Agricultural machinery

Abstract

The objective is to provide an agricultural machine in which the working part can be positioned to an appropriate size. [Solution] The agricultural machine 10 comprises a work section 300 whose position can be changed between a work position and a storage position depending on the rotation position of the offset frame 200, a locking mechanism that can fix or release the rotation of the offset frame 200 relative to the machine frame 100, and a control unit 900 that can control the actuator and the locking mechanism, wherein when a command to rotate the offset frame 200 is received, the actuator operates to rotate the offset frame 200 after causing the motor to pull out the lock pin from the hole, and after the offset frame 200 has rotated, the motor moves the lock pin toward the hole.

Description

Technical Field

[0001] The present invention relates to an agricultural working machine, and in particular to a ridge shaping machine.

Background Art

[0002] Patent Document 1 discloses a working machine that can be offset left and right in the traveling direction. According to this document, the working machine is provided with a rotating frame portion constituted by a first rotating frame and a second rotating frame that are freely rotatable on a machine frame mounted on a traveling machine body, and has a working unit rotatably supported by the rotating frame. The position of the working unit is arranged to be changeable by moving the first rotating frame and the second rotating frame in the longitudinal direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the configuration of Patent Document 1, once the set position of the offset mechanism is determined, the fixation of the offset mechanism depends on the holding force of the swing cylinder. For this reason, if an excessive swing force other than that from the swing cylinder is applied to the offset mechanism, a load is applied to the swing cylinder, and the swing cylinder may not be driven properly. In addition, the configuration of Patent Document 2 fixes the support frame by a locking and fixing operation, so that the load is less likely to be applied to the cylinder that causes the support frame to perform a swing operation. However, a large number of detections by a limit switch which is a sensor are required, and the control and the machine body configuration are complicated, so it can be said that there is room for improvement.

[0005] This invention was made in view of the above-mentioned problems, and aims to provide an agricultural machine that allows for simple and proper fixing of the offset mechanism. [Means for solving the problem]

[0006] This invention is A frame having a mounting part that can be attached to a running machine, An offset frame is rotatably connected to the aforementioned machine frame by the drive of an actuator, A work unit connected to the offset frame, whose position can be changed between a working position and a storage position depending on the rotational position of the offset frame, A locking mechanism that can fix or release the rotation of the offset frame relative to the machine frame, The system comprises a control unit capable of controlling the actuator and the locking mechanism, The locking mechanism includes a locking pin that can prevent the offset frame from rotating by fitting into a hole provided in the machine frame, The system includes a motor that moves the locking pin relative to the hole, When the control unit receives a command to rotate the offset frame, it causes the motor to pull the lock pin out of the hole, and then the actuator that rotates the offset frame operates, and after the offset frame has rotated, it causes the motor to move the lock pin toward the hole. Agricultural machinery characterized by, It relates to.

[0007] This invention further, The machine frame comprises a plate on which the holes are arranged, The offset frame is configured to be switchable between a state in which the lock pin can be inserted into the hole and a state in which it is in contact with the plate and sliding. The control unit drives the motor to a state in which the lock pin slides along the plate after a specified time has elapsed since the offset frame has rotated. Agricultural machinery characterized by, It relates to.

[0008] This invention further, The locking mechanism includes a biasing body that biases the locking pin toward the hole, While sliding along the plate, the lock pin slides while accumulating a biasing force from the biasing body. Agricultural machinery characterized by, It relates to.

[0009] This invention further, The control unit is configured to recognize multiple rotational positions of the offset frame, and when it receives a command to rotate the offset frame to a rotational position that is not adjacent to any other, it causes the motor to pull the lock pin out of the hole and rotate the offset frame, and after the offset frame has passed an adjacent rotational position, it causes the motor to move the lock pin toward the hole. Agricultural machinery characterized by, It relates to.

[0010] This invention is A frame having a mounting part that can be attached to a running machine, An offset frame connected to the aforementioned machine frame and rotatably connected to the aforementioned machine frame, A work section connected to the offset frame and rotatably mounted relative to the offset frame by the drive of an actuator, A locking mechanism that can fix or release the rotation of the work unit relative to the offset frame, The system comprises a control unit capable of controlling the actuator and the locking mechanism, The locking mechanism includes a locking pin that can prevent the working part from rotating by being fitted into a hole provided in the offset frame, The system includes a motor that moves the locking pin relative to the hole, When the control unit receives a command to rotate the working unit, the actuator that rotates the working unit operates after causing the motor to pull the lock pin out of the hole, and after the working unit rotates, the motor is caused to move the lock pin toward the hole, An agricultural working machine characterized by the above, relates to.

[0011] The present invention further The offset frame includes a plate on which the hole portion is arranged, The offset frame is configured to be switchable between a state where the lock pin can be inserted into the hole portion and a sliding state in contact with the plate, The control unit drives the motor to a state where the lock pin slides on the plate after a specified time has elapsed since the working unit rotated, An agricultural working machine characterized by the above, relates to.

[0012] The present invention further The lock mechanism includes a biasing body that biases the lock pin toward the hole portion, The lock pin sliding on the plate slides in a state where the biasing force from the biasing body is accumulated, An agricultural working machine characterized by the above, relates to. Effects of the Invention

[0013] The present invention can provide an agricultural working machine capable of simply and properly fixing an offset mechanism. Brief Description of the Drawings

[0014] [Figure 1] This is a plan view of an agricultural working machine composed of a ridge forming machine according to the first embodiment of the present invention. It is in the forward working posture (forward working position + first position). The offset frame shows the shortest contraction. The two-dot chain line indicates the position of the elements of the working unit when the offset frame is at its maximum extension. [Figure 2]This is a plan view of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. It is in the stowed position (forward working position + first position). The offset frame is shown in its shortest shortened position. [Figure 3] This is a plan view of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. It is in the reverse working position (reverse working position + second position). The offset frame is shown in its shortest shortened state. The dashed line indicates the position of the working section elements when the offset frame is fully extended. [Figure 4] This is a side view of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. It is in the forward working position (forward working position + first position). The offset frame is shown in its shortest shortened state. The dashed line indicates the position of the working section elements when the offset frame is fully extended. [Figure 5] This is a cross-sectional view of an agricultural machine comprising a ridge-forming machine according to the first embodiment of this invention. The extension and retraction mechanism of the offset frame, and the peripheral parts of the offset frame and the rotation locking mechanism of the work section are schematically shown. [Figure 6] This is a partially enlarged plan view of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. This diagram illustrates the offset frame rotation section and the rotation sensor. The offset frame is in the forward working position, and the first sensor is detecting an object. [Figure 7] This is a partially enlarged bottom view of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. It shows the extension and retraction mechanism of the offset frame and the area around the rotating part of the working section, with the working section shown in the first position. The second offset frame is in the retracted state. [Figure 8] This is a partially enlarged bottom view of an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention. It shows the extension and retraction mechanism of the offset frame and the area around the rotating part of the work section, with the work section shown in the first position. The second offset frame is in the extended state. [Figure 9] This is a partially enlarged plan view showing the drive mechanism of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. The drive mechanism is common to both the first lock mechanism and the second lock mechanism. [Figure 10]This is a plan view showing the operating section of the locking mechanism of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. [Figure 11] This is a block diagram centered on the control unit of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. [Figure 12] This is a flowchart illustrating the movement of an agricultural machine, consisting of a ridge-forming machine according to the first embodiment of this invention, to a forward working position. [Figure 13] This is a flowchart illustrating the movement control of an agricultural machine, consisting of a ridge-forming machine according to the first embodiment of this invention, from a stored position to a forward working position. [Figure 14] This is a flowchart illustrating the control of movement from a reverse working position to a forward working position for an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention. [Figure 15] This is a flowchart illustrating the movement control of an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention, from an intermediate position to a forward working position. [Figure 16] This is a flowchart illustrating the control of movement to the reverse working position of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention. [Figure 17] This is a flowchart illustrating the movement control of an agricultural machine, consisting of a ridge-forming machine according to the first embodiment of this invention, from a forward working position to a reverse working position. [Figure 18] This is a flowchart illustrating the movement control of an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention, from a stored position to a reverse working position. [Figure 19] This is a flowchart illustrating the movement control of an agricultural machine, consisting of a ridge-forming machine according to the first embodiment of this invention, from an intermediate position to a reverse working position. [Figure 20] This is a flowchart illustrating the control of movement of an agricultural machine, consisting of a ridge-forming machine according to the first embodiment of this invention, to its stored position. [Figure 21] This is a flowchart illustrating the movement control of an agricultural machine, consisting of a ridge-forming machine according to the first embodiment of this invention, from the forward working position to the stored position. [Figure 22]This is a flowchart illustrating the control of movement from the reverse working position to the stored position of an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention. [Figure 23] This is a flowchart illustrating the control of movement from an intermediate position to a stored position for an agricultural work machine consisting of a ridge-forming machine according to the first embodiment of this invention. [Figure 24] This is flowchart 1 of the offset position and memory of an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention. Regardless of the working posture, the working unit moves to the right with respect to the forward direction of the traveling machine body by operation of the first operating unit. [Figure 25] This is flowchart 2 of the offset position and memory of an agricultural implement consisting of a ridge-forming machine according to the first embodiment of this invention. Regardless of the working posture, the working part moves to the left with respect to the forward direction of the traveling machine body by operation of the second operating part. [Figure 26] This is flowchart 1 of the offset position and memory of an agricultural implement consisting of a ridge-forming machine according to a second embodiment of this invention. The offset frame extends when operated at the first operation unit (or storage + forward). [Figure 27] This is flowchart 2 of the offset position and memory of an agricultural implement consisting of a ridge-forming machine according to a second embodiment of this invention. The offset frame is shortened by operation at the second operation unit (or storage + forward). [Modes for carrying out the invention]

[0015] A first embodiment of this invention will be described with reference to the drawings. The drawings show an agricultural machine 10 consisting of a ridge-forming machine, which is an embodiment of the present invention. The mechanism of the present invention is not limited to ridge-forming work. In this explanation, the left side of Figure 1 will be considered the front in the direction of work forward, the right side the rear in the direction of work forward, the top the right relative to the direction of work forward, and the bottom the left relative to the direction of work backward.

[0016] The agricultural implement 10 includes a machine frame 100, an offset frame 200 that can rotate horizontally relative to the machine frame 100, and a work unit 300 that can rotate horizontally relative to the offset frame 200 by a third actuator 290 which is an actuator for rotating the work unit. The work unit 300 forms a new ridge while adjusting to an appropriate position relative to the original ridge, which is the ground work.

[0017] The front part of the machine frame 100 has a mounting section for attaching the agricultural implement 10 to the three-point linkage mechanism of the traveling machine. The agricultural implement 10 is attached to the three-point linkage mechanism at the rear of the traveling machine via the mounting section and used. The mounting section has a top bracket that protrudes forward and upward from the center of the machine frame 100, and a top pin 110 is provided at the front end of the upper part of this top bracket. Similarly, lower brackets are projected from the machine frame 100 to the left and right, facing each other, and lower pins 120, 120 are attached to the front ends of each of these lower brackets. The agricultural implement 10 is connected to and attached to the three-point linkage mechanism of the traveling machine by this mounting section consisting of the top pin 110 and the lower pins 120.

[0018] The agricultural implement 10 shown in Figure 1 is mounted on a three-point linkage mechanism (not shown) on a traveling machine and forms ridges in fields as the traveling machine, such as a tractor, moves. The agricultural implement 10 consists of a machine frame 100 on the traveling machine side and a working section 300 that is rotatably mounted on the other end of the machine frame 100. The working section 300 can be positioned offset to the left and right from the center of the machine frame 100 by a rotating frame.

[0019] To the front of the working unit 300 in the direction of travel during operation is an embankment unit 400 that excavates soil from the field surface and a portion of the original levee and piles it up on the sides and top of the original levee. To the rear of the working unit 300 in the direction of travel during operation is a molding disc body 520 that is rotated by a horizontal rotating shaft perpendicular to the direction of travel and compacts the embankment piled up by the embankment unit 400 to form a new levee on the original levee.

[0020] In this embodiment, when the rotating frame is swung to the right side in the forward direction of the traveling machine to position the working unit 300 to the right, the ridges of the fields can be formed as the traveling machine moves forward. Conversely, when the rotating frame is rotated to position the working unit 300 to the left, the ridges of the fields can be formed as the traveling machine moves backward. The rotating frame section is composed of an offset frame 200 that is rotatably attached to the rear part of the machine frame 100. The offset frame 200 is rotatably connected to the machine frame 100 and is provided to be extendable and retractable in the longitudinal direction, and the first offset frame 210 and the second offset frame 250 are configured to be extendable and retractable by being nested inside each other. The offset frame 200 can be driven to rotate left and right relative to the direction of travel by a first actuator 260, which is an actuator for the offset frame. The first actuator 260 is a cylinder that can be extended and retracted, and in the embodiment described, it is a cylinder that can extend and retract a piston rod by hydraulic pressure generated within the first actuator 260 using electricity as a power source. The first actuator 260 can be an electrically powered cylinder or a cylinder that uses hydraulic pressure generated at another location and sent through piping to extend and retract a piston rod, as long as it effectively rotates the offset frame 200, which is the rotating frame section. There are no limitations on the operating mode.

[0021] The work unit 300 is configured to allow for forward operation, where the offset frame 200 and the work unit 300 are positioned on one side of the traveling machine, and the traveling machine, such as a tractor, is moved forward to form a ridge; and reverse operation, where the offset frame 200 and the work unit 300 are positioned on the other side of the traveling machine, and the traveling machine is moved backward to form a ridge. In the first embodiment, the forward operation state has the work unit 300 protruding to the right side of the forward side of the traveling machine. When describing the machine configuration below, unless otherwise specified, the agricultural machine 10 in the forward operation state will be described. When the machine is in the reverse operation state, it will be described as needed.

