JP7015528B2 - Working nails - Google Patents

Description

The present invention relates to working nails.

Working claws for agricultural work machines include cultivated claws attached to rotary work machines and puddling claws attached to puddling machines. These work claws come into contact with the field during tilling work or puddling work, and wear gradually progresses. As the wear of the work claws progresses, the release ability, reversal ability, or stirring ability of the work claws deteriorates, and finally the tilling performance or the puddling performance deteriorates, and proper work cannot be performed. .. Therefore, the farmer regularly checks the degree of wear of the work claws, and if the wear progresses to a certain extent, replaces the work claws promptly.

In order to determine the replacement time of such a work claw, for example, Patent Document 1 describes a technique of providing ribs that can be visually recognized from both sides at a position along a line after wear, which is a guideline for replacement of the work claw. There is.

In addition, the farmer estimated the work condition such as the cultivation depth visually or based on the information such as the sound and vibration of the work claws acting on the field during the work by the farmer. It was based on my experience and intuition.

Utility Model Registration No. 3198032 Gazette

However, in the case of the technique described in Patent Document 1, after all, the degree of wear of the work claw must be visually confirmed by the farm worker, and when the confirmation is forgotten or troublesome and neglected. Has a problem that the work claw replacement time may be missed.

Further, for example, when cultivating with a rotary work machine or a puddling machine, soil or mud may adhere to the cultivating claws. In such a case, the technique described in Patent Document 1 has a problem that the ribs cannot be visually recognized due to the influence of soil and mud, and the degree of wear may not be determined.

In addition, the working condition during work by the farm worker had to rely on the experience and intuition of the farm worker, and it was difficult to make a quantitative evaluation independent of the farm worker.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a work claw that can evaluate the degree of wear of the work claw without visual inspection by a farm worker. Alternatively, it is an object to provide working claws that can evaluate the working condition of the field without relying on the experience and intuition of the farmer.

The work claw in one embodiment of the present invention is a work claw equipped with a sensor, which is attached to a farm work machine.

It may further have a communication control device that transmits the data acquired by the sensor to an external device.

The communication control device may further include an arithmetic processing unit that analyzes the data acquired by the sensor, and the communication control apparatus may transmit the data analyzed by the arithmetic processing unit to the external device.

Further having a storage device in which a unique identifier is stored, the communication control device may transmit the identifier to the external device.

It may further have a power feeding device that supplies the power supplied from the outside to the sensor.

Further having a power feeding device and a battery connected to the power feeding device, the power feeding device supplies power supplied from the outside to the battery, and the battery stores and stores the supplied electric power. The electric power may be supplied to the sensor.

The working claw may be provided with a recess, and the sensor may be arranged inside the recess.

The depth of the recess may be greater than the height of the sensor.

The side wall of the recess may have a tapered portion in which the width of the recess widens from the bottom of the recess toward the end of the opening.

The space between the side wall and the surface of the work claw other than the recess may be curved.

The work claw may be provided with a through hole penetrating the work claw, and the sensor may be arranged inside the through hole.

The side wall of the through hole may have a tapered portion in which the width of the through hole widens from the inside of the through hole toward the opening end.

It may further have a filler that wraps around the sensor and is placed in the through hole.

The side wall of the filling may have a shape along the tapered shape portion.

The filling may be a resin.

The side wall of the through hole has a linear shape portion having the same width of the through hole in the plate thickness direction of the work claw at a position different from the tapered shape portion, and the surface unevenness of the side wall of the tapered shape portion is , It may be larger than the surface unevenness of the side wall of the linear shape portion.

It may further have a wiring connected to the sensor and electrically isolated from the work claw, and a protective layer covering the wiring.

The work claw has a flat plate-shaped mounting base and a blade portion continuously extending from the mounting base portion, the working claw is provided with a recess, and the wiring is provided in the recess so as to cross the blade portion. It may be arranged inside.

The protective layer may be provided inside the recess and cover the sensor inside the recess.

Further having a terminal portion connected to external wiring, the terminal portion is provided on a flat plate-shaped mounting base portion of the work claw having a first surface and a second surface opposite to the first surface. The terminal portion may be connected to the sensor via the wiring.

The work claw has a flat plate-shaped mounting base having a first surface and a second surface opposite to the first surface, and a blade portion continuously extending from the mounting base portion. , The sensor may be arranged on the first surface side, curved in a direction from the first surface toward the second surface.

The work claw has a flat plate-shaped mounting base having a first surface and a second surface opposite to the first surface, and a blade portion continuously extending from the mounting base portion. The sensor has a blade edge portion whose plate thickness gradually decreases toward the end portion of the blade portion and a peak edge portion on the opposite side of the blade edge portion, and the sensor is arranged on the peak edge portion. good.

The sensor may project from the ridge edge toward the outside of the work claw.

The sensor may include at least an accelerometer.

The sensor may include at least a gyro sensor.

The sensor may have an identifier unique to the sensor.

According to the present invention, the degree of wear of the work claw can be evaluated without visual inspection by the farm worker. Alternatively, the working condition of the field can be evaluated without relying on the experience and intuition of the farmer.

It is a figure which shows the structure of the agricultural work machine which concerns on one Embodiment of this invention from the back side. It is sectional drawing which shows the structure of the agricultural work machine which concerns on one Embodiment of this invention from the side. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the upper part of FIG. 3A. It is a partially enlarged view of the work claw which concerns on the modification of one Embodiment of this invention. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the upper part of FIG. 4A. It is an enlarged view of the area provided with the sensor of FIG. 4B. FIG. 4B is an enlarged view showing the shape of the concave portion of the work claw in the area where the sensor of FIG. 4B is provided. It is a figure which shows the sectional view of the line AA' of FIG. 4A. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the same direction as FIG. 4B. It is an enlarged view of the area provided with the sensor of FIG. 5A. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the upper part of FIG. 6A. It is a figure which shows the state of attaching the sensor to the work claw which concerns on one Embodiment of this invention. It is a figure which shows the state which the sensor is attached to the work claw which concerns on the modification of one Embodiment of this invention. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the direction of the arrow of FIG. 7A. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which looked at the work claw which concerns on one Embodiment of this invention from the upper part of FIG. 8A. It is a figure which looked at the claw holder which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which looked at the claw holder which concerns on one Embodiment of this invention from the side of the agricultural work machine. It is a figure which shows the operation flow of the evaluation method of the wear of the work claw and the work state which concerns on one Embodiment of this invention. It is a figure which shows an example of the evaluation method of the wear of the work claw and the work state which concerns on one Embodiment of this invention.

Hereinafter, an embodiment of the work claw of the present invention and a work machine to which the work claw is attached will be described with reference to the drawings. However, the work claw of the present invention and the work machine equipped with the work claw can be implemented in many different modes, and are not construed as being limited to the contents of the examples shown below. In the drawings referred to in this embodiment, alphabets are added after the same reference numerals or the same reference numerals to the same parts or parts having similar functions, and the repeated description thereof will be omitted.

In the specification and claims of the present application, "upper" indicates a direction vertically away from the field, and "lower" indicates a direction vertically approaching the field. Further, "front" indicates the direction in which the traveling machine is located with respect to the working machine, and "rear" indicates the direction 180 ° opposite to the front. Further, "left" indicates the left when facing the direction in which the traveling machine is located with respect to the working machine, and "right" indicates the direction 180 ° opposite to the left.

The following embodiments exemplify a cultivator attached to a cultivator as a work claw, but the configuration is not limited to this. For example, the work claw shown in the following embodiment may be a work claw used for a puddling machine, a soil crusher, a plow, or the like, in addition to the tilling claw. Further, in the following embodiment, as the work claw, a work claw attached to a claw holder attached to a rotating shaft for rotating the work claw is exemplified, but the present invention is not limited to this configuration. For example, the work claw shown in the following embodiment may be a work claw attached to a flange attached to a rotating shaft. Also, techniques between different embodiments can be combined as long as there is no particular technical conflict.

<First Embodiment>
[Structure of agricultural work machine 100]
FIG. 1 is a diagram showing the configuration of the agricultural work machine 100 of the first embodiment from the back side. FIG. 2 is a cross-sectional view showing the configuration of the agricultural work machine 100 of the first embodiment from the side. Specifically, FIG. 2 shows a state in which the apron 130 (also referred to as a leveling body) of the agricultural work machine 100 is lowered to a normal position from the left side of FIG.

As shown in FIGS. 1 and 2, the agricultural work machine 100 of the present embodiment is roughly classified into a frame 110, a shield cover 120 (shown only in FIG. 2), an apron 130, and a side plate 140 (shown only in FIG. 1). It includes a tiller rotor 150, a control device 170 and the like.

