JP2004166543A - Mowing work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a new mowing work vehicle which can ensure a sufficient working time to efficiently perform a mowing work. <P>SOLUTION: This mowing work vehicle 1 which has a mower 10 for driving a cutting blade 13 to mow lawn and travels with right and left wheels 51L, 51R is characterized by having a first electric motor 53L, a second electric motor 53R, a dynamo 26 and a battery 71. The first electric motor 53L drives the left wheel 51L. The second electric motor 53R is independently controlled from the first electric motor 53L, and drives the right wheel 53R. The battery 71 stores an electric power to be supplied to the right and left wheels 51L, 51R. The dynamo 26 generates the electric power, and the generated electric power is stored in the battery 71. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lawn mower that has a lawn mower that drives a cutting blade to mow the lawn and that travels with left and right wheels, and more particularly, to a work vehicle that mows green lawn on a golf course.
[0002]
[Prior art]
Golf is one of the most popular sports of all ages. The quality of play in golf not only depends greatly on the skill of the golfer, but also depends on how well the golf course is maintained. In particular, the green is the most important place in the hole and the face of the golf course. Of course, golf course managers have no choice but to manage their grass. Therefore, such a lawnmower that cuts the lawn on the green is required to have the ability to cut the lawn at a uniform height without being affected by ups and downs. Further, in a self-propelled lawn mower, it is also required that the driving wheel that is rotationally driven not damage the lawn.
[0003]
Conventional lawn mowers include a type in which an operator stands on the ground and operates the lawn mower (for example, see Patent Document 1), a riding type in which the operator rides and operates the lawn mower, or lawn There is an autonomous traveling type (see, for example, Patent Document 2) that can perform a mowing operation unattended. For example, Patent Document 3 discloses a riding-type lawn mower that uses a pair of electric motors to independently drive a pair of left and right drive wheels that drive a lawn mowing blade and drive a lawn mower. . In this lawn mower, the electric power supplied to the electric motor is supplied from a battery mounted on the lawn mower. By independently driving the left and right drive wheels, a steering mechanism or the like is unnecessary, and the lawn mower is downsized.
[0004]
[Patent Document 1]
JP 2001-275435 A [Patent Document 2]
Japanese Patent Laid-Open No. 9-136661 [Patent Document 3]
JP-A-4-166475
[Problems to be solved by the invention]
However, in the lawn mower disclosed in Patent Document 3, the driving time of the electric motor depends only on the storage capacity of the electric power stored in the battery, so the usage time (time that can be continuously used by one charge) Issues remain in terms of securing If this usage time is short, the charging frequency of the battery increases, which leads to a decrease in the efficiency of the mowing work. Further, such a problem can be solved by increasing the capacity of the battery itself or by mounting a plurality of batteries. However, this increases the weight of the lawn mower, which increases the contact surface pressure against the turf surface, which can damage the turf and create a rut with the wheels.
[0006]
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a new lawn mower working vehicle capable of efficiently performing lawn mowing work by ensuring sufficient use time. It is to be.
[0007]
[Means for Solving the Problems]
In order to solve this problem, the present invention provides a lawnmower working vehicle that has a lawn mower that drives a cutting blade to mow the lawn and that runs on the left and right wheels. The lawnmower vehicle generates electric power with a first electric motor that drives the left wheel and a second electric motor that is controlled independently of the first electric motor and drives the right wheel. The generator has a battery that stores electric power supplied to the first electric motor and the second electric motor, and stores electric power generated by the generator.
[0008]
Here, the present invention may further include an engine that generates power. In this case, it is preferable that the generator generates electric power using engine power. The engine preferably drives the cutting blade of the lawn mower. Furthermore, you may further have an actuator which raises / lowers a lawn mower. In this case, the actuator is preferably driven by electric power stored in the battery.
[0009]
Further, the left and right wheels may be first left and right wheels, and a second left and right wheel different from the first left and right wheels may be further included. In this case, the center of gravity of the lawn mowing vehicle is preferably located between the axles of the first left and right wheels and the axles of the second left and right wheels. The lawn mowing work vehicle is preferably an autonomous traveling work vehicle.
[0010]
Moreover, you may have further a vehicle body part and a connection part. The vehicle body portion is mounted with a first electric motor, a second electric motor, a battery, and an actuator, and travels on the first wheel. Moreover, a connection part connects a lawn mower and a vehicle body part. Here, the lawn mower is equipped with an engine and travels with the second wheel. The first electric motor, the second electric motor, the battery, and the actuator mounted on the vehicle body are arranged so that the weight balance is balanced with respect to the axle of the first wheel. The engine mounted on the lawn mower is disposed above the axle of the second wheel. In addition, it is desirable that the vehicle body is disposed on the rear side of the lawn mower.
[0011]
Furthermore, the first electric motor drives the left wheel of the first left and right wheels and the left wheel of the second left and right wheels, and the second electric motor is the right side of the first left and right wheels. And the right wheel of the second left and right wheels are preferably driven.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a diagram schematically showing the left side surface of the lawnmower working vehicle according to the present embodiment, and FIG. 2 is a diagram schematically showing the right side surface thereof. FIG. 3 is a diagram schematically showing the front surface of the lawnmower working vehicle. In addition, the member to which the alphabet "L" is attached | subjected to the code | symbol shown in the figure refers to the member provided in the left direction of the advancing direction of the lawn mower 1 and the member to which the alphabet "R" is attached | subjected. Indicates a member provided on the right side in the traveling direction. When such a pair of members are collectively referred to, only the reference numerals are described without attaching the alphabet “L, R”.
[0013]
The lawn mowing work vehicle 1 is an autonomous traveling work vehicle that cuts the green lawn of the golf course, and moves unmanned and automatically to the green provided in each hole of the golf course to cut the green lawn. This lawnmower working vehicle 1 includes a front lawnmower 10, a rear body part 50, and a connecting part 100 that connects the two.
[0014]
FIG. 4 is an explanatory diagram of the connecting portion 100 that connects the lawn mower 10 and the vehicle body portion 50. The connecting portion 100 has one end portion 101 fixedly connected to the vehicle body portion 50 and the other end portion 102 connected to the lawn mower 10 via a bearing 103. For this reason, the displacement on the vehicle body 50 side fixedly connected to the connecting part 100 is restricted, but the displacement on the lawn mower 10 side connected to the connecting part 100 via the bearing 103 is not restricted. In other words, the connecting part 100 allows a relative displacement of the lawn mower 10 with respect to the vehicle body part 50. The bearing 103 is attached at a position that allows the lawnmower 10 to be displaced in the rotational direction about the axle of the wheel 11 described later.
