JP7373198B2 - agricultural machinery - Google Patents

Description

The present invention relates to an agricultural working machine and a working method using the agricultural working machine, and more particularly to a puddling working machine which is an agricultural working machine, and a working method using the agricultural working machine.

As a device for performing puddling work, a mechanism thereof is disclosed, for example, in Patent Document 1 "Agricultural Machine". Patent Document 1 describes an apron for leveling tilled soil by a rotary work unit, and a potentiometer that detects the rotation angle of this apron. Information corresponding to the rotation angle of the apron detected by a potentiometer can be transmitted, and this information can be transmitted. A farming machine is shown that is equipped with a plowing depth display device that displays indicators indicating a plurality of different plowing depths depending on the plowing depth. According to this, muddy water and mud do not adhere to the plowing depth display section, and the operator can confirm the indicator indicating the plowing depth.

In addition, Patent Document 2 discloses that although the working machine has almost the same form as that of Patent Document 1, it detects the rotation of an apron or a leveler, uses this detected result to determine the state of the field, and the result of the determination is is displayed on the monitor.

JP 2017-23054 Publication JP2019-88204A

In plowing work, it is desirable that the operator determines plowing conditions such as plowing depth and plowing speed, depending on the state of the soil after leveling, and then executes the plowing work. In particular, it is not easy for even an expert to instantly visually judge the state of the soil after it has been tilled and leveled.
As in Patent Document 1, by detecting the vertical movement of a soil leveling unit called an apron and displaying the detection results on a display device, it is possible to determine the plowing depth with respect to the leveling surface. However, depending on the moisture content and soil quality of the field where plowing is performed, it is difficult to accurately determine the plowing depth, and it is not possible to judge the soil condition, such as the degree of crushing of the soil clods after plowing and leveling.

The method of determining the field state as described in Patent Document 2 "Display method" is obtained by determining the rotational state of the apron and leveler as ground contact members installed on the ground surface, It does not directly measure conditions underground.
It is absolutely necessary for an operator to confirm whether or not the soil clods are actually crushed, and there is a demand for direct mechanical determination of soil conditions such as the degree of crushing.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an agricultural machine capable of mechanically determining soil conditions such as the degree of crushing of soil after tilling.

This invention is
Cultivating body and
a rake body located behind the cultivating body and rotatable in the vertical direction;
a control unit capable of determining a rotation angle of the rake body;
equipped with
The rake body includes a rotatable base member;
a plurality of rod-shaped members fixed to the base member at one end and groundable at the other end, arranged at intervals in the width direction of the traveling direction, and rotatable integrally with the base member; ,
an elastic member capable of biasing the base member and the rod-shaped member in the advancing direction;
Behind the rake body, a second rake body that plows the soil clod that has passed through the rod-shaped member into the soil;
A farm machine characterized by being equipped with
Pertains to.

This invention further includes:
a sensor capable of detecting the rotation angle and transmitting the detected value to the control unit as a detection signal;
The control unit receives the detection signal and includes a calculation unit capable of performing a comparison calculation between a predetermined value and a value included in the detection signal;
The control unit is capable of deriving a determination result based on the comparison calculation, selecting an operation to be executed based on the determination result, and transmitting an operation signal for executing the operation;
A farm machine characterized by being equipped with
Pertains to.

This invention further includes:
The rake body is located behind the tilling body and between a soil leveling body that is rotatable in the vertical direction and the tilling body, and is provided so as to be rotatable with respect to the soil leveling body,
The sensor is arranged at a position sandwiching the ground leveling body with respect to the rake body,
A farm machine characterized by
Pertains to.

This invention further includes:
If the rake body is pushed significantly backwards, it is determined that the water content is low.
A farm machine characterized by
Pertains to.

This invention further includes:
If the rake body is pushed moderately without pushing backwards too much, it is judged that the moisture mixing with the soil is appropriate.
A farm machine characterized by
Pertains to.

This invention further includes:
If the rake body moves forward, it is determined that the soil contains a large amount of moisture.
A farm machine characterized by
Pertains to.

The present invention provides a plowing agricultural machine that is capable of mechanically determining soil conditions such as the degree of crushing of soil after tilling.

FIG. 1 is a front view of an agricultural machine according to an embodiment of the invention. FIG. 1 is a plan view of an agricultural machine according to an embodiment of the present invention. FIG. 2 is a partially enlarged view of the agricultural machine according to the embodiment of the present invention, viewed diagonally from above in the traveling direction of FIG. 1; FIG. 1 is a partially enlarged front view of an agricultural machine according to an embodiment of the present invention. FIG. 1 is a partially enlarged side view of the agricultural machine according to the embodiment of the present invention, seen from the front in the direction of travel. FIG. 2 is an explanatory diagram showing the operation (lower limit position) of the agricultural machine rake body according to the embodiment of the present invention. FIG. 2 is an explanatory diagram showing the operation (upper limit position) of the agricultural machine rake body according to the embodiment of the present invention. FIG. 1 is a block diagram of an agricultural machine according to an embodiment of the present invention. FIG. 3 is an operation flow diagram of the agricultural machine according to the embodiment of the present invention. FIG. 3 is a breakdown diagram of determination results and operations based on the determination results according to the embodiment of the present invention.

