0001]The present invention relates to, for example, a work vehicle such as a tractor.
Background technology
[0002]
　Conventionally, a work vehicle disclosed in Patent Document 1 is known.
　The work vehicle disclosed in Patent Document 1 has a positioning device for detecting the position of the vehicle body. The positioning device is provided on the upper surface side of the roof of the cabin mounted on the vehicle body.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication "Japanese Unexamined Patent Publication No. 2018-114925"
Outline of the invention
Problems to be solved by the invention
[0004]
　For example, when the work vehicle is stored in the barn, the positioning device may hit the ceiling of the barn. Further, when the work vehicle is carried on a truck, the positioning device may hit the ceiling of the truck bed.
　In view of the above problems, an object of the present invention is to provide a work vehicle capable of preventing the positioning device from hitting an obstacle when not in use.
Means to solve problems
[0005]
　The work vehicle according to one aspect of the present invention is transmitted from a vehicle body, a cabin mounted on the vehicle body, a displacement member extending above the roof of the cabin in the vehicle width direction, and a positioning satellite. A positioning device that detects the position of the vehicle body based on a signal, and a support bracket that displaceably supports the positioning device to a first position that is a position to be used and a second position that is lower than the first position. The support bracket has a base stay formed of a plate material whose plate surface faces in the vertical direction and fixed to the rod material, and an axial center whose front portion extends in the vehicle width direction to the base stay. The mounting stay has a mounting stay that is pivotally supported via a pivot axis and to which the lower surface side of the positioning device located at the first position is attached, and the mounting stay is in a state where the positioning device is located at the first position. The positioning device has a facing surface facing the upper surface of the base stay, and the mounting stay rotates about the pivot axis so that the facing surface faces upward, so that the mounting stay moves from the first position to the first position. In a state where the upper surface side of the existing positioning device is displaced to the second position facing downward and the positioning device is in the second position, the front side of the mounting stay is higher than the upper end of the roof. , The rear side is located lower than the upper end of the roof.
[0006]
　Further, the mounting stay is mounted on the base stay in a state where the plate material is formed of a plate material whose plate surface faces in the vertical direction and the positioning device is in the first position.
　Further, the support bracket has a fixed-side hinge piece provided on the base stay and a movable-side hinge piece provided on the mounting stay and pivotally connected to the fixed-side hinge piece via the pivot axis. Have.
[0007]
　Further, the support bracket has a fixing piece provided on the base stay, a movable piece provided on the mounting stay, and a mounting screw for attaching the movable piece to the fixing piece. It is provided on substantially the same axis as the pivot.
　Further, as the rod material, a first rod material and a second rod material arranged side by side in the front-rear direction are provided, and the base stay is fixed on the first rod material and the second rod material.
[0008]
　Further, the work vehicle according to another aspect of the present invention is a positioning device that detects the position of the vehicle body based on the vehicle body, the cabin mounted on the vehicle body and having a roof at the top, and the signal transmitted from the positioning satellite. A support bracket that displaceably supports the positioning device to a first position, which is the position to be used, and a second position, which is a position lower than the first position, and a support bracket extending above the roof in the vehicle width direction. The support bracket is provided with a first rod member and a second rod member arranged side by side in the front-rear direction, and the support bracket is pivotally supported by the base stay attached to the vehicle body side and the base stay via a pivot shaft. In addition, the positioning device has a mounting stay to which the lower surface side of the positioning device located at the first position is attached, and the positioning device has the mounting stay rotated around the pivot axis, so that the first position can be changed to the first position. The upper surface side of the positioning device at the position is displaced to the second position facing downward, and the base stay is provided on the first member and the second member, and the first position of the positioning device is provided. It has a substrate portion on which the mounting stay is mounted and mounted at a position, and an extension portion extending downward from the substrate portion and between the first member and the second member. ..
Effect of the invention
[0009]
　According to the above-mentioned work vehicle, it is possible to prevent the positioning device from hitting an obstacle by moving the positioning device to a second position lower than the first position, which is the used position, when not in use. Further, in the second position, the upper surface side of the positioning device in the first position faces downward, so that the second position can be set to a position sufficiently lower than the first position.
A brief description of the drawing
[0010]
[Fig. 1] It is a side view of a work vehicle.
[Fig. 2] It is a plan view of a work vehicle.
FIG. 3 is a configuration diagram showing a partial configuration of a work vehicle and a control system block diagram.
[Fig. 4] It is a front view of the upper side of the cabin.
[Fig. 5] FIG. 5 is a perspective view of the cabin as viewed from the front side.
[Fig. 6] It is a side view of the upper part of the cabin.
FIG. 7 is a side view of the upper part of the front part of the cabin.
FIG. 8 is an exploded perspective view of the support bracket.
FIG. 9 is a plan view of a state in which the positioning device is in the second position.
FIG. 10 is a side sectional view showing a state in which the positioning device is in the second position.
FIG. 11 is a side sectional view of a support bracket mounting portion according to a modified example.
FIG. 12 is a configuration diagram showing a partial configuration of a work vehicle and a control system block diagram according to a modified example.
FIG. 13 is a configuration diagram showing a partial configuration of a work vehicle and a control system block diagram according to another embodiment.
FIG. 14 is a configuration diagram showing a partial configuration of a work vehicle and a control system block diagram according to another embodiment.
Embodiment for carrying out the invention
[0011]
　Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
　FIG. 1 is a schematic side view showing the overall configuration of the work vehicle 1 according to the present embodiment. FIG. 2 is a schematic plan view of the work vehicle 1. In this embodiment, a tractor is exemplified as the work vehicle 1. However, the work vehicle 1 is not limited to the tractor, and may be an agricultural machine (agricultural vehicle) such as a combine or a transplant machine, or a construction machine (construction vehicle) such as a loader work machine.
