JPH06327333A - Device for controlling tea garden - Google Patents

Abstract

PURPOSE:To obtain a tea garden controlling device suitable for regulating operation in a hillside tea garden. CONSTITUTION:A tea garden controlling device has a controlling truck vertically downward equipped with leg parts 1b at both end parts of a horizontal frame and provided with wheels 17 at the lower parts of both the leg parts 1b and a regulating apparatus placed on the controlling truck wherein the top of both the leg parts 1b is connected to the horizontal frame rotatably in an inter-track direction. The controlling truck travels on the track 15 laid between ridges by the wheels 17. The tea garden controlling device has a leg part inclination correcting means installed through the horizontal frame and both the leg parts 1b, a driving means for the correcting means and an inclination detector 28, attached to the horizontal frame, for discovering the direction and the angle of the inclination in the inter-track direction of the horizontal frame wherein the driving means is controlled corresponding to the direction and the angle of the inclination of the horizontal frame discovered by the inclination detector 28 and both the leg parts maintain a right and left symmetrical attitude against the vertical direction even in change in inter-track dimension in a hillside land in the inter-track direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tea plantation management device used for mechanization of various tea plantation management operations such as tea planting, tea leaf plucking, trimming, or pruning in tea ridge units, and in particular, a tea plantation on a sloping ground. The present invention relates to a tea plantation management device that is preferably used for the management work.

[0002]

2. Description of the Related Art Heretofore, various types of tea garden management devices have been proposed and are well known. For example, JP-A-3-
In the tea garden management device disclosed in No. 201908, both legs of a management trolley, which is driven by wheels on a track laid between the ridges (passages) on both sides of the tea ridge, have symmetrical shapes in response to changes in the dimension between the tracks. In a tea garden that oscillates (tilts) and is cultivated on a flat land, it is possible to properly manage the cutting of tea plants while absorbing changes in the track width.

Further, the tea plantation management device described in Japanese Patent Application No. 3-337486 relates to the management of a tea plantation cultivated on a sloping land, and the slope of the ground is an inter-orbital direction of a track laid between the ridges on both sides of the tea ridge. One of the legs of the management truck can freely rotate when the vehicle is on a sloping ground, on a sloping ground in the track axis direction, or when it is three-dimensionally tilted in each of the inter-track direction and the track axis direction. It is configured to travel while maintaining a vertical posture.

[0004]

[Problems to be Solved by the Present Invention]

(1) In the case of the tea plantation management device described in Japanese Patent Laid-Open No. 3-201908, both legs simply swing (tilt) in a symmetrical shape to cope with changes in the dimension between the tracks. It's just a composition. Therefore, when it is used on a sloping ground in the direction between the orbits, as illustrated in FIG. 22A or B,
Both legs 1b, 1b of the management trolley are tilted at right angles to the sloping ground. Therefore, there are problems such as a risk of falling due to an unstable state of the management carriage due to the inclination and an inefficiency of tea garden management work performed while feeling the risk. This problem also occurs when used on a sloped ground in the direction of the track axis. (2) Generally, the tea plant B cultivated on the sloping ground is designed so that the tea leaves of good quality are reliably plucked, and the chord B ′ of the cutting surface b is a line parallel to the sloping ground. Pruning and trimming work is in progress. Therefore, as shown in FIG. 22A or B, there is a possibility that the traveling drive device of the wheels of the management cart inclined to the posture perpendicular to the sloping ground may touch the hem of the tea plant and damage the hem. (3) The passage between the tea ridges is important for tea garden management work, but even if a person tries to walk through this passage, if the management trolley is tilted as described above, it will be difficult to pass through. (4) Next, the above-mentioned prior Japanese Patent Application No. 3-337486
In the tea garden management device described in No. 1, a tilt detector is installed on one leg, and the drive means is controlled in accordance with the tilt angle detected by the tilt detector to constantly maintain the vertical posture of the one leg. It is configured to maintain. Therefore, it is possible to maintain the posture in the vertical direction for both legs while the inter-track dimension always maintains the reference dimension. However, the tea plantation management device of the previous application stops the middle point of the inter-track dimension by simply controlling one leg to be in the vertical posture at all times when the track-to-track dimension changes when used on a sloping land. The vertical line passing through does not intersect with the center point of the horizontal frame of the management carriage (does not match). For this reason, it is not possible to cut the tea-cutting surface of the tea plant into a symmetrical shape with the mounted tea-cutting machine. As a result, uncut residue is likely to occur at the hem of the cutting surface. Old leaves, stems, etc. are easily mixed in the plucked tea leaves, and the quality (grade) of the tea leaves deteriorates. When using a one-sided mowing machine, there is a problem that a step is likely to occur at the top of the mowing surface.

[5] Of the total area of tea cultivation in Japan, 5
About 60% of the slopes are over 60 degrees, and about 30% are over 15 degrees.

[0006]

As a means for solving the above-mentioned problems of the prior art, in the tea garden management apparatus according to the first invention, the leg portions 1b are vertically downward facing the left and right ends of the horizontal frame 1a. It has a management trolley 1 provided with wheels 17 at the lower ends of both legs, and a management device such as a tea mower 7 mounted on the management trolley, and the upper portions of the both legs are a horizontal frame. In the tea garden management device that is rotatably connected to the left and right ends of the tea ridge in the inter-orbital direction, the management trolley 1 is configured to travel by wheels 17 on both tracks laid between the ridges on both sides of the tea ridge. In addition, the leg inclination correcting means installed via the horizontal frame 1a and both legs, the driving means of the correcting means, and the horizontal frame 1a are installed between the tracks of the horizontal frame 1a. A tilt detector that detects the direction and angle of tilt of the direction,
The drive means is controlled according to the direction and angle of the inclination of the horizontal frame detected by the inclination detector, and the both leg portions are left and right with respect to the vertical direction even if the dimension between the orbits changes in the inclined land in the interorbit direction. It is characterized in that it can maintain a symmetrical posture.

According to a second aspect of the invention, in the same tea garden management device as before, one end side of each of the left and right stays 2 of the management carriage 1 is connected to symmetrical positions of both legs, and the other end side of the horizontal frame 1a is connected. The connecting portions (slider 3) of the pair of left and right stays in the central portion are connected to symmetrical positions in the central portion in the left-right direction, and are movable in the left-right direction, and drive for moving the connecting portion in the left-right direction. Means is installed, and a tilt detector for detecting the tilt direction and angle of the horizontal frame between the orbits of the horizontal frame 1a is installed, and the tilt direction of the horizontal frame detected by the tilt detector. The driving means is controlled in accordance with the angle, and the leg portions 1b, 1b are configured to be able to maintain a bilaterally symmetrical posture with respect to the vertical direction even when the dimension between the orbits changes in a sloping ground in the direction between the orbits. .

According to a third aspect of the invention, in the same tea garden management device as before, one end side of each of the pair of left and right stays 2 of the management carriage 1 is connected to symmetrical positions of both legs, and each other end side of the horizontal frame 1a. The stays are connected to symmetrical positions (slider 3) at the central portion in the left-right direction, and the pair of left and right stays can adjust the effective length between the respective side portions, and drive the means for adjusting the effective length of the stays. A means is installed, a tilt detector for detecting the direction and angle of inclination of the horizontal frame in the inter-orbital direction is installed in the horizontal frame, and the inclination direction of the horizontal frame detected by the tilt detector is The drive means is controlled in accordance with the angle, and the both leg portions 1b, 1b are configured to be able to maintain a bilaterally symmetrical posture with respect to the vertical direction even when the dimension between the orbits changes in an inclined land in the interorbit direction.

According to a fourth aspect of the present invention, in the same tea garden management apparatus as described above, the management cart includes a horizontal frame 1a, both legs, and a link parallel to the horizontal frame 1a and having both ends connected to the two legs. A parallelogram link mechanism is formed by means of which the links are movable in the left-right direction, drive means for moving the links in the left-right direction are installed, and the horizontal frame is provided with an inter-orbital direction of the horizontal frame. An inclination detector that detects the direction and angle of inclination is installed, the drive means is controlled according to the direction and angle of inclination of the horizontal frame detected by the inclination detector, and the two legs 1b and 1b are orbited. Even if the dimension between the tracks changes on a sloping land in the inter-direction, the posture can be maintained symmetrical with respect to the vertical direction.

In a fifth aspect of the present invention, a leg 1b is provided vertically downward at the left and right ends of the horizontal frame 1a, and a wheel 17 is installed at the lower ends of both legs. In a tea garden management device having a management device such as a tea mower 7 mounted thereon, the management carriage is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and also has both legs. Reference numeral 1b denotes an upper portion of both front and rear columns 1b 'and 1b' constituting respective legs, which are connected to the front and rear ends of the horizontal frame 1a so as to be rotatable in the orbital axis direction. A column inclination correcting means installed via both front and rear columns, a driving means for the correcting means, and an inclination detector installed at a proper position of the management vehicle for detecting an inclination of the management vehicle in the track axis direction. And a tilt of the management carriage detected by the tilt detector. Depending said driving means is controlled, before and after the two struts are configured to maintain a vertical posture in the slope of the track axis.

According to a sixth aspect of the present invention, in the same tea garden management device as described above, the legs of the management trolley are arranged such that the upper portions of the front and rear columns constituting the legs are located in the track axis direction with respect to the front and rear ends of the horizontal frame 1a. One end side of each of the front and rear stays 62, 62 is connected to a symmetrical position of both front and rear columns, and each other end side is symmetrical at the central portion of the horizontal frame in the front-rear direction. The connecting portion (slider 60) of the pair of front and rear stays in the central portion is movable in the front-rear direction, and drive means for moving the connecting portion in the left-right direction is installed. An inclination detector that detects the inclination of the management carriage in the track axis direction is installed at a proper position, and the drive means is controlled according to the inclination of the management carriage detected by the inclination detector, and the front and rear columns are tracked. Vertical even on sloping ground in the axial direction It is configured to be able to maintain the posture of the direction.

According to a seventh aspect of the present invention, in the same tea garden management device as described above, the two legs of the management carriage 1 have the upper portions of the front and rear pillars forming the respective legs and the orbit axis with respect to the front and rear ends of the horizontal frame 1a. The stays 62 are rotatably connected to each other, one end side of each of the pair of front and rear stays 62 is connected to a symmetrical position of both front and rear columns, and each other end side is symmetrical with respect to the central portion of the horizontal frame 1a in the front-rear direction. The stays 62 are connected to the target position, the effective lengths of the front and rear stays 62 are adjustable, and driving means for adjusting the effective length of the stays are installed at the proper positions of the management carriage. An inclination detector for detecting the inclination of the management carriage in the track axis direction is installed, and the drive means is controlled according to the inclination of the management carriage detected by the inclination detector,
Both the front and rear stanchions are configured to be able to maintain the vertical posture even on a sloping ground along the track axis.

In an eighth aspect of the present invention, in the same tea garden management device as described above, the legs of the management cart 1 are provided with the upper portions of the front and rear columns that form the legs, respectively, relative to the front and rear ends of the horizontal frame 1a. It is connected so that it can rotate in any direction, and the horizontal frame 1
a and a pair of front and rear columns, and a link 63 that is parallel to the horizontal frame and has both ends connected to the columns, forms a parallelogram link mechanism, and the link 63 is movable in the front-rear direction. A drive means for moving the link in the front-rear direction is installed, an inclination detector for detecting an inclination in the track axis direction of the management truck is installed at an appropriate position of the management truck, and the inclination of the management truck detected by the inclination detector is installed. The driving means is controlled in accordance with the above, and both the front and rear columns are configured to be able to maintain the vertical posture even on a sloped ground in the track axis direction.

