JP7438531B2 - agricultural machinery - Google Patents

Description

The present invention relates to an information processing device and an agricultural machine.

Working claws for agricultural machines include tilling claws attached to rotary working machines and plowing claws attached to plowing machines. These working claws come into contact with the field during tilling work or puddling work, and wear gradually progresses. As the wear of the working claws progresses, the throwing ability, reversing ability, or stirring ability of the working claws decreases, and eventually the tilling performance or plowing performance deteriorates, making it impossible to perform the work properly. . For this reason, farm workers regularly check the state of wear on the working claws and promptly replace them when wear has progressed to a certain point.

In order to determine when to replace the working claw, for example, Patent Document 1 describes a technique in which a rib that is visible from both sides is provided at a position along the line after wear that serves as a guide for replacing the working claw. There is.

In addition, while working with agricultural machines, farm workers estimated working conditions such as plowing depth based on visual information or information such as the sound and vibration that the working claws act on the field. It was based on his experience and intuition.

Utility model registration No. 3198032

However, in the case of the technology described in Patent Document 1, the state of wear of the working claws must be visually checked by the farm worker, and if the farmer forgets to check or neglects to check due to the hassle, However, there is a problem in that the timing for replacing the working claw may be missed.

Furthermore, when performing tillage work using a rotary work machine or plowing machine, for example, soil or mud may adhere to the tiller claws. In such a case, the technique described in Patent Document 1 has a problem in that the ribs may not be visible due to the influence of soil or mud, and the state of wear may not be determined.

In addition, the working conditions of farm machines during work must rely on the experience and intuition of the farm worker, and it has been difficult to quantitatively evaluate the state of the work while the farm machine is working.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an information processing device and a farm working machine that can evaluate the state of wear of working claws without visual inspection by a farm worker. Another object of the present invention is to provide an information processing device and a farm work machine that can evaluate the working condition of a field without relying on the experience or intuition of a farm worker.

An information processing device according to an embodiment of the present invention includes a torque value measured in a power transmission unit that transmits power received from a traveling machine body to a claw shaft to which a working claw that acts on a field is attached, and a torque value that is measured A vehicle speed value of the traveling machine body when the vehicle is driven is received, and a state of wear of the working claw is evaluated based on the torque value and the vehicle speed value.

A first torque value that is the torque value in a first state is acquired, and a first torque value that is the torque value in a second state that is later than the first state and in which the working claw has not been replaced from the first state. Two torque values may be acquired, and the state of wear of the working claw may be evaluated based on the first torque value and the second torque value.

An agricultural machine according to an embodiment of the present invention includes a working claw that acts on a field, a claw shaft to which the working claw is attached, and a power transmission section that transmits power received from a traveling machine body to the claw shaft; A sensor that measures the torque value of the power transmission section.

The power transmission unit may further include an input shaft into which power from the traveling aircraft is input, and the sensor may be provided on the input shaft.

The power transmission unit further includes an input shaft to which power from the traveling aircraft is input, and a drive shaft to transmit the power input to the input shaft to the claw shaft, and the sensor is configured to connect the claw shaft to the claw shaft. Alternatively, it may be provided on the drive shaft.

The claw shaft or the drive shaft may have a hollow structure, and the sensor may be provided on an inner wall of the hollow structure.

The claw shaft or the drive shaft has a hollow structure, the sensor is provided on the outer periphery of the claw shaft or the drive shaft, and the wiring connected to the sensor passes through the inside of the hollow structure. , and may be connected to an output device that outputs a sensing signal measured by the sensor to an external device.

The power transmission unit includes an input shaft to which power from the traveling aircraft is input, a drive shaft to which the power input to the input shaft is transmitted, and a winding that transmits the power of the drive shaft to the pawl shaft. The power transmission device may further include a transmission portion and a tensioner that applies tension to the wrapped transmission portion, and the sensor may be provided in the tensioner.

The vehicle may further include an evaluation device that evaluates the state of wear of the working claw based on the vehicle speed value of the traveling aircraft and the torque value when the torque value is measured.