[0022] The machine frame 100 will now be described. The machine frame 100 has a mounting section at its front that can be connected to a lifting device (not shown), such as a three-point linkage mechanism, of the traveling machine (not shown), and is configured to allow the agricultural implement 10 to be attached to and detached from it.

[0023] 130 is the input shaft. The machine frame 100 is equipped with an input shaft 130 that obtains power from the traveling machine body and supplies power to the work unit 300. The mounting part and the traveling machine may be connected via a coupling device such as a quick coupler. In this embodiment, the mounting part is connected to the traveling machine by a top pin 110 located at the top and lower pins 120, 120 located on the left and right sides below. In addition, an input shaft 130 capable of obtaining rotational power from the traveling machine via a drive shaft (not shown) or the like is provided at the front of the machine frame 100, protruding forward parallel to the direction of travel. The agricultural implement 10 obtains power from the traveling machine via the input shaft 130.

[0024] 200 is an offset frame. The offset frame 200 is a long member, and its front end, which is one end in the longitudinal direction, is connected to the rear of the machine frame 100, which is the rear of the mounting section, so as to be able to rotate horizontally. The other end of the offset frame 200, which is the rear end, is movable to both the left and right sides of the machine frame 100. The offset frame 200 is connected to a first actuator 260, which is an actuator for the offset frame consisting of a cylinder that is a driving means for connecting to the machine frame 100, and the offset frame 200 rotates horizontally as the first actuator 260 extends and retracts. The pivot point on the front end of the offset frame 200 is in the same left-right position as the top pin 110 with respect to the direction of travel in a plan view, but it may be in a position that is offset in the left-right direction.

[0025] Let me explain the work unit 300. The work unit 300 is rotatably connected to the rear end of the offset frame 200. The work unit 300 comprises a machine frame 310 which forms the basic framework, an embankment section 400 located in front of the machine frame 310 and having an excavation rotor 420 that protrudes laterally from the machine frame 310, and a molding section 500 located in rear of the machine frame 310 and having a molded disc body 520 that protrudes laterally from the machine frame 310.

[0026] The aircraft frame 310 is rotatable relative to the offset frame 200. A third actuator 290, consisting of a cylinder connected to the offset frame 200, is connected to the aircraft frame 310 via a link mechanism 280 that connects the offset frame 200 and the aircraft frame 310. As the third actuator 290 extends and retracts, it rotates the aircraft frame 310 horizontally from one side to the other side of the offset frame 200. 280 is a link mechanism. The link mechanism 280 is a link mechanism in which multiple link members connect the offset frame 200 and the aircraft frame 310 to each other, and is capable of bending in accordance with the rotation of the aircraft frame 310. By bending in response to the extension and retraction movement of the third actuator 290, the link mechanism 280 can be driven to rotate left and right in the direction of travel. A working section 300 is connected to the tip of the offset frame 200 so as to be able to rotate horizontally.

[0027] Let me explain the embankment section 400. The embankment section 400 uses an excavation rotor 420 and an upper surface treatment rotor 430 attached to the machine frame 310 to supply the soil excavated from the original ridge back to the original ridge. The embankment section 400 is designed so that the excavation rotor 420 and the top surface treatment rotor 430 can be rotated so as to protrude toward the lateral ridge.

[0028] The excavation rotor 420 has multiple excavation blades 40 with different radii of rotation arranged radially on a horizontal rotation axis, and is positioned to protrude from the side of the original ridge. The top surface treatment rotor 430 has multiple excavation blades 40 arranged radially on a horizontal rotation axis, and is positioned on the upper part of the original ridge. The embankment section 400 is rotated by power from the traveling machine to excavate soil from the field surface, a portion of the original levee slope, and the top surface of the original levee. The original levee slope can be excavated in a stepped manner depending on the rotation radius of the excavation blade 40 of the embankment section 400. The excavated soil is thrown onto the molded disc body 520 located on the original levee side and behind the embankment section 400 to form the embankment. The molded disc body 520 will be described later. An embankment power transmission unit 161 is provided at the base of the excavation rotor 420 and the top surface treatment rotor 430 of the embankment section 400. The embankment power transmission unit 161 is an embankment power transmission case that transmits power obtained from the input shaft 130 to the excavation rotor 420 and the top surface treatment rotor 430 via the work section input shaft 14 located at the top of the work section 300. The embankment power transmission unit 161 is located on the front side of the work section 300.

[0029] 500 is a molding section. The molding section 500 is located behind the embankment section 400 in the direction of travel, and rotates and presses the soil supplied from the embankment section 400 onto the original ridge to form a new ridge. The molding section 500 is located on the rear side of the machine frame 310. The molding section 500 has a molding disc body 520 that is rotationally driven via a molding transmission section that transmits the transmitted driving force.

[0030] The molding disc body 520 is located at the rear end of the molding transmission case, which is situated at the rear of the work section 300, and is provided to protrude from the transmission frame toward the ridge side. The molding disc body 520 consists of an upper roller 521 that molds the upper surface of the ridge and a molding disc 511 that molds the side surface of the ridge.

[0031] The top roller 521 is made up of a cylindrical roller. In addition, uneven surfaces such as ridges or steps may be formed on the circumference of the top roller 521. A molded disc body 520 is provided so as to be continuous with the stepped portion of the upper roller 521. The molded disc body 520 is formed in a substantially frustoconical shape with the upper roller 521 side as the apex. In detail, the molded disc 511 is provided in a frustoconical shape with multiple steps by overlapping a plurality of segmented pieces 511a. There are no limitations on the detailed shape of the segmented pieces 511a, and the most suitable form can be adopted as appropriate. Furthermore, the method and positional relationship of overlapping the segmented pieces 511a can also be adopted in a manner that is as appropriate as appropriate.

[0032] The molded disc body 520 is rotated by rotational power output from the rear end of the molding transmission case 164, which is power obtained from the input shaft 14 of the work section. The molded disc body 520 is also rotated in conjunction with the excavation rotor 420 and the top surface treatment rotor 430 of the embankment section 400. The molded disc body 520 rotates faster than the speed of travel around a rotation axis perpendicular to the direction of travel. That is, the molded disc body 520 moves while slipping and rotating along the top and sides of the ridge. The molded disc body 520 rubs and presses the excavated soil supplied from the embankment section 400 against the original ridge, forming a new ridge with compacted excavated soil. Since the weight of the agricultural implement 10 itself is added to the rotating molded disc body 520, an even stronger new ridge can be formed.

[0033] In forward operation, the agricultural implement 10 is positioned at the rear of the vehicle in the direction of travel, so it is physically impossible to excavate the original ridge and form the new ridge by the length of the vehicle. Therefore, by switching the direction of travel of the vehicle so that the agricultural implement 10 is at the front of the vehicle, it becomes possible to form the ridge all the way to the end. I will explain the reverse operation. In reverse operation, the offset frame 200 and the work unit 300 are positioned on the other side of the machine body relative to the forward operation, and the machine body is moved in reverse to form the ridge. In this embodiment, the offset frame 200 and the work unit 300 are positioned on the left side of the machine body relative to the forward direction of the machine body. In this state, it is possible to perform reverse operation to form the ridge by moving the machine body in reverse. The agricultural implement 10 is positioned on the front side of the direction of travel, which is the direction of reverse movement of the machine body, to form the ridge. In both forward and reverse operation, the work unit 300 is positioned so that the front side in the direction of travel is the embankment 400, and the forming unit is positioned behind the embankment 400 in the direction of travel when performing the work.

[0034] Let me explain the offset frame 200 further. An offset frame 200 is connected to the rear of the machine frame 100 so as to be rotatable in the horizontal direction. The rear end of the offset frame 200 is rotatable within a range from a position on the left side to a position on the right side relative to the traveling machine body.

[0035] The rotational position of the offset frame 200 will be explained. The working section 300, connected to the rear end of the offset frame 200, is movable between a working position and a storage position by the rotation of the offset frame 200. The working position is the position where the side of the offset frame 200 connected to the working section 300 is on the side of the machine frame 100 and protrudes toward either the left or right side of the traveling machine, and is a position where agricultural work can be performed. In this embodiment, the working positions consist of a forward working position in which the working unit 300 protrudes to the right side of the traveling machine, and a reverse working position in which the working unit 300 protrudes to the left side of the traveling machine. The forward working position is the arrangement of the working unit 300 for performing agricultural work with the traveling machine moving forward, and the reverse working position is the arrangement of the working unit 300 for performing agricultural work with the traveling machine moving backward. In either working position, the work is performed with the embankment section 400 of the working unit 300 positioned in front of the molding section 500 in the direction of travel.

[0036] The storage position is when the work unit 300 is located at the rear of the traveling machine and behind the machine frame 100. The storage position is suitable for the traveling machine with the agricultural implement 10 attached to move when not performing agricultural work. In other words, the work unit 300 is located at the rear of the traveling machine. In this embodiment, the storage position is located between the forward working position and the reverse working position, with reference to the rotational position of the offset frame 200. It can also be said that the forward working position and the storage position, and the storage position and the reverse working position are adjacent to each other. The detailed configuration of the forward working position, reverse working position, and storage position, including the position of the work unit 300, will be described later. Figures 1, 4, and 6 show the forward working position. Figure 3 shows the reverse working position. Figure 2 shows the stowed position.

[0037] This section describes the configuration of the offset frame 200. The offset frame 200 consists of a first offset frame 210 and a second offset frame 200, and is configured to be extendable and retractable in the longitudinal direction. The first offset frame 200 is a long, cylindrical member with a hollow interior, and one end is connected to the machine frame 100. The second offset frame 250 is nested inside the other end of the first offset frame 210, and is extendable and retractable relative to the first offset frame 210. A work section 300 is connected to the rear end of the second offset frame 250.

[0038] This section describes the rotation of the offset frame 200. A first actuator 260 is used to rotate the offset frame 200. The first actuator 260 is an extendable cylinder that spans the machine frame 100 and the first offset frame 210. The first actuator 260 is sometimes also called a slewing cylinder. In the first embodiment of this invention, shortening the slewing cylinder rotates the offset frame 200 toward the forward working position, and extending the slewing cylinder rotates the offset frame 200 toward the reverse working position.

[0039] This section describes the detection of the rotational position of the offset frame 200 using the rotation sensor 200. A rotation sensor 220 is positioned to detect the rotational position of the offset frame 200. The rotation sensor 220 is positioned around the pivot point of the offset frame 200 at the rear of the machine frame 100, and is configured to react when the offset frame 200 is in a specified position, and to emit a detection signal when a detection reaction occurs. The rotation sensor 220 is positioned on the machine frame 100 above a position close to the pivot point of the offset frame 200. In the first embodiment of this invention, as shown in Figures 5 and 6, the rotation sensor 220 uses a plurality of proximity sensors (first sensor 221, second sensor 222, third sensor 223), and is a sensor that can react by using the electromagnetic induction effect that occurs when a rod-shaped conductor detection body 212 protruding from the upper part of the offset frame 200 approaches. The detection element 212 is for detection by the rotation sensor 200 (221-223). The detection element 212 is installed at the base end of the first offset frame 210.

[0040] The rotation sensor 220 in the first embodiment of this invention detects the approach of the detection body 212 without contact, making it resistant to foreign objects and repeated use, less susceptible to damage, and suitable for agricultural machinery 10. Although the rotation sensor 220 in the embodiment is shown in the non-contact form described above, it is not limited to this form. Also, although the non-contact form is shown as desirable, a contact form such as a limit switch may also be used.

[0041] In the first embodiment of this invention, the rotation sensor 220 comprises a first sensor 221 that detects when the offset frame 200 is in the forward working position, a second sensor 222 that detects when the offset frame 200 is in the stowed position, and a third sensor 223 that detects when the offset frame 200 is in the reverse position. With respect to the forward direction of the traveling machine, the first sensor 221 is positioned on the right side of the machine frame 100, the third sensor 223 is positioned on the left side of the machine frame 100, and the second sensor 222 is positioned between the first sensor 221 and the third sensor 223. Each of the first sensor 221, the second sensor 222, and the third sensor 223 is capable of emitting a detection signal when it detects the approach of the detection object 212.

[0042] The first sensor 221 detects the rotational position of the offset frame 200 when it is in the forward working position, the second sensor 222 detects the rotational position of the offset frame 200 when it is in the stowed position, and the third sensor 223 detects the rotational position of the offset frame 200 when it is in the reverse working position.

[0043] In the first embodiment of this invention, the rotation sensor 220 is provided in multiple units, such as a first sensor 221, a second sensor 222, and a third sensor 223, corresponding to the rotational position of the offset frame 200. However, the invention is not limited to this example. For example, a single sensor capable of detecting the rotational angle by contact, such as a potentiometer, may be used to detect the rotational position of the offset frame 200 relative to the machine frame 100. In this case, the detection signal, which is an angle signal emitted from the potentiometer, is constantly emitted, and by performing calculations in the control unit 900 described later, it is possible to determine the forward working position, stowed position, and reverse working position of the offset frame 200.

[0044] This section explains the extension and retraction of the offset frame 200. A second actuator 270 is used to extend and retract the offset frame 200. The second actuator 270 connects the first offset frame 210 and the second offset frame 250 by bridging them. When the second actuator 270 is extended, the second offset frame 250 moves so as to protrude from the first offset frame 210, and when the second actuator 270 is shortened, the second offset frame 250 moves so as to retract into the first offset frame 210. In this embodiment, the second actuator 270 is positioned on the side of the offset frame 200 opposite to the side where the first actuator 260 is located. By extending and retracting the offset frame 200, the work section 300, when positioned at the work location, can be freely extended and retracted laterally relative to the traveling machine body. The second actuator 270 is sometimes also called an offset cylinder.

