Agricultural working machine

Abstract

To provide a farm working machine capable of accurately detecting the lock of an extended working part for extending the working part of the working machine attached to a tractor and carrying out farm working.SOLUTION: The working part includes a basic working part 60, an extension working part 61 rotatable with respect to the basic working part 60 through a rotation mechanism 70, and a lock mechanism 80 for locking the extension working part 61 in a position where the extension working part 61 is extended with respect to the basic working part 60 to perform agricultural work, and the actuator 32 rotates the extension working part 61 with respect to the basic working part 60 and locks the lock mechanism 80 by control of a control part 21, and the sensor 31 can detect rotation of the rotation mechanism 70 and locking of the lock mechanism 80.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural work machine, and more particularly to an agricultural work machine equipped with an extension working section that extends the working section of the work machine that is attached to a tractor to perform agricultural work. [Background technology]

[0002] Some agricultural implements that are attached to tractors for agricultural work are equipped with a mechanism that enables efficient work by extending the working unit that performs agricultural work. In this case, the extended working unit can be placed in two states: an extended state where the working unit can be used for work, and a stowed state where the working unit is not extended and not used for work. In addition, because the extended working unit is heavy, a mechanism is provided to operate it with an actuator.

[0003] Patent document 1 discloses a connection position adjustment mechanism having a first member having a first locking member, a second member rotatably connected to the first member, an abutment member provided on the second member, slidably movable relative to the second member, and abutting against the first locking member when the second member is unfolded, a position adjustment member that adjusts the position of the abutment member in the sliding movement direction of the abutment member, and a fixing member that is a member different from the position adjustment member and fixes the position of the abutment member. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-170186 Summary of the Invention [Problem to be solved by the invention]

[0005] When using an extended working unit for agricultural work, the extended working unit is subject to load and may shift out of position. For this reason, a locking function is provided to lock the extended working unit. However, if this locking function is not locked, the load applied during agricultural work may cause the extended working unit to shift from its correct position, resulting in malfunctions and hindering accurate agricultural work. Therefore, knowing whether the locking function of the extended working unit is locked is important, but in the past, workers had to visually check. When checking visually, it may not be possible to clearly see the working equipment from the tractor, which requires workers to get off the tractor to check. This can lead to workers prioritizing work efficiency by skipping the check and assuming that the working unit is locked and starting agricultural work.

[0006] Although Patent Document 1 describes a second member that is rotatably connected to a first member, it describes a position adjustment member for adjusting the position of the second member, and does not disclose a mechanism for confirming that the second member is locked.

[0007] In view of the above-mentioned problems, the present invention aims to provide an agricultural work machine that can accurately detect the locking of an extension working unit that extends the working unit of a work machine that is attached to a tractor to perform agricultural work. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, one representative agricultural work machine of the present invention comprises a work machine having a working unit that is attached to a tractor to perform agricultural work, a control unit provided on the work machine, an actuator provided on the work machine, and a sensor provided on the work machine, wherein the working unit comprises a basic work unit, an extension work unit that can be rotated relative to the basic work unit via a rotation mechanism, and a locking mechanism that locks the extension work unit in position when it is extended from the basic work unit to a position for performing agricultural work, and the actuator is an actuator that rotates the extension work unit relative to the basic work unit under the control of the control unit and locks the locking mechanism, and the sensor is capable of detecting the rotation of the rotation mechanism and the locking of the locking mechanism. [Effects of the Invention]

[0009] According to the present invention, in a work machine that is attached to a tractor to perform agricultural work, it is possible to accurately detect whether an extension work unit that extends a work unit that performs agricultural work is locked. Problems, configurations, and effects other than those described above will become apparent from the following embodiments. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an embodiment of an agricultural machine of the present invention. [Figure 2] 1 is a side view showing an example of a first state of a working implement in an agricultural working machine of the present invention. FIG. [Figure 3] 1 is a plan view showing an example of a first state of a working implement in an agricultural working machine of the present invention. FIG. [Figure 4] FIG. 10 is a front view of the agricultural work machine of the present invention, viewed obliquely from above, showing an example of a second state of the work machine. [Figure 5] FIG. 2 is an enlarged perspective view showing an example of a rotation mechanism and a locking mechanism portion of the agricultural work machine of the present invention. [Figure 6] FIG. 4 is an enlarged view of an example of a rotation mechanism and a locking mechanism in the agricultural work machine of the present invention, viewed obliquely from above on the rear side. [Figure 7]FIG. 2 is a diagram showing an example of a communication terminal in the agricultural work machine of the present invention. [Figure 8] 1 is an enlarged view of the front side, seen obliquely from above, showing an example of a first state of a rotation mechanism and a locking mechanism portion of an agricultural work machine according to the present invention. FIG. [Figure 9] FIG. 10 is an enlarged view of the front side, seen obliquely from above, showing an example of a second state of the rotation mechanism and lock mechanism portion of the agricultural work machine of the present invention. [Figure 10] FIG. 10 is an enlarged view of the front side, seen obliquely from above, showing an example of a third state of the rotation mechanism and lock mechanism portion of the agricultural work machine of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described.

[0012] <Block diagram> Figure 1 is a block diagram showing one embodiment of the agricultural work machine of the present invention. In a configuration including a work implement 2 attached to a tractor 1, a communication terminal 40 can be arranged on the tractor 1 side. The work implement 2 also includes a control device 20, a sensor 31, and an actuator 32. The work implement 2 has a working unit that performs agricultural work, and the working unit includes a basic working unit and an extended working unit that can be extended relative to the basic working unit. The work implement 2 also has a locking mechanism that locks the extended working unit in a working state relative to the basic working unit.

