Mower

Abstract

To provide a mower that can stably travel on a sloped or stepped ridge.SOLUTION: A mower mows grass while traveling on a ridge, and comprises: a machine body; a traveling part; and a link mechanism comprising a first link arm including a first arm part of which one end is rotatably connected to the machine body via a first rotation shaft, and of which the other end is rotatably connected to the traveling part, and a second link arm including a third arm part of which one end is rotatably connected to the machine body via a second rotation shaft, of which the other end is rotatably connected to the traveling part, and arranged in front of the first arm part, and for moving the traveling part with respect to the machine body. When the first arm part is rotated around the first rotation shaft, the first rotation shaft is located between an upper rotation position and a lower rotation position of the other end of the first arm part in a height direction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a grass cutter. [Background technology]

[0002] Conventionally, mowing work on ridges has been carried out periodically using a mower to remove weeds and the like that have grown on the top surface or slopes of ridges. Patent Document 1 describes a self-propelled mower that is remotely controlled via wireless communication while traveling over the ridge to mow the top surface and slopes. The mowers described in Patent Documents 1 and 2 have a traveling unit with a pair of left and right crawlers, and a cutting blade unit with a horizontal cutting blade and an inclined cutting blade at the front of the machine body, and can remove weeds and the like that have grown on the top surface and slopes using the cutting blade unit with the horizontal cutting blade and the inclined cutting blade while traveling back and forth over the ridge using the traveling unit with the pair of left and right crawlers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-157762 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-176153 Summary of the Invention [Problem to be solved by the invention]

[0004] The configuration of the mowers described in Patent Documents 1 and 2 is such that the mower simply moves back and forth using a running part equipped with a pair of left and right crawlers, so there is a problem in that the mower is prone to losing balance if, for example, the top surface of the ridge is sloped or has a step.

[0005] One of the objectives of one embodiment of the present invention is to provide a grass mower that can travel stably even on sloped or stepped ridges. [Means for solving the problem]

[0006] A brush mower according to one embodiment of the present invention is a brush mower that mows grass while traveling on a ridge, and comprises a body, a running section, a first link arm including a first arm section having one end rotatably connected to the body at a first pivot shaft and the other end rotatably connected to the running section, a second link arm having one end rotatably connected to the body at a second pivot shaft and the other end rotatably connected to the running section, and including a third arm section positioned forward of the first arm section, and a link mechanism that moves the running section relative to the body, and when the first arm section is rotated around the first pivot shaft as a rotation center, the first pivot shaft is located between the upper pivot position and the lower pivot position of the other end of the first arm section in the vertical direction.

[0007] The first link arm may have a second arm portion extending in a direction different from the first direction from its one end connected to the first pivot axis of the first arm portion extending in a first direction, and the second link arm may have a fourth arm portion extending in a direction different from the second direction from its one end connected to the second pivot axis of the third arm portion extending in a second direction.

[0008] The vehicle may include a link plate that connects the first link arm and the second link arm.

[0009] The vehicle may further include an actuator having one end connected to the body and the other end connected to either the first link arm or the second link arm, which serves as a power source for moving the running part relative to the body via the link mechanism.

[0010] One end side is connected to the aircraft body, and the other end side is connected to the first link arm or the second link arm to which the actuator is not connected, The vehicle may further include an assisting means for assisting the actuator in moving the traveling section relative to the vehicle body.

[0011] The actuator may be connected to the first link arm and the auxiliary means may be connected to the second link arm. [Effects of the Invention]

[0012] According to one embodiment of the present invention, a mower can be provided that can travel stably even on sloped or stepped ridges. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a plan view showing the configuration of a grass mower according to an embodiment of the present invention. [Figure 2] 1 is a left side view showing the configuration of a grass mower according to an embodiment of the present invention. [Figure 3] FIG. 3 is an enlarged view of the link mechanism of the mower shown in FIG. 2. [Figure 4] 1 is a left side view showing the configuration of a grass mower according to an embodiment of the present invention. [Figure 5] 1 is a rear view showing the configuration of a grass mower according to an embodiment of the present invention. FIG. [Figure 6] FIG. 5 is an enlarged view of the link mechanism of the mower shown in FIG. 4. [Figure 7] FIG. 10 is a left side view illustrating the forward and backward movement (position) of the left running unit in accordance with the vertical movement of the machine body relative to the running unit in one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] The mower of the present invention will be described below with reference to the drawings. However, the mower of the present invention can be implemented in many different forms, and should not be construed as being limited to the description of the examples shown below. In the drawings referred to in this embodiment, identical parts or parts having similar functions are designated with the same reference numerals or the same reference numerals followed by an alphabet, and repeated description may be omitted. Furthermore, when identical or similar parts are provided on the left and right sides of the direction of travel, the reference numerals of the parts are followed by L (left-side member) or R (right-side member). When there is no particular distinction between left and right members, the L and R may be omitted in the description.

[0015] In one embodiment of the present invention, "up" refers to the direction perpendicularly away from the ridge as the mower moves forward while mowing the ridge, and "down" refers to the opposite direction from "up." For ease of explanation, "front" refers to the direction in which the top cutting unit is positioned relative to the traveling unit, and "rear" refers to the opposite direction from "front." Furthermore, "left" and "right" refer to the left and right in a rear view of the mower as seen from the rear of the mower.

[0016] Furthermore, when the center line of the mower in a plan view (a line parallel to the direction of travel and passing through the center of the mower) is used as a reference, the side closer to the center line is called the "inside" and the side farther from the center line is called the "outside."

[0017] First Embodiment [Configuration of the grass cutter 100] The mower 100 is a self-propelled mower that mows ridges while traveling. Specifically, it is a mower that is remotely controlled by a remote controller and mows ridges while traveling on its own.

