Mower

Abstract

To provide a mower which stably travels on a ridge and allows a mowing work of a top face and a sloped face of the ridge.SOLUTION: A mower according to one embodiment of the present invention mows while traveling on a ridge, includes: a mowing part having a blade and provided on a front side of a travel part; and a mowing part having a blade and provided on a rear side of the travel part. In a back view, the blade pf the mowing part provided on the front side is aligned in a right-left direction and partly overlapped with the blade of the mowing part provided on a rear side.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a grass mower, and more particularly to a self-propelled grass mower. [Background technology]

[0002] Conventionally, weeds growing on the top of ridges or slopes have been removed periodically using a mower. Patent document 1 describes a robot that is remotely controlled via wireless communication to mow the grass on the ridges. A self-propelled mower that mows the top surface and slopes while traveling is disclosed. The mower described in Patent Document 1 has a horizontal mower blade and an inclined mower blade at the front of the machine body. It is equipped with a horizontal cutting blade that removes weeds growing on the top of the ridges while moving. In addition, the inclined mowing blade can be used to remove weeds and other plants that grow on the slopes of the ridges. [Prior art documents] [Patent documents]

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

[0004] The mower described in Patent Document 1 has a cutting blade at the front of the machine body, so the weight of the machine body is The weight of the blade is concentrated on the front of the machine, which makes it easy to lose balance. A mechanism is needed to ensure the tilt adjustment range of the inclined cutting blade while minimizing interference with the inclined cutting blade. Therefore, the structure of the cutting blade becomes more complicated than the conventional structure, and the weight of the cutting blade is concentrated in the front part of the machine body. As a result, the grass cutter of Patent Document 1 is more susceptible to the There is a risk of losing balance easily during running.

[0005] An object of an embodiment of the present invention is to provide a lawn mower that can run stably on a ridge and perform lawn mowing operations on the top surface and side surfaces of the ridge.

Means for Solving the Problem

[0006] A lawn mower according to an embodiment of the present invention is a lawn mower that mows grass while running on a ridge, and has a cutting part provided in front of the running part and having a blade part, and a cutting part provided behind the running part and having a blade part. It includes a cutting part provided in front of the running part and having a blade part, and a cutting part provided behind the running part and having a blade part.

[0007] In a rear view, the blade part of the cutting part provided in the front and the blade part of the cutting part provided in the rear are provided so as to be arranged in the left-right direction and partially overlap. It may be provided.

[0008] In a rear view, the blade part of the cutting part provided in the front and the blade part of the cutting part provided in the rear are provided so as to be arranged in the left-right direction. When the blade part of the cutting part provided in the front and the blade part of the cutting part provided in the rear are combined, there are at least three blade parts. Among the at least three blade parts, for the two blade parts located at both ends in the left-right direction, the angle of the cutting surface, which is the surface including the trajectory of the blade part cutting the grass, with respect to the horizontal plane can be adjusted independently. It has at least three blade parts, and for the two blade parts located at both ends in the left-right direction among the at least three blade parts, the angle of the cutting surface, which is the surface including the trajectory of the blade part cutting the grass, with respect to the horizontal plane can be adjusted independently. It may be possible.

[0009] Among the at least three blade parts, the remaining blade parts excluding the two blade parts located at both ends in the left-right direction are provided between the two blade parts located at both ends in the left-right direction, and the two blade parts located at both ends in the left-right direction and the remaining blade parts may have a control part that can be driven independently. ​​​​​​​​

[0010] The blade portions of the cutting unit provided at the rear are two blade portions located at both ends in the left - right direction. The blade portions of the cutting unit provided at the front may be the remaining blade portions among the at least three blade portions, excluding the two blade portions located at both ends in the left - right direction.

[0011] It includes a battery and an engine as power sources for driving the blade portions of the cutting unit provided at the front and the blade portions of the cutting unit provided at the rear. The battery may transmit power to either the blade portions of the cutting unit provided at the front or the blade portions of the cutting unit provided at the rear, and the engine may transmit power to the other blade portions.

[0012] It includes a battery and an engine as power sources for driving the blade portions of the cutting unit provided at the front and the blade portions of the cutting unit provided at the rear. In a rear view, the cutting unit provided at the front and the cutting unit provided at the rear are provided side - by - side in the left - right direction. When combining the cutting unit provided at the front and the cutting unit provided at the rear, there are at least three blade portions. For the two blade portions located at both ends in the left - right direction among the at least three blade portions, the angles of the cutting surfaces (the surfaces including the trajectories of the blades cutting grass) with respect to the horizontal plane are each independently adjustable. The two blade portions located at both ends in the left - right direction are either the blade portions of the cutting unit provided at the front or the blade portions of the cutting unit provided at the rear. Among the at least three blade portions, the remaining blade portions excluding the two blade portions located at both ends in the left - right direction are provided between the two blade portions located at both ends in the left - right direction. A cutting part provided on the side, or the other blade part of the cutting part provided at the rear, the front The storage battery supplies power to the blade parts located at both ends in the left-right direction, and the engine May supply power to the remaining blade parts.

[0013] The two blade parts located at both ends in the left-right direction are the blade parts of the cutting part provided at the rear Yes, the remaining blade part is the cutting part provided at the front, and the battery is the It may be provided behind the position where the engine is provided with respect to the traveling direction of the traveling part.

[0014] The fuselage connected to the traveling part, the connecting member that supports the cutting part, and the fuselage Connects the connecting member, and a connecting part that rotatably supports the connecting member in the vertical direction, and the It includes a lower limit restricting part that restricts the lower rotation position of the connecting member with respect to the fuselage.

Effect of the Invention

[0015] According to an embodiment of the present invention, it is possible to provide a lawn mower that can stably travel on a ridge and perform lawn mowing operations on the top surface and slope surface of the ridge. Industry is possible.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0017] Hereinafter, the lawn mower of the present invention will be described with reference to the drawings. However, the lawn mower of the present invention can be implemented in many different ways and should not be construed as being limited to the description of the examples shown below. In the drawings referred to in this embodiment, the same part or the part having the same function is denoted by the same reference numeral or the same reference numeral followed by an alphabet, and the repeated description thereof will be omitted. Further, when the same or similar members are provided at the left and right positions with respect to the traveling direction , L (left member) or R (right member) is attached after the reference numeral of the member. When the left and right members are not particularly distinguished, L and R may be omitted in the description.

[0018] In the specification and claims of the present application, "upper" indicates the direction away from the ridge vertically in the state where the lawn mower is traveling while performing lawn mowing work on the ridge, and "lower" indicates the direction opposite to " upper". Also, for convenience of explanation, "front" indicates the direction in which the upper cutting part is located with respect to the traveling part, and "rear" indicates the direction opposite to " front". Also, "left" or " right" indicates "left" or "right" with respect to the "rear" of the lawn mower.

[0019] In the specification and claims of the present application, the length in the left - right direction of each component part of the lawn mower is referred to as "width". Also, when based on the center line of the lawn mower in plan view (a line parallel to the traveling direction and passing through the center of the lawn mower), relatively, the side closer to the center line is called "inner side", and the side farther from the center line is called "outer side".

[0020] ​​​ <First Embodiment> [Configuration of Lawn Mower 100] The lawn mower 100 of the present embodiment is a self-propelled lawn mower that performs lawn mowing work on ridges while traveling. Specifically, it is a lawn mower that is remotely controlled by a remote controller and travels on the ridge to perform lawn mowing work.

[0021] FIG. 1 is a plan view showing the configuration of the lawn mower 100 of the present embodiment. FIG. 2 is a left side view showing the configuration of the lawn mower 100 of the present embodiment. FIG. 3 is a block diagram for explaining the flow of power of the lawn mower 100 of the present embodiment. FIG. 4 is a rear view showing the configuration of the lawn mower 100 of the present embodiment. FIG. 5 is a rear view showing the configuration of the lawn mower 100 of the present embodiment. In the lawn mower 100 according to the present embodiment shown in FIG. 1, the state of the slope cutting unit 80 is adjusted to a position parallel or substantially parallel to the horizontal plane 203 (see FIG. 4), and the length (width) in the left-right direction is adjusted to the maximum position. In the lawn mower 100 according to the present embodiment shown in FIG. 4, the state of the slope cutting unit 80 is adjusted such that the angle α between the cutting surfaces 204L and 204R and the horizontal plane 203 is adjusted according to the inclination of the slope 202 of the ridge 200.

[0022] As shown in FIG. 1 or FIG. 2, the lawn mower 100 of the present embodiment includes a machine body 10, a traveling unit 20, a top cutting unit 30 and a cutting unit 120 having a slope cutting unit 80, a control unit 40, a link mechanism 50, an engine 60, an alternator 70, and a battery 41, and the driving of each unit is controlled by the control unit 40. Then, while the lawn mower 100 is self-propelled by the traveling unit 20, the top cutting unit 30 and the slope cutting unit 80 are driven and controlled, so that the top surface of the ridge 200 can be mowed in one pass during one travel. ​​​​​​​​​​​​​It has become possible to perform the mowing operation on the lawn surface 201 and the slope surface 202.