As shown in FIG. 2, the frame 110 is connected to a traveling machine (not shown) such as a tractor by a top mast 135 and a lower link connecting portion 136. The frame 110 has, for example, a cylindrical shape, and a power transmission shaft (not shown) leading to the chain case 105 of FIG. 1 is provided inside the frame 110. This power transmission shaft plays a role of switching the direction of the rotational power transmitted from the PTO shaft of the traveling machine such as a tractor via the PIC (Power Input Connection) shaft 137 to the left-right direction with respect to the traveling direction. The power transmission shaft in the frame 110 is connected to a chain case 105 arranged on the side of the agricultural work machine 100, and power is transmitted to the rotary shaft 152 of the tiller rotor 150 by the chain transmission mechanism in the chain case 105. ..

The tiller rotor 150 is composed of a rotary shaft 152 extending in the width direction of the agricultural work machine 100, a claw holder 153 attached to the rotary shaft 152, and a plurality of work claws 200 mounted on the claw holder 153. As shown in FIG. 1, when viewed from the back side of the agricultural work machine 100, the plurality of work claws 200 are composed of a work claw 200L curved to the left and a work claw 200R curved to the right, and have a rotation axis. It is mounted at intervals in the axial direction of 152. In this embodiment, the working claws 200L and the working claws 200R are attached at regular intervals in the axial direction of the rotating shaft 152. In the following description, when the work claw 200L and the work claw 200R are not particularly distinguished, they are simply referred to as the work claw 200.

In the present embodiment, a plurality of claw holders 153 and working claws 200 are attached to the rotating shaft 152 at substantially the same position in the axial direction of the rotating shaft 152. In FIG. 2, four claw holders 153 are attached at substantially the same positions in the axial direction of the rotating shaft 152, and two working claws 200L and two working claws 200R are attached to these claw holders 153. Is installed. However, the type and number of work claws to be attached are not limited to this configuration.

As shown in FIG. 1, when the agricultural work machine 100 is viewed from the back side, the toes of the work claws 200R and the work claws 200L arranged so as to face each other overlap each other. Therefore, the width of the area where the individual work claws 200L and the work claws 200R dig up the soil partially overlaps between the adjacent work claws 200L and the work claws 200R. In the agricultural work machine 100 of the present embodiment, the tiller rotor 150 rotates in the direction indicated by the arrow R in FIG.

As shown in FIG. 2, the shield cover 120 is arranged so as to cover the upper part of the tiller rotor 150. As shown in FIG. 1, a side plate 140 is provided on the side surface of the shield cover 120. The side plate 140 may be referred to as a chain case plate, a side frame, a support frame, or the like. In FIG. 2, the side plate 140 is not shown.

As shown in FIG. 2, the apron 130 is arranged behind the tiller rotor 150 and is rotatably connected to the shield cover 120 with the connection portion 160 as an axis. Since the center of gravity of the apron 130 is behind the connection portion 160, the apron 130 tends to descend due to its own weight. A stainless steel leveling plate 132 is attached to the tip of the apron 130. The leveling plate 132 is configured to draw a loop from the inside to the outside of the apron 130. The ground leveling plate 132 flattens the field dug up by the tiller rotor 150.

As shown in FIG. 1, movable extended ground leveling plates 134 are provided at both ends of the ground leveling plate 132. By opening the extended ground leveling plate 134, it becomes possible to level a wide range together with the ground leveling plate 132.

The control device 170 includes a central processing unit (CPU), a storage device (memory), and a communication device (not shown), and processes a signal received from the outside (for example, a remote control signal), or conversely, a signal generated internally. It has a function of transmitting (for example, data acquired by a sensor) to the outside. The storage device stores various data and various programs. The central processing unit reads a program from the storage device and executes it to control the operation of a drive unit such as an actuator included in the agricultural work machine 100.

The communication device is a device for performing wired communication or wireless communication. For example, in the case of wireless communication, for example, a module that enables short-range wireless communication or a module that enables wireless communication according to a communication standard such as WiFi may be mounted. That is, the communication device included in the control device 170 has a function of controlling communication with a communication terminal such as a server or a user terminal connected on the network or a communication terminal such as a tablet PC mounted on a traveling machine. You may be.

[Structure of work claw 200]
FIG. 3A is a view of the work claw according to the embodiment of the present invention as viewed from the side of the agricultural work machine. FIG. 3B is a view of the work claw according to the embodiment of the present invention as viewed from above of FIG. 3A. Specifically, the work claw 200 shown in FIGS. 3A and 3B is a view of the work claw 200R of FIGS. 1 and 2 as viewed from the right side of the agricultural work machine 100. The shape of the work claw 200R shown in this embodiment is only an example, and is not limited to this shape. Further, although detailed description of the work claw 200L is omitted, it has the same characteristics as the work claw 200R described below except that the bending direction is different. In the following description, the work claw 200R is simply referred to as a work claw 200.

As shown in FIGS. 3A and 3B, the working claw 200 is provided with a sensor 300. As shown in FIG. 3B, the sensor 300 is provided on the first surface 201 side of the work claw 200. In FIG. 3A, the first surface 201 side is the back side of the paper surface of the work claw 200, but for convenience of explanation, the sensor 300 of FIG. 3A is displayed by a solid line.

In FIG. 3A, the working claw 200 has a mounting base 210, a vertical blade 220, and a horizontal blade 230. The mounting base 210 has a flat plate shape including the first surface 201 and the second surface 203, and extends linearly in the D1 direction. The second surface 203 is a surface opposite to the first surface 201. The vertical blade portion 220 is continuous from the mounting base portion 210 and extends in the D1 direction while being curved in the D2 direction. As shown in FIG. 3B, the horizontal blade portion 230 is continuous from the vertical blade portion 220 and curves in the D3 direction with a substantially constant radius of curvature in the D2 direction (that is, the direction from the first surface 201 to the second surface 203). ). However, the curvature of the lateral blade portion 230 in the D3 direction does not have to be a constant radius of curvature. A blade edge portion 240 is provided at the lower end portions of the vertical blade portion 220 and the horizontal blade portion 230. The blade edge portion 240 has a shape in which the plate thickness of the working claw 200 gradually decreases toward the lower ends of the vertical blade portion 220 and the horizontal blade portion 230. The opposite side of the blade edge portion 240, that is, the upper end portions of the vertical blade portion 220 and the horizontal blade portion 230 is referred to as a peak edge portion 250. The peak edge portion 250 is a portion corresponding to a side surface when the first surface 201 and the second surface 203 are the main surfaces. In the present embodiment, the vertical blade portion 220 and the horizontal blade portion 230 may be collectively referred to as a blade portion. The mounting base 210 is provided with a through hole 215 that penetrates the work claw 200. Although the details will be described later, the working claw 200 is fixed to the claw holder 153 by inserting the mounting base 210 into the claw holder 153 and passing a fastener such as a bolt through the through hole 215.

In the present embodiment, in FIG. 3B, the inner surface of the lateral blade portion 230 curved in the D3 direction is referred to as an inner curved surface 207, and the outer surface of the lateral blade portion 230 is referred to as an outer curved surface 205. The surface on which the first surface 201 is continuously extended is the outer curved surface 205, and the surface on which the second surface 203 is continuously extended is the inner curved surface 207.

In the work claw 200 described above, the sensor 300 is provided on the first surface 201 side of the mounting base 210. The sensor 300 is provided near the boundary between the mounting base 210 and the vertical blade 220 in the mounting base 210. However, the sensor 300 may be provided in the vicinity of the through hole 215 in the mounting base 210. Further, when the sensor 300 is provided on the mounting base 210, the sensor 300 may be provided on the second surface 203 side. The sensor 300 may be located inside the claw holder 153 or outside the claw holder 153 when the work claw 200 is attached to the claw holder 153.

The sensor 300 may be provided on the vertical blade portion 220 or the horizontal blade portion 230. When the sensor 300 is provided on the vertical blade portion 220 or the horizontal blade portion 230, it is desirable to provide the sensor 300 at a position where the work claw 200 is not easily worn. Here, since the horizontal blade portion 230 is curved in the D3 direction as described above, when the tiller rotor 150 rotates as shown in FIG. 2, the soil and the like in the field are scooped up by the inner curved surface 207. By this operation, inversion, stirring, and release are performed. That is, since the inner curved surface 207 mainly acts on the soil and the like in the field, the inner curved surface 207 is easily worn. Therefore, it is preferable to provide the sensor 300 in a region other than the inner curved surface 207. For example, it is desirable to provide the sensor 300 on the first surface 201 or the outer curved surface 205. However, the sensor 300 may be provided on the second surface 203 as long as the mounting base 210 is not easily worn.