An example of implementation of this invention will be described based on FIGS. 1 to 10.
A is a plowing machine which is an agricultural machine. B is a tractor which is a traveling body.
1 is a traveling device. The traveling device 1 consists of tires and the like, and is attached to the traveling body B.
2 is a frame portion of agricultural working machine A, which is a puddling working machine.

8 is a mounting part.
20 is a quick hitch frame.
10 is a top link that is a lifting device, and 11 is a lower link that is a lifting device. The top link 10 (elevating device) and the lower link 11 (elevating device) constitute a three-point link mechanism.

As shown in FIG. 1, an agricultural machine A is connected to a three-point link mechanism, which is an elevating link provided at the rear of a tractor B, which is a traveling machine. The connection is made via a quick hitch frame 20 that constitutes a mounting section 8 located at the front of a frame section 2 provided on the agricultural machine A. The agricultural machine A is movable up and down by a three-point linkage mechanism, and is driven by acquiring power output from the tractor B side from a PTO shaft P, which is the output shaft of the tractor B.

The quick hitch frame 20 is located at the front of the agricultural machine A and at the center in the left and right direction of movement. A top link pin 81 at the center of the upper part and a pair of lower link pins 80 located on the left and right sides below the top link pin 81 provide quick access to the top link 10 (elevating device) and lower link 11 (elevating device) that constitute a three-point link mechanism. The hitch frames 20 are connected.
21 is the top mast. The top mast 21 protrudes upward and forward from the center portion of the frame portion 2 in the left and right directions of movement.

22 is a lower mast. The lower mast 22 protrudes downward and forward from each of the left and right sides of the center portion with respect to the left and right sides of the frame portion 2 in the traveling direction.
The agricultural machine A is attached to the tractor B by engaging the quick hitch frame 20 with the top mast 21 and the lower mast 22. Although not shown, by omitting the quick hitch frame 20 and engaging the top link 10 and lower link 11, which are three-point link mechanisms, with the top mast 21 and lower mast 22, the agricultural machine A can be connected to the tractor B. It may be worn.

31 is a transmission section.
The transmission section 31 is provided at the center of the frame section 2 in the left and right directions of movement. An input shaft 32 is provided protruding forward from the transmission section 31. The input shaft 32 is connected to the PTO shaft P, which is the output shaft of the tractor B, through the universal joint 12, and receives power from the tractor B side.

2 is a frame portion. The frame portion 2 holds the entire agricultural machine A. The frame section 2 includes a transmission section 31, a pipe 33, a transmission section 51, and a support frame 52. The pipes 33 protrude leftward or rightward from the left and right side surfaces of the transmission section 31 in the direction of movement.
At one end of the pipe 33 on either the left or right side of the pipe 33 protruding from the transmission section 31, there is provided a transmission section 51 in the form of a case directed downward. A support frame 52 is provided at the end of the pipe 33 on the other side and is arranged facing downward.

6 is a cultivating body. The tilling body 6 consists of a tilling rotor. 61 is a tiller claw.
60 is a rotor shaft. The rotor shaft 60 is rotatably supported and disposed between the lower end of the transmission section 51 and the lower end of a support frame (not shown).
A large number of tilling claws 61 are attached to the rotor shaft 60 at regular intervals radially to form the tilling body 6. As shown in FIG. 1, the tiller 6 is rotated counterclockwise so that the front side, which is the uncultivated land side, is cut down, but there are no limitations on the orientation or rotation direction of the tiller claws 61.

The power input from the input shaft 32 of the transmission section 31 is decelerated by a gear installed in the transmission section 31, and is transmitted to the transmission section by an output shaft (not shown) passing through a pipe 33 protruding from one side of the left and right sides. 51. A roller chain (see Fig. (not shown), power is transmitted to the rotor shaft 60, and the rotor shaft 60 can be rotationally driven.

The support portions at both ends of the rotor shaft 60 are rotatably supported by bearings. An oil supply port is provided in the upper part of the transmission part 51, and the roller chain and bearings are lubricated with the supplied lubricating oil.

7 is a cover body. The cover body 7 is provided above the tiller 6 and is spaced apart from the tiller 6 along the outer circumferential edge of the rotation of the tiller claws 61 . The cover body 7 covers the upper part of the cultivating body 6. The cover body 7 prevents the soil cultivated by the tiller 6 from scattering upward, and also assists in improving the performance of soil crushing and land leveling. The cover body 7 is disposed so as to span the upper and lower center portions of the transmission portion 51 and the support frame 52, respectively.

4 is a leveling body. The ground leveling body 4 has a plate shape. The earth leveling body 4 includes a first leveling body 40 and a second leveling body 41.
A ground leveling body 4 is provided at the rear part of the tilling body 6 and the rear part of the cover body 7. The earth leveling body 4 includes a first earth leveling body 40 whose front end side is connected to the rear end of the cover body 7 so as to be rotatable in the vertical direction, and a first earth leveling body 40 whose front end side is connected to the rear end of the first earth leveling body 40 so as to be rotatable in the vertical direction. It is composed of a second ground leveling body 41 that is movably provided. The land leveling body 4 receives the soil tilled by the tilling body 6 and scattering to the rear side, and leveling the land after tilling by moving forward with the surface of the land leveling body 4 on the side of the tilling body 6 in contact with the soil. I do.

