JPH06327334A - Device for controlling tea garden - Google Patents

Abstract

PURPOSE:To obtain a tea garden controlling device useful for regulating operation in a hillside tea garden. CONSTITUTION:In a tea garden controlling device has a controlling truck 1 equipped with leg parts 1b at both right and left end parts of a horizontal frame 1a and provided with wheels 17 at both the leg parts 1b, the tea garden controlling device has a leg part inclination correcting means installed through the horizontal frame 1a and both the leg parts, a driving means for the correcting means and an inclination detector 28 for discovering the inclination of the leg parts in the inter-track direction wherein the driving means is controlled corresponding to the inclination of the leg parts discovered by the inclination detector and both the leg parts can maintain an attitude in the vertical direction even in change in inter-track dimension in a hillside land in the inter- track direction. Since one leg part 1b of the controlling truck 1 automatically maintains an attitude in the vertical direction even in a hillside land, danger of falling of the controlling truck can be prevented before it happens and the garden controlling device can stably and rapidly travel even at a hillside land.

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. By swinging (tilting) and absorbing changes in track width, it is possible to properly manage the cutting of tea plants.

Also, the cross section of the track laid between the ridges on both sides of the tea ridge is rectangular, and the width of the track remains the same as that of the circular track, and the flexural rigidity is improved as compared with the circular track. A technique is known in which the distance between the support piles on the track is widened to reduce the number of support piles to be laid.

[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. 3-201108, the change in the dimension between the orbits is merely a structure in which both legs simply swing (tilt) in a symmetrical shape. . Therefore, when it is used on a sloped ground in the inter-orbital direction, both leg portions 1b, 1b of the management carriage are tilted at right angles to the sloped ground, as illustrated in FIG. 21A or B. 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. The work of pruning and trimming is performed. Therefore, as shown in FIG. 21A 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 corridor between the tea ridges is important for tea garden management work, but even if a person tries to walk through the corridor, if the management trolley is tilted as described above, it will be difficult to pass through. (4) Next, the tea plantation management device in which the cross section perpendicular to the axis of the track is a quadrangle, when applied to a sloped land in the direction between the tracks, in order to maintain a stable load state and running state of the tea plantation management device,
In order to make the contact between the upper surface of the track (main body pipe) and the wheel a line contact, the upper surface of the track needs to be at the same slope as the sloping ground. Therefore, the support piles of the track are to be laid at a right angle to the sloping ground, the track laying work becomes inaccurate, and it is troublesome to obtain the straightness of the track.

[0005] In work such as cutting tea, lateral load and bending of the track are likely to occur. When the lateral load is applied for a long period of time, the pile may fall and the track may be laterally displaced. Bending of the track in the lateral direction easily induces uncut areas at the high-altitude hem of the cutting surface. By the way, of the total area of tea cultivation nationwide, about 60% of the slopes are over 5 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. A management trolley 1 provided with wheels 17 installed at the lower ends of both legs, and a tea cutting machine 7 mounted on the management trolley.
In the tea garden management device in which the upper parts of the both legs are connected to the left and right ends of the horizontal frame so as to be rotatable in the inter-track direction, the management carriage 1 includes both sides of the tea ridge. The wheel 17 is configured to run on both tracks laid between the ridges, and the leg inclination correcting means installed via the horizontal frame 1a and both legs, and the driving of the correcting means. Means and an inclination detector 28 installed on one leg 1b for detecting the inclination of the leg in the inter-orbital direction, and depending on the inclination of the one leg detected by the inclination detector. The driving means is controlled, and the one leg is configured to be capable of maintaining a vertical posture even when the dimension between the orbits changes in an inclined land in the interorbit direction.

According to a second aspect of the present invention, in the same tea garden management device as before, one end side of each pair of left and right stays 2 of the management carriage 1 is connected to symmetrical positions of both leg portions 1b, and each other end side thereof is a horizontal frame 1a. Is connected to a symmetrical position (slider 3) at the center in the left-right direction, and the effective length between the pair of left and right stays can be adjusted. A drive means is installed, an inclination detector 28 for detecting inclination of the leg portion in the inter-orbital direction is installed on one leg portion 1b, and the inclination detector 28 detects the inclination of the one leg portion detected by the inclination detector. The drive means is controlled,
The one leg is configured to be able to maintain the vertical posture even when the dimension between the orbits changes in a sloped land in the interorbital direction.

According to a third aspect of the present invention, in the same tea garden management apparatus as described above, the management carriage includes a horizontal frame 1a, both legs, and a link parallel to the horizontal frame and having both ends connected to the both legs. Form a parallelogram link mechanism, the link is movable in the left-right direction, drive means for moving the link in the left-right direction is installed, and one leg part of the inter-orbital direction of the leg part is provided. An inclination detector 28 for detecting inclination is installed, the drive means is controlled in accordance with the inclination of the one leg detected by the inclination detector, and the one leg 1b is on an inclined land in the inter-track direction. It is configured so that it can maintain its vertical posture even if the dimension between the tracks changes.

A fourth aspect of the present invention is also the same tea garden management apparatus as that of the first aspect of the invention, in which the management trolley 1 is configured to run on wheels on both tracks provided between the ridges on both sides of the tea ridge. At the same time, the leg inclination correcting means installed by interposing the horizontal frame 1a and both legs, the driving means of the correcting means, and the inclination of the same leg installed in one leg in the inter-orbit direction. An inclination detector 28 for detecting, and the drive means is controlled according to the inclination of the one leg detected by the inclination detector, and the one leg is inter-orbit on an inclined track in an inter-orbit direction. It is possible to maintain the vertical posture even if the dimensions change. 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 the horizontal frame and the two columns. And a tilt detector 28 which is installed at a proper position of the management carriage and detects a 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 fifth aspect of the present invention, there are 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 the lower ends of the both legs, and the management carriage. In the tea garden management device, which has a management device such as a mounted tea mower 7 and the upper portions of the both leg portions are rotatably connected to the left and right ends of the horizontal frame in the inter-track direction, The wheels 17 on both tracks installed between the ridges on both sides of the tea ridge.
Each of the left and right stays has one end connected to symmetrical positions on both legs, and the other ends connected to symmetrical positions on the horizontal 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. Drive means is installed to
An inclination detector 28 for detecting inclination of the leg portion in the inter-orbital direction is installed on one leg portion, and the drive means is controlled according to the inclination of the one leg portion detected by the inclination detector, The one leg is configured to be able to maintain the vertical posture even when the dimension between the orbits changes in a sloped land in the interorbital direction.