[0012]
　In the present embodiment, the direction of arrow A1 (forward direction of tractor 1) in FIGS. 1 and 2 is forward, the direction of arrow A2 in FIGS. 1 and 2 (backward direction of tractor 1) is backward, and FIGS. 1 and 2 are shown. The direction of the arrow A3 will be described as the front-back direction. Therefore, the front side of FIG. 1 is to the left (direction of arrow B1 in FIG. 2), and the back side of FIG. 1 is to the right (direction of arrow B2 in FIG. 2). Further, the horizontal direction orthogonal to the front-rear direction A3 will be described as the vehicle width direction (arrow B3 direction in FIG. 2) which is the width direction of the tractor 1 (working vehicle). The direction from the central portion of the vehicle width direction B3 in the tractor 1 toward the right portion or the left portion will be described as the outward direction in the vehicle width direction. In other words, the outside in the vehicle width direction is the direction B3 in the vehicle width direction and away from the center in the width direction of the tractor 1. The direction opposite to the outside in the vehicle width direction will be described as the inside in the vehicle width direction. In other words, the inward direction in the vehicle width direction is the direction B3 in the vehicle width direction and approaches the center in the width direction of the tractor 1.
[0013]
　As shown in FIG. 1, the tractor 1 has a vehicle body 5. The vehicle body 5 has a prime mover 6 and a transmission case 7. The prime mover 6 is a diesel engine. The prime mover 6 may be a gasoline engine or an electric motor, or may be a hybrid type having an engine and an electric motor. The prime mover 6 is located in front of the tractor 1 and is covered by a bonnet 8.
[0014]
　The transmission case 7 is configured by connecting a plurality of cases 7A to 7D in order in the front-rear direction A3. The front case 7A is connected to the rear part of the motor 6. Inside the transmission case 7, there is a power transmission mechanism for the traveling system that transmits the power of the prime mover E1 to the traveling device 4, and a power transmission mechanism for the working system that transmits the power of the prime mover E1 to the power take-off shaft (PTO shaft) 17. It is provided.
　As shown in FIGS. 1 and 2, the vehicle body 5 can travel. Specifically, the vehicle body 5 is movably supported by, for example, a wheel-type traveling device 4 including a plurality of wheels. The plurality of wheels consist of a pair of front wheels 2 (2L, 2R) provided on the left and right sides of the front portion of the vehicle body 5, and a pair of rear wheels 3 (3L) provided on the left and right sides of the rear portion of the vehicle body 5. , 3R) and included.
[0015]
　As shown in FIG. 1, the tractor 1 has a cabin 9. The cabin 9 is mounted on the rear part of the vehicle body 5. A driver's seat 10 on which an operator (driver) is seated is provided at the rear of the cabin 9. A steering wheel 11 for steering the front wheels 2 (2L, 2R) is provided in front of the driver's seat 10. A brake pedal (brake operating tool) 12 for operating the traveling device 4 is provided below and on the right side of the handle 11. A windshield is provided on the front surface of the cabin 9. A rear glass is provided on the back surface of the cabin 9. On the side surfaces (left side surface and right side surface) of the cabin 9, an entrance / exit 13 for operators to get on and off and an entrance / exit door 14 for opening and closing the entrance 13 are provided. A rear side glass 15 is provided behind the boarding / alighting door 14. Further, the cabin 9 has a roof 16 forming a ceiling portion at the upper part.
[0016]
　Here, with reference to FIG. 3, a schematic configuration of the traveling system of the tractor 1 and a schematic configuration of the control system will be described.
　As shown in FIG. 3, the tractor 1 includes a steering device 18. The steering device 18 is a device capable of performing manual steering in which the vehicle body 5 is steered by the operator's operation and automatic steering in which the vehicle body 5 is automatically steered without the operator's operation. The steering device 18 has a steering wheel 11 and a rotation shaft (steering shaft) 19 that rotates with the rotation of the steering wheel 11. Further, the steering device 18 has an auxiliary mechanism (power steering mechanism) 20 that assists the steering of the steering wheel 11. Specifically, the auxiliary mechanism 20 includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like, and switches according to the steering direction (rotational direction) of the rotary shaft 19. The control valve 22 is also a solenoid valve that operates based on a control signal. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 2.
[0017]
　When the operator grips the handle 11 and operates it in one direction or the other direction, the switching position and opening degree of the control valve 22 are switched according to the rotation direction of the handle 11, and the switching position and opening of the control valve 22 are switched. The piston rod of the steering cylinder 23 moves to the left or right depending on the degree. Thereby, the steering direction (steering direction) of the front wheel 2 can be changed. That is, the vehicle body 5 can change the traveling direction to the left or right by manually steering the steering wheel 11. The steering device 18 described above is an example, and is not limited to the configuration described above.
[0018]
　As shown in FIG. 3, the tractor 1 includes a control device 26. The control device 26 includes a microprocessor having a CPU (Central Processing Unit) and an EEPROM (Electrically Erasable Programmable Read-Only Memory).
　The control device 26 controls the tractor 1 in various ways. A state detection device 27 for detecting the driving state of the tractor 1 and the like is connected to the control device 26. The state detection device 27 is, for example, a device for detecting the state of the traveling system, for example, a state of a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, a positioning device 30 described later, and the like. Is detected. The state detection device 27 may be an elevating lever detection sensor, a PTO rotation detection sensor, or the like, in addition to the state of the traveling system. The control device 26 controls the traveling system and the working system in the tractor 1. The control device 26 controls, for example, the rotation speed of the prime mover 6 (engine), the vehicle speed, the steering angle of the steering device 18, and the like based on the detection state detected by the state detection device 27. Further, the state detection device 27 controls the elevating device for raising and lowering the work equipment mounted on the tractor 1, the PTO rotation speed, and the like, based on the detection state detected by the state detection device 27.
