Working Claw with Sensor and Working Machine

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 includes: a claw body having two attaching holes and a recessed part between the two attaching holes; and a sensor unit attached to the recessed part. A work machine is provided with a work rotor including the work claw having a sensor fixed to a flange. The work claw having the sensor includes: a claw body having two attaching holes and a first recessed part between the two attaching holes; a sensor unit attached to the first recessed part; two bolts inserted into the two attaching holes; a bolt plate for joining the two bolts; and two nuts to be screwed with the two bolts. The work machine includes a fixing member for fixing the claw body to the flange.SELECTED DRAWING: Figure 2

Description

Technical Field

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

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 axis, 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 as the tillage work continues. In view of such a problem, in recent years, attempts have been made to provide a sensor on the working claw to predict the degree of wear. For example, Patent Document 1 discloses a technique for evaluating the degree of wear of a working claw using a sensor attached to the working claw.

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 Problem

[0006] The working claw with a sensor in one embodiment of the present invention includes a claw body having two mounting holes and a recess between the two mounting holes, and a sensor unit attached to the recess.

[0007] In the above-mentioned working claw with a sensor, the recess may penetrate the claw body.

[0008] A working machine in one embodiment of the present invention is a working machine including a working rotor including a working claw with a sensor fixed to a flange, wherein the working claw with a sensor has two mounting holes, a claw body having a first recess between the two mounting holes, a sensor unit attached to the first recess, two bolts inserted into the two mounting holes, a bolt plate connecting the two bolts, two nuts screwed with the two bolts, and a fixing member for fixing the claw body to the flange.

[0009] In the above-mentioned working machine, the bolt plate may cover at least a part of the first recess.

[0010] In the above-mentioned working machine, the sensor unit includes an antenna, and the bolt plate may have an opening or a notch at a position corresponding to the antenna.

[0011] In the above-mentioned working machine, the opening may be blocked by a material made of glass or resin.

[0012] In the above-mentioned working machine, the first recess may penetrate the claw body.

[0013] In the above-mentioned working machine, the flange may have a second recess at a position corresponding to the first recess.

[0014] In the above-described working machine, the sensor unit may be disposed inside the first concave portion and the second concave portion.

Advantages of the Invention

[0015] According to an embodiment of the present invention, it is possible to prevent the sensor from falling off or being damaged during work using the working claw with a sensor.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0017] Hereinafter, with reference to the drawings, a working machine including a working claw with a sensor and a working rotor including the working claw with a sensor, which is an embodiment of the present invention, 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 function are denoted by the same reference numerals, and the repeated description thereof is omitted.

[0018] 〈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 as seen from the left side with respect to 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.

[0019] The 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 the traveling body such as a tractor through the PIC (Power Input Connection) shaft 137 to the left - right direction with respect to the traveling direction. The power transmission shaft in 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 in this chain case.

[0020] The working rotor 150 includes a claw shaft 152 extending in the width direction of the working machine 100 (a direction perpendicular to the traveling direction of the working machine 100) and a plurality of working claws 154 attached to the claw shaft 152 via flanges 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 the arrow R.

[0021] In this 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 type and number of the working claws to be attached are not limited to this. Further, in this embodiment, a bolt set combining a bolt 157, a bolt plate 158, and a nut 156 is used as the fixing member 155.

[0022] In this embodiment, a sensor unit 210 is attached to at least one working claw 154. Specifically, a sensor unit 210 for detecting information such as acceleration and pressure is attached to at least one working claw 154 by an adhesive including double-sided tape, curable resin, etc., and the sensor unit 210 is protected by the fixing member 155. Therefore, during tillage work, lumps of soil 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.

[0023] In the following description, the working claw to which the sensor unit is attached is referred to as a "working claw with sensor". However, in this specification, the term "working claw with sensor" does not exclude components other than the working claw and the sensor unit.

[0024] In this embodiment, an example in which the sensor unit 210 is attached to the R claw 154R is shown, and the R claw 154R may be referred to as a claw body. Further, the working claw in which the sensor unit 210 is 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 this embodiment, an example in which the sensor unit 210 is 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.

[0025] The shield cover 120 is arranged to cover the upper part of the working rotor 150. Although not shown in the figure, a pair of left and right side plates are provided on the side surface of the shield cover 120, and the claw shaft 152 of the working rotor 150 is supported by the side plates. Note that the side plates are also called chain case plates, side frames, etc.

