KR101762479B1 - Mower - Google Patents

Abstract

The object of the present invention is to provide a lawn mower equipped with a pair of left and right front wheels and a pair of left and right rear wheels and having a traveling vehicle frequently, so that traveling and mowing can be performed quickly. The present invention also provides a lawn mower supported on an extended end of a wheel supporting frame extending from the end in the gas longitudinal direction of the base frame in the gas transverse outward direction so as to be able to steer the wheel, So that the rigid support of the wheel can be made lightweight and inexpensive even if the angle of bend of the wheel is increased.
The work opening 94 is provided on the transverse side wall portion of the shear blade housing 11 so as to be able to be opened and closed by a lid 95. The pair of left and right front wheels 2 and the pair of right and left rear wheels 3 are steered in the same lateral direction as the lateral steering direction so that the traveling vehicle is driven in the lateral direction in which the working opening 94 faces the traveling direction So as to be driven. Further, one end side in the gas longitudinal direction is connected to a portion of the wheel supporting frame 17 which is located transversely of the base body frame 12 with respect to the base body frame 12, above the wheel supporting frame 17 And a reinforcing frame (14) for supporting the wheel supporting frame (17).

Description

Mowers {MOWER}

The present invention relates to a driving apparatus for a vehicle, comprising: a traveling vehicle frequently driven by a pair of left and right front wheels and a pair of right and left rear wheels; a mowing device supported by the traveling vehicle; and the mowing device comprises: The present invention relates to a lawn mower having a cutting blade that is rotationally driven around a rotary axis in the vertical direction of the machine.

The present invention also provides a wheel supporting apparatus comprising: a wheel supporting frame extending from an end in a gas front-rear direction of a base frame to a transverse outward direction of the base; The present invention relates to a lawn mower equipped with wheels.

Conventionally, for example, as disclosed in Patent Document 1, a passenger-type lawnmower configured to perform a steering operation of a gas by steering a pair of left and right front wheels and a pair of left and right front wheels among a pair of left and right rear wheels there was.

Further, when the wheel is steered in the lateral direction, the end of the wheel in the forward and backward directions of the vehicle is inserted laterally inwardly of the vehicle than the extending end of the wheel supporting frame. As a lawn mower of this kind, there has been conventionally a riding lawn mower disclosed in, for example, Patent Document 2. In this riding type lawn mower, a wheel supporting frame in the transverse direction of the vehicle is provided at the rear portion of the base, and the rear wheel is supported at the end of the wheel supporting frame for steering operation.

Japanese Patent Application Laid-Open No. 2008-201290 Japanese Patent Application Laid-Open No. 7-89447

In the conventional case, when the traveling vehicle arriving at the end point of the work travel region is moved to the next work travel region, only the front wheel is steered by the turning travel, so that the traveling distance for traveling tends to be long.

In addition, in the above-mentioned lawn mowers, by making the lateral width of the end portion connected to the wheel supporting frame smaller than other portions or increasing the length of the wheel supporting frame in the gas direction, the extending length of the wheel supporting frame from the gas- The greater the amount of reduction in the amount of the end portion of the wheel that enters the transversely inner side than the extending end of the wheel supporting frame when the wheel is steered and the angle of bend from the neutral direction to the transverse direction of the wheel can be increased.

The diameter of the wheel supporting frame is increased so that the support of the wheel by the wheel supporting frame can be firmly held against the ground reaction force even if the extension length of the wheel supporting frame is lengthened. It is disadvantageous in terms of weight and economy.

SUMMARY OF THE INVENTION An object of the present invention is to provide a lawn mower capable of quickly moving and mowing.

It is also an object of the present invention to provide a lawn mower which can make the support of the wheel lightweight and inexpensive even if the extension length of the wheel supporting frame is long to increase the angle of turning of the wheel.

In the lawn mower according to the first invention,

A traveling vehicle frequently driven by a pair of left and right front wheels and a pair of right and left rear wheels,

A mowing device supported by the traveling vehicle,

The mowing device includes a shearing blade housing and a shearing blade rotatably driven around a rotary shaft in the vertical direction of the traveling gas in the interior of the shearing blade housing,

A work opening is provided on a lateral side wall portion of the above-mentioned cutter blade housing so as to be opened and closed by a lid,

The pair of left and right front wheels and the pair of right and left rear wheels are steered in the same lateral direction steering direction so as to cause the traveling vehicle to travel in a lateral direction running in the traveling direction of the working opening have.

According to the structure of the first invention, the traveling vehicle that has reached the end point of the work travel region is moved to the next work travel region, and the pair of left and right front wheels and the pair of right and left rear wheels are moved in the same lateral direction And the traveling gas travels toward the next work travel region in this state, whereby the movement to the next work travel region can be performed by the short-distance travel by the parallel movement. At this time, by opening the work opening toward the running direction, the grass can be introduced into the blade-cutter housing and moved while being mowed.

Therefore, according to the first aspect of the present invention, it is possible to shorten the travel distance of the traveling vehicle to the next work travel region, to quickly move the vehicle, and to perform mowing even during traveling, thereby efficiently performing mowing work as a whole can do.

In the second invention, when the lateral travel of the traveling vehicle is released so that the lid is opened when the pair of right and left front wheels and the pair of left and right rear wheels are steered to the lateral steering state, The lid is linked to the wheel steering operation mechanism so that the lid is closed.

According to the second invention, when the traveling gas is moved in parallel, the lid is automatically opened so that the lid can be easily moved while being laid.

In the present invention, a battery is disposed at a transversely opposite side portion of the running vehicle opposite to the transverse side where the working opening is located.

According to the third aspect of the present invention, when an operation of a slope is performed in a state where the transverse side where the working opening of the traveling gas is located is set to the low level side of the slope, a weight for placing a load on the transverse side located on the high- The function can be exerted on the battery and the lateral travel of the running vehicle having the working opening side as the swing support point can be suppressed.

In the lawnmower according to the fourth invention,

A wheel supporting frame extending from an end in the gas front-rear direction of the base frame in the transverse direction of the base,

And a wheel supported at an extending end of the wheel supporting frame so as to be steerable around a steering axis in a vertical direction of the vehicle,

And one end side in the gas longitudinal direction of the vehicle is connected to a portion of the wheel supporting frame located laterally outwardly of the base frame than the wheel supporting frame to support the wheel supporting frame And a reinforcement frame.

According to the structure of the fourth aspect of the present invention, since the reinforcing frame in the gas longitudinal direction is connected to the portion of the wheel supporting frame positioned laterally outwardly of the base frame than the base frame, the wheel supporting frame can be effectively reinforced by the reinforcing frame, It is possible to firmly support the wheel by the wheel supporting frame while obtaining the wheel supporting frame light and inexpensive as compared with increasing the length of the extension of the frame and increasing the diameter of the wheel supporting frame.

The reinforcing frame is positioned above the wheel supporting frame so that the wheel portion that is laterally inward of the vehicle than the extending end of the wheel supporting frame enters the lower portion of the reinforcing frame when the wheel is steered and the reinforcing frame obstructs the steering of the wheel The angle of bend of the wheel can be increased.

Therefore, according to the fourth aspect of the present invention, even if the extension length of the wheel supporting frame is increased to increase the angle of bend of the wheel, it is possible to carry out the robust wheel support lightly and inexpensively.

In the fifth invention, the reinforcing frame is connected to the wheel supporting frame and the base frame.

According to the fifth invention, in supporting the wheel supporting frame by the reinforcing frame, the base frame can be supported as a reaction member, and the supporting frame of the wheel can be firmly supported by the reinforcing frame.

In a sixth aspect of the present invention, a corner portion of the base frame is provided with a recessed cavity portion into which an end portion of the steering wheel in the gas longitudinal direction is inserted, and the reinforcing frame passes above the recessed cavity portion have.

According to the sixth invention, when the wheel is steered, the end portion of the wheel in the gas front-back direction enters into the recessed cavity portion of the gas-filled frame, thereby entering the gas-inward transverse inward side than the extended end portion of the wheel- Therefore, compared with securing a predetermined angle of bend of the wheel by merely extending the wheel supporting frame from the base frame without providing the cavity portion recessed into the base frame, A predetermined bending angle of the wheel can be ensured while reducing the number of times of departure of the tread, and a compact lawn mower with a small tread can be obtained.

