 in the direction of travel. The traveling unit 20 includes a crawler belt 21 , drive wheels 22 , driven wheels 24 and an electric motor 26 . A crawler belt 21 is provided on each of the left and right sides of the vehicle body 10, and a driving wheel 22, which is a front wheel, is positioned in front of the inner circumference of the crawler belt 21, and a driven wheel 24, which is a rear wheel, is positioned behind the inner circumference of the crawler belt 21. The crawler belt 21 is rolled by rotating the motor 26 . In the embodiment, the front-to-rear length of the crawler belt 21 is shorter than that of the vehicle body 10, but it may be longer.

The electric motors 26 are attached to the front left and right side portions of the vehicle body 10, respectively. Further, since the transmission motor 26 is provided with the output shaft fixed to the vehicle body 10, the motor case 264 side is rotationally driven. Since the driving wheels 22 are fixed to the outer circumference of the motor case 264 , the driving wheels can be rotationally driven by the electric motor 26 . The rotating shafts of the electric motor 26 and the drive wheels 22 are coaxial.

The driven wheels 24 are rotatably provided by being inserted into rotating shafts protruding from both left and right sides of the rear portion of the vehicle body 10 . For this reason, the crawler belt 21 wound around the front drive wheel 22 and the rear driven wheel 24 is driven by rotating the electric motor 26 provided on the drive wheel 22 in forward and reverse directions, thereby enabling self-propelled work. The machine is set so that it can run. In addition, the operation|movement part of the crawler belt 21 on either side has a left-right symmetrical structure.

The center of gravity of the electric motor 26 is positioned within the width of the crawler belt 21 . The weight of the electric motor 26, which is relatively heavy among the components, directly acts on the contact pressure of the crawler belt 21 to improve the driving force. Further, since the electric motor 26, which is relatively heavy compared to other components, is positioned coaxially with the rotating shaft of the drive wheel 22, the center of gravity of the entire self-propelled work machine can be kept low. As a result, the drive force of the left and right crawler belts 21 is less changed even when tilted in the front, rear, left, and right directions, and the danger of overturning is reduced, so that the structure can be easily handled. Furthermore, since the electric motor 26 is located inside the crawler belt 21, it is possible to omit a space for installing a drive source such as the electric motor 26 elsewhere in the machine body, thereby making the whole machine body more compact.

A drive wheel 22 is arranged in front of the vehicle body 10, and a driven wheel 24 is arranged in the rear of the vehicle body 10, and the crawler belt 21 is wound around the driven wheel 24 to move forward and backward. Forward and backward movement is driven by rotating the driving wheels 22 by forward and reverse rotation of an electric motor 26 provided in the driving wheels 22 . When the blade 31 of the working portion 30 at the front portion of the vehicle body 10, which will be described later, is used to move forward and push snow, the drive wheels 22 rotate the electric motor 26 in the forward direction and the vehicle body moves forward. By forward rotation, the upper surface side of the crawler belt 21, which is a non-grounding surface, is pulled forward. Since the rear driven wheel 24 is in a free state, the contact surface side of the crawler belt 21 is also stretched, and the entire contact surface of the crawler belt 21 evenly presses the ground to effectively exert the driving force. For this reason, it is effective to arrange the drive wheels 22 on the front side, since this improves the traction performance.

A working unit 30 is positioned in front of the vehicle body 10 and the traveling unit 20 . The working part 30 is a part for pushing out snow or the like, and has a blade 31 . The blade 31 positioned at the front is a plate-shaped member that is curved so as to protrude rearward, and side plates are provided at the left and right ends in the direction of travel to prevent objects to be pushed, such as snow, from escaping to the sides. ing. Further, as illustrated, the blade 31 is not limited to a shape in which a concave surface is formed on the front surface in a direction orthogonal to the traveling direction in a plan view, and the blade 31 may be inclined in the front-rear direction, or the blade 31 inclined in the front-rear direction may be arranged in a V shape. They may be arranged so as to face each other in a letter shape. Further, although the work part 30 is illustrated as one that pushes out snow or the like, it may have a driven blade part or the like for cutting grass in place of the blade 31 .

The working part 30 has a rotating frame 35 connected to the vehicle body in order to rotate the blade 31 vertically with respect to the vehicle body 10 . The rotating frame 35 extends rearward from both left and right ends of the blade 31 with respect to the advancing direction. A rotating boss 37 is provided at the rear end portion of the rotating frame 35 and is inserted into a rotating fulcrum shaft 36 provided at the central portion of the left and right side surfaces of the vehicle body 10 . The blade 31 can be vertically moved up and down via a rotating frame 35 .

