Agricultural working machine

Abstract

To provide an agricultural working machine in which the urging condition of a leveling body can be adjusted by determining the condition of soil.SOLUTION: An agricultural working machine 1 comprises: a leveling body 5 that is vertically swingable and levels soil by contacting the ground; a pressure-adjusting unit 6 that changes the urging force of the leveling body 5 toward the soil; a detection body 42 capable of detecting the condition of the soil in front of the leveling body 5; and a control unit 101 that controls the pressure-adjusting unit such that the urging force of the leveling body 5 is adjusted according to the soil condition detected by the detection body 42.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural implement, and more particularly to a tiller. [Background technology]

[0002] Agricultural implements are known that till the soil of a field with a tilling section and level it with a soil leveling unit. Particularly when used on muddy soil with a high moisture content, the soil leveling unit can apply appropriate pressure to the soil to achieve a good leveled condition. Patent Document 1 describes a technology in which an apron, which performs part of the function of the soil leveling unit, has a pressure mode that prevents the soil leveling unit from rotating upward, and a non-pressure mode that does not prevent the soil leveling unit from rotating upward. Patent Document 2 also discloses technology for an agricultural implement that can determine the condition of the soil, such as the degree of soil breaking after tilling. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-170239 [Patent Document 2] Japanese Patent Publication No. 2022-066680 Summary of the Invention [Problem to be solved by the invention]

[0004] Because the soil quality within a field may not be uniform, it may not be possible to respond to gradually changing soil quality simply by switching the pressure mode between pressure and non-pressure, as in the embodiment shown in Patent Document 1. Furthermore, while the technology in Patent Document 2 makes it possible to determine the condition of the soil, it does not allow for the adjustment of the pressure applied by the soil leveling device. [Means for solving the problem]

[0005] This invention is a leveling body that is vertically rotatable and levels the soil by contact with the ground; a pressure adjusting unit that changes the biasing force of the soil leveling body on the soil; a detector capable of detecting the state of the soil in front of the ground leveling body; a control unit that controls the pressure adjusting unit to adjust the biasing force of the soil leveling body in accordance with the state of the soil detected by the detecting body; An agricultural machine characterized by comprising: relates to.

[0006] The present invention further provides: A tilling unit is located in front of the soil leveling body and tills the soil, The detection body is located behind the tilling unit and in front of the soil leveling body. An agricultural machine characterized by: relates to.

[0007] The present invention further provides: an agricultural work machine characterized in that the detector detects soil after it has been tilled by the tilling unit; relates to.

[0008] The present invention further provides: The detection body is provided so as to be movable relative to the leveling body. An agricultural machine characterized by: relates to.

[0009] The present invention further provides: The pressure adjusting part is a rod having one end rotatably supported and the other end held by a holding member located on the leveling body, and slidable in response to the rotation of the leveling body; a first elastic body that biases the ground leveling body so that it approaches the ground being leveled; a rotation restricting member provided to cover the rod and allowing the holding member to slide; a regulating body that moves relative to the rod to regulate a position at which the first elastic body abuts; An agricultural machine characterized by comprising: relates to.

[0010] The present invention further provides: A second elastic body that biases the ground leveling body so as to move it away from the leveled surface; An agricultural machine characterized by comprising: relates to.

[0011] The present invention further provides: a sensor capable of detecting movement of the detection body and transmitting the detected value as a detection signal to the control unit, the control unit includes a calculation unit that receives the detection signal and compares a predetermined value with a value included in the detection signal; An agricultural machine characterized by comprising: relates to.

[0012] The present invention further provides: an action processing unit that derives a determination result based on the comparison calculation, selects an action to be executed based on the determination result, and transmits an action signal for executing the action; An agricultural machine characterized by comprising: relates to.

[0013] The present invention further provides: The control unit controls the pressure adjusting unit so that the ground leveling unit increases the pressure applied to the soil as the load received from the soil detected by the detection unit increases. An agricultural machine characterized by: relates to.

[0014] The present invention further provides: The soil conditions include a first soil condition in which the running resistance to the detection body is low, a second soil condition in which the running resistance to the detection body is medium, and a third soil condition in which the running resistance to the detection body is high. The pressure applied by the soil leveling body consists of a first pressure where the soil leveling body does not apply pressure or where the pressure is small, a second pressure where the soil leveling body applies pressure with a force intermediate between the first and third pressures, and a third pressure where the soil leveling body applies a large pressure with the maximum pressure to the side where it presses the soil. The control unit When the soil condition detected by the detecting body is determined to be a first soil condition, the pressure adjusting unit is controlled so that the ground leveling body is subjected to a first pressure. When the soil condition detected by the detecting body is determined to be a second soil condition, the pressure adjusting unit is controlled so that the ground leveling body is subjected to a second pressure. When the soil condition detected by the detector is determined to be a third soil condition, the pressure adjusting unit is controlled so that the soil leveling body is pressurized to a third pressure. An agricultural machine characterized by: relates to. [Effects of the Invention]

[0015] The present invention has been made in view of the above-mentioned problems, and has as its object to provide an agricultural work machine that can adjust the force exerted by the soil leveling body by determining the condition of the soil. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a front view of the entire working machine according to a first embodiment of the present invention, as seen from the rear in the direction of travel, with the extended working body in an unfolded state and the soil-pile working body in a soil-piling state. [Figure 2] 1 is a side view of the entire working machine according to a first embodiment of the present invention. [Figure 3] FIG. 2 is an explanatory diagram showing the operation of the rake body of the work machine according to the first embodiment of the present invention, illustrating the lower limit position. [Figure 4] FIG. 2 is an explanatory diagram showing the operation of the rake body of the work machine according to the first embodiment of the present invention, illustrating the upper limit position. [Figure 5] 1 is a side view of a working machine according to a first embodiment of the present invention, showing a pressure adjusting section in a first pressurizing state. [Figure 6] 1 is a side view of a working machine according to a first embodiment of the present invention, showing a pressure adjusting section in a third pressurizing (nth pressurizing) state. FIG. [Figure 7] 1 is a block diagram of a work machine according to a first embodiment of the present invention. [Figure 8] FIG. 2 is a flow diagram of the work machine according to the first embodiment of the present invention. [Figure 9]1 is a diagram showing an operating state of a work machine according to a first embodiment of the present invention. [Figure 10] FIG. 5 is an enlarged side view of a posture control unit of a work machine according to a second embodiment of the present invention. [Figure 11] FIG. 6 is an enlarged side view of a pressure adjusting section of a work machine according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] A first embodiment of the agricultural implement according to the present invention is shown at 1. In this first embodiment, the agricultural implement 1 is a tiller. Reference numeral 11 denotes the central working body of the tillage implement 1, 11L denotes an extended working body on the left side, and 11R denotes an extended working body on the right side. The central working body 11 forms the center of the agricultural implement 1. The extended working body 11L forms the left side of the agricultural implement 1 and is provided to the left of the central working body 11. The extended working body 11R forms the right side of the agricultural implement 1 and is provided to the right of the central working body 11.

[0018] A frame 2 has a mounting portion 20 that can be mounted on a traveling machine body (not shown). Reference numeral 212 denotes a top mast. Reference numeral 213 denotes a lower plate. There are two lower plates 213. Reference numeral 201 denotes a top link pin. The top link pin 201 is provided at the tip of the top mast 212 of the mounting part 20. Reference numeral 202 denotes a lower link pin. The lower link pin 202 is provided at the tip of the lower plate 213 of the mounting part 20. The tillage implement 1 is attached to a traveling body (not shown) by a top link pin 201 provided on the top mast 212 and lower link pins 202 provided on each of the two lower plates 213.

[0019] Reference numeral 21 denotes an input case which is a transmission unit. Reference numeral 211 denotes an input shaft. Driving force is introduced into the input case 21 from a PTO shaft of a traveling machine body (not shown) via the input shaft 211. Reference numeral 22 denotes a pipe frame. The pipe frame 22 is a long member, and is attached to the left and right of the input case 21 with its longitudinal direction facing left and right. Reference numeral 221 denotes a side working body pipe frame. The side working body pipe frames 221 are attached to the ends of the pipe frame 22. The driving force from the input case 21 is distributed via a bevel gear and transmitted to the end side of the pipe frame 22 and the side working body pipe frame 221, respectively. 22A is a second pipe frame. The second pipe frame 22A is provided in parallel to the pipe frame 22. The second pipe frame 22A may be omitted.

[0020] Reference numeral 23 denotes a transmission case made up of a chain case. 23A denotes a central working body transmission case, and 23B denotes a side working body transmission case. The central working body transmission case 23A is attached to the tip end of the second pipe frame 22A. The side working body transmission case 23B is attached to the tip end of the side working body pipe frame 221. The central working body transmission case 23A may be placed on both the left and right sides of the pipe frame 22, or may be placed on only one side of the pipe frame 22. Support frames 24 are made up of support members. The support frames 24 are located at the leading ends of both the left and right sides of the pipe frame 22 and are connected to the transmission case 23. The folding fulcrum parts 25 are arranged on both the left and right ends of the central working body 11, and the central working body 11 of the tillage implement 1 and the left and right extension working bodies 11L and 11R are respectively rotatably attached to the folding fulcrum parts 25.