[0023] The body 10 is a frame that forms the skeleton of the mower 100. Also, the body 10 includes a support plate 15 that is fixed to the main body 14 of the body and extends forward. Mounting members 11L and 11R for attaching the overhead cutting unit 30 are provided on the support plate 15. Further, a slope cutting unit mounting member 12 for attaching the slope cutting unit 80 is provided behind the main body 14 of the body. The body 10 can be configured using a metal material (for example, steel material, aluminum material), a fiber-reinforced plastic (FRP) material, etc., but is not limited to this example. The body 10 can be configured using a metal material (for example, steel material, aluminum material), a fiber-reinforced plastic (FRP) material, etc., but is not limited to this example. The body 10 can be configured using a metal material (for example, steel material, aluminum material), a fiber-reinforced plastic (FRP) material, etc., but is not limited to this example. Behind the main body 14 of the body, a slope cutting unit mounting member 12 for attaching the slope cutting unit 80 is provided. The body 10 can be configured using a metal material (for example, steel material, aluminum material), a fiber-reinforced plastic (FRP) material, etc., but is not limited to this example. The body 10 can be configured using a metal material (for example, steel material, aluminum material), a fiber-reinforced plastic (FRP) material, etc., but is not limited to this example. The body 10 can be configured using a metal material (for example, steel material, aluminum material), a fiber-reinforced plastic (FRP) material, etc., but is not limited to this example.

[0024] The traveling unit 20 has a pair of left and right crawlers 20L and 20R and functions as the traveling stage of the mower 100. In a rear view, the crawler 20L is the traveling means on the left side facing the traveling direction of the mower 100, and the crawler 20R is the traveling means on the right side. Since the structure of the crawler 20R is the same as that of the crawler 20L, the crawler 20L will be described here. In a rear view, the crawler 20L is the traveling means on the left side facing the traveling direction of the mower 100, and the crawler 20R is the traveling means on the right side. In a rear view, the crawler 20L is the traveling means on the left side facing the traveling direction of the mower 100, and the crawler 20R is the traveling means on the right side. Since the structure of the crawler 20R is the same as that of the crawler 20L, the crawler 20L will be described here. Since the structure of the crawler 20R is the same as that of the crawler 20L, the crawler 20L will be described here.

[0025] As shown in FIG. 2, the crawler 20L includes a crawler belt 21L, a drive wheel 22L, a driven wheel 23L, a crawler frame 24L, and a drive unit 54L. The crawler belt 21L is stretched between the drive wheel 22L and the driven wheel 23L and rotates according to the rotation of the drive wheel 22L. In this embodiment, the crawler belt 21L is composed of an elastic member (specifically, rubber) and has a plurality of lug portions (protrusions). The drive wheel 22L rotates by the power transmitted from the drive unit 54L (FIG. 3). In this embodiment, a motor is used as the drive unit 54L. The crawler belt 21L is stretched between the drive wheel 22L and the driven wheel 23L and rotates according to the rotation of the drive wheel 22L. The crawler belt 21L is stretched between the drive wheel 22L and the driven wheel 23L and rotates according to the rotation of the drive wheel 22L. In this embodiment, the crawler belt 21L is composed of an elastic member (specifically, rubber) and has a plurality of lug portions (protrusions). In this embodiment, the crawler belt 21L is composed of an elastic member (specifically, rubber) and has a plurality of lug portions (protrusions). The drive wheel 22L rotates by the power transmitted from the drive unit 54L (FIG. 3). In this embodiment, a motor is used as the drive unit 54L. The drive unit 54L is driven by the electric power supplied from the alternator 70 and the battery 41. The power generated by the rotation of the drive wheel 22L is transmitted to the driven wheel 23L via the crawler belt 21L. The crawler frame 24L rotatably supports the drive wheel 22L and the driven wheel 23L respectively. respectively.

[0026] The mowing unit 120 includes a top-field mowing unit 30 provided in front of the traveling unit 20, and a slope mowing unit 80 provided behind the traveling unit 20. The slope mowing unit 80 includes a pair of left slope mowing units 80L and right slope mowing units 80R. Although details will be described later, the top-field mowing unit 30 is provided in the direction (front) in which the machine body 10 advances, and functions as a mowing means for mowing weeds and other grasses growing on the ridge (mowing operation). Further, the top-field mowing unit 30 is provided between the left slope mowing unit 80L and the right slope mowing unit 80R in the left-right direction. is provided between the left slope mowing unit 80L and the right slope mowing unit 80R in the left-right direction. is provided between the left slope mowing unit 80L and the right slope mowing unit 80R in the left-right direction. is provided between the left slope mowing unit 80L and the right slope mowing unit 80R in the left-right direction. is provided between the left slope mowing unit 80L and the right slope mowing unit 80R in the left-right direction.

[0027] The control unit 40 is provided above the machine body 10 and has a function of controlling the traveling unit 20, the mowing unit 120, and the battery 41. The control unit 40 has, for example, an electronic circuit board including an arithmetic unit, a memory, and a communication circuit and the like. In the control unit 40 (memory), a control program for variously controlling each part of the mower 100 is stored, and the arithmetic unit reads the control program from the memory, and the control unit 40 is a central part that controls the traveling unit 20, the top-field mowing unit 30, and the slope mowing unit 80 based on the control program. 30 and the slope mowing unit 80 based on the control program.

[0028] The link mechanisms 50L and 50R connect the machine body 10 and the traveling unit 20 and have a function of relatively changing the positional relationship between the machine body 10 and the traveling unit 20. The link mechanism 50L is for mowing The link mechanism on the left side facing the traveling direction of the machine 100 is connected to the crawler 20L. The link mechanism 50R is the link mechanism on the right side and is connected to the crawler 20R.

[0029] The link mechanism 50L includes a link arm 51L, a link arm 52L, and an electric cylinder 53 L. The link mechanism 50R includes a link arm 51R, a link arm 52R, and an electric cylinder 53R. Note that the structure of the link mechanism 50R is the same as that of the link mechanism 50L. Therefore, here, the link mechanism 50L will be described with attention focused on it.

[0030] In the link mechanism 50L, one end of the link arm 51L is rotatably connected to the crawler frame 24L, and the other end is rotatably connected to the electric cylinder 53L. Also, the link arm 51L has a bent portion, and at this bent portion, it is rotatably connected to the body 10. One end of the link arm 52L is connected to the crawler frame 24L, and the other end is connected to the body 10. As a result, a parallel link is formed by the link arm 51L, the link arm 52L, the crawler frame 2 4L, and the body 10. According to the unevenness of the ground, by expanding and contracting the electric cylinder 53L to operate the parallel link, the vertical positional relationship between the body 10 and the traveling unit 20 is changed, and it is configured to be able to travel while keeping the body 10 horizontal.

[0031] As shown in FIG. 2 or FIG. 3, the engine 60 is provided above the body 10 and is the power source for the drive units 33L and 33R that drive the blade portions 32L and 32R included in the top field cutting part 30, and also functions as the power source for the alternator 70. Note that the power generated by the engine 60 is Via power transmission means (not shown) composed of a belt or the like, the driving units 33L and 33R, and also transmitted to an alternator 70 provided separately. The power transmission means includes a first power transmission means for transmitting power to the alternator 70 and a second power transmission means for transmitting power to the field cutting unit 30.

[0032] The alternator 70 is provided above the machine body 10. A belt (not shown) of the first power transmission means is stretched between the alternator 70 and the engine 60. By transmitting the power of the engine via the belt, the alternator 70 generates electric power. The alternator 70 supplies the generated electric power to the battery 41 and functions as a power source for driving units 83L and 83R (FIGS. 1 and 3) including blade parts 82L and 82R included in the slope cutting unit 80, and also driving units 54L and 54R (FIG. 3) for driving the traveling unit 20. Further, the electric power generated by the alternator 70 is supplied to the driving units 83L and 83R, the driving units 54L and 54R, the driving units 33L and 33R via power supply means (not shown) for supplying electric power and / or control signals (electrical signals) called wire harnesses, harness cables, etc., and also to the battery 41. In addition, the alternator 70 is equipped with a power generation control circuit (not shown) for performing power generation control. And the lawn mower 100 is provided with a sensor for detecting the battery voltage, and the power generation control circuit monitors this detection result and controls the power generation state of the alternator 70 itself. That is, the power generation control circuit monitors the battery voltage

[0033] and the alternator 70 controls its own power generation state based on this monitoring result. That is, the power generation control circuit monitors the battery voltage ​​​​​​​It is in a ring shape, and if the battery voltage drops below a predetermined value, it generates power and enters a power supply state. If the battery voltage exceeds the predetermined value, the alternator 70 is controlled to stop power supply. The alternator 70 is controlled so that when the battery voltage exceeds a predetermined value, power supply stops.

[0034] Similar to the alternator 70, the battery 41 is provided above the machine body 10 and behind the engine 60. The battery 41 stores the power generated by the alternator 70. The battery 41 supplies the stored power to drive units 83L and 83R (Figs. 1 and 2) that drive blade parts 82L and 82R included in the slope cutting part 80, and drive units 54L and 54R (Fig. 3) that drive the traveling part 20 forward and backward. Also, the battery 41 functions as a power source for supplying the stored power to electric cylinders 53L and 53R that operate link mechanisms 50L and 50R for changing the vertical positional relationship between the machine body 10 and the traveling part 20. Note that the power stored in the battery 41 is supplied to the drive units 83L and 83R, the drive units 54L and 54R, and the electric cylinders 53L and 53R via the same power supply means as the alternator 70.

[0035] The lawn mower 100 of the present embodiment may include a cover member. The cover member has a role of covering and protecting the battery 41, the control unit 40, the alternator 70, and the engine 60. Also, the cover member may be configured to cover a part of the battery 41, the control unit 40, the alternator 70, and the engine 60.