[0018] The mower 100 shown in Figures 1, 2, and 5 shows a state in which the left-side running unit 20L is positioned lower than the right-side running unit 20R when the step on the left side of the top surface of the ridge is lower than the step on the right side of the top surface of the ridge. Also, the mower 100 shown in Figures 1, 2, and 5 shows a state in which the mowing surface 204L of the left-side slope mowing unit 80L is parallel or approximately parallel to the horizontal plane 203, and the angle between the 204R of the right-side slope mowing unit 80R and the horizontal plane 203 is angle α. Fig. 1 is a plan view showing the configuration of the mower 100, Fig. 2 is a left side view showing the configuration of the mower 100 in a state where the left-side traveling section 20L is lowered (relative to the right-side traveling section 20R), Fig. 3 is an enlarged view of the area around the link mechanism 50L shown in Fig. 2, Fig. 4 is a left side view showing the configuration of the mower 100 in a state where the left-side traveling section 20L is raised (relative to the right-side traveling section 20R), and Fig. 5 is a rear view showing the configuration of the mower 100. Note that in order to make the configuration of the present invention easier to understand, some of the reference numerals shown in Fig. 3 have been omitted in Fig. 2.

[0019] In this embodiment, the cutting surfaces 204L and 204R are surfaces (Figure 4) that include the trajectory of the grass cut by the blade portions 82L (the mowing blades included therein) and 82R (the mowing blades included therein) of the left slope cutting portion 80L and the right slope cutting portion 80R, and the mowing blades are sometimes called cutting blades.

[0020] As shown in Figure 1, the mower 100 includes a machine body 10, a control unit 16, traveling units 20L and 20R, link mechanisms 50L and 50R, an engine 60, an alternator 70, a battery 40, and a mowing unit 120 having a top surface mowing unit 30 and a slope mowing unit 80. The drive of each unit is controlled by the control unit 16. The mower 100 is self-propelled by the traveling units 20L and 20R, and by controlling the drive of the top surface mowing unit 30 and the slope mowing unit 80, it is possible to mow the top surface 201 and the slope 202 of a ridge 200 in a single run.

[0021] The machine body 10 is a frame that forms the skeleton of the mower 100, and includes a machine body 14, a support plate 15 that is fixed to the machine body 14 and extends forward, and a link support plate (not shown) that is fixed to the front side of the machine body 14 so as to protrude outward and that supports link mechanisms 50L and 50R. The support plate 15 is provided with top surface mowing unit mounting portions 11L and 11R for mounting the top surface mowing unit 30. In addition, the rear of the machine body 14 is provided with slope surface mowing unit mounting portions 12L and 12R for connecting the slope surface mowing unit 80. Furthermore, a first fixing member 57L for connecting the link mechanism 50L and a second fixing member 58L positioned forward of the first fixing member 57L are provided on the side of the machine body 14 (details will be described later). Similarly to the link mechanism 50L, a first fixing member (not shown) for connecting the link mechanism 50R and a second fixing member (not shown) for connecting the link mechanism 50R, which is disposed forward of the first fixing member, are provided on the side of the machine body 14. The machine body 10 can be made of a metal material (for example, steel or aluminum), a fiber reinforced plastic (FRP) material, or the like, but is not limited to these examples.

[0022] Traveling units 20L and 20R are a pair of left and right crawlers that function as travel means for the mower 100. When viewed from behind, traveling unit 20L is the left traveling means when facing the direction of travel of the mower 100, and traveling unit 20R is the right traveling means. Note that the structure of traveling unit 20R is the same as traveling unit 20L, so the following description will mainly focus on traveling unit 20L.

[0023] As shown in FIG. 2, the traveling unit 20L includes a crawler belt 21L, drive wheels 22L, driven wheels 23L, a crawler frame 24L, and a drive unit 54L. The crawler belt 21L is mounted across the drive wheels 22L and the driven wheels 23L and rotates in accordance with the rotation of the drive wheels 22L. The crawler belt 21L is made of an elastic member (specifically, rubber) and has a plurality of lugs (protrusions). The drive unit 54L is made of a motor driven by power supplied from the alternator 70 and the battery 40. The drive wheels 22L rotate by power transmitted from the drive unit 54L. The power generated by the rotation of the drive wheels 22L is transmitted to the driven wheels 23L via the crawler belt 21L. The crawler frame 24L rotatably supports the drive wheels 22L and the driven wheels 23L. In this embodiment, the traveling unit 20L can adjust the ground contact length of the crawler belt 21L during adjustment before work, but the ground contact length of the crawler belt 21L does not change during work. A link mounting member 25L for connecting the traveling unit 20L and the link mechanism 50L is fixed to the crawler frame 24L. The link mounting member 25L has a first mounting portion 25La and a second mounting portion 25Lb as mounting portions for mounting a first link arm 51L and a second link arm 52L, which will be described later. The first mounting portion 25La and the second mounting portion 25Lb are formed to protrude above the height position of the upper end surface of the traveling unit 20L (crawler belt 21L).

[0024] As shown in Figures 2 and 4, the link mechanisms 50L and 50R connect the machine body 10 and the traveling units 20L and 20R, and change the positional relationship between the machine body 10 and the traveling units 20L and 20R, i.e., the distance (spacing) between the machine body 10 and the traveling units 20L and 20R, thereby moving the machine body 10 between an upper limit position and a lower limit position relative to the traveling units 20L and 20R. The link mechanism 50L is the left link mechanism when facing the direction of travel of the mower 100, and is connected to the traveling unit 20L. The link mechanism 50R is the right link mechanism and is connected to the traveling unit 20R. The structure of the link mechanism 50R is the same as that of the link mechanism 50L, so the following description will focus on the link mechanism 50L.

[0025] The link mechanism 50L includes a first link arm 51L, a second link arm 52L, a plate link 56L, an electric cylinder 53L, and a movement assist mechanism 55L.

[0026] The configuration of the link mechanism 50L will be described using Figure 2 or Figure 3. The first link arm 51L is a member formed in a generally "L" shape (in a side view) and has a first arm portion 51Ld extending in a first direction, a second arm portion 51Le intersecting the first direction and extending in a direction different from the first direction, and a first bent portion 51Lb where the first arm portion 51Ld and the second arm portion 51Le intersect. The first bent portion 51Lb is rotatably connected to a first fixed member 57L fixed to the machine body 14 (machine body 10) by a first machine body-side pivot shaft 62, and the first link arm 51L is rotatably connected to the machine body 14 (machine body 10) via the first bent portion 51Lb. A first end 51Lc (first end) which is an end of the first arm portion 51Ld is rotatably connected to a first mounting portion 25La of the link mounting member 25L fixed to the crawler frame 24L by a first traveling portion-side rotating shaft 61. A second end 51La which is an end of the second arm portion 51Le is rotatably connected to the electric cylinder 53L.