[0015]
Next, the configuration of the lawn mower 10 will be described. As shown in FIGS. 1 to 3, the lawn mower 10 includes a wheel 11 corresponding to a driving wheel on the lawn mower 10 side, a cutting blade 13, an engine 17, and a generator 26 (see FIG. 2). Consists of the subject. Of these elements constituting the lawn mower 10, the engine 17 occupying most of the weight is laid out above the axle of the wheel 11. For this reason, the center of gravity of the lawn mower 10 as a whole is basically located above the axle of the wheel 11.
[0016]
The wheels 11 attached to the left and right sides of the axle are made of metal (for example, aluminum) and are wide rollers. The lawn mower 10 does not include a steering mechanism for the wheels 11, and the wheels 11 are fixed in a direction that coincides with the straight direction of the lawn mower 10. By using a metal roller as the wheel 11, the coefficient of friction with respect to the turf surface can be reduced, so that the wheel 11 can be prevented from scratching the turf. Moreover, since the ground contact area where the wheel 11 contacts the turf surface increases by using a wide roller, the ground contact surface pressure per unit area decreases. As a result, the decrease in the friction coefficient and the increase in the contact area can effectively protect the turf even during traveling. The left and right wheels 11L and 11R are independently rotatable forward and backward, and are independently driven by electric motors 53L and 53R mounted on the vehicle body 50 side.
[0017]
The cutting blade 13 for mowing the lawn is provided in front of the wheel 11 and includes a rotary cutter 14 and a lower blade 15. The rotary cutter 14 has a spiral blade formed on its rotating surface and is rotated by the power of the engine 17. A lower blade 15 is attached to the rear side of the rotary cutter 14 so as to contact the blade formed on the rotary cutter 14. When the rotary cutter 14 rotates, the blade on the rotary cutter 14 side crosses the lower blade 15 so that the lawn is cut. The grass cut by the cutting blade 13 is guided forward by a guide member (not shown) and collected in a hopper provided in front of the cutting blade 13.
[0018]
The engine 17 has a function as a power source for rotating the cutting blade 13 (rotary cutter 14). The power generated in the engine 17 is transmitted to the rotary cutter 14 through the power transmission mechanism, and the rotary cutter 14 is rotated. The power transmission mechanism that guides power to the rotary cutter 14 includes a pulley that functions as a rotating member and a belt that functions as a transmission member. Specifically, as shown in FIG. 1, a drive pulley 18 is integrally attached to an output shaft from which the power of the engine 17 is output, and a driven pulley 20 and a drive are driven on an intermediate shaft (idler shaft). The pulley 20a is integrally attached. A rubber belt 21 is stretched between the drive pulley 18 on the output shaft side and the driven pulley 20 on the intermediate shaft side. A belt 22 is stretched between the drive pulley 20 a on the intermediate shaft side and the driven pulley 16 that is integrally attached to the rotary shaft of the rotary cutter 14. Thereby, the power of the engine 17 is finally transmitted to the rotary cutter 14 after passing through the order of the drive pulley 18, the belt 21, the driven pulley 20, the drive pulley 20a, the belt 22, and the driven pulley 16.
[0019]
The power transmission mechanism that guides power to the rotary cutter 14 is provided with a clutch mechanism that transmits or cuts power. FIG. 5 is a schematic explanatory view of the clutch mechanism. This clutch mechanism transmits and blocks power by tensioning or relaxing a belt 21 that is stretched between a drive pulley 18 on the output shaft side of the engine 17 and a driven pulley 20 on the intermediate shaft side. As such a clutch mechanism, for example, a belt clutch 23 can be used. The belt clutch 23 basically includes a switching lever 24 and a rotatable belt idler 25 attached to a predetermined portion of the switching lever 24. The switching lever 24 is rotatable in the circumferential direction X around the mounting position P provided at one end, and makes the belt idler 25 abut on the belt 21, or the belt idler 25 is moved to the belt 21. Increase the separation.
[0020]
The tension (tension) of the belt 21 that is stretched between the driving pulley 18 and the driven pulley 20 is adjusted by the position of the belt idler 25. As shown in the figure, the belt idler 25 is separated from the belt 21 when the switching lever 24 is in the position A. In this state, since the belt 21 is relaxed, slip occurs between the pulleys 18 and 20 and the belt 21. Accordingly, since the power transmission is interrupted by the belt clutch 23, the rotary cutter 14 is not driven to rotate. Next, when the switching lever 24 is tilted from the position A to the position B, the belt idler 25 in contact with the upper surface of the belt 21 pushes the belt 21 downward by an amount corresponding to the slack. When the switching lever 24 is in the position B, the belt 21 is not loosened by the force of the belt idler 25 pressing the belt 21, and a tensile force is applied to the belt 21. As a result, the pulleys 18 and 20 and the belt 21 operate integrally, and power is transmitted by the belt clutch 23, so that the rotary cutter 14 is driven to rotate. As described above, transmission / interruption of power by the belt clutch 23 is switched according to the position of the switching lever 24, and this switching operation is performed by an operating unit 70 described later.
[0021]
The generator 26 uses the power of the engine 17 to generate electric power. Therefore, the engine 17 has a function as a power source for driving the generator 26 in addition to a function as a power source for the rotary cutter 14. The power generated in the engine 17 is transmitted to the generator 26 via a power transmission mechanism different from that of the rotary cutter 14 to drive the generator 26.
[0022]
As shown in FIG. 2, the power transmission mechanism that guides power to the generator 26 is a drive pulley 19 (in this embodiment, facing the drive pulley 18 that is integrally attached to the output shaft from which the power of the engine 17 is output. And a driven pulley 27 that is integrally attached to an input shaft that inputs power to the generator 26. A belt 28 is stretched between the pulleys 19 and 27, and the power on the driving pulley 19 side is transmitted to the driven pulley 27 side via the belt 28.
[0023]
A rotatable roller 29 having a width substantially the same as the width of the cutting blade 13 is provided in front of the cutting blade 13. The rollers 29 can be moved up and down by support members 30 provided at the left and right ends of the lawn mower 10. The lawn mower 10 is grounded at the three positions of the two wheels 11L and 11R and the one roller 29 described above. By raising and lowering the roller 29 via the support member 30, the height of the cutting blade 13 from the ground contact surface, that is, the cutting height of the lawn is adjusted. Further, the roller 29 has a function as a guide for the lawn mower 10. For example, in a shape having a lot of undulations such as a two-stage green, the roller 29 moves up and down following the undulation of the ground, and the front of the lawn mower 10 also moves up and down following this. Thereby, the lawn mower 10 is displaced in the rotation direction around the axle of the wheel 11 according to the undulation of the ground. As described above, the lawnmower 10 that is bearing-coupled to the connecting portion 100 can be freely displaced in the rotational direction around the axle of the wheel 11. Therefore, since the relative height of the cutting blade 13 with respect to the ground is maintained, the lawn can be cut well without causing uneven cutting.
