JP4866478B2 - Working method of offset work machine - Google Patents

Description

  According to the present invention, a work machine mounted so that an offset operation can be performed on a traveling machine body is completed by a movement of the traveling machine body and a rotation and movement of the working machine itself in a horizontal plane, from a work part of a farm field to a corner part. The present invention relates to an offset work method that can be performed continuously.

  A main body frame is attached to the rear part of the traveling machine body, and a trimming body and a pretreatment body are provided in the left and right offset state on the main body frame, and the trimming body and the pretreatment body are rotated in a horizontal direction with respect to the main body frame. A wiping machine that supports the trimming body and the pretreatment body in such a manner that they can be fixed to and released from the normal working position offset from the traveling direction of the machine body at a right angle turning position and a 180 degree turning working position. (Offset working machine) has been proposed by the present applicant (see, for example, Patent Document 1).

JP 2001-28903 A

In the above prior art coater, the power transmission to the pretreatment body and the trimming body and the offset rotation support structure are complicated, and the horizontal rotation and switching operations are troublesome. Further, when the front end portion of the traveling machine body reaches the field end (corner) when the traveling body is moved forward by the pretreatment body and the trimming body while the traveling body is moved forward, The painting operation will stop at that position.
Then, the trimming body and the pretreatment body are rotated to the opposite offset work position with respect to the traveling machine body, and the traveling machine body and the pretreatment body are repositioned by the traveling machine body to move the traveling machine body and the glazing machine backward. However, the rest of the wrinkle forming work can be performed. However, there is a problem that the operation is troublesome and requires a lot of time, or depending on the state of the field, the reverse operation cannot be performed.
The present invention has been made for the purpose of solving such problems.

In order to achieve the above object, the present invention is characterized by the following means.
The working method of the offset working machine according to the present invention includes two types of electric motors in which the working machine is interposed in the working machine when the working machine moving forward as the traveling machine body moves forward is offset to one side. An offset working machine having two or more degrees of freedom of horizontal rotation with respect to the traveling machine body in a horizontal plane by expansion and contraction of a cylinder or a hydraulic cylinder is attached to the working machine when the traveling machine body turns while traveling forward. Based on the detected information from the position / orientation sensor, the telescopic operation of the two types of electric cylinders or hydraulic cylinders is automatically controlled, so that the working machine is horizontally rotated more than 2 in a horizontal plane, Control is performed to maintain the straightness of the work implement itself by changing the posture continuously and sequentially.
The work machine performs the finishing work up to the corner of the field where the traveling machine body turns.
Further, the working method of the offset working machine according to the present invention is such that when the traveling machine body moves forward, the traveling machine body is stopped or moved backward without lifting the working machine, and the working machine is horizontally rotated in a horizontal plane. It is characterized by

Specifically, the finishing work is performed as follows.
The finishing operation of the entire field is performed by the work machine only by the forward and turning motions of the traveling machine body.
A finishing operation for the whole field of the field is performed by the working machine by the forward, turning, stopping, or reverse movement of the traveling machine body.
A finishing operation for the entire field of the field is performed by the working machine by forward and turning, stopping or moving backward, and moving forward and backward.
Of the plurality of degrees of freedom including the two or more horizontal rotations and horizontal movements of the work implement, at least the two or more horizontal rotations are operated to perform a finishing operation.

Control for maintaining the straightness of the work machine itself is performed as follows.
A work device is provided that controls straightness of the work machine itself based on the previous work trace.
A work device is provided that controls straightness of the work machine itself based on a work trace of the work machine itself.
A work device is provided that controls straightness of the work machine itself based on the rotation angle of the work machine itself.
The working machine is, for example, a wrinkle coater provided with a pretreatment device and a trimming device.

(Function)
By each of the above means, the offset working method of the present invention controls the straightness of the work machine with the forward and turning operation, the forward and turning operation, the stopping operation, or the forward and turning operation, the stopping and the forward and backward operation operations. A working device that works based on the previous work trace, a working device that works based on the work track of the working machine itself, a working device that works based on the turning angle of the working machine itself, horizontal rotation, or freedom of horizontal movement The traveling machine body is operated from the work part where the traveling machine body works while traveling on the field by operating at least one of the degrees, horizontally rotating, or operating two or more of the degrees of freedom of horizontal movement. It is possible to continuously perform the finishing work up to the corner of the field where the swivel turns, and an efficient and highly accurate offset work can be performed. Further, when the working machine is a wrinkle coater, a desired wrinkle is formed with high accuracy.