[0027] The second link arm 52L is disposed in front of the first link arm 51L and is configured to have substantially the same shape (including variations) as the first link arm 51L in a side view. Like the first link arm 51L, the second link arm 52L is also a member formed in a substantially "L" shape (in a side view) and has a third arm portion 52Ld extending in the second direction, a fourth arm portion 52Le intersecting the second direction and extending in a direction different from the second direction, and a second bent portion 52Lb where the third arm portion 52Ld and the fourth arm portion 52Le intersect. A third end portion 52Lc (third end portion) of the third arm portion 52Ld is rotatably connected, via a second traveling portion-side pivot shaft 71, to a second mounting portion 25Lb of a link mounting member 25L fixed to the crawler frame 24L. The second bent portion 52Lb is rotatably connected to a second fixed member 58L fixed to the aircraft body 14 (aircraft body 10) by a second aircraft body-side rotating shaft 72, and the second link arm 52L is rotatably connected to the aircraft body 14 via the second bent portion 52Lb. In this embodiment, the first direction and the second direction are the same (including approximately the same) directions, and a direction that intersects with the first direction but is different from the first direction, and a direction that intersects with the second direction but is different from the second direction are the same (including approximately the same) directions.

[0028] The plate link 56L is a plate-shaped member that connects the second arm portion 51Le of the first link arm 51L and the fourth arm portion 52Le of the second link arm 52L. For convenience, in this embodiment, the end of the second arm portion 51Le of the first link arm 51L will be referred to as the second end 51La (second end), and the end of the fourth arm portion 52Le of the second link arm 52L will be referred to as the fourth end 52La (fourth end). The rear end of the plate link 56L is rotatably connected to the second end 51La (second end) and the front end is rotatably connected to the fourth end 52La (fourth end). The connecting shaft between the plate link 56L and the second arm portion 51Le and the connecting shaft between the electric cylinder 53L and the second arm portion 51Le are on the same straight line in a side view. It has the function of maintaining a constant distance between the second end 51La of the first link arm 51L and the fourth end 52La of the second link arm 52L, and assisting in keeping the machine body 10 and the link mechanism 50L horizontal (parallel).

[0029] The electric cylinder 53L functions as a power source for moving the machine body 14 (machine body 10) relative to the travel unit 20L using the link mechanism 50L, thereby moving the machine body 14 and the travel unit 20L closer to or farther from each other. One front end of the electric cylinder 53L is rotatably supported by a support bracket 53La disposed on the upper front side of the machine body 14 (machine body 10), and one rear end of the electric cylinder 53L is rotatably connected to the second arm portion 51Le of the first link arm 51L. In this embodiment, when the electric cylinder 53L is fully extended, the machine body 14 and the travel unit 20L are furthest apart (see FIG. 2), and the machine body 10 is located at its uppermost position relative to the travel unit 20L. When the electric cylinder 53L is fully retracted, the machine body 14 and the travel unit 20L are located at their closest position, and the machine body 10 is located at its lowermost position relative to the travel unit 20L (see FIG. 4). In this embodiment, the electric cylinder 53L is used as an example of the actuator, but the actuator may be configured to change the length between the support bracket 55Lc and the second arm portion 51Le. For example, the actuator may be a hydraulic cylinder.

[0030] The movement assist mechanism 55L is a mechanism for assisting the operation when moving the traveling unit 20L relatively away from the machine body 14, i.e., when lifting and moving the machine body 14 relative to the traveling unit 20L. As shown in FIGS. 1 and 3, the movement assist mechanism 55L includes: a holding member 55La having a generally inverted U-shape in top view and fixed to the fourth arm portion 52Le (between the fourth end 52La and the second bent portion 52Lb) of the second link arm 52L; a rod 55Lb fixed to the holding member 55La and extending forward; a support bracket 55Lc supported by the machine body 14; a shaft-shaped member 55Ld rotatably supported by the support bracket 55Lc and having an insertion hole through which the rod 55Lb is inserted; and a spring member 55Le interposed between the holding member 55La and the shaft-shaped member 55Ld to connect them, and through which the rod 55Lb is inserted. The spring member 55Le is configured as a compression spring. When the main body 14 and the running unit 20L are brought closer together, i.e., when the main body 14 is moved downward relative to the running unit 20L, the fourth arm portion 52Le of the second link arm 52L rotates counterclockwise, and the spring member 55Le contracts. On the other hand, when the main body 14 and the running unit 20L are moved away from each other, i.e., when the main body 14 is moved upward relative to the running unit 20L, the fourth arm portion 52Le of the second link arm 52L rotates clockwise. At this time, a force tending to expand is generated in the spring member 55Le, and this force acts as a force to assist the clockwise rotation of the fourth arm portion 52Le. Note that the spring member 55Le is not limited to a compression spring. Any elastic member such as a gas spring or rubber may be used as long as it acts as a force to assist the clockwise rotation of the fourth arm portion 52Le. In this embodiment, the movement assist mechanism 55L may be called an assisting means.

[0031] In this embodiment, an example is shown in which one rear end of the electric cylinder 53L is rotatably connected to the second arm portion 51Le of the first link arm 51L, and the holding member 55La of the movement assistance mechanism 55L is fixed to the fourth arm portion 52Le (between the fourth end portion 52La and the second bend portion 52Lb), but one front end of the electric cylinder 53L may be rotatably connected to the fourth arm portion 52Le of the second link arm 52L, and the holding member 55La of the movement assistance mechanism 55L may be fixed to the second arm portion 51Le (between the second end portion 51La and the first bend portion 51Lb). That is, the electric cylinder 53L is connected to the machine body 14 and either the first link arm 51L or the second link arm 52L so that the first link arm 51L and the second link arm 52L can be rotated, and the movement assistance mechanism 55L (holding member 55La) is connected to the machine body 14 and the other of the first link arm 51L or the second link arm 52L to which the electric cylinder 53L is not connected.

[0032] In this embodiment, a parallel link is formed by the first arm portion 51Ld of the first link arm 51L, the third arm portion 52Ld of the second link arm 52L, the link mounting member 25L, and the machine body 14 (machine body 10). A parallel link is also formed by the second arm portion 51Le of the first link arm 51L, the fourth arm portion 52Le of the second link arm 52L, the plate link 56L, and the machine body 14 (machine body 10). When the electric cylinder 53L is extended, the parallel link rotates clockwise (right), moving the traveling unit 20L away from the machine body 14 (machine body 10). When the electric cylinder 53L is retracted, the parallel link rotates counterclockwise (left), moving the traveling unit 20L closer to the machine body 14 (machine body 10).