Furthermore, a cylinder 38 is attached to enable the blade 31 to move up and down. The cylinder 38 is connected to a vehicle body side mounting portion 381 projecting forward from the center of the front end of the vehicle body 10 with respect to the left and right, and a working portion side mounting portion 384 projecting upward from the rear portion of the blade 31 . A hole 382 is provided in the vehicle body side mounting portion 381, and one end portion of the cylinder 38 is rotatably connected by a fulcrum shaft 383 such as a pin. A work side attachment portion 384 to which the other end of the cylinder 38 is attached is provided with a vertically elongated hole 385 through which the other end of the cylinder 38 is connected through a fulcrum shaft 386 such as a pin.

Due to the elongated hole 385, the expansion and contraction of the cylinder 38 and the vertical movement of the blade 31 do not necessarily match. Specifically, when the cylinder 38 expands and the fulcrum shaft 386 comes into contact with the upper end of the long hole 385, the blade 31 rises for the first time. When the fulcrum shaft 386 abuts on the upper end of the long hole 385 , the blade 31 can freely rotate upward until the fulcrum shaft 386 abuts on the lower end of the long hole 385 . Conversely, when the cylinder 38 shortens, the blade 31 descends while the fulcrum shaft 386 remains in contact with the upper end of the long hole 385 . At this time, if the ground or an obstacle or the like abuts on the lower portion of the blade 31 and hinders the lowering of the blade 31, only the cylinder 38 is shortened while the vertical position of the blade 31 remains the same. The shortening of the cylinder 38 is performed until the fulcrum shaft 386 contacts the lower end of the long hole 385 . Since the dead zone of the elongated hole 385 is provided in this way, the blade 31 can be moved up and down freely without frequently operating the cylinder 38, so that it can follow the unevenness of the ground. In addition, the worker who operates the self-propelled work machine can reduce the operation of lifting and lowering the working unit 30 due to unevenness of the ground.

A cylinder 38 for driving the working part 30 up and down is arranged behind the blade 31 and in front of the rotating frame 35 , which is the front part of the working part 30 . With such an arrangement, the cylinder 38 requires less thrust than when the cylinder 38 is connected near the pivot shaft 36 of the pivot frame 35 . Therefore, the size of the cylinder 38 can be reduced, so that the overall height of the machine body can be suppressed and the forward projection of the working part 30 can be reduced as much as possible.

The working portion 30 is provided with rotation restricting portions 39 that restrict downward rotation of the working portion 30 at both left and right ends of the front portion of the vehicle body 10 . The rotation restricting portion 39 has a base 391 and a restricting member 392 . The base 391 is arranged so as to protrude left and right from both left and right ends of the front portion of the vehicle body 10 and is fixed to the vehicle body 10 . The regulating member 392 is arranged at the outer end of the base 391 in the direction of travel. In this embodiment, the restricting member 392 is a bolt with a hexagonal head. The head of the regulating member 392 is arranged below the rotating frame 35 and spaced apart from the lower surface of the base 391 , and the screw portion protrudes upward from the upper surface of the base 391 . The downward rotation of the rotating frame 35 is restricted by contact with the upper end of the threaded portion of the restricting member 392 when the rotating frame 35 rotates downward. Since the restricting member 392 is screwed into the base 391 , the rotation restricting height of the rotating frame 35 can be changed by rotating the restricting member 392 .

As described above, the blade 31 has a function to follow the unevenness of the ground. There are times when you want to use it at a distance. To give some specific examples, when you do not want to move the gravel on a very uneven road surface with guidance blocks for the visually impaired, a road surface with steps such as stone pavement, or a road surface covered with gravel. etc. are equivalent. When the blade 31 is used to remove snow on such a road surface, the downward rotation of the rotating frame 35 is previously restricted by the rotation restricting portion 39 .

By doing so, the blade 31 can be set at a height that avoids irregularities or at a height that does not move objects on the ground surface, making it easier for the operator to operate and reducing labor. Further, even when the height is automatically adjusted by the control unit 50, a series of devices for adjusting the height one by one is not required, so the body is simplified. As a result, the weight of the airframe can be reduced, and the maneuverability of the airframe can be made light. For this reason, the operator can move the aircraft at will, which reduces the psychological burden on the operator, leading to a reduction in labor. The downward rotation restriction position of the blade 31 is changed by adjusting the amount of projection of the restriction member 392 projecting upward from the base 391 .

