Self-propelled work machine

Abstract

To provide a space for setting a weeding blade part free from an obstacle when it collides with the obstacle in moving.SOLUTION: A self-travelling work machine includes a body part 11, a travelling part 21 provided on both sides in an advancing direction of the body part, a work part 31 provided so as to be positioned ahead of the body part 11 and the travelling part 21, a weeding part 41 provided to the work part 31, and a first arm 32 for connecting the work part 31 and the body part 11. The weeding part 41 is provided to the tip of the first arm 32 and can be rotated in a horizontal direction by a rotation shaft in a vertical direction orthogonal to an advancing direction. A recessed part B is provided at an intermediate position of the first arm 32 for accommodating the weeding part 41 in a rotated state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a self-propelled working machine, and more particularly to a self-propelled working machine capable of performing work by positioning a grass-cutting working unit in front of, or in front of and to the side of, a travellable main body. [Background technology]

[0002] As a self-propelled working machine capable of performing work by positioning a grass-cutting working unit in front and to the side of a travellable main body, the grass-cutting working machine described in Patent Document 1 is disclosed. In this grass-cutting working machine, the grass-cutting working unit that can be raised and lowered and is positioned in the front part of the main body can separate a pair of cutting blades of the grass-cutting working unit, and at least one of them can be moved laterally and inclined and brought into contact with the slope of a ridge to perform slope grass-cutting work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-157762 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of the grass cutting machine of Patent Document 1, if an obstacle is present in the traveling direction, the operator must operate the machine to avoid the obstacle. However, because operators tend to want to work as close as possible to the periphery of the obstacle, there is a problem that the grass cutting unit often collides with the obstacle.

[0005] When moving the main body backward to avoid an obstacle, the working part may be raised and moved backward. At this time, if the grass cutting blade is still rotating, the bottom side of the grass cutting blade, which is away from the ground, will be exposed, causing foreign objects to fly out of the grass cutting blade, making it impossible to work safely. In addition, in order to cut grass growing on uneven ground as short as possible, it is easy to have the grass-cutting part crawl along the ground at all times. However, when trying to go over large unevenness, especially a convex part larger than the grass-cutting part of the machine itself, the bottom surface of the rotating blade is exposed, which causes a problem of foreign objects being scattered from the grass-cutting part.

[0006] Furthermore, in a self-propelled working machine, if the grass-cutting blade collides with an obstacle while moving, it is necessary to move the grass-cutting blade away from the obstacle. To do so, a space is required to allow the grass-cutting blade to move away from the obstacle. However, in the past, there was no plan for the space to allow the grass-cutting blade to move away from the obstacle when the grass-cutting blade moves and collides with the obstacle.

[0007] The present invention has been made with the above-mentioned problems in mind, and aims to provide a self-propelled working machine that can easily cut grass around obstacles and can operate safely even if the grass-cutting part separates from the ground. [Means for solving the problem]

[0008] The present invention relates to A main body portion, A running section provided on both sides of the main body in the traveling direction; a working unit located in front of the main body and the traveling unit, having a pivot point for allowing the working unit to rotate up and down, and having a motor for rotating the cutting blade by supplying electric power; A switch for detecting the rotation angle of the working unit; A control unit that controls the driving of the motor in response to detection of the switch; Equipped with 、 The main body portion is provided with a lifting arm that can be raised and lowered by rotating the working unit and that extends forward from the main body portion, The working unit includes a first arm provided at a tip end of the lifting arm and rotatable vertically about a horizontal pivot point perpendicular to the traveling direction; The set height is set by detecting the relative angle between the lift arm and the first arm. , The control unit Determine whether the switch is on or not, When the limit switch is in the off state, the blade rotates. When the limit switch is in the on state, the blade rotation is stopped. A self-propelled working machine characterized by: It consists of:

[0009] The present invention further comprises: The control unit When the working part rises to a preset height, the power supply to the motor is stopped. A self-propelled working machine characterized by: It consists of:

[0010] The present invention further comprises: The control unit When the working part is at a height equal to or higher than the set height, the motor to which the power supply is stopped continues to be in the stopped state even when the working part returns to a height equal to or lower than the set height. A self-propelled working machine characterized by: It consists of: Effect of the Invention