[0021] Numeral 3 denotes a tilling unit consisting of a soil-breaking section. The tilling unit 3 is rotatably supported by a support frame 24 of the frame 2 and breaks down the soil. 3L is the left-side extended tilling unit. The extended tilling unit 3L is provided on the left side of the tilling unit 3 and is installed below the extended working body 11L. 3R is the right-side extended tilling unit. The extended tilling unit 3R is provided on the right side of the tilling unit 3 and is installed below the extended working body 11R.

[0022] A rotor shaft 31 is provided on the central working body 11, the extended working body 11L, and the extended working body 11R, and is driven by the driving force from the input case 21. Numeral 32 denotes tillage tines. The tillage tines 32 are provided so as to protrude from the periphery of the rotor shaft 31, and rotate in conjunction with the rotation of the rotor shaft 31 to till the field.

[0023] A cover body 4 is installed so as to cover the upper part of the tilling section 3 of the central working body 11. 4L is a cover body. The cover body 4L is installed so as to cover the upper part of the extended tilling section 3L of the left-side extended working body 11L. 4R is a cover body. The cover body 4R is installed so as to cover the upper part of the extended tilling section 3R of the right-side extended working body 11R.

[0024] The left fulcrum frame 41L is attached to the folding fulcrum part 25 of the side working body pipe frame 221 on the side of the extended tilling section 3L. The right fulcrum frame 41R is attached to the folding fulcrum part 25 of the side working body pipe frame 221 on the side of the extended tilling part 3R. It is also possible to omit the side working body pipe frame 221 and to mount the left supporting point frame 41L and the right supporting point frame 41R directly on the cover body 4L and the cover body 4R, respectively.

[0025] Reference numeral 5 denotes a ground leveling unit (ground leveling body). The ground leveling unit 5 is also called a ground leveling body and is made of a plate-like material. The ground leveling body 5 levels the ground evenly. The soil leveling body 5 is positioned behind the tilling unit 3 and is free to rotate up and down. It levels the soil (mud) after tilling by touching the ground. The soil leveling body 5 is positioned behind the tilling unit 3 and at the rear of the cover body 4, and is rotatable around an axis perpendicular to the direction of travel. By bringing the surface facing the tilling unit 3 into contact with the soil, it levels the soil that the tilling unit 3 has crushed in the field. A first ground leveling body 51 is attached to the central working body 11. 5L is the left ground leveling body. 51L is the first left ground leveling body. The left ground leveling body 5L and the first left ground leveling body 51L are attached to the extension work body 11L. 5R is the right ground leveling body. 51R is the first right ground leveling body. The right ground leveling body 5R and the first right ground leveling body 51R are attached to the extension work body 11R.

[0026] 3 to 5 is a pivot point for the first soil leveling body 51. The pivot point 512 attaches the soil leveling unit (soil leveling body) 5 to the tillage implement 1 so that it can pivot about an axis perpendicular to the direction of travel behind the tilling unit 3. 513 is a holding plate. Reference numeral 53 denotes a holding member. The holding member 53 is held rotatably about a rotation axis parallel to the rotation fulcrum 512 by holding plates 513, which are two plate-like members erected from the ground leveling unit (ground leveling body) 5. The holding member 53 has an insertion hole 532 perpendicular to its own rotation axis, and a rod main body 61, which will be described later, is inserted into this insertion hole 532.

[0027] 5 and 6 denotes a protrusion 531. The protrusion 531 protrudes from the holding member 53 in a lateral direction parallel to the rotation fulcrum 512, and is engaged with a first elongated hole 641 provided in the rotation restricting member 64, which will be described later. Reference numeral 56 denotes a second ground leveling body. Reference numeral 57 denotes a rotation fulcrum of the second ground leveling body 56. The second ground leveling body 56 rotates relative to the first ground leveling body 51 around the rotation fulcrum 57. The left second ground leveling body 56L is attached to the left first ground leveling body 51L of the extension working body 11L, and is rotatable about a rotation fulcrum 57. The right second ground leveling body 56R is attached to the right first ground leveling body 51R of the extension working body 11R, and is rotatable about a rotation fulcrum 57 as a fulcrum. The pivot point 57 is a pivot axis parallel to the width direction of the second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R, and allows the second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R to rotate up and down around this pivot point 57. The central first ground leveling unit, namely, ground leveling body 51, the left first ground leveling unit, namely, ground leveling body 51L, and the right first ground leveling unit, namely, ground leveling body 51R, rotate up and down in conjunction with each other. The central second ground leveling body 56, the left second ground leveling body 56L, and the right second ground leveling body 56R rotate up and down in conjunction with each other. Even if the ground leveling body 5 has extension bodies 11L, 11R on the left and right and has a foldable structure, the central ground leveling body 5, the left ground leveling body 5L, and the right ground leveling body 5R rotate up and down in conjunction with each other, thereby enabling the leveling of a wide range of soil.

[0028] The pressure adjusting section will now be described. Reference numeral 6 denotes a pressure adjusting unit. The pressure adjusting unit 6 biases the ground leveling unit (ground leveling body 5) in the rotation direction. The pressure adjusting unit 6 has a rod main body 61, a first elastic body 62, a second elastic body 63, a rotation restricting member 64, a restricting body 65, a switching arm 66, a return elastic body 68, and an actuator 67. 5 and 6, reference numeral 611 denotes the rotation fulcrum of the rod. One end of the rod rotation fulcrum 611 is provided near the frame 2 of the rotation restricting member 64, and supports the rod main body 61 so that it can rotate freely in the same direction as the ground leveling unit (ground leveling body) 5. Reference numeral 612 denotes a pin provided at the tip of the rod main body 61. Reference numeral 613 denotes a pin provided at the base of the rod main body. Reference numeral 614 denotes a screw adjustment part, which is provided near the rotation fulcrum 611 and adjusts the length of the adjustment part 615.

[0029] The other end, i.e., the tip end, of the rod body 61 is held by a holding member 53 provided on the ground leveling section (ground leveling body) 5 so as to be slidable in the axial direction of the rod body 61. The holding member 53 slides in the axial direction of the rod body 61 as the first ground leveling body 51, the left first ground leveling body 51L, and the right first ground leveling body 51R rotate up and down. In the embodiment, the rod body 61 is shown as a round bar-shaped member, but a cylindrical member may also be used, and the cross-sectional shape is not limited to being round.

[0030] Reference numeral 62 denotes a first elastic body. The first elastic body 62 is wound around the rod main body 61 coaxially with the rod main body 61 and is positioned between the rod's pivot point 611 and the retaining member 53. The first elastic body 62 can urge the first soil leveling body 51, or the left first soil leveling body 51L, or the right first soil leveling body 51R, toward the tilling unit 3. By urging the first soil leveling body 51 to rotate toward the tilling unit 3, the pressing force of the first soil leveling body 51 against the leveled ground can be increased, improving soil leveling performance. The same applies to the left first soil leveling body 51L and the right first soil leveling body 51R.

[0031] Reference numeral 65 denotes a regulating body. The regulating body 65 is provided slidably in the axial direction of the rod main body 61, and is provided between the rotation fulcrum 611 of the rod and the first elastic body 62. By abutting the regulating body 65 against one end of the first elastic body 62 on the rotation fulcrum 611 side of the rod, the expansion and contraction of the first elastic body 62 is restricted. By moving the regulating body 65 relative to the rod main body 61, the position at which the expansion and contraction of the first elastic body 62 is restricted can be changed. The first elastic body 62 is placed between the regulating body 65 and the holding member 53. The regulating body 65 is operated by a switching arm 66. When the switching arm 66 is fixed, the first elastic body 62 biases the holding member 53 in the tip direction of the other end of the rod main body 61 opposite the rod rotation fulcrum 611 side, i.e., the tip side.

[0032] The first elastic body 62 urges the ground leveling unit (ground leveling body) 5 to approach the ground being leveled by moving the holding member 53 toward the tip of the rod main body 61. The regulating body 65 has a protruding portion 651 in a direction perpendicular to the rod main body 61, and by connecting this protruding portion 651 to a switching arm 66, the regulating position of the regulating body 65 can be changed. The regulating position of the regulating body 65 and the detailed structure of the switching arm 66 will be described later.

[0033] A second elastic body 63 is provided coaxially with the rod main body 61 and wound around the rod main body 61 at the other end, i.e., the tip end, of the rod main body 61, which is opposite the rod rotation fulcrum 611 side of the rod main body 61 from the holding member 53. A pin 612 is a locking member and is provided so as to protrude from the other end of the rod main body 61, which is the end opposite to the rotation fulcrum 611 of the rod of the rod main body 61.

