JP7106106B2 - work nails - Google Patents

Description

The present invention relates to working claws.

As working claws for agricultural machinery, there are tillage claws attached to rotary working machines and puddling tines attached to puddling machines. These working claws come into contact with the field during tillage or puddling work, and wear progresses gradually. As the wear of the working claw progresses, the throwing ability, reversing ability, or stirring ability of the working claw decreases, and finally the tilling performance or the puddling performance decreases, resulting in a state in which proper work cannot be performed. . For this reason, agricultural workers regularly check the degree of wear of the working pawls, and promptly replace the pawls when the wear progresses to a certain extent.

In order to determine when to replace such a working claw, for example, Patent Document 1 describes a technique of providing ribs that can be visually recognized from both sides along a line after wear that serves as a guideline for replacement of the working claw. there is

In addition, while farm workers are working with agricultural machines, they have estimated working conditions such as plowing depth based on visual observation or information such as the sound and vibration of working claws acting on the field. It was based on the experience and intuition of

Utility Model Registration No. 3198032

However, in the case of the technique described in Patent Document 1, after all, the degree of wear of the working claws must be visually confirmed by the farm worker, and if the confirmation is forgotten or the confirmation is neglected due to trouble, However, there is a problem that there is a possibility of missing the time to replace the working jaws.

Further, for example, when a rotary work machine or a puddler is used for tillage work, soil or mud may adhere to the tillage tines. In such a case, the technique described in Patent Document 1 has a problem that the rib may not 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 agricultural machine must depend on the experience and intuition of the farmer, and it is difficult to make a quantitative evaluation that does not depend on the farmer.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a working claw capable of evaluating the degree of wear of the working claw without relying on the visual observation of a farm worker. Another object of the present invention is to provide a working claw capable of evaluating the working state of a field without relying on the experience and intuition of a farm worker.

The working claw (working claw 200) in one embodiment of the present invention is held by a holding member (holder 190, flange 600A, or fixing member 500) provided in the agricultural work machine, and a sensor (first sensor 300 or second sensor 300). 400), wherein the sensor is provided between the holding member and the working pawl.

The holding member is provided on a claw shaft (claw shaft 180) that rotates the working claw and includes a holder (holder 190) into which the working claw can be inserted. may be provided between

The holding member is provided on a claw shaft (claw shaft 180A) that rotates the working claw, and includes a flange (flange 600A) to which the working claw can be attached. It may be provided in between.

The flange has an attachment portion (attachment portion 610A) for attaching the working claw, and a projecting portion (projection portion 620A) projecting from the mounting portion toward the mounting portion on the side where the working claw is provided. Further, the sensor may be provided between the projecting portion and the working claw.

The holding member includes a detachable fixing member that fixes the working claw to a claw shaft that rotates the working claw, and the sensor is provided between the fixing member and the working claw. may

The sensor includes a first sensor and a second sensor, the first sensor being provided between the holding member and the working claw in a rotational direction about the claw axis, and the second sensor being , and may be provided between the holding member and the working claw in the longitudinal direction of the claw shaft for rotating the working claw.

A working claw in one embodiment of the present invention is a working claw attached to an agricultural implement, and is provided with a sensor at a location where the strain of the working claw caused by the load applied to the working claw is greater than that of other portions.

The working claw is a first fulcrum (open end portion 195B) and a second fulcrum (a portion of the fixing member 500B that supports the working claw 200B) of the holding member (the holder 190B and the fixing member 500B) provided on the agricultural working machine. The first fulcrum may be positioned closer to the distal end of the working claw than the second fulcrum, and the sensor may be provided closer to the distal end of the working claw than the first fulcrum.

ADVANTAGE OF THE INVENTION According to this invention, the degree of wear of a working nail|claw can be evaluated, without relying on a farm worker's visual observation. Alternatively, it is possible to evaluate the working state of the field without relying on the experience and intuition of the farm worker.

It is a figure which shows the structure of the agricultural implement which concerns on one Embodiment of this invention from the back side. BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the structure of the agricultural implement which concerns on one Embodiment of this invention from the side. It is a figure which shows the working nail|claw and holder which concern on one Embodiment of this invention. FIG. 4 illustrates a working pawl and flange according to one embodiment of the present invention; It is a figure which shows the working nail|claw and holder which concern on one Embodiment of this invention. FIG. 5 is a diagram showing a simulation result of calculating distortion of the working claw caused by a load applied to the working claw in the holder type working claw according to the embodiment of the present invention; FIG. 4 illustrates a working pawl and flange according to one embodiment of the present invention; FIG. 4 illustrates a working pawl and flange according to one embodiment of the present invention; FIG. 5 is a diagram showing a simulation result of calculating distortion of the working claw caused by a load applied to the working claw in the flange type working claw according to the embodiment of the present invention; FIG. 5 is a diagram showing a method of detecting wear of a claw in a holder-type working claw according to an embodiment of the present invention; FIG. 5 is a diagram showing experimental results obtained by measuring strain generated in a working claw during work using a holder-type working claw according to an embodiment of the present invention;

EMBODIMENT OF THE INVENTION Hereinafter, with reference to drawings, embodiment of the working claw and the working machine with which the working claw of this invention was mounted|worn is described. However, the working claw of the present invention and the working machine equipped with the working claw can be implemented in many different modes, and should not be construed as being limited to the description of the examples shown below. In the drawings referred to in this embodiment, the same parts or parts having similar functions are denoted by the same reference numerals or letters after the same reference numerals, and repeated description thereof will be omitted.

In the specification and claims of the present application, "up" indicates the direction away from the field vertically, and "down" indicates the direction vertically toward the field. "Front" indicates the direction in which the traveling machine body is positioned with respect to the working machine, and "rear" indicates the direction opposite to the front by 180 degrees. Also, "left" indicates the left when the traveling machine body faces the direction in which the working machine is positioned as a reference, and "right" indicates the direction opposite to the left by 180 degrees. Further, in the description of the working claw alone, the vertical and horizontal directions in the illustrated state will be used.

In the following embodiments, tillage tines attached to a cultivator are exemplified as working tines, but the configuration is not limited to this. For example, the working claws shown in the following embodiments may be working claws used for puddling machines, earth crushers, ridge coating machines, etc., in addition to cultivators. Further, in the following embodiments, working claws attached to a holder attached to a claw shaft or a flange are exemplified as working claws, but are not limited to this configuration. For example, working claws shown in the following embodiments may be working claws mounted on the claw shaft in a manner other than these. Also, the techniques of different embodiments can be combined unless there is a particular technical contradiction.

<First embodiment>
[Configuration of agricultural work machine 100]
FIG. 1 is a diagram showing the configuration of the agricultural implement 100 of the first embodiment from the rear side. FIG. 2 is a side view showing the configuration of the agricultural work machine 100 of the first embodiment from the side. Specifically, FIG. 2 shows, from the left side of FIG. 1, the apron 130 (also called a ground leveling body) of the agricultural implement 100 lowered to the normal position.

