Agricultural working machine

Abstract

To prevent an agricultural implement from falling down.SOLUTION: In one embodiment, a self-propelled agricultural work machine having a traveling unit includes an overturn preventing mechanism that is at least partially located outside the traveling unit in a left-right direction and prevents the agricultural work machine from overturning in the left-right direction when the agricultural work machine is tilted in the left-right direction. The overturn preventing mechanism may include a ground contact portion that comes into contact with a ground surface when the agricultural work machine is tilted in a left-right direction, and at least a part of the ground contact portion may be movable to a position below a lower end of the traveling portion in a rear view.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural machine. [Background technology]

[0002] Conventionally, mowing work has been carried out periodically using a mower, an example of agricultural machinery, to remove weeds and the like that have grown on the top surface or slopes of ridges. Patent Document 1 discloses a self-propelled mower that is remotely controlled via wireless communication and moves over the ridge to mow the top surface and slopes. The mower described in Patent Document 1 is equipped with a cutting blade unit that has a horizontal cutting blade and an inclined cutting blade at the front of the machine body, and while moving, it can use the horizontal cutting blade to remove weeds and the like that have grown on the top surface of the ridge, and the inclined cutting blade to remove weeds and the like that have grown on the slopes of the ridge. [Prior art documents] [Patent documents]

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

[0004] When mowing grass, the condition of the grass varies widely. In particular, when traveling over the narrow top surface of a ridge, the width of the left and right crawlers that make up the mower's running section must be narrowed. However, narrowing the width of the left and right crawlers reduces the stability of the mower while traveling, making it more likely to lose balance and tip over even with slight unevenness in the ridge. Furthermore, if the mower tips over while traveling over the top surface of a ridge, there is a risk that it will fall into a flooded rice field. In this case, there is a problem that mowing fuel will leak into the rice field, causing contamination of the field. Furthermore, tipping over while traveling can cause the mower itself to malfunction, and because the mower itself is heavy, it is difficult for an operator to right a toppled mower by themselves.

[0005] One of the objects of the present invention is to prevent an agricultural machine from tipping over. [Means for solving the problem]

[0006] An agricultural work machine according to one embodiment of the present invention is a self-propelled agricultural work machine having a running section, at least a portion of which is located outside the running section in the left-right direction, and which includes an anti-tip mechanism that prevents the agricultural work machine from tipping left-right if the agricultural work machine tilts left-right.

[0007] The anti-tip mechanism may include a ground contact portion that comes into contact with the ground surface when the agricultural implement tilts left or right, and at least a portion of the ground contact portion may be movable downward from the lower end of the running portion when viewed from behind.

[0008] The tip-over prevention mechanism may include an angle adjustment unit that can adjust the angle between the direction of movement of the ground contact portion and the left-right direction in a rear view.

[0009] The ground portion may include a ground plate.

[0010] The tip-over prevention mechanism may be attached to the running portion.

[0011] The anti-tip mechanism may be attached to the running section via a support frame attached to the running section.

[0012] The anti-toppling mechanism may include a support frame attached to the running unit, a main arm rotatably connected to the support frame, and an auxiliary arm bridged between the support frame and the main arm. In this case, the auxiliary arm may be extendable and retractable, and the extension and retraction of the auxiliary arm may cause the main arm to rotate relative to the support frame. [Effects of the Invention]

[0013] According to one embodiment of the present invention, it is possible to prevent the agricultural machine from tipping over. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a top view showing the configuration of a grass mower according to an embodiment of the present invention; [Figure 2] 1 is a left side view showing the configuration of a grass mower according to an embodiment of the present invention. [Figure 3] FIG. 1 is a rear view showing the configuration of a grass mower according to an embodiment of the present invention. [Figure 4] 1 is a side view showing the configuration of an anti-tip mechanism in a grass mower according to an embodiment of the present invention. FIG. [Figure 5] FIG. 2 is a perspective view illustrating an anti-tip mechanism in the grass mower according to one embodiment of the present invention. [Figure 6] 1 is a rear view of the vicinity of an anti-tip mechanism in a grass mower according to an embodiment of the present invention, as viewed from the rear. FIG. [Figure 7] 5 is a schematic diagram for explaining the function of an anti-tip mechanism in a grass mower according to an embodiment of the present invention. FIG. [Figure 8] FIG. 2 is a perspective view illustrating an anti-tip mechanism in the grass mower according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] The agricultural work machine of the present invention will be described below with reference to the drawings, taking a brush cutter as an example. However, the agricultural work machine of the present invention can be embodied in many different forms, and should not be construed as being limited to the description of the examples shown below. The agricultural work machine of the present invention also includes agricultural work machines other than brush cutters that travel on ridges (e.g., transporters, pesticide sprayers, etc.). In the drawings referred to in this embodiment, identical parts or parts with similar functions are designated with the same reference numerals or the same reference numerals followed by an alphabet, and repeated explanations will be omitted. Furthermore, when identical or similar parts are provided on the left and right sides of the direction of travel, the reference numerals of the parts are designated by an L (left-side member) or an R (right-side member). When no particular distinction is made between left and right parts, the parts may be described using only the reference numerals, omitting the L and R.

[0016] In the specification and claims of this application, "up" refers to the direction vertically away from the grass when the mower is moving forward while mowing a ridge or other grass area, and "down" refers to the opposite direction from "up." For ease of explanation, "front" refers to the direction in which the top cutting unit is positioned relative to the traveling unit, and "rear" refers to the opposite direction from "front." Furthermore, "left" and "right" refer to the left and right in a rear view of the mower as seen from the rear of the mower.

[0017] Furthermore, when the center line of the mower in a plan view (a line parallel to the direction of travel and passing through the center of the mower) is used as a reference, the side closer to the center line is called the "inside" and the side farther from the center line is called the "outside."

[0018] In the present specification, ridges, flat land and other grasslands where grass is cut by a mower are collectively referred to as grasslands.

[0019] First Embodiment [Configuration of the grass cutter 100] The mower 100, which is an example of an agricultural machine according to the present invention, is a mower that performs mowing work while self-propelled. Specifically, the mower 100 is remotely controlled by a remote controller, and is a mower that performs mowing work while self-propelled on grassland.

[0020] FIG. 1 is a top view showing the configuration of a mower 100 according to one embodiment of the present invention. FIG. 2 is a left side view showing the configuration of a mower 100 according to one embodiment of the present invention. Specifically, FIG. 2 shows a state in which, when the mower is traveling on a ridge, the slope mowing unit 80 (only the left slope mowing unit 80L is shown) described below is adjusted to a position parallel or approximately parallel to a horizontal plane 203 (see FIG. 3). FIG. 3 is a rear view showing, in a simplified form, the configuration of a mower 100 according to one embodiment of the present invention. Specifically, FIG. 3 shows a state in which, when the mower 100 is traveling on a ridge, the slope mowing unit 80 is adjusted to an oblique position in accordance with the inclination of the slope 202 of the ridge 200.

