JPH03183404A - Automatic steering device of self-propelled type agricultural working machine - Google Patents

Abstract

PURPOSE:To carry out the objective operation such as transplanting of seedling on the center line in the longer direction of ridge by propelling and operating a front axle shaft rotatably pivoted around a vertical shaft line on a traveling machine by a detected signal of ridge side wall surface detecting sensor by a solenoid cylinder. CONSTITUTION:A front axle shaft 21 is rotatably pivoted around a vertical shaft line on a traveling machine 10 by a solenoid cylinder 23. A pair of left and right touch sensors 29 are protruded from the front axle shaft 21 in such a way that the sensors face side wall surface of ridge G and a motorized cylinder 23 is propelled and operated corresponding to the detected state of the side wall surface of the ridge G by the sensors 29.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to an automatic steering system for a self-propelled agricultural machine, and in particular, by driving the machine body while adapting to the ridges, it is possible to sow seeds, apply fertilizers, etc. to the ridges. It was devised so that various agricultural tasks such as planting seedlings, sterilization, and harvesting can always be carried out in an appropriate state.

<Prior art> The present applicant previously submitted Japanese Patent Application No. 1267773 regarding a self-propelled seedling transplanting device titled "Seedling transplanting method and device," and as a result of repeated experiments since then. In the case of this prior invention, it has been found that the following problems still need to be improved in practice in relation to the finished state of the ridge molding.

<Problems to be Solved by the Invention> That is, in the seedling transplanting device of the above-mentioned prior invention, although the rear wheel is a drive wheel driven by the engine mounted on the traveling body and is completed in a type that can self-propel in the field. In order to check the condition of planting seedlings in the large ridges, the workers are able to stand on the seats facing backwards, and the front wheels are not artificially steered. There is no guarantee that you will be able to drive correctly on your own.

As a result, if the finished shape of the ridge is meandering, the seedlings cannot be planted accurately on the longitudinal center line of the ridge, which may cause the ridge to lose its shape later on or There is no need to worry about tearing or wrinkling the mulch film.

However, if a driver other than the above-mentioned operator were to ride the aircraft in a forward-facing position and perform steering work, the original function of the self-propelled model would be diminished, and the labor-saving effect would be diminished. It will be inferior to This means that planting the seedlings mentioned above is not only a work, but also the later disinfection and harvesting.
Furthermore, the same problem can be said about sowing, fertilizing, and other various agricultural operations on large ridges.

<Means for Solving the Problems> The present invention is intended to improve the above-mentioned problems, and for this purpose, as an automatic steering device for a self-propelled agricultural machine, a pair of left and right wheels driven by an engine mounted on a traveling machine is used. A rear wheel, a front axle pivotally connected to the fuselage so as to be swingable about a vertical axis, and a pair of left and right front wheels rotatably supported at both ends of the front axle, In a self-propelled agricultural machine that runs with the front axle and the rear wheel straddling a ridge, there is a space between the front axle that is eccentric to either the left or right and the running machine that faces each other, so that it can move forward and backward in the front and rear directions. An electric cylinder is inserted and installed, and a pair of left and right touch sensors facing the side wall surface of the ridge is also ejected from an eccentric position of the front axle, and the touch sensors and the electric cylinder are electrically connected, and the touch sensor is When one of the two contacts the side wall surface of the ridge, the electric cylinder is set to move forward or backward in order to swing the front axle in the direction of contact, based on a signal that detects the bending state of the ridge. It is characterized by the fact that

<Example> Hereinafter, the configuration of the present invention will be described in detail based on the illustrated example. FIGS. 10) is a traveling aircraft having a rectangular frame in plan view, and travels while straddling il (G) using a pair of left and right front wheels (If) and a rear wheel (I2). (13) is a seat fixedly supported at the front of the aircraft (10), (14) is the engine also mounted at the rear, (15) and (16) are located between the front and rear of the aircraft (10). ) is a front and rear pair of a disk support shaft and an intermediate transmission shaft, each of which is horizontally supported.