[0036] As shown in Fig. 1, the lawn mower 100 according to the present embodiment includes a front field cutting part 30 in front of the machine body 10, and a right slope cutting part 80R and a left slope cutting part 80L behind the machine body 10. It is provided symmetrically with respect to the center line 110. Also, in a rear view, the top field cutting part 30 is arranged to be located between the right side slope cutting part 80R and the left side slope cutting part 80L, and the top field cutting part 30, the right side slope cutting part 80R, and the left side slope cutting part 80L form a triangle so as to be arranged. Therefore, the weight of the cutting part 120 does not concentrate forward like that of a conventional lawn mower . Also, above the body 10, the control part 40, the alternator 70, and the engine 60 are arranged on the center line 110. With such a configuration, in the lawn mower 100 according to the present embodiment , it is suppressed that the weight of the lawn mower 100 is biased to a specific position of the lawn mower 100 , and it is difficult to lose balance during traveling. Therefore, the lawn mower 100 according to the present embodiment can travel stably on the ridge, and can perform lawn cutting work on the top surface and side slopes of the ridge .

[0037] Also, since the lawn mower 100 according to the present embodiment provides the top field cutting part 30 in front of the traveling part 20 , it is possible to cut the grass before the traveling part 20 flattens the grass growing on the top surface 201, and the finish of the ridge after lawn cutting becomes good. From the viewpoint of dispersing the weight of the cutting part 120 , the arrangement of the top field cutting part 30 and the side slope cutting part 80 is not limited to the arrangement of the present embodiment, and it is also possible to provide the side slope cutting part 80 in front of the traveling part 20 and provide the top field cutting part 30 behind the traveling part 20 . .

[0038] [Configuration of the top field cutting part 30] Hereinafter, with reference to FIGS. 1, 2, 4, and 5, the configuration of the top field cutting part 30 and the side slope cutting part 80 will be described in detail. First, the configuration of the top field cutting part 30 will be described. The top field mowing unit 30 is supported so as to be suspended from the support plate 15 via the attachment member 11. The top field mowing unit 30 is provided forward with respect to the traveling unit 20 and is configured to be able to mow weeds and the like growing on the top surface of the ridge.

[0039] As shown in FIG. 1 or FIG. 2, the top field mowing unit 30 includes a casing 31, two blade parts 32L and 32R arranged side by side on the left and right, and drive parts 33L and 33R. The casing 31 covers the upper and side portions of the blade parts 32L and 32R to prevent scattering to the surroundings such as soil, small stones, and grass. Note that since the structures of the blade part 32R and the drive part 33R are the same as the structures of the blade part 32L and the drive part 33L, the description will focus on the blade part 32L and the drive part 33L here. The blade part 32L has a plurality of grass cutting blades 32La and a blade mounting part 32Lb for mounting the plurality of grass cutting blades 32La. The blade mounting part 32Lb is connected to the rotation shaft 32Lc of the drive part 33L and rotates by the power from the engine 60. Due to the rotation of the blade mounting part 32Lb, the plurality of grass cutting blades 32La also rotate, and the blade part 32L is configured to mow grass. The drive part 33L has a second power transmission means (not shown) including a belt (not shown), and transmits the power from the engine 60 to the plurality of grass cutting blades 32La via the blade mounting part 32Lb. Note that an (electric) clutch (not shown) is incorporated in the second power transmission means, and the control unit 40 controls the clutch so that it can be configured to control whether to transmit the power of the engine 60 to the top field mowing unit 30 or not. In this embodiment, the second power transmission means branches the rotational force of the belt and transmits it to both the drive parts 33L and 33R through a plurality of gears (FIG. not shown). ​​​​​​It has (illustrations omitted). The driving force of the engine 60 transmitted via the belt is designed to be transmitted (substantially) equally to both of the drive units 33L and 33R. Thus, a plurality of grass cutting blades 32La of the blade part 32L and a plurality of grass cutting blades 32R a of the blade part 32R rotate at the same timing and at the same speed.

[0040] In the lawn mower 100 according to the present embodiment shown in FIG. 1, the blade parts 32L and 32R are the top surface 201 (FIG. 4). The width (cutting width) capable of cutting the grass growing on it is the cutting width W1, and the width between the left end of the crawler belt 2 1L and the right end of the crawler belt 21R (crawler width) is the crawler width W 2. In the present embodiment, the cutting width W1 is configured to be larger than the crawler width W2, and since the blade parts 32L and 32R cut the grass before the crawlers 20 L and 20R flatten the grass, it is possible to prevent the grass from being left uncut due to the flattening of the grass by the crawlers 20L and 20R.

[0041] As shown in FIG. 1, the blade parts 32L and 32R are provided symmetrically or substantially symmetrically with respect to the center line 110 of the machine body 10, left and right. Also, the rotational trajectories of the plurality of grass cutting blades of the blade part 32L and the plurality of grass cutting blades of 32R are provided so as to partially overlap. Further, the positions of the plurality of grass cutting blades constituting the blade parts 32L and 32 R are displaced from each other without contacting each other when at rest. As a result, the lawn mower 100 according to the present embodiment can cut the grass growing on the top surface 201 of the ridge 200 without leaving any grass uncut. In the present embodiment, the rotational trajectory means the trajectory drawn by the tip of the outermost grass cutting blade when the grass cutting blade constituting the blade part rotates about the rotation axis. For example, the rotational trajectory means the grass cutting blade 32La constituting the blade part 32L rotates and the tip of the outermost grass cutting blade draws a trajectory. When the grass cutting blade constituting the blade part rotates about the rotation axis, it is the trajectory drawn by the tip of the outermost grass cutting blade. For example, the rotational trajectory is the one where the grass cutting blade 32La constituting the blade part 32L rotates The locus traced by the tip of the outermost grass cutting blade 32La when rotating about the shaft 32Lc .

[0042] In the lawn mower 100 according to the present embodiment, the blade portions 32L and 32R are arranged with a phase shift so as not to interfere with each other . The second power transmission means branches the power from the engine 60 and drives the blade portions 32L and 32R via the drive portions 33L and 33R at the same timing and at the same speed. When the rotating shaft of the engine 60 rotates, the rotating shafts 32Lc and 32Rc of the drive portions 33L and 33R rotate via the second power transmission means, and the blade portions 32L and 32R connected to the drive portions 33L and 33R also rotate. As a result, the blade portions 32 L and 32R can cut the grass growing on the top surface 201. Since the output of the engine 60 is relatively large, the engine 60 can stably transmit power to the drive portions 33L and 33R. As a result, the drive portions 33L and 33R stably transmit power to the blade portions 32L and 32R, and the blade portions 32L and 32R can cut the grass growing on the top surface 201 of the ridge 200 without leaving any grass uncut. Thus, the lawn mower 100 according to the present embodiment can perform stable grass cutting work . . . As a result, the drive portions 33L and 33R stably transmit power to the blade portions 32L and 32R, and the blade portions 32L and 32R can cut the grass growing on the top surface 201 of the ridge 200 without leaving any grass uncut. Thus, the lawn mower 100 according to the present embodiment can perform stable grass cutting work . . The lawn mower 100 according to the present embodiment can perform stable grass cutting work

[0043] In the lawn mower 100 according to the present embodiment, an example of using the engine 60 as a power source for rotating the blade portion 32 of the top field cutting portion 30 has been shown. However, not limited to the example described here , it is also possible to use a motor as a power source for rotating the blade portions 32L and 32R . In this case, the drive portions 33L and 33R may be independently controlled using the control unit 40, and the blade portions 32L and 32R may be independently driven .

[0044] In the lawn mower 100 according to this embodiment, the blade portions 32L and 32R of the top field cutting portion 30 are shown as an example composed of a plurality of rotating lawn mowing blades 32La and 32Ra. However, not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. The example in which the blade portions 32L and 32R are composed of a plurality of rotating lawn mowing blades 32La and 32Ra is shown. However, not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. Not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. Not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. Not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. Not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. Not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper. Not limited to the example described here, the blade portions 32L and 32R are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades, with the mountain-shaped blades of the blade-shaped members shifted. One of the two blade-shaped members moves to the left and then to the right, and the other moves to the right and then to the left (that is, they move in different directions from left to right) repeatedly, or the two blade-shaped members may rotate in different rotational directions to enable the lawn mower 100 to have a function of mowing grass. In this case, the blade portions 32L and 32R are, for example, blade portions similar to those provided in a clipper.

[0045] [Configuration of the slope cutting portion 80] Next, the configuration of the slope cutting portion 80 will be described in detail. As shown in FIG. 1 or FIG. 2, behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge. Behind the machine body 10, a slope cutting portion attachment member 12 is fixed at a position passing through the center line 110, and the slope cutting portion 80 is supported by the machine body main body 14 via the slope cutting portion attachment member 12. The slope cutting portion 80 includes a pair of left and right left slope cutting portions 80L and right slope cutting portions 80R. Although details will be described later, the left slope cutting portion 80L and the right slope cutting portion 80R are configured such that a plurality of lawn mowing blades can be adjusted in angle to an angle corresponding to the slope of the slope from a horizontal state, so that they can mow grass such as weeds growing on the top surface or slope of the ridge.

[0046] As shown in FIG. 1, FIG. 2, or FIG. 4, the slope cutting portion 80 includes a connecting member 88 connected to the machine body main body 14, a connecting member 90 rotatably supported by the connecting member 88, and a left and right extension from the connecting member 90. As shown in FIG. 1, FIG. 2, or FIG. 4, the slope cutting portion 80 includes a connecting member 88 connected to the machine body main body 14, a connecting member 90 rotatably supported by the connecting member 88, and a left and right extension from the connecting member 90. A pair of left and right support members 86L and 86R are extended and supported by a connecting member 90, each of which has a blade portion A pair of left and right slope reaping units 80L and 80R, The surface (cutting surface) 204L includes the path of the blade of the right slope cutting part 80L and the blade of the right slope cutting part 80R cutting the grass. or 204R and a pair of angle adjustment mechanisms 130L and 130R for adjusting the angle between the horizontal plane 203 and the horizontal plane 203. In this embodiment, the cutting surface 204L or 204R has a slope cutting section. 80 (blade 82L of left slope reaping part 80L and blade 82R of right slope reaping part 80R) is a surface including the path of grass cutting. For example, in the case of a rotating blade as in this embodiment, the cutting surface 204L or 204R is a surface including the rotation path of the blade, and is similar to the above-mentioned clippers. In the case of a blade unit including two blade-shaped members that reciprocate in different left and right directions, the cutting surface 204L or 204R is a plane including the movement locus of the blade moving in the left and right direction.