As described above, according to the offset working method of the present invention, the following functions and effects can be achieved by the means described in the claims.
I. The work machine has two or more degrees of freedom of horizontal rotation in a horizontal plane, and the traveling machine body turns from a work part where the traveling machine body works while traveling on the field while maintaining the straightness of the working machine itself. Since the finishing work up to the corner of the field is performed, the offset work can be continuously performed efficiently and accurately.

B. Finishing work of the entire field by the work machine is possible only by the forward and turning operation of the traveling machine, or by the forward, turning and stopping operation of the traveling machine, so the operability of the traveling machine is good and the accuracy is high. Offset work can be performed easily and reliably.
C. Since the work machine can move forward, turn, stop, and move forward and backward, the work machine can finish the entire field, so it is possible to set the offset position of the work machine to an accurate position and perform work with high accuracy. it can.
D. Since it has a work device that controls the straightness of the work machine itself based on the previous work trace, or a work device that works based on the work trace of the work machine itself, the new offset work is based on the previous work mark. Or, it can be performed on the basis of the work trace of the work machine itself, and a highly accurate work can be performed.

  E. Because it has a work device that controls the straightness of the work machine itself based on the rotation angle of the work machine itself, the position of the work machine with respect to the traveling machine body can be easily controlled, and accurate offset work must be performed. Can do.

It is a top view of the working state of the glazing machine by the 1st reference example of this invention. It is a top view in the state where the tractor is turning. It is a top view which shows the working state of the coater when a tractor turns sequentially (b)-(f) from the same straight line working state (a). It is a top view which shows the working state of the glazing machine when a tractor turns sequentially (b)-(d) from the linear work state (a) of the glazing machine (1st Example) by this invention. It is a top view which shows the working state of a hulling machine when a tractor turns sequentially (b)-(d) from the linear work state (a) of the hulling machine (2nd Example) by this invention. It is a top view which shows the working state of the glazing machine when a tractor turns sequentially (b)-(e) from the linear work state (a) of the glazing machine (3rd Example) by this invention. When the tractor turns sequentially (b) to (c) and adjusts the corners (d) to (e) from the straight line work state (a) of the wrinkle coater (fourth embodiment) according to the present invention. It is a top view which shows the working state of a coating machine. The working state of the coater when the tractor turns sequentially (b) to (c) and arranges the corners (d) from the linear work state (a) of the coater (fifth embodiment) according to the present invention. FIG. It is a top view which shows the working state of the glazing machine when a tractor turns sequentially (b)-(c) from the linear work state (a) of the glazing machine (6th Example) by this invention. It is a top view which shows the working state of the coating machine when a tractor turns (b) from the linear working state (a) of the coating machine by the 2nd reference example of this invention.

Hereinafter, an embodiment in which an offset working machine according to the present invention is applied to a plastering machine will be described in detail with reference to the accompanying drawings.
[Reference Example 1]
1 and 2, reference numeral 1 is a slab coat which is connected to be movable up and down via a three-point link connecting mechanism 3 including a top link and a lower link provided at the rear portion of the tractor 2 and performs a trimming operation in an offset state. Machine. In this wrinkle coater 1, a main body frame 4 also serving as a transmission frame is provided so as to be substantially orthogonal to the traveling direction of the main body, and the gear box 5 provided at the left and right central portion of the main body frame 4 is not shown forward. The input shaft protrudes, and power is transmitted to the input shaft from the PTO shaft 6 of the tractor via the universal joint and the transmission shaft.
A top link connecting portion 7 is provided above the gear box 5 of the main body frame 4 to connect the top link of the three-point link connecting mechanism 3. Further, on both left and right end portions of the main body frame 4, stand attaching portions 8 and 8 for attaching and detaching the stand of the coater 1 are provided.