The left and right widths of the first earth leveling body 40 and the second earth leveling body 41 are set to be approximately the same as or slightly longer than the cover body 7. By setting in this way, the tilling body 6 can level the soil after tilling without leaking.

A rotation fulcrum 43 of the first earth leveling body 40 is provided at the rear end portion of the cover body 7, and the axial direction of the first earth leveling body 40 is oriented in the horizontal direction perpendicular to the traveling direction. By attaching the front end portion of the first earth leveling body 40 to the rotation fulcrum 43, the rear part of the first earth leveling body 40 can freely rotate in the vertical direction.
A second earth leveling body 41 is connected to the rear end portion of the first earth leveling body 40 . The second earth leveling body 41 has a front end held by a rotation fulcrum 45 of the second earth leveling body provided at the rear end of the first earth leveling body 40 and oriented in the horizontal direction perpendicular to the traveling direction, and the rear side thereof is Provided to be freely rotatable in the vertical direction.

During work, the first soil leveling body 40 is tilted downward and diagonally backward from the rear end of the cover body 7, and receives the mud that has been tilled by the tiller 6 and thrown backward, and the soil is slanted downward from the rear end of the cover body 7 to the rear side. As tractor B moves forward, the piled up mud is pressed down and leveled.
The second earth leveling body 41 during plowing and leveling work maintains the contact surface in a substantially horizontal state and further presses the surface leveled by the first earth leveling body 40 to level the ground.

A connecting part cover (not shown) cantilevered toward the rear side from the cover body 7 may be provided below the rotation fulcrum 43 of the first earth leveling body 40 at the rear end of the cover body 7. good. The connecting part cover is a plate-shaped elastic body that is long in the left and right direction, and the soil or mud thrown up by the tiller 6 serves as a rotation fulcrum which is the connecting part between the first land leveling body 40 and the cover body 7. 43 to prevent it from jumping out, and also guides soil or mud backwards.

42 is a rake body.
The power acquired from the tractor B, which is a traveling machine, is transmitted to the tilling body 6, which is a tilling rotor, and the tilling body 6 is rotationally driven to till or crush the soil. The plowed or crushed soil is leveled by a leveling body 4, and foreign matter floating on the soil surface is buried by a rake body 42 provided on the leveling body 4. Agricultural machine A is used to level the ground by plowing or crushing the soil during plowing work. In the description of this embodiment, the left side in FIGS. 1 and 2 is assumed to be the front side in the direction of travel, and the right side in the figures is assumed to be the rear side.

The rake body 42 includes a first rake body 420 and a second rake body 421.
A rake body 42 is provided on the surface of the first earth leveling body 40 on the tilling body 6 side. As shown in FIG. 5, the rake body 42 has rod-shaped members 423 and 425, each of which has a first rake body 420 and a second rake body 421, which extend in the traveling direction, at a predetermined interval in the left-right direction with respect to the traveling direction. There are multiple locations.

The first rake body 420 includes a rod-shaped member 423, a base member 424, and an elastic member 44.
The base member 424 illustrated in FIG. 5 is a plate-like member that is rotatable at the front end of the first earth leveling body 40 and is long in the left-right direction. In the embodiment described, the pivot point of the base member 424 is provided coaxially with the pivot point 43. A plurality of rod-shaped members 423 are provided, one end of which is fixed to the base portion 424 material, and the other end of which is grounded, and are spaced apart from each other in the width direction of the traveling direction. The rod-shaped member 423 is rotatable integrally with the base member 424.
The elastic member 44 can bias the base member 424 and the rod-shaped member 423 in the traveling direction. The elastic member 44 is located above the front part of the first earth leveling body 40, and can avoid adhesion due to scattering of tilled soil and the like.
The rake body 42 is located behind the tilling body 6 and between the soil leveling body 4 and the tilling body 6, which are rotatable in the vertical direction, and is provided so as to be rotatable with respect to the soil leveling body 4.

The first rake body 420 is provided with a rod-shaped member 423 facing in the traveling direction from the front part of the first earth leveling body 40 to the rear end side of the first earth leveling body 40 . The front end portions of the plurality of rod-shaped members 423 are integrally provided by a base member 424 extending left and right in the direction of movement. In the embodiment, a plurality of first rake bodies 420 are provided side by side on the tilling body 6 side of the first earth leveling body 40 in the left and right direction of travel, but they may be provided as a single unit.
The second rake body 421 is located at the rear end of the first rake body 420 and is attached to the rear end of the first earth leveling body 40 . A rod-shaped member 425 constituting the is positioned. The rod-shaped member 425 constituting the second rake body 421 has a substantially M-shape as shown in FIG. The rod-shaped member 425 has a shorter distance in the front-rear direction than the first rake body 420.
The rod-shaped member 425 constituting the second rake body 421 plows and pushes the soil clod (large) W1 and the soil clod (small) W2 that have passed through the rod-shaped member 423 constituting the first rake body 420 into the soil.

The front end of the first rake body 420 is attached with a rotation boss 426 that is a rotation axis of the first rake body 420 coaxially with the rotation fulcrum 43 of the first earth leveling body 40 . Since the rotation boss 426 and the base member 424 are integrated, the first rake body 420 can be rotated up and down with respect to the first earth leveling body 40 on the same axis as the first earth leveling body 40 by the rotation boss 426. The rear part of the first rake body 420 can freely move toward and away from the rear part of the first earth leveling body 40.