[0047] As shown in FIG. 2, the connecting member 88 is connected to the left slope cutting unit 80L and the right slope cutting unit 80R via a connecting member 90. The front part of the connecting member 88 supports the right slope cutting part 80R. The connecting member 88 is configured to be insertable into and detachable from the reaping unit attachment member 12. The protrusion 88a is provided with an insertion hole through which the pin-shaped member 88b is inserted. The pin-shaped member 88b is inserted into the insertion hole and an insertion hole formed in the arm portion 90b. The protrusion 88a is inserted through the pin-shaped member 88b, and the protrusion 88a rotates around the center point of the pin-shaped member 88b (the center axis is the rotation axis). The connecting member 90 (arm portion 90b) is supported so as to be freely rotatable. In this embodiment, the linking member 90 is supported rotatably relative to the connecting member 88 (the protrusion 88a). By configuring the slope reaping unit 80 to move upward to avoid an obstacle, The rear end 88c of the protrusion 88a serves as a member for limiting the lower limit position of the connecting member 90. That is, the rear end 88c of the protrusion 88a is connected to the engaging portion 88b of the connecting member 90. The connecting member 90 is configured to abut against the connecting member 90a and restrict downward rotation of the connecting member 90. In this specification, the rear end 88c of the protrusion 88a is referred to as the lower limit portion.

[0048] As shown in FIG. 1, 2 or 4, the connecting member 90 is an axle having a pin-shaped member 88b. and a support member 86L and a support member 86R are attached to the arm portion 90b and the support member 86R. The arm portion 90b has a mounting member 90c for mounting the arm portion 90b. A member 90a is provided in a protruding position.

[0049] As shown in FIG. 4, the angle adjustment mechanism 130 (130L and 130R) is and the left slope reaping part 80L, and the support member 86R and the right slope reaping part 80R are connected. The structure of the angle adjustment mechanism 130R is the same as the structure of the angle adjustment mechanism 130L. Here, the angle adjustment mechanism 130L will be described. The cutting edge 82L included in the cutting part 80L is adjusted from a horizontal state to an angle that matches the inclination of the slope. The left slope reaping part 80L has a function of reaping the slope. The angle adjustment mechanism 130L is configured to adjust the angle of the blade portion 82L by rotating the blade portion 82L. A lock plate 84L, a cam portion 87L, a support member 89L connected to the cam portion 87L, and A spring 97L is included connected between the lock plate 84L and the left slope cutting portion 80L.

[0050] As shown in FIGS. 1 and 4, the left side surface cutting unit 80L and the right side surface cutting unit 80R are respectively composed of casings 81L and 81R, blade parts 82L and 82R, and drive parts 83L and 83R. In the lawn mower 100 according to the present embodiment, the control unit 40 is used to independently control the drive parts 83L and 83R and independently drive the blade parts 82L and 82R. The blade parts 82L and 82R are parts composed of a plurality of lawn mowing blades 82La and 82Ra, blade mounting parts 82Lb and 82Rb, and rotating shafts 82Lc and 82Rc, and the lawn mowing blades 82La and 82Ra rotate to mow the grass growing on the ridge. Further, the blade parts 82L and 82R are similar to the blade parts 32L and 32R of the top field cutting unit 30, and are formed by overlapping two blade-shaped members each having a plurality of mountain-shaped blades of the blade-shaped members with the mountain-shaped blades shifted, and the two blade-shaped members reciprocate left and right differently from each other, or the two blade-shaped members rotate in different rotational directions from each other, so that the lawn mower 100 may have a function of mowing grass. Note that since the structure of the right side surface cutting unit 80R is the same as that of the left side surface cutting unit 80L, the left side

[0051] The casing 81L is connected to the lock plate 84L via the spring 97L and is connected to the cam part 87L via the support member 89L. As a result, the left side surface cutting unit 80L is supported by the support member 86L. Further, as shown in FIG. 2, in the left side surface cutting unit 80L, the casing 81L covers the blade part 82L and, like the casing 31 of the top field cutting unit 30, prevents scattering to the surroundings such as soil, small stones, and grass. Note that the lock plate 8 One end of a spring 97L that is passed between it and 4L is connected. Also, the casing 81L is provided with a pair of support members 89L that are connected to the cam portion 87L. Also, the casing 81L is provided with a handle 140L that serves as a gripping portion when adjusting the angle of the left side slope mowing portion 80L The drive unit 83L is a part for rotating the blade portion 82L and has a motor that is driven by the power supplied from the alternator 70 and the battery 41 .

[0052] In the lawn mower 100 according to the present embodiment, the control unit 40 is used to independently control the drive units 83L and 83R and independently drive the blade portions 82L and 82R. The drive units 83L and 83R supply the electric power supplied from the alternator 70 or the battery 41 to the blade portions 82L and 8 2R. In this embodiment, when driving the blade portions 82L and 82R, normally in the case (when the battery voltage is equal to or higher than a predetermined value), the alternator 70 is in a state where power generation (power supply) is stopped and only the power from the battery 41 is supplied to the blade portions 82L and 82R . On the other hand, when the power supply from the battery 41 is insufficient (when the battery voltage is lower than a predetermined value), the alternator 70 generates power and enters a power supply state, and in addition to the power supply from the battery 41 the power generated by the alternator 70 is also supplied to the blade portions 82L and 82R .

[0053] The battery 41 and the drive units 83L and 83R, and the alternator 70 and the drive units 83L and 83R are connected by, for example, a wire harness. As described above, the left side slope mowing portion 80L and the right side slope mowing portion 80R are provided with angle adjustment mechanisms 130L, 130R It is provided and configured such that the positions of the drive units 83L and 83R change, but the grass The lawn mower 100 uses the battery 41 or the alternator 70 as the power source for the blade units 82L and 82R and the drive units 83L and 83R, and connects the drive units 83L and 83R to the battery 41 or the alternator 70 with a wire harness, and can transmit the power for rotating the blade units 82L and 82R to the blade units 82L and 82R using the wire harness. That is, the lawn mower 100 does not require the power transmission means that would be necessary if the power source were an engine, and can supply power (with a simple configuration) to the left side slope cutting unit 80L and the right side slope cutting unit 80R where the positions of the drive units 83L and 83R change.

[0054] [Drive of the rooftop cutting unit 30 and the slope cutting unit 80] Using FIGS. 1 to 4, the drive method of the rooftop cutting unit 30 and the slope cutting unit 80 will be described.

[0055] The control unit 40 executes control based on a signal acquired from a remote controller (not shown) in accordance with a control program stored in the control unit 40, and controls each part. Further, the control unit 40 also has a function of executing various controls such as control based on signals acquired from various sensors (not shown) provided in the lawn mower 100, position control using GNSS (Global Navigation Satellite System), and control based on commands acquired from a server or the like.

[0056] First, an example of driving both the rooftop cutting unit 30 and the slope cutting unit 80 will be described. For example, the control unit 40 receives from a remote controller (not shown) the rooftop cutting unit 30 and the slope ​​​​​​​​​​Drives both the cutting unit 80 and performs the operation of cutting the grass growing on the top surface 201 (FIG. 4) of the ridge 200 (FIG. 4), and the grass growing on the side surface 202 (FIG. 4) of the ridge 200, and receives the first work signal for performing the cutting operation. To do.

