Agricultural work vehicle and work method using agricultural work vehicle

Abstract

To provide a puddling agricultural work vehicle capable of making a mechanical decision on the soil condition, including the condition of crushed soil after plowing.SOLUTION: An agricultural work vehicle A comprises: a rake body 42 configured to be rotatable which can push in and bury foreign matter in muddy soil: a sensor 93 capable of detecting the rotation angle of the rake body 42 and transmitting a detection signal; a controller 101 capable of determining the rotation angle of the rake body 42 by means of the detection signal; and a display device which is connected to the controller 101 and is configured to be capable of achieving visual recognition. Upon receiving a detection signal, the controller 101 outputs an operation instruction composed of the content to be operated to the display device, on the basis of results of comparing and calculating a predetermined value and a value included in the detection signal.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an agricultural work machine and a working method using the agricultural work machine, and more particularly to a tiller which is an agricultural work machine, and a working method using the agricultural work machine. [Background technology]

[0002] For example, the mechanism of a device for performing plow work is disclosed in Patent Document 1 "Agricultural Work Machine." Patent Document 1 shows an agricultural work machine that is provided with an apron that levels the cultivated soil cultivated by a rotary working unit, and a cultivation depth display device that can transmit information corresponding to the rotation angle of the apron detected by a potentiometer that detects the rotation angle of the apron and displays an indicator showing multiple different cultivation depths corresponding to this information. According to this, it is said that muddy water or mud does not adhere to the cultivation depth display device, and the operator can check the indicator showing the cultivation depth.

[0003] Furthermore, Patent Document 2 describes a machine having a configuration similar to that of Patent Document 1, but which detects the rotation of an apron or leveller, uses the detection results to determine the condition of the field, and displays the results on a monitor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-23054 A [Patent Document 2] JP 2019-88204 A Summary of the Invention [Problem to be solved by the invention]

[0005] It is desirable for the worker to determine the tilling conditions, such as the tilling depth and tilling speed, depending on the condition of the soil after the land has been leveled, and then carry out the work. In particular, it is not easy even for an experienced worker to instantly visually judge the condition of the soil after the land has been leveled. As in Patent Document 1, by detecting the up and down movement of a leveling part called an apron and displaying the detection results on a display device, it is possible to determine the tilling depth relative to the leveled surface. However, depending on the moisture content and soil quality of the field where the plowing work is performed, it is difficult to accurately grasp the tilling depth, and it is not possible to determine the condition of the soil, such as the degree of crushing of the soil mass after plowing and leveling.

[0006] The method of judging the field condition as described in Patent Document 2, "Display Method," obtains information by judging the rotational state of aprons and levelers, which are ground-contact members installed on the ground surface, and does not directly measure the condition underground. It is essential for an operator to check whether the soil clods have actually been crushed, and there is a demand for a direct mechanical determination of the soil condition, such as the degree of crushing.

[0007] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide an agricultural machine that is capable of mechanically determining the condition of the soil, such as the degree of soil crushing after tilling. [Means for solving the problem]

[0008] The present invention relates to A rake body capable of burying impurities in mud and configured to be rotatable; A sensor capable of detecting a rotation angle of the rake body and transmitting a detection signal; A control unit capable of determining a rotation angle of the rake body based on the detection signal; A display device connected to the control unit and configured to be visually recognizable. The control unit receives the detection signal, and outputs an operation instruction including an operation to be performed to the display device based on a result of comparing a predetermined value with a value included in the detection signal. An agricultural machine characterized by: relates to.

[0009] The present invention relates to A rake body capable of burying impurities in mud and configured to be rotatable; A sensor capable of detecting a rotation angle of the rake body and transmitting a detection signal; A control unit capable of determining a rotation angle of the rake body based on the detection signal; An alarm device connected to the control unit and configured to be audibly recognized. The control unit receives the detection signal, and outputs an operation instruction to the alarm device based on a result of comparing a predetermined value with a value included in the detection signal. An agricultural machine characterized by: relates to.

[0010] The present invention further comprises: The operation instruction is changed based on the result of the comparison operation. An agricultural machine characterized by: relates to. Effect of the Invention

[0011] The present invention provides a tilling agricultural machine capable of mechanically determining the condition of the soil, such as the degree of soil crushing after tilling. [Brief description of the drawings]

[0012] [Figure 1] 1 is a front view of an agricultural machine according to an embodiment of the present invention. [Diagram 2] 1 is a plan view of an agricultural machine according to an embodiment of the present invention. [Diagram 3] 2 is a partially enlarged view of the agricultural machine according to the embodiment of the present invention, as viewed obliquely from above and rear in the traveling direction of FIG. 1. [Figure 4] 1 is a partially enlarged front view of an agricultural machine according to an embodiment of the present invention. [Diagram 5] 1 is a partially enlarged side view of an agricultural working machine according to an embodiment of the present invention, as viewed from the front in the direction of travel. [Figure 6] FIG. 4 is an explanatory diagram showing the operation (lower limit position) of the rake body of the agricultural machine according to the embodiment of the present invention. [Figure 7] FIG. 4 is an explanatory diagram showing the operation (upper limit position) of the rake body of the agricultural machine according to the embodiment of the present invention. [Figure 8] 1 is a block diagram of an agricultural machine according to an embodiment of the present invention. [Figure 9] FIG. 4 is an operation flow diagram of the agricultural work machine according to the embodiment of the present invention. [Figure 10] 11 is a diagram showing a breakdown of a determination result and an operation based on the determination result according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] An embodiment of the present invention will be described with reference to FIGS. A is a tiller, which is an agricultural machine. B is a tractor, which is a running machine. Reference numeral 1 denotes a traveling device. The traveling device 1 is made up of tires and the like, and is attached to a traveling body B. Reference numeral 2 denotes a frame portion of the agricultural work machine A, which is a tillage work machine.

