Working Claw with Sensor, Working Machine, and Protection Cover

Abstract

To prevent fallout and damage of a sensor during work in a work claw having a sensor.SOLUTION: A work claw having a sensor according to an embodiment includes: a claw body; a sensor unit attached to the claw body; and a protective cover which covers the sensor unit and a part of the claw body. The sensor unit may be provided to a ridge part of the claw body. The claw body has an attaching hole. The protective cover may have an opening at a position corresponding to the attaching hole.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a working claw with a sensor, a working machine, and a protective cover.

Background Art

[0002] Conventionally, as working machines for performing tillage work on fields such as fields and paddy fields, rotary working machines and rotary cultivators are known. These working machines are equipped with a working rotor for performing tillage and soil crushing of the field. The working rotor is a device in which a plurality of working claws are attached to a claw shaft serving as a rotation shaft, and the working claws are directly applied to the field as the claw shaft rotates. Therefore, there is a problem that the working claws gradually wear and the tillage performance deteriorates due to the continuation of the tillage work. In view of such problems, in recent years, attempts have been made to provide a sensor on the working claws to predict the degree of wear. For example, Patent Document 1 discloses a technique for evaluating the degree of wear of working claws using a sensor attached to the working claws.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] During tillage work, since the working claws directly act on the soil, there is a possibility that the sensor may fall off or be damaged due to the impact of soil clods on the sensor. In addition, the working claws during tillage work vibrate violently because they repeatedly collide with the soil. Therefore, if the method of attaching the sensor to the working claws is insufficient, the sensor may fall off during tillage work. Thus, when performing tillage work using working claws with sensors, preventing the sensor from falling off or being damaged has become an important issue.

[0005] One of the problems of the present invention is to prevent the sensor from falling off or being damaged during work using a working claw with a sensor.

Means for Solving the Problems

[0006] The working claw with a sensor in one embodiment of the present invention includes a claw body, a sensor unit attached to the claw body, and a protective cover covering the sensor unit and a part of the claw body.

[0007] In the above-mentioned working claw with a sensor, the sensor unit may be provided at the peak portion of the claw body.

[0008] In the above-mentioned working claw with a sensor, the claw body has a mounting hole, and the protective cover may have an opening at a position corresponding to the mounting hole.

[0009] In the above-mentioned working claw with a sensor, the sensor unit may include an antenna. At this time, the protective cover may have a window portion at a position corresponding to the antenna. Further, the window portion may be blocked by a member made of a material different from the member constituting the protective cover.

[0010] In the above-mentioned working claw with a sensor, the sensor unit may be disposed inside a recess provided in the claw body.

[0011] A working machine in one embodiment of the present invention includes a working rotor including the above-mentioned working claw with a sensor.

[0012] A working machine in one embodiment of the present invention includes a working rotor including a working claw with a sensor fixed to a holder. The working claw with a sensor has a sensor unit attached to a claw body. The sensor unit includes an antenna. The holder covers the sensor unit and has a window portion at a position corresponding to the antenna.

[0013] The working machine according to an embodiment of the present invention includes a working rotor including a working claw with a sensor fixed to a holder. The working claw with a sensor has a sensor unit provided on a claw body. The holder covers the sensor unit and has a step corresponding to the shape of the sensor unit in an internal space.

[0014] In the above-described working machine, the sensor unit may be disposed inside a recess provided in the claw body.

[0015] The protective cover according to an embodiment of the present invention is configured to be able to cover a sensor unit attached to a claw body of a working claw with a sensor and a part of the claw body.

[0016] The above-described protective cover may have a window portion at a position corresponding to an antenna included in the sensor unit.

[0017] The above-described protective cover may have a first opening provided on a first surface and a second opening provided on a second surface opposite to the first surface. At this time, the diameter of the first opening may be different from the diameter of the second opening. Also, the first opening and the second opening may each be provided at two locations.

Advantages of the Invention

[0018] According to an embodiment of the present invention, it is possible to prevent the sensor from falling off or being damaged during work using a working claw with a sensor.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying out the Invention

[0020] Hereinafter, with reference to the drawings, a working claw with a sensor, which is an embodiment of the present invention, and a working machine including the working rotor having the working claw with a sensor will be described. However, the working claw with a sensor and the working machine described here can be implemented in many different modes and are not to be construed as being limited to the description content of the examples shown below. In the drawings referred to in the present embodiment, the same parts or parts having the same functions are denoted by the same reference numerals, and the repeated description thereof is omitted.

[0021] 〈First Embodiment〉 [Configuration of Agricultural Working Machine] FIG. 1 is a side view showing the configuration of the working machine 100 in the first embodiment. Specifically, FIG. 1 shows a view of the rotary working machine including a working rotor having a plurality of working claws as the working machine 100 seen from the left side in the traveling direction. The working machine 100 of the present embodiment generally includes a frame 110, a shield cover 120, an apron 130, a side plate (not shown), a working rotor 150, a control device 170, and the like.