[0021] As shown in FIGS. 1 to 3, the mower 100 includes a machine body 10, a traveling unit 20, a mowing unit 120 including a top surface mowing unit 30 and a slope surface mowing unit 80, a position adjustment mechanism 90, an angle adjustment mechanism 130, an engine 60, an alternator 70, a battery 40, and an anti-tip mechanism 300. The drive of each unit is controlled by a control unit 50. The mower 100 is self-propelled by the traveling unit 20 and drives and controls the mowing unit 120, so that it can mow the top surface 201 and slope surface 202 of a ridge 200 in a single run, as shown in FIG. 3. Note that in FIG. 3, for the sake of simplicity, parts other than the slope surface mowing unit 80, the position adjustment mechanism 90, and the angle adjustment mechanism 130 are omitted or simplified.

[0022] 1 and 2, the machine body 10 includes a machine body 14, which is a frame forming the skeleton of the mower 100, and a support case 15 attached to the machine body 14 and extending forward. The support case 15 may be supported on the machine body 14 so as to be rotatable in the vertical direction. The support case 15 is provided with mounting members 11 facing downward for mounting the top surface cutting unit 30. A pair of left and right slope cutting units 80 are also provided at the rear of the machine body 14. As will be described in detail later, the slope cutting units 80 are supported by a position adjustment mechanism 90 and an angle adjustment mechanism 130 that adjust the position of the slope cutting units 80 in the vertical and horizontal directions. The machine body 10 can be made of a metal material (e.g., steel or aluminum), a fiber-reinforced plastic (FRP) material, or the like, but is not limited to these examples.

[0023] The travel unit 20 includes a pair of left and right travel units 20L and 20R, and functions as travel means for the mower 100. When viewed from behind, the travel unit 20L is the left travel unit when facing the direction of travel of the mower 100, and the travel unit 20R is the right travel unit. Note that the structure of the travel unit 20R is the same as that of the travel unit 20L, so the following description will focus on the travel unit 20L.

[0024] As shown in FIG. 2, the traveling unit 20L includes a crawler belt 21L, drive wheels 22L, driven wheels 23L, a crawler frame 24L, and a drive unit 54L. The crawler belt 21L is spanned between the drive wheels 22L and the driven wheels 23L and rotates in accordance with the rotation of the drive wheels 22L. The drive unit 54L is driven by power supplied from an alternator 70 or a battery 40. The drive wheels 22L rotate by power transmitted from the drive unit 54L. Power generated by the rotation of the drive wheels 22L is transmitted to the driven wheels 23L via the crawler belt 21L. The crawler frame 24L is connected to and supported by the vehicle body 14 via a mounting member 17 that is generally "H" shaped in side view, and rotatably supports the drive wheels 22L and the driven wheels 23L. In this embodiment, the crawler belt 21L is made of an elastic material (specifically, rubber), has a plurality of lugs (protrusions), and uses a motor as the drive unit 54L.

[0025] As described above, in FIG. 1 , the mowing unit 120 includes the top surface mowing unit 30 provided in front of the traveling unit 20 and the slope surface mowing unit 80 (specifically, a pair of left and right slope surface mowing units 80L and 80R) provided behind the traveling unit 20. As will be described in detail later, the top surface mowing unit 30 is provided in front of the machine body 10 and functions as a mowing unit that mows weeds and other grass that grow on the top surface (mowing work) when mowing ridges. The slope surface mowing unit 80 is provided behind the machine body 10 and functions as a mowing unit that mainly mows weeds and other grass that grow on slopes when mowing ridges. For example, when mowing the top surface of a ridge and the left and right slopes simultaneously, the top surface mowing unit 30 will be located between the left slope surface mowing unit 80L and the right slope surface mowing unit 80R in the left-right direction in a rear view. The positional relationship between the top surface reaping unit 30 and the slope surface reaping unit 80 is not limited to the example shown in FIGS. 1 to 3, and for example, the positions of the top surface reaping unit 30 and the slope surface reaping unit 80 may be reversed.

[0026] The work that can be performed by the slope mowing unit 80 is not limited to mowing on slopes, but it is also possible to perform mowing on grasslands other than slopes (for example, flat grasslands). For example, as shown in Figures 1 and 2, if the slope mowing unit 80 is adjusted to a position parallel or approximately parallel to the horizontal plane 203 (see Figure 3), it can perform mowing on a flat surface that is parallel or approximately parallel to the horizontal plane 203.

[0027] The control unit 50 is provided, for example, above the machine body 10, and has the function of controlling the traveling unit 20, the cutting unit 120, the engine 60, the alternator 70, or the battery 40. The control unit 50 has, for example, an electronic circuit board equipped with a calculation unit, memory, a communication circuit, etc. In this case, a control program for controlling each part of the mower 100 is stored in the memory, and the calculation unit reads the control program from the memory and controls each part, such as the traveling unit 20, based on the control program.

[0028] As shown in Figures 1 to 3, the engine 60 is provided above the machine body 10. The engine 60 functions as a power source for the drive unit 33 that drives the top surface reaping unit 30, and as a power source for the alternator 70. The power generated by the engine 60 is transmitted to the drive unit 33 and the alternator 70 via power transmission means (not shown) formed of a belt or the like.

[0029] The alternator 70 is provided below the support case 15. The alternator 70 generates electric power by receiving power from the engine 60. The alternator 70 supplies the generated electric power to the battery 40 and also functions as a power source for the drive unit 83 that drives the slope reaping unit 80 and the drive unit 54 (see FIG. 2) that drives the traveling unit 20.

[0030] In this embodiment, an example has been shown in which the engine 60 is used as the power source for driving the top surface reaping unit 30, but the present invention is not limited to this example. For example, an alternator 70 can also be used as the power source for driving the top surface reaping unit 30. In other words, the top surface reaping unit 30, the slope reaping unit 80, and the traveling unit 20 can all be driven by power supplied from the alternator 70 or the battery 40.

[0031] The alternator 70 of this embodiment is equipped with a power generation control circuit (not shown) for controlling power generation. The mower 100 has a sensor that detects the battery voltage of the battery 40, and the power generation control circuit monitors the results detected by the sensor, allowing the alternator 70 to control its power generation state itself. The power generation control circuit controls the alternator 70 so that if the battery voltage of the battery 40 falls below a predetermined value, the alternator 70 generates power and enters a power supply state, and if the battery voltage of the battery 40 exceeds the predetermined value, the alternator 70 enters a power supply stopped state.

[0032] The battery 40 is disposed on the machine body 10 and is provided at a position behind the control unit 50. The battery 40 stores the electric power generated by the alternator 70. The battery 40 may function as a power source that supplies the stored electric power to the drive unit 83 that drives the slope reaping unit 80 and the drive unit 54 that drives the traveling unit 20.

[0033] Although not shown in the drawings, the mower 100 may include a cover member that covers the battery 40, the control unit 50, and the engine 60 and serves to protect each part. The cover member may be configured to cover only a portion of the battery 40, the control unit 50, and the engine 60.

[0034] The anti-tip mechanisms 300L and 300R are arranged side by side on the left and right running sections 20L and 20R, respectively, so as to protrude laterally (outwardly) from the machine body 10, and prevent the mower 100 from tipping over in the left or right direction during mowing work. The anti-tip mechanisms 300 include a support frame 310, a main arm 320, and an auxiliary arm 330. The support frame 310 is fixed to a mounting member 17 (see Figure 2; however, Figure 2 shows only mounting member 17L) that connects the machine body 14 and the crawler frame 24, and is attached to the side of the running section 20.