The first rake body 420 has an arm portion 422 that projects upward from the rear side of the rotation boss 426 at the front end. The arm portion 422 is a vertically long belt-like member, and rotates around a rotation boss 426 together with a rod-like member 423 and a base member 424 .
The arm portions 422 shown in this embodiment are band-shaped members, and are provided at two locations on each of the left and right ends of the first rake body 420, but there are no limitations on the shape or the number of arm portions provided. The end portion of the arm portion 422 protrudes toward the upper surface side of the first earth leveling body 40, and the end portion is bent rearward. The bent surface of the base member 424 is provided substantially parallel to the upper surface on the front side of the first earth leveling body 40.

A hole 427 is provided at the tip of the arm portion 422, as shown in FIG. 4, and the positioning member 403 passes through the hole 427. In this embodiment, the positioning member 403 employs a bolt. One end side of the positioning member 403 is inserted into a nut 404 fixed to the tilling body 6 side of the first earth leveling body 40 .
The positioning member 403 is provided substantially perpendicularly to the front upper surface of the first earth leveling body 40 . The bolt head, which is the other end of the positioning member 403, is located above the front upper surface of the first earth leveling body 40 and above the hole 427 at the tip of the arm portion 422.

As shown in FIG. 4, a compression spring, which is an elastic member 44, is arranged around the positioning member 403. Both ends of the elastic member 44 are arranged between the bolt head, which is the other end of the positioning member 403, and the upper surface of the tip of the arm portion 422. The elastic member 44 is sandwiched between the shaft portion of the positioning member 403, the lower surface of the bolt head, and the arm portion 422. With this configuration, the first rake body 420 can be attached while being biased by the elastic member 44 in a direction away from the first earth leveling body 40, that is, toward the cultivating body 6 side. Become.

As shown in FIG. 6, when the first rake body 420 is in the direction away from the first earth leveling body 40, the surface of the tip located at the top of the arm part 422 is approximately the same as the top surface of the first earth leveling body 40. are set parallel. Thereafter, when the first rake body 420 is pressed upward by the soil and mud, it rotates upward. At the end of the rotation, as shown in FIG. 7, the rear end of the first rake body 420 comes into contact with the rear end of the first earth leveling body 40, and the rotation stops. In this state, the arm portion 422 is relatively lifted from the upper surface of the first earth leveling body 40, so that the elastic member 44 can be moved between the tip of the arm portion 422 and the other end of the positioning member 403. Compress.

The positioning member 403 attached with a screw can finely adjust the repulsive force of the elastic member 44 by adjusting the screwing position. The biasing force of the first rake body 420 biased by the elastic member 44 can also be finely adjusted. As a result, the biasing force of the first rake body 420 can be finely adjusted to any biasing force according to the operator's preference or soil conditions by operating the positioning member 403 on the upper surface side of the first earth leveling body 40. It's easy to do.
The first rake body 420 is always urged toward the lower limit of rotation by the elastic member 44 . Due to this biasing, the first rake body 420 buried in the soil does not continue to rotate toward the upper limit side due to running. The first rake body 420 is urged toward the lower limit of rotation by the elastic member 44, so as the aircraft advances, it comes into contact with clods of soil W1, W2, etc. in the soil, and when pressed backward, it rotates. I can do it. By using the presence or absence of rotation of the first rake body 420, clods W1, W2, etc. in the soil can be detected.

The second rake body 421 has a front part attached to the rear part of the first earth leveling body 40 and is provided so as to face rearward and protrude downward from the leveling surface of the first earth leveling body 40 . In this embodiment, the second rake body 421 is formed of a member having a smaller diameter than the first rake body 420, and can be bent by its own elastic force. Further, the rod-shaped members 425 constituting the second rake body 421 are arranged between the left and right sides of the rod-shaped members 423 of the first rake body 420, which are provided in plural numbers spaced apart in the left-right direction.

The rake body 42 is located behind the tilling body 6, which is a tilling rotor, and is rotatable in the vertical direction.
The rake body 42 is used to push and bury foreign matter such as rice straw in the muddy soil tilled and crushed by the tiller 6 at the same time as leveling the land, and in the working state, it has an inclined posture with the front side being high and the rear side being low. It has become. By moving forward, foreign matter caught in front can be guided up the slope into the soil and buried.

Only the first rake body 420 is arranged on the front side of the first earth leveling body 40, and the bar-shaped member 423 separates the rake body 42 composed of the first rake body 420 and the second rake body 421 from each other in the left-right direction. It is relatively wide on the rear side. On the rear side of the first rake body 420 (rake body 42), the rod-shaped member 425 constituting the second rake body 421 is located between the rod-shaped members 423 constituting the first rake body 420, so that the rod-shaped member 423, 425 is in a state where the interval in the left and right direction is narrow. Therefore, the mud is filtered out on the front side of the first rake body 420, and is separated into water, soil, and impurities.

When the first rake body 420 (rake body 42) guides foreign matter to the rear, the rod-shaped member 425 constituting the second rake body 421 located at the rear and the rod-shaped member 423 of the first rake body 420 create an interval on the rear side. can be narrowed to push foreign matter upward from the rake body 42 to prevent it from escaping.
The centers of rotation axes of the first rake body 420 and the first earth leveling body 40 are coaxial, and the elastic member 44 applying a biasing force to the first rake body 420 is located on the front upper surface of the first earth leveling body 40. , the pushing pressure of the first rake body 420 does not change even if the tillage depth changes and the angle of the first earth leveling body 40 changes.

