Self-propelled work device

Abstract

To provide an outrigger arm stabilizing an attitude angle of a work device and suppressing side slip with a simple structure, and a self-propelled work device equipped with the outrigger arm.SOLUTION: An outrigger arm is provided for a self-propelled work device 1 which moves in the direction crossing an inclination direction of an inclined travel surface that is provided with a body part 11 equipped with a work part 110 and traveling wheels 12 supported by the body part 11 and provided with left and right front wheels 121a, 121b and left and right rear wheels 122a, 122b, and includes: an arm part 141 which is supported by the body part 11 and extends to the travel surface from between the front wheel 121a arranged on a valley side of the travel surface and a rear wheel 122a to the travel surface; and an auxiliary wheel 143 which is provided for the arm part 141, stands on the travel surface nearer on the valley side of the travel surface than the front wheel 121a and the rear wheel 122a, and is driven as the self-propelled work device 1 moves when the self-propelled work device 1 moves in the direction crossing the inclination direction of the travel surface.SELECTED DRAWING: Figure 1

Description

Technical Field

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[0001] The present invention , own relates to a walking work device.

Background Art

[0002] Conventionally, a lawn mower (work device) that autonomously travels on an inclined surface to perform lawn mowing is known in order to reduce the burden on an operator during lawn mowing work on an inclined surface. In such a work device, when traveling along a contour line on an inclined surface, due to the influence of the weight and gravity of the work device, the posture angle of the work device faces the valley side, deviating from the contour line or causing a side slip. To suppress this, a camber angle is provided for the wheels of the work device with respect to the inclined surface, and the wheels are erected with respect to the inclined surface, so that the wheels bite into the inclined surface and the posture angle of the work device faces the mountain side of the inclined surface. This configuration is known (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the mechanism for providing a camber angle to the wheels as described above is complicated, and there is a problem that it is difficult to manufacture the mechanism for forming the camber angle. In addition, when a camber angle is provided to the wheels, the work device does not become parallel to the inclined surface, so there is a risk that the tip of the lawn mowing blade provided on the work device will pierce the inclined surface and the work efficiency of lawn mowing will decrease.

[0005] The present invention has been made in view of the above circumstances, and aims to provide a walking work device with a simple configuration that stabilizes the posture angle of the work device and suppresses side slip. ru

Means for Solving the Problems

[0006] To solve the above problems, the invention described in claim 1 is: Book The body portion and the main body portion are supported by, before Ring and rear A running wheel equipped with a hub, A working section supported by the main body and positioned opposite the running surface on which the running wheels travel, Equipped with, The aforementioned running wheels are made capable of running on an inclined running surface, Movement in a direction intersecting the inclination direction of the inclined running surface. possible Self-propelled work device and an arm portion supported by the main body and extending toward the running surface from between the front wheel and the rear wheel, which are positioned on the valley side of the running surface, and provided on the arm portion ,before Auxiliary wheels are erected on the running surface at a point on the running surface closer to the valley side than the front and rear wheels, and are driven in accordance with the movement of the self-propelled work device. possessed Outrigger arm The outrigger arm further includes a length adjustment mechanism that allows the length of the arm portion to be adjusted so that when the auxiliary wheel is in contact with the inclined running surface, the central axis of the auxiliary wheel in a front view is perpendicular to the horizontal plane or inclined toward the uphill side of the inclined running surface. It is characterized by the following:

[0007] Self-propelled work device This is achieved by positioning the auxiliary wheels vertically on the valley side of the running surface, so that the front and rear wheels are in contact with the running surface almost perpendicularly. As a result, the camber effect of the auxiliary wheels stabilizes the attitude angle of the self-propelled work device on the running surface, allowing it to travel along contour lines and suppressing lateral slippage of the self-propelled work device.

[0009] Furthermore, self-propelled work equipment By incorporating a length adjustment mechanism, the auxiliary wheels can be securely positioned on the running surface, thereby achieving a camber effect. Furthermore, by lengthening the arm section, the load distribution on the front and rear wheels on the uphill side increases, suppressing lateral skidding.