According to the present invention, it is possible to evaluate the state of wear of a working claw without visual inspection by a farm worker. Alternatively, the working conditions of the field can be evaluated without relying on the experience or intuition of the farm worker.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the structure of the agricultural working machine based on one Embodiment of this invention from the back side. 1 is a side view showing the configuration of an agricultural machine according to an embodiment of the present invention from the side. 1 is a diagram showing an input shaft portion of an agricultural machine according to an embodiment of the present invention. FIG. 3 is a diagram showing the results of an investigation into the relationship between the state of wear of the working claw and the change in torque in the power transmission section in the agricultural machine according to the embodiment of the present invention. FIG. 3 is a diagram showing a method of evaluating the state of wear of a working claw based on a change in torque in a power transmission section in an agricultural machine according to an embodiment of the present invention. FIG. 3 is a diagram showing a drive shaft, a chain drive section, and a pawl shaft of an agricultural machine according to an embodiment of the present invention. 1 is a diagram showing the internal structure of a chain case of an agricultural machine according to an embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An information processing device and an agricultural machine according to an embodiment of the present invention will be described below with reference to the drawings. However, these information processing devices and agricultural machines can be implemented in many different ways, and should not be interpreted as being limited to the contents described in 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 an alphabetical letter after the same reference numerals, and repeated explanations thereof will be omitted.

In the specification and claims of the present application, "above" indicates a direction vertically away from the field, and "bottom" indicates a direction vertically toward the field. Further, "front" indicates the direction in which the traveling body is located with respect to the working machine, and "rear" indicates the direction 180° opposite to the front. Moreover, "left" indicates the left direction when facing the direction in which the traveling body is located with the working machine as a reference, and "right" indicates the direction 180° opposite to the left.

In the following embodiments, a tiller is exemplified as an agricultural machine, but the structure is not limited to this. For example, the agricultural machine shown in the following embodiments may be an agricultural machine equipped with working claws, such as a plow machine, a soil crusher, and a ridge coating machine, in addition to the tiller. In addition, we will exemplify a case in which the power transmission section that transmits the power received from the traveling machine to the working claw is composed of an input shaft, a drive shaft, a chain drive section, and a claw shaft. It may be constituted by the above members, or it may be constituted by including other members in addition to the above members. Further, unless a particular technical contradiction arises, techniques between different embodiments can be combined.

<First embodiment>
[Configuration of agricultural machine 100]
The configuration of an agricultural machine 100 according to an embodiment of the present invention will be described using FIGS. 1 to 3. FIG. 1 is a diagram showing the configuration of the agricultural machine of the first embodiment from the back side. FIG. 2 is a side view showing the configuration of the agricultural machine of the first embodiment from the side. Specifically, FIG. 2 shows a state in which the side plate 140 and chain drive unit 160 of the agricultural machine 100 are omitted, and the tilling rotor 150 is visible.

As shown in FIGS. 1 and 2, the agricultural machine 100 of this embodiment is roughly divided into an input shaft portion 101, a frame 110, a shield cover 120 (see FIG. 2), an apron 130, and a side plate 140 (see FIG. 1). , a tilling rotor 150, a chain drive unit 160 (see FIG. 1), a control device 170, and the like.

The input shaft portion 101 is connected to the center portion of the frame 110 in the left-right direction. The shield cover 120 is provided below the frame 110 and is fixed to the frame 110. The apron 130 is rotatably connected to the shield cover 120 at a connecting portion 125 at the rear of the shield cover 120 (see FIG. 2). The shield cover 120 is arranged to cover above a tilling rotor 150, which will be described later, and the apron 130 is arranged behind the tilling rotor 150.

The side plate 140 is fixed to the frame 110, the shield cover 120, and the apron 130 at both ends of these members in the left and right direction. A chain case containing the chain drive section 160 is fixed to one of the side plates 140 described above. The tilling rotor 150 is rotatably connected to the side plates 140 between the side plates 140 described above. Control device 170 is provided on shield cover 120.

As shown in FIG. 2, the frame 110 is connected to a traveling body (not shown) such as a tractor by an input shaft portion 101, a top mast 135, and a lower link connecting portion 136. The input shaft portion 101 is provided with an input shaft 102 that receives power from a PTO shaft of a traveling vehicle such as a tractor. The frame 110 has a cylindrical shape, for example, and a drive shaft 111 (see FIG. 1) is provided inside the frame 110. The input shaft 102 is connected to a drive shaft 111 via a converter 103 (see FIG. 3), and the drive shaft 111 rotates in conjunction with the input shaft 102. The drive shaft 111 extends in a direction intersecting the input shaft 102.