The seventh invention is characterized in that a rotary electric transmission shaft is disposed in the gas transversely inner side of the wheel in the state where the steering axis and the rotary axis are coaxial with each other and the lower end side is linked to the axle of the wheel, The transmission case is disposed above the reinforcing frame in a state in which the upper end side of the rotary transmission shaft is protruded upward from the reinforcing frame and the transmission case rolling on the rotary transmission shaft is mounted on the upper end side of the rotary transmission shaft .

According to the seventh aspect of the present invention, when the wheel is steered, a portion of the wheel that extends transversely inwardly of the vehicle from the extended end of the wheel supporting frame enters the lower portion of the transmission case to transmit the wheel driving force to the rotation transmission shaft, The turning angle of the wheel can be increased without being an obstacle to the wheel steering.

1 is a side view showing the entire lawn mower.
2 is a plan view showing the entire lawn mower.
3 is a front view showing the entire lawn mower.
4 is a longitudinal rear view of the transmission structure.
5 is a transverse plan view showing a transmission structure.
6 is a longitudinal front view showing a supporting structure and a driving structure of a right front wheel;
7 is a longitudinal rear view showing the supporting structure and driving structure of the right rear wheel;
8 is a perspective view showing a running vehicle.
9 is a perspective view showing a frame portion.
10 is a plan view showing a running vehicle.
11 is a plan view showing the steering operation mechanism.
12 is a side view showing the obstacle sensor.
13 is a perspective view showing an obstacle sensor.
14 is a diagram showing a transmission structure.
15 is an explanatory diagram showing a moving method of the traveling gas.
16 is a block diagram showing a control system for remote operation and automatic stop.
Fig. 17 (a) is a front view showing a two-wheel steering operation tool positioned in the operation path for front wheel steering, Fig. 17 (b) is a side view showing a two- (A) is a side view showing a two-wheel steering operation port positioned in the operation path for rear-wheel steering, (d) is a side view showing a two-wheel steering operation port positioned in the operation path for rear- (F) is a side view showing a four-wheel steering operating unit positioned in the operation path in the two-wheel same steering control mode and the two-wheel counter steering control mode, to be.
18 is a side view showing a front portion of a lawn mower having another embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 is a side view showing an entire lawn mower according to an embodiment of the present invention. 2 is a plan view showing the entire lawn mower according to the embodiment of the present invention. 3 is a front view showing the entire lawn mower according to the embodiment of the present invention. 8 is a perspective view showing a running vehicle. 10 is a plan view showing a traveling gas. As shown in Figs. 1, 2, 3, 8 and 10, the lawn mower according to the embodiment of the present invention includes a pair of left and right front wheels 2 and a pair of right and left rear wheels 3 And a traveling vehicle equipped to be able to drive and steer the vehicle. A mowing device (4) is provided under the front wheel (2) and the rear wheel (3) of the traveling vehicle. An engine (not shown) for driving the front wheel 2, the rear wheel 3 and the mowing device 4 is provided above the mowing device 4 between the front wheel 2 and the rear wheel 3 of the traveling vehicle 5, an engine fuel tank 6, a generator 7 driven by an engine 5 through a transmission belt 7a, and a battery 8 for power supply. The generator 7 is disposed behind the engine 5. The battery 8 is disposed on the left lateral side of the engine 5. And a transverse cover C is provided on the left lateral side of the running vehicle. And a control device 9 for performing steering operations of the front wheels 2 and the rear wheels 3 is provided at the rear portion of the traveling vehicle. The steering operation of the front wheel 2 and the rear wheel 3 by the control device 9 is configured such that the control device 9 is performed by receiving a radio wave signal as an operation command from the remote control device 10 have.

The lawn mowers are operated by remote control of the traveling vehicle by the remote control device 10, and the lawn mowing device 4 performs the lawn mowing operation with the traveling of the traveling vehicle.

The frame portion 1 of the traveling vehicle will be described.

Fig. 9 is a perspective view showing the frame portion 1. Fig. As shown in Figs. 8, 9 and 10, the frame portion 1 of the traveling base includes a base frame 12 having a slit-shaped housing 11 formed at an intermediate portion thereof in the gas longitudinal direction, A support frame 13 for a front transversely long front wheel connected to the front end of the base frame 12, a support frame 13 for a transversely long rear wheel connected to the rear end of the base frame 12, And a reinforcing frame 14 which is positioned above the left end side portion and the right end side side portion of the support frame 14 in the gas longitudinal direction.

The base frame 12 has a wide lateral width at the portion of the shear blade housing 11 and a narrow lateral width at the front and rear portions of the shear blade housing 11, Is formed by a sheet metal member which is formed to be tapered and tapered. The length of the lateral width of the body frame 12 at the portion of the cutter blade housing 11 is set to the entire width or substantially the entire width of the traveling body. A cutout hole 11a into which the lower portion of the mission case 15 (see FIG. 4) is inserted is provided in the portion of the cutter blade housing 11 of the base frame 12. The reinforcement frame 16 in the transverse direction of the gas is connected to the front and rear portions of the base frame 12 with respect to the notch 11a.

The reinforcing frame 14 in the left and right gas longitudinal direction and the reinforcing frame 16 in the transverse direction in the front and rear directions are constituted by a steel pipe material whose circular shape in longitudinal section is circular.

And a battery loading portion 11b is formed at the left end of the shear blade housing 11. [ The end portion of the reinforcing frame 16 on the side of the battery mounting portion in the front and rear lateral direction enters the lower side of the battery mounting portion 11b to improve the battery supporting strength of the battery mounting portion 11b by the side reinforcing frame 16 have.

The left side portion of the front support frame 13 constitutes a left front wheel support frame 17 extending from the front end of the base frame 12 in the left and right lateral direction of the vehicle, 13 constitute a wheel support frame 17 for the right front wheel extending from the front end of the base frame 12 to the right and left outer sides of the base. Boss portions 17a are provided at the extending end portions of the wheel supporting frames 17 for the left front wheel and the front right wheel. The boss portion 17a relatively rotatably supports a portion of the front wheel drive case 18 transversely inwardly of the front wheel 2 about the steering axis P in the vertical direction of the gas. Therefore, the left and right front wheel supporting frames 17 support the front wheel 2 so as to be steerable around the steering axis P at the extended end. The steering axis P is located on the inner side of the front wheel 2 in the transverse direction of the vehicle.

The left portion of the support frame 13 for the rear wheel constitutes a wheel support frame 17 for the left rear wheel extending from the rear end of the base frame 12 to the left and right sides of the base, 13 constitute a wheel supporting frame 17 for the right rear wheel extending from the rear end of the base frame 12 in the right and left lateral direction of the vehicle. And boss portions 17a are provided at the extending end portions of the left and right rear wheel supporting frames 17, respectively. The boss portion 17a relatively rotatably supports a portion of the rear wheel drive casing 19 on the inward side of the vehicle relative to the rear wheel 3 about the steering axis P in the vertical direction of the vehicle. Therefore, the left and right rear wheel supporting frames 17 support the rear wheels 3 so as to be steerable around the steering axis P, respectively. The steering axis P is located on the inner side of the rear wheel 3 in the transverse direction of the vehicle.

The left and right corner portions at the front end portion of the base frame 12 are provided with recesses as recessed air gap portions S into which the rear portion of the front wheel 2 steered in the lateral outward direction enters. The left and right corner portions at the rear end of the base frame 12 are provided with indentations as recessed air gap portions S into which front portions of the rear wheels 3 steered in the lateral outward direction are inserted.

The reinforcing frame 14 in the left front and rear direction is disposed above the wheel supporting frame 17 for the left front wheel and the left rear wheel so as to be positioned in the gas front and rear direction and also to the recessed cavity portions S in the gas longitudinal direction. The front end portion of the reinforcing frame 14 in the left front and rear direction is connected to a portion of the left front wheel supporting frame 17 which is located on the transversely outer side with respect to the base frame 12. The rear end portion of the reinforcing frame 14 in the left front and rear direction is connected to a portion of the wheel supporting frame 17 for the left rear wheel located laterally outside the base frame 12. The middle portion in the front-rear direction of the left-to-right direction reinforcing frame 14 is connected to the upper face side of the portion of the base frame 12 where the shearing blade housing 11 is located.

The reinforcing frame 14 in the right front and rear direction is disposed above the wheel supporting frame 17 for the right front wheel and the right rear wheel so as to be positioned in the front and rear direction of the base body, S in the gas longitudinal direction. The front end portion of the reinforcing frame 14 in the right front and rear direction is connected to a portion of the wheel supporting frame 17 for the right front wheel positioned laterally outwardly of the base frame 12 than the base frame 12. [ The rear end portion of the reinforcing frame 14 in the right front and rear direction is connected to a portion of the right wheel support frame 17 located on the lateral side of the vehicle body frame 12 with respect to the base frame 12. The middle portion in the front-rear direction of the right-forward and backward reinforcing frame 14 is connected to the upper surface side of the portion of the base frame 12 where the shearing blade housing 11 is located.