[0057] Based on the first work signal, the control unit 40 operates the engine 60. The lawn mower 100 before receiving the first work signal has a second power transmission means for transmitting power to the top field cutting unit 30. The clutch is in a disengaged state, but when the control unit 40 receives the first work signal and after the engine 60 operates, when it receives a clutch control signal by a user's remote controller operation or the like, it switches and controls the clutch so as to change from the disengaged state to the engaged state. By this, the power of the engine is transmitted to the drive units 33L and 33R of the top field cutting unit 30, and the blade parts 32L and 32R of the top field cutting unit 30 rotate. The drive units 83L and 83R of the side surface cutting unit 80 are controlled by the control unit 40 so as to start driving when receiving both cutting unit drive control signals by a user's remote controller operation or the like after receiving the first work signal and after the engine 60 operates. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. The clutch is in a disengaged state, but when the control unit 40 receives the first work signal and after the engine 60 operates, when it receives a clutch control signal by a user's remote controller operation or the like, it switches and controls the clutch so as to change from the disengaged state to the engaged state. By this, the power of the engine is transmitted to the drive units 33L and 33R of the top field cutting unit 30, and the blade parts 32L and 32R of the top field cutting unit 30 rotate. The drive units 83L and 83R of the side surface cutting unit 80 are controlled by the control unit 40 so as to start driving when receiving both cutting unit drive control signals by a user's remote controller operation or the like after receiving the first work signal and after the engine 60 operates. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After receiving the first work signal and after the engine 60 operates, when it receives a clutch control signal by a user's remote controller operation or the like, it switches and controls the clutch so as to change from the disengaged state to the engaged state. By this, the power of the engine is transmitted to the drive units 33L and 33R of the top field cutting unit 30, and the blade parts 32L and 32R of the top field cutting unit 30 rotate. The drive units 83L and 83R of the side surface cutting unit 80 are controlled by the control unit 40 so as to start driving when receiving both cutting unit drive control signals by a user's remote controller operation or the like after receiving the first work signal and after the engine 60 operates. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After receiving the first work signal and after the engine 60 operates, when it receives a clutch control signal by a user's remote controller operation or the like, it switches and controls the clutch so as to change from the disengaged state to the engaged state. By this, the power of the engine is transmitted to the drive units 33L and 33R of the top field cutting unit 30, and the blade parts 32L and 32R of the top field cutting unit 30 rotate. The drive units 83L and 83R of the side surface cutting unit 80 are controlled by the control unit 40 so as to start driving when receiving both cutting unit drive control signals by a user's remote controller operation or the like after receiving the first work signal and after the engine 60 operates. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. By this, the power of the engine is transmitted to the drive units 33L and 33R of the top field cutting unit 30, and the blade parts 32L and 32R of the top field cutting unit 30 rotate. The drive units 83L and 83R of the side surface cutting unit 80 are controlled by the control unit 40 so as to start driving when receiving both cutting unit drive control signals by a user's remote controller operation or the like after receiving the first work signal and after the engine 60 operates. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. The drive units 83L and 83R of the side surface cutting unit 80 are controlled by the control unit 40 so as to start driving when receiving both cutting unit drive control signals by a user's remote controller operation or the like after receiving the first work signal and after the engine 60 operates. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After receiving the first work signal and after the engine 60 operates, when receiving both cutting unit drive control signals by a user's remote controller operation or the like, the drive units 83L and 83R of the side surface cutting unit 80 start driving under the control of the control unit 40. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After receiving the first work signal and after the engine 60 operates, when receiving both cutting unit drive control signals by a user's remote controller operation or the like, the drive units 83L and 83R of the side surface cutting unit 80 start driving under the control of the control unit 40. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After receiving the first work signal and after the engine 60 operates, when receiving both cutting unit drive control signals by a user's remote controller operation or the like, the drive units 83L and 83R of the side surface cutting unit 80 start driving under the control of the control unit 40. Similarly, when receiving a travel control signal by a user's remote controller operation or the like after the engine 60 operates, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After the engine 60 operates, when receiving a travel control signal by a user's remote controller operation or the like, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. After the engine 60 operates, when receiving a travel control signal by a user's remote controller operation or the like, the control unit 40 starts driving the drive units 54L and 54R of the travel unit 20 and the electric cylinders 53L and 53R of the travel unit 20, and controls these operations according to a predetermined program. Start and control these operations according to a predetermined program.

[0058] Also, when receiving the first work signal and the engine operates, the power generation control circuit of the alternator 70 starts monitoring the battery voltage. Then, when the battery voltage is equal to or higher than a predetermined value, power generation is not performed, and when the battery voltage is lower than the predetermined value, power generation is performed. When receiving the first work signal and the engine operates, the power generation control circuit of the alternator 70 starts monitoring the battery voltage. Then, when the battery voltage is equal to or higher than a predetermined value, power generation is not performed, and when the battery voltage is lower than the predetermined value, power generation is performed. When receiving the first work signal and the engine operates, the power generation control circuit of the alternator 70 starts monitoring the battery voltage. Then, when the battery voltage is equal to or higher than a predetermined value, power generation is not performed, and when the battery voltage is lower than the predetermined value, power generation is performed. control the power generation state of the alternator 70 as described above.

[0059] The power generated by the alternator 70 is supplied to the drive units 83L and 83R of the slope cutting unit 80, and is supplied to the drive units 54L and 54R of the traveling unit 20, and the remaining power that is not supplied to these is supplied to and stored in the battery 41. That is, the alternator 70 functions as an auxiliary power source when the battery voltage drops with respect to the drive units 83L and 83R of the slope cutting unit 80 and the drive units 54L and 54R of the traveling unit 20.

[0060] As a result, while the lawn mower 100 travels while maintaining the level of the machine body 10, it cuts the grass growing on the top surface 201 of the ridge 200 using the blade portions 32L and 32R, and can cut the grass growing on the slope surface 202 of the ridge 200 using the blade portions 82L and 82R. In this embodiment, even when the battery voltage drops, by supplying power from the alternator 70 to the drive units 83L and 83R of the slope cutting unit 80 and the drive units 54L and 54R of the traveling unit 20, these can be stably driven, so it is possible to cut the grass without leaving any uncut grass while the lawn mower 100 is traveling.

[0061] Next, an example of driving the top field cutting unit 30 and either the left slope cutting unit 80L or the right slope cutting unit 80R will be described. For example, the control unit 40 receives a second operation signal from a remote controller (not shown) to drive the top field cutting unit 30 and either the left slope cutting unit 80L or the right slope cutting unit 80R, and performs an operation of cutting the grass growing on the top surface 201 (FIG. 4) of the ridge 200 and the grass growing on either the right or left slope surface 202 (FIG. 4) of the ridge 200.

[0062] Based on the second operation signal, the control unit 40 operates the engine 60. Regarding the driving of the top field cutting unit 30 , the driving of the traveling unit 20, and the power generation control of the alternator 70, it is the same as when the above-mentioned first operation signal is received, so detailed description is omitted. Here, as an example, an example of driving the left side slope cutting unit 80L will be described.

[0063] After receiving the second operation signal and driving the engine 60, when the control unit 40 receives a left cutting unit driving control signal through the user's remote controller operation or the like, the driving unit 83R of the right side slope cutting unit 8 0R is not driven, and only the driving unit 83L of the left side slope cutting unit 80L is driven to start. During the driving of the driving unit 83L of the left side slope cutting unit 80L, when the battery voltage falls below a predetermined value, the alternator 70 starts power supply, and power is also supplied to the driving unit 83L from the alternator 70.

[0064] Thereby, while the lawn mower 100 travels by the traveling unit 20, using the blade parts 32L and 32 R, it cuts the grass growing on the top surface 201 of the ridge 200, and at the same time, using the blade part 82L (or the blade part 82 R), it can cut the grass growing on the left side (or right side) slope 202 of the ridge 200.

[0065] Next, an example of driving only the top field cutting unit 30 will be described. For example, the control unit 40, through the user's remote controller operation or the like, among the top field cutting unit 30 and the slope cutting unit 80, drives only the top field cutting unit 30 and executes an operation of cutting the grass growing on the top surface 201 (FIG. 4) of the ridge 200 when receiving a third operation signal. Based on the third operation signal, the control unit 40 drives the engine 6 ​​Operate 0. After the operation of the engine 60, when the control unit 40 receives a slope cutting part drive control signal by a user's remote control operation or the like, it controls to start driving the drive parts 33L and 33R of the top field cutting part 30 without driving the slope cutting part 80. Regarding the driving of the top field cutting part 30, the driving of the traveling part 20, and the power generation control of the alternator 70, it is the same as the driving based on the above-described first operation signal. When the control unit 40 receives a slope cutting part drive control signal by a user's remote control operation or the like, it controls to start driving the drive parts 33L and 33R of the top field cutting part 30 without driving the slope cutting part 80. Regarding the driving of the top field cutting part 30, the driving of the traveling part 20, and the power generation control of the alternator 70, it is the same as the driving based on the above-described first operation signal. Regarding the driving of the top field cutting part 30, the driving of the traveling part 20, and the power generation control of the alternator 70, it is the same as the driving based on the above-described first operation signal. Regarding the driving of the top field cutting part 30, the driving of the traveling part 20, and the power generation control of the alternator 70, it is the same as the driving based on the above-described first operation signal.

[0066] When only the top field cutting part 30 is driven, after receiving the third operation signal, the control unit 40 does not receive a drive control signal for driving the drive part of the slope cutting part 80. Therefore, the control unit 40 controls so that power is not supplied from the battery 41 and the alternator 70 to the drive parts 83L and 83R of the slope cutting part 80 even if the engine 60 is driven after receiving the third operation signal, and does not drive the drive parts 83L and 83R of the slope cutting part 80. When only the top field cutting part 30 is driven, after receiving the third operation signal, the control unit 40 does not receive a drive control signal for driving the drive part of the slope cutting part 80. Therefore, the control unit 40 controls so that power is not supplied from the battery 41 and the alternator 70 to the drive parts 83L and 83R of the slope cutting part 80 even if the engine 60 is driven after receiving the third operation signal, and does not drive the drive parts 83L and 83R of the slope cutting part 80. When only the top field cutting part 30 is driven, after receiving the third operation signal, the control unit 40 does not receive a drive control signal for driving the drive part of the slope cutting part 80. Therefore, the control unit 40 controls so that power is not supplied from the battery 41 and the alternator 70 to the drive parts 83L and 83R of the slope cutting part 80 even if the engine 60 is driven after receiving the third operation signal, and does not drive the drive parts 83L and 83R of the slope cutting part 80. When only the top field cutting part 30 is driven, after receiving the third operation signal, the control unit 40 does not receive a drive control signal for driving the drive part of the slope cutting part 80. Therefore, the control unit 40 controls so that power is not supplied from the battery 41 and the alternator 70 to the drive parts 83L and 83R of the slope cutting part 80 even if the engine 60 is driven after receiving the third operation signal, and does not drive the drive parts 83L and 83R of the slope cutting part 80. When the battery voltage falls below a predetermined value and power generation is performed by the alternator 70, the power of the alternator 70 is not supplied to the drive parts 83L and 83R of the slope cutting part 80, but is supplied to the drive parts 54L and 54R of the traveling part 20, and the remaining power is stored in the battery 41. When the battery voltage falls below a predetermined value and power generation is performed by the alternator 70, the power of the alternator 70 is not supplied to the drive parts 83L and 83R of the slope cutting part 80, but is supplied to the drive parts 54L and 54R of the traveling part 20, and the remaining power is stored in the battery 41. When the battery voltage falls below a predetermined value and power generation is performed by the alternator 70, the power of the alternator 70 is not supplied to the drive parts 83L and 83R of the slope cutting part 80, but is supplied to the drive parts 54L and 54R of the traveling part 20, and the remaining power is stored in the battery 41. .