In the ninth aspect of the invention, like the first aspect of the invention, the legs 1b are provided vertically downward at the left and right ends of the horizontal frame 1a, and the wheels 17 are installed at the lower ends of the legs. It has a trolley 1 and management equipment such as a tea cutting machine 7 mounted on the management trolley, and the upper parts of both legs are connected to the left and right ends of the horizontal frame so as to be rotatable in the inter-track direction. In the tea garden management device, the management cart 1 is configured to travel by wheels on both tracks laid between the ridges on both sides of the tea ridge, and is installed by interposing the horizontal frame 1a and both legs. And a tilt detector for detecting the tilt direction and angle of the inter-orbital direction of the horizontal frame, which is installed in the horizontal frame. The drive means is controlled according to the direction and angle of inclination of the horizontal frame detected by the container, Parts are with respect to the vertical direction to change the trajectory dimension between the slope of the track between the direction and capable of maintaining the posture of the symmetrical shape. The both leg portions are connected to the upper and lower portions of the front and rear columns that form the respective leg portions so as to be rotatable in the orbital axial direction with respect to the front and rear end portions of the horizontal frame. And a driving means for the correction means, and a tilt detector installed at a proper position of the management carriage for detecting the tilt of the management carriage in the track axis direction. The drive means is controlled in accordance with the inclination of the management carriage detected by the inclination detector, and both columns are configured to be able to maintain the vertical posture even on a sloped ground along the track axis.

In a tenth aspect of the present invention, there is provided a management carriage 1 in which legs 1b are provided vertically downward at both left and right ends of a horizontal frame 1a, and wheels 17 are installed at lower ends of the both legs, and the management carriage. It has a management device such as a mounted lawn mower 7 and the upper portions of the both leg portions are connected to the left and right end portions of the horizontal frame so as to be rotatable in the inter-track direction. In the tea garden management device configured to be swingable in a shape, the management carriage has wheels 1 on both tracks that are laid between the ridges on both sides of the tea ridge.
The left and right stays are connected to symmetrical positions on both legs, and the other end sides are connected to symmetrical positions on the lateral center of the horizontal frame. The connecting portion of the pair of left and right stays in the central portion is movable in the left and right direction together with the management device supporting means located in the central portion of the horizontal frame, and the connecting portion is moved in the left and right direction together with the management device supporting means. A driving means for moving is installed, a tilt detector for detecting the direction and angle of inclination of the horizontal frame in the inter-orbital direction is installed on the horizontal frame, and the tilt of the horizontal frame detected by the tilt detector is detected. The driving means is controlled in accordance with the direction and angle of each of the legs, and even if the dimension between the orbits changes on a sloped land in the direction between the orbits, the two legs are located on the vertical line n passing through the midpoint P between the orbits and in the center of the horizontal frame. Bilaterally symmetrical with respect to the vertical direction so that point d is located To be swingable, and a center line of said management devices supporting means on the extension of the center line b "on the tea cutting surface b is configured to be able to position.

An eleventh aspect of the present invention is the same tea garden management device as described above, comprising a horizontal frame 1a in the management carriage 1, both legs, and a link parallel to the horizontal frame and having both ends connected to the two legs. A parallelogram link mechanism is formed by means of which the link is movable in the left and right direction together with the management device supporting means located in the central portion of the horizontal frame, and a driving means for moving the link in the left and right direction is installed. An inclination detector is installed on the frame to detect the direction and angle of inclination of the horizontal frame between the orbits, and the drive is performed according to the direction and angle of inclination of the horizontal frame detected by the inclination detector. Even if the means is controlled and the dimension between the orbits changes in a sloping ground in the direction between the orbits, both legs are vertically arranged so that the center point d of the horizontal frame 1a is located on the vertical line n passing through the midpoint P between the orbits. Can be swung symmetrically with respect to the direction It is, and the center line b of tea cutting surface b "
The center line of the management device support means can be located on the extension line of the.

According to a twelfth aspect of the present invention, in the same tea garden management device as before, one end side of each of a pair of left and right stays of the management carriage 1 is connected to symmetrical positions of both legs, and each other end side of the horizontal frame is left and right direction. The stays are connected to symmetrical positions in the central portion, and the connecting portions of the pair of left and right stays in the central portion are movable in the left-right direction together with the management device supporting means located in the central portion of the horizontal frame 1a. Drive means is installed for moving the control device supporting means in the left-right direction together with the management device support means, and a tilt detector for detecting the direction and angle of tilt of the horizontal frame in the inter-orbit direction is installed on the horizontal frame. The drive means is controlled according to the direction and angle of the inclination of the horizontal frame detected by, so that even if the dimension between the orbits changes in the inclined land in the inter-orbit direction, the both legs pass through the midpoint P between the orbits. The center point d of the horizontal frame on the vertical line n It is swingable in the left-right symmetrical shape with respect to the vertical direction so as to location, and the center line b of tea cutting surface b "
The center line of the management device support means can be located on the extension line of the. Then, the both legs are formed by a horizontal frame 1 at the upper portions of the front and rear columns that form the respective legs.
A column inclination correcting unit that is rotatably connected to the front and rear ends of the a in the orbital axis direction and that is installed by interposing a horizontal frame and both front and rear columns, and a driving unit of the correcting unit. A tilting detector installed at a proper position of the management carriage for detecting the inclination of the management carriage in the track axis direction, and the drive means is controlled according to the tilt of the management carriage detected by the tilt detector, Both columns are constructed so that they can maintain their vertical posture even on a sloped ground along the track axis.

In a thirteenth aspect of the present invention, in the same tea garden management apparatus as described above, a leg inclination correcting means installed by interposing the horizontal frame 1a of the management carriage 1 and both legs, and a driving means of the correcting means. And a tilt detector installed on the horizontal frame to detect the direction and angle of inclination of the horizontal frame between the orbits, and the management device supporting means located at the center of the horizontal frame is The upper connecting points 24, 24 are swingable at a height position on a line connecting the connecting points, and the driving means is controlled in accordance with the inclination direction and angle of the horizontal frame detected by the inclination detector. Even if the dimension between the orbits changes in the sloping ground in the direction between the orbits, both legs are left and right with respect to the vertical direction so that the center point d of the horizontal frame 1a is located on the vertical line n passing through the midpoint P between the orbits. It is possible to swing in a symmetrical shape, and on the extension line of the center line b ″ of the cutting surface b, Center line of the physical equipment support means is configured to be able to position.

According to the fourteenth aspect of the invention, in the same tea garden management device as before, one end side of each of the pair of left and right stays of the management carriage 1 is connected to symmetrical positions of both legs, and each other end side of the horizontal frame 1a in the left and right direction. Is connected to a symmetrical position in the central part of the horizontal frame, and the management device supporting means located in the central part of the horizontal frame has a horizontal frame at a height position on a line connecting the connection points 24, 24 on the upper portions of the both legs. It is selectable to be fixed or swingable at a right angle to 1a, and the connecting portion of the pair of left and right stays in the central portion of the horizontal frame 1a is the same as the management device supporting means or is independent. It is selectable and is movable in the left-right direction, drive means for moving the connecting portion in the left-right direction is installed, and the horizontal frame has a tilt direction in the inter-orbital direction of the horizontal frame. An inclination detector that detects the angle is installed, The drive means is controlled in accordance with the direction and angle of inclination of the horizontal frame detected by the vessel, and even if the dimension between the orbits changes in a sloped land in the inter-orbital direction, the two leg portions will have the midpoint P between the orbits. It is possible to swing symmetrically with respect to the vertical direction so that the center point d of the horizontal frame is located on the vertical line n passing through, and the management device is on the extension line of the center line b ″ of the cutting surface b. The centerline of the support means is arranged so that it can be located.

In the fifteenth invention, similarly to the first invention, the leg portions 1b are provided vertically downward at both left and right ends of the horizontal frame 1a, and the wheels 17 are installed at the lower end portions of the both leg portions. It has a management trolley 1 and management equipment such as a tea cutting machine 7 mounted on the management trolley, and the upper portions of the both leg portions are connected to the left and right ends of the horizontal frame so as to be rotatable in the inter-track direction. In the tea garden management device, the management carriage is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and the cross section perpendicular to the axis of the track is a quadrangle. The four sides of are oriented horizontally and vertically,
The stakes 94 that support the track are configured to be vertically driven into the ground, and the management trolley 1 maintains a constant distance between both legs installed by interposing the horizontal frame 1a and the two legs. The leg tilt correction means as it is, a driving means for the correction means, and a tilt detector installed at a proper position of the management carriage for detecting the inclination in the inter-track direction of the management carriage, One of the legs is a wide wheel 90 whose axial length of the wheel is several times to several ten times larger than the width of the raceway material, and it depends on the inclination of the management carriage detected by the inclination detector. The driving means is controlled so that both legs can maintain a bilaterally symmetrical posture with respect to the vertical direction even when the dimension between the orbits changes in an inclined land in the interorbit direction.

In the 16th aspect of the invention, like the 10th aspect of the invention, the leg portions 1b are provided vertically downward at the left and right ends of the horizontal frame 1a, and the wheels 17 are installed at the lower end portions of the leg portions. It has a trolley 1 and management equipment such as a tea cutting machine 7 mounted on the management trolley, and the upper parts of both legs are connected to the left and right ends of the horizontal frame so as to be rotatable in the inter-track direction. In the tea garden management device in which the both legs are configured to be swingable in a bilaterally symmetrical shape, the management carriage is configured to travel by wheels on both tracks laid between the ridges on both sides of the tea ridge. At the same time, the cross section of the track at right angles to the axis is a quadrangle, the four surfaces of the quadrangle are oriented in the horizontal and vertical directions, and the piles 94 that support the track are configured to be driven vertically. Inclination of the leg installed by interposing the horizontal frame 1a and both legs Compensation means, driving means for the compensation means, and an inclination detector installed on the horizontal frame to detect the direction and angle of inclination of the horizontal frame in the inter-orbital direction, each wheel with respect to the legs It is connected so that it can rotate in the direction between the tracks,
The drive means is controlled according to the direction and angle of inclination of the horizontal frame detected by the inclination detector, and both legs are bilaterally symmetrical with respect to the vertical direction even if the dimension between the orbits changes in the inclined land in the interorbit direction. It is configured to be swingable in a shape.

[0022]

The control carriage 1 of the tea plantation management device is used not only when it is used on a flat ground but also when it is used on a sloping ground in the direction between the tracks, even if the dimension between the tracks changes, the automatic leg tilting is performed. By operating the correction means, by moving the connecting portion of the stay 2 or the link 91 in the left-right direction, or by adjusting the effective length of the stay, both legs of the management carriage are made to have a symmetrical shape with respect to the vertical direction. It can be maintained and stable load condition and stable running condition can be secured. At that time, even if the dimension between the orbits changes during traveling, the horizontal frame 1a of the control carriage can be moved from the ground.
The height dimension up to is always kept substantially constant.

Further, the management carriage is used not only when it is used on a flat ground but also when it is used on a sloped ground along the track axis.
Both the front and rear struts that form the leg portion 1b of the management carriage by automatically operating the means for correcting the inclination of the stanchion, moving the stay connecting portion or link in the front-rear direction, or adjusting the effective length of the stay. Can be maintained in a vertical posture, and a stable load condition and a stable running condition can be secured. At that time, even if the dimension between the tracks changes during traveling, the height dimension from the ground to the horizontal frame 1a of the control carriage is always kept substantially constant.

The management carriage is used not only when it is used on a flat ground but also when it is used on a sloped ground in the inter-track direction, even if the dimension between the tracks changes, the left and right sides of the connecting portions or links of the stays are automatically changed. By the movement in the direction, both legs maintain the left-right symmetrical swinging state, and the management device supporting means located at the center of the horizontal frame 1a is located on the extension line of the center line b ″ of the cutting surface b. The center line is located to enable uniform cutting of the symmetrical shape of the cutting surface b.

Even if a large number of support piles 94 are vertically driven on a sloping ground where the dimension or the inclination angle in the inter-track direction changes, the contact between the upper surface of the track (rectangular rail 15 ') having a quadrangle cross section and the wheel is linear contact. Is ensured, and the line contact is horizontal, so lateral load and bending do not act on the track.