[0033] The operation of moving the running units 20L, 20R toward and away from the main body 14 (machine 10) will be described in detail below, but in the mower 100, the electric cylinders 53L and 53R are extended and retracted to independently control and drive the parallel links, thereby enabling the link mechanisms 50L and 50R (running units 20L and 20R) to be driven independently in accordance with the level difference on the ceiling or ground. As a result, when the running unit 20L drops due to unevenness or a step in the ridge, the mower 100 operates the link mechanism 50L to move the main body 14 away from the running unit 20L, thereby moving the main body 14 upward relative to the running unit 20L, and when the running unit 20L rises, the link mechanism 50L is operated to move the main body 14 closer to the running unit 20L, thereby moving the main body 14 downward relative to the running unit 20L, allowing the main body 14 to travel while maintaining a horizontal posture.

[0034] The link mechanism 50L is supported on a link support plate (machine body 10) (not shown) fixed to the machine body 14. The link mechanism 50L is arranged to correspond to the width of the widest mounted object (engine 60 in this embodiment) mounted on the machine body 10 so that the width of the mower 100 is compact, and is installed alongside the mounted object along the side end face of the mounted object. In this case, as shown in FIG. 2 etc., the engine 60 is arranged in a position overlapping with the electric cylinder 53L of the link mechanism 50L in a side view. In this embodiment, however, as shown in FIG. 5, the movement assistance mechanism 55L and the electric cylinder 53L are arranged in this order from the center to the outside, so that the electric cylinder 53L is less susceptible to the effects (of heat, etc.) of the engine 60.

[0035] In the brush mower 100 of this embodiment, the first arm portion 51Ld of the first link arm 51L is longer than the second arm portion 51Le in a side view, but this is not limited to this. The lengths of the first arm portion 51Ld and the second arm portion 51Le can be changed as appropriate, taking into account the force required to lift the traveling portion 20L and the stroke length of the electric cylinder 53L. It is also possible to configure the first arm portion 51Ld to be shorter than the second arm portion 51Le. The intersection angle between the first arm portion 51Ld and the second arm portion 51Le (the angle of the first bent portion 51Lb) can also be changed as appropriate. The lengths of the third arm portion 52Ld and the fourth arm portion 52Le of the second link arm 52L and the angle of the second bent portion 52Lb are also similar to those of the first link arm 51L.

[0036] The explanation will be continued by returning to Figure 1, Figure 2, or Figure 4. As shown in Figure 1, Figure 2, or Figure 4, the control unit 16 is disposed, for example, above and behind the machine body 10, and has the function of controlling the traveling unit 20, the mowing unit 120, and the battery 40. The control unit 16 has, for example, an electronic circuit board equipped with a calculation device, memory, a communication circuit, and the like. For example, the memory stores a control program for controlling each unit of the mower 100, and the calculation device reads the control program from the memory and controls the traveling unit 20, the link mechanisms 50L and 50R, the top surface mowing unit 30, and the slope mowing unit 80 based on the control program. Although not shown in the figure, the main body 14 of the mower 100 is equipped with an IMU (Inertial Measurement Unit) for detecting the attitude of the main body 14, and the control unit 16 controls the drive of the electric cylinders 53L, 53R based on the attitude of the main body 14 detected by the IMU, thereby maintaining the attitude of the main body 14 (machine 10) horizontal.

[0037] The engine 60 is provided above and in front of the machine body 10. The engine 60 functions as a power source for the drive units 33L and 33R that drive the blade units 32L and 32R included in the top surface mowing unit 30, and as a power source for the alternator 70. The power generated by the engine 60 is transmitted to the drive units 33L and 33R and the separately provided alternator 70 via power transmission means (not shown) formed of a belt or the like. The power transmission means includes, for example, a first power transmission means (not shown) for transmitting power to the alternator 70 and a second power transmission means (not shown) for transmitting power to the top surface mowing unit 30.

[0038] The alternator 70 is disposed, for example, above the support plate 15. A belt (not shown) of a first power transmission means is stretched between the alternator 70 and the engine 60. The power of the engine is transmitted to the alternator 70 via the belt, causing the alternator 70 to generate electric power. The alternator 70 supplies the generated electric power to the battery 40 and also functions as a power source for the drive units 83L and 83R that drive the blade units 82L and 82R included in the slope reaping unit 80, and the drive units 54L and 54R that drive the traveling unit 20. The electric power generated by the alternator 70 is supplied to the drive units 83L and 83R, the drive units 54L and 54R, the drive units 33L and 33R, and the battery 40 via a power supply means (not shown) that supplies electric power and / or control signals (electrical signals), such as a wire harness or harness cable.

[0039] The alternator 70 is equipped with a power generation control circuit (not shown) for controlling power generation. The mower 100 is provided with a sensor (not shown) that detects battery voltage, and the power generation control circuit monitors the results detected by the sensor, and the alternator 70 itself controls its power generation state. The power generation control circuit monitors the battery voltage and controls the alternator 70 so that if the battery voltage falls below a predetermined value, it generates power and enters a power supply state, and if the battery voltage exceeds the predetermined value, it stops power supply.

[0040] The battery 40 is disposed, for example, above the machine body 10 and between the engine 60 and the control unit 16. The battery 40 stores the power generated by the alternator 70. The battery 40 functions as a power source that supplies the stored power to the drive units 83L and 83R (see FIG. 1, 2, or 3) that drive the blade units 82L and 82R included in the slope reaping unit 80, and the drive units 54L and 54R (see FIG. 1, 2, or 3) that drive the traveling unit 20 forward and backward. The battery 40 also functions as a power source that supplies the stored power to the electric cylinders 53L and 53R that operate the link mechanisms 50L and 50R that change the vertical positional relationship between the machine body 10 and the traveling unit 20. The electric power stored in the battery 40 is supplied to the drive units 83L and 83R, the drive units 54L and 54R, and the electric cylinders 53L and 53R via a power supply means similar to the alternator 70.

