Work vehicles

Abstract

In a configuration where the antenna unit is installed at a height above the cabin, the safety of working on the antenna unit is improved. [Solution] A work vehicle equipped with a cabin 30 covering the driver's section 12, comprising: an antenna unit 60 provided on the upper part of the left side portion 37 of the cabin, which is one of the left and right side portions of the cabin 30; a support frame 70 provided on the left side portion 37 of the cabin and supporting the antenna unit 60; and a handrail portion 100 supporting the support frame 70, wherein the handrail portion 100 is configured to be detachably attached to the support frame 70.

Description

【Technical Field】 【0001】 The present invention relates to a work vehicle provided with an antenna unit for receiving position information from a satellite. 【Background Art】 【0002】 Conventionally, a work vehicle provided with an antenna unit for receiving position information from a satellite has been known (see, for example, Patent Document 1). Patent Document 1 discloses a configuration in which, as an antenna unit, a receiving device such as a GNSS (Global Navigation Satellite System) receiver that receives radio waves related to position information from a positioning satellite, an arithmetic device that calculates position data based on the radio waves received by the receiving device, and a wireless communication device that transmits the position data calculated by the arithmetic device are provided, and these devices are housed in a case. 【0003】 In the configuration disclosed in Patent Document 1, the antenna unit is disposed at the upper part of the side surface of a cabin that covers the driver's cab in a combine as a work vehicle. Specifically, the case of the antenna unit is supported via a support frame with respect to the left side portion of the roof of the cabin, which is the upper part of the left side surface portion of the cabin. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Patent No. 6688545 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 As disclosed in Patent Document 1, in a configuration in which the antenna unit is installed on the upper side of the cabin, such as the side of the cabin roof, the antenna unit is located at a high position. Therefore, when removing, adjusting, or maintaining the antenna unit, workers must stand on a platform or ladder. Working while standing on a platform or ladder raises safety concerns. 【0006】 This invention has been made in view of the above-mentioned problems, and aims to provide a work vehicle in which the antenna unit is installed at a height above the cabin, thereby improving the safety of work on the antenna unit. [Means for solving the problem] 【0007】 The work vehicle according to the present invention is a work vehicle equipped with a cabin that covers the driver's compartment, and is further equipped with an antenna unit provided on the upper part of one of the left and right side surfaces of the cabin, and a handrail provided on the one side surface and used for performing work on the antenna unit. 【0008】 In the work vehicle according to the present invention, the antenna unit and the handrail are arranged so that they are located front to back relative to each other in a plan view. 【0009】 The work vehicle according to the present invention is provided with a support member on one side surface that supports the antenna unit, the support member is configured to extend in the front-rear direction and has its front and rear ends fixed to the one side surface, and the handrail is configured to extend in the up-down direction and has its upper end connected to the support member and its lower end fixed to the one side surface. 【0010】 In the work vehicle according to the present invention, the cabin is provided so as to be rotatable around an axis in the vertical direction relative to the traveling body so as to open outward in the left-right direction of the body of the work vehicle, and the one side portion is the side portion of the left and right side portions of the cabin that is located on the inside in the left-right direction of the body. 【0011】 In the work vehicle according to the present invention, the handrail portion is made of a metal component and is positioned so that its upper end is at a height lower than that of the antenna unit. 【0012】 In the work vehicle according to the present invention, the antenna unit is provided in a work vehicle that can be repositioned to a first height position in which the entire unit is positioned above the support member, and a second height position in which at least a part of the antenna unit overlaps with the support member. 【0013】 The work vehicle according to the present invention is equipped with an antenna for acquiring information from the antenna unit, and the antenna is provided at the connection portion of the handrail to the support member. [Effects of the Invention] 【0014】 According to the present invention, in a configuration in which an antenna unit is installed at a height above the cabin, the safety of work on the antenna unit can be improved. [Brief explanation of the drawing] 【0015】 [Figure 1] This is a left side view of a combine harvester according to one embodiment of the present invention. [Figure 2] This is a right side view of a combine harvester according to one embodiment of the present invention. [Figure 3] This is a plan view of a combine harvester according to one embodiment of the present invention. [Figure 4] This is a left side view of the cabin of the Embodiment 1999 model. [Figure 5] Front view of a cabin according to an embodiment of the present invention. [Figure 6] Plan view of a cabin according to an embodiment of the present invention. [Figure 7] Left side view showing an antenna unit and its support structure according to an embodiment of the present invention. [Figure 8] Front view showing an antenna unit and its support structure according to an embodiment of the present invention. [Figure 9] Plan view showing an antenna unit and its support structure according to an embodiment of the present invention. [Figure 10] Partial cross-sectional exploded left side view showing the mounting structure of an antenna unit according to an embodiment of the present invention. [Figure 11] Bottom perspective view showing an antenna unit and its support structure according to an embodiment of the present invention. [Figure 12] Rear perspective view showing the support structure at the lower part of a handrail according to an embodiment of the present invention. [Figure 13] Explanatory view of the rotation structure of a cabin according to an embodiment of the present invention. [Figure 14] Plan view showing the internal structure of an antenna unit according to an embodiment of the present invention. [Figure 15] Left side view showing the internal structure of an antenna unit according to an embodiment of the present invention. [Figure 16] Partially enlarged plan view showing the internal structure of an antenna unit according to an embodiment of the present invention. [Figure 17] Perspective view showing the antenna support base of an antenna unit according to an embodiment of the present invention. [Figure 18] Diagram showing the circuit configuration related to the receiving device in an antenna unit according to an embodiment of the present invention. [Figure 19] Left side view showing an antenna unit and its support structure according to another embodiment of the present invention. [Figure 20] Front view showing an antenna unit and its support structure according to another embodiment of the present invention. [Figure 21] This is a front view showing an antenna unit according to another embodiment of the present invention in a moved state. [Modes for carrying out the invention] 【0016】 The present invention aims to improve safety during work on the antenna unit by providing a handrail on the cabin, in a configuration in which an antenna unit for receiving positional information from a satellite is installed at a height above the cabin that covers the driver's compartment. Embodiments of the present invention will be described below with reference to the drawings. 【0017】 In the embodiments of the present invention described below, a combine harvester will be used as an example of a work vehicle according to the present invention. However, the work vehicle according to the present invention only needs to have a cabin that covers the driver's compartment. Examples of work vehicles to which the present invention is applied include various types of combine harvesters such as self-propelled combine harvesters and conventional combine harvesters, as well as tractors and wheel loaders for civil engineering work. 【0018】 The overall configuration of the combine harvester 1 as a work vehicle according to this embodiment will be explained using Figures 1 to 3. In the following explanation, the left and right sides of the combine harvester 1, when viewed from the front, will be referred to as the left and right sides of the combine harvester 1, respectively. 【0019】 As shown in Figures 1 to 3, the combine harvester 1 comprises a running unit 2 configured as a crawler-type running device having a pair of left and right crawler sections 3, 3, and a running body 4 supported by the running unit 2. The combine harvester 1 includes a harvesting unit 5, a threshing unit 6, a grain tank 7, a sorting unit 8, a discharge auger 9, and a straw processing unit 10. An engine 11 is mounted on the running body 4 as a power source. The combine harvester 1 also includes a cabin 30 that covers the driver's unit 12. 【0020】 Each crawler section 3 constituting the running section 2 has a track frame 3a extending in the front-rear direction below the running body 4, various rotating bodies such as a drive sprocket 3c supported by the track frame 3a, and tracks 3b wound around these rotating bodies. The crawler section 3 is driven by power transmitted from the engine 11 via the drive sprocket 3c. 【0021】 The harvesting unit 5 is a device for harvesting and collecting grain stalks in a field, and is located at the front of the traveling machine body 4. The harvesting unit 5 is located at the front of the traveling machine body 4 and extends over approximately the entire width of the combine harvester 1. The harvesting unit 5 is mounted on the traveling machine body 4 so as to be rotatable around a predetermined axis via a hydraulic cylinder for lifting and lowering, and its height can be adjusted by the rotational movement caused by the extension and retraction of the hydraulic cylinder. 【0022】 The harvesting unit 5 has a harvesting support frame 5a as a harvesting frame, and the grass divider 5b, lifting device 5c, cutting blade device 5e, and grain stalk conveying device 5f are supported on this harvesting support frame 5a. The harvesting unit 5 divides the grain stalks in the field with the grass divider 5b, lifts the divided grain stalks with the lifting device 5c, and while the lifted grain stalks are conveyed to the rear by the grain stalk conveying device 5f, they are cut and harvested by the cutting blade device 5e. The grain stalks harvested by the harvesting unit 5 are conveyed to the threshing unit 6. Each device of the harvesting unit 5 is operated by power transmitted from the engine 11. 【0023】 The harvesting unit 5 is provided so as to be able to open from the side relative to the traveling machine body 4. Specifically, the harvesting support frame 5a constituting the harvesting unit 5 is rotatably supported relative to the traveling machine body 4 by a pivot support part whose axial direction is aligned vertically. The pivot support part is provided, for example, on the left side of the traveling machine body 4. The harvesting unit 5 rotates from its normal state facing forward to a leftward rotation around the pivot axis provided by the pivot support part, within an angular range until it faces, for example, to the left. 【0024】 On the traveling machine body 4, a threshing unit 6 for threshing the stalks of grain cut by the harvesting unit 5 and a grain tank 7 for storing the grain removed from the threshing unit 6 are arranged side by side. The threshing unit 6 is located on the left side of the machine body, and the grain tank 7 is located on the right side. The combine harvester 1 moves along the traveling unit 2 while performing tasks such as harvesting stalks with the harvesting unit 5 and threshing with the threshing unit 6. 【0025】 The threshing unit 6 comprises a threshing cylinder 6a and a processing cylinder (not shown) with the front-to-back direction as the axis of rotation, and a stalk supply device (not shown) provided to the left of the threshing cylinder 6a. The stalk supply device grips the base of the stalks cut by the harvesting unit 5 and transports the stalks backward in a horizontal position with the ears facing the threshing cylinder 6a. The stalk supply device comprises a feed chain wound around a plurality of sprockets with the left-to-right direction as the axis of rotation, and a stalk supply clamping body that cooperates with the feed chain to grip the base of the stalks. 