Work vehicles

Abstract

To reduce the risk of damage to a positioning device located on top of a cabin due to contact with an obstacle and to provide a work vehicle that reduces the work load on a user.SOLUTION: A work vehicle (tractor) 1 includes a vehicle body, a cabin 7 mounted on the vehicle body and having a roof 70, and a positioning device (antenna unit) 50 that is located above the cabin 7 and detects a location of the vehicle body on the basis of signals transmitted from a positioning satellite. The roof 70 has a roof front end 70F located at the front-most part in the front-back direction and a roof top-most end 70H located rearward of the roof front end 70F and located at a position higher than the roof front end 70F. The position of the positioning device 50 is lower than that of the roof top-most end 70H.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, a technique has been proposed in which a positioning device for detecting the position of a vehicle body is provided above the cabin of a tractor (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-041745 Summary of the Invention [Problem to be solved by the invention]

[0004] In the tractor of Patent Document 1, the roof of the cabin is horizontal. Therefore, if a positioning device is installed above the cabin, the positioning device protrudes above the roof of the cabin. Therefore, if the tractor is driven with the positioning device installed, depending on the situation, the positioning device may come into contact with an obstacle and be damaged. For example, when storing the tractor in a barn, the positioning device above the cabin may come into contact with the upper part of the barn's entrance and be damaged.

[0005] In order to avoid damage to the positioning device due to contact with an obstacle, it may be possible to rotate the positioning device to a lower position or to remove the positioning device. However, in these cases, the troublesome work of changing the position of the positioning device or removing it is required, which increases the workload of the user. Therefore, some kind of improvement is needed regarding the installation of the positioning device.

[0006] The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a work vehicle that can reduce the risk of the positioning device located above the cabin coming into contact with an obstacle and being damaged, while also reducing the workload of the user. [Means for solving the problem]

[0007] A work vehicle according to one aspect of the present invention is a work vehicle comprising a vehicle body and a cabin mounted on the vehicle body and having a roof, and is equipped with a positioning device located above the cabin and detecting the position of the vehicle body based on a signal transmitted from a positioning satellite, the roof having a front end located at the frontmost part in the fore-and-aft direction, and a top end of the roof located rearward of the front end of the roof and higher than the front end of the roof, and the position of the positioning device is lower than the top end of the roof. Effect of the Invention

[0008] According to the above configuration, it is possible to reduce the risk of the positioning device located above the cabin coming into contact with an obstacle and being damaged, and it is also possible to reduce the workload of the user. [Brief description of the drawings]

[0009] [Figure 1] 1 is a side view showing a schematic configuration of a tractor that is an example of a work vehicle according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram of a vehicle driving system including the tractor. [Diagram 3] FIG. 2 is a side view of the upper part of the cabin of the tractor. [Figure 4] FIG. 2 is a perspective view of the cabin as viewed from above. [Diagram 5] FIG. 1 is a side view of the upper part of a tractor cabin with an antenna unit mounted on the roof using a support stay. [Figure 6] FIG. 6 is a perspective view of the cabin of the tractor in FIG. 5 as viewed from above. [Figure 7]FIG. 7 is a perspective view of a cabin in a state in which the antenna unit shown in FIG. 6 is omitted. [Figure 8] 4 is a perspective view showing a schematic view of the vicinity of a fixing portion of a support stay in the roof. FIG. [Figure 9] 9 is a cross-sectional view of the support stay and the roof cut along a plane passing through the roof fixing bolt in FIG. 8. FIG. [Figure 10] 11 is a cross-sectional view of a fastening unit used when fixing only the outer roof to the fixed frame. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The following is an explanation of an embodiment of the present invention with reference to the drawings. In this embodiment, a tractor is used as an example of a work vehicle, but other ride-on work vehicles such as rice transplanters, combine harvesters, civil engineering and construction work equipment, and snowplows can also be considered as work vehicles.

[0011] In addition, in this specification, directions are defined as follows. First, the direction in which a tractor, which is a work vehicle, travels during work is defined as "front", and the opposite direction is defined as "rear". Furthermore, the right side of the tractor's travel direction is defined as right, and the left side is defined as left. The direction perpendicular to the front-to-back and left-to-right directions of the tractor is defined as up-down. In this case, the direction of gravity is defined as down, and the opposite side is defined as up.