[0026] The apron 130 is arranged behind the working rotor 150 and is rotatable 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.

[0027] 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 another information processing device such as a server or a mobile terminal, or may perform arithmetic processing based on the detection data and transmit the arithmetic result to another information processing device.

[0028] The working machine 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 fixing member 155, it is possible to prevent the sensor unit 210 from falling off or being damaged when a soil mass 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 machine 100 will be described below.

[0029] [Configuration of Working Claw with Sensor] FIG. 2 is a diagram for explaining the configuration of the working claw 200 with a sensor according to the first embodiment of the present invention. Specifically, FIG. 2(A) is an enlarged side view of the working claw 200 with a sensor of the working machine 100, 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 an R claw 154R (claw body) and a sensor unit 210 are attached to the flange 153 of the working machine 100 using a fixing member 155 as the working claw 200 with a sensor. A detailed description of the example in which the L claw 154L is used as the claw body is omitted, but 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. Further, the shape of the R claw 154R shown in FIG. 2(A) is merely an example and is not limited to this shape.

[0030] As shown in FIG. 2(A), the R claw 154R has a mounting base portion 154Ra and a blade portion 154Rb continuously extending from the mounting base portion 154Ra. The R claw 154R also has a cutting portion 11 at one edge of the blade portion 154Rb. The cutting 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 portion 11. Further, at the tip of the blade portion 154Rb, there is a vertex portion 13 that smoothly connects the cutting portion 11 and the peak portion 12 in a curved shape.

[0031] 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.

[0032] 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 on the flange 153, and the other portion is the blade portion 154Rb. The flange 153 includes two mounting holes 16 and 17 for mounting the R claw 154R. The R claw 154R is mounted on the flange 153 using a set bolt in which a bolt 157, a nut 156, and a bolt plate 158 are combined as a fixing member 155. That is, in a state where the positions of the two mounting holes 16 and 17 of the flange 153 and the two mounting holes 14 and 15 of the mounting base portion 154Ra are aligned (superimposed state), two bolts 157 combined with the bolt plate 158 are inserted from the side of the mounting base portion 154Ra into the respective mounting holes. Two nuts 156 are screwed onto the two bolts 157 from the side of the flange 153, respectively, to mount the working claw 200 with a sensor on the flange 153.

[0033] A bolt plate 158 is disposed between the two bolts 157. That is, the space between the two mounting holes 14 and 15 is covered by the bolt plate 158. Also, during tilling operations, as the working rotor 150 rotates, the R claw 154R acts on the soil with the cutting edge portion 11 of the cutting edge 154Rb at the front to perform tilling operations on the farm field. The mounting base 154Ra does not directly act on the soil. Also, the mounting base 154Ra has a sufficient thickness. Therefore, in this embodiment, to prevent the sensor unit 210 from falling off or being damaged, the sensor unit 210 is disposed on the mounting base 154Ra. Specifically, in the example shown in FIG. 2, the sensor unit 210 is disposed inside the recess 18 of the mounting base 154Ra. The sensor unit 210 is attached inside the recess 18 of the mounting base 154Ra by an adhesive or surface tape containing a curable resin or the like (not shown). The gap between the sensor unit 210 and the recess 18 may be filled with a curable resin or the like (not shown). The recess 18 of the mounting base 154Ra is disposed between the two mounting holes 14 and 15. The recess 18 is a bottomed hole and has an opening on the surface in contact with the bolt plate 158 (opposite to the surface in contact with the flange 153).

[0034] The bolt plate 158 covers a part of the recess 18. The sensor unit 210 partially overlaps with the bolt plate 158 and is protected by the bolt plate 158. The sensor unit 210 is disposed at a position where it does not partially overlap with the bolt plate 158. It is desirable that the depth of the recess 18 is deeper than the height of the sensor unit 210, but it is not limited thereto, and the sensor unit 210 may protrude from the recess 18. In this case, the bolt plate 158 may protrude in a convex shape between the two bolts 157 so as not to interfere with the sensor unit 210.

[0035] The sensor unit 210 includes an antenna 211 for performing wireless communication as described later. In order to efficiently emit radio waves from the antenna 211, it is desirable to minimize the metal shielding existing around the antenna 211. For this reason, the antenna 211 is exposed from the bolt plate 158. In this case, in order to prevent damage to the sensor unit 210 and its detachment from the claw body, the sensor unit 210 is preferably covered with the bolt plate 158 over as wide a range as possible other than the antenna 211, that is, the sensor unit 210 is preferably arranged in the region between the mounting holes 14 and 15 as much as possible. Thus, the sensor unit 210 may be arranged anywhere within the range where at least a part of it can be covered by the bolt plate 158.