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

As shown in FIG. 2 , the frame 110 is connected to a traveling body (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) communicating with the chain case 105 of FIG. 1 is provided therein. This power transmission shaft serves to switch the direction of rotational power transmitted from a PTO shaft of a traveling body such as a tractor through a PIC (Power Input Connection) shaft 137 to the left and right directions with respect to the traveling direction. A power transmission shaft in the frame 110 is connected to a chain case 105 arranged on the side of the agricultural implement 100, and power is transmitted to the claw shaft 180 of the tillage rotor 150 by the chain transmission mechanism in the chain case 105. .

The tillage rotor 150 includes a claw shaft 180 extending in the width direction of the agricultural implement 100 , a holder 190 attached to the claw shaft 180 , and a plurality of working claws 200 attached to the holder 190 . That is, the agricultural working machine 100 in this embodiment is a holder type working machine. As shown in FIG. 1, when viewed from the rear side of the agricultural work machine 100, the plurality of working claws 200 are composed of a leftwardly curved working claw 200L and a rightwardly curved working claw 200R. 180 axially spaced apart. In this embodiment, the working claws 200L and 200R are attached to the claw shaft 180 in the axial direction at regular intervals. In the following description, the working claw 200L and the working claw 200R will simply be referred to as the working claw 200 unless otherwise distinguished.

In this embodiment, a plurality of holders 190 and working claws 200 are attached to one claw shaft 180 at substantially the same position in the axial direction of the claw shaft 180 . As shown in FIG. 2, four holders 190 are attached at substantially the same position in the axial direction of the claw shaft 180. These holders 190 have two working claws 200L and two working claws. 200R is installed. However, the type and number of working claws to be attached are not limited to this configuration.

As shown in FIG. 1, when the agricultural implement 100 is viewed from the back side, the toes of the working claws 200R and 200L, which face each other, overlap each other. Therefore, the width of the region where each of the working claws 200L and 200R digs up the soil partially overlaps between adjacent working claws 200L and 200R. In addition, in the agricultural work machine 100 of the present embodiment, the tillage rotor 150 rotates in the direction indicated by the arrow W in FIG.

As shown in FIG. 2 , the shield cover 120 is arranged to cover the top of the tillage 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 also be called a chain case plate, side frame, support frame, or the like. In FIG. 2, illustration of the side plate 140 is omitted.

As shown in FIG. 2 , the apron 130 is arranged behind the tillage rotor 150 and is rotatably connected to the shield cover 120 about the connecting portion 160 . Since the center of gravity of the apron 130 is behind the connecting 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 leveling plate 132 flattens the field dug up by the tillage rotor 150 .

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

The control device 170 includes a central processing unit (CPU), a storage device (memory), and a communication device (not shown), and processes signals (for example, remote control signals) received from the outside of the agricultural working machine 100, and conversely, performs agricultural work. It has a function of transmitting a signal (for example, data acquired by a sensor) generated by the machine 100 or the working claw 200 to the outside and analyzing the signal generated by the working claw 200 . The storage device stores various data and various programs. The central processing unit reads out a program from the storage device and executes it to control the operation of a drive unit such as an actuator provided in the agricultural work machine 100 and analyze the signal generated by the work claw 200 .

A communication device is a device for performing wired communication or wireless communication. For example, in the case of wireless communication, 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. In other words, the communication device included in the control device 170 has a function of controlling communication between communication terminals such as servers and user terminals connected to the network, and communication terminals such as tablet PCs mounted on the traveling machine. may be

[Configuration of Working Claw 200]
FIG. 3 is a diagram showing working claws and a holder according to one embodiment of the present invention. FIG. 3A is a view of the working claw 200 viewed from the same direction as in FIG. (B) of FIG. 3 is a view of the working claw 200 viewed in the direction of D2 in (A) of FIG. 3 (that is, from the right side of the working claw 200 in (A) of FIG. 3). A part of the working claw 200 is omitted in FIG. 3B. The working claw 200 shown in FIG. 3 is an enlarged view of the working claw 200L shown in FIG. Note that the shape of the working claw 200L shown in this embodiment is merely an example, and the shape is not limited to this shape. Further, although a detailed description of the working claw 200R is omitted, it has the same features as the working claw 200L described below, except that the bending direction is different. In the following description, the working claw 200L is simply referred to as the working claw 200. As shown in FIG. In the following description, the direction of rotation around the pawl shaft 180 is called the radial direction R, and the longitudinal direction of the pawl shaft 180 is called the thrust direction T.

As shown in FIG. 3, the holder 190 is provided on the outer periphery of the pawl shaft 180. As shown in FIG. A recess 191 is provided in the holder 190, and the working claw 200 is inserted into the recess 191. As shown in FIG. The holder 190 and the working claw 200 are provided with through holes penetrating therethrough in the thrust direction T. As shown in FIG. With these through holes aligned, the working claw 200 is fixed to the holder 190 by passing a fixing member 500 such as a bolt through these through holes. In other words, the fixing member 500 is a detachable member that fixes the working claw 200 to the claw shaft 180 . In addition, as shown in FIG. 3B, the holder 190 is provided with an opening 193 that communicates with the recess 191 . The fixing member 500 contacts the working claw 200 inside the opening 193 and presses the working claw 200 against the inner wall of the recess 191 opposite to the side where the opening 193 is provided, thereby fixing the working claw 200 . In addition, in FIG. 3B, for convenience of explanation, the relative thickness of the second sensor 400 (to be described later) with respect to other members is shown to be thicker than it actually is. Therefore, although it is shown that there is a gap between the working claw 200 and the inner wall of the holder 190 on the side of the curved inner surface 201 above the fixing member 500, in reality there is almost no such gap. The inner wall of the recessed portion 191 of the holder 190 may simply be called the inner wall of the holder 190 .

As shown in FIG. 3A, the working claw 200 has a mounting base portion 210, a vertical blade portion 220, and a horizontal blade portion 230. As shown in FIG. The mounting base 210 extends linearly in the D1 direction. The mounting base 210 is provided with a through hole 215 through which the working claw 200 passes. As described above, the fixing member 500 penetrates through the through hole 215 . The vertical blade portion 220 and the horizontal blade portion 230 are curved in the D2 and D3 directions (directions from the back side to the front side of the paper surface) while continuously extending in the D1 direction and the D2 direction from the mounting base portion 210 . The side blade portion 230 is curved with a substantially constant radius of curvature in the D3 direction. However, the curvature of the side blade portion 230 in the D3 direction may not be a constant curvature radius.

A tip region of the side blade portion 230 in the D2 direction is the parietal portion 240 . The crown 240 extends from a blade edge 250 to a ridge edge 260, which will be described later. A blade edge portion 250 is a lower end portion of the vertical blade portion 220 and the horizontal blade portion 230 . A blade surface 270 is provided below the vertical blade portion 220 and the horizontal blade portion 230 . The blade surface 270 has a shape in which the thickness of the working claw 200 gradually decreases toward the lower ends of the vertical blade portion 220 and the horizontal blade portion 230 (that is, the blade edge portion 250). The upper ends of the vertical blade portion 220 and the horizontal blade portion 230 , that is, the side opposite to the blade edge portion 250 is the peak edge portion 260 . The peak edge portion 260 is a portion corresponding to the side surface between the two main surfaces (the curved inner surface 201 and the curved outer surface 203) of the working claw 200, and unlike the blade edge portion 250, the thickness of the working claw 200 is has a shape with substantially equal intervals. In addition, in FIG. 3A, since the side blade portion 230 is curved in the D3 direction, the parietal portion 240 near the tip of the side blade portion 230 is visible. The curved inner surface 201 side is the inner surface of the curved shape of the horizontal blade portion 230 (that is, the front side of the paper surface), and the curved outer surface 203 is the outer surface (that is, the back side of the paper surface).