[0019]
　A positioning device 30 that detects the position of the vehicle body 5 (tractor 1) based on a signal (satellite signal) transmitted from the positioning satellite is connected to the control device 26. The control device 26 can acquire the detection information (position) detected by the positioning device 30. The positioning device 30 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite). That is, the positioning device 30 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) which is a signal transmitted from the positioning satellite, and detects a position (for example, latitude, longitude) based on the satellite signal. do.
[0020]
　Further, the positioning device 30 obtains the position and orientation of the vehicle body 5 by using a well-known GPS (Global Positioning System) which is an example of the Global Navigation Satellite System (GNSS). The positioning device 30 may be a satellite positioning system such as GLONASS, Hokuto, Galileo, or Michibiki.
　As shown in FIG. 3, the positioning device 30 includes, for example, a receiver 31 and a radio device 32.
[0021]
　The receiver 31 has an antenna or the like and receives a satellite signal transmitted from the positioning satellite.
　The radio 32 has an antenna or the like and communicates with a base station (reference station) installed at a known position. The base station transmits the positioning data (correction information) obtained by receiving the radio waves from the positioning satellite to the positioning device 30. The positioning device 30 receives radio waves transmitted from the positioning satellite and positioning data transmitted from the base station, and receives radio waves from the positioning satellite to obtain positioning data and positioning data from the base station. Based on this, it detects its own position (latitude, longitude).
[0022]
　The positioning device 30 does not necessarily have to include the radio 32. Further, the positioning device 30 may include an inertial measurement unit 33, which will be described later.
　The control device 26 performs automatic steering control that automatically controls the steering of the vehicle body 5 based on the detection information detected by the positioning device 30.
　When performing automatic steering control, it is possible to perform automatic steering control by first setting a travel reference line, setting a travel reference line, and then setting a travel schedule line parallel to the travel reference line.
[0023]
　In the automatic steering control, the tractor 1 (vehicle body 5) is automatically steered in the traveling direction so that the vehicle body position measured by the positioning device 30 and the planned travel line match. Specifically, the tractor 1 (vehicle body 5) is moved to a predetermined position in the field before the automatic steering control is performed, and the operator operates the steering changeover switch (registration switch) provided on the tractor 1 at the predetermined position. Then, the vehicle body position measured by the positioning device 30 is set as the starting point of the traveling reference line. Further, when the tractor 1 (vehicle body 5) is moved from the start point of the travel reference line and the operator operates the steering changeover switch at a predetermined position, the vehicle body position measured by the positioning device 30 is set as the end point of the travel reference line. Will be done. A straight line connecting the start point and the end point is set as a travel reference line.
[0024]
　After setting the driving reference line, for example, when the tractor 1 (vehicle body 5) is moved to a place different from the place where the driving reference line is set and the operator operates the steering changeover switch, a straight line parallel to the driving reference line is obtained. The planned travel line is set. After setting the scheduled travel line, automatic steering control is started, and the traveling direction of the tractor 1 (vehicle body 5) is changed to follow the scheduled travel line.
[0025]
　As shown in FIGS. 4 and 5, the cabin 9 has a front pillar 36 at the front portion. The front pillar 36 is a first front pillar 36L located on one side (left side) of the front portion of the cabin 9 in the vehicle width direction B3 and a second front pillar 36 located on the other side (right side) of the front portion of the cabin 9 in the vehicle width direction B3. 2 Includes front pillar 36R. A windshield is provided between the first front pillar 36L and the second front pillar 36R. The upper portions of the first front pillar 36L and the second front pillar 36R are connected to each other by the front upper frame 37.
[0026]
　As shown in FIGS. 4 and 5, the positioning device 30 is attached to a support frame 38 provided from the upper part of the first front pillar 36L to the upper part of the second front pillar 36R. The positioning device 30 is configured to accommodate a receiver 31, a radio 32, and the like in a case 34, receives a satellite signal transmitted from a positioning satellite, and detects a position based on the received satellite signal. On the right side of the positioning device 30, a connection portion 35 for connecting the connection terminals of the harness is provided (see FIG. 9).
[0027]
　As shown in FIGS. 4 and 5, the support frame 38 has a first member 39 and a second member 40 extending in the vehicle width direction B3, and a first member 39 and a second member 40. The first frame stay 41L provided on one end (left end) side of the vehicle width direction B3 and the second end (right end) side of the first rod member 39 and the second member 40 on the vehicle width direction B3. It has a 2-frame stay 41R. The first member 39 and the second member 40 are formed of, for example, a rod-shaped member such as a pipe material, and are arranged side by side in the front-rear direction A3 above the roof 16.
[0028]
　As shown in FIGS. 2 and 4, the first rod member 39 has a first straight rod portion 39a, a first vertical rod portion 39b, and a second vertical rod portion 39c. The first straight rod portion 39a is arranged above the front portion of the roof 16. Specifically, the first straight rod portion 39a is formed so as to extend linearly in the vehicle width direction B3 so as to extend from above the first front pillar 36L to above the second front pillar 36R. The first vertical rod portion 39b extends downward from the left end of the first straight rod portion 39a. The second vertical rod portion 39c extends downward from the right end of the first straight rod portion 39a.
