Work vehicle

Abstract

To provide a work vehicle improving traveling performance, transportability, storage property, etc., while securing necessary positioning accuracy.SOLUTION: A sulky rice transplanter includes: a traveling machine body 1; a positioning device for acquiring position information of the traveling machine body 1; and an inverted U-shaped positioning frame 20 in front view, erected on a front part of the traveling machine body 1 and supporting the positioning device. The positioning frame 20 is configured to be extendable / contractible in a vertical direction, so as to change over the positioning device at least between a first working state where the positioning device is positioned at a first height and a second working state where it is positioned at a second height lower than the first height depending on the extension / contraction operation.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a riding rice transplanter. [Background technology]

[0002] There is known a work vehicle that acquires position information of a traveling machine body by a positioning device, displays the acquired position information, and automatically drives the traveling machine body based on the acquired position information. For example, the work vehicle shown in Patent Document 1 has a positioning frame that is in an inverted U-shape when viewed from the front and is erected at the front of the machine body, and acquires position information of the traveling machine body by a positioning device provided at the top of the positioning frame. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7289261 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional work vehicles, the installation height of the positioning equipment was determined based on the assumption that the roof was in place, which meant that the height of the positioning frame would be unnecessarily high, which could result in reduced drivability, transportability, and storability. [Means for solving the problem]

[0005] The present invention was created in consideration of the above-mentioned actual situation and with the aim of solving these problems. The invention of claim 1 is a work vehicle comprising a running body, a positioning device that acquires position information of the running body, and a positioning frame that is erected at the front of the running body and has an inverted U-shape when viewed from the front and supports the positioning device, wherein the positioning frame is configured to be extendable and retractable in the vertical direction, and can be switched between at least a first working state in which the positioning device is positioned at a first height, and a second working state in which the positioning device is positioned at a second height lower than the first height, depending on the extension and retraction operation, and the extension and retraction direction of the positioning frame is tilted backward when viewed from the side. The invention of claim 2 is a work vehicle as described in claim 1, wherein the positioning frame has left and right vertical frame sections extending upward from the running body and a horizontal frame section connecting the upper ends of the left and right vertical frame sections, the positioning equipment is attached to the horizontal frame sections and is raised and lowered in response to the extension and retraction operation of the vertical frame sections, and further, handles for the extension and retraction operation are provided on both the left and right sides of the horizontal frame sections. The invention of claim 3 is the work vehicle described in claim 1, characterized in that the positioning frame functions as a handrail when moving on the traveling body or when getting on and off the traveling body. Effect of the Invention

[0006] According to the invention of claim 1, the positioning frame is configured to be expandable and contractable in the vertical direction, and can be switched between at least a first working state in which the positioning device is located at a first height and a second working state in which the positioning device is located at a second height lower than the first height, depending on the expansion and contraction operation, so that the required positioning accuracy can be secured based on the switching of the working state according to the situation, while improving the drivability, portability, storability, etc. Also, since the expansion and contraction operation direction of the positioning frame is inclined backward in a side view, when the positioning frame is expanded and contracted while standing behind the positioning frame, the operation part is displaced backward as it is extended upward, making the operation easier. In addition, according to the invention of claim 2, handles for extension and contraction are provided on both the left and right sides of the horizontal frame section to which the positioning equipment is attached, which not only makes it easier to extend and contract the positioning frame, but also reduces the possibility of having to hold the positioning equipment while performing the extension and contraction operation. In addition, according to the invention of claim 3, the positioning frame functions as a handrail when moving on the running body or when getting on and off the running body, which not only improves mobility on the running body and ease of getting on and off the running body, but also reduces the number of parts and costs compared to when a dedicated handrail is provided. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of a riding rice transplanter (without a roof attached) according to one embodiment of the present invention. [Diagram 2] FIG. 1 is a front view of a riding rice transplanter (without a roof attached) according to one embodiment of the present invention. [Diagram 3] FIG. 1 is a plan view of a riding rice transplanter (without a roof attached) according to one embodiment of the present invention. [Figure 4] FIG. 1 is a side view of a riding rice transplanter (without a roof attached) according to one embodiment of the present invention. [Diagram 5] FIG. 1 is a perspective view of a riding rice transplanter (with a roof attached) according to one embodiment of the present invention. [Figure 6] FIG. 1 is a side view of a riding rice transplanter (with a roof attached) according to one embodiment of the present invention. [Figure 7] 1 is a perspective view of an upper portion of a positioning frame as viewed obliquely from behind. FIG. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] FIG. 4 is a side view showing the mounting portion of the bumper. [Figure 11] 13 is a side view showing an attachment portion of the positioning frame. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In Fig. 1 to Fig. 6, reference numeral 1 denotes a traveling machine body of a riding rice transplanter (work vehicle), and a planting work machine (not shown) is connected to the rear of the traveling machine body 1 via a lifting link mechanism (not shown) so that the planting work machine can be lifted and lowered.