A battery 40 is positioned in the upper front portion of the vehicle body 10 . The battery 40 is a power supply that supplies power to the electric motor 26 and the cylinder 38 via a control unit 50, which will be described later. In the case of this embodiment, two batteries 40 are arranged side by side, but one or more batteries may be provided. The battery 40 is arranged such that the center of gravity 41 of the battery 40 is positioned substantially directly above the rotational axis of the driving wheels 22, which are the front wheels, in a side view. Further, the center of gravity 41 is positioned slightly higher than the upper portion of the rotation outer circumference of the drive wheel 22, and the battery 40 is arranged so that the height of the upper surface of the outer circumference of the crawler belt 21 is substantially the same.

Further, the center of gravity 41 of the battery 40 has a distance 41a from the center of rotation of the drive wheel 22 to the center of gravity 41 of the battery 40 with respect to the radius 22a, which is the distance from the center of rotation of the drive wheel 22 to the outer periphery. It is preferable to keep it within 1.8 times. More preferably, it should be within 1.0 to 1.6 times. In the case of the embodiment, it is set to 1.31 times, which is the most preferable. To state specific numerical values adopted in the embodiment, the radius 22a is 108 mm and the distance 41a is 142 mm.

Due to the position of the center of gravity 41 of the battery 40 , the weight of the battery 40 is directly applied to the driving wheels 22 , contributing to the improvement of the driving force of the crawler belt 21 . Further, by lowering the center of gravity 41 of the battery 40 mounted on the running section 20 as much as possible, the running section 20 can run stably without overturning even on an inclined road surface. It should be noted that the center of gravity 41 of the battery 40 in a plan view is positioned substantially at the center of the body with respect to the left and right sides.

In this embodiment, the center of gravity 41 of the battery 40 is represented as the total center of gravity of the two batteries.

A control unit 50 is arranged above the central portion of the vehicle body 10 with respect to the front and rear and behind the battery 40 . The control unit 50 receives a signal operated by an operation unit (not shown) and controls whether or not to supply electric power to the electric motor 26 and the cylinder 38 or the amount of electric power supplied. It is also possible to issue a command for executing an operation pattern stored in the control unit 50 to control whether or not to supply electric power to the electric motor 26 and the cylinder 38, or to control the amount of electric power supplied.

A weight 60 serving as a weight load is arranged behind the controller 50 at the rear of the vehicle body 10 . The weight 60 is detachably provided with respect to the vehicle body 10.例文帳に追加The weight 60 is locked to the vehicle body 10 by penetrating locking members 63 made up of bolts and nuts between fixed plates 62 protruding from both left and right ends on the rear side of the vehicle body 10 . . Therefore, it does not drop from the vehicle body 10 during running. In the case of this embodiment, the weights 60 are represented by 14 iron plates, but since it is sufficient if the weights 60 are detachable, one or more can achieve this purpose. Moreover, a container such as a tank containing a liquid may be mounted instead of the weight made of iron. In this case, the weight load is a liquid, and it can be said that the weight load can be removed by flowing this liquid into and out of a container such as a tank.

Since the weight 60 is mounted on the rear part of the vehicle body 10, when the weight 10 is removed from the vehicle body 10, there is no obstruction on the line of flow for removal, and the removal work is easy for the worker.

As viewed from the side, the center of gravity 61 of the weight 60 is located just above and slightly behind the rotational axis of the driven wheel 24, which is the rear wheel. Further, the center of gravity 61 is set at a position slightly higher than the upper portion of the rotation outer circumference of the driven wheel 24 and approximately the same as the height of the upper surface portion of the rotation outer circumference of the crawler belt 21 . Note that the center of gravity 61 of the weight 60 in a plan view is positioned substantially at the center of the fuselage with respect to the left and right.

In addition, the center of gravity 61 of the weight 60 has a radius 24a, which is the distance from the rotational axis of the driven wheel 24 to the outer circumference, and the distance 61a from the rotational axis of the driven wheel 24 to the center of gravity 61 of the weight 60 is 0.8 to 0.8. It is preferable to keep it within 1.8 times. More preferably, it should be within 1.0 to 1.6 times. In the case of the embodiment, it is set to 1.35 times, which is the most preferable. To state specific numerical values adopted in the embodiment, the radius 24a is 108 mm and the distance 61a is 146 mm.