【0026】 Below the threshing unit 6 on the traveling machine body 4, a sorting unit 8 is provided for sorting the threshed material processed by the threshing unit 6. The sorting unit 8 includes an oscillating sorting device 8a, an air sorting device (not shown), and a grain conveying device. The sorting unit 8 uses the oscillating sorting device 8a to sort the material that has fallen from the threshing unit 6, and then uses the air sorting device to air sort the material after the oscillating sorting. Of the material that has been air sorted, the sorting unit 8 uses the grain conveying device to transport the grain to the right towards the grain tank 7, and uses the air sorting device to blow away straw and dust to the rear and discharge them outside the machine. The grain transported towards the grain tank 7 by the grain conveying device is stored in the grain tank 7. 【0027】 A discharge auger 9 is provided on the traveling machine body 4 as a grain discharge device for discharging grain from the grain tank 7 to the outside. The discharge auger 9 is rotatable relative to the traveling machine body 4 via a vertical take-off conveyor 9b located on the right rear side of the traveling machine body 4. The discharge auger 9 is also rotatable vertically and vertically around its base. 【0028】 The discharge auger 9 is stored in a state where it extends horizontally from the vertical outlet conveyor 9b on the right rear side of the traveling machine body 4 to the left front. In the stored state, in a plan view, the tip of the discharge auger 9 is positioned to the left of the harvesting section 5 and extends along the diagonal of the machine body (see Figure 3). The discharge auger 9 is stored by being placed and supported on the auger rest 27, which serves as the auger receiving section. 【0029】 The auger rest 27 is installed on the left side of the rear of the cabin 30, supported by a predetermined support member. The auger rest 27 has a concave shape with its upper side open to house and support the cylindrical discharge auger 9 in a positioned state, and supports a predetermined portion of the middle part of the discharge auger 9 in the extension direction from below. 【0030】 The grain stored in the grain tank 7 is transported by a discharge auger 9, which has a screw conveyor built into it, and discharged from a discharge port 9a located at the tip of the discharge auger 9. The grain discharged from the discharge port 9a is loaded into a truck bed, container, etc. During the grain discharge operation, the discharge auger 9 rotates from its stored position to the left or right or up or down, moving the discharge port 9a to the outside of the machine. 【0031】 On the traveling machine body 4, a straw processing unit 10 is provided behind the threshing unit 6 for processing the straw waste after threshing by the threshing unit 6. The straw processing unit 10 includes a straw conveying device 10a and a straw cutting device 10b. The straw conveying device 10a conveys the threshed grain stalks (waste stalks) to the rear and discharges them outside the machine body, or conveys them to the straw cutting device 10b. The straw cutting device 10b cuts the waste stalks conveyed from the straw conveying device 10a and discharges them outside the machine body. 【0032】 On the traveling machine body 4, a driver's unit 12, covered by a cabin 30, is provided to the right of the harvesting unit 5 and in front of the grain tank 7. In other words, the driver's unit 12 is located inside the cabin 30 above the front of the traveling machine body 4. A steering wheel 13 is provided at the front of the driver's unit 12, and a driver's seat 14 is provided behind the steering wheel 13. Various operating devices, including a main gear shift lever 15, are arranged to the left of the driver's seat 14. 【0033】 A prime mover unit, including an engine 11, is located below and behind the driver's unit 12. Power from the engine 11 is transmitted via a transmission and other means to various devices in each part of the combine harvester 1, such as the driving unit 2, harvesting unit 5, threshing unit 6, sorting unit 8, discharge auger 9, and straw processing unit 10. The engine 11 is a diesel engine. An engine cover 16 is provided to the right of the engine 11, covering the right side of the engine room. 【0034】 Furthermore, the combine harvester 1 is equipped with an exhaust gas purification device 17 for purifying the exhaust gas from the engine 11. The exhaust gas purification device 17 has a DPF case (diesel particulate filter case) and an SCR (selective catalytic reduction) case. Exhaust gas from the engine 11 is introduced into these cases, and the exhaust gas is purified by removing particulate matter such as soot and nitrogen oxides (NOx) contained in the exhaust gas. The exhaust gas purification device 17 is located above the main body of the engine 11 and on the left rear side of the cabin 30. 【0035】 The configuration of the cabin 30 will be explained using Figures 4 to 6. The cabin 30 has a front section 31, a rear section 32, a left side wall section 33, a right side wall section 34, a roof section 35 that forms the ceiling, and a floor section 36, and these parts together form a roughly box-like shape. 【0036】 The front portion 31 of the cabin 30 has a forward-sloping front upper portion 31a that constitutes the upper majority of the front portion 31, and a forward-sloping front lower portion 31b that constitutes the roughly lower half of the front portion 31, and as a whole, it has a concave bend shape towards the rear when viewed from the side. The front upper portion 31a is formed as a transparent window portion as a whole by a rectangular transparent plate made of glass, acrylic resin, polycarbonate resin, etc. The front lower portion 31b is made of a metal member such as a steel plate. 【0037】 The rear portion 32 of the cabin 30 has a rearward-sloping shape when viewed from the side. That is, the rear portion 32 as a whole is provided as a downward-sloping surface that extends from the bottom to the top from the front to the rear. 【0038】 The left side wall 33 of the cabin 30 has a lower side section 41, which is a sheet metal part made of steel plate or the like, at its lower end (see Figure 4). In the left side wall 33, a straight left support column 42 is provided in the middle section in the front-rear direction, running along the vertical direction. 【0039】 The left support column 42 is provided so as to extend almost the entire length of the left side wall 33 in the vertical direction. The left support column 42 is a hollow column portion that forms a rectangular shape in plan view and has a vertically flat left side surface 42a. The left support column 42 is provided so that its left side surface 42a protrudes slightly to the left relative to the rest of the left side wall 33. 【0040】 In the left side wall section 33, a rectangular left rear window section 43 is provided above the lower side section 41 and behind the left support column 42. The left rear window section 43 is constructed by attaching a rectangular transparent plate 45, such as glass, to a frame-like portion formed on the upper part of the left side plate 44, which forms the rear part of the left support column 42 in the left side wall section 33. The lower part of the left side plate 44 forms the lower side section 41. 【0041】 In the left side wall section 33, the front portion of the left rear window section 43 forms the left front window section 47. The left front window section 47 has a roughly inverted trapezoidal shape, with its front edge aligned with the forward-sloping front upper surface section 31a of the front section 31, and its rear edge aligned with the upper part of the left support column section 42. The left front window section 47 is formed from a rectangular transparent plate made of glass, acrylic resin, polycarbonate resin, etc., and is provided in approximately the same area as the front upper surface section 31a of the front section 31 in the vertical direction. 【0042】 In the left side wall section 33, a front upper side plate 57 is provided above the left front window section 47. The front upper side plate 57 forms the upper edge of the portion of the left side wall section 33 that is in front of the left support column section 42. The lower part of the front upper side plate 57 overlaps the upper edge of the left front window section 47 from the inside (right side). 【0043】 A door 48, which is an opening and closing door for boarding and alighting, is provided on the right side wall 34 of the cabin 30 (see Figure 2). The door 48 is rotatably supported on the frame portion of the cabin 30 so as to open outward from the front. A handle 49 is provided on the front of the door 48. 【0044】 The roof portion 35 of the cabin 30 has a roughly rectangular shape in plan view, with the front-to-rear direction as its longitudinal direction. The front edge of the roof portion 35 protrudes forward in an overhang shape relative to the upper end of the front portion 31, and the rear edge protrudes backward in an overhang shape relative to the upper end of the rear portion 32. Multiple lighting units 51 are arranged side by side on the front end surface of the roof portion 35 (see Figure 5). 【0045】 The roof section 35 has a flattened outer shape and is hollow. The roof section 35 has a lower panel (not shown) that forms the base of the roof section 35 and a roof panel 50 provided above the lower panel, and these panels form a hollow section. The roof panel 50 has an upper surface 50a and left and right side surfaces 50b that are bent downward on both the left and right sides of the upper surface 50a. The roof panel 50 is a cover member provided to cover the lower panel section entirely from above and on both the left and right sides. 【0046】 Furthermore, the left side portion 50b of the roof panel 50 covers the upper edge of the left wall portion 33 from the left, and the right side portion 50b of the roof panel 50 covers the upper edge of the right wall portion 34 from the right. The indoor unit of the air conditioning system of the combine harvester 1 is installed inside the roof portion 35. 【0047】 The floor portion 36 of the cabin 30 forms a horizontal floor surface portion 52 in front of and below the driver's seat 14. Behind the floor surface portion 52, a substantially horizontal seat support surface portion 54 is provided via a downward sloping surface portion 53, and the driver's seat 14 is installed on the seat support surface portion 54 (see Figure 4). 【0048】 In the cabin 30 having the above configuration, the left side of the cabin 30 is formed by the left side wall 33 and the left portion of the roof 35. The right side of the cabin 30 is formed by the right side wall 34 and the right portion of the roof 35. Hereinafter, the left side of the cabin 30, including the left side wall 33 and the left portion of the roof 35, will be referred to as the left side of the cabin 37. 【0049】 The combine harvester 1 according to this embodiment includes an antenna unit 60 for receiving positional information from a satellite. The antenna unit 60 is located on the upper part of the left side surface 37 of the cabin 30, one of the left and right side surfaces of the cabin 30. The antenna unit 60 is supported by a predetermined support member relative to the cabin 30 so as to be located near the left side of the upper part of the left side surface 37 of the cabin. 【0050】 The antenna unit 60 has a box-like outer shape that is roughly rectangular in plan view, and is installed with its longitudinal direction as the front-to-back direction. The antenna unit 60 is installed at approximately the same height as the roof portion 35 in the vertical direction. Specifically, the vertical dimensions of the antenna unit 60 are approximately the same as the vertical dimensions of the side portion 50b of the roof panel 50, and the antenna unit 60 is installed so that approximately its entire vertical dimension is within the height range of the side portion 50b of the roof panel 50. 【0051】 The antenna unit 60 is positioned in front of the left support column 42 located on the left side of the cabin 37, in the front-rear direction. Specifically, the rear end of the antenna unit 60 is positioned near the left support column 42 in the front-rear direction, and it is positioned along the upper edge of the left front window 47 when viewed from the left side. The antenna unit 60 has approximately the same length as the upper edge of the left front window 47 in the front-rear direction. The antenna unit 60 has a dimension of approximately 1 / 3 of the total length of the roof 35 in the front-rear direction, and is positioned to the left front of the roof 35 (see Figure 6). 【0052】 The antenna unit 60 is positioned such that its right side is directly to the left of the left side portion 50b of the roof panel 50. In this way, the antenna unit 60 is positioned adjacent to the left of the front portion of the roof 35 relative to the cabin 30. 【0053】 With this arrangement of the antenna unit 60, in a configuration where the cabin 30 is located on the front right side of the combine harvester 1, the antenna unit 60 is positioned approximately in the center of the machine in the left-right direction (see Figure 3). Furthermore, since the antenna unit 60 is located to the front left of the roof section 35, the light distribution from the lighting section 51 and the field of view from inside the cabin 30 are not obstructed by the antenna unit 60. 