According to a sixth aspect of the present invention, in the same tea garden management device as described above, 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 both legs are provided. Forms a parallelogram link mechanism 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 drive means for moving the link in the left and right direction is installed. An inclination detector 28 for detecting the inclination of the leg in the inter-orbital direction is installed on the leg portion, and the drive means is controlled according to the inclination of the one leg portion detected by the inclination detector, One leg 1b is configured to be able to maintain the vertical posture even when the dimension between the orbits changes in a sloping ground in the direction between the orbits.

According to a seventh aspect of the present invention, in the same tea garden management device as described above, 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 left and right sides of the horizontal frame is connected. 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 to move in the left-right direction together with the management device support means, an inclination detector for detecting the inclination of the leg portion in the inter-orbital direction is installed on one leg, and the inclination detector detects the inclination. The drive means is controlled in accordance with the inclination of one leg portion, and the one leg portion 1b is configured to be able to maintain the vertical posture even when the dimension between the orbits changes in the inclined land in the interorbit direction. Further, the both leg portions are connected to upper and lower portions of both front and rear columns constituting each leg portion so as to be rotatable in the orbital axial direction with respect to both front and rear end portions of the horizontal frame 1a. A support inclination correction means installed via the support pillar, a drive means for 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 track axis direction are provided. ,
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.

According to an eighth aspect of the present invention, in the same tea garden management apparatus as described above, the management carriage 1 is provided with a horizontal inclination frame 1a and both legs, and a leg inclination correcting means installed between the leg and the driving means. Means and an inclination detector 28 installed on one leg for detecting the inclination of the leg in the direction between the orbits, and the management device supporting means located at the center of the horizontal frame is the upper part of both legs. Is swingable at a height position on a line connecting the connecting points of the two, and the drive means is controlled according to the inclination of the one leg detected by the inclination detector, and the one leg 1b. Even if the inter-orbit dimension changes on a sloped land in the inter-orbit direction,
It is configured so that it can maintain its vertical posture.

According to a ninth aspect of the present invention, in the same tea garden management device as described above, one end of each of a pair of left and right stays in the management carriage 1 is connected to symmetrical positions of both legs 1b, and the other end is connected to the left and right of the horizontal frame 1a. Is connected to a symmetrical position at the center of the horizontal frame, and the management device supporting means located at the center of the horizontal frame is connected to the horizontal frame 1a at a height position on the line connecting the connection points at the upper portions of the two legs. It can be selected to be fixed at right angles or to be swingable, and whether the connecting portion of the pair of left and right stays in the central portion of the horizontal frame 1a is the same as or separate from the management device supporting means. A tilt detector that is selectable and movable in the left-right direction, is provided with drive means for moving the connecting portion in the left-right direction, and detects a tilt of one leg in the direction between the orbits of the leg. 28 is installed and detected by the tilt detector The driving means is controlled in accordance with the inclination of the one leg portion, and the two leg portions 1b are configured to be able to maintain the vertical posture even if the dimension between the orbits changes in an inclined land in the interorbit direction. There is.

The tenth invention is the same as the fifth invention.
Legs 1b are provided vertically downward at the left and right ends of the horizontal frame 1a, and a management carriage 1 having wheels 17 installed at the lower ends of the legs, and a tea cutting machine 7 mounted on the management carriage. A management trolley having a management device, and the upper portions of both legs are connected to the left and right ends of the horizontal frame so as to be rotatable in the inter-orbital direction.The management trolley is laid between the ridges on both sides of the tea ridge. The management trolley 1 is configured to travel by wheels on both of the formed tracks, and the cross section of the track at a right angle to the axis is a quadrangle, and the four sides of the quadrangle are oriented in the horizontal and vertical directions to support the track. The pile 94 to be driven is configured to be driven vertically, and the management cart 1 has a leg inclination correcting means installed via the horizontal frame 1a and both legs, and a driving means for the correcting means. Tilt detection installed on one leg to detect the inclination of the leg in the direction between the tracks 28, each wheel is rotatably connected to the legs in the inter-track direction, and the drive means controls in accordance with the inclination of the one leg detected by the inclination detector. The one leg portion 1b is configured to be able to maintain the vertical posture even when the inter-orbit dimension changes on a slope in the inter-orbit direction.

[0016]

The control carriage 1 of the tea garden management device can be used not only when it is used on a flat ground but also when it is used on a sloping ground in the direction of the track, for the inclination of one leg detected by the inclination detector 28. Depending on the operation of the leg inclination correcting means in response, the connecting portion or the link of the stay is moved in the left-right direction, or the effective length of the stay is adjusted, one leg portion 1b of the management carriage moves in the vertical direction. The posture is maintained to ensure a stable load condition and stable running condition.

Further, the management cart 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.
By the operation of the correction means of the column inclination according to the inclination of the one leg detected by the inclination detector 28, the connecting portion or the link of the stay is moved in the front-back direction, or the effective length of the stay is adjusted. Both the front and rear struts constituting the leg portion 1b of the management trolley are maintained in a vertical posture to secure a stable load state and a stable traveling state.

The management cart can be used not only when it is used on a flat ground but also when it is used on an inclined ground, by moving the connecting portions or links of the stays in the left-right direction so that both legs can keep swinging. Then, the center line b ″ of the cutting surface b
The center of the management device supporting means located in the central portion of the horizontal frame 1a can be brought closer to the extension of No. 1 and the uniform cutting of the symmetrical shape of the tea cutting surface b is enabled.

Even if a large number of support piles 94 are vertically driven on a sloping ground where the dimension or inclination angle in the inter-track direction changes, it is possible to ensure line contact between the upper surface of the track 15 'having a quadrangular cross section and the wheel. And since the line contact is horizontal,
There is no lateral load or bending on the track.

