JPH0126643B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for controlling the rolling posture of a walking-type or riding-type rice transplanter in the left-right direction with respect to a field.

[Problems to be solved by conventional technology and invention]

Generally, the seedling planting device in a rice transplanter is supported by a tiller whose wheels are in contact with the ground, so the seedling planting device may roll to the left or right due to unevenness of the tiller, etc. If you roll so that it is tilted in the direction, the planting depth of the seedlings will be uneven between the planting rows on the left and the planting rows on the right.

Therefore, in recent multi-row rice transplanters, the seedling planting device is attached to a vehicle body with wheels so that it can roll freely, or the seedling planting device can be tilted left and right by operating a pair of left and right wheels upside down. configure,
In the former case, a position control device is installed between the vehicle body and the seedling planting device, and in the latter case, between both wheels and the vehicle body, the device is installed to tilt the seedling device in the left and right direction with respect to the tiller. A hydraulic cylinder is installed to control the attitude of the seedling planting device so that its horizontal inclination relative to the field is approximately horizontal (for example,
52-145127, etc.).

In this case, in the conventional system, the above-mentioned rolling posture control is performed by using hydraulic pressure branched from a hydraulic power source passage leading from a hydraulic pump as a hydraulic source in a rice transplanter to various hydraulic mechanisms such as a hydraulic cylinder for raising and lowering a seedling planting device. Since the hydraulic cylinder used for the rolling attitude control is operated, the discharge capacity of the hydraulic pump used as the hydraulic source must be increased by the amount required to operate the hydraulic cylinder for rolling attitude control, so the hydraulic pump and hydraulic tank become large. Moreover, a return oil piping from the hydraulic cylinder for controlling the rolling attitude is also required, making the hydraulic piping complicated.

An object of the present invention is to provide an attitude control device that solves this problem.

[Means to solve the problem]

To achieve this object, the present invention provides a rice transplanter in which a seedling planting device is configured to be tiltable in the left and right directions with respect to a tiller on which a pair of left and right wheels are in contact with the ground. Two hydraulic cylinders with cylinder chambers of equal inner diameter and pistons connected to each other are used as hydraulic cylinders for rolling attitude control that control the rolling attitude so that the rolling attitude is approximately horizontal in the left-right direction, and both hydraulic cylinders are connected to each other from a hydraulic source. In the hydraulic circuit leading to each of the cylinder chambers in the cylinder, in response to the rolling of the seedling planting device to the left and right with respect to the field, the hydraulic pressure is switched between the forward and reverse directions, and the hydraulic pressure is switched between the forward and reverse directions. A switching valve is provided that has a neutral position to cut off the water, and the switching valve is provided with a passage that communicates the pump port from the hydraulic pressure source with the return port when the switching valve is in the neutral position, and the return port is connected to other hydraulic pressure in the rice transplanter. It is configured to be connected to the hydraulic pressure supply section of the mechanism.

[Effect]

With this configuration, when the seedling planting device is tilted to one side, hydraulic pressure is supplied from the hydraulic source to one of the two hydraulic cylinders, while hydraulic pressure is supplied from the other hydraulic cylinder to the one hydraulic cylinder. The same amount of hydraulic pressure as the hydraulic pressure is pushed out, and this flows out from the return port in the switching valve, and from the return port in the switching valve, when the switching valve is in the neutral position, Also, hydraulic pressure from the hydraulic source flows out.

That is, the return port in the switching valve for both hydraulic cylinders for controlling the rolling posture of the seedling planting device in the present invention is not only used when the rolling control is stopped, but also when the rolling control is in operation. Since the same amount and approximately the same pressure as the hydraulic pressure supplied to the rice transplanter is extracted, this can be supplied to various hydraulic mechanisms such as the hydraulic cylinder for raising and lowering the seedling planting device in the rice transplanter.