[0022] Frame 110 is connected to a traveling body (not shown) such as a tractor by a top link connecting portion 135 and a lower link connecting portion 136. The frame 110 is, for example, cylindrical and has a power transmission shaft (not shown) inside that leads to a chain case (not shown). This power transmission shaft serves to switch the direction of the rotational power transmitted from the PTO shaft of a traveling body such as a tractor through a PIC (Power Input Connection) shaft 137 to the left - right direction with respect to the traveling direction. The power transmission shaft within the frame 110 is connected to a chain case disposed on the side portion of the working machine 100, and power is transmitted to the claw shaft 152 of the working rotor 150 by a chain transmission mechanism within this chain case.

[0023] The working rotor 150 includes a claw shaft 152 extending in the width direction of the working machine 100 and a plurality of working claws 154 attached to this claw shaft 152 via a flange 153. The plurality of working claws 154 include a working claw curved to the left with respect to the traveling direction (hereinafter referred to as "L claw 154L") and a working claw curved to the right (hereinafter referred to as "R claw 154R"), and are attached at predetermined intervals in the axial direction of the claw shaft 152. In the working machine 100 of the present embodiment, the working rotor 150 rotates in the direction indicated by arrow R.

[0024] In the present embodiment, a plurality of working claws 154 are attached to one flange 153 via a fixing member 155. In FIG. 1, two L claws 154L and two R claws 154R are attached to one flange 153, but the types and numbers of the working claws to be attached are not limited to this. Also, in the present embodiment, as the fixing member 155, a set bolt combining a bolt, a bolt plate, and a nut is used, but it is not limited to this example.

[0025] In the present embodiment, at least one working claw 154 is attached with a sensor unit 210 and a protective cover 220 that covers the sensor unit 210. Specifically, at least one working claw 154 is attached with a sensor unit 210 for detecting information such as acceleration and pressure by an adhesive including double-sided tape, curable resin, or the like, and the sensor unit 210 is protected by the protective cover 220. Therefore, during tilling operations, soil clods or the like do not directly hit the sensor unit 210, and the structure is such that the sensor unit 210 does not fall off or get damaged.

[0026] In the following description, a working claw with a sensor unit attached thereto is referred to as a "sensor-equipped working claw". However, in this specification, the term "sensor-equipped working claw" does not exclude components other than the working claw and the sensor unit. For example, in the present embodiment, the sensor-equipped working claw refers to a working claw to which a sensor unit and a protective cover that covers the sensor unit are attached.

[0027] In the present embodiment, an example in which the sensor unit 210 and the protective cover 220 are attached to the R claw 154R is shown, and the R claw 154R may be referred to as a claw body. Further, a working claw in which the sensor unit 210 and the protective cover 220 are attached to the R claw 154R, which is the claw body, is referred to as a sensor-equipped working claw 200, and is distinguished from other working claws to which the sensor unit 210 is not attached. Note that, in the present embodiment, an example in which the sensor unit 210 and the protective cover 220 are attached to the R claw 154R is shown, but the present invention is not limited to this example. For example, the sensor-equipped working claw 200 may be configured with the L claw 154L as the claw body, or may be configured with both the L claw 154L and the R claw 154R as the claw body. The detailed configuration of the sensor-equipped working claw 200 will be described later.

[0028] The shield cover 120 is arranged to cover the upper part of the working rotor 150. Although illustration is omitted, on the side surface of the shield cover 120, a pair of left and right side plates are provided, and the claw shaft 152 of the working rotor 150 is pivotally supported by the side plates. Note that the side plates are also called chain case plates, side frames, etc.

[0029] The apron 130 is arranged behind the working rotor 150 and is pivotable in the vertical direction about the connecting portion 160 with respect to the shield cover 120. Since the center of gravity of the apron 130 is behind the connecting portion 160, the apron 130 tends to descend due to its own weight. A stainless steel leveling plate 132 is attached to the tip of the apron 130. The leveling plate 132 is configured to draw a loop from the inside to the outside of the apron 130. This leveling plate 132 levels the field dug up by the working rotor 150.

[0030] The control device 170 has functions of processing signals received from the outside (for example, remote control signals) and transmitting signals generated inside (for example, control signals for the drive unit) to the outside. For example, the control device 170 controls the operation of a drive unit such as an actuator provided in the working machine 100 according to an operation signal when an operator operates the remote control. Further, the control device 170 of the present embodiment has a function of receiving detection data (sensing data) from the sensor unit 210. The control device 170 may transmit the detection data received from the sensor unit 210 to other information processing devices such as a server or a mobile terminal, or may perform arithmetic processing based on the detection data and transmit the arithmetic result to other information processing devices.

[0031] The working implement 100 of the present embodiment described above can acquire various types of information (detection data) according to the type of sensor by the sensor unit 210 of the working claw 200 with a sensor. Further, since the sensor unit 210 attached to the claw body is protected by the protective cover 220, it is possible to prevent the sensor unit 210 from falling off or being damaged when a soil clod or the like directly hits the sensor unit 210 during tillage work. The specific configuration of the working claw 200 with a sensor provided in the working implement 100 will be described below.