The intermediate transmission shaft (I6) and the disk support shaft (I5) are electrically connected via the first bell (17), and the intermediate transmission shaft (16) and the engine (14) are Since the two wheels (15) and (16) are transmission-connected via the bell (18), both wheels (15) and (16) are rotationally driven by the engine (14).

In that case, as is clear from both figures, the intermediate transmission shaft (16) is transmission connected to the rear wheel (12) axle (111 axle) (19) via the left and right pair of third bells (20). As a result, the traveling machine (10) can run on its own in the field, with the rear wheels (12) serving as driving wheels and the front wheels (11) serving as steering wheels, with each pair on the left and right straddling the ridges (G). However, the ridge (G) may be meandering depending on the molding conditions of both fronts, so in order to be able to move accurately by itself so as to always adapt to the bending state, The front wheels (11) are equipped with the following automatic steering system (
S) is also provided.

That is, the 9th to
In Fig. 14, (21) is a front axle connected to the front position of the traveling machine body (10) by a central pivot (22) so as to be able to swing around its vertical axis. It has an inverted 0-shape, and a pair of left and right front wheels (11) are rotatably supported at both ends of the lower part thereof.

(23) is located between the front and rear of the front axle (21), which is eccentric to either the left or right side (the left side in the figure) and the corresponding traveling body (10). It is a pivotally connected electric cylinder, the details of which are not shown, but it is a permanent magnet type DC motor (2
4), and a trapezoidal threaded piston rod (25) that is moved forward and backward in the front and rear directions by rotation thereof.

(26) is a power supply box containing a DC power supply (27) for the motor (24), and is preferably fixedly installed in the center of the front axle (21) as shown in the figure, extending forward. There is. (28) is also the front axle (2
1) A pair of left and right support tubes attached and integrated by welding or the like at the eccentric position of 1), both of which are in a horizontal state parallel to the traveling center line of the traveling body (10) toward the front from the front axle (21). The support tubes (2
Touch sensors (29) for the ridges (G) are suspended from 8) in a pivoted state that allows swing movement in the left and right directions.

In other words, the pair of left and right touch sensors (29) each have a pendulum arm (30) bent in an inverted shape when viewed from the side.
) and a roller (31) fitted into the lower end of the arm (30) so as to freely rotate, so that the roller (31〉) can come into contact with the side wall surface of the ridge (G). At the same time, when it comes into contact with the support tube (2)
8〉, it swings as if tilting left and right.

(32) is a swinging piece that is integrally planted from the upper part of each pendulum arm (30), and (33) is a swinging piece (32) that is pivotally connected to each other via a link arm (34). These are response pieces, which are pivotally attached to the front wall of the power supply box (26) and are operated in conjunction with the trouble switches (35) in the box (26).

And, as suggested by the electrical circuit diagram in Figure 11,
The trouble switch (35) is of a double-pole, double-throw, double-spring type, so that the left and right pair of the touch sensors (29) maintain a parallel hanging posture due to their own gravity and do not come into contact with the side wall surface of i(c>). In some cases, while maintaining the switch-off effect, in an emergency when either the left or right side of the touch sensor (29) comes into contact with the side wall surface of the bending ridge (G) and swings to its tilted position, the trouble switch is activated. (35)
The electrical wiring is such that the motor (24) of the electric cylinder (23) can be rotated in forward and reverse directions while being switched on individually, and the piston rod (25) can be moved forward and backward in the forward and backward directions. It is.

At that time, regarding the relationship between one reciprocating cylinder (23) and a pair of left and right touch sensors (29) and a trouble switch (35), the touch sensor (29) is connected to the ridge (G). In order to swing the front axle (21) in the direction of contact based on an electric signal that detects the bending state of the ridge (G) by contacting the side wall surface,
The piston rod (25) of the electric cylinder (23)
It is specified that the engine moves forward and backward.