[0045] This section describes how to detect the expansion / contraction position of the offset frame 200. As clearly shown in Figures 5, 7, and 8, an offset sensor 253 is positioned at the bottom of the first offset frame 210. The offset sensor 253 is configured to detect the extension / retraction distance of the second offset frame 250 and to emit a detection signal. A sensor arm 254 is rotatably fixed to the offset sensor 253. The offset sensor 253 employs a potentiometer capable of detecting the rotation angle of the sensor arm 254. The sensor arm 254 is rotatably connected to a protruding detection body 252, which is provided on a detection base 251 fixed to the lower rear end of the second offset frame 250. The detection base 251 is a long, plate-shaped member integrated with the second offset frame 250, which moves in and out relative to the first offset frame 210. The detection base 251 is positioned from the rear end of the second offset frame 250 toward the machine frame 100, and can move in and out together with the second offset frame 250 relative to the first offset frame 210. The detection unit 252 moves together with the second offset frame 250, causing the sensor arm 254 of the offset sensor 253 to rotate. The detection unit 252 rotates in response to the extension and retraction of the sensor arm 254. The offset sensor 253 detects the rotation of the sensor arm 254 and is configured to detect the extension and retraction length of the second offset frame 250 based on this detected rotation angle. Therefore, the offset sensor 253 can detect the extension and retraction length of the offset frame 200. The detection element 252 is for detecting the extension and retraction length of the offset frame 200. It is mounted on the detection base 251, which is connected to the tip of the second offset frame 250.

[0046] In the first embodiment, the offset sensor 253 employs a potentiometer, but this example is not limiting. For example, it may be a photoelectric sensor or a laser displacement sensor that can directly or indirectly measure the amount of movement of the second offset frame 250, or any other form. It is sufficient that it can measure the amount of movement of the second offset frame 250 and output the result.

[0047] The rotation of the work unit 300 will be explained. The work unit 300 is rotated by the extension and retraction of a cylinder, which is the third actuator 290. The third actuator 290 is positioned to span across the link mechanism 280, which connects the second offset frame 250 and the work unit 300, and the work unit 300 itself. The third actuator 290 is sometimes also called a rotating cylinder.

[0048] In the first embodiment of this invention, the link mechanism 280 consists of a first link 281 and a second link 282. One end of the first link 281 is rotatably connected to the end of the second offset frame 250, and one end of the second link 282 is rotatably connected to the base frame located above the work section 300. The other end of the first link 281 is rotatably connected to the middle part of the second link 282. The third actuator 290 connects the base frame (work section 300) to the other end of the second link 282, so that the extension and retraction of the third actuator 290 allows the work section 300 to rotate left and right in the horizontal direction relative to the offset frame 200 via the link mechanism 280. The link mechanism 280 allows the third actuator 290 to rotate the work section 300 without interfering with the offset frame 200 or the work section 300, and also allows for a large rotation angle of the work section 300.

[0049] The rotational position of the work unit 300 will be explained. The work unit 300 can be positioned in a first position and a second position by rotating it relative to the offset frame 200. The work unit 300 can also rotate within the range between the first position and the second position. The first position is the position where the work unit 300 is positioned to one side of the offset frame 200. In this first embodiment, the first position is the position where the work unit 300 is rotated to the right side in a plan view of the offset frame 200 during forward operation. The first position is the rotation position used when the work unit 300 is in the forward operation position or the storage position. In the first position, the embankment section 400 of the work unit 300 is located to the side, which is perpendicular to the longitudinal direction of the offset frame 200, and the molding section 500 of the work unit 300 is located to the rear, which is in the direction extending along the longitudinal direction of the offset frame 200.

[0050] The second position is the position in which the work section 300 is positioned to the other side of the offset frame 200. In this embodiment, the second position is the position in which the work section 300 is rotated to the left side in a plan view of the offset frame 200 during forward operation. The second position is the rotation position used when the work section 300 is in the reverse operation position. In the second position, the molding section 500 of the work section 300 is located to the side, which is perpendicular to the longitudinal direction of the offset frame 200, and the embankment section 400 of the work section 300 is located to the rear, which is in the direction extending along the longitudinal direction of the offset frame 200.

[0051] In the first embodiment of this invention, the working section 300 has two rotational positions: a first position and a second position. In the states shown in Figures 1, 2, 4, 7, and 8, the working section is in the first position. In the state shown in Figure 3, the working section 300 is in the second position. The working section 300 only needs to be in either the first or second position. Therefore, the placement of sensors such as the rotation sensor 220 that recognizes the rotation angle of the offset frame 200 can be omitted. Therefore, the configuration of the sensors, electrical circuits, and the control unit 900 that processes the detection signals emitted from these sensors can also be simplified. Of course, a rotation sensor 220 may also be provided to enable detection of the rotational position of the work unit 300. In this case, similar to the rotation sensor 220, the detection mode and other aspects can be changed as appropriate.

[0052] Let's explain the forward working posture. Forward operation in the working position refers to performing work with the offset frame 200 rotated to the forward working position and the working section 300 rotated to the first position. Forward operation is performed by moving the vehicle forward with the working section 300 of the agricultural implement 10, which is mounted on the rear side of the vehicle, positioned to the right of the vehicle's forward direction. The working section 300 can be changed to the forward working position by rotating the offset frame 200 to the forward working position and rotating the working section 300 to the first position. When in the forward working position, the amount by which the working section 300 protrudes laterally relative to the vehicle can be adjusted by extending or retracting the offset frame 200.

[0053] Let's explain the correct posture for working in reverse. Reverse operation in the working position refers to performing work with the offset frame 200 rotated to the reverse working position and the working section 300 rotated to the second position. Reverse operation is performed by moving the machine in reverse with the working section 300 of the agricultural implement 10, which is mounted on the rear side of the machine, positioned to the left of the machine's forward direction. Both forward and reverse operations are performed with the embankment section 400 of the working section 300 positioned in front of the molding section 500 in the direction of travel. The working section 300 can be changed to the reverse working position by rotating the offset frame 200 to the reverse working position and rotating the working section 300 to the second position. When in the reverse working position, the amount by which the working section 300 protrudes laterally from the machine can be adjusted by extending or retracting the offset frame 200.

[0054] Let's explain the storage position. The stowed position is the state in which the offset frame 200 is rotated to the stowed position and the work unit 300 is rotated to the first position. By adopting the stowed position, the work unit 300 can be positioned on the rear side of the machine frame 100, making it easier for the mobile unit to move around when not performing work. Furthermore, since the work unit 300 can be brought closer to the machine frame 100 by extending or retracting the offset frame 200, it is possible to improve the mounting balance of the mobile unit in the stowed position.

[0055] Let me explain the locking mechanism. A locking mechanism is provided to fix and release the rotation of the offset frame 200 relative to the machine frame 100, and to fix and release the rotation of the work section 300 relative to the offset frame 200. The locking mechanism consists of a first locking mechanism 230a and a second locking mechanism 230b. The first locking mechanism 230a fixes and releases the rotation of the offset frame 200 relative to the machine frame 100, and the second locking mechanism 230b fixes and releases the rotation of the work section 300 relative to the offset frame 200.

[0056] The first locking mechanism 230a will now be described. The first locking mechanism 230a includes a fixing plate 231a provided on the machine frame 100 with a fixing hole 232a, a locking pin 233a that can be inserted into and removed from the fixing hole 232a, a biasing body 235a that biases the locking pin 233a, an arm 234a that operates the movement of the locking pin 233a, and a driving means 240a that drives the movement of the locking pin 233a.

[0057] The fixing plate 231a is positioned below the first offset frame 210 and fixed to the machine frame 100. The fixing plate 231a has three fixing holes 232a corresponding to the forward working position, stowed position, and reverse working position of the offset frame 200. In this embodiment, the fixing plate 231a is also provided to hold a pivot shaft 236, which serves as the pivot point for the first offset frame 210, in addition to the multiple fixing holes 232a.

[0058] As shown in Figure 5, the lock pin 233a is configured to pass through through holes 237 provided on the upper and lower sides of the base end of the first offset frame 210. The lock pin 233a is a stepped pin with two diameters, one large and one small. The larger diameter side is positioned on the lower side, which is the fixing plate 231a side, and the smaller diameter side is positioned on the upper side. Of the through holes 237, only the smaller diameter side of the lock pin 233a is configured to pass through the upper hole. In other words, the through hole is configured such that the larger diameter side of the lock pin 233a cannot pass through upwards, and only the smaller diameter side can protrude from the offset frame 200.

[0059] A biasing element 235a is provided on the small-diameter portion of the lock pin 233a. The biasing element 235a is a coil spring and is positioned to be sandwiched between the through hole on the upper surface of the offset frame 200 and the large-diameter portion of the lock pin 233a. The lock pin 233a is constantly biased toward the fixing plate 231a located on the lower side by receiving the biasing force of the biasing element 235a.

[0060] By inserting its large-diameter portion into the fixing hole 232a, the locking pin 233a creates a fixed state in which the rotation of the offset frame 200 is prevented. Conversely, by pulling the large-diameter portion out of the fixing hole 232a, the rotation of the offset frame 200 is released, creating an unlocked state. In Figure 5, the locking pin 233a shown by a solid line represents the unlocked state, and the locking pin 233a shown by a dashed-dot line represents the fixed state.

[0061] The small-diameter portion of the lock pin 233a that protrudes from the upper surface of the offset frame 200 under the biasing force of the biasing member 235a is connected to the arm 234a. The middle part of the arm 234a is connected to a pivot point provided on the upper surface of the offset frame 200, and the lock pin 233a is connected to one end of the arm 234a. By rotating the other end of the arm 234a up and down, the lock pin 233a can be moved up and down.

[0062] The driving means 240a will now be described. A drive mechanism 240a is connected to the other end of the arm 234a, making it possible to remotely operate the lock pin 233a. In this embodiment, the drive mechanism 240a is located on the first offset frame 210. The drive mechanism 240a includes a rotatable motor 241a that is a drive source for operating the lock pin 233a, a rotating gear 242a that receives the rotation of the motor 241a and rotates to one or the other, and a wire 244a that connects the rotating gear 242a to the other end of the arm 234a.

[0063] As shown in Figure 9, the motor 241a can rotate the pinion gear, which is the output shaft, in either forward or reverse direction. The rotating gear 242a has an arc-shaped meshing portion on one side that meshes with the pinion gear of the motor 241a. The rotating gear 242a has a regulating hole 245a that restricts the physical range of rotation by contact with a regulating pin 243a. One end of a wire 244a is connected to the other side of the rotating gear 242a, and the other end of the wire 244a is connected to the other end of the arm 234a.

[0064] The rotation of the motor 241a is transmitted via the rotating gear 242a, wire 244a, and arm 234a, allowing the lock pin 233a to switch the offset frame 200 between a fixed state and an unlocked state. In the first embodiment of this invention, when the output shaft of the motor 241a is rotated in the forward direction, which is clockwise in a plan view, tension is generated in the wire 244a to resist the biasing force of the biasing body 235a, causing the lock pin 233a to move in the direction of being pulled out of the fixing hole 232a, and releasing the offset frame 200.

[0065] Furthermore, when the output shaft of the motor 241a is rotated in the reverse direction, which is counterclockwise in a plan view, the tension of the wire 244a is released, and the lock pin 233a is moved into the fixing hole 232a by being pushed back by the biasing force of the biasing body 235a, thereby fixing the offset frame 200 in place.

[0066] Furthermore, if the motor 241a is rotated in the reverse direction and there is no fixing hole 232a at the destination of the lock pin 233a, the larger diameter end of the lock pin 233a will be pressed against the fixing plate 231a. At this time, the offset frame 200 is in a freely rotatable unlocked state, and the larger diameter end of the lock pin 233a will slide on the fixing plate 231a while being biased by the biasing body 235a. During sliding, the biasing body 235a biases the lock pin 233a while accumulating biasing force toward the fixing plate 231a. As the rotation of the offset frame 200 continues, when the fixing hole 232a is positioned at the large-diameter end of the lock pin 233a, the biasing force of the biasing body 235a pushes the lock pin 233a into the fixing hole 232a, thereby fixing the offset frame 200 in place.

[0067] The second locking mechanism 230b will now be described. Since the second locking mechanism 230b has almost the same configuration as the first locking mechanism 230a, we will only mention the parts where differences arise. The fixing plate 231b, which has fixing holes 232b, is fixed to the rear end of the upper surface of the second offset frame 250. The fixing plate 231b of the second locking mechanism 230b is provided with fixing holes 232b at two locations corresponding to the first and second positions of the work section 300. In addition to the multiple fixing holes 232b, the fixing plate 231b of the second locking mechanism 230b is also provided to hold a pivot shaft 256 that serves as the pivot point for the rotation of the work section 300.

[0068] The lock pin 233b is configured to pass through through holes 257 provided in the upper and lower parts of the base frame (working part 300) of the working part 300, and its smaller diameter side is provided to protrude from below the base frame (working part 300). The lock pin 233b of the second locking mechanism 230b is constantly biased toward the fixing plate 231b located above by the biasing body 235b. The working part 300 can be switched between a fixed state, in which rotation of the working part 300 is prevented by inserting the lock pin 233b into the fixing hole 232b, and an unlocked state, in which rotation of the working part 300 is released by pulling out the lock pin 233b from the fixing hole 232b. In the unlocked state, the lock pin 233b slides along the lower surface of the fixing plate 231b of the second locking mechanism 230b, receiving the biasing force from the biasing body 235b which has accumulated biasing force.