[0014] 8 is the mounting part. 20 is a quick hitch frame. Reference numeral 10 denotes a top link which is a lifting device, and 11 denotes a lower link which is also a lifting device. The top link 10 (lifting device) and the lower link 11 (lifting device) form a three-point link mechanism.

[0015] As shown in Fig. 1, the agricultural work machine A is connected to a three-point link mechanism, which is a lifting link provided at the rear of the tractor B, which is a traveling machine body. The connection is made via a quick hitch frame 20 constituting the mounting part 8 located at the front part of a frame part 2 provided on the agricultural work machine A. The agricultural work machine A can be freely raised and lowered by the three-point link mechanism, and is driven by obtaining power output from the tractor B side from the PTO shaft P, which is the output shaft of the tractor B.

[0016] The quick hitch frame 20 is located at the front of the agricultural work machine A and at the center in the left-right direction of travel. The quick hitch frame 20 is connected to a top link 10 (lifting device) and a lower link 11 (lifting device) that constitute a three-point link mechanism by a top link pin 81 at the upper center and a pair of lower link pins 80 located below it on the left and right. A top mast 21 protrudes upward and forward from the center of the frame portion 2 in the left-right direction of travel.

[0017] Reference numeral 22 denotes lower masts. The lower masts 22 protrude downward and forward from the left and right sides of the center of the frame portion 2 relative to the left and right in the traveling direction. The agricultural work machine A is attached to the tractor B by engaging the quick hitch frame 20 with the top mast 21 and the lower mast 22. Although not shown, the quick hitch frame 20 may be omitted, and the agricultural work machine A may be attached to the tractor B by engaging the top link 10 and the lower link 11, which are three-point link mechanisms, with the top mast 21 and the lower mast 22, respectively.

[0018] 31 is a transmission section. The transmission unit 31 is provided at the center of the frame unit 2 in the left-right direction of travel. An input shaft 32 protrudes forward from the transmission unit 31. The input shaft 32 is connected to the PTO shaft P, which is the output shaft of the tractor B, by a universal joint 12, and receives the power from the tractor B.

[0019] Reference numeral 2 denotes a frame section. The frame section 2 holds the entire agricultural work machine A. The frame section 2 has a speed change section 31, a pipe 33, a transmission section 51, and a support frame 52. The pipes 33 protrude leftward or rightward from the left and right side surfaces of the speed change section 31 in the traveling direction. A case-shaped transmission part 51 facing downward is provided at one end of the pipe 33 on either the left or right side of the pipe 33 protruding from the transmission part 31. A support frame 52 facing downward is provided at the other end of the pipe 33.

[0020] Reference numeral 6 denotes a tilling body. The tilling body 6 is made up of a tilling rotor. Reference numeral 61 denotes tilling tines. A rotor shaft 60 is rotatably supported between the lower end of the transmission unit 51 and the lower end of a support frame (not shown). A large number of tillage tines 61 are attached to the rotor shaft 60 at regular intervals in a radial pattern to form the tillage body 6. As shown in Fig. 1, the tillage body 6 rotates counterclockwise so that the front side, which is the uncultivated land side, is down-cut, but there is no limitation on the orientation or rotation direction of the tillage tines 61.

[0021] The power input from the input shaft 32 of the transmission unit 31 is reduced in speed by gears installed inside the transmission unit 31 and transmitted to the inside of the transmission unit 51 by an output shaft (not shown) passing through a pipe 33 protruding from one of the left and right sides. The power is transmitted to the rotor shaft 60 by a roller chain (not shown) wound between an output sprocket fixed to the end of the output shaft inside the transmission unit 51 and a rotor shaft sprocket fixed to the end of a rotor shaft 60 supported on the lower end of the transmission unit 51, so that the rotor shaft 60 can be driven to rotate.

[0022] The rotor shaft 60 is rotatably supported by bearings at both ends of the support section. An oil supply port is provided at the top of the transmission section 51, and the roller chain and bearings are lubricated with the lubricating oil supplied thereto.

[0023] Reference numeral 7 denotes a cover body. The cover body 7 is provided on the upper part of the tilling body 6, and is provided at a distance from the tilling body 6 so as to follow the outer circumferential rotating edge of the tilling tines 61. The cover body 7 covers the upper part of the tilling body 6. The cover body 7 prevents the soil tilled by the tilling body 6 from scattering upward, and also helps to improve the performance of soil crushing and land leveling. The cover body 7 is disposed so as to bridge the upper and lower central parts of the transmission unit 51 and the support frame 52.