As the sensor 300, an acceleration sensor and a gyro sensor can be used. Alternatively, as the sensor 300, a magnetic sensor can be used in addition to these sensors. The accelerometer and gyro sensor can be collectively referred to as a 6-axis sensor, and the accelerometer, gyro sensor, and magnetic sensor can be collectively referred to as a 9-axis sensor. Further, as the sensor 300, in addition to the above sensors, a strain sensor, a pressure sensor such as a load cell, a sound sensor, and a physical quantity sensor such as an optical sensor can be used. In addition to the above sensors, the sensor 300 includes a soil sensor such as a sensor that detects soil moisture, a sensor that detects soil salt content, a sensor that detects soil temperature, and a sensor that detects soil pH (hydrogen ion index). Can be used. However, the sensor used as the sensor 300 is not limited to the above sensor, and other sensors can be used.

Although the details will be described later, the sensor 300 may have a built-in power supply, or may be supplied with power from the outside via wiring. Further, the data sensed by the sensor 300 may be stored in a storage device built in the sensor 300, or may be connected to the sensor 300 and stored in a storage device provided in the work claw 200. The data sensed by the sensor 300 may be transmitted to a storage device provided outside the work claw 200 via wiring, or may be transmitted wirelessly.

The sensor 300 may have an identifier unique to the sensor 300. Since the identifier differs depending on the sensor 300, the sensor 300 can be specified based on the identifier. The identifier may be stored in a storage device built in the sensor 300, or may be stored in another storage device connected to the sensor 300. The identifier is transmitted to the external device in the same manner as the data sensed by the sensor 300. Since the sensor 300 has an identifier and the identifier is transmitted to an external device, for example, even when a plurality of work claws 200 to which the sensor 300 is attached are attached to the agricultural work machine 100, the sensor 300 causes the sensor 300 to attach the identifier. It is possible to specify which work claw 200 the sensor 300 is attached to as the sensed data. That is, the work claw 200 can be specified based on the identifier.

In this embodiment, the holder method in which the work claw 200 is attached to the claw holder 153 attached to the rotary shaft 152 is exemplified, but the flange method in which the work claw 200 is attached to the flange attached to the rotary shaft 152 is adopted. You can also do it. When the flange method is adopted, the work claw 200 is provided with a through hole for attaching to the flange. The claw holder 153 and the flange for mounting the work claw 200 can be referred to as a "mounting portion".

In the present embodiment, the configuration in which the blade edge portion 240 is provided on only one side of the outer curved surface 205 is exemplified, but the configuration is not limited to this configuration. For example, the blade edge portion 240 may be provided on both sides of the outer curved surface 205 and the inner curved surface 207. When the blade edge portion 240 is provided on both sides of the outer curved surface 205 and the inner curved surface 207, the slope on the outer curved surface 205 side and the slope on the inner curved surface 207 side may have the same inclination angle, and different inclination angles. May be.

[Evaluation method of wear and working condition of work claw 200]
A method of evaluating the wear and working condition of the working claw 200 will be described with reference to FIGS. 11 and 12. Here, a 6-axis sensor (accelerometer and gyro sensor) is used as the sensor 300, and the sensor 300 is used to detect the vibration of the work claw 200 during work, and the work claw 200 is worn based on the vibration information. And the method of evaluating the working condition will be described.

FIG. 11 is a diagram showing an operation flow of a method for evaluating wear of a work claw and a work state according to an embodiment of the present invention. As shown in FIG. 11, first, after the work claw 200 is replaced (S401), the work claw 200 in the initial state (before wear) is being used (the state in which the work claw 200 is acting on the field). ) Initial vibration data is acquired (S403). Next, based on the initial vibration data acquired in S403, a threshold value for determining whether or not the vibration of the work claw 200 during work is abnormal is set (S405). This threshold value may be set by analyzing the vibration data acquired by the operator in S403, or may be automatically set based on the vibration data acquired in S403. When the threshold value is automatically set, the threshold value is calculated by statistically processing the vibration data acquired in S403. Specifically, a value obtained by multiplying the standard deviation obtained from the vibration data acquired in S403 by a constant can be set as a threshold value. Both the upper limit and the lower limit may be set as the threshold value, or only one of the upper limit and the lower limit may be set.

After setting the threshold value in S405, the work is started while acquiring the vibration data of the work claw 200 by the sensor 300, and the vibration data during the work over time is acquired (S407). While acquiring the vibration data over time in S407, the acquired vibration data and the threshold value are compared. If the vibration data does not exceed the threshold value, it is determined that no abnormality has occurred (“NO” in S409), and the acquisition of vibration data over time is continued. On the other hand, when the vibration data exceeds the threshold value, it is determined that an abnormality has occurred (“YES” in S409), and the occurrence of the abnormality is notified (S411). The abnormality occurrence notification of S411 may be notified by a sound such as an alarm sound, or may be notified by a display such as lighting of an alarm lamp or an abnormality occurrence notification on the display. When the agricultural work machine 100 is automatically operated, the operation of the agricultural work machine 100 may be stopped by using the notification of the occurrence of an abnormality in S411 as a trigger.

For the acquisition of the initial vibration data of S403 and the acquisition of the vibration data over time of S407, the vibration data during work may be acquired as described above, but the idling state (that is, the work claw 200 is relative to the field). Vibration data in the non-acting state) may be acquired.

The determination of the presence or absence of an abnormality in S409 may be performed in real time, or may be performed at regular intervals or triggered by a certain operation. When the presence or absence of an abnormality is determined in real time, it may be determined that an abnormality has occurred immediately when the vibration data exceeds the threshold value, but in order to remove noise, the vibration data is continuously generated. It may be determined that an abnormality has occurred when the threshold value is exceeded several times. When the presence or absence of an abnormality is determined at regular intervals, it may be determined that an abnormality has occurred if there is even one vibration data that exceeds the threshold value, but in order to remove noise, the threshold value may be determined. It may be determined that an abnormality has occurred when vibration data exceeding the above value exists more than a preset number of times. Alternatively, it may be determined that an abnormality has occurred when the statistical value of the vibration data for the certain period exceeds the threshold value. When the work that determines the presence or absence of an abnormality is performed as a trigger, the work that becomes the trigger may be at the start of the work (the timing when the agricultural work machine 100 is switched from the off state to the on state), and at the end of the work (agricultural work machine). It may be the timing when 100 is switched from the on state to the off state). For example, the same judgment as above may be made using the vibration data from the start of the work to the end of the work.

FIG. 12 is a diagram showing an example of a method for evaluating work claw wear and a work state according to an embodiment of the present invention. The horizontal axis of FIG. 12 is time, and the vertical axis is the amplitude of vibration data (that is, the magnitude of vibration). In FIG. 12, the work claw 200 is replaced in the period 421, and the work claw 200 that has not been worn is attached to the agricultural work machine 100. Preliminary vibration data is acquired during the period 423. The vibration data of the period 423 is treated as the vibration data of the work claw 200 in the normal state. The threshold is set in the period 425. Then, the work is started in the period 427. In FIG. 12, both the upper limit and the lower limit are set as the threshold values.

In period 427, in period 431 the amplitude is below the lower limit of the threshold. If the amplitude is not more than the lower limit even though the working claw 200 has been used for a short time, the agricultural work machine 100 may not be sufficiently in contact with the field and the working claw 200 may be shallowly cultivated. Therefore, in such a case, an abnormality notification indicating that the working conditions may be inappropriate is given. That is, various evaluations may be performed based not only on the data acquired by the sensor 300 but also on the data and the time (for example, the cumulative usage time of the work claw 200). In the period 433, since the amplitude is between the upper limit and the lower limit of the threshold value, it is determined that no abnormality has occurred. In period 435, the amplitude is above the upper threshold. When the usage time exceeds a certain time and the amplitude is equal to or higher than the upper limit (or lower limit or lower), the work claw 200 is worn or damaged and abnormal vibration is generated (or the work claw 200 is sufficiently in the field. (Not in contact with). Therefore, in such a case, an abnormality notification indicating that the wear of the work claw 200 may have exceeded the reference value or is damaged is given.

The above processing is performed by the central processing unit provided in the control device 170 reading and executing the program stored in the storage device. The program may be stored in the storage device of the control device 170, or may be downloaded from a server or the like, temporarily stored in the control device 170, and executed.

In the above example, a method of determining the presence or absence of an abnormality based on the vibration data of the working claw 200 during work has been exemplified, but the method is not limited to this method. For example, the presence or absence of an abnormality may be determined based on data obtained by measuring the strain of the work claw 200 instead of the vibration data.

