Agricultural working machine

Abstract

To provide a farm working machine enabling a worker to judge whether the inclination of the farm working machine is suitable for the work or not, i.e., enabling the worker to easily judge the propriety of the work.SOLUTION: A farm working machine comprising: a mounting portion 1 that is vertically movably connectable to a traveling vehicle body 7; a working portion 3 that receives power from the traveling vehicle body 7 to perform a predetermined work; and an offset mechanism portion 2 that connects the mounting portion 1 and the working portion 3 to each other and moves the working portion 3 in a left-right direction.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an agricultural work machine, and more particularly to an agricultural work machine capable of offsetting a working unit outward from a traveling body such as a tractor. [Background technology]

[0002] Conventionally, agricultural machines that can move (offset move) the working unit from the rear of the tractor outward and perform work on the outside of the tractor, such as offset mowers (grass cutters), have been known (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-102223 Summary of the Invention [Problem to be solved by the invention]

[0004] In an offset mower such as that shown in Patent Document 1, an offset mechanism connects the working unit to a mounting unit attached to a connecting part such as a three-point link of a traveling body such as a tractor, and this offset mechanism offsets the working unit toward the outside of the traveling body. In agricultural work machines that perform work by offsetting the working part outward from the running body, the working position may be higher than the running surface of the running body, and work is performed with the agricultural work machine raised high. Power is transmitted from the running vehicle to the agricultural implement by connecting the PTO of the running vehicle to the power input shaft of the agricultural implement with a power transmission mechanism consisting of a power transmission shaft and universal joints on both ends of the shaft.

[0005] As mentioned above, when an agricultural machine is raised high, it tilts forward. When the machine is driven in this position, the angle between the two universal joint-connected shafts, the PTO and power transmission shaft of the running body, and the power transmission shaft and power input shaft of the machine, becomes large, causing rotational vibrations known as non-uniform speed and abnormal noise, and even causing damage to the PTO of the running body, the power input shaft of the machine, the power transmission mechanism, etc., which can lead to damage to the machine. Furthermore, when the position of the agricultural work machine becomes higher and the agricultural work machine tilts forward, the working part also tilts forward, causing problems such as a decrease in the performance of the agricultural work machine, foreign objects being ejected outside the working part, and danger occurring due to the protective member not working properly.

[0006] Therefore, an object of the present invention is to solve the above problem and provide an agricultural work machine that allows the operator to determine whether the inclination of the agricultural work machine is appropriate for the work, i.e., makes it easier for the operator to determine whether or not the work can be performed. [Means for solving the problem]

[0007] In order to solve such problems, the present invention has the following configuration. a mounting part that can be connected to a traveling vehicle body so as to be movable up and down; a working unit that receives power from the traveling vehicle body and performs a predetermined task; An agricultural work machine comprising an offset mechanism that connects the mounting unit and the working unit and moves the working unit in the left-right direction, An agricultural work machine characterized in that a detection means is provided for detecting the tilt of the agricultural work machine in the front-to-rear direction. [Effects of the Invention]

[0008] In the agricultural work machine of the present invention, the detection means for detecting tilt in the front-to-rear direction is provided, making it easier for the operator to determine whether or not work can be carried out. [Brief explanation of the drawings]

[0009] [Figure 1]1 is a diagram showing a stored state of a grass cutter A according to a first embodiment of the present invention. FIG. [Figure 2] FIG. 2 is a diagram showing a maximum offset state of the grass cutter A according to the first embodiment of the present invention. [Figure 3] 3A and 3B are diagrams showing offset movement of the mower A of the first embodiment of the present invention. [Figure 4] 3A and 3B are diagrams illustrating tilt movement of the grass cutter A according to the first embodiment of the present invention. [Figure 5] 1 is a diagram showing the up-and-down movement of a mower A according to a first embodiment of the present invention, as viewed from the left side of the mower A. FIG. [Figure 6] 1 is a diagram showing the up and down movement of the mower A of the first embodiment of the present invention, and is a diagram showing the mower A as seen from behind. FIG. [Figure 7] 1 is a diagram showing tilt movement of the mower A of the first embodiment of the present invention, as viewed from behind the mower A. FIG. [Figure 8] FIG. 1 is a diagram showing up and down movement of a mower A according to a first embodiment of the present invention with an agricultural implement tilt angle detection means 9 installed, as viewed from the left side of the mower A. [Figure 9] FIG. 1 is a diagram showing the up and down movement of the mower A of the first embodiment of the present invention when an agricultural implement tilt angle detection means 9 is installed, and is a diagram showing the mower A as viewed from behind. [Figure 10] 3 is a diagram showing the mounting structure of an angle sensor 96 of the agricultural machine tilt angle detection means 9 according to the first embodiment of the present invention. FIG. [Figure 11] 4 is a diagram showing a display image that displays whether or not work can be performed by the grass cutter A of the first embodiment of the present invention. FIG. [Figure 12] FIG. 2 is a diagram showing a first modified example of the agricultural implement tilt angle detection means 9 of the grass cutter A according to the first embodiment of the present invention. [Figure 13] 10 is a diagram showing the operation of a first modified example of the agricultural machine tilt angle detection means 9. FIG. [Figure 14] FIG. 10 is a diagram showing a third modified example of the agricultural implement tilt angle detection means 9 of the grass cutter A according to the first embodiment of the present invention. [Figure 15] FIG. 10 is a diagram showing a fourth modified example of the agricultural implement tilt angle detection means 9 of the grass cutter A according to the first embodiment of the present invention. [Figure 16] 5 is a diagram showing a display image displaying the offset amount and tilt angle of the working unit 3 of the mower A according to the first embodiment of the present invention. FIG. [Figure 17] 10 is a diagram showing a display image that displays whether the mower A of the first embodiment of the present invention is capable of performing work, and the offset amount and tilt angle of the working unit 3. FIG. [Figure 18] FIG. 10 is a view showing a stored state of a grass cutter B according to a second embodiment of the present invention. [Figure 19] FIG. 10 is a diagram showing a maximum offset state of a grass mower B according to a second embodiment of the present invention. [Figure 20] 10A and 10B are diagrams showing offset movement and tilt movement of a brush cutter B according to a second embodiment of the present invention. [Figure 21] FIG. 10 is a diagram showing the up and down movement of a mower B according to a second embodiment of the present invention, as viewed from the left side of the mower B. [Figure 22] 10 is a diagram showing the up and down movement of a mower B according to a second embodiment of the present invention, and is a diagram showing the mower B as seen from behind. FIG. [Figure 23] FIG. 10 is a diagram showing a stored state of a grass mower C according to a third embodiment of the present invention. [Figure 24] FIG. 10 is a view showing a stored state of a grass cutter D according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] [First embodiment] A grass cutter A according to a first embodiment of the present invention will be described below with reference to the drawings. The agricultural work machine is not limited to a grass cutter, but may be any machine that can be moved in an offset manner. In the following description, the same reference numerals in different drawings indicate parts with the same functions, and duplicated descriptions in each drawing will be omitted as appropriate. For the sake of convenience, terms indicating directions such as up, down, forward, backward, right, and left are used, but the direction in which gravity acts is downward, and the opposite is upward. The direction in which the traveling vehicle body moves is forward, and the opposite is backward. Furthermore, when facing forward, the right side is the right, and the left side is the left.

[0011] Figures 1 and 2 respectively show the stored state and the maximum offset state of the mower A of the first embodiment. In both figures, the top row shows, from the left, an oblique view of the mower A seen diagonally from the upper left rear, a view from the front (front), and an oblique view of the mower A seen diagonally from the upper right rear; the middle row shows a plan view; and the bottom row shows, from the left, a left side view, a view from the rear (back), and a right side view.

[0012] [Overall structure] The brush cutter A of the first embodiment is coupled to the rear of a traveling body 7 (see FIG. 5) and performs grass cutting work while moving forward as the traveling body 7 travels, like a tractor. The brush cutter A is equipped with a mounting unit 1, an offset / tilt mechanism unit 2, and a working unit 3.

[0013] [Installation part] The mounting unit 1 is connected to an auto hitch 8 attached to a three-point linkage mechanism 71 (see FIG. 5) provided at the rear of the traveling body 7. The three-point linkage mechanism 71 is composed of a top link 711, a lower link 712, a lift rod (not shown), etc. The mounting portion 1 of the brush cutter A is connected to the traveling vehicle body 7 by a three-point link mechanism 71 so as to be movable up and down. The mounting section 1 has a frame 11 equipped with a connecting section 10 including a top mast and a lower link connecting section, which is connected to the auto hitch 8, and a brush cutter power input shaft 12 to which power is transmitted from the PTO shaft 72 (see Figure 5) of the traveling body 7. The three-point link mechanism 71 and the auto hitch 8 are of known construction and therefore will not be described in detail. In addition, in this embodiment, the connecting portion 10 is connected to the three-point link mechanism 71 via the auto hitch 8, but it is also possible to configure it to be connected directly to the three-point link mechanism 71 of the traveling vehicle body 7 without using the auto hitch 8. The PTO shaft 72 and the grass cutter power input shaft 12 are connected by universal joints 73 and 74 and a power transmission shaft 75 (see Figure 5). The power transmission shaft 75 is configured to be extendable and retractable, and together with the two universal joints 73 and 74, power can be transmitted even if the distance, height, angle, etc. between the PTO shaft 72 and the grass cutter power input shaft 12 changes, as long as it is within a specified range.

[0014] A first pivoting frame lower end support shaft 111 that connects a first pivoting frame 21 (described later) so that the first pivoting frame 21 can pivot laterally is provided near the left-right center of the frame 11 so as to protrude rearward. A grass cutter power input shaft 12 that inputs power to the brush cutter A is housed inside the first pivoting frame lower end support shaft 111, and the front end side of the grass cutter power input shaft 12 protrudes forward from the front end of the first pivoting frame lower end support shaft 111. The first pivoting frame lower end support shaft 111 and the grass cutter power input shaft 12 are arranged so as to be concentric. A first telescopic member lower end support shaft 112 that connects a first telescopic member 26 (described later) so as to be rotatable left and right is provided at the lower right end of the frame 11 so as to protrude rearward. A first support arm lower end support shaft 113 that connects a first support arm 24 (described later) so as to be rotatable left and right is provided at the upper left end of the frame 11 so as to protrude rearward.

[0015] [Working section] The working unit 3 has a work rotor (neither of which is shown) that performs the grass cutting work, and is equipped with grass-cutting claws and a claw shaft to which multiple grass-cutting claws are attached and which is driven to rotate by power from the working unit input shaft described below.The work rotor is covered by a shield cover 32 and side plates 33 provided on both the left and right sides of the shield cover 32. A working unit transmission case 31 is provided on the outside of the left side plate 33. A second rotating frame lower end support shaft 31a, which is connected to the lower end of a second rotating frame 22 (described later) so as to be rotatable left and right, is provided in the working unit transmission case 31 so as to protrude rearward. A working unit input shaft (not shown) is housed within the second rotating frame lower end support shaft 31a. The working unit input shaft transmits power from a transmission means within the second rotating frame 22 (described later) to the tine shaft of the working rotor, rotating the grass-cutting tines via the tine shaft. The shield cover 32 has a semi-cylindrical shape in a side view and covers the upper part of the work rotor. A second telescopic member support part 34 for attaching a second telescopic member 27 (described later) is protruded from the upper surface of the rear side of the shield cover 32 (rearward of the rotation center of the claw shaft in a plan view).

[0016] [Offset / Tilt Mechanism] The offset / tilt mechanism 2 is a mechanism for offsetting and tilting the working unit 3, and has a first rotating frame 21, a first support arm 24, a second rotating frame 22, a rotating support member 23, a second support arm 25, a first telescopic member 26, and a second telescopic member 27. The first rotating frame 21, the first support arm 24, the second rotating frame 22, the rotating support member 23, the second support arm 25, and the first expandable member 26 constitute an offset mechanism that offsets the working unit 3, and the rotating support member 23 and the second expandable member 27 constitute a tilt mechanism that tilts the working unit 3. The rotating support member 23 is a component of both the offset mechanism and the tilt mechanism. The lower end side of the first rotating frame 21 is connected to a first rotating frame lower end side support shaft 111 provided near the left-right center of the mounting portion 1 (frame 11) so as to be rotatable left and right. A second rotating frame upper end support shaft 211 that connects the upper end of a second rotating frame 22 (described later) so as to be rotatable left and right is provided to protrude rearward from the upper end of the first rotating frame 21. An intermediate transmission shaft (not shown) is housed inside the second rotating frame upper end support shaft 211, and the second rotating frame upper end support shaft 211 and the intermediate transmission shaft are arranged concentrically. Additionally, a second support arm upper end support portion 213 for connecting a second support arm 25 (described later) is fixed to the second rotating frame upper end support shaft 211. Two second support arm upper end support portions 213 are provided at the front and rear so that second support arm upper end support shafts 213a that connect the upper ends of second support arms 25 so as to be rotatable left and right are inserted in the front-rear direction.