[0013] In the present invention, the self-propelled working machine has a space for the mowing unit to escape from the obstacle when it collides with the obstacle during movement. The mowing unit is provided at the tip of the first arm and is freely rotatable horizontally by a vertical rotation shaft perpendicular to the traveling direction, so that when it collides with an obstacle, the mowing unit rotates horizontally by the vertical rotation shaft, enabling it to escape from the obstacle into the space. Furthermore, the present invention provides a self-propelled working machine that can easily cut grass around obstacles and can perform work safely even if the grass-cutting part is separated from the ground. [Brief description of the drawings]

[0014] [Figure 1] 1 is a plan view of a self-propelled working machine according to an embodiment of the present invention in a working state. [Diagram 2] 1 is a front view of a self-propelled working machine according to an embodiment of the present invention in a working state. [Diagram 3] 1 is a plan view of a state in which a first arm is inverted and regulated to a non-working state side by a first regulating body of a self-propelled working machine according to an embodiment of the present invention. FIG. [Figure 4]1 is a front view of a state in which a first arm is inverted and regulated to the non-working state side by a first regulating body of a self-propelled working machine according to an embodiment of the present invention. FIG. [Diagram 5] 1 is a rear view of the self-propelled working machine according to an embodiment of the present invention, showing a state in which a first arm is inverted and regulated to the non-working state side by a first regulating body. FIG. [Figure 6] 1 is a rear view of a state in which a first arm is lowered to the maximum extent in a working state and restricted by a first restricting body of a self-propelled working machine according to an embodiment of the present invention. FIG. [Figure 7] 1 is a front view showing a rotation range of a working unit of a self-propelled working machine according to an embodiment of the present invention. FIG. [Figure 8] 1 is a partially enlarged front view of a self-propelled working machine according to an embodiment of the present invention, with a first arm in a working position (blade driven). [Figure 9] 1 is a partially enlarged front view showing a position immediately before the drive of the cutting blade is stopped after the angle of a first arm of the self-propelled working machine according to an embodiment of the present invention has been raised from a working position. [Figure 10] 1 is a partially enlarged front view showing a position in which a first arm of a self-propelled working machine according to an embodiment of the present invention has been rotated to be located above a main body portion. [Figure 11] 4 is an enlarged rear view of a first regulating body in a non-working state of the self-propelled working machine according to the embodiment of the present invention. FIG. [Figure 12] 1 is an enlarged rear view of a first regulating body in a state in which a first arm is located at a lowermost position in a working state of a self-propelled working machine according to an embodiment of the present invention. FIG. [Figure 13] 2 is a view taken along the line F in FIG. 1 which is a plan view of the self-propelled working machine in a working state according to an embodiment of the present invention, and is a view taken along the line F in FIG. 1 which is a view taken along the line F in the working state of the second arm and the second fixing part. [Figure 14] 1 is a cross-sectional plan view of a self-propelled working machine according to an embodiment of the present invention with the grass cutting unit in a stored position (a state retracted from an obstacle) and the second arm fixed by the pin of the second fixing portion. FIG. [Figure 15] 1 is a plan cross-sectional view showing a state in which the grass cutting unit of a self-propelled working machine according to an embodiment of the present invention is fixed in a storage position by the second fixing part, and a third arm is fixed by a pin of the third fixing part. FIG. [Figure 16] 2 is a view taken along the line F in FIG. 1 which is a plan view of the self-propelled working machine according to the embodiment of the present invention, and is a sectional view of a second arm and a second fixed portion in a working state. [Figure 17] FIG. 4 is an operation flow diagram of the blade rotation safety device of the self-propelled working machine according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A is a self-propelled working machine. The self-propelled working machine A has a main body 11 and a traveling section 21. The traveling sections 21 are provided on both sides of the main body 11 in the traveling direction. A working unit 31 is provided so as to be located in front of the main body unit 11 and the running unit 21. Reference numeral 12 denotes a lifting arm. The base of the lifting arm 12 is installed in the center of the main body 11. The tip of the lifting arm 12 protrudes from the front of the main body 11 and extends forward. A working unit 31 is attached to the tip of the lifting arm 12. The lifting arm 12 can be raised and lowered by rotating the working unit 31.