[0009] The planting machine is equipped with a seedling carrier on which the mat seedlings are placed, and a planting mechanism that picks up the seedlings from the lower end of the seedling carrier and plants them in the field. There are multiple specifications of the planting machine, and each specification of the planting machine differs in the number of rows of seedlings that can be planted at the same time. For example, a planting machine with an eight-row planting specification has eight planting mechanisms arranged side by side at a predetermined interval in the vehicle width direction, and can plant eight rows of seedlings at the same time.

[0010] The running body 1 comprises a body frame 2 which forms the skeleton of the running body 1, an engine mounting section 3 on which an engine (not shown) is mounted, a transmission case (not shown) which changes the engine power and outputs it as running power and working power (power for the planting work machine), front wheels 4 which are driven by the running power output by the transmission case and are steered in response to operation of a steering handle (not shown), rear wheels 5 which are driven by the running power output by the transmission case, a control section 6 on which the operator rides, and steps 7A to 7F which are provided around the control section 6.

[0011] The vehicle frame 2 is formed by arranging a plurality of frame elements. For example, the front part of the vehicle frame 2 is configured with a front frame part 2a that runs along the left-right direction at the front end of the vehicle, left and right front side frame parts 2b that extend rearward from both left and right ends of the front frame part 2a, and left and right front corner parts 2c that are connection parts between the front frame part 2a and the front side frame parts 2b.

[0012] A bumper 8 that protects the front end of the traveling machine body 1 and a towing hook 9 to which a rope can be attached are provided at the front of the machine body frame 2. The towing hook 9 is mainly used to secure the traveling machine body 1 to a transport vehicle such as a truck via a rope when the traveling machine body 1 is transported by the transport vehicle. The specific shapes, arrangements and mounting structures of the bumper 8 and the towing hook 9 will be described later.

[0013] The engine mounting section 3 is provided at the front of the vehicle body and includes an engine room (not shown) that houses an engine (not shown) and a bonnet 10 that opens and closes the engine room. The bonnet 10 opens and closes the engine room in response to a vertical rotation operation with the rear end side or the front end side as a fulcrum.

[0014] Steps 7A to 7F include a main step 7A that forms the floor surface of the control unit 6, left and right boarding and alighting steps 7B that extend outward to the left and right from the main step 7A, left and right boarding and alighting extension steps 7C that extend the boarding and alighting step 7B outward to the left and right, left and right front side steps 7D that extend forward from the boarding and alighting step 7B and are located outward to the left and right of the engine mounting unit 3, left and right rear steps 7E that extend rearward from the boarding and alighting step 7B in a plan view and are formed at a position one step higher than the boarding and alighting step 7B, and a rear extension step 7F that extends the rear step 7E outward to the left and right.

[0015] According to such steps 7A to 7F, the worker can properly get on and off the traveling body 1, move on the traveling body 1, and perform various tasks on the traveling body 1. For example, the worker can not only get on and off the traveling body 1 from the left and right sides of the traveling body 1 via the boarding and alighting extension steps 7C and boarding and alighting steps 7B, but also get on and off the traveling body 1 from the front of the traveling body 1 via the front side step 7D. In addition, if the worker stands on the rear step 7E or the rear extension step 7F, he or she can supply spare seedlings to the seedling carrier of the planting work machine, and in that case, efficient seedling supply can be achieved by using the spare seedling supply device 11 described later.

[0016] In rice planting work, when the number of seedlings placed on the seedling carrier of the planting machine becomes low, the worker places the traveling machine body 1 perpendicular to the ridge, receives spare seedlings from an assistant standing at the edge of the ridge, and supplies them to the seedling carrier. In order to reduce the workload of supplying spare seedlings, spare seedling supply devices 11 are provided on the left and right outer parts of the traveling machine body 1. The spare seedling supply devices 11 of this embodiment can transport spare seedlings from the front to the rear of the traveling machine body 1, and the worker can receive spare seedlings transported by the spare seedling supply devices 11 at the rear of the traveling machine body 1, so that the spare seedlings can be efficiently supplied to the seedling carrier.