[0020]

EXAMPLE An example of the present invention shown in the drawings will be described below.
The tea plantation management device shown in FIGS. 1 to 3 is formed in a gate shape in which a management carriage 1 is straddled over both tracks 15, 15 laid in the ridges (passages) on both sides of the tea ridge, and both legs thereof. The wheels 17 of 1b and 1b are configured to travel on the track 15. The management 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 are formed at approximately intermediate positions in the height direction of the left and right legs, and symmetrically at both front and rear end faces (or one end face) of the management carriage 1. One end of each of the stays 2 and 2 of the book is rotatably connected by a pin shaft 25, and the other end thereof is left and right of the slider 3 located in the center of the horizontal frame 1a in the left-right direction (inter-track direction). The pin shaft 26 is connected to the symmetrical position. The slider 3
Can be moved up and down along a guide shaft 4 installed vertically at the center of the horizontal frame 1a. More specifically, brackets 30 and 30 are provided on the upper and lower portions of a slider installation block 29 that stands vertically on the horizontal frame 1a so as to project outward, and a guide shaft perpendicular to the upper and lower brackets 30 and 30. The upper and lower parts of 4 are fixed and supported. 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, 5 are
They are of equal length and have the same spring constant, and both legs 1b, 1b of the management cart 1 are installed so as to be balanced in a vertical posture. The upper and lower coil springs 5 and 5 are elements that exert a restoring force to the neutral point when the sliders 3 are displaced from the neutral point by tilting both the leg portions 1b and 1b according to the change in the dimension between the tracks. However, the two leg portions 1b, 1b are constrained by a so-called slider link mechanism composed of two stays 2, 2 and a slider 3 which are arranged symmetrically, and perform bilaterally symmetrical tilting (swing), so that the coil spring 5 is eliminated. Even management trolley 1
There is no particular hindrance to the use of.

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 chain double-dashed line 2'in FIG. 4A.
Alternatively, as shown in FIG. 20A or 20B, a short tubular connecting adapter 4 is attached to the support column 1b 'which constitutes the leg portion.
Set 6 up and down freely. A socket 47 through which the stay 2 is inserted is rotatably installed on the connection adapter 46 by a pin shaft, and a manual lever 48 'for fixing or loosening the stay 2 passed through the socket 47.
A tightening bolt 48 is attached. Further, at the bottom, a tightening bolt 4 with a manual lever 49 'for fixing or loosening the connection adapter 46 to the support 1b'.
9 are installed. 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, the manual lever 48 'is first rotated to loosen the tightening bolt 48, and then the manual lever 49'.
To loosen the tightening bolt 49, move the connecting adapter 46 up and down along the support column 1b ′ by a required distance, and first tighten the tightening bolt 49 at a predetermined position to firmly connect the connection adapter 46 to the support column 1b ′. Fix it. 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 horizontally extend through the connecting member 27 in a horizontal frame. It is movably installed in the left-right direction along a plurality of guide shafts 40 installed in the inter-orbital direction in an arrangement parallel to 1a. Both ends of the guide shaft 40 are
Left and right support frames 41, 4 fixedly provided on the horizontal frame 1a
It is supported by fixing both ends to 1. Left and right support frames 4
Between the terminals 1 and 41, both ends of a feed screw shaft 43 are rotatably supported in an arrangement parallel to the guide shaft 40. The feed screw shaft 43 is threadedly penetrated into a sleeve nut 44 provided on the connecting member 27. ing. As a means for rotationally driving the feed screw shaft 43, a feed motor 45 with a speed reducer is installed outside one of the support frames 41.
In the case of the present embodiment, the movement of the slider 3, which is the connecting portion of the pair of left and right stays 2, in the left-right direction (direction between tracks) is automatically performed by the control of the feed motor 45. For controlling the feed motor 45, an inclination detector 28 for detecting the presence or absence of inclination in the inter-orbital direction of the leg is installed on one leg 1b of the management carriage (FIG. 1). The feed motor 45 is automatically controlled according to the inclination of the one leg portion 1b detected by the inclination detector 28, and as a result, the dimension between the tracks is equal to the dimension of the horizontal frame 1a in the direction S between the tracks. Both legs 1b, 1b can maintain their vertical postures as shown by the solid line in FIG. 4A even on a flat ground, and as shown by the solid lines in FIG. 4B and FIG.

In a flat ground as shown in FIG. 4A, with respect to a standard inter-orbit dimension a, the inter-orbit dimension becomes narrower as a 'or conversely becomes wider as a ". The slider 3 at the central position, which is the connecting portion of the pair of left and right stays 2, 2 moves up and down along the vertical guide shaft 4, and one leg 1b maintains the posture in the vertical direction (line n) and the other leg 1b. The portion 1b responds by swinging (tilting) left and right with respect to the vertical direction.

As shown in FIG. 4B, when used on a sloping ground in the inter-orbital direction S, and when the inter-orbital dimension is equal to the dimension of the horizontal frame 1a in the inter-orbital direction S, one leg detected by the inclination detector 28. Feed motor 4 based on the inclination of 1b
5 is controlled to move the slider 3, which is a connecting portion of the pair of left and right stays 2 and 2, in the left-right direction (inter-orbital direction) by a dimension m from the center point d of the horizontal frame 1a. , As well as the other leg part, maintains the posture in the vertical direction (line n).

As shown in FIG. 4C, when the vehicle is used on a sloping ground in the inter-orbit direction, and the inter-orbit dimension changes narrower or wider than the dimension of the horizontal frame 1a in the inter-orbit direction S, the inclination detector 28 detects. The feed motor 45 controlled according to the inclination of the one leg 1b moves the slider 3 in the left-right direction, and the slider 3 moves up and down along the guide shaft 4, so that the one leg 1b is vertically moved. Direction posture is maintained, and the other leg 1b swings left and right with respect to the vertical direction.

As the tilt detector 28, specifically, a differential transformer system, a potentiometer system, a torque balance system tilt angle sensor, a rotary encoder, a resolver or the like may be employed. it can. The management cart 1 of FIG. 1 is equipped with a tea mowing machine 7 for plucking management of tea leaves, for example. As a means for this, the female screw block 12 of the round handle 11 is fixed in a vertical direction to a connecting member 27 in which the above-mentioned slider installation blocks 29, 29 are rigidly connected to the central portion of the horizontal frame 1a of the management carriage 1,
A screw shaft 13, which is screwed into the female screw block 12 and penetrated vertically downward, is installed so as to be able to move up and down by a screw motion by rotating the round handle 11. The support arm 6 is provided on the center side of the mower 7 with the screw shaft 13
Suspended and supported at the bottom of the. Therefore, the center line of the screw shaft 13 is the center line of the management device supporting means, and the screw shaft 1
The center line of 3 coincides with the center line of the guide shaft 4 when viewed in the direction of FIG. The outside part of the tea mower 7 is
The screw shaft 8 is suspended and supported by the horizontal crosspiece 14 of the leg portion 1b, and the vertical position can be freely adjusted by the handle 31, and the tea cutting machine 7 is arranged to follow the tea cutting surface b of the tea plant B. It By operating the round handle 11 and the handle 31, the positioning and adjustment of the tea mower 7 is performed. As for the position of the horizontal crosspieces 14 that support the outer portion of the tea cutting machine 7 via the screw shafts 8, the positions of the pin holes 34, which are preliminarily provided at a constant pitch in the vertical direction of the leg 1b, are selected to select the vertical direction. The height position of can be adjusted.