[0035] One end on the front side of the main arm 320 is rotatably connected to the support frame 310 at the front side of the support frame 310, and the main arm 320 is rotatably supported by the support frame 310. The auxiliary arm 330 is an extendable member that spans between the support frame 310 and the main arm 320 and is configured so that it can be fixed at a predetermined length. The main arm 320 can be rotated by extending or contracting the auxiliary arm 330. Specifically, when the auxiliary arm 330 is extended, the main arm 320 rotates downward and juts outward, and when the auxiliary arm 330 is retracted, the main arm 320 rotates upward and is held by the aircraft body. When mowing, the auxiliary arm 330 is extended, the main arm 320 is rotated downward, and the auxiliary arm 330 is fixed at a predetermined length. This allows the outward-hanging main arm 320 to come into contact with the field or grass and support the mower 100 when the mower 100 tilts. It is also possible to place a member that can ensure a large contact area at the part of the main arm 320 that comes into contact with the field. For example, if a plate-shaped member is attached to the rear end of the main arm 320, the plate-shaped member will function as a contact part with the field when the mower 100 tilts, making it possible to distribute the load (weight of the mower 100) on the main arm 320.

[0036] The configuration of the reaping unit 120 (specifically, the top surface reaping unit 30 and the slope surface reaping unit 80) will be described in detail below with reference to FIGS.

[0037] [Configuration of top surface reaping unit 30] The structure of the top surface reaping unit 30 will be described. As shown in FIG. 1, the top surface reaping unit 30 includes a casing 31, two blade units 32L and 32R arranged side by side, and drive units 33L and 33R corresponding to the blade units 32L and 32R, respectively. The drive units 33L and 33R are each connected to a mounting member 11. The casing 31 covers the top and sides of the blade unit 32 to prevent soil, pebbles, grass, and the like from scattering to the surrounding area. The casing 31 is sometimes referred to as a cover unit, and the side of the blade unit 32 not covered by the casing 31 faces the top surface 201 of the ridge 200. The structures of the blade unit 32R and drive unit 33R are the same as those of the blade unit 32L and drive unit 33L, respectively.

[0038] As shown in FIG. 2, the top surface cutting unit 30 is supported so as to be suspended from the support case 15 via the mounting member 11. The blade unit 32 is made up of multiple mowing blades. The blade unit 32 is connected to the rotating shaft of the drive unit 33, and rotation of the rotating shaft of the drive unit 33 causes the blade unit 32, which includes multiple mowing blades, to rotate. These rotating mowing blades perform the work of mowing the grass. The drive unit 33 uses the driving force of the engine 60 transmitted via power transmission means (not shown) including a belt (not shown) as the driving force (rotational power) for the blade unit 32.

[0039] In this embodiment, the two blade sections 32L and 32R are provided symmetrically or approximately symmetrically with respect to the center line 110 of the machine body 10, and are arranged with a phase shift so that the mowing blades do not interfere with each other when the machine is stationary. The power transmission means is designed to transmit the driving force of the engine 60, transmitted via a belt, evenly or approximately evenly to both drive sections 33L and 33R. Therefore, the multiple mowing blades of blade section 32L and the multiple mowing blades of blade section 32R rotate at the same timing and the same speed.

[0040] In this embodiment, an example has been shown in which the engine 60 is used as the power source for rotating the blade section 32 of the top surface cutting section 30. However, when the alternator 70 is used as the power source for rotating the blade section 32, a motor can be used as the drive section 33. In this case, the control section 50 may be used to independently control the drive sections 33L and 33R, and independently drive the blade sections 32L and 32R. Furthermore, in this case, the power for driving the motor can be supplied from the alternator 70 or the battery 40.

[0041] [Configuration of the slope reaping unit 80] The structure of the slope reaping unit 80 will now be described. The slope reaping unit 80 includes a pair of left and right slope reaping units 80L and 80R. As shown in FIGS. 1 and 2, the slope reaping units 80L and 80R each include casings 81L and 81R, blade units 82L and 82R, drive units 83L and 83R corresponding to the blade units 82L and 82R, and grippers 140L and 140R. The casing 81, like the casing 31 of the top surface reaping unit 30, is sometimes referred to as a cover unit. It covers the top and sides of the blade units 82 and prevents soil, pebbles, grass, and the like from scattering into the surrounding area. The structure of the slope reaping unit 80R is the same as that of the slope reaping unit 80L. In addition, the casing 81R has cover members 150R (see FIGS. 1 and 3) that are provided to cover the periphery (four sides) of the blade portion 82R (see FIG. 1) in a plan view, thereby reducing the scattering of cut grass in all directions. Of the cover members 150R provided to cover the periphery (four sides) of the blade portion 82R, the cover members 150R that are located on the front side, back side, and left side (inside) of the blade portion 82R are made of rubber. In this way, by constructing the cover members 150R located on the front, back, and left side (inside) of the blade portion 82R from a flexible material such as rubber, even if cut grass accumulates inside the casing 81R, the cover member 150R will turn over (deform) to allow the accumulated grass to be discharged. This reduces the load on the drive unit 83R (motor) and prevents problems such as grass getting stuck between the roller 410R and the roller support portions 420aR and 420bR (described later) and interfering with the rotation of the roller 410R (described later). Furthermore, the cover member 150R on the back side of the casing 81R is positioned so as not to overlap with the roller 410R (described later) when viewed from behind, so that its lower end does not interfere with the roller 410R (described later) during mowing. However, the length of the cover member 150R on the back side of the casing 81R can be set to any length as long as it does not interfere with the roller 410R (described later) during mowing.Furthermore, in this embodiment, the underside of the cover member 150R made of rubber and located on the front, back, and left side of the blade portion 82R has multiple notches (for example, in this embodiment, two notches are provided in the cover member 150R on the back side), making the cover member 150R more deformable and allowing grass to be smoothly discharged from inside the casing 81R. Also, in this embodiment, the cover member 150R is provided so that there is a predetermined gap between the cover member 150R and the ground (work surface), and because a roller 410R (described later) is disposed behind the blade portion 82R and the cover member 150R in a side view, grass that is scattered rearward from the gap between the cover member 150R and the ground (work surface) can be stopped by the roller 410R (described later) without hitting the cover member 150R. In the mower 100 of this embodiment, the cover member 150R located on the right side (outside) of the casing 81R is made of iron plate, and is designed to prevent cut grass from being discharged into the field. However, when constructing the casing 81R, which side the cover member 150R is attached to can be changed as appropriate and is optional.

[0042] As shown in FIG. 2, the blade unit 82 has a plurality of mowing blades. The blade unit 82 is connected to and rotates on the rotary shaft of the drive unit 83, which is driven by power from the alternator 70 or the battery 40. That is, the rotation of the rotary shaft of the drive unit 83 causes the blade unit 82, which includes a plurality of mowing blades, to rotate, and the blade unit 82 performs grass cutting work. A motor, for example, can be used as the drive unit 83. The drive units 83L and 83R can be driven independently. That is, the mower 100 can perform grass cutting work by independently controlling the slope cutting units 80L and 80R.