Due to the set position of the center of gravity 61 of the weight 60, the weight of the weight 60 can be directly applied to the driven wheel 24, so that the crawler belt 21 receiving the weight load of the weight 60 improves its driving force. Further, since the center of gravity 61 of the weight 60 mounted on the running portion 20 is low, the running portion 20 can travel stably without overturning even on an inclined road surface.

Since the center of gravity 41 of the battery 40 and the center of gravity 61 of the weight 60 are brought closer to the rotation axes of the drive wheels 22 and the driven wheels 24, the overall height of the aircraft can be reduced as a result. At least one of the height 41b to the upper surface of the battery 40 and the height 41b to the upper surface of the weight 60 is preferably the height 21a of the crawler belt 21 from the ground, which is the height of the running section 30. The height is set to a certain 1.0 to 2.0 times. In the embodiment, the height 41b from the ground to the upper surface of the battery 40 and the height 41b from the upper surface of the weight 60 are approximately 1.4 times the height 21a of the crawler belt 21, which is most suitable.

According to the configuration of the self-propelled work machine of the present invention, the height 41b to the upper surface of the battery 40 and the height 41b to the upper surface of the weight 60 can be reduced, so that the minimum ground clearance of the vehicle body 10 can be secured. Also, the overall height of the aircraft can be lowered. Reducing the overall height of the aircraft makes it possible to expand the area where the self-propelled work machine can work. Specifically, even in a place where an obstacle is placed near the space directly above the aircraft, it is possible to easily crawl into it and perform push-out work and travel.

The center of gravity of the entire airframe will be explained. The self-propelled working machine of the present invention comprises a vehicle body 10, a traveling section 20, a working section 30, a battery 40, and a control section 50, and further has a detachable weight 60 attached thereto. Therefore, the position of the center of gravity of the entire aircraft changes depending on whether or not the weight 60 is loaded.

When the weight 60 is fully loaded on the vehicle body 10, the center of gravity G1 of the entire machine body is positioned between the drive wheel 22 and the driven wheel 24 and behind the pivot shaft 36 of the pivot frame 35 in a side view. Further, the height of the center of gravity G1 of the entire machine body when the weight 60 is fully loaded is substantially the same as or lower than the upper surface of the outer diameter of the crawler belt 21 in rotation. It can also be said that the center of gravity G1 of the entire fuselage when the weights 60 are fully loaded is located near the line connecting the upper portion of the drive wheel 22 and the upper portion of the driven wheel 24 in a side view.

On the other hand, the center of gravity G2 of the entire fuselage when the weight 60 is empty on the vehicle body 10 is located in front of the center of gravity G1 of the entire fuselage when fully loaded in a side view, and slightly behind the center of rotation. It is housed within the radius of rotation of the drive wheel 22 . In addition, the height of the center of gravity G2 of the entire airframe when empty is located below the center of gravity G1 of the entire airframe when fully loaded, and the rotation radius of the drive wheels 22 below the upper surface of the outer diameter of the rotation of the roller belt 21. housed inside. It can also be said that the center of gravity G2 of the entire fuselage when the weight 60 is empty is located below the line connecting the upper portion of the drive wheel 22 and the upper portion of the driven wheel 24 in a side view.

If the number of weights 60 is one or more, it is possible to select two positions according to the loaded state, the center of gravity G1 of the entire aircraft when fully loaded and the center of gravity G2 of the entire aircraft when empty. When the weight 60 is divided into a plurality of parts as in the embodiment, a plurality of weights corresponding to the number of divisions of the weight 60 are provided between the center of gravity G1 of the entire aircraft when fully loaded and the center of gravity G2 of the entire aircraft when empty. position can be selected. In this case, each time the weight 60 is reduced from the fully loaded state to the empty state, the center of gravity position is connected from the center of gravity G1 of the entire fuselage when fully loaded to the center of gravity G2 of the entire fuselage when empty. It transitions step by step in the vicinity of the straight line. Also, as described above, when the weight 60 is liquid, the position of the center of gravity of the entire machine body can be similarly changed according to the amount of liquid injected.