[0016] 32 denotes a first arm. As shown in Fig. 1 and Fig. 3, the first arm 32 has a generally U-shaped shape that opens downward in Fig. 1 when viewed from above. The first arm 32 is made up of a base portion 32a, a middle portion 32b, and a tip portion 32c. The base 32a of the first arm 32 is attached to the main body 11 so as to be parallel to the front of the main body 11. The middle part 32b of the first arm 32 is provided slightly outside of the approximate extension between one side of the main body 11 and the running part 21. The tip part 32c of the first arm 32 protrudes at approximately 45 degrees from the tip of the middle part 32b to the extension of the center of the front of the main body 11.

[0017] The tip 32c of the first arm 32 is located in the front of the main body 11, approximately in the center, on an extension of the direction of travel of the self-propelled working machine A. Unlike the base 32a which is provided parallel to the front of the main body 11, the tip 32c opens more parallel to the front of the main body 11. Therefore, the tip of the tip 32c can be located farther away from the front of the main body 11, compared to when the base 32a is provided parallel to the front of the main body 11. As shown in FIG. 1, a base portion 32a, an intermediate portion 32b, and a tip portion 32c of the first arm 32 form a recess B which is an opening portion having a substantially U-shape in a plan view. 1, in this embodiment, the recessed portion B is provided on the left side in the traveling direction of the self-propelled working machine A, but it may be provided on the right side. It is provided on the side where the operator is likely to use the grass cutting unit 41 in contact with an obstacle. For a right-handed user, the recessed portion B is provided on the left side in the traveling direction of the self-propelled working machine A, but for a left-handed user, the recessed portion B may be provided on the right side.

[0018] Reference numeral 33 denotes a second arm. The second arm 33 is connected to the first arm 32 by a vertical rotation shaft 35 provided at the tip of the first arm 32 and perpendicular to the traveling direction. Therefore, the second arm 33 is freely rotatable in the horizontal direction.

[0019] A third arm 34 is connected to the second arm 33 by a horizontal shaft 36 provided at the tip of the second arm 33, and is freely rotatable in the vertical direction. The first arm 32 to the third arm 34 are each freely rotatable, and therefore, as a whole, the mowing unit 41 is multi-jointed, and can be positioned so as to crawl along the ground.

[0020] An elastic body 37 is disposed on the second arm 33. The elastic body 37 biases the grass cutting part 41 at the tip of the third arm 34 in a direction that causes the grass cutting part 41 to project outward from the traveling part 21. The elastic body 37 arranged on the second arm 33 makes it possible to keep the grass cutting part 41 at the tip of the third arm 34 positioned so as to protrude outward beyond the traveling part 21. Only when the grass cutting unit 41 collides with an obstacle does it overcome the elastic force of the elastic body 37 and is pushed by the obstacle, and then rotates toward the inside of the machine body width. After the obstacle passes the grass cutting unit 41, it returns to its original position by the elastic force of the elastic body 37. Therefore, it is possible to run and work while keeping the grass cutting unit 41 as close as possible to the obstacle.

[0021] Working unit 31 is attached to the tip of lifting arm 12. Working unit 31 can be rotated up and down by a horizontal rotation shaft 32E attached to base 32a of first arm 32 in a horizontal direction perpendicular to the traveling direction. A horizontal rotation shaft 32E attached to a base portion 32a of the horizontal first arm 32 perpendicular to the traveling direction serves as a rotation fulcrum of the first arm 32 on the main body side.

[0022] Reference numeral 51 denotes a first regulating body. Reference numeral 54 denotes a cam. The first regulating body 51 and the cam 54 are provided on either side of the first arm 32 in the travel direction of the self-propelled working machine A at the base 32a, which is the rotation fulcrum of the first arm 32, with the first arm 32 sandwiched therebetween. The first restricting body 51 is a member having a notch in a portion thereof, which is provided on the first arm 32 side. The first restricting body 51 is brought into contact with an abutment pin 121 provided on the lifting arm 12 side, thereby setting a range for the rotation of the first arm 32. The lowest rotation limit of the grass cutting unit 41 in an actual working state is when the first arm is lowered slightly below the horizontal position, as shown in Figure 6. Because the grass cutting unit 41 is lowered below the traveling unit 21, it is possible to cut depressions as well.