[0024] The ground leveling body 4 is a plate-shaped body. The ground leveling body 4 is made up of a first ground leveling body 40 and a second ground leveling body 41. A soil leveling body 4 is provided at the rear of the tilling body 6 and at the rear of the cover body 7. The soil leveling body 4 is composed of a first soil leveling body 40, the front end of which is connected to the rear end of the cover body 7 so as to be freely rotatable in the vertical direction, and a second soil leveling body 41, the front end of which is attached to the rear end of the first soil leveling body 40 so as to be freely rotatable in the vertical direction. The soil leveling body 4 catches soil that has been tilled by the tilling body 6 and scatters it to the rear, and by moving forward with the surface of the soil leveling body 4 facing the tilling body 6 in contact with the soil, it levels the soil after tilling.

[0025] The left and right widths of the first soil leveling body 40 and the second soil leveling body 41 are set to be approximately the same as or slightly longer than the cover body 7. By setting them in this way, the soil after tilling by the tilling body 6 can be leveled without missing any part.

[0026] A rotation fulcrum 43 for the first ground leveling body 40 is provided at the rear end of the cover body 7, with the axial direction oriented in a horizontal direction perpendicular to the traveling direction. By attaching the front end of the first ground leveling body 40 to the rotation fulcrum 43, the rear of the first ground leveling body 40 can be freely rotated in the vertical direction. A second ground leveling body 41 is connected to the rear end of the first ground leveling body 40. The front end of the second ground leveling body 41 is held by a rotation fulcrum 45 of the second ground leveling body, which is provided at the rear end of the first ground leveling body 40 and has an axial direction perpendicular to the traveling direction, and the rear side is provided so as to be freely rotatable in the vertical direction.

[0027] During operation, the first leveling body 40 is inclined diagonally downward and rearward from the rear end of the cover body 7 to receive the mud that has been tilled by the tilling body 6 and thrown rearward, and presses down the mud piled up by the rearward sloping surface as the tractor B advances, leveling the ground. During the plowing and leveling work, the second leveling body 41 maintains the ground surface in a substantially horizontal state and further presses the surface leveled by the first leveling body 40 to level the ground.

[0028] A connecting part cover (not shown) can be provided in a cantilever shape extending rearward from the cover body 7 below the pivot fulcrum 43 of the first land leveling body 40 at the rear end of the cover body 7. The connecting part cover is a band-like elastic plate that is long in the left-right direction, and prevents soil or mud splashed up by the tilling body 6 from flying out of the pivot fulcrum 43, which is the connecting part between the first land leveling body 40 and the cover body 7, and also guides the soil or mud rearward.

[0029] 42 is a rake body. Power obtained from the tractor B, which is a traveling machine body, is transmitted to the tilling body 6, which is a tilling rotor, and the tilling body 6 is rotated to till or crush the soil. The tilled or crushed soil is leveled by the soil leveling body 4, and impurities floating on the soil surface are buried by a rake body 42 attached to the soil leveling body 4. The agricultural work machine A levels the soil during the puddling work while tilling or crushing it. In the explanation of this embodiment, the left side in Figures 1 and 2 is the front side in the traveling direction, and the right side in the figures is the rear side.

[0030] The rake body 42 is composed of a first rake body 420 and a second rake body 421. A rake body 42 is provided on the surface of the first leveling body 40 facing the tilling body 6. As shown in Fig. 5, the rake body 42 includes a first rake body 420 and a second rake body 421, each of which has a plurality of rod-shaped members 423, 425 extending in the traveling direction at a predetermined interval in the left-right direction with respect to the traveling direction.

[0031] The first rake body 420 includes a rod-shaped member 423 , a base member 424 , and an elastic member 44 . The base member 424 shown in Fig. 5 is a plate-like member that is long in the left-right direction and can rotate at the front end of the first leveling body 40. In the embodiment described, the rotation fulcrum of the base member 424 is provided coaxially with the rotation fulcrum 43. A plurality of rod-like members 423 are provided, one end of which is fixed to the base portion 424 material and the other end of which is provided so as to be able to contact the ground, and are arranged at intervals in the width direction in the traveling direction. The rod-like members 423 can rotate integrally with the base member 424. The elastic member 44 can bias the base member 424 and the rod-shaped member 423 in the direction of travel. The elastic member 44 is positioned above the front part of the first leveling body 40, and can prevent the tilled soil from scattering and adhering to the first leveling body 40. The rake body 42 is located behind the tilling body 6 and between the soil leveling body 4 and the tilling body 6, which are rotatable in the vertical direction, and is rotatably mounted relative to the soil leveling body 4.

[0032] The first rake body 420 has rod-shaped members 423 facing in the traveling direction, which are provided from the front of the first soil leveling body 40 to the rear end side of the first soil leveling body 40. The front ends of the rod-shaped members 423 are integrally provided by a base member 424 extending left and right in the traveling direction. In the embodiment, the first rake bodies 420 are provided lined up in multiple rows on the left and right in the traveling direction on the tilling body 6 side of the first soil leveling body 40, but a single member may also be provided integrally. The second rake body 421 is located at the rear end of the first rake body 420 and is attached to the rear end of the first leveling body 40, with the rod members 425 constituting the second rake body 421 positioned between the rod members 423 of the first rake body 420. The rod members 425 constituting the second rake body 421 are substantially M-shaped as shown in Fig. 5. The rod members 425 are shorter in the front-rear direction than the first rake body 420. The rod-shaped members 425 constituting the second rake body 421 plough and push the large soil clods W1 and small soil clods W2 that have passed through the rod-shaped members 423 constituting the first rake body 420 into the soil.