The front end portion of the transmission frame 9 is pivotally supported at the left and right central portions of the main body frame 4, and the front end portions of the parallel links 10 and 11 are pivoted horizontally at both left and right sides thereof. A transmission / support frame 12 is pivotally supported at the rear ends of the motors 10 and 11 so as to rotate in the horizontal direction.
An electric cylinder or a hydraulic cylinder (not shown) is interposed between the main body frame 4 and the transmission frame 9 or the parallel links 10 and 11, and the spreader 1 transmits power by the expansion and contraction operation of the electric cylinder or the hydraulic cylinder. Rotating horizontally around the pivot of the frame 9 and the parallel links 10, 11, and being able to rotate between a working position offset to the left or right from the tractor 2 and a moving position located behind the tractor 2 It can be fixed at each rotation position.

Power is transmitted from the transmission frame 9 to the transmission / support frame 12, receives power from the transmission / support frame 12, and supports the pretreatment body 14 and the trimming body 15, which are working devices, in the front-rear direction. A work machine support / transmission frame 13 that transmits power to the pretreatment body 14 and the trimming body 15 is connected.
The work machine support / transmission frame 13 can be rotated in the horizontal direction via a horizontal rotation shaft (pivot) 16 with respect to the transmission / support frame 12. This is performed by an expansion / contraction operation of an electric cylinder or a hydraulic cylinder (actuator) interposed between the support frame 12 and the work implement support / transmission frame 13. In addition, the pretreatment body 14 and the trimming body 15 are each supported so as to be vertically adjustable with respect to the work machine support / transmission frame 13, but each may be supported separately so as to be horizontally rotatable. It is.

The pretreatment body 14 is a conventionally well-known one provided with a tilling rotor that cultivates a part of the main rod 17 and the field and raises the main rod 17 in a hook shape. Further, the trimming body 15 includes a polygonal cone drum that forms a slanted surface of the ridge while rotating the soil that has been cultivated by the tillage rotor of the pretreatment body 14 and raised to the base rod 17, and the polygonal cone drum. And a top forming roll for forming the top (heaven) of the ridge formed by the polygonal cone drum into a flat shape, which is also well known in the art.
The horizontal rotation shaft 16 portion of the transmission / support frame 12 is provided with a gauge wheel 18 having a triangular disk shape facing rearward and also serving as a coulter so as to be vertically adjustable. Then, the working depth of the pretreatment body 14 and the total trimming body 15 is adjusted by the gauge wheel 18 to adjust the height of the new rack 19 to be molded, and the trimming work of the brazing machine 1 by offset is performed. It is done in a stable manner.

A position / orientation sensor 20 is provided on the front side of the pretreatment body 14. The position / orientation sensor 20 detects the position of the marsket 17 and the positions of the pretreatment body 14 and the trimming body 15 (the bristle coating machine 1) so that a desired new basket 19 is formed on the marshall 17 And, it functions to automatically control the direction based on preset data. The position / orientation sensor 20 may be any of an optical system, an electronic system, a mechanical system, and the like. For example, a controller (control unit) including a GPS, an ultrasonic wave, a laser projector / receiver, an image processing device, a gyro, a potentiometer, a ball screw, and a personal computer. Select and use.
An image processing device, a controller (control unit), and the like are provided in the vicinity of the cockpit of the tractor 2. The position where the position / orientation sensor 20 is attached to the hull coater 1 is not limited to the front side of the pretreatment body 14 and may be anywhere as long as the position and direction of the main bar 17 can be detected. Automatic control is performed separately in a sensing unit, a control unit, an operation (mechanism) unit, and the like.

  Then, the position / orientation sensor 20 detects the position (distance) and orientation of the main basket 17 with respect to the coater 1 (the pretreatment body 14 and the trimming body 15). 10 and 11 and a horizontal rotation shaft (pivot) 16 are horizontally rotated, horizontally moved, and moved up and down, and moved to a preset position by a controller (control unit) to be pre-processed body 14 and adjusting body 15. The new bag 19 set by the above is automatically formed.