The tilling rotor 150 includes a pawl shaft 180 extending in the width direction of the agricultural working machine 100, a holder 190 attached to the pawl shaft 180, and a plurality of working pawls 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 back side of the agricultural machine 100, the plurality of working claws 200 are composed of a working claw 200L curved to the left and a working claw 200R curved to the right. 180 axially spaced apart. In this embodiment, the working claws 200L and 200R are attached at regular intervals in the axial direction of the claw shaft 180. In the following description, if the working claw 200L and the working claw 200R are not particularly distinguished, they will simply be referred to as the working claw 200.

The drive shaft 111 and the claw shaft 180 are connected in the following configuration. The chain drive section 160B has a winding transmission section 161B (see FIG. 7), and the winding transmission section 161B winds around a drive sprocket 162B connected to the drive shaft 111 and a passive sprocket 163B connected to the pawl shaft 180, respectively. It is hung. In this way, the rotational power of the drive shaft 111 is transmitted to the claw shaft 180. As the claw shaft 180 rotates, the working claws 200 rotate around the claw shaft 180, and plowing work on the field is performed. In this embodiment, a chain is used as the winding transmission section 161B, but other members such as a belt may also be used. When a belt is used as the winding transmission section 161B, a pulley can be used instead of the sprocket described above.

As described above, the power input from the PTO shaft is transmitted to the input shaft 102, the drive shaft 111, the chain drive section 160, and the pawl shaft 180. Therefore, these members may be collectively referred to as a "power transmission section."

When the working claw 200 rotates to cultivate the field, the field that comes into contact with the working claw 200 acts as a resistance to the rotational movement of the working claw 200, which affects the torque of the claw shaft 180. The torque generated on the pawl shaft 180 is transmitted to the winding transmission section 161B, the drive shaft 111, and the input shaft 102. In other words, the torque value of the claw shaft 180 caused by the plowing work of the field by the working claws 200 can be measured in the power transmission section. Although details will be described later, the torque value of the pawl shaft 180 can be measured by, for example, providing a strain sensor in the power transmission section and detecting the distortion of the power transmission section.

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 direction in which the shaft of the claw shaft 180 extends (hereinafter referred to as the axial direction). As shown in FIG. 2, four holders 190 are attached to substantially the same position in the axial direction of the claw shaft 180, and these holders 190 have two working claws 200L and two working claws 200R. It 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 working machine 100 is viewed from the rear side, the toes of the working claws 200R and 200L, which are arranged facing each other, overlap each other. Therefore, the widths of the areas in which the individual working claws 200L and 200R excavate soil partially overlap between the adjacent working claws 200L and 200R. In addition, in the agricultural working machine 100 of this embodiment, the tilling rotor 150 rotates in the direction shown by arrow W in FIG.

Since the center of gravity of the apron 130 is located behind the connecting portion 125, the apron 130 tends to descend due to its own weight. A stainless steel leveling plate 132 is attached to the rear end of the apron 130. The ground leveling plate 132 is configured to draw a loop from the inside to the outside of the apron 130. This leveling plate 132 flattens the field dug up by the tilling rotor 150.

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

The control device 170 includes a central processing unit (CPU), a storage unit (memory), and a communication unit (not shown), and has a function of processing a signal (for example, a remote control signal) received from the outside of the agricultural working machine 100. It is an information processing device that has a function of analyzing a generated signal (for example, data acquired by a sensor, etc.) or a function of transmitting the signal to the outside. The storage unit stores various data and various programs. The central processing unit reads a program from the storage unit and executes it to control the operation of a driving unit such as an actuator included in the agricultural machine 100, and analyzes a sensor signal measured in the power transmission unit. Specifically, the central processing unit receives the torque value and vehicle speed value obtained based on the measured sensor signal, and evaluates the state of wear of the working claw 200 based on the torque value and vehicle speed value. .