[0024]
Next, the configuration of the vehicle body unit 50 will be described. As shown in FIGS. 1 and 2, the vehicle body 50 includes a wheel 51 corresponding to a drive wheel on the vehicle body 50 side, an electric motor 53, a lift mechanism 64, an operating unit 70 (see FIG. 1), a battery, and the like. 71 as a main component. Of these elements constituting the vehicle body portion 50, the electric motor 53, the operating portion 70, and the battery 71 occupy most of the weight. The operation unit 70 is disposed above the axle of the wheel 51, the electric motor 53 is disposed above and forward of the axle, and the battery 71 is laid out above and behind the axle. For this reason, since the weight balance of the electric motor 53 and the battery 71 arranged in the front-and-rear direction with respect to the axle of the wheel 51 acts as a reference, the center of gravity seen in the entire vehicle body 50 is positioned above the axle of the wheel 51. To do.
[0025]
The wheels 51 attached to the left and right sides of the axle are balloon tires without grooves. The vehicle body portion 50 does not include a steering mechanism for the wheels 51, and the wheels 51 are fixed in a direction that coincides with the straight traveling direction of the vehicle body portion 50. Each wheel 51 is attached such that the outermost side enters inside the width of the cutting blade 13. Since the balloon tire as the wheel 51 can be used at a relatively low air pressure, the contact area between the wheel 51 and the turf can be increased. Thereby, since the contact surface pressure per unit area becomes small, the vehicle body unit 50 can travel without making a rut on the green. The left and right wheels 51L and 51R are independently rotatable forward and backward, and are independently driven by the electric motors 53L and 53R.
[0026]
The electric motor 53 has a function as a power source for driving the wheels 51, and includes a pair of electric motors 53L and 53R that independently drive the left and right wheels 51L and 51R. The power generated by the left electric motor 53L is transmitted to the left wheel 51L via the left power transmission mechanism to drive the left wheel 51L. On the other hand, the power generated by the right electric motor 53R is transmitted to the right wheel 51R via the right power transmission mechanism to drive the right wheel 51R.
[0027]
FIG. 6 is a view schematically showing the rear surface of the vehicle body portion 50. The power transmission mechanism corresponding to each wheel 51 includes a pulley and a sprocket that function as a reduction gear and a rotating member, a belt that functions as a transmission member, and a chain that also functions as a transmission member. Specifically, in the power transmission mechanism of the left wheel 51L, a drive pulley 54L is integrally attached to the output shaft of the electric motor 53L, and a driven pulley 56L is integrally attached to the input shaft of the speed reducer 55L. It has been. A belt 57L is stretched between the pulleys 54L and 56L, and the power on the drive pulley 54L side is transmitted to the driven pulley 56L via the belt 57L. The speed reducer 55L decelerates the power transmitted to its own input shaft at a predetermined reduction ratio and then transmits it to its own output shaft. A drive sprocket 58L is integrally attached to one end portion (right end portion in the figure) of this output shaft, and a driven sprocket 52L is integrally attached to the axle on the left wheel 51L side. A chain 60L is spanned between the sprockets 58L and 52L, and the power on the drive sprocket 58L side is transmitted to the driven sprocket 52L via the chain 60L. Note that the power transmission mechanism of the right wheel 51R also has the same configuration as the power transmission mechanism of the left wheel 51L.
[0028]
The left and right electric motors 53 have a function as a drive source for running the lawn mower 10 in addition to a function as a power source for running the vehicle body 50. Specifically, the power generated in the left electric motor 53L is transmitted to the left wheel 11L via the left power transmission mechanism to drive the left wheel 11L. Similarly, the power generated in the right electric motor 53R is transmitted to the right wheel 11R via the right power transmission mechanism to drive the right wheel 11R.
[0029]
As described above, the rotational displacement of the lawnmower 10 relative to the vehicle body 50 is allowed by the mechanism of the connecting portion 100. Therefore, power transmission is performed from the electric motor 53 on the vehicle body 50 side to the wheel 11 on the lawn mower 10 side without depending on this rotational displacement (in other words, without causing slack in the belt or chain). There is a need to do. Since the lawn mower 10 is rotationally displaced about the axle of its own wheel 11, the relative distance between the axle on the lawn mower 10 side and the vehicle body 50 is independent of the rotational displacement of the lawn mower 10. It is constant. Therefore, the belt may be directly stretched between the output shaft side of the electric motor 53 and the axle side of the wheel 11. However, from the viewpoint of the layout of the vehicle body 50, the belt needs to be arranged on the outermost side of the lawn mowing work vehicle 1, so that there is a disadvantage that the vehicle body 50 is likely to be enlarged. When simultaneously driving not only the wheel 51 on the vehicle body 50 side but also the wheel 11 on the lawn mower 10 side (four-wheel drive), it is necessary to make the ground speeds of these wheels 11 and 51 equal. This is because if the rotations of the front and rear wheels 11 and 51 are not synchronized (that is, the ground speed is not equal), a situation may occur in which one wheel scratches the grass due to a difference in ground speed. It is.
[0030]
Therefore, in the present embodiment, a power transmission mechanism that emphasizes the miniaturization of the vehicle is adopted in consideration of the convenience of the lawn mowing vehicle 1. FIG. 7 is an explanatory diagram of a power transmission mechanism that transmits power to the wheel 11 on the lawn mower 10 side. This power transmission mechanism includes a pulley that functions as a rotating member and a belt that functions as a transmission member. Regarding the power transmission mechanism of the left wheel 11L, a drive pulley 59L is integrally provided at the other end (left end in FIG. 6) of the output shaft of the speed reducer 55L. Further, a driven pulley 61L is rotatably attached to the vehicle body portion 10, and a driven pulley 31L is rotatably attached to the lawn mower 10. Between these pulleys 59L, 61L, 31L, a belt 62L is stretched in a substantially triangular shape, and the power on the drive pulley 59L side is transmitted to the driven pulley 31L side via this belt 62L. A belt 32L is stretched between a driven pulley 31aL that rotates integrally with the driven pulley 31L and a driven pulley 12L that is integrally attached to the axle of the left wheel 11L. Thus, the power on the drive pulley 31aL side is transmitted to the driven pulley 12L side. The ground speeds of the front and rear wheels 11L and 51L coincide with each other by appropriately setting the diameters of the driven pulley 31L, the driving pulley 31aL, and the driven pulley 12L.