[0036] 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 bolt plate 158 together with a part of the claw body (specifically, the region between the mounting holes 14 and 15). In this embodiment, the bolt plate 158 is made of a metal material.

[0037] As described above, the working claw 200 with a sensor according to 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 fixing member 155 including a bolt plate 158 that covers the sensor unit 210 and a part of the claw body (the region between the mounting holes 14 and 15). With such a structure, the sensor unit 210 can be protected from soil clods and impacts, and detachment and damage of the sensor unit 210 during tillage operations can be prevented.

[0038] [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 unit 31, a control unit 32, a storage unit 33, a communication unit 34, and a power supply unit 35. However, not limited to this example, the sensor unit 210 may include other circuit elements.

[0039] 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. In addition to the acceleration sensor, the sensor unit 31 may also include a gyro sensor and a magnetic sensor. Furthermore, depending on the application, the sensor unit 31 may include a physical quantity sensor such as a pressure sensor (e.g., a strain sensor or a stress sensor) or an optical sensor, and / or a soil sensor for measuring physical quantities of the soil such as temperature, moisture content, salt content, and pH (hydrogen ion exponent).

[0040] The sensor unit 31 may have a unique identifier. That is, each sensor unit 31 may be configured to be distinguishable from each other using the identifier. The identifier may be stored in the storage unit 33, or a memory for storing the identifier may be separately provided 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.

[0041] 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.

[0042] 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 the 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 cause the control unit 32 to execute other controls. For example, information processing such as arithmetic processing may be performed using the detection data acquired by the sensor unit 31.

[0043] The storage unit 33 can store programs for various controls executed by the control unit 32, detect data acquired by the sensor unit 31, and the like. The aforementioned identifier can be stored in the storage unit 33.

[0044] 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 storage 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 211 and transmits and receives data via the antenna 211. Specifically, the communication unit 34 can emit radio waves to the outside using the antenna 211 and wirelessly output the detection data on the radio waves. Note that the communication unit 34 may have not only a function as a transmission unit that transmits detection data but also a function as a reception unit that receives control data for controlling the sensor unit 210 from the outside.

[0045] 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.

[0046] FIG. 4 is a cross-sectional view showing the configuration of the working claw with a sensor of the working machine in a modified example of the first embodiment. The working claw with a sensor of the working machine in this modified example is the same as the working claw with a sensor of the working machine in the first embodiment except for the shape of the concave portion. The description that is the same as the first embodiment is omitted, and here, the parts different from the configuration of the working claw with a sensor in the first embodiment will be described. Since the enlarged side view of the working claw with a sensor in this modified example is the same as the enlarged side view of the working claw with a sensor in the first embodiment, it is omitted here. In FIG. 4, the same parts as the working claw 200 with a sensor shown in FIG. 2 are denoted by the same reference numerals.

[0047] (Modification 1) In the working claw 200 with a sensor of the first embodiment, the configuration in which the concave portion 18 is a bottomed hole is shown. However, it is not limited to this, and as shown in FIG. 4(A), the concave portion 18a may penetrate the mounting base portion 154Ra of the R claw 154R. The concave portion 18a in this modified example is a through hole and has openings on both the surface in contact with the bolt plate 158 and the surface in contact with the flange 153. The sensor unit 210a is disposed inside the concave portion 18a.

[0048] The bolt plate 158 covers a part of the concave portion 18a. The sensor unit 210a partially overlaps with the bolt plate 158 and is protected by the bolt plate 158. The flange 153 covers the concave portion 18a from the side opposite to the bolt plate 158. The sensor unit 210a overlaps with the flange 153 and is protected by the flange 153. It is desirable that the depth of the concave portion 18a is deeper than the height of the sensor unit 210a, but it is not limited to this, and the sensor unit 210a may protrude from the concave portion 18a. In this case, the bolt plate 158 may protrude in a convex shape between the two bolts 157 so as not to interfere with the sensor unit 210a.

[0049] According to this Modification 1, by increasing the depth of the concave portion 18a, a thicker sensor unit 210a can be arranged.