[0033] The front end of the first rake body 420 is attached to a pivot boss 426, which is the pivot axis of the first rake body 420, coaxially with the pivot fulcrum 43 of the first ground leveling body 40. The pivot boss 426 and the base member 424 are integral, so the pivot boss 426 allows the first rake body 420 to pivot up and down on the same axis as the first ground leveling body 40, and the rear part of the first rake body 420 can move toward and away from the rear part of the first ground leveling body 40.

[0034] The first rake body 420 has an arm portion 422 that protrudes upward from the rear side of a pivot boss 426 at the front end. The arm portion 422 is a strip-shaped member that is long in the vertical direction, and rotates integrally with a rod-shaped member 423 and a base member 424 about the pivot boss 426 as an axis. The arm portion 422 shown in this embodiment is a belt-shaped member, and two are provided at each of the left and right ends of the first rake body 420, but there is no limit to the shape or number of them. The ends of the arm portion 422 protrude toward the upper surface of the first ground leveling body 40 and are bent toward the rear. The bent surface of the base member 424 is provided approximately parallel to the upper surface of the front side of the first ground leveling body 40.

[0035] 4, a hole 427 is provided at the tip of the arm portion 422, and the positioning member 403 passes through this hole 427. In this embodiment, a bolt is used as the positioning member 403. One end side of the positioning member 403 is inserted into a nut 404 fixed to the tilling body 6 side of the first soil leveling body 40. The positioning member 403 is provided approximately perpendicular to the upper surface of the front side of the first leveling body 40. The bolt head, which is the other end of the positioning member 403, is located above the upper surface of the front side of the first leveling body 40 and above the hole 427 at the tip of the arm portion 422.

[0036] As shown in Fig. 4, a compression spring, which is an elastic member 44, is disposed around the positioning member 403. Both ends of the elastic member 44 are disposed between the bolt head, which is the other end of the positioning member 403, and the upper surface of the tip of the arm portion 422. The elastic member 44 is sandwiched between the shaft portion of the positioning member 403, the lower surface of the bolt head, and the arm portion 422. With this configuration, the first rake body 420 can be attached in a state where it is biased by the elastic member 44 in a direction away from the first soil leveling body 40, i.e., toward the tilling body 6 side.

[0037] As shown in FIG. 6, when the first rake body 420 is in a direction away from the first ground leveling body 40, the surface of the tip portion located at the upper part of the arm portion 422 is set to be approximately parallel to the upper surface of the first ground leveling body 40. After that, when the first rake body 420 is pressed upward by the soil and mud, it rotates upward. At the end of the rotation, as shown in FIG. 7, the rear end portion of the first rake body 420 abuts against the rear end portion of the first ground leveling body 40 and the rotation stops. In this state, the arm portion 422 is lifted relatively from the upper surface of the first ground leveling body 40, and the elastic member 44 is compressed between the tip portion of the arm portion 422 and the other end portion of the positioning member 403.

[0038] The positioning member 403 attached by a screw can be adjusted to finely adjust the repulsive force of the elastic member 44 by adjusting the screwing position. The biasing force of the first rake body 420 biased by the elastic member 44 can also be finely adjusted. As a result, the biasing force of the first rake body 420 can be easily finely adjusted to an arbitrary biasing force according to the operator's preference or soil conditions, etc., by operating the positioning member 403 on the upper surface side of the first ground leveling body 40. The first rake body 420 is constantly biased toward the lower limit of rotation by the elastic member 44. This bias prevents the first rake body 420, which is buried in the soil, from continuing to rotate toward the upper limit as the vehicle travels. Since the first rake body 420 is biased toward the lower limit of rotation by the elastic member 44, it can rotate when it comes into contact with soil lumps W1, W2, etc. in the soil as the vehicle advances and is pressed backward. The presence or absence of rotation of the first rake body 420 can be used to detect soil lumps W1, W2, etc. in the soil.

[0039] The second rake body 421 has its front part attached to the rear part of the first ground leveling body 40, facing backward and protruding downward from the leveled surface of the first ground leveling body 40. In this embodiment, the second rake body 421 is formed of a member having a smaller diameter than the first rake body 420, and can bend by its own elasticity. The rod-shaped members 425 constituting the second rake body 421 are respectively arranged between the left and right of the rod-shaped members 423 of the first rake body 420, which are provided in a spaced relationship in the left-right direction.

[0040] The rake body 42 is located behind the tillage body 6, which is a tillage rotor, and is rotatable in the vertical direction. The rake body 42 is used to push and bury impurities such as rice straw contained in the muddy soil that has been tilled and crushed by the tilling body 6 into the soil while leveling the ground, and is in an inclined position with the front higher and the rear lower when in working condition. By moving forward, the impurities captured at the front side can be guided down the slope into the soil and buried.

[0041] Only the first rake body 420 is disposed on the front side of the first leveling body 40, and the left-right distance is set relatively wide by the rod-shaped members 423 in comparison with the rear side of the rake body 42 consisting of the first rake body 420 and the second rake body 421. On the rear side of the first rake body 420 (rake body 42), the rod-shaped members 425 constituting the second rake body 421 are positioned between the rod-shaped members 423 constituting the first rake body 420, so the left-right distance between the rod-shaped members 423, 425 is narrow. Therefore, the mud is filtered out on the front side of the first rake body 420, and separated into water, soil, and impurities.