[0031]
Here, according to the relative displacement of the lawn mower 10, the distance between the driven pulley 31L on the lawn mower 10 side and the drive pulley 59L on the speed reducer 55L side can also be displaced. When the belt 62L is slackened by such a displacement, power transmission to the left wheel 11L of the lawn mower 10 is hindered. Therefore, in order to effectively transmit power, the driven pulley 61L on the vehicle body 10 side is made displaceable, so that the slack of the belt 62L due to the displacement of the inter-axis distance is absorbed. As shown in FIG. 7, the attachment position of the driven pulley 61L on the vehicle body 50 is set at two arbitrary points on the locus drawn by the rotation center of the driven pulley 31L on the lawn mower 10 side as the lawnmower 10 rotates. To be determined.
[0032]
Specifically, the driven pulley 61L is arranged at a position where the sum of the distance between the pulleys 59L and 31L and the distance between the pulleys 61L and 31L is equal at two predetermined points located on the locus. The As a result, as long as the driven pulley 31L is located at one of the two points, the tension of the triangular belt 62L spanned between the three pulleys 59L, 61L, 31L is maintained, so that power transmission is effectively performed. Can be done. Examples of the two predetermined points include the center position of the driven pulley 31L when the lawnmower 10 travels on a flat ground and the center position of the driven pulley 31L when the lawnmower 10 is raised most.
[0033]
On the other hand, when the center position of the driven pulley 31L deviates from the above two points, the belt 62L will be loosened unless some measures are taken. Therefore, the driven pulley 31L on the vehicle body 50 side is always urged by the tensioner 63 so as to push the belt 62L outward. The tension force is applied to the belt 62L by the elastic force of the tensioner 63 regardless of the position of the driven pulley 31L. As a result, the belt 62L can be prevented from being loosened, so that power transmission to the left wheel 11L can be effectively performed even if the lawnmower 10 is displaced. The power transmission mechanism of the right wheel 11R also has the same configuration as the power transmission mechanism of the left wheel 11L, and these power transmission mechanisms are laid out so as to be bilaterally symmetric via the connecting portion 100. Yes.
[0034]
Next, the lift mechanism 64 that raises and lowers the lawn mower 10 will be described. As shown in FIG. 1, the lift mechanism 64 includes a connecting rod 65 connected to the lawn mower 10 and an L-shaped link 66 having one end attached to the connecting rod 65. The link 66 is provided with an attachment shaft at a portion bent substantially in an L shape, and is rotatable about the attachment shaft. Therefore, the longitudinal movement at one extending end 67 (hereinafter referred to as “first extending end 67”) of the substantially L-shaped link 66 and the other extending end 68 (hereinafter referred to as “second extending end”). The up-and-down movement at the end 68 "is linked to each other. For example, when the second extending end 68 is displaced upward, the first extending end 67 is displaced rearward, so that the connecting rod 65 connected to the first extending end 67 is pulled. As a result, the lawn mower 10 is raised because it rotates clockwise about the axle of its own wheel 11. On the other hand, when the second extending end 68 is displaced downward, the first extending end 67 is displaced forward. As a result, the connecting rod 65 connected to the first extending end 67 is pushed forward by the weight of the lawn mower 10. As a result, the lawn mower 10 rotates counterclockwise about the axle of the wheel 11 and descends.
[0035]
The first extending end 67 of the link 66 is connected to the connecting rod 65 in a state where sliding in a predetermined range is allowed in the extending direction of the connecting rod 65. The reason why the first extending end 67 is slidably connected in this way is that if both are fixedly connected in a non-slidable state, the road surface followability (that is, the rotational direction) of the lawn mower 10. This is because it will hinder the displacement. However, if the sliding of the first extending end 67 is allowed without limitation, the lawnmower 10 cannot be lifted or lowered. Therefore, the slidable range is restricted by a lock nut 69 attached to the end of the connecting rod 65. The first extending end 67 is slidable without pulling the connecting rod 65 until it is displaced rearward and contacts the lock nut 69. And if the 1st extension end 67 which contacted the lock nut 69 further displaces back, the connection rod 65 will also be pulled back, Therefore The lawn mower 10 raises.
[0036]
The operation of the lift mechanism 64 that raises and lowers the lawn mower 10 is performed by the operation unit 70 mounted on the vehicle body unit 50. For example, a retractable cylinder can be used as the operating unit 70. In particular, in the present embodiment, a hydraulic cylinder that expands and contracts by hydraulic pressure is used. The hydraulic cylinder 70 not only operates the lift mechanism 64 but also operates the belt clutch 23 on the lawn mower 10 side. Therefore, the second extending end 68 of the link 66 constituting a part of the lift mechanism 64 is connected to the end of the hydraulic cylinder 70 on the piston side. At the same time, one end of the power transmission wire 72 shown in FIG. 5 is connected to the end portion on the piston side (in this embodiment, the second extending end 68 of the link 66). The other end of the wire 72 is connected to the free end of the switching lever 24 that constitutes a part of the belt clutch 23 described above. As the wire 72, for example, it is preferable to use a configuration in which an inner wire is accommodated in the hollow portion of the outer cable so as to be displaceable in the axial direction.
[0037]
The battery 71 is necessary for operating the lawn mower 1 such as the electric motor 53, the hydraulic pump 95 that operates the hydraulic cylinder 70, the controller 80 shown in FIG. 8, and the starter (not shown) that starts the engine 17. Power to various electrical components. The battery 71 stores electric power generated by the generator 26.
[0038]
The controller 80 is a microcomputer as an example, and is configured mainly with a CPU, a ROM, a RAM, and an input / output interface, and is mounted on the vehicle body unit 50. FIG. 8 is a block diagram showing the configuration of the controller 80. The controller 80 includes, as functional elements, a dead reckoning position detection unit 81, a differential GPS (hereinafter referred to as “D-GPS”) position detection unit 82, a left wheel control unit 83, and a right wheel control unit. 84, a lift control unit 85, and a clutch control unit 86.