【0054】 Furthermore, a space is formed between the left side of the cabin 30 and the retracted discharge auger 9, and the antenna unit 60 is positioned utilizing this space. The discharge auger 9 rotates from its retracted position to the left or upward of the aircraft. Therefore, the antenna unit 60 does not interfere with the discharge auger 9. 【0055】 The antenna unit 60 is configured as a positioning unit for receiving radio waves from positioning satellites to measure the position of the combine harvester 1. The antenna unit 60 comprises a receiving device 61 as a receiving unit, an inertial navigation device 62 as a calculation unit, a wireless communication device 63 as a communication unit, and a case 64 that houses these devices. The antenna unit 60 constitutes the automatic steering system of the combine harvester 1. 【0056】 The receiving device 61 receives radio waves from positioning satellites, converts the received radio waves into signals, and transmits them to the inertial navigation device 62. The receiving device 61 is, for example, a GNSS receiver (GNSS antenna) that receives radio waves from a constellation of GNSS satellites, or a GPS receiver (GPS antenna) that receives radio waves from GPS (Global Positioning System) satellites. 【0057】 The inertial navigation system 62 measures 3-axis gyroscopes and 3-directional acceleration to calculate attitude and heading data. The inertial navigation system 62 also calculates position data based on signals transmitted from the receiver 61. The inertial navigation system 62 functions as a computing device that calculates position data based on position information from the receiver 61. For example, by equipping the inertial navigation system 62 with a GNSS receiver, the reliability of the attitude and heading data calculated by the inertial navigation system 62 is improved. 【0058】 The antenna unit 60 is equipped with an inertial navigation device 62, which enables the use of inertial navigation to determine position even in situations where radio waves from positioning satellites cannot be received due to bad weather, radio interference, etc., by calculating the speed of movement, distance traveled, etc., based on the acceleration in three directions detected by the inertial navigation device 62. 【0059】 The wireless communication device 63 transmits position data and attitude / direction data calculated by the inertial navigation device 62 to an external device via wireless communication. The wireless communication device 63 is a data communication device that uses, for example, a wireless LAN (Local Area Network) or mobile communication. The data transmitted from the wireless communication device 63 is received by, for example, a mobile terminal held by the operator or the ECU (Electronic Control Unit) of the combine harvester 1, and is used for confirming the position within the field and confirming the attitude of the combine harvester 1 (tilt to the front, back, left, and right, etc.). 【0060】 The case 64 has a lower case body 65 that forms the lower part of the case 64 and an upper case body 66 that forms the upper part of the case 64, and these case bodies form the housing space and the external shape of the antenna unit 60. The case 64 has a relatively flat box-like external shape with the front-to-back direction as its longitudinal direction due to the lower case body 65 and the upper case body 66. The lower case body 65 and the upper case body 66 are made of, for example, resin. 【0061】 The lower case body 65 is a box-shaped member with an open top, and has a horizontal bottom surface 65a and a peripheral wall portion 65b that includes the front, rear, left, and right side surfaces and forms a rectangular opening with its upper edge. The upper case body 66 is a lid-like portion that covers the opening of the lower case body 65 from above. The upper case body 66 has a rectangular edge formed by its front, rear, left, and right surfaces, and is provided in a state where this edge is fitted into the rectangular opening of the lower case body 65. The upper case body 66 is fitted into the lower case body 65 with its lower opening edge overlapping the upper opening edge of the lower case body 65 from the outside, and the two case bodies are fixed to each other at multiple points by fasteners 67 such as bolts that pass through the fitting portions of each other. 【0062】 Within the case 64, the wireless communication device 63, the receiving device 61, and the inertial navigation device 62 are arranged in that order from front to rear, with predetermined intervals between them. These devices are fixed within the case 64 to a device mounting plate 68 (see Figure 16) provided on the upper side of the bottom surface 65a of the lower case body 65 by fasteners such as bolts. 【0063】 As described above, the antenna unit 60 is configured as an integrated unit in which the receiving device 61, inertial navigation device 62, and radio communication device 63 are housed within the case 64. This provides the antenna unit 60 with good mountability to the aircraft and high versatility for multiple aircraft models. 【0064】 Furthermore, regarding the arrangement of the antenna unit 60, by positioning the antenna unit 60 in the left-right center of the machine, errors in acquiring positional and attitude / direction information of the combine harvester 1 can be reduced, and good positioning accuracy can be obtained. In addition, since the antenna unit 60 is installed at approximately the same height as the roof portion 35 of the cabin 30, which is a high position on the combine harvester 1, good positioning accuracy can be obtained. 【0065】 The positioning data (location data and attitude / direction data) acquired by the antenna unit 60 is used to control the autonomous combine harvester 1, which operates autonomously while traveling along a pre-set route. The location data is used, for example, to determine whether the combine harvester 1 is traveling along a predetermined route. The attitude / direction data is used, for example, to recognize the inclination of the combine harvester 1, thereby confirming the travel status of the combine harvester 1 and the condition of the field. In addition, the operator can send real-time instructions to the combine harvester 1 by receiving data transmitted from the wireless communication device 63. 【0066】 The configuration of the antenna unit 60 is not limited to this embodiment. For example, the antenna unit 60 may be configured such that the receiving device 61 functions as a calculation unit that calculates position data from the position information received by the receiving device 61, thereby omitting the inertial navigation device 62. 【0067】 The support configuration of the antenna unit 60 will be explained using Figures 4 to 13. Note that in Figures 7, 8, and 10, a portion of the roof panel 50 is shown cut out. Also, in Figure 10, a portion is shown in cross-section. 【0068】 The combine harvester 1 is equipped with a support frame 70 as a support member for the antenna unit 60. The support frame 70 is a frame portion composed of round pipe-shaped members having a predetermined bent or curved shape, and is provided on the left side surface 37 of the cabin. 【0069】 The support frame 70 is configured to extend in the front and rear directions. The support frame 70 has a frame body that extends in the front-rear direction for most of its length, excluding both front and rear ends. The support frame 70 has a bent shape made of pipe-shaped members, and from the front to the rear, it has, in order, a front fixing part 71, a front-rear extending part 72, an inclined part 73, and a rear fixing part 74. 【0070】 The front fixing portion 71 is a part whose axis is oriented in the left-right direction, and it extends to the left from the left side surface portion 37 of the cabin. The right end of the front fixing portion 71 becomes the front end of the support frame 70. 【0071】 The front and rear extension portion 72 is a part whose axis is oriented in the front-rear direction, and it extends horizontally toward the rear from the left end of the front fixing portion 71, forming a right-angle corner together with the front fixing portion 71. The corner between the front and rear extension portion 72 and the front fixing portion 71 is a curved portion. 【0072】 The inclined portion 73 is a part whose axial direction is upward in the rear when viewed from the side, and gradually moves from the left side outward to the right side inward when viewed from the front to the rear when viewed from the top. The inclined portion 73 is a part that extends diagonally upward and to the rear right from the rear end of the front and rear extension portion 72, forming an obtuse angle together with the front and rear extension portion 72 when viewed from the side and in the top. 【0073】 In a side view, the angle between the inclined portion 73 and the front-to-rear extension portion 72 is, for example, about 170°. Similarly, in a top view, the angle between the inclined portion 73 and the front-to-rear extension portion 72 is, for example, about 170°. 【0074】 The rear fixing portion 74 is a part whose axis is oriented in the left-right direction, and extends horizontally to the right from the rear end of the inclined portion 73, forming an obtuse angle together with the inclined portion 73. In a plan view, the angle between the inclined portion 73 and the rear fixing portion 74 is, for example, about 100°. The corner between the inclined portion 73 and the rear fixing portion 74 is a curved portion. The right end of the rear fixing portion 74 becomes the rear end of the support frame 70. 【0075】 In the support frame 70, the front and rear extension portion 72 and the inclined portion 73 form a frame body portion that extends substantially in the front and rear direction. In a left side view, the support frame 70 is located near the lower edge of the left side portion 50b of the roof panel 50 and is provided to follow the left side portion 50b of the roof panel 50. 【0076】 The support frame 70 is installed with its front and rear ends fixed to the left side surface 37 of the cabin. Specifically, the support frame 70 is installed with the right end of the front fixing part 71, which is the front end, and the right end of the rear fixing part 74, which is the rear end, fixed to the left side surface 37 of the cabin. 【0077】 The front end of the support frame 70 is located near the upper end of the front upper surface portion 31a that constitutes the front surface portion 31 on the left side surface portion 37 of the cabin. The front end of the support frame 70 is fixed to the front upper side plate 57 that constitutes the front upper part of the left side surface portion 37 of the cabin via a front mounting plate 76. 【0078】 The front mounting plate 76 is a plate-shaped member having a roughly rectangular outer shape, and is fixed to the front upper side plate 57 with its thickness direction as the left-right direction and its longitudinal direction as the up-down direction. The front mounting plate 76 is fixed to the mounting seat 77 fixed to the front upper side plate 57 by fixing bolts 78. In other words, the front mounting plate 76 is fixed to the front upper side plate 57 via the mounting seat 77. 【0079】 The mounting base 77 is a metal fitting that has a roughly "U" shape when viewed from the front, with the right side (front upper side plate 57 side) being the open side, and is fixed to the front upper side plate 57 by welding or the like. The mounting base 77 has approximately the same dimensions as the front mounting plate 76 in the front-rear direction. In the mounting base 77, the left side is the surface that receives the mounting of the front mounting plate 76. 【0080】 The front mounting plate 76 is fixed to the mounting seat 77 at two points, front and rear, by fixing bolts 78. The fixing bolts 78 pass through the left side of the front mounting plate 76 and the mounting seat 77 and are screwed into nuts 79 provided on the back (right side) of the left side. The fixing points by the fixing bolts 78 are located near the front and rear corners of the upper part of the front mounting plate 76. The upper part of the front mounting plate 76 is fixed to the mounting seat 77 by the fixing bolts 78, and the lower part extends downward from the mounting seat 77. 【0081】 The lower part of the front mounting plate 76 is located near the left and right outer (left side) relative to the front upper corner of the left front window section 47. The right end of the front fixing portion 71 of the support frame 70 is fixed to the lower part of the front mounting plate 76. The right end of the front fixing portion 71 is fitted into a circular opening 76a formed in the lower part of the front mounting plate 76 and is fixed to the front mounting plate 76 by welding or the like. 