From the traveling center line of the traveling aircraft (10) as shown in Fig. 9,
Assuming that the electric cylinder (23) is installed eccentrically to the left, the touch sensor (29) on the right side is now installed.
Assuming that the cylinder (23) vibrates as shown in Figure 12.13, the piston rod (25) of the cylinder (23)
If the left touch sensor (29) vibrates as shown in Fig. 14, the electric circuit is shaped so that the piston rod (25) of the cylinder (23) moves backward. That is why.

In the figure, the touch sensor (29) is shown as a swinging dog, but based on the electrical signal detected by contact with the ridge (G), the front axle (21) moves in a direction that adapts to the bending state of the ridge (G). A touch sensor having a shape other than a pendulum may be used as long as the pendulum can be rotated. In addition, if the entire roller (31) or only its surface is made of an elastic material such as rubber or synthetic resin, if the ridge (G) is covered with a plastic film (f),
This can be said to be extremely effective in that it can more reliably prevent damage to the film (f).

Contrary to FIGS. 1 to 8, the following reference numeral (36) is a rotary disk for transferring seedlings that is supported on the traveling body (10) via the disk support shaft (15), and its periphery is opposite to each other. A plurality of sets (total 4 sets in the figure) of seedling-clipping claws (37) (3B) are installed in an overall radially symmetrical distribution pattern.

One of the clamping claws (37) and (38) of the seedling holder in a fixed state is integrally formed to protrude from the circumferential surface of the disk (36) as a stop claw (37).

In this regard, in the figure, the retaining pawl (37) is in the form of an L-shaped plate piece when viewed from the front, and is fixedly integrated with the plate surface of the disc (36) in such a manner that it protrudes from the plate surface to one side. Of course, it may be punched and formed into a continuous body with the disk (36) as long as it protrudes from the circumferential surface of the disk (36) by a certain height and is exposed.

Further, the other of the clamping claws (37) (3B) serves as a movable seedling holding claw (38), and the receivers, together with each of the stop claws (37), have a corresponding positional relationship that allows them to clamp the seedling (M). Under the
Tension coil springs (39) are pivotally mounted on one side of the disk (36) so as to be able to rise and fall freely, and each of the tension coil springs (39) is connected and hung between each of the springs and the plate surface of the disk (36).
Under normal conditions, a pressing force is applied in the upright direction to clamp the seedling (M).

As long as the retaining claw (37) is applied with the elastic force to close it, a helical spring is used instead of the tension coil spring (39), and the holding claw (38) is attached to the pivot pin (40).
There is no problem in applying the presser claw (
If the toes of 38) are formed into a forked fork shape as shown in the figure, it can be said to be advantageous in that it can effectively prevent the seedling (M) from swinging and can stably hold the seedling (M).

(41) is located at approximately the rear half of the disk (36) in the direction of rotation (F), and
The cam plate has an arc shape when viewed from the side and approaches the one side plate surface (surface) of 6), and is fixed to the fuselage (10) via the support arm (42). .

As will be described later, this cam plate (41) engages with the seedling holding pawl (38) in the process of continuing to rotate after the transfer of the seedling (M) by the disk (36) is completed. Attach the presser claw (38) to the above coil spring (
While resisting the biasing force of 39), the seedling holder serves to forcibly open and separate from the retaining claw (37), thereby causing the seedling holder to fall down.

Also, (43) is located corresponding to approximately the front half of the disk (36) in the direction of rotation (F), and is located on the cam plate (43).
41) is a large arc-shaped seedling transfer guide cover that covers the circumferential surface of the disk (36), and is also fixedly supported by the body (10). The seedlings (M), which are transferred as the disk (36) rotates, are stably guided by the guide cover (43).

In that case, the upper end of the guide cover (43) has a disc (
The seedling (M) is introduced into the chute (44) against the circumferential surface of the seedling (M).
), the chute (44) is bent at a certain angle on the inclined surface, and the so-called bent corner of the chute (44) is connected to the seedling (M) input opening (A) relative to the circumferential surface of the disk (36).
＞, seedlings (M) are placed here from above in a prone position.