[0050] (Modification Example 2) As shown in FIG. 4(B), the recess 18a of the mounting base 154Ra may be further connected to the recess 19 of the flange 153. The recess 19 of the flange 153 is provided at a position corresponding to the recess 18a of the mounting base 154Ra (a position overlapping the recess 18a). The recess 19 in this modification example is a bottomed hole facing the recess 18a and has an opening on the surface in contact with the mounting base 154Ra. The sensor unit 210b is disposed inside the recess 18a and the recess 19.

[0051] The bolt plate 158 covers a part of the recess 18a. The sensor unit 210b partially overlaps the bolt plate 158 and is protected by the bolt plate 158. The depth of the continuous recess 18a and the recess 19 is preferably deeper than the height of the sensor unit 210b, but is not limited thereto, and the sensor unit 210b may protrude from the recess 18a. In this case, the bolt plate 158 may protrude in a convex shape between the two bolts 157 so as not to interfere with the sensor unit 210b.

[0052] According to this modification example 2, by further increasing the depth of the recess 18a and the recess 19, a thicker sensor unit 210b can be arranged.

[0053] <Second Embodiment> In the working claw with a sensor in the first embodiment, a configuration in which the antenna 211 is exposed from the side of the bolt plate 158 is shown. The working claw with a sensor in the second embodiment shows a configuration in which the antenna 211 is exposed from the opening 26 of the bolt plate 158c. The working claw with a sensor in the second embodiment is the same as the working claw with a sensor of the working machine in the first embodiment except for the arrangement of the sensor unit 210 and the opening 26 of the bolt plate 158c. The description of the same parts as those in the first embodiment is omitted, and here, the parts different from the configuration of the working claw with a sensor in the first embodiment will be described. In FIG. 5, the same parts as those of the working claw with a sensor 200 shown in FIG. 2 are denoted by the same reference numerals.

[0054] FIG. 5 is a diagram for explaining the configuration of the working claw 300 with a sensor according to the second embodiment of the present invention. Specifically, FIG. 5(A) is an enlarged side view of the working claw 300 with a sensor, and FIG. 5(B) is a cross-sectional view obtained by cutting the side view of FIG. 5(A) along B-B'.

[0055] In this embodiment, similar to the first embodiment, the sensor unit 210 is arranged on the mounting base 154Ra. Specifically, in the example shown in FIG. 5, the sensor unit 210 is arranged inside the recess 18c of the mounting base 154Ra. The recess 18c of the mounting base 154Ra is arranged between the two mounting holes 14 and 15. The recess 18c is a bottomed hole and has an opening on the surface in contact with the bolt plate 158c (the side opposite to the surface in contact with the flange 153).

[0056] The bolt plate 158c completely covers the recess 18c except for the portion of the opening 26 described later. The sensor unit 210 overlaps with the bolt plate 158c and is protected by the bolt plate 158c. It is desirable that the depth of the recess 18c is deeper than the height of the sensor unit 210, but it is not limited thereto, and the sensor unit 210 may protrude from the recess 18c. In this case, the bolt plate 158c may protrude in a convex shape between the two bolts 157 so as not to interfere with the sensor unit 210.

[0057] The sensor unit 210 includes an antenna 211 for performing wireless communication. In order to efficiently emit radio waves from the antenna 211, the bolt plate 158c has an opening 26 so as to expose a part of the sensor unit 210. Specifically, the opening 26 is provided at a position corresponding to the antenna 211 of the sensor unit 210 in the bolt plate 158c (the position overlapping the antenna 211). The antenna 211 is exposed from the opening 26 of the bolt plate 158c. In this way, the sensor unit 210 may be arranged anywhere within the range that can be covered by the bolt plate 158c.

[0058] According to this embodiment, since the radio wave emitted from the antenna 211 is emitted to the outside through the opening 26, the wireless communication performance of the sensor unit 210 can be improved. There is no particular limitation on the size of the opening 26. However, if the opening 26 is too large, the strength of the bolt plate 158c may decrease, or moisture and soil may easily enter through the opening 26. Therefore, it is preferable that the size is such that substantially the entire antenna 211 is exposed.

[0059] In the examples shown in FIGS. 5(A) and 5(B), an example of providing the opening 26 in the bolt plate 158c is shown. However, the present invention is not limited to this example, and a notch may be provided at a position corresponding to the antenna 211. Further, when the opening 26 is provided in the bolt plate 158c, the opening 26 may be closed with a material made of glass, resin, or rubber. For example, the inside of the opening 26 may be filled with resin (for example, epoxy resin), and then the filled resin may be cured. Further, a glass plate, resin, rubber, etc. formed according to the shape of the opening 26 may be fitted into the opening 26 and fixed with an adhesive or the like.

