JPH0763267B2 - Tea plantation management device - Google Patents

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 various management work such as plucking, trimming or pruning tea leaves in tea ridge units in a large-scale tea plantation. The present invention relates to a tea plantation management device which is preferably used for the above-mentioned various management work.

[0002]

2. Description of the Related Art Conventionally, a tea mower (plucking machine) or a pest control machine is mounted on a stand that runs on a track laid across both sides of the tea ridge.
Equipped with a trimming machine etc. as an attachment, plucking tea leaves,
Various tea garden management devices for performing various kinds of tea garden management work such as pest control and trimming are known (see, for example, JP-A-3-201908).

An orbital type tea garden management device described in Japanese Patent Laid-Open No. 3-201108, as shown in FIG.
A tea mower b and the like are mounted on the base, and the upper ends of both legs c constituting the pedestal a are rotatably connected to both ends of the upper surface frame d by a pin shaft e in the width direction of the tracks k and k. , The other end of the two equal length stays g and g, one end of which is connected to a symmetrical position in the middle of both legs c by a pin axis f, has a guide shaft vertically installed at the center of the upper frame d. The h is connected to a symmetrical position of a slider i which can be raised and lowered by a pin shaft j. Therefore, as the widths of the trajectories k and k change,
When one leg c is tilted, the slider i is moved through the stay g.
In the vertical direction, the same tilt is transmitted to the other leg c through the adjacent stay g, and both legs c and c eventually tilt symmetrically, so that the center of the pedestal a is always located between the tracks k and k. It is configured to be the center (center of the tea ridge).

In the self-propelled tea garden management device according to Japanese Patent Application No. 3-3264, the legs have orbit wheels and ground wheels, both of which wheels are attached to the same handle shaft, and are arranged in the running direction. The front and rear handle shafts are linked by a common steering mechanism and driven by a traveling motor, so that the traveling on the track and the ground can be easily performed.

[0005]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
The orbital type tea plantation management device described in Japanese Patent No. 01908,
The center of the gantry a is always the center between the tracks k, k (center of the tea ridge)
Therefore, it is possible to easily cope with a change in the track width on a flat track and enable smooth running.

However, when the tea landscaping is constructed on a sloping ground and the tea ridges continue in the direction of the contour of the slope, the heights of the two tracks k, k sandwiching the tea ridges are different, and the pedestal a on it is mounted on it. A tilt occurs (see the chain double-dashed line in FIG. 3). One means for stabilizing the pedestal a on the tracks k having the height difference in the track width direction as described above is to change the length of the stay g to a different one, and make the legs c vertical. is there. However, stay g
The replacement work is very troublesome. Moreover, in order to deal with various inclinations, it is necessary to prepare a plurality of stays having different lengths. Since the stay of an appropriate length must be replaced each time according to the continuously changing inclination, there is a problem that the work efficiency cannot be endured and the work efficiency is poor. It is said that.

The same problem also occurs when there is a difference in height with respect to the traveling direction of the tea garden management apparatus (the orbit axis direction indicated by s in the figure) as shown in FIG. That is, in order to stabilize the gantry a even when the gradients of the tracks k, k suddenly change in the traveling direction, it is necessary to maintain the verticality of the legs in the front-rear direction, and therefore, the side surface of the tea garden management device. It is necessary to attach stays of different lengths, but there is a problem in that it takes time and labor.

Therefore, an object of the present invention is to enable automatic stable running of a gantry in tea gardens on all slopes, improve work efficiency in tea garden management, and perform tea leaf management work with high quality and accuracy. It is to provide a tea plantation management device that can.

[0009]