As suggested from the side view of FIG. 1, the input port (A) is located between the front and back of the upper end of the guide cover (43) and the upper end (a) of the cam plate (41). There is.

On the other hand, the lower end of the guide cover (43) is connected to the disk (36).
) facing the lower end of the cam plate (41).
The part corresponding to the front and back of the lower end (b) of is,
It is set as a seedling release port (B) from the disk (36). It goes without saying that the outlet (B) is located on the vertical radial line (Y-Y) of the disk (36) and closest to the ridge (G).

(45) (46) is a pair of upper and lower driving rolls and driven rolls facing the seedling input port (A), and the driving roll (45) is driven by the engine (14) to
In contrast to being rotationally driven in the direction of the arrow (P) in FIG. 8, the driven roll (46) comes in contact with the driven roll and moves back in the opposite direction. The seedlings (M) introduced along the chute (44) are temporarily held in place by the rolls (45) and (46), and as the disk (36) rotates, the seedlings (M) are held in place by the rolls (45) and (46). The receiver is passed to the stopper claw (37) and can be transferred while being held between the retainer claw (38) and the retainer claw (38).

In that case, as soon as the transfer is completed, the lower driven roll (46) is retracted from the circumferential surface of the disk (36) in a buried manner, as shown in FIG. 7 to the state shown in FIG. , so as not to interfere with the seedling gripping claws (37) (38) of the disk (36).

In other words, the driven roll (46) is pivotally connected to the fuselage (10) and the guide cover (43) via the swing arm (47), and is normally attached to the tension coil spring (
48), it is elastically biased into an upright state in which it comes into contact with the drive roll (45). The operating piece (49) integrally extends from the lower end of the swing arm (47).
) is engaged with the detection pin (50) integrally protruding from one side plate surface (surface) of the disk (36), it falls down against the biasing force of the coil spring (48) for the first time, and the disk (36) ) so as to be retracted from the circumferential surface.

The operating piece of the swing arm (47) is attached to the detection pin (50).
49), the seedling (M) is held by the gripping claws (3).
7) The receiver detects that it has been handed over to (38), and the driven roll (46) intermittently falls down each time, and immediately returns to standing on its own. It is.

(51) is a seedling holding piece bent at the upper end of the swinging arm (47), and includes both rolls (45) and (46).
) face-to-face interaction correctly. Above input port (A)
The seedlings (M) introduced from
) (46) together with the circumferential surface of the disk (36),
- It plays the role of maintaining the layer stably. (52)
is a support that supports the swing arm (47) to the fuselage (10),
(53) is its pivot pin.

The surfaces of both rolls (45) and (46) are given appropriate elasticity to prevent damage to the seedlings (M), but based on the same purpose, the circumferential surface of the disk (36) Also bullet WI
It is desirable that the N be attached integrally or that the circumferential surface of the disk (36) be rounded.

Furthermore, (54) has the above-mentioned discharge port (
Seedling planting is carried out by pricking the root part of the seedling (M) transferred to B) into the ridge (G), and as is clear from Figures 3 to 6, the one side plate where the disk (36) remains The disc (36) is brought into close contact with the front surface (back surface), and moves up and down on the vertical radial line (Y-Y) of the disc (36).

(L) is a four-bar parallel link mechanism that pivotally connects the arm (54) to the fuselage (10), and the link mechanism (L) further connects the disc ( 36), the rotary movement of the disk (36) can be converted into the lifting movement of the planting arm (54).

In other words, the link arm (55
) is connected to the lower end of the crank arm (57) in the crank movement mechanism (C) via a pivot pin (56). Moreover, the planting is done using an arm (
54> is always in an upward state where it retreats from the circumferential surface of the disk (36) in a buried manner, and as the disk (36) rotates, when the seedling (M) is transferred to the discharge port (B). For the first time, while descending as if advancing from the circumferential surface,
The relationship is set so that the seedling (M) is picked up from the disk (36).