A traveling motor (geared motor) 9 is installed under each of the legs 1b, 1b of the management carriage 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 raw 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 and lower ends of the two front and rear columns 1b 'and 1b' constituting both legs 1b are connected to the front and rear ends of the horizontal frame 1a by pins 24 'so as to be rotatable in the orbital axis direction. There is. 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 bearing stand 50 having a concave shape when viewed in the direction of FIG. 5A is fixedly installed on the horizontal frame 1a, 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 a slider installation block 52.
The sleeve nut 53 is threadedly penetrated. Therefore, the slider installation block 52 moves on the bearing base 50 in the track axis direction (control carriage 1 according to the rotation of the feed screw shaft 51).
Is moved in the front-back direction). The feed screw shaft 5
1 is rotationally driven by ON / OFF control of a feed motor 54 which is directly connected to one end of the output shaft 54a and installed on the side of the bearing base 50. An inclination detector 28 for detecting the presence or absence of inclination in the orbital axis direction T of the same pillar is installed on one of the pillars 1b 'constituting the leg, and the one of the ones detected by the inclination detector 28 is installed. The feed motor 54 is driven and controlled according to the inclination of the column 1b '. The feed screw 51
Rotation of the sprocket 5 installed on the output shaft 54a.
It is transmitted at the same speed in the same direction to a feed screw shaft (not shown) installed at the other end position on the other side of the horizontal frame 1a through a chain 58 wound around 7.

A guide shaft 59 is vertically installed on the outer side surface of the slider installation block 52 with its upper and lower ends fixed and supported, and a slider 60 is installed which moves up and down along the guide shaft 59. Further, a urethane rubber sleeve 61 (however, a coil spring for compression or the like) for elastically restricting the excessive vertical movement of the slider 60 is fitted on the guide shaft 59 above and below the slider 60. is set up. One end of the stay 62 is located at the slider 60, and the other end is located at an appropriately lower position from one (or both) of the pins 24 'of the front and rear struts 1b' constituting the leg, respectively in the orbit axial direction. The pins are rotatably connected by a pin, and thus a column inclination correcting means is configured. When a pair of front and rear stays 62 is used, 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 garden management apparatus is used on a sloped land in the direction of the track axis as shown in FIG. 6, one of the columns 1 detected by the slope detector 28 is used.
The feed motor 54 is drive-controlled according to the inclination of b ′ in the direction of the track axis, and the slider installation block 52 is automatically moved in the front-back direction by an appropriate amount. 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 shown schematically 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. In a structure in which the posture in the vertical direction can be maintained even on a sloping ground in the inter-orbital direction, and the front and rear columns 1b ', 1b' that form the legs 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 to, for example, the one described in Japanese Utility Model Application No. 3-3264. That is, the wheel mounting frame 66 is provided in the front-rear direction of the lower end portions of the both leg portions 1b and 1b, and the bearing 67 previously provided in the front and rear positions of the wheel mounting frame 66 is connected to the yoke type wheel support base 68 from the yoke type wheel support base 68. A steering shaft 69 provided vertically upward is rotatably supported. Figure 7B
As described in detail in the above, a horizontal axle rotatably supported by the wheel support base 68 is commonly used, and a track wheel 17 is provided on the inner side and a ground having a diameter considerably larger than that of the track wheel 17 is provided on the outer side. Wheels (rubber tire wheels) 65 are mounted 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. 7A and 7B, a lever 70 is provided on the steering shaft 69 in a direction perpendicular to the axis, and the lever 7 of the front and rear steering shafts 69 is disposed.
The equal length positions of 0 are connected by a steering bar 71, and thus a steering mechanism for turning the front and rear steering shafts 69 in a common direction at an equal angle is formed by applying a parallelogram link mechanism. 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, when one of the legs 1b travels on the track by the track wheels 17 on the sloping ground in the direction of the track, it always maintains the vertical posture as shown in FIGS. 4A, 4B and 4C, and moves between the ridges. Therefore, when moving on the ground in the inter-track direction by the grounding wheel 65, the other leg 1b as shown in FIG.
Both postures in the vertical direction can be maintained, and in any case, stability of load condition and stability of traveling condition can be obtained.
In addition, at the same time, even when the track wheels 17 travel on a track on a slope in the direction of the track axis, both columns 1b ', 1
b'maintains the vertical posture, and can also obtain the stability of the load state and the stability of the running state.

(Fourth Embodiment) In the tea plantation management apparatus shown in FIGS. 9A and 9B, a 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 both legs 1b, A substantially parallelogram link mechanism is formed by 1b and stays 2 and 2. As a means for this, on the horizontal frame 1a, in the central portion near one end in the front-rear direction (orbital axis direction), as shown in FIG.
A bearing base 80 having a concave shape when viewed in the direction A is fixedly provided, and both ends of a feed screw shaft 81 arranged horizontally in the inter-orbital direction are rotatably supported by the bearing base 80, and the feed motor 4 is provided.
It is adapted to be rotationally driven at 5. The feed screw shaft 81 is screwed into and penetrates the female screw hole of the slide block 83. Therefore, the slide block 83 is moved in the left-right direction (inter-orbital direction) by the screw movement as the feed screw shaft 81 is rotated by the feed motor 45.
Move (slide) over 0. One leg 1b of the management trolley
An inclination detector 28 is installed to detect whether or not the leg is inclined in the inter-orbit direction, and the feed is performed according to the inclination of the one leg detected by the inclination detector 28. The driving motor 45 is drive-controlled. From both ends of the slide block 83, support arms 83a, 83a are provided which extend outwardly and downwardly of the horizontal frame 1a in an inverted L shape.
Left-to-right direction (inter-track direction) between the tips of the pair of support arms
Both ends of the guide shaft 84 are supported horizontally (hence, parallel to the feed screw shaft 81).

Outer end portions of the pair of left and right stays 2 and 2 having the same length are rotatably connected to the left and right symmetrical positions of the leg portions 1b and 1b by pins, and the inner end portions are fitted and inserted into the guide shaft 84. Further, the end fittings 85 that slide along the guide shaft 84 are joined to each other so as to be arranged parallel to the horizontal frame 1a. On both sides of the end fitting 85, one end is provided with the support arm 83.
Two equal compression springs 86 having the same spring constant and fixed to the stopper a and the central stopper 87 are installed around the guide shaft 84.