〔Effect of the invention〕

Therefore, according to the present invention, rolling control can be performed using one hydraulic source, and
Since other hydraulic mechanisms in the rice transplanter can be driven simultaneously, the hydraulic pump and hydraulic tank installed in the rice transplanter can be made smaller and lighter, and the hydraulic pipe circuit for both hydraulic cylinders for rolling control can be simplified. It is possible.

Furthermore, by using two hydraulic cylinders with the same inner diameter to control the rolling posture of the seedling planting device, the horizontal tilting of the seedling planting device is performed at the same speed in both directions, so that control is possible. It also has the effect of stably improving control characteristics.

〔Example〕

Hereinafter, the embodiment of the present invention will be explained with reference to a drawing in which it is applied to a riding-type rice transplanter. In the drawing, reference numeral 1 indicates a running vehicle body, and the running vehicle body 1 is attached to a vehicle body frame 2 and its front part. Consisting of two front wheels (not shown) and two rear wheels 4 attached to the rear via axle cases 3, 3, a control seat 5 is provided on the upper surface of the body frame 2, and an engine (not shown) mounted on the body frame 2. The vehicle moves forward.

Reference numeral 6 indicates a seedling planting device located at the rear of the traveling vehicle body 1, and the seedling planting device 6 is connected to a transmission case 7.
There are three planting cases 8, 8', 8'' that integrally extend rearward from the transmission case 7 at appropriate intervals in the lateral direction, and the front end of each planting case can be freely attached to the lower surface of the planting case. Float 9 mounted so as to move up and down,
9′, 9″, and a seedling stand 10 whose upper end is inclined so as to approach the traveling vehicle body 1, and on both left and right sides of each of the planting cases 8, 8′, 8″, there is a seedling stand 10, A vertically swinging type seedling planting mechanism 12 is provided, which separates seedlings from the seedling pine into individual plants and plants them in the field area 11 on both sides of each float 9, 9', 9''. The lower end of the platform 10 fits into the seedling retrieval guide rail 13 attached to the upper surface of the transmission case 7, while the rail 14 provided in the middle of the back surface thereof
A trochanter 16 provided on a support arm 15 erected from the transmission case 7 is fitted into the trochanter 16 so as to reciprocate in the left-right and lateral directions.

The hitch 17 attached to the rear end of the traveling vehicle body 1 has a pair of upper and lower links and a pair of left and right links 18 of equal length.
19 are pivotally connected at their base ends with pins 20 and 21 to constitute a parallel link mechanism 22 for raising and lowering the seedling planting device, and the tips of the equal length links 18 and 19 in the parallel link mechanism 22 are connected to the The connecting body 23 for the seedling planting device 6 has pivot pins 20, 2 at the proximal end.
Pins 24 and 25 are pivotally connected at the same interval as the vertical interval of 1, and a hollow shaft 26 is integrally provided on the connecting body 23 and protrudes rearward in a substantially horizontal direction. The transmission case 7 of the planting device 6 is connected to the transmission case 7 in a rollable and detachable manner via a hitch device 27, which will be described in detail later, while connecting one of the links 1 in the parallel link mechanism 22.
8 and the vehicle body frame 2 is a hydraulic cylinder 2.
8 is mounted, and the seedling planting device 6 is configured to be raised and lowered greatly from the traveling vehicle body 1 side by the hydraulic cylinder 28.

Reference numeral 29 denotes a support bracket for the preliminary seedling stand, and the support bracket 29 has a boss portion 29' at the lower end rotatably fitted between the connecting body 23 and the hitch mechanism 27 with respect to the hollow shaft 26. Accordingly, it is configured to roll independently from the seedling planting device 6 on the same axis as the rolling central axis of the seedling planting device 6 with respect to the traveling vehicle body 1.

