JPH039609Y2 - - Google Patents

Description

[Detailed description of the invention] (a) Industrial application field This invention allows the drive system and the planting part to maintain the same posture when the traveling rice transplanter travels through the rice field, regardless of the unevenness of the tiller of the rice field. This invention relates to an attitude control device that is configured to maintain a horizontal position at all times.

(b) Prior Art A large number of applications have been filed regarding posture control devices for rice transplanters, regardless of whether they are riding type or walking type. The same applicant has also filed an earlier application regarding a technique for simultaneously controlling pitching and rolling.

However, in the conventional technology, the pitching control cylinder expanded and contracted to raise the machine to the maximum when turning around the edge of a field or driving on the road, making the raising operation extremely slow.
This is because when turning on a ridge or when raising the vehicle while driving on the road, the engine speed is reduced to idling speed, and the discharge flow rate of the hydraulic pump driven by the engine is also at its lowest level. Therefore, it takes time for the pitching control cylinder to expand and contract.

(c) Problems to be solved by the invention The purpose of the invention is to solve these conventional problems. In particular, since both pitching control and rolling control are performed, the pressure oil of the hydraulic pump is divided into two directions, and the amount of pressure oil is even smaller. It is configured to collect the oil again and send oil to the pitching control cylinder when traveling on the road and in the raised position for corner turning.

Alternatively, when the pitching control cylinder is raised, the return oil on the lowering side is merged, and when the pitching control cylinder is in the raised position for driving on the road or turning along a ridge, the oil is sent in the raising direction of the pitching control cylinder to increase speed. It is.

(d) Means for solving the problem The purpose of the present invention is as described above, and the configuration for achieving the purpose will be explained below: A pitching control cylinder that simultaneously controls a pair of wheels to raise and lower with respect to the aircraft body. 1 and a rolling control cylinder 2 that controls the raising and lowering of a pair of wheels relative to the machine body, and controls the posture of the rice transplanter. The aircraft is equipped with a raised position for driving on roads and turning around ridges.

In addition, in a configuration in which one hydraulic pump is used to send oil to the pitching control cylinder 1 and the rolling control cylinder 2, and the oil is divided by the flow dividing valve 19 and sent to both cylinders, the pressure oil to the rolling hydraulic control valve B is The system is configured to send oil through the pitting hydraulic control valve A, and when the pitching hydraulic control valve A is in a raised position for traveling on the road and turning on ridges, the rolling side flow is merged with the pitching side flow. The circuit is configured to

In addition, in a configuration in which hydraulic pumps are provided for feeding oil to the pitching control cylinder 1 and the rolling control cylinder 2, pressure oil is fed to the rolling oil pressure control valve B through the pitching oil pressure control valve A. The pitching hydraulic control valve A is configured so that the rolling side flow is merged with the pitching side flow at the raised position of the machine for traveling on the road and corner turning.

In addition, a double-acting cylinder is used as the pitching control cylinder, and when the pitching control hydraulic cylinder is in the raised position for traveling on the road and turning around the ridge, the return oil on the rod side of the pitching control cylinder 1 is raised. The circuit is designed to lead into the side piston.

(e) Embodiments and operations The purpose and structure of the present invention are as described above. Next, the structure of the embodiment shown in the attached drawings and the operation of the invention will be explained.

Fig. 1 is a plan view of a walking-type rice transplanter equipped with the attitude control device of the present invention, Fig. 2 is a side view of the same, and Fig. 3 is a perspective view showing the configuration of the pitching control cylinder and rolling control cylinder. FIG. 4 is a perspective view of the rolling sensor section and the hydraulic unit section.

The overall configuration will be explained with reference to FIGS. 1 to 4. The front end is movable up and down on the float 11 to support the drive system, and the front end is equipped with a hydraulic unit V.
Next, the mission case 15 is arranged, and on the side of the mission case 15, swing cases 5L,
5R, and lug wheels 16L and 16R at the rear end. From the center of the mission case 15,
A power transmission device is arranged toward the planting drive case 15a. A seedling stand 13 is arranged above the planting drive case 15a, and a handle 17 protrudes rearward.

These drive systems are pivotally supported by a pivot 11a at the rear of the float 11, and the front end is supported by a pantograph-shaped pitching sensor 12 so as to be able to move up and down. Therefore, when pitching is performed in which the float 11 swings back and forth greatly, the pitching sensor 12 moves up and down and is transmitted to the rod 27, which rotationally displaces the pitching hydraulic control valve A, which is configured as a rotary valve, in the hydraulic unit V. , controls the pressure oil and expands and contracts the pitching control cylinder 1. By expanding and contracting the pitching control cylinder 1, the rotating cylinder 4 shown in FIG. It keeps the planting device at a constant slope.

On the other hand, rolling is the horizontal shaking of the walking rice transplanter, and is detected by the floats for the left and right rolling sensors 9L and 9R. Axis 8 as shown in Figure 4
It is transmitted to the more protruding arms 8a, 8b. The shaft 8 is loosely fitted into a rotating tube 7 that rotates left and right and up and down about a pivot 7a. A rod 10 slides the rolling hydraulic control valve B to a position away from the pivot portion 7a of the rotating cylinder 7 via the arm 7b.
is provided.