As means for solving the above-mentioned problems, the tea garden management apparatus according to the invention of claim 1 is
As shown in the drawings by way of example, the legs 1a, 1b (1c, 1d) on both sides having wheels 17 traveling on the track 16,
In the tea garden management device in which the pedestal 1 is constituted by the upper frame 101 connected to the upper ends of the legs 1a, 1b (1c, 1d), and the tea mower 20 and the like are mounted on the pedestal 1, in the track width direction. The upper ends of the legs 1a and 1b on both sides of p are the upper surface frame 101.
The pin shaft 24 is rotatable with respect to both ends of the pin in the track width direction p.
And the leg portion 1a is connected to one of the leg portions 1a and 1b.
An inclination detector 11 for detecting the inclination degree of (1b) is installed, and a vertical guide shaft 4 and a slider 3 capable of moving the shaft up and down are provided at a substantially central position of the upper surface frame 101 in the track width direction p. However , the guide shaft is supported by a slider block 7 that is movable in the track width direction p .
A drive means 2 for the rider block is installed, one end of two equal length stays 12 is pin-connected to a symmetrical position in the middle of both leg portions 1a, 1b, and the other end is a symmetrical position of the slider 3. The driving means 2 of the slider block is controlled according to the inclination degree of the leg portion 1a (1b) detected by the inclination detector 11, and the leg portion 1a is controlled.
Configuration der vertical posture is maintained of (1b) Ru. As well
The invention of claim 3 is such that the leg portions 1c and 1d on both sides in the orbital axis direction s.
The upper end of the upper frame 101 is connected to both ends of the upper frame 101 by a pin shaft so as to be rotatable in the track axis direction s, and one of the leg portions 1c and 1d detects inclination of the leg portion 1c (1d). Bowl 1
1 are installed, and the leg portions 1 on both sides in the orbital axis direction s are installed.
c, the stay 22 to form a parallel link to the upper surface frame 101 between 1d are connected by a pin shaft, the top frame 101 at one end portion, the other end respectively to one of said leg portions 1c, 1d It is installed actuator 21 which is pin connected is, the tilt detector 11 by the detected leg 1c (1
The actuator 21 according to the inclination of the d) are controlled configuration der vertical orientation is maintained in the leg 1c (1d)
It Further, the invention of claim 5 is such that each leg 1a, 1b (1
The upper ends of c) and 1d are located at the end of the upper surface frame 101 in the track width direction p.
And one of the leg portions 1a, 1b on both sides of the both directions p, s, or 1c, 1d, which are rotatably connected in the track axis direction s, and the leg portions 1a (1b), 1c in the respective directions p, s. (1d)
An inclination detector 11 for detecting the inclination degree of
A vertical guide shaft 4 and a slider 3 that can vertically move the shaft are provided at a substantially central position of the upper surface frame 101 in the track width direction p, and the guide shaft is supported by a slider block 7 that is movable in the track width direction p. The slider
A lock driving means 2 is installed, one end of each of the two equal length stays 12 is pin-connected to an intermediate symmetrical position between both legs 1a and 1b in the track width direction p, and the other end is the slider 3 described above. , And a stay 22 forming a parallel link with the upper frame 101 is connected by a pin shaft between the leg portions 1c and 1d on both sides in the orbital axis direction s. the top frame 101, the other end portion the legs 1
An actuator 2 that is pin-connected to one of c and 1d
1 is installed, and the driving means 2 of the slider block and the actuator 21 are controlled according to the inclination degree of the legs 1a (1b), 1c (1d) detected by the inclination detector 11, and the legs 1a ( The vertical postures of 1b) and 1c (1d) are maintained .