Therefore, for example, when the track is used on a flat ground as shown in FIG. 4A and the dimension between the orbits changes greatly, one leg portion 1b (left side in FIG. 9A) always maintains the vertical posture and the other leg portion 1b maintains the vertical posture. Of the leg portion 1b (right side in FIG. 9A) of the end fitting 85 is displaced from the neutral position by compressing one of the coil springs 86 on both sides of the end fitting 85 and expanding or narrowing in the vertical direction (tilting). To do. Further, as shown in FIG. 4B, when the vehicle is used on a sloping ground in the inter-orbit direction and the inter-orbit dimension is equal to that of the horizontal frame 1a in the inter-orbit direction, the inclination detector 28 is used.
The feed motor 45 is drive-controlled in accordance with the inclination of the one leg portion 1b detected by, and the slide block 83 is slid from the neutral position in the left-right direction. Then, the parallelogram link mechanism is provided with the slider block 83 and the stay 2
9A is deformed into a diamond shape from the rectangular state of FIG. 9A, and thus the one leg portion 1b (and thus the other leg portion as well) always maintains the vertical posture. As shown in FIG. 4C, when the vehicle is used on a sloping ground in the inter-orbit direction, and when the inter-orbit dimension changes narrower or wider than the dimension of the horizontal frame 1a with respect to the inter-orbit direction S, one leg detected by the inclination detector 28 The feed motor 45 controlled in accordance with the inclination of the portion 1b moves the slide block 83 in the left-right direction to deform the parallelogram link mechanism from the rectangular state to the rhombic shape, and at the same time, to the other leg portion (FIG. 9). On the right side) is the end fitting 8
5 is displaced from the neutral position to the left or right as one of the coil springs 86 on both sides is compressed. As a result, one leg (left side in FIG. 9) maintains the vertical posture, and the other leg (right side in FIG. 9) swings left and right. Thus, the management cart can secure a stable load state and a stable traveling state.

(Fifth Embodiment) In the tea garden management apparatus shown in FIGS. 10A and 10B, both legs 1b and 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 responds to the inclination of the leg detected by the inclination detector 28 installed on one leg as described in the embodiment of FIG. 1, for example. It is configured to be moved in the left-right direction (inter-orbital direction) by the controlled feed motor, and the link 91 can be moved in the left-right direction through the stay 2. Therefore, when this tea garden management device is used on a flat ground, the parallelogram link mechanism remains in the rectangular state of FIG. 10A, and the size change of the inter-track direction is the axial length of the wide wheel 90 on the right side. Absorb with. When used on an inclined land in the inter-orbital direction as shown in FIG. 4B, the guide shaft 4 together with the slider installation block is moved by the feed motor controlled according to the inclination of the one leg 1b detected by the inclination detector 28. As the link 91 is moved in the left-right direction by a considerable amount and the link 91 is moved in the left-right direction through the stay 2, the parallelogram link mechanism is deformed into a rhombus shape, and the one leg portion 1b and the other leg portion 1b together. , The vertical posture is maintained even if the dimension between the orbits changes in the sloping ground in the direction between the orbits. Therefore, the stable state of the load and the stable state of traveling can be secured.

(Sixth Embodiment) In the tea plantation management apparatus shown in FIGS. 11A and 11B, the horizontal frame 1a of the management carriage and both legs 1b and 1b are parallel four sides by a link 91, as in the above-described embodiment of FIG. Shaped link mechanism. 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, an actuator such as a screw-type turnbuckle mechanism or a hydraulic / pneumatic cylinder / piston mechanism can be adopted. One end of the stay 2 is connected to a connection point between the link 91 and the leg portion 1b, and the other end is connected to a column 93 which is fixed to the horizontal frame 1a and stands vertically upward. An inclination detector 28 is installed on one leg 1b, and the linear actuator 92 is drive-controlled according to the inclination of the leg detected by the inclination detector 28. The connecting position of the stay 2 and the support column 93 is fixedly fixed, and when the effective length of the stay 2 is adjusted by the linear actuator 92, the link 91 is moved in the lateral direction by a considerable amount accordingly. .
As a result, the parallelogram link mechanism is deformed into a rhombus shape, and the one leg portion 1b and the other leg portion 1b maintain their vertical postures even if the inter-orbit dimension changes in the sloping ground in the inter-orbit direction. It is possible (Fig. 12).

In this embodiment, the track is also composed of a rectangular rail (rectangular pipe) 15 'having a quadrangular cross section perpendicular to the axis. In particular, the four sides of the rectangular rail 15 'are arranged horizontally and vertically, and the rectangular rail 15' is supported by the support piles 94 that are driven vertically into the ground even on 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, the leg 1b of the control carriage is maintained in the vertical posture even on the sloping ground in the inter-orbital direction (FIG. 12), so that it is installed at each lower end. Wheel 1
The rotation axes of 7, 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 state, and the rectangular rail 15' is not laterally loaded or bent. Therefore, the support pile 94
No tilting, lateral displacement of the track, or lateral bending,
It is possible to prevent inconveniences such as the uncut portion of the hem of the tea cutting surface b of the tea plant B.

(Seventh Embodiment) The tea garden management apparatus shown in FIG. 13 is an embodiment in which a parallelogram link mechanism is applied and a rectangular rail 15 'is adopted, as in the embodiment shown in FIG. 11A. 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 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 provided on the extension portion 96 side. Pins 98 are used to connect the link mechanisms with a degree of freedom that allows the link mechanism to deform. A bearing plate 99 is fixedly erected on the horizontal frame 1a, and a pinion 100 having a rotation shaft supported by the bearing plate 99 is formed over a required length range in the left-right direction of the central lower surface of the link 95. It is engaged with the rack 101 that has been opened. The pinion 10
0 is rotated by a motor (not shown), and the motor is installed on one leg 1b of the management trolley and whether or not the leg 1b has an inclination in the inter-orbit direction and inclination detection for detecting the direction. The drive is controlled by the device 28. Therefore, when the pinion 100 is rotationally driven by the motor, the rack 101
Along with the progress of the meshing movement with the link 95, the link 95 is moved in the left-right direction by a considerable amount, and the parallelogram link mechanism is deformed into a rhombus shape. As a result, one leg 1b is
In both cases, the attitude in the vertical direction is maintained even if the dimension between the orbits changes in the sloping ground in the inter-orbital direction.

