JP7709734B2 - Sensor-equipped work claw and work machine - Google Patents

Description

The present invention relates to a sensor-equipped work claw and a work machine.

Conventionally, rotary implements and tillers are known as implements for tilling fields such as fields and rice paddies. These implements are equipped with a work rotor that tills the field, breaks soil, and performs other tasks. The work rotor is a device in which multiple work tines are attached to a tine shaft that serves as a rotating shaft, and the work tines directly act on the field as the tine shaft rotates. As a result, there is a problem that the work tines gradually wear out as tilling work continues, and tilling performance deteriorates. In light of this problem, in recent years, attempts have been made to predict the degree of wear by installing sensors on the work tines. For example, Patent Document 1 discloses a technology for evaluating the degree of wear of the work tines using a sensor attached to the work tines.

JP 2020-005535 A

During tilling work, the tines act directly on the soil, and there is a possibility that the sensor may fall off or be damaged if a mass of soil collides with it. In addition, the tines vibrate violently during tilling work as they repeatedly collide with the soil. Therefore, if the sensor is not properly attached to the tines, there is a risk that the sensor may fall off during tilling work. Thus, when tilling work is performed using tines with sensors, it is important to prevent the sensor from falling off or being damaged.

One of the objectives of the present invention is to prevent the sensor from falling off or being damaged while working with a sensor-equipped work claw.

The sensor-equipped work claw in one embodiment of the present invention comprises a claw body having two mounting holes and a recess between the two mounting holes, and a sensor unit attached to the recess.

In the above-mentioned sensor-equipped work claw, the recess may penetrate the claw body.

The working machine in one embodiment of the present invention is a working machine equipped with a work rotor including a sensor-equipped work claw fixed to a flange, and the sensor-equipped work claw includes a claw body having two mounting holes and 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, and two nuts screwed onto the two bolts, and a fixing member fixing the claw body to the flange.

In the above-mentioned working machine, the bolt plate may cover at least a portion of the first recess.

In the above-mentioned work machine, the sensor unit may include an antenna, and the bolt plate may have an opening or a notch at a position corresponding to the antenna.

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

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

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

In the above-mentioned working machine, the sensor unit may be disposed inside the first recess and the second recess.

According to one embodiment of the present invention, it is possible to prevent the sensor from falling off or being damaged while working with a sensor-equipped work claw.

FIG. 2 is a side view showing the configuration of the working machine of the first embodiment. 1A and 1B are diagrams illustrating the configuration of a sensor-equipped work claw of a first embodiment, in which (A) is an enlarged side view of a sensor-equipped work claw of a work machine, and (B) is a cross-sectional view taken along the line A-A' of the side view of (A). FIG. 2 is a block diagram showing a configuration of a sensor unit according to the first embodiment. FIG. 11 is a cross-sectional view showing a configuration of a sensor-equipped work claw of a work machine in a modified example of the first embodiment. 11A and 11B are diagrams illustrating the configuration of a sensor-equipped work claw of a second embodiment, in which (A) is an enlarged side view of a sensor-equipped work claw of a work machine, and (B) is a cross-sectional view taken along B-B' of the side view of (A).

Below, a working machine equipped with a sensor-equipped work claw and a work rotor including the sensor-equipped work claw, which is one embodiment of the present invention, will be described with reference to the drawings. However, the sensor-equipped work claw and working machine described here can be implemented in many different forms, and should not be interpreted as being limited to the description of the example shown below. In the drawings referred to in this embodiment, identical parts or parts having similar functions are given the same reference numerals, and repeated explanations will be omitted.

First Embodiment
[Configuration of agricultural machine]
Fig. 1 is a side view showing the configuration of a work machine 100 in the first embodiment. Specifically, Fig. 1 shows a rotary work machine equipped with a work rotor including a plurality of work claws as the work machine 100, as viewed from the left side in the direction of travel. The work machine 100 of this embodiment broadly includes a frame 110, a shield cover 120, an apron 130, a side plate (not shown), a work rotor 150, and a control device 170.