The reinforcing frame 14 is connected to the wheel supporting frame 17 in the left and right forward and backward directions by connecting bolts to the connecting portion 17b formed by bracketing the wheel supporting frame 17, . The connection of the reinforcing frame 14 in the left and right forward and backward directions with the shear blade housing 11 is achieved by connecting the connecting portion 14a formed by providing the plate member on the reinforcing frame 14 with a bracket And is fastened and connected to a supporting portion formed by installation by a connecting bolt.

Therefore, the extending end sides of the left and right rear wheel supporting frames 17 are supported by the left and right reinforcing frames 14, and the right and left rear wheel supporting frames 17 The extending end side is supported by the reinforcing frame 14 in the right front and rear direction and the support is firmly supported against the ground reaction force of each wheel supporting frame 17 by the base frame 12. [

The traveling vehicle that transmits the driving force of the engine 5 to the left and right front wheels 2 and the left and right rear wheels 3 will be described.

6 and 10, a front wheel drive case 18 and a right wheel front wheel support frame 18, which are supported on the left front wheel support frame 17 so as to be steerable around the steering axis P, 17 and the front wheel drive case 18 supported so as to be steerable around the steering axis P so as to relatively rotate the rotary transmission shaft 20 in the vertical direction. 7 and 10, the rear wheel drive case 19 and the right wheel support frame (rear wheel support frame) 19, which are supported on the left rear wheel supporting frame 17 so as to be steerable around the steering axis P, 17 and the rear wheel drive case 19 supported so as to be steerable around the steering axis P so as to relatively rotate the rotary transmission shaft 20 in the vertical direction.

The rotary shaft center of the rotary transmission shaft 20 supported so as to be relatively rotatable relative to each of the left and right front wheel drive cases 18 is concentric with the steering axis P of the front wheel 2. The rotary shaft center of the rotary transmission shaft 20 supported to rotate relative to each of the left and right rear wheel drive casings 19 is coaxial with the steering shaft center P of the rear wheel 3.

6 is a longitudinal front view showing a supporting structure and a driving structure of the right front wheel 2; Although the illustration of the supporting structure and the driving structure of the left front wheel 2 is omitted, the supporting structure and the driving structure of the left front wheel 2 have the same structure as the supporting structure and the driving structure of the right front wheel 2 have. Fig. 7 is a longitudinal rear view showing the supporting structure and the driving structure of the right rear wheel 3; Fig. Although the illustration of the supporting structure and the driving structure of the left rear wheel 3 is omitted, the supporting structure and the driving structure of the left rear wheel 3 have the same structure as the supporting structure and the driving structure of the right rear wheel 3 have. The rotating transmission shaft 20 supported on each of the left and right front wheel drive cases 18 is supported by the front bevel gear mechanism 21 provided on the lower end side of the front wheel 2, And is linked to the axle 2a. 7, the rotary transmission shaft 20 supported on each of the left and right rear wheel drive cases 19 is fixed to the rear wheel 3 by a rear bevel gear mechanism 21 provided on the lower end side, And is connected to the axle 3a of the vehicle.

Each of the bevel gear mechanisms 21 includes a rotary shaft side bevel gear 21a supported so as to rotate integrally with the rotary transmission shaft 20 and a bevel gear 21a integrally rotated with the axles 2a and 3a in a state of being engaged with the rotary shaft side bevel gear 21a And a supported bevel gear side gear 21b. As shown in Figs. 6 and 14, the left front wheel and the right front wheel bevel gear 21b are disposed on the inner side of the rotating electrical machine transverse shaft 20 in the neutral direction of the front wheel 2 Located. As shown in Figs. 7 and 14, the axle-side bevel gears 21b for the left rear wheel and the right rear wheel are disposed in the neutral direction of the rear wheel 3 in the transverse direction in the gas transverse direction Located.

As shown in Figs. 4 and 5, a transit transmission case 22 disposed above the shear blade housing 11 is provided at the right transverse section of the traveling base. The relay transmission case 22 is supported by a bracket provided on the upper surface side of the blade housing 11. In the relay transmission case 22, the relay transmission shaft 23 in the up-and-down direction of the gas is supported so as to be relatively rotatable. A mission 30 that transmits power from the engine 5 to the relay transmission shaft 23 is housed in the mission case 15 supported on the upper surface side of the blade housing 11 via a bracket. The transmission case 25 mounted on the rotation transmission shaft 20 and the relay transmission shaft 23 of each of the right and left front wheels 2 and the left and right rear wheels 3 The power transmission mechanism 40 for the transmission axle on the front wheel that is transmitted to the rotary transmission shaft 20 of the front wheel 2 and the power transmission mechanism 40 for transmitting power from the relay transmission shaft 23 to the rotary transmission shaft 20 of the left and right rear wheels 3 And a power transmission mechanism 41 for a transmission shaft on the rear wheel side.

That is, the front wheel output sprocket 23a is provided so that the driving force of the output shaft 5a of the engine 5 is transmitted to the relay transmission shaft 23 by the mission 30 and rotates integrally with the relay transmission shaft 23 And branched to the front wheel drive force and the rear wheel drive force by the rear wheel output sprocket 23b. The front wheel drive force is transmitted to the rotary transmission shaft 20 of the right and left front wheels 2 by the transmission mechanism 40 for the transmission axle on the front wheel side and is transmitted from the rotation transmission shaft 20 of the left front wheel 2 to the bevel Is transmitted to the left front wheel 2 via the gear mechanism 21 and is transmitted from the rotating transmission shaft 20 of the right front wheel 2 to the right front wheel 2 via the bevel gear mechanism 21. [ The rear wheel drive force is transmitted to the rotation transmission shaft 20 of the left and right rear wheels 3 by the transmission shaft transmission mechanism 41 on the rear wheel side and is transmitted from the rotation transmission shaft 20 of the left rear wheel 3 to the bevel gear Is transmitted to the left rear wheel 3 via the mechanism 21 and is transmitted from the rotating transmission shaft 20 of the right rear wheel 3 to the right rear wheel 3 via the bevel gear mechanism 21. [

As shown in Figs. 3, 4, 6 and 7, the transmission case 25 is disposed above the reinforcing frame 14 in the left and right front and rear direction, and the right and left front wheels 2 and left and right rear wheels 3 The reinforcing frame 14 of the revolving transmission shaft 20 and the reinforcing frame 14 of the relay transmission shaft 23 protrude upward from the upper end side. 5 and 8, the transmission case 25 is connected to the rotation transmission shaft 20 of the right front wheel 2, the relay transmission shaft 23 and the rotation transmission shaft 20 of the right rear wheel 3, Of the left front wheel 2 and the front upper wheel 25 of the right front wheel 2 and the rotational transmission shaft 20 of the left front wheel 2, Of the right rear wheel 3 and the rotational transmission shaft 20 of the left rear wheel 3 of the right rear wheel 3 and the rear transmission lower side And a case portion 25c. The shape of the transmission case 25 as seen in the up-and-down direction of the base is a U-shaped shape that is open in the left lateral direction of the base.

The front transmission lower case portion 25b of the transmission case 25 is connected to the upper portion of the connecting portion 17b of the left front wheel supporting frame 17 and the right front wheel supporting frame 17 by a connecting bolt Fastening and connecting. The rear transmission lower case portion 25c of the transmission case 25 is connected to the connecting portion 17b of the left wheel supporting frame 17 and the right rear wheel supporting frame 17 by a connecting bolt .

As shown in Figs. 4, 5 and 14, the mission 30 is configured so that the input shaft 32a in the vertical direction of the gas is connected to the output shaft 5a of the engine 5 in the vertical direction of the engine via the automatic centrifugal clutch 31, A speed change mission portion 33 connected to the output gear 32b of the deceleration mission portion 32 by an input shaft 33a interlocked with the input shaft 33a, And a transmission mechanism (34) for switching the gears (34a) to be interlocked and connected to each other. The transverse output shaft 34b of the transmission mechanism 34 for forward and reverse switching is interlockingly connected to the lower end side of the relay transmission shaft 23 via the bevel gear mechanism 35. [

The deceleration mission section 32 is provided with an intermediate transmission shaft 32d in the vertical direction of the gas in which the driving force of the input shaft 32a is decelerated and transmitted by the decelerating transmission gear portion 32c and the intermediate transmission shaft 32d And a worm 32e. And the output gear 32b of the deceleration mission unit 32 is constituted by the wheel engaged with the worm 32e.