[0034] As shown in the figure, the pin 612 prevents the second elastic body 63 from moving further toward the tip of the rod main body 61 at the tip side of the rod main body 61. Therefore, the second elastic body 63 can bias the holding member 53 toward the end side of the rotation fulcrum 611 of the rod. The second elastic body 63 biases the holding member 53 to move in the direction of the rotation fulcrum 611 of the rod, thereby biasing the ground leveling section (ground leveling body) 5 away from the ground to be leveled.

[0035] The second elastic body 63 urges the ground leveling body 5 upward when the ground leveling body 5 rotates upward from the lowest position in the rotation direction. This has the effect of allowing the ground leveling body 5 to rotate upward quickly without sticking into the field surface when the ground leveling body 5 touches the ground surface in a muddy state. In this first embodiment, the first elastic body 62 and the second elastic body 63 are each provided coaxially with the rod main body 61. Therefore, it is possible to install both the first elastic body 62, which urges the ground leveling unit (ground leveling body) 5 to approach the ground to be leveled by moving the holding member 53 toward the other end of the rod main body 61, and the second elastic body 63, which urges the ground leveling unit (ground leveling body) 5 to move away from the ground to be leveled by moving the holding member 53 toward the rotation fulcrum 611 of the rod, in a limited space.

[0036] Reference numeral 64 denotes a rotation restricting member. The rotation restricting member 64 restricts the rotation range of the ground leveling body 5 via the holding member 53 and the holding plate 513. The rotation restricting member 64 is U-shaped in cross section with an open bottom so as to cover the rod main body 61 (not shown), and is located on the outside of the working body, that is, above the cover body 4 and the ground leveling body 5. This prevents foreign matter such as soil and impurities from adhering to the rod main body 61, and eliminates deviations in the rotation restricting position of the ground leveling body 5. The rotation restricting member 64 is supported at one end by a rod rotation fulcrum 611 so as to be rotatable in the same direction as the ground leveling unit (ground leveling body) 5 near the frame 2. In addition, the rotation restricting member 64 is fixed to the base end of the rod main body 61 by a pin 613, so that it can rotate around the rotation fulcrum 611 together with the adjustment unit 615 and the rod main body 61. Although the rotation restricting member 64 has been described as being provided on the rotation fulcrum 611 via the adjustment portion 615, this adjustment portion 615 may be omitted. In this case, a pin 613 is inserted into the rotation fulcrum 611 so as to pass through the rotation restricting member 64 and the front end side of the rod main body 61, and the rotation restricting member 64 and the rod main body 61 are directly supported by the rotation fulcrum 611 so as to be freely rotatable.

[0037] Reference numeral 641 denotes a first elongated hole portion. Reference numeral 642 denotes a second elongated hole portion. The first elongated hole portion 641 and the second elongated hole portion 642 are provided in two positions, one at the front and one at the back of the side portion of the rotation restricting member 64. The second elongated hole portion 642 is provided near one end of the rotation restricting member 64 that is closer to the rotation fulcrum 611 of the rod that is rotatably supported near the frame 2, and the first elongated hole portion 641 is provided near the tip end, which is the other end of the rotation restricting member 64, of the second elongated hole portion 642. The restricting body 65 slides on the rod main body 61 with the protruding portion 651 aligned with the elongated hole of the second elongated hole portion 642. The protruding portion 651 and the second elongated hole portion 642 allow the restricting body 65 to slide on the rod main body 61 without rotating around the axis of the rod main body 61.

[0038] The first elongated hole portion 641 and the second elongated hole portion 642 are elongated in the axial direction of the rod main body 61 and are provided parallel to the rod main body 61 . The diameter of the first elongated hole 641 is larger than the diameter of the second elongated hole 642, depending on the diameters of the protruding portion 651 and the protruding portion 531. The rotation of the ground leveling unit (ground leveling body) 5 is restricted by the protruding portion 531 abutting against the end of the first elongated hole 641. In particular, downward rotation is restricted by the weight of the ground leveling unit (ground leveling body) 5 acting on the end of the first elongated hole 641. At this time, in order to reduce the surface pressure at the time of contact, it is necessary to increase the contact area between the first elongated hole 641 and the protruding portion 531. For this reason, the diameter of the first elongated hole 641 is made larger.

[0039] The holding member 53 has the protruding portion 531 that slides on the rod main body 61 along the elongated hole of the first elongated hole portion 641 . The first elongated hole 641 on the rear side (free end side) guides the protrusions 531 that protrude like pins from both the left and right ends of the holding member 53. As the rod main body 61 slides as the ground leveling body 5 (first ground leveling body) rotates up and down, the protrusions 531 move along the inner periphery of the first elongated hole 641. The protrusions 531 and the first elongated hole 641 allow the first ground leveling body 51, or the left first ground leveling body 51L, or the right first ground leveling body 51R, to rotate within the range of the first elongated hole 641. The protrusions 651 protrude from both the left and right ends of the regulating body 65 in a pin-like shape.

[0040] The second elongated hole 642 on the front side guides protrusions 651 that protrude like pins from both the left and right ends of the regulating body 65. The regulating body 65, which is slidable in the axial direction relative to the rod main body 61, is freely movable within the range of the second elongated hole 642. In addition, the protrusions 65 and the second elongated hole 642 prevent the regulating body 65 from rotating around the rod axis. The second elongated hole portion 642, which allows the regulating body 65 to slide along the elongated hole, and the first elongated hole portion 641, which allows the holding member 53 to slide along the elongated hole, are provided separately in the longitudinal direction of the rotation restricting member 64, and the second elongated hole portion 642 is provided at one end of the rod main body 61, which is the side of the rod's rotation fulcrum 611, and the first elongated hole portion 641 is provided at the other end, i.e., the tip side, of the rod main body 61, thereby enabling smooth operation of the switching arm 66, which will be described later, and the holding member 53.

[0041] As shown in Figures 5 and 6, one end of the rod body 61 is rotatable near the frame 22 or on the cover body 4, so that the rod body 61 can be laid down (in a horizontal position). The rod body 61, the tip which is the free end of the rod body 61, does not go in and out in the vertical direction due to the rotation of the ground leveling body 5, so there is no inconvenience such as the rod body 61 interfering with the extension working bodies 11L, 11R even when they are in the folded state.

[0042] Furthermore, by providing the rotation fulcrum 611 of the rod body 61 on the pipe frame 22 side rather than the cover body 4, the fulcrum position does not fluctuate due to deformation of the cover body 4 caused by work, and the rotation restriction position on the lower side of the leveling body 5 is stabilized. As shown in Figures 5 and 6, one end of the rod body 61 in the embodiment is rotatably mounted on a member that protrudes downward from the frame 22, but there are no restrictions on the mounting position as long as the rod body 61 can rotate in conjunction with the rotation of the soil leveling body 5. The rotation fulcrum 611 only needs to be located above and forward of the rotation fulcrum 512, and the rotation fulcrum 611 can also be located above the tilling section 3 or above the cover body 4, and does not necessarily have to be located on the frame 2. For example, the rigidity and strength of the cover body 4 can be improved, and one end of the rod body 61 can be rotatably mounted on the cover body 4 that covers the tilling section 3.

[0043] The rod body 61 slides in the axial direction of the rod body 61 within the insertion hole 532 provided in the holding member 53. That is, the holding member 53 slides in the axial direction of the rod body 61 as the ground leveling body 5 (first ground leveling body 51, 51L, 51R) rotates up and down.

[0044] In an embodiment of the present invention, a rod main body 61, a first elastic body 62, and a second elastic body 63 are installed above the ground leveling body 5 to restrict the rotation of the rod main body 61 and thereby restrict the up and down movement of the ground leveling body 5. The first elastic body 62 biases the soil leveling unit (soil leveling body) 5 toward the ground being leveled, while the second elastic body 63 biases the soil leveling unit (soil leveling body) 5 away from the ground being leveled. Therefore, when the soil leveling body 5 rotates so that the holding member 53 moves from one end to the other end (i.e., the tip end) or vice versa, the biasing direction can be smoothly switched. Therefore, the pressing force applied to the ground being leveled by the rotation of the soil leveling body 5 can be varied depending on the rotation angle. By providing a rotation restriction member 64 above the soil leveling body 5, on the side opposite the tilling unit 3, debris on the ground being leveled is prevented from clogging, and stable rotation restriction of the soil leveling body 5 can be achieved. Furthermore, because the rotation restriction member 64 restricts the vertical rotation of the soil leveling body 5, stable rotation restriction can be achieved by the rotation restriction member 64 alone, without relying on the rod main body 61, the first elastic body 62, and the second elastic body 63.

[0045] The regulating body 65, which is slidable on the rod main body 61, can be adjusted by fixing only the first elastic body 62, which presses the leveling body 5, at any position. A switching arm 66 is provided rotatably on both sides of the rotation restricting member 64 so as to straddle the rotation restricting member 64, in order to move the restricting body 65 in the axial direction of the rod main body 61.