The frame 110 is connected to a running machine (not shown) such as a tractor by a top link connection part 135 and a lower link connection part 136. The frame 110 is, for example, cylindrical, and has a power transmission shaft (not shown) inside, which leads to a chain case (not shown). This power transmission shaft plays a role in switching the direction of the rotational power transmitted from the PTO shaft of the running machine such as a tractor via a PIC (Power Input Connection) shaft 137 to the left or right direction relative to the traveling direction. The power transmission shaft in the frame 110 is connected to a chain case arranged on the side of the working machine 100, and the power is transmitted to the claw shaft 152 of the working rotor 150 by a chain transmission mechanism in this chain case.

The work rotor 150 includes a claw shaft 152 extending in the width direction of the work machine 100 (perpendicular to the direction of travel of the work machine 100) and multiple work claws 154 attached to the claw shaft 152 via flanges 153. The multiple work claws 154 include a work claw curved to the left of the direction of travel (hereinafter referred to as "L claw 154L") and a work 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 work machine 100 of this embodiment, the work rotor 150 rotates in the direction indicated by the arrow R.

In this embodiment, multiple work claws 154 are attached to one flange 153 via fixing members 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 work claws attached are not limited to this. Also, in this embodiment, a set bolt combining a bolt 157, a bolt plate 158, and a nut 156 is used as the fixing member 155.

In this embodiment, a sensor unit 210 is attached to at least one working claw 154. Specifically, the sensor unit 210 for detecting information such as acceleration and pressure is attached to at least one working claw 154 with double-sided tape or an adhesive containing a curable resin, and the sensor unit 210 is protected by a fixing member 155. Therefore, soil clods and the like do not directly hit the sensor unit 210 during tilling work, and the sensor unit 210 is structured to prevent it from falling off or being damaged.

In the following description, a work claw with a sensor unit attached is referred to as a "work claw with sensor." However, in this specification, the term "work claw with sensor" does not exclude configurations other than the work claw and the sensor unit.

In this embodiment, an example is shown in which the sensor unit 210 is attached to the R claw 154R, and the R claw 154R may be referred to as the claw body. A work claw in which the sensor unit 210 is attached to the R claw 154R, which is the claw body, is called a sensor-equipped work claw 200, and is distinguished from other work claws in which the sensor unit 210 is not attached. Note that, although an example is shown in which the sensor unit 210 is attached to the R claw 154R in this embodiment, this is not limited to this example. For example, the sensor-equipped work claw 200 may be configured with the L claw 154L as the claw body, or with both the L claw 154L and the R claw 154R as the claw body. A detailed configuration of the sensor-equipped work claw 200 will be described later.

The shield cover 120 is positioned to cover the upper side of the work rotor 150. Although not shown in the figure, a pair of left and right side plates are provided on the sides of the shield cover 120, and the claw shaft 152 of the work rotor 150 is supported by the side plates. The side plates are also called chain case plates, side frames, etc.

The apron 130 is disposed behind the work rotor 150 and can rotate up and down relative to the shield cover 120 around the connection part 160. Because the center of gravity of the apron 130 is behind the connection part 160, the apron 130 tends to descend under 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 that has been dug up by the work rotor 150.

The control device 170 has a function of processing signals received from the outside (e.g., a remote control signal) and transmitting signals generated internally (e.g., a control signal for a 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 work machine 100 in response to an operation signal received when the worker operates a remote control. Furthermore, the control device 170 of this 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 calculation processing based on the detection data and transmit the calculation results to another information processing device.

The working machine 100 of this embodiment described above can obtain various information (detection data) according to the type of sensor by the sensor unit 210 of the sensor-equipped work claw 200. Furthermore, 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 by a lump of soil or the like directly hitting the sensor unit 210 during tilling work. The specific configuration of the sensor-equipped work claw 200 provided in the working machine 100 is described below.