[0012] [1. Overview of the vehicle driving system] Fig. 1 is a side view showing a schematic configuration of a tractor 1 which is an example of a work vehicle according to the present embodiment. Fig. 2 is a block diagram of a vehicle driving system including the tractor 1.

[0013] As shown in Fig. 2, the vehicle travel system of this embodiment is configured to include a tractor 1, a wireless communication terminal 30, and a reference station 40. The tractor 1 can travel according to the operation of a driver, and can also travel autonomously based on instructions from the wireless communication terminal 30. The wireless communication terminal 30 is a terminal for issuing various instructions to the tractor 1. The reference station 40 is provided to acquire position information of the tractor 1.

[0014] As shown in Fig. 1, the tractor 1 includes a vehicle body 2. A ground work implement (not shown) can be attached to the rear side of the vehicle body 2. Examples of the ground work implement that can be used include, but are not limited to, a cultivator, a plow, and a fertilizer applicator.

[0015] The front part of the vehicle body 2 is supported by a pair of left and right front wheels 3. The rear part of the vehicle body 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is disposed at the front part of the vehicle body 2. An engine 6 is disposed below the bonnet 5 as a drive source. The engine 6 is formed of, for example, a diesel engine, but is not limited to this and may be formed of, for example, a gasoline engine. Furthermore, in addition to or instead of the engine 6, an electric motor may be used as a drive source.

[0016] A cabin 7 for a driver (operator) to board is provided on the upper part of the vehicle body 2 behind the bonnet 5. A door 7a that pivots to open forward is provided on the left side of the cabin 7. The driver can get in and out of the cabin 7 by opening and closing the door 7a. The door 7a may be provided on the right side of the cabin 7.

[0017] The cabin 7 has a roof 70. That is, the tractor 1 as a work vehicle includes a vehicle body 2 and a cabin 7 that is mounted on the vehicle body 2 and has a roof 70. Inside the cabin 7, a steering wheel 8 for the driver to steer and a driver's seat 9 for the driver are provided.

[0018] A three-point link mechanism is provided on the rear side of the vehicle body 2. The three-point link mechanism includes a pair of left and right lower links 10 and an upper link 11. The above-mentioned ground work machine is configured to be mountable to the three-point link mechanism. Also, a lifting device (not shown) having a hydraulic device such as a lifting cylinder is provided on the rear side of the vehicle body 2. The lifting device raises and lowers the three-point link mechanism, thereby raising and lowering the ground work machine.

[0019] 2, the tractor 1 is provided with a governor device 21 capable of adjusting the rotation speed of the engine 6, and a transmission device 22 that changes the speed of the rotational driving force from the engine 6 and transmits it to the drive wheels. The governor device 21 and the transmission device 22 are controlled by a control unit 23.

[0020] The tractor 1 includes a steering device 24. The steering device 24 is provided, for example, midway along the rotation axis of the steering handle 8, and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. By the control unit 23 controlling the steering device 24, the tractor 1 can not only travel straight ahead, but also adjust the rotation angle of the steering handle 8 to a desired angle and turn with a desired turning radius.

[0021] The tractor 1 further includes an antenna unit 50. The antenna unit 50 is located above the cabin 7 (particularly the roof 70), and is a positioning device that detects the position of the vehicle body 2 based on a signal transmitted from a positioning satellite (navigation satellite) 45 shown in FIG.

[0022] The antenna unit 50 and the control unit 23 are electrically connected by a harness WH. This enables various information or instructions to be transmitted between the antenna unit 50 and the control unit 23 via the harness WH. For example, position information of the vehicle body 2 detected by the antenna unit 50 is input to the control unit 23 via the harness WH. From this, it can be said that the tractor 1 is equipped with the control unit 23 to which the position information of the vehicle body 2 detected by the antenna unit 50 is input via the harness WH.

[0023] Next, a detailed description will be given of the above-mentioned antenna unit 50. The antenna unit 50 includes an inertial measurement unit (IMU) 25, a global navigation satellite system (GNSS) antenna 26, a wireless communication unit 27, a wireless communication antenna 28, and a base station antenna 29.