[0042] When the first rake body 420 (rake body 42) guides the impurities rearward, the rod-shaped member 425 constituting the second rake body 421 located at the rear and the rod-shaped member 423 of the first rake body 420 narrow the gap on the rear side, thereby pushing the impurities upward from the rake body 42 so that they do not escape. The rotation axis centers of the first rake body 420 and the first soil leveling body 40 are arranged coaxially, and an elastic member 44 that applies a biasing force to the first rake body 420 is provided on the front upper surface of the first soil leveling body 40. Therefore, even if the tilling depth changes and the angle of the first soil leveling body 40 changes, the pushing pressure of the first rake body 420 does not change.

[0043] As shown in Figures 1, 4, 6 and 7, the first ground leveling body 40 is shaped like a mountain that bulges outward so that a space is formed in the front and upper middle part of the first rake body 420 when the first rake body 420 rotates toward the first ground leveling body 40 and the rear end of the first rake body 420 abuts against the first ground leveling body 40. This can promote the filtering out of mud on the front side of the first rake body 420.

[0044] The rear ends of the first rake body 420 and the second rake body 421 are located rearward of the leveled surface at the rear end of the first soil leveling body 40, and are located forward of the leveled surface of the second soil leveling body 41. With this configuration, the impurities pushed into the soil by the rake body 42 are suppressed by the second soil leveling body 41 before they float up, so that the impurities can be reliably buried.

[0045] The sensor 93 is disposed on the upper part of the soil leveling body 4, at a position sandwiching the soil leveling body 4 from the rake body 42. The sensor 93 detects the rotation angle of the first rake body 420, and can transmit the detected value as a detection signal to the control unit 101, which will be described later. In the embodiment of the present invention, the sensor 93 uses a potentiometer, which is a displacement sensor, and the control unit 101 detects the potential difference to recognize the rotation angle of the rake body 42. The detection method and type of the sensor 93 are not important as long as it can detect the rotation angle, rotation phase, movement distance, etc.

[0046] Reference numeral 91 denotes a detection arm, 92 denotes a pin, and 93 denotes a sensor. As shown in Figures 3 and 4, the detection arm 91 is a strip-shaped member extending rearward from the sensor 93, and protrudes so as to be rotatable up and down around the sensor 93 as an axis. A long hole 94 is provided in the detection arm 91 from the center to the rear along the longitudinal direction. The pin 92 is provided on the arm portion 422, protrudes from the arm portion 422 side in the width direction relative to the traveling direction toward the detection arm 91, and fits into a long hole 94 provided in the detection arm 91. Therefore, as the arm portion 422 moves, the pin 92 moves in the long hole 94, causing the detection arm 91 to rotate up and down. The sensor 93 detects the movement of the detection arm 91, thereby sensing the rotation of the first rake body 420, which is the movement of the rake body 42.

[0047] The rake body 42 is made of the first rake body 420, and has a plurality of rod-shaped members 423 arranged at intervals in the left-right direction on a base member 424 that is long in the width direction near the pivot fulcrum 43, so that the rod-shaped members 423 can rotate together. In this embodiment of the present invention, the first rake body 420 is divided into two and arranged on the ground leveling body 4, but the number of rakes per ground leveling body is There is no limit to the number of bodies 42 that can be arranged. If at least one sensor 93 for detecting the rotation of the rake body 42 can be provided for each agricultural work machine A, the finishing state of that part can be determined, and the structure of the device can be simplified. Of course, a sensor 93 may be provided for each of the rake bodies 42. In this case, the finishing state can be detected with higher accuracy.

[0048] The block diagram showing the information transfer relationships shown in FIG. 8 will be described. The traveling machine body B is equipped with an operation unit, an alarm device, and a display device. The operation unit is provided in the driver's seat of the traveling machine body B. Furthermore, the traveling machine body B or the agricultural work machine A has a work machine control unit 101 (control unit) and a traveling machine body control unit (control unit). In the embodiment, the traveling machine body control unit (control unit) is provided in the traveling machine body B, and the work machine control unit 101 (control unit) is provided in the agricultural work machine A. Like the traveling machine body B, the work machine control unit 101 (control unit) provided in the agricultural work machine A also has an operation unit, an alarm device, and a display device.

[0049] In the embodiment of the present invention, the alarm device is simply shown to sound or not, but other specific examples include a buzzer sound including a change in tone, and a voice guide consisting of language. Regarding the implementation, there is no limitation on the notification format as long as the worker can correctly recognize the sound by hearing. In this embodiment, the display device is described as displaying information in color, but it may also be displayed in graphics or language, and there is no limitation on the display format as long as the operator can correctly visually recognize the information. The display device and the warning device may be disposed or operable on at least one of the traveling machine body B side or the agricultural work machine A side.

[0050] As shown in Fig. 8, the work machine control unit 101 (control unit) is provided with a communication processing unit, a calculation unit, an operation processing unit, and a storage unit. Furthermore, the work machine control unit 101 (control unit) is connected to the sensor 93 and can receive a detection signal that is rotation information of the first rake body 420 detected by the sensor 93. The work machine control unit 101 (control unit) is also connected to an operation unit, an alarm device, and a display device provided in the agricultural work machine A and can operate the work machine control unit 101 and obtain information. The traveling machine body control unit (control unit) is provided with a communication processing unit and an operation instruction unit. The communication processing unit provided in the traveling machine body control unit (control unit) can process information input from the operation unit, alarm device, and display device provided in the traveling machine body B, and transmit it to the work machine control unit 101 (control unit) shown in Figure 2 provided in the agricultural work machine A, which is an agricultural work machine.