[0041] The brush cutter 100 may include a cover member. The cover member serves to cover and protect the control unit 16, the battery 40, the alternator 70, and the engine 60. The cover member may also be configured to cover parts of the control unit 16, the battery 40, the alternator 70, and the engine 60.

[0042] Next, the mowing unit 120 will be described using Figures 1, 2, 4, and 5. The mowing unit 120 has an upper surface mowing unit 30 provided in front of the traveling unit 20, and a slope mowing unit 80 provided behind the traveling unit 20. In this embodiment, the upper surface mowing unit 30 is disposed in the direction (forward) that the machine body 10 travels, and functions as a mowing unit that mows grass such as weeds that grow on ridges (mowing work). The slope mowing unit 80 is disposed 180 degrees opposite (rearward) from the direction (backward) that the machine body 10 travels, and functions as a mowing unit that mows grass such as weeds that grow on ridges (mowing work). Note that in the mower 100, the slope mowing unit 80 may be provided in front of the traveling unit 20, and the upper surface mowing unit 30 may be provided behind the traveling unit 20. In this case, left and right correspond to left and right when viewed from the front.

[0043] The top surface mowing unit 30 includes a casing 31, two blade units 32L and 32R arranged side by side, and drive units 33L and 33R. The drive units 33L and 33R are connected to the top surface mowing unit mounting units 11L and 11R. The casing 31 covers the top and sides of the blade units 32L and 32R to prevent soil, pebbles, grass, etc. from scattering into the surrounding area. The structures of the blade unit 32L and drive unit 33L are the same as those of the blade unit 32R and drive unit 33R, so the following description will focus on the blade unit 32R and drive unit 33R.

[0044] As shown in Figure 2, 4 or 5, the blade section 32R has multiple mowing blades. The blade section 32R is connected to the rotary shaft of the drive section 33R and rotates by power from the engine 60. The rotation of the rotary shaft of the drive section 33R also rotates the multiple mowing blades, and the blade section 32R is configured to cut grass. The drive section 33R has a second power transmission means (not shown) including a belt (not shown) and transmits power from the engine 60 to the blade section 32R.

[0045] In this embodiment, the blade sections 32L and 32R are provided symmetrically or approximately symmetrically with respect to the center line 110 of the machine body 10, and are arranged out of phase so as not to interfere with each other when stationary. The second power transmission means is designed to transmit the driving force of the engine 60, transmitted via the belt, evenly or approximately evenly to both drive sections 33L and 33R. Therefore, the multiple mowing blades of blade section 32L and the multiple mowing blades of blade section 32R rotate at the same timing and the same speed.

[0046] In the example shown in the mower 100, the engine 60 is used as the power source for rotating the blade portion 32 of the top surface cutting portion 30. However, this is not limited to the example described here, and a motor can also be used as the power source for rotating the blade portions 32L and 32R. In this case, a control unit may be used to independently control the drive units 33L and 33R, and the blade portions 32L and 32R may be independently driven.

[0047] The slope mowing unit 80 includes a pair of left and right slope mowing units 80L and 80R. As shown in Figure 1, the mower 100 has a pair of left and right slope mowing unit mounting portions 12L and 12R, and a pair of left and right angle adjustment mechanisms 130L and 130R. The rear ends of the machine body 14 (machine body 10) of the mower 100 are a rear left end 17L and a rear right end 17R that are positioned symmetrically or approximately symmetrically with respect to the center line 110.

[0048] The left-side slope mowing unit 80L and the right-side slope mowing unit 80R each include casings 81L and 81R, blade units 82L and 82R, drive units 83L and 83R, slope mowing unit supports 89L and 89R, and handles 140L and 140R. Like blade units 32L and 32R of the top surface mowing unit 30, blade units 82L and 82R have multiple mowing blades, and the rotation of blade units 82L and 82R cuts grass growing on the ridges. Note that the structure of the left-side slope mowing unit 80L is similar to that of the right-side slope mowing unit 80R, so the following description will focus on the right-side slope mowing unit 80R.

[0049] The right slope reaping unit 80R is connected to the rear right end 17R via a slope reaping unit mounting portion 12R, an angle adjustment mechanism 130R, and a slope reaping unit support portion 89R.

[0050] The slope cutting unit support 89R is attached to the casing 81R. The casing 81R is connected to the angle adjustment mechanism 130R via the slope cutting unit support 89R. The casing 81R covers the blade unit 82R and, like the casing 31 of the top surface cutting unit 30, prevents soil, pebbles, grass, etc. from scattering into the surrounding area. A handle 140R is attached to the casing 81R. The handle 140R serves as a grip when adjusting the angle of the right slope cutting unit 80R. The drive unit 83R is connected to the blade unit 82R and rotates the blade unit 82R. It has a motor driven by power supplied from the alternator 70 and battery 40. In this embodiment, the casing 81R may be referred to as a cover unit, and the blade unit 82R not covered by the casing 81R faces the ridge 200.

[0051] In the mower 100, the drive units 83L and 83R are independently controlled using the control unit 16. The drive units 83L and 83R supply power supplied from the alternator 70 or the battery 40 to the blade units 82L and 82R.

[0052] The angle adjustment mechanisms 130 (130L and 130R) adjust the positions of the left slope mowing section 80L and the right slope mowing section 80R in advance according to the width of the top surface 201 of the ridge 200, and can independently adjust the angle α between the mowing surface 204L or 204R and the horizontal plane 203 in accordance with the positions of the left slope mowing section 80L and the right slope mowing section 80R (see FIG. 5). Note that the structure of the angle adjustment mechanism 130L is similar to the structure of the angle adjustment mechanism 130R, and therefore the following description will focus on the angle adjustment mechanism 130R using FIG. 5.

[0053] The angle adjustment mechanism 130R includes, for example, a lock plate 131R, a slope mowing unit mounting pin 132R, and an angle adjustment pin 133R. The angle adjustment mechanism 130R is connected between the slope mowing unit mounting part 12R and the slope mowing unit support part 89R using the slope mowing unit mounting pin 132R, and is rotatably coupled to the slope mowing unit mounting part 12R and the slope mowing unit support part 89R. The angle adjustment pin 133R is inserted into an insertion hole formed in the slope mowing unit support part 89R and fixed to the insertion hole. The lock plate 131R has multiple positioning recesses 131Ra (four in this embodiment) that engage with the angle adjustment pins 133R to position and fix the angle of the mowing surface 204R.