The communication unit is a functional unit for performing wired communication or wireless communication. For example, in the case of wireless communication, there are modules that enable short-range wireless communication, and wireless communication that conforms to communication standards such as CAN (Controller Area Network), Wi-Fi (registered trademark), and Bluetooth (registered trademark). It may also be equipped with a module. In other words, the communication unit included in the control device 170 has a function of controlling communication with information processing devices such as servers and mobile communication terminals connected to the network, and communication terminals mounted on the traveling aircraft. Good too.

FIG. 3 is a diagram showing an input shaft portion of an agricultural machine according to an embodiment of the present invention. FIG. 3 is an enlarged top view (A) and front view (B) of the input shaft section 101. For convenience of explanation, the sensor control unit 310 and the fastener 320 provided above the input shaft 102 are omitted in the top view of (A). As shown in FIG. 3, the input shaft section 101 includes a conversion section 103 in addition to the input shaft 102. The converter 103 converts the rotational power of the input shaft 102 into the rotational power of the drive shaft 111. A sensor 300 is provided in front of the conversion unit 103 so as to sandwich the input shaft 102 therebetween. The two sensors 300 sandwich the input shaft 102 from the left and right sides, and are attached to the input shaft 102 with an adhesive. The pedestal 305 sandwiches the input shaft 102 from above and below, and is fixed to the input shaft 102 by being tightened with a fastener 320 such as a bolt. The sensor control unit 310 is fixed on the pedestal 305 with screws.

For example, a strain sensor is used as the sensor 300. The strain sensor outputs an output value based on the strain generated on the input shaft 102. As the strain sensor, a cross-gauge type strain sensor in which two strain gauges are arranged in a crossed manner is used. In FIG. 3, each of the two sensors 300 sandwiching the input shaft 102 is a strain sensor. Note that as the sensor 300, in addition to the strain sensor, a physical quantity sensor such as a pressure sensor, an acceleration sensor, a gyro sensor, a magnetic sensor, or an optical sensor can be used. However, as the sensor 300, sensors other than those described above can be used. Further, the working claw 200 is provided with a soil sensor such as a sensor for detecting soil moisture, a sensor for detecting soil salinity, a sensor for detecting soil temperature, or a sensor for detecting soil pH (hydrogen ion index). It may be. Although details will be described later, the state of wear of the working claw 200 may be evaluated using a parameter indicating the state of the field acquired by a sensor provided on the working claw 200.

The sensor control unit 310 includes a communication device and a power supply device. For example, a wireless communication device can be used as the communication device. A bridge box may be incorporated in the communication device. The communication device receives the output value output by the sensor 300, and transmits the output value to an information processing device that evaluates the state of wear of the working claw 200, such as the control device 170 or a mobile communication terminal. The power supply supplies power to the sensor 300. The power supply device may receive power from another power supply device, may include a generator, or may include a power storage device. When the power feeder includes a generator, power generation may be performed using rotation of the input shaft 102. Note that a wired communication device may be used as the communication device.

[Method of evaluating the state of wear of the working claw 200]
A method for evaluating the state of wear of the working claw 200 will be explained using FIGS. 4 and 5. FIG. 4 is a diagram showing the results of an investigation into the relationship between the state of wear of the working claw and the torque in the power transmission section in the agricultural machine according to the embodiment of the present invention. The horizontal axis in FIG. 4 is the vehicle speed value of the traveling body that tows the agricultural machine 100, and the vertical axis is the torque value measured at the power transmission section (the average value of the torque values measured during work). Note that the torque value in FIG. 4 is a value calculated based on the output value of the sensor 300 provided on the input shaft 102, as shown in FIG. When the tilling rotor 150 starts tilling by the engine, the torque value becomes a relatively large value at first, but then gradually decreases, and although it fluctuates slightly, the average value of the torque value remains stable. Show behavior. The torque values in FIG. 4 represent average values of torque values measured over approximately 15 seconds during a period of stable behavior.

In FIG. 4, torque values are measured for working claws 200 in different states of wear. The torque values in FIG. 4 are measured under three conditions in which the state of wear of the working claw 200 is different. The first condition ((1) New claw: ●) is when the working claw 200 is new, and the second condition ((2) Worn claw A: ◆) is when the working claw 200 is worn to some extent. However, the working claw 200 does not need to be replaced yet, and the third condition ((3) Worn claw B: ■) means that the working claw 200 has further worn out and it is necessary to replace the working claw 200. It is a state that is judged to be. In FIG. 4, the claw widths described for each of (1) new claws to (3) worn claws B are the widths from the cutting edge to the peak of the working claw 200 at the tip position of the blade edge (shortest claw width). The torque values under each of the conditions (1) to (3) are values measured for vehicle speed values of 1.2 km/h, 1.7 km/h, and 2.1 km/h, respectively.