Further, not limited to the notification of the occurrence of such an abnormality, the work claw 200 worn to a certain level, such as adjusting the tilling depth and adjusting the rotation speed of the work claw 200, in consideration of the deterioration of the tilling performance of the work claw 200. Even so, it is possible to control the farm work machine 100 to make various adjustments so that appropriate farm work can be performed on the field.

Further, the information that it is time to replace the work claw 200 can be transmitted from the control device 170 to the server of the operator or the like and stored as a database. By using such information, the business operator can perform maintenance management of agricultural work machines (especially cultivated claws), delivery services of cultivated claws to agricultural workers, for example, for agricultural work machines having cultivated claws attached to claw shafts. It can be used for a wide range of services related to cultivating claws, such as rental services for cultivating equipment that can be attached and detached to farmers.

As described above, according to the work claw 200 according to the present embodiment, the work claw 200 and the field are used while the agricultural work machine 100 is working on the field, that is, the farm worker does not visually check the work claw 200. From information such as vibration received by the work claw 200 due to the action and distortion generated in the work claw 200, the degree of wear of the work claw 200 and the work state with respect to the field can be evaluated. In addition, it is possible to quantitatively evaluate the presence or absence of an abnormality such as a change in the vibration of the work claw 200, which has conventionally relied on the experience and intuition of the operator.

<Modified example of the first embodiment>
A modified example of the above-mentioned first embodiment will be described with reference to FIG. 3C. Here, the sensor 300 operates by the power wirelessly supplied from an external device (for example, an external antenna device) provided outside the work claw 200, and the data acquired by the sensor 300 is wirelessly transmitted to the external device. The form to be performed will be described.

FIG. 3C is a partially enlarged view of a work claw according to a modified example of the embodiment of the present invention. As shown in FIG. 3C, in addition to the sensor 300, the work claw 200 is provided with an arithmetic processing device 510 such as a microcomputer or a CPU, a battery 520, and a wireless power transfer communication control device 530. These are connected to the sensor 300. The work claw 200 is further provided with a storage device 590. The storage device 590 is connected to at least the wireless power transfer communication control device 530.

The arithmetic processing unit 510 has a function of performing information processing, analyzes the data acquired by the sensor 300, and has a function of temporarily storing the analyzed data. The arithmetic processing unit 510 transmits the analyzed data to the wireless power transfer communication control device 530. As an example of data analysis, the arithmetic processing unit 510 may perform statistical processing on the data acquired by the sensor 300. Further, the arithmetic processing unit 510 monitors the remaining amount of the battery 520, and when the battery 520 becomes less than the preset reference value, issues an instruction to the wireless power transfer communication control device 530 to start charging the battery 520. You may.

The battery 520 supplies power to the sensor 300, the arithmetic processing unit 510, and the wireless power transfer communication control device 530. The battery 520 stores the electric power supplied from the wireless power transfer communication control device 530, and supplies the stored electric power to the sensor 300. A battery or a capacitor can be used as the battery 520. More specifically, as the battery 520, a small size solid state battery or an electric double layer capacitor can be used.

The storage device 590 stores a unique identifier. The identifier is transmitted to an external device by the wireless power transfer communication control device 530. Similar to the identifier provided in the sensor 300 described above, the work claw 200 can be specified based on the identifier. The storage device 590 may be built in any of the arithmetic processing unit 510, the battery 520, and the wireless power transfer communication control device 530. When the storage device 590 stores the identifier, the sensor 300 may or may not have the identifier. If it is not necessary to specify the work claw 200, or if the work claw 200 can be specified by other methods, the storage device 590 may not have an identifier, and the storage device 590 itself may be omitted. ..

The wireless power supply communication control device 530 charges the battery 520 based on the power supply from the external device, transmits the data analyzed by the arithmetic processing unit 510 and the above identifier to the external device, and commands received from the external device. The signal is transmitted to the arithmetic processing unit 510. The wireless power transfer communication control device 530 includes an antenna for wireless communication with an external device. The antenna may be, for example, a coil type that performs wireless communication by an electromagnetic induction method, or may be an antenna type that performs wireless communication by a radio wave method. The wireless power supply communication control device 530 is, for example, a rectifying circuit that generates power based on a high frequency received from an external device, an analysis circuit that analyzes a command signal contained in the high frequency, and a radio wave that generates a radio wave that can communicate with the external device. It has a generation circuit and a modulation circuit that modulates radio waves based on the data analyzed by the arithmetic processing unit 510 (to transmit the analyzed data to an external device). The wireless power transfer communication control device 530 may have only a part of these circuits, or may have a circuit other than the above circuits.

The wireless power transfer communication control device 530 may have only the data analyzed by the arithmetic processing unit 510 or the data acquired by the sensor 300, and the wireless communication control function of transmitting the above identifier to an external device. That is, a communication IC (communication control device) may be used instead of the wireless power transfer communication control device 530. Alternatively, the wireless power transfer communication control device 530 may have only the wireless power supply function of supplying the power supplied from the external device to the sensor 300 and the battery 520. That is, a wireless power transfer IC (power supply device) may be used instead of the wireless power transfer communication control device 530. The above-mentioned communication control device and power feeding device may be provided separately. In that case, both may be connected via wiring or the like and may function as a wireless power transfer communication control device 530 by communicating with each other. The external device that transmits the data analyzed by the arithmetic processing unit 510 or the data acquired by the sensor 300 and the external device that receives the power supply may be the same device or different devices.

Alternatively, the battery 520 may not be provided. If the battery 520 is not provided, the wireless power transfer communication control device 530 may supply power supplied from an external device to the sensor 300 while the sensor 300 acquires data.

The wireless power supply communication control device 530 may transmit the data analyzed by the arithmetic processing unit 510 to an external device in real time, and the analysis data is stored in the storage unit or the storage device 590 of the arithmetic processing unit 510 and stored in the storage unit. Alternatively, the analysis data stored in the storage device 590 may be collectively transmitted to an external device.

The electronic devices including the sensor 300, the arithmetic processing unit 510, the battery 520, the wireless power transfer communication control device 530, and the storage device 590 may be individually arranged and connected to each other via wiring or the like, but these electronic devices may be connected to each other. Two or more electronic devices among the devices may be integrated. For example, the two or more electronic devices described above may be connected to each other on a substrate different from the work claw 200 and arranged in the work claw 200 in a packaged state. Alternatively, the above two or more electronic devices may be arranged on the work claw 200 in a chipped state. For example, these electronic devices may be packaged with an insulating film, and the insulating film may be attached to the working nail 200 with an adhesive or an adhesive. All of the above-mentioned electronic devices and the functions provided in each electronic device may be provided in the work claw 200, or some of them may be provided in the work claw 200.

According to the above modification, the sensor 300 can be wirelessly supplied with electric power from an external device. In addition, the data acquired by the sensor 300 can be wirelessly transmitted to an external device. Further, since the above-mentioned electronic device is packaged, the sensor 300 can be attached to the work claw 200 simply by attaching the packaged electronic device to the existing work claw 200.

<Second Embodiment>
[Structure of work claw 200A]
FIG. 4A is a view of the work claw according to the embodiment of the present invention as viewed from the side of the agricultural work machine. FIG. 4B is a view of the work claw according to the embodiment of the present invention as viewed from above of FIG. 4A. In the work claw 200A shown in FIGS. 4A and 4B, the sensor 300A is provided on the horizontal blade portion 230A, and the wiring 310A is connected to the sensor 300A. An external terminal 320A is provided on the mounting base 210A of the work claw 200A, and the external terminal 320A is connected to the sensor 300A via the wiring 310A. As shown in FIG. 4B, the sensor 300A, the wiring 310A, and the external terminal 320A are provided on the first surface 201A side (or the outer curved surface 205A side) of the work claw 200A. In FIG. 4A, the first surface 201A side is the back side of the work claw 200A, but for convenience of explanation, the sensor 300A, the wiring 310A, and the external terminal 320A of FIG. 4A are indicated by solid lines. The details will be described later, but the wiring 310A is electrically insulated from the work claw 200A. Further, the surface of the wiring 310A is covered with an insulating layer. That is, the wiring 310A is wrapped in an insulator (protection layer 330A described later).

As shown in FIG. 4A, the sensor 300A and the wiring 310A are provided on the peak edge portion 250A side of the center of the work claw 200A in the D1 direction. Since the work claw 200A acts on the field from the blade edge portion 240A side when working on the field, the work claw 200A wears from the blade edge portion 240A side. A limit line where the work claw 200A is worn and the work claw 200A needs to be replaced is set in advance, and the sensor 300A and the wiring 310A are provided on the peak edge portion 250A side of the limit line. The wiring 310A may be provided at the peak edge portion 250A. At least one of the sensor 300A and the wiring 310A may be provided at a position corresponding to the above limit line. In that case, when the sensor 300A stops operating, the work claw 200A may be notified that the work claw 200A needs to be replaced.