[0017] The first rotating frame 21 is hollow and houses a first wrapping transmission means (not shown) inside. The input shaft of the first wrapping transmission means is the brush cutter power input shaft 12 of the mounting part 1, and the output shaft of the first wrapping transmission means is an intermediate transmission shaft within the second rotating frame upper end support shaft 211. That is, a drive sprocket of the first winding transmission means is provided at the end of the brush cutter power input shaft 12 located inside the first rotating frame 21, and a driven sprocket of the first winding transmission means is provided at the end of the intermediate transmission shaft located inside the first rotating frame 21. A chain is wound around the drive sprocket and driven sprocket to transmit the power of the drive side sprocket (brush cutter power input shaft 12) to the driven side sprocket (intermediate transmission shaft). In this embodiment, the first winding transmission drive means is made up of a sprocket and chain, but is not limited to this and can also be made up of a pulley and belt, etc. At a location located at the upper end of the right side of the first rotating frame 21, a first telescopic member upper end support portion 212, which is connected to the first telescopic member 26 described later, is provided so as to protrude to the right beyond the second rotating frame upper end support axis 211. The first telescopic member upper end support portion 212 is formed to have an approximately U-shaped cross section so that the first telescopic member upper end support shaft 212a, which connects the upper end of the first telescopic member 26 on the cylinder side so that it can rotate left and right, is inserted in the front-to-back direction.

[0018] The upper end side of the second rotating frame 22 is connected to a second rotating frame upper end side support shaft 211 of the first rotating frame 21 so as to be rotatable left and right. The lower end side of the second rotating frame 22 is connected to a second rotating frame lower end support shaft 31a that is provided so as to protrude rearward from a working unit transmission case 31 of the working unit 3 so as to be rotatable left and right. A working unit input shaft (not shown) is housed inside the second rotating frame lower end support shaft 31a, and the second rotating frame lower end support shaft 31a and the working unit input shaft are arranged so as to be concentric.

[0019] The second rotating frame 22 is also hollow like the first rotating frame 21, and houses a second wrapping transmission means (not shown) inside. The input shaft of the second wrapping transmission means is an intermediate transmission shaft inside the second rotating frame upper end side support shaft 211, and the output shaft of the second wrapping transmission means is a working unit input shaft inside the second rotating frame lower end side support shaft 31a. The second wrapping transmission means is configured by, for example, a sprocket and a chain, similar to the first wrapping transmission means. That is, a drive sprocket of the second winding transmission means is provided on the end of the intermediate transmission shaft located inside the second rotating frame 22, and a driven sprocket of the second winding transmission means is provided on the end of the working unit input shaft located inside the second rotating frame 22. A chain is wound around the drive sprocket and driven sprocket so as to transmit the power of the drive side sprocket (intermediate transmission shaft) to the driven side sprocket (working unit input shaft). A first support arm upper end support section 221, which is provided with a first support arm upper end support shaft 221a that supports a first support arm 24 (described below), is rotatably connected to the front end of the second rotating frame upper end support shaft 211. The tip side of this first support arm upper end support section 221 is connected to the upper end side of the second rotating frame 22 by a second rotating frame connecting member 222. In other words, the first support arm upper end support section 221 rotates integrally with the second rotating frame 22.

[0020] In the first embodiment, the first rotating frame 21 and the second rotating frame 22 not only function as structural members of the brush cutter A, but also have the function of storing the power transmission means, thereby contributing to making the brush cutter A more compact. In addition, the first rotating frame 21 and the second rotating frame 22 may not house the first wrapping transmission means and the second wrapping transmission means therein, but may have a first transmission case and a second transmission case that house the first wrapping transmission means and the second wrapping transmission means arranged separately alongside the first rotating frame 21 and the second rotating frame 22, respectively.

[0021] A rotation support member 23 to which a second support arm 25 and a second extensible member 27, which will be described later, are connected is rotatably supported on the second rotation frame lower end support shaft 31a. The pivotable support member 23 has a roughly L-shaped configuration, with the bent portion of the L-shape pivotally supported on the support shaft 31a at the lower end of the second pivot frame, and the lower end of the second support arm 25 is pivotally connected to one end of the L-shape (left side when viewed from the rear) and the rod side of the second telescopic member 27 is pivotally connected to the other end of the L-shape (right side when viewed from the rear).

[0022] The lower end side of the first support arm 24 is connected to a first support arm lower end support shaft 113 provided on the upper left end side of the frame 11 of the mounting unit 1 so as to be rotatable left and right. The upper ends of the first support arms 24 are connected to first support arm upper end support shafts 221a provided in the front-rear direction at the tips of the first support arm upper end support portions 221 so as to be rotatable left and right. The upper end of the second support arm 25 is connected to a second support arm upper end support shaft 213a provided on a second support arm upper end support portion 213 fixed to the second rotating frame upper end support shaft 211 so as to be rotatable left and right. The lower end side of the second support arm 25 is connected to one end of the rotation support member 23 so as to be able to rotate left and right. A curved portion 25a formed in a curved shape is provided on the upper end side of the second support arm 25 to prevent contact with other components. If other components are arranged in the movement trajectory of the second support arm 25, by making a part of the second support arm 25 the curved portion 25a, it is possible to prevent contact with the other components.

[0023] The lower end of the first telescopic member 26, which is the rod side, is connected to a first telescopic member lower end support shaft 112 provided on the frame 11 so as to be rotatable left and right. In addition, the upper end of the first telescopic member 26, which is the cylinder side, is connected to a first telescopic member upper end support part 212 provided on the first rotating frame 21, more specifically, to a first telescopic member upper end support shaft 212a that is inserted through the first telescopic member upper end support part 212 and provided in the front-to-rear direction so as to be rotatable left and right. This first telescopic member 26 is used when offsetting the working unit 3. One end of the second telescopic member 27, which is the rod side, is rotatably connected to the other end of the rotary support member 23. The other end of the second telescopic member 27, which is the cylinder side, is rotatably connected to a second telescopic member support part 34 provided on the shield cover 32 of the working unit 3. This second telescopic member 27 is used when tilting the working unit 3. In the first embodiment, the first telescopic member 26 and the second telescopic member 27 use electric hydraulic cylinders, but other telescopic members such as electric cylinders and hydraulic cylinders may also be used.

[0024] In the first embodiment, as described above, the second rotating frame 22 is connected to the rear of the first rotating frame 21, and the working unit 3 is connected to the front of the second rotating frame 22, and the working unit 3 is positioned below the mounting unit 1. This arrangement positions the working unit 3 closer to the traveling vehicle body, preventing the weight balance of the traveling vehicle body from becoming unbalanced.

[0025] Move Offset Figure 3 is a diagram showing the offset movement of the brush cutter A of the first embodiment of the present invention, where (a) is a stored state of the working unit 3, (b) is a state of the working unit 3 during offset movement, and (c) is a diagram of the working unit 3 in the maximum offset state, with the upper part being a plan view and the lower part being a view from the rear. As described above, the offset / tilt mechanism 2 connects and supports the working unit 3 to the mounting unit 1 by connecting the first rotating frame 21 upward to the mounting unit 1, connecting the second rotating frame 22 downward to the upper end of the first rotating frame 21, and connecting the working unit 3 to the lower end of the second rotating frame 22. Furthermore, a first support arm 24 connects the mounting unit 1 to the upper end side of the second rotating frame 22, and a second support arm 25 connects the upper end side of the first rotating frame 21 to the working unit 3, respectively.

[0026] In the offset / tilt mechanism 2 described above, the first extendable member 26 is extended or contracted by an agricultural work machine control device, which will be described later, thereby offsetting the working unit 3 in the left-right direction. In the first embodiment, as shown in Fig. 3(a), in the stored state in which the working unit 3 is located at the rear of the traveling body, the first telescopic member 26 is in the most extended state. When the first telescopic member 26 is contracted from the state shown in Fig. 3(a), the working unit 3 moves offset to the side of the traveling body as shown in Fig. 3(b), and when the first telescopic member 26 is further contracted, it reaches a maximum offset state in which the first telescopic member 26 is in the most contracted state and the offset amount is maximum as shown in Fig. 3(c). In the first embodiment 1, the working unit 3 can perform grass cutting work in any state between the stored state shown in FIG. 3(a) and the maximum offset state shown in FIG. 3(c). In the offset / tilt mechanism 2 of the first embodiment, the first rotating frame 21, the second rotating frame 22, the first support arm 24, and the second support arm 25 are arranged in the vertical direction, and the rotation axis that rotatably connects these to each other is arranged parallel to the front-to-rear direction (direction of travel), so that during offset movement of the working unit 3, the working unit 3 does not move in the front-to-rear direction, as shown in the upper diagram of Figure 3. In the upper diagram of Figure 3, it can be seen that the frame 11 is stationary during offset movement, and the position of the rear end of the working unit 3 moves along a dotted line that is parallel to the dotted line connecting the frames 11 in Figures 3(a), (b), and (c). This configuration allows for offset movement without front-to-rear movement, so that the front-to-rear balance of the load applied to the traveling vehicle body does not change during offset movement, making it possible to perform stable offset movement.

[0027] Furthermore, as shown in the lower drawing of Fig. 3, the working unit 3 of the first embodiment moves in a substantially horizontal direction while maintaining a substantially horizontal state during offset movement, with almost no vertical movement or tilting. In the lower drawing of Fig. 3, it can be seen that the first rotating frame lower end support shaft 111 is stationary during offset movement, and the position of the lower end of the working unit 3 moves substantially along a dotted line parallel to the dotted line connecting the first rotating frame lower end support shaft 111 in Figs. 3(a), (b), and (c).

[0028] In this way, in the brush cutter A of the first embodiment, by combining the rotating first rotating frame 21 and the rotating second rotating frame 22, when the first telescopic member 26 contracts to cause the working unit 3 to perform an offset movement, the upward or downward movement of the working unit 3 caused by the rotation of the first rotating frame 21 can be offset by the downward or upward movement of the working unit 3 caused by the rotation of the second rotating frame 22, making it possible to perform an offset movement with almost no up and down movement when the working unit 3 performs an offset movement. And, in the brush cutter A of the first embodiment, the working unit 3 can be performed an offset movement no matter what position in the vertical direction the working unit 3 is in (for example, even when the working unit 3 is lowered close to the ground). Furthermore, in the first embodiment, the working unit 3 can be offset in a substantially horizontal direction while remaining substantially horizontal, without moving forward and backward or substantially up and down, simply by extending and retracting the first extendable member 26. That is, a complex configuration such as controlling a plurality of extendable members in coordination is not required, and an effect can be achieved in which the working unit 3 can be offset without moving forward and backward or vertically, with a simple configuration.

[0029] As described above, when the second pivoting frame upper end support shaft 211, which is the pivot shaft that rotatably connects the first pivoting frame 21 and the second pivoting frame 22, is parallel to the direction of travel, the working unit 3 does not move in the front-to-rear direction. However, depending on the traveling body and the location where the mowing work is performed, the entire mower A may tilt in the front-to-rear direction, for example, by raising the mower A using the three-point linkage 71 of the traveling body 7. In this case, since the second pivoting frame upper end support shaft 211 also tilts with respect to the direction of travel, when the working unit 3 is moved offset, the working unit 3 moves slightly up and down when the second pivoting frame upper end support shaft 211 is parallel to the direction of travel, causing the working unit 3 to move slightly in the front-to-rear direction. Furthermore, in the first embodiment, the working unit 3 is in the stored state when the first telescopic member 26 is at its most extended, and in the maximum offset state when the first telescopic member 26 is at its most retracted, but it is also possible to configure the working unit 3 to be in the stored state when the first telescopic member 26 is at its most retracted, and to be in the maximum offset state when the first telescopic member 26 is at its most extended.