[0010] Claim 2 The invention described above relates to the inclination angle of the arm portion in plan view, and the Main body It is characterized by having a first angle adjustment mechanism that adjusts the tilt angle of with respect to the front view and at least one of the other two.

[0011] Self-propelled work deviceIn this case, since the angle of the arm portion is variable, the arm portion and the auxiliary wheel can be arranged in consideration of the configurations of the front wheel and the rear wheel. Therefore, the camber effect of the auxiliary wheel can be exerted without being affected by the configurations of the front wheel and the rear wheel and the unevenness of the traveling surface.

[0012] Claim 3 The invention described in the claim is characterized by including a second angle adjustment mechanism for adjusting at least one of the inclination angle of the auxiliary wheel in plan view and the inclination angle of the Main body with respect to the front view.

[0013] Self-propelled work device By making the angle of the auxiliary wheel variable, the auxiliary wheel can be stably erected without being affected by the unevenness of the traveling surface.

[0014] Claim 4 In the invention described in the claim, the auxiliary wheel projects outward on a rotating surface that rotates on the traveling surface, and when the Main body moves in a direction intersecting the inclination direction of the traveling surface, a hard edge portion that buries into the traveling surface is formed.

[0015] Self-propelled work device By providing the edge portion, the amount of penetration of the auxiliary wheel into the traveling surface can be increased, and the lateral slip suppression effect of the self-propelled working device can be further improved.

[0016] Claim 5 In the invention described in the claim, the auxiliary wheels are arranged in plural between the front wheel and the rear wheel that are arranged at least on the valley side of the traveling surface.

[0017] Self-propelled work device By providing a plurality of auxiliary wheels, the camber effect of the auxiliary wheels can be increased, and the lateral slip suppression effect of the self-propelled working device can be further improved.

[0018] Claim 6In the invention described in , the arm portions are characterized in that a plurality of them are arranged between at least the front wheel and the rear wheel disposed on the valley side of the traveling surface.

[0019] Self-propelled work device In a configuration having a plurality of auxiliary wheels with a plurality of arm portions, the configuration of the outrigger arm can be simplified.

[0020] request Claim 7 the invention described in In, The working unit is characterized by including a lawn mower disposed to face the traveling surface.

[0021] By providing an outrigger arm, the self-propelled working device can arrange the working unit, which is a lawn mower, parallel to the traveling surface, so that the grass can be efficiently mowed without the blade of the lawn mower contacting the traveling surface.

Effect of the Invention

[0022] According to this invention, it is possible to provide an outrigger arm that stabilizes the posture angle of the working device and suppresses side slip with a simple configuration, and a self-propelled working device provided with the outrigger arm.

Brief Description of the Drawings

[0023] [Figure 1] It is a perspective view showing a self-propelled working device according to a first embodiment of the present invention. [Figure 2] It is a top view showing a self-propelled working device according to a first embodiment of the present invention. [Figure 3] It is a front view showing the self-propelled working device when installed on the traveling surface according to a first embodiment of the present invention. [Figure 4] It is an explanatory view showing a moving method of the self-propelled working device according to a first embodiment of the present invention. [Figure 5] It is a graph showing the relationship between the length of the outrigger arm of the self-propelled working device according to a first embodiment of the present invention and the amount of side slip of the self-propelled working device. [Figure 6]This is a perspective view showing a self-propelled work device according to a second embodiment of the present invention. [Figure 7] This graph shows the relationship between the length of the outrigger arm of a self-propelled work device according to the second embodiment of the present invention and the amount of lateral slip of the self-propelled work device. [Figure 8] This is a perspective view of a self-propelled work device according to a third embodiment of the present invention. [Figure 9] This is a top view of a self-propelled work device according to a third embodiment of the present invention. [Figure 10] This graph shows the relationship between the number of auxiliary wheels of a self-propelled work device according to the third embodiment of the present invention and the amount of lateral slippage of the self-propelled work device. [Modes for carrying out the invention]

[0024] Hereinafter, an outrigger arm and a self-propelled work device equipped with an outrigger arm according to an embodiment of the present invention will be described with reference to Figures 1 to 10. In the drawings, the front-rear direction of the self-propelled work device is indicated as the X direction, the width direction of the self-propelled work device as the Y direction, and the height direction of the self-propelled work device as the Z direction.