Next, the invention of claim 2 is such that the leg portions 1a, 1b.
(1c, 1d) and the legs 1a, 1b (1c, 1d)
The pedestal 1 is composed of the upper end frame 101 connected to the upper end of the base 1, and the legs 1a, 1b (1c, 1d) have track wheels 17 running on the track and ground wheels 18 running on the ground. Both wheels 17 and 18 are attached to the same handle shaft 15 and are driven by a motor 19 for traveling, and the handle shafts 15 and 15 moving forward and backward in the traveling direction are linked by a common steering mechanism 13. In the tea garden management apparatus in which the tea mower 20 and the like are mounted on the gantry 1, the upper ends of the legs 1a and 1b on both sides in the track width direction p rotate in the track width direction p with respect to both ends of the top frame 101. An inclination detector 11 for detecting the inclination degree of the leg portion 1a (1b) is installed on one of the leg portions 1a and 1b as possible by a pin shaft 24. vertical guide shaft 4 and a substantially central position of the Has vertically movable slider 3 a shaft, the guide shaft is supported by the slider block 7 that is movable in the track width direction p, the Suraidaburo
Tsu and drive means 2 is installed in the click, the two end portions legs 1a of equal length the stay 12, is a pin connected to the intermediate symmetrical position 1b, the symmetrical position of the slider 3 and the other end portion The leg portion 1a (1b) is pin-connected and the drive means 2 of the slider block 7 is controlled according to the inclination degree of the leg portion 1a (1b) detected by the inclination detector 11.
The vertical posture is maintained . Similarly, claim 4
In the invention, the upper ends of the leg portions 1c and 1d on both sides in the track axis direction s are connected to both ends of the upper surface frame 101 by a pin shaft so as to be rotatable in the track axis direction s, and one of the leg portions 1c and 1d is An inclination detector 11 for detecting the inclination of the leg 1c (1d) is installed in the leg 1c (1d), and the leg 1c, 1 on both sides in the orbit axis direction s.
Between d are joint stay 22 to form a parallel link to the upper surface frame 101 by pin shaft, one end portion to the upper surface frame 101 and the other end respectively pin connected to one of said leg portions 1c, 1d The actuator 21 is installed, and the actuator 21 is controlled according to the inclination of the leg 1c (1d) detected by the inclination detector 11 to maintain the vertical posture of the leg 1c (1d). It is a configuration . Change
According to the invention of claim 6, the leg portions 1a, 1b (1c), 1
The upper end of d is rotatably connected to the end of the upper surface frame 101 in the track width direction p and the track axis direction s, and is connected to one of the legs 1a, 1b or 1c, 1d on both sides in the both directions p, s. An inclination detector 11 for detecting the inclination degree of the legs 1a (1b), 1c (1d) in each direction p, s is installed, and is perpendicular to a substantially central position of the top frame 101 in the track width direction p. a guide shaft 4 and has a vertically movable slider 3 to the shaft, the slider block is supported by a slider block 7 that is movable in the track width direction p, the driving means 2 of the slider block <br/> is installed And two isometric stays 12
One end is pin-connected to the legs 1a, 1b intermediate symmetrical position of track width direction p of the other end portion is a pin connected to a symmetrical position of the slider 3, both sides of the track direction s leg 1c, is between 1d are joint stay 22 to form a parallel link to the upper surface frame 101 by pin shaft, one end portion to the upper surface frame 101 and the other end said legs 1c, 1
An actuator 21 which is pin-connected to one side of d is installed, and the slider block driving means 2 and the driving means 2 of the slider block are arranged according to the inclination of the legs 1a (1b) and 1c (1d) detected by the inclination detector 11. The actuator 21 is controlled to maintain the vertical postures of the legs 1a (1b) and 1c (1d) .

Next, the invention of claim 7 relates to claim 1,
In the tea garden management devices 5 and 6 , the slider block drive means 2 is configured as a motor-driven screw feed mechanism or a direct-acting actuator .

[0012]

[Function] While the track is running, when the tracks 16, 16 (track width direction p) on both sides of the tea ridge approach a sloping ground with a height difference, the leg 1a of the gantry 1 is caused to have a non-vertical tilt (see FIG. 3). ,
The inclination detector 11 installed on the leg 1a detects the inclination degree θ, and the inclination degree θ is transmitted to the controller of the drive means 2 of the slider block as a signal of the amount of electricity, for example. The controller that has received the above signal automatically controls the slider block drive means 2 to move the slider block 7 by an amount corresponding to the amount of electricity, and via the stay 12 connected to the slider 3 The legs 1a are always maintained in a vertical posture, and the gantry 1 travels in a stable state.

When the track width changes on a similar slope,
The leg portion 1a to which the inclination detector 11 is attached keeps vertical, and the other leg portion 1b inclines with the change of the track width, but the displacement of the leg portion 1b due to the inclination causes the slider 3 to move through the stay 12 through the stay 12. Since the vehicle is displaced vertically to cope with the situation, wheel loss from the track 16 is prevented (see FIG. 4). Also, the track axis direction s
When there is a difference in elevation (Fig. 5), or even in a terrain in which the track width direction p and the track axis direction s are variously inclined, the tilt detector 11 operates reliably and the Since the parts are always maintained in the vertical posture, the stable running of the gantry 1 is maintained.

Even when the vehicle travels on the ground such as when moving to another tea ridge, the inclination detector 11 still operates effectively only by changing the steering direction to the direction perpendicular to the traveling direction with respect to the track traveling. Since the leg portion 1a of the gantry 1 is maintained in the vertical posture, the tea garden management work can be performed stably and smoothly (FIG. 6).