[0060] As shown in FIGS. 5(A) and 5(B), the working claw 300 with a sensor of this embodiment has the sensor unit 210 covered by the bolt plate 158c together with a part of the claw body (specifically, the region between the mounting holes 14 and 15). Specifically, as shown in FIG. 5(A), the sensor unit 210 is disposed at a position overlapping the bolt plate 158c and has an opening 26 at a position corresponding to the antenna 211.

[0061] As described above, the working claw 300 with a sensor of this embodiment includes a claw body (R claw 154R in the example shown in FIG. 5), a sensor unit 210 attached to the claw body, and a fixing member 155 including a bolt plate 158c that covers the sensor unit 210 and a part of the claw body (the region between the mounting holes 14 and 15). With such a structure, the sensor unit 210 can be protected from soil clods and impacts, and the sensor unit 210 can be prevented from falling off or being damaged during tillage work.

[0062] Note that, also in this embodiment, similar to the modification of the first embodiment, the recess 18c of the mounting base 154Ra may be a through hole and may further be connected to the recess 19 of the flange 153.

[0063] 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 modifications), 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 components are also included in the scope of the present invention as long as they have the gist of the present invention. Furthermore, 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 if not explicitly described.

[0064] Even if there are other operational effects different from those brought about by the aspects of the above-described embodiments, those that are obvious from the description of this specification or can be easily predicted by those skilled in the art are naturally considered to be brought about by the present invention.

Explanation of Reference Numerals

[0065] 11... Cutting part, 12... Crest part, 13... Vertex part, 14, 15, 16, 17... Mounting holes, 18, 18a, 18c, 19... Recesses, 26... Opening, 31... Sensor part, 32... Control part, 33... Memory part, 34... Communication part, 35... Power supply part, 100... Working machine, 110... Frame, 120... Shield cover, 130... Apron, 132... Levelling board, 135... Top link connecting part, 136... Lower link connecting part, 137... (Power Input Connection) shaft, 150... Working rotor, 152... Claw shaft, 153... Flange, 154... Working claw, 154L... L claw, 154R... R claw, 154Ra... Mounting base, 154Rb... Blade part, 155... Fixing member, 156... Nut, 157... Bolt, 158, 158c... Bolt plate, 160... Connecting part, 170... Control device, 200, 300... Working claws, 210, 210a, 210b... Sensor unit, 211... Antenna

Claims

1. In a working claw with a sensor attached to a working rotor via a fixing member, a claw body having two mounting holes for attaching the fixing member and a recess provided between the two mounting holes; a sensor unit attached to the recess and including an antenna; comprising the sensor unit, at least a part of which is covered by the fixing member and the antenna is exposed from the fixing member, a working claw with a sensor.

2. The fixing member includes two bolts inserted into the two mounting holes, a bolt plate combined with the bolts, and two nuts screwed with the two bolts, the sensor unit, at least a part of which is covered by the bolt plate and the antenna is exposed from the bolt plate, the working claw with a sensor according to claim 1.

3. The recess penetrates the claw body, the working claw with a sensor according to claim 1 or 2.

4. A working machine including a working rotor having a working claw with a sensor fixed to a flange, the working claw with a sensor has two mounting holes, a claw body having a first recess between the two mounting holes; a sensor unit attached to the first recess and including an antenna; two bolts inserted into the two mounting holes, a bolt plate connecting the two bolts, and two nuts screwed with the two bolts, a fixing member for fixing the claw body to the flange; comprising the sensor unit, at least a part of which is covered by the bolt plate and the antenna is exposed from the bolt plate, a working machine.

5. The bolt plate has a radio wave emitting portion at a position corresponding to the antenna, and covers the first recess except for the portion of the radio wave emitting portion, the working machine according to claim 4.

6. The radio wave emitting portion is blocked by a material composed of any one of glass, resin, and rubber, the working machine according to claim 5.

7. The first recess penetrates the claw body, the working machine according to any one of claims 4 to 6.

8. The flange has a second recess at a position corresponding to the first recess, the working machine according to claim 7.

9. The sensor unit is disposed inside the first recess and the second recess, the working machine according to claim 8.

Images