[0032] [Configuration of Working Claw with Sensor] FIG. 2 is a diagram showing the configuration of the working claw 200 with a sensor according to the first embodiment of the present invention. Specifically, FIG. 2(A) is a side view of the working claw 200 with a sensor, and FIG. 2(B) is a cross-sectional view obtained by cutting the side view of FIG. 2(A) along A-A'. In FIG. 2, an example is shown in which a sensor unit 210 and a protective cover 220 are attached to an R claw 154R (claw body) as the working claw 200 with a sensor. Although a detailed description of an example using an L claw 154L as the claw body is omitted, it has the same configuration as the case where the R claw 154R is used as the claw body, except for the different bending directions. Also, the shape of the R claw 154R shown in FIG. 2(A) is merely an example and is not limited to this shape.

[0033] As shown in FIG. 2(A), the R claw 154R has a mounting base 154Ra and a blade portion 154Rb continuously extending from the mounting base 154Ra. The R claw 154R also has a cutting edge portion 11 at one edge of the blade portion 154Rb. The cutting edge portion 11 is a portion processed so that the thickness gradually becomes thinner and has a function of crushing soil. A peak portion 12 is provided at the edge opposite to the cutting edge portion 11. At the tip of the blade portion 154Rb, there is a vertex portion 13 that smoothly connects the cutting edge portion 11 and the peak portion 12 in a curved shape.

[0034] Although illustration is omitted, the blade portion 154Rb may be distinguished into a vertical blade portion on the side closer to the mounting base portion 154Ra and a horizontal blade portion on the side farther from the mounting base portion 154Ra. In the present embodiment, the blade portion 154Rb has a shape gently curved from the side closer to the mounting base portion 154Ra to the side farther therefrom. Specifically, the blade portion 154Rb of the R claw 154R shown in Fig. 2(A) is gently curved from the front side to the back side of the drawing.

[0035] In the R claw 154R shown in Fig. 2(A), the mounting base portion 154Ra is a portion including two mounting holes 14 and 15 for mounting the R claw 154R to the flange 153, and the other portion is the blade portion 154Rb. As shown in Fig. 1, the R claw 154R is mounted to the flange 153 using bolts, spring washers, nuts, etc. as the fixing member 155.

[0036] During the tilling operation, as the working rotor 150 rotates, the R claw 154R acts on the soil with the bladed portion 11 at the front to perform the tilling operation of the field. Since the peak portion 12 is the edge on the opposite side of the bladed portion 11, it does not directly act on the soil. Also, the peak portion 12 has a width corresponding to the thickness of the R claw 154R. Therefore, in the present embodiment, considering impact resistance, the sensor unit 210 is disposed on the peak portion 12. Specifically, in the example shown in Fig. 2, the sensor unit 210 is disposed on the peak portion 12 of the mounting base portion 154Ra. However, not limited to this example, the sensor unit 210 may be disposed on the peak portion 12 of the blade portion 154Rb. In this case, considering covering with the protection cover 220, it is preferable to dispose the sensor unit 210 as close as possible to the vicinity of the mounting base portion 154Ra. Thus, the sensor unit 210 may be disposed anywhere within the range where it can be covered with the protection cover 220.

[0037] As shown in FIGS. 2(A) and 2(B), in the working claw 200 with a sensor according to this embodiment, the sensor unit 210 is covered by the protective cover 220 together with a part of the claw body (specifically, the mounting base 154Ra). In this embodiment, the protective cover 220 is made of a metal material. However, this is not limited to this example, and other materials (for example, resin materials such as engineering plastics, etc.) can also be used as long as the required weather resistance and strength are satisfied.

[0038] The protective cover 220 is provided with an insertion port for inserting the mounting base side of the claw body to which the sensor unit 210 is attached, and is configured in a shape following the shape of the sensor unit 210 and the mounting base side of the claw body to which the sensor unit 210 is attached. The protective cover 220 has openings 24 and 25 at positions corresponding to the mounting holes 14 and 15 provided in the claw body to be inserted, respectively. More specifically, the openings 24 and 25 are composed of two openings with different diameters (on the opposing first surface 220a and second surface 220b of the protective cover 220). For example, as shown in FIG. 2(B), the opening 25 includes an opening 25a provided on the first surface 220a of the protective cover 220 and an opening 25b provided on the second surface 220b opposite to the first surface 220a. At this time, the diameter of the opening 25b is smaller than the diameter of the opening 25a. Specifically, the diameter of the opening 25a is larger than the diameter of the head of the bolt in the fixing member 155 described above, and the diameter of the opening 25b is set to be slightly larger than the diameter of the threaded portion of the bolt.

[0039] The working claw 200 with a sensor shown in Fig. 2 is attached to the flange 153 such that the second surface 220b of the protective cover 220 faces the flange 153. Specifically, with the opening 25b of the second surface 220b and the mounting hole (not shown) provided in the flange 153 aligned (superposed), a bolt is inserted through the opening 25a of the first surface 220a to attach the working claw 200 with a sensor to the flange 153. At this time, since the diameter of the opening 25a is larger than the diameter of the bolt head, the bolt head contacts the claw body (i.e., the R claw 154R). Therefore, by tightening the flange 153, the protective cover 220, and the R claw 154R with bolts and nuts, each member is fixed. In this embodiment, the opening 25a is a round hole with a diameter larger than the diameter of the bolt head, but the same effect can be obtained by configuring it as a hexagonal hole into which the bolt head fits. Here, the opening 25 has been described as an example, but the same applies to the opening 24. In Fig. 2(A), the opening 24a on the side of the first surface 220a is shown.