[0026]

EXAMPLE An example of the present invention shown in the drawings will be described below.
The tea garden management device shown in FIGS. 1 to 3 has a gate shape in which the management carriage 1 extends over both tracks 15, 15 laid in the ridges (passages) on both sides of the tea ridge, and its legs 1b, Wheel 1b
It is configured to run on the track 15 by the numbers 7 and 17.

The control trolley 1 is assembled by using a lightweight steel section made of metal such as aluminum. The upper ends of the left and right legs 1b, 1b forming the management carriage 1 are connected to the left and right ends of the horizontal frame 1a by pin shafts 24, and are rotatable in the inter-track direction (left and right direction in FIG. 1) ( It is possible to tilt). A pair of left and right equal lengths forming a pair of left and right sides are provided at approximately intermediate positions in the height direction of the left and right leg portions 1b and symmetrically at both front and rear end surfaces (or either end surface) of the management carriage 1. The outer ends of the stays 2 and 2 are rotatably connected to each other by a pin shaft 25, and the inner ends of the slider 3 are symmetrical with respect to the lateral position (inter-track direction) of the horizontal frame 1a. It is connected to the position by a pin shaft 26. The slider 3 is a horizontal frame 1
It can move up and down along a guide shaft 4 which is vertically installed in the central portion of a. More specifically, the horizontal frame 1
Brackets 30 and 30 project outwardly from the upper and lower portions of a slider installation block 29 that stands vertically on a, and the upper and lower portions of the guide shaft 4 are fixed and supported by the upper and lower brackets 30 and 30, respectively. The slider 3 has a bearing in its shaft hole, and is configured to smoothly move up and down along the guide shaft 4. The guide shaft 4 is also provided with coil springs 5 and 5 for compression on the upper and lower portions of the slider 3 in a form wound around the guide shaft 4. The upper and lower coil springs 5 and 5 have the same length and the same spring constant, and are installed so that both legs 1b and 1b of the management carriage 1 are balanced in a vertical posture. The upper and lower coil springs 5 and 5 are provided on both leg portions 1b and 1 according to the change in the dimension between the tracks.
When b is tilted and the slider 3 is displaced from the neutral point,
It is an element that exerts a restoring force to the neutral point. However, both leg portions 1b, 1b are restrained by a so-called slider link mechanism composed of two stays 2, 2 and a slider 3 which are symmetrically arranged,
Since bilaterally symmetrical tilting (swinging) is performed, there is no particular problem in using the management cart 1 without the coil spring 5 described above.

It is also convenient to implement the stay 2 in the shape of an arch that curves upwards to resemble the vertical cross-sectional shape of the tea plant B, as illustrated by the dashed line 2'in FIG. 4A. Alternatively, as shown in FIGS. 21A and 21B, a short tubular connecting adapter 46 is vertically slidably attached to the column 1b 'which constitutes the leg 1b. A socket 47 through which the stay 2 is inserted is rotatably installed on the upper part of the connection adapter 46 by a pin shaft, and a manual lever 4 for fixing or loosening the stay 2 passed through the socket 47.
A tightening bolt 48 with 8'is installed, and a tightening bolt 49 with a manual lever 49 'for fixing or loosening the connection adapter 46 to the support 1b' is installed in the lower portion. Therefore, as will be described later, in order to align the center line of the guide shaft 4 and the center line of the management device supporting means with the extension line of the center line b ″ of the cutting surface b, the height of the connecting position of the outer end portion of the stay 2 is increased. In order to match the height C with the height b ′ of the hem of the tea plant B, first turn the manual lever 48 ′ to loosen the tightening bolt 48, then turn the manual lever 49 ′ to loosen the tightening bolt 49, and then connect the connection adapter. 46 to stanchion 1
It is moved vertically along b ′ by a required distance, and at a predetermined position, the fastening bolt 49 is first tightened to firmly fix the connecting adapter 46 to the column 1b ′. Then, the tightening bolt 48 is tightened. By doing so, the height C of the connecting position of the outer end of the stay 2 is matched with the height b ′ of the hem of the tea plant B, and the stay 2 touches the hem of the tea plant B to damage the hem. I am trying not to.

As shown in FIG. 2, a pair of front and rear slider installation blocks 29, 29 are integrally rigidly connected to each other by a connecting member 27, and the connecting member 27 is horizontally passed through the connecting member 27 in the horizontal direction. It is movably installed along a plurality of guide shafts 40 installed in the inter-orbital direction in an arrangement parallel to the frame 1a. Both ends of the guide shaft 40 are fixedly supported by left and right support frames 41, 41 fixedly provided on the horizontal frame 1a. Left and right support frames 41, 4
In addition, between both ends, a feed screw shaft 43 is rotatably supported at both ends in an arrangement parallel to the guide shaft 40, and the feed screw shaft 43 is threadedly penetrated into a sleeve nut 44 provided on the connecting member 27. . As a means for rotationally driving the feed screw shaft 43, a feed motor 4 with a speed reducer
5 is installed outside one of the support frames 41. In the case of the present embodiment, the slider 3 which is the connecting portion of the pair of left and right stays 2
The left and right movements (directions between tracks) of the feed motor 45
It is done automatically under the control of. The feed motor 4
5 for controlling the horizontal carriage 1a of the management carriage
An inclination detector 28 for detecting the direction and angle of inclination in the inter-orbit direction is installed (FIG. 1). The feed motor 45 is automatically controlled according to the direction and angle of the inclination of the horizontal frame 1a detected by the inclination detector 28, so that the leg portions 1b, 1b have an inter-orbit dimension in an inter-orbit sloping area. Even if it changes, it can swing symmetrically with respect to the vertical direction (FIGS. 4B and 4C).

On a flat ground as shown in FIG. 4A, with respect to a change in the inter-orbital dimension from the reference inter-orbital dimension a such as a ', or conversely, a widening, such as a ", A slider 3 at a central position, which is a connecting portion of a pair of left and right stays 2, 2 moves up and down along a vertical guide shaft 4, and both leg portions 1b, 1b swing symmetrically with respect to the vertical direction (line n) ( A vertical line n passing through the midpoint P between the trajectories passes through the center point d of the horizontal frame 1a.
Keeps parallel to the ground at a substantially constant height above the ground.

As shown in FIG. 4B, when the vehicle is used on a sloping ground in the inter-orbital direction S and the inter-orbital dimension is equal to the horizontal frame 1a with respect to the inter-orbital direction S, the lateral crossing detected by the inclination detector 28 is detected. The feed motor 45 is automatically controlled according to the inclination direction and angle of the frame 1a, and the slider 3 as a connecting portion of the pair of left and right stays 2, 2 is moved in the left-right direction (inter-track direction) at the center point d of the horizontal frame 1a. By a distance of m to the left. As a result, the legs 1b, 1b maintain their postures in the vertical direction (line n), and the horizontal frame 1a is parallel to the inclined ground and maintains a substantially constant height on the ground. The center point d of the horizontal frame 1a is located on the vertical line n passing through the midpoint p between the tracks, and the center line of the guide shaft 4 is located on the extension line of the center line b ″ of the tea-cutting surface b of the tea plant B. As a result, the center lines of the management device supporting means described later coincide (position).

4B as described above when used on a sloping ground in the inter-orbital direction as shown in FIG. 4C, and when the inter-orbital dimension changes in the inter-orbital direction S narrower or wider than the horizontal frame 1a.
As described with reference to FIG. 4, the feed motor 45 controlled by the detection value of the tilt detector 28 moves the slider 3 in the left-right direction, and the slider 3 moves along the guide shaft 4 as described with reference to FIG. 4A. The two legs 1b and 1b swing symmetrically with respect to the vertical direction while maintaining a symmetrical posture with respect to the vertical direction (line n), and the horizontal frame 1a is substantially above the ground. It is located at a certain height and remains almost parallel to the sloping ground. The center point d of the horizontal frame 1a is located on the vertical line n passing through the midpoint p between the tracks, and the center line of the guide shaft 4 is aligned with the extension of the center line b ″ of the cutting surface b (position). Strictly speaking, in FIG. 4C, there is a slight misalignment (deviation) in the center line of the guide shaft 4 with respect to the extension line of the center line b ″ of the cutting surface b.
Since the degree has no problem in practical use, it is included in the range of coincidence (position) in the present invention.

As the inclination detector 28, specifically, a differential transformer type, a potentiometer type, a torque balance type inclination angle sensor, a rotary encoder, a resolver or the like can be employed. The management cart 1 of FIG. 1 is equipped with a tea mowing machine 7 for plucking management of tea leaves, for example. That is, at the center of the horizontal frame 1a of the management carriage 1, the slider installation blocks 29, 2 described above are provided.
A female screw block 12 of a round handle 11 is fixed in a vertical direction to a connecting member 27 in which 9 is rigidly connected, and a screw shaft 13 is screwed into the female screw block 12 and penetrated vertically downward.
However, when the round handle 11 is turned, it is vertically movable by a screw motion. The support arm 6 is suspended and supported by the lower part of the screw shaft 13 on the center side of the tea mower 7. That is, the center line of the screw shaft 13 is the center line of the management device supporting means, and the center line of the screw shaft 13 coincides with the center line of the guide shaft 4 when viewed in the direction of FIG. The outside portion of the tea mower 7 has a screw shaft 8 and a leg portion 1b.
It is suspended and supported by the horizontal crosspiece 14 and the vertical position can be freely adjusted by the handle 31, and the tea cutting machine 7 is arranged to follow the cutting surface b of the tea plant B. The round handle 1
By operating 1 and the handle 31, the positioning and adjustment of the tea mower 7 is performed. The outside of the tea mower 7 is attached to the screw shaft 8
As for the position of the horizontal crosspiece 14 supported via, the height position in the vertical direction can be adjusted by selecting the positions of a large number of pin holes 34 provided in advance at a constant pitch in the vertical direction of the leg portion 1b.

It has already been shown in FIG. 4 that both legs 1b, 1b of the management cart 1 swing (tilt) symmetrically with respect to the vertical line.
Although it was described based on A, the outer portion of the tea cutting machine 7 also moves outward as the leg portions 1b, 1b are swung so that the distance between them increases, which corresponds to the cross-sectional shape of the tea plant. It is convenient because it will change. Regarding the deflection of the support arm 6,
If the length of the support arm 6 is lengthened to a certain extent, a small shake will suffice, and even if the shaker shakes, the shaker 7 also shakes when turned over to the leg 1b on the opposite side. Even if a slight amount of vertical movement occurs, the level difference that occurs when only one leg tilts as in the conventional case does not occur.

A traveling motor (geared motor) 9 is installed under each of the legs 1b and 1b of the management cart 1, and each of them has a small generator 16 mounted on the horizontal frame 1a and a control device. It is electrically connected via. The feeding motor 45 described above also uses the small generator 16 as a power source. Wheels 17, 17 provided on the front and rear sides of both legs 1b, 1b of the management carriage 1 (or two or more may be provided).
Are connected in series by chains 32 (or belts, timing belts, etc.) so as to rotate in the same direction and at the same speed (FIG. 2). Further, one wheel 17 and the traveling motor 9 are also connected by a chain 33 (or a belt, a timing belt, etc.), and all four wheels are the motor 9.
It is driven by and is self-propelled. Urethane is attached to the bottom of the groove of the wheel 17 to increase the friction with the track 15 and prevent slipping. Therefore, by synchronously controlling the two left and right traveling motors 9, 9, the management trolley 1 is self-propelled by motor power, and there is no need to push it by hand.
Moreover, since the front-rear wheel drive system is used,
There is no fear of slipping on 5 and becoming incapable of running. Furthermore, since it exerts a strong climbing force, it can travel on the track 15 laid on a steep slope without any trouble. This orbital tea garden is operated by remote controlling the traveling motor 9 with a remote control device, or by detecting and controlling the end of the tea ridge with a limit switch, or by controlling the traveling motor 9 with time or distance. Unmanned management equipment and automated operation are also possible.