As shown in FIG. 4, at any vehicle speed value, the torque value gradually decreases in the order of (1) new claw → (2) worn claw A → (3) worn claw B. In other words, the torque value tends to decrease as the working claw 200 wears down. In addition, under each condition (1) to (3), the torque value changes depending on the vehicle speed value, but under each vehicle speed value condition (1) to (3) have the same relationship as above. . Specifically, for any vehicle speed value, the torque value of (3) worn pawl B is approximately 2/3 of that of (1) new pawl. In other words, when measuring at the same vehicle speed and the measured torque value becomes 2/3 of the torque value measured when the work claw 200 was new, the work claw reaches a state that requires replacement. It can be determined that there is a possibility that the wear of 200 is progressing. As mentioned above, the torque value in a state where there is a possibility that the work claw 200 has been worn to the point where it needs to be replaced (for example, a value that is 2/3 of the torque value measured when the work claw 200 is new) is It's called a "threshold." Note that the threshold value is not limited to the value of 2/3 of the torque value measured when the working claw 200 is new as described above, but may be set as appropriate depending on the type of agricultural machine 100 and the type of the working claw 200. Can be adjusted.

As described above, the subsequent state (second state) is determined based on the torque value (first torque value) in the initial state (first state) of the work claw 200 and the vehicle speed value when the first torque value is measured. The state of wear of the working claw 200 can be evaluated from the torque value (second torque value) and the vehicle speed value when the second torque value is measured. Note that it is assumed that the working claw 200 is not replaced between the first state and the second state. In the following description, when there is no need to distinguish between the first torque value and the second torque value, they are simply referred to as torque values. Wear evaluation of the working claw 200 is performed by an information processing device such as a mobile communication terminal that can communicate with the control device 170 or the sensor control unit 310 provided in the agricultural working machine 100. Specifically, the wear evaluation is realized by a program stored in the control device 170 or an application downloaded to the mobile communication terminal. The information processing device in which wear evaluation of the working claw 200 is performed is equipped with a look-up table (LUT) in which at least a vehicle speed value, a torque value, and a threshold value are stored in association with each other. The vehicle speed value at the time when the torque value and the torque value were measured is received, and the state of wear of the working claw 200 is evaluated based on the received torque value and vehicle speed value. Note that the wear evaluation of the working claw 200 may be performed by a server that can communicate with the sensor control unit 310.

In addition to the above parameters, the LUT also determines the tillage depth, the rotation speed of the working claws 200, the amount of pressure adjustment of the apron 130, the amount of soil adhering to the shield cover 120 or the side plate 140 (for example, if the adhering soil Parameters related to working conditions such as contact with the claws 200), parameters related to field conditions such as soil quality, water content in the soil, field condition (cultivated land or uncultivated land), amount of residue such as grass and stocks, etc. It may be stored in association with the torque value. That is, the state of wear of the working claw 200 may be evaluated using the above parameters in addition to the torque value and the vehicle speed value. Note that the LUT may be prepared for each shape (or type) of the working claw 200, or the above parameters may be set for each shape (or type) of the working claw 200 using one LUT.

FIG. 5 shows an operation flow for evaluating the state of wear of the working claw 200. As shown in FIG. 5, first, in step S401, the working claw 200 is replaced, and a new working claw 200 is attached to the agricultural working machine 100. After the working claw 200 is replaced, the process moves to the next step S403 based on a first torque value acquisition instruction inputted, for example, from the above-mentioned mobile communication terminal. In step S403, a torque value (first torque value) in an initial state (first state) is acquired. Torque value measurements are performed under multiple vehicle speed conditions. Based on the initial state torque value and LUT acquired in step S403, a torque value at which the work claw 200 needs to be replaced is calculated and set as a threshold value. The torque value acquired in step S403 may be a torque value acquired by a dedicated operation to acquire the torque value in the initial state, or may be a torque value acquired by normal operation during a predetermined period after replacing the work claw 200. It may also be a torque value.