(Eighth Embodiment) The tea garden management apparatus shown in FIG. 14 is basically of the same structural type (parallelogram link mechanism) as that of the embodiment of FIG. In response to changes in the size of the space, one leg always maintains a vertical posture, and the other leg oscillates left and right with respect to the vertical direction, thus eliminating the use of wide wheels. It is configured.

As a means for this, the link 95 and both leg portions 1
b, 1b is not directly connected to the extension 96, but the extension 96
One end of a short auxiliary link 102 is connected in parallel with the link 95, and an end fitting 103 attached to the tip end of the auxiliary link 102 in a right angle direction (however, downward) as in the stay 2 of FIG. It is configured to move in the left-right direction along the link 95. A spring receiver 104 is fixed to the link 95 at a symmetrical position in a neutral state with the end fitting 103 as an intermediate point.
Coil spring 1 for compression having the same length and the same spring constant as 3
05 is installed around the link 95.

Therefore, whether it is a flat ground or a sloping ground,
When the dimension between the tracks changes, one leg (the left side in FIG. 14) 1b maintains the vertical posture, and the connecting point 24 connects the other leg (the right side in FIG. 14) 1b to the auxiliary link 102. One coil spring 105 acting on the end fitting 103 is compressed to displace the relative position of the end fitting 103 in the left-right direction and swing left and right. Of course, this tea garden management device is shown in FIG.
When the vehicle is used on a sloped land in the inter-orbital direction, the motor is drive-controlled in response to the inclination of the leg detected by the inclination detector 28 installed on one leg 1b, and the pinion 100 and The link 95 is moved in the left-right direction by a considerable amount due to the meshing movement with 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 enable the leg portion 1b to swing right and left as described above, the lower end of the leg portion 1b and the yoke type support 111 are connected by a pin 113 so as to be rotatable in the inter-orbit direction.

(Ninth Embodiment) The tea garden management apparatus shown in FIGS. 15A and 15B has basically the same structure as that of the embodiment of FIG. 1, and the management carriage responds to the change in the dimension between the tracks. One leg always maintains the vertical posture, and the other leg swings left and right with respect to the vertical direction.
The feature is that the effective length of 2 can be adjusted,
The length adjusting mechanism 130 is driven by an adjusting motor 131.

As a means for this, 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 left and right length adjusting screw shafts 136 and 137 are formed with male screws having the same screw relationship as a right screw or a left screw, and each screw shaft is a sleeve nut fixed to the inner end of the corresponding stay 2. It is screwed. The outer ends of the pair of left and right stays 2 and 2 are pin-connected to the left and right symmetrical positions of both leg portions 1b and 1b. The worm wheel 134
A worm 138 rotatably driven by an adjusting motor 131 installed on the slider 133 is meshed with this.
The adjustment motor 131 has one leg 1b of the management carriage.
It is driven and controlled by an inclination detector 28 which detects the direction of the inclination of the same leg in the inter-orbit 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-orbit direction as described above, the adjusting motor 131 is controlled according to the inclination of one leg detected by the inclination detector 28, and the worm wheel 134 and its rotating shaft are rotated. , Left and right length adjustment screw shaft 13
6, 137 are rotated at the same speed in the common direction. However, since the screw shafts 136 and 137 have the same screw relationship with the left screw or the right screw, one of the screw shafts (higher side) is gradually screwed by the screw movement of the stay 2 with the sleeve nut, and the stay becomes effective. The length is shortened, the other (low side) screw shaft is pulled out, and the effective length of the stay is extended,
As a result, when the dimension between the tracks is equal to the dimension of the horizontal frame 1a in the direction between the tracks as shown in FIG. 4B, both leg portions 1b, 1
b keeps the vertical posture, and when it changes narrowly or widely as shown by the two-dot chain line in FIGS. 4A and 4C, one leg keeps the vertical posture and the other leg 1b moves to the left and right. Rock.

(Tenth Embodiment) In the tea garden management apparatus shown in FIGS. 16A to 16C, in the same manner as the embodiment of FIG. Orientation, the other leg oscillates left and right with respect to the vertical direction, and the pair of left and right stays is equipped with a length adjustment mechanism in the middle part, and the effective length of the stay adjusts the direction between the tracks. Even on the sloping ground, one leg is configured to maintain the vertical posture, but the specific means is different.

As a means for this, a pair of left and right stays has a round pipe 14 whose middle 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 the sleeve nuts fixed to both ends of the square pipe 141 by the same length. As a means for rotating the round pipe 142, a sprocket 145 for transmitting the rotation with a structure such as a key or a spline to the round pipe 142 is rotatably supported by a bearing stand 144, and the same bearing stand 144 is arranged in parallel with the stay. Is connected to a sprocket 147 of a rotary shaft 146 rotatably supported by a chain 148, and the rotary shaft 146 is rotationally driven by a length adjusting motor 149. The length adjusting motor 149 is installed on one leg 1b and is provided with an inclination in the inter-orbital direction of the leg.
If nothing is present, the drive is controlled by the inclination detector 28 that detects the direction. 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 motor 149
The left and right screw shafts (right-hand screw) gradually come out of the square pipe 141 according to the normal and reverse directions of rotation of
While the effective length as the stay is extended, conversely, the right side 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 to the inner ends of the left and right square pipes 141 at right angles downward, 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, 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 midpoint of the guide shaft 151 on both sides of each end fitting 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 round pipe 142 is rotated by 49 and the effective length of the left stay is extended, eventually the left round pipe 142 is
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 one leg portion 1b is maintained in the vertical posture by the automatic control of the motor 149 by the inclination detector 28 even on the sloping ground in the inter-orbital direction, so that the tilting moves the horizontal frame 1a to the right, and eventually The other leg 1b is returned in the vertical direction. Of course, when the dimension between the tracks changes, whether on a flat ground or on a sloping ground, the other leg 1b tilts (swings) to the left or right around the pin 24.

Incidentally, the stay supporting device which mediates the connection with the round pipe 142 in order to absorb the displacement component in the height direction at the time of tilting with the pin 24 as the fulcrum of the both legs 1b, 1b. The 143 has a mechanism capable of sliding in the height direction. (Eleventh Embodiment) The tea plantation management apparatus shown in FIGS. 17A to 17C has the same structure as that of the embodiment shown in FIG. 1, and when the size of the inter-orbit dimension changes on a flat ground, the slider 3 moves up and down. The vertical posture of one leg is maintained and the other leg swings left and right with respect to the vertical direction. Further, even when the dimension between the orbits changes in magnitude in the sloping ground in the direction between the orbits, it is configured to respond similarly (see FIG. 18).

