JPH09160642A - Working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce hindrance to operation by changing an information style in case of abnormality occurrence different between operation which is done by an operator who rides and operation which is done by radio steering. SOLUTION: This machine is freely switched between the ride operation mode wherein the operator being a rider of the machine, controls a traveling machine body and the remote operation mode wherein an operator distant form the traveling machine body controls the traveling machine body. Then, an informing mechanism which indicates an abnormal place when a sensor detects abnormality of even one of a travel speed control system, a steering control system, and a control system for the working device is mounted on the traveling machine body at a ride operation part. This machine is equipped with a controller 62 which performs control operation for outputting the abnormal place detected by the sensor to the informing mechanism in the ride operation mode and stops the engine in the remote operation mode while the abnormal place detected by the sensor is outputted to the informing mechanism.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boarding operation mode in which an operator on a traveling machine body controls traveling speed, steering control, and control of a working device, and an operator away from the traveling machine body controls traveling speed. , An improvement of a working machine configured to be freely switchable to a remote control mode for steering control and control of a working device.

[0002]

2. Description of the Related Art Conventionally, lawn mowers used in golf courses and the like are commercially available as work machines constructed as described above.
In this type of lawn mower, an operator rides on the machine on a relatively flat ground to work by manipulating the machine, and also in a work environment where the attitude of the machine is unstable, such as a slope, Instead, it can be operated by remote control using wireless.

[0003]

As described in the conventional example, even when the worker can perform work by selecting whether he / she is on board or not, for example, the remaining amount of fuel is displayed, or It was equipped with a monitor for displaying the temperature of engine cooling water. It is also considered that this type of work machine is equipped with an alarm lamp on the upper surface of the machine to let the operator who performs remote control recognize the occurrence of the abnormality when an abnormality occurs in the machine during remote control. When an abnormality occurs, an operator can stop the traveling of the machine and perform inspection and repair based on the operation of the alarm lamp.

However, it may be difficult to confirm the operation of the alarm lamp by sunlight during daytime work, and the alarm lamp may be operated until the operation of the aircraft is stopped. It also takes some time, and it is desired that work can be interrupted as quickly as possible from the time of occurrence of an abnormality. Taking a working machine dedicated to remote control as an example, there is one that automatically stops the traveling of the machine at the same time as displaying the abnormal place when an abnormality occurs (for example, Japanese Patent Laid-Open No. 7-
44222 publication).

An object of the present invention is to accurately indicate an abnormal place to a boarded worker when an abnormality occurs during work in the boarding operation mode, and when an abnormality occurs during work in the remote operation mode. The reason is that the working machine is reasonably configured so that the abnormal place can be grasped without continuing the work in the abnormal state.

[0006]

A first feature of the present invention is, as described at the beginning, in a working machine configured to be switchable between a boarding operation mode and a remote operation mode, a traveling speed control system and a steering control. System, a sensor for detecting an abnormality of at least one of the control systems of the working devices, and an alarm mechanism for notifying an abnormality detected by this sensor is provided at a position where an operator on the traveling machine can confirm the abnormality and Control operation for outputting an abnormality detected by the sensor to the notification mechanism during work in the operation mode, and control for outputting the abnormality detected by the sensor during work in the remote operation mode to the notification mechanism and simultaneously stopping the engine It is provided with a control device for performing the operation, and its operation is as follows.

A second feature of the present invention is that the traveling machine body is provided with a hydrostatic continuously variable transmission, and an artificial operation system for manually shifting the continuously variable transmission when working in the boarding operation mode, An electric operation system for performing a predetermined speed change by driving an electric actuator while electrically feeding back a gear change operation amount of the continuously variable transmission when working in the remote operation mode; and in the boarding operation mode, there is no electric actuator. In the remote operation mode, a clutch mechanism that separates the electric operation system between the stepped speed change device and the electric operation system between the electric actuator and the continuously variable transmission is provided.
The operation is as follows.

A third feature of the present invention is that the end portion of the operation wire constituting the artificial operation system, the electric actuator,
A speed change sensor for feedback that electrically measures the shift amount of the continuously variable transmission, and a neutral operation lever that urges the speed change operation shaft of the continuously variable transmission to return to a travel stop position are supported on a single frame. At one point, its action is as follows.

[Operation] According to the first feature described above, when the sensor detects an abnormality in the boarding operation mode, the operator boarding the machine recognizes the notification operation of the notification mechanism, recognizes the abnormal portion, and notifies it. Appropriate measures can be taken based on the contents, and when the sensor detects an abnormality in the remote operation mode, the control device outputs the abnormal point to the notification mechanism and at the same time,
Since the engine is stopped, the worker can grasp the occurrence of an abnormality based on the traveling stop of the machine body, and the worker can approach the machine body and grasp the abnormal place through the notification mechanism provided in the machine body.