[0054] Referring to Figure 5, the angle adjustment operation of the right slope mowing unit 80R using the angle adjustment mechanism 130R will be described. Holding the handle 140R, operate the right slope mowing unit 80R and move it so that the angle adjustment pin 133R disengages from the positioning recess 131Ra. At this time, the slope mowing unit support part 89R rotates together with the angle adjustment pin 133R relative to the slope mowing unit mounting part 12R and the lock plate 131R. By fitting the angle adjustment pin 133R into a positioning recess 131Ra different from the positioning recess 131a into which it was originally fitted, the angle α between the mowing surface 204R and the horizontal plane 203 can be changed.

[0055] In this embodiment, when the angle adjustment pin 133R is fitted into the leftmost positioning recess 131Ra in a rear view of the mower 100 (FIG. 5), the angle α is 90 degrees, i.e., the mowing surface 204R is perpendicular or approximately perpendicular to the horizontal plane 203, and when the angle adjustment pin 133R is fitted into the rightmost positioning recess 131Ra, the angle α is 180 degrees, i.e., the mowing surface 204R is parallel or approximately parallel to the horizontal plane 203. The state in which the angle α is 180 degrees corresponds to the state of the left-side slope mowing unit 80L shown in FIGS. 1, 2, 4, and 5.

[0056] 1, 2, 4, and 5, the mower 100 can perform mowing work by adjusting the angle α between the cutting surfaces 204L and 204R and the horizontal plane 203 asymmetrically (to different angles). Also, although not shown, it is also possible to perform mowing work with the angle α between the cutting surfaces 204L and 204R and the horizontal plane 203 adjusted symmetrically.

[0057] [Example of the operation of moving the aircraft 10 up and down] 3, 6, and 7, the operation of moving the machine body 10 (machine body main body 14) of the mower 100 up and down will be described. Because the structure of the link mechanism 50R is the same as that of the link mechanism 50L, the following will focus on the link mechanism 50L and explain the forward and backward movement (position) of the running unit 20L that accompanies the relative up and down movement of the machine body 10 (machine body main body 14) with respect to the running unit 20L. FIG. 6 is a left side view illustrating the state when the machine body 14 has moved all the way down (to the lowest position) with respect to the left running unit 20L of the mower 100, and FIG. 7 is a left side view illustrating the vertical up and down movement of the machine body 10 with respect to the left running unit 20L of the mower 100 and the resulting forward and backward movement (position) of the machine body 10.

[0058] As described above, the first link arm 51L, the second link arm 52L, the link mounting member 25L, and the machine body 14 form a parallel link. Furthermore, one end of the electric cylinder 53L is fixed to the machine body 14 (support bracket 55Lc), and the other end is connected to the second arm portion 51Le (second end portion 51La) of the first link arm 51L. The spring member 55Le of the movement assistance mechanism 55L has one end fixed to the machine body 14 (support bracket 55Lc), and the other end is connected to the fourth arm portion 52Le of the second link arm 52L. The plate link 56L connects the second arm portion 51Le of the first link arm 51L and the fourth arm portion 52Le of the second link arm 52L.

[0059] FIG. 6 is a diagram showing a state in which the relative positions of the running unit 20L and the machine body 10 are close to each other, and the vertical position of the machine body 10 relative to the running unit 20L is lower than the vertical position of the machine body 10 shown in FIG. 3. Here, the vertical positions of the machine body 10 (based on the running unit 20L) will be described using as examples the state in which the running unit 20L is positioned at the lowest position (lowest limit position) shown in FIG. 6 and the state in which the running unit 20L is positioned at the highest position (upper limit position) shown in FIG. 3. In FIG. 7, the running unit 20L, etc. shown by dotted lines represent the state in which the relative positions of the running unit 20L and the machine body 10 shown in FIG. 6 are closest, i.e., the machine body 10 is at its lowest, and the running unit L, etc. shown by solid lines represent the state in which the relative positions of the running unit 20L and the machine body 10 shown in FIG. 3 are furthest apart, i.e., the machine body 10 is at its highest.

[0060] FIG. 6 is a diagram illustrating the traveling state of the grass mower 100 when there is a protruding step on the left side of the top surface of a ridge. When the grass mower 100 travels over the protruding step on the left side of the top surface of the ridge, the running unit 20L and the machine body 10 tilt upward and to the left. This tilt is detected by the IMU, and in response to the detection result, the control unit 16 sends a control signal to the electric cylinder 53L to move the machine body 10 downward. This causes the electric cylinder 53L to contract, rotating the link mechanism 50L counterclockwise relative to the machine body 10. At this time, the first link arm 51L rotates counterclockwise around the first machine body rotating shaft 62, and the second link arm 52L rotates counterclockwise around the second machine body rotating shaft 72. As a result, the running unit 20L and the machine body 10 approach each other depending on the level of the ridge, and the machine body 10 moves downward.

[0061] FIG. 3 illustrates the traveling state of the grass mower 100 when there is a step in the top surface of a ridge, where the left side of the top surface is concave. When the grass mower 100 travels over the step in the top surface of the ridge, the running unit 20L and the machine body 10 tilt downward to the left. This tilt is detected by the IMU, and in response to the detection result, the control unit 16 sends a control signal to the electric cylinder 53L to move the machine body 10 upward. This causes the electric cylinder 53L to extend, causing the link mechanism 50L to rotate clockwise relative to the machine body 10. At this time, the first link arm 51L rotates clockwise around the first machine body rotating shaft 62, and the second link arm 52L rotates clockwise around the second machine body rotating shaft 72. As a result, the running unit 20L and the machine body 10 move apart depending on the amount of step in the ridge, and the machine body 10 moves upward.

[0062] In this embodiment, the spring member 55Le of the movement assistance mechanism 55L expands and contracts as the second link arm 52L rotates. When the machine body 10 is lowered toward the traveling unit 20L, the link mechanism 50L rotates counterclockwise relative to the machine body 10, causing the fourth arm portion 52Le of the second link arm 52L to contract the spring member 55Le. When the machine body 10 is lifted away from the traveling unit 20L, the force of the contracted spring member 55Le to expand acts as a force to rotate the link mechanism 50L (fourth arm portion 52Le) clockwise. Therefore, when lifting the machine body 10 relative to the traveling unit 20L, the force of the spring member 55Le of the movement assistance mechanism 55L can be used to rotate the link mechanism 50L in addition to the thrust of the electric cylinder 53L, allowing the use of a relatively small (small thrust) electric cylinder 53L.