In the exemplified embodiment, the position of the center of gravity of the entire airframe is represented by a ratio where the distance from the rotation axis of the driving wheel 22 to the rotation axis of the driven wheel 24 is 100%. The distance of the center of gravity G1 of the entire aircraft when fully loaded from the rotation axis of 22 is 58%, and the distance of the rotation axis of the driven wheel 24 from the center of gravity G1 of the entire aircraft when fully loaded is 42%. On the other hand, when the weight 60 is empty-loaded, the distance from the center of gravity G2 of the entire airframe when empty is 12% from the rotational axis of the driving wheels 22, and the distance between the center of gravity G2 of the airframe when empty is the rotational axis of the driven wheels 24. is 88%. Therefore, the distance ratio of the center of gravity of the entire aircraft can be changed sequentially according to the load of the weight 60 .

The position of the center of gravity of the entire vehicle body directly affects the shared load that the driving wheels 22 and the driven wheels 24 directly apply to the ground. In the case of the self-propelled work machine according to the configuration of the present invention, the shared load ratio of the driving wheels 22, which are the front wheels, is such that the crawler belt 21 does not slip on the road surface on which it runs, and the electric motor 26 that drives the driving wheels 22 can be adjusted so that the rotational load of the The shared load of the drive wheels 22 is the total load applied to the drive wheels 22 of the running portions 3 arranged on the left and right sides of the vehicle body 10 .

When an object such as snow is pushed out by using the self-propelled work machine according to the configuration of the present invention, the object to be pushed is brought into contact with the front of the blade 31 and further advanced by the traveling portion 3 to push out the object. do. At this time, since the object to be pushed out is placed on the curved concave surface of the blade 31, a downward load is applied so that it is difficult to rise relative to the ground. , a force is applied that pushes the airframe relatively rearward. Further, the driving force for moving the traveling portion 3 forward is transmitted to the blade 31 via the rotating frame 35, and acts as a force for pushing the blade 31 forward. Further, the blade 31 is in a state in which the rotation frame 35 is freely rotatable within the range of the long hole 385 provided in the attachment portion 384 on the side of the working portion 30 .

As a result of all of the above points, when the working portion 30 is pushed forward, the driving portion 3 is subjected to a force that causes the driving wheels 22, which are the front wheels, to rise upward. The shared load is reduced. At this time, if the shared load on the drive wheel 22 side becomes too small,
The driving wheel 22 side floats upward and the contact area of the crawler belt 21 is reduced. As a result, the aircraft slips and steering performance deteriorates, making it difficult to travel. If the vehicle cannot travel, it naturally becomes difficult to push out an object such as snow. The upward movement of the driving wheel 22 continues until the fulcrum shaft 386 abuts the lower end of the long hole 385 or until the intermediate portion of the rotating frame 35 abuts the restricting member 392 of the rotating restricting portion 39 . .

Conversely, if the shared load on the drive wheel 22 side becomes excessive, the driven wheel 22 side floats upward and the contact area of the crawler belt 21 decreases. Needless to say, of course, the aircraft slips and the steering performance deteriorates, making it difficult to travel. In addition, if an object is lifted by the working unit 30 in this state, the self-propelled working machine may rotate forward about the driving wheels 22, which is not preferable in terms of safety. In order to avoid these inconveniences, it is preferable that the load sharing ratio of the drive wheels 22, which are the front wheels, can be changed as appropriate.

A specific description will be made on the assumption that the object to be pushed out is snow. It is known that the quality of snow differs depending on the region, the time of snowfall, and the weather conditions. For example, powder snow containing less water and sleet snow containing a large amount of water can be mentioned. In other words, when comparing the weight density, there is a big difference between powder snow and sleet snow. In addition, light powder snow has a small pushing resistance, and heavy sleet snow has a large pushing resistance. Therefore, the effect on the running portion 3 is that powdery snow tends to lift the driving wheel 22 side of the running portion 3 upward, while sleet snow tends to lift the driving wheel 22 side of the running portion 3 upward. is stronger than powder snow. Considering this point, it is necessary to appropriately distribute the load applied to the driving wheels, which are the front wheels, according to the weight or density of the object to be pushed. When adjusting the shared load, the weight 60 is attached and detached to adjust the position of the center of gravity.

When the weight 60 is attached and detached, it can be attached and detached by removing the locking member 63 that locks the weight 60 to the vehicle body 10 . After the worker removes the desired number of weights 60 from the rear of the vehicle body 10 , the weights 60 remaining on the vehicle body 10 are locked by the locking members 63 .