[0069] In the first embodiment of this invention, the driving means 240b of the second locking mechanism 230b is positioned above the molding portion 500 on the other end of the base frame (working portion 300) and remotely operates the locking pin 233b of the second locking mechanism 230b. As shown in Figure 9, a partially enlarged plan view showing the drive means section of the locking mechanism of an agricultural machine consisting of a ridge-forming machine according to the first embodiment of this invention, the drive means (drive means 240a and drive means 240b) of the first locking mechanism 230a and the second locking mechanism 230b are common. The configuration of the drive means 240b of the second locking mechanism 230b is the same as that of the drive means 240a of the first locking mechanism 230a, and therefore the explanation will be omitted as it would be a repetition. Note that the components of the drive means 240b may be given similar reference numerals to those of the drive means 240a and described separately from the components of the drive means 240a.

[0070] The arrangement of the drive means 240a and drive means 240b will now be described. The drive means 240a and drive means 240b used in the first locking mechanism 230a and the second locking mechanism 230b may be located in places other than those shown in the examples. The arm 234a that operates the locking pin 233a is operated by the drive means 240a via wire 244a, and the arm 234b that operates the locking pin 233b is operated by the drive means 240b via wire 244b. The drive means 240a and drive means 240b can be freely arranged depending on the mode of implementation. For example, the drive means 240a can be attached to the machine frame 100 of a member further away from each locking mechanism to operate the locking mechanism. In this embodiment, the drive means 240a that operates the locking pin 233a is located on the first offset frame 210, and the drive means 240b that operates the locking pin 233b is located on the upper part of the work section 300 located at the tip of the second offset frame.

[0071] The control unit 900 will now be described. The control unit 900 is connected to the motors 241a and 241b of the first actuator 260, the second actuator 270, the third actuator 290, the first sensor 221, the second sensor 222, the third sensor 223, the offset sensor 253, the first locking mechanism 230a, and the second locking mechanism 230b. The control unit 900 is configured to receive detection signals from the first sensor 221, the second sensor 222, the third sensor 223, and the offset sensor 253. Furthermore, the control unit 900 is configured to send commands to operate the first actuator 260, the second actuator 270, the third actuator 290, the motor 241a of the first locking mechanism 230a, and the motor 241b of the second locking mechanism 230b, and to control their operation based on the results of calculations based on the detection signal. In this embodiment, the control unit 900 is located above the rotation sensor 220.

[0072] The control unit 900 is also connected to an operating means 950 that can be manually operated by the operator to cause the control unit 900 to rotate the offset frame 200, extend or retract the offset frame 200, rotate the work section 300, and operate the second locking mechanism 230b. The connection between the control unit 900 and the operating means 950 may be wired or wireless. In the first embodiment of this invention, a wireless connection is employed. In both wired and wireless connection methods, the communication method between the control unit 900 and the operating means 950 can be freely chosen to be the most appropriate configuration.

[0073] The control unit 900 is equipped with a memory unit 910. The memory unit 910 can store at least a preset extension / retraction length of the offset frame 200. In other words, it stores a preset rotation angle of the offset sensor 253. The control unit 900 compares the detection signal from the offset sensor 253 with the rotation angle of the offset sensor 253 stored in the memory unit 910, and operates the second cylinder to extend or retract the offset frame 200 so that it reaches the preset extension / retraction length of the offset frame 200. The extension and retraction of the offset frame 200 and the storage of the extension and retraction length in the storage unit 910 are possible when the offset frame 200 is in the working position. In other words, when the offset frame 200 is in the storage position, or in an intermediate position other than the working position, the extension and retraction of the offset frame 200 and the storage of the extension and retraction length are not possible.

[0074] The operating means 950 will now be described. The operating means 950 has an operating section that can be operated manually. The operating section has at least a forward operating section 951 for setting the work unit 300 to a forward working position, a reverse operating section 952 for setting the work unit 300 to a reverse working position, and a retracting operating section 953 for setting the work unit 300 to a retracted position. In this embodiment, the operating section is shown as a button switch, but the form of the operating section is not limited to the above and may be in the form of a lever, a rotary switch, a touch pad, or a touch panel with a display screen.

[0075] By operating the forward operation unit 951, the work unit 300 can be positioned in a forward working position. More specifically, when the forward operation unit 951 is operated, the control unit 900 automatically operates the first actuator 260, the second actuator 270, the third actuator 290, the first locking mechanism 230a, and the second locking mechanism 230b to position the work unit 300 in a forward working position. Furthermore, by operating the reverse operation unit 952, the work unit 300 can be repositioned to a reverse working position. More specifically, when the reverse operation unit 952 is operated, the control unit 900 automatically operates the first actuator 260, the second actuator 270, the third actuator 290, the first locking mechanism 230a, and the second locking mechanism 230b to reposition the work unit 300 to a reverse working position. Furthermore, the work unit 300 can be moved to the retracted position by operating the storage operation unit 953. More specifically, when the storage operation unit 953 is operated, the control unit 900 automatically operates the first actuator 260, the second actuator 270, the third actuator 290, the first locking mechanism 230a, and the second locking mechanism 230b to move the work unit 300 to the retracted position.

[0076] Let's explain the extension and retraction operation. The operating section may further include a first operating section 954 and a second operating section 955 for the extension and retraction of the offset frame 200. When the first operating section 954 and the second operating section 955 are operated, the second actuator 270 operates so that the work section 300 in the forward and reverse working positions protrudes laterally relative to the traveling machine, thereby extending the offset frame 200, or the second actuator 270 extends or retracts so that it retracts toward the center relative to the width of the traveling machine, thereby causing the offset frame 200 to extend or retract.

[0077] In the first embodiment of this invention, the system is described as having a first operating unit 954 and a second operating unit 955. However, the first operating unit 954 and the second operating unit 955 can also serve as a forward operating unit 951, a reverse operating unit 952, and a retracting operating unit 953. For example, by operating the forward operating unit 951 and the retracting operating unit 953 simultaneously, the first operating unit 954 may be given the function of extending the offset frame 200, or by operating the reverse operating unit 952 and the retracting operating unit 953 simultaneously, the second operating unit 955 may be given the function of shortening the offset frame 200.

[0078] As a further example, the first operating unit 954 may be provided with the function of moving the offset frame 200 to either the extension or retraction position by operating either the forward operating unit 951 or the retraction operating unit 953 multiple times in a predetermined time. Alternatively, the second operating unit 955 may be provided with the function of moving the offset frame 200 to the other of the extension or retraction position by operating either the forward operating unit 951 or the retraction operating unit 953 multiple times in a predetermined time.

[0079] As a further example, the first operating unit 954 may be provided with the function of moving the offset frame 200 to either the extension or retraction position by continuously operating either the forward operating unit 951 or the retraction operating unit 953 for a predetermined time or longer. Alternatively, the second operating unit 955 may be provided with the function of moving the offset frame to either the extension or retraction position by continuously operating either the reverse operating unit 952 or the retraction operating unit 953 for a predetermined time or longer.

[0080] Let me explain the control details. Based on Figure 12, the process of controlling movement to the forward working posture by the control unit 900 will be explained. When an operator operates the forward operation unit 951, the control unit 900 determines the subsequent control content based on detection signals from the rotation sensors 220, namely the first sensor 221, the second sensor 222, and the third sensor 223. The state in which the offset frame 200 is neither in the forward working position, the stowed position, nor the reverse working position is assumed to be when the control unit 900 determines that the offset frame 200 is in an intermediate position, positioned between the fixing holes 232a of the fixing plate 231a. In other words, an intermediate position is when the lock pin 233a of the offset frame 200 is positioned between any of the fixing holes 232a of the fixing plate 231a. Alternatively, it is when the lock pin 233b of the work unit 300 is positioned between the fixing holes 232b of the fixing plate 231b.

[0081] In other words, at S111 in Figure 12, it is determined whether the offset frame 200 is in the forward working position or not. If the determination in S111 is YES as to whether or not it is the forward working position, the control is terminated. If the determination in S111 is NO as to whether or not it is in the forward working position, then in S112, it is determined whether or not the offset frame 200 is in the stowed position. If, in S112, the determination of whether the offset frame 200 is in the stowed position is YES, then in S113, control is executed to move from the stowed position to the forward working position, and the process ends. If the determination in S112 is NO as to whether the offset frame 200 is in the stowed position, then in S114, it is determined whether the offset frame 200 is in the reverse working position. In S114, if the determination that the offset frame 200 is in the reverse working position is YES, then in S115, control is executed to move from the reverse working position to the forward working position, and the process ends. In S114, if the determination of whether the offset frame 200 is in the reverse working position is NO, then in S116, control is executed to move from the intermediate position to the forward working position, and the process ends.

[0082] The control of movement from the stowed position to the forward working position by the control unit 900 will be explained with reference to Figure 13. In Figure 13, in the first stage, S121, the control unit 900 moves the motor 241a to the unlocked position. In the first embodiment of this invention, the operation of moving the motor 241a to the unlocked position in S121 involves moving only the motor 241a of the first locking mechanism 230a in the unlocking direction.

[0083] Next, in the second stage S122, the control unit 900 operates the slewing cylinder (first actuator 260). S122 "Operate the slewing cylinder" means the slewing cylinder will continue its current operation until further instruction is given by the control unit 900.

[0084] In the third stage, S123, the control unit 900 moves the motor 241a to the locked position after a specified time. The specified time starts counting after the slewing cylinder (first actuator 260) is operated, that is, when the offset frame 200 begins to rotate from the storage position toward the forward working position. In the first embodiment of this invention, the specified time is preferably set to 1 to 5 seconds later. The specified time can be freely changed depending on the application, and can be used at times other than the specified time described above. After the counting, that is, after the specified time has elapsed, the lock pin 233a of the first locking mechanism 230a moves toward the fixing plate 231a, and the offset frame 200 enters a sliding state in which it rotates while the lock pin 233a is in contact with the fixing plate 231a.

[0085] Figure 13, the fourth row S124-5th row S125 will be explained. In S124, the control unit 900 determines whether the offset frame 200 is in the forward position or not. If the determination in S124 is NO as to whether the offset frame 200 is in the forward position, then the determination of whether the offset frame 200 is in the forward position is made again in S124. If the determination in S124 is YES as to whether the offset frame 200 is in the forward position, the process proceeds to S125, where the control unit 900 stops the operation of the slewing cylinder (first actuator 260). When the offset frame 200 rotates and the first sensor 221 detects the detection body 212, the first sensor 221 transmits a detection signal. Upon receiving the detection signal, the control unit 900 recognizes that the offset frame 200 has moved to the forward working position, which is the working position. In other words, the control unit 900 controls the first actuator 260, which is a slewing cylinder, to continue operating until it receives a detection signal transmitted from the first sensor, which is a rotation sensor. To put it another way, the first actuator 260 continues to operate until the offset frame 200 reaches the forward position. When the offset frame 200 is in the forward working position, the sliding lock pin 233a, under the biasing force of the biasing body 235a, spontaneously inserts into the fixing hole 232a of the fixing plate 231a. The offset frame 200 then enters a fixed state, with rotation prevented by the lock pin 233a.

[0086] Figure 13, steps 6-9, S129 will be explained. In the fifth stage, S125, the control unit 900 stops the operation of the slewing cylinder (first actuator 260). In S126, it determines whether the offset position is the set position or not. In S126, if the determination of whether the offset position is the set position or not is YES, the process terminates. If the determination that the offset position is the set position is NO, the offset cylinder (second actuator 270) is operated in the 7th stage S127. Then, in the 8th stage S128, it is determined whether the offset position is the set position. If the determination in S128 is NO as to whether the offset position is the set position, then S128 is used again to determine whether the offset position is the set position. In S128, if the determination that the offset position is the set position is YES, then in the 9th step S129, the offset cylinder (second actuator 270) is stopped and the process ends.

[0087] In the control steps S126-S129 described above, the control unit 900 receives the extension / retraction position of the offset frame 200 transmitted from the current offset sensor 253 and compares the current extension / retraction length of the offset frame 200 with the extension / retraction length of the offset frame 200 stored in the storage unit 910. If they are different, the control unit 900 adjusts the extension / retraction length of the offset frame 200 by extending or shortening the second actuator 270 so that the current extension / retraction position of the offset frame 200 matches the extension / retraction position of the offset frame 200 stored in the storage unit 910.

[0088] In the above control, when changing the posture of the work unit 300 from the stowed position to the forward working position, the work unit 300 does not need to rotate from the first position, and therefore the second locking mechanism 230b does not need to be driven. However, this is not limited to the embodiment. Even when rotating from the stowed position to the forward working position, the second locking mechanism 230b of the work unit 300 may be driven. Even if the second locking mechanism 230b is unlocked, the work unit 300 will not rotate from the first position unless the rotating cylinder, which is the third actuator 290, is driven.

[0089] When in the stowed position, the offset frame 200 must be shortened to its shortest length, bringing the work section 300 closer to the machine frame 100 and improving the balance with the running machine. Conversely, when in the working position, the offset frame 200 must be extended or retracted to adjust the offset amount to match the running machine, or to the offset amount desired by the operator, so that the work section 300 is positioned appropriately to the side of the running machine.

[0090] Therefore, in this invention, when the posture is changed from the storage position to the working position, the current extension / retraction length of the offset frame 200 is compared with a preset extension / retraction length, and the second actuator 270, which is an offset cylinder, is automatically operated to automatically adjust the extension / retraction length of the offset frame 200. As a result, the operation of adjusting the offset amount by the operating means 950 to extend or retract the offset frame 200 can be omitted.

[0091] The first locking mechanism 230a and the second locking mechanism 230b are operated by the control unit 900 to pull out the locking pins 233a and 233b from the holes (fixing holes 232a and 232b) to release them, and then operate to re-lock the locking pins 233a and 233b after a specified time from the start of rotation of the offset frame 200. Therefore, there is no need to monitor the position of the locking pins 233a and 233b, and the control related to locking and unlocking can be simplified.