[0030] [Tilt movement] Figure 4 is a diagram showing the tilt movement of the brush cutter A of the first embodiment of the present invention, where (a) is a diagram showing the working unit 3 in an upward tilted state, and (b) is a diagram showing the working unit 3 in a downward tilted state. In the first embodiment, the offset / tilt mechanism 2 has a second expandable member 27 for tilting the working unit 3 . The second telescopic member 27 connects the rotation support member 23 to a second telescopic member support portion 34 provided on the shield cover 32 of the working unit 3. In the offset / tilt mechanism 2, the second telescopic member 27 is extended and retracted by an agricultural implement control device (not shown) provided in the brush cutter A, allowing the working unit 3 to be tilted in both the up and down directions with the support shaft 31a at the lower end of the second rotating frame as the central axis of rotation. In the first embodiment, as shown in FIG. 4(a), when the second telescopic member 27 is contracted, the working unit 3 is tilted upward, and as shown in FIG. 4(b), when the second telescopic member 27 is extended, the working unit 3 is tilted downward. In addition, it is also possible to configure the working unit 3 so that when the second telescopic member 27 is extended, the working unit 3 is tilted upward, and when the second telescopic member 27 is contracted, the working unit 3 is tilted downward.

[0031] [Up and down movement] Figures 5 and 6 are diagrams showing the up and down movement of the mower A of the first embodiment of the present invention, with Figure 5 being a view from the left side and Figure 6 being a view from the rear, with (a) showing the working unit 3 on the top surface of a ridge that is higher than the running surface of the traveling body 7 (hereinafter simply referred to as the "running surface"), and (b) showing the working unit 3 on the field, which is the running surface. Note that dotted lines in Figure 6(b) indicate the first rotating frame 21 and second rotating frame 22 in the stored state. Note that Figures 5 and 6 are partial schematic views of the mower A shown in Figures 1 to 4. As shown in Figure 5(b), when the working unit 3 is on the field, which is the traveling surface, the brushcutter A is parallel to the ground, so the angle θ0 between the field surface and the brushcutter power input shaft 12 (the tilt angle of the brushcutter A) is almost 0° (almost parallel), and there is not much difference in height between the PTO shaft 72 and the brushcutter power input shaft 12. For this reason, the angle θ1 between the PTO shaft 72 and the power transmission shaft 75 and the angle θ2 between the power transmission shaft 75 and the brushcutter power input shaft 12 are small.

[0032] On the other hand, as shown in Figure 5(a), when the working unit 3 is on the top surface of the ridge, which is higher than the field surface, the mounting unit 1 must be in a high position, and the mower A will be in a tilted position, leaning forward significantly. At this time, the angle θ0 between the top surface of the ridge (parallel to the field surface) and the mower power input shaft 12 is large, and the difference in height between the PTO shaft 72 and the mower power input shaft 12 is also large, so the angle θ1 between the PTO shaft 72 and the power transmission shaft 75 and the angle θ2 between the power transmission shaft 75 and the mower power input shaft 12 are larger than when the working unit 3 is on the field, which is the traveling surface (the state shown in Figure 5(b)). When the mounting part 1 is positioned high in this way and the angles θ1 and θ2 become larger than a predetermined value, the universal joints 73 and 74 are unable to transmit power smoothly, causing rotational vibrations known as uneven speeds and abnormal noise, and furthermore, the PTO 72 of the running body 7, the universal joints 73 and 74, the power transmission shaft 75, and the mower power input shaft 12 may be damaged, resulting in damage to the machine.

[0033] Fig. 7 is a diagram showing tilt movement of the mower A of the first embodiment of the present invention, as seen from behind. Note that Fig. 7 is a partial schematic view of the mower A shown in Figs. 1 to 4. The reason why the attachment unit 1 is in a high position is not limited to when work is performed on a surface higher than the travel surface as described above, but can also be considered in other cases. For example, when working on a slope that extends below the travel surface, that is, when tilted downward and the slope is steep and shallow, attachment unit 1 must be in a high position as shown in Figure 7. Even in such a case, the angles θ1 and θ2 become larger than the predetermined values.

[0034] [Means for detecting the tilt angle of agricultural machinery] Figures 8 and 9 are diagrams showing the state in which an agricultural implement tilt angle detection means 9 is installed on a grass cutter A according to a first embodiment of the present invention, with Fig. 8 being a view from the left side and Fig. 9 being a view from the rear, with (a) showing the working unit 3 on the top surface of a ridge higher than the travel surface, and (b) showing the working unit 3 on the field, which is the travel surface. Fig. 8 also includes an enlarged view (partially omitted) of the circled area. Figs. 8 and 9 are partial schematic views of the grass cutter A shown in Figs. 1 to 4. The agricultural machine tilt angle detection means 9 has a mounting arm 91, a support arm 92, a swing arm 93, a biasing means 94, a ground contact wheel 95, and an angle sensor 96 (see FIG. 10). The mounting arm 91 is fixed to the lower left side of the frame 11 of the mounting unit 1 and is installed so as to protrude outward from the left end of the frame 11. A support arm 92 is attached to the tip of the mounting arm 91 so as to be inclined downward toward the front in a side view. A swing arm 93 is supported on the front end (lower side) of the support arm 92, which is located further forward than the mounting arm 91, so as to be swingable on a shaft 921 supported in the left-right lateral direction, i.e., so as to be swingable in the front-to-rear direction. A ground contact wheel 95 is rotatably supported on the tip (rear end) of the swing arm 93. Between the rear end (upper side) of the support arm 92 and the swing arm 93 (the rear end side of the swing arm 93 and forward of the rotation axis of the ground contact wheel 95), a biasing means 94 is interposed that biases the swing arm 93 to swing downward. In this embodiment, the biasing means 94 is configured as a compression coil spring, but is not limited to this as long as it can bias the swing arm 93 to swing downward, and a torsion coil spring can be used instead of the compression coil spring, or other known biasing means can be used.

[0035] When the working unit 3 is on the farmland, which is the travel surface, the ground contact wheel 95 touches the ground and pushes up the swing arm 93 against the biasing means 94, so the angle θ3 between the support arm 92 and the swing arm 93 is small (see Figure 8(b)). At this time, the brush cutter A is in a position parallel to the ground. When the working unit 3 is on the top of a ridge, which is higher than the running surface, the ground contact wheel 95 leaves the running surface and the oscillating arm 93 swings downward due to the biasing force of the biasing means 94, so the angle θ3 between the support arm 92 and the oscillating arm 93 becomes larger (see FIG. 8(a)) than when the working unit 3 is on the field, which is the running surface (the state shown in FIG. 8(b)). At this time, the mower A is in an inclined position, tilted forward significantly. In this way, when the tilt angle θ0 of the mower A increases, the angle θ3 formed between the support arm 92 and the swing arm 93 also increases. By detecting the angle θ3 formed between the support arm 92 and the swing arm 93, the tilt angle θ0 of the mower A can be detected. Note that once the ground contact wheel 95 separates from the traveling surface, the angle θ3 no longer changes, so the ground contact wheel 95 needs to be supported so that it remains in contact with the traveling surface at least until the brush cutter A changes from a workable state to a non-workable state, that is, when in the workable state. The workable state / non-workable state will be described later.

[0036] Figure 10 shows the mounting structure of the angle sensor 96 that detects the angle θ3 between the support arm 92 and the swing arm 93, where (a) is a view from above (partial cross-sectional view) and (b) is a view from the right side of the brush cutter A. The main body 96a of the angle sensor 96 is attached to a mounting piece 92a attached to the support arm 92, the rotation axis of the detection arm 96b of the angle sensor 96 is positioned on the swing axis of the support arm 92 and the swing arm 93, and a mounting pin 93a attached to the swing arm 93 engages with a recess provided at the tip of the detection arm 96b. The angle sensor 96 may be configured using a known angle sensor such as a potentiometer or a rotary encoder. The detected value of the angle sensor 96 is transmitted to the agricultural machine control device. The agricultural machine control device is housed in a control box (not shown). The control box is installed in a predetermined location on the brush cutter A, for example, on the side of the connecting portion 10 or on the top or side of the frame 11. The agricultural machinery control device has the function of receiving signals corresponding to the operator's operation from an operating means such as a remote control operated by the operator or an operating unit provided on the traveling vehicle body 7, and controlling the first telescopic member 26 and the second telescopic member 27.

[0037] Using the agricultural work machine control device, the tilt angle θ0 of the mower A is calculated from the detected value (angle θ3) of the angle sensor 96. The correspondence between the detection value (angle θ3) of the angle sensor 96 and the angle θ0 differs depending on the combination of the three-point linkage mechanism 71 of the traveling body 7, the auto hitch 8, and the brush cutter A. The agricultural work machine control device stores the correspondence between the detection value (angle θ3) of the angle sensor 96 and the angle θ0 according to the combination of the three-point linkage mechanism 71, the auto hitch 8, and the brush cutter A, and calculates the tilt angle θ0 of the brush cutter A from the detection value (angle θ3) of the angle sensor 96 based on this correspondence.

[0038] [Judge whether work is possible] As described above, the agricultural implement control device calculates the tilt angle θ0 of the grass cutter A based on the detection value (angle θ3) of the angle sensor 96 of the agricultural implement tilt angle detection means 9. The agricultural work machine control device determines whether work can be performed based on the calculated tilt angle θ0 of the grass cutter A, and outputs and displays an image indicating whether the grass cutter A can perform work on a display device (not shown) such as a display panel. The agricultural work machine control device stores the correspondence between the tilt angle θ0 of the grass cutter A according to the three-point linkage mechanism 71 and auto hitch 8 and whether work can be performed, and determines whether work can be performed from the tilt angle θ0 of the grass cutter A based on this correspondence. A program for determining whether work can be performed is pre-installed in the agricultural work machine control device. For example, threshold values ​​for the inclination angle θ0 of the grass cutter A that can be used, more specifically, upper and lower limit values, are stored as a correspondence relationship between the inclination angle θ0 of the grass cutter A and whether or not work can be performed. Then, if the inclination angle θ0 of the grass cutter A is within the range between the upper and lower limit values, it is determined that work can be performed, and if it is outside the range, it is determined that work cannot be performed. Note that instead of storing both the upper and lower limit values, only the upper limit value may be stored. In addition, the upper and lower limits of the tilt angle θ0 of the mower A that can perform work are set appropriately based on the tilt angle θ0 at which rotational vibrations and abnormal noises, known as non-uniform speeds, may occur.

[0039] In the agricultural implement control device of this embodiment, a single threshold value (upper and lower limits of the tilt angle θ0 of the grass cutter A) for determining whether work is possible is stored in association with a predetermined specific three-point linkage 71 and autohitch 8, but the configuration is not limited to this. The correspondence relationship between the tilt angle θ0 of the grass cutter A and whether work is possible varies depending on the combination of the three-point linkage and autohitch of the traveling vehicle to which the grass cutter A is coupled. Therefore, the agricultural implement control device for the grass cutter A stores the correspondence relationship between the tilt angle θ0 and whether work is possible for each combination of multiple types of three-point linkages and multiple types of autohitches (i.e., the threshold value for determining whether work is possible). Then, the type of traveling vehicle to which the grass cutter A is coupled, the type of three-point linkage and the type of autohitch can be input into the agricultural implement control device to identify the combination of the three-point linkage and the autohitch, and the agricultural implement control device can determine whether work is possible based on the correspondence relationship for the identified combination. The correspondence between the tilt angle θ0 corresponding to the combination of a plurality of types of three-point linkage mechanisms and a plurality of types of auto hitches and whether work is possible or not may be stored in a matrix look-up table. The type of three-point linkage mechanism and the type of auto hitch can be input into the agricultural machine control device by the worker directly to the agricultural machine control device or via another information processing device (PC, smartphone, etc.), by reading information indicating the type of running body or three-point linkage mechanism attached to the running body or three-point linkage mechanism, and information indicating the type of auto hitch attached to the auto hitch using an information reading means (optical reading means such as a camera, magnetic reading means, reading means via wireless communication, etc.), or by communicating between the agricultural machine control device and the running body control device the type of three-point linkage mechanism and the type of auto hitch stored in a running body control device (not shown) equipped on the running body.