The transmission 33 is configured to be shifted to a two-step transmission state of a high-speed transmission state and a low-speed transmission state. The shifting mission portion 33 is shifted by a swinging operation of a shift lever 33c (see Figs. 1 and 2) installed in front of the battery 8 so that the driving speeds of the front wheels 2 and the rear wheels 3 To high speed and low speed. The shift lever 33c is interlockingly connected to the shift operating portion of the shift mission portion 33 through an operation cable.

The transmission mechanism 34 for forward and backward switching has a shift member 34c supported so as to be capable of sliding on the output shaft 34b and the shift member 34c is slidably operated, A rearward driving state in which the front wheels 2 and the rear wheels 3 are driven in the reverse direction and a neutral state in which the front wheels 2 and the rear wheels 3 are stopped Respectively.

The shift member 34c is engaged with the forward transmission gear 34d by being slid to the forward position and engaged with the backward transmission gear 34e by sliding operation to the backward position and is slid to the neutral position, And is disengaged from the transmission gear 34d and the reverse transmission gear 34e.

As shown in Figs. 4, 5, 6 and 14, the front-wheel-side power transmission mechanism 40 transmits the driving force of the relay transmission shaft 23 to the coaxial rotation shaft 20 of the right front wheel 2 An output shaft of which is connected to an output shaft of the left front wheel (2), and an output shaft And an electric chain 44 on the lower side in the electric direction for transmitting the electric power to the rotating electric machine shaft 20 of the electric motor.

As shown in Figs. 4, 5, 7 and 14, the transmission mechanism for transmission shafts 41 on the rear wheel side transmits the driving force of the relay transmission shaft 23 to the rotating transmission shaft 20 of the right rear wheel 3 An output shaft of which is connected to the left rear wheel 3 (3), and an output shaft of which is connected to the left rear wheel 3 And an electric chain 44 on the lower side in the electric direction for transmitting the electric power to the rotating electric machine shaft 20 of the electric motor.

The transmission chain 42 on the upper side in the transmission direction of the transmission mechanism 40 for the transmission axle on the front wheel side includes a front wheel output sprocket 23a provided integrally with the transmission transmission shaft 23 in the vertical direction of the vehicle, And is wound around an input sprocket 20a provided so as to rotate integrally with the rotating shaft 20 of the wheel 2 in the vertical direction of the gas. The electric chain 42 on the upper side in the electric direction of the transmission mechanism for the transmission axle 41 on the rear wheel side includes a rear wheel output sprocket 23b provided to rotate integrally with the relay transmission shaft 23, And is wound around an input sprocket 20a provided so as to rotate integrally with the rotating shaft 20 of the gas vertical direction. An electric chain 42 on the upper side in the electric direction of the transmission mechanism 40 for the transmission axle on the front wheel side and the transmission mechanism 41 for the transmission shaft on the rear wheel side includes a forward chain chain and a return chain chain And rotates in a rotationally arranged state in a direction orthogonal to the axis centers of the additional relaying power shaft 23 and the rotating transmission shaft 20. [

The rotation control electromotive section 43 provided in the front wheel side power transmission mechanism 40 for the transmission shaft and the power transmission mechanism 41 for the transmission shaft at the rear wheel side is provided before the rotation of the right front wheel 2 or the right rear wheel 3 An input side gear 43a supported so as to rotate integrally with the coaxial shaft 20 and an output side gear 43b engaged with the input side gear 43a. And the output sprocket 43d is supported on the rotation support shaft 43c of the output side gear 43b in a relatively non-rotatable manner.

The rotation control electromotive portion 43 provided in the front wheel side power transmission mechanism 40 and the rear wheel side power transmission mechanism 41 is provided with the electric chain 42 on the upper side in the electric direction from the relay transmission shaft 23, And the driving force of the output side gear 40b after the conversion is transmitted from the output sprocket 43d to the lower side in the forward direction of rotation from the output sprocket 43d by the input side gear 40a and the output side gear 40b, To the electric chain (44).

The rotating transmission shaft 20 of each of the right and left front wheels 2 and the left and right rear wheels 3 is driven by the driving force transmitted from the relay transmission shaft 23 via the electric chain 42 on the upper side of the electric motor, The rotation adjusting electromotive portion 43 of the transmission mechanism 40 for the transmission shaft of the left front wheel 2 is connected to the rotation direction of the rotation transmission shaft 20 of the left front wheel 2, 20 to the opposite rotational direction, the rotational direction of the driving force transmitted to the rotational transmission shaft 20 of the left front wheel 2 is adjusted. The rotation regulating electromotive portion 43 provided in the rear wheel side power transmission mechanism 41 for the transmission axle controls the rotation direction of the rotation transmission shaft 20 of the left rear wheel 3 and the rotation direction of the rotation transmission shaft 20 of the right rear wheel 3, (20) of the left rear wheel (3) so that the rotation direction of the left rear wheel (20) is the opposite rotation direction.

The electric chain 44 in the lower side in the electric direction of the transmission mechanism 40 for the transmission axle on the front wheel side is connected to the output sprocket 43d of the rotation control transmission part 43 and the output shaft 43c of the left front wheel 2 20 to rotate integrally with the input sprocket 20a. The electric chain 44 on the lower side in the transmission direction of the power transmission mechanism 41 for the transmission axle on the rear wheel side is connected to the output sprocket 43d of the rotation control transmission part 43 and the output shaft 43c of the left rear wheel 3 20 to rotate integrally with the input sprocket 20a.

The steering operation of the traveling vehicle will be described.

Wheel steering operation mechanism 50 for the front wheels is provided with steering shaft 11 and steering shaft 12 respectively in front drive case 18 of front left wheel 2 and front drive case 18 of right front wheel 2, And a pair of arm portions 18a constituting a pair of front and rear steering operation portions of the left front wheel 2 and the right front wheel 2, The output arm portion 53a is connected to the rear arm portion 18a of the front wheel drive case 18 of the left front wheel 2 via the operating rod 52. [ A connected steering actuator 53 and a front wheel steering actuator 54 for operating the steering actuator 53. [

The wheel steering mechanism 55 for the rear wheels is provided with the steering shaft 13 and the steering shaft 13 respectively in the rear wheel drive case 19 of the left rear wheel 3 and the rear wheel drive case 19 of the right rear wheel 3, Of the pair of arm portions 19a constituting a pair of front and rear steering operation portions of the left rear wheel 3 and the right rear wheel 3, The output arm portion 53a is connected to the front side arm portion 19a of the rear wheel drive case 19 of the right front wheel 2 via the operating rod 52. [ A linked steering actuator 53 and a rear wheel steering actuator 56 for operating the steering actuator 53.

The steering operation body 53 of the front wheel steering mechanism 50 includes a support member 57 provided on the upper surface side of the front portion of the base frame 12 with respect to the portion of the shearing blade housing 11, And is supported so as to be swingable about the swing axis center Y of the swing arm.

The steering operation body 53 of the wheel steering manipulation mechanism 55 for the rear wheel is provided on the upper surface side of the rear portion of the body frame 12 relative to the portion of the shearing blade housing 11, And is supported so as to be swingable about the swing axis center Y in the direction of rotation.

The front wheel steering actuator 54 and the rear wheel steering actuator 56 are driven by an electric steering motor capable of rotating in the opposite direction in which the output gears 54a and 56a are engaged with the sector gear portion 53b provided in the steering actuator 53 Respectively. The electric steering motor is supported on the upper surface side of the base frame 12.