[0046] A rotation fulcrum portion 661 is a rotation fulcrum shaft about which a switching arm 66 provided above the rotation restricting member 64 rotates, allowing the switching arm 66 to rotate freely in the front-rear direction. By rotating the switching arm 66 relative to the rotation restricting member 64, the protruding portion 651 is guided, and the restricting body 65 located on the rod main body 61 can be moved.

[0047] 5, the return elastic body 68 is attached to the periphery of the rotation fulcrum portion 661, and biases the restriction body 65, which can come into contact with the first elastic body, toward the other end side of the rod main body 61, i.e., the tip side. The return elastic body 68 biases the switching arm 66 in a direction that strengthens the biasing force of the first elastic body 62, and moves the regulating body 65 together with the first elastic body 62 toward the other end, i.e., the tip, of the rod main body 61. By providing the switching arm 66, the operator can more easily move the regulating body 65 which is operated by a link mechanism.

[0048] The return elastic body 68 biases the first elastic body 62 in a direction to compress it (a direction to store elastic force) by the rotation of the switching arm 66. The return elastic body 68 is set to be weaker than the first elastic body 62, so that abnormal noise and wear of the first elastic body 62 and the regulating body 65 are suppressed, while the biasing action of the first elastic body 62 on the leveling plate is not hindered.

[0049] In the embodiment of the present invention, the pressure adjusting unit 6 is provided on each of the central working body 11 and the extended working bodies 11L, 11R of the foldable tillage implement, but it may also be provided on only the central working body 11, or on only the left and right extended working bodies 11L, 11R. It is also possible to install it on a tillage implement 1 that does not have a folding mechanism. Furthermore, although the example shows a case in which the pressure adjusting units 6 are provided in three locations, there is no limit to the number. The shape and arrangement of the pressure adjusting units 6 can be changed as appropriate to suit the shape and specifications of the agricultural implement being implemented.

[0050] As the switching arm 66 rotates, the regulating body 65 slides in the axial direction of the rod main body 61. The second elongated hole portion 642 limits the range of movement of the regulating body 65, and when the rotation of the switching arm 66 is stopped, the movement of the regulating body 65 relative to the rod main body 61 stops. Therefore, by changing the rotation position of the switching arm 66, the biasing force of the first elastic body 62, which is sandwiched between the regulating body 65 and the holding member 53, on the ground leveling body 5 can be changed.

[0051] The switching arm 66 is rotatable by a rotation fulcrum portion 661 that is rotatable on the rotation restricting member 64. An actuator 67, which will be described later, is attached to the upper end of the switching arm 66, and an elongated hole portion 663 into which the protrusion portion 651 of the restricting body 65 is inserted is provided at the lower end. By rotating the switching arm 66, the elongated hole portion 663 can move the left and right protrusion portions 651 of the restricting body 65 in the axial direction of the rod main body 61 while being guided by the second elongated hole portion 642.

[0052] As shown in Figure 2, the leveling body 5 comprises a first leveling body 51 and a second leveling body 56, which are rotatable relative to each other up and down. The rotation of the first leveling body 51 and the second leveling body 56 can be fixed and released by the posture control unit 7. In the rotation-fixed state, as shown in Figure 2, the first leveling body 51 and the second leveling body 56 reach the lower end of the rotation direction and are fixed so that they cannot rotate. In the rotation-released state, the first leveling body 51 and the second leveling body 56 are rotatable in the up and down direction. The posture control unit 7 has a first link 71 that rotates up and down on the first ground leveling unit 51, a second link 72 that connects the rear end of the first link 71 to the upper part of the second ground leveling unit 56, and a swing arm 712 that can fix and release the rotation of the first link 71. In this embodiment, the posture control unit 7 is made up of a posture control unit 7A that is placed on the central work body 11 and a posture control unit 7B that is placed on the extended work bodies 11L and 11R. However, the posture control units 7 may be provided only on the central work body 11 or only on each of the left and right extended work bodies 11L and 11R, and this can be changed as appropriate depending on the configuration and specifications of the agricultural work machine being implemented.

[0053] The pressure adjusting unit 6 further includes an actuator 67. In the first embodiment, the actuator 67 is configured as a cylinder with a rod consisting of a retractable rod body 61. The base end of the cylinder is fixed at a desired position on the tilling unit 3 forward of the soil leveling unit 5, and the other end, i.e., the tip of the rod body 61, is connected to a switching arm. Driving the cylinder to extend and retract rotates the switching arm, causing the regulating body 65 to move relatively along the rod body 61. Because the regulating body 65 is movable on the rod body 61 by the actuator 67, the repulsive force of the first elastic body 62 sandwiched between the regulating body 65 and the retaining member can be adjusted. Therefore, the downward biasing force of the soil leveling unit 5 can be adjusted by changing the position of the regulating body 65. This biasing force is sometimes referred to as pressure adjustment. The retractable position of the rod of the actuator 67 can be maintained unless a control command is issued, so the position of the regulating body 65 is maintained and the degree of pressure adjustment by the first elastic body 62 can be maintained.

[0054] The pressurization (pressure adjustment) of the ground leveling body 5 will be described. For example, as shown in Figure 4, when it is determined that the running resistance is high, it may be due to the following: the soil is hard or sticky, the moisture content is low, there are many clods, there are large clods (clod W1), the running speed is high, etc. In this case, the leveling body 5 is forced to rise upward, and the pressure on the soil is weak, so a satisfactory leveling finish may not be obtained. For this reason, it is necessary to apply pressure so as to urge the ground leveling body 5 downward. On the other hand, as shown in Figure 3, when the running resistance is judged to be low, it is due to the fact that the soil is soft or not sticky, there is a lot of moisture, there are no soil clods (small soil clod W2) or the soil clods are small, the running speed is slow, etc. In this case, the leveling body 5 is subject to a force that tries to sink downward, and if it is pressurized too much, it will try to dig into the soil, which may result in a satisfactory leveling finish. For this reason, it is necessary to pressurize or depressurize the leveling body 5 to weaken the force that urges it downward. For this reason, the pressure adjustment unit 6 is provided to ensure that the leveling body 5 is properly grounded. Furthermore, the pressurization (pressure adjustment) of the ground leveling body 5 will be described later.

[0055] In addition to the above-described form, a motor having a rotating shaft may be used as the actuator 67. In this case, the rotation of the output shaft of the motor may be connected to rotate the switching arm, thereby moving the regulating body 65. Also, a screw may be used to convert the rotation of the motor into the extension and retraction movement of the rod main body 61.

[0056] The detection body will be described with reference to Figures 3 and 4. The detection body is made up of a rake body 42. Power obtained from a tractor (not shown), which is the traveling machine body, is transmitted to the tillage unit 3, which is a tillage rotor, and the tillage tines 32 provided on the tillage unit 3 are rotated to till or crush the soil. The tilled or crushed soil is leveled by the soil leveling unit 5, and as shown in Figures 3 and 4, impurities floating on the soil surface are buried by a rake body 42, which is a detection body provided on the soil leveling unit 5. The agricultural work machine 1 levels the soil while tilling or crushing it during puddling work. In explaining this embodiment, the left side of Figures 3 and 4 will be considered the front side in the direction of travel, and the right side of the figures will be considered the rear side.

[0057] A rake body 42, which serves as a detector, is placed in front of the soil leveling body 5. The detector body can detect the condition of the soil by moving forward while part of its tip is buried in the soil. The condition of the soil is the running resistance that the detector body experiences from the soil as it moves forward. Examples of running resistance include differences in soil quality, including soil viscosity, moisture content, the presence and size of clods, and the load that the detector body experiences from the soil due to the running speed.

[0058] In the first embodiment, the rake body 42 is composed of a first rake body 420 and a second rake body 421. The comb-shaped rake bodies 42, the first rake body 420, and the second rake body 421 also serve as detection bodies. A rake body 42, which serves as a detection body, is provided on the surface of the first leveling body 51 facing the tilling unit 3. As shown in Figures 3 and 4, the rake body 42 has a first rake body 420, which serves as a detection body, and a second rake body 421, which serves as a detection body, each having a plurality of rod-shaped members 423, 425 extending in the direction of travel, which are provided at a predetermined interval in the left-right direction relative to the direction of travel.

[0059] The detector is located in front of the ground leveling body 5, or it can be located further below. The detector, which is a rake body, is installed so that it can rotate on the same axis as the ground leveling body 5. It can also be said that the detector is installed so that it can move relatively to the ground leveling body 5. Multiple detectors may be installed side by side in the left and right directions relative to the ground leveling body 5.