Much of the detailed description is given to the description of FIG. 1, 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. Above and below the slider 3 that moves up and down along the guide shaft 4, coil springs for compression are installed in a form wound around the guide shaft, and the position of the slider is restricted 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 are moved in the left-right direction (inter-track direction) on the horizontal frame 1a by a motor as in FIG.
It is possible to move to. The motor has one leg 1
It is driven and controlled by an inclination detector 28 which is installed at b and detects the orientation of the leg in the inter-orbit direction.

This embodiment is further different from the embodiment of FIG.
When the chord B ′ of the tea-cutting surface b of the tea plant B cultivated on the sloped land in the inter-orbit direction is horizontal as shown in FIG. 18,
As a means for cutting the tea mower evenly on the left and right so as to prevent uncut residue from occurring at the hem, the supporting points of the center side supporting device of the tea mower are located at the left, right, front and rear center points of the horizontal frame 1a. In addition, it is also characterized in that it is rotatably installed at a position at the same height as the pin 24 connecting the 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 cutting machine, which is rotated by the round handle 11, is laterally moved by the swing shaft 161 that is horizontal in the front-rear direction. It is rotatably installed on the frame 1a. The frame 160 is a flat plate-shaped guide plate 16 provided vertically downward from the horizontal frame 1a.
Stable rotation along 2. Therefore, as shown in FIG. 18, one leg portion 1b of the management carriage is used on a sloping land with inter-track dimensions.
Is maintained in the vertical posture, the swing shaft 16
The frame 160 is rotated around 1, and the feed screw shaft 13 can also be maintained in the vertical direction. The feed screw shaft 13 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 a rotating 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 at the tip of the bracket 164 at the center point of the horizontal frame 1a, a mounting tool 165 (with a lever) of the cutting machine is attached. Bolts) are installed vertically downward. Figure 1
Reference numeral 166 in 7B is a long groove for a fixture for supporting the outer side portion of the tea mower so as to be able to move up and down.

(Twelfth Embodiment) The tea garden management apparatus shown in FIGS. 19A to 19C has the same structure as that of the embodiment shown in FIG. 1 and the embodiment shown in FIG. To
Up and down of the slider 3, and the vertical posture of one leg,
The other leg responds by swinging left and right with respect to the vertical direction. Further, even when the dimension between the orbits changes on a sloped land in the direction between the orbits, it is configured to respond similarly.
The detailed structure and explanation therefor are described in the embodiment of FIG.
It is similar to the embodiment of.

Unlike the embodiment shown in FIG. 1 and the embodiment shown in FIG. 17, the present embodiment further has the chord B of the cutting surface b of the tea plant B cultivated on the sloped land in the direction of the orbit as shown in FIG. 4B or C. When ′ is parallel to the sloping ground, the screw shaft 13 for supporting the tea mower is integrated with the guide shaft 4 in the left-right direction (trajectory) 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. 18, the screw shaft 13 is , The integral relationship with the guide shaft 4 is broken, and FIG.
In the same manner as in the above embodiment, the pin 24, which is located at the center point of the horizontal frame 1a and connects the horizontal frame 1a and both legs 1b, 1b, is rotatable at the same height position as the vertical line. The screw shaft 13 is configured to be parallel to each other (see FIG. 18), and the screw shaft 13 can be selectively used.

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 by a tilt detector 28 that is installed on one leg 1b and detects whether or not the leg is tilted in the inter-orbit direction. 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.
It is possible to select whether or not the image is rotated by 4 in FIG. In connection with the above selection, the slider installation block 170 and the frame 171 are also not shown in the drawings, but are connected to each other by, for example, insert pins to move integrally with each other. Alternatively, the insertion pin may be pulled out to separate the two, and the position of the frame 171 may be left 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. 18, when the string B ′ of the cutting surface b is used in a tea garden which is cultivated in the horizontal direction regardless of whether or not the ground is inclined, 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 the vertical posture parallel to the both legs 1b. used.

Reference numeral 180 in FIG. 19B is 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. 9 to 16 have been illustrated and described with a configuration applied to a sloped land in the direction between the orbits, the structure type is the same as that described in the second embodiment. It is also possible to apply to a structure in which both the front and rear struts that form the legs by applying to a sloping ground maintain the vertical posture. 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.

[0063]

The effects of the present invention are as follows:
In summary, the following effects are achieved. Since one leg 1b of the management carriage 1 automatically maintains the vertical posture even on a sloping ground, the risk of the management trolley falling over can be prevented in advance, and stable and swift traveling is possible even on a sloping ground. Not only for use on flat ground, but also for use on sloping ground, on the extension of the center line b ″ of the tea-cutting surface b that passes through the center of the tea plant B, the management equipment support located at the center of the horizontal frame The quality of tea leaves can be maintained and improved because the center of the means can be brought closer to each other. When applied to a sloping ground where the dimensions change, even if a large number of support piles 94 that support the track are 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. The stable load and running condition of the tea plantation management device can be maintained, and workability and accuracy (track straightness) in the track laying work centered on pile driving can be improved. Line contact with wheels is between tracks It will be horizontal even on sloping ground, and lateral load and bending will not act on the track even during work such as tea cutting, and it is possible to prevent the support pile from falling (tilting) or bending even during long-term use. It is less likely that a wheel drive installed near the wheels of the legs will touch the hem of the tea plant and damage the hem.For convenience of work, a person can move the side of the management cart along the passage between the ridges. It is easy to pass in the front-rear direction.For convenience of work, it is easy for a person to pass in the front-rear direction by the side of the management carriage along the passage between the ridges.

[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 showing a management carriage of a second embodiment and a plan view with a part omitted.

[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 and 9B are a front view and a side view showing a management cart of a fourth embodiment.

10A and 10B are a front view and a side view conceptually showing a management carriage of the fifth embodiment.

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

FIG. 12 is a front view conceptually showing the operation of the above-mentioned management vehicle on a slope in the inter-track direction.

FIG. 13 is a front view showing a management carriage according to a seventh embodiment.

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

15A and 15B are a front view and a side view showing a management cart of a ninth embodiment.

16A to 16C are a front view, a side view, and a plan view showing a management carriage according to 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.

FIG. 18 is a front view conceptually showing an operating state of the above-mentioned management cart on an inclined land in the inter-track direction.

19A to 19C are a front view, a side view, and a plan view showing a management carriage of a twelfth embodiment.

20A and 20B are a front view and a side view showing a structure for adjusting a mounting position of a stay.