[0043] 1 and 3, the slope reaping units 80L and 80R are supported on the machine body 14 via position adjustment mechanisms 90L and 90R and angle adjustment mechanisms 130L and 130R, respectively. Because the position adjustment mechanism 90 is rotatably connected to the machine body 14, the slope reaping units 80 can also rotate relative to the machine body 14.

[0044] The position adjustment mechanism 90 is a mechanism for moving the slope mowing unit 80 to follow the shape of the ridge (width, height, undulations, etc.) when the slope mowing unit 80 mows the slope, adjusting the left-right position of the slope mowing unit 80 to match the thickness of the ridge (ridge width) and adjusting the up-down position of the slope mowing unit 80 to match the height, undulations, etc. The position adjustment mechanism 90 is equipped with a parallel link mechanism for moving the slope mowing unit 80 in parallel up and down relative to the machine body 14, and a parallel link mechanism for moving the slope mowing unit 80 in parallel left and right directions; these two parallel link mechanisms allow the slope mowing unit 80 to move in parallel up, down, left and right without changing its attitude. That is, when the position adjustment mechanism 90 operates in response to changes in ridge width, height, or undulation, the slope mowing unit 80 moves parallel in the up, down, left, and right directions using the two parallel link mechanisms, so its posture relative to the slope does not change and mowing work can be performed efficiently. Furthermore, even when performing flat mowing with the slope mowing unit 80, because the slope mowing unit 80 moves parallel in the up and down direction, the rear of the slope mowing unit 80 does not become higher than the front, which prevents stones from flying backward, or so-called flying stones.

[0045] The angle adjustment mechanisms 130L and 130R are connected to the position adjustment mechanisms 90L and 90R and the slope mowing units 80L and 80R, respectively. The slope mowing unit 80 can change its inclination relative to the machine body 14 by operating the angle adjustment mechanism 130. Specifically, the angle adjustment mechanism 130 is configured to adjust the angle (angle α2) between the mowing surface 204 of the slope mowing unit 80 and the underside of the machine body 14 (the same plane as the plane 206 shown in FIG. 3) in accordance with the inclination angle (angle α) of the slope 202 of the ridge 200. In the following description, the "underside of the machine body 14" is synonymous with the plane 206 shown in FIG. 3. The "mowing surface 204" is the plane (indicated by the dashed line in FIG. 3) that includes the path of the blade 82 (see FIG. 2) of the slope mowing unit 80 when mowing the grass, and can also be referred to as the cut surface of the grass during mowing work.

[0046] 1 and 2, the slope mowing units 80L and 80R each include a mowing height adjustment unit 400L and 400R at their rear. The mowing height adjustment unit 400L includes a roller 410L and a pair of left and right roller support units 420aL and 420bL that rotatably support the roller 410L. Similarly, the mowing height adjustment unit 400R includes a roller 410R and a pair of left and right roller support units 420aR and 420bR that rotatably support the roller 410R.

[0047] The roller 410 is a cylindrical or rod-shaped rotating body that rotates in the direction of travel of the mower 100. The roller 410 of this embodiment has a rotation axis 411 (see FIG. 2 ; however, only the rotation axis 411L is shown in FIG. 2 ) that is parallel or substantially parallel to the mowing surface 204 of the slope mowing unit 80. As described above, the slope mowing unit 80 is configured to move in accordance with the shape (height and undulation) of the ridge by the operation of the position adjustment mechanism 90. As shown in FIG. 3 , the slope mowing unit 80 is configured so that the roller 410 comes into contact with the slope 202 of the ridge 200 and can maintain the distance (corresponding to the mowing height) from the mowing surface 204 to the slope 202 at a predetermined distance H1. In other words, the slope mowing unit 80 can maintain a constant mowing height of grass growing on the slope 202 according to the shape (height and undulation) of the slope 202 of the ridge 200.

[0048] As described above, the mower 100 of this embodiment can translate the slope mowing unit 80 in the up, down, left, and right directions by operating the position adjustment mechanism 90, allowing mowing work to be performed without changing the posture of the slope mowing unit 80 in response to changes in ridge width, height, and undulations of the ridge. Providing a cutting height adjustment unit 400 on the slope mowing unit 80 is extremely useful for effectively operating the position adjustment mechanism 90. The mower 100 can maintain a predetermined distance from the mowing surface 204 to the slope 202 using the cutting height adjustment unit 400, preventing the casing 81 of the slope mowing unit 80 from contacting the ridge 200 and enabling smooth translation of the slope mowing unit 80 by the position adjustment mechanism 90.

[0049] [Configuration of fall prevention mechanism 300] The detailed configuration of the tip-over prevention mechanism 300 will be described using FIG. 4. FIG. 4 is a side view (with the mounting member 17 omitted) showing the configuration of the tip-over prevention mechanism 300L in the brush mower 100 according to one embodiment of the present invention. Specifically, FIG. 4(A) shows a state in which the auxiliary arm 330L of the tip-over prevention mechanism 300L is retracted and the main arm 320L has moved upward, and FIG. 4(B) shows a state in which the auxiliary arm 330L is extended and the main arm 320L (rear end) has moved downward. Although the configuration of the running unit 20L is also shown in a simplified form in FIG. 4, the specific structure is the same as that of the running unit 20 shown in FIG. 2. Furthermore, while FIG. 4 illustrates the tip-over prevention mechanism 300L as an example, the tip-over prevention mechanism 300R has a similar configuration, and therefore a description of the tip-over prevention mechanism 300R will be omitted.

[0050] The support frame 310L is a member for attaching the tip-prevention mechanism 300L to the running unit 20L via the attachment member 17. As described above, the tip-prevention mechanism 300L includes the support frame 310L, a main arm 320L, and an auxiliary arm 330L, and the main arm 320L and the auxiliary arm 330L are supported by the support frame 310, which is fixed to the attachment member 17 and attached to the side of the running unit 20L via the attachment member 17. The support frame 310L is composed of a first part 311L that is generally U-shaped in plan view with its front and rear ends bent outward, and a cylindrical or rod-shaped second part 312L that is long in the front-rear direction and spans the first part 311L. Furthermore, a bracket 341L for connecting the main arm 320L is provided near the front end of the second portion 312L of the support frame 310L (substantially directly above the rotation center of the driven wheel 23L in a side view), and a bracket 342L for connecting the auxiliary arm 330L is provided at a position slightly rearward of the center. However, the shape of the support frame 310L is not limited to the example shown in FIG. 4 and may be, for example, a flat plate or any other shape as long as it can stably fix the tip-over prevention mechanism 300L. Furthermore, the brackets 341L and 342L are not limited to being provided on the support frame 310L and may be provided on, for example, the running unit 20L or the machine body 10 (specifically, the machine body main body 14).