[0040] As described above, the working claw 200 with a sensor of this embodiment includes a claw body (in the example shown in Fig. 2, the R claw 154R), a sensor unit 210 attached to the claw body, and a protective cover 220 that covers the sensor unit 210 and a part of the claw body (in the example shown in Fig. 2, the mounting base 154Ra). With such a structure, the sensor unit 210 can be protected from soil clods and impacts, preventing the sensor unit 210 from falling off or being damaged during tillage operations.

[0041] [Configuration of Sensor Unit] Fig. 3 is a block diagram showing the configuration of the sensor unit 210 in the first embodiment of the present invention. The sensor unit 210 includes a sensor section 31, a control section 32, a memory section 33, a communication section 34, and a power supply section 35. However, not limited to this example, the sensor unit 210 may include other circuit elements.

[0042] The sensor unit 31 has a function of detecting the acceleration when the working claw 200 with a sensor collides with the soil due to the rotation of the working rotor 150. Specifically, the sensor unit 31 includes an acceleration sensor. The acceleration sensor may be a uniaxial acceleration sensor or a triaxial acceleration sensor. Further, in addition to the acceleration sensor, the sensor unit 31 may include a gyro sensor or a magnetic sensor. Furthermore, depending on the application, the sensor unit 31 may include a physical quantity sensor such as a pressure sensor (strain sensor, stress sensor, etc.) or an optical sensor, and / or a soil sensor for measuring the temperature, moisture content, salt content, pH (hydrogen ion index), etc. of the soil.

[0043] The sensor unit 31 may have a unique identifier. That is, each sensor unit 31 may be configured to be able to identify each other using the identifier. The identifier may be stored in the storage unit 33, or a memory for storing the identifier may be provided separately in the sensor unit 31. The identifier is transmitted to the control device 170 together with the detection data (e.g., acceleration data) acquired by the sensor unit 31. Thereby, the control device 170 can specify from which working claw 200 with a sensor the detection data is transmitted.

[0044] The control unit 32 has a function of controlling each element of the sensor unit 210 by executing the program read from the storage unit 33. As the control unit 32, for example, a microcomputer including a CPU can be used. The control unit 32 can, for example, instruct the sensor unit 31 to perform sensing or instruct the communication unit 34 to transmit the detection data.

[0045] Furthermore, the control unit 32 can monitor the remaining amount of the power storage of the power supply unit 35, and when the remaining amount falls below the threshold, instruct to notify that fact, or instruct the power supply unit 35 to switch to the sleep mode. However, these controls are just examples, and it is also possible to execute other controls on the control unit 32. For example, information processing such as arithmetic processing may be performed using the detection data acquired by the sensor unit 31.

[0046] The memory unit 33 can store programs for various controls executed by the control unit 32, store detection data acquired by the sensor unit 31, and so on. The aforementioned identifier can be stored in the memory unit 33.

[0047] The communication unit 34 functions as a transmission unit that transmits the detection data acquired by the sensor unit 31 and the identifier stored in the memory unit 33 to the control device 170. As the communication unit 34, for example, a wireless communication module capable of performing short-range wireless communication such as Bluetooth (registered trademark) can be used. The communication unit 34 includes an antenna 34a and performs data transmission and reception via the antenna 34a. Specifically, the communication unit 34 can emit radio waves to the outside using the antenna 34a and wirelessly output the detection data on the radio waves. Note that the communication unit 34 may have not only the function as a transmission unit that transmits the detection data but also the function as a reception unit that receives control data for controlling the sensor unit 210 from the outside.

[0048] The power supply unit 35 functions as a power supply for operating each element of the sensor unit 210. The power supply unit 35 may be a battery or a rechargeable battery. When a rechargeable battery is used as the power supply unit 35, the power supply unit 35 may have a power supply circuit for wireless power supply. For example, the power supply circuit may include an antenna that receives a high-frequency signal and a rectifier circuit that generates power based on the received high-frequency signal.

[0049] (Modification 1) As shown in FIG. 3, the sensor unit 210 of the present embodiment includes an antenna 34a for performing wireless communication. In order to efficiently emit radio waves from the antenna 34a, it is desirable to minimize the metal shielding existing around the antenna 34a. For example, the antenna 34a is preferably arranged at a position as far as possible from the claw shaft 152. Also, when the protective cover 220 is made of a metal material, it is also effective to provide a window portion for allowing radio waves to pass through the protective cover 220.

[0050] FIG. 4 is a side view showing the configuration of the working claw 300 with a sensor according to Modification 1 of the first embodiment. In FIG. 4, the same parts as those of the working claw 200 with a sensor shown in FIG. 2 are denoted by the same reference numerals, and redundant descriptions are omitted.