[Configuration of sensor-equipped work claw]
FIG. 2 is a diagram for explaining the configuration of the sensor-equipped work claw 200 in the first embodiment of the present invention. Specifically, FIG. 2(A) is an enlarged side view of the sensor-equipped work claw 200 of the working machine 100, and FIG. 2(B) is a cross-sectional view of the side view of FIG. 2(A) cut along A-A'. FIG. 2 shows an example in which the R claw 154R (claw body) and the sensor unit 210 are attached to the flange 153 of the working machine 100 as the sensor-equipped work claw 200 using a fixing member 155. A detailed description of the example in which the L claw 154L is the claw body is omitted, but it has the same configuration as the case in which the R claw 154R is the claw body, except that the direction of curvature is different. In addition, the shape of the R claw 154R shown in FIG. 2(A) is only one example, and is not limited to this shape.

As shown in FIG. 2(A), the R claw 154R has an attachment base 154Ra and a blade portion 154Rb that extends continuously from the attachment base 154Ra. The R claw 154R also has a bladed portion 11 on one edge of the blade portion 154Rb. The bladed portion 11 is a portion that is processed to become gradually thinner, and has the function of crushing soil. The edge opposite the bladed portion 11 has a ridge portion 12. The tip of the blade portion 154Rb also has a vertex portion 13 that smoothly connects the bladed portion 11 and the ridge portion 12 in a curved shape.

Although not shown in the figure, the blade 154Rb may be divided into a vertical blade on the side closer to the mounting base 154Ra and a horizontal blade on the side farther from the mounting base 154Ra. In this embodiment, the blade 154Rb has a shape that is gently curved from the side closer to the mounting base 154Ra to the side farther from it. Specifically, the blade 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.

2A, the mounting base 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. The flange 153 includes two mounting holes 16 and 17 for mounting the R claw 154R. The R claw 154R is mounted to the flange 153 using a set bolt that combines a bolt 157, a nut 156, and a bolt plate 158 as a fixing member 155. In other words, with the two mounting holes 16 and 17 of the flange 153 and the two mounting holes 14 and 15 of the mounting base 154Ra aligned (superimposed), two bolts 157 combined with bolt plates 158 are inserted into the respective mounting holes from the mounting base 154Ra side. Two nuts 156 are screwed onto each of the two bolts 157 from the flange 153 side to attach the sensor-equipped work claw 200 to the flange 153.

Between the two bolts 157, a bolt plate 158 is arranged. That is, the space between the two mounting holes 14 and 15 is covered with the bolt plate 158. Also, during tilling work, as the work rotor 150 rotates, the R claw 154R acts on the soil with the bladed portion 11 of the blade portion 154Rb at the front, and tills the 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, the sensor unit 210 is arranged on the mounting base 154Ra to prevent the sensor unit 210 from falling off or being damaged. Specifically, in the example shown in FIG. 2, the sensor unit 210 is arranged inside the recess 18 of the mounting base 154Ra. The sensor unit 210 is attached to the inside of the recess 18 of the mounting base 154Ra by an adhesive or hook-and-loop tape containing a hardening resin or the like (not shown). The gap between the sensor unit 210 and the recess 18 may be filled with a hardening resin (not shown) or the like. 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 that contacts the bolt plate 158 (the side opposite the surface that contacts the flange 153).

The bolt plate 158 covers a portion of the recess 18. The sensor unit 210 partially overlaps the bolt plate 158 and is protected by the bolt plate 158. The sensor unit 210 is disposed in a position that does not 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 this 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.

The sensor unit 210 includes an antenna 211 for wireless communication as described below. In order to efficiently emit radio waves from the antenna 211, it is desirable to reduce metal obstructions around the antenna 211 as much as possible. For this reason, the antenna 211 is exposed from the bolt plate 158. In this case, in order to prevent the sensor unit 210 from being damaged or falling off the nail body, it is preferable to cover as wide an area as possible of the sensor unit 210 other than the antenna 211 with the bolt plate 158, that is, to place the sensor unit 210 in the area between the mounting holes 14 and 15 as much as possible. In this way, the sensor unit 210 may be placed anywhere within a range in which at least a portion of the sensor unit 210 can be covered by the bolt plate 158.