According to the second feature described above, in the boarding operation mode, the clutch mechanism is disengaged to manually change the manual operation system of the continuously variable transmission to adjust the traveling speed. In the remote operation mode, the clutch is operated. By turning the mechanism on and off, the driving speed from the electric actuator can be transmitted to the continuously variable transmission through the clutch mechanism and electrically fed back to adjust the traveling speed. In other words, even though the gear shifting operation of the continuously variable transmission can be performed by the electric actuator, the gear shifting operation can be performed without being obstructed by the electric actuator by the disengagement operation of the clutch mechanism during the work in the boarding operation mode. By engaging and operating the clutch mechanism at the time of work, the gear shift can be performed by the driving force from the electric actuator.

According to the third feature, the positions of the end of the operation wire, the electric actuator, the speed change sensor, and the neutral operation lever are constant with respect to the frame, and each of them is fixed to the frame in the machine body. By mounting, relative position adjustment can be easily performed, and relative positional change can be reduced as compared with positioning using a plurality of members.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a steering handle 4 is provided at a front portion of a traveling machine body 3 including a drive-type front wheel 1 configured to be steerable and a drive-type rear wheel 2 configured to be steerable. And a driver's seat 5 are arranged, a diesel engine 6 is arranged at the center of the traveling machine body 3, a hopper 7 for collecting the cut grass is mounted on the rear portion of the traveling machine body 3, and the front and rear wheels are arranged between the front and rear wheels. Further, a scooping unit A is provided so as to be driven up and down freely, and a sweeper as a working machine is introduced to the suction blower 9 through the duct 8 to guide the cut grass scraped by the scraping unit A to the hopper 7. Configure.

As shown in FIGS. 2 and 3, the scraping unit A is a housing 10 formed in a horizontally long kamaboko shape.
The rotary brush 11 as a working device for scraping up the object to be collected on the ground is laterally supported with respect to the internal position of the housing 10, and the hydraulic motor M for rotationally driving the rotary brush 11 is provided on one lateral side of the housing 10. The housing 10 is provided with a grounding wheel 12 on the rear side of the housing 10. The housing 10 is connected in a suspended state to the lower end of a parallel quadruple type link mechanism 13 whose upper end is supported by the traveling machine body 3, and an elevating cylinder 14 as an elevating means for driving the link mechanism 13 to bend and extend. It is configured so that it can be moved up and down without changing the overall posture by driving.

Further, the rotating brush 11 is mounted on a shaft 11A driven by a hydraulic motor via a mounting rubber 11C which is supported on the outer peripheral edge of a large number of discs 11B which are fitted and fixed to the shaft 11A in a longitudinal direction along the axis of the rotating shaft. And a brush 11D are attached thereto, the duct 8 is arranged in the front portion of the housing 10, and a collecting cylinder portion 8A for collecting the cut grass which has been scraped forward and upward by the rotating brush 11 extends downward from the suction blower 9. The suction cylinder 8 is fitted inside so as to be relatively movable in the vertical direction in a state in which it can be tilted to some extent.

As shown in FIG. 1, the hopper 7 is provided with a lid 7A that can be opened and closed on the rear surface side, and is supported by the traveling machine body via a parallel four-link type lift link 15, and the lift link 15 is bent and extended. By operating the lift cylinder 16 to be driven, the lift cylinder 16 can be moved up and down without changing the posture, and by driving the dump cylinder 17, the entire hopper can be switched between the dump posture and the horizontal posture around the lateral axis X, and the open / close cylinder 18 The lid 7A can be opened and closed around the support shaft 19 by the operation of.

Further, a hydrostatic continuously variable transmission 22 for transmitting the power from the engine 6 via a transmission shaft 21 is arranged at the rear portion of the machine body, and the continuously variable transmission 22 is provided on the rear surface of the continuously variable transmission 22. A differential case 23 for the rear wheels, to which transmission power from the device 22 is transmitted, is connected, and further, the continuously variable transmission 2
A differential case 24 for the front wheels is arranged in the front part of the machine body so that the speed change power from 2 can be transmitted through a transmission system (not shown).