[0051] As shown in FIG. 4, the protective cover 320 has a window portion 26 so as to expose a part of the sensor unit 210. Specifically, the window portion 26 is provided at a position corresponding to the antenna 34a of the sensor unit 210 in the protective cover 320 (a position overlapping the antenna 34a). At this time, the window portion 26 is provided on the surface opposite to the surface facing the flange 153 (in the case of the example shown in FIG. 4, the first surface 320a).

[0052] According to this Modification 1, since the radio wave emitted from the antenna 34a is emitted to the outside through the window portion 26, the wireless communication performance of the sensor unit 210 can be improved. Although there is no particular limitation on the size of the window portion 26, if the window portion 26 is too large, the strength of the protective cover 320 may be reduced, or moisture and soil may easily enter through the window portion 26. Therefore, it is preferable that the size is such that substantially the entire antenna 34a is exposed.

[0053] In the example shown in FIG. 4, an example in which an opening is provided as the window portion 26 in the protective cover 320 is shown. However, the present invention is not limited to this example, and a notch may be provided as the window portion 26 at a position corresponding to the antenna 34a. Further, when the window portion 26 is provided in the protective cover 320, the window portion 26 may be closed by a member made of a material different from the member constituting the protective cover 320 itself, for example, a member made of glass, resin, or rubber. For example, the inside of the window portion 26 may be filled with resin (for example, epoxy resin), and then the filled resin may be cured. Further, a glass plate, engineering plastic, or rubber formed according to the shape of the window portion 26 may be fitted into the window portion 26 and fixed with an adhesive or the like.

[0054] (Modification 2) In the working claw 200 with a sensor according to the first embodiment, an example of attaching the sensor unit 210 to the peak portion 12 of the R claw 154R has been shown. However, a configuration may be adopted in which a recess is provided at the position where the sensor unit 210 of the claw body is disposed. That is, the sensor unit 210 may be disposed inside the recess provided in the claw body.

[0055] FIG. 5 is a side view showing the configuration of the working claw 350 with a sensor according to Modification 2 of the first embodiment. In FIG. 5, the same parts as those of the working claw 200 with a sensor shown in FIG. 2 are denoted by the same reference numerals, and redundant explanations are omitted.

[0056] As shown in FIG. 5, a recess 27 is provided in the peak portion 12 of the attachment base portion 154Ra of the R claw 154R. The recess 27 is, for example, a depression or a notch. The depth of the recess 27 is preferably deeper than the height of the sensor unit 210, but is not limited thereto, and the sensor unit 210 may protrude from the recess 27. In that case, the shape of the protruding portion may be made to match the shape of the protective cover 220.

[0057] According to this Modification 2, since the height of the sensor unit 210 with respect to the claw body can be substantially reduced, the step formed on the surface of the protective cover 220 can be reduced. Thereby, the adhesion of soil to the protective cover 220 can be suppressed.

[0058] <Second Embodiment> In the first embodiment, a working machine of a type in which a working claw is attached to a flange provided on a claw shaft has been exemplified and described. However, in this embodiment, a working machine of a type in which a working claw is attached to a holder provided on a claw shaft will be described. In this embodiment, the description will be made focusing on the differences from the first embodiment, and the same parts as those of the first embodiment are denoted by the same reference numerals in the drawings, and redundant explanations are omitted.

[0059] FIG. 6 is a diagram showing the configuration of the working claw 400 with a sensor according to the second embodiment of the present invention. Specifically, FIG. 6(A) is a side view of the working claw 400 with a sensor, and FIG. 6(B) is a cross-sectional view obtained by cutting the side view of FIG. 6(A) along B-B'. In FIG. 6, an example is shown in which a sensor unit 210 and a protective cover 420 are attached to an L claw 154L (claw body). Although a detailed description of an example using an R claw 154R as the claw body is omitted, it has the same configuration as the case where the L claw 154L is used as the claw body, except that the bending direction is different. Further, the shape of the L claw 154L shown in FIG. 6(A) is merely an example and is not limited to this shape.

[0060] As shown in FIG. 6(A), the L claw 154L has a mounting base portion 154La and a blade portion 154Lb that continuously extends from the mounting base portion 154La. Since the blade portion 11, the peak portion 12, and the top portion 13 are the same as those of the R claw 154R described in the first embodiment, the description thereof is omitted here. The blade portion 154Lb of the L claw 154L shown in FIG. 6(A) is gently curved from the back side to the front side of the drawing.

[0061] The mounting base portion 154La is a portion including a mounting hole 16 for mounting the L claw 154L on a holder 157 fixed to the claw shaft 152, and the other portion is the blade portion 154Lb. The L claw 154L of the present embodiment is mounted on the holder 157 using a bolt 158a and a nut 158b as fixing members 158.

[0062] In the present embodiment, similar to the first embodiment, the sensor unit 210 is disposed at the peak portion 12 of the mounting base portion 154La. However, not limited to this example, the sensor unit 210 may be disposed at the peak portion 12 of the blade portion 154Lb. In this case, considering protection by the protective cover 420, it is preferable to dispose the sensor unit 210 as close as possible to the mounting base portion 154La. In this way, the sensor unit 210 may be disposed anywhere within the range that can be covered by the protective cover 420.