In the sensing unit, the distance between the main fence 17 and the new basket 19 is detected, and two distance sensors for detecting the position and direction of the hammer coater 1, the distance sensor for detecting the distance between the original basket 17 and the azimuth sensor. Select the means such as detecting the position and direction of the coating machine 1, detecting the position (deviation from the setting line) and direction of the coating machine 1 using a distance sensor and a direction sensor that detect the distance from the original basket 17. To do.
In the control unit, a threshold value is set for each of the signals from the two sensors that issue continuous operation signals to the actuator so that the deviation from the set value becomes zero for the signals from the two sensors. When the signal exceeds the threshold value, the operation signal in the direction to cancel each displacement is turned on, and the operation signal is turned off when the signal reaches the operation stop value.
In the operation (mechanism) portion, two horizontal rotation axes (pivots) are provided in series to select a mechanism that realizes a two-degree-of-freedom operation of position and orientation.
As the actuator, an expansion / contraction actuator having a pivot at both ends, a rotation actuator, or the like is selected. It is also possible to configure the operation unit by a combination of a sensor mechanism and an actuator.

Next, the operation of the first reference example glazing machine 1 configured as described above will be described with reference to FIG.
The wrinkle coater 1 is connected to the three-point link connecting mechanism 3 of the tractor 2, and power is transmitted from the PTO shaft 6 of the tractor 2 to the gear box 5. The power transmitted to the gear box 5 is shifted here, and the shifted power is transmitted to the pretreatment body 14 and the adjusting body 15 via the transmission frame 9, the transmission / support frame 12, and the work machine support / transmission frame 13. It is transmitted and rotated. Then, the trimming operation is performed while moving the pretreatment body 14 and the trimming body 15 along the main rod 17 detected by the position and orientation sensor 20 as the tractor 2 travels.
In the pretreatment body 14, a part of the main fence 17 and the field are cultivated by the tillage rotor and raised in a bowl shape with respect to the original fence 17, and the drum of the adjustment body 15 rotates on the raised soil. Then, hit the slope to form a new wall 19. Moreover, the top forming roll provided integrally with the drum is in contact with the top of the ridge while rotating, and the top of the ridge is leveled to form a heaven.

The height and width of the new basket 19 formed by the pretreatment body 14 and the trimming body 15, the width of the top of the basket (the field), and the like are set in advance in the control unit. The position / orientation sensor 20 detects the position (distance) and orientation of the main basket 17 with respect to the coater 1 (the pretreatment body 14 and the trimming body 15), and the coater 1 is connected to the transmission frame 9 and the parallel link. 10 and 11 and a horizontal rotation shaft (pivot) 16 are horizontally rotated, horizontally moved, and vertically moved to move to a work position for forming a new punch 19 set in the control unit. A new cage 19 is automatically formed by the cabinet 15.
As described above, the spreader 1 of the first reference example has a degree of freedom of rotation and movement in the horizontal plane, or at least two or more horizontal rotations or horizontal movements and horizontal rotations when viewed from the tractor 2. By having the freedom of movement, the tractor 2 can be moved from the straight-ahead work part (a) where the tractor 2 works while traveling on the field while maintaining the straightness of the coater 1 itself. As shown in (f), the trimming (finishing) work up to the field corner portion 21 that turns in order is performed.

When the pretreatment body 14 and the trimming body 15 perform the above operations, the tractor 2 operates as follows. When the paddy field is square (mostly rectangular), the tractor 2 travels straight ahead at a substantially constant distance from the main fence 17 in the straight traveling work portion (a). Then, when the tractor 2 comes to the corner 21 of the field and reaches the position of the minimum turning radius (2.4 m in this embodiment) of the tractor 2, the handle is turned to the minimum turning state and shown in (b) to (d). Turn so that.
In the meantime, the spreader 1 sequentially changes the support posture with respect to the tractor 2 while maintaining the straight operation state while horizontally rotating and horizontally moving by the transmission frame 9, the parallel links 10, 11 and the horizontal rotating shaft (pivot) 16. I will let you.
In (e), the tractor 2 stops turning, and the paddle coater 1 is positioned substantially rearward of the tractor 2 and further moves straight to straighten the corner 21 of the field. At this time, the tractor 2 Is slightly moved backward (f) and the entire corner 21 is trimmed. It should be noted that the turning start position at which the tractor 2 comes to the corner 21 of the field and turns with the minimum radius is set in advance in the control unit so as to notify the operator.