[0015]

Embodiments of the present invention shown in the drawings will be described below. The tea plantation management apparatus shown in FIG. 1 has legs 1a and 1b on both sides in the track width direction having wheels 17 running on tracks 16 and 16 laid in passages on both sides of the tea ridge, and the leg 1
The upper frame 101 connected to the upper ends of a and 1b constitutes a gate-shaped stand 1, and the stand 1 is equipped with a tea mower 20 for plucking and managing tea leaves, for example. The gantry 1 is assembled using a lightweight steel section made of metal such as aluminum.

The upper ends of both leg portions 1a and 1b on both sides in the track width direction p have brackets 28 provided at both ends of the upper frame 101.
It is connected by a pin shaft 24, and the track width direction (p direction in Fig. 3)
It is possible to rotate (tilt). One leg 1a
An inclination detector 11 for detecting the inclination of the leg 1a is installed in the lower part of the. Although not shown, the inclination detector 11 detects the inclination of the leg 1a as a signal based on the change in voltage or the amount of electricity caused by the proximity switch approaching the magnetic body. The detected signal is a controller (not shown) of the drive means 2 of the slider block described below.
Is input to automatically control the degree of rotation of the motor 8.

The drive means 2 for the slider block is installed at a substantially central position of the top frame 101 in the track width direction. The slider block drive means 2 in the illustrated example is configured as a screw feed mechanism driven by a motor 8. However, the present invention can also be implemented by a configuration of a direct-acting actuator such as a hydraulic cylinder or a pneumatic cylinder (not shown). A slider 3 is mounted on a vertical guide shaft 4 of a slider block 7 so as to be able to move up and down. Further, the slider block 7 has a feed screw 9 in the horizontal direction.
Also, two guide bars 27, 27 are provided on both sides of the guide bar 27 so as to penetrate therethrough. The feed screw 9 is linked to the motor 8 and can be rotated in the forward and reverse directions. The slider 3 is movable up and down along the guide shaft 4, and is moved in the track width direction (horizontal direction) along with the feed screw 9 along with the slider block 7. A lock lever 6 for fixing the position is attached to the slider 3.

A pair of equal lengths 2 are formed at symmetrical positions approximately in the middle in the height direction of the leg portions 1a and 1b in the track width direction.
One ends of book stays 12, 12 are rotatably connected by a pin shaft 25. The other end of the stay 12 is also rotatably connected to the end of the slider 3 by a pin shaft 26. Next, a specific method of use will be described with reference to the drawings. First, FIG. 2 conceptually shows a change in the traveling state of the tea garden management device when traveling on a flat track.
When traveling on the reference track width, the vehicle is traveled in the state shown by the two-dot chain line, but when traveling on a wide track width, it is traveled in the state shown by the solid line. That is, as the distance between the tracks 16 and 16 becomes wider, the legs 1a and 1b in the track width direction are inclined. Then, the inclination detector 11 operates for one leg 1a, and the slider block driving means 2 is automatically controlled by sending a signal to the inclination detector 11 by an amount corresponding to the inclination detected. The block 7 and the slider 3 are moved, and by interlocking with the stay 12 connected to the slider 3, the leg 1a on which the inclination detector 11 is installed maintains a vertical posture. The other leg 1b
Is tilted while being restrained by the expanded track 16, and the tilting can be performed by a displacement in which the slider 3 is lowered along the guide shaft 4 via the stay 12. On the contrary, when the width becomes narrower, it is dealt with by the displacement of the slider 3 rising. Therefore, the traveling of the gantry 1 is stable, and the tea garden is managed smoothly and surely.

Next, FIG. 3 shows a traveling state of the tea garden management device when traveling on the tracks 16, 16 which are laid along the tea ridges in the contour line direction of the sloping ground and have a step in the track width direction p. It is shown conceptually. In the figure, the chain double-dashed line is the inclination detector 11
Shows the state before the operation, and the solid line shows the state after the operation of the inclination detector 11. That is, the inclination degree θ detected by the inclination detector 11 installed on one leg 1a is sent to the controller of the driving means 2 of the slider block as a measurement signal of the inclination detector 11, and the inclination detector θ is sent to the controller. The motor 8 is rotated by a rotation degree corresponding to the inclination degree θ, the feed screw 9 is rotated to move the slider 3 by a displacement L from the center, and the one leg portion 1a is automatically set to a vertical posture. Restore. Thus, the vertical postures of the legs 1a and 1b are always maintained, and the gantry 1 can travel in a stable state as shown by the solid line. Therefore, the center of gravity of the gantry 1 is maintained in the vicinity of the center, and the tea plantation management device can travel in an extremely stable state without tipping over even on a track having a step in the track width direction p.