The management cart 1 is equipped with the above-mentioned pruning machine, pruning machine or other tea mowing machine 7, and as a cart for transporting plucked fresh leaves or a cart for spraying pesticides, various tea garden management work. It can be used for multiple purposes. The configurations described above are common to the other embodiments described below. (Second Embodiment) The tea plantation management device shown in FIGS. 5A and 5B is a front and rear pillar that constitutes both legs of the management carriage 1 when used on a sloping ground inclined in the track axis direction T as illustrated in FIG. 1b 'and 1b' are configured to maintain a vertical posture.

Therefore, the upper ends of the two front and rear columns 1b ', 1b' constituting both legs are connected to the front and rear ends of the horizontal frame 1a by pins 24 'so as to be rotatable in the orbit axis direction. . Further, both columns 1b 'and 1b' are rotatably pin-coupled to each other by a link 63 parallel to the horizontal frame 1a, so that the four members form a parallelogram link mechanism. A concave bearing stand 50 is fixedly installed on the horizontal frame 1a as viewed in the direction of FIG. 5A, and a feed whose both ends are rotatably supported by the bearing stand 50 in a horizontal arrangement in the track axis direction. The screw shaft 51 is the slider installation block 5
The second sleeve nut 53 is screwed and penetrated. Therefore, the slider installation block 52 is moved in the track axis direction (the front-back direction in which the management carriage 1 travels) on the bearing base 50 as the feed screw shaft 51 rotates. The feed screw shaft 51 has a bearing stand 50 in which an output shaft 54a is directly connected to one end thereof.
It is rotationally driven by a feed motor 54 installed on the side of the.
An inclination detector 28 for detecting the inclination of the management carriage 1 in the track axis direction is installed on the horizontal frame 1a of the management carriage 1. The inclination detector 28 detects the inclination of the horizontal frame 1a in the track axis direction detected by the inclination detector 28. The drive motor 54 is drive-controlled according to the direction and the angle. In addition, the inclination detector 28 is composed of both columns 1b 'and 1b.
Since the space between b'is kept constant, it may be installed on one of the columns 1b ', 1b'. In that case, the inclination detector 28 is installed on one side. The presence or absence of inclination of the leg portion in the direction of the orbital axis and the direction are detected. The rotation of the feed screw 51 is the same as the rotation of the feed screw shaft (not shown) similarly installed at the other end of the horizontal frame 1a through the chain 58 wound around the sprocket 57 installed on the output shaft 54a. It is transmitted in the same direction at the same speed.

A guide shaft 59 is vertically installed on the outer surface of the slider installation block 52 with its upper and lower ends fixedly supported, and a slider 60 is installed to move up and down along the guide shaft 59. Further, above and below the slider 60, a urethane rubber sleeve 61 for elastically restricting the excessive vertical movement of the slider 60.
(However, a compression coil spring or the like may be used), which is installed in the guide shaft 59. And stay 6
One end of 2 is the slider 60, and the other end is either one (or both) of the front and rear struts 1 b ′ forming the leg portion 1 b.
The pin 24 'is connected to an appropriately lower position by means of a pin which can be freely rotated in the orbital axis direction, thus constituting a strut inclination correcting means. The pair of front and rear stays 62
In the case of using, the connecting positions of both ends of each stay and the sliders or columns are symmetrical.

Due to the above-mentioned structure, when this tea plantation management apparatus is used on a sloped land in the direction of the track axis as shown in FIG. The feed motor 54 is automatically controlled according to the degree of inclination or the inclination of one leg to move the slider installation block 52 by an appropriate amount in the front-rear direction. Then, the link mechanism operation of the stay 62 according to the displacement amount of the slider installation block 52 changes the angles of the columns 1b 'in front of and behind the leg 1b with respect to the horizontal frame 1a, and as a result, as shown in FIG. Both columns 1b 'and 1b' maintain their vertical postures, so that the stability of the load state and the stability of the running state can be obtained.

(Third Embodiment) In the tea garden management apparatus schematically shown in FIG. 7A, as described above with reference to FIGS. 1 to 3, both legs 1b and 1b of the management carriage 1 are provided. A structure capable of maintaining a vertical posture even on an inclined land in the inter-orbit direction, and the front and rear columns 1b 'and 1b' forming the leg portion 1b as described above with reference to FIGS. Also has a configuration capable of maintaining a vertical posture. Further, as the wheels at the lower ends of both legs 1b, in addition to the track wheel 17 running on the track 15, when the track wheel 17 goes down the track, a grounding wheel 65 that runs on the ground instead is used together. It is configured.

For the structure of the wheel portion, reference is made, for example, to the one described in Japanese Patent Application No. 3-3264. That is, a wheel mounting frame 66 is provided in the front-rear direction of the lower end portions of the both leg portions 1b, 1b, and a bearing 67 previously provided in the front and rear positions of the wheel mounting frame 66 is attached to a vertical direction from a yoke-type wheel support base 68. A steering shaft 69 provided upward is rotatably supported. As shown in detail in FIG. 7B, a horizontal wheel rotatably supported by the wheel support base 68 is commonly used, and a track wheel 17 is provided on the inner side and has a diameter considerably larger than that of the track wheel 17 on the outer side. Grounding wheels (rubber tire wheels) 65 are attached so as to be adjacent to each other. 7A and 7B, the illustration of the wheel rotation drive mechanism is omitted, but if necessary, the drive mechanism by the traveling motor shown and described in, for example, FIG. 1 and FIG. In FIGS. 7A and 7B, a lever 70 is provided on the steering shaft 69 in a direction perpendicular to the axis, and isometric positions of the levers 70 of the front and rear steering shafts 69 are connected by a steering bar 71. A steering mechanism that turns the front and rear steering shafts in a common direction at an equal angle is configured. An operation drive device 72 that moves the operation bar 71 in the front-back direction and steers the operation bar 71 is installed at an intermediate position of the wheel mounting frame 66. The operation drive device 72 incorporates an automatic (or manual type by manual operation) mechanism element using an operation motor as a power source.

Therefore, the two legs 1b and 1b always maintain a symmetrical shape with respect to the vertical direction as shown in FIGS. 4A, 4B and 4C when traveling on the track by the track wheels 17 on the sloping ground in the direction between the tracks. When it moves on the ground in the inter-track direction by the grounding wheel 65 due to the movement between the ridges, the posture in the vertical direction is maintained as shown in FIG. 8 and the load condition is stable in any case. And stability of running condition can be obtained. At the same time, when traveling on the track by the track wheels 17 at the same time in the direction of the track axis, the two columns 1
b ′ and 1b ′ maintain the vertical posture, and can obtain the stability of the load state and the stability of the running state.

(Fourth Embodiment) Most of the basics of the structure of the tea garden management apparatus shown in FIGS. 9A to 9C are common to the embodiments of FIGS. However, the horizontal connecting member 27 'supporting the rotary shaft portion (female screw block) 12 of the round handle 11 is the horizontal frame 1a.
Auxiliary frame body 7 that is fixed to both front and rear ends and stands vertically upward
It is configured to be rigidly connected horizontally to 5,75.

Therefore, by rotating the round handle 11, the screw shaft 13 can be moved up and down, and the height of the tea mower (see FIG. 1) supported on the lower end of the screw shaft 13 can be adjusted. However, the position of the center line of the management device supporting means is immovable. On the other hand, a pair of left and right stays 2, 2
The guide shaft 4 of the slider 3 in which each inner end of the slider 3 is connected in a symmetrical position is vertically installed with the upper and lower ends fixed to the outer surface of the slider installation block 76. The slider installation block 76 is fixed to both outer side portions of the auxiliary frame body 75 and is provided on a bearing stand 77 having a concave shape when viewed in the direction of FIG. 9A. Part 7
It is installed so as to be movable (sliding) in the left-right direction through 5a. Further, a feed screw shaft 78 whose both ends are rotatably supported by the bearing bases 77, 77 in a horizontal arrangement in the left-right direction (direction between tracks) is screwed into a sleeve nut previously provided in the slider installation block 76. It is penetrated. Therefore, by automatically rotating the feed screw shaft 78 by the feed motor 45, it is possible to move the position of the slider 3, which is the connecting portion of the pair of left and right stays, in the left-right direction (orbital axis direction). An inclination detector 28 for detecting the inclination direction and the inclination angle in the inter-track direction of the horizontal frame 1a of the management carriage 1 is installed, and the inclination direction of the horizontal frame detected by the inclination detector 28. The feed motor 45 is automatically controlled according to the angle. Therefore, as shown in Fig. 4A, when the inter-orbital dimension changes greatly on a flat ground (see the two-dot chain line state) or when it is used on a sloping ground in the inter-orbital direction as shown in Fig. 4B, as shown in Fig. 4C. Even in the case where the above two conditions are combined, the management cart 1
Both leg portions 1b, 1b are always swingable while maintaining a bilaterally symmetrical shape with respect to the vertical direction, so that stability in a load state and stability in a running state can be obtained.

(Fifth Embodiment) In the tea garden management apparatus shown in FIGS. 10A and 10B, the pair of left and right stays 2 and 2 are arranged in parallel with the horizontal frame 1a, so that the horizontal frame 1a and the legs 1b, 1b
And the stays 2 and 2 form a substantially parallelogram link mechanism. As a means thereof, a concave bearing stand 80 is fixedly provided on the horizontal frame 1a at a central portion near one end in the front-rear direction (orbital axis direction) as viewed in the direction of FIG. 10A. Both ends of a feed screw shaft 81 arranged horizontally in the intermediate direction are rotatably supported by the bearing base 80, and are rotationally driven by a feed motor 45. The feed screw shaft 81 is screwed into and penetrates the female screw hole of the slide block 83. Therefore, the slide block 83
With the rotation of the feed screw shaft 81 by the feed motor 45, is moved (slipped) on the bearing base 80 in the left-right direction (inter-orbital direction) by the screw movement. Horizontal frame 1a of management cart
Is provided with a tilt detector 28 for detecting the direction and angle of inclination of the horizontal frame in the inter-orbital direction. According to the direction and angle of inclination of the horizontal frame detected by the tilt detector, The motor 45 is drive-controlled. From both ends of the slide block 83, support arms 83a, 83a extending in an inverted L shape toward the lower outside of the horizontal frame 1a are provided, and the support arms 83a, 83a are provided between the tip ends of the pair of support arms in the left-right direction (inter-track direction). 2), both ends of the guide shaft 84 are supported horizontally (hence, parallel to the feed screw shaft 81).

The outer ends of the pair of left and right stays 2, 2 of equal length are rotatably connected to the left and right symmetrical positions of the legs 1b, 1b by pins, and the inner ends of the stays 2 and 2 along the guide shaft 84. The sliding end fittings 85 are joined to each other so as to be arranged parallel to the horizontal frame 1a. On both sides of the end fitting 85, two equal-length buffering compression coil springs 86 with one end fixed to the support arm 83a or the central stopper 87 and having the same spring constant are wound around the guide shaft 84. It is installed in.

Therefore, when the inter-orbital size is changed to a large or small size when used on a flat ground as shown in FIG. 4A, the left and right stays 2 and 2 have their end fittings 85 from the neutral position to the coil springs 86 on both sides thereof. One of the legs is compressed and displaced, and the two leg portions 1b swing (tilt) by expanding or narrowing in a symmetrical shape with respect to the vertical direction. When the vehicle is used on a sloping ground in the inter-orbital direction as shown in FIG. 4B, the feed motor 45 is drive-controlled according to the inclination direction and the angle of the horizontal frame 1a detected by the inclination detector 28, and the slide block is moved. Slide 83 from the neutral position to the left and right. Then, the parallelogram link mechanism is deformed from the rectangular state of FIG. 10A to a rhombus shape with the movement of the slide block 83, so that both leg portions 1b and 1b always oscillate while maintaining a symmetrical shape with respect to the vertical direction. It is movable, and it is possible to obtain the stability of the load state and the stability of the running state.