[0013] The control device 20 can wirelessly transmit the state of the extension working unit and the lock state of the locking mechanism to the communication terminal 40 based on control information of the actuator 32 and information from the sensor 31. The control device 20 can also transmit control information of the actuator 32 and information from the sensor 31 to the communication terminal 40. The control device 20 also controls the actuator 32 based on an operation signal received wirelessly from the communication terminal 40. Information from the sensor 31 may also be used for control. The control device 20 includes a control unit 21, an input / output unit 22, and a wireless communication unit 23.

[0014] The control unit 21 detects the state of the extension working unit and the lock state of the locking mechanism based on control information from the actuator 32 and information from the sensor 31. It also performs processing to control the actuator 32 using operation signals from the communication terminal 40 and information detected by the sensor 31. At this time, it uses information from the sensor 31 to identify the state of the extension working unit, which is the part that moves when the actuator 32 is operated, and the position of the locking mechanism, enabling accurate control. The control unit 21 is composed of electronic devices necessary for calculation processing, such as a CPU (Central Processing Unit) and memory. The control unit 21 also has a storage unit for recording necessary information.

[0015] The input / output unit 22 performs functions such as supplying power to the actuator 32 under the control of the control unit 21. The input / output unit 22 also receives information from the sensor 31 and sends it to the control unit 21.

[0016] The wireless communication unit 23 has a function for wireless communication with the wireless communication unit 43 of the communication terminal 40. The control device 20 and the communication terminal 40 may communicate by wired communication. Alternatively, only the wireless communication unit 23 may be installed in a position where communication is easy.

[0017] The sensor 31 is a sensor installed on the side of the work machine 2, and various types of sensors are provided according to the needs of the work machine 2. The sensor 31 is, for example, a potentiometer, a stroke sensor, an acceleration sensor, an angular velocity sensor, an inclination sensor, a geomagnetic sensor, a rotation sensor, a limit switch, etc. This makes it possible to detect the state of the work machine 2 operated by the actuator 32. In particular, it is a sensor that detects the state of the extension working unit that moves when the actuator 32 is operated, and the lock state of the locking mechanism. For example, a potentiometer or a stroke sensor is an effective means for detecting the position of the link of the extension working unit that moves when the actuator 32 is operated. Movement here includes rotation.

[0018] The actuator 32 is installed on the work implement 2 side. The actuator 32 is, for example, an actuator that makes it possible to move a movable part that is part of the work implement 2 as needed. In particular, by using an actuator that moves the position of the extension working part of the work implement 2, it is possible to control this and improve the workability of agricultural work. Furthermore, the actuator 32 can activate the lock of a locking mechanism. As the actuator 32, for example, a cylinder such as a hydraulic cylinder or an electric hydraulic cylinder, a motor, etc. can be used.

[0019] The communication terminal 40 includes a display unit 41, an operation unit 42, a wireless communication unit 43, and a processing unit 44. The communication terminal 40 may be a specific remote control device shown in Fig. 7, or may be a general-purpose portable terminal such as a smartphone or a tablet computer. The communication terminal 40 may include a storage unit as needed, and may have an alarm function using sound from a speaker or the like.

[0020] The display unit 41 can be equipped with a means for displaying necessary information using a display screen such as a liquid crystal display or organic electroluminescence display, an LED (light-emitting diode), a lamp, etc. The display unit 41 can acquire information from the control unit 21 of the control device 20 and display information based on the sensor 31 and information based on the control of the actuator 32. Using this information, the state of the extension working unit, the lock state of the locking mechanism, etc. can be displayed.

[0021] The operation unit 42 is equipped with operation switches and the like, allowing the worker to perform necessary operations. For example, these operations include issuing instructions to open or close the extension working unit, and setting and displaying operations to detect the state of the extension working unit and the lock state of the locking mechanism. The operation unit 42 may also be equipped with a switch for operating the actuator 32. Various switches such as push button switches can be used as the switch of the operation unit 42. The display screen of the display unit 41 may also be configured as the operation unit 42 by adopting a touch panel system.

[0022] The wireless communication unit 43 has a function for wireless communication with the wireless communication unit 23 of the control device 20. Note that the communication terminal 40 and the control device 20 may communicate with each other via wired communication.

[0023] The processing unit 44 performs display processing on the display unit 41, input processing of signals from the operation unit 42, communication processing for the wireless communication unit 43, and other necessary calculation processing, etc. The processing unit 44 is composed of electronic devices, etc. necessary for control, processing, etc.

[0024] <Examples of work equipment> FIG. 2 is a side view showing an example of a first state of the agricultural working machine of the present invention. FIG. 3 is a plan view showing an example of the first state of the agricultural working machine of the present invention. FIG. 4 is a view obliquely from above on the front side showing an example of a second state of the agricultural working machine of the present invention. Here, a foldable tillage working machine 50 is shown as the working machine 2. The tillage working machine 50 is attached to the rear of a tractor 1 to perform tillage work. The left direction in FIG. 2 is the front direction of the tillage working machine 50, and the up-down direction in FIG. 2 is the up-down direction of the tillage working machine 50. The up-down direction in FIG. 3 is the front direction of the tillage working machine 50, and the left-right direction in FIG. 3 is the left-right direction of the tillage working machine 50. Furthermore, the left side of FIG. 4 corresponds to the right side of the tillage working machine 50, and the right side of FIG. 4 corresponds to the left side of the tillage working machine 50.