As shown in Figures 2(A) and 2(B), in the sensor-equipped work claw 200 of this embodiment, the sensor unit 210 is covered by the bolt plate 158 together with a part of the claw body (specifically, the area between the mounting holes 14 and 15). In this embodiment, the bolt plate 158 is made of a metal material.

As described above, the sensor-equipped work claw 200 of this embodiment includes a claw body (R claw 154R in the example shown in FIG. 2), 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 area between the mounting holes 14 and 15). This structure protects the sensor unit 210 from clods of soil and impacts, and prevents the sensor unit 210 from falling off or being damaged during tilling work.

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

The sensor unit 31 has a function of detecting the acceleration when the sensor-equipped work claw 200 collides with the soil due to the rotation of the work rotor 150. Specifically, the sensor unit 31 includes an acceleration sensor. The acceleration sensor may be a one-axis acceleration sensor or a three-axis acceleration sensor. The sensor unit 31 may also include a gyro sensor or a magnetic sensor in addition to the acceleration sensor. Furthermore, 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, salinity, pH (hydrogen ion exponent), etc. of the soil, depending on the application.

The sensor unit 31 may have a unique identifier. That is, the individual sensor units 31 may be configured to be able to distinguish one from another 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. This enables the control device 170 to identify which sensor-equipped work claw 200 transmitted the detection data.

The control unit 32 has a function of controlling each element of the sensor unit 210 by executing a program read from the memory unit 33. For example, a microcomputer including a CPU can be used as the control unit 32. For example, the control unit 32 can instruct the sensor unit 31 to perform sensing and instruct the communication unit 34 to transmit detection data.

Furthermore, the control unit 32 can monitor the remaining amount of stored power in the power supply unit 35, and when the remaining amount falls below a threshold, can instruct the power supply unit 35 to notify the user of this, or can instruct the power supply unit 35 to switch to a sleep mode. However, these controls are merely examples, and it is also possible to cause the control unit 32 to execute other controls. For example, information processing such as arithmetic processing can be performed using the detection data acquired by the sensor unit 31.

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, etc. The above-mentioned identifier can be stored in the memory unit 33.

The communication unit 34 functions as a transmitter 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. For example, a wireless communication module capable of short-range wireless communication such as Bluetooth (registered trademark) can be used as the communication unit 34. 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 the function as a transmitter that transmits the detection data, but also the function as a receiver that receives control data for controlling the sensor unit 210 from the outside.

The power supply unit 35 functions as a power source 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 have an antenna that receives a high-frequency signal and a rectifier circuit that generates power based on the received high-frequency signal.

Figure 4 is a cross-sectional view showing the configuration of the sensor-equipped work claw of a work machine in a modified example of the first embodiment. The sensor-equipped work claw of the work machine in this modified example is the same as the sensor-equipped work claw of the work machine in the first embodiment, except for the shape of the recess. Explanations of the same things as in the first embodiment will be omitted, and only the parts that differ from the configuration of the sensor-equipped work claw in the first embodiment will be explained here. An enlarged side view of the sensor-equipped work claw of this modified example will be omitted here, as it is the same as the enlarged side view of the sensor-equipped work claw of the first embodiment. In Figure 4, parts that are the same as the sensor-equipped work claw 200 shown in Figure 2 are indicated by the same reference numerals.

(Variation 1)
In the sensor-equipped work claw 200 of the first embodiment, the recess 18 is a bottomed hole. However, the present invention is not limited to this, and as shown in Fig. 4(A), the recess 18a may penetrate the mounting base 154Ra of the R claw 154R. The recess 18a in this modification is a through hole, and has openings on both the surface that contacts the bolt plate 158 and the surface that contacts the flange 153. The sensor unit 210a is disposed inside the recess 18a.