[0029]
　As shown in FIGS. 2 and 5, the second rod 40 includes a second straight rod 40a, a first inclined portion 40b, a second inclined portion 40c, a third vertical rod portion 40d, and a fourth vertical rod. It has a stile 40e. The second straight rod portion 40a is arranged above the roof 16 and behind the first straight rod portion 39a. Further, the second straight rod portion 40a is arranged substantially parallel to the first straight rod portion 39a at intervals. The first inclined portion 40b extends in an inclined direction that shifts forward as it goes to the left from one end (left end) of the first straight rod portion 39a. The left end of the first inclined portion 40b is arranged behind the left end of the first straight rod portion 39a. The second inclined portion 40c extends in an inclined direction that shifts forward as it goes to the right from the other end (right end) of the second straight rod portion 40a. The right end of the second inclined portion 40c is arranged behind the right end of the first straight rod portion 39a. The third vertical rod portion 40d extends downward from the left end of the first inclined portion 40b. The fourth vertical rod portion 40e extends downward from the right end of the second inclined portion 40c.
[0030]
　As shown in FIGS. 4 and 5, the first frame stay 41L and the second frame stay 41R are formed of a plate material. The upper portion of the first frame stay 41L is sandwiched between the first vertical rod portion 39b and the third vertical rod portion 40d, and is fixed to the first vertical rod portion 39b and the third vertical rod portion 40d. The upper portion of the second frame stay 41R is sandwiched between the second vertical rod portion 39c and the fourth vertical rod portion 40e, and is fixed to the second vertical rod portion 39c and the fourth vertical rod portion 40e.
[0031]
　As shown in FIG. 4, one end side of the support frame 38 is attached to the upper part of the first front pillar 36L, and the other end side is attached to the upper part of the second front pillar 36R. More specifically, the first mounting piece 42L is fixed to the upper part of the first front pillar 36L, and the second mounting piece 42R is fixed to the upper part of the second front pillar 36R. The first mounting piece 42L and the second mounting piece 42R are formed of a plate material. The first mounting piece 42L projects in an inclined direction that shifts to the left as it goes forward from the front portion of the first front pillar 36L. The second mounting piece 42R projects in an inclined direction that shifts to the right from the front portion of the second front pillar 36R toward the front. The first frame stay 41L is attached to the first mounting piece 42L by bolts and nuts, and the second frame stay 41R is attached to the second mounting piece 42R by bolts and nuts.
[0032]
　As shown in FIGS. 4 and 5, the first side mirror 43L is arranged on the left side of the upper part of the first front pillar 36L, and the second side mirror 43R is arranged on the right side of the upper part of the second front pillar 36R. Is placed. The first side mirror 43L and the second side mirror 43R are mirrors for visually recognizing the rear and rear sides of the vehicle body 5. The first side mirror 43L and the second side mirror 43R have a mirror main body 43a, a bracket arm 43b for supporting the mirror main body 43a, and a mounting portion 43c for rotatably supporting the bracket arm 43b around the vertical axis. The mounting portion 43c of the first side mirror 43L is fixed to the first mounting piece 42L. The mounting portion 43c of the second side mirror 43R is fixed to the second mounting piece 42R. Further, an antenna 44 for a radio is attached to the second attachment piece 42R.
[0033]
　As shown in FIGS. 2, 4, and 5, the support frame 38 has a support bracket 45 that supports the positioning device 30. The support bracket 45 is provided at a substantially central portion of the first member 39 and the second member 40 in the vehicle width direction B3.
　As shown in FIGS. 6 to 10, the support bracket 45 has a base stay 46 mounted on the vehicle body 5 side and a mounting stay 47 pivotally connected to the base stay 46. The base stay 46 and the mounting stay 47 are formed of a plate material.
[0034]
　As shown in FIGS. 8 and 9, the base stay 46 has a substrate portion 48 provided on the first rod member 39 and the second rod member 40, and the first rod member 39 and the first member below the substrate portion 48. It has an extension portion 49 extending between the two members 40 and the material 40. The main body portion 48a of the substrate portion 48 is formed in a rectangular shape in a plan view and is fixed to the first rod member 39 and the second rod member 40. The rear portion of the substrate portion 48 is bent downward. Specifically, the substrate portion 48 has a wall portion 48b extending downward from the rear end of the main body portion 48a. The extending portion 49 extends downward from the first extending wall 49L extending downward from the front-rear direction A3 middle portion at the left end of the substrate portion 48, and extending downward from the front-rear direction A3 middle portion at the right end of the substrate portion 48. Includes the second extension wall 49R. The first extension wall 49L and the second extension wall 49R are fixed to the first member 39 and the second member 40. Since the base stay 46 has the first extending wall 49L and the second extending wall 49R, the base stay 46 can be firmly attached to the first member 39 and the second member 40.
[0035]
　As shown in FIG. 7, the positioning device 30 is attached to the attachment stay 47 by bolts. As shown in FIG. 6, the mounting stay 47 is rotatably pivotally supported around the axis extending in the vehicle width direction B3 at the front portion of the base stay 46, and by rotating, the position where the positioning device 30 is used. The first position X1 is displaced to the second position X2, which is a position lower than the first position X1. That is, the support bracket 45 supports the positioning device 30 in a displaceable manner between the first position X1 and the second position X2. Further, the positioning device 30 is inverted from the first position X1 to the second position X2 by rotating the mounting stay 47, and in the second position X2, the upper surface 30a side of the positioning device 30 in the first position X1 is downward. It will be in a downward state facing sideways. Therefore, by displacing the positioning device 30 from the first position X1 to the second position X2 when not in use, it is possible to prevent the positioning device 30 from hitting an obstacle. Further, the second position X2 can be set to a position sufficiently lower than the first position X1 only by rotating the mounting stay 47.