In the mounting base 210A, the wiring 310A extends from the external terminal 320A in the D1 direction along the shape of the mounting base 210A. In the vertical blade portion 220A, the wiring 310A extends in the D1 direction while being curved in the D2 direction. As shown in FIG. 4B, in the horizontal blade portion 230A, the wiring 310A extends in the D2 direction while being curved in the D3 direction. In other words, the wiring 310A is provided along the shape of the work claw 200A. The external terminal 320A is provided near the upper end of the mounting base 210A. The external terminal 320A has a conductor exposed on the surface and is connected to a connection terminal (or external wiring) provided inside the claw holder 153A as described later.

As shown in FIG. 4B, in the lateral blade portion 230A, a recess 260A is provided on the first surface 201A side (outer curved surface 205A side) of the work claw 200A, and the sensor 300A is arranged inside the recess 260A. ing. The wiring 310A is provided on the first surface 201A side, and is connected to the sensor 300A at the bottom of the recess 260A. Although details will be described later, an insulating layer 340A (see FIG. 4C) is provided between the wiring 310A and the working claw 200A, and the wiring 310A and the working claw 200A are electrically insulated from each other. A protective layer 330A is provided on the first surface 201A of the work claw 200A. The protective layer 330A covers the sensor 300A and the wiring 310A. In FIG. 4B, the recess is not provided on the first surface 201A side of the work claw 200A in the area other than the area where the sensor 300A is provided, but the wiring 310A is provided in the area other than the area where the sensor 300A is provided. The area may be provided with a recess. A resin-based coating material can be used as the protective layer 330A. For example, by using a resin-based coating material containing a paint as the protective layer 330A, it is possible to simultaneously paint the work nail 200A and form the protective layer 330A.

4C is an enlarged view of the area where the sensor of FIG. 4B is provided. An insulating layer 340A is provided on the bottom of the first surface 201A and the recess 260A of the work claw 200A, and the wiring 310A is provided on the insulating layer 340A. The wiring 310A can be formed by a method such as a printing method. The insulating layer 340A may be provided at least in the area where the wiring 310A is arranged. The insulating layer 340A and the wiring 310A extend from the bottom of the recess 260A to the first surface 201A of the work claw 200A other than the recess 260A via the side wall. At the bottom of the recess 260A, a sensor 300A is provided above the wiring 310A. The sensor 300A is arranged so that the terminal portion connected to the circuit of the sensor 300A faces the work claw 200A side, and the terminal portion and the wiring 310A are connected to each other. The protective layer 330A is provided so as to cover the recess 260A. The protective layer 330A is provided so as to seal the space in which the sensor 300A is provided. That is, a closed space is formed by the recess 260A and the protective layer 330A. With the above configuration, it is possible to prevent the soil, mud, or moisture adhering to the work claw 200A from adhering to the sensor 300A and deteriorating the sensor 300A during the work.

When the protective layer 330A is provided along the first surface 201A (in this example, the outer curved surface 205A) of the work claw 200A other than the recess 260A, a gap is formed between the sensor 300A and the protective layer 330A. That is, at least the depth H1 of the recess 260A is larger than the height H2 of the sensor 300A. In this example, the depth of the recess 260A is greater than the sum of the thickness of the insulating layer 340A, the thickness of the wiring 310A, and the height of the sensor 300A.

The region surrounded by the recess 260A and the protective layer 330A may be hollow or may be filled with a filler. As the filler, for example, an insulating resin can be used. In this case, if the filler is considered as a part of the protective layer 330A, it can be said that the protective layer 330A is provided inside the recess 260A and covers the sensor 300A inside the recess 260A. Further, when the protective layer 330A is formed by a method such as painting, the protective layer 330A can also be formed inside the recess 260A. When the sensor 300A is covered with a filler, the protective layer 330A may be omitted if an insulator is provided on the surface of the wiring 310A.

FIG. 4D is an enlarged view showing the shape of the concave portion of the work claw in the area where the sensor of FIG. 4B is provided. The recess 260A has a bottom 261A, a bottom corner 263A, a side wall 265A, and an open end 267A. The bottom corner 263A is the area between the bottom 261A and the side wall 265A. The open end 267A is the area between the side wall 265A and the first surface 201A. The side wall 265A is inclined with respect to the direction orthogonal to the bottom 261A. In other words, the side wall 265A has a tapered shape in which the width of the recess 260A widens from the bottom of the recess 260A toward the opening end 267A. In other words, the side wall 265A of the recess 260A has a forward taper shape. The width of the recess 260A is a constant height from any point on the bottom 261A when an arbitrary straight line passing through the center of the recess 260A is drawn in the field of view of the work claw 200A from the first surface 201A side. Is the distance between the side walls of the recess 260A facing each other on the straight line. The bottom corner 263A and the open end 267A are curved. That is, the bottom corner portion 263A and the open end portion 267A are R-shaped. Alternatively, the bottom corner portion 263A and the open end portion 267A may be bent. That is, in the cross-sectional view, the bottom corner portion 263A and the opening end portion 267A may not have a curved shape but may have a shape in which a plurality of linear shapes are refracted.

With such a shape, the wiring 310A extending from the first surface 201A to the bottom 261A is sharply bent (that is, with a very small radius of curvature) at the bottom corner 263A and the opening end 267A, and becomes the wiring 310A. It is possible to prevent the wiring 310A from being disconnected due to the occurrence of a large stress.

The side wall 269A on the side where the wiring 310A is not provided, and the bottom corners and the opening ends above and below the side wall 269A may have the same shape as the side wall 265A, the bottom corner 263A, and the opening end 267A.

As shown in FIG. 4B, in the above example, the wiring 310A other than the area where the sensor 300A is provided is arranged on the first surface 201A, but as described below, the area other than the area where the sensor 300A is provided is provided. Wiring 310A may be arranged in the recess 270A formed on the first surface 201A. A modified example in which the wiring 310A is arranged in the recess 270A will be described with reference to FIG. 4E. FIG. 4E is a diagram showing a cross-sectional view taken along the line AA'of FIG. 4A in the modified example. When the wiring 310A is arranged in the recess 270A, the recess 270A is provided along the pattern of the wiring 310A. That is, the wiring 310A is arranged inside the recess 270A so as to cross the vertical blade portion 220A. An insulating layer 340A is provided at the bottom of the recess 270A, and a wiring 310A is provided on the insulating layer 340A. The protective layer 330A is provided so as to seal the space in which the wiring 310A is provided. That is, a closed space is formed by the recess 270A and the protective layer 330A. With the above configuration, it is possible to prevent soil, mud, or moisture adhering to the work claw 200A from adhering to the wiring 310A and deteriorating the wiring 310A during the work.

When the protective layer 330A is provided along the first surface 201A of the work claw 200A other than the recess 270A, a gap is formed between the wiring 310A and the protective layer 330A. That is, at least the depth of the recess 270A is larger than the height of the wiring 310A. In this example, the depth of the recess 270A is greater than the sum of the thicknesses of the insulating layer 340A and the wiring 310A. The depth of the recess 270A may be the same as or different from the depth of the recess 260A.

The region surrounded by the recess 270A and the protective layer 330A may be hollow or may be filled with a filler. As the filler, for example, an insulating resin can be used.

In FIG. 4E, since the wiring 310A does not ride on the side wall 275A of the recess 270A, the inclination angle of the side wall 275A is steeper than that of the side wall 265A of FIG. However, they may have the same shape as the side wall 265A, the bottom corner 263A, and the open end 267A in FIG. 4D.

The wiring 310A may be any as long as it is composed of a conductor, and an electric wire (a wire that conducts electricity), a printed wiring (a conductor is printed on an insulator such as a film or a resin and coated by ink jet or the like) or the like is used. Can be done. That is, any object that can be energized can be used as the wiring 310A. As described above, in the work claw 200A, the inner curved surface 207A acts on the soil to exhibit tillage performance, so that the surface coating of the inner curved surface 207A is easier to peel off than the outer curved surface 205A. Therefore, it is desirable to arrange the wiring 310A on the outer curved surface 205A, but it is also possible to arrange the wiring 310A on the inner curved surface 207A.

As described above, the wiring 310A is arranged in a state of being electrically isolated from the work claw 200A. For example, when an electric wire is used as the wiring 310A, an insulated electric wire (an electric wire coated with an insulating material) may be used, and when a printed wiring is used, a conductor coated with a film, a resin material, or the like may be used.

When arranging the wiring 310A on the outer curved surface 205A, it is desirable to attach the wiring 310A to the work claw 200A before painting and to paint or coat the wiring 310A from above. With such a configuration, it is possible to prevent a problem that the wiring 310A is peeled off from the work claw 200A during work.