That is, the crank movement mechanism (C) is the engine (14).
The drive source is a cam clutch (automatic one-rotation clutch), and its operating arm (58) is a separate detection pin ( 59), the planting arm (54) is lowered via the crank arm (57), and then immediately returned to the upper position. There is.

The detection pin (59) differs from the detection pin (50) of the driven roll (46) in that the seedling (M) is connected to its discharge port (B).
In the figure, there are a total of 4 sets of seedling gripping claws (37) (3B) on the disc (36), so there is a correlation between these and the seedling detection bin (59).
) are also distributed in a radially symmetrical arrangement with a total of four, but it goes without saying that these can also be increased or decreased in accordance with the increase or decrease in the number of seedling gripping claws (37) (38).

For planting, the lower end of the arm (54) is a disc (36).
In relation to the direction of rotation (F), the seedling (M)
The receiver is bent in a form that can be stopped, but it may also be branched into a forked fork shape, for example.

The cam clutch of the crank movement mechanism (C) and the intermediate transmission shaft (16) are connected via a fourth heald (60), and the cam clutch and the drive roll (45) are connected via a fifth belt (61). , are transmission-connected, so that the cam clutch and drive roll (45) of the crank movement mechanism (C) are also driven by the engine (14) mounted on the fuselage (10), as is clear from Figure 2. The Rukoto. (62) is a seedling storage magazine fixedly supported on the body (10) facing the upper circumferential surface of the disk (36), inside which seedlings (M) are stored in a prone position. There is.

Therefore, while sitting on the seat (I3) on the traveling machine (10), the worker picks up the seedlings (M) in the magazine (62).
'It is sufficient to feed the isks one by one into the chute (44) in a prone position parallel to the axis of rotation of the isk (36).

However, instead of such manual feeding method, seedlings (
Of course, a feeder for automatically and mechanically feeding M) may be additionally installed around the feeding port (A).

In the figure, the ridge (G) is covered with a plastic film (f), but it goes without saying that the present invention can be practiced even if seedlings are planted in the ridge (G) that is not covered.

<Operation> According to the above configuration, the left and right pairs of front wheels (11) and rear wheels (12) of the traveling body (10) are made to straddle the ridge (G), and the rear wheels (12) are connected to the body (10). ) is driven by the installed engine (14) of the arrow (X) in Fig. 1.
While moving the aircraft in the direction, the operator is seated on the seat (
13) By putting the seedlings (M) one by one into the chute (44) from above, the seedlings (M) can be planted automatically and correctly along the ridges (G). The state of planting can also be monitored from the seat (13).

That is, the agricultural machine used for planting seedlings is designed to be self-propelled, but its front wheels (11) are equipped with an automatic steering system (S), so that the front axle (21) is connected to the vertical axis of the running machine (10). It is pivoted so that it can swing freely, and an electric cylinder (23) that can move forward and backward is inserted between the eccentric position to either the left or right and the space facing the body (10). On the other hand, a pair of left and right touch sensors (29) facing the side wall surface of the ridge (G) from the eccentric position of the front axle (21>) are also protruded, and the sensor (21)
9) in order to move the electric cylinder (23) forward and backward so that when either one of them contacts the side wall surface of the ridge (G), the front axle (21) swings and turns in the direction of contact. The sensor (29) and the cylinder (23) are electrically connected.

Therefore, even if the ridge (G) is bent in a meandering manner, the bending state is detected by the touch sensor (29), and the ridges (G) automatically adapt to the bending direction.
The result is that the traveling aircraft (10) is correctly steered as shown in 14FgJ. Therefore, the seedlings (M) can be properly planted in the ridges (G) without any danger even if the worker rides on the self-propelled body (10) in a backward-facing position.

The planting operation is also achieved automatically and mechanically by driving the rotation of the rotating disk (36).