[0039]
The dead reckoning position detection unit 81 and the D-GPS position detection unit 82 recognize the traveling position of the own vehicle necessary for the lawnmower working vehicle 1 to travel autonomously. Dead reckoning position detection unit 81 measures the current position of lawn mower 1 by calculating a travel history from a certain reference point. The travel history is obtained by accumulating the travel distance measured by the wheel encoder 91 according to the change in the travel direction measured by the geomagnetic direction sensor 92. The D-GPS position detection unit 82 measures the current traveling position based on radio waves emitted from GPS satellites and differential information obtained from fixed stations. Radio waves from GPS satellites are received via the receiving antenna 93. On the other hand, the radio wave from the fixed station is received via the receiving antenna 94. As is well known, the self-position measurement using only the radio wave emitted from the GPS satellite has a large error. Therefore, in order to remove the error of the in-phase component in this measured value, the position of this point is observed at a fixed station installed at a known point. Then, the correction information obtained based on this position observation is fed back to the lawn mowing work vehicle 1. For example, when the position method is used, the GPS satellites captured by both the lawn mower working vehicle 1 side receiver and the fixed station side receiver are synchronized so that the absolute positions obtained from both are related. Subtract information. By performing such D-GPS control, the self-position of the traveling vehicle can be accurately measured.
[0040]
The left wheel control unit 83 and the right wheel control unit 84 perform traveling control of the lawnmower work vehicle 1. The left wheel control unit 83 performs drive control on the left wheel 11L on the lawn mower 10 side and the left wheel 51L on the vehicle body unit 50 side by controlling the amount and direction of rotation of the electric motor 53L. On the other hand, the right wheel control unit 84 performs drive control of the right wheel 11R on the lawn mower 10 side and the right wheel 51R on the vehicle body unit 50 side by controlling the amount and direction of rotation of the electric motor 53R. When the lawnmower working vehicle 1 goes straight, these control units 83 and 84 control the electric motors 53a and 53b to have the same output. Thereby, since the rotation speeds of the left and right wheels 11 and 51 coincide with each other, the lawn mowing work vehicle goes straight. On the other hand, when the lawnmower working vehicle 1 is turning, the control units 83 and 84 control so that one output of the electric motors 53a and 53b is larger than the other output in accordance with the turning direction. Thereby, since a rotation difference arises between one wheel (for example, 11R, 51R) and the other wheel (for example, 11L, 51L), the mowing work vehicle 1 turns in a desired direction (for example, the left side). As described above, the lawn mower 1 including the lawn mower 10 and the vehicle body 50 includes the left and right wheels 11L and 11R attached to the lawn mower 10 and the left and right wheels attached to the vehicle body 50. Four-wheel drive is performed by 51L and 51R.
[0041]
The elevation control unit 85 performs elevation control of the lawn mower 10. The elevation control unit 85 controls the amount of expansion and contraction of the hydraulic cylinder 70 by controlling the amount of pressure oil supplied from the hydraulic pump 95. In addition, the clutch control unit 86 transmits and blocks power to the wheels 51 on the vehicle body unit 50 side by controlling an electromagnetic clutch 73 described later. Control of the electromagnetic clutch 73 is switched by an operation switch 96 operated by an operator. It should be noted that by operating this operation switch 96, the amount of expansion / contraction operation of the hydraulic cylinder 70 can be switched via the elevation controller 85.
[0042]
FIG. 9 is an explanatory diagram of the mechanical relationship regarding the four wheels of the lawn mower 1. For convenience of explanation, it is assumed that each wheel shown in the figure is composed of wheels of the same member. When a rotational difference is given between the left wheels 11L and 51L and the right wheels 11R and 51R (for example, the rotational speed of the left wheel> the rotational speed of the right wheel), this rotational difference is the difference in driving force. Appear. Here, the driving force acting on the left wheels 11L and 51L is FL, the driving force acting on the right wheels 11R and 51R is FR (FL> FR), and these driving forces FL and FR act on the center of the wheels. Assume that. In this case, the driving force acting on the front wheel 11 acts in the direction of turning the vehicle body based on the turning center M ′, and the driving force acting on the rear wheel 51 is the direction of turning the vehicle body based on the turning center M ″. However, when the lawn mowing vehicle 1 is considered as a base, the turning center around which the vehicle body turns is basically determined at one point (turning center M). The wheels 11 and 51 receive the side force SF corresponding to the slip angle β and are rotationally driven while sliding, as can be understood from the figure, in each of the wheels 11 and 51, the side force SF is an action of the driving force. This is a component force equivalent to the slip angle β of the driving force that works in the direction of the line (dotted line) connecting from the point to the turning center M. At this time, the side force SF increases as the slip angle β increases. By increasing the force SF, the sideslip of the wheels 11 and 51 is increased, and if the vehicle is a general vehicle, such a problem may be ignored, but in the lawn mower 1 that cuts the lawn on the green. If the skids of the wheels 11 and 51 are too large, the grass may be scratched and damaged, and the lawn mowing work vehicle 1 is not suitable for a configuration in which the slip angle β is increased.
[0043]
When the inventor conducted a simulation, the turning conditions of the wheels so as not to damage the turf were as follows. When the wheels 11 and 51 shown in FIG. 9 are rubber tires, for example, the slip angle β is approximately 13 degrees. The result that it should be within is obtained. As can be understood from the figure, the slip angle β is an opening angle from the center of the vehicle body to the point of application of the driving force for the wheels 11 and 51 with respect to the turning center M. Therefore, the value of the slip angle β increases as the wheel bail L increases or the rotation radius R decreases. At the same time, the slip angle β on the inner ring side is larger than the slip angle β on the outer ring side.
[0044]
When the lawn mowing vehicle 1 performs the lawn mowing work, the situation where the minimum turning is required is when mowing the lawn along the outer periphery of the green. At this time, the minimum required rotation radius R, in particular, the inner ring rotation radius Rin, can be considered to be about 1.5 times that of the tread B. This is because the wheels 11 and 51 are provided on the inner side of the cutting blade 13 and the tread B also depends on the length of the cutting blade 13. For example, when the length of the cutting blade 13 is set to 55 cm to 70 cm and the tread B is set to 53 cm, the calculation is such that the outer periphery of the approximate green can be cut. Therefore, the maximum allowable wheel base L may satisfy the following expression based on the rotation radius Rin of the inner ring and the wheel base L.