[0051] Although the present embodiment shows an example in which the anti-tip mechanism 300L is attached to the traveling unit 20 via the attachment member 17L, the anti-tip mechanism 300L may be attached directly to the traveling unit 20L (for example, the crawler frame 24L) without using the attachment member 17L. For example, if there is sufficient space to attach the anti-tip mechanism 300L without interfering with the traveling of the traveling unit 20L and the installation position of the anti-tip mechanism 300L is such that it can effectively prevent the grass mower 100 from tipping over, a configuration may be adopted in which the attachment member 17L is not used. However, the anti-tip mechanism 300L is not limited to being attached directly or indirectly to the traveling unit 20L, and may also be attached directly to the machine body 10 (specifically, the machine body main body 14).

[0052] The main arm 320L has the role of preventing the mower 100 from tipping over by supporting the weight of the body 10 while in contact with the ground surface when the body 10 of the mower 100 tilts left or right. The main arm 320L can be made of a metal material (for example, steel or aluminum), fiber reinforced plastic (FRP), wood, or the like. In this embodiment, a cylindrical (pipe-shaped) member is used as the main arm 320L, but this is not limiting and a columnar member may also be used. The cross-sectional shape of the main arm 320L may be any of a circle, an ellipse, and a polygon.

[0053] As described above, the front end of the main arm 320L is rotatably connected to the front side of the support frame 310L. Specifically, a substantially U-shaped bracket 341L is fixed to the front side of the support frame 310L, and the main arm 320L is rotatably supported via the bracket 341L. In this case, the rotation axis 211 (see FIG. 5) of the main arm 320L relative to the support frame 310L is inclined with respect to the ground surface. Specifically, the rotation axis 211 is provided in a direction that increases upward as it moves away from the mower 100, that is, so that it becomes higher as it moves outward. Therefore, when the rear part of the main arm 320L (the ground contact part described below) rotates clockwise as viewed from the left side, it moves downward and away from the mower 100 (FIG. 4(A)), and when it rotates counterclockwise, it moves upward and towards the mower 100 (FIG. 4(B)).

[0054] The main arm 320L has a first bent portion 321L on the front side and a second bent portion 322L on the rear side. In this embodiment, of the main arm 320L, a portion closer to the front end than the first bent portion 321L is called a front portion 326L, a portion between the first bent portion 321L and the second bent portion 322L is called a middle portion 327L, and a portion closer to the rear end than the second bent portion 322L is called a rear portion 328L. As shown in FIG. 4(A), the first bent portion 321L is bent so that the front portion 326L and the middle portion 327L form an angle of approximately 90 degrees. Furthermore, the second bent portion 322L is bent so that the middle portion 327L and the rear portion 328L form an angle of less than 90 degrees. It is desirable to adjust the angle between the middle portion 327L and the rear portion 328L so that when the main arm 320L has moved all the way down, the rear portion 328L is substantially horizontal in its entirety, i.e., so that the rear portion 328L is substantially in contact with the ground surface in its entirety.

[0055] However, the shape of the main arm 320L is not limited to the example shown in Figure 4(A), and the number of bent portions may be arbitrary. Furthermore, the lengths of the front portion 326L, middle portion 327L, and rear portion 328L of the main arm 320L and the angles of the first bent portion 321L and second bent portion 322L may be set appropriately taking into consideration the height of the ridge or the height from the ground surface to the support frame 310L. In other words, the shape of the main arm 320L may be designed so that when the mower 100 tilts left or right, the part that comes into contact with the ground surface (the rear portion 328L in this embodiment) protrudes significantly to the side of the mower 100, and the largest possible area comes into contact with the ground surface, effectively preventing the mower 100 from tipping over.

[0056] The auxiliary arm 330L is composed of a member that can extend and retract in the longitudinal direction and has the role of adjusting the positional relationship between the support frame 310L and the main arm 320L and of stopping the rotation of the main arm 320L at a predetermined position when the main arm 320L moves downward. The front end of the auxiliary arm 330L is rotatably connected to the middle part 327L of the main arm 320L, and the rear end is rotatably connected to the support frame 310L. Specifically, the rear end of the auxiliary arm 330L is rotatably supported by the support frame 310L via a bracket 342L fixed to the support frame 310L, and the front end of the auxiliary arm 330L is rotatably supported by the main arm 320L via a bracket 343L fixed to the middle part 327L of the main arm 320L. In this case, the rotation axis 212 (see FIG. 5) of the auxiliary arm 330L relative to the support frame 310L and the rotation axis 213 (see FIG. 5) relative to the main arm 320L are inclined with respect to the ground surface, similar to the rotation axis 211 of the main arm 320L relative to the support frame 310L described above. Specifically, the rotation axis 212 relative to the support frame 310L and the rotation axis 213 relative to the main arm 320L are each provided in a direction that increases upward as they move away from the mower 100. In this embodiment, the bracket 342L is located rearward of the bracket 343L, but the positional relationship between the two may be reversed.

[0057] As shown in FIG. 4(A), when the auxiliary arm 330L is retracted, the distance between the bracket 342L and the bracket 343L is reduced, and the main arm 320L is pulled up close to the support frame 310, with its middle portion 327L held substantially horizontal, i.e., substantially parallel to the support frame 310L, in a side view. When the auxiliary arm 330L is extended from the state shown in FIG. 4(A), the main arm 320L rotates about the rotation shaft 211, as shown in FIG. 4(B), increasing the distance between the bracket 342L and the bracket 343L, and the middle portion 327L and the rear portion 328L of the main arm 320L move downward in a clockwise direction. As described above, the auxiliary arm 330L is rotatably connected to the support frame 310L (bracket 342L) and the main arm 320L (bracket 343L), respectively. Therefore, when the auxiliary arm 330L extends or retracts, the auxiliary arm 330L rotates relative to the support frame 310L and the main arm 320L, and does not interfere with the rotation of the main arm 320L.

[0058] Here, the specific structure of the auxiliary arm 330L will be described with reference to Fig. 5. Fig. 5 is a perspective view illustrating the tip-over prevention mechanism 300L in the mower 100 according to one embodiment of the present invention. Specifically, Fig. 5 is a perspective view of the tip-over prevention mechanism 300L seen from diagonally rear left, with Fig. 5(A) showing a state in which the auxiliary arm 330L is retracted and the main arm 320L has moved upward, and Fig. 5(B) showing a state in which the auxiliary arm 330L is extended and the main arm 320L has moved downward.

[0059] As shown in Figures 5(A) and 5(B), the auxiliary arm 330L includes a first cylindrical member 331L, a second cylindrical member 332L, and an adjustment pin 333L. The outer diameter of the first cylindrical member 331L is smaller than the inner diameter of the second cylindrical member 332L, and the auxiliary arm 330L has a structure in which the first cylindrical member 331L is inserted inside the second cylindrical member 332L. In this way, the auxiliary arm 330L has a structure in which the first cylindrical member 331L is combined as an inner member and the second cylindrical member 332L is combined as an outer member, and is configured to perform an extension and retraction operation by the first cylindrical member 331L sliding inside the second cylindrical member 332L.

[0060] The first cylindrical member 331L is connected to the main arm 320L via a bracket 343L, and the second cylindrical member 332L is connected to the support frame 310L via a bracket 342L. However, this is not limiting, and the first cylindrical member 331L may be connected to the support frame 310L via a bracket 342L, and the second cylindrical member 332L may be connected to the main arm 320L via a bracket 343L.