[0025] The tillage implement 50 includes a central working unit 60 that is attached to the tractor 1 and serves as the basic working unit, and extension working units 61 that can be positioned on either side of the central working unit 60 to allow extension of the working unit. The extension working units 61 are rotatably attached to the ends of the central working unit 60 and can be folded relative to the central working unit 60. The left side of the central working unit 60 is the left extension working unit 61A, and the right side of the central working unit 60 is the right extension working unit 61B. The central working unit 60 is provided with a mast 51a and left and right lower pins 51b that serve as attachment units 51, through which the tillage implement 50 is attached to the rear of the tractor 1. PTO (Power Take Off) power from the tractor 1 is input via an input shaft 52 attached to the front, and the tillage unit 53, which includes tillage tines 53a, rotates inside a cover 55 and a first soil leveling unit 56 behind it to break up the soil. The soil surface is then leveled using the first soil leveling unit 56 and the second soil leveling unit 57 installed behind it. In this manner, the plow work is carried out. Here, the cover 55, first soil leveling unit 56, second soil leveling unit 57, and tilling unit 53 are configured to include both a central working unit 60 and an extension working unit 61.

[0026] The left and right opening / closing cylinders 62 (left opening / closing cylinder 62A, right opening / closing cylinder 62B) are connected to the left and right pivoting mechanisms 70 (left pivoting mechanism 70A, right pivoting mechanism 70B) and the central working unit 60. Specifically, the left opening / closing cylinder 62A is connected to the central working unit 60 and the left pivoting mechanism 70A. The right opening / closing cylinder 62B is connected to the central working unit 60 and the right pivoting mechanism 70B. When the cylinders of the left and right opening / closing cylinders 62 contract, the left and right pivoting mechanisms 70 are actuated, respectively, and the extension working units 61 on both sides can be folded inward relative to the central working unit 60, thereby shortening the overall width of the tillage implement 50. When the left and right opening / closing cylinders 62 extend, the tillage implement 50 can be deployed. The opening / closing cylinders 62 correspond to the actuator 32 in FIG. 1.

[0027] In addition, as shown in Figure 3, the tillage implement 50 may be equipped with an extended leveling body drive device 65 that opens and closes the extended leveling bodies 59 at both ends, a second leveling body drive device 66 that switches the first leveling body 56 and the second leveling body 57 between a soil-pulling state and a leveling state, and a pressure device 67 that applies pressure to the first leveling body 56 and the second leveling body 57.

[0028] 2 and 3 is an unfolded state in which the left and right extension working units 61 are extended relative to the central working unit 60, and the extension working units 61 are in a working state. On the other hand, the second state shown in Fig. 4 is a folded state in which the left and right extension working units 61 are folded relative to the central working unit 60, and the extension working units 61 are in a stored state.

[0029] 2 and 3, the tillage implement 50 is provided with locking mechanisms 80 (left locking mechanism 80A, right locking mechanism 80B) on the left and right sides that lock (fix) the left and right extension working units 61 to the central working unit 60. Specifically, the tillage implement 50 is provided with a left locking mechanism 80A that locks the left extension working unit 61A to the central working unit 60, and a right locking mechanism 80B that locks the right extension working unit 61B to the central working unit 60. These locking mechanisms 80 are linked to the opening / closing cylinder 62 and the turning mechanism 70, with the left locking mechanism 80A linking with the left opening / closing cylinder 62A and the left turning mechanism 70A, and the right locking mechanism 80B linking with the right opening / closing cylinder 62B and the right turning mechanism 70B.

[0030] The control box 63 is provided above the cover 55 located above the tilling section 53 of the central working section 60. In FIG. 3, the control box 63 is fixed to the front of the frame 58 provided above the cover 55. The control device 20 shown in FIG. 1 is stored inside the control box 63. The control box 63 can have dustproof and waterproof functions. The sensor cover 64 covers the sensor 31 shown in FIG. 1, and is provided near the left and right rotating mechanisms 70 together with the sensor 31.

[0031] <Configuration example of rotation mechanism and lock mechanism> Figure 5 is an enlarged perspective view showing an example of the rotation mechanism and locking mechanism in an agricultural work machine of the present invention. Figure 6 is an enlarged view of an example of the rotation mechanism and locking mechanism in an agricultural work machine of the present invention, seen obliquely from above on the rear side. Figures 5 and 6 show the left rotation mechanism 70A and left locking mechanism 80A in the unfolded state of the tillage work machine 50. The inside is the side toward the center in the left-right direction, and the outside is the side away from the center in the left-right direction. Each fulcrum in Figures 5 and 6 is basically a fulcrum with the axial direction in the front-high, rear-low (front side is high, rear side is low) direction.

[0032] The left and right rotation mechanisms 70 each include a link arm 71, link plates 72, 72', a rotation fulcrum shaft 73, a rotation fulcrum fixing portion 74, a guide roller 75, and a guide shaft 76. The left and right rotation mechanisms 70 are mechanisms that enable the left and right extension working units 61 to rotate relative to the central working unit 60, and are provided near the outer end of the central working unit 60 and the inner end of the extension working units 61.

[0033] The pivot fixing part 74 includes a central working unit side fixing part 74a that is fixed near the outer end of the upper part on the central working unit 60 side, and an extension working unit side fixing part 74b that is fixed near the inner end of the upper part of the extension working unit 61. The central working unit side fixing part 74a and the extension working unit side fixing part 74b are connected by a pivot shaft 73 whose axial direction is in the front-high / rear-low direction, which makes the central working unit side fixing part 74a and the extension working unit side fixing part 74b pivotable relative to each other, and the central working unit 60 and the extension working unit 61 are pivotably connected.