[0025] (First Embodiment) The first embodiment of the present invention will be described below with reference to Figures 1 to 5. As shown in Figures 1 and 2, the self-propelled work device 1 (hereinafter referred to as "work device 1") comprises a main body 11, travel wheels 12, a travel drive unit 13, and outrigger arms 14. As shown in Figure 3, the work device 1 travels on a travel surface F having an inclination angle α. The travel surface F may be, for example, a sloping levee between terraced rice paddies or rice fields, or a bank or embankment of a riverbed. In the following description, the lower side of the inclination on the travel surface F will be referred to as the valley side, and the upper side of the inclination will be referred to as the mountain side.

[0026] The main body 11 is equipped with a work unit 110 that performs work while the work device 1 is in motion. The work unit 110 is equipped with a known grass cutter 111 positioned facing the travel surface F at approximately the center of the work unit 110 in the X and Y directions. The work device 1 cuts the grass growing on the travel surface F with the grass cutter 111 while traveling on the travel surface F.

[0027] The running wheels 12 include front wheels 121a and 121b supported at both ends in the Z direction of the front end of the main body 11, and rear wheels 122a and 122b supported at both ends in the Z direction of the rear end of the main body 11. The working device 1 drives the running wheels 12 with the running drive unit 13 and moves forward or backward in the X direction. The running wheels 12 are, for example, known rubber tires.

[0028] The drive unit 13 is mounted on the main body 11. The drive unit 13 includes a first power supply unit 131 that drives the drive wheels 12 and a second power supply unit 132 that drives the lawnmower 111.

[0029] The outrigger arm 14 comprises an arm portion 141, a support portion 142, and an auxiliary wheel 143.

[0030] The arm portion 141 has a rectangular parallelepiped shape with one direction being longer when viewed from above. The arm portion 141 is connected to the support portion 142 at approximately the middle of its longitudinal direction and is supported by the main body portion 11. When the work device 1 is placed on the running surface F, the arm portion 141 extends from between the front wheel 121a and the rear wheel 122a, which are located on the valley side of the running surface F, toward the valley side of the running surface F.

[0031] The arm portion 141 is equipped with a length adjustment mechanism 144 for adjusting the length L1 in the longitudinal direction. The length adjustment mechanism 144 may be a mechanism that automatically adjusts the length by driving a power source such as a motor, as is known, or it may be a mechanism that adjusts the length manually, as is known, such as a ball screw.

[0032] The support portion 142 is placed between the front wheel 121a and the rear wheel 122a on the main body portion 11 and supports the arm portion 141.

[0033] The arm section 141 includes a third power supply unit 145 that drives the length adjustment mechanism 144. The third power supply unit 145 may be built into the arm section 141 or into the support section 142. Alternatively, the length adjustment mechanism 144 may be driven by the first power supply unit 131 or the second power supply unit 132.

[0034] The auxiliary wheels 143 are provided on the arm portion and, when the work device 1 moves in a direction intersecting the inclination direction of the running surface F, they make contact with the running surface F on the valley side of the running surface F, closer to the valley side of the running surface F than the front wheels 121a and rear wheels 122a which are positioned on the valley side of the running surface F, and are driven in accordance with the movement of the work device 1. The auxiliary wheels 143 are known rubber tires similar to those of the running wheels 12.

[0035] The configuration for driving the auxiliary wheels 143 may be one in which it is connected to either the first power supply unit 131 or the second power supply unit 132, or a power supply unit for driving the auxiliary wheels 143 may be provided in the driving unit 13.