[0060] The tilling machine is provided with a tilling section 3 positioned ahead of the soil leveling body 5 to till the soil, and a detection body positioned behind the tilling section 3 and ahead of the soil leveling body 5 detects the soil after it has been tilled by the tilling section 3. The detector is located behind the tilling unit 3 and in front of the soil leveling unit 5, so it can detect the condition of the soil after tilling. In other words, the detector can detect the condition of the soil just before the ground is about to be leveled. Based on the detection results of the detector, the pressure adjustment unit 6 can appropriately adjust the pressure applied to urge the soil leveling unit 5 toward the soil.

[0061] The first rake body 420, which is a detection body, has a rod-shaped member 423, a base member 424, and an elastic member 44. The base member 424 shown in Figures 3 and 4 is a plate-like member that is long in the left-right direction and is rotatable at the front end of the first leveling body 51. In the first embodiment, the rotation fulcrum of the base member 424 is provided coaxially with the rotation fulcrum 512. A plurality of rod-like members 423 are provided, one end of which is fixed to the base member 424 and the other end of which is groundable, and are arranged at intervals in the width direction in the direction of travel. The rod-like members 423 are rotatable integrally with the base member 424. The elastic member 44 can bias the base member 424 and the rod-shaped member 423 in the direction of travel. The elastic member 44 is positioned above the front part of the first soil leveling body 51, and can prevent scattering of tilled soil and the like from adhering to the body. The rake body 42, which is the detection body, is located behind the tilling unit 3 and is located between the tilling unit 3 and a soil leveling body 5 which is rotatable in the vertical direction, and is provided rotatably relative to the soil leveling body 5.

[0062] The first rake body 420, which is the detection body, has rod-shaped members 423 facing in the direction of travel that are attached from the front of the first soil leveling body 51 to the rear end side of the first soil leveling body 51. The front ends of the multiple rod-shaped members 423 are attached integrally to a base member 424 that extends left and right in the direction of travel. In the embodiment, multiple first rake bodies 420 are attached side by side on the left and right in the direction of travel on the tilling section 3 side of the first soil leveling body 51, but a single first rake body 420 may also be attached integrally. The second rake body 421 is located at the rear end of the first rake body 420 and attached to the rear end of the first leveling body 51, with the rod-shaped members 425 constituting the second rake body 421 positioned between the rod-shaped members 423 of the first rake body 420. The rod-shaped members 425 constituting the second rake body 421 are substantially M-shaped. The rod-shaped members 425 are shorter in the front-to-rear direction than the first rake body 420. The rod-shaped members 425 constituting the second rake body 421 plow 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.

[0063] 3 and 4, the front end of the first rake body 420 is attached to a pivot boss, which is the pivot axis of the first rake body 420, coaxially with the pivot fulcrum 512 of the first leveling body 51. Because the pivot boss and base member 424 are integral, the first rake body 420 can be rotated freely up and down relative to the first leveling body 51 on the same axis as the first leveling body 51, and the rear part of the first rake body 420 can be moved towards and away from the rear part of the first leveling body 51.

[0064] The first rake body 420 has an arm portion 422 that protrudes upward from the rear side of the pivot boss at the front end. The arm portion 422 is a strip-shaped member that is long in the vertical direction and pivots integrally with a rod-shaped member 423 and a base member 424 around the pivot boss as an axis. The arm portions 422 shown in this embodiment are strip-shaped members, and are provided in two locations on each of the left and right ends of the first rake body 420, but there are no limitations on the shape or number of arms to be installed. The ends of the arm portions 422 protrude from the upper surface of the first leveling body 51 and are bent rearward. The bent surface of the base member 424 is arranged approximately parallel to the upper surface of the front side of the first leveling body 51.

[0065] 3 and 4, a hole 427 is provided at the tip of the arm portion 422, and a positioning member 403 passes through this hole 427. In this embodiment, a bolt is used as the positioning member 403. One end of the positioning member 403 is inserted into a nut 404 fixed to the tilling unit 3 side of the first soil leveling body 51. The positioning member 403 is provided approximately perpendicular to the upper surface of the front side of the first leveling body 51. 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 51 and above the hole 427 at the tip of the arm portion 422.

[0066] As shown in Figures 3 and 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 underside of the bolt head, and the arm portion 422. With this configuration, the first rake body 420 can be attached while being biased by the elastic member 44 in a direction away from the first soil leveling body 51, i.e., toward the tilling unit 3.

[0067] As shown in Fig. 3, when the first rake body 420 is moving away from the first leveling body 51, the surface of the tip end located at the top of the arm portion 422 is set to be approximately parallel to the upper surface of the first leveling body 51. Thereafter, when the first rake body 420 is pressed upward by soil and mud, it rotates upward. At the end of the rotation, as shown in Fig. 4, the rear end of the first rake body 420 abuts against the rear end of the first leveling body 51 and the rotation stops. In this state, the arm portion 422 appears to be lifted relatively from the upper surface of the first leveling body 51, compressing the elastic member 44 between the tip end of the arm portion 422 and the other end of the positioning member 403.

[0068] The positioning member 403 attached with a screw can be adjusted to fine-tune the repulsive force of the elastic member 44 by adjusting the screw-in position. The biasing force of the first rake body 420, which is biased by the elastic member 44, can also be fine-tuned. As a result, by operating the positioning member 403 on the top side of the first leveling body 51, the biasing force of the first rake body 420 can be easily fine-tuned to an arbitrary biasing force that suits the operator's preference or soil conditions, etc. The first rake body 420 is constantly biased toward its 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 its upper limit as the vehicle travels. Because the first rake body 420 is biased toward its 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 travels and is pressed rearward. The presence or absence of rotation of the first rake body 420 can be used to detect the rolling resistance of soil lumps W1, W2, etc. in the soil.

[0069] The second rake body 421 has its front portion attached to the rear portion of the first ground leveling body 51, facing rearward and protruding downward from the ground leveled by the first ground leveling body 51. In this embodiment, the second rake body 421 is formed from a member having a smaller diameter than the first rake body 420, and can bend by its own elasticity. The rod-shaped members 425 that make up the second rake body 421 are respectively arranged between the left and right rod-shaped members 423 of the first rake body 420, which are provided spaced apart in the left-right direction.

[0070] The rake body 42 is located behind the tilling section 3, which is a tilling rotor, and is rotatable in the vertical direction. The rake body 42 is used to level the ground and simultaneously push and bury impurities such as rice straw in the muddy soil that has been tilled and crushed by the tilling unit 3. When in operation, it is in an inclined position with the front higher and the rear lower. By moving forward, it can guide the impurities captured at the front into the soil down the slope and bury them.

[0071] Only the first rake body 420 is disposed on the front side of the first leveling body 51, and the left-right distance is set relatively wide by the rod-shaped members 423 relative to 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. This causes the mud to be filtered out on the front side of the first rake body 420, separating it into water, soil, and impurities.

[0072] 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 leveling body 51 are arranged coaxially, and the elastic member 44 that applies a biasing force to the first rake body 420 is arranged on the front upper surface of the first leveling body 51, so that the pushing pressure of the first rake body 420 does not change even if the tilling depth changes and the angle of the first leveling body 51 changes.

[0073] 3, the first leveling body 51 has a shape that bulges outward in a mountain shape 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 leveling body 51 and its rear end abuts against the first leveling body 51. This can promote the filtering out of mud at the front side of the first rake body 420.

[0074] The rear ends of the first rake body 420 and the second rake body 421 are located rearward of the leveling surface at the rear end of the first soil leveling body 51, and are located forward of the leveling surface of the second soil leveling body 41. With this configuration, impurities pushed into the soil by the rake body 42 are suppressed by the second soil leveling body 41 before they float up, ensuring that the impurities are buried securely.

[0075] A sensor 93 is disposed above the soil leveling unit 5 to detect the rotation of the detection body (rake body 42). The sensor 93 detects the rotation of the detection body (rake body 42). While the sensor 93 is illustrated as employing a potentiometer, a distance sensor 93 capable of detecting the relative distance from the soil leveling unit 5 may also be used. In this case, the distance sensor 93 may be of a contact type, optical type, ultrasonic type, electromagnetic wave type, photoelectric type, laser type, or other type, but other types are also acceptable. If at least one sensor 93 can be disposed per agricultural work machine, the finishing state of that part can be determined, which simplifies the structure of the device. Of course, a sensor 93 may be disposed for each rake body disposed. In this case, the finishing state can be detected with higher accuracy.

[0076] Alternatively, the detector may be provided separately from the rake body. In this case, the detector need not be comb-shaped, and the pivot point may be provided separately from the rake body. For example, the detector may be provided at a location separate from the rake body, which rotates coaxially with the leveling unit 5 around the pivot point 512. In this case, the detector may be located in front of or below the rake body, or may be positioned so as to overlap the rake body in a side view and not interfere with the rotation of the rake body 42. The detector may also be configured to rotate on the same axis as the rake body 42, which rotates around the pivot point 512, independently. The detector may not be comb-shaped, but may be a simple, rotatable, long rod, with the amount of rotation detected by the sensor 93. The detector may be a single, long rod, or the number of long rods may be fewer than the number of comb-shaped portions of the first rake body 420, i.e., fewer than the number of rod-shaped members 423, and the amount of rotation may be detected by the sensor 93. Although the detection body has been described as being the first rake body 420, it may also be configured to detect running resistance by applying it to the second rake body 421. Furthermore, the rake body 42 is configured as the first rake body 420 and the second rake body 421, but it is also possible to arrange only either the first rake body 420 or the second rake body 421 on the soil leveling body 5 and use it as the detection body.