[0051] The traveling machine control unit (control unit) communicates and connects with the work machine control unit 101 (control unit). The communication processing unit of the work machine control unit 101 (control unit) processes information input from the traveling machine control unit (control unit) so that it can communicate with the communication processing unit of the traveling machine control unit (control unit). The traveling machine body control unit (control unit) is installed near the driver's seat of the traveling machine body B and is arranged to be able to communicate with a work machine control unit 101 (control unit) provided in the agricultural work machine A shown in FIG. The operation unit, alarm device, and display device on the traveling machine body are connected to the traveling machine body control unit (control unit).

[0052] The work implement control unit 101 receives information on the rotation angle of the first rake body 420 detected by the sensor 93 as a detection signal from the sensor 93. The work implement control unit 101 (control unit) can receive the detection signal as information and can also transmit the detection signal as information. The control unit 101 can determine the rotation angle of the rake body 42 based on the information, which is the detection signal from the sensor 93. The work machine control unit 101 determines whether or not to transmit an operation signal based on the information.

[0053] A calculation unit provided in the work machine control unit 101 (control unit) performs a comparison calculation based on the information received from the sensor 93. An operation processing unit of the work machine control unit 101 (control unit) performs an operation selection process for giving a predetermined operation command to the traveling machine body B or the agricultural work machine A based on the obtained calculation result. The operation processing unit selects an operation to be executed based on the judgment result and is capable of transmitting an operation signal for executing the operation. The operation signal based on this selection process is processed by a communication processing unit and transmitted to the traveling machine body B. The storage unit stores the results of the calculations performed by the calculation unit. The work machine control unit 101 (control unit) is connected to an operation unit, an alarm device, and a display device that the agricultural work machine A is equipped with.

[0054] The operation processing section of the control section 101 transmits an operation signal, which is an operation instruction, to the traveling machine body B side based on the result of the comparison calculation. The operation signal transmitted from the control unit 101 of the agricultural work machine A can be received by the traveling machine body control unit of the traveling machine body B, and the traveling machine body B that receives the operation signal transmitted from the control unit 101 can control the operation of the traveling machine body B based on the operation signal. Also, based on the operation signal transmitted from the control unit 101, the operation of the display device and warning device equipped in the agricultural work machine A can be controlled.

[0055] The work machine control unit 101 (control unit) is capable of selecting an operation to give a predetermined operation command to the agricultural work machine A or the traveling machine body B based on the calculation results obtained by the calculation unit, and is equipped with an operation processing unit as shown in Figure 8 that is capable of transmitting an operation signal based on the selection processing to the traveling machine body B.

[0056] A calculation unit provided in the work machine control unit 101 (control unit) shown in Fig. 2 performs calculations and measurements, and outputs an acquired value. The calculation unit performs a comparison operation between a predetermined set rotation amount, which is a value stored in a memory unit, and a detection value X stored in the memory unit based on a detection signal detected for the rotation angle, which is the rotation amount input from the sensor 90. The calculation unit further derives a judgment result based on the comparison operation. The input rotation angle is a value included in the detection signal, and is an acquired value.

[0057] FIG. 10 shows a breakdown of the operations that each device should perform based on the result of the comparison calculation performed by the calculation unit and the result of the determination of the amount of rotation of the rake body 42. In this embodiment, the operation processing unit selects an operation instruction based on the first to third determination results so that each device performs an operation corresponding to the determination result.

[0058] For example, if the amount of rotation of the rake body 42 is large, this corresponds to a first judgment result, and the finished quality of the tilled soil is judged to be rough. Based on the first judgment result, the display device displays blue and the alarm device sounds. When the amount of rotation of the rake body 42 is medium, this corresponds to the second judgment result, and the finished condition of the tilled soil is judged to be good. Based on the second determination result, the display device displays green and the alarm device does not sound.

[0059] When the rotation amount of the rake body 42 is small or there is no rotation, this corresponds to a third judgment result, and it is judged that the finished tilled soil is too fine or that the rake body 42 is not installed. Based on the third judgment result, the display device displays red and the alarm device sounds. The first to third judgment results correspond to the respective operation contents of the display device and the alarm device.

[0060] In the embodiment described below, first to third judgment results are given, but the number of judgment results is not limited, and the device to be operated is not limited to the example. The operation instruction unit of the traveling machine body control unit outputs the operation instruction consisting of the operation contents to be performed by the traveling machine body B side received from the work machine control unit 101 (control unit) by communication to an alarm device and a display device. Alternatively, the work machine control unit 101 (control unit) outputs the operation instruction consisting of the operation contents selected by the operation processing unit to an alarm device and a display device of the agricultural work machine A.

[0061] When the traveling body B is moved forward with the other end of the rake body 42 inserted into the ground, the rake body 42 comes into contact with the large soil clods W1 and small soil clods W2 present in the ground. The degree of pressure applied to the rake body 42 by the large soil clods W1 and small soil clods W2 can be used to determine the finish of the soil. In this embodiment of the invention, the finish of the soil is an index showing the degree of crushing of the soil, and is determined by the size of the large soil clods W1 and small soil clods W2 after crushing.