With this configuration, the rolling sensors 9L, 9
If only one of the left and right sides of R moves up and down due to unevenness of the tiller, the shaft 8 and rotating cylinder 7 move left and right up and down around the pivot 7a, and the rolling hydraulic control valve B switches. It will be done. On the other hand, in the case of pitching in which the left and right rolling sensors 9L and 9R move up and down at the same time, the shaft 8 rotates back and forth within the rotating cylinder 7, and the rotating cylinder 7 does not move, and the rolling hydraulic pressure control Valve B is not switched.

The pressure oil generated by switching the rolling hydraulic control valve B is sent to the rolling control cylinder 2 shown in FIG. The swing case 5L is moved up and down by the arm 3b via the link 6L. The arm 3c at the right end of the rotation shaft 3 projects in the opposite direction from the arm 3b at the left end, and is configured to move the swing case 5R up and down via the link 6b. Therefore, the left and right lug wheels 16L, 16R will move relatively upside down, and by moving the lug wheels 16L, 16R up and down contrary to the unevenness of the field, the left and right inclination of the machine body will be corrected, and it will be leveled. It is something to keep. 4a is a bracket for the rolling control cylinder 2. Further, the left and right lug wheels 16L, 16R are also moved up and down by the expansion and contraction of the pitching control cylinder 1, but in this case, they are moved up and down in the same direction, resulting in pitching control.

The raising operation for traveling on roads and corner turns, which is the essential part of the present invention, involves compressing the pitching control cylinder 1 to push down the lug wheels 16L, 16R and raise the aircraft.

The fact that the raising operation for traveling on the road and turning at the edge of the ridge is slow means that the turning operation at the edge of the field is slow.
This is a serious problem as it reduces work performance. In particular, when traveling on the road or turning on a ridge, the engine speed is reduced to idling, which causes the hydraulic pump's discharge amount to be small and also to slow the lifting speed.

The present invention aims to solve this problem.

Fig. 5 shows the case where one hydraulic pump is used and divided into pitching and rolling using the flow divider valve 19, and the rolling pressure oil is used for on-road running and raising operation for turning on the ridge. The hydraulic circuit diagram, Figure 6, also shows one hydraulic pump,
FIG. 7 is a hydraulic circuit diagram of an embodiment in which return oil from the pitching control cylinder 1 is used to merge the hydraulic oil. The hydraulic circuit diagram when used for operation, Figure 8, also shows two hydraulic pumps, but the pitching control cylinder 1
It is a hydraulic circuit diagram in the case of using return oil and merging it. In FIG. 5, the pressure oil discharged from the hydraulic pump 18 is diverted by the diversion valve 19 and sent to the rolling hydraulic control valve B1 and the pitching hydraulic control valve A1. The oil passage to B1 is configured to pass through the pitting hydraulic control valve A1 and then reach the rolling hydraulic control valve B1. The oil passage to the rolling hydraulic control valve B1 is not effective in ports that raise, neutralize, and lower the aircraft in normal pitching control, and is only used when the pitching hydraulic control valve A1 is running on the road. Only at the a1 port, which is the raised position for ridge turning, is the oil merged with the pressure oil for pitching control to speed up the raising action. In a normal lifting action, the pressure oil of the hydraulic pump 18 is
For example, the dividing ratio can be freely set, and the hydraulic oil was divided into two parts and used as hydraulic oil, but now the entire discharge volume of the hydraulic pump 18 is used, which is twice as much, so the raising speed is doubled. .

In addition, in order to switch to the a1 port, the operator can force the pitching sensor 12 by lifting the handle 17 upward as in the conventional device.
is sensed and the rod 27 switches to the a1 port.

In FIG. 5, the rolling hydraulic control valve B1 constitutes a raising/lowering port via a throttle valve in order to obtain a smooth response during switching. 23 is a relief valve, and 24 is a flow control valve. Further, 22 is a relief valve for the pitting circuit, 26 is a slow return check valve, and 25 is a relief valve for the pitching circuit.
is an overload relief valve.

The slow return check valve 26 is designed to prevent damage to the aircraft due to weight being added to the aircraft during its descent and the aircraft descending at high speed.

The overload relief valve 26 is designed to prevent the impact from being applied to the pitching control cylinder 1 if the rice transplanter is accidentally dropped from a high place, generating high pressure and damaging various parts of the hydraulic system and the rice transplanter itself. A relief valve is installed to prevent this. In Figure 6, the hydraulic pump is 1
They are the same in that the flow is divided into pitting and rolling using the diverter valve 19, but the method of increasing the speed of the pitching hydraulic control valve A2 at the raised position a2 for on-road travel and ridge turning is different. It's different.
In the case of Fig. 6, instead of merging the separated pressure oil for rolling, the return oil from the rod side of the pitching control cylinder 1 is merging only at port a2 in the raised position for on-road running and ridge turning. , toward the piston, thereby increasing the amount of pressure oil by 2
This doubles the speed of the pitching control cylinder 1.