[0034] The link arm 71 includes a first fulcrum 71a, a second fulcrum 71b, a first fulcrum-side plate 71c, a second fulcrum-side plate 71d, and a connecting member 71e. The first fulcrum 71a is a fulcrum rotatably connected to one end of the opening / closing cylinder 62 and is provided on the two first fulcrum-side plates 71c. The second fulcrum 71b is a fulcrum rotatably connected to the central working unit 60 and is provided on the two second fulcrum-side plates 71d that are provided parallel to each other in the front and rear. The second fulcrum 71b is provided near the outer end of the central working unit 60. In addition, when the tillage implement 50 is in the unfolded state, a plate side surface 71f that can abut against the guide roller 75 is formed on the underside of the second fulcrum-side plate 71d. When the tillage implement 50 is in the unfolded state, the first fulcrum 71a is positioned higher than the second fulcrum 71b and the pivot fulcrum fixing portion 74. The two second fulcrum side plates 71d are spaced apart from each other by a distance greater than the width of the rotation fulcrum fixing portion 74 in the front-rear direction, and are connected to the first fulcrum side plate 71c via a connecting member 71e.

[0035] The link plates 72, 72' are each provided in the front-rear direction. The front link plate 72 is a plate-shaped member having a first connection portion 72a, a first fulcrum 72b, and an elongated hole 72c. The rear link plate 72' is a plate-shaped member having a first connection portion 72a and an elongated hole 72c. The first connection portion 72a of the link plate 72 is rotatably connected to a fulcrum provided on the second fulcrum side plate 71d of the link arm 71. The link plates 72, 72' are each provided in the front-rear direction and connected to the front and rear second fulcrum side plates 71d, respectively. However, the rear link plate 72' differs from the front link plate 72 in that it does not have a first fulcrum 72b. When the tillage implement 50 is in an unfolded state, the first connection portion 72a is provided near the top, and the first fulcrum 72b is provided near the bottom. The first fulcrum 72b is connected to one end of a rod connecting portion 81 so as to be rotatable. Between the first connecting portion 72a and the first fulcrum 72b, an elongated hole 72c is provided, the longitudinal direction of which is the up-down direction when the tillage implement 50 is in the unfolded state. The function of the elongated hole 72c will be described later.

[0036] The guide shaft 76 is fixed near the inner end of the upper part of the extension working unit 61. It may be fixed to the extension working unit-side fixed part 74b. The guide shaft 76 is provided parallel to the pivot shaft 73 and is provided laterally outward of the pivot shaft 73. As shown in FIGS. 5 and 6, it may be fixed to the extension working unit-side fixed part 74b. Cylindrical guide rollers 75 are provided near both front-rear ends of the guide shaft 76. The guide rollers 75 are rotatably connected to the guide shaft 76. The material of the guide rollers 75 is not limited, and bearings or other bearing components may also be used. Each guide roller 75 is configured to abut against the plate side surface 71f of the link arm 71. The guide shaft 76 has a small-diameter portion 76a, which is located further toward the end than the portion where the guide rollers 75 are provided. The elongated hole 72c of the link plate 72 is located here. That is, link plates 72 are provided on both front and rear ends of the guide shaft 76. Note that the plate side surface 71f of the link arm 71 does not directly contact the guide shaft 76 but contacts the guide roller 75, so that the guide roller 75 wears out and can be easily replaced when worn out.

[0037] The left and right locking mechanisms 80 each include a rod connecting portion 81, a rod 82, a biasing body 83, a hook 84, a fixing portion 85, and a hook engaging portion 86. The left and right locking mechanisms 80 are mechanisms that lock the left and right extension working units 61 to the central working unit 60, and are provided near the outer end of the central working unit 60 and the inner end of the extension working unit 61. When the tillage implement 50 is in the unfolded state, the locking mechanisms 80 are provided at a lower height than the pivoting mechanism 70. The left and right locking mechanisms 80 are linked to the left and right pivoting mechanisms 70, respectively.

[0038] One end of the rod connecting portion 81 is rotatably connected to the first fulcrum 72b of the link plate 72, and the other end is connected to the rod 82. The rod connecting portion 81 is configured so that the rod 82 can slide inside in the longitudinal direction of the rod connecting portion 81. One end of the rod 82 is connected to the rod connecting portion 81, and the other end is rotatably connected to the first fulcrum 84b of the hook 84. The rod 82 is a rod-shaped member, and may be, for example, a round pipe or a round bar. The biasing body 83 is disposed inside the rod connecting portion 81 so as to bias the rod 82 toward the first fulcrum 84b of the hook 84 relative to the rod connecting portion 81. The biasing body 83 may be formed of an elastic body such as a coil spring. With this configuration, the distance between the first fulcrum 72b of the link plate 72 and the first fulcrum 84b of the hook 84 can be changed when the rod connecting portion 81 and the rod 82 are connected. The shorter this distance, the stronger the biasing force of the biasing body 83. When the tillage implement 50 is in the unfolded state, the first fulcrum 72b of the link plate 72 is on the upper side, and the first fulcrum 84b of the hook 84 is on the lower side.

[0039] The hook 84 has a first connecting portion 84a, a first fulcrum 84b, and a recess 84c. The first connecting portion 84a is rotatably connected to a fulcrum of a fixed portion 85 fixed to the extension working unit 61, with the axial direction extending in the front-high / rear-low direction. The first fulcrum 84b is a fulcrum that is provided closer to the recess 84c than the first connecting portion 84a and has the axial direction extending in the front-high / rear-low direction. The recess 84c is a portion that engages with the engaging member 86a of the hook engaging portion 86 and becomes a recess that opens downward in the locked state. The hook 84 is rotatably connected to the front side surface of the extension working unit 61 via the fixed portion 85 at the first connecting portion 84a, and one end of the rod 82 is rotatably connected to the first fulcrum 84b.