At the upper end of this support bracket 29, a pair of upper and lower links 30, 31 of equal length and a pair of left and right links are pivotally connected by pins 32, 33 so as to extend in the direction of the traveling vehicle body 1, while both upper and lower links 30, 31 between the tips of the pivot pins 32, 3 to the support bracket 29.
Pins 34 and 35 at the same spacing as the top and bottom spacing of 3.
A parallel link mechanism 37 for raising and lowering the preliminary seedling stand is connected by a connecting link 36 pivoted at 38 is mounted between the ends of both the left and right lower links 31, 31, and the shaft 39 is placed on a stand 40 that is erected from the vehicle body frame 2 of the traveling vehicle body 1. An elevating and lowering ramp 42 for a preliminary seedling stand, which is arranged approximately horizontally on the upper part of the traveling vehicle body 1, is rotatably attached to a shaft 41 mounted between the ends of both upper links 30, 30, and the elevating and lowering ramp is On the upper surface of 42, a spare seedling stand 43 for placing spare seedling mats to be supplied to the seedling stand 10 is freely movable laterally in parallel with the seedling stand 10 via trochanters 44 and 45. It is placed so that it can reciprocate, and a hydraulic cylinder 46 for tilting the elevating and descending ramp 42 is installed between the tip of the elevating and descending ramp 42 and the shaft 39 of the lower link 31.

In this case, the parallel link mechanism 22 for raising and lowering the seedling planting device 6 and the parallel link mechanism 3 for raising and lowering the preliminary seedling stand.
7 means that the quadrilaterals are congruent and the links are parallel to each other, and when the seedling planting device 6 is raised and lowered, the shafts 39 and 41 at the tips of both the upper and lower links 30 and 31 in the parallel link mechanism 37 for raising and lowering the preliminary seedling stand are , is configured so as not to move up and down and back and forth, and the seedling planting device 6
When the preliminary seedling body 43 is raised by the hydraulic cylinder 38, both upper links of the parallel link mechanism 37 are attached to the upper end of the support arm body 15 which is erected from the transmission case 7 along the back surface of the seedling stand. A pair of left and right stopper bodies 47 are provided on which the stoppers 30 and 30 abut.

The hitch device 27 includes a bowl-shaped connecting member 48 rotatably fitted onto the hollow shaft 26 of the connecting body 23 attached to the traveling vehicle body 1 side, and a coupling member 48 of the transmission case 7 of the seedling planting device 6 on the traveling vehicle body. A bracket 49 is attached to the side surface, and an engagement/disengagement mechanism 5 is provided between the bowl-shaped connecting member 48 and the bracket 49.
Set 0.50.

That is, on both the upper and lower outer surfaces of the connecting member 48,
Two protrusions 51, 51, 52, 52 are integrally provided, and each protrusion 51, 51, 52, 52 is integrally provided.
Grooves 53 and 54 having semicircular cross sections are carved in the brackets 49 so as to extend in a direction perpendicular to the axial direction of the hollow shaft 26, while the bracket 49 has a U-shaped flat cross section and has grooves 53 and 54 having semicircular cross sections at both upper and lower ends thereof. Each protrusion 5 of the connecting member 48
A pair of upper and lower hit shafts 55, 56 that fit into grooves 53, 54 in 1, 51, 52, 52
are rotatably supported in parallel to each other and in a direction perpendicular to the axis of the hollow shaft 26, and both hit shafts 55, 56
A handle 57, 58 is fixed to one end of the
Both hit shafts 55, 56 are constructed so that they can be rotated through 180 degrees by operating the handles 57, 58, either separately or in conjunction with each other.
6 includes semicircular cross-sectional portions 59 and 60 that fit into the grooves 53 and 54 of each of the projections 51, 51, 52, and 52;
to form.

In addition, the handles 57 of both hitch shafts 55, 56,
58 is provided with a mechanism (not shown) for holding both hitch shafts 55, 56 in a rotational position where their semicircular sections 59, 60 fit into the grooves 53, 54.