As described above, according to the work claw 200A according to the present embodiment, since the external terminal 320A is provided on the mounting base 210A, the work claw 200A can be attached to the claw holder 153A to supply power to the sensor 300A and the sensor. It is possible to realize signal extraction from 300A. Further, by arranging the sensor 300A in the recess 260A provided in the work claw 200A, the external force applied to the sensor 300A during the work can be reduced. Further, by sealing the sensor 300A with the recess 260A and the protective layer 330A, deterioration of the sensor 300A can be suppressed. Further, since the side wall 265A of the recess 260A has a tapered shape and the shapes of the bottom corner portion 263A and the opening end portion 267A are curved, it is possible to suppress the generation of strong stress on the wiring 310A that rides on the side wall 265A, and the wiring. The disconnection of 310A can be suppressed.

<Third Embodiment>
[Structure of work claw 200B]
FIG. 5A is a view of the work claw according to the embodiment of the present invention as viewed from the same direction as in FIG. 4B. 5B is an enlarged view of the area where the sensor of FIG. 5A is provided. Since the view of the work claw 200B of the present embodiment viewed from the side of the agricultural work machine 100B is the same as that of FIG. 4A, it is omitted. The work claw 200B shown in FIGS. 5A and 5B is similar to the work claw 200A shown in FIGS. 4A to 4E, but differs from the work claw 200A in that the wiring 310B is provided on the protective layer 330B side. .. In the following description, the differences from the work claw 200A will be mainly described, and the description of the features common to the work claw 200A may be omitted. In this embodiment, a configuration in which printed wiring is used as the wiring 310B is exemplified, but the configuration is not limited to this configuration.

As shown in FIG. 5B, the wiring 310B is provided on the protective layer 330B. That is, the wiring 310B is in contact with the protective layer 330B. The sensor 300B is connected to the lower surface of the wiring 310B. The recess 260B is provided with a protective layer 331B. The protective layer 331B is in contact with the side wall and the lower surface of the sensor 300B, and is in contact with the side wall and the bottom surface of the recess 260B. The protective layer 331B may be in contact with at least one of the side wall and the bottom surface of the sensor 300B and the recess 260B. As described above, since the protective layer 331B is in contact with at least one of the side wall and the bottom surface of the sensor 300B and the recess 260B, the vibration of the work claw 200B is efficiently transmitted to the sensor 300B. The protective layer 331B may be made of the same material as the protective layer 330B, or may be made of a different material. When both are the same material, both may be continuous. However, the protective layer 331B may not be provided and the recess 260B may be hollow.

The above configuration can be formed by preparing a work claw 200B provided with a recess 260B and a protective layer 330B provided with a sensor 300B and a wiring 310B, and adhering them with an adhesive or the like. can.

As described above, according to the work claw 200B according to the present embodiment, the same effect as the work claw 200A of the second embodiment can be obtained. Further, the sensor 300B can be easily attached to the work claw 200B, and the effects of simplifying the manufacturing process and reducing the manufacturing cost can be obtained.

<Fourth Embodiment>
[Structure of work claw 200C]
FIG. 6A is a view of the work claw according to the embodiment of the present invention as viewed from the side of the agricultural work machine. FIG. 6B is a view of the work claw according to the embodiment of the present invention as viewed from above of FIG. 6A. FIG. 6C is a diagram showing a state in which a sensor is attached to a work claw according to an embodiment of the present invention. The work claws 200C shown in FIGS. 6A to 6C are similar to the work claws 200A shown in FIGS. 4A to 4E, but the work claws 200C are provided with a through hole 280C, and the sensor 300C is a through hole 280C. It differs from the work claw 200A in that it is arranged inside. In the following description, the differences from the work claw 200A will be mainly described, and the description of the features common to the work claw 200A may be omitted. In this embodiment, a configuration in which printed wiring is used as the wiring 310C is exemplified, but the configuration is not limited to this configuration.

As shown in FIG. 6A, the first surface 201C (outer curved surface 205C) and the second surface 203C (inner curved surface 207C) of the work claw 200C are located at the same locations as the recess 260A in FIG. 4A. A through hole 280C is provided to penetrate the through hole 280C.

In the present embodiment, the work claw 200C provided with the through hole 280C and the protective layer 330C provided with the sensor 300C and the wiring 310C are prepared respectively, and the sensor 300C is bonded by adhering them with an adhesive or the like. Attach to the work claw 200C. In FIG. 6B, a state before the protective layer 330C provided with the sensor 300C and the wiring 310C is attached to the work claw 200C and a state in which the protective layer 330C is attached are displayed.

As shown in FIG. 6C, the wiring 310C is arranged below the protective layer 330C. The filler 350C is provided below the protective layer 330C. The filler 350C has a shape that protrudes downward from the lower surface of the protective layer 330C and the width of the filler 350C decreases downward. That is, the filler 350C has a tapered shape. The width of the filling 350C is the lower surface 351C when an arbitrary straight line passing through the center of the filling 350C is drawn in the field of view when the filling 350C is viewed from a direction orthogonal to the lower surface 351C of the filling 350C. The distance between the side walls of the filler 350C facing each other on the straight line at a constant height from any point of the above. The filler 350C has elasticity like, for example, a resin. The sensor 300C and the wiring 310C are wrapped in the filling 350C near the tip of the protective layer 330C. The wiring 310C is in contact with the protective layer 330C except for the region surrounded by the filling 350C, but is separated from the protective layer 330C in the region surrounded by the filling 350C. That is, the filler 350C is provided between the wiring 310C and the protective layer 330C. With this configuration, the sensor 300C can be kept away from the first surface 201C (outer curved surface 205C), so that it is possible to prevent the sensor 300C from being damaged by an external force.

The side wall of the through hole 280C has a tapered shape portion 281C and a linear shape portion 283C. The tapered shape portion 281C has a tapered shape in which the width of the through hole 280C gradually increases from the inside of the through hole 280C toward the first surface 201C. The side wall of the through hole 280C can be shaped along the tapered portion of the filling 350C. The linear portion 283C has a shape in which the width of the through hole 280C is substantially the same from the inside of the through hole 280C to the second surface 203C (the region excluding the opening end portion 285C). In other words, in the linear shape portion 283C, the facing side walls are substantially parallel. The facing side wall is the side wall of the through hole 280C facing on the straight line when an arbitrary straight line passing through the center of the through hole 280C is drawn in the field of view of the work claw 200C from the first surface 201C side. Point to. For example, when the shape of the through hole 280C is a perfect circle, the side wall on the diameter of the through hole 280C is the opposite side wall. Further, the width of the through hole 280C is the side wall of the through hole 280C facing on the straight line at an arbitrary position in the direction in which the through hole 280C penetrates the work claw 200C (that is, the plate thickness direction of the work claw 200C). The distance between them. In the surface unevenness of the side wall of the through hole 280C, the unevenness of the tapered shape portion 281C is larger than the unevenness of the linear shape portion 283C. The shape of the open end portion 285C of the through hole 280C between the side wall of the linear shape portion 283C and the second surface 203C is a curved R shape.

The sensor 300C is attached to the work claw 200C by inserting the filler 350C into the through hole 280C and filling the through hole 280C with the filler 350C. In the state before filling, the filling 350C is larger than the through hole 280C in order to prevent the filling 350C from detaching from the through hole 280C. Therefore, the filling 350C is inserted into the through hole 280C by utilizing the elastic deformation of the filling 350C. The filler 350C inserted into the through hole 280C pushes the side wall of the through hole 280C by the restoring force from the elastically deformed state. The pressure of pushing the side wall of the through hole 280C prevents the filler 350C from detaching from the through hole 280C.

As described above, according to the work claw 200C according to the present embodiment, the same effect as the work claw 200B of the third embodiment can be obtained. Further, in the work claw 200C, since each of the tapered portion 281C of the filler 350C and the through hole 280C has a tapered shape, the filler 350C can be easily inserted into the through hole 280C, and the workability is improved. Can be obtained. Further, since the filling material 350C pushes the side wall of the through hole 280C, it is possible to prevent the filling material 350C from detaching from the through hole 280C even if an adhesive or the like is not used.

Friction between the filler 350C and the side wall of the through hole 280C in the tapered portion 281C where the filling 350C is easily detached from the through hole 280C because the surface unevenness of the tapered shape portion 281C is larger than the surface unevenness of the linear shape portion 283C. The resistance increases and it becomes difficult for the filler 350C to separate from the through hole 280C. If the surface unevenness of the linear shape portion 283C is made as large as the surface unevenness of the tapered shape portion 281C, the frictional resistance when the filling 350C is inserted into the through hole 280C becomes too large, so that the filling 350C is penetrated. It becomes difficult to insert it into the hole 280C. However, according to the above configuration, it is possible to obtain a configuration in which the filler 350C is easily inserted into the through hole 280C and the filler 350C is difficult to be detached from the through hole 280C.