[0092] After the specified time has elapsed, the lock pins 233a and 233b slide relative to the fixing plates 231a and 231b, respectively, while receiving bias from the biasing bodies 235a and 235b, which have stored biasing force. Therefore, when the offset frame 200 is positioned at the specified location, the biased lock pins 233a and 233b are automatically inserted into the holes (fixing holes 232a and 232b), and the offset frame 200 becomes fixed. When simply moving the offset frame 200 from the storage position to the working position, it is not necessary to control the rotational position of the offset frame 200 in conjunction with the lock pins 233a and 233b, thus simplifying the control of the locking mechanism. Furthermore, even if the offset frame 200 is not in the specified position, the locking mechanism can be controlled by simple control using time control or detection of the storage position by the second sensor 222. The operation of the first locking mechanism 230a and the second locking mechanism 230b using a specified time has the same effect in the embodiment shown below.

[0093] The process of controlling movement from a reverse working position to a forward working position, as shown in Figure 14, will be explained below. In the first stage S131, motors 241a and 241b are operated to the unlocked position. Then, in the second stage S132, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are operated. The control unit 900 continues the operation of the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) until further instructions are given. In control step S131, the control unit 900 drives the motor 241a of the first locking mechanism 230a and the motor 241b of the second locking mechanism 230b to release the fixed state. In other words, it releases the locking from rotation to both the offset frame and the work section 300. In S132, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) operate simultaneously, causing the offset frame 200 to rotate from the reverse working position to the forward working position and the work section 300 to rotate from the second position to the first position at the same time.

[0094] In the third stage control process S133, it is determined whether or not the offset frame 200 has passed the storage position. If the determination in S133 is NO as to whether the offset frame 200 passes the storage position, the determination is made again in S133 as to whether the offset frame 200 passes the storage position. In S133, if the determination of whether the offset frame 200 has passed the storage position is YES, then in S134, the motor 241a is operated to the locked position. As the offset frame 200 rotates, the detection body 212 passes below the second sensor 222, and the control unit 900 receives the detection signal transmitted from the second sensor 222. The control unit 900 recognizes that the offset frame 200 has passed its storage position. After determining that it has passed its storage position, the motor 241a of the first locking mechanism 230a and the motor 241b of the second locking mechanism 230b are driven to fix it in place. At this point, the lock pins 233a and 233b remain in a sliding state, in contact with the fixing plates 231a and 231b, while the offset frame and the work section 300 rotate.

[0095] If motors 241a and 241b are moved to the locked position in S134, in the next control step S135, the control unit 900 determines whether the offset frame 200 is in the forward working position. If the determination that the offset frame 200 is in the forward working position is NO, then in S135, the control unit 900 determines again whether the offset frame 200 is in the forward working position. In S135, if the determination of whether the offset frame 200 is in the forward working position is YES, then in S136, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are deactivated, and control is terminated. When the offset frame rotates and the detection body 212 is positioned below the first sensor 221, the control unit 900 receives a detection signal from the first sensor 221. The control unit 900 recognizes that the offset frame 200 has reached the forward working position and stops the operation of the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290). In other words, the control unit 900 continues the operation of the first actuator 260 and the third actuator 290 until the offset frame 200 is in the forward working position.

[0096] The above-mentioned change from a reverse working position to a forward working position does not require changing the offset amount, which is the amount of protrusion relative to the traveling machine, as long as the traveling machine remains the same. Therefore, no adjustment operation for the offset amount is necessary. It is desirable that the work unit 300 rotates faster than the offset frame 200. Alternatively, it is desirable that the rotating cylinder (third actuator 290) operates faster than the slewing cylinder (first actuator 260). By completing the rotation of the work unit 300 before the completion of the rotation of the offset frame using the rotation sensor 200, it is possible to eliminate the sensor for detecting the slewing position of the work unit 300. This simplifies the electrical circuit configuration and suppresses the complexity of the control.

[0097] Movement control to the forward working position involves operating the third actuator 290, which is a rotating cylinder, to rotate the work unit 300 from the second position to the first position, in the case of movement control from the reverse working position or an intermediate position. When moving from the stowed position to the forward working position, the rotation position of the work unit 300 does not change from the first position, so the third actuator 290, which is a rotating cylinder, does not operate.

[0098] The process of controlling movement from an intermediate position to a forward working position, as illustrated in Figure 15, will now be explained. The control shown in Figure 14 differs from the third stage S143.

[0099] In Figure 15, in the first stage S141-second stage S142, in the first stage S141, the control unit 900 operates motors 241a and 241b to the unlocked position. Then, in the second stage S142, the control unit 900 operates the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290). The control unit 900 drives the motor 241a of the first locking mechanism 230a and the motor 241b of the second locking mechanism 230b to release the fixed state. This releases the locking mechanism from rotation for both the offset frame and the work section 300. The slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) operate simultaneously, causing the offset frame 200 to rotate from the reverse working position to the forward working position and the work section 300 to rotate from the second position to the first position at the same time.

[0100] In Figure 14, in the third stage S143-fourth stage S144, at S143, the control unit 900 determines whether the specified time has elapsed or whether the storage position has been reached. If the determination in S143 is NO as to whether the specified time has elapsed or whether the storage position has elapsed, the determination is made again in S143 as to whether the specified time has elapsed or whether the storage position has elapsed. In S143, if the determination that the specified time has elapsed or the storage position has been moved is YES, the control unit 900 operates motors 241a and 241b to the locked position in S144. As the offset frame 200 rotates, the detection unit 212 passes below the second sensor 222, and the control unit 900 receives the detection signal transmitted from the second sensor 222. The control unit 900 recognizes that the offset frame 200 has passed its storage position. After determining that it has passed its storage position, the motor 241a of the first locking mechanism 230a and the motor 241b of the second locking mechanism 230b are driven to fix them in place. At this point, the locking pins 233a and 233b remain in a sliding state, in contact with their respective fixing plates 231a and 231b, while the offset frame 200 and the work unit 300 rotate.

[0101] When motors 241a and 241b are moved to the locked position in S144, the control unit 900 determines in S145 whether the offset frame 200 is in the forward working position. If the determination that the offset frame 200 is in the forward working position is NO, the control unit 900 determines again in S145 whether the offset frame 200 is in the forward working position. In S145, if the determination of whether the offset frame 200 is in the forward working position is YES, then in S146, the control unit 900 stops the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) and terminates the control.

[0102] When the offset frame 200 rotates and the detection body 212 is positioned below the first sensor 221, the control unit 900 receives a detection signal from the first sensor 221. The control unit 900 recognizes that the offset frame 200 is in the forward working position and stops the operation of the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290).

[0103] As described in S143 above, when the rotation of the offset frame 200 causes the detection body 212 to pass below the second sensor 222, or when a specified time has elapsed since the start of rotation of the offset frame 200, the motors 241a of the first locking mechanism 230a and 241b of the second locking mechanism 230b are moved to the fixed position.

[0104] This is because the intermediate position of the offset frame 200 can be either the forward working position and the stowed position, or the stowed position and the reverse working position. In other words, the offset frame 200 does not necessarily pass through the stowed position, so at least the first locking mechanism 230a operates when either of the two conditions—the elapsed time or the passage of the stowed position—is met. In other words, when the offset frame 200 changes from the reverse working position, which is a different working position, to the forward working position, at least the first locking mechanism 230a will not operate to the fixed state unless it passes through the stowed position. Note that the specified time in the embodiment shown in Figure 15 is preferably set to 1 to 5 seconds later. The specified time can be freely changed depending on the application, and other specified times besides the example can be used as appropriate.

[0105] Furthermore, in the control of movement from an intermediate position to a forward working position, the third actuator 290, which is a rotating cylinder, also considers the possibility that the working section 300 may be located between the first and second positions. Therefore, in this control, the third actuator 290 is operated to move the working section 300 from the second position towards the first position.

[0106] The process of controlling movement to the reverse working position, as shown in Figure 16, will now be explained. The movement control to the forward working position and the direction of rotation are different as shown in Figure 12. The rotation endpoint of the offset frame 200 is the reverse working position, and the rotation endpoint of the working section 300 is the second position. In the reverse working position, the offset frame 200 is in the reverse working position and the working section 300 is in the second position. Therefore, to move to the stowed position and the forward working position, it is necessary to rotate both the offset frame 200 and the working section 300. For this reason, in the control to transition to the reverse working position, the locking mechanism that operates the drive means 240a and drive means 240b operates both the first locking mechanism 230a and the second locking mechanism 230b.

[0107] When an operator operates the reverse operation unit 952, the control unit 900 makes a decision based on detection signals from the rotation sensors 220, namely the first sensor 221, the second sensor 222, and the third sensor 223, and determines the subsequent control content. The state in which the offset frame 200 is neither in the forward working position, the stowed position, nor the reverse working position is an intermediate position, in which the lock pin 233a of the offset frame 200 is positioned between the fixing holes 232a of the fixing plate 231a. Alternatively, the lock pin 233b of the work unit 300 is positioned between the fixing holes 232b of the fixing plate 231b.

[0108] In step S151, as shown in Figure 16, the control unit 900 determines whether the offset frame 200 is in the forward working position. If, in S151, the determination of whether the offset frame 200 is in the forward working position is YES, then in S152, movement control from the forward working position to the reverse working position is performed and the process ends. If the determination in S151 is NO as to whether the offset frame 200 is in the forward working position, then in S153, it is determined whether the offset frame 200 is in the stowed position. If, in S153, the determination of whether the offset frame 200 is in the stowed position is YES, then in S154, the control to move from the stowed position to the reverse working position is executed and the process ends. If the determination in S153 is NO as to whether the offset frame 200 is in the stowed position, then in S155, it is determined whether the offset frame 200 is in the reverse working position. In S155, if the determination that the offset frame 200 is in the reverse working position is YES, the process ends. If, in S155, the determination of whether the offset frame 200 is in the reverse working position is NO, then in S156, control is performed to move from the intermediate position to the reverse working position and the process ends.

[0109] The process of controlling movement from the forward working position to the reverse working position, as shown in Figure 17, will now be explained. In step S161 of Figure 17, the control unit 900 operates motors 241a and 241b to the unlocked position. That is, it operates both the first locking mechanism 230a and the second locking mechanism 230b to unlock them. Next, in S162, the control unit 900 operates the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290). That is, it rotates the offset frame 200 toward the reverse working position and rotates the working section 300 toward the second position. The control unit 900 causes the first actuator 260 and the third actuator 290 to continue operating until the next control instruction is given. In S163, it is determined whether the offset frame 200 has passed its storage position. As the offset frame 200 rotates, the detection body 212 passes below the second sensor 222, emitting a detection signal. The control unit 900 receives this detection signal and recognizes that the offset frame 200 has passed its storage position, and makes a determination accordingly.

[0110] If the determination in S163 is NO as to whether the offset frame 200 has passed the storage position, then the determination is made again in S163 as to whether the offset frame 200 has passed the storage position. If the determination in S163 is YES to whether the offset frame 200 has passed the storage position, the control unit 900 operates motors 241a and 241b to the lock position in S164, and determines in S165 whether the offset frame 200 is in the reverse working position. Specifically, the rotation of the offset frame 200 causes the detection body 212 to be positioned below the third sensor 223, causing the third sensor 223 to emit a detection signal. The control unit 900 receives this detection signal and recognizes and determines that the offset frame 200 has moved to the reverse working position.

[0111] If the determination in S165 is NO as to whether the offset frame 200 is in the reverse working position, then the determination of whether the offset frame 200 is in the reverse working position is made again in S165. In S165, if the determination that the offset frame 200 is in the reverse working position is YES, then in S166, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are stopped, and the process ends. The first actuator 260 and the third actuator 290 continue to operate until the determination in S165 is YES.

[0112] The process of controlling movement from the stowed position to the reverse working position, as shown in Figure 18, will be explained below. In S171, the control unit 900 operates motors 241a and 241b to the unlocked position. Then, in S172, it operates the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290). The control unit 900 continues the extension and retraction operation of the first actuator 260 and the third actuator 290 until further instruction. Then, in S173, it operates motors 241a and 241b to the locked position. At this point, the lock pins 233a and 233b remain in a gliding state, in contact with the fixing plates 231a and 231b, while the offset frame 200 and the working section 300 rotate.

[0113] In S174, it is determined whether the offset frame 200 is in the reverse working position. In other words, it is determined whether the detection body 212 is positioned below the third sensor 223 by the rotation of the offset frame 200. If the determination in S174 is NO as to whether the offset frame 200 is in the reverse working position, then the determination of whether the offset frame 200 is in the reverse working position is made again in S174. In S174, if the determination of whether the offset frame 200 is in the reverse working position is YES, then in S175, the control unit 900 stops the operation of the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290).

[0114] Next, in S176, the control unit 900 determines whether the offset position of the offset frame 200 is the set position. That is, based on the detection signal from the offset sensor 251, it compares the current extension / retraction length of the offset frame 200 with the set position, which is the set length stored in the memory unit 910, and determines whether they match. In S176, if the determination that the offset position is the set position is YES, the process terminates. In S176, if the determination of whether the offset position is the set position is NO, then in S177, the offset cylinder (second actuator 270) is operated. In other words, the second actuator 270 is operated until the extension length of the offset frame 200 reaches the set position stored in the memory unit 910. Then, in S178, it is determined whether the offset position is the set position.

[0115] If the determination in S178 is NO as to whether the offset position is the set position, the determination of whether the offset position is the set position is repeated in S178. In S178, if the determination that the offset position is the set position is YES, the offset cylinder (second actuator 270) is stopped and the process ends. In other words, based on the detection signal from the offset sensor 251, it is determined that the extension length of the offset frame 200 has reached the set position, and the second actuator 270 is stopped to terminate the control.