The working claw 200 is provided with a first sensor 300 and a second sensor 400 . As shown in FIG. 3A, the first sensor 300 is provided between the inner wall of the holder 190 and the working claw 200 in the radial direction R. As shown in FIG. In this embodiment, the first sensor 300 is in contact with each of the inner wall of the holder 190 and the working claw 200 . As shown in FIG. 3B, the second sensor 400 is provided between the inner wall of the holder 190 and the working claw 200 in the thrust direction T. As shown in FIG. In this embodiment, the second sensor 400 is in contact with each of the inner wall of the holder 190 and the working claw 200 . As described above, the first sensor 300 and the second sensor 400 are provided between the inner wall of the holder 190 and the working claw 200, respectively.

Here, the holder 190 and the fixing member 500 may be called "holding member". The holding member is a member provided in the agricultural work machine 100 and holds the working claw 200 . In other words, the sensor is provided between the holding member and the working claw 200 . If the agricultural work machine 100 is of flange type, the holding member includes a flange instead of the holder 190 described above.

As the first sensor 300 and the second sensor 400, pressure sensors capable of detecting pressure applied to the sensors can be used. A pressure sensor outputs an output value based on the pressure applied to the sensor. For example, as a pressure sensor, when a relatively large pressure is applied to the pressure sensor, the amount of change in the output value is relatively large, and when a relatively small pressure is applied to the pressure sensor, the output value is relatively large. It is possible to use a sensor characterized by a small amount of change in . That is, the first sensor 300 can measure the magnitude of the load that the working claw 200 receives in the radial direction R. The second sensor 400 can measure the magnitude of the load that the working claw 200 receives in the thrust direction T. As shown in FIG. When pressure sensors are used as the first sensor 300 and the second sensor 400, it is sufficient to measure the amount of change when the load of the working claw 200 changes. These sensors do not have to contact the working claw 200 and the inner wall of the holder 190 in the weak state of .

Although the first sensor 300 and the second sensor 400 are provided on the working claw 200 in this embodiment, these sensors may be provided on the inner wall of the holder 190 . Moreover, although the configuration in which the first sensor 300 is provided between the working claw 200 on the ridge edge portion 260 side and the inner wall of the holder 190 is illustrated, the first sensor 300 is located between the working claw 200 on the blade edge portion 250 side and the holder. It may be provided between the inner wall of 190, or may be provided on both sides. Moreover, although the configuration in which the second sensor 400 is provided between the working claw 200 on the curved inner surface 201 side and the inner wall of the holder 190 is illustrated, the second sensor 400 is located between the working claw 200 on the curved outer surface 203 side and the holder. It may be provided between the inner wall of 190, or may be provided on both sides. Moreover, although the configuration in which the first sensor 300 and the second sensor 400 are provided closer to the tip (parietal portion 240) of the working claw 200 than the through hole 215, these sensors are located above the through hole 215 (the working claw 200 on the opposite end side).

In this embodiment, the first sensor 300 and the second sensor 400 are provided between the working claw 200 and the inner wall of the holder 190, but these sensors are located between the working claw 200 and the fixing member 500. may be provided in For example, the first sensor 300 may be provided on the inner wall of the through hole 215 (position 310). Further, the second sensor 400 may be provided on the side of the curved outer surface 203 of the working claw 200 (position 410). In other words, the first sensor 300 may be provided between the fixing member 500 and the working claw 200 in the radial direction R. Further, the second sensor 400 may be provided between the fixed member 500 and the working claw 200 in the thrust direction T. Also in this case, these sensors may be provided on the working claw 200 side or may be provided on the fixed member 500 side.

As described above, the first sensor 300 and the second sensor 400 can measure the magnitudes of loads applied to the working claw 200 in the radial direction R and the thrust direction T, respectively. When the working claw 200 acts on the field, loads in the radial direction R and the thrust direction T change on the working claw 200 . When the working claw 200 is in a state close to a new one and its performance is maximized, the load that the working claw 200 receives from the field during work is relatively large. On the other hand, when the working claw 200 is worn and does not exhibit its performance sufficiently, the load that the working claw 200 receives from the field during work is relatively small. Although details will be described later, wear of the working claw 200 can be detected by measuring changes over time in the magnitude of the load applied to the first sensor 300 and the second sensor 400 .

As described above, according to the working claw 200 according to the present embodiment, the magnitude of the load applied to the working claw 200 during work can be measured using the first sensor 300 and the second sensor 400 . By measuring the change in this load over time, the degree of wear of the working claw can be evaluated.

In this embodiment, both the first sensor 300 and the second sensor 400 are attached to the working claw 200, and the configuration for measuring the magnitude of the load applied in both the radial direction R and the thrust direction T is exemplified. It is not limited to this configuration. The sensor attached to the working claw 200 may be only the first sensor 300 or only the second sensor 400 . That is, the configuration may be such that the magnitude of the load in either one of the radial direction R and the thrust direction T is measured. Further, the same sensor as the first sensor 300 may be provided on the side opposite to the first sensor 300 with respect to the working claw 200 . Similarly, the same sensor as the second sensor 400 may be provided on the opposite side of the working claw 200 from the second sensor 400 .

At each position where the first sensor 300 and the second sensor 400 are attached, at least one of the working claw 200 and the inner wall of the holder 190 is provided with a recess, and these recesses are provided with the first sensor 300 and the second sensor. 400 may be arranged to be embedded. By doing so, even when a very large load is applied to the working claw 200 in the direction of pushing each sensor, it is possible to suppress the crushing and destruction of these sensors. can. When the first sensor 300 and the second sensor 400 are provided between the working claw 200 and the fixing member 500, at least one of the working claw 200 and the fixing member 500 is provided with a recess, and a sensor is provided in the recess. good too.

Moreover, in the present embodiment, the configuration in which the pressure sensors are used as the first sensor 300 and the second sensor 400 is exemplified, but the configuration is not limited to this. As these sensors, in addition to pressure sensors, physical quantity sensors such as acceleration sensors, gyro sensors, magnetic sensors, strain sensors, sound sensors, and optical sensors can be used. Alternatively, as the above sensors, soil sensors such as a sensor that detects soil moisture, a sensor that detects soil salinity, a sensor that detects soil temperature, and a sensor that detects soil pH (hydrogen ion index) are used. be able to. However, the sensors used as the first sensor 300 and the second sensor 400 are not limited to the sensors described above, and other sensors can be used.