【0082】 A reinforcing plate 80 is provided between the front mounting plate 76 and the support frame 70. The reinforcing plate 80 is a plate-shaped member having approximately the same dimensions as the front mounting plate 76 in the vertical direction, and is provided on the rear side of the front fixing portion 71 with the front-to-back direction oriented as the plate thickness direction. 【0083】 The reinforcing plate 80 is provided so as to protrude to the left perpendicularly from the front mounting plate 76 at the midpoint of the front-to-rear direction of the front mounting plate 76. The reinforcing plate 80 is fixed to the front mounting plate 76 by welding or the like, and is also fixed to the right end of the front fixing part 71 by welding or the like. The portion of the reinforcing plate 80 that is fixed to the front fixing part 71 has a bulging shape in which the left-to-right dimension is longer than that of the other parts. 【0084】 The front fixing portion 71 of the support frame 70 is fixed to the front mounting plate 76 in relation to the portion of the roof panel 50 that extends downward from the left side portion 50b. The portion of the front mounting plate 76 fixed to the front upper side plate 57 by the fixing bolts 78 is covered from the left by the left side portion 50b of the roof panel 50. Therefore, in a left side view, the portion of the front mounting plate 76 fixed to the front upper side plate 57 is hidden by the left side portion 50b of the roof panel 50. 【0085】 The rear end of the support frame 70 is located above the rear of the left rear window section 43 on the left side surface 37 of the cabin. The rear end of the support frame 70 is fixed to the upper end of the left side plate 44, which forms the rear of the left side surface 37 of the cabin, via a rear mounting plate 81. 【0086】 The rear mounting plate 81 is a plate-like member having an outer shape that is roughly the shape of a truncated isosceles triangle, and is fixed to the left side plate 44 with the plate thickness direction as the left-right direction and the top side facing downwards. The rear mounting plate 81 is fixed to the left side plate 44 by fixing bolts 82. 【0087】 The rear mounting plate 81 is fixed to the left side plate 44 at two points, front and rear, by fixing bolts 82. The fixing bolts 82 pass through the left side plate 44 and are screwed into female threaded portions (not shown) provided on the back side (right side) of the left side plate 44. The fixing points by the fixing bolts 82 are located near the front and rear corners of the upper part of the rear mounting plate 81. 【0088】 The right end of the rear fixing portion 74 of the support frame 70 is fixed to the lower part of the rear mounting plate 81. The right end of the rear fixing portion 74 is fitted into a circular opening 81a formed in the lower part of the rear mounting plate 81 and is fixed to the rear mounting plate 81 by welding or the like. 【0089】 The rear fixing portion 74 of the support frame 70 is fixed to the rear mounting plate 81 to the portion of the roof panel 50 that extends downward from the left side portion 50b. The upper part of the fixing portion of the rear mounting plate 81 to the left side plate 44 by the fixing bolt 82 is covered from the left by the left side portion 50b of the roof panel 50. Therefore, the upper part of the fixing portion of the rear mounting plate 81 to the left side plate 44 is hidden by the left side portion 50b of the roof panel 50 when viewed from the left side. 【0090】 As described above, the antenna unit 60 is supported on the front of the support frame 70, which is fixedly supported to the cabin 30. The antenna unit 60 is supported in a fixed state by support brackets 90 provided at two locations, front and rear, on the front and rear extension portion 72 of the support frame 70. The front support bracket 90 is provided near the corner formed by the front fixing portion 71 and the front and rear extension portion 72 with respect to the support frame 70, and the rear support bracket 90 is provided in the middle of the front and rear extension portion 72. 【0091】 The support bracket 90 is fixed to a mounting bracket 91 which is fixed to the support frame 70. In other words, the support bracket 90 is provided to the support frame 70 via the mounting bracket 91. The support bracket 90 and the mounting bracket 91 are configured to be symmetrical or approximately symmetrical with respect to the axis of the front and rear extension portion 72 of the support frame 70. Furthermore, the front and rear sets of support brackets 90 and mounting brackets 91 are configured to be symmetrical or approximately symmetrical with respect to the front and rear directions. 【0092】 The mounting bracket 91 is a longitudinal member formed by bending a plate-shaped member, and is provided above the front and rear extensions 72 so as to be perpendicular to the axial direction of the front and rear extensions 72 in a plan view, with the longitudinal direction being the left-right direction. The mounting bracket 91 has a front portion 91a, a rear portion 91b, and an upper portion 91c that are parallel to each other, and these portions form a roughly "U" shape with the lower side open in a side view. 【0093】 Semicircular notches 91d are formed on the lower sides of the left and right central portions of the front portion 91a and rear portion 91b of the mounting bracket 91 for fitting the front and rear extension portions 72. The mounting bracket 91 is fixed to the front and rear extension portions 72 by welding or the like with the front and rear extension portions 72 fitted into the notches 91d of the front portion 91a and rear portion 91b. The mounting bracket 91 has dimensions in the longitudinal direction that are shorter than the width (left and right) dimension of the case 64 of the antenna unit 60, and longer than half of that dimension. 【0094】 The support bracket 90 is a longitudinal member formed by bending a plate-shaped member, and is provided above the front and rear extension portion 72 so as to be perpendicular to the axial direction of the front and rear extension portion 72 in a plan view, with the longitudinal direction being the left-right direction. The support bracket 90 has approximately the same length as the mounting bracket 91. 【0095】 The support bracket 90 has a fixed surface portion 90a whose front-to-back direction is the thickness direction of the plate, a horizontal support surface portion 90b formed by bending at a right angle from the upper end of the fixed surface portion 90a, and left and right side portions 90c formed by bending at right angles from both the left and right ends of the fixed surface portion 90a. In the support bracket 90, the support surface portion 90b is the surface that receives the mounting of the case 64 of the antenna unit 60. The support surface portion 90b is located at approximately the same height as the upper surface portion 91c of the mounting bracket 91. 【0096】 The front support bracket 90 is positioned in front of the mounting bracket 91 with its fixed surface portion 90a facing the rear, and is fixed to the mounting bracket 91 at two points on both the left and right ends by fixing bolts 92, with the fixed surface portion 90a overlapping the front portion 91a of the mounting bracket 91. The fixing bolts 92 pass through the fixed surface portion 90a and the front portion 91a and are screwed into nut portions 93 provided on the rear side of the front portion 91a of the mounting bracket 91. 【0097】 The rear support bracket 90 is positioned behind the mounting bracket 91 with its fixed surface portion 90a facing forward, and is fixed to the mounting bracket 91 at two points on both the left and right ends by fixing bolts 94, with the fixed surface portion 90a overlapping the rear surface portion 91b of the mounting bracket 91. The fixing bolts 94 pass through the fixed surface portion 90a and the rear surface portion 91b and are screwed into nut portions 95 provided on the front side of the rear surface portion 91b of the mounting bracket 91. 【0098】 Semicircular notches 90d are formed on the lower side of the left and right central portions of the fixed surface portion 90a of the support bracket 90 for fitting the front and rear extension portions 72. The support bracket 90 has an inverted V-shaped concave shape with the notches 90d positioned in the center of the lower left and right central portions, and by fitting the front and rear extension portions 72 into the notches 90d, the lower edges on both the left and right sides are positioned below the front and rear extension portions 72. 【0099】 The case 64 of the antenna unit 60 is fixed to the support surface 90b of the front and rear support brackets 90 by fixing bolts 96. The fixing points for the fixing bolts 96 are provided at two locations on each support bracket 90, on both the left and right sides. For this reason, holes 90e are formed at two locations on each side of the support surface 90b of the support bracket 90 for the fixing bolts 96 to pass through (see Figure 9). In this way, the antenna unit 60 is fixed to the front and rear support brackets 90 at a total of four locations by fixing bolts 96, two on each side. 【0100】 In the antenna unit 60, a female threaded portion 97 for receiving a fixing bolt 96 is provided inside the case 64. The female threaded portion 97 is made up of a cylindrical member having a screw hole and is fixed to the case 64 such that the screw hole opens facing the bottom surface 65a of the lower case body 65 of the case 64. The female threaded portion 97 is provided in four locations corresponding to the fixing portion by the fixing bolt 96. In this configuration, the fixing bolt 96 passes through the support surface 90b of the support bracket 90 from below and is screwed into the female threaded portion 97, fixing the case 64 to the support bracket 90. 【0101】 The antenna unit 60 is supported on the upper side of the approximately front half of the support frame 70. Specifically, the antenna unit 60 is positioned relative to the support frame 70 such that, in a plan view, the left-right center of the outer shape of the case 64 coincides with or approximately coincides with the axis of the front-rear extension portion 72. Furthermore, in the front-rear direction, the front end of the case 64 of the antenna unit 60 is positioned in front of the front fixing portion 71, and the rear end of the case 64 is positioned in front of the bend formed by the front-rear extension portion 72 and the inclined portion 73. 【0102】 As described above, the antenna unit 60 is supported by a support frame 70 on the upper left side of the cabin 30, and a handrail 100 is provided. That is, the combine harvester 1 is equipped with a handrail 100 used for working on the antenna unit 60. The handrail 100 is made of a round pipe-shaped member having a predetermined bent or curved shape, and is provided on the left side surface 37 of the cabin 30. 【0103】 The handrail section 100 is configured to extend vertically. The majority of the handrail section 100, excluding the upper and lower ends, is a handrail body that extends vertically when viewed from the side. The handrail section 100 has a bent shape made of pipe-shaped members, and from the bottom to the top, it has, in order, a lower fixing section 101, an inclined extension section 102, and an upper fixing section 103. 【0104】 The lower fixing portion 101 is a part whose axis is oriented in the left-right direction, and it extends to the left from the left side surface portion 37 of the cabin. The right end of the lower fixing portion 101 becomes the lower end of the handrail portion 100. 【0105】 The inclined extension portion 102 is a portion whose axial direction is along the vertical direction in a side view, and gradually slopes from the lower side to the upper side from the left and right inward (right side) to the left and right outward (left side) in a front view. The inclined extension portion 102 is a portion that extends diagonally upward and to the left, forming an obtuse angle together with the lower fixing portion 101 in a front view. In a front view, the angle that the axial direction of the inclined extension portion 102 makes with respect to the vertical direction is, for example, about 5 to 10°. The corner between the inclined extension portion 102 and the lower fixing portion 101 is a curved portion 104. 【0106】 The upper fixing portion 103 is a part whose axis is oriented vertically, and it extends upward from the upper end of the inclined extension portion 102, forming an obtuse-angled corner together with the inclined extension portion 102. The upper end of the upper fixing portion 103 becomes the upper end of the handrail portion 100. 【0107】 In the handrail section 100, the inclined extension section 102 and the upper fixing section 103 form a handrail body that extends vertically in a side view. The inclined extension section 102, which makes up the majority of this handrail body, is the part of the handrail section 100 that is mainly gripped by the worker. In a left side view, the handrail section 100 is provided so as to overlap the upper part of the left support section 42 that constitutes the left side surface section 37 of the cabin. In the vertical direction, the handrail section 100 is provided over more than half of the left side surface section 37 of the cabin. Specifically, the upper end of the handrail section 100 is positioned at approximately the same height as the upper end of the front upper surface section 31a of the cabin 30, and the lower end is positioned at a height lower than the lower end of the front upper surface section 31a. 