As shown in FIG. 1, FIG. 4, FIG. 6, and FIG. When in contact with each other, the first rake body 420 has a shape that bulges outward in a chevron shape so that a space is formed from the front of the first rake body 420 to the upper part of the middle part. Thereby, the action of filtering out mud on the front side of the first rake body 420 can be promoted.

The rear end portions of the first rake body 420 and the second rake body 421 are located on the rear side of the leveling surface of the rear end of the first earth leveling body 40 and in front of the leveling surface of the second earth leveling body 41. It is provided. With this configuration, the foreign matter pushed into the soil by the rake body 42 is suppressed by the second earth leveling body 41 before it floats up, and the foreign matter can be reliably buried.

The sensor 93 is disposed above the ground leveling body 4 at a position across the ground leveling body 4 from the rake body 42. The sensor 93 is capable of detecting the rotation angle of the first rake body 420 and transmitting the detected value as a detection signal to the control unit 101 described later.
The sensor 93 in the embodiment of the present invention uses a potentiometer that is a displacement sensor, and the control unit 101 recognizes the rotation angle of the rake body 42 by detecting the potential difference. This sensor 93 may be of any detection method, type, etc. as long as it can detect the rotation angle, rotation phase, movement distance, etc.

91 is a detection arm, 92 is a pin, and 93 is a sensor. As shown in FIGS. 3 and 4, the detection arm 91 is a band-shaped member extending rearward from the sensor 93, and protrudes so as to be rotatable up and down with the sensor 93 as an axis. A long hole 94 is provided along the longitudinal direction from the center of the detection arm 91 to the rear.
The pin 92 is provided on the arm portion 422 , protrudes from the arm portion 422 side in the width direction with respect to the traveling direction toward the detection arm 91 , and is fitted into a long hole 94 provided on the detection arm 91 . Therefore, as the arm portion 422 moves, the pin 92 moves through the elongated hole 94 and rotates the detection arm 91 up and down. The sensor 93 detects the rotation of the first rake body 420, which is the movement of the rake body 42, by detecting the movement of the detection arm 91.

The rake body 42 has a plurality of rod-shaped members 423 disposed at intervals in the left-right direction on a widthwise long base member 424 near the rotation fulcrum 43 by the first rake body 420. The member 423 can rotate integrally. Further, in the embodiment of the present invention, the first rake body 420 is divided into two parts and arranged in the earth leveling body 4, but there is no limitation on the number of rake bodies 42 arranged per one earth leveling body.
If at least one sensor 93 for detecting the rotation of the rake body 42 can be arranged for each agricultural machine A, the finished state of that part can be determined, and the structure of the device can be simplified. Of course, a sensor 93 may be arranged for each number of rake bodies 42 arranged. In this case, the detected finish status can be detected with higher accuracy.

The block diagram showing the information transmission relationship shown in FIG. 8 will be explained.
The traveling body B includes an operation section, an alarm device, and a display device. The operation unit is provided in the driver's seat of the traveling aircraft B. Furthermore, the traveling machine body B or the agricultural working machine A has a working machine control section 101 (control section) and a traveling machine body control section (control section). In the embodiment, the traveling machine body control section (control section) is arranged in the traveling machine body B, and the working machine control section 101 (control section) is arranged in the agricultural working machine A, respectively. The working machine control unit 101 (control unit) included in the agricultural working machine A also includes an operation unit, an alarm device, and a display device, similarly to the traveling machine B.

In the embodiment of the present invention, the alarm device is simply indicated by whether or not it sounds, but other specific examples include a buzzer sound that includes a change in musical scale, and a guidance sound that includes a language. . Regarding implementation, there is no limitation on the notification format as long as the worker can correctly recognize the information by hearing.
In this embodiment, the display device is described as displaying in color, but graphic display or language display may be used, and there is no limitation on the display format as long as the operator can correctly visually recognize the display device.
The display device and the alarm device may be disposed on at least one of the traveling machine B side or the agricultural machine A side, or may be operable.

As illustrated in FIG. 8, the work machine control section 101 (control section) is provided with a communication processing section, a calculation section, an operation processing section, and a storage section. Further, the work machine control unit 101 (control unit) is connected to the sensor 93 and can receive a detection signal that is rotation information of the first rake body 420 detected by the sensor 93. Further, the work equipment control unit 101 (control unit) is connected to the operation unit, alarm device, and display device included in the agricultural work machine A, and is used to operate the work equipment control unit 101 and obtain information. I can do it. The traveling body control section (control section) is provided with a communication processing section and an operation instruction section.
The communication processing unit provided in the traveling machine control unit (control unit) processes the information input from the operation unit, alarm device, and display device provided in the traveling machine B, and processes the information inputted from the operating unit, the alarm device, and the display device provided in the traveling machine body B. The information can be transmitted to the work machine control unit 101 (control unit) shown in FIG.