That is, if the rotating disk (36) for transferring seedlings is driven, as is clear from FIGS. 15 (1) to (IV),
As the seedling (M) introduced from the seedling input port (A) onto the circumferential surface of the disk (36) rotates along the direction of arrow CF of the disk (36), the seedling holder is moved by the stopper ( 37)
The discharge port (B) is automatically transferred downward while being held between the seedling holding claw (38) and the seedling holding claw (38), and eventually approaches the ridge (G).
), the seedling presser claw (38) touches the cam plate (
By engaging with the lower end (b) of 41), the receiver opens and separates from the stopper claw (37), and the gripping state of the seedling (M) is released.

And, the planting facing the demarcation exit CB) is done by the arm (54
), as is clear from Fig. 16 (I) to (m), at the same time as the above release, the seedling (M) descends while hooking the root part and is planted in the shape of a stab in the ridge (G). Become. Ridge C
If G> is covered with a film (f) as shown in the figure, the film (r) will also be pierced by the lowering of the arm (54) during planting.

The presser claw (38) that released the seedling (M) is kept locked with the cam plate (41>) during the continued rotation of the disk (36), so that the catch is released from the stopper claw (37). It will reach the seedling input port (A) again while remaining open.Then, the next seedling input (M) will be received by the stopper claw (37).
), when the catch is stopped, the presser claw (38) is released from the upper end (a) of the cam plate (41), and continues to hold the seedling (M) by itself and continues to move through the release port. (
Transfer to B).

One stroke like this creates multiple sets of clamping claws (37) (38)
Therefore, the process is repeated intermittently, so that the planting of the seedlings (M) can be carried out automatically and mechanically and efficiently.

In that case, in particular, the engine (as shown in the figure) is used as the crank movement mechanism (C) for raising and lowering the arm (54).
A cam clutch rotationally driven by the arm (54) is adopted, and the planting is carried out intermittently every time the operating arm (58) engages with the detection pin (59) of the disk (36). If it is determined that the arm (54) is raised and lowered by a reciprocating distance, the arm (54) can be raised and lowered reliably and quickly, which helps improve work efficiency, and the gripping claws (37) (38) It is possible to rationally cope with the increase in the number of holes in the design, and in particular, it is possible to prevent the film (f) from being pierced to a large extent and to form an opening, which is extremely beneficial in practice.

In addition, a driving roll (45) and a driven roll (46) as shown in the figure
) facing between the seedling input port (A) and the disk (36), and then insert the disk (36) from the seedling input port (A).
6) Seedlings (M) placed on the circumferential surface of -immediate roll (
45) While holding the seedling (M) in the temporarily secured state by (46), the seedling (M) in the temporarily secured state is held in the disc (36).
If the relationship is set so that as the rotation progresses, the receiver will automatically pass to the gripping claw (37) (3 days), it will be like the worker manually inserting the seedling (M>). In this case, you will be given some down time during your work, and as a result you will be able to work more comfortably.

Furthermore, in order to maintain a constant distance (H) between the lower end of the circumferential surface of the disk (36) and the surface of the ridge (G) (the depth for planting seedlings) (H), the disk ( 3G)
It is also effective to adjust the installation height in advance, or to attach an electric sensor so that the adjustment can be automatically followed by the detection action of the electric sensor.

In the illustrated embodiment, the present invention was explained as a self-propelled agricultural machine for planting seedlings. The present invention can be widely applied to not only the planting of seedlings, but also the subsequent disinfection and harvesting of seedlings, fertilization, sowing, and other agricultural machinery, as long as they can be used to perform regular agricultural work. It goes without saying that it can be done.