[0077] In the first embodiment, the sensor 93 detects the rotation or relative movement of the detection body, but this is not limited to this. For example, the sensor 93 may be arranged to detect the deflection of the detection body through running resistance, or it may be a sensor 93 that detects the deflection of the detection body as a potential difference or a change in capacitance. Furthermore, a sensor 93 that can detect pressure may be attached to the tip of a rigid, non-rotating detection body to directly detect running resistance. In the above case, the second rake body 421 may be used as the detection body in addition to the first rake body 420.

[0078] Reference numeral 91 denotes a detection arm and 92 denotes a pin. 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, extending longitudinally from the center to the rear. The pin 92 is provided on the arm portion 422, protrudes from the arm portion 422 side in the width direction relative to the direction of travel toward the detection arm 91, and fits into an elongated hole 94 provided in the detection arm 91. Therefore, as the arm portion 422 moves, the pin 92 moves in the elongated 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.

[0079] The sensor 93 is placed on the top 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 this 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 this sensor 93 are not important as long as it can detect the rotation angle, rotation phase, movement distance, etc.

[0080] (Relationship between the rake body 42, which is the detection body, and the large soil mass W1 and small soil mass W2 1) When the soil is crushed by the tilling unit 3, large clods W1 and small clods W2 may be generated depending on the puddling conditions, including the soil and tillage. Since the puddling operation is performed when the soil contains moisture, the soil after plowing is in a wet muddy state. As shown in Figure 4, when the rake body 42 is pushed rearward significantly, this occurs when the moisture content is low or the soil is not crushed sufficiently, resulting in a rough finish. The detection body 42 can also be pushed rearward when the traveling speed is high and there is a lot of resistance from the soil from the front, or when the soil is hard or sticky and tends to accumulate in front of the soil leveling body 5. In other words, the soil leveling body 5 located behind the detection body 42 receives a reaction force from the soil below that rotates it upward. FIG. 4 shows a case where a large soil lump W1 exists on the surface of the tilled soil in the field after the tilling unit 3 has passed through. The soil state is a third soil state in which the running resistance to the rake body 42, which is the detection body, is large.

[0081] As shown in Figure 4, 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 therefore pushes the rake body 42 significantly backward. As a result, the soil after plowing is not sufficiently crushed and is rough. Furthermore, during the plow work, the soil has insufficient moisture to mix with it, so the viscosity of the mud increases. Therefore, the impact resistance against the rake body 42 increases, pushing the rake body 42 significantly backward, and the moisture content is low.

[0082] (Relationship between the rake body 42, which is the detection body, and the large soil mass W1 and small soil mass W2 2) When the rake body 42 is pushed backwards moderately without being pushed backwards excessively, the moisture content mixed with the soil is appropriate. The soil condition is a second soil condition in which the running resistance to the rake body 42, which is the detection body, is medium. When the large soil clods W1 and small soil clods W2 are of appropriate size, the large soil clods W1 and small soil clods W2 contact and catch on the rake body 42, but a moderate amount of the large soil clods W1 and small soil clods W2 pass between the rod-shaped members 423 of the rake body 42, resulting in a moderate push on the rake body 42 without excessively pushing it backward. Therefore, the rake body 42 is positioned between its upper and lower limits (not shown), resulting in a good soil finish after tillage. Furthermore, during plow work, the moisture content of the mud mixed with the soil and the viscosity of the mud are appropriate, so the first rake body 420 is pressed appropriately. Therefore, because the rotating rake body 42 is positioned between its upper and lower limits, the moisture content of the mud mixed with the soil is appropriate. In addition to the above cases, when the traveling speed is appropriate and the resistance from the soil that the leveling unit 5 receives from the front is appropriate and the ground is leveled normally, or when the soil is neither hard nor soft and is of a medium quality and the ground is leveled properly without soil retention on the leveling unit 5, the detection body 42 will be pushed backward to a moderate extent, between the upper and lower limits. In other words, the reaction force that the leveling unit 5, which is located behind the detection body 42, receives from the soil is appropriate and the soil can be said to be leveled properly.

[0083] (Relationship between the rake body 42, which is the detection body, and the large soil mass W1 and small soil mass W2 3) As shown in FIG. 3, when the rake body 42 moves forward, the soil contains a large amount of moisture, or the soil is crushed too much, resulting in a too fine finish. Figure 3 shows a case where a small soil mass W2 covers the top of a large soil mass 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 3, the small lump of soil W2 is too small and easily passes between the rod-shaped members 423 of the rake body 42, reducing the resistance pushing the rake body 42 backward, causing the rake body 42, biased by the elastic member 44, to move forward. The soil condition is the first soil condition, in which there is little running resistance to the rake body 42, which is the detection body. In addition to the above cases, if the running speed is too slow and the resistance from the soil that the ground leveling body 5 receives from the front is small, so that the ground leveling body 5 is buried in the soil and unable to level the ground, or if the soil is too soft and an appropriate amount of soil cannot be retained below the ground leveling body 5 and flows out, the detection body 42 will remain positioned forward without rotating backward. In other words, the ground leveling body 5, which is located behind the detection body 42, is in a state in which it receives insufficient reaction force from the soil and is excessively pressing against the soil.

[0084] Similarly, when the rake body 42 is not in contact with the ground, the rake body 42 returns completely to the forward position. Therefore, the sensor 93 detects that the rake body 42 has not rotated enough or is not rotating upward, and the control unit 101 can determine that the soil after tillage is too fine or that the rake body 42 is not in contact with the ground. Furthermore, during plowing, there is an excess of moisture mixed with the soil, so mud easily passes through the rake body 42, resulting in an insufficient force pressing against the rake body 42 and a reduced rotational movement of the rake body 42. Therefore, the soil contains a large amount of moisture.

[0085] The rake body 42 is made up of a first rake body 420 and 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 rotation fulcrum 512, so that the rod-shaped members 423 can rotate integrally. In this embodiment of the present invention, the first rake body 420 is divided into two and arranged on the soil leveling body 4, but there is no limit to the number of rake bodies 42 arranged per soil leveling body. If at least one sensor 93 for detecting the rotation of the rake body 42 can be provided for each agricultural work machine 1, the finish 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 rake body 42. In this case, the finish state can be detected with higher accuracy.

[0086] The control unit 101 will now be described. As shown in the block diagram of Figure 7, the control unit 101 is placed at any position on the agricultural work machine 1. A preferred location for placing the control unit 101 is a location where there is little scattering of mud and where communication with the traveling machine body is easy, for example, above the cover body 4. Even more preferably, it is above the pipe frame 22 or in the vicinity of the pipe frame 22. Although not shown, in this embodiment, it is provided around the input case 21 and above the front side of the pipe frame 22, which is the most preferred location. 7, the control unit 101 is provided with a communication processing unit 102, a calculation unit 103, an operation processing unit 104, and a memory unit 105. Furthermore, the control unit 101 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 control unit 101 is also connected to a memory unit 105 and an alarm device 112 provided in the agricultural work machine and can operate the control unit 101 and obtain information. The control unit 101 is provided with the communication processing unit 102 and an operation instruction unit. The communication processing unit 102 provided in the control unit 101 can process information input from the memory unit 105, alarm device 112, and display device 113 provided in the traveling machine body, and transmit the information to the control unit 101 shown in Figure 2 provided in the agricultural work machine 1, which is an agricultural work machine.

[0087] The control unit 101 receives a detection signal from the sensor 93 and performs calculations based on the received detection signal using the calculation unit 103 to determine the current soil condition. The operation processing unit 104 can send an operation command to the actuator 67 based on the determination result obtained by the calculation unit 103. In other words, the pressure adjusting unit 6 can adjust the pressure of the soil leveling body 5 by operating the actuator 67 using the control unit 101 obtaining a detection signal indicating the soil condition detected by the detection body from the running resistance.

[0088] In the embodiment of the present invention, the alarm device 112 is simply shown as sounding or not, but other specific examples include a buzzer sound including a changing tone, and a voice guide consisting of words. Regarding the implementation, there is no limitation on the notification format as long as the worker can correctly recognize the sound by hearing it. In this embodiment, the display device 113 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 it. The display device 113 and the warning device 112 may be arranged on or operable at least on either the traveling machine body side or the agricultural work machine 1 side.

[0089] The illustration of FIG. 9, which shows the working state of the working machine according to the first embodiment of the present invention, will be described with reference to the drawings. The detection amount, soil condition, actuator position, and pressure adjustment degree are detected. The heading consists of 1, 2, 3...n-1, n. The detected quantity X consists of X(1), X(2), X(3), X(1)···X(n-1), and X(n).