When sensors with low durability against pressure are used as these sensors, at least one of the working claw 200 and the inner wall of the holder 190, or at least one of the working claw 200 and the fixing member 500 is used as described above. It is preferable to provide a recess in the sensor so that excessive pressure is not applied to the sensor. In this case, the sensor may be in contact with both the working claw 200 and the inner wall of the holder 190, or may be in contact with either one. Similarly, the sensor may be in contact with both the working claw 200 and the fixed member 500, or may be in contact with either one. Moreover, when the above soil sensors are used as these sensors, it is preferable to provide a path for soil or mud downward from the sensor so that the soil or mud can reach the sensor.

As described above, when a sensor other than a pressure sensor is used as the first sensor 300 and the second sensor 400, since the surroundings of these sensors are covered by the working claw 200 and the holder 190, for example, the The sensor can be protected from pebbles and the like.

The first sensor 300 and the second sensor 400 may incorporate a power supply, or may be supplied with power from the outside via wiring. Data sensed by these sensors may be stored in a storage device built in the sensor, or may be stored in a storage device connected to the sensor and provided in working claw 200 . The data sensed by these sensors may be transmitted to a storage device provided outside working claw 200 via wiring or wirelessly. Further, these sensors may include a microcomputer, an arithmetic processing device such as a CPU, a wireless power supply communication control device, and the like.

The first sensor 300 and the second sensor 400 may have unique identifiers for the sensors. Since the identifier varies from sensor to sensor, the sensor can be identified based on the identifier. The identifier may be stored in a storage device built into the sensor, or may be stored in another storage device connected to the sensor. The identifier is transmitted to the external device in the same manner as the data sensed by the sensor. Since the sensor has an identifier and the identifier is transmitted to the external device, even if, for example, a plurality of working claws 200 to which the sensor is attached are attached to the agricultural work machine 100, the sensor can detect the It is possible to specify which working claw 200 the sensor data is attached to. That is, the working claw 200 can be specified based on the identifier.

<Second embodiment>
[Configuration of working claw 200A]
A working claw 200A according to the second embodiment will be described with reference to FIG. 200 A of working claws are working claws with which a flange is mounted|worn. FIG. 4 is a diagram showing working claws and flanges according to an embodiment of the present invention. FIG. 4A is a view of the working claw 200A viewed from the same direction as in FIG. FIG. 4B is a cross-sectional view taken along line II' of FIG. 4A.

As shown in FIG. 4, the flange 600A is provided on the outer circumference of the pawl shaft 180A. Two through holes 615A are provided in the flange 600A. Two through holes 215A are also provided in the working claw 200A corresponding to these through holes 615A. With the through holes 215A and 615A aligned, the working claw 200A is fixed to the flange 600A by passing a fixing member 500 such as a bolt through these through holes. In addition, as shown in FIG. 4B, the working claw 200A is provided on the D3 direction side of the flange 600A. The fixing member 500A is composed of a bolt 501A, a nut 503A, and a spring washer 505A. However, the fixing member 500A is not limited to this configuration.

Similar to the working claw 200 of FIG. 3, the working claw 200A has a mounting base 210A, a vertical blade 220A, and a horizontal blade 230A. A blade edge 250A is provided, and a peak edge 260A is provided on the opposite side of the blade edge 250A. As described above, the mounting base 210A of the working claw 200A is provided with two through holes 215A. Although there are two through holes 215A in this example, three or more may be provided. However, the number of through holes 215A may be one. In the configuration in which only one of the two through-holes 215A shown in FIG. 4A is provided, the working claw 200A can be locked to the flange 600A at the position of the other through-hole 215A. A locking portion may be provided.

Flange 600A has attachment portion 610A and protrusion 620A. The working claw 200A is fixed by the fixing member 500A while being placed on the mounting portion 610A, and the working claw 200A is fixed to the flange 600A. The protruding portion 620A protrudes from the mounting portion 610A toward the side where the working claw 200A is provided with respect to the mounting portion 610A.

The working claw 200A is provided with a first sensor 300A and a second sensor 400A. As shown in FIG. 4A, the first sensor 300A is provided in the radial direction R between the projecting portion 620A and the working claw 200A. In this embodiment, the first sensor 300A is in contact with each of the projecting portion 620A and the working claw 200A. As shown in FIG. 4B, the second sensor 400A is provided in the thrust direction T between the mounting portion 610A and the working claw 200A. In this embodiment, the second sensor 400A is in contact with each of the attachment portion 610A and the working claw 200A. In addition, in FIG. 4B, for convenience of explanation, the thickness of the second sensor 400A relative to other members is shown to be thicker than it actually is. Therefore, although the illustration shows that there is a gap between the mounting portion 610A and the working claw 200A, there is almost no such gap in practice.

In this embodiment, the first sensor 300A and the second sensor 400A are provided on the working claw 200A, but these sensors may be provided on the projecting portion 620A or the mounting portion 610A. Also, the first sensor 300A may be provided in the radial direction R between the working claw 200A and the fixing member 500A. The second sensor 400A may be provided in the thrust direction T between the working claw 200A and the fixed member 500A.

As described above, according to the working claw 200A according to the present embodiment, the magnitude of the load applied to the working claw 200A during work can be measured using the first sensor 300A and the second sensor 400A. By measuring the change in this load over time, the degree of wear of the working claw can be evaluated.

<Third embodiment>
[Configuration of Working Claw 200B]
A working claw 200B according to the third embodiment will be described with reference to FIG. The working claw 200B is a working claw attached to the holder. FIG. 5 is a diagram showing working claws and a holder according to an embodiment of the present invention. FIG. 5A is a view of the working claw 200B viewed from the same direction as in FIG. (B) of FIG. 5 is a view of the working claw 200B viewed in the direction of D2 in (A) of FIG.

A working claw 200B shown in FIG. 5 is similar to the working claw 200 shown in FIG. Note that the working claw 200B shown in FIG. 5A shows a state in which a load in the radial direction R is applied to the working claw 200B. In this state, the working claw 200B is restricted from rotating in the radial direction R by the fixing member 500B and the open end 195B of the holder 190B. Note that this rotation may be regulated by the fixing member 500B and the side wall 197B of the holder 190B. Further, the working claw 200B shown in FIG. 5B shows a state in which a load in the thrust direction T is applied to the working claw 200B. In this state, the working claw 200B is restricted from rotating in the thrust direction T by the fixing member 500B and the open end 199B of the holder 190B.

The first sensor 300B and the second sensor 400B are provided in a region between the mounting base portion 210B and the vertical blade portion 220B. The first sensor 300B is provided on the ridge edge portion 260B side. The second sensor 400B is provided on the side of the curved outer surface 203B. These sensors are provided in the area where the working claw 200B is exposed from the holder 190B. In this embodiment, the first sensor 300B is provided on the ridge 260B side, and the second sensor 400B is provided on the curved outer surface 203B side, but the configuration is not limited to this. The first sensor 300B may be provided on the blade edge portion 250B side, and the second sensor 400B may be provided on the curved inner surface 201B side.