[0040] In the first embodiment, the inclination angle θ0 of the lawnmower A is calculated from the detection value (angle θ3) of the angle sensor 96, and the possibility of work is determined from the inclination angle θ0 of the lawnmower A. However, it is also possible to store a correspondence between the detection value (angle θ3) of the angle sensor 96 and whether work is possible (a threshold value for determining the correspondence), and determine whether work is possible from the detection value (angle θ3) of the angle sensor 96 based on this correspondence. Furthermore, in the first embodiment, the agricultural work machine inclination angle detection means 9 is attached to the mounting unit 1, but as in the first embodiment, if the mounting unit 1 and working unit 3 are configured to tilt integrally in the front-to-rear direction, the agricultural work machine inclination angle detection means 9 may be attached to the working unit 3. Furthermore, it is also possible to attach it to the offset / tilt mechanism unit 2.

[0041] In the first embodiment, the agricultural work machine control device determines whether work is possible or not based on the detection result of the inclination of the brush cutter A. The inclination of the grass cutter A is determined by the amount of lift of the grass cutter A, i.e., the height of the grass cutter A from the running surface, so the inclination angle θ0 of the grass cutter A can be calculated by detecting the height of the grass cutter A from the running surface. In this case, the feasibility of work is determined from the inclination angle θ0 of the grass cutter A, which is calculated based on the height of the grass cutter A from the traveling surface. Note that by previously associating the height of the grass cutter A from the traveling surface with the feasibility of work, it is also possible to determine the feasibility of work directly from the height of the grass cutter A from the traveling surface, without calculating the inclination angle θ0. The height of the lawnmower A from the running surface can be calculated from the detection value (angle θ3) of the angle sensor 96, and in addition, an ultrasonic sensor can be installed on the mounting part 1 to directly detect the height from the running surface.

[0042] As described above, it is not limited to the agricultural work machine control device determining whether or not the grass cutter A can work, but the traveling vehicle body control device can also determine whether or not the grass cutter A can work. A program for determining whether or not work can be performed is pre-installed in the traveling vehicle body control device. When the traveling vehicle body control device determines whether work is possible, the determination may be made in the same manner as the agricultural work machine control device described above. For example, the traveling vehicle body control device may store the workable inclination angles θ0 of multiple types of work machines, and the agricultural work control device may transmit the type of work machine and the detection value (angle θ3) of the angle sensor 96 to the traveling vehicle body control device, and the traveling vehicle body control device may determine whether work is possible based on the received detection value (each θ3) of the angle sensor 96. Note that the traveling vehicle body control device may store not only the workable inclination angle θ0 for each work machine, but also the correspondence between the workable inclination angle θ0 for each combination with multiple types of auto hitches and whether work is possible (i.e., a threshold value for determining whether work is possible), and may also acquire information about the auto hitch. Alternatively, the agricultural work machine control device may transmit the inclination angle θ0 at which the grass cutter A can work to the traveling vehicle body control device, and the traveling vehicle body control device may determine whether work is possible based on the received inclination angle θ0 at which work is possible and the elevation angle of the three-point linkage mechanism 71. Furthermore, the correspondence between the inclination angle θ0 at which work is possible and whether work is possible (i.e., a threshold value for determining whether work is possible) for each combination with multiple types of auto hitches may also be stored, and information on the auto hitch may also be acquired. The agricultural implement control device can also receive signals from the traveling vehicle body control device indicating the type of traveling vehicle body 7 and the type of three-point linkage mechanism 71, generate a lifting / lowering angle of the three-point linkage mechanism 71 at which the grass cutter A can work, and send this to the traveling vehicle body control device, which then determines whether or not work can be performed based on the received lifting / lowering angle and the actual lifting / lowering angle of the three-point linkage mechanism 71. Furthermore, the agricultural implement control device can store the lifting / lowering angles of the three-point linkage mechanism 71 at which the grass cutter A can work for each combination with multiple types of auto hitches, and the agricultural implement control device can also acquire information about the auto hitches.

[0043] [Work availability notification] FIG. 11 is a diagram showing a display image that displays whether or not work can be performed by the grass cutter A of the first embodiment of the present invention. When a display device mounted on the traveling vehicle body 7 and displayed by a traveling vehicle body control device (not shown) provided in the traveling vehicle body 7 is used as the display device (notification means), the agricultural implement control device generates an image indicating whether the grass cutter A can perform work, outputs the image to the traveling vehicle body control device (a device outside the agricultural implement), and the traveling vehicle body control device displays it on the display device. The traveling vehicle body control device and the agricultural implement control device are capable of sending and receiving information bidirectionally via wired or wireless communication. An application (program) for generating an image indicating whether the grass cutter A can perform work may be downloaded (stored) in advance to the traveling vehicle body control device. In this case, the traveling vehicle body control device generates an image indicating whether the grass cutter A can perform work based on the whether the agricultural implement control device determines whether work can be performed or not, or based on the whether the agricultural implement control device determines whether work can be performed or not, and displays the image on the display device. It is also possible to provide the display device with a dedicated circuit incorporating a program for generating an image indicating whether or not the work can be done, and generate an image indicating whether or not the brush cutter A can work based on the judgment by the agricultural work machine control device or the judgment by the traveling vehicle body control device, and display that image on the display device.Furthermore, it is also possible to provide the display device with a dedicated circuit incorporating a program for judging whether or not the work can be done and generating an image indicating whether or not the work can be done, and the display device judges whether or not the work can be done based on the inclination angle θ0 of the brush cutter A output from the agricultural work machine control device via the traveling vehicle body control device, and generate an image indicating whether or not the brush cutter A can work, and display that image.

[0044] Furthermore, when a display device mounted on the grass cutter A and displayed by the agricultural machine control device is used as the display device, the agricultural machine control device can generate an image indicating whether the grass cutter A can work or not and display that image on the display device, or the display device can be provided with a dedicated circuit incorporating a program that determines whether or not work can be done and generates an image indicating whether or not work can be done, and the display device can determine whether or not work can be done based on the inclination angle θ0 of the grass cutter A output from the agricultural machine control device, generate an image indicating whether or not the grass cutter A can work or not, and display that image. Similarly, when a display device mounted on a mobile terminal such as a smartphone, tablet PC, or laptop PC, or a mobile device such as a remote control (a device outside the agricultural machine) is used as the display device, the agricultural machine control device can generate an image indicating whether or not the grass cutter A can operate, output the image to the mobile device, and the mobile device can display it on the display device. Alternatively, the agricultural machine control device can output the tilt angle θ0 of the grass cutter A to the mobile device, which can determine whether or not the grass cutter A can operate based on the tilt angle θ0, generate an image indicating whether or not the grass cutter A can operate, and display the image on the display device. In this case, an application (program) for displaying whether or not the grass cutter A can operate is downloaded (stored) in advance on the mobile device. The machine equipment and the agricultural machine control device are capable of sending and receiving information bidirectionally via wired or wireless communication. It should be noted that the process of determining whether the work can be done before displaying whether the work can be done is not essential, and it is also possible to generate an image indicating whether the work can be done based on the inclination angle θ or the detection value of the angle sensor 96 without determining whether the work can be done, and display the image on the display device.

[0045] Providing information about whether work is possible to the worker is not limited to generating an image indicating whether work is possible with the brush cutter A and displaying that image on a display device. It is also possible to provide a notification lamp on the brush cutter A and, for example, to notify whether work is possible by lighting or flashing the lamp when work is impossible. It is also possible to provide a display panel or LED, etc., on the remote control of the brush cutter A to notify whether work is possible. The manner in which the notification is made can be changed as appropriate. When work is possible, a lamp may be lit or flashed to notify that work is possible, or different colored lamps may be used to notify whether work is possible and impossible. In addition to such visual notification means, it is also possible to notify whether work is possible or impossible by emitting an alarm or by using audio notification means (including notifying only that work is possible or impossible), or a configuration in which these methods are combined as appropriate to make the notification.

[0046] As shown in Figure 11, the image showing whether or not the grass cutter A can work displays the traveling vehicle body 7, three-point linkage mechanism 71, auto hitch 8, and grass cutter A in a view from the left side, with text indicating whether or not work is possible above that, and a gauge G and marker M on the right that indicate in which range of workability the height of the grass cutter A is in. The boundary between the "workable" range and the "no work" range of the gauge G corresponds to the upper and lower limits of the tilt angle θ0 of the grass cutter A that can work. The position of the marker M changes continuously depending on the value of the tilt angle θ0 of the grass cutter A. (a) of Figure 11 shows a state in which the lawnmower A is not tilted (horizontal), with "Work possible" displayed on the top side and a marker M pointing to the area indicating "Work possible" displayed on the right side. Figure 11(b) shows the lawnmower A tilted backwards, with the message "No work allowed: Please lift" displayed on the upper side and a marker M pointing to the lower area indicating "No work allowed" displayed on the right side. Figure 11(c) shows the lawnmower A tilted forward, with the message "No work allowed: Please lower" displayed at the top and a marker M pointing to the upper area indicating "No work allowed" displayed on the right.

[0047] In this way, by displaying on the display device an image of the lawnmower A based on the inclination angle θ0 of the lawnmower A, along with whether the lawnmower A can work and instructions for raising and lowering (raising and lowering) the lawnmower A, the worker can intuitively understand the status of the lawnmower A and can easily understand whether the lawnmower A can work and how to raise and lower the lawnmower A. The worker can then start work after confirming that the brush cutter A is in a state (posture, inclination) that allows work to be done, allowing for safe and secure work. Furthermore, because the worker can confirm that the brush cutter A is in a state (posture, inclination) that prevents work from being done, the worker can be prevented from starting work when the brush cutter A is in a state that prevents work from being done. Therefore, work is not performed in a dangerous state, and danger to the worker, the brush cutter A, the traveling vehicle body 7, etc. can be prevented. Furthermore, by raising and lowering the brush cutter A in accordance with instructions to raise and lower the brush cutter A, the brush cutter A can be kept in a safe state.

[0048] In addition to displaying whether or not the mower A can work and instructions to raise or lower the mower A, it is also possible to display the inclination angle θ0 of the mower A as a number. The number to be displayed may be the calculated value of the inclination angle, or a number representing the inclination angle divided into multiple stages (for example, numbers 1 to 5 divided into five stages). Alternatively, it may simply display whether work is possible or not (work is prohibited). Furthermore, the display contents, such as graphical display and numerical display, can be changed as appropriate.

[0049] [Control based on whether work can be done or not] The results of the determination as to whether work is possible or not can be notified to the worker by display or the like, and can also be used to control the traveling vehicle body and the brush cutter A. The result of the determination as to whether work is possible or not can be used to control the power supply to the work rotor of the brush cutter A. For example, if the traveling vehicle control device or agricultural machine control device determines that work is not possible, it can make it so that the PTO cannot be driven (the PTO cannot be driven, or the PTO will not be driven even if it is driven), and it can also make it so that the drive of the PTO that is currently being driven is stopped. Conversely, if it is determined that work is possible, the PTO can be driven (the PTO can be driven, or the PTO will drive when driven, etc.), and a PTO that was being driven but was stopped can be re-driven. It is also possible to place a clutch in the power transmission path within the lawnmower A (for example, in the gearbox in which the lawnmower power input shaft 12 is located) so that the drive of the lawnmower A can be turned on and off based on a determination of whether work is possible or not.

[0050] When the lifting angle of the three-point linkage mechanism 71 that allows the brush cutter A to perform work is generated to determine whether work is possible, the lifting angle of the three-point linkage mechanism 71 can be used to control the lifting of the three-point linkage mechanism 71. For example, the vehicle body control device can prevent the lawnmower A from being raised or lowered even if an operation to raise or lower it to an angle above or below the generated lifting angle range of the three-point linkage mechanism 71 in which the lawnmower A can operate is performed, based on this lifting angle range.