[0017] More specifically, the traveling machine body 1 of this embodiment includes left and right spare seedling supply frames 12 erected on the machine body frame 2, and left and right spare seedling supply devices 11 attached to the upper ends of the spare seedling supply frames 12. As shown in Figs. 2 and 3, the spare seedling supply frames 12 and the spare seedling supply devices 11 are disposed outside the boarding and disembarking steps 7B, the front side step 7D, and the rear step 7E in front and plan views, and therefore do not impede the movement of the operator along the boarding and disembarking steps 7B, the front side step 7D, and the rear step 7E.

[0018] The spare seedling supplying device 11 is composed of a roller conveyor with multiple rollers 12a rotatably supported between left and right side frames, and is configured to transport spare seedlings in a self-propelled manner along a high-front, low-rear slope. The middle part of the spare seedling supplying device 11 in the front-rear direction is connected and supported by the spare seedling supply frame 12 so that it can rotate left and right. In other words, the spare seedling supplying device 11 can efficiently supply spare seedlings by moving the front end position left and right according to the position of the worker on the ridge side.

[0019] The traveling machine body 1 of this embodiment can be fitted with a roof 13 that covers the upper part of the control unit 6, and can be used without the roof 13 attached as shown in Figs. 1 to 4, or with the roof 13 attached as shown in Figs. 5 and 6. The roof 13 includes, for example, left and right roof frames 13a erected on the spare seedling supply frame 12, and a roof body 13b provided on the upper end of the left and right roof frames 13a. The left and right roof frames 13a are extendable, and the installation height of the roof body 13b can be adjusted based on the extension and contraction operation of the roof frame 13a.

[0020] Next, the positioning frame 20, which is a main part of the present invention, will be described with reference to FIGS.

[0021] A positioning frame 20, which is in an inverted U-shape when viewed from the front, is erected at the front of the traveling body 1. Positioning devices such as GNSS antennas 31, 32 and a GNSS unit 33, which are components of a positioning system, are attached to the upper end of the positioning frame 20. The positioning system acquires position information of the traveling body 1, and provides the acquired position information to a position information display device (not shown) and an automatic driving control device (not shown) provided on the traveling body 1. This enables the traveling body 1 to display the acquired position information and to automatically drive the traveling body 1 based on the acquired position information.

[0022] The positioning system used is, for example, an RTK-GNSS positioning system that can perform highly accurate positioning with an error of a few centimeters. The RTK-GNSS positioning system performs GNSS positioning such as GPS at a fixed base station and a moving mobile station, and corrects the positioning data in real time with a correction signal transmitted from the base station to the mobile station, thereby achieving highly accurate positioning with an error of a few centimeters. In addition, if two GNSS antennas are installed at a specified interval on the mobile station, it becomes possible to detect not only the absolute position of the mobile station, but also the traveling direction (azimuth) of the mobile station with high accuracy based on the two positioning results.

[0023] Specifically, the positioning system of this embodiment includes a reference GNSS antenna 31 and a direction GNSS antenna 32 attached at a predetermined interval in the left-right direction to the upper end of the positioning frame 20, a correction signal receiving device (not shown) that receives a correction signal from a fixedly installed RTK base station (not shown), and a GNSS unit 33 that performs RTK-GNSS positioning based on the GNSS positioning signal and the RTK correction signal. The GNSS unit 33 transmits positioning data (absolute position data and traveling direction data) obtained by RTK-GNSS positioning to a position information display device or an automatic driving control device via a wired communication means such as a CAN.

[0024] The positioning frame 20 is formed in an inverted U-shape when viewed from the front by left and right vertical frame parts 21 extending upward from the front end of the traveling body 1 and a horizontal frame part 22 connecting the upper ends of the left and right vertical frame parts 21, and the positioning device is attached to the horizontal frame part 22. For example, a reference GNSS antenna 31 is attached to one left-right end of the horizontal frame part 22, a direction GNSS antenna 32 is attached to the other left-right end of the horizontal frame part 22, and a GNSS unit 33 is attached to the left-right intermediate part of the horizontal frame part 22.

[0025] The left and right vertical frame parts 21 are configured to be extendable and retractable in the up-down direction. For example, the vertical frame parts 21 in this embodiment include a pipe member 21a extending upward from the front end of the traveling body 1, a rod member 21b slidably inserted into the pipe member 21a from above and connected at its upper end to the horizontal frame part 22, and a knobbed bolt 21c that regulates the sliding of the rod member 21b. In addition, a resin bush (not shown) that facilitates the extension and retraction operation and a dust seal (not shown) that prevents the intrusion of dust and water are provided between the pipe member 21a and the rod member 21b.