As the first sensor 300B and the second sensor 400B, strain sensors capable of detecting strain of the working claw 200B can be used. The strain sensor outputs an output value based on the strain of working claw 200B. For example, as a strain sensor, when the strain of the working claw 200B at the position where the strain sensor is attached is relatively large, the amount of change in the output value is relatively large, and when the strain is relatively small, the amount of change in the output value is relatively large. A sensor characterized by a small amount of change in output value can be used. Although the details will be described later, these sensors are provided at locations where the strain of the working claw 200B caused by the load applied to the working claw 200B is greater than other portions. However, as the first sensor 300B and the second sensor 400B, other sensors than the strain sensor can be used.

When a load in the radial direction R is applied to the working claw 200B in the state shown in FIG. 5A, the distortion of the working claw 200B near the open end 195B increases. In this state, the working claw 200B is supported by the fixing member 500B and the open end 195B, so the strain generated in the working claw 200B is greater than the strain generated on the side of the fixing member 500B from the opening end 195B. The strain generated on the tip side of the working claw 200B is greater than that on the portion 195B. Therefore, when a strain sensor is used as the first sensor 300B, it is preferable that the sensor is provided closer to the distal end of the working claw 200B than the open end 195B. In such a case, the holder 190B and the fixing member 500B may be called the holding member, the opening end 195B supporting the working claw 200B may be called the first fulcrum, and the portion of the fixing member 500B supporting the working claw 200B may be called the second fulcrum. . Here, although they are expressed as a first fulcrum and a second fulcrum, in reality, the opening end 195B and the working claw 200B, and the fixing member 500B and the working claw 200B are in line contact at a linear portion extending in the D3 direction. ing. Further, the tip end side of the working claw 200B means the side closer to the top of the head 240B in the working claw 200B.

Here, when the rotation of the working claw 200B is restricted by the fixing member 500B and the side wall 197B, the strain generated in the working claw 200B is more than that of the fixing member 500B compared to the strain generated on the side wall 197B side of the fixing member 500B. The strain generated on the tip side of the working claw 200B is greater. Therefore, when a strain sensor is used as the first sensor 300B, the sensor is preferably provided closer to the distal end of the working claw 200B than the fixing member 500B. In such a case, the holder 190B and the fixing member 500B may be called holding members, the portion of the fixing member 500B supporting the working claw 200B may be called the first fulcrum, and the side wall 197B supporting the working claw 200B may be called the second fulcrum.

When a load in the thrust direction T is applied to the working claw 200B in the state shown in FIG. 5B, the distortion of the working claw 200B near the open end 199B increases. In this state, the working claw 200B is supported by the fixing member 500B and the open end 199B, so the strain generated in the working claw 200B is greater than the strain generated on the side of the fixing member 500B from the opening end 199B. The strain generated on the tip side of the working claw 200B is greater than that on the portion 199B. Therefore, when a strain sensor is used as the second sensor 400B, it is preferable that the sensor is provided closer to the distal end of the working claw 200B than the open end 199B. In such a case, the holder 190B and the fixing member 500B may be called the holding member, the opening end 199B supporting the working claw 200B may be called the first fulcrum, and the portion of the fixing member 500B supporting the working claw 200B may be called the second fulcrum. .

FIG. 6 is a diagram showing a simulation result of calculating distortion of the working claw caused by a load applied to the working claw in the holder type working claw according to one embodiment of the present invention. In FIG. 6, the magnitude of the strain generated in the working claw 200B when the load in the radial direction R and the thrust direction T is applied to the working claw 200B is distinguished by color. Areas shown in blue have low distortion and areas shown in red have high distortion. 6A shows a simulation result when a load in the thrust direction T is applied to the working claw 200B, and FIG. 6B shows a simulation result when a load in the radial direction R is applied. (A-1) and (B-1) in FIG. 6 respectively correspond to (A) in FIG. (A-2) and (B-2) are perspective views of the vicinity of the mounting base 210B viewed from the curved inner surface 201B side, and (A-3) and (B-3) are views from the curved outer surface 203B side. It is a perspective view seen.

As shown in (A-1) of FIG. 6, when a load in the thrust direction T is applied to the working claw 200B, the crest edge 260B is distorted more than the blade edge 250B. Further, as shown in (A-2) and (A-3), the strain generated in the open end portion 195B is greater on the curved outer surface 203B side than on the curved inner surface 201B side. As shown in (B-2) and (B-3) of FIG. 6, when a load in the radial direction R is applied to the working claw 200B, a large strain is generated in the peak edge portion 260B. Also, the strain generated in the open end portion 195B is greater on the curved outer surface 203B side than on the curved inner surface 201B side.

Therefore, when strain sensors are used as the first sensor 300B and the second sensor 400B, it is more preferable to provide the first sensor 300B closer to the curved outer surface 203B than the center between the curved inner surface 201B and the curved outer surface 203B. It is preferable to provide the second sensor 400B closer to the ridge 260B than the center between the blade edge 250B and the ridge 260B.

As described above, according to the simulation results when loads are applied to the working claw in the thrust direction T and the radial direction R, by providing the first sensor 300B and the second sensor 400B in the region where the strain is the largest, the working claw can be efficiently operated. The distortion occurring at 200B can be measured. Note that the above sensors may be provided in areas other than the area where the distortion is the largest in the simulation results. The above sensor may be provided at a location where the strain on the working claw is greater than that on other portions, at least in the simulation results.

It should be noted that the distribution of strain generated in the working claw differs depending on the shape of the working claw. Therefore, it is preferable to appropriately adjust the optimum location of the sensor according to the shape of the working claw. However, the fact that the sensor is provided closer to the distal end of the working claw 200B than the opening end 195B is a common feature regardless of the shape of the working claw.

<Fourth Embodiment>
[Structure of Working Claw 200C]
A working claw 200C according to the fourth embodiment will be described with reference to FIG. 200 C of working claws are working claws with which a flange is mounted|worn. FIG. 7 is a diagram showing working claws and flanges according to one embodiment of the present invention. FIG. 7A is a view of the working claw 200C viewed from the same direction as in FIG. (B) of FIG. 7 is a view of the working claw 200C viewed in the direction of D2 in (A) of FIG.

Working claw 200C shown in FIG. 7 is similar to working claw 200A shown in FIG. It is different from claw 200A. Note that the working claw 200C shown in FIG. 7A shows a state in which a load in the radial direction R is applied to the working claw 200C. In this state, the working claw 200C is restricted from rotating in the radial direction R by the two fixing members 500C.

In the following description, of the two fixing members 500C, the fixing member 500C closer to the tip of the working claw 200C is called a first fixing member 500C-1, and the other fixing member 500C is called a second fixing member 500C-2. . In addition, when these are not specifically distinguished, they are simply referred to as the fixing member 500C. This rotation may be regulated by three or more fixing members. Further, the working claw 200C shown in FIG. 7B shows a state in which a load in the thrust direction T is applied to the working claw 200C. In this state, the working claw 200C is restricted from rotating in the thrust direction T by the fixing member 500C and the attachment portion 610C of the flange 600C.