[0040] The hook engaging portion 86 is equipped with an engaging member 86a. The engaging member 86a can be a round bar or round pipe member with its axial direction in the front-high / rear-low direction. The hook engaging portion 86 is fixed to the central working unit 60, and the recess 84c of the hook 84 engages with the engaging member 86a to enter a locked state.

[0041] The potentiometer 90, which corresponds to the sensor 31, is a sensor that detects the angle and amount of rotation of the link arm 71 around the second fulcrum 71b as its central axis. The potentiometer 90 includes a sensor arm 90a and a detection unit 90c, and is connected to a sensor pin 90b. The sensor arm 90a is configured to rotate around the rotation center line of the second fulcrum 71b of the link arm 71. The sensor pin 90b is fixed to the link arm 71 (second fulcrum side plate 71d) at a predetermined distance from the rotation center of the sensor arm 90a, and the sensor pin 90b rotates the sensor arm 90a as the link arm 71 rotates. The detection unit 90c is a detection unit that can detect the angle and amount of rotation of the sensor arm 90a.

[0042] <Example of a communication terminal> 7 is a diagram showing an example of a communication terminal in an agricultural work machine of the present invention, showing a remote control device 100 as an example of communication terminal 40 in FIG.

[0043] 1, and includes push button switches 101a to 101q. Also, at the center of the top of switch 101, a display unit 102 corresponding to display unit 41 in FIG.

[0044] Switch 101a is a power switch for remote control device 100. Switch 101b is a switch for switching the display content of display unit 102. Switch 101c is a mode changeover switch. Switch 101d is a switch for setting. Switch 101k is a switch for confirming selected content, etc. When setting, switches 101e, 101f, 101i, and 101j can be used as switches for selecting options displayed on display unit 102.

[0045] Switch 101e is a switch that opens the extension working unit 61. Pressing this switch activates the opening / closing cylinders 62 on both sides, opening both extension working units 61 to the deployed state as shown in FIG. 3. If switch 101e is pressed within a predetermined time after pressing switch 101g, or before pressing switch 101g and performing a release operation to release the operation, only the left opening / closing cylinder 62A is activated, and the left extension working unit 61A is opened. If switch 101e is pressed within a predetermined time after pressing switch 101h, or before pressing switch 101h and performing a release operation to release the operation, only the right opening / closing cylinder 62B is activated, and the right extension working unit 61B is opened.

[0046] Switch 101f is a switch that closes the extension working unit 61. Pressing this switch activates the opening / closing cylinders 62 on both sides, and the extension working units 61 on both sides are closed and folded as shown in FIG. 4. If switch 101f is pressed within a predetermined time after pressing switch 101g, or before pressing switch 101g and performing a release operation to release the operation, only the left opening / closing cylinder 62A is activated, and the left extension working unit 61A is closed. If switch 101f is pressed within a predetermined time after pressing switch 101h, or before pressing switch 101h and performing a release operation to release the operation, only the right opening / closing cylinder 62B is activated, and the right extension working unit 61B is closed.

[0047] Switches 101i and 101j are switches that turn on and off the pressure of the pressure device 67. Switches 101l to 101o are switches that operate the opening and closing of the extension ground leveling body 59 by the left and right extension ground leveling body drive devices 65. Switches 101p and 101q are switches that operate whether or not the first ground leveling body 56 and the second ground leveling body 57 by the second ground leveling body drive device 66 are fixed.

[0048] The display unit 102 can be an LCD screen or an organic EL screen. The display unit 102 can display the status of each extension working unit 61, as well as caution and warning indications and operation guides. The status of the extension working unit 61 can be the stored state, the deployed state, or any intermediate state between these. Furthermore, it can also display whether the locking mechanism 80 is in the locked state. This makes it possible to indicate whether the operation to deploy the extension working unit has been completely completed. In addition, the display unit 102 can display various information related to operations, settings, and the tillage working implement 50 (work implement 2).

[0049] The remote control device 100 may also have a function of notifying by sound from a speaker or the like. This allows for notification by buzzer sound or voice. In this case, the sound may be emitted in conjunction with the display on the display unit 102. For example, if the operation to set the device to the unfolded state is not completed, a warning sound may be emitted.

[0050] <Actions of the rotation mechanism and locking mechanism> Fig. 8 is an enlarged view of the front side, seen obliquely from above, showing an example of a first state of the turning mechanism and locking mechanism portion of the agricultural working machine of the present invention. Fig. 9 is an enlarged view of the front side, seen obliquely from above, showing an example of a second state of the turning mechanism and locking mechanism portion of the agricultural working machine of the present invention. Fig. 10 is an enlarged view of the front side, seen obliquely from above, showing an example of a third state of the turning mechanism and locking mechanism portion of the agricultural working machine of the present invention. The potentiometer 90 is not shown in Figs. 8 to 10. Although Figs. 8 to 10 show the connection portion between the central working unit 60 and the left extension working unit 61A, the connection portion between the central working unit 60 and the right extension working unit 61B is configured symmetrically and in the same way.

[0051] The first state in Figure 8 is the folded state (storage state) shown in Figure 4. The second state in Figure 9 is a state in which the extended working unit 61 is in the unfolded position but the locking mechanism 80 is unlocked. The third state in Figure 10 is the unfolded state (working state) in which the locking mechanism 80 shown in Figure 3 is locked, allowing agricultural work to be performed with the extended working unit 61.