After acquiring the first torque value in step S403, the process moves to the next step S405 based on a second torque value acquisition instruction inputted, for example, by the above-mentioned mobile communication terminal. In step S405, a torque value (second torque value) in a working state (second state) which is a state later than the above-mentioned initial state and in which the working claw 200 has not been replaced from the initial state is acquired. The working state refers to a state in which plowing work is actually performed using the agricultural machine 100. Using the torque value acquired in S405, a comparison is made with the threshold value set in S403. In S407, if the torque value acquired in S405 is equal to or greater than the threshold value ("No" in S407), the process returns to step S405 and repeats steps S405 and S407. On the other hand, if the torque value acquired in S405 is less than the threshold value ("Yes" in S407), a warning is issued to the user indicating that the wear of the working claw 200 has progressed to the point where it requires replacement ( Step S409).

Note that although the example in FIG. 5 shows the operation flow for acquiring the torque value in the initial state when the work claw 200 is new, the acquisition of the torque value in the initial state is performed when the work claw 200 is not new. It's okay. For example, after replacing the working claw 200 with a new one (for example, after inputting the first torque value acquisition instruction), the torque value may be obtained using a state in which the claw has been used for a certain period of time as an initial state. In this case, input of the second torque value acquisition instruction can be omitted. In addition, when the torque value is proportional to the vehicle speed value, the initial state torque value is measured only for one vehicle speed condition, and the torque value is determined based on the measured torque value and the vehicle speed value under which the torque value was measured. , thresholds at other vehicle speeds may be set. The above-mentioned first torque value acquisition instruction and second torque value acquisition instruction may be inputted via the above-mentioned server, or may be inputted directly to the agricultural machine 100. The first torque value acquisition instruction may be issued by a signal indicating that the working claw is attached to the agricultural working machine 100, for example, by a sensor provided on the working claw.

As described above, according to the agricultural machine and information processing device according to the present embodiment, the state of wear of the working claw 200 can be evaluated from the torque value measured at the power transmission section (input shaft 102) of the agricultural machine 100. This allows the operator to know whether or not the working claw 200 needs to be replaced without directly checking the working claw 200.

<Second embodiment>
A farm machine 100A according to a second embodiment of the present invention will be described using FIG. 6. FIG. 6 is a diagram showing a drive shaft, a chain drive section, and a pawl shaft of an agricultural machine according to an embodiment of the present invention. FIG. 6A shows a drive shaft 111A, a chain drive section 160A, and a pawl shaft 180A. A sensor 400A is provided on the drive shaft 111A, and a sensor 430A is provided on the claw shaft 180A. FIG. 6B shows detailed configurations of the sensors 400A and 430A. The arrangement of each sensor will be explained in detail below. Although not shown in FIG. 6, the drive shaft 111A is connected to the input shaft 102A. Note that the input shaft 102A, the drive shaft 111A, the chain drive section 160A (wrapping transmission section), and the pawl shaft 180A are included in the power transmission section. For convenience of explanation, in FIG. 6, the wrapped transmission portion wrapped around the driving sprocket 162A and the passive sprocket 163A is omitted.

The drive shaft 111A is provided with sensors 401A, 403A, wiring 410A, and an external output device 420A. Further, a drive sprocket 162A is connected to the drive shaft 111A. The sensors 401A and 403A are provided on the outer periphery of the drive shaft 111A so as to sandwich the drive shaft 111A. Strain sensors can be used as the sensors 401A and 403A, respectively, and as shown in FIG. 6(B), the sensors 401A and 403A are arranged to cross each other. In addition, in the following description, if there is no need to particularly distinguish between the sensors 401A and 403A, these sensors will be simply referred to as the sensor 400A.

The sensor 400A is attached to the outer periphery of the drive shaft 111A via an adhesive layer. A sensor similar to sensor 300 in FIG. 3 can be used as sensor 400A. The drive shaft 111A has a hollow structure with a hollow portion 112A provided therein. The wiring 410A passes through the inside of the hollow structure (hollow part 112A) and connects the sensor 400A and the external output device 420A. The sensor 400A, the wiring 410A, and the external output device 420A rotate together with the drive shaft 111A and the drive sprocket 162A. The external output device 420A includes, for example, a slip ring, and outputs the sensing signal measured by the sensor 400A to the information processing device described above.