FIG. 4 shows the positional relationship of the slider 3 when the track width changes when the track travels on a sloping ground inclined in the track width direction p of FIG. With respect to a reference track width x, a state in which the track width is wide is shown by y, and a state in which the track width is narrow is shown by z. The slider 3 is moved in the up, down, left, and right directions in accordance with the change in the track width to ensure the vertical posture of the leg portion 1a, and the stable running of the gantry 1 is maintained.

[0021]

[Second Embodiment] A tea garden management device conceptually shown in FIG.
A stay 22 forming a parallel link with the upper frame 101 is connected by a pin shaft between the legs 1c and 1d on both sides in the orbital axis direction s, and one end is connected to the upper frame 101 and the other end is connected to the upper frame 101. An actuator 21 that is pin-connected to one of the legs 1c and 1d is installed. The inclination detector 11 is installed on the one leg portion 1c (or 1d) in the track axis direction s, so that the same effect as that of the above-described embodiment can be obtained.
The upper ends of the leg portions 1c and 1d on both sides in the track axis direction (traveling direction) s are also in the track axis direction s with respect to both ends of the top frame 101.
Is rotatably connected by a pin shaft (not shown).
That is, the orbit 16 inclined in the orbit axis direction s as shown in FIG.
Even when traveling on, the tilt detector 11 is activated,
The detected inclination automatically controls the actuator 21, and the leg 1 is connected via the stay 22 connected to the legs 1c and 1d.
Always maintain c and 1d in the vertical position.

[0022]

[Third Embodiment] A tilt detector 11, a slider block driving means 2, and a stay 1 in the track width direction p of the first embodiment.
2 and the like are attached, the inclination detector 11, the actuator 21, the stay 2 in the track axis direction s of the second embodiment.
It is also implemented by mounting 2. Track width direction p
Even when traveling on all terrains that are variously inclined due to the combination of and the inclination in the orbit axis direction s, the inclination detector 11 still operates effectively and the vertical posture of the legs is always maintained.
The stable running of the gantry 1 is completed. Top frame 1
01 and the upper ends of the legs 1a, 1b (1c), 1d are connected by a ball joint or the like so as to be rotatable in the track width direction p and the track axis direction s, and may correspond to a three-dimensional sloping ground. it can.

[0023]

[Fourth Embodiment] FIG. 6 conceptually shows a state in which the tea plantation management apparatus travels on the ground of an inclined ground when it moves to the path of another tea ridge. The legs 1a and 1b are specifically
As shown in FIG. 1, the wheel portion is composed of a pair of a small diameter grooved track wheel 17 that travels on the track 16 and a large diameter ground wheel 18 that has rubber tires and that runs on the ground. Each of them is attached to the lower part of the same vertical handle shaft 15 and is commonly driven by a motor 19 as a traveling power source. In addition, the handle shafts 15 that move back and forth in the track running direction are linked by the common steering mechanism 13. Figure
Reference numeral 14 in 1 is an engine generator.

When the tea plantation management device that has traveled on the track reaches the end of the tea ridge and moves to the track of the next tea ridge, it is operated after the ground wheel 18 is in the state of traveling on the ground. When the direction of the wheels is changed to a right angle by the direction mechanism 13, it becomes suitable for traveling on the ground on an inclined ground, and the inclination detector 11 is effectively operated as in the case of the above-mentioned track traveling, and the vertical direction of the leg 1a is increased. The posture is maintained and the vehicle runs stably. Therefore, the transfer operation of the track is smoothly performed.

When moving on this sloping ground, as shown in FIG.
When the lock lever 6 attached to the slider 3 is locked as described above, the displacement of the slider 3 is limited only in the horizontal direction, so that the other leg portion 1b is stabilized. Further, in this ground traveling, not only the front wheels but also all the wheels can be steered and a small turn can be made, so that the transfer operation of the track can be performed more smoothly.