[0090] The soil conditions consist of the first soil condition, the second soil condition, the third soil condition, the n-1th soil condition, and the nth soil condition. The soil conditions include a first soil condition in which there is little running resistance to the rake body 42, which is the detection body, a second soil condition in which there is medium running resistance to the detection body, and a third soil condition in which there is high running resistance to the detection body. When the soil condition is determined to be the first, it means that there is little running resistance to the detected object. When the soil condition is determined to be the second, it means that there is medium running resistance to the detected object. When the soil condition is determined to be the third, it means that there is great running resistance to the detected object.

[0091] The actuator positions include a first position, a second position, a third position, an (n-1)th position, and an nth position. The pressure adjustment degree consists of a first pressure increase, a second pressure increase, a third pressure increase, an (n-1)th pressure increase, and an nth pressure increase. The pressure applied by the soil leveling body to press the soil includes a first pressure where the soil leveling body does not apply pressure or where the pressure is small, a second pressure where the soil leveling body applies a medium pressure that is intermediate between the first and third pressures, and a third pressure where the adjustment pressure applied by the soil leveling body to the soil is maximized. At the first position, the regulating body 65 is located closest to the front end of the rod main body 61, and as the regulating body 65 moves to the second position, the third position, and so on, the actuator is operated so that the regulating body 65 is located closest to the rear end of the rod main body 61 at the nth position. In other words, as the regulating body 65 moves from the first position to the nth position, the distance between the regulating body 65 and the holding member 53 decreases, and the adjustment degree, which is the adjustment pressure applied by the first elastic body 62 to the soil leveling body 5, increases as the first pressure, the second pressure, the third pressure, the (n-1)th pressure, and the nth pressure.

[0092] The actuator 67 will be described as having a first position, a second position, and a third position depending on the position of expansion and contraction. As illustrated in FIG. In the first position, the leveling body 5 is in the position where the regulating force exerted in the direction pressing the soil is the smallest, and the pressure regulating unit 6 is in the first pressure. In the embodiment, the first pressure operates the actuator 67 to the first position and adjusts the pressure regulating unit 6 when the relative angle between the detection body and the leveling body 5 is between the initial position of 0 degrees and 5 degrees or less. In the embodiment, the first pressure also corresponds to the relative position between the leveling body 5 and the detection body when the leveling body 5 is not in contact with the ground, and since there is no pressure exerted by the first elastic body 62, the worker can easily lift the leveling body 5 when performing maintenance, etc.

[0093] In the second position, the leveling body 5 is in a position where the regulating force exerted in the direction of pressing the soil is intermediate, and the pressure regulating unit 6 is in the second pressurization. In the embodiment, the second pressurization operates when the relative angle between the detection body and the leveling body 5 is greater than 5 degrees and up to 20 degrees, by operating the actuator 67 to the second position and adjusting the pressure regulating unit 6. In the embodiment, the second pressurization adjusts the pressure regulating unit 6 so that the leveling body 5 is pressed with an urging force that is intermediate between the first pressurization and the third pressurization described below.

[0094] In the third position, the leveling body 5 is at the position where the regulating force exerted in the direction pressing the soil is at its maximum, and the pressure regulating unit 6 is at the third pressure. In the embodiment, the third pressure is applied when the relative angle between the detection body and the leveling body 5 exceeds 20 degrees and is up to the maximum rotation angle of 30 degrees, by operating the actuator 67 to the third position and adjusting the pressure regulating unit 6. In the embodiment, the third pressure is applied by adjusting the pressure regulating unit 6 assuming that the running resistance experienced by the detection body is large. In other words, pressure is applied so that the leveling body 5 is pressed against the soil to the maximum extent.

[0095] In the first embodiment, the pressure applied to the ground leveling body 5 is set to three levels, from the first pressure level to the third pressure level, by adjusting the position from the first position to the third position. However, the levels may be further subdivided, so that the first position to the nth position are set to the first pressure level to the nth pressure level, or the level may be continuous. The finer the levels, the more accurate the pressure adjustment. In other words, it is sufficient that the regulating position of the regulating body 65 is linked to the rotation angle of the detecting body or the running resistance received by the detecting body. Also, while the example shows a case where running resistance is received by the rotation of the detecting body, the exemplified values ​​can be freely changed depending on the embodiment. Furthermore, when running resistance is detected by a method other than the rotation of the detecting body, the actuator 67 is adjusted according to the magnitude of the running resistance, as in the above example, to adjust the degree of pressure adjustment to the ground leveling body 5.

[0096] Although the actuator 67 has been described as extending and retracting to be located at the first position, second position, and third position, when the rotation angle of the motor is used, the respective extension and retraction positions may be replaced with the first rotation angle, the second rotation angle, and the third rotation angle to move the regulating body 65. Furthermore, in addition to moving the regulating body 65 using the extension and retraction position or rotation angle of the actuator 67, a method of moving the regulating body 65 depending on the operating time of the actuator 67 may also be used.

[0097] A modified example will now be described. In the first embodiment, the description was given assuming that there is no regulating body 65 for adjusting the biasing force of the second elastic body. However, the regulating body 65 may be provided to adjust the biasing force of the second elastic body. The regulating body 65, located on the rear side of the rod main body 61, serves as the second regulating body, and can adjust the force urging the ground leveling body 5 upward when the ground leveling body 5 rotates upward from its lowest position in the rotation direction. Specifically, the second elastic body is positioned between the holding member and the movably provided second regulating body, so it may be positioned so as to be interlocked with the actuator 67 and the switching arm. Alternatively, a second actuator 67 and a second switching arm dedicated to the second regulating body may be provided, and the regulating body 65 and the second regulating body may be individually adjustable. By adjusting the position of the second regulating body using the second switching arm B, the ground leveling body 5 can be biased to rotate upward, that is, the ground leveling body 5 can be biased in the direction of reducing pressure.

[0098] The control content will be explained with reference to the flow chart shown in FIG. First, when the pressurization mode is changed to the automatic pressurization mode, the automatic pressurization control starts. When the control starts, the control unit 101 receives a detection signal transmitted by the sensor 93 based on the running resistance detected by the detection object (S1).

[0099] Next, the control unit 101 calculates the running resistance from the obtained detection signal, compares it with the pressure regulation state of the ground leveling body 5 determined in advance, and derives a judgment result (S2).

[0100] The operation processing unit 104 determines the operation that the actuator 67 should perform based on the running resistance value or the judgment result, and transmits an operation signal to the actuator 67. The actuator 67 operates in accordance with the operation signal S, and adjusts the ground leveling body 5 to the specified adjustment pressure (S3).

[0101] For example, if the soil condition detected by the detection body is determined to be the first soil condition, that is, if there is little running resistance to the detection body, the pressure adjustment unit 6 is controlled so that the actuator 67 is in the first position so that the ground leveling body 5 is subjected to the first pressure, and no pressure is applied to the ground leveling body 5 (S31). If the soil condition detected by the detection body is determined to be the second soil condition, that is, if the running resistance to the detection body is medium, the pressure adjusting unit 6 is controlled so that the actuator 67 is in the second position and the ground leveling body 5 is subjected to the second pressure, and a medium pressure is applied to the ground leveling body 5 (S32). If the soil condition detected by the detection body is determined to be the third soil condition, that is, if the running resistance to the detection body is large, the pressure adjusting unit 6 is controlled so that the actuator 67 is in the second position and the ground leveling body 5 is subjected to the third pressure, and maximum pressure is applied to the ground leveling body 5 (S33).

[0102] After the actuator 67 operates in response to an operation command from the operation processing unit 104, a standby time is set (S4). The standby time is a preset time, and it suppresses chattering, which is unnecessary continuous operation of the actuator 67. The standby time can be freely changed and set depending on the use of the agricultural work machine, etc.

[0103] Then, it is determined whether the automatic pressurization mode is being continued (S5). If the automatic pressurization mode is being continued, the control is repeated, and if the automatic pressurization mode is not being continued, the control is ended.

[0104] In the control flow introduced in the first embodiment, the pressure adjusting unit 6 is operated based on the results of three stages, from the first soil condition to the third soil condition, but the stages may be further subdivided, or there may be no stages. In this case, the control accompanying the rotation of the detection body can be made more precise, making it possible to adjust the pressure of the finished soil condition with greater precision.

[0105] Instead of using a branching method for the control procedure as in step S3, table reference may be used. In this case, the first to nth soil conditions may be subdivided to correspond to the operation of the actuator 67, and the actuator 67 may be configured to notify, display, and transmit information based on the subdivided soil conditions. This allows for more accurate and precise pressure regulation control.

[0106] Furthermore, pressure adjusting units 6 may be provided at multiple locations, and pressure adjustment control is achieved by having control unit 101 simultaneously control actuators 67 provided at each location.