[0062] The second rake body 421 (rake body 42) has its grounding part, the rod-shaped member 425, positioned between the rod-shaped members 425 that constitute the first rake body 420 (rake body 42) located in front, so that large soil lumps W1, small soil lumps W2, etc. that pass between the rod-shaped members 425 of the rake body 42 can be pushed into the ground.

[0063] The rake body 42 can rotate up and down behind the tilling body, and in this embodiment, is provided coaxially with the rotation fulcrum 43 of the soil leveling body 4. Since the rod-shaped member 423 of the first rake body 420 (rake body 42), which is the rake body 42, can be made as long as possible, the sensor 93 can detect the rotation of the tip part buried in the soil with higher accuracy.

[0064] Next, the tilling operation by the agricultural work machine A of the present invention will be described. The traveling body B is connected to the three-point link mechanism of the tractor by the lower link pin 80 and the top link pin 81 of the mounting part 8, and can be raised and lowered by the three-point link mechanism of the tractor. In addition, the PTO shaft P, which is the output shaft of the tractor, is connected to the input shaft by the universal joint 12, allowing the input of power.

[0065] In a puddling field, when the tractor B is operated to rotate the tilling body 6 and lower the three-point linkage, the soil is tilled by the tilling tines 61 of the tilling body 6. When the tractor B is driven in this state, the field can be tilled and tilled in sequence. In addition, the soil leveling body 4 is located behind the tilling body 6, and work is performed while leveling the tilled surface layer of the soil. A rake body 42 is located on the field side of the soil leveling body 4, and buries the impurities in the soil. The first soil leveling body 40 and the first rake body 420 have the function of separating the water, soil, and impurities from the soil that has been tilled and scattered by the tilling body 6. The impurities are guided rearward by the first rake body 420 and the second rake body 421 and buried in the soil. The soil and mud can then be leveled by the second soil leveling body 41.

[0066] When adjusting the biasing force of the first rake body 420 depending on the condition of the soil and mud, the positioning member 403 can be turned and adjusted, so that the desired biasing force can be applied by the elastic member 44. Since the biasing force of the first rake body 420 can be finely adjusted, the first rake body 420 can be given a biasing force appropriate to the conditions of many fields, and the impurities can be buried in the soil. The surface of the mud or soil with the impurities buried in the soil is free of foreign matter and leveled, making it an ideal field surface for the subsequent planting of seedlings.

[0067] In addition, the adjustment of the biasing force of the elastic member 44 on the first rake body 420 by the positioning member 403 can make the pressing force of each rod-shaped member 423 when the first rake body 420 contacts the soil surface on the field surface constant, even if multiple implements with similar configurations but different working widths are available. Therefore, in the initial settings at the time of product shipment, the ground pressing force of the first rake body 420 can be made the same even if the working width is different, so the burial property of impurities does not change due to the change in the working width.

[0068] (Relationship between rake body 42, large soil lump W1, and small soil lump W2 1) When the soil is crushed by the tilling body 6, large soil clods W1 and small soil clods W2 may be generated depending on the tilling conditions including the soil and tilling. Since tilling is performed when the soil contains moisture, the soil after tilling is in a wet muddy state. As shown in FIG. 7, when the rake body 42 is pushed largely rearward, it is determined that the moisture content is low or the soil has not been crushed sufficiently, resulting in a rough finish. FIG. 7 shows a case where a large soil lump W1 is present on the surface of the tilled soil in the field after the tilling body 6 has passed.

[0069] As shown in FIG. 7, when a large soil lump W1 is present in the tilled soil, the large soil lump W1 that comes into contact with the rake body 42 cannot pass between the rod-shaped members 423 of the rake body 42, and thus pushes the rake body 42 largely backward. Therefore, the working machine control unit 101 (control unit) can determine that the finished soil after tilling is insufficiently crushed and rough. In addition, in the plowing work, the moisture mixed with the soil is insufficient, and the viscosity of the mud made of the soil increases. Therefore, the collision resistance against the rake body 42 increases, and the rake body 42 is pushed largely backward, and it can be determined that the moisture content is low. At this time, the first rake body 420 rotates largely upward to the extent that it reaches the upper limit of rotation. Then, the sensor 90 detects the detection value X as the amount of rotation being large.

[0070] (Relationship between rake body 42, large soil lump W1, and small soil lump W2 2) It will now be described how, when the rake body 42 is not pushed backward excessively but is pushed moderately, it is determined that the amount of moisture to be mixed with the soil is appropriate. When the sizes of the large soil clods W1 and the small soil clods W2 are appropriate, the large soil clods W1 and the small soil clods W2 contact and get caught on the rake body 42, but an appropriate amount of the large soil clods W1 and the small soil clods W2 pass between the rod-shaped members 423 of the rake body 42, so the rake body 42 is not pushed backward excessively but moderately. Therefore, since the rake body 42 is located between the upper limit and the lower limit (not shown), the working machine control unit 101 (control unit) can determine that the soil finish after cultivation is good. In addition, in the plowing work, the moisture in the mud mixed with the soil is appropriate, and the viscosity of the mud is appropriate, so the first rake body 420 is pressed moderately. Therefore, since the rotating rake body 42 is located between the upper limit and the lower limit, the working machine control unit 101 (control unit) can determine that the moisture in the mud mixed with the soil is appropriate.