[0052] In the first state shown in Figure 8, the left extension working unit 61A is positioned above the central working unit 60, upside down compared to when it is in operation. In this state, the left opening / closing cylinder 62A is in its most retracted state. Therefore, the first fulcrum 71a of the link arm 71 is closest to the lateral center of the central working unit 60. Furthermore, the hook 84 is positioned above the pivot shaft 73 and does not perform any function.

[0053] When the left opening / closing cylinder 62A is extended from the first state shown in FIG. 8, the rotation mechanism 70 is activated. Specifically, the link arm 71 begins to rotate clockwise in FIG. 8 around the second fulcrum 71b of the central working unit-side fixed part 74a. Then, the plate side surface 71f of the link arm 71, which is on the upper side in FIG. 8, comes into contact with the guide roller 75 and begins to push against the guide roller 75. At this time, the guide roller 75 moves along the shape of the plate side surface 71f while rotating around the guide shaft 76. As the plate side surface 71f of the link arm 71 presses against the guide roller 75, the guide shaft 76, which is fixed to the left extension working unit 61A, also rotates clockwise. Then, the left extension working unit 61A begins to rotate clockwise around the rotation fulcrum shaft 73. This state continues until the center of gravity of the left extension working unit 61A is outside the vertical direction of the rotation fulcrum shaft 73 (to the right in FIG. 8).

[0054] As the left opening-closing cylinder 62A continues to extend, the center of gravity of the left extension working unit 61A moves outward from the vertical axis of the pivot shaft 73, causing the left extension working unit 61A to attempt to rotate downward due to its own weight. As a result, the guide shaft 76 attempts to rotate clockwise about the pivot shaft 73 in response to the rotation of the left extension working unit 61A due to its own weight, and the guide roller 75 attempts to move away from the plate side surface 71f of the link arm 71. At this time, the small-diameter portion 76a of the guide shaft 76 moves within the elongated hole 72c of the link plates 72, 72', but stops moving when it abuts against the end of the elongated hole 72c near the first pivot 72b. However, as the left opening-closing cylinder 62A continues to extend, the elongated hole 72c of the link plates 72, 72' continues to move along with the rotation of the link arm 71, causing the left extension working unit 61A to continue rotating.

[0055] As the left extension working unit 61A continues to rotate, the fixing recess 85a of the left extension working unit 61A comes into contact with the engaging member 86a of the central working unit 60. This state is shown in Figure 9. That is, the second state in Figure 9 is a state in which the left extension working unit 61A has finished rotating and moved to a position where it can perform work, but the locking mechanism 80 is not yet locked. At this time, the small diameter portion 76a of the guide shaft 76 remains in contact with the end of the elongated hole 72c of the link plates 72, 72' on the first fulcrum 72b side.

[0056] When the left opening / closing cylinder 62A is further extended from the second state shown in Figure 9, the link arm 71 continues to rotate clockwise in Figure 9 around the second fulcrum 71b of the central working unit fixed part 74a. At this time, the left extension working unit 61A itself does not rotate any further, so the position of the guide shaft 76 does not move. Therefore, only the link plates 72, 72' move downward. This is because the elongated holes 72c of the link plates 72, 72' provide a degree of freedom, allowing the first connecting parts 72a of the link plates 72, 72' to move closer to the small-diameter part 76a of the guide shaft 76.

[0057] As the link plate 72 moves downward, the rod connecting portion 81 and the rod 82 also move downward, pushing the first fulcrum 84b of the hook 84 downward. Accordingly, the hook 84 rotates counterclockwise around the first connecting portion 84a and approaches the engaging member 86a of the hook engaging portion 86. The recess 84c of the hook 84 then engages with the engaging member 86a of the hook engaging portion 86. Further extending the left opening / closing cylinder 62A from this state lowers the link plate 72, but the position of the first fulcrum 84b of the hook 84 remains unchanged. This brings the first connecting portion 72a of the link plate 72 and the first fulcrum 84b of the hook 84 closer to each other, increasing the biasing force of the biasing body 83 (e.g., the elastic force of a spring). This strengthens the engagement of the hook 84 with the hook engaging portion 86. This state, the locking mechanism 80 is locked, which is the third state shown in FIG. 10 .

[0058] On the other hand, when the left opening-closing cylinder 62A is retracted from the state shown in FIG. 10, the operation is reversed from that described above. When the left opening-closing cylinder 62A is retracted from the state shown in FIG. 10, the link arm 71 rotates counterclockwise about the second fulcrum 71b, moving the link plate 72 upward. This disengages the hook 84 from the hook engaging portion 86, resulting in the state shown in FIG. 9. When the left opening-closing cylinder 62A is further retracted from the state shown in FIG. 9, the small-diameter portion 76a of the guide shaft 76 abuts against the end of the elongated hole 72c of the link plates 72, 72' on the first fulcrum 72b side. When the left opening-closing cylinder 62A is retracted while maintaining this abutment state, the guide shaft 76 rotates counterclockwise about the pivot shaft 73, causing the left extension working unit 61A to rotate counterclockwise about the pivot shaft 73 so as to lift it. Then, when the center of gravity of the left extension working unit 61A becomes more inward than the vertical direction of the rotation fulcrum shaft 73, the left extension working unit 61A will attempt to rotate downward due to its own weight. This will cause the guide roller 75 to abut against the plate side surface 71f of the link arm 71. If the left opening / closing cylinder 62A is retracted in this state, the left extension working unit 61A will continue to rotate counterclockwise in response to the rotation of the link arm 71, resulting in the state shown in Figure 8.

[0059] <Detection control> Next, detection of the deployed state of the extension working unit 61 and the locked state of the locking mechanism will be described.