Further, a transmission clutch shaft 6 is disposed within the hollow shaft 26.
1 is pivotally supported via a ball bearing 62, and the transmission clutch shaft 61 is connected to the PTO at the rear end of the traveling vehicle body 1.
The transmission case 7 of the seedling planting device 6 is connected to the shaft 63 via a shaft 64 so as to be extendable and bendable. A driven clutch 66 is supported on the same axis as the clutch shaft 61, and the driven clutch 66 is supported at the tip thereof.
A driving clutch 67 that fits into the transmission clutch shaft 61 by spline engagement is slidably inserted into the hollow shaft 26, and the driving clutch 67 is fitted onto the transmission clutch shaft 61. Fitted spring 6
8 in the protruding direction, this driving clutch 6
7 so that the driven clutch 66 is engaged with the driven clutch 66.

Further, reference numeral 70 indicates a hydraulic cylinder mechanism for controlling the rolling posture of the seedling planting device 6,
The hydraulic cylinder mechanism 70 is located on the rear surface of the connecting body 23 on the opposite side of the hitch shafts 55, 56 from the handles 57, 58, and the hydraulic cylinder mechanism 70 is attached to the connecting body 23. It consists of a hydraulic switching valve 71, pistons 72, 73 that integrally protrude from the switching valve 71 in the vertical direction, and hydraulic cylinders 74, 75 that are slidably fitted into both the pistons 72, 73. The inner diameters of the cylinders 74 and 75 are made equal, and the upper and lower hydraulic cylinders 74 and 75 are connected by a connecting plate 76 so that they move in opposite directions. A tip pin 78 of an arm 77 integrally protruding from a connecting member 48 connected by both hit shafts 55 and 56 is engaged with the device 6, and a seedling planting device is installed using a hydraulic cylinder mechanism 70 for controlling rolling posture. 6 is configured to control the rolling posture in the left and right direction.

The switching valve 71 in the hydraulic cylinder mechanism 70 for controlling the rolling posture is a 4-port, 3-position type, and the spool 71' is connected to the seedling planting device 6.
The height detection sensors 79, 80 provided for the side floats 9', 9'' located on both the left and right sides of the three floats 9, 9', 9'' are related, and the floats at both sensors 79, 80 are connected. 9′,
9'' and its planting cases 8', 8'' are the same height, the switching valve 71 is connected to the hydraulic pump 81.
It is a neutral position where the pump port P and return port R connected to the upper hydraulic cylinder 74 and the port B to the lower hydraulic cylinder 75 are cut, but the left float 9' and its planting case 8' are cut off. In other words, the seedling planting device 6 is tilted to the left with respect to the field scene 11 so that the height of the right float 9'' and its planting case 8'' becomes higher at the same time as the height of the right float 9'' becomes lower. In this case, the switching valve 71 switches to connect the pump port P to the port A to the upper hydraulic cylinder 74 and the port B of the lower hydraulic cylinder 75 to the return port R, and also connects the right float 9'' and its In other words, the seedling planting device 6 is lowered relative to the field scene 11 so that the height with respect to the planting case 8'' becomes lower and the height of the left float 9' with the planting case 8'' becomes higher. When tilted to the right, the switching valve 71 switches to the pump port P.
is connected to port B to lower hydraulic cylinder 75, and port A of upper hydraulic cylinder 74 is connected to return port R, respectively.

The spool 7 of the switching valve 71 in the hydraulic cylinder mechanism 70 for controlling the rolling attitude
1' is provided with a passage C that communicates the pump port P and the return port R when the switching valve 71 is in the neutral position, and the return port R is connected to another hydraulic mechanism, such as the raising and lowering of the seedling device. It is connected to the pump port P in the 3-port 4-position switching valve 82 for the hydraulic cylinder 28 for use.