[0036] The auxiliary wheel 143 is rotatably connected to the valley-side tip 141a of the arm portion 141. The auxiliary wheel 143 may be configured to control its rotation by providing a control motor on the outrigger arm 14 to adjust the rotation speed, or it may be provided as a passive mechanism that rotates in accordance with the rotation of the running wheel 12. The auxiliary wheel 143 may also be a wheel that rotates without power due to the frictional force with the ground when the work device 1 is moved.

[0037] The working device 1 may further include a mechanism for adjusting the orientation of the running wheels 12 and auxiliary wheels 143 in a plan view, thereby changing the direction of movement of the working device 1. After the working device 1 has traveled on the running surface F in one direction, the user may directly carry and move it to the uphill or downhill side of the running surface F.

[0038] The work device 1 may further include a housing that covers the work section 110 from above without affecting the movement of the work device 1 or the driving of the arm section 141 and the brush cutter 111.

[0039] The method for mowing grass on the travel surface F using the work device 1 will be described below. As shown in Figure 4, the work device 1 moves in a direction perpendicular to the inclination direction of the travel surface F when in operation.

[0040] The work device 1 enters the travel surface F from the mountain side, and as shown in Figures 3 and 4, the arm portion 141 is oriented towards the valley side, and the front wheels 121a and rear wheels 122a are positioned in the direction of travel of the work device 1.

[0041] The length adjustment mechanism 144 is driven to adjust the longitudinal length L1 of the arm portion 141, and the mountain-side surface 143a of the lower end of the auxiliary wheel 143 is brought into contact with the running surface F. At this time, the auxiliary wheel 143 is positioned either approximately perpendicular to the reference surface F1 (horizontal plane) of the running surface F, or tilted toward the mountain side (tilted to the left in Figure 3).

[0042] In the above state, the grass cutter 111 is driven along the contour lines, and the work device 1 is advanced while cutting the grass on the travel surface F. After the forward movement is complete, the work device 1 is moved to the valley side, and the grass cutting work is carried out to the lower end of the travel surface F using the same procedure. The movement of the work device 1 may also be started from the valley side of the travel surface F. The movement of the work device 1 may be remotely controlled or autonomous.

[0043] Next, the operation and effects of the outrigger arm 14 and work device 1 according to the above-described embodiment of the present invention will be explained with reference to the drawings.

[0044] As shown in Figures 1 to 4, by operating the outrigger arm 14, the mountain-side surface 143a of the auxiliary wheel 143 is driven into the running surface F, and the auxiliary wheel 143 is mounted so that it is approximately perpendicular to the reference plane F1 of the running surface F or so that the auxiliary wheel 143 is inclined toward the mountain side. At this time, as shown in Figure 3, the axis L2 of the auxiliary wheel 143 in a front view is inclined by a camber angle β with respect to a virtual line L3 perpendicular to the running surface F. In the above state, the front wheels 121a, 121b and rear wheels 122a, 122b of the working device 1 are erected so that they are approximately perpendicular to the running surface F or so that they are inclined toward the mountain side. The working device 1 is supported by the auxiliary wheel 143 in an inclined state with respect to the running surface F. When the working device 1 is driven in this state, the working device 1 is positioned without sliding laterally toward the valley side of the running surface F due to the driving surface 143a of the auxiliary wheel 143 being driven into the ground and the camber angle β of the auxiliary wheel 143. Furthermore, when the work device 1 is driven with the auxiliary wheels 143 mounted so as to be inclined toward the mountain side of the running surface F, the front wheels 121a and rear wheels 122a on the valley side will spin freely due to the camber angle β of the auxiliary wheels 143, but will not slip sideways toward the valley side. Hereinafter, the amount of displacement of the work device 1 that causes it to slip sideways toward the valley side relative to the running surface F will be simply referred to as the "amount of sideways slip".

[0045] With the above configuration, the outrigger arm 14 can maintain a state in which the running wheels 12 are erected so as to be approximately perpendicular to the reference plane F1 or inclined toward the uphill side, by tilting the auxiliary wheels 143 by a camber angle β on the running surface F. With the above configuration, the attitude angle of the work device 1 is horizontal to the running surface F or faces toward the uphill side of the running surface F, and the load acting on the front wheels 121b and rear wheels 122b on the uphill side of the running surface F increases. As a result, the work device 1 can be stably positioned on the inclined running surface F, the amount of lateral slip toward the valley side of the running surface F is suppressed, and the work device 1 can be stably driven along the contour lines on the running surface F.