The traveling machine control section (control section) communicates and connects with the working machine control section 101 (control section). The communication processing unit of the work equipment control unit 101 (control unit) processes information input from the traveling machine control unit (control unit) so that it can communicate with the communication processing unit of the traveling machine control unit (control unit). do.
The traveling body control section (control section) is installed near the cockpit of the traveling body B, and is provided so as to be able to communicate with the working machine control section 101 (control section) provided in the agricultural working machine A shown in FIG.
The operating unit, alarm device, and display device on the traveling aircraft side are connected to the traveling aircraft control unit (control unit).

The work machine control unit 101 receives information detected by the sensor 93 regarding the rotation angle of the first rake body 420 from the sensor 93 as a detection signal. The work equipment control unit 101 (control unit) can receive the detection signal as information, and can also transmit the detection signal as information. The control unit 101 can determine the rotation angle of the rake body 42 based on information that is a detection signal from the sensor 93.
The work equipment control unit 101 determines whether or not to transmit an operation signal based on the information.

A calculation unit provided in the work machine control unit 101 (control unit) performs a comparison calculation based on the information received from the sensor 93. The operation processing section of the working machine control section 101 (control section) performs operation selection processing for giving a predetermined operation command to the traveling machine body B or the agricultural working machine A, based on the obtained calculation result. The motion processing section is capable of selecting a motion to be executed based on the determination result and transmitting a motion signal for executing the motion. An operation signal based on this selection process is processed by the communication processing section and transmitted to the traveling aircraft B.
The storage unit stores the calculation results of the calculation unit.
The work machine control unit 101 (control unit) is connected to an operation unit, an alarm device, and a display device included in the agricultural work machine A.

The operation processing section of the control section 101 transmits an operation signal, which is an operation instruction, to the traveling body B side based on the result of the comparison calculation.
The operation signal transmitted from the control section 101 of the agricultural machine A can be received by the traveling body control section of the traveling machine B, and the traveling machine B, which has received the operation signal from the control section 101, operates based on the operation signal. The operation of the traveling body B can be controlled by Further, based on the operation signal issued from the control unit 101, the operation of the display device and the alarm device included in the agricultural machine A can be controlled.

The work machine control unit 101 (control unit) is capable of selecting an operation for giving a predetermined operation command to the agricultural work machine A or the traveling machine B based on the calculation result obtained by the calculation unit. , is provided with an operation processing unit shown in FIG. 8 which is capable of transmitting an operation signal to the traveling body B based on the selection process.

The calculation unit provided in the work machine control unit 101 (control unit) shown in FIG. 2 performs calculation and measurement, and outputs the acquired value. The arithmetic unit stores a value stored in the storage unit based on a predetermined set rotation amount, which is a value stored in the storage unit, and a detection signal detected for the rotation angle, which is the rotation amount input from the sensor 90. The detected value X is compared and calculated. Furthermore, the calculation unit derives a determination result based on the comparison calculation. The input rotation angle is a value included in the detection signal and is an acquired value.

FIG. 10 is a breakdown of the operations that each device should perform based on the determination result of the amount of rotation of the rake body 42 obtained as a result of the comparison calculation in the calculation section.
In this embodiment, the operation processing section selects an operation instruction based on the first to third determination results so that each device performs an operation corresponding to the determination result.

For example, if the amount of rotation of the rake body 42 is large, this is determined as the first determination result, and the tilled soil is determined to have a rough finish. Based on the first determination result, the display device displays a blue color and the alarm device sounds.
If the amount of rotation of the rake body 42 is moderate, it is determined as a second determination result, and the tilled soil is determined to have a good finish.
Based on the second determination result, the display device displays green and the alarm device does not sound.

If the amount of rotation of the rake body 42 is small or if there is no rotation, it is determined as a third determination result that the tilled soil is too finely finished or that the rake body 42 is not installed. Based on the third determination result, the display device is displayed in red and the alarm device is sounded. The first to third determination results correspond to the respective operation contents of the display device and the alarm device.

In the described embodiment, the first to third determination results are used, but there is no limit to the number of determination results, and the device to be operated is not limited to the illustrated one.
The operation instruction section of the traveling machine control section outputs the operation instructions, which are received from the working machine control section 101 (control section) through communication and includes the contents to be operated by the traveling machine B side, to the alarm device and the display device. Alternatively, the work machine control unit 101 (control unit) outputs an operation instruction consisting of the contents to be operated selected by the operation processing unit to the alarm device and display device of the agricultural work machine A.

When the traveling body B is moved forward with the other end of the rake body 42 penetrating into the ground, the rake body 42 comes into contact with the large earth clod W1 and the small earth clod W2 existing underground. The finish of the soil can be determined by the degree of pressure applied to the rake body 42 by the large clod W1 and the small clod W2. In the embodiment of the present invention, the finish of soil is an index indicating the degree of crushing of soil, and is determined based on the size of large clod W1 and small clod W2 after crushing.

The second rake body 421 (rake body 42) has a rod-shaped member 425, which is the ground contacting part, located between the rod-shaped members 425 constituting the first rake body 420 (rake body 42) located in the front. , the large earth clod W1, the small earth clod W2, etc. that have passed between the rod-like members 425 of the rake body 42 can be pushed into the ground.

The rake body 42 is rotatable up and down behind the cultivating body, and in the case of the embodiment, it is provided coaxially with the rotation fulcrum 43 of the earth leveling body 4. Since the rod-shaped member 423 of the first rake body 420 (rake body 42) that is the rake body 42 can be made as long as possible, the sensor 93 can detect the rotation of the tip buried in the soil with higher accuracy. It is possible.