[0116] The transition from the intermediate position to the reverse working position, as shown in Figure 19, will be explained. In S181, motors 241a and 241b are operated to the unlocked position. Then, in S182, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are operated to the reverse position. The control unit 900 causes the first actuator 260 and the third actuator 290 to continue operating until the next control instruction is given.

[0117] Next, in S183, it is determined whether the specified time has elapsed or whether the storage position has been passed. The specified time is the elapsed time since the first actuator 260 and the third actuator 290 started operation. In this embodiment, the specified time is set to any time between 1 and 5 seconds, which is considered preferable. The specified time can be freely changed depending on the application, and other specified times besides the example can be used as appropriate. Furthermore, regarding passing the storage position, the control unit 900 determines that the offset frame 200 has passed the storage position by determining whether the detection body 212 is located below the second sensor 222. In S183, if the determination of whether the specified time has elapsed or the storage position has been reached is NO, then S183 is used again to determine whether the specified time has elapsed or the storage position has been reached. In S183, if the determination of whether the specified time has elapsed or whether the storage position has been moved is YES, then in S184, motors 241a and 241b are moved to the locked position. At this point, lock pins 233a and 233b remain in a sliding state, in contact with fixing plates 231a and 231b, while the offset frame 200 and working section 300 rotate. Next, in S185, it is determined whether the offset frame 200 is in the reverse working position or not.

[0118] If the determination in S185 is NO as to whether the offset frame 200 is in the reverse working position, then the determination of whether the offset frame 200 is in the reverse working position is made again in S185. In S185, if the determination of whether the offset frame 200 is in the reverse working position is YES, then in S186, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are stopped, and the process ends. When the offset frame 200 reaches the reverse working position, the working section 300 also reaches the second position, and the lock pins 233a and 233b are inserted into the fixing holes 232a and 232b, thereby fixing the rotation of the offset frame 200 and the working section 300.

[0119] The process of controlling movement to the stowed position, as shown in Figure 20, will now be explained. As shown in steps S191, S194, S195, and S196 of the control process, upon receiving a command to transition to the stowed position from the operating means 950, the first step is to determine whether the current extension length of the offset frame 200 is at its shortest position. The movement of the detection body 252 accompanying the extension and retraction of the offset frame 200 is converted into the rotation of the sensor arm 254 and input to the offset sensor 253. Based on the detection signal from the offset sensor 253, the control unit 900 performs a comparison calculation to determine whether the extension length of the offset frame 200 is at its shortest position. This determination is always performed first, regardless of the rotational position of the offset frame 200, such as the forward working position, reverse working position, or stowed position. This verification is performed by the control unit 900, upon receiving the detection signal from the offset sensor 253, comparing the value of the extension and retraction length calculated from the detection signal with a predetermined value stored in the storage unit 910. As a result of the comparison calculation, the third actuator 290 is extended or retracted to match the predetermined value, thereby shortening the offset frame.

[0120] In other words, In S191, it is determined whether the offset position is the shortest position. In S191, if the determination is made as YES whether the offset position is the shortest position, then in S192, it is determined whether the offset frame 200 is in the forward working position. In S192, if the determination of whether the offset frame 200 is in forward operation or not is YES, then in S193, control is executed to move from the forward operation position to the stowed position, and the process ends.

[0121] In S191, if the determination of whether the offset position is the shortest position is NO, then in S194, the offset cylinder (second actuator 270) is operated. In other words, the second actuator 270 is operated to shorten it, thereby shortening the extension length of the offset frame 200 toward the shortest position. At this time, the control unit 900 may operate the second actuator 270 based on the detection signal from the offset sensor 251. Next, in S195, it is determined whether the offset position is the shortest position or not. If the determination in S195 is NO as to whether the offset position is the shortest position, then S195 is used again to determine whether the offset position is the shortest position. In S195, if the determination that the offset position is the shortest position is YES, then in S196, the offset cylinder (second actuator 270) is stopped, and in S192, it is determined whether the offset frame 200 is in forward operation or not. In steps S194-S196 of the above process, the second actuator 270 is operated until the extension length of the offset frame 200 is at the shortest position.

[0122] If the determination in S192 is NO as to whether the offset frame 200 is in forward operation, then in S197, it is determined whether the offset frame 200 is in the stowed position. In S197, if the determination that the offset frame 200 is in the stowed position is YES, control is terminated. If, in S197, the determination that the offset frame 200 is in the stowed position is NO, then in S198, the determination is made as to whether the offset frame 200 is in the reverse working position. In S198, if the determination of whether the offset frame 200 is in the reverse working position is YES, then in S199, control is executed to move from the reverse working position to the stowed position, and the control is terminated. In S198, if the determination of whether the offset frame 200 is in the reverse working position is NO, then in S200, control is executed to move from the intermediate position to the stowed position, and the control is terminated.

[0123] The process of controlling movement from the forward working position to the stowed position, as shown in Figure 21, will be explained. In S211, motors 241a and 241b are moved to the unlocked position. Since lock pins 233a and 233b are in the unlocked state, the offset frame 200 and the work section 300 become rotatable. Next, in S212, the slewing cylinder (first actuator 260) is activated. That is, the offset frame 200 begins to rotate from the forward working position toward the stowed position. Next, in S213, motors 241a and 241b are moved to the locked position after a specified time. Next, in S214, it is determined whether the offset frame 200 is in the stowed position or not. If, in S214, the determination that the offset frame 200 is in the storage position is NO, then S214 is repeated to determine whether or not the offset frame 200 is in the storage position. If, in S214, the determination that the offset frame 200 is in the stowed position is YES, then in S215, the operation of the swing cylinder (first actuator 260) is stopped and the process ends.

[0124] In the movement control from the forward working position to the stowed position shown in Figure 21, the working section 300 does not change from the first position, so only the slewing cylinder, which is the first actuator 260, operates. After the first actuator 260 starts operating, it continues to operate until the offset frame 200 reaches the stowed position. In this embodiment, the operation of lock pins 233a and 233b is shown assuming that both the first locking mechanism 230a and the second locking mechanism 230b are in operation. However, it is also possible for only the motor 241a of the first locking mechanism 230a, which fixes and unlocks the offset frame 200 on which the first actuator 260 operates, to be in operation. Furthermore, the specified time shown in this embodiment is preferably set to 1 to 5 seconds. The specified time can be freely changed depending on the application, and other specified times besides the example can be used as appropriate. After the specified time has elapsed, the lock pin 233a slides while in contact with the fixing plate 231a, and when the offset frame 200 reaches the storage position, it is automatically inserted into the fixing hole 232a, fixing the offset frame 200 in place.

[0125] The movement control from the reverse working position to the stowed position, as shown in Figure 22, will be explained. The procedure for controlling movement from the forward working position to the stowed position is almost the same as shown in Figure 21 above, but since it is necessary to change the offset frame 200 from the reverse working position to the stowed position and the working section 300 from the second position to the first position, the first actuator 260, which is a slewing cylinder, and the third actuator 290, which is a rotating cylinder, are operated. In S221, motors 241a and 241b are operated to the unlock position. In other words, both the first locking mechanism 230a and the second locking mechanism 230b are operated to unlock. Next, in S222, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are moved to the stowed position. That is, the offset frame 200 is rotated from the reverse working position to the stowed position, and the working section 300 is rotated from the second position to the first position. The control unit 900 causes the first actuator 260 and the third actuator 290 to continue operating until the next control instruction is given. Next, in S223, motors 241a and 241b are moved to the locked position after a specified time. Next, in S224, it is determined whether the offset frame 200 is in the stowed position or not. In S224, if the determination that the offset frame 200 is in the storage position is NO, then S224 is again checked to determine whether the offset frame 200 is in the storage position or not. In S224, if the determination that the offset frame 200 is in the stowed position is YES, then in S225, the operation of the slewing cylinder (first actuator 260) and the rotation cylinder (third actuator 290) is stopped, and the process ends.

[0126] The movement control from the intermediate position to the stowed position, as shown in Figure 23, will be explained below. In S231, motors 241a and 241b are moved to the unlocked position. Next, in S232, the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) are moved to the retracted position. Next, in S233, motors 241a and 241b are moved to the locked position after a specified time. With lock pin 233a in a sliding state in contact with fixing plate 231a, and lock pin 233b in a sliding state in contact with fixing plate 231b, the offset frame 200 and the working section 300 rotate. Next, in S234, it is determined whether the offset frame 200 is in the stowed position or not. In S234, if the determination that the offset frame 200 is in the stowed position is YES, then in S235, the operation of the slewing cylinder (first actuator 260) and the rotating cylinder (third actuator 290) is stopped, and control is terminated.

[0127] In S234, if the determination that the offset frame 200 is in the stowed position is NO, then in S236, motors 241a and 241b are operated again to the unlocked position. Next, in S237, the slewing cylinder (first actuator 260) is moved to the retracted position. Next, in S238, motors 241a and 241b are moved to the locked position after a specified time. Next, in S239, it is determined whether the offset frame 200 is in the stowed position or not. If the determination that the offset frame 200 is in the storage position is NO in S239, then S239 is again checked to determine whether the offset frame 200 is in the storage position or not. If, in S239, the determination that the offset frame 200 is in the stowed position is YES, then in S240, the operation of the swing cylinder (first actuator 260) is stopped and the process ends.

[0128] In the flowchart shown in Figure 23, the intermediate position is assumed to be one in which the offset frame 200 is located at least between the forward working position and the stowed position, or between the reverse working position and the stowed position. In Figure 23, during the control of S232, the offset frame is controlled assuming it is positioned between the forward working position and the stowed position. In other words, the first actuator 260, which is a slewing cylinder, operates so that the offset frame 200 moves from the forward working position to the stowed position. Specifically, the first actuator 260 is extended. Also, assuming that the working section 300 is in the second position, the third actuator 290, which is a rotating cylinder, is operated so that the working section 300 moves from the second position to the first position. Specifically, the third actuator 290 is operated in the shortening direction.

[0129] The actual offset frame 200 may be located between the reverse working position and the stowed position. In other words, the control steps from S236 onward are designed to account for the case where the offset frame 200 moves from the stowed position towards the reverse working position by extending the first actuator 260.

[0130] Comparing control steps S232 and S237, the first actuator 260, which is a slewing cylinder, is operated to reverse the rotation direction of the offset frame 200. Specifically, the first actuator 260 is operated by switching from the extension direction to the retraction direction. Since the work unit 300 has already reached the first position when the operating direction of the first actuator 260 is switched, the third actuator 290 is not operated and the work unit 300 does not rotate. Then, as shown in control step S239, when the second sensor 222 detects the detection object 212, the control unit 900, which receives the detection signal from the second sensor 222, determines that the offset frame 200 is in the storage position, stops the operation of the first actuator 260, and terminates the control. Note that when the offset frame 200 reaches the storage position, the work unit 300 has also reached the first position. Furthermore, when the offset frame 200 reaches its storage position and the work section 300 reaches its first position, the lock pins 233a and 233b fix the rotation of the offset frame 200 and the work section 300, respectively, in a fixed state.

[0131] Furthermore, as shown in Figure 20, when moving the work unit 300 to the stowed position, the extension length of the offset frame 200 is shortened in advance, and then the offset frame 200 is rotated to the stowed position. This makes it possible to shorten the turning radius of the work unit 300, thereby reducing the space occupied by the turning of the work unit 300. In addition, in the stowed position, the balance of the mobile body can be automatically optimized. As a result, it is possible to optimize the work performed by the work unit 300 in the working position and optimize the mounting balance in the stowed position. In the embodiment shown in Figure 20, the extension length of the offset frame 200 was shortened in advance, and then the offset frame 200 was rotated to the stowed position as shown in Figures 21, 22, and 23. However, it is also possible to control the rotation of the offset frame 200 to the stowed position while simultaneously shortening the extension length of the offset frame 200. In this case, since the control of each operation proceeds simultaneously, it is possible to complete the rotation of the offset frame 200 and the work unit 300 earlier.

[0132] The adjustment of the offset position and the storage of the position (1) shown in Figure 24 will be explained below. In the flowchart shown in Figure 24, regardless of the working position of the work unit 300, the operation of the first operation unit 954 moves the machine to the right relative to the forward direction of the mobile body. In S251, the operation is performed. In other words, the control unit 900 receives the operation signal from the first operation unit 954. In S252, the control unit 900 determines whether the offset frame 200 is in the forward working position based on the detection information from the rotation sensor 220. In S252, if the determination that the offset frame 200 is in the forward working position is YES, the process proceeds to S253, and the offset cylinder (second actuator 270) is extended. Next, in S254, it is determined whether the operation is continuing. That is, it is determined whether the control unit 900 is continuously receiving the operation signal from the first operation unit 954. In S254, if the determination of whether the operation is continuing is YES, the offset cylinder (second actuator 270) is extended again in S253. In other words, as long as the operation at the first operating unit 954 continues, the operation of the second actuator 270 will continue. If the determination in S254 is NO as to whether the operation is continuing, then in S255, the operation of the offset cylinder (second actuator 270) is stopped, the current offset position is stored, and the process ends. In other words, when the operation at the first operation unit 954 is stopped, the control unit 900 stops the operation of the second actuator 270 and stores the extension / retraction length of the offset frame 200, based on the detection signal from the offset sensor 253, in the storage unit 910.