The first sensor 300C is provided near the first fixing member 500C-1 on the side of the curved inner surface 201C. Specifically, the first sensor 300C is provided on the side opposite to the second fixing member 500C-2 with respect to the first fixing member 500C-1. In other words, the first sensor 300C is provided closer to the distal end of the working claw 200C than the first fixing member 500C-1. Note that the first sensor 300C may be provided closer to the distal end of the working claw 200C than part of the first fixing member 500C-1, and the distal end of the working claw 200C may be positioned closer to the front end of the working claw 200C than the entire first fixing member 500C-1. It does not have to be on the side. In other words, even if the distance between the second fixing member 500C-2 and the first sensor 300C is the same as or shorter than the distance between the second fixing member 500C-2 and part of the first fixing member 500C-1, good.

Although the details will be described later, when a load in the radial direction R is applied to the working claw 200C, the first fixing member 500C-1 is viewed from the second fixing member 500C-2 (or through hole 215C-2). (or the through-hole 215C-1), the working claw 200C is distorted greatly. Therefore, when a strain sensor is used as the first sensor 300C, the strain of the working claw 200C can be detected efficiently by providing the first sensor 300C in the region where large strain occurs as described above. However, since the strain that occurs in the working claw 200 when a load is applied to the working claw 200C also occurs in other regions, the position where the first sensor 300C is provided is not limited to the above region.

The second sensor 400C is provided near the mounting portion 610C of the flange 600C on the side of the curved outer surface 203C. Specifically, the second sensor 400C is provided on the side opposite to the second fixing member 500C-2 with respect to the first fixing member 500C-1. In other words, the second sensor 400C is provided closer to the distal end of the working claw 200C than the end 611C of the mounting portion 610C. Although details will be described later, when a load in the thrust direction T is applied to the working claw 200C, a large strain occurs in the working claw 200C near the end 611C on the tip side of the working claw 200C relative to the end 611C. . Therefore, when a strain sensor is used as the second sensor 400C, the strain of the working claw 200C can be detected efficiently by providing the second sensor 400C in the above region. However, the strain that occurs in the working claw 200C when a load is applied to the working claw 200C also occurs in other regions, so the position where the second sensor 400C is provided is not limited to the above region.

<Fifth embodiment>
[Configuration of Working Claw 200D]
A working claw 200D according to the fifth embodiment will be described with reference to FIG. The working claw 200D is a working claw attached to the flange. FIG. 8 is a diagram showing working claws and flanges according to an embodiment of the present invention. FIG. 8A is a view of the working claw 200D viewed from the same direction as in FIG. (B) of FIG. 8 is a view of the working claw 200D viewed in the direction of D2 in (A) of FIG.

Working claw 200D and flange 600D shown in FIG. 8 are similar to working claw 200C and flange 600C shown in FIG. It is different from 200C. In the description of FIG. 8, the description of the same features as in FIG. 7 will be omitted, and the differences from FIG. 7 will be described.

As shown in FIG. 8B, the flange 600D (mounting portion 610D) is provided on the D3 direction side of the working claw 200D. In other words, in FIG. 8A, the working claw 200D is located on the back side of the mounting portion 610D on the paper surface. A portion of the working claw 200D hidden by the mounting portion 610D is indicated by a dotted line.

Both the first sensor 300D and the second sensor 400D are provided near the first fixing member 500D-1 on the side of the curved outer surface 203D of the working claw 200D. Specifically, the first sensor 300D and the second sensor 400D are provided on the side opposite to the second fixing member 500D-2 with respect to the first fixing member 500D-1. In other words, the first sensor 300D and the second sensor 400D are provided closer to the distal end of the working claw 200D than the first fixing member 500D-1. Note that the first sensor 300D and the second sensor 400D need only be provided closer to the distal end of the working claw 200D than part of the first fixing member 500D-1, and are closer than the entire first fixing member 500D-1. It is not necessary to be provided on the tip side of the working claw 200D. That is, the distance between the second fixing member 500D-2 and the first sensor 300D and the distance between the second fixing member 500D-2 and the second sensor 400D are the same as the distance between the second fixing member 500D-2 and the first fixing member 500D-. It may be equal to or shorter than the distance to a part of 1.

Although the details will be described later, when a load in the radial direction R is applied to the working claw 200D, the front end side of the working claw 200D from the first fixing member 500D-1 (or the through hole 215D-1) and A large strain occurs in the working claw 200D on the crest edge portion 260D side. Further, when a load in the thrust direction T is applied to the working claw 200D, the working claw 200D near the end 501D-1 is positioned closer to the tip of the working claw 200D than the end 501D-1 of the first fixing member 500D-1. produces a large amount of distortion. Therefore, when strain sensors are used as the first sensor 300D and the second sensor 400D, the strain of the working claw 200D can be efficiently detected by providing the respective sensors in the regions where large strain occurs as described above. . However, since the strain that occurs in the working claw 200D when a load is applied to the working claw 200D also occurs in other areas, the positions where these sensors are provided are not limited to the above areas.

<Sixth embodiment>
[Results of simulation of distortion of work claws]
FIG. 9 is a diagram showing a simulation result of calculating distortion of the working claw caused by a load applied to the working claw in the flange-type working claw according to the embodiment of the present invention. In FIG. 9, the magnitude of strain generated in the working claws 200C and 200D when the loads in the radial direction R and the thrust direction T are applied to the working claws 200C and 200D are identified by colors. Areas shown in blue have low distortion and areas shown in red have high distortion. 9A shows a case where a load in the thrust direction T is applied to the working claw 200C shown in FIG. 7, and FIG. 9B shows a case where a load in the thrust direction T is applied to the working claw 200D shown in FIG. , (C) are simulation results when a load in the radial direction R is applied to the working claws 200C and 200D. Note that the simulation results for (C) are shown in one drawing because there is substantially no difference between the working claws 200C and 200D.

(A-1), (B-1) and (C-1) of FIG. 9 are perspective views of the mounting bases 210C and 210D viewed from the curved inner side surfaces 201C and 201D, respectively. (B-2) and (C-2) are perspective views of the mounting bases 210C and 210D viewed from the curved outer side surfaces 203C and 203D, respectively.

As shown in (A-1) of FIG. 9, when a load is applied to the working claw 200C in the thrust direction T shown in FIG. Also, distortion occurs on the tip side of the working claw 200C. The magnitude of strain generated in the working claw 200C is greater on the ridge edge portion 260C side than on the blade edge portion 250C side. Also, excluding the region where the fixing member 500C or the mounting portion 610C contacts the working claw 200C, the closer to the through hole 215C, the greater the distortion. Also, as shown in (A-2), a large strain is generated along the edge 611C near the edge 611C of the mounting portion 610C. The strain generated near the end 611C on the curved outer surface 203C is greater than the strain generated on the curved inner surface 201C side. Referring to FIG. 7, when a load in the thrust direction T is applied to the working claw 200C, the curved outer surface 203C of the working claw 200C is supported by the end portion 611C of the mounting portion 610C, thereby restricting its movement. . Therefore, it is considered that the strain generated in the working claw 200C in the vicinity of the end portion 611C of the curved outer surface 203C as described above is greater than in other regions.