As shown in FIGS. 5 and 6, an operation arm 26 is provided on a trunnion shaft 25 as a speed change operation shaft projecting on one side surface of the continuously variable transmission 22. Further, a hook-like frame 27 is bolted in a side view to a rear position of the case of the continuously variable transmission 22 on the side where the trunnion shaft 25 is projectingly provided, and a deceleration case is attached to an upper end of the frame 27. An electric transmission motor 29 having 28 (an example of an electric actuator) is provided, a potentiometer-type transmission sensor 30 for measuring the operation amount of the operation arm 26 is provided at an upper portion of the frame 27, and a trunnion shaft 25 is provided at a lower portion. In order to return the neutral position to the neutral position, a neutral operation lever 32, which supports an idler roller 31, is swingably provided around a lateral support shaft 33 in its middle portion, and a trunnion shaft 25 is integrally formed on a lower end of the support portion 27A. It is provided with a connecting portion of the outer wire 34A of the push-pull type operation wire 34 for gear shifting operation.

The power from the speed change motor 29, which has been decelerated by the deceleration case 28, is applied to the clutch mechanism 35 and the operating arm 28.
It is transmitted to the first support shaft 37 of the operation arm 26 via A and the operation rod 36, and for the shift sensor 30, from the second support shaft 38 of the operation arm 26 to the feedback rod 3.
The operating force is transmitted via 9 and the neutral operating lever 32
Is urged in a lifting direction by a spring 40 whose one end is supported by a bracket formed on the frame 27, and a cam surface 26A with which the idler roller 31 of the neutral operation lever 32 comes into contact is formed on the operation arm 26. The end portion of the inner wire 34B of the operation wire 34 is connected to the third support shaft 4 of the operation arm 26.
1, the end of a damper 42 for preventing abrupt actuation and vibration of the operation arm 26 is connected to the operation arm 26.
Is connected to the fourth support shaft 43. The continuously variable transmission 22
Is the trunnion shaft 25 by the operating force from the neutral operating lever 32.
If the trunnion shaft 25 is held in a neutral posture, the trunnion shaft 25 is rotated to one side to output the shift power for moving the machine body 3 forward, and the reverse rotation is performed. It is configured to output shift power for moving the machine body 3 backward.

The clutch mechanism 35 is constructed so that it can be turned on and off by a switching lever 45 located near the driver's seat 5 (the operating system is not described in detail), and the clutch mechanism 35 is located near the clutch mechanism 35. When the clutch mechanism 35 is judged to be in the engaged state by a signal from the changeover switch 46,
Switching to enable control in a remote operation mode using wireless (control operation will be described later) and to enable work in a boarding operation mode in which an operator boarded when it is determined that the clutch mechanism 35 is in a disengaged state. The switch 46 and the control system are linked. Further, the operation wire 34 is linked with a speed change pedal 47 provided at the step of the boarding operation unit, and the speed change pedal 47 is
The operation arm 26 is linked with the operation arm 26 so that the forward movement of the vehicle body 3 advances the vehicle body 3 and the backward operation of the transmission pedal 47 moves the vehicle body 3 backward.

As shown in FIGS. 1 and 6, in the vicinity of the steering handle 4, a spring (not shown) is biased to a neutral position N, and an upward rising position U and a downward descending position are set. D and an operable lifting lever 48 are provided, an alarm lamp 49 is provided at an upper position of the boarding operation unit, and a key switch 52 for starting the engine 6 is provided on a panel 51 provided at a front position of the boarding operation unit. A speedometer 53 that indicates the traveling speed with a pointer and a fuel level meter 54 that displays the remaining fuel amount with a pointer are provided, and a charge lamp 55 that lights up when the charging voltage for a battery (not shown) decreases.
An oil lamp 56 that lights up when the pressure of the lubricating oil in the engine drops, a water temperature lamp 57 that lights up when the temperature of the cooling water of the engine 6 rises, and a fuel tank (not shown) The fuel lamp 58 is lit when the remaining amount is low, and the glow lamp 59 is lit when the glow is energized when the engine is started.
And a light-emitting diode type error code indicator 61 which indicates the content of the error by a 7-segment type number when an error occurs. Also, monitor lamps such as the charge lamp 55, the oil lamp 56, and the water temperature lamp 57, and
Each of the error code indicators 61 corresponds to the notification mechanism B.

When the engine 6 is started, first, the key switch 52 is operated to the ON position so that the three monitor lamps of the charge lamp 55, the oil lamp 56, and the water temperature lamp 57 are lit for 1 second to determine whether or not the filament is cut. At the same time, all the segments and the dots of the error code display 61 are turned on to display "8." for 1 second. Next, by operating the key switch 52 to the glow position, the glow lamp is energized and at the same time the glow lamp 59 is turned on.
Is turned on for 5 seconds and then automatically turned off. After that, the key switch 52 is operated to the engine starting position to start the engine 6.