[0046] The outrigger arm 14 can be positioned so that the auxiliary wheels 143 are either approximately perpendicular to the reference plane F1 of the running surface F or tilted towards the mountain side by adjusting the length L1 of the arm portion 141 using the length adjustment mechanism 144, thereby enabling the camber effect of the auxiliary wheels 143 to be exerted.

[0047] The outrigger arm 14 allows for an increase in the longitudinal length L1 of the arm portion 141 by the length adjustment mechanism 144, thereby increasing the load acting on the front wheel 121b and rear wheel 122b on the mountain side of the work device 1, and suppressing lateral slippage of the work device 1. For example, as shown in Figure 5, increasing the length of the arm portion 141 reduces the amount of lateral slippage of the work device 1. In Figure 5, the dashed line L4 indicates the lower limit of the amount of lateral slippage of the work device 1 when the work device 1 is driven on the running surface F without the outrigger arm 14 and with the running wheels 12 tilted by a camber angle β. From the amount of lateral slippage of the work device 1 according to this embodiment and the dashed line L4, it can be seen that by arranging the auxiliary wheels 143 in the above configuration using the outrigger arm 14, lateral slippage of the work device 1 can be reliably suppressed.

[0048] The outrigger arm 14 reduces the amount of lateral slippage of the work device 1 by increasing the rotational speed of the auxiliary wheels 143. In other words, the outrigger arm 14 can suppress the amount of lateral slippage of the work device 1 not only by the effect of the engagement of the mountain-side surface 143a of the auxiliary wheels 143 and the camber angle β of the auxiliary wheels 143, but also by increasing the rotational speed of the auxiliary wheels 143.

[0049] According to the work device 1, the above effect is achieved by attaching the outrigger arm 14 to the main body 11. Therefore, by attaching the outrigger arm 14 to an existing work device, even an existing work device that slides sideways can be made to move forward along the contour lines of an inclined travel surface F. In addition, since the outrigger arm 14 can be attached to and used with various types of work devices, it offers excellent versatility.

[0050] The work device 1 allows the running wheels 12 to be positioned approximately perpendicular to the running surface F or inclined toward the mountain side, without requiring a camber angle to be set on the running wheels 12 by the outrigger arm 14. Therefore, grass cutting work can be performed efficiently without the components of the grass cutter 111, such as the blades, coming into contact with the running surface F.

[0051] (Second Embodiment) A second embodiment of the present invention will be described below with reference to Figures 6 and 7. In the following description, components that are common to those already described will be denoted by the same reference numerals, and redundant descriptions will be omitted.

[0052] As shown in Figure 6, the auxiliary wheel 143 is made of a known metal material, and multiple edge portions 143c are formed on the rotating surface 143b that rotates on the running surface F at regular intervals in the direction of rotation.

[0053] The rotating surface 143b of the auxiliary wheel 143 is composed of a flat surface, and the auxiliary wheel 143 is formed in a rectangular shape when viewed from the front. With this configuration, the mountain-side surface 143a of the auxiliary wheel 143 that contacts the running surface F extends to be approximately perpendicular to or inclined toward the mountain with respect to the reference surface F1 of the running surface F. Due to the rectangular shape of the auxiliary wheel 143 when viewed from the front, the mountain-side surface 143a of the auxiliary wheel 143 bites deeper into the running surface F than the auxiliary wheel 143 according to the first embodiment.

[0054] The edge portion 143c is a rigid projection that protrudes outward and can be embedded in the running surface F when the work device 1 moves on the running surface F. The material of the edge portion 143c may be a known metal material or a rigid plastic material such as FRP.

[0055] The edge portion 143c may be a straight line extending in a direction perpendicular to the rotation direction of the rotation surface 143b, or it may be formed in a V-shape extending upward in the Z direction.