In this embodiment, both the filler 350C and the through hole 280C have a tapered shape, but at least one of them may have a tapered shape. Further, the side wall of the filler 350C and the side wall of the through hole 280C may be adhered by using an adhesive. Further, in the state before filling, the filling 350C may have the same size as the through hole 280C, and the filling 350C may be smaller than the through hole 280C. If the filling 350C is smaller than the through hole 280C, the space between the side wall of the filling 350C and the side wall of the through hole 280C may be filled with an adhesive or the like. Further, in this case, the filler 350C may be a metal or ceramics instead of the resin.

[Modified example of the fourth embodiment]
FIG. 6D is a diagram showing a state in which a sensor is attached to a work claw according to a modified example of the embodiment of the present invention. In the work claw 200C'shown in FIG. 6D, the sensor 300C'is arranged in the linear shape portion 283C'on the side wall of the through hole 280C'. The sensor 300C'is adhered to the linear shape portion 283C' using an adhesive or the like. The wiring 310C'is connected to the sensor 300C' and extends from the sensor 300C' to the first surface 201C'. The protective layer 330C'is provided on the wiring 310C' and covers one open end of the through hole 280C'. The through hole 280C'is filled with a filler 350C'.

The sensor 300C'shown in FIG. 6D is attached to the working claw 200C'by a manufacturing method different from that of the sensor 300C shown in FIGS. 6A to 6C. The sensor 300C'in FIG. 6D is attached to the side wall (linear shape portion 283C') of the through hole 280C'with the wiring 310C' connected to the sensor 300C'. With the wiring 310C'arranged on the first surface 201C', the protective layer 330C'is formed on the wiring 310C'. Then, the filler 350C'is supplied into the through hole 280C'from the opening end side of the through hole 280C' that is not covered by the protective layer 330C'. The filler 350C'is formed by pouring a liquid filler 350C'into the through hole 280C' and then curing it using a thermosetting or ultraviolet curable resin.

<Fifth Embodiment>
[Structure of work claw 200D]
FIG. 7A is a view of the work claw according to the embodiment of the present invention as viewed from the side of the agricultural work machine. FIG. 7B is a view of the work claw according to the embodiment of the present invention as viewed from the direction of the arrow in FIG. 7A. As shown in FIGS. 7A and 7B, a sensor 300D, a wiring 310D, and a protective layer 330D are provided on the peak edge portion 250D side of the mounting base portion 210D. Further, as shown in FIG. 7B, the wiring 310D extends from the peak edge portion 250D to the first surface 201D. The wiring 310D is connected to the external terminal 320D on the first surface 201D side. The wiring 310D is electrically insulated from the work claw 200D. The working claw 200D in the area where the sensor 300D, the wiring 310D, and the protective layer 330D are provided is not provided with a recess or a through hole. Therefore, these members project from the ridge edge 250D toward the outside of the work claw 200D. However, a recess or a through hole may be provided in the ridge edge portion 250D, and at least one of the sensor 300D, the wiring 310D, and the protective layer 330D may be arranged inside the recess or the through hole.

The mounting base 210D of the work claw 200D is not easily worn. Further, the peak edge portion 250D side of the work claw 200D is also less likely to be worn. Therefore, in FIG. 7A, the position where the sensor 300D is attached is a region of the work claw 200D that is less likely to be worn. Therefore, when the sensor 300D is attached to this region, the sensor 300D can be attached without providing a recess or a through hole in the work claw 200D.

<Sixth Embodiment>
[Structure of work claw 200E]
FIG. 8A is a view of the work claw according to the embodiment of the present invention as viewed from the side of the agricultural work machine. FIG. 8B is a view of the work claw according to the embodiment of the present invention as viewed from above of FIG. 8A. As shown in FIG. 8A, the work claw 200E is provided with a control unit 500E in addition to the sensor 300E. Further, instead of the external terminal 320A of FIG. 4A, a communication unit 540E is provided on the mounting base portion 210E.

The control unit 500E includes, for example, an arithmetic processing device 510E such as a microcomputer or a CPU, a battery 520E, a wireless power transfer communication control device 530E, and a storage device 590E. These are connected to each other via wiring 310E. The control unit 500E is connected to the sensor 300E and the communication unit 540E via the wiring 310E. The storage device 590E may be connected to at least the wireless power transfer communication control device 530E.

The arithmetic processing unit 510E has a function of performing information processing, analyzes the data acquired by the sensor 300E, and has a function of temporarily storing the analyzed data. The arithmetic processing unit 510E transmits the analyzed data to the wireless power transfer communication control device 530E. As an example of data analysis, the arithmetic processing unit 510E may perform statistical processing on the data acquired by the sensor 300E. Further, the arithmetic processing unit 510E monitors the remaining amount of the battery 520E, and when the battery 520E becomes less than the preset reference value, issues an instruction to the wireless power transfer communication control device 530E to start charging the battery 520E. You may.

The battery 520E supplies power to the sensor 300E, the arithmetic processing unit 510E, and the wireless power transfer communication control device 530E. The battery 520E stores the electric power supplied from the wireless power transfer communication control device 530E, and supplies the stored electric power to the sensor 300E. A battery or a capacitor can be used as the battery 520E. More specifically, as the battery 520E, a small size solid state battery or an electric double layer capacitor can be used.

The storage device 590E stores a unique identifier. The identifier is transmitted to an external device by the wireless power transfer communication control device 530E via the communication unit 540E. As described above, the work claw 200E can be specified based on the identifier. The storage device 590E may be built in any of the arithmetic processing unit 510E, the battery 520E, and the wireless power transfer communication control device 530E. When the storage device 590E stores the identifier, the sensor 300E may or may not have the identifier. If it is not necessary to specify the work claw 200E, or if the work claw 200E can be specified by other methods, the storage device 590E may not have an identifier, and the storage device 590E itself may be omitted. ..

The wireless power supply communication control device 530E charges the battery 520E based on the power supply from an external device (for example, an external antenna device) via the communication unit 540E, and the data analyzed by the arithmetic processing unit 510E and the above. The identifier is transmitted to the external device via the communication unit 540E, and the command signal received from the external device is transmitted to the arithmetic processing unit 510E. The wireless power supply communication control device 530E is, for example, a rectifying circuit that generates power based on a high frequency received from an external device, an analysis circuit that analyzes a command signal contained in the high frequency, and a radio wave that generates a radio wave that can communicate with the external device. It has a generation circuit and a modulation circuit that modulates radio waves based on the data analyzed by the arithmetic processing unit 510E. The wireless power transfer communication control device 530E may have only a part of these circuits, or may have a circuit other than the above circuit. The wireless power supply communication control device 530E may transmit the data analyzed by the arithmetic processing unit 510E to an external device in real time, and the analysis data is stored in the storage unit or the storage device 590E of the arithmetic processing unit 510E, and is stored in the storage unit. Alternatively, the analysis data stored in the storage device 590E may be collectively transmitted to an external device.

The communication unit 540E includes an antenna for wireless communication with an external device. The communication unit 540E receives power from the antenna device or transmits data to the antenna device, for example, by wirelessly communicating with the antenna device provided in the claw holder 153E. The communication unit 540E may be, for example, a coil type that performs wireless communication by an electromagnetic induction method, or an antenna type that performs wireless communication by a radio wave method. The surface of the conductor of the communication unit 540E is covered with an insulating layer or the like. However, the conductor of the communication unit 540E may be exposed on the surface.

In the present embodiment, the communication unit 540E is provided near the upper end of the mounting base 210E (opposite to the vertical blade 220E with respect to the mounting base 210E) in order to communicate with the antenna device provided on the claw holder 153E. The configuration is illustrated, but the configuration is not limited to this configuration. For example, in a state where the work claw 200E is attached to the claw holder 153E so as to easily communicate with an antenna device provided on a member other than the claw holder 153E, the work claw 200E is located in an area outside the claw holder 153E. The communication unit 540E may be provided. The communication unit 540E may communicate with the control device 170E arranged on the shield cover 120E, the user's communication terminal, the communication terminal provided on the traveling machine, the server on the network, or the like.

In the present embodiment, a configuration in which the battery 520E is charged based on power supplied from an external device is exemplified, but the configuration is not limited to this configuration. For example, the work claw 200E may be provided with a generator using centrifugal force, friction, or the like, and the electric power generated by the generator may be charged to the battery 520E.