【0108】 The handrail section 100 is provided with its upper end connected to the support frame 70 and its lower end fixed to the left side surface 37 of the cabin. In other words, the handrail section 100 is provided with the upper end of the upper fixing section 103 connected to the support frame 70, and the right end of the lower fixing section 101 fixed to the left side surface 37 of the cabin. 【0109】 The upper end of the handrail section 100 is connected to the support frame 70 via an upper support bracket 110, which is an upper connecting member fixed to the support frame 70. The upper support bracket 110 is provided on the lower side of the support frame 70, in the portion between the rear support bracket 90 and the corner formed by the front and rear extension section 72 and the inclined section 73. 【0110】 The upper support bracket 110 is a member formed by bending a plate-shaped member into a predetermined shape. The upper support bracket 110 has a roughly rectangular fixed surface portion 110a with the left-right direction being the thickness direction of the plate, and front and rear side portions 110b that are bent at right angles from the front and rear ends of the fixed surface portion 110a toward the left and right inward (right side). These surfaces form a roughly "U" shape with the right side as the open side when viewed from above. In the upper support bracket 110, the fixed surface portion 110a is the surface portion that receives the attachment of the upper end of the handrail portion 100. 【0111】 A concave notch 110c is formed on the upper left side of the front and rear side portions 110b of the upper support bracket 110 for fitting the front and rear extension portions 72 of the support frame 70. The upper support bracket 110 is fixed to the front and rear extension portions 72 by welding or the like, with the front and rear extension portions 72 positioned within the notch 110c of the front and rear side portions 110b. The upper edge of the fixed surface portion 110a of the upper support bracket 110 is positioned to the left of the front and rear extension portions 72. 【0112】 The handrail section 100 is fixed to the upper support bracket 110 at the upper end of the upper fixing section 103 via a fixing plate 115. The fixing plate 115 is a plate-like member having an outer shape of a roughly truncated isosceles triangle, with the plate thickness direction as the left-right direction and the top side facing downwards. The fixing plate 115 is fixed to the left side of the upper end of the upper fixing section 103 by welding or the like. 【0113】 The fixing plate 115 is fixed to the fixing surface 110a of the upper support bracket 110 at two points, front and back, by fixing bolts 116, overlapping the fixing surface 110a from the back (right side). The fixing bolts 116 pass through the fixing surface 110a and the fixing plate 115 and are screwed into nuts 117 provided on the back (right side) of the fixing plate 115. The fixing points by the fixing bolts 116 are located near the front and rear corners of the upper part of the fixing plate 115. 【0114】 The handrail section 100, as well as the upper support bracket 110 and fixing plate 115 for connecting the upper end of the handrail section 100 to the support frame 70, are configured to be symmetrical or nearly symmetrical in a left-side view, with respect to the axis of the handrail section 100 along the vertical direction. Furthermore, in a left-side view, the entire handrail section 100 is positioned within the width (front-to-back dimension) of the left support column 42 that constitutes the left side surface 37 of the cabin. 【0115】 The lower end of the handrail portion 100 is fixed to the left support portion 42, which constitutes the left side surface portion 37 of the cabin, via a lower support bracket 120, which is a mounting member. As shown in Figure 12, the lower support bracket 120 is a mounting fitting that has a roughly "L" shaped bend. The lower support bracket 120 has a fixed surface portion 121 and a support surface portion 122 as the bend-shaped surface portion. 【0116】 The lower support bracket 120 is fixed to the left support column 42 at two points, top and bottom, by fixing bolts 124, with the fixing surface portion 121 aligned along the left side surface 42a of the left support column 42, with the vertical direction being its longitudinal direction. The fixing bolts 124 pass through the fixing surface portion 121 and the left side surface portion of the left support column 42 that forms the left side surface 42a, and are screwed into nuts (not shown) provided on the back side of this left side surface portion. The support surface portion 122 protrudes to the left from the front side of the fixing surface portion 121, with the front-to-back direction being the thickness direction of the plate. 【0117】 In the lower support bracket 120, a through-hole 123 is formed in the central part in the vertical direction. The opening 123 is formed by cutting out the corners formed by the fixing surface portion 121 and the support surface portion 122. With respect to the portion formed on the fixing surface portion 121, the opening 123 has a circular portion that follows the outer shape of the lower fixing portion 101 of the handrail portion 100 in an axial view to the left side view. On the fixing surface portion 121, fixing portions by fixing bolts 124 are provided on both the upper and lower sides of the opening 123. 【0118】 With respect to the lower support bracket 120 as described above, the handrail portion 100 is fixed to the lower support bracket 120 by welding or the like, with the tip of the lower fixing portion 101 fitted into the opening 123 in the fixing surface portion 121, and the lower fixing portion 101 and a part of the curved portion 104 positioned on the rear surface 122a side of the support surface portion 122. The welded parts of the handrail portion 100 to the lower support bracket 120 are, for example, the fitting portion of the lower fixing portion 101 into the opening 123 and the contact portions of the lower fixing portion 101 and the curved portion 104 into the rear surface 122a of the support surface portion 122. 【0119】 As described above, the handrail section 100 is connected and supported at its upper end to the support frame 70 and at its lower end to the left side surface 37 of the cabin, and is installed in a state where it is suspended between the support frame 70 and the left side surface 37 of the cabin. 【0120】 In the configuration described above, where the handrail portion 100 is provided on the support frame 70 of the antenna unit 60, the antenna unit 60 and the handrail portion 100 are positioned so that they are in front of and behind each other in a plan view. 【0121】 As shown in Figure 6, in this embodiment, the handrail portion 100 is located behind the antenna unit 60 in the front-rear direction, and the antenna unit 60 and the handrail portion 100 are arranged side by side in the front-rear direction. Specifically, the handrail portion 100, which extends along the left-right direction in a plan view, is located near the rear of the rear end of the case 64 relative to the antenna unit 60. 【0122】 In this embodiment, the handrail portion 100 is located behind the antenna unit 60 in the front-rear direction, but the arrangement is not limited to this embodiment, where they are located front-rear to front-rear in a plan view. For example, the handrail portion 100 located below the antenna unit 60 may be arranged so that a portion (the front portion) overlaps with the rear end of the antenna unit 60 in a plan view. 【0123】 Furthermore, the handrail section 100 is made of metal parts. Specifically, the handrail section 100 is made of a steel pipe having a circular cross-sectional shape. The handrail section 100 is positioned so that its upper end is at a height lower than the antenna unit 60. 【0124】 As shown in Figure 7, the upper end of the handrail portion 100 is located below the upper end of the fixing plate 115. The upper end of the fixing plate 115 is located below the upper end of the fixing surface portion 110a of the upper support bracket 110. The upper support bracket 110 is located below the upper end of the front and rear extension portion 72 of the support frame 70. The antenna unit 60 is provided above the front and rear extension portion 72 via the support bracket 90, with the bottom surface portion 65a of the case 64 supported by the support bracket 90 provided above the front and rear extension portion 72. 【0125】 Thus, the upper end of the handrail portion 100 is located below the bottom portion 65a, which is the lower surface of the antenna unit 60. The upper end of the handrail portion 100 is the horizontal open end surface of the steel pipe that constitutes the handrail portion 100. 【0126】 As shown in Figure 13, the cabin 30 is rotatable around an opening / closing axis A1, which is a vertical axis relative to the traveling body 4, so that it opens outwards in the left-right direction of the combine harvester 1. In the example shown in Figure 13, the opening / closing axis A1 is located slightly to the left of the rear of the cabin 30 in a plan view. 【0127】 As shown in Figure 13, the cabin 30 is designed to rotate approximately 90° to the right around the opening / closing axis A1, from a stowed position facing forward (see arrow B1). The state in which the cabin 30 is rotated approximately 90° to the right from the stowed position is defined as the open state. In Figure 13, the cabin 30 in the open state is shown by a dashed line. 【0128】 The rotational support portion of the cabin 30, centered on the opening / closing axis A1, is composed of, for example, a support column erected on the traveling body 4 and a cylindrical shaft support provided on the cabin 30 side and rotatably connected to the support column. The cabin 30 is fixed to the traveling body 4 by a locking mechanism (not shown) in both the stowed and open states. When the cabin 30 is open, it becomes easier to inspect and repair the engine 11 and surrounding equipment located below the cabin 30. 【0129】 When the cabin 30 is opened, the grain tank 7 rotates outward from its normal storage position, opening its front end outward from the machine body, around the axis of the vertical discharge conveyor 9b (see Figure 1) of the discharge auger 9 (side-open state). This ensures space for the cabin 30 when it is open and prevents the cabin 30 from interfering with the grain tank 7. By rotating the grain tank 7 to open outward (to the right) from the machine body, the right side of the threshing unit 6 and the space for the engine 11 are opened. The grain tank 7 is also provided with a locking device (not shown) to fix it in the storage position. 【0130】 In the cabin 30, which is designed to rotate outward in the width direction (left-right direction) of the aircraft, the left side surface 37 of the cabin, which serves as the mounting surface for the antenna unit 60, support frame 70, and handrail 100, is the side surface located inward in the left-right direction of the aircraft, out of the left and right side surfaces of the cabin 30. In other words, the antenna unit 60, support frame 70, and handrail 100 are installed on the left side surface 37 of the cabin, which is the side surface of the cabin 30 opposite to the side on which the cabin 30 opens. 【0131】 Therefore, when the cabin 30 rotates to the right around the opening / closing axis A1 and opens (see Figure 13, arrow B1), the left side of the cabin 37 faces approximately forward or forward. In other words, with respect to the cabin 30 that has rotated to the right, the antenna unit 60, support frame 70, and handrail 100 are positioned in front of it, and the cabin is open on the right side of the aircraft. 【0132】 Furthermore, the combine harvester 1 is equipped with an auxiliary antenna 130 as an antenna for acquiring supplementary information for the antenna unit 60 (see Figure 7). The auxiliary antenna 130 is an antenna for acquiring GPS correction information in the automatic steering system of the combine harvester 1 provided by the antenna unit 60. The auxiliary antenna 130 is a straight rod-shaped member. 【0133】 The auxiliary antenna 130 receives GPS correction information via communication means such as an internet connection from its own antenna, a communication carrier base station, or a fixed base station installed by a local government. The antenna unit 60 corrects the position information from positioning satellites received by the receiving device 61 using the correction information received by the auxiliary antenna 130, using the inertial navigation device 62, etc., and outputs (transmits) the unit's position information using the wireless communication device 63, etc. 