[0063] As shown in FIGS. 6(A) and 6(B), in the working claw 400 with a sensor according to the present embodiment, the sensor unit 210 is covered by a protective cover 420 together with a part of the claw body (specifically, the mounting base 154La). Specifically, as shown in FIG. 6(A), the sensor unit 210 is disposed at a position not overlapping with the holder 157, and in a state where the L-shaped claw 154L is attached to the holder 157, the entire holder 157 is covered by the protective cover 420. In the present embodiment, the protective cover 420 is made of a metal material, but similar to the first embodiment, other materials (for example, engineering plastics, etc.) can also be used.

[0064] Further, the protective cover 420 has an opening 46 at a position corresponding to the mounting hole 16 provided in the claw body. The opening 46 is more specifically composed of two openings 46a and 46b having different diameters. For example, as shown in FIG. 6(B), the opening 46 includes an opening 46a provided on the first surface 420a of the protective cover 420 and an opening 46b provided on the second surface 420b opposite to the first surface 420a. At this time, the diameter of the opening 46b is smaller than the diameter of the opening 46a. Specifically, the diameter of the opening 46a is larger than the diameter of the head of the bolt 158a described above, and the diameter of the opening 46b is set slightly larger than the diameter of the threaded portion of the bolt 158a.

[0065] The working claw 400 with a sensor shown in FIG. 6 has the mounting base 154La inserted into the internal space of the holder 157 and is fixed by a fixing member 158 in a state where the protective cover 420 is attached. Specifically, the bolt 158a is inserted in order through the opening 46 of the protective cover 420, the opening 56 of the holder 157, and the mounting hole 16 of the L-shaped claw 154L from the side of the first surface 420a of the protective cover 420, and a nut 158b is attached to the side of the second surface 420b. A washer is provided between the nut 158b and the second surface 420b.

[0066] As shown in FIG. 6(B), the opening 56 of the holder 157 is composed of two openings 56a and 56b with different diameters. Specifically, the opening 56a has a shape into which the head of the bolt 158a fits, and the opening 56b has substantially the same diameter as the opening 46b of the protective cover 420. That is, the opening 56a is formed as a hexagonal hole, and the diameter of the opening 56b is set slightly larger than the diameter of the threaded portion of the bolt 158a.

[0067] Since the openings with the above-described shapes are provided in the claw body (L claw 154L), the holder 157, and the protective cover 420, when the bolt 158a is attached, the bolt head contacts the L claw 154L. That is, the protective cover 420, the holder 157, and the L claw 154L are tightened by the bolt 158a and the nut 158b, and each member is fixed.

[0068] As described above, in the working claw 400 with a sensor according to the present embodiment, the sensor unit 210 is protected by the protective cover 420 when mounted on the holder 157. That is, the protective cover 420 of the present embodiment can protect the sensor unit 210 from soil clods and impacts by covering the holder 157 and also covering the sensor unit 210. Therefore, a working machine equipped with a working rotor including the working claw 400 with a sensor according to the present embodiment can prevent the sensor unit 210 from falling off or being damaged during tilling work.

[0069] In the present embodiment as well, similar to FIG. 4 shown in Modification 1 of the first embodiment, a window portion (opening or notch) for allowing radio waves to pass through may be provided in the protective cover 420. That is, the protective cover 420 may have a window portion at a position corresponding to the antenna 34a provided in the sensor unit 210. Further, in this case, the window portion may be closed by a member made of a material different from the member constituting the protective cover 420 itself, for example, a member made of glass, resin, or rubber. In the case of the second embodiment, the window portion can be provided on either the first surface 420a, the second surface 420b, or both the first surface 420a and the second surface 420b of the protective cover 420.

[0070] Also, similar to FIG. 5 shown in Modification 2 of the first embodiment, the claw body (here, the L-claw 154L) may be provided with a recess at the position where the sensor unit 210 is disposed. That is, the sensor unit 210 may be disposed inside a recess (for example, a depression or a notch) provided in the claw body.

[0071] <Third Embodiment> In the present embodiment, an example in which a holder and a protective cover are combined will be described in a working machine of a type in which a working claw is attached to a holder provided on a claw shaft. In the present embodiment, the description will be made focusing on the differences from the first embodiment, and the same parts as those in the first embodiment will be denoted by the same reference numerals in the drawings, and redundant descriptions will be omitted.

[0072] FIG. 7 is a side view showing the configuration of the working claw 500 with a sensor according to the third embodiment. Specifically, FIG. 7(A) is a side view of the working claw 500 with a sensor, and FIG. 7(B) is a cross-sectional view obtained by cutting the side view of FIG. 7(A) along C-C'. Similar to the second embodiment, FIG. 7 shows an example in which a sensor unit 210 is attached to an L-claw 154L (claw body) as the working claw 500 with a sensor. Since the basic structure of the L-claw 154L is the same as that in FIG. 6(A), the description thereof will be omitted here.