The claw shaft 180A is provided with sensors 431A, 433A, wiring 440A, and an external output device 450A. Further, a passive sprocket 163A, a tilling shaft 183A, and a flange shaft 185A are connected to the pawl shaft 180A. The claw shaft 180A has a hollow structure. The sensors 431A and 433A are provided to face each other on the inner wall 181A of the hollow structure of the claw shaft 180A. Strain sensors can be used as the sensors 431A and 433A, respectively, and as shown in FIG. 6B, the sensors 431A and 433A are arranged to cross each other. In the following description, if there is no need to particularly distinguish between the sensors 431A and 433A, these sensors will be simply referred to as a sensor 430A.

The sensor 430A is attached to the inner wall 181A of the nail shaft 180A via an adhesive layer. A sensor similar to sensor 300 in FIG. 3 can be used as sensor 430A. The claw shaft 180A has a hollow structure formed by an inner wall 181A up to the flange shaft 185A, and has a hollow structure with a hollow portion 182A provided inside from the flange shaft 185A to the tip of the claw shaft 180A. are doing. The wiring 440A passes through the hollow portion 182A and connects the sensor 430A and the external output device 450A. The sensor 430A, the wiring 440A, and the external output device 450A rotate together with the pawl shaft 180A, the passive sprocket 163A, the tilling shaft 183A, and the flange shaft 185A. The external output device 450A includes, for example, a slip ring, and outputs the sensing signal measured by the sensor 430A to the information processing device described above.

Note that the present invention is not limited to the configuration shown in FIG. 6. The configuration of the drive shaft 111A may be applied to the claw shaft 180A. Conversely, the configuration of the claw shaft 180A may be applied to the drive shaft 111A. Further, the sensor may be attached to only one of the drive shaft 111A and the claw shaft 180A. That is, either one of the sensor 400A and the sensor 430A can be omitted. Further, the external output devices 420A and 450A have the same functions as the sensor control section 310 in FIG. 3.

As described above, according to the agricultural machine according to the present embodiment, the state of wear of the working claw 200A can be evaluated from the torque value measured at the power transmission section (drive shaft 111A, claw shaft 180A) of the agricultural working machine 100A. This allows the operator to know whether or not the working claw 200A needs to be replaced without directly checking the working claw 200A.

<Third embodiment>
A farm machine 100B according to a third embodiment of the present invention will be described using FIG. 7. FIG. 7 is a diagram showing the internal structure of a chain case of an agricultural machine according to an embodiment of the present invention. FIG. 7A is a diagram showing the chain drive section 160B inside the chain case, with the cover of the chain case omitted. FIG. 7B is a diagram showing a sensor 540B provided in the tensioner 500B.

As shown in FIG. 7, the chain driving section 160B is provided with a driving sprocket 162B and a passive sprocket 163B, and a winding transmission section 161B is wound around these sprockets. A tensioner 500B is provided between the two sprockets to apply tension to the winding transmission section 161B. The input shaft 102B, the drive shaft 111B, the winding transmission section 161B, the tensioner 500B, and the pawl shaft 180B are included in the power transmission section.

Tensioner 500B includes a sliding member 510B and a tension adjustment member 520B. The sliding member 510B slides on the circulating winding transmission section 161B. Further, the sliding member 510B rotates around a rotation shaft 511B. The tension adjustment member 520B presses the sliding member 510B toward the winding transmission portion 161B. In the example of FIG. 7, the tension adjustment member 520B is composed of a bolt 521B and a nut 523B. However, the configuration of the tension adjustment member 520B is not limited to this configuration.

The torque of the claw shaft 180B generated when the working claw 200B cultivates the field affects the tension of the winding transmission portion 161B. Therefore, by measuring the tension of the winding transmission section 161B, it is possible to measure the torque value generated by the tilling work. In FIG. 7, the tension of the winding transmission portion 161B is measured by attaching a sensor 540B to the tension adjustment member 520B. Specifically, as shown in FIG. 7(B), a sensor 540B is provided in a hollow portion 525B provided in a bolt 521B. A strain sensor for measuring axial force can be used as the sensor 540B. Sensor 540B is connected to an external output device via wiring 541B.