[0024] The inertial measurement unit 25 is equipped with a three-axis gyro sensor and a three-directional accelerometer, thereby detecting three-dimensional angular velocity and acceleration. The detection values ​​of the inertial measurement unit 25 are input to the control unit 23. The control unit 23 can obtain attitude information of the tractor 1 based on the above detection values. The attitude information includes, for example, information on the azimuth angle (yaw angle) of the vehicle, the left and right tilt angle (roll angle) of the vehicle, and the front and rear tilt angle (pitch angle) in the traveling direction of the vehicle.

[0025] The GNSS antenna 26 receives radio signals transmitted from positioning satellites 45 that constitute a satellite positioning system (GNSS). In the satellite positioning system, in addition to the Global Positioning System (GPS; USA), quasi-zenith satellites (Japan), GLONASS satellites (Russia), and the like can be used as positioning satellites.

[0026] The wireless communication unit 27 transmits and receives various signals via a wireless communication network established with the wireless communication terminal 30 and the like. In this embodiment, the wireless communication unit 27 is configured as a Wifi (registered trademark) unit with a frequency band of 2.4 GHz. A signal transmitted from the wireless communication terminal 30 is received by a wireless communication antenna 28 and input to the control unit 23 via the wireless communication unit 27. In addition, a signal from the control unit 23 is transmitted to the wireless communication device 31 of the wireless communication terminal 30 and the like via the wireless communication unit 27 and the wireless communication antenna 28.

[0027] Here, in this embodiment, for example, RTK (Real Time Kinematic) positioning is used as a positioning method using a satellite positioning system. In RTK positioning, a carrier phase (satellite positioning information) from a positioning satellite 45 is measured by both a reference station positioning antenna 42 of a reference station 40 installed at a reference point and a GNSS antenna 26 of the tractor 1 which is a mobile station side for which position information is to be obtained. The reference station 40 generates correction information every time it measures satellite positioning information from the positioning satellite 45 or every time a set period elapses. The correction information is transmitted from the reference station wireless communication device 41 to the base station antenna 29 of the tractor 1. The control unit 23 of the tractor 1 corrects the satellite positioning information measured by the GNSS antenna 26 using the correction information transmitted from the reference station 40 to obtain current position information of the tractor 1. The control unit 23 obtains, for example, latitude information and longitude information as the current position information of the tractor 1.

[0028] The positioning method used is not limited to the above-mentioned RTK positioning, and other positioning methods such as DGPS (differential GPS positioning) may be used. The reference station 40 is capable of transmitting and receiving various information not only to the tractor 1 but also to the wireless communication terminal 30.

[0029] The wireless communication terminal 30 is configured, for example, by a tablet-type personal computer having a touch panel. The wireless communication terminal 30 is provided with a wireless communication device 31 and a route generating unit 32 that generates a target travel route. The route generating unit 32 can generate a target travel route for autonomously traveling the tractor 1 based on various information inputted via the touch panel. The route generating unit 32 is configured, for example, by a CPU (Central Processing Unit) of a personal computer.

[0030] The wireless communication terminal 30 transmits various information for autonomously driving the tractor 1, such as a target driving route, to the tractor 1. The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 from a signal received by the GNSS antenna 26, and obtains displacement information and orientation information of the body 2 from values ​​detected by the inertial measurement unit 25. Based on this information, the control unit 23 controls the transmission 22, the steering device 24, etc., thereby making it possible to autonomously drive the tractor 1 along the target driving route generated by the route generation unit 32.

[0031] [2. How to install the antenna unit (part 1)] Next, a method for installing the above-mentioned antenna unit 50 will be described. Fig. 3 is a side view of the upper part of the cabin 7 of the tractor 1. Fig. 4 is a perspective view of the cabin 7 of the tractor 1 as viewed from above. First, the shape of the roof 70 of the cabin 7 will be described.

[0032] The roof 70 of the cabin 7 has a roof front end 70F. The roof front end 70F is located at the front-most side of the roof 70 in the front-rear direction. In other words, the roof 70 has the roof front end 70F located at the foremost part in the front-rear direction.