(Sixth Embodiment) In the tea garden management apparatus shown in FIGS. 11A and 11B, both leg portions 1b, 1b of the management carriage do not swing (tilt) symmetrically in the inter-track direction, and the inter-track dimension Is changed by the length of the cylindrical wide wheel 90 which is long in the axial direction. As the means, both legs 1b, 1b
Are connected at symmetrical positions by links 91 that are parallel to each other and have the same length as the horizontal frame 1a, so that four members are formed into a parallelogram link mechanism. One end of the stay 2 is concentrically connected to a connecting point of the link 91 and one leg 1b, and the other end of the stay 2 is vertically movable along a vertical guide shaft 4 on the horizontal frame 1a. Pinned to. Of course, the guide shaft 4 together with the slider installation block that supports the guide shaft 4 are detected by the tilt detector 28 as described in the embodiment of FIGS. 9A, 9B and 9C, respectively.
It is configured to be movable in the left-right direction (inter-orbital direction) by the feed motor 45 that is controlled according to the inclination direction and angle of a, and the link 91 is configured to be movable in the left-right direction through the stay 2. Therefore, when this tea plantation management device is used on a flat ground, the parallelogram link mechanism shown in FIG.
The rectangular state of A remains as it is, and the magnitude change of the dimension between the tracks is absorbed by the axial length of the wide wheel 90 on the right side. Figure 4B
When it is used on a sloped land in the inter-orbital direction as in the above, the guide shaft 4 together with the slider installation block is controlled by the feed motor that is controlled according to the inclination direction and angle of the horizontal frame 1a detected by the inclination detector 28. Is moved in the left-right direction by a considerable amount, and further, the link 91 is moved in the left-right direction through the stay 2. As a result, the parallelogram link mechanism is deformed into a rhombus shape, and both legs 1b, 1b are vertically oriented. maintain. The center point d of the horizontal frame 1a is located on the vertical line n passing through the midpoint P between the tracks. Therefore, the stability of the load state and the stability of the running state can be obtained.

(Seventh Embodiment) The tea plantation management apparatus shown in FIGS. 12A and 12B is similar to the embodiment shown in FIG.
A and the legs 1b and 1b are formed into a parallelogram link mechanism by a link 91. Therefore, both legs do not oscillate symmetrically with respect to the vertical direction with respect to changes in the dimension between the tracks, but are dealt with by the length of the wide wheel 90 which is long in the axial direction.

In the case of the present embodiment, the driving means of the leg inclination correcting means for moving the link 91 in the left-right direction is a linear actuator 92 capable of adjusting the effective length of the stay 2 at the intermediate portion of the stay 2. Has been adopted. Specifically, for example, an actuator such as a screw type turnbuckle mechanism or a hydraulic or pneumatic cylinder / piston mechanism as shown in FIG. 16B can be adopted. One end of the stay 2 is connected to a connection point between the link 91 and the leg portion, and the other end is connected to a column 93 which is fixed to the horizontal frame 1a and stands vertically upward. Therefore, the connecting position of the stay 2 and the support column 93 is fixedly fixed, and the stay 2 is controlled by the actuator 92 which is controlled according to the inclination, direction and angle of the horizontal frame 1a detected by the inclination detector 28. Immediately after the effective length of is adjusted, the link 91 is moved to the left and right by a considerable amount. As a result, the parallelogram link mechanism is deformed into a rhombus shape, and the both legs 1b, 1b can maintain the vertical posture even on a sloped land in the inter-track direction (FIG. 13).

In this embodiment, the track is also composed of a rectangular rail (rectangular pipe) 15 'having a quadrangular cross section in the axial direction. In particular, the four sides of the rectangular rail 15 'are arranged in the horizontal and vertical directions, and the rectangular rail 15' is supported by the support piles 94 driven in the vertical direction on the ground even in the sloping ground shown in FIG. As a result of the rectangular rails 15 'being laid in the above-described manner, the track laying work can be carried out accurately, easily and efficiently. Not only that, as already described in many embodiments, both leg portions 1b, 1b of the management carriage are maintained in the vertical posture even on the sloped land in the inter-orbital direction (FIG. 13), so that the lower end portion of each is The rotation axes of the installed wheels 17 and 90 are kept horizontal. Therefore, the horizontal upper surface of the rectangular rail 15 'and the peripheral surface of the wheel maintain a stable horizontal line contact, so that the rectangular rail 15' is not laterally loaded or bent. Therefore, the support pile 94 does not fall, the track is laterally displaced, and the lateral bending of the track does not occur, and it is possible to prevent inconveniences such as the uncut portion of the hem of the cutting surface b of the tea plant B.

(Eighth Embodiment) The tea garden management apparatus shown in FIG. 14 is an embodiment in which the parallelogram link mechanism is applied and the track is a rectangular rail, as in the embodiment shown in FIG. 12A. However, the leg inclination correcting means and its driving means are different. In the case of this embodiment, a link 95 parallel to the horizontal frame 1a is provided on the upper side of the horizontal frame 1a, and both legs 1b, 1b are provided.
Is provided with an extension portion 96 that extends straight upward from the position of the connection point 24 with the horizontal frame 1a, and the intersection of the extension portion 96 and the link 95 is a long hole 97 provided on the extension portion 96 side.
Is connected by a pin 98 with a degree of freedom that allows the deformation mechanism of the link mechanism. Further, the bearing plate 99 is fixedly erected on the horizontal frame 1a, and the pinion 100 having the rotation shaft supported by the bearing plate 99 has a length range required in the left-right direction of the central lower surface of the link 95. It is meshed with the rack 101 formed over. Therefore, when the pinion 100 is rotationally driven by a motor (not shown), the link 95 is moved to the left and right by a considerable amount as the meshing movement with the rack 101 progresses, and the parallelogram link mechanism is deformed. Both legs 1b, 1b maintain their vertical postures even on slopes in the inter-orbit direction. The motor is driven and controlled by an inclination detector 28 which is installed in the horizontal frame 1a and detects the direction and angle of inclination of the horizontal frame in the inter-orbit direction.

In this embodiment, the two legs 1b, 1b are held at a constant interval so that the posture in the vertical direction is maintained (the left and right symmetrical shapes of the two legs 1b, 1b are maintained). However, since the bilaterally symmetrical swing does not occur, the inclination detector 28 may be installed on one of the legs 1b, 1b. This is the embodiment of FIG. 11, FIG.
The same applies to the second embodiment.

(Ninth Embodiment) The tea garden management apparatus shown in FIG. 15 is basically of the same structural type (parallelogram link mechanism) as that of the embodiment of FIG. 14, but has both legs 1b and 1b.
Oscillates symmetrically with respect to the vertical direction in response to changes in the size of the raceway. Therefore, the use of wide wheels is unnecessary.

As a means therefor, the link 95 and the both leg portions 1
b, 1b is not directly connected to the extension 96, but the extension 96
One end of the short auxiliary link 102 is connected in parallel with the link 95, and the end fitting 103 attached at a right angle to the tip of the auxiliary link 102 is configured to move in the left-right direction along the link 95. There is. A spring receiver 104 is fixed to the link 95 at a symmetrical position in the neutral state with the end fitting 103 as an intermediate point, and for equal compression of the spring constant with equal length between each spring receiver 104 and the end fitting 103. The coil spring 105 is installed around the link 95.

Therefore, whether it is a flat ground or a sloping ground,
When the dimension between the tracks changes greatly, both legs 1b, 1b tilt about the connection point 24 with the horizontal frame 1a. By the tilting, one coil spring 105 acting on the end fittings 103 of the left and right auxiliary links 102 is compressed and the relative position of the end fittings 103 is displaced in the left and right direction, but acts on the pair of left and right auxiliary links 102. Since the coil springs 105 have the same strength and maintain the balance of forces, the two leg portions 1b, 1b oscillate symmetrically with respect to the vertical direction and respond to the change in the dimension between the tracks. Therefore, the height dimension from the ground to the horizontal frame 1a hardly changes. Of course, when this tea plantation management device is used on an inclined land in the direction between the tracks as shown in FIG. 13, the motor responds to the direction and angle of the inclination detected by the inclination detector 28 installed on the horizontal frame 1a. Is driven and controlled,
The link 95 is moved by a considerable amount in the left-right direction by the meshing movement of the pinion 100 and the rack 101.

In the case of this embodiment, the wheels of both legs are
A roller wheel 110, which has the same axial length as the width of the upper surface of the rectangular rail 15 'and is formed in the shape of a simple columnar without a collar, is used. Auxiliary wheels 112 having a vertical axis of rotation are provided so as to sandwich both side surfaces to prevent wheel removal and ensure stable running. In order to allow the two legs 1b, 1b to swing in the above-mentioned left-right symmetrical shape, the lower end of the leg 1b and the yoke type support 111 are connected by a pin 113 so as to be rotatable in an inter-orbit direction. .

(Tenth Embodiment) The tea garden management apparatus shown in FIGS. 16A and 16B has basically the same structure as that of the embodiment shown in FIG. 9, and both legs 1b and 1b of the management carriage are tracks on a flat ground. In response to changes in the size of the space, it swings symmetrically with respect to the vertical direction, but unlike the embodiment of FIG. 9, the pair of left and right stays 2, 2 has a length adjusting mechanism 130 in the middle thereof. Prepare,
By adjusting the effective length of the stay, both leg portions 1b, 1b can swing symmetrically with respect to the vertical direction even if the inter-orbit dimension is constant or changes in the sloped land between the orbits. It is configured to be driven by the adjustment motor 131.

As a means therefor, the vertical guide shaft 4
Of the guide shaft 4 on the outer surface of the slider installation block 132 that supports the upper and lower ends of the slider and is movable in the left-right direction.
A slider 133 that can freely move up and down is installed.
The slider 133 is provided with a worm wheel 134 having a horizontal rotating shaft in the inter-orbital direction, and the left and right length adjusting screw shafts 136 and 137 are connected to the left and right symmetrical end portions of the rotating shaft by a universal joint 135. Has been done. The right and left length adjusting screw shafts 136 and 137 are formed with male screws having the same screw relation as a right screw or a left screw, and each screw shaft is a sleeve nut fixed to the inner end portion of the corresponding stay 2. On the other hand, it is screwed in to an appropriate length. The outer ends of the pair of left and right stays 2 and 2 have two legs 1b,
Pins are connected to symmetrical positions of 1b. A worm 138 rotatably driven by an adjusting motor 131 installed on a slider 133 is meshed with the worm wheel 134. The adjustment motor 131 is driven and controlled by an inclination detector 28 which is installed in the horizontal frame 1a of the management carriage and detects the direction and angle of the inclination of the horizontal frame 1a in the inter-track direction.

Therefore, this tea plantation management device is shown in FIG. 4B or C.
When the vehicle is used on a sloping ground in the inter-orbital direction as described above, the adjusting motor 131 is automatically controlled according to the inclination direction and the angle of the horizontal frame 1a detected by the inclination detector 28, and the worm wheel 134 and its rotating shaft. The left and right length adjusting screw shafts 136 and 137 are rotated in the common direction at the same speed in accordance with the rotation. However, since the screw shafts 136 and 137 have the same screw relationship as the left screw or the right screw, the stay 2
One side (high side) due to the screw movement with the sleeve nut of
The screw shaft of is gradually screwed to shorten the effective length of the stay, and the other (lower side) screw shaft is pulled out to extend the effective length of the stay, and as a result, the legs 1b and 1b are vertically extended. On the other hand, it can swing freely while maintaining a symmetrical shape.

(Eleventh Embodiment) In the tea garden management apparatus shown in FIGS. 17A to 17C, as in the embodiment of FIG. 16, both legs of the management dolly are vertically responsive to a change in size between tracks on a flat ground. The pair of left and right stays 2 and 2 oscillate symmetrically with respect to the direction, and the pair of left and right stays 2 has a length adjusting mechanism in the middle portion thereof, and the inter-orbital dimension is constant in the inclined land in the inter-orbital direction by adjusting the effective length of the stays. However, even if it changes, both leg portions 1b, 1b can swing in a symmetrical shape with respect to the vertical direction, but the specific means is different.