[0067] Thereby, the lawn mower 100 can drive the blade parts 32L and 32R without driving the drive parts 83L and 83R, and can mow the grass growing on the top surface 201 of the ridge 200 using the blade parts 32L and 32R. Thereby, the lawn mower 100 can drive the blade parts 32L and 32R without driving the drive parts 83L and 83R, and can mow the grass growing on the top surface 201 of the ridge 200 using the blade parts 32L and 32R. Thereby, the lawn mower 100 can drive the blade parts 32L and 32R without driving the drive parts 83L and 83R, and can mow the grass growing on the top surface 201 of the ridge 200 using the blade parts 32L and 32R.

[0068] Next, an example of driving only the slope cutting part 80 without driving the top field cutting part 30 will be described. In this case, for example, the control unit 40 receives a slope cutting operation signal from a remote controller (not shown). Execute the fourth operation of driving only the ridge portion 80 and mowing the grass growing on the side surface 202 of the ridge 200. Receive the operation signal.

[0069] Based on the fourth operation signal, the control unit 40 operates the engine 60. Then, when the control unit 40 receives a drive control signal for driving the drive unit of the side surface mowing unit 80, it starts driving the drive unit of the side surface mowing unit 80, and when it receives a travel control signal for driving the travel unit 20, it starts driving the drive units 54L and 54R, and the electric cylinders 53L and 53R. At this time, since the control unit 40 does not receive a clutch control signal, the clutch in the second power transmission stage is maintained in the disengaged state, and the power from the engine 60 is controlled so as not to be transmitted to the driving units 33L and 33R of the top field mowing unit 30. Therefore, the power of the engine 60 is not transmitted to the driving units 33L and 33R, and the blade parts 32L and 32R of the top field mowing unit 30 do not rotate. The power of the engine 60 is used as a power source for generating electricity by the alternator 70. Other operations except that the power from the engine is not transmitted to the top field mowing unit 30 are the same as the operations when the above-described first operation signal is received. Receive the drive control signal for driving the drive unit of the side surface mowing unit 80, start driving the drive unit of the side surface mowing unit 80, and when receiving the travel control signal for driving the travel unit 20, start driving the drive units 54L and 54R, and the electric cylinders 53L and 53R. At this time, since the control unit 40 does not receive a clutch control signal, the clutch in the second power transmission stage is maintained in the disengaged state, and the power from the engine 60 is controlled so as not to be transmitted to the driving units 33L and 33R of the top field mowing unit 30. Therefore, the power of the engine 60 is not transmitted to the driving units 33L and 33R, and the blade parts 32L and 32R of the top field mowing unit 30 do not rotate. The power of the engine 60 is used as a power source for generating electricity by the alternator 70. Other operations except that the power from the engine is not transmitted to the top field mowing unit 30 are the same as the operations when the above-described first operation signal is received. Therefore, the power of the engine 60 is not transmitted to the driving units 33L and 33R, and the blade parts 32L and 32R of the top field mowing unit 30 do not rotate. The power of the engine 60 is used as a power source for generating electricity by the alternator 70. Other operations except that the power from the engine is not transmitted to the top field mowing unit 30 are the same as the operations when the above-described first operation signal is received. The power of the engine 60 is used as a power source for generating electricity by the alternator 70. Other operations except that the power from the engine is not transmitted to the top field mowing unit 30 are the same as the operations when the above-described first operation signal is received. Therefore, the power of the engine 60 is not transmitted to the driving units 33L and 33R, and the blade parts 32L and 32R of the top field mowing unit 30 do not rotate.

[0070] As a result, the lawn mower 100 can drive the blade parts 82L and 82R without driving the driving units 33L and 33R, and mow the grass growing on the side surface 202 of the ridge 200 using the blade parts 82L and 82R. Here, although the configuration of driving both the blade parts 82L and 82R of the left side surface mowing unit 80L and the right side surface mowing unit 80R has been described, it is also possible to control so as to rotationally drive only the blade part 82 of the left side surface mowing unit 80L or the right side surface mowing unit 80R. As a result, the lawn mower 100 can drive the blade parts 82L and 82R without driving the driving units 33L and 33R, and mow the grass growing on the side surface 202 of the ridge 200 using the blade parts 82L and 82R. Here, although the configuration of driving both the blade parts 82L and 82R of the left side surface mowing unit 80L and the right side surface mowing unit 80R has been described, it is also possible to control so as to rotationally drive only the blade part 82 of the left side surface mowing unit 80L or the right side surface mowing unit 80R. Here, although the configuration of driving both the blade parts 82L and 82R of the left side surface mowing unit 80L and the right side surface mowing unit 80R has been described, it is also possible to control so as to rotationally drive only the blade part 82 of the left side surface mowing unit 80L or the right side surface mowing unit 80R. Here, although the configuration of driving both the blade parts 82L and 82R of the left side surface mowing unit 80L and the right side surface mowing unit 80R has been described, it is also possible to control so as to rotationally drive only the blade part 82 of the left side surface mowing unit 80L or the right side surface mowing unit 80R. Here, although the configuration of driving both the blade parts 82L and 82R of the left side surface mowing unit 80L and the right side surface mowing unit 80R has been described, it is also possible to control so as to rotationally drive only the blade part 82 of the left side surface mowing unit 80L or the right side surface mowing unit 80R.

[0071] [Flank cutting portion 80 relief mechanism] Next, the operation in which the flank cutting portion 80 moves upward according to the flank 202 or the top surface 201, and the operation of moving from above to below will be described with reference to FIG. 2. In the present embodiment, the flank cutting portion 80 moves up and down according to the shape of the ridge being worked (the shape of the flank 202 or the top surface 201), and the mechanism is called a relief mechanism. When the lawn mower 100 of the present embodiment performs a lawn mowing operation, if the flank cutting portion 80 collides with an obstacle such as a clod or a stone, a force acting upward from the flank 20 2 or the top surface 201 acts on the flank cutting portion 80. Since the connecting member 90 is rotatably supported by the connecting member 88 via the pin-shaped member 88b, when a force acting upward from the flank 202 or the top surface 201 to the flank cutting portion 80 is applied due to an obstacle, the connecting member 90 rotates upward with the pin-shaped member 88b as a rotation fulcrum (rotation axis). Then, when the flank cutting portion 80 moves away from the obstacle, the flank cutting portion 80 returns to the position where the engaged member 90a contacts the rear end 88c of the protruding portion 88a by its own weight. That is, the connecting member 90 rotates upward or downward with respect to the machine body 1 0 (machine body main body 14), and the downward rotation with respect to the machine body 10 is restricted by the rear end 8 8c (lower limit limiting portion) of the protruding portion 88a. Thus, in the lawn mower 100 of the present embodiment, even if an obstacle such as a clod or a stone contacts the flank cutting portion 80, the flank cutting portion 80 can escape from below to above, and damage to the flank cutting portion 80 can be prevented. Further, the flank cutting portion 80 of the present embodiment can perform a lawn mowing operation while following the unevenness of the ridge and moving from below to above and from above to below. 0 (the machine body main body 14), and the downward rotation with respect to the machine body 10 is restricted by the rear end 8 8c (lower limit limiting portion) of the protruding portion 88a. In this way, in the lawn mower 100 of the present embodiment, even if an obstacle such as a clod or a stone contacts the flank cutting portion 80, the flank cutting portion 80 can escape from below to above, and damage to the flank cutting portion 80 can be prevented. Also, in the lawn mower 100 of the present embodiment, the flank cutting portion 80 can perform a lawn mowing operation while following the unevenness of the ridge and moving from below to above and from above to below. Even if an obstacle such as a clod or a stone contacts the flank cutting portion 80, the flank cutting portion 80 can escape from below to above, preventing damage to the flank cutting portion 80. Also, the flank cutting portion 80 of the present embodiment can perform a lawn mowing operation while following the unevenness of the ridge and moving from below to above and from above to below. can be prevented. In addition, the flank cutting portion 80 of the present embodiment can perform a lawn mowing operation while following the unevenness of the ridge and moving from below to above and from above to below. While moving from below to above and from above to below while following the unevenness of the ridge, the lawn mowing operation can be performed.

[0072] ​In this embodiment, a part of the connecting member 88 (the rear end 88c of the protruding portion 88a) is used as the lower limit restricting portion, but the configuration of the lower limit restricting portion is not limited to this. For example, a connecting member 90 is rotatably supported by the slope mowing member mounting member 12, and a member serving as the lower limit restricting portion may be provided on the slope mowing member mounting member 12. In this case, the body main body 14 and the slope mowing member mounting member 12 may not be configured separately as in this embodiment, and the body main body 14 and the slope mowing member mounting member 12 may be integrally configured. Note that a stopper functioning as the lower limit restricting portion may be separately attached.

[0073] Further, in this embodiment, an example in which the slope mowing portion 80 is configured to be rotatable up and down with respect to the body main body 14 and the lower limit position is restricted by the lower limit restricting portion has been described, but a similar configuration can also be applied to the ridge mowing portion 30. In this case, the support plate 15 may be rotatably supported in the vertical direction with respect to the body main body 14, and a lower limit restricting portion for restricting the lower limit position of the support plate 15 may be provided at the front end of the body main body 14. Note that the body main body 14 and the support plate 15 may be connected by fixing a connecting portion (not shown) provided separately from the body main body 14 to the body main body 14 and connecting it via a connecting portion, or may be connected by providing a function for connecting the support plate to the body main body 14.