As described above, according to the agricultural machine according to the present embodiment, the state of wear of the working claw 200B can be evaluated from the torque value measured in the power transmission section (the winding transmission section 161B) of the agricultural machine 100B. The operator can know whether or not the working claw 200B needs to be replaced without directly checking the working claw 200B.

Although the present invention has been described above with reference to the drawings, the present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. For example, even if a person skilled in the art adds, deletes, or changes the design of components as appropriate based on the information processing device and agricultural machine of this embodiment, the scope of the present invention applies as long as the gist of the present invention is included. include. Furthermore, the embodiments described above can be combined as appropriate as long as there is no mutual contradiction, and technical matters common to each embodiment are included in each embodiment even if not explicitly stated.

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

100: Agricultural machine, 101: Input shaft section, 102: Input shaft, 103: Conversion section, 110: Frame, 111: Drive shaft, 112A: Hollow section, 120: Shield cover, 125: Connection section, 130: Apron, 132 : Leveling plate, 134: Extension leveling plate, 135: Top mast, 136: Lower link connection section, 140: Side plate, 150: Tilling rotor, 160: Chain drive section, 161B: Wrap transmission section, 162: Drive sprocket, 163: Passive sprocket, 170: Control device, 180: Pawl shaft, 181A: Inner wall, 182A: Hollow part, 183A: Tilling shaft, 185A: Flange shaft, 190: Holder, 200: Working pawl, 300: Sensor, 310: Sensor Control unit, 320: Fastener, 400A: Sensor, 401A: Sensor, 403A: Sensor, 410A: Wiring, 420A: External output device, 430A: Sensor, 431A: Sensor, 433A: Sensor, 440A: Wiring, 450A: External output Machine, 500B: Tensioner, 510B: Sliding member, 511B: Rotation shaft, 520B: Tension adjustment member, 521B: Bolt, 523B: Nut, 525B: Hollow part, 540B: Sensor, 541B: Wiring

Claims (7)

A working claw that acts on the field,
a power transmission unit that includes a pawl shaft to which the working pawl is attached, and transmits power received from the traveling machine body to the pawl shaft;
A sensor that measures the torque value of the power transmission section,
The power transmission unit further includes an input shaft into which power from the traveling aircraft is input,
In the agricultural machine, the sensor is provided on the input shaft. A working claw that acts on the field,
a power transmission unit that includes a pawl shaft to which the working pawl is attached, and transmits power received from the traveling machine body to the pawl shaft;
A sensor that measures the torque value of the power transmission section,
The power transmission section is
an input shaft to which power from the traveling aircraft is input;
further comprising a drive shaft that transmits the power input to the input shaft to the claw shaft,
In the agricultural working machine, the sensor is provided on the claw shaft or the drive shaft. The claw shaft or the drive shaft has a hollow structure,
The agricultural machine according to claim 2 , wherein the sensor is provided on an inner wall of the hollow structure. The claw shaft or the drive shaft has a hollow structure,
The sensor is provided on the outer periphery of the claw shaft or the drive shaft,
The agricultural machine according to claim 2 , wherein the wiring connected to the sensor passes through the inside of the hollow structure and is connected to an output device that outputs a sensing signal measured by the sensor to an external device. A working claw that acts on the field,
a power transmission unit that includes a pawl shaft to which the working pawl is attached, and transmits power received from the traveling machine body to the pawl shaft;
A sensor that measures the torque value of the power transmission section,
The power transmission section is
an input shaft to which power from the traveling aircraft is input;
a drive shaft to which the power input to the input shaft is transmitted;
a winding transmission part that transmits power of the drive shaft to the pawl shaft;
further comprising a tensioner that applies tension to the wrapped transmission part,
The sensor is provided in the tensioner of the agricultural machine. According to any one of claims 1 to 5 , further comprising an evaluation device that evaluates the state of wear of the working claw based on the vehicle speed value of the traveling aircraft and the torque value when the torque value is measured. agricultural machinery. The evaluation device includes:
obtaining a first torque value that is the torque value in a first state;
obtaining a second torque value that is the torque value in a second state that is later than the first state and in which the working claw has not been replaced from the first state;
The agricultural machine according to claim 6, wherein the state of wear of the working claw is evaluated based on the first torque value and the second torque value..

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