As a means thereof, the pair of left and right stays has a round pipe 14 in which an intermediate portion is connected by a screw shaft 140 for length adjustment.
2 and a square pipe 141, the outer end of the round pipe 142 is connected to the extension portion 96 of the leg 1b through the stay support 143, and the inner end side is provided with the horizontal frame 1
A bearing base 144 fixedly provided on a is movably supported in the left-right direction end in the axial direction (left-right direction). At the inner ends of the left and right round pipes 142, a length adjusting screw shaft 14 having the same screw relationship as a left screw or a right screw
One end of 0 is fixed and joined in series so as to integrally rotate on the same center line. On the other hand, the same bearing stand 144
A square pipe 141 is supported in the central portion of the above so as not to rotate in a series of arrangements on a common center line with the round pipe 142 and the screw shaft 140 but to be movable in the axial direction. The left and right screw shafts 140 are screwed into sleeve nuts fixed to both ends of the square pipe 141 by the same length on a flat ground. As means for rotating the round pipe 142, a sprocket 145 that transmits rotation with the round pipe 142 by a structure such as a key or a spline is rotatably supported by a bearing stand 144, and the same bearing stand 144 is arranged in parallel with the stay. Rotating shaft 14 rotatably supported by
No. 6 sprocket 147 is connected to a chain 148, and the rotary shaft 146 is driven to rotate by a length adjusting motor 149. Thus, the length adjustment motor 1
49 is drive-controlled according to the detection value of the inclination detector 28 installed in the horizontal frame 1a and detecting the direction and angle of inclination of the horizontal frame between the orbits. The pair of left and right round pipes 142 and the screw shaft 140 are rotated at the same speed in a common direction by the motor 149. However, since the left and right screw shafts 140 have the same screw relationship as the left screw or the right screw, the left screw shaft (right screw) gradually comes out of the square pipe 141 in accordance with the forward and reverse of the rotation direction of the motor 149. On the contrary, while the effective length as the stay is extended, on the contrary, the right screw shaft (right screw) is gradually screwed into the square pipe 141 at the same speed, and the effective length as the stay is shortened. .

By the way, end fittings 150 are attached at right angles to the inner ends of the left and right square pipes 141, and the end fittings 150 are also parallel to the square pipes between the bearing stands 144 supporting the square pipes 141. In this arrangement, the both ends are fixed and the guide shaft 151 slides along the supported guide shaft 151. Between the stopper 152 and the bearing stand 144 fixedly installed at the middle point of the guide shaft 151 on both sides of each of the end fittings 150, and the end fitting 150,
A compression coil spring 153 having the same length and the same spring constant is installed around the guide shaft 151.

Therefore, as described above, the length adjusting motor 1
When the circular pipe 142 is rotated by 49 and the effective length of the left stay is extended, the left circular pipe 142 is eventually
The left leg portion 1b connected to is tilted (swinged) in the counterclockwise direction by lever action with the position of the pin 24 as a fulcrum. Conversely, when the effective length of the right stay is shortened, the right leg 1b connected to the right round pipe 142 is also tilted (swinged) in the counterclockwise direction about the pin 24 as a fulcrum. . Thus, the left and right legs 1b, 1b can be tilted exactly the same, and the posture in the vertical direction can be maintained by a single control of the motor 149 on a sloping ground in the inter-orbit direction as shown in FIG. Needless to say, when the inter-orbit dimension changes greatly, whether on a flat ground or on a sloping ground, the left and right legs 1b and 1b respond in response to the symmetrical force balance of the four coil springs 153 in total. Tilts (swings) symmetrically about the pin 24.

The stay supporting device described above that intervenes the connection with the round pipe 142 in order to absorb the displacement component in the height direction when tilting the both legs 1b, 1b with the pin 24 as the fulcrum described above. The 143 has a mechanism capable of sliding in the height direction. (Twelfth Embodiment) The tea garden management apparatus shown in FIGS. 18A to 18C has the same structure as that of the embodiment shown in FIG. It responds with the rocking of the symmetrical shape with respect to the vertical direction. In addition, it is configured to respond similarly when the inter-orbital size changes in magnitude in a sloping ground in the inter-orbital direction (see FIG. 19).

Much of the detailed description is given to the description of FIG. 9, and only the summary will be described below. A slider 3 in which one end of a pair of left and right stays 2, 2 is connected in a bilaterally symmetrical position is vertically movable along a vertical guide shaft 4. Coil springs 5 for compression are installed above and below the slider 3 that moves up and down along the guide shaft 4, and the position of the slider is regulated by the action of the coil spring. Although not shown, the slider installation blocks 76 supporting the upper and lower ends of the guide shaft 4 can be moved in the left-right direction (inter-track direction) on the horizontal frame 1a by a motor as in FIG. The motor is a horizontal frame 1
It is driven and controlled by an inclination detector 28 which is installed at a and detects the direction and angle of inclination of the horizontal frame in the inter-orbit direction.

This embodiment is further different from the embodiment shown in FIG.
When the chord B ′ of the tea-cutting surface b of the tea plant B cultivated on the sloped land in the direction of the orbit is horizontal as shown in FIG.
As a means for the tea mower to cut evenly on the left and right to prevent leftovers from being left at the hem, the support points of the center side support device of the tea mower are located at the left, right, front and rear center points of the horizontal frame 1a. Moreover, it is also characterized in that it is rotatably installed at a position at the same height as the pin 24 connecting the two leg portions 1b, 1b and the horizontal frame 1a.

Specifically, the central portion of the frame 160 that rotatably supports the vertical feed screw shaft 13 for supporting the tea mower rotated by the round handle 11 is a swing shaft that is horizontal in the front-rear direction. It is rotatably installed on the horizontal frame 1a by 161. The frame 160 makes a stable rotation along a flat plate-shaped guide plate 162 provided vertically downward from the horizontal frame 1a. Therefore, as shown in FIG. 19, when the legs 1b, 1b of the management vehicle are maintained in the vertical posture even on the sloping ground in the inter-orbit direction, the frame 160 is rotated about the swing shaft 161. Feed screw shaft 13
Can also be maintained in the vertical orientation. The feed screw shaft 1
3 is screwed into a base portion of a bracket 164 that slides stably using the inner surface of the guide plate 162 as a slide surface, and the bracket 164 is lifted and lowered by the rotation operation of the feed screw shaft 13 by the round handle 11. The bracket 164 is projected substantially horizontally toward the center point of the horizontal frame 1a, and is the tip of the bracket 164 at the horizontal frame 1a.
At the position of the center point of, the attachment 165 (bolt with lever) of the tea mower is installed vertically downward. FIG. 18B
Reference numeral 166 in the middle is a long groove for a fixture for supporting the outer side portion of the mower so as to be able to move up and down.

(Thirteenth Embodiment) The tea plantation management apparatus shown in FIGS. 20A to 20C has the same structure as the embodiment of FIG. 9 and the embodiment of FIG. Responding to the change, the slider 3 is moved up and down and the two legs 1b and 1b are rocked symmetrically with respect to the vertical direction. Also, when the dimension between the orbits changes in the sloping ground in the direction between the orbits,
It is configured to respond similarly. The detailed structure and description therefor are similar to those of the embodiment of FIG. 9 and the embodiment of FIG.

Unlike the embodiment shown in FIG. 9 and the embodiment shown in FIG. 18, this embodiment further has a chord B'of the cutting surface b of the tea plant B cultivated on the sloped land in the direction between the tracks as shown in FIG. 4B or C. 9 is parallel to the sloping ground, the screw shaft 13 for supporting the grass mower is integrated with the guide shaft 4 in the left-right direction (between the orbits) as in the embodiment of FIG. However, when the chord B ′ of the cutting surface b is cultivated in the horizontal direction regardless of the inclined ground as shown in FIG. 19, the screw shaft 13 is The same as the pin 24, which is released from the integral relationship with the guide shaft 4 and which is located at the center point of the horizontal frame 1a and connects the horizontal frame 1a and both legs 1b and 1b, as in the embodiment of FIG. It is possible to rotate at the height position of and it can be oriented parallel to the vertical line (see Fig. 19). Is configured, selective use of the screw shaft 13 is possible.

As a means for this, a frame 171 for installing the slider installation block 170 and the screw shaft 13 for supporting the grass mower in the left-right direction (inter-track direction) within the plane of the horizontal frame 1a.
Is provided with a common guide rail 172. The slider installation block 170 is installed such that the inside thereof is guided by the guide rail 172 and is moved in the left-right direction by the rotation of a feed screw shaft 173 arranged in parallel with the guide rail 172. The guide shaft 4 is vertically supported by fixing the upper and lower ends to the outer surface of the slider installation block 170, and the slider 3 is installed on the guide shaft 4 so as to be vertically movable. The feed screw shaft 173 is rotationally driven by a feed motor 174 with a speed reducer. The feed motor 174 is drive-controlled in accordance with a detection value of a tilt detector 28 that is installed in the horizontal frame 1a and detects the direction and angle of inclination of the horizontal frame between the orbits. on the other hand,
The frame 171 on which the screw shaft 13 is installed is guided to slide on one side by the guide rail 172.
The other side is supported by a feed screw shaft 175 arranged in parallel with the guide rail 172, and the feed screw shaft 1 is also provided.
It is configured to move in the left-right direction by the rotation of 75. The two parallel feed screw shafts 173 and 175 are
The sprockets 173a and 175a having the same number of teeth attached to the respective ends are connected by a chain 176, and are rotationally driven in the common direction at the same speed by the feed motor 174. However, the feed screw shaft 17 on the side supporting the mower
5, a clutch 177 is installed at an intermediate position between the sprocket 175a and the feed screw shaft 175 so that the feed screw shaft 175 is controlled by turning the clutch 177 on and off.
At 74, it is possible to select whether to rotate or not to rotate. In connection with the above selection, although the slider installation block 170 and the frame 171 are also not shown in the drawings, the relative movements of adjacent portions of the slider installation block 170 and the frame 171 are integrally moved by connecting the adjacent portions with, for example, insert pins. Or pulling out the insertion pin to separate the two, the frame 171
The position of is configured to be selectable to remain fixed.

Next, the screw shaft 13 for supporting the tea mower.
Is vertically threaded through the center of the sphere of the ball joint 178 supported by the frame 171, and is installed so that its position is located at the center point of the horizontal frame 1a in the left-right direction and the front-back direction in the standard state. The rotary handle 11 is rotated to move up and down. The ball joint 178 has its ball center position at the same height as the pin 24 connecting the two leg portions 1b of the management carriage to the horizontal frame 1a. The globe (or socket) member of the ball joint 178 is configured so that the ball can be fixedly fixed or rotated by tightening or loosening the tightening bolt 179. Therefore, this tea garden management device is shown in FIG.
When the tea plant B is used in a tea garden where the chord B'of the cutting surface b is cultivated in parallel with the sloped ground in the inter-orbital direction like B and C, the screw shaft 13 is set in the direction parallel to the guide shaft 4. The slider mounting block 170 and the frame 171 are fixed and used in the selection of conditions for moving in the left-right direction in an integral relationship. However, as shown in FIG. 19, when the string B ′ of the cutting surface b is used in a tea garden cultivated in the horizontal direction regardless of whether the ground is inclined or not, the slider installation block 170 is used.
And the frame 171 are released, the screw shaft 13 is positioned at the center point of the horizontal frame 1a, the tightening bolt 179 is loosened, and the screw shaft 13 is maintained in a vertical posture parallel to both legs 1b. used.