[0073] As shown in FIG. 7(A), in the present embodiment, a holder 520 for fixing the claw body (L-claw 154La) to the claw shaft 152 functions as a protective cover for protecting the sensor unit 210 attached to the claw body. Therefore, the internal space of the holder 520 (at the insertion port) for inserting the attachment base side of the claw body is formed wider than the conventional holder in accordance with the shape of the sensor unit 210. That is, the holder 520 has a step 61 corresponding to the shape of the sensor unit 210 in the internal space, and the shape of the internal space is along the outer shapes of the attachment base 154La and the sensor unit 210.

[0074] Note that in the present embodiment, the sensor unit 210 is disposed on the side opposite to the peak portion 12 of the attachment base 154La. The reason therefor will be described below.

[0075] The working claw 500 with a sensor rotates with the rotation of the claw shaft 152, with the cutting edge portion 11 leading. Therefore, when the cutting edge portion 11 collides with the soil, the mounting base portion 154La is strongly pressed against the holder 520 in the regions indicated by the circles 62 and 63. Therefore, if the sensor unit 210 is arranged at the peak portion 12 of the mounting base portion 154La (that is, the region indicated by the circle 62), a large pressure is applied to the sensor unit 210, and the sensor unit 210 may be damaged. Therefore, in the present embodiment, the sensor unit 210 is arranged on the side opposite to the peak portion 12 to prevent a large pressure from being applied.

[0076] However, the present embodiment does not exclude arranging the sensor unit 210 in the region indicated by the circle 62 or 63. For example, when the sensor portion 31 (see FIG. 3) included in the sensor unit 210 is a pressure sensor, arranging it in the region indicated by the circle 62 or 63 can detect a larger pressure, so the detection accuracy can be improved.

[0077] As shown in FIG. 7(B), also in the present embodiment, the opening 66 of the holder 520 is composed of two openings 66a and 66b with different diameters. Specifically, the opening 66a is provided on the first surface 520a of the holder 520, and the opening 66b is provided on the second surface 520b of the holder 520. The opening 66a is formed as a hexagonal hole into which the head of the bolt 158a fits, and the diameter of the opening 66b is set slightly larger than the diameter of the threaded portion of the bolt 158a.

[0078] As described above, in the working claw 500 with a sensor of the present embodiment, the sensor unit 210 is protected by the holder 520 when attached to the holder 520. That is, the holder 520 of the present embodiment also functions as a protective cover and can protect the sensor unit 210 from soil clods and impacts. Therefore, a working machine equipped with a working rotor including the working claw 500 with a sensor of the present embodiment can prevent the sensor unit 210 from falling off or being damaged during tillage work.

[0079] Furthermore, in the case of the present embodiment, a step 61 is provided in the internal space of the holder 520 to widen only the portion where the sensor unit 210 is disposed. That is, instead of widening the width of the internal space (the length in the direction orthogonal to the depth direction) as a whole by the height of the sensor unit 210, it is configured to widen locally according to the shape of the sensor unit 210. With such a configuration, the holder 520 can support the attachment base 154La of the L-claw 154L at two points (specifically, the regions indicated by the circles 62 and 63), and the working claw 500 with a sensor can be stably fixed.

[0080] Note that also in the present embodiment, similar to FIG. 4 shown in the first modification of the first embodiment, a window portion (opening or notch) for allowing radio waves to pass through may be provided in the holder 520. That is, the holder 520 may have a window portion at a position corresponding to the antenna 34a provided in the sensor unit 210. Further, in this case, the window portion may be closed by a member made of a material different from the member constituting the holder 520 itself, for example, a member made of glass, resin, rubber, or the like. Also, the window portion can be provided on either the first surface 520a, the second surface 520b, or both the first surface 520a and the second surface 520b of the holder 520.

[0081] Also, similar to FIG. 5 shown in the second modification of the first embodiment, a recess may be provided in the claw body (here, the L-claw 154L) at the position where the sensor unit 210 is disposed. That is, the sensor unit 210 may be disposed inside a recess (for example, a depression or a notch) provided in the claw body.

[0082] <Fourth Embodiment> In the first embodiment, an example of fixing a working claw to a flange using two fixing members has been described. In this embodiment, an example of using a set bolt having a bolt plate as a fixing member will be described. In this embodiment, the description will be made focusing on the differences from the first embodiment, and the same parts as those in the first embodiment will be denoted by the same reference numerals in the drawings, and the overlapping description will be omitted.

[0083] FIG. 8 is a diagram showing the configuration of the working claw 600 with a sensor according to the first embodiment of the present invention. Specifically, FIG. 8(A) is a side view of the working claw 600 with a sensor, and FIG. 8(B) is a cross-sectional view obtained by cutting the side view of FIG. 8(A) along D-D'. Similar to the first embodiment, FIG. 8 shows an example in which a sensor unit 210 and a protective cover 620 are attached to an R claw 154R (claw body).

[0084] As shown in FIG. 8(A), an opening 28a that overlaps with two mounting holes 14 and 15 of the claw body is provided on the first surface 620a of the protective cover 620. Further, an opening 28b is provided on the second surface 620b of the protective cover 620 at a position corresponding to the mounting hole 15 of the claw body. Although not shown in FIG. 8, an opening is also provided on the second surface 620b of the protective cover 620 at a position corresponding to the mounting hole 14 of the claw body, similar to the opening 28b.