FIG. 4 shows a first embodiment of a glazing machine 1 according to the present invention.
In the first embodiment, instead of the transmission frame 9 and the parallel links 10 and 11 in the first reference example, a fixed transmission arm 22 having a transmission function and a distal end portion at the rear end portion of the fixed transmission arm 22 are horizontal. A rotation transmission arm 23 pivotally supported is provided, and a rear end portion of the rotation transmission arm 23 is pivotally supported on the work machine support / transmission frame 13 so as to be horizontally rotatable. Almost the same as that of the first reference example except that an electric cylinder or hydraulic cylinder (not shown) is interposed between the power transmission arm 23 and between the rotation power transmission arm 23 and the work implement support / transmission frame 13. It is.

  In the first coater 1 of the first embodiment, the straightening work of the first coater 1 is performed by slightly rotating the rotary transmission arm 23 in the straight-working part (a). When the tractor 2 comes to the corner 21 of the field and turns as shown in (b) to (d), the rotation transmission arm 23 is slightly rotated horizontally to continue the straightening operation of the coater 1, Trimming (finishing) work up to the field corner 21 is performed. Therefore, the tractor 2 performs only the straight traveling and the turning traveling, and the basket coater 1 continuously performs the straightening operation from the straight traveling operation to the corner 21 of the field.

FIG. 5 shows a second embodiment of the coater 1 according to the present invention.
In this second embodiment, instead of the main body frame 4 in the first reference example, a transmission offset arm 24 having a transmission function is mounted so as to protrude to one side of the machine body, and is attached to the distal end portion of this transmission offset arm 24. The base of the transmission parallel link arm 25 having a transmission function is pivotally supported so as to be horizontally rotatable, and the distal end of the transmission parallel link arm 25 is pivotally supported by the work machine support / transmission frame 13 so as to be horizontally rotatable. Except for an electric cylinder or hydraulic cylinder (not shown) interposed between the offset arm 24 and the transmission parallel link arm 25, it is substantially the same as that of the first reference example.

  In the coater 1 of the second embodiment, in the straight work part (a), as in the first embodiment, the spreader link link 25 is only slightly rotated horizontally to move the coater 1 straight. Arrangement work is performed. When the tractor 2 comes to the corner 21 of the field and turns as shown in (b) to (d), the transmission parallel link arm 25 rotates slightly horizontally to continue the straightening operation of the padding machine 1, and the field Trimming (finishing) up to the corner 21 is performed. Therefore, the tractor 2 performs only the straight traveling and the turning traveling as in the case of the first embodiment, and the basket coater 1 continuously performs the straightening work from the straight running work to the corner 21 of the field.

FIG. 6 shows a third embodiment of the plastering machine 1 according to the present invention.
In the third embodiment, in place of the transmission frame 9 and the parallel links 10 and 11 in the first reference example, a transmission function is provided, and a base end portion is pivotally supported on the main body frame 4 so as to be horizontally rotatable, and offset. The work machine support / transmission frame 13 is pivotally supported at the tip of the rotary transmission arm 26 extending to a position so as to be horizontally rotatable, and between the main body frame 4 and the rotary transmission arm 26 and with the rotary transmission arm 26. It is almost the same as that of the first reference example except that an electric cylinder or hydraulic cylinder (not shown) is interposed between the work implement support / transmission frame 13.

  In the coater 1 according to the third embodiment, the straightening work of the coater 1 is performed only by slightly rotating the rotary transmission arm 26 in the straight work part (a). When the tractor 2 comes to the corner 21 of the field and turns as shown in (b) to (d), the rotational transmission arm 26 rotates slightly horizontally to continue the straightening operation of the paddy machine 1, When going to (e), the coater 1 is located substantially behind the tractor 2 and further moves straight to arrange the corner 21 of the field. At this time, the tractor 2 is moved backward slightly. Arrange all corners 21. Therefore, the tractor 2 continuously performs straightening work from the straight running work to the corner 21 of the field by at least straight running and turning running.