Reference numeral 180 in FIG. 20B indicates the screw shaft 13.
Is a fixture (nut with a lever) for supporting the tea mower provided at the lower end of the tea mower. Incidentally, FIG. 9 to FIG.
Each of the above embodiments has been shown and described with the configuration applied to the sloped land in the inter-orbit direction, but the structure type is applied to the sloped ground in the track axis direction as already described in the second embodiment. It is also possible to apply and implement both of the columns that form the part in a configuration for maintaining the posture in the vertical direction. Furthermore, it can be applied to a three-dimensional sloping ground inclined in the inter-orbital direction and the orbital axis direction, for example, by applying it in the manner described in the third embodiment.

[0074]

The effects of the present invention are as follows:
In summary, the following effects are achieved. For use on sloping land between tracks, control cart 1
Since both leg portions 1b and 1b maintain a symmetrical posture with respect to the vertical direction, the risk of the management cart falling over can be eliminated, and stable and quick traveling is possible. Further, the same applies to use on a sloped land in the direction of the orbit axis and a three-dimensional sloped ground. As a tea garden management device, the management trolley is configured to run on both tracks between the ridges, and a leg or (and) strut inclination correcting means is installed between the horizontal frame and the leg or (and) strut. However, since the driving means is also installed and the driving means is automatically controlled by the inclination detector 28 installed on the horizontal frame, it is not limited to use on a flat ground, and the direction between the tracks or (and ) Even when used on a sloped ground in the direction of the track axis, or when the size of the track is changed, regardless of the hardness or softness of the ground surface of the furrow, regardless of the size or size of the pebbles, or the above items are included. Therefore, no matter what kind of ground conditions, the distance (height dimension) between the horizontal frame 1a and the ground is automatically kept almost constant, and it is necessary to maintain a constant height above the ground. It is possible to maintain and improve the quality of the tea leaves, since it can perform such cutting work as That. Based on the above conditions as a precondition, in addition to use on flat ground, on sloping ground, and even when the dimension between tracks is changed, the two legs of the control carriage are Horizontal frame 1a on the vertical line n passing through the midpoint of
Can be automatically swung symmetrically with respect to the vertical direction so that the center point d in the left-right direction is located, and on the extension line of the center line b ″ of the cutting surface b passing through the center of the tea plant B. In addition, since the center line of the management device supporting means located in the central part of the horizontal frame is located, the trunk passes through the central part of the tea plant, and the cutting surface is always symmetrical and the quality is even. Therefore, the following effects (1) and (2) can be obtained not only on flat ground but also on sloping ground and when the dimension between tracks changes.

(1) Since it is possible to mow old leaves, stems, etc. without leaving uncut residue on both hems of the tea mowing surface, it is possible to efficiently and consistently obtain high quality tea leaves of constant quality.
High yields can be harvested. (2) In the case of a single-sided mowing tea-mower, it is only necessary to suspend the leg-side support screw shaft at the same position on the other leg when reversing the right and left at the ridge end. When the cross section perpendicular to the axis of the track is quadrangular and it is applied not only on flat ground but also on sloped ground where the inclination angle changes or the inter-orbit dimension changes in the inter-track direction, there are many Even if the support pile 94 is always driven vertically, point contact between the upper surface of the track and each wheel is avoided, and the line contact state is always maintained, so that the stable load and traveling state of the tea garden management device can be maintained. In addition, workability and accuracy (track straightness) in track laying work centered on pile driving can be improved. In addition, the line contact between the upper surface of the track and each wheel is horizontal even on sloping ground in the inter-track direction,
Lateral loads and bending do not act on the track even during work such as cutting tea, and it is possible to prevent the support pile from tilting (bending) or bending even during long-term use. It is less likely that the wheel drive installed near the wheels on the legs will touch the hem of the tea plant and damage it. Due to work convenience, it is easy for a person to pass by the side of the management carriage in the front-rear direction along the passage between the ridges. Since the driving means is controlled by the tilt detector to operate the leg or / and post tilt correction means, the tilt direction changes in one ridge as well as when the tilt direction changes (for example, , From the south-facing side to the north-facing side), it is possible to respond automatically at all times.

[Brief description of drawings]

FIG. 1 is a front view showing a tea garden management apparatus according to a first embodiment of the present invention.

FIG. 2 is a side view of the tea garden management device of the above.

FIG. 3 is a plan view of the tea garden management device of the above.

FIG. 4A is a conceptual diagram showing an operation of the above-mentioned management carriage in flat ground responding to a change in inter-track dimension, B is a conceptual diagram showing operation on a sloping land in an inter-track direction, and C is an inter-track direction. It is a conceptual diagram which showed operation | movement when the dimension between tracks changes in a sloping ground.

5A and 5B are a side view and a partially omitted plan view showing a management vehicle of a second embodiment.

[Fig. 6] Fig. 6 is a conceptual diagram showing an operation of the above-described management cart on a sloped land in the track axis direction.

FIG. 7A is a perspective view conceptually showing the structure of the management cart of the third embodiment, and B is a front view showing the structure of the wheel portion.

[Fig. 8] Fig. 8 is a conceptual diagram showing the operation of the above-mentioned management vehicle on a slope in the inter-track direction.

9A to 9C are a front view, a side view, and a plan view showing a management carriage according to a fourth embodiment.

10A and 10B are a front view and a side view showing a management cart of a fifth embodiment.

11A and 11B are a front view and a side view conceptually showing a management carriage of the sixth embodiment.

12A and 12B are a front view and a side view conceptually showing a management vehicle of a seventh embodiment.

FIG. 13 is a front view conceptually showing the operation of the management trolley on the sloping ground in the inter-track direction.

FIG. 14 is a front view showing a management carriage of an eighth embodiment.

FIG. 15 is a front view showing a management carriage of a ninth embodiment.

16A and 16B are a front view and a side view showing a management cart of a tenth embodiment.

17A to 17C are a front view, a side view, and a plan view showing a management cart of an eleventh embodiment.

18A to 18C are a front view, a side view, and a plan view showing a management carriage of a twelfth embodiment.

FIG. 19 is a front view conceptually showing an operating state of the above-mentioned management cart on a slope in the inter-track direction.

20A to 20C are a front view, a side view, and a plan view showing a management carriage of a thirteenth embodiment.

21A and 21B are a front view and a side view showing a structure for adjusting a mounting position of a stay.

22A and 22B are front views conceptually showing an operation state of a management carriage of a conventional tea garden management apparatus on an inclined land in an inter-track direction.

[Explanation of symbols]

 1a Horizontal frame 1b Legs 17 Wheels 1 Management trolley 7 Tea cutting machine 15 Track 45 Feed motor (driving means) 28 Tilt detector 2 Stay 3 Slider 92 Actuator (length adjusting mechanism) 120 Length adjusting mechanism 91 Link 63 Link 1b 'Support post p Midpoint between tracks n Vertical line d Central point of horizontal frame b Tea cutting surface b ″ Center line 13 Screw shaft for supporting the mower 15 ′ Rectangular rail 94 Support pile 90 Wide wheel

Claims (16)