[0107] A second embodiment will be described below, as shown in FIGS. 1 to 9, the switching arm 66 is configured to be directly operated by the actuator 67. However, as shown in FIG. 11 in the second embodiment, the switching arm 66 may be rotated indirectly by interposing a linking member 671 between the switching arm 66 and the actuator 67. Specifically, the switching arm 66 of the pressure adjusting unit can be rotated by the actuator 67 of the posture control unit 7. In the following description, the posture control unit 7 will be representatively described as consisting of the posture control unit 7A and the pressure adjusting unit 6 disposed on the central working body 11, and a description of the posture control unit 7B and the pressure adjusting unit 6 disposed on the extension working bodies 11L and 11R will be omitted to avoid repetition.

[0108] A guide portion 713 is provided at the bottom of the first link 71, and an abutment portion 712A at the top of a swing arm 712 that is rotatable in the front-rear direction above the leveling body 5 can abut against the guide portion 713. The guide portion 713 has a hook-shaped rear side, and has a restriction range 713B where the abutting portion 712A enters the hook-shaped portion to fix or restrict the up and down rotation of the first link 71, and a restriction release range 713A above the abutting portion 712A where the fixation is released to allow rotation of the first link 71. In the case of the embodiment, the restriction range 713B is provided on the rear end side of the first link 71, and the restriction release range 713A is provided on the rotation fulcrum side of the first link 71.

[0109] When the contact portion 712A is located in the restricted range 713B, the first link 71 is prevented from rotating, and therefore the second leveling body 56 is prevented from rotating about the first leveling body 51 side as a fulcrum via the second link 72. The first leveling body 51, which is connected to the cover body and the second leveling body 56, is also prevented from rotating up and down.

[0110] When the contact portion 712A is located in the restriction release range 713A, the first link 71 is only prevented from rotating downward, and its upward rotation is not restricted. When in the restriction release range 713A, the ground leveling body 5 can level the ground. The first ground leveling body 51 and the second ground leveling body 56 are free to rotate up and down above the position where the first link 71 and the contact portion 712A contact, so they can move up and down to level the ground.

[0111] The restriction release range 713A is also a posture maintaining section in which the posture of the first link 71 does not change no matter where in the restriction release range 713A the abutting portion 712A abuts. The posture maintaining section is formed in an arc, and the center of this arc coincides with the pivot point 714 of the swing arm 712. In other words, as long as the abutting portion 712A is located in the posture maintaining section, the posture of the first link 71 does not change, and as a result, the lower end of the second leveling body 56 does not fluctuate in the downward pivot direction. An actuator 67 is used to move the abutting portion 712A, that is, to swing the swing arm 712. The actuator 67 will be described as a cylinder.

[0112] The actuator 67 is provided so that the contact portion 712A can move at least within the restriction release range 713A, and more preferably so that the contact portion 712A can move between the restriction release range 713A and the restriction range 713B. The swing arm 712 and the switching arm 66 are connected by a linking member 671 formed of a wire, a link member, or the like. When the contact portion 712A is located within the restriction release range 713A, the position of the lower end of the rotating side of the ground leveling body 5 does not change even if the swing arm 712 is moved by the actuator 67, and the swing of the swing arm 712 can be linked to the switching arm 66 via an operation arm 715, which will be described later.

[0113] In this embodiment, the linking member 671 is connected to the swing arm 712 via an operating arm 715. The operating arm 715 is configured to move in conjunction with the rotation of the swing arm 712 when the swing arm 712 is positioned in the restriction release range 713A, within the rotation range of the swing arm 712 which rotates from the restriction range 713B to the restriction release range 713A. 716 is a rotation fulcrum of the operating arm 715. 716A is an engaging portion, and 716B is an engagement receiving portion. The engaging portion 716A is a protruding portion provided on the swing arm 712, and the engagement receiving portion 716B is provided on one side of the operating arm 715. The operating arm 715 rotates by engaging the engaging portion 716A with the engagement receiving portion 716B only when the swing arm 712 is positioned in the restriction release range 713A. The linking member 671 is connected to the other side of the operating arm 715. Therefore, the restricting body 65 can move in conjunction with the swing arm 712 only when the swing arm 712 is positioned in the restriction release range 713A of the first link 71.

[0114] In the second embodiment, the swing arm 712 and the switching arm 66 are configured to interlock when the abutment portion 712A is positioned in the restriction release range 713A. This means that the actuator 67, which switches between a state in which the rotation of the ground leveling unit 5 is locked and a state in which the rotation is unlocked, can also be used to change the pressure applied by the pressure adjusting unit 6. The machine body can be simplified by using a common drive member for restricting the rotation of the ground leveling unit 5 and for adjusting the pressure applied to the ground leveling unit 5. In the above description, the attitude control unit 7A located on the central work body 11 operates the pressure adjusting unit 6 located on the central work body 11, or the attitude control unit 7B located on the extended work bodies 11L and 11R operates the pressure adjusting units 6 located on the extended work bodies 11L and 11R. However, the attitude control unit 7A located on the central work body 11 can also be used to interlock the pressure adjusting units 6 located on the central work body 11 and the pressure adjusting units 6 located on the extended work bodies 11L and 11R. Furthermore, the posture control unit 7B disposed on the extended working bodies 11L, 11R can also function as both the pressure adjusting unit 6 disposed on the extended working bodies 11L, 11R and the pressure adjusting unit 6 disposed on the central working body 11, and they can be linked together. The manner in which the posture control units 7 and pressure adjusting units 6 disposed on the central working body 11 and the extended working bodies 11L, 11R are linked together can be changed as appropriate. [Explanation of symbols]

[0115] 1 Generation raking machine (agricultural machine) 42 Rake body (detection body) 420 First rake body (detection body) 421 Second rake body (detection body) 5 Earth leveling body 6 Pressure adjustment section 101 Control section

Claims

1. a leveling body that is vertically rotatable and levels the soil by contact with the ground; a pressure adjusting unit that changes the biasing force of the soil leveling body on the soil; a detector capable of detecting the state of the soil in front of the ground leveling body; a control unit that controls the pressure adjusting unit to adjust the biasing force of the soil leveling body in accordance with the state of the soil detected by the detecting body; An agricultural machine characterized by comprising:

2. A tilling unit is located in front of the soil leveling body and tills the soil, The detection body is located behind the tilling unit and in front of the soil leveling body.

2. The agricultural implement according to claim 1.

3. 3. The agricultural machine according to claim 2, wherein the detector detects soil after it has been tilled by the tilling unit.

4. The detection body is provided so as to be movable relative to the leveling body.

4. The agricultural machine according to claim 1, wherein the first and second axes are parallel to each other.

5. The pressure adjusting part is a rod having one end rotatably supported and the other end held by a holding member located on the leveling body, and slidable in response to the rotation of the leveling body; a first elastic body that biases the ground leveling body toward the ground being leveled; a rotation restricting member provided to cover the rod and allowing the holding member to slide; a regulating body that moves relative to the rod to regulate a position at which the first elastic body abuts; 4. The agricultural work machine according to claim 1, further comprising:

6. a second elastic body that biases the ground leveling body so as to move it away from the ground being leveled; 6. The agricultural work machine according to claim 5, further comprising:

7. a sensor capable of detecting movement of the detection body and transmitting the detected value as a detection signal to the control unit, the control unit includes a calculation unit that receives the detection signal and compares a predetermined value with a value included in the detection signal; 4. The agricultural work machine according to claim 1, further comprising:

8. an action processing unit that derives a determination result based on the comparison calculation, selects an action to be executed based on the determination result, and transmits an action signal for executing the action; 8. The agricultural work machine according to claim 7, further comprising:

9. The control unit controls the pressure adjusting unit so that the ground leveling unit increases the pressure applied to the soil as the load received from the soil detected by the detection unit increases.

4. The agricultural machine according to claim 1, wherein the first and second axes are parallel to each other.

10. The soil conditions include a first soil condition in which the running resistance to the detection body is low, a second soil condition in which the running resistance to the detection body is medium, and a third soil condition in which the running resistance to the detection body is high. The pressure applied by the soil leveling body consists of a first pressure where the soil leveling body does not apply pressure or applies a small pressure, a second pressure where the soil leveling body applies a medium pressure with a biasing force intermediate between the first and third pressures, and a third pressure where the soil leveling body applies a large biasing force to the side pressing the soil, with the largest adjustment force. The control unit When the soil condition detected by the detecting body is determined to be a first soil condition, the pressure adjusting unit is controlled so that the ground leveling body is pressurized to a first pressure; When the soil condition detected by the detecting body is determined to be a second soil condition, the pressure adjusting unit is controlled so that the ground leveling body is pressurized to a second pressure; When the soil condition detected by the detector is determined to be a third soil condition, the pressure adjusting unit is controlled so that the soil leveling body is pressurized to a third pressure.

4. The agricultural machine according to claim 1, wherein the first and second axes are parallel to each other.

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