[0033] More specifically, the cabin 7 has a right front pillar 71R and a left front pillar 71L. The right front pillar 71R and the left front pillar 71L are connected to the vehicle body 2 and support the right front portion and the left front portion of the roof 70, respectively. That is, the cabin 7 has the right front pillar 71R that is connected to the vehicle body 2 and supports the right front portion of the roof 70, and the left front pillar 71L that is connected to the vehicle body 2 and supports the left front portion of the roof 70. The above-mentioned roof front end 70F is located at the frontmost position in the peripheral portion of the roof 70 that connects the upper ends of the right front pillar 71R and the left front pillar 71L.

[0034] In this embodiment, the cabin 7 has a windshield FG in front of the driver's seat 9 (see FIG. 1). In this configuration, the roof front end 70F coincides with the frontmost position of the roof 70 that contacts the upper edge of the windshield FG.

[0035] The cabin 7 does not necessarily have to have a windshield FG. Even if the cabin 7 does not have a windshield, the portion of the periphery of the roof 70 that connects the upper ends of the right front pillar 71R and the left front pillar 71L and that is located most forward is the roof front end 70F.

[0036] The roof 70 of the cabin 7 further has a roof top end 70H. The roof top end 70H is the highest part of the roof 70. This roof top end 70 is located rearward of the roof front end 70F. In this embodiment, the roof top end 70H is located slightly rearward of the center of the roof 70 in the front-rear direction. The position of the roof top end 70H is not limited to the above position. For example, the roof top end 70H may coincide with the position of the roof rear end 70R located at the rearmost side of the roof 70 in the front-rear direction. In any case, the roof 70 has a shape (streamlined shape) in which the roof top surface slopes downward from the roof top end 70H toward the front. In this way, the roof 70 has the roof top end 70H located rearward of the roof front end 70F and higher than the roof front end 70F.

[0037] 3, the position of the antenna unit 50 as a positioning device is above the cabin 7 (particularly the roof 70) and lower than the roof top end 70H. Note that such a position of the antenna unit 50 can be realized by using a support mechanism 100 or a support stay 200 (see FIG. 5), etc., and the support mechanism 100 etc. will be described in detail later.

[0038] In the tractor 1 of this embodiment, the roof 70 of the cabin 7 is not horizontal, but has a roof top end 70H that is higher than the roof front end 70. Therefore, the antenna unit 50 can be installed above the cabin 7 and at a position lower than the roof top end 70H. In such a position of the antenna unit 50, the antenna unit 50 does not protrude above the roof top end 70H, so even if the tractor 1 is driven with the antenna unit 50 installed above the cabin 7, there is no risk of the antenna unit 50 colliding with surrounding obstacles. This reduces damage to the antenna unit 50 caused by contact with obstacles. In addition, it is not necessary for a user (for example, the driver of the tractor 1) to remove the antenna unit 50 from the cabin 7 or to change the antenna unit 50 to a lower position by rotating it, etc., in order to avoid contact between the antenna unit 50 and obstacles. Therefore, the user's workload can be reduced.

[0039] In addition, possible obstacles include, for example, (1) the top of the entrance / exit of a barn when tractor 1 is stored in the barn, (2) the roof of a truck bed (with a roof) when tractor 1 is loaded onto the bed for transportation, and (3) the bottom of an elevated railway or the like when tractor 1 is traveling under the elevated railway or the like.

[0040] In this embodiment, the antenna unit 50 is located between the roof front end 70F and the roof top end 70H, as shown in Fig. 3. In other words, the position of the antenna unit 50 is higher than the roof front end 70F.

[0041] With the antenna unit 50 positioned as described above, it is possible to reduce the risk that the driver's view from the front to the top as seen from inside the cabin 7 will be blocked by the antenna unit 50. As a result, it is possible to ensure good visibility for the driver. In other words, it is possible to reduce the situation in which the driver's visibility during work (operation) is reduced due to the installation of the antenna unit 50.

[0042] In this embodiment, the antenna unit 50 is located forward of the roof top end 70H, as shown in Fig. 3. As described above, in a roof shape in which the position of the roof top end 70H is higher than the roof front end 70F and the roof slopes downward from the roof top end 70H toward the front, by positioning the antenna unit 50 forward of the roof top end 70H, it becomes easy to position the antenna unit 50 at a position lower than the roof top end 70H.