[0051] [Modification 1 of agricultural machine tilt angle detection means] Fig. 12 is a diagram showing modified example 1 of the agricultural work machine inclination angle detection means 9, and Fig. 13 is a diagram showing the operation of the agricultural work machine inclination angle detection means 9. Figs. 12 and 13 show an example in which the agricultural work machine inclination angle detection means 9 of modified example 1 is attached to a mounting piece 13 attached to the right side of the frame 11 of the mounting unit 1. Fig. 12(a) is a diagram seen from the right of the grass cutter A, (b) is a diagram seen from above (partial cross-sectional view), (c) is a diagram seen from the left of the grass cutter A, and (d) is a diagram seen from the rear of the grass cutter A (partial cross-sectional view). Also, Figure 13 is a view of the lawnmower A from the left, similar to Figure 12(c), where (b) shows the lawnmower A tilted forward, (c) shows the lawnmower A horizontally, and (d) shows the lawnmower A tilted backward. In FIG. 13(a), the weight 97 rotates to the left when the mower A tilts backward, and rotates to the right when the mower A tilts forward. In the first embodiment, the angle formed by the two frames, the support arm 92 that supports the ground contact wheel 95 and the swing arm 93, was detected by the angle sensor 96, but in this variant example 1, the angle sensor 96 detects the angle of the agricultural implement relative to the direction of gravity. The installation location of the agricultural implement tilt angle detection means 9 of this modified example 1 is not limited to the right side surface of the frame 11 of the mounting part 1, but can be installed at any appropriate location on the grass cutter A. A main body 96a of the angle sensor 96 is attached to the attachment piece 13 of the frame 11 of the mounting portion 1. A weight 97 is attached to the main body 96a in place of the detection arm 96b. A guide pin 97a is attached to the tip side of the weight 97, and fits into an arc-shaped slit S formed in the frame 11 of the mounting unit 1 to which the main body 96a is attached. When the brush cutter A tilts, the main body 96a tilts relative to the weight 97, which always faces the direction of gravity. Conversely, the weight 97 rotates relative to the mounting unit 1, the guide pin 97a moves along the slit S, and the weight 97 rotates relative to the main body 96a. The rotation angle of this weight 97 is detected by the main body 96a. It is preferable to attach the angle sensor 96 to the frame 11 of the mounting unit 1 so that the detection value of the angle sensor 96 directly corresponds to the tilt angle θ0 of the brush cutter A.

[0052] [Modification 2 of agricultural machine tilt angle detection means] In the first embodiment and modified example 1, the tilt angle θ0 of the grass cutter A is calculated using the detection value of the angle sensor 96 that detects the angle between the two members, but it is also possible to use a sensor that directly detects the tilt angle θ0 of the grass cutter A, for example, an inclination sensor that directly detects the angle of tilt from horizontal. This inclination sensor is installed so that it can detect the angle of tilt from horizontal in the front-to-rear direction. In this second modification, the tilt sensor is installed at an appropriate location on the mower A, for example, in a control box that houses the farm work control device.

[0053] [Modification 3 of agricultural machine tilt angle detection means] Figure 14 is a diagram showing modified example 3 of the agricultural work machine inclination angle detection means 9, and shows an example in which the agricultural work machine inclination angle detection means 9 of this modified example 3 is attached to a mounting piece 13 attached to the right side of the frame 11 of the mounting part 1. In Figure 14, (a) is a view from the left of the brush cutter A, (b) is a view from the rear of the brush cutter A, (c) is a view from the right of the brush cutter A, (d) is a view showing an example of an indicator (viewed from the right of the brush cutter A), and (e) is a view showing another example of an indicator (viewed from the right of the brush cutter A). In Figure 14(c), when the pointer 98 is pointing downward and left, it indicates that the lawnmower A is tilted backward, when it is pointing straight down, it indicates that the lawnmower A is horizontal, and when it is pointing downward and right, it indicates that the lawnmower A is tilted forward. In the first embodiment, modified example 1 and modified example 2, the agricultural work machine inclination angle detection means 9 uses an angle sensor 96 to detect the inclination angle θ0 of the mower A, and based on this detection result, displays on a display device whether or not agricultural work is possible, but in this modified example 2, a pointer 98 (display pointer) and an indicator 99 are used to display directly and visually (visibly) whether or not agricultural work is possible based on the inclination of the agricultural work machine. In other words, the agricultural work machine inclination angle detection means 9 also serves as display means. The installation location of the agricultural implement tilt angle detection means 9 of this modified example 3 is not limited to the right side surface of the frame 11 of the mounting part 1, but can be installed at any appropriate location on the grass cutter A. The pointer 98 is rotatably mounted at an appropriate position on the mounting part 1. The pointer 98 always faces the direction of gravity. When the brush cutter A tilts, the pointer 98 rotates relative to the mounting part 1.

[0054] Figure 14(d) shows an example of an indicator 99 that serves as a marker for the position indicated by the pointer 98. Diagonal lines that serve as the indicator 99 are painted along the trajectory of movement of the tip of the pointer 98. The diagonal lines indicate the range in which the agricultural implement is allowed to work. The worker performs work after confirming that the pointer 98 is within the workable range. If the pointer 98 is not within the workable range, the worker raises or lowers the brush cutter A so that the pointer 98 is within the workable range. Figure 14(e) is an example of an indicator showing areas where work is possible and areas where work is not possible. The area without a central diagonal line indicates that work is possible, and the areas with diagonal lines on both sides indicate that work is not possible. In addition to these examples, any indicator may be used as long as it indicates the range in which work is possible and the range in which work is not possible.

[0055] [Modification 4 of agricultural machine tilt angle detection means] Figure 15 is a diagram showing a fourth modified example of the agricultural work machine inclination angle detection means 9, and shows an example in which the agricultural work machine inclination angle detection means 9 of this fourth modified example is attached to a mounting piece 13 attached to the right side of the frame 11 of the mounting part 1. Figure 15(a) is a view of the grass cutter A as seen from above, (b) is a view of the grass cutter A as seen from the left, and (c) is a view of the grass cutter A as seen from the rear. In FIG. 15(a), when the weight part 98a faces downward and to the right, it indicates that the mower A is tilted forward, and when it faces directly downward, it indicates that the mower A is horizontal. In this variant example 4, like variant example 3, the pointer 98 is displayed so that it can be seen from the direction of the rotation axis of the pointer 98, but the agricultural implement tilt angle detection means 9 in this variant example 4 displays the pointer 98 so that it can be seen (visibly recognized) from above as well. The pointer 98 (display pointer) is rotatably mounted on a mounting piece 13 attached to the right side of the frame 11 of the mounting part 1. The location where the agricultural implement tilt angle detection means 9 of this modified example 4 is installed is not limited to the right side of the frame 11 of the mounting part 1, and it can be installed at any appropriate location on the brush cutter A. The pointer 98 has a weight portion 98a below its rotation axis for rotating the pointer 98 by gravity, and a pointer portion 98b above the rotation axis that is bent 90 degrees to indicate whether or not agricultural work can be done. When the brush cutter A tilts, the pointer 98 rotates relative to the mounting part 1 by the weight part 98a, and indicates whether or not farm work is possible. An indicator portion 13a having a shape that follows the rotational trajectory of the pointer portion 98b is attached to the mounting piece 13, and the upper surface of this indicator portion 13a is painted to form an indicator 99 that indicates areas where work is possible and areas where work is not possible, as in variant example 3. In the agricultural implement tilt angle detection means 9 of the present modified example 4, the pointer portion 98b can be seen from above, which has the advantage that it is easily visible to the operator of the traveling vehicle body 7.

[0056] In addition, the agricultural implement inclination angle detection means 9 shown in variants 3 and 4 may be provided with a sensor that detects the rotation angle of the pointer 98, and the agricultural implement control device, the traveling vehicle control device, or a display device equipped with a dedicated circuit incorporating a program that determines whether or not work can be done and generates an image indicating whether or not it can be done may detect the inclination angle θ0 of the brush cutter A from the detection value of the sensor. Furthermore, the agricultural work machine tilt angle detection means 9 is not limited to the first embodiment and its modified examples 1 to 4, and its mounting position and mounting structure can be changed as appropriate as long as it can detect the tilt angle θ0 of the grass cutter A. Furthermore, it is also possible to mount the agricultural work machine tilt angle detection means 9 on the auto hitch 8 for mounting the grass cutter A on the traveling vehicle body 7 (its three-point linkage mechanism 71).

[0057] [Means for detecting offset amount] As described above, the working unit 3 moves from the stored state in which it is positioned behind the traveling body 7 to the side of the traveling body 7 with an offset. The brush cutter A is provided with an offset amount detection means (not shown) for detecting the amount of offset of the working unit 3 caused by this offset movement. As the offset amount detection means, a means for detecting the angle formed by two members that changes due to the offset movement of the working unit 3, similar to the agricultural work machine tilt angle detection means 9, can be used. The detected value detected by the offset amount detection means is transmitted to the agricultural implement control device, which calculates the offset amount W (see FIG. 6) of the brush cutter A from the detected value of the offset amount detection means. The correspondence relationship between the detection value of the offset amount detection means and the offset amount W is a relationship specific to the brush cutter A. The agricultural work machine control device stores the correspondence relationship between the detection value of the offset amount detection means and the offset amount W, and calculates the offset amount W of the working unit 3 from the detection value of the offset amount detection means based on this correspondence relationship.

[0058] [Tilt angle detection means] As described above, the working unit 3 rotates up and down around an axis in the front-rear direction, that is, it tilts. The brush cutter A is provided with tilt angle detection means (not shown) for detecting the tilt angle θ4 (see FIG. 7) of the working unit 3 caused by this tilt movement. The tilt angle detection means can be the same as the agricultural machine tilt angle detection means 9, and can be a means for detecting the angle between two members that changes as the working unit 3 tilts, as in the first embodiment, a means for detecting the angle of the working unit 3 with respect to the direction of gravity using a weight, as in variant 1, or an inclination sensor that directly detects the tilt angle of the working unit 3 from horizontal, as in variant 2. When using an inclination sensor, the inclination sensor is installed so that it can detect the tilt angle from horizontal in the left-right direction of the working unit 3. Alternatively, an inclination sensor that can detect tilt in two directions, front-rear and left-right, can be used and installed so that it can detect the tilt angle from horizontal in both directions, front-rear and left-right. The agricultural work machine control device calculates the tilt angle θ4 based on the detection value detected by the tilt angle detection means. It is also possible for the traveling vehicle body control device to calculate the tilt angle θ4 based on the detection value detected by the tilt angle detection means.

[0059] [Offset amount / tilt angle display] FIG. 16 is a diagram showing a display image displaying the offset amount W and tilt angle θ4 of the working unit 3 of the mower A according to the first embodiment of the present invention. As described above, the agricultural work machine control device calculates the offset amount W and tilt angle θ4 of the working unit 3. Based on the calculated offset amount W and tilt angle θ4 of the working unit 3, the agricultural work machine control device outputs an image showing these to a display device such as a display panel for display. The display on the display device is similar to the display on the display device (notification means) of the image indicating whether or not the work can be performed described above. When a display device mounted on the traveling vehicle body 7 and displayed by a traveling vehicle body control device provided in the traveling vehicle body 7 is used as the display device, the agricultural implement control device generates an image indicating the offset amount W and tilt angle θ4 of the working unit 3 of the brush cutter A, outputs the image to the traveling vehicle body control device, and the traveling vehicle body control device displays the image on the display device. Note that an application (program) for generating an image indicating the offset amount W and tilt angle θ4 of the working unit 3 may be downloaded (stored) in advance to the traveling vehicle body control device. In this case, the traveling vehicle body control device generates an image indicating the offset amount W and tilt angle θ4 of the working unit 3 of the brush cutter A based on the offset amount W and tilt angle θ4 calculated by the agricultural implement control device or the offset amount W and tilt angle θ4 calculated by the traveling vehicle body control device, and displays the image on the display device. Alternatively, the display device may be provided with a dedicated circuit incorporating a program for generating an image showing the offset amount W and tilt angle θ4 of the working unit 3, and the display device may generate an image showing the offset amount W and tilt angle θ4 based on the offset amount W and tilt angle θ4 calculated by the agricultural machine control device or the offset amount W and tilt angle θ4 calculated by the traveling vehicle body control device, and display the image. Alternatively, the display device may be provided with a dedicated circuit incorporating a program for calculating the offset amount W and tilt angle θ4 of the working unit 3 and generating an image showing the offset amount W and tilt angle θ4, and the display device may calculate an image showing the offset amount W and tilt angle θ4 based on the detection values ​​detected by the offset amount detection means and the detection values ​​detected by the tilt angle detection means output from the agricultural machine control device via the traveling vehicle body control device, and generate an image showing the offset amount W and tilt angle θ4, and display the image.