[0133] If the determination in S252 is NO as to whether the offset frame 200 is in the forward working position, then in S256, it is determined whether the offset frame 200 is in the reverse working position. In S256, if the determination that the offset frame 200 is in the reverse working position is YES, then in S257, the offset cylinder (second actuator 270) is shortened. Then, in S258, it is determined whether the operation is continuing or not. If the decision to continue the operation in S258 is YES, the process returns to S257 to continue shortening the offset cylinder (second actuator 270). In other words, as long as the operation of the first control unit 954 continues, the operation of the second actuator 270 will continue. If the decision to continue operation in S258 is NO, then in S255, the operation of the offset cylinder (second actuator 270) is stopped, the current offset position is stored, and the process ends. In other words, when the operation at the first operation unit 954 is stopped, the control unit 900 stops the operation of the second actuator 270 and stores the extension / retraction length of the offset frame 200 at the time the extension / retraction was stopped, based on the detection signal from the offset sensor 253, in the storage unit 910.

[0134] In step S256, if the determination of whether the offset frame 200 is in the reverse working position is NO, the process ends. In other words, if the offset frame 200 is neither in the forward working position nor the reverse working position, the second actuator 270 does not extend or retract the offset frame 200.

[0135] Figure 24 illustrates the control process for the operation of the first operating unit 954. The control process from S252 to S255 will be explained. When an operation is performed on the first operation unit 954, an operation signal is transmitted from the operation means 950 to the control unit 900. Upon receiving the operation signal from the first operation unit 954, the control unit 900 extends the offset frame 200 if the offset frame is in the forward working position. When the control unit 900 determines that the operation of the first operation unit 954 is not being continued, that is, that the operation signal from the first operation unit 954 has been interrupted, it receives a detection signal from the offset sensor 253 at that time and stores it in the storage unit 910 as the extension / retraction length of the offset frame 200.

[0136] The control processes from S256 to S258 and S255 will be described. When the control unit 900 receives an operation signal, if the offset frame 200 is in the reverse working position, it shortens the offset frame 200. When the control unit 900 determines that the operation of the first operation unit 954 is not being continued, that is, that the operation signal from the first operation unit 954 has been interrupted, it receives the detection signal from the offset sensor 253 at that time and stores it in the storage unit 910 as the extension / retraction length of the offset frame 200.

[0137] Figure 24 describes the control process when the decision in S256 is NO. When the control unit 900 receives an operation signal from the first operation unit 954, if it determines that the offset frame 200 is not in the forward or reverse working position, it terminates without extending or retracting the offset frame 200 or storing the extension / retraction length. The control unit 900 controls the extension / retraction operation of the offset frame 200 and the storage of its extension / retraction length so that it does not operate if the offset frame 200 is not in a working position.

[0138] The adjustment of the offset position and the storage of the position (2) shown in Figure 25 will be explained below. The operation of the second operating unit 955 will be explained using the flowchart shown in Figure 25. In the flowchart shown in Figure 25, the operation and extension direction are reversed compared to the case shown in Figure 24. The control process shown in Figure 25 is roughly the same as the control process shown in Figure 24, so only the series of control processes will be explained, and detailed explanations will be omitted as they would be repetitive.

[0139] In the flowchart shown in Figure 25, regardless of the working position of the work unit, the machine moves to the right relative to the forward direction of the mobile unit when operated by the first operating unit. In S261, the operation is performed. In other words, the control unit 900 receives the operation signal from the second operation unit 955. In S262, it is determined whether the offset frame 200 is in the forward working position or not. In S262, if the determination of whether the offset frame 200 is in the forward working position is YES, then in S263, the offset cylinder (second actuator 270) is shortened. Then, in S264, it is determined whether the operation is continuing. In S264, if the determination of whether the operation is continuing is YES, then in S263, the offset cylinder (second actuator 270) is shortened again. In other words, as long as the operation at the second operating unit 955 continues, the operation of the second actuator 270 will continue. If the determination in S264 is NO, then in S265, the operation of the offset cylinder (second actuator 270) is stopped, the current offset position is memorized, and the process terminates.

[0140] If the determination in S262 is NO as to whether the offset frame 200 is in the forward working position, then in S266, it is determined whether the offset frame 200 is in the reverse working position. In S266, if the determination that the offset frame 200 is in the reverse working position is YES, then in S267, the offset cylinder (second actuator 270) is extended. Then, in S268, it is determined whether the operation is continuing or not. If the decision to continue the operation in S268 is YES, then in S267 the offset cylinder (second actuator 270) is extended again, and then in S268 the decision to continue the operation is made again. If the decision to continue operation in S268 is NO, then in S265, the operation of the offset cylinder (second actuator 270) is stopped, the current offset position is memorized, and the process terminates.

[0141] In S266, if the determination of whether the offset frame 200 is in the reverse working position is NO, the process ends.

[0142] This section explains how the direction of expansion and contraction changes depending on the working position. In the above embodiment shown in Figures 24 and 25, the control unit 900 is configured to allow the extension and retraction of the offset cylinder (second actuator 270), which is the second actuator 270, only when the offset frame 200 is rotated to a working position where it protrudes laterally from the machine frame 100. In other words, the control unit 900 is configured to prohibit the extension and retraction of the second actuator 270 at least when the offset frame 200 is in a stowed position located behind the machine frame 100.

[0143] Therefore, when the work unit 300 is in the stowed position, that is, in the stowed position, the offset frame 200 is controlled so that it cannot be changed from its shortest position. This prevents the work unit 300, which is a heavy object located on the rear side of the machine frame 100 in the stowed position, from moving away from the machine frame 100. In other words, the control of the present invention makes it possible to maintain the work unit 300 in the proper position when it is in the stowed position, preventing deterioration of the balance of the mobile machine and enabling safe operation. Furthermore, when it is in the working position, the work unit 300 can be positioned at any position relative to the mobile machine. Therefore, the work unit 300 can be positioned at an appropriate lateral position from the mobile machine, and work can be performed properly.

[0144] The configuration is such that when the extension / retraction operation of the offset frame 200, which determines the offset amount of the work unit 300 by the operating means 950, is completed, the control unit 900 stores the offset amount. Therefore, the worker who has adjusted the offset amount of the work unit 300 does not have to perform the task of storing the information again, thus promoting work efficiency.

[0145] In the first embodiment, the extension and retraction direction of the offset frame 200 is set to change depending on the rotational position, which is the working position of the offset frame 200. By controlling it in this way, the working section 300 can be controlled to be offset to either the left or the right relative to the traveling machine. For example, when the first operating section 954 is operated, in the forward working position it moves to protrude to the right relative to the forward direction of the traveling machine, and in the reverse working position it moves to retract to the right relative to the forward direction of the traveling machine. When adjusting the offset amount to either the left or right with respect to the forward side of the traveling machine as the reference point, it is easy to understand the positional relationship between the working section 300 and the traveling machine.

[0146] A second embodiment will be described. The extension and retraction control and storage of the extension and retraction length of the offset frame in the first embodiment shown in Figures 24 and 25 above can also be controlled as in the second embodiment described below. The first operating unit 954 is dedicated to operating the offset frame 200 in the direction of extension, and the second operating unit 955 is dedicated to operating the offset frame 200 in the direction of shortening.

[0147] The control process for offset position adjustment and memory (1) in the second embodiment shown in Figure 26 will be described below. The offset frame 200 is extended by operation of the first operation unit 954. In S271, the operation is performed. That is, the control unit 900 receives the operation signal from the first operation unit 954. Next, in S272, the control unit 900 determines whether the offset frame 200 is in the stowed position or not based on the detection information from the rotation sensor 220. In S272, if the determination of whether the offset frame 200 is in the stowed position is NO, then in S273, the second actuator 270, which is an offset cylinder, extends. The operation of the second actuator 270 continues until further instruction. Then, in S274, it is determined whether the operation by the first operating unit 954 is continuing. If the decision to continue operation in S274 is YES, the offset cylinder is extended again in S273, and the decision to continue operation is made again in S274. In other words, as long as the operation of the first operating unit 954 continues, the operation of the second actuator 270 will continue. If the decision to continue operation in S274 is NO, then in S275, the operation of the offset cylinder is stopped, the current offset position is memorized, and the process terminates.

[0148] The extension direction in the flow chart shown in Figure 26 in the second embodiment will be explained. When the first operation unit 954 is operated, it is determined whether or not the offset frame 200 is in the storage position. In other words, in S272, it is determined whether or not the second sensor 222 has detected the offset frame 200.

[0149] If the offset frame 200 is not in the retracted position, the offset cylinder (second actuator 270), which is the second actuator 270, is driven in the extension direction. If no further operation is performed thereafter, the operation of the second actuator 270 is stopped at that point, and the extension length of the offset frame 200 at the time the extension / retraction stopped is stored based on the detection signal from the offset sensor 253. When the offset frame 200 is in its stowed position, the second actuator 270 is not extended. Therefore, the work section 300, which is located behind the machine frame 100, does not move away from the rear.

[0150] The control process for offset position adjustment and storage (2) in the second embodiment shown in Figure 27 will be described below. The offset frame 200 is shortened by operations performed on the first operation unit (or storage + forward) and the second operation unit 952. In S281, the operation is performed. That is, the control unit 900 receives the operation signal from the second operation unit 955. Next, in S282, it is determined whether the offset frame 200 is in the stowed position or not. In S282, it is determined whether the offset frame 200 is in the stowed position or not. If the result is NO, in S283 the offset cylinder is shortened, and in S284 it is determined whether the operation is continuing or not. If the decision to continue operation in S284 is YES, the offset cylinder is extended again in S283. In other words, as long as the operation of the second operating unit 955 continues, the operation of the second actuator 270 will continue. If the decision to continue operation in S284 is NO, then in S285, the operation of the offset cylinder is stopped, the current offset position is memorized, and the process terminates.

[0151] The shortening direction in the flow chart shown in Figure 27 of the second embodiment will be explained. The control process shown in Figure 27 is the same in purpose as the control shown in the flowchart in Figure 26, except that the second operation unit 955 is operated to shorten the offset frame 200. In other words, when the offset frame 200 is in the working position, the offset cylinder (second actuator 270), which is the second actuator 270, is driven in the shortening direction. If there is no further operation of the second operating unit 955 thereafter, the operation of the second actuator 270 is stopped at that point, and the extension / retraction length of the offset frame 200 at the time the extension / retraction stopped is stored based on the detection signal from the offset sensor 253. Also, when the offset frame 200 is in the stored position, the second actuator 270 is not shortened.

[0152] In the second embodiment described above, the offset frame 200 is configured to change its extension / retraction direction when it is not in the stowed position. This control simplifies the control content required for decision-making. Furthermore, regarding the offset direction, the amount of extension and retraction of the work section 300 relative to the mobile body can be controlled, using the left-right center of the mobile body as a reference, so as to whether the work section 300 protrudes outward or retracts inward. Therefore, it is easy to adjust the amount of extension and retraction of the work section 300 regardless of the direction of travel of the mobile body.

[0153] At least one of the control unit 900 and the operating means 950 may be equipped with a mode switching operation unit 956 for switching the operating mode. Figure 10 illustrates an example in which the operating means 950 is equipped with a mode switching operation unit 956. The operating modes include a first mode, which is used for normal work, and a second mode, which is used for maintenance. In the above embodiment, the operation in the first mode was described, but in the case of the second mode, the above control procedure is not followed. For example, the first actuator 260, the second actuator, and the third actuator can be operated freely regardless of the rotational position of the offset frame 200. In addition, the motors of the first locking mechanism 230a and the second locking mechanism 230b can also be operated freely. In other words, by operating each drive element of the offset frame's extension and retraction, rotation, the work section 300, the first locking mechanism 230a, and the second locking mechanism 230b individually, it is possible to efficiently perform the necessary verification work for maintenance.

[0154] In this embodiment, multiple locking mechanisms are provided, such as a first locking mechanism 230a and a second locking mechanism 230b, and the control unit 900 controls each individually. However, parts of the first locking mechanism 230a and the second locking mechanism 230b may be integrated to operate each locking pin 233a and locking pin 233b. Specifically, the control unit 900 may control a single drive means 240a that includes a motor 241a, a rotating gear 242a, and a regulating pin 243a. By connecting a wire 244a for fixing the offset frame 200 and a wire 244b for fixing the rotation of the work section 300 to the rotating gear 242a of the drive means 240a, the two locking pins 233a and locking pin 233b may be operated simultaneously. In this case, the simplification of the machine, the simplification of the electrical circuit, and the simplification of control can be expected by integrating the drive means 240a and drive means 240b into drive means 240a. Furthermore, in the above embodiment, the first actuator 260, the second actuator 270, the third actuator 290, motor 241a, and motor 241b are configured to operate only when the operating means 950 is operated. However, the operating means 950 may be configured to operate automatically after the operating part is operated once.

[0155] In other words, in the embodiments of this invention, A machine frame 100 having a mounting part that can be attached to a running machine, An offset frame 200 is rotatably connected to the machine frame 100 and is extendable and retractable in the longitudinal direction, It comprises a work section 300 rotatably connected to an offset frame 200, When the offset frame 200 rotates from a working position, which is a rotational position in which the work unit 300 can be operated, to a storage position, which is a rotational position in which the work unit 300 can be stored, the extension and retraction position of the offset frame 200 is shortened before the offset frame 200 is rotated. The present invention relates to an agricultural implement 10 characterized by the following features.

[0156] Furthermore, in the embodiments of this invention, A first actuator 260 is connected to the machine frame 100 and the offset frame 200, and drives the rotation of the offset frame 200. The system includes a second actuator 270 that connects the first offset frame 210 and the second offset frame 250 and drives the offset frame 200 to extend and retract, When rotating the offset frame 200 from the working position to the storage position, the first actuator 260 is operated only when the extension position of the offset frame 200 is the shortened position. The present invention relates to an agricultural implement 10 characterized by the following features.