【0134】 The auxiliary antenna 130 is provided at the connection point between the handrail portion 100 and the support frame 70. Specifically, the upper support bracket 110, which is a connecting member constituting the connection point between the handrail portion 100 and the support frame 70, is provided with an antenna support surface portion 110d to support the auxiliary antenna 130. 【0135】 The antenna support surface portion 110d is a horizontal plate-like portion of the upper support bracket 110 that is bent at a right angle to the left from the upper end of the fixed surface portion 110a. A notched support recess 110e is formed in the front-to-back center of the left end of the antenna support surface portion 110d. The support recess 110e is a concave portion with the left side open and is formed to penetrate the antenna support surface portion 110d in the plate thickness direction. 【0136】 The antenna support surface 110d serves as the mounting base for the auxiliary antenna 130, and the auxiliary antenna 130 is supported in an upright position by the support recess 110e. As a fixing structure for the auxiliary antenna 130 to the antenna support surface 110d, for example, as shown in Figure 7, an enlarged flange portion 131 is formed at the lower end of the auxiliary antenna 130, and a male screw portion is formed on the lower part thereof, and the antenna support surface 110d is clamped and fixed from above and below by a nut 132 screwed onto the flange portion 131 and the male screw portion. The height of the auxiliary antenna 130 is such that, for example, the tip (upper end) of the auxiliary antenna 130 is located in the middle of the case 64. 【0137】 Thus, the auxiliary antenna 130 is mounted on the upper support bracket 110 and positioned directly above the handrail 100. The shape of the auxiliary antenna 130 and the configuration for fixing it to the antenna support surface 110d are not particularly limited. Furthermore, the antenna supported by the upper support bracket 110 is not limited to the auxiliary antenna 130; any antenna used to acquire information about the antenna unit 60 is acceptable, regardless of its function or shape. 【0138】 According to the combine harvester 1 of this embodiment, which has the above configuration, in a configuration in which the antenna unit 60 is provided at a height above the cabin 30, the safety of work on the antenna unit 60 can be improved. 【0139】 The combine harvester 1 is equipped with a handrail 100 on the left side 37 of the cabin. With this configuration, when removing, adjusting the height of, or performing maintenance on the antenna unit 60, which is located high above the ground, the worker can stabilize their body by gripping the handrail 100 while working on the antenna unit 60 while standing on a platform or stepladder. This improves the safety of the work. When working on the antenna unit 60, the cutting section 5 is opened to the side, which opens up the space on the left front side of the cabin 30, and this space is used as a place to set up a platform or stepladder or as a workspace for the worker. 【0140】 Furthermore, regarding the shape of the handrail portion 100, the handrail portion 100 has a shape in which the inclined extension portion 102, which makes up the majority of the handrail portion 100, is inclined from the top to the bottom in a direction that approaches the left side surface portion 37 of the cabin. With this configuration, for example, compared to a configuration in which the handrail portion 100 is extended vertically as a whole, good gripping ability can be obtained, and the machine can be made more compact by avoiding contact between the handrail portion 100 and the rear of the harvesting portion 5. 【0141】 Furthermore, in the combine harvester 1, the antenna unit 60 and the handrail section 100 are arranged side by side in the front-to-back direction. With this configuration, the arrangement spaces for the antenna unit 60 and the handrail section 100 are separated front to back, so good gripping of the handrail section 100 can be obtained. As a result, the usability of the handrail section 100 is improved, and safety when working with the antenna unit 60 while standing on a platform or stepladder can be effectively enhanced. 【0142】 In this embodiment, the handrail portion 100 is provided on the rear side of the antenna unit 60, but the front-to-back relationship between them may be reversed. In other words, the handrail portion 100 may be positioned on the front side of the antenna unit 60 in the front-to-back direction. 【0143】 Furthermore, in the combine harvester 1, the support frame 70 supporting the antenna unit 60 is provided in a manner that extends in the front-rear direction, with its front and rear ends fixed to the left side surface 37 of the cabin, and the handrail portion 100 is provided in a manner that extends in the vertical direction, with its upper end connected to the support frame 70 and its lower end fixed to the left side surface 37 of the cabin. With this configuration, the antenna unit 60 can be firmly supported against the cabin 30. 【0144】 Specifically, as shown in Figure 4, the support frame 70 supporting the antenna unit 60 is fixed to the left side surface 37 of the cabin at two points, front and rear, by a first fixing point on the upper front by a front mounting plate 76 and a second fixing point on the upper rear by a rear mounting plate 81. The lower end of the handrail 100, whose upper end is connected to the front-to-rear intermediate part of the support frame 70, is fixed to the left side surface 37 of the cabin by a third fixing point by a lower support bracket 120. 【0145】 Thus, the support configuration for the antenna unit 60 on the left side surface 37 of the cabin is a frame structure in which a support frame 70, supported at the front and rear by a first and second fixing part, is supported from below by a handrail part 100, one end of which is supported by a third fixing part. With such a frame structure, the antenna unit 60 can be firmly and evenly supported on the left side surface 37 of the cabin at three fixing parts located at the vertices of a roughly inverted isosceles triangle in a left-side view, namely the first fixing part, the second fixing part, and the third fixing part, thereby obtaining sufficient support strength. 【0146】 Furthermore, regarding the form of the support frame 70, the support frame 70 has an inclined portion 73 at its rear that, in a plan view, is inclined from the front to the rear, approaching the left side surface portion 37 of the cabin. With this configuration, it is possible to avoid the support frame 70 coming into contact with the discharge auger 9, which is located near the left side of the support frame 70 when it is stored. In a plan view, the extension direction of the inclined portion 73 is approximately parallel to the extension direction of the discharge auger 9 when it is stored. 【0147】 Furthermore, in the combine harvester 1, the cabin 30 is designed to rotate to the right relative to the traveling body 4 and open. The antenna unit 60 and the handrail 100 are provided on the left side 37 of the cabin, which is opposite to the side from which the cabin 30 opens. With this configuration, when the cabin 30 is open, the left side 37 of the cabin faces forward, creating an open space in front of the antenna unit 60 and the handrail 100. This allows for good workability when working on the antenna unit 60 while standing on a platform or ladder, thereby improving work efficiency. 【0148】 Furthermore, in the combine harvester 1, the handrail section 100 is made of metal parts, and the upper end of the handrail section 100 is located below the antenna unit 60. With this configuration, the strength of the handrail section 100 can be easily ensured, and good workability can be obtained in the manufacture of the handrail section 100. In addition, interference between the handrail section 100 and radio wave reception by the antenna unit 60 can be suppressed, and good sensitivity for radio wave reception by the antenna unit 60 can be obtained. As a result, the positioning accuracy of the combine harvester 1 by the antenna unit 60 can be ensured. 【0149】 Furthermore, the combine harvester 1 is equipped with an auxiliary antenna 130, and the support portion of the auxiliary antenna 130 is provided on the upper support bracket 110, which constitutes the connection portion on the upper end side of the handrail portion 100 to the support frame 70. With this configuration, compared to the case where the auxiliary antenna 130 is provided in the driver's unit 12 inside the cabin 30, the auxiliary antenna 130 can be installed outside the cabin 30, thus providing better communication sensitivity. 【0150】 Furthermore, since the auxiliary antenna 130 can be installed using the connecting structure of the handrail section 100, the auxiliary antenna 130 can be installed with a simple configuration without the need to provide a separate support structure for the auxiliary antenna 130. In addition, the connection portion of the handrail section 100 to the support frame 70 is less affected by the vibration of the machine compared to other parts of the support frame 70, for example, so the auxiliary antenna 130 can be installed in a position advantageous to the vibration of the auxiliary antenna 130. As described above, by installing the auxiliary antenna 130 at the connection portion of the handrail section 100 to the support frame 70, the positioning accuracy of the combine harvester 1 by the antenna unit 60 can be ensured with a simple configuration. 【0151】 [Antenna Unit Configuration] The configuration of the antenna unit 60 will be explained using Figures 14 to 18. Note that Figures 14 and 16 show the unit with the upper case 66 removed. 【0152】 As shown in Figures 14 and 15, the antenna unit 60 has a wireless communication device 63, a receiving device 61, and an inertial navigation device 62, which are provided from the front to the rear. These devices are fixed to a horizontal plate-shaped device mounting plate 68 that is provided parallel to the bottom surface 65a inside the case 64. 【0153】 The device mounting plate 68 is provided inside the case 64 so as to cover almost the entire bottom surface 65a from above, and has a roughly rectangular outer shape with the front-to-back direction as its longitudinal direction, corresponding to the shape of the bottom surface 65a. The top surface of the device mounting plate 68 is a horizontal mounting surface 68a that receives the mounting of each device. The four corners of the device mounting plate 68 have chamfered inclined edges. In addition, on the long sides of the device mounting plate 68 in the short direction (left-to-right direction), reinforcing bent surfaces 68b are formed that are bent perpendicularly downward to the horizontal main body of the device mounting plate 68 (see Figure 15). The device mounting plate 68 is a metal member such as a steel plate and is fixed to the bottom surface 65a of the lower case body 65 by fasteners such as bolts (not shown). 【0154】 The wireless communication device 63 is mounted on the front end of the device mounting plate 68. The wireless communication device 63 has a main body 63a with a roughly rectangular parallelepiped shape and two antenna parts 63b erected on the left side of the main body 63a. The wireless communication device 63 has fixing pieces 63c on both the front and rear sides of the main body 63a for fixing the wireless communication device 63 to the device mounting plate 68. The fixing pieces 63c are plate-shaped portions that protrude outward from the lower edge of the main body 63a along the mounting surface 68a. 【0155】 The wireless communication device 63 is fixed to the device mounting plate 68 by bolts 151 that pass through the fixing piece 63c and the device mounting plate 68 from above. The bolts 151 are screwed into nuts 152 located on the underside of the device mounting plate 68. The fixing points of the wireless communication device 63 by the fixing piece 63c are provided at a total of four locations, two on each side of the front and rear of the main body 63a (see Figure 14). 【0156】 The inertial navigation device 62 is mounted on the rear end of the device mounting plate 68. The inertial navigation device 62 has a roughly rectangular shape in plan view and a roughly inverted square thruster shape that tapers at the bottom. The inertial navigation device 62 is fixed to the device mounting plate 68 by bolts 153 that pass through the device mounting plate 68 from below while it is mounted on the device mounting plate 68. The bolts 153 are screwed into female threaded portions 154 that are located inside the inertial navigation device 62 and open to the bottom surface of the inertial navigation device 62. There are a total of four fixing points by bolts 153, two on each side of the front and rear (see Figure 14). 【0157】 The receiving device 61 has a flattened outer shape that forms a roughly rounded equilateral triangle in plan view, with one vertex on the right side and the left side oriented along the front-to-back direction. The receiving device 61 is mounted on the device mounting plate 68 in the middle of the front-to-back section of the device mounting plate 68 via the antenna support base 160. 