[0043] In addition, in a shape in which the roof rear end 70R is lower than the roof top end 70H, it is also possible to install the antenna unit 50 at a position rearward of the roof top end 70H and lower than the roof top end 70H by appropriately setting the height difference between the roof top end 70H and the roof rear end 70R.

[0044] Next, a detailed description will be given of the support mechanism 100. The tractor 1 is equipped with the support mechanism 100 that supports the antenna unit 50. The support mechanism 100 has a right stay 101R and a left stay 101L, a support pipe 102 that is a support member, and a base 103.

[0045] The right stay 101R is attached to the right front pillar 71R. The right stay 101R supports a mirror (not shown) via a mirror support rod 101a. The left stay 101L supports a work lamp WL and also supports a mirror M via the mirror support rod 101a. The right stay 101R may support a work lamp in the same manner as the left stay 101L. In this way, the support mechanism 100 has the right stay 101R and the left stay 101L which are attached to the right front pillar 71R and the left front pillar 71L, respectively.

[0046] The right stay 101R is attached to the right front pillar 71R, and the left stay 101L is attached to the left front pillar 71L by, for example, welding, but may be attached by other methods such as fixing with bolts. In addition, a radio antenna (not shown) may be removably provided on the right stay 101R or the left stay 101L.

[0047] The support pipe 102 extends in the left-right direction above the roof 70 and is bent downward near both left-right ends. The right end of the support pipe 102 is attached to the right stay 101R. The left end of the support pipe 102 is attached to the left stay 101L. The support pipe 102 may be attached to the right stay 101R and the left stay 101L using fasteners such as bolts, or may be attached to the right stay 101R and the left stay 101L using dedicated mounting fixtures (e.g. clamp fixtures). In this embodiment, the support pipe 102 is bent slightly backward at the center in the left-right direction above the roof 70, but it may be straight in the left-right direction without being bent.

[0048] The pedestal 103 is located above the roof and in the center in the left-right direction, and is fixed to the support pipe 102. The support pipe 102 and the pedestal 103 are fixed by, for example, welding, but may be fixed removably using fasteners such as bolts. The pedestal 103 supports the antenna unit 50 from below. The antenna unit 50 is fixed to the pedestal 103 by, for example, tightening a bolt.

[0049] Thus, the support mechanism 100 has the support pipe 102 that extends in the left-right direction above the roof 70 and has both ends fixed to the right stay 101R and the left stay 101L, and the pedestal 103 that is fixed to the support pipe 102 above the roof 70. The antenna unit 50 is fixed to the pedestal 103.

[0050] In the configuration of the support mechanism 100 described above, the base 103 to which the antenna unit 50 is fixed is fixed to the support pipe 102 above the roof 70. Both ends of the support pipe 102 are fixed to the right stay 101R and the left stay 101L, respectively. The right stay 101R and the left stay 101L are attached to the right front pillar 71R and the left front pillar 71L, respectively. Therefore, by fixing the antenna unit 50 to the base 103, the antenna unit 50 can be stably supported above the roof 70. Furthermore, by using the support mechanism 100, the antenna unit 50 can be easily attached to the tractor 1 afterwards.

[0051] In this embodiment, as shown in Fig. 4, the harness WH that electrically connects the antenna unit 50 and the control unit 23 (see Fig. 2) is arranged along the right front pillar 71R. The harness WH may be arranged along the left front pillar 71L. In other words, the harness WH is arranged along the right front pillar 71R or the left front pillar 71L. This makes it easy to route (wire) the exposed harness WH without making it noticeable.

[0052] Furthermore, in the case where a door 7a (see FIG. 1) is provided on the left side of the cabin 7 as in this embodiment, if the harness WH is arranged along the left front pillar 71L, there is a risk that the harness WH may come into contact with the door 7a or be pinched by the door 7a when the door 7a is opened or closed. From the viewpoint of avoiding such inconvenience, it is preferable that the harness WH is arranged along the right front pillar 71R. In other words, it is preferable that the harness WH is arranged along the pillar that is located on the opposite side of the entrance (door 7a) of the cabin 7 in the left-right direction, out of the right front pillar 71R and the left front pillar 71L.