[0060] When a display device mounted on the grass cutter A and displayed by the agricultural machine control device is used as the display device, the agricultural machine control device may generate an image showing the offset amount W and tilt angle θ4 of the working unit 3 of the grass cutter A and display the image on the display device, or the display device may generate an image showing the offset amount W and tilt angle θ4 of the working unit 3 of the grass cutter A based on the offset amount W and tilt angle θ4 received from the agricultural machine control device and display the image on the display device. Furthermore, when a display device mounted on a mobile terminal such as a smartphone, tablet PC, or laptop PC, or a mobile device such as a remote control, is used as the display device, the agricultural implement control device generates an image showing the offset amount W and tilt angle θ4 of the working unit 3 of the brush cutter A, outputs the image to the mobile device, and the mobile device displays the image on the display device. Note that the agricultural implement control device can output the calculated offset amount W and tilt angle θ4 of the working unit 3 to the mobile device, and the mobile device can generate an image showing the offset amount W and tilt angle θ4 of the working unit 3 of the brush cutter A and display the image on the display device. Alternatively, the agricultural implement control device can output the detection values ​​detected by the offset amount detection means and the detection values ​​detected by the tilt angle detection means to the mobile device, and the mobile device can calculate the offset amount W and tilt angle θ4 of the working unit 3 of the brush cutter A, and generate an image showing the offset amount W and tilt angle θ4 of the working unit 3 of the brush cutter A based on the calculated offset amount W and tilt angle θ4, and display the image on the display device. In this case, an application (program) for displaying the offset amount W and tilt angle θ4 of the working unit 3 is downloaded (stored) in advance in the portable device.

[0061] FIG. 16 shows images displayed on the display device when the tilt angle θ4 is 0°, 3° down, 3° up, 50° down, and 60° up, and each of these is a predetermined offset amount W. The tilt angle θ4 is displayed numerically and graphically on the working unit 3, and the offset amount W is displayed by an offset gauge. In this way, by displaying the offset amount W and tilt angle θ4 of the working unit 3 on the display device, the worker can easily grasp the position of the working unit 3.

[0062] [Displays whether work is possible, offset amount, and tilt angle] FIG. 17 is a diagram showing a display image that simultaneously displays whether the mower A of the first embodiment of the present invention is capable of performing work, the offset amount W of the working unit 3, and the tilt angle θ4. The image showing whether the work is possible or not shown in FIG. 11 and the image showing the offset amount W and tilt angle θ4 of the working unit 3 shown in FIG. 16 are displayed side by side on a display device. In this way, by simultaneously displaying three pieces of information on the display device, the operator can grasp the state of the brush cutter A in more detail.

[0063] [Horizontal Control] As described above, when the brush cutter A performs offset movement, it moves in an almost horizontal direction while maintaining an almost horizontal state, with almost no vertical movement or tilting, but the working part 3 does tilt slightly from the horizontal. In addition, the working unit 3 is supported on the running body 7 via a connecting mechanism consisting of a three-point link mechanism 71, an auto hitch 8, an attachment unit 1, and an offset / tilt mechanism unit 2, and since these connecting mechanisms have mechanical play, if the center of gravity of the working unit 3 shifts due to offset movement, the working unit 3 will be tilted. Therefore, in the first embodiment, the agricultural work machine control device performs control (horizontal control) to maintain the horizontal state of the working unit 3 during offset movement. The working unit 3 is provided with a means for detecting the angle of the working unit 3 with respect to the direction of gravity using a weight as in Variation 1, or a sensor for directly detecting the inclination of the working unit 3, such as an inclination sensor that directly detects the inclination angle of the working unit 3 from the horizontal as in Variation 2, to detect the inclination angle of the working unit 3 with respect to the horizontal. Based on this detected inclination angle of the working unit 3 with respect to the horizontal, the working unit 3 is controlled to maintain a horizontal state. The grass cutter A is able to tilt the working unit 3 by extending and retracting the second extendable member 27. Therefore, during offset movement of the working unit 3, the agricultural work control device controls the extension and retraction of the second extendable member 27 based on the inclination angle of the working unit 3 relative to the horizontal, thereby maintaining the horizontality of the working unit 3. Note that in the grass cutter A of the first embodiment, the inclination angle of the working unit 3 relative to the horizontal due to offset movement is small, so it is also possible to not perform horizontal control during offset movement, but to simply perform horizontal control when the working unit 3 reaches the work position and stops its offset movement, thereby controlling the working unit 3 to be in a horizontal state. The detected tilt angle of the working unit 3 relative to the horizontal also includes the tilt of the working unit 3 due to machine backlash, and the horizontal control can also correct the tilt of the working unit 3 from the horizontal due to machine backlash.

[0064] Instead of performing horizontal control to maintain the horizontal state of the working unit 3 based on the tilt angle of the working unit 3 relative to the horizontal, the extension and retraction of the second telescopic member 27 can also be controlled based on the detected value of the offset amount W. That is, since the tilt of the working unit 3 from the horizontal due to offset movement is an angle determined corresponding to the offset amount W, the correspondence between the offset amount W and the extension and retraction amount of the second telescopic member 27 is stored, and the extension and retraction amount of the second telescopic member 27 is controlled based on the detected value of the offset amount W. In this case, the tilt of the working unit 3 from the horizontal due to offset movement can be corrected, but the tilt of the working unit 3 from the horizontal due to mechanical backlash cannot be strictly corrected. However, if the tilt of the working unit 3 from the horizontal due to mechanical backlash is measured or calculated in advance in accordance with the offset amount W, and the correspondence between the offset amount W and the extension and retraction amount of the second telescopic member 27 corresponding to the tilt of the working unit 3 from the horizontal due to the previously measured or calculated mechanical backlash is stored, the tilt of the working unit 3 from the horizontal due to mechanical backlash can be corrected to a considerable extent.

[0065] When tilting the working unit 3 to mow slopes or the like, it is necessary to offset the working unit 3 by a predetermined amount or more from the traveling vehicle body in relation to the traveling safety (limits on left-right tilt) and the vehicle width of the traveling vehicle body (length between the outer surfaces of the left and right tires). For this reason, the working unit 3 will not be tilted if it is offset within this predetermined amount. Therefore, during offset movement within a predetermined amount, horizontal control is performed and extension / contraction of the second telescopic member 27 by the operator's operation is prohibited. In other words, even if the operator performs a tilt movement operation, the operation is invalidated and control can be performed so that the second telescopic member 27 cannot be extended or contracted. This control maintains the horizontality of the working unit 3 during offset movement within a predetermined amount and prevents the working unit 3 from tilting even if the operator accidentally performs a tilt movement operation. In addition, a configuration can be made to notify the operator that horizontal control is in progress. This notification can prevent the operator from accidentally performing a tilt movement operation. Furthermore, by notifying the operator that tilt operation is not possible during horizontal control and that tilt operation is possible when horizontal control is not in progress, the operator can more easily understand whether tilt operation is possible or not. Note that the configuration is not limited to one in which horizontal control is always performed during offset movement within a predetermined amount, and the operator may be able to select whether or not to perform horizontal control during offset movement within a predetermined amount. Furthermore, the predetermined amount for performing horizontal control may be fixed, or may be set appropriately by the operator depending on the type and width of the traveling vehicle body, or may be set by the agricultural machine control device receiving a signal indicating the type of traveling vehicle body or a signal indicating the width of the traveling vehicle body from the traveling vehicle body control device, etc.

[0066] Alternatively, horizontal control may be performed by the traveling vehicle body control device of the traveling vehicle body 7. The agricultural work machine control device outputs a signal related to the inclination angle of the working unit 3 with respect to the horizontal or a signal related to the offset amount to the traveling vehicle body control device, and the traveling vehicle body control device outputs a control signal to the agricultural work machine control device based on the signal related to the inclination angle of the working unit 3 with respect to the horizontal or the signal related to the offset amount, and the agricultural work machine control device controls the extension and retraction of the second telescopic member 27. Note that the configuration is not limited to the traveling vehicle body control device outputting a control signal to the agricultural work machine control device, and the traveling vehicle body control device may generate a signal for controlling the second telescopic member 27 based on the signal related to the inclination angle of the working unit 3 with respect to the horizontal or the signal related to the offset amount and output it to the agricultural work machine control device, and the agricultural work machine control device controls the second telescopic member 27 based on the signal for controlling the second telescopic member 27 output from the traveling vehicle body control device. In addition, the detection value may be sent directly to the traveling vehicle body control device from a sensor that directly detects the inclination of the working unit 3, such as a means for detecting the angle of the working unit 3 relative to the direction of gravity using a weight as in variant example 1, or an inclination sensor that directly detects the inclination angle of the working unit 3 from the horizontal as in variant example 2, or the detection value may be sent to the traveling vehicle body control device from a sensor that directly detects a signal related to the offset amount of the working unit 3, such as a sensor that detects the offset amount of the working unit 3.

[0067] In addition, agricultural machinery that performs horizontal control is not limited to brush cutters, but can also be a ridger that can move in an offset manner.When moving in an offset manner or when the offset is completed, the left-right tilt of the ridger or the ridge forming part of the ridger can be detected, and the coulter (ground wheel) can be moved up and down based on the detected tilt, thereby keeping the ridger or the ridge forming part of the ridger horizontal.

[0068] [Second embodiment] A grass cutter B according to a second embodiment of the present invention will be described below with reference to the drawings. The agricultural work machine is not limited to a grass cutter, but may be any machine that can be moved in an offset manner. In the following description, the same reference numerals in different drawings indicate parts with the same functions, and duplicated descriptions in each drawing will be omitted as appropriate. For the sake of convenience, terms indicating directions such as up, down, forward, backward, right, and left are used, but the direction in which gravity acts is downward, and the opposite is upward. The direction in which the traveling vehicle body moves is forward, and the opposite is backward. Furthermore, when facing forward, the right side is the right, and the left side is the left.

[0069] Figures 18 and 19 respectively show the configuration of the second embodiment of the grass cutter B in the stored state and in the maximum offset state. In both figures, the top row shows, from the left, an oblique view of the grass cutter B seen diagonally from the upper left rear, a plan view, and an oblique view of the grass cutter B seen diagonally from the upper right rear, and the bottom row shows, from the left, a left side view, a view from the rear, and a right side view.

[0070] [Overall structure] The grass cutter B of the second embodiment is connected to the rear of the traveling body 7 (see Figure 21) and performs grass cutting work while moving forward as the traveling body 7 moves, and is equipped with an attachment unit 4, an offset / tilt mechanism unit 5, and a working unit 6.

[0071] [Installation part] As in the first embodiment, the mounting part 4 is connected to an auto hitch 8 attached to a three-point linkage mechanism 71 (see FIG. 21) provided at the rear of the traveling body 7. The three-point linkage mechanism 71 is made up of a top link 711, a lower link 712, a lift rod (not shown), etc. The mounting part 4 of the brush cutter B is connected to the three-point linkage mechanism 71 via the auto hitch 8. In other words, the mounting part 4 of the brush cutter B is connected to the traveling body 7 so that it can move up and down. The three-point linkage mechanism 71 and the auto hitch 8 are well known in the art, so detailed explanations will be omitted. The mounting portion 4 has a frame 41 equipped with a connecting portion that is connected to the auto hitch 8 and a brush cutter power input shaft 42 to which power from the PTO shaft 72 of the traveling vehicle body 7 is transmitted. The PTO shaft 72 and the grass cutter power input shaft 42 are connected by universal joints 73, 74 and a power transmission shaft 75. The power transmission shaft 75 is configured to be extendable and retractable, and together with the two universal joints 73, 74, power can be transmitted even if the distance, height, angle, etc. between the PTO shaft 72 and the grass cutter power input shaft 42 changes, as long as it is within a specified range.