[0063] When raising the machine body 10 relative to the travel unit 20L, a force in the direction of lifting the machine body 10 against the weight of the machine body 10 and its load is required. In the mower 100 of this embodiment, in addition to the thrust of the electric cylinder 53L, the force of the spring member 55Le of the movement assistance mechanism 55L can also be used as a force in the direction of lifting the machine body 10 (a force that rotates the link mechanism 50L), so a relatively small electric cylinder 53L (with a small thrust) can be used. Furthermore, the extension speed of the electric cylinder 53L may slow depending on the load to be driven by extension, but in the mower 100, the extension of the electric cylinder 53L can be assisted by using the spring member 55Le. As a result, the machine body 10 can be stably maintained in a horizontal position in the mower 100.

[0064] Incidentally, when the link mechanism 50L is rotated to keep the machine body 10 horizontal while it is traveling, the traveling unit 20L also rotates, so that the traveling unit 20L not only moves toward or away from the machine body 10 (moves up and down) relative to the machine body 10, but also changes its position in the front-to-rear direction relative to the machine body 10. The grass mower 100 of this embodiment is remotely operated using a remote controller, but if the (relative) positional relationship between the traveling unit 20L and the machine body 10 changes significantly during operation, the user's sense of operation of the remote controller changes, which could cause the user to feel uncomfortable. Therefore, the grass mower 100 of this embodiment is configured so that the relative front-to-rear position of the traveling unit 20L with respect to the machine body 10 does not change significantly even when the traveling unit 20L is rotated by the link mechanism 50L to control the level of the machine body 10 while it is traveling.

[0065] A specific description will be given using Fig. 7. As shown in Fig. 7, in a side view, in this embodiment, when the machine body 10 is at the lowermost position, the first end 51Lc (first end) of the first arm portion 51Ld is located above a horizontal plane 111 passing through the first machine-side rotating shaft 62, which is the rotation fulcrum of the first link arm 51L (first arm portion 51Ld) relative to the machine body 10. When the machine body 10 is at the uppermost position, the first end 51Lc (first end) of the first arm portion 51Ld is located below the horizontal plane 111. In other words, when the machine body 10 is moved from the lowermost position to the uppermost position, the first machine-side rotating shaft 62 is located between the position where the first end 51Lc is highest and the position where the first end 51Lc is lowest in the height direction. In other words, when the machine body 10 is moved from the lowermost position to the uppermost position, there is a state in which the first arm portion 51Ld is horizontal (parallel to the horizontal plane 111).

[0066] When the machine body 10 is moved from the lower limit position to the upper limit position, if the first end portion 51Lc is above the horizontal plane 111, the running unit 20L moves rearward as the first arm portion 51Ld rotates. Then, when the first arm portion 51Ld becomes horizontal, the running unit 20L is positioned at the rearmost position (with respect to the machine body). Furthermore, if the rotation of the first arm portion 51Ld continues and the first end portion 51Lc is positioned below the horizontal plane 111, the moving direction of the running unit 20L is reversed, and the running unit 20L moves forward as the first arm portion 51Ld rotates.

[0067] In this way, when the first arm unit 51Ld is rotated so as to sandwich the horizontal plane 111, the movement direction of the running unit 20L in the front-to-rear direction can be reversed by sandwiching the horizontal plane 111. In other words, when the first arm unit 51Ld is rotated, the amount of movement of the running unit 20L before and after passing through the horizontal plane 111 can be offset, and the change in the relative front-to-rear position of the running unit 20L with respect to the machine body 10 can be kept small.

[0068] In this embodiment, the angle between the first arm unit 51Ld and the horizontal plane 111 at the uppermost position of the machine body 10 is approximately the same as the angle between the first arm unit 51Ld and the horizontal plane 111 at the lowermost position of the machine body 10. Therefore, as shown in Fig. 7, the front-to-rear position of the traveling unit 20L at the uppermost and lowermost positions of the machine body 10 changes only a small distance (distance D2), and the overall movement amount D3 is also small. Note that when the angle between the first arm unit 51Ld and the horizontal plane 111 at the uppermost position of the machine body 10 is equal to the angle between the first arm unit 51Ld and the horizontal plane 111 at the lowermost position of the machine body 10, the overall front-to-rear movement amount D3 of the traveling unit 20L is smallest, but how these angles are set can be adjusted as appropriate. The angle may be set so that the amount of movement of the running part 20L when the first arm part 51Ld is above the horizontal plane 111 is greater than the amount of movement when the first arm part 51Ld is below the horizontal plane 111, or the angle may be set so that the amount of movement is smaller.

[0069] Here, the function of the plate link 56L will be described. As described above, in the mower 100 of this embodiment, when the machine body 10 is moved from the lower limit position to the upper limit position, there is a state in which the first arm portion 51Ld is parallel to the horizontal plane 111. At this time, the third arm portion 52Ld of the second link arm 52L also becomes parallel to the horizontal plane 111, and the parallel link (first parallel link) formed by the first arm portion 51Ld, the third arm portion 52Ld, the link mounting member 25L, and the machine body 14 (machine body 10) becomes unstable. Therefore, in the brush cutter 100 of this embodiment, the second end 51La (second end) of the second arm portion 51Le of the first link arm 51L and the fourth end 52La (fourth end) of the fourth arm portion 52Le of the second link arm 52L are connected by a plate link 56L, and in the link mechanism 50L, a parallel link (second parallel link) separate from the first parallel link consisting of the second arm portion 51Le, the fourth arm portion 52Le, the plate link 56L and the machine body 14 (machine body 10) is provided.

[0070] When the first arm portion 51Ld and the third arm portion 52Ld become parallel to the horizontal plane 111, the second arm portion 51Le and the fourth arm portion 52Le are not parallel to the horizontal plane 111. Therefore, even if the first arm portion 51Ld and the third arm portion 52Ld become parallel to the horizontal plane 111 and the first parallel link becomes unstable, the second parallel link can maintain stable rotational movement of the link mechanism 50.