<Effects of the Invention> In summary, in the present invention, a pair of left and right rear wheels (1
2), a front axle (21) pivotally attached to the fuselage (10) so as to be able to swing around a vertical axis, and left and right wheels rotatably supported at both ends of the front axle (21). In a self-propelled agricultural machine that is equipped with a pair of front wheels (11) and runs with the front wheels (11) and rear wheels (12) straddling the ridge (G), the front axle (21) An electric cylinder (23) capable of moving back and forth in the front and back direction is inserted between the eccentric position of the front axle (21) and the traveling body (10), and the eccentric position of the front axle (21) A pair of left and right touch sensors (29) facing the side wall surface of the ridge (G) are projected from the position, and the touch sensors (29) and the electric cylinder (2)
3), and when one of the touch sensors (29) comes into contact with the side wall surface of the ridge (G), the bending state of the ridge (G) is detected based on a signal. , the front axle (
In order to swing the electric cylinder (21), the electric cylinder (23)
Since it is set to move forward and backward, it is possible to reliably improve the problems of the conventional technology mentioned at the beginning, and the longitudinal center of the ridge (G) can be fixed without being affected by the finished state of the ridge (G). Start planting the seedlings (M) automatically and correctly on the line,
It has the effect of enabling objective operations such as disinfection, harvesting, fertilization, and sowing, and since the necessary configuration for this purpose is extremely simple, it can be said to be extremely useful in achieving mass production effects.

In particular, if the configuration according to claim 2 is adopted, the ridges (G
), or the mulch film (f) already laid thereon is torn or wrinkled, so it can be said to be even more effective.

[Brief explanation of drawings]

Fig. 1 is an overall schematic side view showing the present invention applicable to a self-propelled agricultural machine for planting seedlings, Fig. 2 is an enlarged plan view, and Fig. 3 is an enlarged slope view showing an extracted disk. Figure 4 is a partially enlarged cross-sectional view taken along line 4-4 in Figure 2, Figures 5 and 6 are cross-sectional views taken along lines 5-5 and 66 in Figure 4, and Figure 7 is a partially enlarged sectional view taken along line 4-4 in Figure 2.
8 is a side view showing the retracting operation state of the driven roll corresponding to FIG. 7; FIGS. 9 and 10 are a slope view and a front view extracting the automatic steering device for the front wheels; 11th
Figures 12 and 13 are plan and front views showing the right-turning state of the traveling aircraft, Figure 14 is a plan view showing the left-hand turning state, and Figures 15 (1) to (TV ) is a side view showing the process of planting seedlings, and Figures 16(I) to (I[[
) is a front view showing the process of planting seedlings using an arm. (10) ... Traveling body (11) ... Front wheels (12) ... Rear wheels (14) ... Engine (21) ... Front axle (23) ... Electric cylinder (29) ... ...Touch sensor (30) (31>(35> (G) (M) (S) - Pendulum arm, roller, trouble switch, ridge, seedling, automatic steering device

Claims (1)

[Scope of Claims] 1. A pair of left and right rear wheels (12) driven by an engine (14) mounted on a traveling aircraft (10), and a pair of rear wheels (12) on the left and right that are driven by an engine (14) mounted on a traveling aircraft (10), and a pivotable member that pivots around a vertical axis to the aircraft (10). The vehicle comprises a front axle (21) mounted on the vehicle, and a pair of left and right front wheels (11) rotatably supported on both ends of the front axle (21), and the front wheels (11) and rear wheels (12) In a self-propelled agricultural machine that runs by straddling the ridge (G), the front axle (G) is
21) eccentric position to either the left or right side and the traveling aircraft (1
An electric cylinder (23) that can move forward and backward in the front and back direction is inserted between the two faces 0) and a pair of left and right touch cylinders facing the side walls of the ridge (G) from the eccentric position of the front axle (21). The sensor (29) is sent out, and the touch sensor (29) and the electric cylinder (2
3), and when one of the touch sensors (29) comes into contact with the side wall surface of the ridge (G), the bending state of the ridge (G) is detected based on a signal. , the front axle (
In order to swing the electric cylinder (21), the electric cylinder (23)
An automatic steering device for a self-propelled agricultural machine, characterized in that the automatic steering device is set to move forward and backward. 2. Connect each touch sensor (29) to the traveling aircraft (10
) A pendulum arm (30) that swings around a horizontal axis parallel to the running center line of the pendulum arm (30), and a roller (31) fitted to the hanging end of the arm (30) so as to freely rotate around the vertical axis.
The automatic steering device for a self-propelled agricultural machine according to claim 1, characterized in that it is formed from.