[0053] [3. How to install the antenna unit (part 2)] The antenna unit 50 of this embodiment can also be fixed to the roof 70 of the cabin 7 using a support stay 200 shown in Fig. 5 instead of the above-mentioned support mechanism 100. Other installation methods for the antenna unit 50 will be described below. Note that even when the support stay 200 is used, the antenna unit 50 can be positioned above the cabin 7 and at a position lower than the uppermost end 70H of the roof, just like when the support mechanism 100 is used.

[0054] Fig. 5 is a side view of the upper part of the cabin 7 of the tractor 1 with the antenna unit 50 installed on the roof 70 using the support stay 200. Fig. 6 is a perspective view of the cabin 7 of the tractor 1 in Fig. 5 as seen from above. Fig. 7 is a perspective view of the cabin 7 in a state in which the antenna unit 50 in Fig. 6 is not shown.

[0055] The support stay 200 is fixed to the upper surface of the roof 70 (particularly the outer roof 703 (see FIG. 9) described later). The support stay 200 is fixed to the roof 70 using fasteners 80, and the details of the fixing method will be described later. The antenna unit 50 is fixed to and supported by the support stay 200 (particularly the flat plate portion 201a and the auxiliary stay 202 described later) with bolts or the like. As a result, the antenna unit 50 is located above the roof 70. In other words, the tractor 1 is provided with the support stay 200 which is fixed to the upper surface of the roof 70 and supports the antenna unit 50.

[0056] The support stay 200 that supports the antenna unit 50 is fixed to the upper surface of the roof 70. This allows the antenna unit 50 to be stably positioned above the roof 70.

[0057] The support stay 200 has a stay body 201 and an auxiliary stay 202. The stay body 201 is formed in an elongated shape in the left-right direction, and is located above the roof 70. In other words, the support stay 200 has the stay body 201 that extends above the roof 70 in the left-right direction.

[0058] Stay body 201 has flat plate portion 201a and hanging portion 201b. Flat plate portion 201a is formed long in the left-right direction and supports antenna unit 50 from below at the center in the left-right direction. Hanging portion 201b is formed long in the left-right direction and hangs downward from front end 201a1 (see FIG. 8) of flat plate portion 201a. As a result, stay body 201 has an inverted L shape in side view. Hanging portion 201b may be formed hanging downward from rear end 201a2 (see FIG. 8) of flat plate portion 201a. Stay body 201 having flat plate portion 201a and hanging portion 201b can be formed by bending one metal plate at 90°, but may also be formed by connecting flat plate portion 201a and hanging portion 201b by welding or the like.

[0059] Thus, the stay body 201 has a flat plate portion 201a extending in the left-right direction and supporting the antenna unit 50 from below, and a hanging portion 201b extending in the left-right direction and hanging down from the front end portion 201a1 or the rear end portion 201a2 of the flat plate portion 201a.

[0060] Auxiliary stay 202 is fixed by welding or the like to the front side of hanging part 201b to assist stay body 201 in supporting antenna unit 50. Auxiliary stay 202 has an inverted L-shaped cross section, and has support surface 202a that supports antenna unit 50. In the vertical direction, the position of support surface 202a approximately coincides with the position of the upper surface of flat plate part 201a.

[0061] In this embodiment, two auxiliary stays 202 are provided spaced apart in the left-right direction in the left-right center of hanging part 201b, but the number of auxiliary stays 202 may be one, or three or more as necessary. In addition, auxiliary stay 202 is not an essential component, and it is also possible to omit the installation of auxiliary stay 202.

[0062] Next, a method for fixing the support stay 200 to the roof 70 will be described in detail. Fig. 8 is a perspective view that shows a schematic view of the vicinity of the fixing portion of the support stay 200 on the roof 70. Fig. 9 is a cross-sectional view of the support stay 200 and the roof 70 cut along a plane passing through the roof fixing bolt 81 in Fig. 8. For convenience, the inner roof 701 and the outer roof 703 shown in Fig. 9 are omitted in Fig. 8.