[0071] (Relationship between rake body 42, large soil lump W1, and small soil lump W2 3) As shown in Figure 6, when the rake body 42 moves forward, it is determined that the soil contains a large amount of moisture or that the soil has been crushed too much, resulting in an overly fine finish. FIG. 6 shows a case where a small soil lump W2 covers the top of a large soil lump W1 on the field surface. When the small lump of soil W2 covers the top of the large lump of soil W1 as shown in Figure 6, the small lump of soil W2 is so small that it easily passes between the rod-shaped members 423 of the rake body 42, reducing the resistance pushing the rake body 42 backward, and the rake body 42, biased by the elastic member 44, moves forward.

[0072] Similarly, when the rake body 42 is not on the ground, the rake body 42 returns completely to the front side. Therefore, when the sensor 90 detects that the rake body 42 has only a small amount of rotation or does not rotate upward, the work machine control unit 101 (control unit) can determine that the soil after tilling is too fine or that the soil is not on the ground. In addition, during plowing work, there is an excess of moisture mixed with the soil, so that mud easily passes through the rake body 42, resulting in insufficient pressure on the rake body 42 and a small amount of rotation of the rake body 42. Therefore, the work machine control unit 101 (control unit) can determine that the soil contains a large amount of moisture.

[0073] The operation flow shown in FIG. 9 will be described. (1) Detect the amount of rotation. Here, the amount of movement of the arm portion 422 is sensed by a pin 92 and a detection arm 91, and is detected by a sensor 93 as an amount of rotation.

[0074] (2) The amount of rotation is transmitted as the detection value X. The amount of rotation detected by the sensor 93 is transmitted to a work machine control unit 101 (control unit).

[0075] (3) Compare test value X. The calculation section of the work machine control section 101 (control section) compares the detection value X, which is the amount of rotation that is a value included in the transmitted detection signal detected by the sensor 93, with a preset amount of rotation. (4) Select the judgment result. The calculation unit selects a determination result corresponding to the detection value X according to the comparison result. (5) Transmit an action signal based on the result of the determination. The action processing unit transmits an action signal, which is information to perform an action corresponding to a predetermined action breakdown, based on the determination result derived by the calculation unit.

[0076] The determination results shown in FIG. 10 and the details of the operations based on the determination results will be described below. In the first judgment result, the judgment content is "indicates a rough finish state." In terms of the action content, the display device is controlled to "display blue" and the alarm device is controlled to "sound."

[0077] In the second judgment result, the judgment content is "indicates that the finish is good." In terms of the operation content, the display device is controlled to "display green" and the alarm device is controlled to "not sound."

[0078] In the third judgment result, the judgment content is "indicates that the finish is too fine or is not on the ground." In terms of the action content, the display device is controlled to "display red" and the alarm device is controlled to "sound."

[0079] In the embodiment of the present invention, the judgment results are divided into first to third types as shown in FIG. 10, but may be further divided. In this case, the display and notification accompanying the rotation of the rake body 42 can be made more detailed, so that the operator can recognize the rotation state of the rake body 42, i.e., the finished state of the soil, with higher accuracy and in real time. In addition, the operator can recognize the display device and alarm device operated based on the judgment result as long as they are at least one of the agricultural work machine A and the traveling machine body B. In addition, the operation instruction in the traveling machine body B is not limited to the operation of the display device and alarm device equipped in the traveling machine body B, but may also be to operate the traveling device 1 and the three-point link mechanism including the top link 10 and the lower link 11.

[0080] The agricultural machine having the above-disclosed configuration makes it possible to mechanically determine the state of the soil, such as the degree of soil crushing after tilling. Furthermore, this determination makes it possible for the control unit to control the operation of other devices. The present invention is applicable to the structure disclosed above, for example, even if the agricultural machine is structured so that any part in the working width direction can be folded. Also, although it has been described that a plurality of first rake bodies 420 are provided on the first ground leveling body in the working width direction, it is also possible to implement the invention with only one. [Explanation of symbols]

[0081] 4 Ground leveling body 40 1st land leveling body 403 Positioning member 41 Second leveling body 42 Rake body 420 First Rake Body 421 Second Rake Body 44 Elastic member 6 Cultivation body 7 Cover body 93 Sensors 101 Work machine control unit (control unit) A Farming Machine (Harrowing Machine) B. Running body W1 Large clod W2 clod small

Claims

1. A rake body capable of burying impurities in mud and configured to be rotatable; A sensor capable of detecting a rotation angle of the rake body and transmitting a detection signal; A control unit capable of determining a rotation angle of the rake body based on the detection signal; A display device connected to the control unit and configured to be visually recognizable. The control unit receives the detection signal, and outputs an operation instruction including an operation to be performed to the display device based on a result of comparing a predetermined value with a value included in the detection signal. Agricultural machinery characterized by:

2. A rake body capable of burying impurities in mud and configured to be rotatable; A sensor capable of detecting a rotation angle of the rake body and transmitting a detection signal; A control unit capable of determining a rotation angle of the rake body based on the detection signal; An alarm device connected to the control unit and configured to be audibly recognized. The control unit receives the detection signal, and outputs an operation instruction to the alarm device based on a result of comparing a predetermined value with a value included in the detection signal. Agricultural machinery characterized by:

3. The operation instruction is changed based on the result of the comparison operation.

3. The agricultural machine according to claim 1 or 2.

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