【0158】 The antenna support base 160 is a box-shaped member formed by bending a plate-shaped member into a predetermined shape. The antenna support base 160 is fixed to the device mounting plate 68. The antenna support base 160 forms a support surface 160a that is located at a height separated upward from the device mounting plate 68, serving as the surface for supporting the receiving device 61. 【0159】 The antenna support base 160 has a horizontal upper surface portion 161 with its upper surface as a support surface 160a, a front surface portion 162 that is bent at a right angle downward from the front edge of the upper surface portion 161, a right side surface portion 163 that is bent at a right angle downward from the right edge of the upper surface portion 161, and a right rear side surface portion 164 that is bent at a right angle downward from the right rear edge of the upper surface portion 161. 【0160】 The antenna support base 160 has fixing pieces 165a, 165b, and 165c on both the front and rear sides for fixing the antenna support base 160 to the device mounting plate 68. These fixing pieces have a predetermined shape so as not to interfere with other devices attached to the device mounting plate 68. The front fixing pieces 165a and 165b are plate-shaped portions that protrude outward (to the front) from the lower end of the front portion 162 along the mounting surface 68a. The rear fixing piece 165c is a plate-shaped portion that protrudes outward (to the rear right) from the lower end of the right rear side portion 164 along the mounting surface 68a. 【0161】 The antenna support base 160 is fixed to the device mounting plate 68 by bolts 167 that pass through the device mounting plate 68 and each fixing piece 165a, 165b, and 165c from below. The bolts 167 are screwed into nuts 168 located on the upper side of the device mounting plate 68. The fixing points of the antenna support base 160 by bolts 167 are provided in a total of four places: one each on the front fixing pieces 165a and 165b, and two on the rear fixing piece 165c (see Figure 16). Holes 166 are formed in each fixing piece 165a, 165b, and 165c for passing the bolts 167 through (see Figure 17). 【0162】 The upper surface 161 of the antenna support base 160 has an opening 161a, which is a roughly equilateral triangular through-hole corresponding to the plan view outer shape of the receiving device 61. The receiving device 61 is mounted on the support surface 160a of the antenna support base 160 and fixed to the upper surface 161. The receiving device 61 is mounted on the upper surface 161 so as to cover the entire opening 161a and is fixed to the upper surface 161 by bolts 169. The bolts 169 pass through the upper surface 161 from below and are screwed into female threaded portions that are located inside the receiving device 61 and open to the bottom surface of the receiving device 61 (see Figure 15). The fixing points by the bolts 169 are provided at three locations near each apex of the roughly equilateral triangular opening 161a. The upper surface 161 has holes 161b formed for the bolts 169 to pass through. 【0163】 In this manner, the antenna support base 160, which constitutes the base of the receiving device 61, forms a space 170 between itself and the device mounting plate 68 (see Figure 15). The space 170 is formed by the device mounting plate 68, the top surface 161, the front surface 162, the right side surface 163, and the right rear side surface 164, with the left side open. 【0164】 Each of the devices in the antenna unit 60, including the receiver 61, inertial navigation device 62, and wireless communication device 63, is connected to a cable (not shown) that includes power supply lines and signal lines for receiving power. In the wireless communication device 63, a connector 63d for receiving the cable is provided on the right side of the main body 63a. In the receiver 61, a connector 61d for receiving the cable is provided on the rear side. In the inertial navigation device 62, a connector (not shown) for receiving the cable is provided on the right side. 【0165】 A cable insertion section 69, which forms a guide hole for passing a cable, is provided on the right side of the front part of the peripheral wall 65b of the lower case body 65. For example, the cable wiring configuration in the antenna unit 60 is such that branch cables connected to the connectors of each device inside the case 64 are consolidated into a single consolidation cable 175, and this consolidation cable 175 is extended to the outside of the case 64 via the cable insertion section 69. The consolidation cable 175 extending to the outside from the case 64 is connected to a predetermined cable extending from the main unit side of the combine harvester 1. In this way, in the antenna unit 60, the cable extends to the outside from the left and right inner sides of the case 64, that is, from the cabin 30 side. 【0166】 The antenna unit 60 has a converter 180 provided for the receiving device 61. The converter 180 is a DC / DC converter that controls the voltage of DC power to convert DC power to DC power, and has functions for voltage conversion and stabilization. 【0167】 The converter 180 has a casing 181 with a roughly rectangular parallelepiped shape and is installed on a device mounting plate 68 within a space 170 provided by the antenna support base 160. In a plan view, the converter 180 is positioned at an angle of approximately 30° to the left and right, so that the entire unit fits within the space 170. The orientation of the converter 180 is not particularly limited. 【0168】 The converter 180 is fixed to the device mounting plate 68 by bolts 183 at plate-shaped fixing portions 182 formed in the shape of notches at a pair of diagonally opposite corners of the casing 181 in a plan view. The bolts 183 pass through the fixing portions 182 and the device mounting plate 68 and are screwed into nut portions 184 located on the underside of the device mounting plate 68. 【0169】 The converter 180 controls the power sent from the power supply to the receiving device 61. As shown in Figure 18, the converter 180 receives DC power supplied from the power supply unit 190, such as an auxiliary battery, of the combine harvester 1, and boosts the voltage of this DC power to generate a high voltage. The DC power converted by the converter 180 is supplied to the receiving device 61. 【0170】 The converter 180 has a first terminal which is an input power terminal connected to the power supply unit 190, and a second terminal which is an output power terminal that receives the connection of the other end of a first connection line 191, one end of which is connected to the receiving device 61. The converter 180 also has a third terminal which is an input GND terminal that receives the connection of the other end of a second connection line 192, one end of which is connected to the GND of the receiving device 61, and a fourth terminal which is an output GND terminal connected to GND. 【0171】 As shown in Figure 16, the converter 180 has a connector 185 that includes terminals 1 to 4. The connector 185 is located on the right side of the casing 181 of the converter 180. A branch cable for the converter 180, which is branched from the aggregation cable 175 inside the case 64, is connected to the connector 185. 【0172】 As described above, with the antenna unit 60 equipped with a converter 180 for the receiving device 61, the boosting action of the converter 180 allows for obtaining a sufficient voltage for the power supplied to the receiving device 61 and stabilizing the voltage, thereby ensuring good operating conditions for the antenna unit 60. 【0173】 For example, in a configuration where power to the receiving device 61 is supplied by an auxiliary battery used to power various electronic devices in the combine harvester 1, it is difficult to obtain sufficient voltage for the power supplied to the receiving device 61. In particular, when starting the engine, a voltage drop due to cranking may cause the receiving device 61 to reset (antenna reset), in which case the satellite positioning information and azimuth angle information may be reset, and it may be necessary to reconfigure the satellite positioning. 【0174】 Therefore, by providing a converter 180 with a boost function, the voltage of the power supplied to the receiving device 61 can be increased, and the voltage to the receiving device 61 can be stabilized. This suppresses malfunctions such as the antenna reset mentioned above, and makes it possible to realize an easy-to-use antenna unit 60. 【0175】 Furthermore, in the antenna unit 60, the converter 180 is provided in a space 170 formed below the receiving device 61 by the antenna support base 160 on the device mounting plate 68. With this configuration, the space inside the case 64 can be used effectively, and the connecting wires such as cables connected to the receiving device 61 and the converter 180 can be shortened. This makes the antenna unit 60 more compact. 【0176】 Furthermore, by installing the receiving device 61 on the antenna support base 160, the receiving device 61 can be positioned higher relative to the inertial navigation device 62 and the wireless communication device 63. This allows for good sensitivity in radio wave reception by the antenna unit 60 and ensures the positioning accuracy of the combine 1 by the antenna unit 60. 【0177】 [Other embodiments] Other embodiments of the support configuration for the antenna unit 60 will be described with reference to Figures 19 to 21. Components common to the embodiments described above are denoted by the same reference numerals and their descriptions are omitted. 【0178】 The configuration of this embodiment differs from the embodiment described above in that the position of the antenna unit 60 can be changed. The antenna unit 60 according to this embodiment is provided so as to be able to change its position in the vertical direction, namely the height position, to a first height position in which the entire unit is positioned above the support frame 70, and to a second height position in which at least a part of it overlaps with the support frame 70. 【0179】 As shown in Figures 19 to 21, in this embodiment, the antenna unit 60 is rotatably mounted around a pivot axis O1 located on the lower right side of the antenna unit 60, which runs along the front-rear direction. That is, as shown in Figures 19 and 20, the antenna unit 60 is positioned at a first height when its bottom surface 65a is horizontal, and rotates around the pivot axis O1 in a direction that lowers the left side (right side in Figure 20), so that the bottom surface 65a is inclined downwards to the left, which is the second height position. 【0180】 In the following, the state in which the antenna unit 60 is at the first height position will be referred to as the normal state, and the state in which it is at the second height position will be referred to as the tilted state. Furthermore, unless otherwise specified, the description below refers to the normal state of the antenna unit 60. 【0181】 The antenna unit 60 is supported by being fixed to support brackets 200 provided at two locations on the front and rear extensions 72 of the support frame 70. The front support bracket 200 is provided near the corner formed by the front fixing portion 71 and the front and rear extensions 72 with respect to the support frame 70, while the rear support bracket 200 is provided in the middle of the front and rear extensions 72. 【0182】 The support bracket 200 is fixed to a mounting plate 210 which is fixed to the support frame 70. In other words, the support bracket 200 is provided on the support frame 70 via the mounting plate 210. The front and rear support brackets 200 are fixed to a single mounting plate 210. That is, the front support bracket 200 is fixed to the front side of the mounting plate 210, and the rear mounting plate 210 is fixed to the rear side of the mounting plate 210. The mounting plate 210 and the front and rear support brackets 200 are configured to be symmetrical or substantially symmetrical in the front-to-back direction when viewed from the left side. Note that in Figure 19, the rear support bracket 200 is shown in cross-section. 【0183】 The mounting plate 210 is a longitudinal member formed by bending a plate-shaped member, and is provided above the front-to-rear extension portion 72 with its longitudinal direction as the front-to-rear direction. The mounting plate 210 has a main plate portion 211 which is a flat plate portion that makes up the majority of the plate, and mounting plate portions 212 provided on both ends of the main plate portion 211 in the longitudinal direction. 【0184】 The main plate portion 211 has a narrow portion 211a with a relatively narrow predetermined width in the middle of its longitudinal direction, and widened portions 211b that are wider than the narrow portion 211a at both ends in the longitudinal direction (see Figure 19). The front and rear widened portions 211b gradually widen from the narrow portion 211a side towards the front and rear ends, and have slanted sides on both sides in the width direction. The width dimension of the widened portion 211b is, for example, about the same as the longitudinal (left-right) dimension of the mounting bracket 91 in the embodiment described above. 