[0085] In the present embodiment, when attaching the claw body to the flange 153, a combined bolt is used. The "combined bolt" in this specification refers to a fixing member that combines a plurality of bolts and a bolt plate having openings through which each of the plurality of bolts is inserted. The combined bolt of the present embodiment is used in a configuration in which one bolt plate is arranged between two bolts. Actually, the claw body can also be attached to the flange 153 using bolts, bolt plates, spring washers, nuts, etc.

[0086] Here, as shown in FIG. 8(A), the opening 28a has a shape that matches the shape of a bolt plate (not shown) arranged on the side of the first surface 620, and the bolt plate is adapted to fit inside the opening 28a. With such a structure, when the working claw 600 with a sensor is attached to the flange 153, since the bolt plate contacts the claw body (specifically, the mounting base 154Ra), the claw body can be fixed to the flange 153 by two bolts and one bolt plate.

[0087] As described above, when attaching the working claw 600 with a sensor of the present embodiment to the flange 153, a set bolt can be used. Therefore, since two bolts can be inserted at once, the working time can be shortened. Further, since the bolt plate serves the same role as a washer and disperses the pressure applied between the bolt and the claw body, loosening of the bolt due to wear or the like can be suppressed.

[0088] As described above, the present invention has been described with reference to the drawings. However, the present invention is not limited to the above-described embodiments (including the following modification examples), and can be appropriately changed without departing from the gist of the present invention. For example, based on each embodiment, those in which those skilled in the art have appropriately added, deleted, or changed the design of components are also included in the scope of the present invention as long as they have the gist of the present invention. Further, the above-described embodiments can be appropriately combined as long as there is no contradiction, and technical matters common to each embodiment are included in each embodiment even without explicit description.

[0089] Even other operational effects different from the operational effects brought about by the aspects of the above-described embodiments, which are obvious from the description in this specification or can be easily predicted by those skilled in the art, are naturally understood to be brought about by the present invention.

Explanation of Reference Numerals

[0090] 11…Edge part, 12…Peak part, 13…Top part of the head, 14, 15, 16…Mounting holes, 24, 24a, 25, 25a, 25b, 28a, 28b…Openings, 26…Window part, 27…Concave part, 31…Sensor part, 32…Control part, 33…Memory part, 34…Communication part, 34a…Antenna, 35…Power supply part, 46, 46a, 46b, 56, 56a, 56b…Openings, 61…Step, 62, 63…Circles, 66, 66a, 66b…Openings, 100…Working machine, 110…Frame, 120…Shield cover, 130…Apron, 132…Leveling plate, 135…Top link connection part, 136…Lower link connection part, 137…(Power Input Connection) shaft, 150…Working rotor, 152…Claw shaft, 153…Flange, 154…Working claw, 154L…L claw, 154La…Mounting base, 154Lb…Blade part, 154R…R claw, 154Ra…Mounting base, 154Rb…Blade part, 155…Fixing member, 157…Holder, 158…Fixing member, 158a…Bolt, 158b…Nut, 160…Connection part, 170…Control device, 200, 300, 400, 500, 600…Working claws, 210…Sensor unit, 220, 320, 420, 520, 620…Protection cover, 220a, 420a, 520a, 620a…First surface, 220b, 420b, 520b, 620b…Second surface

Claims

1. A claw body, a sensor unit attached to the base of the claw body, a protective cover having an opening for inserting the base to which the sensor unit is attached and covering a part of the sensor unit and the claw body, comprising: A working claw with a sensor, which is attached to the claw shaft of a working rotor via a flange or a holder fixed to the claw shaft.

2. The sensor unit is provided at the peak of the claw body. The working claw with a sensor according to Claim 1.

3. The claw body has a mounting hole, The protective cover has an opening at a position corresponding to the mounting hole. The working claw with a sensor according to Claim 1 or 2.

4. The sensor unit includes an antenna, The protective cover has a window at a position corresponding to the antenna. The working claw with a sensor according to any one of Claims 1 to 3.

5. The window is blocked by a member made of a material different from the member constituting the protective cover. The working claw with a sensor according to Claim 4.

6. The sensor unit is disposed inside a recess provided in the claw body. The working claw with a sensor according to any one of Claims 1 to 5.

7. A working machine comprising a working rotor including the working claw with a sensor according to any one of Claims 1 to 6.

8. A working machine comprising a working rotor including a working claw with a sensor fixed to a holder, The working claw with a sensor has a claw body and a sensor unit attached to the base of the claw body so as to protrude from the claw body, The holder has an opening for inserting the base, The internal space of the opening is locally widened according to the shapes of the base and the sensor unit inserted into the opening, When the working claw with a sensor is fixed to the holder, the sensor unit is covered by the holder. The working machine.

9. The holder has a window at a position corresponding to the antenna included in the sensor unit. The working machine according to Claim 8.

10. A protective cover applied to the working claw with a sensor according to any one of Claims 1 to 6.

Images