The bolt plate 158 covers a part of the recess 18a. The sensor unit 210a partially overlaps the bolt plate 158 and is protected by the bolt plate 158. The flange 153 covers the recess 18a from the side opposite the bolt plate 158. The sensor unit 210a overlaps the flange 153 and is protected by the flange 153. It is desirable that the depth of the recess 18a is deeper than the height of the sensor unit 210a, but this is not limited thereto, and the sensor unit 210a 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 210a.

According to this modification 1, the depth of the recess 18a is increased, so that a thicker sensor unit 210a can be placed.

(Variation 2)
As shown in Fig. 4B, 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 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.

The bolt plate 158 covers a portion of the recess 18a. The sensor unit 210b partially overlaps the bolt plate 158 and is protected by the bolt plate 158. It is desirable that the depth of the continuous recess 18a and recess 19 is deeper than the height of the sensor unit 210b, but this is not limited thereto, and the sensor unit 210b may protrude from the recess 18a. In this case, the bolt plate 158 may protrude convexly between the two bolts 157 so as not to interfere with the sensor unit 210b.

According to this modification 2, the depth of the recess 18a and the recess 19 is further increased, so that a thicker sensor unit 210b can be placed.

Second Embodiment
In the sensor-equipped work claw of the first embodiment, the antenna 211 is exposed from the side of the bolt plate 158. In the sensor-equipped work claw of the second embodiment, the antenna 211 is exposed from the opening 26 of the bolt plate 158c. The sensor-equipped work claw of the second embodiment is the same as the sensor-equipped work claw of the work machine of the first embodiment, except for the arrangement of the sensor unit 210 and the opening 26 of the bolt plate 158c. Descriptions of the same things as in the first embodiment will be omitted, and only the parts that differ from the configuration of the sensor-equipped work claw of the first embodiment will be described here. In Fig. 5, parts that are the same as the sensor-equipped work claw 200 shown in Fig. 2 are designated by the same reference numerals.

Figure 5 is a diagram illustrating the configuration of the sensor-equipped work claw 300 in the second embodiment of the present invention. Specifically, Figure 5(A) is an enlarged side view of the sensor-equipped work claw 300, and Figure 5(B) is a cross-sectional view of the side view of Figure 5(A) taken along line B-B'.

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

The bolt plate 158c completely covers the recess 18c, except for the opening 26 described below. The sensor unit 210 overlaps 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 this is not limited thereto, and the sensor unit 210 may protrude from the recess 18c. In this case, the bolt plate 158c may protrude convexly between the two bolts 157 so as not to interfere with the sensor unit 210.

The sensor unit 210 includes an antenna 211 for wireless communication. In order to efficiently emit radio waves from the antenna 211, the bolt plate 158c has an opening 26 that exposes a portion of the sensor unit 210. Specifically, the opening 26 is provided in a position on the bolt plate 158c that corresponds to the antenna 211 of the sensor unit 210 (a position that overlaps 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 disposed anywhere within a range that can be covered by the bolt plate 158c.

According to this embodiment, radio waves emitted from the antenna 211 are released to the outside through the opening 26, thereby improving the wireless communication performance of the sensor unit 210. There is no particular limitation on the size of the opening 26, but if the opening 26 is too large, the strength of the bolt plate 158c decreases and moisture and soil can easily enter through the opening 26, so it is preferable to make the opening 26 large enough to expose almost the entire antenna 211.

In the example shown in FIG. 5(A) and FIG. 5(B), an opening 26 is provided in the bolt plate 158c, but this is not limiting and a notch may be provided at a position corresponding to the antenna 211. When the opening 26 is provided in the bolt plate 158c, the opening 26 may be blocked with a material made of glass, resin, or rubber. For example, the inside of the opening 26 may be filled with resin (e.g., epoxy resin), and the filled resin may then be hardened. A glass plate, resin, rubber, or the like formed to match the shape of the opening 26 may be fitted into the opening 26 and fixed with an adhesive or the like.