[0061] The first cylindrical member 331L has a plurality of through holes 334L, and the second cylindrical member 332L has one through hole (not shown). The above-mentioned adjustment pin 333L is inserted into one of the plurality of through holes 334L formed in the first cylindrical member 331L when the corresponding through hole in the second cylindrical member 332L overlaps with the corresponding through hole. This fixes the relative positional relationship between the first cylindrical member 331L and the second cylindrical member 332L, and makes it possible to maintain the length of the auxiliary arm 330L.

[0062] As described above, in the tip-over prevention mechanism 300L, the rear part 328L of the main arm 320L moves up and down as the main arm 320L rotates, but at the same time, the rear part 328L of the main arm 320L also moves left and right. This point will be described with reference to FIG. 6.

[0063] Figure 6 is a rear view of the vicinity of the tip-over prevention mechanism 300L in the mower 100 according to one embodiment of the present invention, as seen from the rear. Specifically, Figure 6(A) shows a state in which the auxiliary arm 330L is retracted and the main arm 320L has moved upward, and Figure 6(B) shows a state in which the auxiliary arm 330L is extended and the main arm 320L has moved downward. For ease of explanation, in Figures 6(A) and 6(B), parts of the mower 100 other than the tip-over prevention mechanism 300L are simplified or omitted, and only the main parts of the tip-over prevention mechanism 300L are shown.

[0064] As described above, the running unit 20L is connected to and supported by the machine body 14 via the mounting member 17, and the first portion 311L of the support frame 310L is fixed to the mounting member 17. That is, as shown in FIGS. 6(A) and 6(B), the running unit 20L and the anti-tip mechanism 300L are connected to each other via the mounting member 17. The main arm 320L, which is connected to the second portion 312L of the support frame 310L and held above it, is arranged next to the running unit 20L so as to extend outward from the mower 100, as shown in FIG. 6(A). At this time, the main arm 320L extends diagonally downward and leftward from the support frame 310L. Then, as shown in FIG. 6(B), as the main arm 320L rotates, the main arm 320L further extends outward (diagonally downward and leftward). That is, the rear portion 328L (see FIG. 4) of the main arm 320L moves left and right as well as up and down as it rotates. In the process of transitioning between the state shown in FIG. 6(A) and the state shown in FIG. 6(B), the rotation angle of the main arm 320L (in other words, the length of the main frame 320L when viewed from behind) can be adjusted in multiple stages by fixing the length of the auxiliary arm 330L to any length using the aforementioned adjustment pin 333L.

[0065] As described above, in the mower 100 of this embodiment, by adjusting the length of the auxiliary arm 330 of the tip-over prevention mechanism 300, the position of the rear portion 328 of the main arm 320 can be moved up and down and left and right and fixed in an appropriate position. As a result, for example, when the main arm 320 is positioned on the upper side (when in the state shown in FIG. 4(A)), the tip-over prevention mechanism 300 functions as a tip-over prevention mechanism when the mower 100 is traveling on flat ground. In this case, for example, the middle portion 327 of the main arm 320 becomes the part that comes into contact with the ground surface when the mower 100 tilts left or right (hereinafter referred to as the "ground contact part"). Also, for example, when the main arm 320 is positioned on the lower side (when in the state shown in FIG. 4(B)), the tip-over prevention mechanism 300 functions as a tip-over prevention mechanism when the mower 100 is traveling on a higher level than the surrounding area, such as on a ridge. In this case, the rear portion 328 of the main arm 320 becomes the ground contact part.

[0066] Figure 7 is a schematic diagram for explaining the function of the tip-over prevention mechanism 300 in the mower 100 according to one embodiment of the present invention. For ease of explanation, Figure 7 shows the slope mowing units 80R and 80L stored above the machine body 10 at an angle of 90 degrees to the ground surface.

[0067] Figures 7(A) to 7(D) are views from the rear of the mower 100 traveling on grassland. Specifically, Figure 7(A) shows the mower 100 traveling on flat ground, and Figure 7(B) shows the mower 100 approaching tipping over due to a step or the like formed on the ground surface while traveling on flat ground. Figure 7(C) shows the mower 100 traveling over a ridge, and Figure 7(D) shows the mower 100 approaching tipping over due to a step or the like formed on the ridge while traveling on the ridge.

[0068] In Figure 7(A), because the height from the ground surface to the machine body 14 is relatively low, the auxiliary arm 330 is retracted so that its overall length is the shortest. In this case, the main arm 320 is entirely pulled up to a position higher than the bottom end of the running section 20, so the main arm 320 does not come into contact with the ground surface while the mower 100 is traveling. Furthermore, even if the mower 100 tilts to the left due to a step or the like on the ground surface, as shown in Figure 7(B), the main arm 320L (specifically, the middle section 327L shown in Figure 4) of the tip-over prevention mechanism 300L comes into contact with the ground surface and supports the mower 100 before the mower 100 tips over, thereby preventing the mower 100 from tipping over.

[0069] On the other hand, in Figure 7(C), because the height from the ground surface to the machine body 14 on the ridge is high, the auxiliary arm 330 is extended so that its overall length is at its longest. In this case, the rear part 328 of the main arm 320 (see Figure 4) is lowered to a position lower than the bottom end of the running part 20, and is therefore positioned close to the ground surface. In this case, even if the mower 100 tilts to the left due to a step on the ridge or the like, the main arm 320L (specifically, the rear part 328L shown in Figure 4) will come into contact with the ground surface before the mower 100 tips over. In other words, as shown in Figure 7(D), the main arm 320L of the tip-over prevention mechanism 300L comes into contact with the ground surface and supports the mower 100, thereby preventing the mower 100 from tipping over.

[0070] (Variation 1) The mower 100 described in this embodiment has been exemplified as an example in which a portion of the main arm 320 of the tip-over prevention mechanism 300 functions as a ground contact portion (portion that comes into contact with the ground surface), but this is not limited to this example. Specifically, it is also possible to attach a plate-shaped member (hereinafter referred to as a "ground contact plate") to the main arm 320, and configure the ground contact plate to come into contact with the ground surface.

[0071] The ground contact plate is a member that comes into contact with the ground surface when the mower 100 tilts left or right, and is attached, for example, to the rear part 328 of the main arm 320. The ground contact plate is a plate-shaped member, and is preferably attached to the main arm 320 so that its main surface (the surface with the widest area) faces the ground surface when it comes into contact with the ground. When the main surface of the ground contact plate comes into contact with the ground surface, the contact area of ​​the ground contact part increases, and the weight of the mower 100 that must be supported by the tip-over prevention mechanism 300 can be distributed. Furthermore, it is preferable that the front side (or both the front and rear sides) of the ground contact plate be bent upward in the direction of travel so that when it comes into contact with the ground surface, the ground contact plate will not get caught on the ground surface even if the mower 100 continues to travel.