[0023] The first regulating body 51 regulates the first arm 32 to rotate within a blade driving range M and a blade stopping range N, which are within the vertical rotation range of the first arm 32 shown in Fig. 7. In conjunction with the rotation of the first arm 32, the second arm 33, the third arm 34 and the grass cutting unit 41 all move. If the first arm 32 rotates more than the limit, the first arm 32 will move down toward the main body 11 at the blade storage position L, but this is prevented. At the blade working position J, the lifting arm 12 is raised and the first arm 32 is also raised. Without the restriction by the first restricting body 51, the first arm 32 would continue to rotate, and the grass cutting unit 41 would remain on the ground even if the lifting arm 12 was raised. The first restricting body 51 prevents these inconveniences.

[0024] 2, 3 and 4, reference numeral 52 denotes a first fixing portion. The first fixing portion 52 is provided on the base portion 32a of the first arm 32. The first fixing portion 52 fixes the first arm 32. The first arm 32, the second arm 33, and the third arm 34 are provided with respective fixing portions, ie, a first fixing portion 52, a second fixing portion 56, and a third fixing portion 57. The second arm 33 and the third arm 34 are provided below the first arm 32. As shown in Fig. 2, the grass cutting unit 41 and the first arm are at different heights. Therefore, the grass cutting unit 41 can freely rotate below the first arm, and the grass cutting unit 41 does not interfere with the first arm 32.

[0025] 53 is a fixing pin. The self-propelled working machine A can be transformed into a working state in which the grass cutting unit is located in front of the main body as shown in Fig. 6, and a stored state in which the grass cutting unit is inverted above the main body as shown in Fig. 5, as shown in Fig. 7. The fixing pin 53 prevents the grass cutting unit (first arm) from jumping up due to vibration or swinging of the machine body when traveling in the stored state. The fixing pin 53 fixes the rotation of the first arm 32. Therefore, in the stored state, the first arm 32 is relatively integrated with the lifting arm 12, improving the running stability of the vehicle.

[0026] Reference numeral 56 shown in Figures 13 and 16 denotes a second fixing portion. The second fixing part 56 fixes the horizontal rotation of the second arm 33 relative to the first arm 32. The horizontal rotation of the second arm 33 includes the horizontal rotation of the third arm 34 and the grass cutting part 41, and therefore, by fixing the horizontal rotation of the second arm 33, these rotations are fixed. The second arm 33 is fixed by rotating the second arm 33, the third arm 34 and the grass cutting part 41 so as to fit in the left and right width direction relative to the traveling direction of the running part 21, and then inserting a fixing pin 562 into a fixing hole 561 provided in the rotating shaft 35, as shown in Figure 16.

[0027] Since the second arm 33 cannot rotate after being fixed, the horizontal rotation of the third arm 34 and the grass cutting unit 41 is also fixed. The fixation is released by pulling out the pin 562. The second arm 33 is constantly biased by the elastic body 37 in the outward direction relative to the left and right of the traveling unit 21 (to the left in the traveling direction in Figs. 14 and 15 which show the embodiment). Therefore, when the second arm 33 is in the fixed-release state, the grass cutting unit 41 is constantly biased to be positioned outside the traveling unit. A second regulating body (upper side) 563 and a second regulating body (lower side) 564 are provided. The second regulating body (upper side) 563 and the second regulating body (lower side) 564 regulate the rotation range of the third arm . Reference numeral 565 denotes a pin insertion hole of the third fixing portion 57. Reference numeral 566 denotes a rotation fulcrum of the third arm 34. By inserting a pin 571, the rotating third arm 34 is fixed.

[0028] 14 and 15 denotes a third fixing portion 57. The third fixing portion 57 fixes the third arm 34 against vertical rotation. The third fixing portion 57 is provided at the tip of the second arm 33. Reference numeral 571 denotes a pin, and 572 denotes a pin insertion hole. The pin insertion hole 57 is provided in the vicinity of the rotation fulcrum of the third arm . A pin pressing elastic body 573 continues to press the pin 571.

[0029] A guide rod 574 guides the elastic body 37 that pushes the second arm 33 in the forward direction of the self-propelled working machine A. Reference numeral 575 denotes a rotation shaft, which extends downward from the first arm 32. The reference numeral 576 denotes a fixing hole. The reference numeral 577 denotes a fixing pin. As shown in FIG. Reference numeral 578 denotes a rotation shaft, which rotates the third arm 34 up and down.