【0185】 The mounting plate portion 212 is formed by bending the front and rear ends of the main plate portion 211 downwards at a right angle. Semicircular notches 212a are formed on the lower side of the left and right central portions of the mounting plate portion 212 for fitting the front and rear extension portions 72. 【0186】 The mounting plate 210 is fixed to the front and rear extension portions 72 by welding or the like, with the front and rear extension portions 72 fitted into the notches 212a of the front and rear mounting plate portions 212. The mounting plate 210 is provided in an inclined shape so that the main plate portion 211 is tilted downward to the left. In an axial view of the pivot axis O1, the angle that the main plate portion 211 makes with respect to the horizontal plane is, for example, about 20°. 【0187】 The support bracket 200 is a longitudinal member formed by bending a plate-shaped member, and is provided on the upper side of the front and rear extension portion 72 of the support frame 70, with its longitudinal direction being the left-right direction, and perpendicular to the axial direction of the front and rear extension portion 72 of the support frame 70 in a plan view. 【0188】 The support bracket 200 has a fixed surface portion 221 whose front-to-back direction is the thickness direction of the plate, a horizontal support surface portion 222 formed by bending at a right angle from the upper end of the fixed surface portion 221, and a side portion 223 formed by bending at a right angle from the left end of the fixed surface portion 221. In the support bracket 200, the support surface portion 222 is the surface that receives the mounting of the case 64 of the antenna unit 60. The support surface portion 222 is located at a height above the upper end of the main plate portion 211 of the mounting plate 210. 【0189】 The fixed surface portion 221 has a shape that extends in the left-right direction when viewed in the axial direction of the pivot axis O1, and has a protruding portion 221a on the left side that protrudes lower than the front-rear extension portion 72, and has an overall shape that is roughly "L" shaped. A concave notch 221b is formed on the lower side of the left and right central portions of the fixed surface portion 221 for fitting the front-rear extension portion 72. 【0190】 The front support bracket 200 is positioned in front of the front mounting plate portion 212 of the mounting plate 210, with the fixing surface portion 221 facing rearward. With the fixing surface portion 221 superimposed on the mounting plate portion 212, it is fixed to the mounting plate 210 at two points on both the left and right sides by a first bolt 231 and a second bolt 232, which serve as fixing supports. The first bolt 231 and the second bolt 232 pass through the fixing surface portion 221 and the mounting plate portion 212 and are screwed into a nut portion 235 provided on the rear side of the mounting plate portion 212. The fixing portion by the first bolt 231 is located to the right of the front and rear extension portion 72 of the support frame 70, and the fixing portion by the second bolt 232 is located to the left of the front and rear extension portion 72. 【0191】 The rear support bracket 200 is positioned behind the rear mounting plate portion 212 of the mounting plate 210, with the fixing surface portion 221 facing forward. With the fixing surface portion 221 superimposed on the mounting plate portion 212, it is fixed to the mounting plate 210 at two points on both the left and right sides by a third bolt 233 and a fourth bolt 234, which serve as fixing supports. The third bolt 233 and the fourth bolt 234 pass through the fixing surface portion 221 and the mounting plate portion 212 and are screwed into a nut portion 236 provided on the front side of the mounting plate portion 212. The fixing portion by the third bolt 233 is located to the right of the front and rear extension portion 72 of the support frame 70, and the fixing portion by the fourth bolt 234 is located to the left of the front and rear extension portion 72. 【0192】 The case 64 of the antenna unit 60 is fixed to the support surface 222 of the front and rear support brackets 200 by fixing bolts 96. The fixing points for the fixing bolts 96 are provided at two locations on both the left and right sides of each support bracket 200. For this reason, holes 222a are formed at two locations on both the left and right sides of the support surface 222 of the support bracket 200 for passing the fixing bolts 96 through. The fixing bolts 96 pass through the support surface 222 of the support bracket 200 from below and are screwed into the female threaded portion 97 (see Figure 10), thereby fixing the case 64 to the support bracket 200. 【0193】 In this embodiment, the antenna unit 60 is positioned at a height slightly higher than the roof portion 35 in the vertical direction. In other words, the upper surface of the case 64 of the antenna unit 60 is positioned slightly above the upper surface 50a of the roof panel 50. 【0194】 In the support configuration of the antenna unit 60 described above, the antenna unit 60 is provided so as to be rotatable about a pivot axis O1 with respect to a mounting plate 210 fixed to the support frame 70, integrally with the front and rear support brackets 200. 【0195】 The pivot support section that supports the antenna unit 60 around the pivot axis O1 is composed of a fixing section by a first bolt 231 on the front support bracket 200 and a fixing section by a third bolt 233 on the rear support bracket 200. In other words, the first bolt 231 and the third bolt 233 have their central axes positioned on a common straight line along the front-rear direction, that is, on the pivot axis O1. 【0196】 Furthermore, in the front and rear support brackets 200, the second bolt 232 and the fourth bolt 234 have their central axes positioned on a common straight line L1 along the front-rear direction. The second bolt 232 and the fourth bolt 234 each pass through an elongated hole 221c formed in the fixed surface portion 221 of the support bracket 200, with the longitudinal direction being approximately vertical. The elongated hole 221c is formed in the left portion of the fixed surface portion 221, extending from the top to the protruding portion 221a. In an axial view of the pivot axis O1, the elongated hole 221c has a curved shape that follows an arc centered on the position of the pivot axis O1. 【0197】 Thus, the rotating body, including the front and rear support brackets 200 and the antenna unit 60, is provided to be rotatable around the pivot axis O1, with the fixed parts by the first bolt 231 and the third bolt 233 serving as the fixed support parts, and the fixed parts by the second bolt 232 and the fourth bolt 234 serving as the movable support parts. 【0198】 An example of the procedure for rotating the antenna unit 60 is described below. As shown in Figures 19 and 20, the first bolt 231, second bolt 232, third bolt 233, and fourth bolt 234 are loosened from the normal position of the antenna unit 60. This allows the front and rear support brackets 200 and the antenna unit 60 fixed thereto to rotate around the pivot axis O1. 【0199】 Subsequently, the antenna unit 60 and the front and rear support brackets 200 are rotated clockwise (rightward) in a front view until they are tilted, that is, from the first height position to the second height position (see Figure 21, arrow M1). Here, the elongated holes 221c in the front and rear support brackets 200 act as guide holes, and the second bolt 232 and the fourth bolt 234 move along the elongated holes 221c. After moving the antenna unit 60 and the front and rear support brackets 200 to the second height position, the four bolts from the first to the fourth are tightened, fixing the front and rear support brackets 200 to the mounting plate 210, thereby tilting the antenna unit 60. 【0200】 The rotation angle of the antenna unit 60 around the pivot axis O1 from the normal state to the tilted state is, for example, about 20°. The tilt angle of the antenna unit 60 in the tilted state is the same as or approximately the same as the tilt angle of the main plate portion 211 of the mounting plate 210 with respect to the horizontal plane. Note that the rotation angle of the antenna unit 60 is not particularly limited. 【0201】 In the normal state of the antenna unit 60, the second bolt 232 and the fourth bolt 234 are located at or near the lower end of the elongated hole 221c, and in the tilted state of the antenna unit 60, the second bolt 232 and the fourth bolt 234 are located at or near the upper end of the elongated hole 221c. Furthermore, the notch 221b of the support bracket 200 is formed so as not to interfere with the front and rear extensions 72 of the support frame 70 within the rotational range of the antenna unit 60. 【0202】 In its normal state, the antenna unit 60 is positioned on the support surface 222 of the support bracket 200, which is located at a height above the support frame 70, and the entire unit is positioned above the support frame 70. 【0203】 On the other hand, in the tilted state, a portion of the antenna unit 60 is positioned within the height range where the support frame 70 is located. Specifically, as shown in Figure 21, the height range where the support frame 70 is located is the height range ΔH from the height position H1 of the upper end of the rear fixing part 74 to the height position H2 of the lower end of the front fixing part 71, which is located below the rear fixing part 74. 【0204】 In contrast, when the antenna unit 60 is tilted, the height position H3 of the lower end of the case 64, which is the lower end of the antenna unit 60, is positioned within the height range ΔH. That is, the height position H3 of the lower end of the antenna unit 60 is lower than the height position H1 of the upper end of the support frame 70, and higher than the height position H2 of the lower end of the support frame 70. Furthermore, when the antenna unit 60 is tilted, the majority of its upper portion is positioned above the support frame 70, i.e., above the height position H1. 【0205】 According to the support configuration of the antenna unit 60 in this embodiment, the antenna unit 60 can be positioned lower than its normal position by tilting it. This improves safety for workers performing tasks such as removing, adjusting the height of, or maintaining the antenna unit 60, which are performed while the worker is standing on a platform or stepladder, and also makes it easier to handle the antenna unit 60, thereby improving work efficiency. 【0206】 In this embodiment, a configuration is used to change the height position of the antenna unit 60 by rotating the antenna unit 60 around the pivot axis O1. However, the configuration for changing the height position of the antenna unit 60 is not limited to this configuration. For example, the configuration for changing the height position of the antenna unit 60 may be one in which the antenna unit 60 is moved in parallel while maintaining its horizontal position. 【0207】 The embodiments described above are examples of the present invention, and the present invention is not limited to the embodiments described above. Therefore, even in embodiments other than those described above, various modifications are possible depending on the design, etc., as long as they do not depart from the technical idea of ​​the present invention. Furthermore, the effects described in this disclosure are merely examples and are not limiting, and other effects may also exist. 【0208】 In the embodiment described above, the support frame 70, which serves as a support member, is composed of a pipe-shaped member. However, the support member is not limited to this configuration. The support member according to the present invention may be composed of, for example, a plate-shaped member. [Explanation of symbols] 【0209】 1. Combine harvester (work vehicle) 4. Mobile Unit 12. Driver's Unit 30 cabins 35 Roof section 37. Left side of the cabin (one side) 50 Roof Panel 60 Antenna Units 70 Support frame (support member) 76 Front mounting plate 81 Rear mounting plate 100 Handrail section (frame member) 102 Inclined extension section 110 Upper support bracket 115 Fixing plate 120 Lower support bracket 130 Auxiliary antenna (antenna) 200 support bracket 210 Mounting plate

Claims

[Claim 1] A work vehicle equipped with a cabin that covers the driver's compartment, An antenna unit is provided on the upper part of one of the left and right side sections of the cabin, A support member provided on one of the aforementioned side surfaces for supporting the antenna unit, The system comprises a frame member that supports the support member, The frame member is configured to be detachably attached to the support member. A work vehicle characterized by the following features. [Claim 2] The frame member is configured to extend vertically. The work vehicle according to feature 1. [Claim 3] The frame member is provided with its upper end connected to the support member and its lower end connected to one of the side surfaces. A work vehicle according to claim 1 or 2.

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