As shown in FIG. 8, a basic control system of the sweeper is constructed, and in this control system, a system for inputting a signal from a receiver 63 to a control device 62 equipped with a microprocessor is formed. In addition, a potentiometer type steering sensor 64 for measuring the operation amount of the steering handle 4, a potentiometer type steering sensor 65 for measuring the steering amount of the steering system of the front and rear wheels, the shift sensor 30, and the elevating lever 48.
Lift switch 66 for detecting the operating position of the brush, and brush switch 6 for controlling the rotation and stop of the rotating brush 11.
7, a sensor (not shown) that measures the voltage of the battery, a sensor (not shown) that measures the oil pressure of the engine 6, a sensor (not shown) that measures the temperature of the cooling water of the engine 6, and the like. A system for inputting a signal from a monitor sensor system 68, a changeover switch 46 for discriminating the state of the clutch mechanism 35, a steering valve 69 for controlling a steering cylinder (not shown), and the rotary brush. An elevating valve 70 that controls the elevating cylinder 14 that operates to elevate and lower 11, a driver 71 that controls the rotation direction of the transmission motor 29, the alarm lamp 49, the monitor lamp system, the error code indicator 61, and the engine 6.
An output system is formed for each engine stop mechanism 72 that stops the engine.

As shown in FIG. 7, a transmitter used for remotely controlling the sweeper is constructed, and this transmitter is equipped with a power switch 75 for switching ON / OFF of a power source at a central position. , Steering wheel 77 for setting the traveling speed by operating in the front-back direction, steering stick 77 for determining the steering direction and steering amount in the left-right direction, adjustment knob 78 for determining the neutral position of the vehicle speed stick 76, and steering stick 77. Adjustment knob 79 for determining the neutral position and engine stop switch 80
And an elevating knob 8 for moving the rotating brush 11 upward by operating the upper position and lowering the rotating brush 11 by operating the lower position.
1 is configured to include a control signal and an ID code signal for specifying a transmitter at the same time as a digitized transmission signal so that the sweeper does not malfunction due to a signal from another transmitter during remote control. It has become. The control operation is set on the receiver side so that if the ID code does not match even after receiving the control signal with the same frequency after the control is started with the first received ID code, the control is not performed. Has been done.

In this sweeper, when the signal value input from the sensor system or the operation of the equipment is abnormal, a code is displayed on the error code display so that the abnormality can be discriminated and the degree of the abnormality is also displayed. Is classified into three stages according to the degree of hindrance to the work, and the state of which of the three stages is included is further determined, and the state of whether it is the boarding operation mode or the remote operation mode is further determined. Different processing is performed in. Also, the degree of abnormality is the first abnormal state that greatly affects the work, such as when the battery voltage drops below a predetermined value, the cooling water temperature rises above a predetermined value, or the control system voltage becomes an abnormal value. When the pressure of the engine oil drops, a second abnormal state in which the influence on the work is not so large, such as when an abnormality occurs in the charging system for the battery, and when the voltage from the shift sensor 30 is abnormal, The control operation will be described below, which is distinguished from the third abnormal state in which there is no effect in the boarding operation mode such as the occurrence of an abnormality in the driver 71 and the operation in the remote operation mode is disturbed.

That is, as shown in the flowchart of FIG. 9, when an abnormality occurs after the key switch 52 is turned on and the control device 62 starts operating, an error code is displayed on the error code display 61, and If necessary, the monitor lamp is turned on, and the start of the engine 6 is blocked only when the occurrence of this abnormality is before the engine 6 is started and in the first abnormal state (steps # 101 to # 105). Next, when this abnormality occurs after the engine 6 is started and is in the first or second abnormal state, the engine 6 is stopped (steps # 106 and # 107), and this engine stop is performed in the remote operation mode. If it is performed, the alarm lamp 49 is operated (steps # 108 and # 109), and after the engine 6 is started, an abnormality of the third abnormal state occurs, and when the remote operation mode is selected, the alarm lamp 4 is activated.
9 is operated to stop the engine 6 (steps # 110 to # 112).