[0026]

[Fifth Embodiment] In each of the above embodiments, the drive means for the slider block 7 or the actuator 21 for maintaining the vertical posture of the legs can be implemented manually, and the same operation as in the case of the above-mentioned automatic control system is performed. You can expect an effect. That is,
The inclination detector 11 is configured as a weight-type inclination measuring instrument (not shown) for visually measuring the inclination of the leg portion, and the operator who visually observes the inclination measuring device manually operates the slider block or the feed screw shaft drive means 2. It is configured to be moved by the handle. Since the slider block or the feed screw shaft is moved by manually operating the manual handle according to the inclination degree of the leg portion indicated by the inclination measuring device, the vertical posture of the leg portion is maintained.

[0027]

The effects of the present invention are as follows:
Legs 1a (1b), 1 for running on any slope
Since the vertical posture of c (1d) is always maintained, it is possible to maintain fast and stable running in tea fields on various terrains such as sloped tea fields, tea field management work such as plucking and trimming tea leaves, and transfer routes. Can be performed with high quality and accuracy, and work efficiency such as tea garden management can be improved. In addition, there is no need to prepare and replace stays of different lengths, and various tea garden management operations can be performed safely and smoothly.

[Brief description of drawings]

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

FIG. 2 is a conceptual diagram showing an operating state of a tilt detector when traveling on a flat track.

FIG. 3 is a conceptual diagram showing an operating state of a tilt detector when the track travels on a sloping ground inclined in the track width direction.

FIG. 4 is a conceptual diagram showing a relationship between a change in the track width and a change in each position of the slider when the track travels on an inclined ground inclined in the track width direction.

FIG. 5 is a conceptual diagram showing an operating state of a tilt detector when the track is running on a sloping ground tilting in the track axis direction.

FIG. 6 is a conceptual diagram showing traveling by a grounding wheel on a sloping ground.

FIG. 7 is a front view showing a conventional example.

[Explanation of symbols]

 16 tracks 17 wheels (track wheels) 1a, 1b, 1c, 1d legs 101 top frame 1 mount 24 pin shaft 11 tilt detector 4 guide shaft 3 slider 7 slider block 2 slider block drive means 12, 22 stay 21 actuator 8 Motor 18 Grounding wheel 15 Handle shaft 13 Steering mechanism 19 Motor for traveling

Claims (7)