[Expression 1]
13 ° ≧ tan ⁻¹ ((L / 2) /1.5B)
[0045]
According to Equation 1, if the wheel bail L is within L = 3 Btan13 °, the lawn mower 1 can theoretically turn without damaging the grass. However, this distance L is based on the dynamic model shown in FIG. 9, and when the front wheel 11 is a roller and the rear wheel 51 is a rubber balloon tire as in this embodiment. Therefore, it is necessary to take these conditions into consideration. However, even in such a case, the basic idea is the same, and the maximum value of the wheel base L may be determined based on the turning radius of the inner ring with the tire slip angle as a reference. In the present embodiment, based on such an idea, the wheels 11 and 51 are brought closer to each other by connecting the lawnmower 10 and the vehicle body 50 as close as possible (that is, the wheel base L is shortened). ). In this case, since the front wheels 11L, 11R and the rear wheels 51L, 51R can be regarded as a pair of substantially left and right wheels, an increase in the slip angle β (that is, an increase in the side force SF) can be suppressed. As a result, it is possible to protect the lawn even when the lawn mowing vehicle 1 is traveling.
[0046]
Next, the operation of the hydraulic cylinder 70 that operates the belt clutch 23 and the lift mechanism 64 will be described. At the time of lawn mowing work, the lawn mower 1 is in a state where the lawn mower 10 is lowered as shown in FIG. However, the lawnmower 10 needs to be lifted from the ground during simple movements where no work is performed, or when the vehicle is turning after being out of the green even during the work. This is because if the lawn mower 10 is left lowered, the lawn mower 10 may interfere with traveling, or the cutting blade 13 may be damaged due to the inclusion of an obstacle. Further, when the lawn mower 10 is raised, the cutting blade 13 is exposed in front of the lawn mowing work vehicle 1, so it is necessary to ensure the safety by stopping the cutting blade 13 reliably. Therefore, when the lawn mower 10 is raised, the driving state and the stopped state of the cutting blade 13 (rotary cutter 14) are switched by operating the belt clutch 23 in synchronization with the raising / lowering operation.
[0047]
First, at the time of mowing, the hydraulic pump 95 is controlled by the elevation control unit 85, and the hydraulic cylinder 70 is in an extended state. Here, the “stretched state” does not indicate only a state in which the hydraulic cylinder 70 is completely stretched, but also includes a state in which the hydraulic cylinder 70 is contracted by a slight amount of expansion and contraction. In this state, the second extending end 68 of the link 66 connected to the piston side of the hydraulic cylinder 70 is positioned below, and the first extending end 67 is located in front of the lock nut 69. To position. Accordingly, the first extending end 67 is slidable on the connecting rod 65, and the lawnmower 10 maintains the lowered state by its own weight. Further, the inner wire of the power transmission wire 72 is pulled downward by the second extending end 68, and the belt clutch 23 is rotated (inclined) toward the belt 21 by the tensile force of the inner wire (position B shown in FIG. 5). ). At this time, the belt 21 constituting a part of the power transmission mechanism of the rotary cutter 14 is in a tensioned state, and the cutting blade 13 is rotationally driven. Thus, when the hydraulic cylinder 70 is in the first telescopic operation region (in this embodiment, the region in which the hydraulic cylinder 70 is extended), the lawn mower 10 is in the lowered state and is moved to the cutting blade 13. Power transmission is performed.
[0048]
When the lawn mower 10 is raised, the hydraulic pump 95 is controlled by the elevation controller 85, and the hydraulic cylinder 70 is compressed. Due to the compression of the hydraulic cylinder 70, the second extending end 68 of the link 66 connected to the piston side is rotationally displaced upward, so that the first extending end 67 is rotationally displaced rearward. Thereby, the first extending end 67 is located near the lock nut 69. However, in this state, the first extending end 67 is still slidable on the connecting rod 65, and the lawn mower 10 is not started to rise. Further, as the second extending end 68 rotates, the inner wire acts in the direction of relaxation. At this time, due to the slack of the inner wire and the spring force of the compression coil spring provided on the power transmission wire 72, the switching lever 24 of the belt clutch 23 is displaced in the direction away from the belt 21. As a result, the switching lever 24 rotates in the counterclockwise direction shown in FIG. At this time, the belt 21 constituting a part of the power transmission mechanism of the rotary cutter 14 is in a relaxed state, and the drive of the rotary cutter 14 is stopped. As described above, when the hydraulic cylinder 70 is in the second telescopic motion region different from the first telescopic motion region described above (in the present embodiment, the region contracted more than the first telescopic motion region), the lawn mower. Although 10 remains in the lowered state, the power transmission to the cutting blade 13 is interrupted.
[0049]
When the hydraulic cylinder 70 is further compressed, in conjunction with the further displacement of the second extending end 68, the first extending end 67 is further rotationally displaced rearward and comes into contact with the lock nut 69. When the hydraulic cylinder 70 is further compressed from this contact state, the first extending end 67 presses the lock nut 69 and pushes the lock nut 69 backward. Thereby, since the connecting rod 65 is pulled, the lawn mower 10 rotates in the clockwise direction, and the front of the lawn mower 10 is raised as shown in FIG. Then, the hydraulic pump 95 is controlled by the elevation control unit 85, and when the predetermined compression position is reached, the ascent of the lawn mower 10 stops. Further, since the inner wire is already in a relaxed state, the belt clutch 23 maintains a state where the power transmission of the belt 21 is interrupted. As described above, when the hydraulic cylinder 70 is in the third expansion / contraction operation region different from the first and second expansion / contraction operation regions (in this embodiment, the region contracted more than the second expansion / contraction operation region), mowing the lawn. The machine 10 is in the raised state, and power transmission to the cutting blade 13 is continuously interrupted. The lawn mower 10 and the first extending end 67 may be connected by a connecting wire instead of the connecting rod 65. In this case, in the first and second expansion / contraction operation regions of the hydraulic cylinder 70, the wire is connected to the extending end 67 in a relaxed state. The length of the wire having the slack is set to such a length that the slack is eliminated when the hydraulic cylinder 70 is further compressed from the second expansion / contraction operation region. As a result, the lift mechanism 64 is actuated after the rotary drive of the cutting blade 13 is stopped, and the raising of the lawn mower 10 is started, similarly to the description with the connecting rod 65 described above.
[0050]
When the lawn mower 10 is lowered, an operation opposite to the above-described ascent is performed. Thereby, after the lawnmower 10 which has been rising starts to descend and comes into contact with the ground, the rotational driving of the cutting blade 13 is started.
