JPS6022882B2 - Safety equipment for mobile ground work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is similar to a lawn mower in which a rotary During mobile work using a ground work bag machine, workers may come into contact with obstacles such as stones protruding above the ground, resulting in deformation or damage to the ground work equipment, and the scattering of obstacles. Concerning safety technology to suppress the danger to people.

In order to ensure safety for ground-based work equipment and workers, workers must visually check for obstacles and raise the ground-based work equipment to prevent it from touching or traversing obstacles. However, when this is the case, the operator may fail to visually check the obstacle due to being absorbed in the work, or the operator may not be able to perform ground work on the obstacle due to poor timing of raising the ground work equipment during the visual check. Unavoidable work hazards and decreased work efficiency, such as an increase in the area of unworked land due to the equipment touching bushes or raising it unduly quickly, were unavoidable.

In view of this, the present invention aims to ensure the desired safety without reducing work efficiency by automating the raising of ground work equipment to avoid obstacles. have

The safety device for a mobile ground work machine according to the present invention is provided with an obstacle detection device capable of detecting the height of an obstacle above the ground at the front position of the ground work equipment mounted on the machine so as to be able to move up and down. A mechanism for automatically raising the ground work device based on a detection operation is provided, and a distance between the obstacle detection device and the automatic raising mechanism corresponds to a distance between the ground work device and the obstacle detection device. Based on the detection of the height of the obstacle above the ground by the obstacle detection device, the position is set at a minimum height above the ground that does not hit the obstacle, after a time difference that is slightly shorter than the time required for the aircraft to travel. Since the present invention is characterized in that a transmission mechanism is interposed to output an automatic raising command of the reaping device to the automatic raising mechanism, the following effects can be obtained.

In other words, according to the technical means of the present invention, not only can the process from detecting an obstacle to lifting the ground work device be reliably and safely performed, but also it is possible to continue the ground work to the position just in front of the obstacle, and to raise the ground work device. For example, if the ground work device is a lawnmower, contact between the obstacle and the ground work device can be avoided while leaving as little uncut grass as possible, which improves safety. A work machine that is excellent in terms of both work efficiency and work efficiency is tied down.

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows a lawn mower in which a rotary mowing device 2 (an example of a ground work device) with a lawn mowing cover 2A is attached to the rear of a tractor 1 (an example of the machine) so as to be movable up and down.

This lawn mower is equipped with a safety device that prevents the mowing device 2 from coming into contact with an obstacle A protruding from the ground during traveling. The tractor 1 is also configured such that the reaping device 2 can be mounted between the front and rear running wheels 7, 8, . . . in a manner that it can be raised and lowered. The safety device includes an obstacle detection device 3 provided at the front end of the machine 1, and a mechanism that automatically raises the reaping device 2 to a position where it can avoid the obstacle A based on the obstacle detection operation of the device 3. 4, and between the obstacle detection device 3 and the automatic lifting mechanism 4, the ground work device 2 and the obstacle detection device 3 are provided.
A mechanism 5 for transmitting the detection operation command of the detection device 3 to the automatic lift machine 4 at a time lag shorter than the time required for the aircraft to travel a distance corresponding to the longitudinal distance between the It is constructed by intervening.

The obstacle detection device 3 connects the sensor 3A of the machine 1, which swings backward and upward as it hits the obstacle A and elastically returns to a position where it can hit after overcoming the obstacle A. The sensor 3A is provided at the front end, and the time t from when the sensor 3A starts swinging backward and upward until the sensor 3A returns to swinging after overcoming the obstacle A, and the amount of backward and upward swinging displacement of the sensor 3A, that is, A detector 38 is provided to detect the height h of the obstacle A above the ground. The transmission mechanism 5 includes a wheel 5A that detects the moving speed of the aircraft by rotating in contact with the ground, which can be switched between a ground contact state and a retracted state in which it floats above the ground. From the speed v and the distance L between the reaping device 2 and the detection device 3, the calculation unit 5B calculates the time required for the reaping barrel 2 to move just in front of the obstacle A after the detection device 3 starts detecting the obstacle. , is provided with a calculator 5C that calculates the length of the obstacle A in the aircraft movement direction from the speed v detected by the wheel 5A and the obstacle detection time t by the detector 3, and both calculation results a and b and the detector 3B. A command to raise the reaping device 2 to the minimum height above the ground where it does not hit the obstacle A when the reaping device 2 is located immediately in front of the obstacle A based on the detected obstacle height above the ground h. A controller 5D is provided which issues a command to lower the reaping device 2 to a predetermined working height position when the reaping device 2 passes the obstacle A in the upward avoidance state.

Note that the distance L between the reaping device 2 and the detection device 3 is calculated by the calculator 5.
The setting device that applies force to B is configured so that its setting distance can be changed. The automatic lifting mechanism 4 moves the operating lever 9 of the hydraulic drive mechanism for lifting and lowering the reaping device, which can set the height position of the reaping device 2 above the ground, in response to a command from the transmission mechanism 5. The reaping device 2 is configured to be raised and lowered using a hydraulic operating mechanism that performs swinging operation based on the mower.

Therefore, according to the above configuration, the detection device 3 detects the obstacle A.
After this is detected, until the reaping device 2 moves to the position immediately in front of the obstacle A, the XU reaping device 2 is held at a predetermined working position and the reaping work is continued.

Then, when the reaping device 2 is moved to a position just in front of the obstacle A, the reaping device 2 is raised, and after passing the obstacle A in this state, it is immediately lowered to a predetermined working position. In addition, in the present invention, in the above embodiment, the detection device 3 is
The transmission mechanism 5 is configured to have only the function of detecting the existence and height above the ground of the obstacle A, and the transmission mechanism 5 is configured to have an automatic lifting mechanism when the mowing device 2 is located immediately in front of the obstacle A after detecting the obstacle. The reaping device 2 has only the function of issuing a rising command to the reaping device 2, as shown by the imaginary line in FIG.
Another detection device 6 may be provided at the rear position of the reaping device 2 to detect the obstacle A that the reaping device 2 has passed in the upward avoidance state and issue a command to lower the reaping device 2 to a predetermined working position. good.

[Brief explanation of the drawing]

The drawings show an embodiment of the safety device for a mobile ground-based work machine according to the present invention, and FIG. 1 is an overall side view of the work machine, and FIG. 2 is a control system diagram. 1... This machine, 2... Ground work equipment, 3
...Obstacle detection device, 4...Automatic lift device. Figure 1 Figure 2

Claims (1)

[Claims] 1. An obstacle detection device 3 capable of detecting the height h above the ground of the obstacle A is installed in the front position of the ground work device 2 which is attached to the machine 1 so as to be able to rise and fall, and based on the obstacle detection operation of this device 3, A mechanism 4 for automatically raising the ground work device 2 is provided,
The distance between the obstacle detection device 3 and the automatic lifting mechanism 4 is slightly shorter than the length of time required for the aircraft to travel over a distance corresponding to the longitudinal distance between the ground work device 2 and the obstacle detection device 3. Based on the detection of the height h above the ground of the obstacle A by the obstacle detection device 3 after a time difference, the command to automatically raise the reaping device 2 to the minimum height above the ground where it does not come into contact with the obstacle A is issued. A safety device for a mobile ground-based work machine in which a transmission mechanism 5 for outputting to an automatic lifting mechanism 4 is interposed.