That is, by judging the degree of abnormality by dividing it into three types, if an abnormality that makes work impossible occurs before the engine 6 is started, the engine 6 is not started and the engine 6 is started. If the abnormality is sometimes resolved by the following, after the engine 6 is started, the abnormality is discriminated, and if the abnormality is not resolved even after the engine 6 is started, or if the abnormality occurs after the engine 6 is started. When the engine 6 is stopped, and further, when an abnormality occurs that hardly interferes with the work in the boarding operation mode, the work is continued as it is, and even when the same abnormality occurs, the engine 6 is switched to the remote operation mode. When the engine 6 is stopped in the remote control mode, the alarm lamp 49 is also operated at the same time to allow the abnormality to occur even from a distance. It was recognized in, moreover, has become one of the easily determine occurrence position of an abnormality from the display contents of the error code display 61. Further, even when the engine 6 is stopped in the remote operation mode, in the case of the third abnormal state, it is possible for an operator to board and move the aircraft by switching to the boarding operation mode.

[Other Embodiments] In addition to the above-described embodiments, the present invention can be configured such that the alarm mechanism is composed of a liquid crystal display or the like to display the location of the abnormality by characters, and the lawn mowing is performed. It can also be applied to machines.

[0028]

Therefore, when an abnormality occurs during the work in the boarding operation mode, the abnormal place is accurately indicated to the boarded worker, and when the abnormality occurs during the work in the remote operation mode. The working machine was reasonably configured so that the abnormal portion could be grasped without continuing the work in the abnormal state (Claim 1).

Further, by operating the clutch mechanism, it is possible to eliminate the phenomenon in which the gear shifting operation systems interfere with each other in the boarding operation mode and the remote operation mode, thereby enabling the gear shifting operation in each mode (claim 2). The work machine can be easily manufactured by a procedure such as assembling and adjusting the system in a state of being separated from the machine body, and the operation error of the transmission system can be reduced (claim 3).

In particular, in the present invention, even if an abnormality occurs in the remote operation mode and the traveling of the aircraft is stopped at the same time, the mode is switched to the boarding operation mode so that the operator can board the aircraft even if the abnormal state continues. There is also an effect that it is possible to move.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

[Figure 1] Overall side view of the sweeper

[Fig. 2] Side view of the scraping unit

FIG. 3 is a rear view of a vertical section of the scraping unit.

FIG. 4 is a side view of an operation system of the continuously variable transmission.

FIG. 5 is a vertical sectional front view of an operation system of the continuously variable transmission.

FIG. 6 is a plan view of a panel section.

FIG. 7 is a perspective view of a transmitter.

FIG. 8 is a block circuit diagram of a control system.

FIG. 9 is a flowchart of a control operation.

[Explanation of symbols]

 3 Travel Aircraft 6 Engine 11 Working Device 22 Continuously Variable Transmission 25 Shift Operation Shaft 27 Frame 29 Electric Actuator 30 Shift Sensor 32 Neutral Control Lever 34 Operation Wire 35 Clutch Mechanism 62 Control Device B Notification Mechanism

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Makoto Watanabe 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (3)

[Claims] 1. A boarding operation mode in which an operator on the traveling machine body (3) controls traveling speed, steering control, and control of a work device (11), and an operator who is far from the traveling machine body (3) travels. A working machine configured to be freely switchable to a remote control mode for controlling speed, steering control, and control of a working device (11), including a traveling speed control system, a steering control system, and a working device (1
A sensor for detecting an abnormality of at least one of the control systems of 1) is provided, and an informing mechanism (B) for informing an abnormality detected by this sensor is provided at a position where it can be confirmed by an operator on the traveling machine body. A control operation for outputting an abnormality detected by the sensor to the notification mechanism (B) during work in the boarding operation mode, and an abnormality detected by the sensor during work in the remote operation mode to the notification mechanism (B) A working machine equipped with a control device (62) that simultaneously performs control operation to stop the engine (6). 2. A human-operated system in which the traveling machine body (3) is provided with a hydrostatic continuously variable transmission (22) and which manually shifts the continuously variable transmission (22) when working in the boarding operation mode. And an electric operation system for performing a predetermined speed change by driving the electric actuator (29) while electrically feeding back the amount of gear change operation of the continuously variable transmission (22) during work in the remote operation mode, and In the boarding operation mode, the electric operation system between the electric actuator (29) and the continuously variable transmission (22) is separated, and in the remote operation mode, the electric operation between the electric actuator (29) and the continuously variable transmission (22) is performed. The working machine according to claim 1, further comprising a clutch mechanism (35) for connecting the operation system. 3. A feedback shift sensor for electrically measuring the shift amount of an end of an operation wire (34), the electric actuator (29) and the continuously variable transmission (22) constituting the artificial operation system. (30), the neutral operation lever (32) for urging the speed change operation shaft (25) of the continuously variable transmission (22) to return to the traveling stop position is connected to the single frame (2).
The working machine according to claim 2, which is supported by 7).