[0030] The third arm 34 is prevented from rotating in the vertical direction by inserting the pin 571 into the pin insertion hole 572. As shown in Fig. 14, the pin 571 is removed from the pin insertion hole 572, whereby the lock against rotation is released.

[0031] Mowing work is performed with the second fixing part 56 and the third fixing part 57 released. The second arm 33 is freely rotatable in the horizontal direction, and the third arm 34 is freely rotatable in the vertical direction. Therefore, the mowing part located at the tip of the third arm 34 can freely move up, down, left and right. The second and third arms 33 and 34 are fixed to the second and third fixing portions 56 and 57 when the arms are to be put into a stored state. By fixing the rotation of the second arm 33 and the third arm 34, the positional relationship with the first arm can be maintained fixed, so even if the first arm is inverted onto the main body, the arms do not rotate, making it easy to handle when an operator lifts and inverts the first arm 32.

[0032] A cam 54 is provided on the base 32a, which is the rotation fulcrum of the first arm 32. The cam 54 rotates integrally with the first arm 32. As shown in FIGS. 8, 9 and 10, the cam 54 is provided with a protrusion 54a at a portion of the periphery of the horizontal rotation shaft 32E attached to the base 32a of the first arm 32.

[0033] The convex portion 54a is positioned so as not to come into contact with the limit switch 55 when the first arm 32 is in the working position (blade driving) with the first arm 32 extending horizontally forward, as shown in Figure 8 and as shown by a solid line in Figure 7, and the tip of the first arm 32 faces horizontally forward (to the left in the figure). On the other hand, when the angle of the first arm 32 shown in Figures 9 and 10 is raised from the working position to a position just before the drive of the cutting blade 43 stops and the tip of the first arm 32 faces diagonally upward (upper left in the figure), and when the first arm 32 is in a position rotated so as to be located above the main body and the tip of the first arm 32 faces diagonally backward (upper right in the figure), the convex portion 54a is located within a range that contacts the limit switch 55.

[0034] A switch 55 is provided on the base 32a, which is the rotation fulcrum of the first arm 32 on the main body side. The switch 55 detects the rotation angle of the first arm 32 by the rotating outer circumferential surface of the cam 54 . Reference numeral 46 denotes a blade lamp. The blade lamp 46 lights up when the blade 43 is in a rotatable state. When it is lit, it indicates that the blade 43 is in a rotatable state. When it flashes, it indicates that the blade 43 is in a non-rotatable state.

[0035] Reference numeral 41 denotes a grass cutting unit. The grass cutting unit 41 is provided at the tip of the third arm 34, and has a cutting blade 43 that is rotationally driven by a powered motor, in this embodiment, a cutting blade motor 42. Reference numeral 44 denotes a cutting blade cover. The cutting blade cover 44 covers the cutting blade 43. Reference numeral 45 denotes a ground contact body. The ground contact body 45 is attached to the ground contact side of the cutting blade 43 in the working state, and contacts the ground. Approximately half of the grass cutting unit 41 can be stored in the recess B, which is a U-shaped opening formed by the base 32a, middle part 32b, and tip part 32c of the first arm 32. When the grass cutting unit 41 collides with an obstacle while moving, the grass cutting unit 41, which is provided at the tip of the first arm 32 and can rotate horizontally about the vertical rotation shaft 35 perpendicular to the direction of travel, rotates horizontally about the vertical rotation shaft 35 to avoid the obstacle or is pushed by the obstacle and escapes into the space, the recess B.

[0036] The recessed portion B does not have to be a space large enough to completely accommodate the grass cutting unit 41, but may be a space large enough to temporarily retract the grass cutting unit 41 that has come into contact with an obstacle. Since the first arm 32 is curved, the grass cutting unit 41 can be protected from continued collision with an obstacle by escaping into the first arm 32. While the obstacle passes by the side of the traveling unit 21, the grass cutting unit 41 can avoid collision with the obstacle.

[0037] The grass cutting unit 41 and the cutting blade 43 can move within the range shown in Fig. 7. J is the cutting blade working position, K is the cutting blade drive switching angle, L is the cutting blade storage position, M is the cutting blade drive range, and N is the cutting blade stop range. The cutting blade 43 performs cutting work at the cutting blade working position J. The cutting blade 43 moves to the cutting blade storage position L and is stored.