[0072] (Variation 2) The mower 100 described in this embodiment has been shown as an example in which the length of the auxiliary arm 330 of the tip-over prevention mechanism 300 can be adjusted in stages by changing the position of the adjustment pin 333 (see FIG. 5, however, only the adjustment pin 333L is shown), but this is not limited to this example. For example, the auxiliary arm 330 may be another telescopic mechanism such as an electric cylinder. In this case, the tip-over prevention mechanism 300 can automatically and continuously change the length of the auxiliary arm 330 (i.e., the rotation angle of the main arm 320 relative to the support frame 310).

[0073] Second Embodiment In this embodiment, a tip-over prevention mechanism 300aL having a different configuration from that of the first embodiment will be described. In describing the drawings of this embodiment, the same components as those in the first embodiment will be assigned the same reference numerals, and detailed description thereof may be omitted. Also, as in the first embodiment, in this embodiment, the left-side tip-over prevention mechanism 300aL will be described as an example, but since the right-side tip-over prevention mechanism 300aR also has a similar configuration, description of the right-side tip-over prevention mechanism 300aR will be omitted.

[0074] 8 is a perspective view illustrating the tip-over prevention mechanism 300aL of a grass mower according to one embodiment of the present invention. Specifically, the tip-over prevention mechanism 300aL is a perspective view seen from the left rear. The tip-over prevention mechanism 300aL of this embodiment includes a first support frame 310aL, a second support frame 315L, a main arm 320aL, an auxiliary arm 330L, and a ground plate 350L.

[0075] Although not shown in detail, the first support frame 310aL is composed of a rectangular cylindrical first portion extending in the front-rear direction and a cylindrical or rod-shaped second portion extending in the front-rear direction with its front and rear ends bent inward and connected to the front and rear ends of the first portion. As in the first embodiment, the first support frame 310aL is attached to the side of the running unit 20L. Specifically, the first portion of the first support frame 310aL is fixed to the mounting member 17. Two support brackets 313L and 314L are fixed to the first support frame 310aL (specifically, the second portion), and each support bracket 313L and 314L has a through-hole (not shown) at an opposing position. The second support frame 315L is inserted through the through-holes of the support brackets 313L and 314L. That is, the second support frame 315L is rotatably supported by the support brackets 313L and 314L.

[0076] An auxiliary connection shaft 315aL is fixed to the front side of the second support frame 315L. The auxiliary connection shaft 315aL is a cylindrical member having a through-hole (not shown) on its side. The second support frame 315L is inserted into the through-hole of the auxiliary connection shaft 315aL and, as described above, inserted into the through-hole of the support bracket 313L, and is rotatably supported by the support bracket 313L. That is, as shown in FIG. 8, the second support frame 315L and the auxiliary connection shaft 315aL are connected so that their longitudinal directions are perpendicular to each other. The auxiliary connection shaft 315aL is rotatably supported by a bracket 341aL fixed to the front end of the main arm 320aL. A bracket 342aL is fixed to the rear side of the second support frame 315L. Similar to the bracket 342L described in the first embodiment, the bracket 342aL rotatably supports the upper end of the auxiliary arm 330L. The lower end of the auxiliary arm 330L is rotatably supported via a bracket 343L fixed to the main arm 320aL. That is, the auxiliary arm 330L is disposed so as to bridge between the second support frame 315L and the main arm 320aL. In this manner, the second support frame 315L, the main arm 320aL, and the auxiliary arm 330L are connected to one another.

[0077] The second support frame 315L is rotatably supported by the support brackets 313L and 314L, and therefore, as the second support frame 315L rotates, the main arm 320aL also rotates around the same rotation axis as the second support frame 315L. In this embodiment, the rotation angle of the second support frame 315L (i.e., the rotation angle of the main arm 320aL) can be adjusted. Specifically, an angle adjustment member 315bL is fixed to the rear side of the second support frame 315L. In this embodiment, an example is shown in which the angle adjustment member 315bL is disposed between the bracket 342aL and the support bracket 314L, but this is not limiting, and the angle adjustment member 315bL may be fixed to the second support frame 315L rearward of the support bracket 314L.

[0078] The angle adjustment member 315bL is a member that adjusts the rotation angle of the second support frame 315L. The angle adjustment member 315bL is provided with a plurality of adjustment holes 315cL, and in the example shown in FIG. 8, three adjustment holes 315cL are provided. The three adjustment holes 315cL are each arranged on the same arc centered on the rotation center of the second support frame 315L. In addition, a through hole (not shown) is provided in the support bracket 314L. This through hole is arranged so as to be positioned on the same arc as the aforementioned adjustment hole 315cL, centered on the rotation center of the second support frame 315L. In other words, when the second support frame 315L rotates, the adjustment holes 315cL are configured to sequentially overlap with the through holes provided in the support bracket 314L.

[0079] 8, the adjustment pin 316L is inserted when the uppermost adjustment hole 315cL is aligned with the through-hole provided in the support bracket 314L, thereby preventing the angle adjustment member 315bL from rotating. Thus, by rotating the angle adjustment member 315bL together with the second support frame 315L and inserting the adjustment pin 316L when the through-hole provided in the support bracket 314L is aligned with the desired adjustment hole 315cL, the rotation of the second support frame 315L can be prevented at a desired rotation angle. In other words, by using the angle adjustment member 315bL, the main arm 320aL connected to the second support frame 315L can be fixed at a position tilted at a desired angle relative to the left-right direction (effectively, a direction substantially parallel to the ground surface).

[0080] As described above, the tip-over prevention mechanism 300aL of this embodiment includes the support brackets 313L and 314L, the second support frame 315L, the auxiliary connection shaft 315aL, the angle adjustment member 315bL, the adjustment pin 316L, and an angle adjustment unit having the brackets 341aL and 342aL. The angle adjustment unit can adjust the angle between the movement direction of the ground contact portion and the left-right direction in a rear view. In other words, the angle adjustment unit can adjust the angle between the extension direction of the main arm 320aL and the extension direction of the ground surface (or the plane 206 shown in FIG. 3) in a rear view. The tip-over prevention mechanism 300aL of this embodiment uses the angle adjustment unit to adjust the rotation angle of the main arm 320a (the tilt angle relative to the left-right direction) according to the tilt angle of the slope of the ridge.

[0081] Furthermore, in the tip-over prevention mechanism 300aL of this embodiment, the ground contact portion of the main arm 320aL includes a ground contact plate 350L. Specifically, the ground contact plate 350L is attached to the rear portion 328aL, which is the portion closest to the rear end of the main arm 320aL.