[0036]
　In the present embodiment, in the state of being in the second position X2, the positioning device 30 has a downward posture in which the upper surface 30a side faces downward, and is inclined upward as it goes forward.
　As shown in FIG. 7, the mounting stay 47 is arranged below the positioning device 30 with the positioning device 30 at the first position X1. Therefore, the lower surface 30b side of the positioning device 30 is attached to the attachment stay 47. Further, the mounting stay 47 is mounted on the base stay 46 (board portion 48) in a state where the positioning device 30 is in the first position X1. In this state, the mounting stay 47 is mounted on the base stay 46 by bolts 50 (see FIG. 8). The nut into which the bolt 50 is screwed is fixed to the lower surface of the base stay 46.
[0037]
　As shown in FIG. 9, the mounting stay 47 includes a main body plate portion 51 to which the positioning device 30 is attached, a first extension plate portion 52L extending from the main body plate portion 51 to one side (left side), and a main body. It has a second extending plate portion 52R extending from the plate portion 51 to the other side (right side).
　As shown in FIGS. 9 and 10, the mounting stay 47 covers the positioning device 30 (receiver 31, radio 32) at the second position X2. Further, the mounting stay 47 is composed of a member that reflects satellite signals. Therefore, when the positioning device 30 is in the second position X2, the satellite signal cannot be effectively received. That is, in the state where the positioning device 30 is in the second position X2, the mounting stay 47 restrains the automatic steering control from being performed. In other words, the mounting stay 47 constitutes a check unit that covers the upper part of the positioning device 30 at the second position X2 to prevent automatic steering control. By restraining the automatic steering control from being performed by the mounting stay 47, it is possible to prevent the positioning device 30 from performing the automatic steering control while the positioning device 30 is in the second position X2.
[0038]
　The mounting stay 47 is formed of, for example, a metal plate such as an iron plate.
　As shown in FIG. 6, the positioning device 30 is arranged above the roof 16 at the first position X1 and is mostly located below the upper end of the roof 16 and partly at the second position X2. It is located higher than the upper end of the roof 16. In FIG. 6, the alternate long and short dash line indicates the extension line Y1 at the uppermost end of the roof 16. In the illustrated example, the front upper portion of the positioning device 30 at the second position X2 is located at a position higher than the extension line Y1.
[0039]
　As shown in FIGS. 5 and 10, the support frame 38 has a hinge 53 rotatably pivotally connected to the base stay 46 around the axis extending the mounting stay 47 in the vehicle width direction B3.
　As shown in FIGS. 8 and 9, the hinge 53 has a fixed side hinge piece 54 provided on the base stay 46, a movable side hinge piece 55 provided on the mounting stay 47, and a movable side on the fixed side hinge piece 54. It has a pivot shaft 56 that pivotally connects the hinge pieces 55.
[0040]
　The fixed side hinge piece 54 includes a first hinge piece 54L and a second hinge piece 54R. A first extension portion 57 is provided on the left portion on the front end side of the base stay 46. The first extension portion 57 is formed by extending forward from the base stay 46 and then extending downward. The first hinge piece 54L extends rearward from the right portion of the first extension portion 57. Further, a second extending portion 58 is provided on the right portion on the front end side of the base stay 46. The second extending portion 58 is formed by extending forward from the base stay 46 and then extending downward. The second hinge piece 54R extends rearward from the left portion of the second extension portion 58. The first hinge piece 54L and the second hinge piece 54R are arranged so as to face each other with a gap in the vehicle width direction B3.
[0041]
　The movable side hinge piece 55 includes a third hinge piece 55L and a fourth hinge piece 55R. A third extension portion 59 is provided at the center of the vehicle width direction B3 on the front end side of the mounting stay 47. The third extension portion 59 is formed by extending forward from the mounting stay 47 and then extending downward. The third extension portion 59 is arranged between the first extension portion 57 and the second extension portion 58. The third hinge piece 55L extends rearward from the left portion of the third extension portion 59 and faces the first hinge piece 54L. The fourth hinge piece 55R extends rearward from the right portion of the third extension portion 59 and faces the second hinge piece 54R.
[0042]
　As shown in FIG. 9, the pivot 56 pivotally connects the first pin 56L that pivotally connects the first hinge piece 54L and the third hinge piece 55L, and the first hinge piece 54L and the third hinge piece 55L. The second pin 56R and the like are included. The first pin 56L and the second pin 56R are arranged on the coaxial center Y2.
　As shown in FIG. 8, the support bracket 45 includes a fixing piece 60 provided on the base stay 46, a movable piece 61 provided on the mounting stay 47, and a mounting screw 62 for attaching the movable piece 61 to the fixing piece 60 (FIG. 8). 9) and.
[0043]
　The fixed piece 60 includes a first piece 60L provided on the front left end side of the base stay 46 and a second piece 60R provided on the front right end side of the base stay 46. The first piece 60L extends rearward from the left portion of the first extending portion 57. The second piece 60R extends rearward from the right portion of the second extension portion 58.
　The movable piece 61 includes a third piece 61L provided on the front left end side of the mounting stay 47 and a fourth piece 61R provided on the front right end side of the mounting stay 47. The third piece 61L extends to the left from the mounting stay 47, and then extends in an inclined direction in which the third piece 61L moves downward as it goes forward. The third piece 61L is arranged outside the vehicle width direction of the first piece 60L. The fourth piece 61R extends to the left from the mounting stay 47, and then extends in an inclined direction in which the fourth piece 61R moves downward as it goes forward. The fourth piece 61R is arranged outside the vehicle width direction of the second piece 60R.