[Claims] 1. A tea garden in which a pedestal is constituted by leg portions on both sides having wheels traveling on a track and an upper frame connected to the upper ends of the leg portions, and a tea mower or the like is mounted on the pedestal. In the management device, the upper ends of the legs on both sides in the track width direction are connected to both ends of the upper frame by a pin shaft so as to be rotatable in the track width direction, and one of the legs detects the inclination of the legs. An inclination detector is installed, and a vertical guide shaft and a slider for vertically moving the shaft are provided at a substantially central position in the track width direction of the upper frame, and the guide shaft is movable in the track width direction . The slider block is supported by a slider block driving means. One end of each of the two equal length stays is pin-connected to an intermediate symmetrical position between both legs, and the other end is symmetrical with respect to the slider. The pin is connected to the position and the inclination Tea garden management and wherein the configuration der Rukoto the vertical position is maintained of the leg part driving means is controlled in the slider block in accordance with the inclination of the legs detected by the knowledge unit. 2. A pedestal is composed of a leg portion and an upper frame connected to an upper end of the leg portion, and the leg portion has a track wheel traveling on a track and a grounding wheel traveling on the ground, Both wheels are attached to the same handle shaft and driven by a traveling motor, and the handle shafts moving forward and backward in the traveling direction are linked by a common steering mechanism, and a tea mower or the like is mounted on the mount. In the tea garden management device, the upper ends of the legs on both sides in the track width direction are connected to both ends of the upper frame by a pin shaft so as to be rotatable in the track width direction, and one of the legs has a degree of inclination of the legs. An inclination detector for detecting the above is installed, and a vertical guide shaft and a slider for vertically moving the shaft are provided at a substantially central position in the track width direction of the upper frame, and the guide shaft moves in the track width direction . is supported by slider in blocks, said slide Are installed drive means da block, one end of two equal-length stays are pin connected to the intermediate symmetrical position of the legs, which is pin-connected the other end to the symmetrical position of the slider , tea garden management apparatus, wherein configuration der Rukoto vertical position of said drive means of said slider block in accordance with the inclination of the legs detected by the inclination detector is controlled the leg portion is maintained. 3. A tea garden in which a pedestal is constituted by leg portions on both sides having wheels traveling on a track and an upper frame connected to upper ends of the leg portions, and a tea mower or the like is mounted on the pedestal. In the management device, the upper ends of the legs on both sides in the track axis direction are connected to both ends of the upper surface frame by pin shafts so as to be rotatable in the track axis direction, and one of the legs detects the inclination of the legs. slope detector is installed which, between the legs of both sides of the track direction are connected stays to form a parallel link with the top frame at pin shaft, one end portion to the upper surface frame, other The end has an actuator that is pin-connected to one of the legs,
Tea garden management and wherein the configuration der Rukoto vertical posture of the inclined the actuator according to the inclination of the legs detected by the detector is controlled the leg portion is maintained. 4. A pedestal is composed of a leg and an upper frame connected to the upper end of the leg, and the leg has a track wheel traveling on a track and a ground wheel traveling on the ground, Both wheels are attached to the same handle shaft and driven by a traveling motor, and the handle shafts moving forward and backward in the traveling direction are linked by a common steering mechanism, and a tea mower or the like is mounted on the mount. In the tea garden management device, the upper ends of the legs on both sides in the orbital axis direction are connected to both ends of the upper frame by a pin shaft so as to be rotatable in the orbital axis direction, and one of the leg portions has a degree of inclination of the leg portion. are installed inclination detector to detect, in between the legs of both sides of the track direction are connected stays to form a parallel link with the top frame at pin shaft, one end portion to the upper surface frame , actuator is set at the other end that respectively pin connected to one of said leg portions It has been,
Tea garden management and wherein the configuration der Rukoto vertical posture of the inclined the actuator according to the inclination of the legs detected by the detector is controlled the leg portion is maintained. 5. A tea garden in which a pedestal is constituted by leg portions on both sides having wheels traveling on a track and an upper frame connected to the upper ends of the leg portions, and a tea mower or the like is mounted on the pedestal. In the management device, the upper end of each leg is rotatably coupled to the end of the top frame so as to be rotatable in the track width direction and the track axis direction. Inclination detectors for detecting the inclination are respectively installed, and a vertical guide shaft and the shaft are provided at a substantially central position of the top frame in the track width direction.
Has vertically movable slider shift, the guide shaft is supported is movably slider blocks in the track width direction
Driving means for the slider block is installed, one end of the two equal length stays is pin-connected to a symmetrical position in the middle of both legs in the track width direction, and the other end is symmetrical to the slider. position are pin connected to and between the legs of both sides of the track direction are connected stays to form a parallel link with the top frame at pin shaft, one end portion to the upper surface frame, the other end Is equipped with an actuator that is pin-connected to one of the legs, and the drive means of the slider block and the actuator are controlled according to the inclination of the leg detected by the inclination detector to control the vertical direction of the leg. tea garden management and wherein the configuration der Rukoto the posture is maintained. 6. A pedestal is composed of a leg and an upper frame connected to an upper end of the leg, and the leg has a track wheel running on a track and a ground wheel running on the ground, Both wheels are attached to the same handle shaft and driven by a traveling motor, and the handle shafts moving forward and backward in the traveling direction are linked by a common steering mechanism, and a tea mower or the like is mounted on the mount. In the tea plantation management device, the upper end of each leg is rotatably connected to the end of the upper frame so as to be rotatable in the track width direction and the track axis direction, and the leg in each direction is connected to one of the leg parts on both sides in the two directions. An inclination detector for detecting the inclination degree of each section is installed, and a vertical guide shaft and the shaft are provided at a substantially central position of the top frame in the track width direction.
The guide shaft has a slider that can be raised and lowered freely.
Is supported by a slider block that can move in the track width direction .
Driving means for the slider block is installed, one end of each of the two equal length stays is pin-connected to an intermediate symmetrical position between both legs in the track width direction, and the other end is symmetrical with respect to the slider. position are pin connected to and between the legs of both sides of the track direction are connected stays to form a parallel link with the top frame at pin shaft, one end portion to the upper surface frame, the other end Is equipped with an actuator that is pin-connected to one of the legs, and the drive means of the slider block and the actuator are controlled according to the inclination of the leg detected by the inclination detector to control the vertical direction of the leg. tea garden management and wherein the configuration der Rukoto the posture is maintained. 7. The tea garden management apparatus according to claim 1, wherein the drive means of the slider block is configured as a motor-driven screw feed mechanism or a direct-acting actuator.