[0056] With the above configuration, the outrigger arm 14 can further dig the auxiliary wheel 143 into the running surface F via the mountain-side surface 143a and embed it in the ground, thereby further improving the anti-skid effect of the work device 1. For example, as shown in Figures 5 and 7, by providing the auxiliary wheel 143 with an edge portion 143c, the amount of skidding of the work device 1 can be suppressed more effectively than with an auxiliary wheel 143 that does not have an edge portion 143c.

[0057] The edge portion 143c should be able to bite into the running surface F of the auxiliary wheel 143 and suppress the amount of lateral slippage of the work device 1. The edge portion 143c may be shaped like a wing or paddle, for example, by attaching rubber material to the rotating surface 143b so as not to generate resistance in the direction of travel of the auxiliary wheel 143 and to propel the auxiliary wheel 143.

[0058] The outrigger arm 14 is equipped with an edge portion 143c, which allows the mountain-side surface 143a of the auxiliary wheel 143 to easily bite into the running surface F when the working device 1 vibrates due to the crank vibration mechanism while it is being driven. Therefore, lateral slippage of the working device 1 can be easily suppressed even while the working device 1 is being driven.

[0059] (Third embodiment) A third embodiment of the present invention will be described below with reference to Figures 8 to 10. In the following description, components that are common to those already described will be denoted by the same reference numerals, and redundant descriptions will be omitted.

[0060] As shown in Figures 8 and 9, the work device 1 is equipped with two outrigger arms 14a and 14b between the front wheel 121a and the rear wheel 122b. The outrigger arms 14a and 14b have the same configuration.

[0061] With the above configuration, the outrigger arms 14a and 14b have multiple contact points with the running surface F, each having a camber angle β due to the two auxiliary wheels 143 and 143. This configuration allows the lateral slip suppression effect of the work device 1 due to the camber angle β to be exerted evenly in the X direction, further suppressing the amount of lateral slip of the work device 1. For example, as shown in Figure 10, when there are two auxiliary wheels 143, lateral slip of the work device 1 hardly occurs.

[0062] Because the outrigger arms 14a and 14b have multiple contact points between the auxiliary wheels 143 and the running surface F, the outrigger arms 14a and 14b have multiple axis points in a plan view relative to the running surface F. This prevents deviation in the direction of movement during travel, brings the direction of travel of the work device 1 closer to one direction (straight line), and makes travel more stable.

[0063] Furthermore, the provision of outrigger arms 14a and 14b ensures that each auxiliary wheel 143 can be reliably positioned at the desired angle, even when the length of each arm portion 141 required to make contact with the running surface F differs, for example, when the running surface F has irregularities.

[0064] The embodiments of the outrigger arm and the self-propelled work device equipped with the outrigger arm according to the present invention have been described above. However, the present invention is not limited to the embodiments described above and can be modified as appropriate without departing from the spirit of the invention.

[0065] The outrigger arm 14 may be configured to include at least one of the following: an angle adjustment mechanism for adjusting the inclination angle of the arm portion 141 in a plan view with respect to the Y direction, and an angle adjustment mechanism for adjusting the inclination angle of the arm portion 141 in a front view with respect to the Y direction. By configuring the angle of the arm portion to be variable, the arm portion and auxiliary wheels can be positioned considering the configuration of the front and rear wheels, and the camber effect of the auxiliary wheels can be exerted regardless of the configuration of the front and rear wheels.

[0066] The outrigger arm 14 may include at least one of the following: an angle adjustment mechanism for adjusting the tilt angle of the auxiliary wheel 143 in a plan view with respect to the Y direction, and an angle adjustment mechanism for adjusting the tilt angle of the auxiliary wheel 143 in a front view with respect to the Y direction. By configuring the angle of the auxiliary wheel 143 to be variable, the auxiliary wheel 143 can be erected stably without being affected by the unevenness of the running surface F.

[0067] Furthermore, the outrigger arm 14 may be configured to include either an angle adjustment mechanism for the arm portion 141 or an angle adjustment mechanism for the auxiliary wheel 143.