[0051]
For example, assuming that the vehicle is not in operation such as a case of traveling on an asphalt road surface, the mowing vehicle 1 can be attached with the moving wheel 110. FIG. 11 is a diagram schematically showing the left side surface of the mower 1 with the moving wheels 110 attached. Specifically, as shown in FIG. 4, the moving wheel 110 is attached to an attachment position 33 provided on the extension of the axle of the wheel 11 on the lawn mower 10 side. The moving wheel 110 preferably has at least a wheel larger than the radius of the wheel 11 and preferably has the same radius as the wheel 51 on the vehicle body portion 50 side. When the moving wheel 110 is attached, the lawnmower 10 faces upward by an amount corresponding to the radius of the moving wheel 110 (more precisely, the difference in radius between the moving wheel 110 and the wheel 11). Thereby, since the lawn mower 10 is separated from the ground, damage to the cutting blade 13 and the metal roller can be suppressed even when traveling on a hard asphalt road surface or the like. Thus, the convenience of the lawnmower working vehicle 1 can be improved by making the moving wheel 110 detachable by the user's selection. Moreover, when the moving wheel 110 is attached, the lawn mower 10 is further displaced upward by operating the lift mechanism 64 that moves the lawn mower 10 up and down. As a result, the lawnmower working vehicle 1 can travel without the lawnmower 10 touching the road surface even on a road surface or the like where the gradient changes suddenly. Furthermore, since the lift mechanism 64 cuts off the driving of the cutting blade 13 via the belt clutch 23 when the lawnmower 10 is displaced upward, safety is improved. The operation of the lift mechanism 64 at this time is performed by the control of the hydraulic pump 95 by the elevation control unit 85 by the user operating the operation switch 96.
[0052]
When the moving wheel 110 is attached, the lawnmower working vehicle 1 travels with the moving wheel 110 and the wheel 51 on the vehicle body portion 50 side. However, since the wheel 11 on the lawn mower 10 side and the wheel 51 on the vehicle body 50 side are driven so as to have the same ground speed, the moving wheel 11 having a larger radius than the wheel 11 is mounted when the moving wheel 11 is attached. The ground speeds of the wheel 110 and the wheel 51 are different. Further, since the moving wheel 110 is intended to move on an asphalt road surface and the like, it has a certain degree of durability, but the wheel 51 on the vehicle body 50 side is intended to travel on the green, so it is soft. It is formed with a member. Therefore, when the wheel 51 on the vehicle body 50 side is driven on an asphalt road surface or the like, the wheel 51 may be damaged. Therefore, in the present embodiment, as shown in FIGS. 6 and 8, an electromagnetic clutch 73 that transmits and blocks power to the wheel 51 on the vehicle body 50 side is provided. In a situation where it is necessary to transmit power to the wheels 51, power transmission is permitted by the electromagnetic clutch 73 to drive the wheels 51. On the other hand, in a situation where the power transmission to the wheel 51 needs to be interrupted, the power transmission is restricted by the electromagnetic clutch 73. As a result, the driving of the wheels 51 is stopped, and only driven rotation is allowed. As a result, damage to the balloon tire as the wheel 51 can be reduced. The operating state of the electromagnetic clutch 73 is controlled by the clutch control unit 86 of the controller 80. The control of the clutch control unit 86 may be performed by a user operating the operation switch 96 or may be automatically performed by a sensor. For example, a sensor is provided at the attachment position 33 of the moving wheel 110, and the presence or absence of the moving wheel 110 is detected by this sensor, whereby the clutch control unit 86 controls the electromagnetic clutch 73.
[0053]
Thus, according to the lawn mower 1 according to the present embodiment, the left wheels 11L and 51L are driven by the electric motor 53L, and the right wheels 11R and 51R are driven by the electric motor 53R. And by performing output control of each electric motor 53L and 53R independently, a rotation difference is given to the left and right wheels 11 and 51. Thereby, it becomes possible to perform traveling control of the lawnmower working vehicle 1 including turning. Since the lawn mower 10 is provided with the engine 17 that drives the cutting blade 13, it is conceivable to drive the wheels 11 and 51 with the power generated in the engine 17. However, such a configuration requires a mechanism that divides the power of the engine 17 into two, and there is a disadvantage that the mechanism of the drive system becomes complicated. On the other hand, if drive control is performed using a pair of electric motors 53L and 53R as in this embodiment, independent control of the left and right wheels can be performed with a relatively simple configuration.
[0054]
The engine 17 provided on the lawn mower 10 side drives the cutting blade 13 and also drives the generator 26. Therefore, if the electric power generated in the generator 26 is stored in the battery 71 and the stored electric power is supplied to the electric motor 53 or the like, the lawnmower working vehicle 1 can be used for a long time. As a result, it is not necessary to charge the battery 71 frequently, so that the efficiency of the mowing work can be improved.
[0055]
Further, in the present embodiment, the lawnmower 10 and the vehicle body portion 50 are configured independently from each other, and the respective center-of-gravity positions exist above the respective axles. Thereby, since the weight of the lawnmower working vehicle 1 is distributed to the respective wheels 11 and 51 as a whole, damage to the turf can be suppressed. Further, when the center of gravity of the lawn mower 1 is considered, the center of gravity exists between the axle on the lawn mower 10 side and the axle on the vehicle body 50 side. Assuming that the center of gravity is biased back and forth, a situation is assumed in which the lawnmower working vehicle 1 falls over when it tilts along the undulations of the ground. However, in this embodiment, since the center of gravity is located at the center of the vehicle that is relatively stable, such a situation can be suppressed. In the lawn mower 1 that functions as an autonomous vehicle, the position of the center of gravity does not change when a person gets on the vehicle. Therefore, if the position of the center of gravity of the lawn mowing work vehicle 1 is determined in advance, the position of the center of gravity does not shift during the lawn mowing work, which is more effective.
[0056]
Further, the lawn mower 10 and the vehicle body 50 are connected via a connecting part 100. As shown in FIGS. 1 and 4, the connecting portion 100 is connected to the lawn mower 10 between the left wheel 11L and the right wheel 11R, and is connected to the vehicle body portion 50 at the lower center. The connecting portion 100 allows a relative rotational displacement of the lawn mower 10 around the axle of the wheel 11 on the lawn mower 10 side. For this reason, the lawn mower 10 can be prevented from following the road surface and the lawn mowing unevenness can be suppressed. Further, even when the lawn mower 10 follows the road surface, power transmission is effectively performed in the power transmission mechanism for the wheel 11 on the lawn mower 10 side, so that the lawn mower working vehicle 1 can be stably driven. Can do. Further, in this power transmission mechanism, by using a belt as a power transmission member, the front and rear of the lawn mower 10 and the vehicle body 50 are caused by the tension of the belts 62L and 62R stretched on the left and right sides of the lawn mower 1. The restraining force in the direction is improved. In addition, by arranging the power transmission mechanism for the left and right wheels so as to be symmetric with respect to the left and right via the connecting part 100, for example, even in a driving environment with many irregularities, the restraining force in the vehicle width direction is improved. Moreover, the twist etc. which arise in the connection part 100 can be suppressed.