[0044]
　As shown in FIG. 9, the mounting screw 62 includes a first screw 62L for fixing the third piece 61L to the first piece 60L and a second screw 62R for fixing the fourth piece 61R to the second piece 60R. The mounting screw 62 (first screw 62L, second screw 62R) is provided on substantially the same axis Y2 as the pivot 56. As a result, the mounting stay 47 can be rotated simply by loosening the mounting screw 62. In other words, the mounting stay 47 can be rotated without removing the mounting screw 62. Further, the mounting stay 47 can be fixed at an arbitrary rotation position.
[0045]
　A first nut member 63L into which the first screw 62L is screwed is fixed to the inner surface of the first piece 60L in the vehicle width direction. A second nut member 63R into which the second screw 62R is screwed is fixed to the inner surface of the second piece 60R in the vehicle width direction.
　As shown in FIG. 10, the end portion of the third extension portion 59 abuts on the base stay 46 side when the positioning device 30 is in the second position X2, so that the mounting stay 47 rotates forward. It is said to be the regulatory department 64 that regulates. A contact member 65 is provided at a position on the lower surface of the base stay 46 where the regulation portion 64 abuts. The contact member 65 is formed of an elastic plate material such as rubber. Since the contact member 65 to which the regulating portion 64 hits is formed of the elastic plate material, the impact caused by the regulating portion 64 contacting the base stay 46 side can be absorbed by the contact member 65.
[0046]
　11 and 12 show a modification of the above embodiment. In this modification, a detection sensor 66 that detects that the positioning device 30 is at the second position X2 and a display that indicates that the detection sensor 66 is detecting the second position X2 of the positioning device 30. It has a device 67.
　As shown in FIG. 11, the detection sensor 66 is configured by, for example, a micro switch. FIG. 11 shows an example in which the detection sensor 66 is attached to the front or rear of the support bracket 45. The detection sensor 66 has a sensor main body 66A, a lever 66C to which a roller 66B is attached to a tip portion thereof, and a button 66D.
[0047]
　The detection sensor 66F on the front side is attached to a sensor bracket 68 arranged below the front of the hinge 53 and fixed to the first member 39. In the detection sensor 66F, when the positioning device 30 is displaced to the second position X2, the third extending portion 59 abuts on the roller 66B and pushes the roller 66B, so that the lever 66C swings. Then press the button 66D. As a result, it is detected that the positioning device 30 is located at the second position X2.
[0048]
　The detection sensor 66R on the rear side is attached to a sensor bracket 69 arranged behind the second member 40 and below the base stay 46 and fixed to the second member 40. The base stay 46 is formed with an opening hole 70 for projecting the roller 66B upward from the base stay 46. In the detection sensor 66R, when the positioning device 30 is in the first position X1, the mounting stay 47 presses the roller 66B and the lever 66C presses the button 66D. When the mounting stay 47 is rotated upward from the state of being mounted on the base stay 46 and then rotated forward to displace the positioning device 30 from the first position X1 to the second position X2, the mounting stay 47 is separated from the roller 66B. The lever 66C no longer presses the button 66D. As a result, it is detected that the positioning device 30 is located at the second position X2.
[0049]
　The number of detection sensors 66 may be at least one, but may be plurality. The mounting location for mounting the detection sensor 66 is not limited to the location shown in FIG. Further, the positioning device 30 may be detected at the second position X2 by directly detecting the positioning device 30 by the detection sensor 66. Further, the detection sensor 66 may be a contact type detection type sensor other than the micro switch. Further, the detection sensor 66 is a non-contact detection type sensor (proximity sensor) capable of detecting that the positioning device 30 is at the second position X2 without contacting the mounting stay 47, the positioning device 30, or the like. There may be.
[0050]
　As shown in FIG. 12, the detection sensor 66 is connected to the control device 26. The control device 26 can acquire the detection information detected by the detection sensor 66. The display device 67 is also connected to the control device 26. The display device 67 is provided in a place near the driver's seat 10 so that the operator can easily see it. The display device 67 has a screen composed of a liquid crystal screen or the like, and can display on the screen that the detection sensor 66 has detected the second position X2 of the positioning device 30. As a result, the operator can be made aware that the positioning device 30 is located at the second position X2 and the automatic steering control cannot be performed. The operator may be notified that the positioning device 30 is at the second position X2 by a buzzer, voice, or the like.
[0051]
　Other configurations are the same as those in the above embodiment.
　13 and 14 show other embodiments.
　In another embodiment shown in FIG. 13, the control device 26 has a check unit 71. The check unit 71 checks so that the automatic steering control is not performed based on the detection information of the detection sensor 66. That is, the check unit 71 does not start the automatic steering control when the detection sensor 66 detects the second position X2 of the positioning device 30. The display device 67 indicates that the check unit 71 is checking the automatic steering control.
[0052]
　The material and shape of the mounting stay 47 may be the same as that of the above embodiment, but when the control device 26 has the check unit 71, the mounting stay 47 is not necessarily composed of a member that reflects satellite signals. It does not have to be. Further, the width of the mounting stay 47 in the vehicle width direction B3 does not have to be widened. That is, it may be narrow.
　Other configurations are the same as those of the above-described embodiment and modification.
[0053]
　In another embodiment shown in FIG. 14, the positioning device 30 has an inertial measurement unit (IMU) 33.
　The inertial measurement unit 33 has an acceleration sensor for detecting gravitational acceleration, a gyro sensor for detecting an angular velocity, and the like. The inertial measurement unit 33 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 5. The control device 26 can acquire the detection information detected by the inertial measurement unit 33.