Further, both upper and lower hydraulic cylinders 74, 7 in the hydraulic cylinder mechanism 70 for controlling the rolling attitude
5, there is a pilot type relief valve 84 which releases the hydraulic pressure to the lower cylinder 75 when the oil pressure in the upper hydraulic cylinder 74 becomes higher than a certain value;
A pilot type relief valve 85 is provided to release the oil pressure to the upper hydraulic cylinder 74 when the oil pressure in the lower hydraulic cylinder 75 becomes higher than a certain value, and the upper and lower cylinders 74, 75 are connected to the seedling planting device 6 at a sudden inclination. Also serves as a damper against motion. In this case, instead of the two pilot type relief valves 84, 85, there may be a single passage passing between the upper and lower hydraulic cylinders 74, 75, and a flow rate regulating means such as a small diameter orifice may be provided in this passage.

Note that the hydraulic cylinder 28 for lifting and lowering the seedling planting device
The spool 82' in the switching valve 82 is
Regarding the height detection sensor 83 provided for the sensor float 9 at the center position of the traveling vehicle body 1 among the floats 9, 9', and 9'', the height of the sensor float 9 and its planting case 8 is set to a predetermined value. When the height of
The switching valve 82 is in a neutral position where it cuts off the pump port P, the return port R, and the port A to the hydraulic cylinder 28, but when the height becomes lower, the switching valve 82 connects the pump port P to the port A. When the height increases, the switching valve 82 switches to connect the port A to the return port R and lowers the seedling planting device 6, thereby increasing the seedlings relative to the field. The height of the center position of the transplanting device 6 is automatically controlled so as to always be at a predetermined height.

In this configuration, by placing the seedling pine on the seedling platform 10 of the seedling planting device 6 and moving the vehicle body 1 forward while driving the seedling planting device 6,
Seedlings can be planted along six rows by the seedling planting mechanism 12 on the field area 11 leveled by the floats 9, 9', and 9'' in the seedling planting device 6, and the seedlings on the seedling platform 10 are When there are only a few remaining, by operating the hydraulic cylinder 38 for raising and lowering the preliminary seedling stand and the hydraulic cylinder 46 for tilting, the preliminary seedling stand 43 is raised as shown by the two-dot chain line in FIG. Since it is inclined in parallel and engages with the seedling platform 10 and moves from side to side together with the seedling platform 10, the seedling mats on the preliminary seedling platform 43 can be replenished to the seedling platform 10 during rice transplanting work.

During this rice planting work, the seedling planting device 6 is moved to the field area 11 due to the rolling of the traveling vehicle body 1 due to the unevenness of the tiller 11' on which each wheel of the traveling vehicle body is in contact with the ground.
If you tilt it so that the left side is lower and the right side is higher, the hydraulic cylinder mechanism 7 for rolling attitude control
The switching valve 71 at 0 is switched to connect the pump port P to the port A to the upper hydraulic cylinder 74 and the port B of the lower hydraulic cylinder 75 to the return port R, respectively. Then, both the upper and lower hydraulic cylinders 74 and 75 rise, and the seedling planting device 6 is linked to this via a connecting piece 76 and an arm 77.
is rotated around the hollow shaft 26 so that the left side rises to correct the inclination to the left, and if the seedling planting device 6 is tilted so that it is lower on the right side and higher on the left side, the switching Valve 71 connects pump port P to port B to lower hydraulic cylinder 75 and connects pump port P to port B to upper hydraulic cylinder 7.
The ports A of 4 are switched to be connected to the return port R, respectively, and both the upper and lower hydraulic cylinders 74, 75 are connected.
Since the seedlings are both lowered, the seedling planting device 6 can be rotated around the hollow shaft 26 so that the right side rises, and the inclination to the right can be corrected. Even if the traveling vehicle body 1 rolls, the seedling planting device 6 Automatic control can be performed so that the seedlings do not tilt to the left or right with respect to the field, and the seedling planting depth in each seedling planting row by the seedling planting device 6 can be maintained substantially constant against rolling of the traveling vehicle body.