In the following description, the front wheel steering actuator 54 will be referred to as a front wheel steering motor 54 and the rear wheel steering actuator 56 will be referred to as a rear wheel steering motor 56. [

A front wheel steering mechanism 50 for a front wheel performs a steering operation by interlocking a pair of left and right front wheels 2 by a front wheel steering motor 54. That is, the front wheel steering motor 54 swings the steering operating body 53 around the swing axis center Y, and the operating force of the steering operating body 53 is transmitted to the left front wheel 2 And transmits it to the front wheel drive case 18 to rock the front wheel drive case 18 and steering the left front wheel 2. The operation force of the front wheel drive case 18 of the left front wheel 2 is transmitted to the front wheel drive case 18 of the right front wheel 2 by the tie rod 51 to rock the front wheel drive case 18, The right front wheel 2 is interlocked with the left front wheel 2 and steering operation is performed in the same steering direction as the left front wheel 2. [

The rear wheel steering mechanism 55 of the rear wheel performs a steering operation by interlocking the pair of left and right rear wheels 3 by the rear wheel steering motor 56. That is, the rear wheel steering motor 56 swings the steering operating body 53 around the swing axis Y, and the operating force of the steering operating body 53 is transmitted to the right rear wheel 3 To the rear wheel drive case 19 to swing the rear wheel drive case 19 and to steer the right rear wheel 3. The operation force of the rear wheel drive case 19 of the right rear wheel 3 is transmitted to the rear wheel drive case 19 of the left rear wheel 3 by the tie rod 51 to rock the rear wheel drive case 19, The right rear wheel 3 is interlocked with the left rear wheel 3 and steering operation is performed in the same steering direction as that of the left rear wheel 3. [

As shown in Fig. 16, the control device 9 is configured to receive a radio wave signal as an operation command from the remote control device 10 by an antenna (not shown) incorporated therein. The control unit 9 is provided with a steering control unit 9a configured by using a microcomputer.

The steering control section 9a controls the front wheel steering control mode [2FS], the rear wheel steering control mode [2RS], the two-wheel same steering control mode [4DS ] And the two-wheel same steering control mode [4GS].

When the front wheel steering control mode [2FS] is set, the steering control unit 9a controls the rear wheel steering motor 56 to the neutral state to maintain the left and right rear wheels 3 in the neutral direction 54 to steer only the left and right front wheels 2 in the steering direction corresponding to the operating state of the remote control device 10 and steering angle corresponding to the operating state of the remote control device 10. [

When the rear wheel steering control mode 2RS is set, the steering control unit 9a controls the front wheel steering motor 54 to be in a neutral state so as to maintain the left and right front wheels 2 in the neutral direction 56 to steer only the left and right rear wheels 3 in the steering direction corresponding to the operation state of the remote operation apparatus 10 and at the steering angle corresponding to the operation state of the remote operation apparatus 10. [

The steering control section 9a controls the front wheel steering motor 54 and the rear wheel steering motor 56 and controls the steering angle of the left and right front wheels 2 and the left and right rear wheels 2, The wheel 3 is steered in the same steering direction corresponding to the operation state of the remote operation apparatus 10 and at a steering angle corresponding to the operation state of the remote operation apparatus 10. [

The steering control section 9a controls the front wheel steering motor 54 and the rear wheel steering motor 56 and controls the steering angle of the left and right front wheels 2 and the left and right rear wheels 2, The wheel 3 is steered in a direction opposite to the steering direction corresponding to the operation state of the remote operation apparatus 10 and at a steering angle corresponding to the operation state of the remote operation apparatus 10. [

16, the remote control device 10 as the steering operation device is provided with a joystick having a two-wheel steering manipulation tool 60, a four-wheel steering manipulation tool 61, and a mode selection manipulation tool 62 .

The mode selection operation tool 62 is constituted by a dial which can be rotated around an axis center along the longitudinal direction of the remote control device 10. [ Wheel steering device 60 for transmitting a radio wave signal as a steering command corresponding to the operating state of the two-wheel steering manipulation tool 60 as a transmitting state of the remote control device 10 by rotating the mode selecting manipulation tool 62 Wheel steering for transmitting a radio wave signal as a steering command corresponding to the operating state of the four-wheel steering operating tool 61 in the transmitting state, the two-wheel same steering control mode [4DS], the transmitting state for the same steering, Wheel steering and the opposite steering for transmitting a radio wave signal as a steering command corresponding to the operating state of the four-wheel steering manipulation tool 61 in the control mode [4GS].

The two-wheel steering manipulation tool 60 is constituted by a stick lever capable of swinging in the lateral direction and the longitudinal direction of the remote control device 10. [ 17 (a) is a front view showing the two-wheel steering operation tool 60 located in the operation path [K1] for front wheel steering. 17B is a side view showing the two-wheel steering operation tool 60 located in the operation path [K1] for front wheel steering. 17C is a front view showing the two-wheel steering manipulation tool 60 located on the operation path K2 for rear wheel steering. 17D is a side view showing the two-wheel steering manipulation tool 60 located on the operation path K2 for rear wheel steering.

As shown in Figs. 17 (a), 17 (b), 17 (c) and 17 (d), an operation path K1 for front wheel steering for operating the two- The operation path K2 is set to another operation path which is displaced in the longitudinal direction of the remote control apparatus 10. [ As shown in Figs. 17 (a) and 17 (b), the two-wheel steering operation tool 60 is operated in the state in which the two-wheel steering use state of the remote control apparatus 10 is selected, [K1], the steering control section 9a enters the setting state of the front wheel steering control mode [2FS] on the basis of the radio wave signal from the remote control apparatus 10. As shown in Figs. 17 (a) and 17 (b), the two-wheel steering operation tool 60 is moved to the operation path for steering the rear wheels [K2], the steering control section 9a is set in the rear wheel steering control mode [2RS] based on the radio wave signal from the remote control apparatus 10. [

Wheel steering operation tool 60 is tilted from the neutral position in the left lateral direction and the right lateral direction in the operation path K1 for front wheel steering when the calling state of the two-wheel steering for the remote control apparatus 10 is selected The front wheel steering motor 54 moves the left and right front wheels 2 from the neutral direction (straight ahead direction) to the two-wheel steering operation tool 60 by the control in the front wheel steering control mode by the steering control section 9a, It is possible to steer the traveling vehicle in the direction corresponding to the operating direction of the two-wheel steering operating tool 60 by steering operation by only the front wheels 2. [ The greater the tilting stroke in the left lateral direction and the right lateral direction of the two-wheel steering control tool 60, the greater the steering angle in the left lateral direction and the right lateral direction of the front wheel 2 becomes.

Wheel steering operation tool 60 is tilted from the neutral position in the left lateral direction and the right lateral direction in the operation path K2 for steering the rear wheels when the transmission state of the two-wheel steering for the remote control apparatus 10 is selected The rear wheel steering motor 56 moves the left and right rear wheels 3 from the neutral direction (straight ahead direction) to the two-wheel steering operation tool 60 by the control in the rear wheel steering control mode by the steering control section 9a, It is possible to steer the traveling vehicle in the direction corresponding to the operating direction of the two-wheel steering operating tool 60 by the steering operation by only the rear wheel 3. The greater the tilting stroke in the left lateral direction and the right lateral direction of the two-wheel steering control tool 60, the larger the steering angle in the left lateral direction and the right lateral direction of the rear wheel 3 becomes.

The four-wheel steering operating tool 61 is constituted by a stick lever which can be swingably moved in the lateral direction of the remote control device 10. [ 17E is a front view showing the four-wheel steering manipulation tool 61 located in the operation path [K3] in the two-wheel same steering control mode [4DS] and the two-wheel reverse steering control mode [4GS]. 17F is a side view showing the four-wheel steering manipulation tool 61 located in the operation path [K3] in the two-wheel same steering control mode [4DS] and the two-wheel reverse steering control mode [4GS].

As shown in Figs. 17 (e) and 17 (f), the operation path K1 for operating the four-wheel steering operation tool 61 in the two-wheel same steering control mode [4DS] The operating path K1 for operating the four-wheel steering operating tool 61 in [4GS] is set to the same operating path.

The four-wheel steering manipulation tool 61 is tilted from the neutral position in the left lateral direction and the right lateral direction in the operation path K3 in the case of selecting the transmitting state for the four-wheel steering of the remote control apparatus 10 and the same steering, The front wheel steering motor 54 rotates the left and right front wheels 2 in the neutral direction (straight ahead direction) from the neutral position (straight ahead direction) to the position of 4 The rear wheel steering motor 56 steers the left and right rear wheels 3 from the neutral direction (straight ahead direction) to the four-wheel steering operation opening 61, And the steering operation can be performed so that the traveling vehicle is moved in parallel to the left direction or the right direction by steering operation in the same lateral direction as that of the left and right front wheels 2. [ The steering angles in the left lateral direction and the right lateral direction of the front wheels 2 and the rear wheels 3 become larger as the tilting stroke in the left lateral direction and the right lateral direction of the four-wheel steering operating tool 61 is increased.