[0157] Furthermore, in the embodiments of this invention, A first actuator 260 is connected to the machine frame 100 and the offset frame 200, and drives the rotation of the offset frame 200. The system includes a second actuator 270 that connects the first offset frame 210 and the second offset frame 250 and drives the offset frame 200 to extend and retract, When rotating the offset frame 200 from the storage position to the working position, the offset frame 200 is rotated from the storage position to the working position, and then the extension position of the offset frame 200 is extended to a preset position. The present invention relates to an agricultural implement 10 characterized by the following features.

[0158] Furthermore, in the embodiments of this invention, The working position can be changed between a forward working position, in which the working unit 300 is projected to one side relative to the traveling machine and the machine is moved forward to perform the work, and a reverse working position, in which the working unit 300 is projected to the other side relative to the traveling machine and the machine is moved backward to perform the work. When moving the offset frame 200 from the forward working position to the reverse working position, or from the reverse working position to the forward working position, the offset frame 200 is rotated without changing its extension / retraction position. The present invention relates to an agricultural implement 10 characterized by the following features.

[0159] Furthermore, in the embodiments of this invention, A machine frame 100 having a mounting part that can be attached to a running machine, An offset frame 200 is provided that is rotatably connected to the machine frame 100 and is extendable and retractable in the longitudinal direction, with the first offset frame 210 and the second offset frame 250 being nested inside each other to make it extendable and retractable, A work section 300 is rotatably connected to the offset frame 200, A first actuator 260 is connected to the machine frame 100 and the offset frame 200, and drives the rotation of the offset frame 200. A second actuator 270 connects the first offset frame 210 and the second offset frame 250, and drives the offset frame 200 to extend and retract. A rotation sensor 220 capable of detecting the rotational position of the offset frame 200 relative to the machine frame 100, An offset sensor 253 capable of detecting the extension / retraction position of the offset frame 200, A control unit 900 is connected to the first actuator 260, the second actuator 270, the rotation sensor 220, and the offset sensor 253, and can control the operation of the first actuator 260 and the second actuator 270 based on the detection status of the detection signal from the rotation sensor 220. The present invention relates to an agricultural implement 10 characterized by being equipped with the following features.

[0160] Furthermore, in the embodiments of this invention, A machine frame 100 having a mounting part that can be attached to a running machine, An offset frame 200 is rotatably connected to the machine frame 100 and is extendable and retractable in the longitudinal direction with the drive of actuators (first actuator 260, second actuator 270), A work section 300 is rotatably connected to the offset frame 200, The system includes a control unit 900 that is capable of recognizing the rotational and extensional positions of the offset frame 200 and controlling the drive of actuators (first actuator 260, second actuator 270), The control unit 900 permits the extension and retraction of the actuators (first actuator 260, second actuator 270) only when the offset frame 200 is rotated to a working position that protrudes laterally relative to the machine frame 100. The present invention relates to an agricultural implement 10 characterized by the following features.

[0161] Furthermore, in the embodiments of this invention, A machine frame 100 having a mounting part that can be attached to a running machine, An offset frame 200 is rotatably connected to the machine frame 100 and is extendable and retractable in the longitudinal direction with the drive of actuators (first actuator 260, second actuator 270), A work section 300 is rotatably connected to the offset frame 200, The system includes a control unit 900 that is capable of recognizing the rotational and extensional positions of the offset frame 200 and controlling the drive of actuators (first actuator 260, second actuator 270), The control unit 900 prohibits the extension and retraction of the actuators (first actuator 260, second actuator 270) when the offset frame 200 is in the stowed position located behind the machine frame 100. The present invention relates to an agricultural implement 10 characterized by the following features.

[0162] Furthermore, in the embodiments of this invention, The control unit 900 includes a storage unit 910 capable of storing the rotational position and extension / retraction position of the offset frame 200, The system includes an operating means 950 connected to the control unit 900, which allows for manual operation to extend or retract the offset frame 200 by operating actuators (first actuator 260, second actuator 270), The control unit 900 extends or retracts the actuators (first actuator 260, second actuator 270) if operation of the operating means 950 is continued after permission for extension or retraction of the actuators (first actuator 260, second actuator 270) has been granted. If operation of the operating means 950 is not continued, the control unit 900 stops the actuators (first actuator 260, second actuator 270) and stores the current extension or retraction position of the offset frame 200 in the storage unit 910. The present invention relates to an agricultural implement 10 characterized by the following features.

[0163] Furthermore, in the embodiments of this invention, The operating means 950 includes a first operating unit 954 for extending the offset frame 200 and a first operating unit 955 for shortening the offset frame 200, The present invention relates to an agricultural implement 10 characterized by being equipped with the following features.

[0164] Furthermore, in the embodiments of this invention, The control unit 900 is provided with a first mode that allows the actuators (first actuator 260, second actuator 270) to extend and retract only when the offset frame 200 is in the working position, and a second mode that allows the actuators (first actuator 260, second actuator 270) to extend and retract regardless of the rotational position of the offset frame, and these modes can be switched between. The present invention relates to an agricultural implement 10 characterized by the following features.

[0165] Furthermore, in the embodiments of this invention, A machine frame 100 having a mounting part that can be attached to a running machine, An offset frame 200 is rotatably connected to the machine frame 100 by the drive of actuators (first actuator 260, second actuator 270), A work section 300 is connected to an offset frame 200 and can change its position between a working position and a storage position depending on the rotational position of the offset frame 200, A locking mechanism (first locking mechanism 230a, second locking mechanism 230b) that can fix or release the rotation of the offset frame 200 relative to the machine frame 100, It comprises actuators (first actuator 260, second actuator 270) and a control unit 900 capable of controlling the locking mechanism, The locking mechanism (first locking mechanism 230a, second locking mechanism 230b) includes locking pins 233a and 233b that can prevent the offset frame 200 from rotating by being fitted into holes (fixing holes 232a and 232b) provided in the machine frame 100, The system includes motors 241a and 241b that move lock pins 233a and 233b relative to the holes (fixing holes 232a and 232b), When the control unit 900 receives a command to rotate the offset frame 200, it causes the motor 241a to pull out the lock pins 233a and 233b from the holes (fixing holes 232a and 232b), and then the actuators (first actuator 260, second actuator 270) that rotate the offset frame 200 are activated, and after the offset frame 200 has rotated, the motor 241a moves the lock pins 233a and 233b toward the holes (fixing holes 232a and 232b). The present invention relates to an agricultural implement 10 characterized by the following features.

[0166] Furthermore, in the embodiments of this invention, The machine frame 100 is equipped with plates (fixing plates 231a and 231b) on which the aforementioned holes (fixing holes 232a and 232b) are arranged. The offset frame 200 is configured to allow the insertion of lock pins 233a and 233b into the holes (fixing holes 232a and 232b) and to allow it to slide in contact with the plates (fixing plates 231a and 231b). The control unit 900 drives motors 241a and 241b to a state in which the lock pins 233a and 233b slide along the plates (fixing plates 231a and 231b) after a specified time has elapsed since the offset frame 200 has rotated. The present invention relates to an agricultural implement 10 characterized by the following features.

[0167] Furthermore, in the embodiments of this invention, The locking mechanism (first locking mechanism 230a, second locking mechanism 230b) includes biasing bodies (biasing bodies 235a and 235b) that bias the locking pins (locking pins 233a and 233b) toward the holes (fixing holes 232a and 232b), The lock pins (lock pins 233a and 233b) sliding along the plates (fixing plates 231a and 231b) slide while accumulating biasing force from the biasing bodies (biasing bodies 235a and 235b). The present invention relates to an agricultural implement 10 characterized by the following features.

[0168] Furthermore, in the embodiments of this invention, The control unit 900 is configured to recognize multiple rotational positions of the offset frame 200, and when it receives a command to rotate the offset frame 200 to positions that are not adjacent to each other, it causes motors 241a and 241b to pull out lock pins 233a and 233b from the holes (fixing holes 232a and 232b) to rotate the offset frame 200, and after the offset frame 200 has passed the adjacent rotational position, it causes motor 241a to move lock pins 233a and 233b toward the holes (fixing holes 232a and 232b). The present invention relates to an agricultural implement 10 characterized by the following features.

[0169] Furthermore, in the embodiments of this invention, A machine frame 100 having a mounting part that can be attached to a running machine, An offset frame 200 is connected to the machine frame 100 and is rotatably connected to the machine frame 100, A work section 300 is connected to the offset frame 200 and is rotatably mounted relative to the offset frame 200 by the drive of actuators (first actuator 260, second actuator 270), A locking mechanism (first locking mechanism 230a, second locking mechanism 230b) that can fix or release the rotation of the work section 300 relative to the offset frame 200, It comprises actuators (first actuator 260, second actuator 270) and a control unit 900 capable of controlling the locking mechanism, The locking mechanism (first locking mechanism 230a, second locking mechanism 230b) includes locking pins 233a and 233b that can prevent the rotation of the work section 300 by being fitted into holes (fixing holes 232a and 232b) provided in the offset frame 200, The system includes motors 241a and 241b that move lock pins 233a and 233b relative to the holes (fixing holes 232a and 232b), When the control unit 900 receives a command to rotate the work unit 300, it causes motors 241a and 241b to pull out lock pins 233a and 233b from the holes (fixing holes 232a and 232b), and then actuators (first actuator 260, second actuator 270) that rotate the work unit 300 are activated, and after the work unit 300 has rotated, motors 241a and 241b move lock pins 233a and 233b toward the holes (fixing holes 232a and 232b). The present invention relates to an agricultural implement 10 characterized by the following features.

[0170] Furthermore, in the embodiments of this invention, The offset frame 200 includes plates (fixing plate 231a and fixing plate 231b) with holes (fixing holes 232a and 232b), The offset frame 200 is configured to be switchable between a state in which the lock pin 233a and the lock pin 233b can be inserted into the holes (fixing hole 232a and fixing hole 232b) and a sliding state in which the lock pins are in contact with the plates (fixing plate 231a and fixing plate 231b), The control unit 900 drives the motors 241a and 241b to a state where the lock pin 233a and the lock pin 233b slide on the plates (fixing plate 231a and fixing plate 231b) after a specified time has elapsed since the working unit 300 rotates, relates to the agricultural working machine 10 characterized by the above features.

[0171] Further, in the embodiments of the present invention, in addition, The locking mechanisms (the first locking mechanism 230a and the second locking mechanism 230b) are provided with biasing bodies 235a and 235b that bias the lock pin 233a and the lock pin 233b toward the holes (the fixing hole 232a and the fixing hole 232b), The lock pin 233a and the lock pin 233b that are sliding on the plates (the fixing plate 231a and the fixing plate 231b) slide while storing the biasing force from the biasing body 235a, relates to the agricultural working machine 10 characterized by the above features.

Description of Reference Signs

[0172] 10 Agricultural working machine 100 Machine frame 200 Offset frame 300 Working unit 400 Banking unit 430 Excavation rotor 500 Forming unit

Claims

1. A frame having a mounting part that can be attached to a running machine, An offset frame is rotatably connected to the aforementioned machine frame by the drive of an actuator, A work unit connected to the offset frame, whose position can be changed between a working position and a storage position depending on the rotational position of the offset frame, A locking mechanism that can fix or release the rotation of the offset frame relative to the machine frame, The system comprises a control unit capable of controlling the actuator and the locking mechanism, The locking mechanism includes a locking pin that can prevent the offset frame from rotating by fitting into a hole provided in the machine frame, The system includes a motor that moves the locking pin relative to the hole, When the control unit receives a command to rotate the offset frame, it causes the motor to pull the lock pin out of the hole, and then the actuator that rotates the offset frame operates, and after the offset frame has rotated, it causes the motor to move the lock pin toward the hole. A farming machine characterized by the following features.

2. The machine frame comprises a plate on which the holes are arranged, The offset frame is configured to be switchable between a state in which the lock pin can be inserted into the hole and a state in which it is in contact with the plate and sliding. The control unit drives the motor to a state in which the lock pin slides along the plate after a specified time has elapsed since the offset frame has rotated. The agricultural implement described in feature 1.

3. The locking mechanism includes a biasing body that biases the locking pin toward the hole, While sliding along the plate, the lock pin slides while accumulating a biasing force from the biasing body. The agricultural implement described in feature 2.

4. The control unit is configured to recognize multiple rotational positions of the offset frame, and when it receives a command to rotate the offset frame to a rotational position that is not adjacent to any other, it causes the motor to pull the lock pin out of the hole and rotate the offset frame, and after the offset frame has passed an adjacent rotational position, it causes the motor to move the lock pin toward the hole. The agricultural implement according to any one of features 1 to 3.

5. A frame having a mounting part that can be attached to a running machine, An offset frame connected to the aforementioned machine frame and rotatably connected to the aforementioned machine frame, A work section connected to the offset frame and rotatably mounted relative to the offset frame by the drive of an actuator, A locking mechanism that can fix or release the rotation of the work unit relative to the offset frame, The system comprises a control unit capable of controlling the actuator and the locking mechanism, The locking mechanism includes a locking pin that can prevent the working part from rotating by being fitted into a hole provided in the offset frame, The system includes a motor that moves the locking pin relative to the hole, When the control unit receives a command to rotate the work unit, the actuator operates to rotate the work unit after causing the motor to pull the lock pin out of the hole, and after the work unit has rotated, the motor moves the lock pin toward the hole. A farming machine characterized by the following features.

6. The offset frame comprises a plate on which the holes are arranged, The offset frame is configured to be switchable between a state in which the lock pin can be inserted into the hole and a state in which it is in contact with the plate and sliding. The control unit drives the motor to a state in which the lock pin slides along the plate after a specified time has elapsed since the work unit began to rotate. The agricultural implement according to feature 5.

7. The locking mechanism includes a biasing body that biases the locking pin toward the hole, While sliding along the plate, the lock pin slides while accumulating a biasing force from the biasing body. The agricultural implement described in feature 6.

Images