[0074] [Angle adjustment mechanism of slope mowing portion 80] The lawn mower 100 according to this embodiment has an angle adjustment mechanism 130 (130L and 130R), and according to the width of the top surface 201 of the ridge 200 and the inclination of the slope 202, in advance, the positions of the left slope mowing portion 80L and the right slope mowing portion 80R, the mowing surface 204L or 204R and the horizontal plane 20 ​​​​​​​3 can be adjusted independently (see Figure 4). The structure of the angle adjustment mechanism 130R is the same as that of the angle adjustment mechanism 130L. The following description focuses on the adjustment mechanism 130L.

[0075] As shown in FIG. 4, the angle adjustment mechanism 130L is, as described above, for example, a lock plate. 84L, a support member 86L is connected to a slider 85L that can slide in the left and right direction. Between the connected support member 89L, the lock plate 84L and the left slope cutting part 80L Includes spring 97L suspended over it.

[0076] As shown in FIGS. 2 and 3, the lock plate 84L is connected to the support member 86L and the left slope cutting member. The lock plate 84L is a pair of plates arranged facing each other in the front and rear. The pair of lock plate members 84Lc and 84Ld, A connecting pin 84Le connects the lock plate members 84Ld to each other at their upper ends. The grooves 84Lc and 84Ld are formed in an elongated shape, and a comb-like long groove 84La is formed therein. a engages with the angle adjustment pin 84Lb, which will be described later, fixed to the slider 85L, and adjusts the left side slope cutting. A plurality of positioning recesses 84Lf (main body) are provided to position and fix the angle of the cutting portion 80L (blade portion 82L). In the embodiment, five positioning recesses 84Lf are provided. When the angle adjustment pin 84Lb is engaged, it is positioned diagonally upward when viewed from the rear so that it is difficult for the angle adjustment pin 84Lb to fall off. In addition, the lock plate members 84Lc and 84Ld are configured to be inclined in the direction The lower end side is rotatably connected to a support member 89L fixed to the left slope reaping part 80L. The lower end of the long groove 84La of each lock plate member 84Lc and 84Ld is fitted to the support member 84Lc. It is connected to the spring 97L between the connection part with 9L.

[0077] The slider 85L consists of a slider body 85Ld inserted into the support member 86L, an upper clamping member 85Lb and a lower clamping member 85Lc, and a clamping part 85Lbc for clamping the slider 85L to the support member 86L is integrally formed. At the lower part of the slider body 85Ld, an angle adjustment pin 84Lb inserted into the long groove 84La of the lock plate 84L is fixed. Also, on the lower clamping member 85Lc, a cutting part mounting part 98L for mounting the support member 89L is fixed. The cutting part mounting part 98L is connected to the support member 89L via a cutting part mounting pin 89La, and the support member 89L is configured to be rotatable with respect to the cutting part mounting part 98L.

[0078] With reference to FIG. 4, the angle adjustment operation of the left side slope cutting part 80L using the angle adjustment mechanism 130L will be described. Hold the handle 140L and operate the lock plate 84L to move the lock plate 84L so that the angle adjustment pin 84Lb disengages from the positioning recess 84Lf. At this time, the lock plate 84L rotates with respect to the support member 89L, and the support member 8 9L rotates with respect to the slider 85L with the cutting part mounting pin 89La as the rotation fulcrum (rotation axis). Then, further move the lock plate 84L and fit the angle adjustment pin 84Lb into a positioning recess 84Lf different from the initially fitted positioning recess 84Lf, so that the angle of the blade part 82L of the left side slope cutting part 80L (that is, the angle α between the cutting surface 204L including the rotation locus of the blade part 82L and the horizontal plane 203) can be changed. The positioning located below ​​​​​​​​The angle α increases as it is fitted into the recess 84Lf. According to the inclination of the normal plane 202, by changing the positioning recess 84Lf fitted to the angle adjustment pin 84Lb, the angle α can be adjusted to an angle corresponding to the inclination of the normal plane 2 02. In the lawn mower 100 of this embodiment, when the angle adjustment pin 84Lb is fitted into the uppermost positioning recess 84Lf, the angle α is 90 degrees, that is, the cutting surface 204L including the rotation locus of the blade part 82L becomes vertical, and when the angle adjustment pin 84Lb is fitted into the lowermost positioning recess 84Lf, the angle α is 180 degrees, that is, it is configured such that the cutting surface 204L including the rotation locus of the blade part 8 2L becomes horizontal.

[0079] As described above, in the lawn mower 100 according to this embodiment, the cutting surfaces 204L of the left-side normal-plane cutting part 80L and the right-side normal-plane cutting part 80R are formed using the lock plates 84L and 84R, and the angle α between the cutting surfaces 204L and 204R and the horizontal plane 203 can be adjusted. Therefore, the lawn mower 100 according to this embodiment is suitable for the width of the top surface 201 of the ridge 200 and the inclination of the normal plane 202, and can perform lawn mowing work.

[0080] Note that the lawn mower 100 according to this embodiment can also perform lawn mowing work with the angles α of the left-side normal-plane cutting part 80L and the right-side normal-plane cutting part 80R adjusted horizontally. In this case, in a rear view, a part of the blade part 32L of the top-field cutting part 30 and the blade part 8 2L of the left-side normal-plane cutting part 80L, and a part of the blade part 32R of the top-field cutting part 30 and the blade part 82R of the right-side normal-plane cutting part 80R overlap and are arranged in the left-right direction. Also, when the angles α of the left-side normal-plane cutting part 80L and the right-side normal-plane cutting part 80R are adjusted horizontally, the heights of the blade parts 82L and R are the blades of the top-field cutting part 30 ​​It is configured to have the same height as the left and right parts 32L and 32R. As a result, when the angles α of the left side slope cutting part 80L and the right side slope cutting part 80R are made horizontal, in the left-right direction, from the blade part 82L of the left side slope cutting part 80L to the blade part 82R of the right side slope cutting part 80R, mowing can be performed without leaving any grass uncut.

[0081] Also, the mower 100 of the present embodiment can perform the mowing operation by adjusting the angles α of the left side slope cutting part 80L and the right side slope cutting part 8 0R symmetrically (the angles α are the same) left and right, and as shown in FIG. 5, it is also possible to perform the mowing operation by adjusting the angles α asymmetrically (different angles) left and right.

[0082] [Adjusting mechanism for the left-right position of the slope cutting part 80] In the mower 100 according to the present embodiment, there is provided an adjusting mechanism for independently adjusting the positions of the left side slope cutting part 80L and the right side slope cutting part 80R in the left-right direction according to the width of the ridge (top surface). The adjusting mechanism is provided in each of the left side slope cutting part 80L and the right side slope cutting part 80R, but since the configurations are the same on the left and right, here only the adjusting mechanism in the left direction will be described. The adjusting mechanism in the left direction includes the slider 85L configured to be slidable with respect to the support member 86L, and a cam part 87L for locking the slider 85L with respect to the support member 86L . The cam part 87L is fixed to the clamping part 85Lbc of the slider 85L. The cam part 87L of the present embodiment is configured by a cam lever. By operating the lever 87La, the support member 86L is clamped between the upper clamping member 85Lb and the lower clamping member 85Lc, thereby fixing the position of the slider 85L with respect to the support member 86 L. Specifically, when the lever 87La is tilted downwards, the position of the slider 85L is fixed with respect to the support member 86L. Specifically, when the lever 87La is tilted downwards, the The cam portion (not shown) provided at the base of the bar 87La acts to clamp the upper clamping member 85Lb and the lower clamping member 85Lc, clamping the support member 86L and fixing the slider 85L. When the lever 87La is lifted, the clamping between the upper clamping member 85Lb and the lower clamping member 85Lc with respect to the support member 86L is released, and the slider 85L becomes slidable with respect to the support member 86L.

[0083] Alternatively, instead of the above configuration, the support member 86L may be configured to expand and contract in the left - right direction, and the length of the support member 86 L may be changed to adjust the left - right position of the left - hand side slope cutting portion 80L. For example, the support member 86L may be composed of at least two or more members, and other members may be slidably housed inside one member, and the length of the support member 86L may be configured to be expandable and contractible. For fixing the length of the support member 86L, a cam portion 87L as described above may be provided.

[0084] [Positional relationship between the blade portions 32L and 32R, and the blade portions 82L and 82R] The positional relationship between the blade portions 32L and 32R, and the blade portions 82L and 82R will be described. As shown in FIG. 1, the blade portions 32L and 32R are arranged symmetrically or substantially symmetrically with respect to the center line 110 in a plan view. Also, as shown in FIG. 4, in a rear view, the blade portions 32L and 32R are arranged so as to partially overlap. Also, as shown in FIG. 1, in a plan view, the blade portion 32L and the blade portion 82L are arranged so as to overlap along a parallel line 111 parallel to the center line 110. As shown in FIG. 4, in a rear view, the blade portion 32L and the blade portion 82L are arranged so as to overlap. Also, as shown in FIG. 1, in a plan view, the blade portion 32R and the blade portion 82R are arranged so as to overlap along a parallel line 112 parallel to the center line 110. As shown in FIG. 4, in a rear view, the blade portion 32L and the blade portion 82L are arranged so as to overlap. Also, as shown in FIG. 1, in a plan view, the blade portion 32R and the blade portion 82R are arranged so as to overlap. ​ As shown in FIG. 4, in a rear view, the blade portion 32R and the blade portion 82R are arranged so as to overlap each other. Yes.