Wheel steering operation tool 61 is tilted from the neutral position in the left lateral direction and the right lateral direction in the operation path K3 when the transmitting state for the four-wheel steering and the opposite steering for the remote control apparatus 10 is selected The front wheel steering motor 54 moves the left and right front wheels 2 from the neutral direction (straight ahead direction) to the right side in the neutral direction (straight ahead direction) by the steering control unit 9a under the setting state of the two-wheel same steering control mode [4GS] The rear wheel steering motor 56 steers the left and right rear wheels 3 from the neutral direction (straight ahead direction) to the four-wheel steering operation opening 61, The steering operation is performed in the lateral direction corresponding to the operating direction of the front wheels 2 and in the lateral direction opposite to the lateral direction of the front wheels 2 and steering operation is performed so that the traveling vehicle is turned in a small radius. The steering angles in the left lateral direction and the right lateral direction of the front wheels 2 and the rear wheels 3 become larger as the tilting stroke in the left lateral direction and the right lateral direction of the four-wheel steering operating tool 61 is increased.

When the tilting operation is released in the left lateral direction and the right lateral direction, the two-wheel steering operation tool 60 and the four-wheel steering operation tool 61 automatically return to the neutral position, and the front wheel 2 and the rear wheel 3) is operated in the neutral direction (the forward direction).

The forward and backward switch 63 provided in the remote control apparatus 10 transmits the forward and backward propagation signals from the remote control apparatus 10 and controls the forward and backward control sections 9b ). The forward / backward control section 9b controls the electric motor / generator / transmission / electric motor 64 as a forward / reverse switching mechanism, which is linked to the operating section of the transmission mechanism 34 for forward / backward switching based on the radio wave signal from the remote control apparatus 10, The power transmission mechanism 34 is switched to a forward state, a reverse state, and a neutral state.

The automatic stop of the traveling gas will be described.

As shown in Figs. 1, 2 and 8, the obstacle sensor 70 is provided at the front portion and the rear portion of the traveling vehicle. The obstacle sensor 70 of the front part and the rear part and the transmission mechanism 34 of the forward and backward switching are linked by the coupling mechanism 80 provided with the control device 9 as shown in Fig.

That is, when an obstacle such as a tree present in front of the traveling direction is detected by the obstacle sensor 70 on the front side when the traveling gas is traveling forward, the traveling gas is automatically turned back to the back side of the vehicle and then stopped have. When the obstacle such as a tree in front of the traveling direction is detected by the obstacle sensor 70 on the rear side in the case where the traveling gas is traveling backward, the traveling gas is automatically moved backward to the front side of the gas and then stopped. The details are as follows.

As shown in Figs. 1, 2, 12 and 13, the obstacle sensor 70 of the front part and the rear part is configured to have a long bar shape in the transverse direction of the gas. The obstacle sensor 70 of the front part and the rear part has a supporting shaft 71 extending in the longitudinal direction from both sides and a support shaft 72 in the transverse direction transversely extending from the extending ends of the right and left supporting arms 71 have. A bracket 73 for supporting the support shaft 72 relatively rotatably is provided at an end portion of the left and right reinforcing frame 14 and the obstacle sensor 70 at the front and rear portions is mounted on the support shaft 72 And moves in the gas front and rear direction with respect to the frame portion 1 of the traveling base.

In the following description, the movement of the front and rear obstacle sensors 70 and the members related to the obstacle sensor 70 at the front and rear portions will be described as being outside the gas and inside the gas, The gas outside and the gas inside in the description of the members relating to the obstacle sensor 70 and the obstacle sensor 70 at the front portion correspond to the gas front side and the gas rear side, and the rear obstacle sensor 70 and the rear obstacle sensor 70 In the description of the members related to the obstacle sensor 70, the gas outside and the gas inside correspond to the gas rear side and the gas front side.

A pressing mechanism 65 is mounted on both end portions of the obstacle sensor 70 in the longitudinal direction of the front portion and the rear portion. The right and left pressing mechanisms 65 mounted on the front and rear obstacle sensors 70 are supported on the support arm 71 so that one end is relatively rotated and the other end is supported on the end of the reinforcement frame 14 And a stroke regulating lever 66 which is supported on the bracket 14b so as to slide in the forward and backward directions of the base body. A stopper 66a in the form of a pin is provided in a portion of the stroke regulating lever 66 which is located on the inner side of the bracket 14b than the bracket 14b. A spring force adjusting screw 67 is provided at a portion of the stroke regulating lever 66 located on the outer side of the bracket 14b than the bracket 14b. The pressing spring 68 disposed between the bracket 14b and the spring force adjusting screw 67 is attached to the stroke regulating lever 66. [

In the left and right pushing mechanisms 65 of the obstacle sensors 70 on the front and rear sides, the stroke regulating lever 66 is moved outwardly of the base by the movement of the obstacle sensor 70 to the outside of the base, The movement of the obstacle sensor 70 to the outside of the base is restricted by the stroke regulating lever 66 . The pressing spring 68 is resiliently deformed by the spring force adjusting screw 67 while the stroke regulating lever 66 is moved to the inside of the gasket by the movement of the obstacle sensor 70 to the inside of the gasket so that the bracket 14b The spring force adjusting screw 67 is received by the pressing spring 68 so that the further movement of the stroke regulating lever 66 to the inside of the gas is restricted and the further movement of the obstacle sensor 70 The movement to the inside of the gas is regulated by the stroke regulating lever 66.

The obstacle sensor 70 of each of the front portion and the rear portion has a stroke end E1 on the outside of the gas where the stopper 66a contacts the bracket 14b and a spring force adjusting screw 67 And moves in the forward and backward directions of the gas across the stroke end E2 inside the gas receiving body. The position between the stroke end E1 on the outer side of the gas and the stroke end E2 on the inner side of the gas in the entire stroke H of the obstacle sensor 70 is set as the detection position T of the obstacle sensor 70. [ Specifically, a position closer to the stroke end E1 outside the base than the center position in the entire stroke H is set as the detection position T. [ The position of the stroke H outside the detection position T is set as the non-detection position N of the obstacle sensor 70. [ In the embodiment, the non-detection position N and the stroke end E1 on the outside of the gas coincide or substantially coincide with each other. The obstacle sensor 70 located at the detection position T after the stroke H has moved beyond the detection position T and on the opposite side of the detection position T from the detection position T, And is set as a buffer zone W that enables movement operation by an obstacle. The obstacle sensor 70 is pressed to the non-detection position N by the left and right pressing springs 68 and is normally located at the non-detection position N without being subjected to the pressing operation by the obstacle.

16, the link mechanism 80 includes a detection switch 81 for the front sensor for detecting the position of the obstacle sensor 70 in the front part, a detection switch 81 for detecting the position of the obstacle sensor 70 in the rear part, A detection switch 82 for the rear portion sensor and a transmission switching motor 64 serving as a transmission switching actuator for switching the transmission mechanism 34 for switching between forward and backward directions and the transmission switching motor 64 and the detection switches 81, And a control device (9) linked to the control device (82).

As shown in Figs. 1, 12 and 13, the detection switch 81 for the front part sensor is supported by a connection frame 83 connecting the front end of the reinforcing frame 14 in the left and right front and rear direction. A switch operating portion 84 for the detection switch 81 for the front portion sensor is provided integrally with the support shaft 72 of the obstacle sensor 70 on the front portion so as to rotate integrally.

The detection switch 82 for the rear sensor is supported by a connecting frame 83 connecting the rear end of the reinforcing frame 14 in the left and right front and back directions. A switch operating portion 84 for the detection switch 82 for the rear sensor is integrally rotatably mounted on the support shaft 72 of the obstacle sensor 70 on the rear portion.

The detection switches 81 and 82 for the front sensor and the rear sensor are supported on the lower side of the connection frame 83. The connection frame 83 has a guard function for covering the detection switches 81 and 82 above.

When the obstacle sensor 70 is located at the non-detection position N, the respective detection switches 81 and 82 for the front and rear sensors are configured such that the depressurizing portion is not subjected to the pressing operation by the switch operating portion 84 OFF state and the obstacle sensor 70 moves from the non-detection position N to the detection position T so that the decompression portion receives the pressing operation by the switch operation portion 84, ON) state. When the obstacle sensor 70 is located in the buffer region W, the detection switches 81 and 82 continue to receive the depressing operation by the switch operating section 84, but only the change of the position of the depressurizing section occurs, The switch function is not affected.

And the control unit 9 is provided with a stop control unit 9c. The stop control section 9c receives the position information of the front obstacle sensor 70 from the detection switch 81 for the front sensor and detects the position of the rear obstacle sensor 70 from the detection switch 82 for the rear sensor Based on the input information and the program preliminarily input to the control device 9, an operation command is output to the forward / backward control section 9b, and the forward / backward control section 9b causes the electric motor 64 So as to perform the forward and backward switching operation and the stop operation of the traveling vehicle corresponding to the detection of the obstacle by the obstacle sensor 70 of the front portion and the rear portion.