Next, a plowing operation using the agricultural machine A of the present invention will be explained. It is connected to a three-point link mechanism of a tractor, which is the traveling body B, through a lower link pin 80 and a top link pin 81 of the mounting portion 8, and is able to move up and down by the three-point link mechanism of the tractor. Further, the PTO shaft P, which is the output shaft of the tractor, is connected to the input shaft through the universal joint 12, so that power can be input.

In the plowing field, when the tractor B is operated to rotate the tiller 6 and lower the three-point link mechanism, the soil is tilled by the tiller claws 61 of the tiller 6. When the tractor B is driven in this state, the field can be plowed and plowed in sequence. Further, a land leveling body 4 is located behind the tilling body 6, and work is performed while leveling the surface layer of the tilled soil. A rake body 42 is located on the field side of the land leveling body 4, and buries foreign matter in the soil. The first earth leveling body 40 and the first rake body 420 have the function of separating water, soil, and foreign matter from the soil that has been tilled and scattered by the tiller 6. The foreign matter is guided backward by the first rake body 420 and the second rake body 421 and is buried in the soil. Thereafter, the soil and mud can be leveled by the second leveling body 41.

When adjusting the biasing force of the first rake body 420 depending on the state of the soil and mud, an arbitrary biasing force can be applied by the elastic member 44 by rotating and adjusting the positioning member 403. Since the biasing force of the first rake body 420 can be finely adjusted, an appropriate biasing force can be applied to the first rake body 420 for various field conditions, and foreign matter can be prevented from being buried in the soil. can. The surface of mud or soil with foreign matter buried in the soil is free of foreign matter and leveled, making it the ideal field surface for the subsequent planting of seedlings.

In addition, the adjustment of the biasing force of the elastic member 44 to the first rake body 420 by the positioning member 403 is such that even if a plurality of work machines with similar configurations and different working widths are available, the first rake body The pressing force of each rod member 423 when the rod member 420 contacts the soil surface can be made constant. Therefore, in the initial setting at the time of product shipment, the ground pressing force of the first rake body 420 can be made the same even if the working width is different, so that the burying of foreign matter does not change due to a change in the working width.

(Relationship 1 between rake body 42, large clod W1, and small clod W2)
When the soil is crushed with the tiller 6, large clods W1 and small clods W2 may occur depending on the soil, plowing conditions including tillage, etc. In puddling, the soil is plowed with moisture in it, so the soil after plowing is muddy and moist.
As shown in FIG. 7, when the rake body 42 is pushed significantly backward, it will be explained that it is determined that the water content is low or that the soil is not crushed enough and the finish is rough.
What is illustrated in FIG. 7 is a case where there is a large clod W1 on the surface of the tilled soil in the field after the tilling body 6 has passed through.

As shown in FIG. 7, when the large clod W1 is present in the tilled soil, the large clod W1 that has contacted the rake body 42 cannot pass between the rod-shaped members 423 of the rake body 42, so the rake body 42 is moved to the rear side. It becomes a state where there is a big push. Therefore, the working machine control unit 101 (control unit) can determine that the soil after tilling is not sufficiently crushed and is in a rough state. Furthermore, in the puddling process, the viscosity of the mud made from the soil increases because too little water mixes with the soil. Therefore, the collision resistance against the rake body 42 increases, and the rake body 42 is pushed significantly backward, and it can be determined that the water content is low. At this time, the first rake body 420 rotates significantly upward to the extent that it reaches the upper limit of rotation. Then, the sensor 90 detects the detected value X as the amount of rotation is large.

(Relationship 2 between rake body 42, large clod W1, and small clod W2)
A description will be given of how it is determined that the amount of water mixed with the soil is appropriate when the rake body 42 is pushed moderately without being pushed backwards excessively.
When the large clod W1 and the small clod W2 are of appropriate size, while the large clod W1 and the small clod W2 are in contact with and caught on the rake body 42, a moderate amount of the large clod W1 and the small clod W2 are moved between the rod-like members 423 of the rake body 42. Since the small earth clod W2 passes through, the rake body 42 is pushed moderately without being pushed backwards excessively. Therefore, since the rake body 42 is located between the upper limit and the lower limit (not shown), the work machine control unit 101 (control unit) can determine that the soil after tilling is well finished. Further, in the plowing work, the first rake body 420 is pressed appropriately because the moisture in the mud mixed with the soil is appropriate and the viscosity of the mud is appropriate. Therefore, since the rotating rake body 42 is located between the upper limit and the lower limit, the work machine control unit 101 (control unit) can determine that the moisture in the mud mixed with the soil is appropriate.

(Relationship 3 between rake body 42, large clod W1, and small clod W2)
As shown in FIG. 6, when the rake body 42 moves forward, it is determined that the moisture content in the soil is large, or the soil is too crushed and the finished product is too fine. do.
What is illustrated in FIG. 6 is a case where the small soil clod W2 covers the upper part of the large soil clod W1 on the field surface.
If the small clod W2 covers the upper part of the large clod W1 as shown in FIG. Because of this, the resistance pushing the rake body 42 backward is reduced, and the rake body 42 urged by the elastic member 44 moves forward.