As shown in FIG. 8B, in the mounting base 210E, a recess 290E is provided on the first surface 201E side of the work claw 200E, and the control unit 500E (arithmetic processing device 510E, battery 520E, wireless power transfer communication) is provided in the recess 290E. The control device 530E and the storage device 590E) are arranged. The control unit 500E may be provided on the wiring 310E provided on the work claw 200E via the insulating layer, for example, as in the configuration of FIG. 4B, and may be provided as the wiring 310E as in the configuration of FIG. 5B. Printed wiring may be used, and the wiring 310E and the control unit 500E may be attached to the work claw 200E in a state where the protective layer 330E is provided. That is, the wiring 310E may be provided on the control unit 500E. Since other configurations are the same as those in FIG. 4B, the description thereof will be omitted.

As described above, according to the work claw 200E according to the present embodiment, since the data acquired by the sensor 300E is analyzed by the arithmetic processing unit 510E, the wear and the working state can be evaluated by the work claw 200E. Further, since the battery 520E supplies electric power to the sensor 300E, the mechanism for supplying electric power to the sensor 300E can be omitted or simplified. Further, since power can be supplied from an external device and data can be transmitted to the antenna device by wireless communication, it is not necessary to expose the conductor of the external terminal of the work claw 200E to the surface. Therefore, it is possible to suppress malfunction of the sensor 300E due to rusting on the conductor surface or the like.

<7th Embodiment>
[Structure of claw holder 153F]
FIG. 9 is a view of the claw holder according to the embodiment of the present invention as viewed from the side of the agricultural work machine. The claw holder 153F shown in FIG. 9 is, for example, a claw holder used for the working claws 200A to 200D shown in the second to fifth embodiments. The claw holder 153F is attached to a rotary shaft 152F extending in the width direction of the agricultural work machine 100F, and extends in the radial direction from the center of the rotary shaft 152F. The claw holder 153F is provided with a recess 601F and a through hole 603F. The work claw 200F is inserted into the recess 601F. With the through holes 215F and the through holes 603F of the work claw 200F overlapping, the bolt 610F is passed through these through holes to fix the work claw 200F to the claw holder 153F.

A connection terminal 620F is provided on the side wall of the recess 601F of the claw holder 153F. The connection terminal 620F is provided at a position corresponding to, for example, the external terminal 320A shown in FIG. 4A. The conductor constituting the connection terminal 620F is exposed on the surface and comes into contact with the external terminal 320F. The connection terminal 620F is connected to the shaft wiring 640F provided on the rotating shaft 152F via the wiring 630F. The shaft wiring 640F extends in the longitudinal direction of the rotating shaft 152F.

<8th Embodiment>
[Structure of claw holder 153G]
FIG. 10 is a view of the claw holder according to the embodiment of the present invention as viewed from the side of the agricultural work machine. The claw holder 153G shown in FIG. 10 is, for example, a claw holder used for the working claw 200E shown in the sixth embodiment. Since the configuration of the claw holder 153G is similar to the configuration of the claw holder 153F in FIG. 9, the description of common points will be omitted, and the differences between the two will be described. An antenna portion 650G is provided on the side wall of the recess 601G of the claw holder 153G. The antenna unit 650G is provided at a position corresponding to, for example, the communication unit 540E shown in FIG. 8A. The surface of the conductor of the antenna portion 650G is covered with an insulating layer or the like. However, the conductor of the antenna portion 650G may be exposed on the surface.

In the above embodiment, since the detection signal from the sensor attached to the work claw can be used as information for grasping the wear state of the work claw, the state of the field, the state of the agricultural work machine, etc., it can be used as an external device such as a server. It is desirable to send it and store it in the database of the external device. Such various information can be used as big data stored in the cloud for services such as improving the efficiency of agricultural work and improving the yield.

Although the present invention has been described above with reference to the drawings, the present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit of the present invention. For example, as long as the gist of the present invention is provided, those skilled in the art appropriately add, delete, or change the design of the cultivated claws of each embodiment and the wear determination method thereof. Included in the range. Further, each of the above-described embodiments can be appropriately combined as long as there is no contradiction with each other, and technical matters common to each embodiment are included in each embodiment even if there is no explicit description.

Further, even if the action / effect is different from the action / effect brought about by the embodiment of each of the above-mentioned embodiments, those which are clear from the description of the present specification or which can be easily predicted by those skilled in the art are referred to. Naturally, it is understood that it is brought about by the present invention.

100: Agricultural work machine, 105: Chain case, 110: Frame, 120: Shield cover, 130: Apron, 132: Ground plate, 134: Extension ground plate, 135: Top mast, 136: Lower link connection part, 137: PIC shaft , 140: Side plate, 150: Tiller rotor, 152: Rotating shaft, 153: Claw holder, 160: Connection part, 170: Control device, 200: Working claw, 201: 1st surface, 203: 2nd surface, 205: Outer curved surface, 207: Inner curved surface, 210: Mounting base, 215: Through hole, 220: Vertical blade part, 230: Horizontal blade part, 240: Blade edge part, 250: Peak edge part, 260A: Recessed part, 261A: Bottom, 263A: Bottom corner, 265A: Side wall, 267A: Open end, 269A: Side wall, 270A: Recess, 273A: Bottom corner, 275A: Side wall, 277A: Open end, 280C: Through hole, 281C: Tapered Shape part, 283C: Straight shape part, 285C: Open end part, 290E: Recessed part, 300: Sensor, 310A: Wiring, 320A: External terminal, 330A, 331B: Protective layer, 340A: Insulation layer, 350C: Filling, 351 : Bottom surface, 421: 423, 425, 427, 431, 433, 435: Period, 500E: Control unit, 510: Arithmetic processing unit, 520: Battery, 530: Wireless power supply communication control device, 540E: Communication unit, 590: Storage Device, 601F: recess, 603F: through hole, 610F: bolt, 620F: connection terminal, 630F: wiring, 640F: shaft wiring, 650G: antenna part

Claims (12)

A work claw attached to an agricultural work machine and equipped with a sensor including at least an accelerometer or a gyro sensor.
The work claw is provided with a through hole that penetrates the work claw.
The sensor is a work claw arranged inside the through hole. The work claw according to claim 1 , wherein the side wall of the through hole has a tapered portion in which the width of the through hole widens from the inside of the through hole toward the opening end. The work claw according to claim 2 , further comprising a filler that wraps the sensor and is disposed in the through hole. The work claw according to claim 3 , wherein the side wall of the filling has a shape along the tapered shape portion. The work claw according to claim 3 or 4 , wherein the filler is a resin. The side wall of the through hole has a linear shape portion having the same width of the through hole in the plate thickness direction of the work claw at a position different from the tapered shape portion.
The work claw according to any one of claims 2 to 5 , wherein the surface unevenness of the side wall of the tapered shape portion is larger than the surface unevenness of the side wall of the linear shape portion. A work claw mounted on an agricultural work machine and equipped with a sensor including at least an accelerometer or a gyro sensor.
Wiring connected to the sensor and electrically isolated from the work claw,
It has a protective layer that covers the wiring, and has
The working claw has a flat plate-shaped mounting base and a blade portion continuously extending from the mounting base.
The work claw is provided with a recess, and the work claw is provided with a recess.
The wiring is a work claw arranged inside the recess so as to cross the blade portion. The work claw according to claim 7 , wherein the protective layer is provided inside the recess and covers the sensor inside the recess. A work claw mounted on an agricultural work machine and equipped with a sensor including at least an accelerometer or a gyro sensor.
Wiring connected to the sensor and electrically isolated from the work claw,
A protective layer that covers the wiring and
Has a terminal part connected to external wiring ,
The terminal portion is provided on a flat plate-shaped mounting base portion of the work claw having a first surface and a second surface opposite to the first surface.
The terminal portion is a work claw connected to the sensor via the wiring. A work claw attached to an agricultural work machine and equipped with a sensor including at least an accelerometer or a gyro sensor.
The work claw has a flat plate-shaped mounting base having a first surface and a second surface opposite to the first surface, and a blade portion continuously extending from the mounting base.
The blade portion is curved in the direction from the first surface to the second surface.
The sensor is a work claw arranged on the first surface side. A work claw attached to an agricultural work machine and equipped with a sensor including at least an accelerometer or a gyro sensor.
The work claw has a flat plate-shaped mounting base having a first surface and a second surface opposite to the first surface, and a blade portion continuously extending from the mounting base.
The blade portion has a blade edge portion in which the plate thickness gradually decreases toward the end portion of the blade portion, and a peak edge portion on the opposite side of the blade edge portion.
The sensor is a work claw arranged at the ridge edge. The work claw according to claim 11 , wherein the sensor projects from the ridge edge toward the outside of the work claw.

Images