[0072] A rotating frame upper end support shaft 411, which connects a rotating frame 51 (described later) so that the rotating frame 51 can rotate laterally, is provided near the left-right center of the frame 41 so as to protrude rearward. A grass mower power input shaft 42, which inputs power to the brush mower B, is housed inside the rotating frame upper end support shaft 411, and the front end side of the grass mower power input shaft 42 protrudes forward from the front end of the rotating frame upper end support shaft 411. The rotating frame upper end support shaft 411 and the grass mower power input shaft 42 are arranged so as to be concentric. A support arm upper end support portion 412 that connects a support arm 53 (described later) so as to be rotatable left and right is provided at the upper left end of the frame 41 so as to protrude rearward. The mounting unit 4 may be directly connected to the three-point link mechanism 71 of the traveling vehicle body 7 without using the auto hitch 8.

[0073] [Working section] The working unit 6 has a grass-cutting claw and a claw shaft to which multiple grass-cutting claws are attached and which is driven to rotate by power from the working unit input shaft described below, and has a working rotor (neither of which is shown) that performs the grass-cutting work, and the working rotor is covered by a shield cover 62 and side plates 63 provided on both the left and right sides of the shield cover 62. A working unit transmission case 61 is provided on the outside of the left side plate 63. A rotating frame lower end support shaft 61a, which is connected to the lower end of the rotating frame 51 so as to be rotatable left and right, is provided in the working unit transmission case 61 so as to protrude rearward. A working unit input shaft (not shown) is housed inside the rotating frame lower end support shaft 61a. The working unit input shaft transmits power from a transmission means in the rotating frame 51, which will be described later, to the rotating shaft of the work rotor, thereby rotating the tine shaft and grass-cutting tines. The shield cover 32 is configured in a semi-cylindrical shape in a side view and covers the upper part of the work rotor. A second telescopic member support part 64 for attaching a second telescopic member 55 (described later) is protruded from the upper surface of the rear side of the shield cover 32 (rearward of the rotation center of the claw shaft in a plan view).

[0074] [Offset / Tilt Mechanism] The offset / tilt mechanism 5 has a rotating frame 51 , a rotating support member 52 , a support arm 53 , a first telescopic member 54 , and a second telescopic member 55 . The rotating frame 51, the rotating support member 52, the support arm 53, and the first extensible member 54 constitute an offset mechanism that offsets the working unit 6, and the rotating support member 52 and the second extensible member 55 constitute a tilt mechanism that tilts the working unit 6. The rotating support member 52 is a component of both the offset mechanism and the tilt mechanism. The upper end side of the rotating frame 51 is connected to a rotating frame upper end side support shaft 411 of the mounting portion 4 so as to be rotatable left and right. The lower end side of the rotating frame 51 is connected to a rotating frame lower end support shaft 61a that is provided so as to protrude rearward from a working unit transmission case 61 of the working unit 6 so as to be rotatable left and right. A working unit input shaft (not shown) is housed inside the rotating frame lower end support shaft 61a, and the rotating frame lower end support shaft 61a and the working unit input shaft are arranged so as to be concentric. The rotating frame 51 is hollow and houses a wrapping transmission means (not shown) inside. The input shaft of the wrapping transmission means is the mower power input shaft 42 of the mounting part 4, and the output shaft of the wrapping transmission means is the working unit input shaft inside the rotating frame lower end side support shaft 61a. The wrapping transmission means is composed of, for example, a sprocket and a chain. That is, a drive sprocket of the wrapping transmission means is provided at the end of the brush cutter power input shaft 42 located inside the rotating frame 51, and a driven sprocket of the wrapping transmission means is provided at the end of the working unit input shaft located inside the rotating frame 51. A chain is wound around the drive sprocket and driven sprocket so as to transmit the power of the drive sprocket (brush cutter power input shaft 42) to the driven sprocket (working unit input shaft).

[0075] In the second embodiment, the rotating frame 51 is hollow and houses the wrapped transmission means therein, but the rotating frame 51 may not house the wrapped transmission means therein, and a separate transmission case may be provided to house the wrapped transmission means.

[0076] A rotation support member 52, which will be described later, is rotatably supported on the rotation frame lower end side support shaft 61a. The pivotable support member 52 has a roughly L-shaped configuration, with the bent portion of the L-shape pivotally supported on the pivotable frame lower end support shaft 61a, and the lower end of the support arm 53 is pivotally connected to one end of the L-shape (left side when viewed from the rear) and the rod side of the second telescopic member 55 is pivotally connected to the other end of the L-shape (right side when viewed from the rear).

[0077] The upper end side of the support arm 53 is connected to a support arm upper end support shaft 412a provided in the front-rear direction on the support arm upper end support part 412 of the mounting part 4 so as to be rotatable left and right. The lower end of the support arm 53 is connected to a support shaft provided at one end of the rotation support member 52 so as to be rotatable left and right.

[0078] The first telescopic member 54 has its upper end, which is the cylinder side, connected together with the support arm 53 to the support arm upper end support shaft 412a of the support arm upper end support part 412 of the mounting unit 4 so as to be rotatable left and right. In addition, the lower end, which is the rod side of the first telescopic member 54, is connected to a first telescopic member lower end support shaft 511a in the front-to-rear direction provided on the first telescopic member lower end support part 511 on the lower end side of the rotating frame 51 so as to be rotatable left and right. This first telescopic member 54 is used when moving the working unit 6 in an offset manner. One end of the second telescopic member 55 is rotatably connected to the other end of the rotary support member 52, and the other end is rotatably connected to the second telescopic member support part 64 of the working unit 6. This second telescopic member 55 is used when tilting the working unit 6.

[0079] In the second embodiment, as described above, the rotating frame 51 is supported behind the mounting unit 4, the working unit 6 is supported in front of the rotating frame 51, and the working unit 6 is disposed below the mounting unit 4. This arrangement positions the working unit 6 closer to the traveling vehicle body, preventing the weight balance of the traveling vehicle body from becoming unbalanced.

[0080] Move Offset Figure 20 is a diagram showing the offset movement of the brush cutter B of the second embodiment of the present invention, where (a) is a diagram showing the offset movement of the working unit 6, (b) is a diagram showing the working unit 6 in an upward tilted state, and (c) is a diagram showing the working unit 6 in a downward tilted state. Note that in Figure 20, some components are simplified to make the offset movement and tilt movement easier to understand. As described above, the offset / tilt mechanism 5 has the rotating frame 51 connected downward to the mounting unit 4, and the working unit 6 connected to the lower end side of the rotating frame 51, thereby connecting and supporting the working unit 6 to the mounting unit 4. Furthermore, a support arm 53 connects the mounting portion 4 and the rotation support member 52 .

[0081] In the offset / tilt mechanism 5 described above, as shown in FIG. 20(a), similarly to the first embodiment, the agricultural machine control device (not shown) extends and retracts the first extendable member 54, thereby offsetting and moving the working unit 6. In the second embodiment, in the stored state where the working unit 6 is located at the rear of the traveling body, the first telescopic member 54 is in its most contracted state, and as the first telescopic member 54 is extended, the working unit 6 moves offset to the side of the traveling body, and when the first telescopic member 54 is in its most extended state, it reaches a maximum offset state where the offset amount is greatest. In the offset / tilt mechanism 5 of the second embodiment, the frame 41 of the mounting unit 4, the rotating frame 51, the rotating support member 52, and the support arm 53 form parallel links arranged in the vertical direction, and the rotation axis that rotatably connects these together is arranged parallel to the front-to-rear direction (direction of travel), so that the working unit 6 does not move in the front-to-rear direction when it makes an offset movement. Therefore, the offset movement does not change the front-to-rear balance of the load applied to the traveling vehicle body, and stable offset movement is possible.

[0082] 20(a), the working unit 6 of the second embodiment moves while maintaining a substantially horizontal state during offset movement. However, since the rotating frame lower end support shaft 61a moves along an arc-shaped trajectory T centered on the rotating frame upper end support shaft 411, the working unit 6 moves vertically during offset movement. That is, in the second embodiment, during the offset movement, the working unit 6 remains in a substantially horizontal state but moves in the vertical direction. Therefore, the offset movement must be performed with the working unit 6 raised to a predetermined height above the ground.

[0083] In the second embodiment, the working unit 6 is in the stored state when the first telescopic member 54 is at its most contracted state, and in the maximum offset state when the first telescopic member 54 is at its most extended state; however, the working unit 6 may be in the stored state when the first telescopic member 54 is at its most extended state, and in the maximum offset state when the first telescopic member 54 is at its most contracted state.

[0084] Furthermore, as described above, when the rotating frame upper end support shaft 411, which is the rotation shaft that rotatably connects the rotating frame 51, is parallel to the direction of travel, the working unit 6 does not move in the front-to-rear direction. However, depending on the traveling body and the location where the mowing work is performed, the three-point linkage mechanism 71 of the traveling body 7 may be used to slightly raise the mower B, causing the entire mower B to tilt in the front-to-rear direction. In this case, since the rotating frame upper end support shaft 411 also tilts with respect to the direction of travel, when the working unit 6 is moved in an offset manner, the working unit 6 moves in the front-to-rear direction due to the working unit 6 moving up and down when the rotating frame upper end support shaft 411 is parallel to the direction of travel.

[0085] [Tilt movement] In the second embodiment, the offset / tilt mechanism 5 has a second expandable member 55 for tilting the working unit 6 . The second telescopic member 55 connects the rotation support member 52 and a second telescopic member support part 64 provided on the shield cover 62 of the working part 6. In the offset / tilt mechanism 5, as in the first embodiment, the second telescopic member 55 is extended and retracted by an agricultural implement control device (not shown), allowing the working unit 6 to tilt in both the up and down directions with the support shaft 61a at the lower end of the rotating frame as the central axis of rotation, as shown in Figures 20(b) and (c). In the second embodiment, as shown in Figure 20(b), when the second telescopic member 55 is contracted, the working unit 6 is tilted upward, and as shown in Figure 20(c), when the second telescopic member 55 is extended, the working unit 6 is tilted downward. In addition, it is also possible to configure the working unit 6 so that when the second telescopic member 55 is extended, the working unit 6 is tilted upward, and when the second telescopic member 55 is contracted, the working unit 6 is tilted downward.

[0086] [Up and down movement] 21 and 22 are diagrams showing the up and down movement of the mower B of the second embodiment of the present invention, with Fig. 21 being a view from the left side and Fig. 22 being a view from the rear, respectively (a) showing the working unit 6 on the top surface of a ridge that is higher than the travel surface, and (b) showing the working unit 6 on the field, which is the travel surface. Note that Figs. 21, 22 and Figs. 18-19 are partial schematic views of the mower B. When the working unit 6 is on the field, which is the travel surface, the brushcutter B is parallel to the ground, so the angle θ0 between the field surface and the brushcutter power input shaft 42 (the tilt angle of the brushcutter B) is almost 0° (almost parallel), and there is not much difference in height between the PTO shaft 72 and the brushcutter power input shaft 42. For this reason, the angle θ1 between the PTO shaft 72 and the power transmission shaft 75, and the angle θ2 between the power transmission shaft 75 and the brushcutter power input shaft 42 are small (see Figure 21(b)). When the working unit 6 is on the top surface of the ridge, which is higher than the traveling surface, the mounting unit 4 must be in a high position, and the brush cutter B will be in a tilted position, leaning forward significantly. At this time, the angle θ0 between the top surface of the ridge (parallel to the traveling surface and the field surface) and the brush cutter power input shaft 42 is large, and the difference in height between the PTO shaft 72 and the brush cutter power input shaft 42 is also large, so the angle θ1 between the PTO shaft 72 and the power transmission shaft 75 and the angle θ2 between the power transmission shaft 75 and the brush cutter power input shaft 42 are larger (see Figure 21(a)) than when the working unit 6 is on the field, which is the traveling surface (the state shown in Figure 21(b)).

[0087] In this way, it is necessary to position the mounting part 4 at a high position, and if the angles θ1 and θ2 become larger than a predetermined value, the universal joints 73 and 74 will not be able to transmit power smoothly, causing rotational vibrations known as uneven speeds and abnormal noise, and even causing damage to the PTO 72 of the running body 7, the universal joints 73 and 74, the power transmission shaft 75, and the brush cutter power input shaft 42, which will result in damage to the machine. In the second embodiment, the working unit 6 moves up and down due to the offset movement, and moves upward when the working unit 6 protrudes outward from the running body 7, so the amount by which the entire brush cutter B is raised is less than in the first embodiment.