That is, when all of the obstacle sensor 70 on the front part and the obstacle sensor 70 on the rear part are both at the non-detection position N, the stop control part 9c informs the forward / backward control part 9b of And outputs an operation command for controlling the electric motor 64 to be controlled based on the operation command so that the remote control device 10 can perform the forward and backward operation of the traveling gas.

When the obstacle sensor 70 of the front portion is located at the detection position T, the stop control portion 9c instructs the forward / backward control portion 9b to switch the electric motor 64 in preference to the operation command from the remote control device 10 The transmission mechanism 34 is switched from the forward power transmission state to the reverse power transmission state and the traveling gas is switched from forward travel to reverse travel.

The stop control section 9c maintains the transmission mechanism 34 in the neutral state in the forward / backward control section 9b after the transmission mechanism 34 is maintained in the predetermined set continuation time and reverse drive state, ) Is switched from the reverse power state to the neutral state, and the traveling gas is stopped. The stop of the traveling vehicle is continued until a forward command and a reverse command from the remote control device 10 are received.

The stop control section 9c instructs the forward / backward control section 9b to switch the electric motor 64 in preference to the operation command from the remote control device 10 when the obstacle sensor 70 at the rear portion is located at the detection position T The transmission mechanism 34 is switched from the reverse transmission state to the forward transmission state to switch the traveling vehicle from the reverse travel to the forward travel.

The stop control section 9c controls the forward switching control section 9b to maintain the electric motor 64 in the neutral state and maintains the transmission mechanism 34 ) Is switched from the forward driving state to the neutral state, and the traveling gas is stopped. The stop of the traveling vehicle is continued until a forward command and a reverse command from the remote control device 10 are received.

Even if the obstacle sensor 70 of each of the front portion and the rear portion moves from the non-detection position N to the detection position T by the contact with the obstacle, the obstacle sensor 70 does not come to a state of being stopped at the detection position T, (T) and moves to the buffer region (W), and the film difference of the traveling gas caused by the obstacle collision with the obstacle sensor (70) does not occur.

That is, when the obstacle is detected by the obstacle sensor 70, the switching operation of the transmission mechanism 34 by the electric motor 64 is performed based on the stop control of the stop control section 9c. However, when the obstacle sensor 70, which is switched from the non-detecting position to the detecting position, is located at the stroke end, a film difference of the traveling gas occurs due to the obstacle collision with the obstacle sensor 70, The load applied to the switching operation increases, and the switching of the transmission mechanism 34 may not be performed smoothly.

On the other hand, it is possible to switch from one of the forward power transmission state and the reverse power transmission state of the transmission mechanism 34 to the other side in response to the detection of the obstacle by the obstacle sensor 70 of the front portion and the rear portion, The switching operation is performed while the obstacle of the traveling gas does not occur due to the movement of the obstacle sensor 70 to the buffer region W so that the switching operation of the transmission mechanism 34 is performed lightly.

The mowing apparatus 4 will be described.

As shown in Figs. 1 and 3, the mowing apparatus 4 includes a shearing blade housing 11 and a shear blade housing 11 provided at an intermediate portion of the base frame 12 in the gas front- And a cutting blade 90 installed to be rotationally driven around the rotary axis Z of the direction of rotation. 4 and 5, the cutter blade 90 has a circular cutter blade base 90a as viewed from a plane supported by the cutter blade support shaft 97 so as not to be relatively rotatable, and a cutter blade base 90a And a bar-shaped cutting blade main body 90b supported so as to be pivotable on a plurality of portions in the circumferential direction.

The work opening 91 in the forward direction opened in the gas front direction from below the front end side portion of the gas frame 12 and the rearward end side portion of the gas frame 12 are provided in the cutter blade housing 11, And a work opening 92 in the backward direction which is opened in the direction of the opening. As shown in Figs. 4 and 10, a work opening 94 is provided in the transverse side wall portion 93 on the right side of the base of the cutter blade housing 11 in the direction open to the right and left sides of the base. The working opening 94 in the transverse direction is located at a transverse side portion opposite to the transverse side where the battery 8 is located in the traveling gas.

The work opening 94 in the lateral direction can be opened and closed by a lid 95 supported at the transverse portion of the shearing blade housing 11. [ The support shaft 95a provided on the upper end side of the lid 95 is supported so as to be rotatable relative to the pair of front and rear support portions 96 provided on the sheathing housing 11. The lid 95 is pivoted upward in the gas flow direction with the axis of the support shaft 95a as the opening and closing axis Q in the gas front and rear direction to thereby open the work opening 94 in the lateral direction, Is pivoted about the axis (Q) in the downward direction of the gas, so that the work opening (94) in the right lateral direction is closed by the downwardly closed posture.

The lid 95 and the wheel steering operation mechanism 55 for the rear wheels are linked by the link mechanism 100 provided with the operation cable 101 as shown in Fig.

The linking mechanism 100 includes a swingable operation arm 102 supported on the support shaft 95a of the lid 95 in a relatively non-rotatable manner, an operation cable 101 having an inner cable to which one end side of the operation arm 102 is connected, And a swing link 103 to which the other end side of the inner cable is connected. The swing link 103 is supported on the rotary support shaft 53c of the steering operating body 53 so as to be relatively non-rotatable.

When the right and left rear wheels 3 are steered from the steered state in the straight forward direction to the lateral steered state in which the rear end side of the right rear wheel 3 is outside the vehicle body, And the inner cable of the operation cable 101 is pulled by the swing link 103 and the operation arm 102 is pivoted in the opening operation posture do.

When the right and left rear wheels 3 are steered from the lateral steering state in which the rear end side of the right rear wheel 3 is outside the vehicle body to the steering state in the straight forward direction, And the inner cable of the operation cable 101 is loosened by the swing link 103 so that the operation arm 102 is pivoted in the closing operation posture, do.

When the left and right rear wheels 3 are steered from the steered state in the straight forward direction to the transverse steered state in which the rear end side of the right rear wheel 3 is placed inside the vehicle body, The inner cable of the operation cable 101 is loosened by the swing link 103 but the lid 95 is in the lowered closed position So that the inner cable is loosened, so that the operation arm 102 is held in the closing operation posture.

Thus, the left and right front wheels 2 and the left and right rear wheels 3 are in the same steering control mode 4DS, and the right and left rear wheels 2 and 3, respectively, The lid 95 is opened in conjunction with the steering operation. The left and right front wheels 2 and the left and right rear wheels 3 are placed in the forward steering direction and the rear end side of the right front wheel 2 and the right rear wheel 3 in the same direction in the two- When the steering operation is performed in the lateral steering state, the lid 95 is closed in association with the steering operation.

Therefore, when the traveling gas travels forward, the grass-mowing device 4 introduces the grass to be treated from the forward-use working opening 91 into the inside of the sheath blade housing 11, do. In this case, the work opening 94 in the transverse direction is closed by the lid 95.

When the traveling gas travels backward, the mowing apparatus 4 introduces the grass to be treated from the work opening 92 in the rearward direction into the interior of the sheath blade housing 11, and cuts the sheath with the shearing blade 90. In this case, the work opening 94 in the transverse direction is closed by the lid 95.

The mowing device 4 is configured to move the front wheel 2 and the rear wheel 3 in the lateral direction in which the rear end side of the right front wheel 2 and the rear right wheel 3 are outwardly released by the two- When the traveling gas is steered to the steering state and the traveling gas travels in the right lateral direction, the lateral working opening 94 is automatically opened by the linking mechanism 100, and the pool to be treated is moved to the lateral working opening 94 into the interior of the shear blade housing 11, and cut by the shearing blade 90. [ The traveling of the traveling gas during the mowing operation of introducing the pool to be treated into the cutting blade housing 11 from the work opening 94 in the lateral direction causes the work opening 94 in the lateral direction to move to the low level side The battery 8 is located on the gas transverse side opposite to the gas transverse side where the lateral working opening 94 is located and the load is applied to the transverse side located on the high level side of the sloped ground The weight function can be exerted on the battery 8 to suppress the left / right swinging of the traveling vehicle having the working opening side as the swing support point.