In FIG. 7, two hydraulic pumps, a rolling hydraulic pump 21 and a pitching hydraulic pump 20, are provided, and the pitching hydraulic control valve A3 is in the raised position a for traveling on the road and turning on the ridge.
3 is provided separately. The pressure oil of the rolling hydraulic pump 21 is configured to pass through the pitching hydraulic control valve A3, and in the raised position a3 for traveling on the road and turning along the ridge, the pressure oil of the rolling hydraulic pump 21 passes through the pitching hydraulic control valve A3. The configuration is such that the pressure oil from the pitching hydraulic pump 20 joins together to expand and contract the pitching control cylinder 1.

In the case of the embodiment shown in FIG. 8, there are two hydraulic pumps, a pitching hydraulic pump 20 and a rolling hydraulic pump 21.
Without taking any means of merging the pressure oil of The expansion and contraction speed of the control cylinder 1 is increased.

(f) Effects of the invention Since the invention is constructed as described above, it exhibits the following effects.

First, when a rice transplanter was traveling on the road or turning around the edge of a ridge, it could only be lifted by the expansion and contraction speed of the pitching control cylinder, and it was not possible to make quick turns or raise and lower while traveling. According to the present invention, in addition to the expansion and contraction speed of the cylinder during control, it was possible to have an increased raising speed, thereby improving the efficiency of rice transplanting work.

Second, when driving on the road, when going up and down or turning around on a ridge, the engine rotation is generally reduced to idling, and the discharge amount of the hydraulic pump is also reduced, so the expansion and contraction speed of the pitching control cylinder 1 is also reduced. However, by combining the pressure oil of the rolling hydraulic pump 21 and the return oil of the pitching control cylinder 1,
By increasing the amount of pressurized oil, it is possible to expand and contract quickly.

[Brief explanation of the drawing]

Fig. 1 is a plan view of a walking-type rice transplanter equipped with the posture control device of the present invention, Fig. 2 is a side view of the same, and Fig. 3 is a perspective view showing the configuration of the pitching control cylinder and rolling control cylinder. Fig. 4 is a perspective view of the rolling sensor part and the hydraulic unit part, and Fig. 5 shows the case in which one hydraulic pump is used and divided into pitching and rolling by the flow divider valve 19, and the pressure oil for rolling is A hydraulic circuit diagram when used for on-road driving and raising operations for corner turning; FIG. 6 is a hydraulic circuit diagram of an embodiment in which a single hydraulic pump is used, but the return oil of the pitching control cylinder 1 is combined; Fig. 7 shows a rolling hydraulic pump 20 using two hydraulic pumps.
Fig. 8 is a hydraulic circuit diagram when the pressure oil of 1 is used for raising operations for on-road driving and turning on ridges. Fig. 8 also shows two hydraulic pumps, but the return oil of the pitching control cylinder 1 is combined and used. It is a hydraulic circuit diagram in case. A1, A2, A3, A4...Pitching hydraulic control valve, B1, B2, B3, B4...Rolling hydraulic control valve, 1...Pitching control cylinder, 2...Rolling control cylinder, 18,2
0, 21...Hydraulic pump, 19...Diversion valve.

Claims (1)

[Claims for Utility Model Registration] (1) A pitching control cylinder 1 that simultaneously controls raising and lowering a pair of wheels relative to the aircraft body and a rolling control cylinder 2 that controls raising and lowering the pair of wheels relative to the aircraft body are provided. In addition to controlling the posture of the rice transplanter, the pitching hydraulic control valve A is also set to raise, neutral, and lower the machine.
An attitude control device for a rice transplanter, characterized by having a raised position for running on the road and turning at the edge of a ridge. (2) Utility model registration claim 1 In the configuration in which a single hydraulic pump is used to send oil to the pitching control cylinder 1 and the rolling control cylinder 2, the oil is divided by a diversion valve 19 and sent to both cylinders. , rolling hydraulic control valve B
The system is configured to send pressure oil through a pitching hydraulic control valve A, and when the pitching hydraulic control valve A is in a raised position for traveling on the road and turning on ridges, the rolling side flow rate is controlled. An attitude control device for a rice transplanter, characterized in that it is configured in a circuit that merges the flow rate on the pitching side. (3) In the configuration in which a hydraulic pump for supplying oil to the pitching control cylinder 1 and the rolling control cylinder 2 as described in claim 1 of the utility model registration claim is provided respectively, the rolling hydraulic control valve B
The pitching hydraulic control valve A is configured to send pressure oil through the pitching hydraulic control valve A, and when the pitching hydraulic control valve A is in a raised position for traveling on the road and turning on ridges, the rolling side flow rate is controlled. A posture control device for a rice transplanter, characterized in that the flow is merged with the pitching side flow. (4) In addition to using a double-acting cylinder as the pitching control cylinder described in Claim 1 of the Utility Model Registration Claim, the pitching control hydraulic cylinder is provided in a raised position for on-road running and ridge turning. Pitching control cylinder 1
An attitude control device for a rice transplanter, characterized in that it is configured in a circuit that guides return oil from the rod side into the piston on the lifting side.