[0054]
　The inclination of the positioning device 30 can be detected by the inertial measurement unit 33 (accelerometer, gyro sensor, etc.). That is, the inertial measurement unit 33 is an inclination sensor capable of detecting the inclination of the positioning device 30. Therefore, the inertial measurement unit 33 can detect that the positioning device 30 is in the second position X2 by detecting the inclination of the positioning device 30 in the state of being in the second position X2. Since the positioning device 30 is connected to the control device 26 and the control device 26 can acquire the detection information of the inertial measurement unit 33, the positioning device 30 is located at the second position X2 in the control device 26 (downward). Is).
[0055]
　The control device 26 has a discrimination unit 72 and a check unit 71. The determination unit 72 determines that the positioning device 30 is at the second position X2 based on the detection information of the inertial measurement unit 33. The check unit 71 checks so that the automatic steering control is not performed when the determination unit 72 determines the second position X2 of the positioning device 30. The display device 67 indicates that the check unit 71 is checking the automatic steering control.
[0056]
　By using the inertial measurement unit 33 included in the positioning device 30 to detect that the positioning device 30 is at the second position X2, the structure can be simplified and the cost can be reduced.
　The work vehicle 1 of the present embodiment has a travelable vehicle body 5, a positioning device 30 that detects the position of the vehicle body 5 based on a signal transmitted from a positioning satellite, and a vehicle body based on the detection information detected by the positioning device 30. The positioning device 30 includes a control device 26 that performs automatic steering control that automatically controls the steering of 5, and restraining units 47 and 71 that restrain the automatic steering control, and the positioning device 30 is a first position X1 and a first position to be used. It can be displaced to the second position X2, which is a position lower than the position X1, and the checking units 47 and 71 check so that the automatic steering control is not performed when the positioning device 30 is in the second position.
[0057]
　According to this configuration, it is possible to prevent the positioning device 30 from performing automatic steering control while being at the second position X2.
　Further, a support bracket 45 for displaceably supporting the positioning device 30 at the first position X1 and the second position X2 is provided, and the support bracket 45 is rotatable around the pivot 56 and the pivot 56 and is in the first position. The positioning device 30 has a mounting stay 47 to which the lower surface 30b side of the positioning device 30 in X1 is attached, and the positioning device 30 is located in the first position X1 to the first position X1 by rotating the mounting stay 47 around the pivot axis 56. The upper surface 30a side of the positioning device 30 is displaced to the second position X2 facing downward, and the mounting stay 47 is composed of a member that reflects a signal transmitted from the positioning satellite and is located at the second position X2. By covering the upper part of the thirty, a check unit for checking so as not to perform automatic steering control is configured.
[0058]
　According to this configuration, even if it is not detected that the positioning device 30 is in the second position X2, it is possible to prevent the positioning device 30 from performing automatic steering control in the state of being in the second position X2. ..
　Further, the mounting stay 47 extends from the main body plate portion 51 to which the positioning device 30 is mounted, the first extending plate portion 52L extending from the main body plate portion 51 to one side, and from the main body plate portion 51 to the other side. It has a second extending plate portion 52R to be extended.
[0059]
　According to this configuration, the satellite signal can be satisfactorily shielded at the second position X2 of the positioning device 30.
　It also includes a detection sensor 66 that detects that the positioning device 30 is at the second position X2.
　According to this configuration, it is possible to notify the operator that the positioning device 30 is at the second position X2.
[0060]
　Further, it is provided with a display device 67 that indicates that the detection sensor 66 is detecting the second position X2.
　According to this configuration, the operator can be made to recognize that the positioning device 30 is in the second position X2.
　Further, the control device 26 includes a detection sensor 66 that detects that the positioning device 30 is in the second position X2, and the control device 26 checks the check unit 71 so as not to perform automatic steering control based on the detection information of the detection sensor 66. have.
[0061]
　According to this configuration, it is possible to prevent the positioning device 30 from performing automatic steering control while being at the second position X2.
　Further, the positioning device 30 has a tilt sensor (inertial measurement unit 33) capable of detecting the tilt of the positioning device 30, and the control device 26 has the positioning device 30 in the second position X2 based on the detection information of the tilt sensor 33. It has a discriminating unit 72 for determining the presence in the position and a checking unit 71 for restraining the discriminating unit 72 from performing automatic steering control when the second position X2 of the positioning device 30 is discriminated.
[0062]
　With this configuration as well, it is possible to prevent the positioning device 30 from performing automatic steering control while being at the second position X2.
　Further, the positioning device 30 has an inertial measurement unit 33, and the tilt sensor is composed of the inertial measurement unit 33.
　According to this configuration, the inertial measurement unit 33 provided in the positioning device 30 can detect that the positioning device 30 is in the second position X2, and the structure can be simplified.
[0063]
　Further, a display device 67 for displaying that the check unit 71 is checking the automatic steering control is provided.
　According to this configuration, the operator can be made aware that the automatic steering control is not performed.
　Further, the work vehicle 1 includes a vehicle body 5, a positioning device 30 that detects the position of the vehicle body 5 based on a signal transmitted from a positioning satellite, and a first position X1 and a first position at which the positioning device 30 is used. A support bracket 45 that displaceably supports the second position X2, which is a position lower than the position X1, is provided. The positioning device 30 has a mounting stay 47 to which the lower surface 30b side of the positioning device 30 which is pivotally supported and located at the first position X1 is mounted, and the positioning device 30 has the mounting stay 47 rotated around the pivot axis 56 to the first position. The upper surface 30a side of the positioning device 30 located at the first position X1 is displaced from X1 to the second position X2 facing downward.
[0064]
　According to this configuration, by moving the positioning device 30 to the second position X2, which is lower than the first position X1 which is the used position, when not in use, it is possible to prevent the positioning device 30 from hitting an obstacle. .. Further, in the second position X2, the upper surface 30a side of the positioning device 30 in the first position X1 faces downward, so that the second position X2 can be set to a position sufficiently lower than the first position X1. ..