FIG. 7 shows a fourth embodiment of the coater 1 according to the present invention.
In the fourth embodiment, the offset transmission arm 27 extending in the offset direction is fixed to the main body frame 4 in the first reference example, and the base end portion of the rotation transmission arm 28 is attached to the distal end portion of the offset transmission arm 27. The work implement support / transmission frame 13 is pivotally supported at the tip of the rotational transmission arm 28 so as to be horizontally rotatable. In addition, an electric cylinder or a hydraulic cylinder (not shown) is interposed between the offset transmission arm 27 and the rotation transmission arm 28 and between the rotation transmission arm 28 and the work implement support / transmission frame 13. 1 It is almost the same as that of the reference example.

In the coater 1 of the fourth embodiment, the straightening operation of the coater 1 is performed by slightly rotating the rotary transmission arm 28 slightly in the straight work part (a). When the tractor 2 comes to the corner 21 of the field and turns as shown in (b) to (d), the rotational transmission arm 28 is slightly rotated horizontally, and the spreader 1 moves from the straight operation to the corner of the field. The trimming work up to the section 21 is continuously performed.
When the coater 1 reaches the corner 21 of the field (d), the traveling of the tractor 2 and the operation of the coater 1 are stopped, and the coater 1 is lifted by the three-point link connecting mechanism 3 (e If the tractor 2 is moved backward and the paddy coater 1 is positioned at the corner 21 of the field, the straightening work is performed from the corner 21 of the field. Can continue.
Therefore, the tractor 2 can continuously perform all the finishing operations from the straight-ahead operation to the corner 21 of the field by the straight traveling, the turning traveling, the stop, and the reverse traveling.

FIG. 8 shows a modified example (fifth example) in the working state of the fourth example of the coater 1 according to the present invention.
In this modified example, the rotary transmission arm 28 is positioned so that the offset position of the coater 1 relative to the tractor 2 in the straight working part (a) is on the front side as compared with the case of FIG. Then, when the tractor 2 comes to the straight work part (a) the corner 21 of the field and turns as shown in (b) to (c), the rotational transmission arm 28 is slightly horizontally rotated to slightly spread the paddy machine 1. Continuously performs the trimming work up to the corner 21 of the field.
When the coater 1 reaches the corner 21 of the field (c), the traveling of the tractor 2 and the operation of the coater 1 are stopped, and the coater 1 is lifted by the three-point link connecting mechanism 3 (d If the tractor 2 is moved backward and the paddle coater 1 is positioned at the corner 21 of the field, the straightening operation is performed from the corner 21 of the field. Can continue. Therefore, the tractor 2 can continuously perform all the finishing operations from the straight-ahead operation to the corner 21 of the field by the straight traveling, the turning traveling, the stop, and the reverse traveling.

FIG. 9 shows a sixth embodiment of the plastering machine 1 according to the present invention.
In the sixth embodiment, the telescopic transmission arm 26 is configured to be able to extend and contract in the third embodiment, and the work implement support / transmission frame 13 can be horizontally rotated at the tip thereof. An electric cylinder or hydraulic cylinder (not shown) is interposed between the body frame 4 and the telescopic / rotational transmission arm 29 and between the telescopic / rotational transmission arm 29 and the work implement support / transmission frame 13. The rest is almost the same as that of the first reference example.

  In the drenching machine 1 of the sixth embodiment, in the rectilinear working part (a), the telescoping / rotating transmission arm 29 is slightly expanded / contracted (parallel movement), and the rectilinear adjustment of the plastering machine 1 is performed only by rotating horizontally.畦 Work is done. When the tractor 2 comes to the corner 21 of the field and turns as shown in (b) to (c), the expansion / contraction / rotation transmission arm 29 slightly expands / contracts and rotates horizontally, and the spreader 1 moves straight. To the corner 21 of the field. Accordingly, the tractor 2 performs only straight traveling and turning traveling, and the tackifier 1 continuously performs the straightening operation from the straight traveling operation to the corner 21 of the field.

[Reference Example 2]
FIG. 10 shows a second reference example of the coater 1 according to the present invention. In the second reference example, the main body frame 4 in the first reference example is provided with an offset expansion / contraction / transmission arm 30 extending in the offset direction, and the work implement support / transmission frame 13 is attached to the tip of the offset expansion / contraction / transmission arm 30. Is pivoted horizontally. The first embodiment is substantially the same as the first embodiment except that an electric cylinder or hydraulic cylinder (not shown) is interposed between the offset extension / contraction arm 30 and the work implement support / transmission frame 13.