[0088] [Detection, notification, control] The grass mower B of the second embodiment can also use the agricultural implement tilt angle detection means 9 of the grass mower A of the first embodiment, its modifications 1 to 4, the offset amount detection means, and the tilt angle detection means. Furthermore, notification of whether work can be performed, the offset amount, and the tilt angle can be performed in the same manner as the notification of the grass cutter A of the first embodiment. Furthermore, horizontal control can be performed in the same manner as the horizontal control of the grass mower A of the first embodiment.

[0089] [Third embodiment] A brush cutter C (stored state) according to a third embodiment of the present invention is shown in FIG. The brush cutter C of the third embodiment is connected to the rear of the running body 7 and performs grass cutting work while moving forward as the running body 7 moves, like a tractor, and is equipped with an attachment part 1a, an offset mechanism part 2a1, a tilt mechanism part 2a2, and a working part 3a. The offset mechanism 2a1 is composed of a horizontally arranged parallel link mechanism, and moves the working unit 3a in an offset manner. In addition, a chain mechanism is used as a power transmission means from the attachment part 1a to the working part 3a. Such a mower C is well known, and therefore a detailed description thereof will be omitted. The grass cutter C of the third embodiment can also be used by attaching to the mounting part 1a the agricultural implement tilt angle detection means 9 of the grass cutter A of the first embodiment and its modifications 1 to 4. The offset amount detection means and tilt angle detection means of the first embodiment can also be used in the grass cutter C in the same way. Furthermore, notification of whether work can be performed, the offset amount, and the tilt angle can be performed in the same manner as the notification of the grass cutter A of the first embodiment. Furthermore, horizontal control can be performed in the same manner as the horizontal control of the grass mower A of the first embodiment.

[0090] [Fourth embodiment] A brush cutter D (stored state) according to a fourth embodiment of the present invention is shown in FIG. The brush cutter D of the fourth embodiment is connected to the rear of the running body 7 and performs grass cutting work while moving forward as the running body 7 moves, like a tractor, and is equipped with an attachment part 1b, an offset mechanism part 2b1, a tilt mechanism part 2b2, and a working part 3b. The offset mechanism 2b1 is composed of a horizontally arranged parallel link mechanism, and moves the working unit 3b in an offset manner. Furthermore, a power transmission shaft and two universal joints at both ends of the shaft are used as a power transmission means from the attachment part 1b to the working part 3b. Such a mower D is well known, and therefore a detailed description thereof will be omitted. The grass cutter D of the fourth embodiment can also be used by attaching to the mounting part 1b the agricultural implement tilt angle detection means 9 of the grass cutter A of the first embodiment and its modifications 1 to 4. The offset amount detection means and tilt angle detection means of the first embodiment can also be used in the grass cutter D in the same way. Furthermore, notification of whether work can be performed, the offset amount, and the tilt angle can be performed in the same manner as the notification of the grass cutter A of the first embodiment. Furthermore, horizontal control can be performed in the same manner as the horizontal control of the grass mower A of the first embodiment.

[0091] [Fifth embodiment] A brush cutter E according to a fifth embodiment of the present invention will now be described. The grass cutter A described in the first embodiment has one frame 11 for the mounting part 1, but the grass cutter E of this fifth embodiment has two frames (a front frame and a rear frame) for the mounting part 1 at the front and rear. Only the parts that differ from the first embodiment will be described, and a description of the parts that are the same as the first embodiment will be omitted. An elastic member is disposed between the front frame and the rear frame to bias the rear frame in a direction to rotate it rearward and downward relative to the front frame. Note that the member disposed between the front frame and the rear frame is not limited to an elastic member, and may be an expandable member whose length is adjustable. The front frame is equipped with a three-point linkage mechanism provided at the rear of the traveling body, a connecting portion that is connected to the auto hitch, a brush cutter power input shaft to which power is transmitted from the PTO shaft of the traveling body, and an output shaft that outputs the power input to the brush cutter power input shaft to the rear frame. Note that the brush cutter power input shaft and output shaft are concentric. The PTO shaft and the brush cutter power input shaft are connected by a universal joint and a power transmission shaft. The rear frame is connected to the front frame so as to be rotatable up and down about a rotation axis provided on the front frame and extending in the left-right direction perpendicular to the direction of travel, and can tilt in the front-rear direction relative to the front frame. In addition, the rear frame is provided with a first rotating frame lower end support axis 111 that protrudes rearward and connects the first rotating frame 21 of the offset-tilt mechanism 2 so as to be rotatable left and right. In other words, the working unit 3 is connected and supported by the rear frame via the offset-tilt mechanism 2, and when the rear frame tilts in the front-rear direction relative to the front frame, the working unit 3 also tilts in the front-rear direction. The rear frame is equipped with an input shaft to which power is transmitted from the output shaft of the front frame. The input shaft is housed inside the first rotating frame lower end support shaft 111, and the front end of the input shaft protrudes forward from the front end of the first rotating frame lower end support shaft 111. The first rotating frame lower end support shaft 111 and the input shaft are arranged concentrically. The input shaft of the first wrapping transmission means is the input shaft of the rear frame. The output shaft of the front frame and the input shaft of the rear frame are connected by a universal joint and a power transmission shaft. The brush cutter E is provided with a mounting part 1 having two frames, a front frame and a rear frame that can rotate in the front-to-rear direction relative to the front frame, so that when the working part 3 is placed on the work surface, it can be adjusted to be horizontal without tilting the working part in the front-to-rear direction. The grass mower E of the fifth embodiment can also use the agricultural work machine inclination angle detection means 9 of the grass mower A of the first embodiment and its modifications 1 to 4. In this case, the agricultural work machine inclination angle detection means 9 of the grass mower A of the first embodiment and the agricultural work machine inclination angle detection means 9 shown in its modifications 1 to 4 are preferably provided on the front frame. Furthermore, the brush cutter E of the fifth embodiment can also use the offset amount detection means and tilt angle detection means of the brush cutter A of the first embodiment. Furthermore, notification of whether work can be performed, the offset amount, and the tilt angle can be performed in the same manner as the notification of the grass cutter A of the first embodiment. Furthermore, horizontal control can be performed in the same manner as the horizontal control of the grass mower A of the first embodiment. Furthermore, in the case of the lawnmower E of the fifth embodiment, as with the lawnmower A of the first embodiment, it is possible to calculate the height from the running surface from the inclination angle, or to install a height sensor such as an ultrasonic sensor to calculate the height from the running surface. Furthermore, the configuration of providing two frames, a front frame and a rear frame, shown in the fifth embodiment of the grass cutter E can also be applied to the grass cutter B of the second embodiment, the grass cutter C of the third embodiment, and the grass cutter D of the fourth embodiment.

[0092] [Sixth embodiment] In this sixth embodiment, an example will be described in which a tractor (hereinafter referred to as an unmanned vehicle body) capable of running unmanned is connected to the brush cutters A to E (hereinafter simply referred to as brush cutters) of the first embodiment and its variants 1 to 2, the second embodiment, the third embodiment, the fourth embodiment and the fifth embodiment. When a brush cutter is coupled to the unmanned vehicle body to perform grass cutting work, the unmanned vehicle body controls the offset mechanism and tilt mechanism to drive the unmanned vehicle body based on map information including location information from a GPS installed in the unmanned vehicle body and topographical data, and also raises and lowers the brush cutter, offsets and tilts the working units 3, 6, 3a, 3b (hereinafter simply referred to as working units), and so that the working units are parallel to the working surface at a certain distance above it. When the working surface is higher than the driving surface of the unmanned autonomous vehicle, the vehicle body control device controls the lawnmower to raise based on the map information. In this case, as a result of raising the lawnmower, the angle of the lawnmower may be in an unworkable range. At this time, the agricultural implement control device or the traveling vehicle body control device determines that the grass cutter is unable to work based on the detection results of the agricultural implement tilt angle detection means 9. If it is determined that the grass cutter is unable to work, the traveling vehicle body control device stops driving the PTO and suspends grass cutting work. When mowing work has been suspended, the location, date and time of suspension can be transmitted to the management device of the unmanned vehicle or stored in the storage means of the unmanned vehicle so that the manager of the unmanned vehicle can know in real time or later. Also, if the manager is near the unmanned vehicle, it is possible to notify the manager by light or sound. After the mowing work is interrupted, for example, the unmanned vehicle body is driven with the PTO drive stopped, and the mower is raised and lowered, the working part is offset and tilted, and when the mower is ready to work, the mowing work is started.

[0093] As described above, the first embodiment of the present invention and the first to fourth modifications of the agricultural machine tilt angle detection means 9, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment, and the sixth embodiment have been described in detail with reference to the drawings, but the specific configuration is not limited to these embodiments and modifications, and the present invention also includes design changes and the like that do not deviate from the gist of the present invention. Furthermore, the above-described embodiments and modifications can be combined by utilizing each other's technology as long as there are no particular contradictions or problems in their purpose, configuration, etc. [Explanation of symbols]

[0094] A. Grass cutter 1. Mounting part 10 Connection part 11 frames 12. Grass cutter power input shaft 13 Mounting piece 13a Index section 2 Offset / tilt mechanism 21 First rotating frame 22 Second rotating frame 23 Rotating support member 24 First support arm 25 Second support arm 26 First expansion member 27 Second expansion member 3 Working section 31 Working unit transmission case 32 Shield cover 33 Side panel 34 Second telescopic member support part B. Grass cutter 4. Mounting part 41 frames 42 Grass cutter power input shaft 5 Offset / tilt mechanism 51 Rotating frame 52 Rotating support member 53 Support arm 54 First expansion member 55 Second expansion member 6 Working section 61 Working unit transmission case 62 Shield cover 63 Side Panel 64 Second telescopic member support part 7 Running vehicle 71 Three-point linkage mechanism 72 PTO shaft 73, 74 Universal joint 75 Power transmission shaft 8 Auto Hitch 9. Means for detecting the tilt angle of agricultural machinery 91 Mounting arm 92 Support Arm 921 Axis 92a Mounting piece 93 Swing arm 93a Mounting pin 94 Actuation means 95 Grounding wheel 96 Angle Sensor 96a main body 96b Detection arm 97 Weight 97a Guide pin 98 Guidelines 98a Weight 98b Pointer section 99 indicators C. Grass cutter 1a Mounting part 2a1 Offset mechanism 2a2 Tilt mechanism 3a Working section D. Grass cutter 1b Mounting part 2b1 Offset mechanism 2b2 Tilt mechanism 3b Working part M marker G gauge S slit T locus W offset amount

Claims

1. a mounting part that can be connected to a traveling vehicle body so as to be movable up and down; a working unit that receives power from the traveling vehicle body and performs a predetermined task; An agricultural work machine comprising an offset mechanism that connects the mounting unit and the working unit and moves the working unit in the left-right direction, An agricultural work machine characterized in that a detection means is provided for detecting the tilt of the agricultural work machine in the front-to-rear direction.

2. 2. The agricultural machine according to claim 1, wherein the detection means is an inclination sensor that detects the inclination in the front-to-rear direction.

3. 2. The agricultural machine according to claim 1, further comprising a notification means for notifying the tilt in the front-rear direction detected by the detection means.

4. 2. The agricultural work machine according to claim 1, further comprising a notification means for notifying whether the agricultural work machine is capable of performing work based on the inclination in the front-to-rear direction detected by the detection means.

5. 2. The agricultural work machine according to claim 1, wherein a signal based on the tilt in the front-to-rear direction detected by the detection means is transmitted to a device outside the agricultural work machine.

6. Based on the tilt of the agricultural work machine in the front-to-rear direction transmitted from the agricultural work machine, A program that notifies the agricultural work machine whether it is possible to perform work by a notification means.

7. a mounting part that can be connected to a traveling vehicle body so as to be movable up and down; a working unit that receives power from the traveling vehicle body and performs a predetermined task; An agricultural work machine comprising an offset mechanism that connects the mounting unit and the working unit and moves the working unit in the left-right direction, An agricultural work machine characterized in that a display pointer is provided that allows the tilt of the agricultural work machine in the fore-and-aft direction to be visually confirmed.

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