As shown in Figures 5(A) and 5(B), in the sensor-equipped work claw 300 of this embodiment, the sensor unit 210 is covered by the bolt plate 158c together with a part of the claw body (specifically, the area between the mounting holes 14 and 15). Specifically, as shown in Figure 5(A), the sensor unit 210 is positioned so as to overlap the bolt plate 158c, and has an opening 26 at a position corresponding to the antenna 211.

As described above, the sensor-equipped work claw 300 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 area between the mounting holes 14 and 15). This structure protects the sensor unit 210 from clods of soil and impacts, and prevents the sensor unit 210 from falling off or being damaged during tilling work.

In this embodiment, as in the modified example of the first embodiment, the recess 18c of the mounting base 154Ra may be a through hole and may be connected to the recess 19 of the flange 153.

Although the present invention has been described above with reference to the drawings, the present invention is not limited to the above-mentioned embodiments (including the following variations), and can be modified as appropriate without departing from the spirit of the present invention. For example, a person skilled in the art can add, delete, or modify components as appropriate based on each embodiment, and this is included in the scope of the present invention as long as it satisfies the gist of the present invention. Furthermore, the above-mentioned embodiments can be combined as appropriate as long as there are no mutual contradictions, and technical matters common to each embodiment are included in each embodiment even if not explicitly stated.

Even if there are other effects and advantages different from those brought about by the aspects of each of the above-mentioned embodiments, if they are clear from the description in this specification or can be easily predicted by a person skilled in the art, they are naturally understood to be brought about by the present invention.

11...Blade portion, 12...Ridge portion, 13...Top portion, 14, 15, 16, 17...Mounting hole, 18, 18a, 18c, 19...Recess, 26...Opening, 31...Sensor portion, 32...Control portion, 33...Memory portion, 34...Communication portion, 35...Power supply portion, 100...Work machine, 110...Frame, 120...Shield cover, 130...Apron, 132...Leveling plate, 135...Top link connection portion, 136...Lower link connection portion, 137...(Power Input Connection) shaft, 150...work rotor, 152...claw shaft, 153...flange, 154...work claw, 154L...L claw, 154R...R claw, 154Ra...mounting base, 154Rb...blade, 155...fixing member, 156...nut, 157...bolt, 158, 158c...bolt plate, 160...connection, 170...control device, 200, 300...work claw, 210, 210a, 210b...sensor unit, 211...antenna

Claims (9)

A sensor-equipped work claw is attached to a work rotor via a fixing member,
a claw body having two mounting holes for mounting the fixing member and a recess provided between the two mounting holes;
a sensor unit attached to the recess and including an antenna ;
Equipped with
The sensor unit is at least partially covered by the fixed member, and the antenna is exposed from the fixed member . the fixing member includes two bolts inserted into the two mounting holes, a bolt plate combined with the bolts, and two nuts screwed onto the two bolts,
The work claw with a sensor according to claim 1 , wherein at least a portion of the sensor unit is covered by the bolt plate, and the antenna is exposed from the bolt plate. The sensor-equipped work claw according to claim 1 or 2 , wherein the recess penetrates the claw body. A work machine having a work rotor including a sensor-equipped work claw fixed to a flange,
The sensor-equipped work claw is
a claw body having two mounting holes and a first recess between the two mounting holes;
a sensor unit attached to the first recess and including an antenna ;
a fixing member including two bolts inserted into the two mounting holes, a bolt plate connecting the two bolts, and two nuts screwed onto the two bolts, and fixing the claw body to the flange;
Equipped with
A work machine , wherein at least a portion of the sensor unit is covered by the bolt plate, and the antenna is exposed from the bolt plate . The work machine according to claim 4 , wherein 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 work machine according to claim 5 , wherein the radio wave emitting portion is covered with a material made of any one of glass, resin, and rubber. The work machine according to claim 4 , wherein the first recess penetrates the claw body. The work machine according to claim 7, wherein the flange has a second recess at a position corresponding to the first recess. The work machine according to claim 8, wherein the sensor unit is disposed inside the first recess and the second recess.