In the spreader 1 of the second reference example, in the straight work part (a), the offset extender / transmission arm 30 is slightly expanded / contracted, and the implement support / transmission frame 13 is only horizontally rotated. 1 straight adjustment operation is performed.
When the tractor 2 comes to the corner 21 of the field and turns as shown in (b), the offset expansion / contraction / transmission arm 30 slightly expands / contracts, and the work implement support / transmission frame 13 also rotates horizontally and is painted. The machine 1 continuously performs the straightening work from the straight running work to the corner 21 of the field. Therefore, the tractor 2 can perform all the straightening operations from the straight-ahead operation to the corner 21 of the field continuously by only traveling straight and turning.

  In the above-described embodiment, the coater 1 is provided with the sensor 20, and an automatic control device associated therewith is provided so that the coater 1 can be automatically controlled. Although the example has been described with respect to the paddle coater 1, the present invention is not limited to the pad coater 1, but can be widely applied to offset work machines such as a grass harvester and a paddle work machine.

DESCRIPTION OF SYMBOLS 1 Coat coating machine 2 Tractor 3 Three-point link connection mechanism 4 Main body frame 5 Gear box 6 Tractor PTO shaft 7 Top link connection part 8 Stand attachment part 9 Transmission frame 10, 11 Parallel link 12 Transmission / support frame 13 Work machine support / Transmission frame 14 Pretreatment body 15 Adjusting body 16 Horizontal rotation axis (pivot)
17 Genroku 18 Gauge wheel 19 Shinsetsu 20 Position / orientation sensor 21 Field corner 22 Fixed transmission arm 23, 26, 28 Rotating transmission arm 24 Transmission offset arm 25 Transmission parallel link arm 27 Offset transmission arm 29 Telescopic / rotational transmission Arm 30 Offset telescopic / power transmission arm

Claims (10)

When the working machine that moves forward with the forward traveling of the traveling machine body is offset to one side, the working machine moves in the horizontal plane by the expansion and contraction of two types of electric cylinders or hydraulic cylinders interposed in the working machine. Using an offset working machine having two or more degrees of freedom of horizontal rotation with respect to the traveling machine body,
When the traveling machine body turns while traveling forward, the work is performed by automatically controlling expansion and contraction operations of the two types of electric cylinders or hydraulic cylinders based on detection information from a position / direction sensor attached to the work machine. The offset working machine is characterized in that control is performed to maintain the straightness of the working machine itself by continuously changing the posture with respect to the traveling machine body while rotating the machine horizontally more than two in a horizontal plane. Method.   The offset work according to claim 1, wherein when the traveling machine body moves forward, the traveling machine body is stopped or moved backward without lifting the working machine, and the working machine is horizontally rotated in a horizontal plane. The working method of the machine.   The work method of the offset working machine according to claim 1, wherein finishing work of the whole field by the working machine is made possible only by forward movement and turning motion of the traveling machine body.   The work method of the offset working machine according to claim 2, wherein the finishing work of the whole field process by the working machine is made possible by the forward movement, turning, stop or reverse movement of the traveling machine body.   The work method of the offset working machine according to claim 2, wherein finishing work of the whole field by the working machine is made possible by forward and turn, stop or reverse, and forward and backward movement of the traveling machine body.   The work of the offset work machine according to any one of claims 1, 2, 3, 4, and 5, further comprising a work device that performs straightness control of the work machine itself based on a previous work trace. Method.   The offset work according to any one of claims 1, 2, 3, 4, and 5, further comprising: a work device that controls straightness of the work machine itself based on a work trace of the work machine itself. The working method of the machine.   The offset according to any one of claims 1, 2, 3, 4, and 5, further comprising: a work device that controls straightness of the work machine itself based on a rotation angle of the work machine itself. Working method of work equipment.   The finishing work is performed by operating at least the two or more horizontal rotations among a plurality of degrees of freedom including the two or more horizontal rotations and horizontal movements of the work implement. The working method of the offset working machine according to any one of 3, 4, 5, 6, 7, and 8. The said working machine is a wrinkle coater provided with the pre-processing apparatus and the finishing device, The one in any one of Claims 1, 2, 3, 4, 5, 6, 7, 8, 9 Working method of offset work machine.

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