[0057]
The lawnmower working vehicle 1 according to the present embodiment is a four-wheel drive vehicle driven by the wheels 11 and 51, but the present embodiment is not limited to such a configuration. For example, the lawnmower working vehicle 1 may be driven by only the wheels 11 on the lawn mower 10 side, or may be a two-wheel drive vehicle driven only by the wheels 51 on the vehicle body unit 50 side. However, in the four-wheel drive, since the torque can be distributed to the respective wheels 11 and 51 when the lawnmower working vehicle 1 is driven to travel, the damage of the wheels to the lawn during travel is reduced, Can be protected.
[0058]
Further, in the present embodiment, the hydraulic cylinder 70 performs both the raising of the lawn mower 10 and the transmission or interruption of power to the cutting blade 13 when the lawn mower 10 is raised. When the lawn mower 10 is lifted, the belt clutch 23 is operated prior to the lift of the lawn mower 10 by the lift mechanism 64, and the rotational driving of the cutting blade 13 is stopped. Then, after the rotational drive of the cutting blade 13 is stopped, the lift mechanism 64 is activated, and the lawnmower 10 starts to rise. Therefore, when the lawnmower 10 starts to rise, the driving of the cutting blade 13 is stopped, so that safety can be ensured.
[0059]
The above-described embodiment is a preferred example of the present invention, and the present invention can be arbitrarily changed without departing from the spirit of the present invention. For example, in the power transmission mechanism for the rotary cutter 14, the power generated in the engine 17 is configured such that the belt is directly passed between the drive pulley 18 on the engine 17 side and the driven pulley 16 on the rotary cutter 14 side. Also good. However, such a configuration causes a belt to be wound on the outermost side of the lawn mower 10 due to the structural layout of the lawn mower 10, and the lawn mower 1 becomes large. It is necessary to keep in mind. In this embodiment, the belt clutch 23 that transmits and cuts power to and from the cutting blade 13 is provided at the upper end of the belt 21, but the belt clutch 23 is provided at the lower end of the belt 21 if the same action is achieved. You may prepare. Further, a similar clutch mechanism may be applied to the rear belt 22. Further, although the belt is mainly used as the transmission member used in the power transmission mechanism, a known transmission member such as a chain may be used as long as the operation and effect of the present embodiment are exhibited.
[0060]
The lawn mowing work vehicle 1 of the present invention is preferable as a work vehicle for mowing green turf. For example, it can also be used as a turf field for cultivating green turf or a work vehicle for mowing a lawn in a soccer field. it can.
[0061]
【The invention's effect】
Thus, in the present invention, in a lawnmower working vehicle that travels using electric power stored in the battery, power is generated by the generator, and the generated electric power is stored in the battery. Thereby, it is possible to ensure a sufficient use time. At the same time, it is not necessary to charge the battery frequently, so that mowing work can be performed efficiently.
[Brief description of the drawings]
FIG. 1 is a diagram schematically showing a left side surface of a lawn mower working vehicle according to the present embodiment. FIG. 2 is a diagram schematically showing a right side surface of a lawn mower working vehicle. Fig. 4 is a diagram schematically showing the front surface. Fig. 4 is an explanatory diagram of the connecting portion. Fig. 5 is a schematic diagram of the clutch mechanism. Fig. 6 is a diagram schematically showing the rear surface of the vehicle body. Fig. 8 is a block diagram showing the configuration of the controller. Fig. 9 is an illustration of the mechanical relationship of the four wheels of the lawn mower. Fig. 10 is the lawn mower. Fig. 11 schematically shows the left side of the lawn mower working vehicle in the lifted state. Fig. 11 schematically shows the left side of the lawn mowing vehicle in the mounted state of the moving wheel.
DESCRIPTION OF SYMBOLS 1 Lawn mower 10 Lawn mower 11 Wheel 13 Cutting blade 14 Rotary cutter 15 Lower blade 17 Engine 23 Belt clutch 26 Generator 29 Roller 30 Support member 50 Car body part 51 Wheel 53 Electric motor 55 Reduction gear 63 Tensioner 64 Lift mechanism 70 Actuating portion 71 Battery 73 Electromagnetic clutch 80 Controller 100 Connecting portion 110 Moving wheel

Claims (9)

In a lawnmower working vehicle that has a lawn mower that drives the cutting blade to mow the lawn and runs on the left and right wheels,
A first electric motor that drives the left wheel;
A second electric motor that is controlled independently of the first electric motor and drives the right wheel;
A generator for generating electric power;
A lawnmower working vehicle comprising: a battery that stores electric power supplied to the first electric motor and the second electric motor, and stores electric power generated by the generator. An engine that generates power;
The lawn mower according to claim 1, wherein the generator generates electric power using power of the engine. The lawn mower working vehicle according to claim 2, wherein the engine drives a cutting blade of the lawn mower. An actuator for raising and lowering the lawn mower;
The lawn mower working vehicle according to any one of claims 1 to 3, wherein the actuator is driven by electric power stored in the battery. The left and right wheels as first left and right wheels, and further having second left and right wheels different from the first left and right wheels,
5. The center of gravity of the lawn mowing vehicle is located between the axles of the first left and right wheels and the axles of the second left and right wheels, according to claim 1. Lawn mower working vehicle. The lawnmower working vehicle according to any one of claims 1 to 5, wherein the lawnmower working vehicle is an autonomous traveling work vehicle. A vehicle body portion mounted with the first electric motor, the second electric motor, the battery, and the actuator, and traveling on the first wheel;
A connecting portion that connects the lawn mower and the vehicle body;
The lawn mower is equipped with the engine and travels with the second wheel,
The first electric motor, the second electric motor, the battery, and the actuator mounted on the vehicle body are arranged so that a weight balance is balanced with respect to the axle of the first wheel. As well as
The lawn mower working vehicle according to claim 5 or 6, wherein the engine mounted on the lawn mower is disposed above an axle of the second wheel. The lawn mower working vehicle according to claim 7, wherein the vehicle body portion is disposed on a rear side of the lawn mower. The first electric motor drives a left wheel of the first left and right wheels and a left wheel of the second left and right wheels,
The second electric motor drives a right wheel of the first left and right wheels and a right wheel of the second left and right wheels, according to any one of claims 5 to 8. Lawn mower working vehicle.

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