[0060] When the state is changed in the order of Figures 8, 9, and 10, the open / close cylinder 62 is in a more extended state in Figure 9 than in Figure 8, and is further extended in the state of Figure 10 than in Figure 9. Accordingly, the link arm 71 is in a state where it has rotated more toward the extension working unit 61 in Figure 9 than in Figure 8, and is further rotated toward the extension working unit 61 in the state of Figure 10 than in Figure 9.

[0061] The potentiometer 90 shown in Figures 5 and 6 is a sensor that can detect the rotation angle and amount of rotation of the link arm 71. Therefore, by predetermining the angle of the sensor arm 90a relative to the potentiometer 90 corresponding to Figure 10 in the control unit 21, it is possible to detect the deployed state of the extension working unit 61 and the locked state of the locking mechanism 80. When the link arm 71 rotates toward the extension working unit 61 from the state shown in Figure 9 (rotates clockwise in Figure 9) and reaches the angle shown in Figure 10, it can be detected that the extension movement of the extension working unit 61 has ended and that the locking mechanism 80 has completed locking. This state indicates that the extension working unit 61 is in a working state where it can perform agricultural work. On the other hand, when the rotation angle of the link arm 71 is between Figures 9 and 10 (when it has not reached the state shown in Figure 10), it can be detected that the deployment movement of the extension working unit 61 has ended and that the locking mechanism 80 has not completed locking. 8 and 9, it can be detected that the extension working unit 61 is moving to unfold (pivot).

[0062] Such detection result information can be transmitted from the control unit 21 of the control device 20 to the communication terminal 40 via the wireless communication unit 23. In the communication terminal 40, the wireless communication unit 43 receives the information, and the processing unit 44 processes it to display the information on the display unit 41 (display unit 102 in FIG. 7). The information can be displayed using text, pictures, diagrams, or the like. Specifically, when the state of FIG. 10 is reached, it is displayed that the unfolding operation has completely ended and the extended work state has been reached (that is, the locking of the locking mechanism 80 has been completed). Furthermore, when the state is between FIG. 9 and FIG. 10 (a state before the state of FIG. 10 has been reached), it is possible to display warning information that the unfolding movement of the extended working unit 61 has ended but the locking of the locking mechanism 80 has not been completed. Furthermore, when the state is between FIG. 8 and FIG. 9, it is possible to display that the extended working unit 61 is currently unfolding (rotating). Furthermore, when the state is between FIG. 8 and FIG. 10 (a state between the state of FIG. 8 and the state of FIG. 10), it is possible to display a warning that the PTO of the tractor 1 should not be rotated to start agricultural work.

[0063] These indications can also be made by lighting an LED or lamp. For example, a yellow LED can be displayed for a state between FIG. 8 and FIG. 10 (a state before FIG. 10 is reached), a green LED can be displayed when the state of FIG. 10 is reached, and a red LED can be displayed if the operation stops midway due to a malfunction or the like. These can also be flashed, lit, or the flashing interval can be changed. In this way, the LED or lamp indication can be changed to notify the user. The LED or lamp may be provided on the communication terminal 40, or on the side of the work implement 2 (plowing implement 50) such as the control device 20.

[0064] It is also possible to notify the worker of the notification corresponding to the above display by sound information from the communication terminal 40. Examples of sound information include a voice similar to the display or a warning sound that matches the display.

[0065] The detection results can also be used to control actuators other than the opening / closing cylinder 62 (other actuators). For example, if the state of FIG. 10 has not been reached, the control unit 21 disables some or all of the other actuators. Examples of the other actuators include the extension leveling body drive device 65 (motor), the second leveling body drive device 66 (motor), and the pressure device 67 (motor), as shown in FIG. 3. That is, if the state of FIG. 10 has not been reached (if the unfolding operation has not been completely completed), the control unit 21 does not control these other actuators to operate. On the other hand, if the state of FIG. 10 has been reached, the control unit 21 controls these other actuators to operate in response to an operation signal received from the operation unit 42 of the communication terminal 40 (switches 101i, 101j, 101l to 101q of the remote control device 100 in the case of FIG. 7). The detection results can also be used to control, for example, the output adjustment of the opening / closing cylinder 62. For example, when rotating the extension working part 61, a large amount of power is required, so the output (e.g., current value) of the opening / closing cylinder 62 is controlled to be large, and when locking the locking mechanism 80, a small amount of power is required, so the output of the opening / closing cylinder 62 is controlled to be small.

[0066] <Effects> The above-described embodiment allows accurate detection of the deployed state of the extension working unit 61 and the locked state of the locking mechanism. In particular, accurate detection is possible by using the potentiometer 90 (sensor 31) to detect the rotation of the link arm 71, which is directly linked to the stroke of the opening / closing cylinder 62 (actuator 32). Furthermore, this information can be obtained by the operator while riding on the tractor 1, for example, through the display on the display unit 41 (display unit 102). This display is particularly useful because it is difficult to determine from the tractor 1 whether the locking mechanism 80 has been fully locked. If the locking mechanism 80 is not fully locked, performing agricultural work could damage the tillage implement 50 and prevent accurate agricultural work. Therefore, it is effective to warn the operator of this by display or audio. Furthermore, using the detection results to control actuators other than the opening / closing cylinder 62 enables accurate control that reduces the possibility of malfunction.

[0067] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-described embodiments and includes various modifications other than those described above. For example, the present invention is not limited to those having all of the configurations provided in the above-described embodiments. Furthermore, it is also possible to delete part of the configuration of a certain embodiment or replace it with another configuration.

[0068] For example, in Figures 2 to 10, the explanation is given using the example of a tillage implement 50, but the invention can be applied to implements attached to other tractors as long as they have a position-changeable working unit, an actuator that moves the working unit, and a locking mechanism that fixes the position of the working unit.