[0026] The positioning frame 20 configured in this manner can be switched between at least a first working state (see Figures 5 and 6) in which the positioning equipment is positioned at a first height, and a second working state (see Figures 1 to 4) in which the positioning equipment is positioned at a second height lower than the first height, in response to the extension and contraction operation of the vertical frame portion 21.

[0027] According to such a positioning frame 20, it is possible to improve travelling performance, transportability, storability, etc. while ensuring the required positioning accuracy based on switching of the working state according to the situation.

[0028] 5 and 6, when the roof 13 is attached, the positioning frame 20 is set in the first working state, and the positioning device is positioned at the same height as the roof 13 (or higher than the roof 13). This makes it possible to prevent the positioning accuracy from being reduced due to the influence of the roof 13.

[0029] 1 to 4, when the roof 13 is not attached, there is no risk of the positioning accuracy being reduced due to the influence of the roof 13, so the positioning frame 20 is placed in the second working state and the positioning device is lowered. This can improve the running performance, transportability, storability, etc. of the traveling body 1.

[0030] 4 and 6, the telescopic operation direction of the positioning frame 20 is tilted backward in side view. In this way, when performing telescopic operation while standing behind the positioning frame 20 (on the main step 7A of the control unit 6), the operation unit displaces backward as it is extended upward, making operation easier.

[0031] In addition, left and right handles 23 for extending and retracting the vertical frame section 21 are provided at both left and right ends of the horizontal frame section 22. The handles 23 are L-shaped and extend rearward and downward from the horizontal frame section 22, and the operator can easily extend and retract the vertical frame section 21 by operating the left and right handles 23 in the up and down direction while holding them. In addition, since the possibility of holding the positioning device and performing the extension and retraction operation can be reduced, the positioning device can be prevented from being displaced, deformed, or damaged. The left and right handles 23 do not have to be separate, but may be integrally connected via a connecting section (not shown) that is long in the left and right direction. With such a handle 23, the left and right vertical frame sections 21 can be easily extended and retracted even with one hand by holding the left and right intermediate section of the connecting section.

[0032] The positioning frame 20 further includes left and right reinforcing frame parts 24 that are erected behind the left and right vertical frame parts 21 and have upper ends connected to the vertical frame parts 21 (upper ends of the pipe members 21a). As shown in FIG. 2, the left and right vertical frame parts 21 and the reinforcing frame parts 24 are erected outside the bonnet 10 and inside the front side step 7D in a front view. Such a positioning frame 20 can prevent the vertical frame parts 21 and the reinforcing frame parts 24 from getting in the way when opening and closing the bonnet 10. In addition, interference between the spare seedling supplying device 11 and the vertical frame parts 21 can be avoided, and the left and right rotation range of the spare seedling supplying device 11 can be widened.

[0033] In addition, the vertical frame portion 21 and the reinforcing frame portion 24 can function as handrails when moving on the traveling body 1 or getting on and off the traveling body 1. This not only improves the mobility on the traveling body 1 and the ease of getting on and off the traveling body 1, but also reduces the number of parts and costs compared to when a dedicated handrail is provided.

[0034] Next, the arrangement and mounting structure of the base of the positioning frame 20, the bumper 8, and the towing hook 9 will be described with reference to FIGS.

[0035] The bumpers 8 are arranged in parallel at a predetermined interval in front of the front frame portion 2a of the aircraft frame 2. Both left and right ends of the bumper 8 are bent rearward and integrally equipped with mounting plates 8a. The front frame portion 2a of the aircraft frame 2 is equipped with left and right bumper brackets 2d, and the bumper 8 is attached to the front frame portion 2a of the aircraft frame 2 by bolting the mounting plates 8a to the bumper brackets 2d.

[0036] The base of the positioning frame 20 (the lower end of the vertical frame portion 21) is disposed rearward of the bumper 8 and within the left-right width of the bumper 8, and is integrally provided with left and right mounting plates 20a. The front frame portion 2a of the aircraft frame 2 is provided with left and right positioning frame brackets 2e, and the base of the positioning frame 20 is attached to the front frame portion 2a of the aircraft frame 2 by bolting the mounting plates 20a to the positioning frame brackets 2e.

[0037] According to this configuration, the base of the positioning frame 20 is disposed behind the bumper 8 and within the left-right width of the bumper 8, so that the base of the positioning frame 20 is protected by the bumper 8, and damage and deformation of the positioning frame 20 can be prevented. In addition, since the bumper 8 and the positioning frame 20 are separately connected and supported by the aircraft frame 2, even if the bumper 8 is deformed due to contact with an obstacle, the possibility that the positioning frame 20 will be deformed as a result can be reduced.