Similarly, even when the rake body 42 is not in contact with the ground, the rake body 42 returns completely to the front side. Therefore, if the sensor 90 detects that the amount of rotation of the rake body 42 is small or that there is no upward rotation, and the soil after tilling is too finely finished or is not in contact with the ground, the work machine control The unit 101 (control unit) can make the determination. In addition, during plowing work, since too much moisture mixes with the soil, mud easily passes through the rake body 42, resulting in insufficient force to press the rake body 42, and the amount of rotation of the rake body 42 decreases. . Therefore, the working machine control unit 101 (control unit) can determine that the soil contains a large amount of moisture.

The operation flow illustrated in FIG. 9 will be described.
(1) Detect the amount of rotation.
Here, the amount of movement of the arm portion 422 is sensed by the pin 92 and the detection arm 91, and detected as the amount of rotation by the sensor 93.

(2) Transmit the amount of rotation as a detected value X.
The amount of rotation detected by the sensor 93 is transmitted to the work machine control section 101 (control section).

(3) Compare test values X.
The calculation unit of the work equipment control unit 101 (control unit) calculates the detected value X, which is the amount of rotation, which is the value included in the transmitted detection signal detected by the sensor 93, and a predetermined set amount of rotation. compare.
(4) Select the determination result.
The calculation unit selects the determination result corresponding to the detected value X according to the comparison result.
(5) Send an operation signal based on the determination result.
Based on the determination result derived by the calculation unit, the motion processing section transmits a motion signal that is information on which motion should be performed corresponding to a predetermined motion breakdown.

The determination result shown in FIG. 10 and the details of the operation based on the determination result will be explained.
In the first determination result, the content of the determination is "indicates a rough finish." Regarding the details of the operation, the display device is controlled to "display in blue" and the alarm device is controlled to "sound".

In the second determination result, the content of the determination is "indicates that the finish is good". Regarding the details of the operation, the display device is controlled so that it "displays in green" and the alarm device is controlled so that it "does not ring."

In the third determination result, the content of the determination is that "the finish is too fine or the finish is not in contact with the ground." Regarding the details of the operation, the display device is controlled to "display in red" and the alarm device is controlled to "sound".

The determination results in the embodiment of this invention are divided into first to third results as shown in FIG. 10, but may be further subdivided. In this case, since the display and notification accompanying the rotation of the rake body 42 can be made more detailed, the operator can recognize the rotation state of the rake body 42, that is, the finished state of the soil, with higher precision and in real time. Further, the operator can recognize the display device or alarm device that is activated based on the determination result as long as it is operated on at least one of the agricultural machine A and the traveling machine B. Further, the operation instruction in the traveling body B is not limited to the operation of the display device and alarm device provided in the traveling body B, but may also operate the traveling device 1 and the three-point link mechanism including the top link 10 and the lower link 11. .

With the agricultural machine having the configuration disclosed above, it has become possible to mechanically judge the state of the soil, such as the degree of crushing of the soil after tilling. Furthermore, this determination allows the control unit to control the operations of other devices.
The structure disclosed above is applicable to the present invention, for example, even if the agricultural machine has a structure that can be folded at any part in the working width direction. Further, although it has been described that a plurality of first rake bodies 420 are provided in the first earth leveling body in the working width direction, it is also possible to implement the present invention with just one rake body.

4 Earth leveling body 40 First leveling body 403 Positioning member 41 Second leveling body 42 Rake body 420 First rake body 421 Second rake body 44 Elastic member 6 Tillage body 7 Cover body 93 Sensor A Agricultural working machine (puddling machine)
B Traveling body W1 Large clod of earth W2 Small clod of earth

Claims (6)

Cultivating body and
a rake body located behind the cultivating body and rotatable in the vertical direction;
a control unit capable of determining a rotation angle of the rake body;
equipped with
The rake body includes a rotatable base member;
a plurality of rod-shaped members fixed to the base member at one end and groundable at the other end, arranged at intervals in the width direction of the traveling direction, and rotatable integrally with the base member; ,
an elastic member capable of biasing the base member and the rod-shaped member in the advancing direction;
Behind the rake body, a second rake body that plows the soil clod that has passed through the rod-shaped member into the soil;
An agricultural machine characterized by being equipped with. a sensor capable of detecting the rotation angle and transmitting the detected value to the control unit as a detection signal;
The control unit receives the detection signal and includes a calculation unit capable of performing a comparison calculation between a predetermined value and a value included in the detection signal;
The control unit is capable of deriving a determination result based on the comparison calculation, selecting an operation to be executed based on the determination result, and transmitting an operation signal for executing the operation;
The agricultural machine according to claim 1, further comprising: The rake body is located behind the tilling body and between a soil leveling body that is rotatable in the vertical direction and the tilling body, and is provided so as to be rotatable with respect to the soil leveling body,
The sensor is arranged at a position sandwiching the ground leveling body with respect to the rake body,
The agricultural machine according to claim 2, characterized in that: If the rake body is pushed significantly backwards, it is determined that the water content is low.
The agricultural machine according to any one of claims 1 to 3, characterized in that: If the rake body is pushed moderately without pushing backwards too much, it is judged that the moisture mixing with the soil is appropriate.
The agricultural machine according to any one of claims 1 to 4, characterized in that: If the rake body moves forward, it is determined that the soil contains a large amount of moisture.
The agricultural machine according to any one of claims 1 to 5, characterized in that:

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