As shown in (B-1) of FIG. 9, when a load is applied in the thrust direction T shown in FIG. Also, distortion occurs at the tip side of the working claw 200D. The magnitude of strain generated in the working claw 200D is greater on the ridge edge portion 260D side than on the blade edge portion 250D side. Also, excluding the region where the fixing member 500D contacts the working claw 200D, the closer the through hole 215D, the greater the distortion. In particular, although not shown in FIG. 9, the end portion of the first fixing member 500D-1 attached to the through hole 215D and the end portion closer to the tip of the working claw 200D than the through hole 215D has a large strain. occurs. Unlike the case of (A), this strain is approximately the same in the curved inner surface 201D and the curved outer surface 203D. Referring to FIG. 8, when a load in the thrust direction T is applied to the working claw 200D, the curved outer surface 203D of the working claw 200D is supported by the first fixing member 500D-1, thereby restricting its movement. . Therefore, as described above, the strain generated in the region corresponding to the end portion 501D-1 of the first fixing member 500D-1 is considered to be greater than in other regions.

As shown in (C-1) of FIG. 9, when a load in the radial direction R shown in FIGS. Distortion occurs on the tip side of the working claws 200C and 200D relative to the position where the working claws 200C and 500C and D-1 are attached. The magnitude of strain generated in the working claws 200C and 200D is greater on the ridge edge portions 260C and D than on the blade edge portions 250C and D. Also, the closer to the through holes 215C and 215D, the greater the relative strain. In particular, large strain occurs in the vicinity of the ends of the working claws 200C and 200C, which are closer to the side walls of the through holes 215C and 215D than the through holes 215C and 215D. In the curved inner side surfaces 201C, D of the working claws 200C, D, the region where the largest strain occurs is the first fixing member when viewed from the through holes 215C, D-2 to which the second fixing members 500C, D-2 are attached. 500C, D-1 are mounted in the shaded area of the through holes 215C, D-1.

On the other hand, as shown in (C-2) and (C-3) of FIG. 9, in the curved outer side surfaces 203C and D of the working claws 200C and D, the region where the distortion generated in the working claws 200C and D is the largest is , and the curved inner side surfaces 201C, D are different from the region where the strain generated in the working claws 200C, D is the largest (the region shown in (C-1) in FIG. 9). Specifically, the working claws 200C on the tip side of the working claws 200C and D and on the crest edge portion 260C and D side from the through holes 215C and D-1 (or the first fixing members 500C and D-1), The largest distortion occurs in D.

As described above, by providing the first sensors 300C and 300D and the second sensors 400C and 400C and D in the region where the strain is the largest in the simulation results when the load in the thrust direction T and the radial direction R is applied to the working claw, Distortion generated in the working claws 200C and 200D can be efficiently measured. Note that the above sensors may be provided in areas other than the area where the distortion is the largest in the simulation results. The above sensor may be provided at a location where the strain on the working claw is greater than that on other portions, at least in the simulation results.

It should be noted that the distribution of strain generated in the working claw differs depending on the shape of the working claw. Therefore, it is preferable to appropriately adjust the optimum location of the sensor according to the shape of the working claw. However, the fact that the sensors are provided closer to the tips of the working claws 200C and D than the through holes 215C and D-1 (or the positions where the first fixing members 500C and D-1 are attached) is This is a common feature regardless of the shape.

<Seventh embodiment>
[Method for Detecting Abrasion of Working Claw Using Sensor]
With reference to FIG. 10, a method of detecting wear of working claws using a sensor when a pressure sensor is used as the sensor will be described. Holder 190E, working claw 200E, and first sensor 300E shown in FIG. 10A are similar to holder 190, working claw 200, and first sensor 300 shown in FIG. A pressure sensor is used as the first sensor 300E. As described above, when a relatively large pressure is applied to the sensor, the amount of change in the relative output value increases, and when a relatively small pressure is applied to the sensor, the relative output value has a feature that the amount of change in is small. For example, when pressure is applied to the pressure sensor and the pressure sensor outputs an output value greater than the initial value, the output value increases as the pressure applied to the pressure sensor increases. On the other hand, when pressure is applied to the pressure sensor and the pressure sensor outputs an output value smaller than the initial value, the output value decreases as the pressure applied to the pressure sensor increases. In the following description, an example using a sensor having the former characteristic as the pressure sensor will be described, but a sensor having the latter characteristic may also be used.

A graph 700E shown in FIG. 10B is a graph plotting the output values output by the first sensor 300E when the working claw 200E is driven into the field. The horizontal axis 710E of the graph 700E indicates the load change, and the vertical axis 720E indicates the sensor output value. In graph 700E, output data 730E is displayed as a solid line. The output data 730E has a maximum value at a maximum load point 711E at which the load received by the working claw 200E from the field becomes maximum in one driving operation. The initial value 721 is the output value of the first sensor 300E when no load is applied to the first sensor 300E. The threshold value 723E is a reference value for determining whether or not the working claw 200E has worn based on the output data 730E by the wear detection system described below.

When the working claw 200E is in a state close to a new one and its performance is maximized, the load that the working claw 200E receives from the field during work is relatively large. On the other hand, when the working claw 200E is worn and does not exhibit its performance sufficiently, the load that the working claw 200E receives from the field during work is relatively small. That is, when the working claw 200E wears and its performance deteriorates, the maximum value of the output data 730E decreases, and when its performance decreases below a certain level, the maximum value does not reach the threshold value 723E. Therefore, when the maximum value of the output data 730E does not reach the threshold value 723E (that is, when the amount of change in the output value is smaller than a predetermined amount), the wear of the working claw 200E progresses, and the wear detection system It can be determined that it is time to replace the working claw 200E.

A graph 740E shown in (C) of FIG. 10 is a graph showing changes over time in the output data 730E output by the first sensor 300E. A method of determining that the working claw 200E has worn out (or a method of determining when to replace the working claw 200E) by the wear detection system according to the present embodiment will be described with reference to FIG. 10C.

The first period 741E is the output data 730E when working with the working claw 200E in a nearly new state. In the first period 741E, the load that the working claw 200E receives from the field is relatively large, so the maximum value of the output data 730E exceeds the threshold value 723E (that is, the amount of change in the output value is greater than the predetermined amount). . Here, the first period 741E is a period indicating that the working claw 200E is almost new, and can be set as a period during which the maximum value of the output data 730E is not decreased with time. The first period 741E may be a period within a predetermined period (for example, one week) or within a predetermined working time period (for example, 48 hours) after the working claw 200E is replaced with a new one. The first period 741E may be set automatically as described above, or may be a period specified by the user.

When the number of operations using the working claw 200E increases and the working claw 200E wears, the load received by the working claw 200E from the field decreases. 2 periods 743E). Then, when the wear of the working claw 200E further progresses and the maximum value of the output data 730E falls below the threshold value 723E (that is, in the third period 745E, the amount of change in the output value becomes smaller than the predetermined amount). ), the wear detection system described above determines that the working pawl 200E has worn.

Here, the threshold value 723E may be a preset value or a value determined based on the output data 730E of the first period 741E.