[0038] When the working unit 31 shown in FIG. 7 rises to a drive switching angle K of the cutting blade, which is a preset height, the power supply to the cutting blade motor 42 is stopped. The drive switching angle K of the cutting blade, which is the set height, is set by detecting the relative angle between the lift arm 12 and the first arm 32.

[0039] A control unit 61 is grounded to the upper part of the main body unit 11 as shown in FIGS. The control unit 61 receives the detection of the switch 55 and controls the driving of the motor 42 .

[0040] A switch (limit switch) 55 is disposed at the pivot point on the main body side of the first arm 32, so that it can be kept away from the grass cutting part 41 which is prone to generating vibrations, dust, flying objects, and the like. Furthermore, a cam 54 for operating a switch 55 is provided at the rotation fulcrum of the first arm 32. The switch (limit switch) 55 has a simple ON / OFF operation, so the shape of the cam 54 is simplified.

[0041] In the embodiment shown in Figure 7 and other figures, the operating angle of the switch (limit switch) 55 is preferably 25 to 35 degrees when viewed from the side of the first arm 32, and is set to 30 degrees in the figure. At this time, the lowest end of the grass cutting part 41 is about 200 mm. When trying to overcome a large uneven part, the cutting blade 43, which is the cutting part, inevitably faces upward, but since the blade part stops due to the operation of the limit switch, foreign objects are not thrown upward.

[0042] Because the working part 31 has risen to a height equal to or greater than the set height, which is the blade drive switching angle K, the power supply to the blade motor 42 has been stopped, and the power supply to the blade motor 42 remains stopped even when the working part 31 returns to a height below the set height. 3 and 4, the grass cutting unit 41 is inverted, and the first arm 32 is fixed to the first fixing portion 52, and the second arm 33 is fixed to the second fixing portion 56. In FIG.

[0043] The grass cutting unit 41 can move left and right in the traveling direction by the third arm 34, so that the grass cutting unit 41, which is positioned to protrude outward from the traveling unit, can retreat to the inside of the width of the machine even if it collides with an obstacle. The self-propelled work machine A body can continue to move forward as it is, and the obstacle only needs to pass beside the traveling unit, so the burden on the operation of the self-propelled work machine A body is reduced.

[0044] By controlling the self-maintaining shutoff state, sudden rotation of the cutting blade 43 is prevented when the cutting blade 43 returns to a position below the blade drive switching angle K, which is the set height. When the blade reaches or exceeds the set height, ie, the drive switching angle K, and the grass cutting unit 41 stops, the operator may be approaching or in contact with the grass cutting unit 41. Therefore, this function enhances safety. 3 and 4, the first arm 32 can be rotated toward the upper side of the main body to take a stored position. In this position, the cutting blade 43, which is the cutting part, faces upward and is exposed. Even in this state, the switch (limit switch) 55 is functioning, and the cutting blade 43 will not rotate even if the cutting blade switch in the operation unit is turned on.

[0045] When the first arm 32 of the self-propelled working machine according to the embodiment of the present invention shown in FIG. 8 is in the working position (blade driving), the tip of the first arm 32 faces horizontally forward (to the left in the figure). Therefore, the cam 54 and the limit switch 55 do not come into contact with each other.

[0046] When the angle of the first arm 32 of the self-propelled working machine according to the embodiment of the present invention shown in FIG. 9 is raised from the working position to a position just before the drive of the cutting blade 43 stops, the tip of the first arm 32 faces diagonally upward (upper left in the figure). Therefore, the cam 54 and the limit switch 55 come into contact with each other, and the limit switch 55 is turned on.

[0047] When the first arm 32 of the self-propelled working machine A according to the embodiment of the present invention is in a rotated position above the main body as shown in FIG. 10, the tip of the first arm 32 faces diagonally backward (upper right in the figure). Therefore, the cam 54 and the limit switch 55 continue to be in contact with each other, and the limit switch 55 continues to be in the on state.