15 is an explanatory view showing a moving method of the traveling gas. In Fig. 15, the distance between the work travel region A1 after work and the next work travel region A2 is described to be wider than the cutting width D of the mowing apparatus 4 in order to facilitate understanding of the travel of the traveling vehicle. The center distance between the work travel region A1 after the work and the next work travel region A2 is set to be substantially the same as the cutting width D and the center distance between the work travel region A1 and the next work travel region A2 so that the rest does not occur between the work travel region A1 and the next work travel region A2. The same.

That is, when the traveling vehicle reaches the end point of the work travel area A1, the front wheel 2 and the rear wheel 3 are steered from the two-wheel same steering control mode 4DS to the steering state in the lateral outward direction, The traveling vehicle is caused to travel in the lateral direction to the next working traveling region A2 in a state in which the traveling body 94 faces the traveling direction. At this time, since the link mechanism 100 operates the lid 95 to open and close the lid 95 for the steering operation to the lateral steering state in the same steering control mode 4DS of the front wheel 2 and the rear wheel 3, It is possible to introduce the work from the work opening 94 in the lateral direction into the cutting blade housing 11 and to perform the beating processing of the paste located in the movement path. When the traveling vehicle reaches the next work travel region A2, the front wheel 2 and the rear wheel 3 are steered to the steering state along the traveling direction in the next work travel region A2, A2 in the running direction in the direction opposite to the running direction in the work travel region A1 after the work.

The driving structure of the mowing apparatus 4 will be described.

As shown in Figs. 4 and 14, the shearing blade support shaft 97 for supporting the shearing blade 90 in a vertically non-rotatable manner, which supports the shearing blade 90 at a lower end portion in a relatively non-rotatable manner, As shown in Fig. The cutter blade supporting shaft 97 is positioned under the intermediate transmission shaft 32d of the deceleration mission section 32 in the same axial direction. And a shear blade clutch 98 is provided over the shear blade supporting shaft 97 and the intermediate transmission shaft 32d.

The cutting blade support shaft 97 and the intermediate transmission shaft 32d are connected to each other so that the cutting blade support shaft 97 can not be rotated relative to the intermediate transmission shaft 32d, And the cutting blade 90 is rotationally driven by the cutting blade support shaft 97 with the axis of the cutting blade support shaft 97 as the rotation axis Z. [

The connection between the cutting blade support shaft 97 and the intermediate transmission shaft 32d is released and the electric power to the cutting blade support shaft 97 is interrupted by the operation of turning the cutting blade clutch 98 to the OFF state, ) Is stopped.

The switching operation of the cutter blade clutch 98 to the on state and the off state is performed by the rocking operation of the clutch lever 98a (see Figs. 1 and 2) provided in front of the battery 8. The clutch lever 98a is interlockingly connected to the operating portion of the cutting-edge clutch 98 via an operating cable.

[Other Embodiments]

(1) Fig. 18 is a side view showing a front part of a lawn mower having another embodiment.

As shown in Fig. 18, in a lawn mower having another structure, a bumper 110 is provided at the front portion of the traveling vehicle. The front bumper 110 is supported by a stay 111 extending in the gas front direction from the support frame 13 for the front wheels and is provided below the obstacle sensor 70 on the front side and further with a working opening 91 in the front direction, As shown in FIG.

Although the rear portion of the traveling vehicle of the lawn mower with other embodiments is omitted, the rear portion of the traveling vehicle is also disposed below the obstacle sensor 70 of the rear portion, As shown in FIG. The bumper of the rear portion is supported by a stay 111 extending from the support frame 13 for the rear wheel in the backward direction of the gas.

The pool to be treated is pushed forward by the bumper 110 in the advancing direction of the traveling gas so that the grass to be treated can be introduced into the interior of the cutting blade housing 11 in a standing posture or an inclined posture in the forward direction And it is possible to avoid or suppress a cutting failure such as a cutting mist caused by the cutting edge 90. If there is a clump of soil or the like that is located lower than the obstacle sensor 70 and can not be detected by the obstacle sensor 70, the bumper 110 pushes the obstacle down or presses down the obstacle, It is possible to avoid or suppress entry of the blade into the housing 11. [

(2) In the embodiment described above, the lid 95 and the wheel steering operation mechanism 55 of the rear wheel 3 are linked to each other. However, the lid 95 and the front wheel 2 of the front wheel 2 The mechanism 50 may be connected to each other.

(3) Although the lid 95 and the wheel steering operation mechanism 55 are connected in the above embodiment, the lid 95 and the wheel steering operation mechanism 55 are not linked, May be opened and closed by an artificial operation.

(4) In the above-described embodiment, the battery 8 is disposed on the transverse side opposite to the transverse side where the working opening 94 is located. However, when the working opening 94 of the traveling base is positioned Or on the transverse side of the front side or the rear side.

(5) In the above-described embodiment, the front wheel 1, the rear wheel 2 and the mowing device 4 are configured to be driven by the engine 5. However, instead of the engine 5, It may be performed as a prime mover.

(6) In the above-described embodiment, the air gap portion S recessed in the base frame 12 is provided. However, the air gap portion S that is concave is not provided, and the wheel support frame 17 It may be carried out only by extending it from the base frame 12.

(7) In the above embodiment, the reinforcing frame 16 for the front wheel-side wheel supporting frame 17 and the reinforcing frame 16 for the rear wheel-side wheel supporting frame 17 are integrally formed However, the reinforcement frame 16 on the front wheel side and the reinforcement frame on the rear wheel side may be formed of different members.

(8) In the above embodiment, the front wheel 1, the rear wheel 2 and the mowing device 4 are configured to be driven by the engine 5. However, instead of the engine 5, It may be performed as a prime mover.

The present invention is applicable to lawn mowers having a mowing blade 90 having a circular cutting blade base 90a and a mowing blade shape such as a bar shape and having a mowing device 4 equipped with various other mowing blades.

Further, the present invention can be applied to a lawn mower equipped with various working devices such as a spraying device for a medicine or a fertilizer, in addition to a lawn mower equipped with a lawn mowing device (4).

2: wheel (front wheel)
2a: axle (front axle)
3: Wheel (rear wheel)
3a: Axle (rear axle)
4: Mowing device
8: Battery
11: The blade housing
12: airframe frame
14: reinforcement frame
17: Wheel support frame
20: Coaxial before rotation
25: Power transmission case
55: wheel steering operating mechanism
90: Cutting edge
93:
94: Working opening
95: Cover
P: Steering axis
S: cavity portion concave
Z: Rotational axis

Claims (7)

A traveling vehicle frequently driven by a pair of left and right front wheels and a pair of right and left rear wheels,
A mowing device supported by the traveling vehicle,
The mowing device includes a shearing blade housing and a shearing blade rotatably driven around a rotary shaft in the vertical direction of the traveling gas in the interior of the shearing blade housing,
A work opening is provided on a lateral side wall portion of the above-mentioned cutter blade housing so as to be opened and closed by a lid,
The pair of left and right front wheels and the pair of right and left rear wheels are steered to the same lateral directional steering state to cause the traveling vehicle to travel in a lateral direction in which the working opening faces the traveling direction ,
A wheel supporting frame extending from an end in the gas front-rear direction of the base frame in the transverse direction of the base,
And a wheel supported at an extending end of the wheel supporting frame so as to be steerable around a steering axis in a vertical direction of the vehicle,
And one end side in the gas longitudinal direction of the vehicle is connected to a portion of the wheel supporting frame located laterally outwardly of the base frame than the wheel supporting frame to support the wheel supporting frame And a reinforcing frame,
Wherein a recessed cavity portion is formed in the corner of the base frame so as to receive an end of the steering wheel in the gas front and rear direction,
And the reinforcing frame passes above the recessed cavity portion. The vehicle steering apparatus according to claim 1, wherein, when the lateral travel of the traveling vehicle is released so that the lid is opened when the pair of left and right front wheels and the pair of left and right rear wheels are steered to the lateral steering state, Wherein the lid is connected to the wheel steering operation mechanism so that the lid is closed. The lawn mower as set forth in claim 1 or 2, wherein a battery is disposed on a transverse side portion of the running vehicle opposite to the transverse side where the working opening is located. delete The lawnmower according to claim 1, wherein the reinforcing frame is connected to the wheel supporting frame and the base frame. delete The vehicle according to any one of claims 1 to 5, wherein the steering shaft and the rotary shaft are disposed in the gas transverse direction inside the gas transverse direction of the wheel in a state where they are concentric with each other, Comprising:
The upper end side of the rotation transmission shaft is projected upward from the reinforcing frame,
And a transmission case rolling on the rotation transmission shaft is disposed above the reinforcing frame in a state where the transmission case is mounted on the upper end side of the rotation transmission shaft.

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