21A and 21B are front views conceptually showing an operation state of a management carriage of a conventional tea garden management device 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 'Strut 13 Screw shaft for supporting the mower 15' Rectangular rail 94 Support pile 90 Wide wheel

Claims (10)

[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,
A driving means of the correction means, and an inclination detector installed on one leg to detect an inclination of the leg in the inter-orbit direction,
The drive means is controlled according to the inclination of the one leg detected by the inclination detector, and the one leg has a vertical posture even if the inter-orbit dimension changes in a slope in the inter-orbit direction. A tea garden management device characterized by being configured to be maintainable. 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 of the other ends is connected to a symmetrical position in the center of the horizontal frame in the left-right direction, and the pair of left and right stays is capable of adjusting the effective length between both sides, and the effective length of the stay is adjusted. And a tilt detector for detecting the inclination of the leg in the inter-orbit direction is installed on one leg, and the tilt of the one leg detected by the tilt detector is installed. The tea plant management device is characterized in that the driving means is controlled in accordance with the above, and the one leg is configured to be capable of maintaining a vertical posture even when the dimension between the orbits changes in an inclined land in the interorbit direction. . 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 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 by wheels on both laid tracks, and is a parallelogram with a horizontal frame, both legs, and a link 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 one leg is provided with an inclination in the inter-orbital direction of the leg. A tilt detector for detection is installed, and the tilt detector detects The drive means is controlled in accordance with the inclination of the one leg portion, and the one leg portion is configured to be able to maintain the vertical posture even when the dimension between the orbits changes in the sloped land in the interorbit direction. A tea plantation management device characterized in that 4. A management trolley in which legs are provided vertically downward on 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. 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 a leg inclination correcting means installed by interposing the lateral frame and both legs, and a driving means for the correcting means, An inclination detector installed on the leg portion of the leg portion for detecting the inclination of the leg portion in the inter-orbit direction, and the drive means is controlled in accordance with the inclination of the one leg portion detected by the inclination detector. , The one leg is lead even if the dimension between the orbits changes in the sloping ground in the direction between the orbits. Direction is maintained, and the two legs are connected to the upper and lower ends of the front and rear columns that form the respective legs so as to be rotatable in the orbit axis direction with respect to the front and rear ends of the horizontal frame. The means for correcting the inclination of the column installed by interposing the horizontal frame and both the front and rear columns, the driving means for the correcting means, and the track axis direction of the management vehicle installed in the proper place of the management vehicle. An inclination detector for detecting inclination, the drive means is controlled according to the inclination of the management carriage detected by the inclination detector, and both columns maintain a vertical posture even on a sloped ground along the track axis. Tea plantation management device characterized by being configured as possible. 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 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 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 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. A drive means for moving the connecting portion in the left-right direction together with the management device supporting means is installed, and an inclination detector for detecting the inclination of the leg portion in the inter-orbit direction is provided on one leg portion. The drive means is installed in accordance with the inclination of the one leg detected by the inclination detector, and the one leg is vertical even if the dimension between the orbits changes in an inter-orbit sloping ground. A tea plantation management device, characterized in that it is configured to be able to maintain a directional posture. 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 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 run on both tracks laid by wheels, and its parallel four sides by its horizontal frame, both legs, and links parallel to the horizontal frame and having both ends connected to the two legs. Shaped link mechanism is formed, the link is movable in the left and right direction together with the management device supporting means located in the center of the horizontal frame, and the driving means for moving the link in the left and right direction is installed. Inclination to detect the inclination of the leg in the inter-orbit direction A detector is installed, the drive means is controlled in accordance with the inclination of the one leg detected by the inclination detector, and the one leg has a change in inter-orbit dimension in an inter-orbit sloping ground. Also, the tea plantation management device, which is configured to be able to maintain a 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, 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 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. A drive means for moving the connecting portion in the left-right direction together with the management device supporting means is installed, and an inclination detector for detecting the inclination of the leg portion in the inter-orbit direction is provided on one leg portion. The driving means is installed in accordance with the inclination of the one leg detected by the inclination detector, and the one leg is vertical even if the dimension between the orbits changes in an inter-orbit sloping ground. Is configured to be capable of holding a posture in the direction, and the both leg portions rotate the upper portions of the front and rear columns that form the respective leg portions in the orbit axial direction with respect to the front and rear end portions of the horizontal frame. Connected as much as possible,
A means for correcting the inclination of the pillar installed by interposing the horizontal frame and both the front and rear pillars, a driving means for the correcting means, and an inclination in the track axis direction of the management carriage installed at a proper position of the management carriage. An inclination detector, and the drive means is controlled according to the inclination of the management carriage detected by the inclination detector,
The tea plantation management device, characterized in that both columns are configured to maintain a vertical posture even on a sloped land along the track axis. 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 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 run on both laid tracks by wheels, and a leg inclination correcting means installed by interposing the lateral frame and both legs, and a driving means for the correcting means, And a tilt detector that is installed on the leg of the leg to detect the inclination of the leg in the direction between the tracks, and the management device support means located in the center of the horizontal frame connects the connecting points on the upper parts of both legs. The tilt sensor is swingable at a height position on the connecting line and is detected by the tilt detector. It said drive means is controlled in response to the leg portion of the inclined,
The tea plantation management device, wherein the one leg is configured so as to be able to maintain a vertical posture even when the dimension between the orbits changes in a sloped land in the direction between the orbits. 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 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 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 selectable whether it is independent or independent, and it is movable in the left-right direction. A drive means for moving the connecting part in the left-right direction is installed, and one leg part is provided with an inter-orbital direction of the leg part. An inclination detector for detecting inclination is installed, the drive means is controlled according to the inclination of the one leg detected by the inclination detector, and the one leg is inter-orbit on an inclined land in an inter-orbit direction. Maintaining vertical posture even when dimensions change Capable tea garden management apparatus characterized by being configured. 10. 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, 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 the cross section of the track at a right angle to the axis is a quadrangle, and the four faces of the quadrangle are oriented in the horizontal and vertical directions. Is configured to be driven vertically, and the management trolley has a leg inclination correcting means installed by interposing a horizontal frame and both legs, a driving means of the correcting means, and the one leg. Installed on the ground and equipped with an inclination detector that detects the inclination of the leg in the direction between the orbits. , Each wheel is rotatably connected to the leg in the inter-track direction, and the drive means is controlled according to the inclination of the one leg detected by the inclination detector, and the one leg is The tea garden management device is characterized in that the section is configured to maintain a vertical posture even when the dimension between the orbits changes in a sloping land in the direction between the orbits.