[0038] The lower parts of the left and right vertical frame parts 21 have inclined parts 21d that are inclined in a direction approaching each other as they go downward. Such inclined parts 21d make it possible to accommodate the base of the positioning frame 20 within the left and right width of the bumper 8, while widening the interval between the left and right vertical frame parts 21 to avoid interference with the bonnet 10. In addition, when getting on the aircraft (front side step 7D) from the front of the aircraft, the inclined parts 21d of the vertical frame parts 21 widen the left and right width of the feet, improving the ease of getting on and off from the front of the aircraft.

[0039] In addition, the bumper 8 and the base of the positioning frame 20 are disposed inside the front corner portion 2c as viewed from the front, whereas the towing hook 9 is disposed outside the front corner portion 2c as viewed from the front. This not only prevents the bumper 8 and the positioning frame 20 from getting in the way when a rope is hung on the towing hook 9, but also allows the rope hung on the towing hook 9 to move in the left-right direction within a wide range (for example, 15° left and right).

[0040] According to this embodiment configured as described, the riding rice transplanter comprises a running body 1, a positioning device that acquires position information of the running body 1, and a positioning frame 20 that is erected at the front of the running body 1 and has an inverted U-shape when viewed from the front and supports the positioning device. The positioning frame 20 is configured to be extendable and retractable in the vertical direction, and can be switched between at least a first working state in which the positioning device is positioned at a first height, and a second working state in which the positioning device is positioned at a second height lower than the first height, depending on the extension and retraction operation. Therefore, by switching the working state according to the situation, it is possible to improve drivability, transportability, storability, etc. while ensuring the required positioning accuracy.

[0041] In addition, since the telescopic operation direction of the positioning frame 20 is tilted backward in side view, when performing telescopic operation while standing behind the positioning frame 20, the further upward it is extended, the further backward the operating part is displaced, making operation easier.

[0042] In addition, the positioning frame 20 has left and right vertical frame sections 21 extending upward from the running body 1, and a horizontal frame section 22 connecting the upper ends of the left and right vertical frame sections 21, and the positioning equipment is attached to the horizontal frame section 22 and is raised and lowered in accordance with the extension and contraction operation of the vertical frame section 21.Furthermore, handles 23 for extension and contraction operation are provided on both the left and right sides of the horizontal frame section 22, which not only makes it easier to extend and contract the positioning frame 20, but also reduces the possibility of operating the extension and contraction while holding the positioning equipment.

[0043] In addition, the positioning frame 20 functions as a handrail when moving on the running body 1 or when getting on and off the running body 1, not only improving mobility on the running body 1 and ease of getting on and off the running body 1, but also reducing the number of parts and costs compared to when a dedicated handrail is provided. [Explanation of symbols]

[0044] 1 Running vehicle 2 Aircraft frame 2a Front frame section 2b Front side frame part 2c Front corner 8. Bumper 9 Towing hook 10. Bonnet 13 Roof 20 Positioning Frame 21 Vertical frame section 21d Slope 22 Horizontal frame section 23 Handle 24 Reinforcement frame part 31 Reference GNSS antenna (positioning device) 32 GNSS antenna for azimuth (positioning device) 33 GNSS unit (positioning device)

Claims

1. A running body, A positioning device for acquiring position information of the traveling machine body; A work vehicle including a positioning frame having an inverted U-shape when viewed from the front, the positioning frame being erected at the front of the traveling body and supporting the positioning device, the positioning frame is configured to be expandable and contractable in a vertical direction, and is switchable, in response to the expansion and contraction operation, between at least a first working state in which the positioning device is located at a first height and a second working state in which the positioning device is located at a second height lower than the first height; A work vehicle, characterized in that the extension and contraction operation direction of the positioning frame is tilted backward in a side view.

2. The positioning frame includes: Left and right vertical frame portions extending upward from the traveling body; A horizontal frame portion connecting upper ends of the left and right vertical frame portions to each other, the positioning device is attached to the horizontal frame portion and is raised and lowered in response to an extension and contraction operation of the vertical frame portion; The work vehicle according to claim 1, further comprising handles for operating the extension and retraction on both the left and right sides of the horizontal frame portion.

3. The work vehicle according to claim 1 , wherein the positioning frame functions as a handrail when moving on the traveling body or when getting on and off the traveling body.

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