[0063] The roof 70 has an inner roof 701, a fixed frame 702, and an outer roof 703. The inner roof 701 is located on the interior side of the cabin 7 in the roof 70. The inner roof 701 is fixed to the fixed frame 702 by fixing members (stays, bolts, nuts, etc.) not shown. The outer roof 703 is disposed above the inner roof 701 and fixed to the fixed frame 702. That is, the roof 70 has the inner roof 701, the fixed frame 702 to which the inner roof 701 is fixed, and the outer roof 703 disposed above the inner roof 701.

[0064] Here, a fastening unit 80 used when fixing only the outer roof 703 to the fixed frame 702 (see FIG. 8) will be described first. FIG. 10 is a cross-sectional view of the fastening unit 80. The fastening unit 80 includes a roof fixing bolt 81, a rubber washer 82, a connecting stay 83, and a nut 84.

[0065] The rubber washer 82 is provided to prevent rainwater from entering the cabin 7 from above the roof 70. An opening 82a is provided in the center of the rubber washer 82, through which the roof fixing bolt 81 is inserted.

[0066] The connecting stay 83 is a metal plate for connecting the outer roof 703 and the fixed frame 702, and has a shape bent at a predetermined position. A through hole 83a is provided in the connecting stay 83. A roof fixing bolt 81 is inserted into the through hole 83a. The connecting stay 83 is fixed to the fixed frame 702 by welding or the like at a location separated from the through hole 83a (see FIG. 8). The outer roof 703 is provided with a through hole 703a through which the roof fixing bolt 81 is inserted.

[0067] 10, the outer roof 703 can be fixed to the fixed frame 702 by inserting the roof fixing bolt 81 from above into the opening 82a of the rubber washer 82, the through hole 703a of the outer roof 703, and the through hole 83a of the connecting stay 83, and screwing the nut 84. The outer roof 703 is fixed to the fixed frame 702 at multiple points by the fastening units 80. Note that screwing refers to rotating the bolt to couple it with the nut.

[0068] The support stay 200 can be easily fixed to the roof 70 by using the above-mentioned fastening unit 80 in combination with a spacer bolt 85, which is a spacer member, as shown in Figs.

[0069] The spacer bolt 85 has a protrusion 85a at its lower end in the rotational axis direction. The protrusion 85a passes through the opening 82a of the rubber washer 82, the through hole 703a of the outer roof 703, and the through hole 83a of the connecting stay 83, and is screwed into the nut 84. The spacer bolt 85 also has a recess 85b at its upper end in the rotational axis direction. A thread is cut into the inner surface of the recess 85b, into which the roof fixing bolt 81 is inserted and screwed.

[0070] Meanwhile, a through hole 201p is provided in the flat plate portion 201a of the stay body 201 of the support stay 200. The support stay 200 can be fixed to the spacer bolt 85 by inserting the roof fixing bolt 81 into the through hole 201p and further screwing it into the recess 85b of the spacer bolt 85.

[0071] Therefore, by using the spacer bolt 85, the support stay 200 can be held at a predetermined height position spaced upward from the outer roof 703 by the height of the spacer bolt 85. The height of the spacer bolt 85 may be set appropriately according to a target height position above the roof 70 of the antenna unit 50. Also, by inserting the convex portion 85a of the spacer bolt 85 into the opening 82a of the rubber washer 82, the through hole 703a of the outer roof 703, and the through hole 83a of the connecting stay 83 in this order from above, and screwing the nut 84, the support stay 200 fixed to the spacer bolt 85 can be fixed to the fixed frame 702 together with the outer roof 703.

[0072] In this manner, the outer roof 703 is connected to the fixed frame 702 by the fastening unit 80. The fastening unit 80 includes a spacer bolt 85 that holds the support stay 200 at a predetermined height relative to the outer roof 703.

[0073] In this way, since the fastening unit 80 includes the spacer bolt 85, it is possible to easily fix the support stay 200 to the upper surface of the roof 70 by the spacer bolt 85 while effectively utilizing the normal fastening unit 80 that fixes the outer roof 703 to the fixed frame 702. Therefore, for example, when fixing the support stay 200 to the roof 70, it is possible to eliminate the need for a separate task of providing a hole in the upper surface of the roof 70 specifically for fixing the support stay 200.