[0071] As described above, by being provided with the above-described configuration, the mower 100 according to one embodiment of the present invention can suppress the amount of movement in the front and rear positions that accompanies the vertical lifting and lowering of the traveling units 20L and 20R. As a result, even if the top surface of the ridge is sloped or has a step, the user can operate the mower 100 without feeling uncomfortable with the amount of movement in the front and rear positions that accompanies the vertical lifting and lowering of the traveling units 20L and 20R. Furthermore, even if the top surface of the ridge is sloped or has a step, the mower 100 will not tilt or lose its balance, and can run stably over the ridge to perform mowing work.

[0072] The brush cutter 100 of the present invention has been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiments and can be modified as appropriate without departing from the spirit of the present invention. For example, by changing the layout of the electric cylinder and adjusting the connection position between the electric cylinder and the link mechanism, the first link arm and the second link arm can be made linear rather than L-shaped. Thus, even if a person skilled in the art appropriately adds, deletes, or modifies components based on each embodiment, such modifications are within the scope of the present invention as long as they incorporate the gist of the present invention. Furthermore, the configurations of the above-described embodiments can be appropriately combined as long as there are no mutual contradictions, and technical features common to each embodiment are included in each configuration even if not explicitly stated.

[0073] Even if there are other effects and advantages different from those brought about by the aspects of each of the above-mentioned embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0074] 10: machine body, 11L: top surface mowing unit mounting portion, 11R: top surface mowing unit mounting portion, 12L: slope mowing unit mounting portion, 12R: slope mowing unit mounting portion, 14: machine body, 15: support plate, 16: control unit, 17L: rear left end portion, 17R: rear right end portion, 20L: running unit, 20R: running unit, 21L: crawler belt, 21R: crawler belt, 22L: driving wheel, 22R: driving wheel, 23L: driven wheel, 23R: driven wheel, 24L: crawler frame, 24R: crawler frame, 25L: link mounting member, 25La: first mounting portion, 25Lb: second mounting portion, 25R: link Mounting member, 30: top surface cutting portion, 31: casing, 32: blade portion, 32L: blade portion, 32R: blade portion, 33L: drive portion, 33R: drive portion, 40: battery, 50L: link mechanism, 50R: link mechanism, 51L: first link arm, 51R: first link arm, 51La: second end portion, 51Lb: first bending portion, 51Lc: first end portion, 51Ld: first arm portion, 51Le: second arm portion, 52L: second link arm, 52R: second link arm, 52La: fourth end portion, 52Lb: second bending portion, 52Lc: third end portion, 52Ld: third arm portion, 52Le: fourth arm unit, 53L: electric cylinder, 53R: electric cylinder, 54L: drive unit, 54R: drive unit, 55L: movement assist mechanism, 55La: holding member, 55Lb: rod, 55Lc: support bracket, 55Ld: shaft-shaped member, 55Le: spring member, 56L: plate link, 56R: plate link, 57L: first fixed member, 58L: second fixed member, 60: engine, 61: first running unit side rotating shaft, 62: first machine body side rotating shaft, 70: alternator, 71: second running unit side rotating shaft, 72: second machine body side rotating shaft, 80: slope reaping unit, 80L: left slope reaping unit, 80R: right slope Mowing unit, 81L: casing, 81R: casing, 82L: blade unit, 82R: blade unit, 83L: drive unit, 83R: drive unit, 89L: slope mowing unit support unit, 89R: slope mowing unit support unit, 100: grass mower, 110: center line, 111: horizontal surface, 120: mowing unit, 130: angle adjustment mechanism, 130L: angle adjustment mechanism, 130R: angle adjustment mechanism, 131L: lock plate, 131La: positioning recess, 131R: lock plate, 131Ra: positioning recess, 132L: slope mowing unit mounting pin, 132R: slope mowing unit mounting pin, 133L: angle adjustment pin,133R: Angle adjustment pin, 140L: Handle, 140R: Handle, 200: Ridge, 201: Top surface, 202: Slope, 203: Horizontal surface, 204L: Mowing surface, 204R: Mowing surface,

Claims

1. A grass mower that cuts grass while traveling on a ridge, The aircraft and A running part; A connecting part that is rotatably connected to the machine body and has an end that is rotatably connected to the running part, and moves the running part relative to the machine body, A grass mower in which, when the connecting part is rotated relative to the body, the end part of the connecting part is movable above and below the body.

2. The connecting portion has a first pivot shaft that is rotatably connected to the airframe, The grass mower according to claim 1 , wherein when the connecting portion is rotated relative to the machine body, the first rotation shaft is located between an upper rotation position and a lower rotation position of the end portion of the connecting portion in a height direction.

3. The connecting portion is a first link arm including a first arm portion having one end rotatably connected to the body at the first rotation shaft and the other end rotatably connected to the running unit, and a second link arm including a third arm portion having one end rotatably connected to the body at a second rotation shaft and the other end rotatably connected to the running unit and disposed forward of the first arm portion, the link mechanism moving the running unit relative to the body; Including, the end of the coupling portion is the other end of the first arm portion, The grass mower according to claim 2, wherein when the first arm portion is rotated about the first pivot shaft, the first pivot shaft is located between the upper pivot position and the lower pivot position of the other end of the first arm portion in the height direction.

4. the first link arm has a second arm portion extending in a direction different from the first direction from the one end connected to the first rotation shaft of the first arm portion extending in a first direction, The grass mower according to claim 3 , wherein the second link arm has a fourth arm portion extending in a direction different from the second direction from the one end connected to the second pivot shaft of the third arm portion extending in the second direction.

5. The grass mower according to claim 4 , further comprising a plate link connecting the second arm portion and the fourth arm portion.

6. The grass mower according to any one of claims 3 to 5, further comprising an actuator having one end connected to the body and the other end connected to either the first link arm or the second link arm, the actuator serving as a power source for moving the running part relative to the body via the link mechanism.

7. One end side is connected to the airframe, and the other end side is connected to the first link arm or the second link arm to which the actuator is not connected, The grass mower according to claim 6, further comprising an assisting means for assisting the movement of the traveling part relative to the machine body by the actuator.

8. The actuator is coupled to the first link arm, 8. A grass mower according to claim 7, wherein said auxiliary means is connected to said second link arm.

Images