In the self-propelled work machine of the present invention configured as described above, the battery 40 is arranged in front of the vehicle body 10, and the weight 60 is arranged in the rear of the vehicle body 10, so that the traveling part 20 is applied to the ground with a shared load or ground pressure. can be optimized to improve running performance. In addition, since the weight 60 is detachable, it is possible to appropriately adjust the shared load or the ground pressure to an optimal state. Also, in a side view, the position of the center of gravity 41 of the battery 40 can be brought closer to the rotational axis of the front wheels, and the position of the center of gravity 61 of the weight 60 can be brought closer to the rotational axis of the rear wheels. The load can be applied to the front or rear wheels. In addition, since the center of gravity of the entire airframe can be lowered, the maneuverability resulting from the stability of the airframe during running is improved, and maneuverability can be facilitated. In addition, by lowering the center of gravity of the entire machine body, the overall height of the machine body can be lowered, so the place where the machine can travel can be expanded, and post-processing by the operator can be reduced, leading to light labor. In addition, since the weight 60 is detachable, it is possible to adjust the shared load on the front and rear of the aircraft. Therefore, since there is no limitation on the weight of the work object to be pushed out, adaptability to the work object is improved.

Although the present invention has been described by the above embodiments, the statements and drawings forming part of this disclosure should not be understood to limit the present invention. For example, although the structure using the crawler belt 21 was demonstrated as the running part 20, the structure using several wheels may be sufficient. Further, although it has been described that the operation unit (not shown) can be remotely operated, the operation unit may be configured integrally with the self-propelled work machine. Although the working part 30 has been described as being movable up and down in front of the vehicle body 10 , it may be fixed relative to the vehicle body 10 or arranged at a location other than the front of the vehicle body 10 . Alternatively, the working unit 30 may be omitted. Thus, modifications of the embodiments, examples, and operational techniques based on this disclosure are possible within the scope of the claims.

INDUSTRIAL APPLICABILITY The present invention can be applied to a self-propelled work machine having a traveling part such as a crawler belt or tires on its body.

REFERENCE SIGNS LIST 10 vehicle body 20 traveling part 21 crawler belt 22 driving wheel 24 driven wheel 30 working part 31 blade 35 rotating frame 36 rotating fulcrum shaft 40 battery 41 center of gravity of battery 41a distance from center of gravity 60 weight 61 center of gravity of weight 61a distance from center of gravity 63 locking member G1 Center of gravity of entire fuselage with full weight G2 Center of gravity of entire fuselage with empty weight

Claims (5)

a vehicle body;
a running portion that is arranged on both left and right sides with respect to the traveling direction of the vehicle body and is capable of running;
a battery arranged in the front part of the vehicle body;
a weight arranged at the rear part of the vehicle body;
A self-propelled work machine comprising
The center of gravity of the entire body of the self-propelled work machine in a state where the weight is fully loaded is located in the vicinity of a line segment connecting upper parts of the front wheels and the rear wheels of the traveling section in a side view,
The center of gravity of the entire body of the self-propelled work machine with the weights empty is located at a lower position than the center of gravity of the entire body of the self-propelled work machine with the weights fully loaded.
A self-propelled work machine characterized by : One or more weights are provided, and are detachably provided on the vehicle body by removing a locking member, so that the ground load of the running portion can be adjusted.
The self-propelled working machine according to claim 1, characterized in that: The position of the center of gravity of the battery is such that the distance from the center of rotation of the front wheel to the center of gravity of the battery is 0.8 to 1.8 times the radial distance of the outer circumference of rotation of the front wheel of the traveling portion. place and
The position of the center of gravity of the weight is such that the distance from the center of rotation of the rear wheel to the center of gravity of the weight is 0.8 to 1.8 times the radial distance of the rotation outer circumference of the rear wheel of the running portion. placed in position,
The self-propelled working machine according to claim 1 or 2, characterized in that: At least one of the height from the ground of the upper surface of the battery arranged on the vehicle body and the height from the ground of the upper surface of the weight arranged on the vehicle body is equal to the height of the running portion from the ground . The height is set to 1.0 to 2.0 times the
The self-propelled working machine according to any one of claims 1 to 3, characterized in that: a working part that can be freely raised and lowered in front of the vehicle body;
The self-propelled working machine according to any one of claims 1 to 4 , further comprising:

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