[0085] The state of the side cutting portion 80 shown in FIG. 1 is the state adjusted to the position where the length (width) in the left - right direction is maximized ( maximum width), and the blade portion 32L and the blade portion 32R overlap, the blade portion 32 L and the blade portion 82L overlap, and it is understandable that the blade portion 32R and the blade portion 82R overlap. When the lawn mower 100 performs a lawn mowing operation in this state, the lawn mowing width is the width W3. Also, the state of the side cutting portion 80 shown in FIG. 4 is the state adjusted to the maximum width and angle - adjusted, and the blade portion 32L and the blade portion 32R overlap, the blade portion 32L and the blade portion 82L overlap, and it is understandable that the blade portion 32R and the blade portion 82R overlap. Yes. Yes. Yes.

[0086] Furthermore, the state of the side cutting portion 80 shown in FIG. 5 is the state where the blade portion 32R of the top - field cutting portion 30 and the blade portion 82R of the right - hand side cutting portion 80R overlap along a parallel line 112 parallel to the center line 11 0 in the plan view shown in FIG. 1, and in a rear view, the blade portion 32L and the blade portion 82L overlap, and it is understandable that the blade portion 32R and the blade portion 82R overlap. Yes. Yes. Yes.

[0087] That is, in a rear view, the blade portions 32L and 32R of the top - field cutting portion 30 are provided so as to be sandwiched between the blade portions 82L and 82R of the left - hand side cutting portion 80L and the right - hand side cutting portion 80R that constitute the side cutting portion 80. And in a rear view, the blade portions 32L, the blade portion 32 R, the blade portion 82L, and the blade portion 82R are provided so as to be arranged in the left - right direction, and the left - hand side cutting portion 8 Yes. R, the blade portion 82L, and the blade portion 82R are arranged side by side in the left - right direction, and the left - hand side cutting portion 8 No matter which position the right-side slope mowing part 80R and the right-side slope mowing part 80L are adjusted to, the adjacent blades on the left and right The blades 32L and 82L, and the blades 32R and 82R are connected to each other by the tips thereof. are arranged so that some of them overlap.

[0088] Therefore, in the mower 100 of this embodiment, the left side of the slope mowing section 80 Regardless of the position of the 80L and right slope mowing part 80R, the rear view (perpendicular to the direction of travel) In the direction of the blade 82L, the grass must be mowed without any remaining grass between the blade 82L and the blade 82R. When mowing on a flat area, i.e., when mowing on a flat surface, the following is possible. In addition, if the slope reaping unit 80 is deployed horizontally, the blade can be used for ridges and fields with wide top surfaces. The width from the cutting edge 82L to the cutting edge 82R can be utilized to efficiently perform grass cutting work. As shown in FIG. 4, the angle of the slope reaping unit 80 is adjusted to correspond to the slope of the ridge. Even when mowing, the blades 32L and 32R of the top mowing section 30 and the slope mowing section Since the blades 82L and 82R of the mower 80 overlap with each other, the mower 100 can cut the ridges in one run. Not only can you mow the top and slope of the field, but you can also mow the shoulders of the fields without leaving any grass uncut. Furthermore, as shown in FIG. 5, the control unit 40 controls the right slope reaping unit 80R to It is controlled to cut grass on the same flat surface as the top surface, and the left slope cutting part 80L corresponds to the slope of the ridge. Even if the angle is adjusted by moving the blade, the surface (plane) parallel or nearly parallel to the top surface of the ridge will be cut. This allows for mowing work to be carried out without leaving any grass uncut on the edge of the ridges.

[0089] Second Embodiment The second embodiment is a mower 100 according to the first embodiment, in which the positional relationship of the blades is different. explain.

[0090] Figure 6(A) is a plan view showing the positional relationship of the blade portions of the lawn mower 100B according to the second embodiment. Figure 6(B) is a plan view showing the positional relationship of the blade portions of the lawn mower 100C according to the second embodiment. It is a figure.

[0091] As shown in FIG. 6(A), in the lawn mower 100B, the blade portions 32R and 82R are provided in front of the traveling portion 20. The blade portions 32L and 82L are provided behind the traveling portion 20. A part of the blade portion 32L and the blade portion 32R are arranged so as to overlap with respect to the center line 110. The blade portion 32R and the blade portion 82R are arranged side by side in the left - right direction, and a part of the blade portion 32R and the blade portion 82R are arranged so as to overlap along a parallel line 112 parallel to the center line 110. The blade portion 32L and the blade portion 82L are arranged side by side in the left - right direction, and the blade portion 32L and the blade portion 82L are arranged so that a part of them overlaps along a parallel line 111 parallel to the center line 110.

[0092] As shown in FIG. 6(B), the positional relationship of the blade portions in the lawn mower 100C is different from the positional relationship of the blade portions in the lawn mower 10 0B in that the blade portion 82R is provided in front of the blade portion 32R and the blade portion 82L is provided behind the blade portion 32L. Since other points in the lawn mower 100 C are the same as the positional relationship of the blade portions in the lawn mower 100B, the description here is omitted.

[0093] Although illustration is omitted, in both the case of the lawn mower 100B and the lawn mower 100C, in a rear view, the blade portions 32L, 32R, 82L, and 82R are arranged side by side (adjacently) in the left - right direction, and the blade portions 32L and 32R are between the blade portions 82L and 82R. and the blade portions 32L and 32R are between the blade portions 82L and 82R. is provided between them, and the blade portion 82L and the blade portion 32L are provided so as to partially overlap, and the blade portion 32L and the blade portion 32R are provided so as to partially overlap, and the blade portion 32R and the blade portion 82R are provided so as to partially overlap in this way. Further, in a rear view, the blade portion 32L, the blade portion 32R, the blade portion 82L, and the blade portion 82R are arranged in the left - right direction, and the blade portion 82L and the blade portion 82R are provided at both ends. Note that, in the lawn mower 100B and the lawn mower 100C, the positional relationship between the blade portion provided in front of the traveling portion 20 and the blade portion provided behind it may be reversed front - to - back.

[0094] As described above, the present invention has been described with reference to the drawings. However, the present invention is not limited to the above - mentioned respective embodiments, and can be appropriately changed without departing from the gist of the present invention. For example, based on each embodiment, those in which a person skilled in the art appropriately adds, deletes, or changes the design of components are also included in the scope of the present invention as long as they have the gist of the present invention. Further, the configurations according to the above - mentioned respective embodiments can be appropriately combined as long as there is no contradiction between them, and the technical matters common to each embodiment are included in each configuration even without explicit description. Even if there are other effects different from the effects brought about by the aspects of the above - mentioned respective embodiments, those that are obvious from the description of this specification or can be easily predicted by a person skilled in the art

[0095] are naturally considered to be brought about by the present invention.

Explanation of Reference Numerals

[0096] 10: Body, 11L, 11R: Mounting members, 12: Mounting member for the flank cutting portion, 14: Body main body 15: Support plate, 20: Traveling portion, 20L, 20R: Crawlers, 21L, 21R: C Roller belt, 22L: Driving wheel, 23L: Driven wheel, 24L: Crawler frame, 30: Top surface Field mowing section, 31: Casing, 32, 32L, 32R: Blade part, 33L, 33R: Driving part , 40: Control unit, 41: Battery, 50: Link mechanism, 50L, 50R: Link mechanism, 5 1L, 51R, 52L, 52R: Link arm, 53L, 53R: Electric cylinder, 54L , 54R: Driving part, 70: Alternator, 60: Engine, 80: Slope mowing section, 80L : Left slope mowing section, 80R: Right slope mowing section, 81L, 81R: Casing, 82L , 82R: Blade part, 32La, 32Ra, 82La, 82Ra: Grass cutting blade, 32Lb, 32 Rb, 82Lb, 82Rb: Blade mounting part, 32Lc, 32Rc, 82Lc, 82Rc: Rotating Axis, 83L, 83R: Driving part, 84L, 84R: Lock plate, 84La, 84Ra : Long groove, 84Lc, 84Ld: Lock plate member, 84Le: Connecting pin, 84Lf, 8 4Rf: Positioning recess, 85L, 85R: Slider, 85Lbc, 85Rbc: Clamping part, 85Lb, 85Rb: Upper clamping member, 85Lc, 85Rc: Lower clamping member, 86L, 86R: Support member, 87L, 87R: Cam part, 87La, 87Ra: Lever, 88: Connecting member, 8 8a: Protrusion, 88c: Rear end, 89L, 89R: Support member, 90: Connecting member, 90a: To-be Engaged member, 90b: Arm part, 90c: Mounting member, 84Lb, 84Rb: Angle adjustment pin, 88b: Pin-shaped member, 89La: Mowing section mounting pin, 97L, 97R: Spring, 98L, 9 8R: Mowing section mounting part, 100: Grass mower, 110: Center line, 111: Parallel line, 112: Parallel line, 120: Mowing section, 130, 130L, 130R: Angle adjustment mechanism, 140L, 1 40R: Handle, 200: Ridge, 201: Top surface, 202: Slope, 203: Horizontal plane, 204L , 204R: Cut surface

Claims

1. A self-propelled lawn mower having a running unit and mowing grass while running on a ridge, comprising: A mowing unit provided in front of the running unit; A mowing unit provided behind the running unit; One of the mowing units provided in the front and the mowing unit provided in the rear includes a pair of left and right mowing units, The pair of left and right mowing units are capable of adjusting the angle with respect to the horizontal plane, Lawn mower.

2. The pair of left and right mowing units are symmetrically located with respect to the center line in the front-rear direction passing through the center of the machine body connected to the running unit, The lawn mower according to Claim 1.

3. The other of the mowing unit provided in the front and the mowing unit provided in the rear has a first blade part and a first driving part for driving the first blade part, Each of the pair of left and right mowing units has a second blade part and a second driving part for driving the second blade part, The lawn mower according to Claim 1 or 2.

4. The lawn mower according to Claim 3, wherein the first driving part and the second driving part can be driven independently. ​

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