[0065]
　Further, the mounting stay 47 is mounted on the base stay 46 with the positioning device 30 at the first position X1.
　According to this configuration, the positioning device 30 can be reliably supported when the positioning device 30 is used.
　Further, the support bracket 45 has a fixed side hinge piece 54 provided on the base stay 46 and a movable side hinge piece 55 provided on the mounting stay 47 and pivotally connected to the fixed side hinge piece 54 via a pivot 56. And have.
[0066]
　According to this configuration, the positioning device 30 can be displaced from the first position X1 to the second position X2 with the upper surface side facing downward with a simple configuration.
　Further, the support bracket 45 has a fixing piece 60 provided on the base stay 46, a movable piece 61 provided on the mounting stay 47, and a mounting screw 62 for attaching the movable piece 61 to the fixing piece 60. The 62 is provided on the axis Y2 substantially the same as the pivot 56.
[0067]
　According to this configuration, the mounting stay 47 can be rotated by loosening the mounting screw 62.
　Further, a cabin 9 mounted on the vehicle body 5 is provided, the cabin 9 has a roof 16 at the upper portion, the positioning device 30 is arranged at the first position X1 on the upper side of the roof 16, and at the second position X2. At least a part of the roof 16 may be located higher than the upper end of the roof 16.
[0068]
　Further, the base stay 46 is provided with the first member 39 and the second member 40 extending above the roof 16 in the vehicle width direction B3 and juxtaposed in the front-rear direction A3, and the base stay 46 is the first member 39. The substrate portion 48, which is provided on the second rod portion 40 and on which the mounting stay 47 is mounted and mounted at the first position X1 of the positioning device 30, and the first rod portion 39 and the first member below the substrate portion 48. It has an extension portion 49 extending between the two rods 40 and the material 40.
[0069]
　According to this configuration, the base stay 46 can be firmly attached to the first member 39 and the second member 40.
　Although the embodiments of the present invention have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope of the claims.
Code description
[0070]
　　5 Body
　　9 Cabin
　16 Roof
　30 Positioning device
　30a Top
　30b Bottom
　39 First rod
　40 Second rod
　45 Support bracket
　46 Base stay
　47 Mounting stay
　48 Board part
　49 Extension part
　54 Fixed side hinge piece
　55 Movable side hinge piece
　56 Axis
　60 Fixed piece
　61 Movable piece
　62 Mounting screw
　　A3 Front-back direction
　　B3 Vehicle width direction
　　X1 First position
　　X2 Second position
　　Y2 Axle center

WE CLAIMS

The position of the vehicle body is detected based on the vehicle body ,
the cabin mounted on the vehicle body,
the displacement material extended in the vehicle width direction above the roof of the cabin, and
the signal transmitted from the positioning satellite. A positioning device and
a support bracket that displaceably supports the positioning device at a first position that is a position to be used and a second position that is lower than the first position
are provided, and the
support bracket is a plate. The first is pivotally supported via a base stay formed of a plate material whose surface faces in the vertical direction and fixed to the rod, and a pivot having an axial center whose front portion extends in the vehicle width direction to the base stay. The mounting stay has a mounting stay on which the lower surface side of the positioning device at a position is mounted, and the
mounting stay has a facing surface facing the upper surface of the base stay with the positioning device at the first position. In the
positioning device, the mounting stay is rotated around the pivot so that the facing surface faces upward, so that the upper surface side of the positioning device located at the first position faces downward from the first position. With the positioning device displaced to the second position and the
positioning device in the second position, the mounting stay is located at a position where the front side is higher than the upper end of the roof and the rear side is lower than the upper end of the roof. Work vehicle in.
[Claim 2]
The work vehicle according to claim 1, wherein the mounting stay is formed of a plate material whose plate surface faces in the vertical direction and is mounted on the base stay in a state where the positioning device is in the first position.
[Claim 3]
The support bracket has a fixed-side hinge piece provided on the base stay and a movable-side hinge piece provided on the mounting stay and pivotally connected to the fixed-side hinge piece via the pivot axis. The work vehicle according to item 1 or 2.
[Claim 4]
The support bracket has a fixing piece provided on the base stay, a movable piece provided on the mounting stay, and a mounting screw for attaching the movable piece to the fixing piece, and the
mounting screw is the pivot. The work vehicle according to any one of claims 1 to 3, which is provided on substantially the same axis as the above.
[Claim 5]
Claims 1 to 4 include a first rod and a second rod arranged side by side in the front-rear direction as the rod, and the
base stay is fixed on the first rod and the second rod. The work vehicle according to any one of the above.
[Claim 6]

A first position where the vehicle body , a cabin mounted on the vehicle body and having a roof at the top,
a positioning device that detects the position of the vehicle body based on a signal transmitted from a positioning satellite, and the
positioning device are used. A support bracket that displaceably supports the position and a second position that is lower than the first position, and
a first rod that is extended above the roof in the vehicle width direction and juxtaposed in the front-rear direction. The support bracket
includes a material and a second member, and the
support bracket has a base stay attached to the vehicle body side and a lower surface of the positioning device which is pivotally supported by the base stay via a pivot axis and is located at the first position. The positioning device has a mounting stay to which a side is mounted, and the
mounting stay rotates around the pivot axis so that the upper surface side of the positioning device located at the first position faces downward from the first position. The base stay is displaced to the second position, and the
base stay is provided on the first rod and the second rod, and the mounting stay is mounted and mounted at the first position of the positioning device. And a work vehicle having an extending portion extending downward from the substrate portion and extending between the first member and the second member.