[0048] That is, as shown in Figs. 2 and 8, when the first arm 32 is extended, it comes into contact with the cam 54 and the limit switch 55 is in the ON state. As shown in FIG. 4, when the first arm 32 is bent onto the self-propelled working machine A, it comes into contact with the cam 54 and the limit switch 55 is in the ON state. As shown in FIGS. 9 and 10, when the first arm 32 reaches a certain angle or more, it comes into contact with the cam 54, and the limit switch 55 is turned on.

[0049] When operating the self-propelled working machine A, as shown in Fig. 7, the lifting arm 12 is lowered to the front of the self-propelled working machine A and the grass cutting unit 41 is placed on the ground. Furthermore, the lifting arm 12 is lowered and adjusted to be stable. The first regulating body 51 comes off the abutment pin 121, but while the grass cutting unit 41 is working, there is no need for the first regulating body 51 to be regulated by the abutment pin 121. Rather, it becomes possible to flexibly respond to unevenness in the ground.

[0050] The operating state of the self-propelled working machine A according to the embodiment of the present invention will be described with reference to FIG. In S1, the switch 55, which is a cutting blade switch consisting of a limit switch, is turned on. In S2, it is determined whether or not the blade switch 55, which is a limit switch, is in the ON state. That is, it is determined whether or not the cam 54 and the limit switch 55 are in contact with each other and the switch 55 is in the ON state.

[0051] If switch 55, which is a blade switch consisting of a limit switch, is not on in S2, that is, if switch 55 is off, then in S3, the communication line of blade motor 42 is brought into a conductive state to rotate the motor. Next, in S4, the cutting blade lamp 46 is turned on. Next, in S5, the cutting blade 43 is rotated. Next, the process returns to S2, and it is determined whether or not the switch 55, which is a cutting blade switch formed of a limit switch, is in the ON state.

[0052] If the switch 55, which is a blade switch consisting of a limit switch, is in the on state in S2, the communication line of the blade motor 42 is cut off in S6, so that no current flows. Next, in S7, the communication line is self-maintained in the cut-off state. Even if the switch 55 is returned to its original position, the cut-off state is maintained. Since this embodiment is structured to turn the grass cutting unit 41 upside down, it would be problematic if it were to be operated in the upside-down state. When the first arm 32 is extended and then returned to its original position, it is extended by hand, so it would be problematic if the switch for driving the cutting blade motor 42 was turned on by itself.

[0053] Next, in S8, a wiring error is output to the control unit 61. A signal is output to the control unit 61 indicating that the cutting blade 43 is not rotating. Next, in S9, the blade indicator 46 is turned on and off. The blade 43 cannot rotate. Next, in S10, the rotation of the cutting blade is stopped, and the operation returns to the self-maintaining state of the communication line in S7.

[0054] S1 to S10 are necessary for the working unit 31 to extend and for the working unit 31 to be shoved onto the self-propelled working machine A. [Explanation of symbols]

[0055] 11 Main body 12 Lifting arm 21 Running part 31 Working Section 32 First Arm 33 Second Arm 34 3rd Arm 35 Rotating Axis 41 Grass cutting department A Self-propelled work machine B Concave

Claims

1. A main body portion, A running section provided on both sides of the main body in the traveling direction; a working unit located in front of the main body and the traveling unit, having a pivot point for allowing the working unit to rotate up and down, and having a motor that drives the cutting blade by supplying electric power; A switch for detecting the rotation angle of the working unit; A control unit that controls the driving of the motor in response to detection of the switch; Equipped with The main body portion is provided with a lifting arm that can be raised and lowered by rotating the working unit and that extends forward from the main body portion, The working unit includes a first arm provided at a tip end of the lifting arm and rotatable up and down about a horizontal rotation fulcrum perpendicular to the traveling direction, The set height is set by detecting the relative angle between the lift arm and the first arm, The control unit Determine whether the switch is on or not, When the limit switch is in the off state, the blade rotates. When the limit switch is in the on state, the blade rotation is stopped. A self-propelled working machine characterized by:

2. The control unit comprises: When the working part rises to a preset height, the power supply to the motor is stopped.

2. The self-propelled working machine according to claim 1.

3. The control unit comprises: When the working part is at a height equal to or higher than the set height, the motor to which the power supply is stopped continues to be in the stopped state even when the working part returns to a height equal to or lower than the set height.

3. The self-propelled working machine according to claim 2.

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