[0074] 7 and other drawings, the stay body 201 is fixed at its right and left ends to the roof 70 (particularly the outer roof 703) by the fastening units 80. That is, each of the left and right ends of the stay body 201 is fixed to the outer roof 703 by the fastening units 80 including the spacer bolts 85. This allows the support stay 200 extending in the left and right direction to be stably fixed to the outer roof 703.

[0075] Furthermore, as shown in FIG. 6, in a configuration in which the antenna unit 50 is supported by the flat plate portion 201a of the support stay 200, it is desirable that the harness WH electrically connecting the antenna unit 50 and the control unit 23 (see FIG. 2) be positioned so that it is pulled out in the left-right direction from the antenna unit 50 behind the hanging portion 201b.

[0076] By positioning the harness WH behind the hanging portion 201b of the support stay 200, the hanging portion 201b serves as a screen when the harness WH is routed as viewed from the front. This reduces the risk of the harness WH being exposed, thereby reducing the deterioration of the appearance quality.

[0077] Although the embodiment of the present invention has been described above, the scope of the present invention is not limited to this, and the invention can be expanded or modified without departing from the spirit of the invention. [Industrial Applicability]

[0078] The present invention can be used in work vehicles such as tractors. [Explanation of symbols]

[0079] 1 Tractor (work vehicle) 2. Body 23 Control Unit 7 Cabin 45 Positioning Satellites 50 Antenna unit (positioning device) 70 Roof 70F Roof front end 70H Roof top 71R Right front pillar 71L Left front pillar 80 Fastening Unit 85 Spacer bolt (spacer component) 100 Support mechanism 101R Right stay 101L Left stay 102 Support pipe (support member) 103 Pedestal 200 Support stay 201 Stay body 201a Flat plate part 201b hanging part 701 Inner roof 702 Fixed Frame 703 Outer Roof WH Harness

Claims

1. The car body and A work vehicle comprising: a cabin mounted on the vehicle body and having a roof, a positioning device located above the cabin and configured to detect a position of the vehicle body based on a signal transmitted from a positioning satellite; The roof is A front end of a roof located at the front end in a front-rear direction; a roof uppermost end located rearward of the roof front end and higher than the roof front end, A work vehicle, wherein the position of the positioning device is lower than the top end of the roof.

2. The work vehicle according to claim 1 , wherein the positioning device is located higher than a front end of the roof.

3. The work vehicle according to claim 1 , wherein the positioning device is positioned forward of a top end of the roof.

4. A support mechanism for supporting the positioning device is further provided, The cabin comprises: a right front pillar connected to the vehicle body and supporting a right front portion of the roof; a left front pillar connected to the vehicle body and supporting a left front portion of the roof, 、 The support mechanism includes: a right stay and a left stay attached to the right front pillar and the left front pillar, respectively; a support member extending in the left-right direction above the roof and having both ends fixed to the right stay and the left stay; a base fixed to the support member above the roof; The work vehicle according to claim 1 , wherein the positioning device is fixed to the base.

5. a control unit to which position information of the vehicle body detected by the positioning device is input via a harness, The work vehicle according to claim 4 , wherein the harness is disposed along the right front pillar or the left front pillar.

6. The work vehicle according to claim 1 , further comprising a support stay fixed to an upper surface of the roof and supporting the positioning device.

7. The roof is Inner roof and A fixing frame to which the inner roof is fixed; An outer roof disposed above the inner roof, The outer roof is connected to the fixed frame by a fastening unit, The work vehicle according to claim 6 , wherein the fastening unit includes a spacer member that holds the support stay at a predetermined height position relative to the outer roof.

8. The support stay has a stay body extending in the left-right direction above the roof, The work vehicle according to claim 7 , wherein each left and right end of the stay body is fixed to the outer roof by the fastening unit including the spacer member.

9. a control unit to which position information of the vehicle body detected by the positioning device is input via a harness, The stay body is A flat plate portion extending in the left-right direction and supporting the positioning device from below; A hanging portion extending in the left-right direction and hanging down from a front end or a rear end of the flat plate portion, The work vehicle according to claim 8 , wherein the harness is positioned so as to be pulled out in the left-right direction from the positioning device behind the hanging portion.

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