[0069] 5 and 6 show a potentiometer 90 that detects the rotation of the link arm 71 as the sensor 31, which allows for accurate detection, but other sensors can also be used. For example, a stroke sensor that detects the stroke of the opening / closing cylinder 62 can be used. In this case, if the stroke sensor detects that the stroke of the opening / closing cylinder 62 has reached the state shown in FIG. 10, it can perform detection control similar to that of the potentiometer 90. Furthermore, if the stroke of the opening / closing cylinder 62 is between FIGS. 9 and 10 (if it has not reached the state shown in FIG. 10), it can detect that the extension working unit 61 has finished deploying but that the locking mechanism 80 has not yet completed locking. Furthermore, if the stroke of the opening / closing cylinder 62 is between FIGS. 8 and 9, it can detect that the extension working unit 61 is in the process of deploying (rotating).

[0070] This specification also includes the disclosure of the following aspects. (Aspect 1) A work machine having a working unit that is attached to a tractor to perform agricultural work, a control unit provided in the work machine, an actuator provided in the work machine, and a sensor provided in the work machine, The working unit includes a basic working unit, an extension working unit that can rotate relative to the basic working unit via a rotation mechanism, and a locking mechanism that locks the extension working unit in a position where it is extended relative to the basic working unit and is positioned to perform agricultural work. the actuator is an actuator for rotating the extension working unit relative to the basic working unit under the control of the control unit and locking the locking mechanism, The agricultural work machine is characterized in that the sensor can detect rotation of the rotation mechanism and locking of the locking mechanism.

[0071] (Aspect 2) In the agricultural implement according to aspect 1, The control unit determines, based on information from the sensor, that the extended working unit is in a position where it can perform agricultural work when the locking mechanism has been fully locked.

[0072] (Aspect 3) In the agricultural work machine according to aspect 1 or aspect 2, The agricultural work machine is characterized in that the actuator operates to start locking the locking mechanism when the extension working section has finished rotating to a position where it will perform agricultural work.

[0073] (Aspect 4) In the agricultural work machine according to any one of aspects 1 to 3, the actuator is a cylinder, The agricultural work machine is characterized in that the sensor is a sensor that detects the rotation of a link arm, which is a member that rotates in conjunction with the rotation of the extension working part and the locking of the locking mechanism in response to the extension and contraction of the cylinder.

[0074] (Aspect 5) In the agricultural work machine according to any one of aspects 1 to 3, the actuator is a cylinder, The agricultural machine is characterized in that the sensor is a sensor that detects the stroke of the cylinder.

[0075] (Aspect 6) In the agricultural work machine according to any one of aspects 1 to 5, The agricultural work machine is characterized in that it comprises a display unit capable of communicating with the control unit, and the display unit displays information that the extension working unit has entered a working state.

[0076] (Aspect 7) In the agricultural work machine according to any one of aspects 1 to 6, An agricultural work machine comprising an LED or a lamp, wherein the LED or the lamp changes the display of the LED or the lamp when the control unit determines that the extended working unit is in a working state. [Explanation of symbols]

[0077] 1 Tractor 2 Work equipment 20 Control device 21 Control section 31 Sensors 32 Actuator 40 Communication terminal 41 Display section 42 Operation section 50 Plowing machine 60 Central Work Section 61 Extension work section 62 Opening and closing cylinder 70 Rotating mechanism 71 Link arm 72, 72' link plate 73 Pivot pivot axis 75 Guide roller 76 Guide shaft 80 Locking mechanism 81 Rod connection part 82 Rod 83 biasing body 84 Hook 86 Hook engagement part 90 Potentiometer 100 Remote control device 101 Switch 102 Display section

Claims

1. A work machine having a working unit that is attached to a tractor to perform agricultural work, a control unit provided in the work machine, an actuator provided in the work machine, and a sensor provided in the work machine, The working unit includes a basic working unit, an extension working unit that can rotate relative to the basic working unit via a rotation mechanism, and a locking mechanism that locks the extension working unit in a position where it is extended relative to the basic working unit and is positioned to perform agricultural work. the actuator is an actuator for rotating the extension working unit relative to the basic working unit under the control of the control unit and locking the locking mechanism, The agricultural work machine is characterized in that the sensor can detect rotation of the rotation mechanism and locking of the locking mechanism.

2. The agricultural work machine according to claim 1, The control unit determines, based on information from the sensor, that the extended working unit is in a position where it can perform agricultural work when the locking mechanism has been fully locked.

3. The agricultural work machine according to claim 1, The agricultural work machine is characterized in that the actuator operates to start locking the locking mechanism when the extension working section has finished rotating to a position where it will perform agricultural work.

4. The agricultural work machine according to claim 1, the actuator is a cylinder, The agricultural work machine is characterized in that the sensor is a sensor that detects the rotation of a link arm, which is a member that rotates in conjunction with the rotation of the extension working part and the locking of the locking mechanism in response to the extension and contraction of the cylinder.

5. The agricultural work machine according to claim 1, the actuator is a cylinder, The agricultural machine is characterized in that the sensor is a sensor that detects the stroke of the cylinder.

6. The agricultural work machine according to any one of claims 1 to 5, The agricultural work machine is characterized in that it comprises a display unit capable of communicating with the control unit, and the display unit displays information that the extension working unit has entered a working state.

7. The agricultural work machine according to any one of claims 1 to 5, An agricultural work machine comprising an LED or a lamp, wherein the LED or the lamp changes the display of the LED or the lamp when the control unit determines that the extended working unit is in a working state.

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