If the threshold 723E is a preset value, the user can set the threshold 723E. In this case, the threshold value 723E may have a reference value, and the threshold value 723E may be set by the user adjusting the reference value up or down. For example, providing an interface that allows the user to select field hardness, field area, field type (e.g., paddy or upland), or crop type, and threshold G.723E may be adjusted automatically. For example, the agricultural implement 100E or the work claw 200E may have a GPS function, and the threshold value 723E suitable for the area may be automatically adjusted based on the position information obtained by the GPS function. The threshold value 723E is automatically adjusted based on both information selected by the user (eg, field hardness, field type, crop type) and location information obtained by the GPS function. may

When the threshold value 723E is determined based on the output data 730E of the first period 741E, for example, a value obtained by multiplying the average value of the maximum values of the output data 730E measured during the first period 741E by a constant multiplier. , or the median of the maximum values of the output data 730E can be used as the threshold 723E. The multiplier used to calculate the threshold value 723E may be a constant value and is based on a statistic of the maxima of the output data 730E for the first time period 741E (e.g., based on the standard deviation of the maxima). It may be a value that varies with time.

The wear detection system determines that working claw 200E has worn when output data 730E falls below threshold 723E. When making this determination, it may be determined that the working claw 200E has been worn when the output data 730E has fallen below the threshold value 723E a certain number of times or more so as not to be affected by sudden abnormal values. Alternatively, it may be determined that the working claw 200E is worn when the output data 730E, its average value, or its median value in a certain period of time is below the threshold value 723E. The certain period of time may be, for example, a period from when the agricultural work machine 100 is started until it is stopped, or may be a predetermined working time.

In the above description, the detection of wear of working claws when a pressure sensor is used as the sensor has been described, but the same technique as described above can be used when a strain sensor is used instead of the pressure sensor.

<First embodiment>
[Example using a strain sensor]
11A and 11B are graphs showing experimental results of measuring the distortion generated in the working claw during work using the holder type working claw according to one embodiment of the present invention. A working claw 200F shown in FIG. 11 is a working claw provided with only the second sensor 400B among the working claws 200B shown in FIG. FIG. 11A is a photograph of the working claw 200F in a new state, and FIG. 11B is a photograph of the working claw 200F in a worn state. A second sensor 400F is provided near the boundary between the mounting base portion 210F of the working claw 200F and the vertical blade portion 220F. In this embodiment, a strain sensor is used as the second sensor 400F. A wiring 420F is connected to the second sensor 400F, and the second sensor 400F is covered with a protective member 430F.

(C) of FIG. 11 is actual measurement data of the output data 730F (strain value) output by the second sensor 400F, and (D) is actual measurement values showing the maximum values of the output data 730F under each condition. FIG. 11C plots output data 730F measured under four conditions. A thin solid line represents actual measurement data when a new working claw 200F was used to work on a hard field. The thick solid line is actual measurement data when a new working claw 200F was used to work on a soft field. The thin dotted line is actual measurement data when the working claw 200F in a worn state was used to work on a hard field. The thick dotted line is actual measurement data when the work claw 200F in a worn state was used to work on a soft field.

The result of extracting the maximum value of these measured data is the measured value of (D). As shown in (D), regardless of whether the field is hard or soft, the actual measurement value when the working claw 200F is worn is smaller than the actual measurement value when the working claw 200F is new. For example, if the field is hard, the strain value of the wear product output by the second sensor 400F is approximately 83% of the strain value of the new product. When the field is soft, the strain value of the wear product output by the second sensor 400F is about 79% of the strain value of the new product. For example, in the wear detection system described above, it may be determined that the working claw 200F has worn when the strain value is less than 85% of that of a new one. Thus, it is possible to detect that the working claw 200F is worn based on the strain value generated in the working claw 200F.

As described above, according to the working claw 200F according to the present embodiment, the second sensor 400F is used to measure the change over time in the magnitude of the load applied to the working claw 200F during work, thereby reducing wear of the working claw. degree can be evaluated.

As described above, the present invention has been described with reference to the drawings, but the present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the scope of the present invention. For example, based on the working claws of the present embodiment, additions, deletions, or design changes made by those skilled in the art as appropriate are also included in the scope of the present invention as long as they have the gist of the present invention. Furthermore, the embodiments described above can be appropriately combined as long as there is no contradiction, and technical matters common to each embodiment are included in each embodiment without explicit description.

Even if there are other effects that are different from the effects brought about by the aspects of each embodiment described above, those that are obvious from the description of this specification or those that can be easily predicted by those skilled in the art are of course It is understood that it is provided by the present invention.

100: Agricultural Machine 105: Chain Case 110: Frame 120: Shield Cover 130: Apron 132: Leveling Board 134: Extension Leveling Board 135: Top Mast 136: Lower Link Connection Portion 137: PIC Shaft , 140: Side plate, 150: Tillage rotor, 160: Connection part, 170: Control device, 180: Claw shaft, 190: Holder, 191: Recess, 193: Opening, 195B: Opening end, 197B: Side wall, 199B: Open end 200: Working claw 201: Curved inner surface 203: Curved outer surface 210: Mounting base 215: Through hole 220: Vertical blade 230: Horizontal blade 240: Top of head 250: Blade edge 260: Peak edge 270: Blade surface 300: First sensor 400: Second sensor 420F: Wiring 430F: Protective member 500: Fixed member 500C-1: First fixed member 500C-2: second fixing member 501A: bolt 501D-1: end 503A: nut 600A: flange 610A: mounting portion 611C: end 615A: through hole 620A: protrusion 700E: Graph 710E: Horizontal axis 711E: Maximum load point 720E: Vertical axis 721: Initial value 723E: Threshold value 730E: Output data 740E: Graph 741E: First period R: Radial direction T : Thrust direction, W: Arrow

Claims (6)

A working claw held by a holding member provided on an agricultural implement and provided with a sensor,
the holding member includes a flange provided on a pawl shaft for rotating the working pawl and to which the working pawl can be attached;
The sensor is a working claw provided between the flange and the working claw. The flange is
a mounting portion for mounting the working claw;
a protruding portion protruding from the mounting portion toward the side where the working claw is provided with respect to the mounting portion;
has
The working claw according to claim 1 , wherein the sensor is provided between the protrusion and the working claw. A working claw held by a holding member provided on an agricultural implement and provided with a sensor,
The holding member includes a detachable fixing member that fixes the working claw to a claw shaft that rotates the working claw,
The sensor is a working claw provided between the fixed member and the working claw. A working claw held by a holding member provided on an agricultural implement and provided with a sensor,
the sensors include a first sensor and a second sensor;
The first sensor is provided between the holding member and the working claw in a rotation direction about a claw shaft that rotates the working claw,
The second sensor is a working claw provided between the holding member and the working claw in the longitudinal direction of a claw shaft that rotates the working claw. A working claw attached to an agricultural machine,
A working claw provided with a sensor at a portion where distortion of the working claw caused by a load applied to the working claw is larger than that of other portions. The working claw is supported by a first fulcrum and a second fulcrum of a holding member provided on the agricultural working machine,
The first fulcrum is positioned closer to the distal end of the working claw than the second fulcrum,
The working claw according to claim 5 , wherein the sensor is provided closer to the tip of the working claw than the first fulcrum.

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