[0068] Each of the above embodiments of the work device 1 is equipped with four wheels, consisting of left and right front wheels 121a, 121b and left and right rear wheels 122a, 122b. However, it may also be a three-wheel configuration in which, for example, the front wheel 121a or rear wheel 122a located on the valley side of the running surface F is omitted.

[0069] The work device 1 according to the first and second embodiments described above is equipped with one outrigger arm 14, and the work device 1 according to the third embodiment is equipped with two outrigger arms 14a and 14b, but the work device 1 may also be configured to be equipped with three or more outrigger arms 14.

[0070] In each of the embodiments described above, the auxiliary wheel 143 is provided as a tire-shaped wheel, but it may be a configuration other than a wheel, for example, it may be provided as a known crawler (caterpillar).

[0071] In the third embodiment described above, auxiliary wheels 143 are connected to two arm sections 141, 141, but the configuration of the outrigger arm 14 is not limited to the above configuration. For example, the configuration may be simplified by connecting multiple auxiliary wheels 143 to one arm section 141.

[0072] The outrigger arms 14 in each of the above embodiments are provided on a work device 1 equipped with a brush cutter 111, but they may also be provided on work devices that travel on slopes other than those described above. For example, they may be provided on a slope cleaning device or on a space exploration robot that traverses slopes made of soft ground such as the lunar surface. [Explanation of Symbols]

[0073] 1. Self-propelled work device (work device) 11 Main body 12 running wheels 14, 14a, 14b Outrigger arms 110 Work Unit 111 Lawn Mower 121a,121b Front wheel 122a,122b rear wheel 141 Arm section 143 Training wheels 143c Edge 144 Length adjustment mechanism F Running surface

Claims

1. The main body and, Supported by the main body, the running wheels include front and rear wheels, A working section supported by the main body and positioned opposite the running surface on which the running wheels travel, A self-propelled work device comprising, wherein the traveling wheels are capable of traveling on an inclined traveling surface, and the device is capable of moving in a direction intersecting the inclination direction of the inclined traveling surface, Supported by the main body, an arm portion extends from between the front wheel and the rear wheel, which are positioned on the valley side of the running surface, toward the running surface, Auxiliary wheels are provided on the arm portion and are erected on the running surface at a point on the running surface side of the running surface that is closer to the running surface than the front wheels and rear wheels which are positioned on the running surface side, and are driven in accordance with the movement of the self-propelled work device. Equipped with outrigger arms, The outrigger arm further includes a length adjustment mechanism that allows adjustment of the length of the arm portion so that, when the auxiliary wheel is in contact with the inclined running surface, the central axis of the auxiliary wheel in a front view is perpendicular to the horizontal plane or inclined toward the uphill side of the inclined running surface. Self-propelled work device.

2. The device includes a first angle adjustment mechanism for adjusting at least one of the inclination angle of the arm portion in a plan view and the inclination angle of the main body portion with respect to a front view. The self-propelled work device according to claim 1.

3. The device is equipped with a second angle adjustment mechanism that adjusts at least one of the inclination angle of the auxiliary wheel in a plan view and the inclination angle of the main body with respect to a front view. A self-propelled work device according to claim 1 or 2.

4. The auxiliary wheel has a hard edge portion that protrudes outward from the rotating surface that rotates on the running surface, and which becomes embedded in the running surface when the main body moves in a direction intersecting the inclination direction of the running surface. A self-propelled work device according to any one of claims 1 to 3.

5. The auxiliary wheels are arranged in multiple locations between the front wheel and the rear wheel, which are positioned at least on the valley side of the running surface. A self-propelled work device according to any one of claims 1 to 4.

6. The aforementioned arm portions are arranged in multiples between the front wheel and the rear wheel, which are positioned at least on the valley side of the running surface. A self-propelled work device according to any one of claims 1 to 5.

7. The work unit includes a grass cutter positioned opposite the running surface. A self-propelled work device according to any one of claims 1 to 6.

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