[Claims] 1. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. In the tea garden management device, which has a management device, and the upper portions of the both legs are rotatably connected to the left and right ends of the horizontal frame in the inter-orbital direction, the management carriage is provided between the ridges on both sides of the tea ridge. It is configured to travel on both tracks laid by wheels, and means for correcting leg inclination, which is installed by interposing a horizontal frame and both legs,
The horizontal frame includes a driving unit of the correction unit and a tilt detector installed on the horizontal frame for detecting the direction and angle of inclination of the horizontal frame in the inter-orbit direction, and the horizontal frame detected by the tilt detector. The driving means is controlled according to the direction and angle of inclination of the two legs, and the two legs are configured to be capable of maintaining a bilaterally symmetrical posture with respect to the vertical direction even when the dimension between the orbits changes in the inclined ground in the interorbit direction. A tea plantation management device characterized by being installed. 2. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at lower ends of the legs, and a lawnmower and the like mounted on the management trolley. In the tea garden management device, which has a management device, and the upper portions of the both legs are rotatably connected to the left and right ends of the horizontal frame in the inter-orbital direction, the management carriage is provided between the ridges on both sides of the tea ridge. It is configured to run on both laid tracks by wheels, and one end of each of the pair of left and right stays is connected to symmetrical positions of both legs.
Each other end side is connected to a symmetrical position at the center of the horizontal frame in the left-right direction, and the connecting portion of the pair of left and right stays at the center is movable in the left-right direction. A drive means for moving in the left-right direction is installed, and an inclination detector for detecting the direction and angle of inclination of the horizontal frame in the inter-orbital direction is installed on the horizontal frame, and the horizontal frame detected by the inclination detector is installed. The driving means is controlled in accordance with the direction and angle of inclination of the frame, and the two legs are configured to be capable of maintaining a bilaterally symmetrical posture with respect to the vertical direction even when the dimension between the orbits changes in an inclined land in the interorbit direction. A tea plantation management device characterized in that 3. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. In the tea garden management device, which has a management device, and the upper portions of both legs are rotatably connected to the left and right ends of the horizontal frame in the inter-track direction, It is configured to travel by wheels on both laid tracks, and one end side of each of the pair of left and right stays is connected to symmetrical positions of both leg parts,
Each of the other ends is connected to a symmetrical position at the center of the horizontal frame in the left-right direction, and the pair of left and right stays has an adjustable effective length between both side portions. The driving means of the height adjusting means is installed, the horizontal frame is provided with an inclination detector for detecting the direction and angle of the inclination of the horizontal frame in the inter-orbit direction, and the horizontal frame detected by the inclination detector is installed. The driving means is controlled in accordance with the direction and angle of inclination of the frame, and the two legs are configured to be capable of maintaining a bilaterally symmetrical posture with respect to the vertical direction even when the dimension between the orbits changes in an inclined land in the interorbit direction. A tea plantation management device characterized in that 4. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. In the tea garden management device, which has a management device, and the upper parts of the both legs are rotatably connected to the left and right ends of the horizontal frame in the inter-orbital direction, the management carriage is located between the ridges on both sides of the tea ridge. It is configured to travel by wheels on both laid tracks, and is a parallelogram with a horizontal frame, both legs, and links parallel to the horizontal frame and having both ends connected to the two legs. A link mechanism is formed, the link is movable in the left-right direction, drive means for moving the link in the left-right direction is installed, and the horizontal frame has an inclination in the inter-orbital direction of the horizontal frame. An inclination detector that detects the direction and angle is installed, and the inclination detector Therefore, the drive means is controlled in accordance with the detected inclination direction and angle of the horizontal frame, and the two legs have a bilaterally symmetrical posture with respect to the vertical direction even if the dimension between the orbits changes in the inclined land in the interorbit direction. A tea plantation management device characterized by being configured so that it can be maintained. 5. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawnmower mounted on the management trolley and the like. In the tea garden management device having a management device, the management cart is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and both legs have their respective legs. The upper part of both the front and rear columns that are configured is connected to the front and rear ends of the horizontal frame so as to be rotatable in the orbital axis direction, and the column tilt installed by interposing the horizontal frame and the front and rear columns. Correction means and driving means for the correction means,
And a tilt detector that is installed at a proper position of the management carriage to detect the inclination of the management carriage in the direction of the track axis, and the drive means is controlled according to the tilt of the management carriage detected by the tilt detector, The tea plantation management device is characterized in that both of the support columns are configured to be capable of maintaining a vertical posture even on a sloping ground in the track axis direction. 6. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawnmower mounted on the management trolley and the like. In the tea garden management device having a management device, the management cart is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and both legs have their respective legs. The upper parts of both the front and rear columns that make up are connected to the front and rear ends of the horizontal frame so as to be rotatable in the orbital axis direction. The other end side is connected to a symmetrical position in the central portion of the horizontal frame in the front-rear direction, and the connecting portion of the pair of front and rear stays in the central portion is movable in the front-rear direction. A drive means is installed to move the car to the left and right, and it is placed in the proper position on the management cart. An inclination detector for detecting the inclination of the management carriage in the track axis direction is installed, and the drive means is controlled according to the inclination of the management carriage detected by the inclination detector. A tea plantation management device, characterized in that it is configured to be able to maintain its vertical posture. 7. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. In the tea garden management device having a management device, the management cart is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and both legs have their respective legs. The upper parts of the front and rear columns that make up are connected to the front and rear ends of the horizontal frame so as to be rotatable in the orbital axial direction, and each end of the pair of front and rear stays is connected to the symmetrical positions of the front and rear columns. Each of the other ends is connected to a symmetrical position in the center of the horizontal frame in the front-rear direction, and the pair of front and rear stays is capable of adjusting the effective length between both side portions, respectively. A drive means for adjusting the effective length is installed, and the control stand is placed in the proper place. An inclination detector for detecting the inclination of the track axis direction is installed, and the drive means is controlled according to the inclination of the management carriage detected by the inclination detector. A tea plantation management device, characterized in that it can maintain its vertical posture. 8. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at lower ends of the legs, and a lawnmower and the like mounted on the management trolley. In the tea garden management device having a management device, the management cart is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and both legs have their respective legs. The upper parts of both the front and rear columns that make up are connected to the front and rear ends of the horizontal frame so as to be rotatable in the orbital axis direction. The horizontal frame, the front and rear columns, and both ends parallel to the horizontal frame. A parallelogram link mechanism is formed by the links connected to the two columns, the links are movable in the front-rear direction, drive means for moving the links in the front-rear direction is installed, and a management cart Detecting the inclination of the control truck in the track axis direction in the right place Oblique detector is installed,
The drive means is controlled according to the inclination of the management carriage detected by the inclination detector, and both front and rear columns are configured to be capable of maintaining a vertical posture even on a sloping ground in the track axis direction. Tea garden management device. 9. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. In the tea garden management device, which has a management device, and the upper portions of the both legs are rotatably connected to the left and right ends of the horizontal frame in the inter-orbital direction, the management carriage is located between the ridges on both sides of the tea ridge It is configured to run on both laid tracks by wheels, and a leg inclination correcting means installed by interposing the horizontal frame and both legs, a driving means for the correcting means, and a lateral means. A tilt detector installed on the frame to detect the tilt direction and angle of the horizontal frame between the orbits, and the tilt detector according to the tilt direction and angle of the horizontal frame detected by the tilt detector. The drive means is controlled,
Both legs are capable of maintaining a bilaterally symmetrical posture with respect to the vertical direction even if the dimension between the orbits changes on a sloped land in the direction between the orbits, and the both leg parts are formed before and after forming each leg. An upper part of the pillar is connected to the front and rear ends of the horizontal frame so as to be rotatable in the orbital axis direction, and a means for correcting the inclination of the pillar installed by interposing the horizontal frame and both the pillars,
The driving means of the correction means, and a tilt detector installed at a proper position of the management carriage for detecting the inclination of the management carriage in the direction of the track axis, and depending on the tilt of the management carriage detected by the tilt detector. A tea plantation management device, characterized in that the driving means is controlled so that both columns are configured to be capable of maintaining a vertical posture even on a sloped ground along the track axis. 10. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. The upper part of the both leg parts is connected to the left and right end parts of the horizontal frame so as to be rotatable in the inter-orbital direction, and the both leg parts are configured to be swingable in a symmetrical shape. In the tea garden management device, the management cart is configured to run by wheels on both tracks that are laid between the ridges on both sides of the tea ridge, and one end of each pair of left and right stays has symmetrical positions of both legs. Connected to
Each other end side is connected to a symmetrical position at the center of the horizontal frame in the left-right direction, and the connecting part of the pair of left and right stays at the center is left and right together with the management device support means located at the center of the horizontal frame. It is configured to be movable in any direction, and drive means for moving the connecting portion in the left-right direction together with the management device supporting means is installed. The horizontal frame detects the direction and angle of inclination of the horizontal frame in the inter-orbit direction. The inclination detector is installed, the driving means is controlled according to the inclination direction and the angle of the horizontal frame detected by the inclination detector, and even if the inter-orbit dimension changes in the inter-orbit sloping ground, Both legs can be rocked symmetrically with respect to the vertical direction so that the center point of the horizontal frame is located on the vertical line passing through the midpoint between the tracks, and on the extension line of the center line of the cutting surface The center line of the management device support means can be located Tea garden management apparatus characterized by being. 11. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawnmower mounted on the management trolley and the like. The upper part of the both leg parts is connected to the left and right end parts of the horizontal frame so as to be rotatable in the inter-orbital direction. In the tea garden management device, the management trolley is configured to travel by wheels on both tracks laid between the ridges on both sides of the tea ridge, and its horizontal frame, both legs, and the horizontal frame. A parallelogram link mechanism is formed by the links which are parallel and whose both ends are connected to the both leg parts. Installed drive means to move the link to the left and right The horizontal frame is provided with an inclination detector that detects the direction and angle of inclination of the horizontal frame between the orbits, and the inclination detector detects the inclination direction and angle of the horizontal frame detected by the inclination detector. Even if the inter-orbital dimension changes on a sloped land in the inter-orbital direction by controlling the driving means, both legs are vertically aligned so that the center point of the horizontal frame is located on the vertical line passing through the midpoint between the orbits. On the other hand, the tea garden management device is characterized in that it can be oscillated symmetrically to the left and right, and that the center line of the management device supporting means can be located on an extension line of the center line of the tea cutting surface. 12. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at lower ends of the legs, and a lawnmower mounted on the management trolley and the like. Management equipment, the upper portions of the both leg portions are connected to the left and right end portions of the horizontal frame so as to be rotatable in the inter-orbital direction, and the both leg portions are configured to be swingable in a symmetrical shape. In the tea garden management device, the management cart is configured to run by wheels on both tracks that are laid between the ridges on both sides of the tea ridge, and one end of each pair of left and right stays has symmetrical positions of both legs. Connected to
Each of the other ends is connected to a symmetrical position at the center of the horizontal frame in the left-right direction, and the connecting parts of the pair of left and right stays at the center are left and right together with the management device support means located at the center of the horizontal frame. It is configured to be movable in any direction, and a drive means for moving the connecting portion in the left-right direction together with the management device supporting means is installed. The horizontal frame detects the direction and angle of inclination of the horizontal frame between the orbits. An inclination detector that is installed is installed, the drive means is controlled according to the inclination direction and the angle of the horizontal frame detected by the inclination detector, and the inter-orbit dimension changes in the inter-orbit sloping ground, The two legs are swingable symmetrically with respect to the vertical direction so that the center point of the horizontal frame is located on the vertical line passing through the midpoint between the tracks, and on the extension line of the center line of the cutting surface. The center line of the management device support means can be located And the upper and lower ends of the front and rear columns that form the respective leg portions are connected to the front and rear ends of the horizontal frame so as to be rotatable in the orbital axis direction. And a strut inclination correcting means installed by interposing both the front and rear strut, and a driving means of the correcting means,
And a tilt detector that is installed at an appropriate position of the management carriage to detect the inclination of the management carriage in the direction of the track axis, and the drive means is controlled according to the tilt of the management carriage detected by the tilt detector. The tea plantation management device, wherein the pillars are configured to maintain a vertical posture even on a sloped land along the track axis. 13. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at lower ends of the legs, and a lawnmower mounted on the management trolley and the like. The upper part of the both leg parts is connected to the left and right end parts of the horizontal frame so as to be rotatable in the inter-orbital direction, and the both leg parts are configured to be swingable in a symmetrical shape. In the tea garden management device, the management trolley is configured to run by wheels on both tracks laid between the ridges on both sides of the tea ridge, and is installed by interposing its horizontal frame and both legs. The horizontal frame includes a leg inclination correcting unit, a driving unit of the correcting unit, and a tilt detector installed on the horizontal frame to detect the direction and angle of inclination of the horizontal frame in the inter-orbit direction. The management device support means located in the central part of the And the driving means is controlled in accordance with the direction and angle of inclination of the horizontal frame detected by the inclination detector, so that both legs can be controlled even if the inter-orbit dimension changes in the inter-orbit sloping ground. The part can be oscillated symmetrically with respect to the vertical direction so that the center point of the horizontal frame is located on the vertical line passing through the midpoint between the tracks, and the management is on the extension of the center line of the cutting surface. A tea garden management device, characterized in that the center line of the device supporting means can be positioned. 14. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. Management equipment, the upper portions of the both leg portions are connected to the left and right end portions of the horizontal frame so as to be rotatable in the inter-orbital direction, and the both leg portions are configured to be swingable in a symmetrical shape. In the tea garden management device, the management cart is configured to run on wheels on both tracks installed between the ridges on both sides of the tea ridge. Connected to
Each of the other ends is connected to a symmetrical position at the center of the horizontal frame in the left-right direction, and the management device supporting means located at the center of the horizontal frame is on the line connecting the connection points at the upper parts of the both legs. It can be selected to be fixed or swingable at right angles to the horizontal frame at the height position, and the connecting portion of the pair of left and right stays at the center of the horizontal frame is the same as the management device supporting means. It is possible to select whether it is independent or independent, and it is movable in the left-right direction. A driving means for moving the connecting portion in the left-right direction is installed, and the horizontal frame has an inter-orbital direction of the horizontal frame. An inclination detector that detects the direction and angle of the inclination of
The drive means is controlled according to the direction and angle of inclination of the horizontal frame detected by the inclination detector, and even if the dimension between the orbits changes in the inter-orbital sloping ground, the both leg parts are in the middle between the orbits. It is possible to swing symmetrically with respect to the vertical direction so that the center point of the horizontal frame is located on the vertical line passing through the points, and the center line of the management device supporting means is on the extension line of the center line of the cutting surface. A tea plantation management device, wherein the tea plantation management device is configured so that it can be located. 15. A management trolley in which legs are provided vertically downward at the left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawnmower mounted on the management trolley and the like. In the tea garden management device, which has a management device, and the upper portions of the both legs are rotatably connected to the left and right ends of the horizontal frame in the inter-orbital direction, the management carriage is provided between the ridges on both sides of the tea ridge. The structure is such that the wheels run on both laid tracks, and the cross section of the track perpendicular to the axis is a quadrangle, and the four faces of the quadrangle are oriented in the horizontal and vertical directions, and a pile that supports the track. Is a structure that is vertically driven into the ground, and the management cart is installed with the horizontal frame and both legs intervening to correct the inclination of the legs while keeping the distance between the legs constant. Means and
The driving means of the correction means and an inclination detector installed at a proper position of the management carriage for detecting the inclination of the management carriage in the inter-orbital direction, and the axial length of the wheel of one leg of the both leg parts. The width of the track is several to ten or more times larger than the width of the track, the drive means is controlled in accordance with the tilt of the control carriage detected by the tilt detector, and both legs are in the inter-track direction. The tea plantation management device, characterized in that it is configured to maintain a bilaterally symmetrical posture with respect to the vertical direction even if the dimension between the tracks changes on the sloping ground. 16. A management trolley in which legs are provided vertically downward at both left and right ends of a horizontal frame, and wheels are installed at the lower ends of the legs, and a lawn mower mounted on the management trolley and the like. Management equipment, the upper portions of the both leg portions are connected to the left and right end portions of the horizontal frame so as to be rotatable in the inter-orbital direction, and the both leg portions are configured to be swingable in a symmetrical shape. In the tea garden management device, the management carriage is configured such that the management carriage travels by wheels on both tracks laid between the ridges on both sides of the tea ridge, and the section perpendicular to the axis of the track is a quadrangle. The four sides of the quadrangle are oriented in the horizontal and vertical directions, and the piles that support the track are driven vertically. The management cart was installed with the horizontal frame and both legs as an intermediary. The leg inclination correcting means, the correcting means driving means, and the horizontal frame And a tilt detector for detecting the direction and angle of inclination of the same horizontal frame between the tracks, and each wheel is connected to the leg so as to be rotatable in the direction between the tracks. The driving means is controlled according to the direction and angle of inclination of the horizontal frame detected by the vessel, and both legs swing symmetrically with respect to the vertical direction even if the dimension between the orbits changes in the sloped land in the interorbit direction. A tea garden management device characterized by being configured to be movable.