[0082] The ground contact plate 350L is bent forward and backward in the direction of travel, and is provided with a main surface 350aL that mainly comes into contact with the ground surface, and inclined surfaces 350bL and 350cL that slope diagonally upward relative to the front-to-rear direction. When mowing a ridge of standard height (for example, a ridge 20 to 30 cm high), if the mower 100 tilts due to a step on the ridge, the ground contact plate 350L is adjusted so that the main surface 350aL faces the ground surface parallel or approximately parallel, i.e., so that the entire main surface 350aL comes into contact with the ground surface. Specifically, when the length of the auxiliary arm 330L and the rotation angle of the second support frame 315L (i.e., the rotation angle of the main arm 320aL) are adjusted to the length of the auxiliary arm 330L and the rotation angle of the second support frame 315L (i.e., the rotation angle of the main arm 320aL) that are set when mowing on a ridge of standard height (e.g., a ridge of 20 to 30 cm high), when the mower 100 is tilted due to a step or the like on a ridge of standard height (e.g., a ridge of 20 to 30 cm high), the ground plate 350L is attached to the rear part 328aL of the main arm 320aL so that the main surface 350aL faces parallel or approximately parallel to the ground surface, i.e., the entire main surface 350aL is in contact with the ground surface. This prevents the front or rear end of the ground plate 350L from getting caught on the ground surface when the ground plate 350L comes into contact with the ground surface, even if the mower continues to travel. Also, when the mower 100 is about to tip over, by adjusting the main surface 350aL so that it comes into face-to-face contact with the ground surface, the contact area of ​​the ground contact part increases, and the load to be supported by the tip-over prevention mechanism 300aL (i.e., the weight of the mower) can be distributed.

[0083] Third Embodiment In the first and second embodiments, examples have been described in which the position of the ground contact portion (rear portion 328, rear portion 328a in each embodiment) is moved in the vertical and horizontal directions by rotating main arm 320 relative to support frame 310 or rotating main arm 320a relative to first support frame 310a. However, the configuration of tip-over prevention mechanisms 300, 300a is not limited to this example, and the position of the ground contact portion can be moved in the vertical and horizontal directions by various methods.

[0084] For example, one or more extendable members (members corresponding to auxiliary arms 330) may be provided between the second portion 312 of the support frame 310 and a cylindrical or rod-shaped member (member corresponding to intermediate portion 327 of main arm 320) arranged parallel or substantially parallel to the second portion 312, or between the second portion of the first support frame 310a and a cylindrical or rod-shaped member (member corresponding to intermediate portion of main arm 320a) arranged parallel or substantially parallel to the second portion, and the cylindrical or rod-shaped member may be moved upward and downward in parallel by the extension and contraction of the extendable member. Alternatively, instead of using the main arms 320 and 320a, a sled-shaped member such as the ground plate 350 described in the second embodiment may be provided at the tip of the extendable member and moved upward or downward directly. Furthermore, a link mechanism capable of telescopic movement, such as a so-called pantograph (diamond-shaped telescopic mechanism), may be provided between the second portion 312 of the support frame 310 and a cylindrical or rod-shaped member arranged parallel or approximately parallel to the second portion, or between the second portion of the first support frame 310a and a cylindrical or rod-shaped member arranged parallel or approximately parallel to the second portion (a member corresponding to the middle portion of the main arm 320a), and the cylindrical or rod-shaped member may be translated upward and downward by the telescopic movement of the link mechanism.

[0085] As described above, the anti-tip mechanism 300, 300a only needs to have a ground contact portion that functions to support the weight of the mower 100 when it is about to tip over, and that portion can move freely upward and downward in some way, and the specific structure is not limited to the examples of the first and second embodiments.

[0086] The above describes a brush cutter, an example of an agricultural machine according to the present invention, with reference to the drawings. However, the present invention is not limited to the above-described embodiments (including modifications), and modifications can be made as appropriate without departing from the spirit of the present invention. For example, a configuration in which a person skilled in the art appropriately adds, deletes, or modifies components based on the embodiments is also included within the scope of the present invention as long as it incorporates the gist of the present invention. Furthermore, the configurations according to the above-described embodiments can be appropriately combined as long as there are no mutual contradictions, and technical matters common to the embodiments are included in each configuration even if not explicitly stated.

[0087] Even if there are other effects and advantages different from those brought about by the aspects of each of the above-mentioned embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0088] 10...machine body, 11...mounting member, 14...machine body, 15...support case, 17...mounting member, 20, 20L, 20R...traveling unit, 21L...crawler belt, 22L...drive wheel, 23L...driven wheel, 24, 24L...crawler frame, 30...top surface mowing unit, 31...casing, 32, 32L, 32R...blade unit, 33, 33L, 33R...drive unit, 40...battery, 50...control unit, 54, 54L...drive unit, 60...engine, 70...alternator, 80, 80L, 80R...slope mowing unit, 81 , 81L, 81R... casing, 82, 82L, 82R... blade section, 83, 83L, 83R... drive section, 90, 90L... position adjustment mechanism, 98... section mounting section, 100... grass cutter, 110... center line, 120... cutting section, 130, 130L... angle adjustment mechanism, 140L... grip section, 150R... cover member, 200... ridge, 201... top surface, 202... slope, 203... horizontal surface, 204... cutting surface, 206... flat surface, 280L, 280R... rotation prevention frame, 300, 300L, 300aL, 300R... tipping Prevention mechanism, 310, 310L... support frame, 311L... first portion, 312L... second portion, 310aL... first support frame, 313L... support bracket, 314L... support bracket, 315aL... auxiliary connection shaft, 315bL... angle adjustment member, 315cL... adjustment hole, 315L... second support frame, 316L... adjustment pin, 320, 320a, 320aL, 320L... main arm, 321L... first bending portion, 322L... second bending portion, 326L... front portion, 327, 327L... middle portion , 328, 328L, 328aL...rear portion, 330, 330L...auxiliary arm, 331L...first cylindrical member, 332L...second cylindrical member, 333, 333L...adjustment pin, 334L...through hole, 341L, 341aL, 342L, 342aL, 343L...bracket, 350aL...main surface, 350bL...inclined surface, 350L...ground plate, 400, 400L, 400R...cutting height adjustment portion, 410, 410L, 410R...roller, 411...rotation shaft, 420aL, 420aR...roller support portion

Claims

1. A self-propelled agricultural work machine having a traveling unit, An agricultural work machine including an anti-tip mechanism, at least a portion of which is located outside the traveling section in the left-right direction, that prevents the agricultural work machine from tipping over in the left-right direction when the agricultural work machine tilts in the left-right direction.

2. the tip-over prevention mechanism includes a ground contact portion that comes into contact with the ground surface when the agricultural work machine tilts left or right, The agricultural work machine according to claim 1 , wherein at least a portion of the ground contact portion is movable downward from a lower end of the traveling portion when viewed from behind.

3. The agricultural work machine according to claim 2 , wherein the anti-tip mechanism includes an angle adjustment unit that can adjust the angle formed between the direction of movement of the ground contact portion and the left-right direction in a rear view.

4. The agricultural implement according to claim 2 , wherein the ground contact portion includes a ground contact plate.

5. The agricultural work machine according to claim 1 , wherein the anti-tip mechanism is attached to the traveling section.

6. The agricultural work machine according to claim 5 , wherein the anti-tip mechanism is attached to the traveling section via a support frame attached to the traveling section.

7. 5. The agricultural machine according to claim 1, wherein the anti-tip mechanism includes a support frame attached to the traveling section, a main arm rotatably connected to the support frame, and an auxiliary arm spanning between the support frame and the main arm.

8. The auxiliary arm is extendable and retractable, The agricultural work machine according to claim 7, wherein the main arm rotates relative to the support frame when the auxiliary arm extends or retracts.

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