When the switching valve 71 is in the neutral position and both the upper and lower hydraulic cylinders 74 and 75 are not operating during the rolling attitude control described above, the pump port P of the switching valve 71 is connected to the return port R via the passage C. Since they are connected, the hydraulic pressure from the hydraulic pump 81 is directly sent to the pump port P of the switching valve 82 for the hydraulic cylinder 28 for lifting and lowering the seedling planting device, so the hydraulic cylinder 28 for lifting and lowering the seedling planting device can be operated. be.

Further, when the switching valve 71 is switched to another position, that is, when the seedling planting device 6 is moved in the opposite direction to the rolling direction of the traveling vehicle body 1, either one of the upper and lower hydraulic cylinders 74, 75 is activated. When hydraulic pressure is supplied from the hydraulic pump 81 to the hydraulic cylinder 74 or 75, the same amount and approximately the same pressure flows out from the other hydraulic cylinder 75 or 74 with the same inner diameter, and this is the return port. Since it is sent from R to the pump port P of the switching valve 82 for the hydraulic cylinder 28 for raising and lowering the seedling planting device,
The hydraulic cylinder 28 for raising and lowering the seedling planting device can be operated.

8 and 9, wheels 92, 92 are mounted on both left and right sides of a vehicle body 91 having a seedling planting device 90 so as to move up and down independently via swing cases 93, 93, respectively. A seedling planting device 90 attached to a vehicle body 91 by operating wheels 92, 92 upside down.
This figure shows a case in which the rolling attitude of the rice transplanter is applied to a walk-behind rice transplanter that controls the rolling attitude in the left and right direction to be approximately horizontal. Install the hydraulic cylinder mechanism 70, and both hydraulic cylinders 7
The same application can be made by connecting both wheels 92, 92 to the wheels 4, 75 via bell crank levers 94, 94.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a side view of the main parts of a riding rice transplanter, FIG. 2 is a plan view of FIG. Figure 4 is a cross-sectional view of Figure 3, Figure 5 is
The figure is a sectional view of Fig. 3, Fig. 6 is a sectional view of Fig. 5, Fig. 7 is a hydraulic circuit diagram, Fig. 8 is a side view of the walk-behind rice transplanter, and Fig. 9 is a sectional view of Fig. 8. Figure -
FIG. DESCRIPTION OF SYMBOLS 1... Traveling vehicle body, 2... Vehicle body frame, 6... Seedling planting device, 7... Transmission case, 8... Planting case, 9... Float, 10... Seedling stand, 23... Connecting body, 26... Hollow shaft, 22... Parallel Link mechanism, 27... hitch device,
28...Hydraulic cylinder for raising and lowering the seedling planting device, 48...Connecting portion, 70...Hydraulic cylinder mechanism for rolling posture control, 71...Switching valve, 74...Upper hydraulic cylinder, 75...Lower hydraulic cylinder, 81...Hydraulic pump, P ...Pump port, P...Return port, 7
9, 80...sensor, 84, 85...pilot type relief valve.

Claims (1)

[Claims] 1. In a rice transplanter in which a seedling planting device is configured to be tiltable in the left and right directions with respect to a tiller on which a pair of left and right wheels are in contact with the ground, the seedling planting device is made to be approximately horizontal in the left and right direction with respect to the field surface. The rolling attitude control hydraulic cylinder uses two hydraulic cylinders whose cylinder chambers have the same inner diameter and whose pistons are connected to each other. During the circuit, there is a switching valve that switches the flow of hydraulic pressure into and out of both cylinder chambers in the forward and reverse directions in response to the rolling of the seedling planting device from side to side with respect to the field scene, and has a neutral position that cuts off the flow of hydraulic pressure into and out of both cylinder chambers. The switching valve is provided with a passage that communicates the pump port from the hydraulic source with the return port when the switching valve is in the neutral position, and the return port is connected to a hydraulic pressure supply part of another hydraulic mechanism in the rice transplanter. A rice transplanter attitude control device featuring: