Work vehicles

Abstract

To provide a technique capable of appropriately arranging a controller for controlling a motor in a work vehicle.SOLUTION: An exemplified work vehicle includes: a driver seat; a steering wheel arranged in front of the driver seat; a steering shaft connected to the steering wheel; a motor for rotating the steering shaft; and a controller for controlling the motor. The controller is arranged on a partition part located below the driver seat and forming a driving part in which a driver gets.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a work vehicle that can automatically steer a traveling machine body so that the traveling machine body travels along a target traveling path. The automatic steering mechanism provided in the work vehicle has a motor that rotates and drives a steering shaft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-100231 Summary of the Invention [Problem to be solved by the invention]

[0004] A configuration that includes a motor that rotates the steering shaft requires a control device to control the motor. The placement of such a control device in a work vehicle raises concerns that, for example, pedal operability may be reduced and visibility for the driver (operator) sitting in the driver's seat may be impaired.

[0005] In view of the above, an object of the present invention is to provide a technique that allows a control device that controls a motor to be appropriately arranged in a work vehicle. [Means for solving the problem]

[0006] The exemplary work vehicle of the present invention includes a driver's seat, a steering wheel disposed in front of the driver's seat, a steering shaft connected to the steering wheel, a motor that rotates the steering shaft, and a control device that controls the motor. The control device is disposed below the driver's seat in a partition that constitutes the driver's section in which the driver sits. [Effects of the Invention]

[0007] According to an exemplary embodiment of the present invention, a control device for controlling a motor can be appropriately disposed in a work vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] A side view showing the general configuration of a tractor [Figure 2] FIG. 1 is a plan view showing the general configuration of a tractor. [Figure 3] Block diagram showing the configuration related to automatic steering of a tractor [Figure 4] FIG. 10 is a diagram illustrating an example of a method for setting a reference line. [Figure 5] FIG. 1 is a schematic perspective view showing the configuration of the driving section and its surroundings of a tractor; [Figure 6] FIG. 10 is a perspective view showing a schematic configuration of a floor cover of another embodiment. [Figure 7] FIG. 2 is an enlarged perspective view of the first control device and its surroundings with the floor cover removed; [Figure 8] FIG. 10 is a perspective view showing a schematic configuration of a mounting structure for the first control device to the floor. [Figure 9] FIG. 9 is a schematic exploded perspective view showing a part of the configuration shown in FIG. 8; [Figure 10] FIG. 10 is a diagram for explaining a first modified example of the location of the first control device; [Figure 11] FIG. 10 is a diagram illustrating a second modified example of the location of the first control device. [Figure 12] Schematic cross-sectional view of the XII-XII position in Figure 11 [Figure 13] A perspective view showing the general configuration of a cabin-type tractor. [Figure 14] FIG. 1 is a schematic perspective view showing the configuration of the first control device and its surroundings in a cabin-type tractor; [Figure 15] FIG. 1 is a schematic side view showing the configuration of the first control device and its surroundings in a cabin-type tractor. [Figure 16] FIG. 10 is a perspective view showing a schematic configuration of a tractor according to a fourth modified example. [Figure 17]A diagram of the part (cover) removed from the diagram shown in Figure 16 [Figure 18] FIG. 13 is a diagram for explaining the arrangement of the second control device in the fourth modified example. [Figure 19] FIG. 10 is an enlarged plan view showing the periphery of a second control device provided in a tractor according to a fourth modified example; [Figure 20] FIG. 10 is a perspective view showing a schematic configuration of a mounting structure for a second control device provided in a tractor according to a fourth modified example. [Figure 21] A partially exploded view of the mounting structure shown in Figure 20. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the present invention will be described with reference to the drawings. In this embodiment, a tractor will be used as an example of a work vehicle. However, the work vehicle may be any work vehicle other than a tractor, such as a harvester, a rice transplanter, a combine harvester, civil engineering or construction equipment, or a snowplow.

[0010] In addition, directions are defined as follows in this specification. First, the direction in which a tractor serving as a work vehicle travels during work is defined as "forward," and the opposite direction is defined as "rearward." Furthermore, the right side of the tractor's traveling 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-to-down. In this case, the direction of gravity is defined as down, and the opposite side is defined as up. Furthermore, the plane perpendicular to the up-to-down direction is defined as the horizontal plane, and the direction along the horizontal plane is defined as the horizontal direction. Note that the above directions are simply names used for the purpose of explanation, and are not intended to limit the actual positional relationships or directions.

[0011] <1. Overview of the work vehicle> Fig. 1 is a side view showing the general configuration of a tractor 1 according to this embodiment. Fig. 2 is a plan view showing the general configuration of a tractor 1 according to this embodiment. As shown in Fig. 1, the tractor 1 includes a body 2, an engine 3, and a drive unit housing 4.

[0012] As shown in Figures 1 and 2, a pair of left and right front wheels 5 are arranged at the front of the vehicle body 2. A pair of left and right rear wheels 6 are arranged at the rear of the vehicle body 2. The vehicle body 2 can travel using the front wheels 5 and rear wheels 6. In other words, the tractor 1 of this embodiment is a wheel tractor. However, the tractor 1 may also be a crawler tractor.

[0013] The engine 3 is disposed at the front of the vehicle body 2 and is covered by a hood 7. The engine 3 is the driving source of the tractor 1. In this embodiment, the engine 3 is a diesel engine. However, the engine 3 may also be a gasoline engine. Furthermore, the driving source of the tractor 1 may be another driving source such as an electric motor instead of an engine.

[0014] The drive unit housing 4 is disposed behind the engine 3 and below the driver's section 8. The drive unit housing 4 includes a transmission case. A power transmission device (not shown) is disposed inside the drive unit housing 4. The rotational power of the engine 3 is transmitted to at least one of the front wheels 5 and the rear wheels 6 via the power transmission device inside the drive unit housing 4.

[0015] The driving section 8 is provided behind the engine 3 on the vehicle body 2. The driving section 8 is the part where the driver (operator) sits. The driving section 8 includes a driver's seat 9 and a front panel 10. That is, the tractor 1 is provided with the driver's seat 9. The driver's seat 9 is where the driver sits. The tractor 1 also has the front panel 10.

[0016] The front panel 10 is disposed in front of the driver's seat 9. A steering wheel (handle) 11 is provided on the front panel 10. That is, the tractor 1 is equipped with the steering wheel 11 disposed in front of the driver's seat 9. The front panel 10 protrudes from the front end of the driver's section 8 toward the driver's seat 9 (i.e., rearward). The front panel 10 is also provided with a meter display unit that shows the speed of the tractor 1, etc. The steering wheel 11 is disposed behind the meter display unit and in front of the driver's seat 9.

[0017] The steering wheel 11 is operated by a driver sitting in the driver's seat 9. More specifically, the steering wheel 11 is rotatably supported by a steering shaft 13 (see FIG. 3 described later) disposed within a steering column 12 included in the front panel 10. By rotating the steering wheel 11, the direction of the front wheels 5 can be changed.

[0018] The driving section 8 is also provided with, for example, various operating levers 14 and pedals 15 that are operated by the driver. The various operating levers 14 may include, for example, a main shift lever, a sub shift lever, and an operation lever. The various pedals 15 may include, for example, an accelerator pedal, a brake pedal, and a clutch pedal.

[0019] In this embodiment, a rope frame 16 is provided behind the driver's seat 9. The rope frame 16 can protect the driver in the event of a rollover of the tractor 1. Note that the tractor 1 may not be a rope type in which the rope frame 16 is provided, but may be a cabin type in which the driver's seat 9 is covered with a cabin.

[0020] A work implement coupling section 17, which is configured using a three-point linkage or the like, is provided at the rear of the vehicle body 2. A work implement can be attached to the work implement coupling section 17. The work implement may be, for example, a tiller, plow, fertilizer applicator, pesticide sprayer, harvester, or reaper. A lifting device (not shown) having a hydraulic device such as a lifting cylinder is also provided at the rear of the vehicle body 2. The lifting device raises and lowers the work implement coupling section 17, thereby raising and lowering the work implement. Power generated by the engine 3 can be transmitted to the towed work implement via a power transmission device in the drive unit housing 4 and a power take-off shaft (PTO shaft; not shown) located at the rear of the vehicle body 2.

[0021] The tractor 1 is provided with automatic steering capability, which allows the tractor 1 to autonomously steer along a predetermined route. Figure 3 is a block diagram showing the configuration related to automatic steering of the tractor 1 according to this embodiment. Note that the tractor 1 may be configured to autonomously control at least one of the vehicle speed and the work performed by the implement, in addition to steering.

[0022] 3, the tractor 1 includes a steering shaft 13 and a motor 131. The steering shaft 13 is connected to the steering wheel 11. The motor 131 rotates the steering shaft 13.

[0023] More specifically, the motor 131 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled. The motor 131 is connected to the steering shaft 13 via a gear mechanism 132. The gear mechanism 132 includes a gear that is provided on the steering shaft 13 and rotates together with the steering shaft 13, and a gear that is attached to the rotation shaft of the motor 131 and rotates together with the rotation shaft of the motor 131. When the rotation shaft of the motor 131 rotates, the steering shaft 13 automatically rotates via the gear mechanism 132. The motor 131 and the gear mechanism 132 are disposed, for example, inside the steering column 12.

[0024] As shown in FIG. 3, the tractor 1 is also equipped with a first control device 31 and a second control device 32. Each of the first control device 31 and the second control device 32 is, for example, a computer device including an arithmetic unit, an input / output unit, and a storage unit. The arithmetic unit is, for example, a processor or a microprocessor. The storage unit is a main storage device such as a read-only memory (ROM) and a random access memory (RAM). The storage unit may further include an auxiliary storage device such as an HDD (hard disk drive) or an SSD (solid state drive). Various programs, data, etc. are stored in the storage unit. The arithmetic unit reads and executes the various programs from the storage unit.

[0025] In this embodiment, the control device related to automatic steering is configured with two control devices, the first control device 31 and the second control device 32, but this configuration is merely an example. The number of control devices related to automatic operation may be one, or three or more. For example, the first control device 31 and the second control device 32 may be combined into one.

[0026] The first control device 31 is electrically connected to the motor 131 and controls the motor 131. The first control device 31 is a driver of the motor 131. More specifically, the first control device 31 controls the motor 131 in response to a command from the second control device 32, which is electrically connected to the first control device 31. The first control device 31 receives a control command from the second control device 32 and performs further processing on the control command. The first control device 31 determines the amount of power to be supplied to the motor 131. The first control device 31 supplies power to the motor 131 according to the determined amount of power. As described above, the driving force of the motor 131 is transmitted to the steering shaft 13 via the gear mechanism 132, and therefore the direction of the front wheels 5 can be controlled by controlling the motor 131.

[0027] The second control device 32 is a main control device that performs control related to automatic steering. The second control device 32 is a controller for automatic steering. The position acquisition unit 19, the inertial measurement unit 21, and the display device 22 are electrically connected to the second control device 32.

[0028] The position acquisition unit 19 acquires the position of the tractor 1 as, for example, latitude and longitude information using a positioning signal received by the positioning antenna 20 from a positioning satellite. The position acquisition unit 19 outputs the position information of the tractor 1 to the second control device 32. For example, the position acquisition unit 19 may receive a positioning signal from a reference station (not shown) using an appropriate method and then perform positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. Alternatively, for example, the position acquisition unit 19 may perform positioning using a DGNSS (Differential GNSS) method. In this embodiment, the positioning antenna 20 is attached to the ROPS frame 16. The attachment position of the positioning antenna 20 may be changed as appropriate.

[0029] The inertial measurement unit 21 includes a three-axis angular velocity sensor and a three-directional acceleration sensor. The inertial measurement unit 21 outputs measured information to the second control device 32. The provision of the inertial measurement unit 21 makes it possible to measure inertial information such as the yaw angle, pitch angle, and roll angle of the vehicle body 2.

[0030] The display device 22 displays information as appropriate in response to commands from the second control device 32. The display device 22 displays, for example, information and errors related to the automatic steering of the tractor 1. In this embodiment, the display device 22 also functions as an operation unit through which the driver inputs commands. In other words, the display device 22 can be called an operation display device. The function as an operation unit may be realized, for example, by providing the display device 22 with operation buttons or a touch panel. By utilizing the function of the display device 22 as an operation unit, it is possible to set a route for automatic steering and perform operations related to automatic steering.

[0031] The second control device 32 performs processes for starting and ending automatic steering in response to, for example, a driver's command using the operation functions of the display device 22. The second control device 32 also determines the position and orientation of the body 2 of the tractor 1 based on, for example, information obtained from the position acquisition unit 19 and the inertial measurement unit 21. The second control device 32 also outputs a control command related to automatic steering to the first control device 31, for example, in accordance with the relationship between the determined position of the body 2 and a predetermined route for automatic driving. The second control device 32 receives GNSS positioning information and information about the body 2 from the position acquisition unit 19, the inertial measurement unit 21, etc., performs calculations related to automatic steering, and sends a control command for the motor 131 to the first control device 31. The second control device 32 also receives operation information of the motor 131 from the first control device 31 and performs the following calculations (calculation for feedback control).

[0032] Here, an overview of the automatic steering performed by the tractor 1 of this embodiment will be described. When performing automatic steering, first, a reference line L is set. Fig. 4 is a diagram for explaining an example of a method for setting the reference line L. The method for setting the reference line L may be a method other than the method shown in Fig. 4.

[0033] When setting the reference line L, first, the tractor 1 is moved to an appropriate position in the field (point A in the figure), and point A is registered. Point A is registered by a registration command from the driver. The position of the vehicle body 2 obtained by the position acquisition unit 19 at the time the command to register point A is issued is registered as the position of point A.

[0034] Once point A has been registered, the driver manually drives the tractor 1 in a straight line to a predetermined position (point B in the figure). Then, when the tractor 1 reaches the predetermined position, point B is registered. Point B is registered in response to a registration command from the driver. The position of the vehicle body 2 obtained by the position acquisition unit 19 at the time the command to register point B is issued is registered as the position of point B. Once points A and B have been registered, a straight line passing through points A and B is set as the reference line L.

[0035] Once the reference line L is set, lines parallel to the reference line L are generated at predetermined intervals as automatic driving lines. During automatic steering, steering control of the traveling direction of the tractor 1 is performed so that the automatic driving line coincides with the position of the vehicle body 2 acquired by the position acquisition unit 19. Steering control of the traveling direction of the tractor 1 is performed by controlling the motor 131.

[0036] <2. Placement of control devices> FIG. 5 is a schematic perspective view showing the configuration around the driver's unit 8 of the tractor 1 according to this embodiment. As shown in FIG. 5, the floor 23 of the driver's unit 8 extends in front of the driver's seat 9. The first control device 31 is disposed on the floor 23. That is, the tractor 1 includes the control device 31 that controls the motor 131 and that is disposed on the floor 23 in front of the driver's seat 9. With this configuration, the control device 31 that controls the motor 131 can be disposed relatively close to the motor 131, while preventing the control device 31 from obstructing the driver's field of view. Furthermore, by disposing the control device 31 close to the motor 131 as in this embodiment, it is possible to easily dispose the wiring connecting the control device 31 and the motor 131 in the vehicle body 2. This wiring tends to be thick due to the large current required to drive the motor 131. That is, the control device 31 for the motor 131 that enables automatic steering can be appropriately disposed in the tractor 1.

[0037] The floor 23 includes a floor structure that constitutes the floor of the driving section 8. The floor structure may include at least one frame member that forms the skeleton of the floor, and at least one panel member that constitutes the floor surface 23a. The frame member and the panel member may be a single member. The floor surface 23a is, for example, the upper surface of a panel member that constitutes the floor structure. The floor surface 23a may be a flat surface, a concave surface, a convex surface, or a surface that has at least one of a concave portion and a convex portion in part. The floor surface 23a may also include an opening that penetrates vertically.

[0038] Furthermore, the components arranged on the floor 23 may include not only components directly arranged on the floor 23 but also components indirectly arranged on the floor 23. The indirectly arranged components may include a configuration in which a connecting member is arranged between the floor 23 and the control device 31 to connect them. Such a configuration will be described later.

[0039] In this embodiment, the first control device 31 is disposed on the floor surface 23a. A floor cover (floor mat) 24 is disposed on the floor surface 23a. The floor cover 24 is preferably disposed in a fixed state so as not to move relative to the floor surface 23a. The floor cover 24 is preferably made of a material other than metal, such as rubber or resin. Note that the floor cover 24 does not necessarily have to be provided. Also, in this embodiment, the floor cover 24 does not have a portion that covers the area of ​​the floor surface 23a where the first control device 31 is disposed. In other words, there is no floor cover 24 above the first control device 31, and the first control device 31 is disposed on the floor surface 23a without being covered by the floor cover 24. However, the first control device 31 may be disposed on the floor surface 23a while being disposed under the floor cover.

[0040] FIG. 6 is a perspective view showing the schematic configuration of a floor cover 24A of another embodiment. The floor cover 24A has a flat floor cover main body 241 and a control device accommodating section 242 provided on the front right side of the floor cover main body 241. The control device accommodating section 242 has a side wall 242a and an upper wall 242b that protrude upward from the top surface of the floor cover main body 241. The control device accommodating section 242 is box-shaped and opens downward and forward. The control device accommodating section 242 is configured taking into consideration the shape of the object to be accommodated and the arrangement of the object in the driving unit 8. When the floor cover 24A is placed on the floor surface 23a, the control device accommodating section 242 covers the first control device 31 from above. This configuration allows the floor cover 24A to protect the first control device 31.

[0041] The floor cover main body 241 is provided with an accelerator pedal opening 243 for locating a part of the accelerator pedal 15a placed on the floor 23 above the floor cover 24A. This also applies to the floor cover 24 of this embodiment (the floor cover that does not cover the first control device 31).

[0042] Fig. 7 is a schematic perspective view showing an enlarged view of the periphery of the first control device 31 with the floor cover 24 removed. The arrangement of the first control device 31 in the tractor 1 will be described in further detail with reference to Figs. 2, 5 and 7.

[0043] The first control device 31 is preferably disposed on one side in the left-right direction of the front panel 10 on which the steering wheel 11 is provided. One side in the left-right direction can also be said to be one side in the width direction of the vehicle body. With this configuration, the first control device 31 can be disposed in a position that does not interfere with the operation of the pedals 15, such as the brake pedal 15b, disposed below the front panel 10. Furthermore, with this configuration, the space available in front of the driver's unit 8 can be effectively utilized. Furthermore, with this configuration, the first control device 31 can be disposed near the motor 131, and the wiring connecting the motor 131 and the first control device 31 can be shortened.

[0044] In this embodiment, the first control device 31 is disposed on the right side of the front panel 10. For example, in the tractor 1, structures that may obstruct getting on and off the tractor tend to be disposed on the right side, such as the accelerator pedal 15a provided on the floor 23 being disposed closer to the right side. For these reasons, the driver often gets on and off the tractor 1 from the left side. For this reason, by disposing the first control device 31 on the right side, the possibility that the first control device 31 will obstruct the driver's getting on and off the tractor 1 can be reduced. Note that in the tractor 1 of this embodiment, the driver can get on and off the driver's section 8 not only on the left side but also on the right side. The first control device 31 may be disposed on the left side of the front panel 10.

[0045] In this embodiment, the first control device 31 is disposed in front of the accelerator pedal 15a provided on the floor 23. The accelerator pedal 15a is disposed on the floor 23 to the right of and in front of the driver's seat 9. The first control device 31 disposed in front of the accelerator pedal 15a is disposed at the front right end of the driver's unit 8. This configuration allows the first control device 31 to be disposed by effectively utilizing the available space in front of the driver's unit 8. Note that the first control device 31 is not limited to being disposed in front of the accelerator pedal 15a, and may be disposed, for example, below the brake pedal 15b. In this configuration, the first control device 31 may be disposed outside the operating range of the brake pedal 15b.

[0046] In addition, in this embodiment, the above-mentioned display device 22 (see FIG. 3) is disposed on the right side of the front panel 10. That is, the tractor 1 includes the display device 22 disposed on the same left-right side as the first control device 31 with respect to the front panel 10 on which the steering wheel 11 is provided. The display device 22 has the same vertical height as the steering wheel 11 so that it is easily visible to the driver sitting in the driver's seat 9. For this reason, space is likely to be generated below the display device 22. That is, according to this embodiment, the space below the display device 22 can be effectively utilized to dispose the first control device 31. Furthermore, according to this embodiment, the display device 22 and the first control device 31 can be disposed in close positions, which makes it easier to dispose electrical wiring for connecting them to the above-mentioned second control device 32 (see FIG. 3, etc.) in the same location.

[0047] In this embodiment, the second control device 32 is disposed away from the first control device 31. Specifically, the second control device 32 is disposed behind the driver's seat 9 (see FIG. 5). Therefore, similar to the first control device 31, it is possible to prevent the second control device 32 from blocking the driver's field of view. Specifically, the second control device 32 is attached to a support 25 that supports the driver's seat 9. Note that FIG. 5 shows a state in which a cover member (not shown) covering the second control device 32 has been removed. The cover member is not an essential component, but it is preferable that it be provided.

[0048] 5 and 7, the floor cover 24 covers a portion of the wiring member 26 disposed on the floor surface 23a. Specifically, the wiring member 26 is a wire harness formed by bundling a plurality of electric wires. The wiring member 26 may be a cable. The wiring member 26 includes an electric wire that electrically connects the first control device 31 and the second control device 32. The wiring member 26 also includes an electric wire that electrically connects the display device 22 and the second control device 32. The wiring member 26 includes a portion disposed behind the driver's seat 9, a portion disposed to the right of the driver's seat 9, a portion disposed at the right end of the floor 23, and a portion disposed at the front end of the floor 23.

[0049] As can be seen from the above, the tractor 1 includes the other control device 32 disposed apart from the control device 31, the wiring member 26 including electric wires connecting the control device 31 and the other control device 32, and the floor cover 24 disposed on the floor 23 and covering the wiring member 26. The floor cover 24 can protect the wiring member 26 by preventing the wiring member 26 from being directly stepped on. Note that in a configuration in which the control device 31 is disposed on one side of the front panel 10 in the left-right direction, the other control device 32 may be disposed on the other side of the front panel 10 in the left-right direction. As another example, the control device 31 and the other control device 32 may be disposed on the same side of the front panel 10 in the left-right direction. In these configurations as well, the wiring member 26 may be disposed on the floor 23 and covered by the floor cover 24.

[0050] <3. Control device mounting structure> FIG. 8 is a perspective view showing a schematic configuration of a mounting structure for the first control device 31 to the floor 23. FIG. 9 is a schematic exploded perspective view showing a portion of the configuration shown in FIG. 8 disassembled. As shown in FIGS. 8 and 9, the first control device 31 is mounted on the floor 23 via a pedestal 27 that is disposed on the upper surface of a floor panel 231 that constitutes the floor 23. The upper surface of the floor panel 231 corresponds to the floor surface 23a. The first control device 31 that is disposed on the upper surface of the floor panel 231 via the pedestal 27 is covered by a control device cover 28.

[0051] 5 and 7 show a state in which the control device cover 28 has been removed. The control device cover 28 does not have to be provided, but it is preferable that it be provided.

[0052] The base 27 is formed by processing, for example, sheet metal. The base 27 is a connecting member that connects the floor 23 and the first control device 31. That is, in this embodiment, the first control device 31 is indirectly disposed on the floor 23. The base 27 includes a base main body 271 and mounting portions 272 that are disposed on the left and right sides of the base main body 271. The first control device 31 is disposed on the base main body 271. The mounting portions 272 are attached to the floor panel 231.

[0053] Specifically, the base main body 271 has a main body upper wall 271a, a main body left side wall 271b, and a main body right side wall 271c. The main body upper wall 271a has a horizontally extending rectangular shape. The main body left side wall 271b extends diagonally downward and left from the left end of the main body upper wall 271a. The main body right side wall 271c extends diagonally downward and right from the right end of the main body upper wall 271a.

[0054] The left mounting portion 272a is connected to the lower end of the main body left side wall 271b and extends leftward from that lower end. The right mounting portion 272b is connected to the lower end of the main body right side wall 271c and extends rightward from that lower end. The left mounting portion 272a and the right mounting portion 272b are shaped like horizontally extending plates. The left mounting portion 272a and the right mounting portion 272b are each fixed to the floor panel 231 using screws 275.

[0055] Control device supports 273 are disposed at the front left side and rear right side of the main body upper wall 271a, extending upward. In this embodiment, the control device supports 273 are screws, and extend upward through through-holes that penetrate vertically through the main body upper wall 271a. Cylindrical cover supports 274 are disposed at the four corners of the main body upper wall 271a, extending upward. The cover supports 274 are fixed to the main body upper wall 271a by, for example, screws or welding.

[0056] The first control device 31 has a rectangular parallelepiped shape. The first control device 31 is arranged in an orientation where its vertical height is at its lowest. By arranging the first control device 31 so that its vertical height is at its lowest, it is possible to prevent a situation in which the placement of the first control device 31 obstructs the driver's view when checking the area diagonally downward in front of the vehicle. It is also possible to prevent a situation in which the placement of the first control device 31 reduces the operability of the pedals 15, such as the brake pedal 15b. However, the first control device 31 may be arranged in an orientation other than the orientation where its vertical height is at its lowest.

[0057] The first control device 31, which is placed on the floor 23, is provided with screw fastening portions 311 at the front left corner and rear right corner. The screw fastening portions 311 have through-holes that penetrate in the vertical direction. The first control device 31 is placed on the main body upper wall 271a of the base 27 with control device supports 273 passing through the through-holes of each screw fastening portion 311. In this state, the first control device 31 is fixed to the base 27 by fitting nuts 312 into the control device supports 273, which are configured as screws.

[0058] The control device cover 28 has a box shape that opens downward. The control device cover 28 is formed, for example, by processing sheet metal. Four through holes that penetrate in the vertical direction are provided in the cover upper wall 281 of the control device cover 28. Each of the four through holes is provided at a position that overlaps one of the cover struts 274 vertically when the control device cover 28 is placed to cover the first control device 31. The screws 282 that are passed through each of the four through holes are further passed through the cylindrical cover struts 274 and combined with nuts (not shown) that are disposed below the main body upper wall 271a, thereby fixing the control device cover 28 to the base 27. As can be seen from the above description, in this embodiment, the cover struts 274 are fixed to the main body upper wall 271a by screws.

[0059] Since the base 27 is fixed to the floor panel 231, the control device cover 28 is fixed to the floor 23. That is, the tractor 1 is provided with the control device cover 28 that is fixed to the floor 23 and covers the control device 31. The control device cover 28 can protect the first control device 31.

[0060] As described above, the floor cover 24A may be disposed above the first control device 31. In such a configuration, the first control device 31 may be covered not only by the control device cover 28 but also by the floor cover 24A disposed above the control device cover 28.

[0061] The control device cover 28 is provided with a wiring opening 283 through which the wiring member 26 connected to the connector portion 313 provided on the first control device 31 passes. Specifically, the wiring opening 283 is provided in a side wall disposed on the left front side. The position of the wiring opening 283 is not limited to the position in this embodiment and may be changed as appropriate. When the wiring opening 283 is provided in the position in this embodiment, the wiring member 26 can be easily arranged along the frame member, and a decrease in visibility due to the wiring member 26 can be suppressed. Furthermore, the connector portion 313 is provided on the left side surface of the first control device 31. Specifically, the connector portion 313 includes two connectors: a connector for connecting to the second control device 32 and a connector for connecting to the motor 131. The position of the connector portion 313 may be changed as appropriate.

[0062] <4. Modifications> [4-1. First Modification] The above-described location of the first control device 31 is merely an example. The first control device 31 may be placed in another location that does not obstruct the driver's view or interfere with driving operations.

[0063] FIG. 10 is a diagram illustrating a first modified example of the location of the first control device 31. As shown in FIG. 10, the first control device 31 disposed on the floor 23 may be disposed on an imaginary line VL extending forward from a bisector that bisects the driver's seat 9 in a plan view. In this case, the first control device 31 is preferably disposed on the rear side of the floor 23, closer to the driver's seat 9. If the first control device 31 is disposed in such a position, the first control device 31 can be disposed between the left and right legs of the driver sitting in the driver's seat 9. This prevents the first control device 31 from obstructing the view or interfering with driving operations.

[0064] [4-2. Second Modification] Fig. 11 is a diagram illustrating a second modified example of the location of the first control device 31. Fig. 12 is a schematic cross-sectional view taken along line XII-XII in Fig. 11. In the second modified example, an opening 231a that penetrates vertically is provided in a floor panel 231 that constitutes the floor 23. In the example shown in Fig. 11, the opening 231a is provided in the center of the floor 23 in the horizontal direction, but the position where the opening 231a is provided may be changed as appropriate.

[0065] In this modification, the first control device 31 is disposed at a position overlapping the opening 231a in a plan view. More specifically, the first control device 31 is attached to a bracket 29. The bracket 29 is disposed so as to bridge the left and right portions of the floor panel 231 with respect to the opening 231a. The bracket 29 is a connecting member that connects the floor 23 and the first control device 31.

[0066] Although the bracket 29 may be flat, in this modification, the bracket 29 has a groove 291 recessed downward. The first control device 31 is disposed on the bottom surface of the groove 291. With this configuration, at least a portion of the first control device 31 can be disposed at a position lower than the floor surface 23a. Note that a configuration in which at least a portion of the first control device 31 is disposed at a position lower than the floor surface 23a may be configured in which a recess recessed downward is provided in the floor surface 23a and the first control device 31 is disposed in the recess.

[0067] [4-3.Third Modification] FIG. 13 is a perspective view showing the general configuration of a tractor 1A with a cabin specification. The configurations relating to the first control device 31 and the second control device 32 described above can also be applied to the tractor 1A with a cabin specification. In the tractor 1A, a cabin 50 is provided in the driver's section 8A, which includes a driver's seat 9 and a front panel 10. The cabin 50 covers the driver's seat 9 and the front panel 10. In the tractor 1A with a cabin specification, the positioning antenna 20 is attached to the upper front part of the cabin 50 via a support frame 52, for example. The configurations of the driver's seat 9 and the front panel 10 provided in the driver's section 8A of the tractor 1A are the same as those of the tractor 1 described above. FIG. 13 also shows the cabin 50 with the right door removed.

[0068] The tractor 1A is provided with a floor cover 24A shown in Fig. 6. The first control device 31, which is disposed on the floor 23, is disposed under the floor cover 24A in a state where it is covered with a control device cover 28.

[0069] Fig. 14 is a schematic perspective view showing the configuration around the first control device 31 in a cabin-type tractor 1A. Fig. 15 is a schematic side view showing the configuration around the first control device 31 in a cabin-type tractor 1A. In Figs. 14 and 15, the control device cover 28 that covers the first control device 31 and the floor cover 24A that is placed on the floor surface 23a are omitted. Also, the first control device 31 is placed on a base 27 fixed to the floor panel 231, as in the above-described embodiment. The first control device 31 is placed on the right front of the floor 23 of the driving section 8A that is formed by the cabin 50.

[0070] The tractor 1A includes a cabin frame 51 that constitutes a cabin 50. To accommodate the cabin frame 51, a wall portion 511 that protrudes upward relative to the floor surface 23a is disposed on the outer edge of the floor 23. That is, the tractor 1A includes the wall portion 511 that is disposed on the outer edge of the floor 23 and extends upward. The tractor 1A also includes a connector portion 313 that the control device 31 has.

[0071] Because the wall portion 511 is provided, the cabin-spec tractor 1A is structured so that water tends to accumulate inside the cabin 50. Taking this into consideration, the connector portion 313 is disposed at a position higher than the upper end of the wall portion 511. The dashed line in FIG. 15 indicates the lower end of the connector portion 313. Note that if the height of the wall portion 511 is not constant, the connector portion 313 may be configured to be disposed at a position higher than at least the upper end of the lowest part of the wall portion 511. With this configuration, it is possible to prevent the connector portion 313 from being submerged in water that accumulates inside the cabin 50.

[0072] On the other hand, if the height of the base 27 is made too high in order to increase the height of the connector portion 313, the field of view when looking diagonally downward forward from the driver's seat 9 may be obstructed by the first control device 31, resulting in a narrow field of view. For this reason, it is preferable that, in a plan view from the front, at least a portion of the first control device 31 overlaps with the cabin frame 51 (in this example, the front wall portion 511a) disposed on the front side of the cabin 50. This reduces the amount of field of view obstructed by the first control device 31 when looking diagonally downward forward from the driver's seat 9.

[0073] [4-4. Fourth Modification] The fourth modified example has a configuration suitable for small work vehicles, although it is not intended to be particularly limited thereto. Fig. 16 is a perspective view showing the general configuration of a tractor 1B of the fourth modified example. Fig. 16 is a diagram showing some of the components that make up the tractor 1B. Fig. 17 is a diagram with some parts (covers) removed from the view shown in Fig. 16. The tractor 1B of this modified example is a ROPS-type tractor. However, the configuration of this modified example can also be applied to a tractor with a cabin.

[0074] The tractor 1B of this modified example is equipped with a first control device (control device) 31 that controls a motor 131 (see FIG. 3) that rotates the steering shaft 13 (see FIG. 17). The first control device 31 is covered by a first control device cover 28B (see FIG. 16). The first control device 31 is disposed below the driver's seat 9. The first control device 31 is disposed in a partition that constitutes the driver's section 8 in which the driver sits. This configuration is the same as in the above-described embodiment. With this configuration, the first control device 31 that controls the motor 131 can be disposed relatively close to the motor 131, while preventing the first control device 31 from obstructing the driver's view. In other words, the control device 31 for the motor 131 that enables automatic steering can be appropriately disposed in the tractor 1.

[0075] The partition constitutes a space (riding space) in the tractor 1B where the driver rides. The partition is, for example, a member that constitutes the bottom of the riding space or a member that constitutes the side of the riding space. The partition is, for example, a bottom wall or a side wall. In the above-described embodiment, the partition in which the first control device 31 is arranged is the floor 23 in front of the driver's seat 9. In this example, the partition in which the first control device 31 is arranged is a member separate from the floor 23.

[0076] In this example, the partition is a seat support frame 91 that supports the driver's seat 9. That is, the first control device 31 is disposed on the seat support frame 91 that supports the driver's seat 9. The configuration in which the first control device 31 is disposed on the seat support frame 91 may include not only a configuration in which the first control device 31 is disposed directly on the seat support frame 91, but also a configuration in which the first control device 31 is disposed indirectly on the seat support frame 91. If the first control device 31 is disposed on the seat support frame 91, the first control device 31 can be disposed in a position that is unlikely to interfere with the driver getting on and off the tractor 1B. Furthermore, the first control device 31 can be disposed in a position that is unlikely to interfere with pedal operation.

[0077] As shown in Figures 16 and 17, the seat support frame 91 has a first frame portion 911 and a second frame portion 912. The first frame portion 911 is disposed above the floor 23 in front of the driver's seat 9 and forms the surface on which the driver's seat 9 is attached. The first frame portion 911 is located below the driver's seat 9 and extends horizontally. The second frame portion 912 connects the front end of the first frame portion 911 to the floor 23. The second frame portion 912 forms the front wall of the seat support frame 91. The first frame portion 911 and the second frame portion 912 may be formed from the same member or different members.

[0078] Specifically, the first control device 31 is disposed in the second frame portion 912. The first control device 31 is disposed on the front surface of the second frame portion 912. The front surface may be flat, concave, or convex, or may have at least one of a concave portion and a convex portion in a portion thereof. The front surface may also include an opening penetrating from front to rear. The first control device 31 may be disposed in the concave portion or opening. In this example, as a preferred embodiment, the first control device 31 is disposed on one side in the left-right direction of the front surface of the second frame portion 912. Specifically, the first control device 31 is disposed on the left side of the front surface of the second frame portion 912. In this configuration, the first control device 31 can be positioned behind the calves of the driver seated in the driver's seat 9, and can be disposed in a position that does not interfere with pedal operation, etc. Furthermore, since the first control device 31 can be disposed behind the driver's legs, the space under the driver's feet can be more widely utilized. Furthermore, according to the configuration of this example, if the tractor is of cabin specification, the first control device 31 can be disposed inside the cabin.

[0079] As in the above-described embodiment, the first control device 31 is electrically connected to the motor 131 by an electric wire 261. The electric wire 261 is included in a wiring member (wire harness) 26 that bundles a plurality of electric wires, and passes under a floor cover 232 that is arranged in the center of the floor 23, leading from the first control device 31 to the motor 131. The floor cover 232 is made of a resin member that covers an opening (not shown) provided in the center of the floor 23.

[0080] As in the above-described embodiment, in this example, the tractor 1B also includes a second control device 32, which is a main control device that performs control related to automatic steering. The second control device 32 is disposed at a position remote from the first control device 31, and is electrically connected to the first control device 31 by an electric wire included in the wiring member 26. In other words, in this example, the tractor 1B also includes another control device 32 that is disposed at a position remote from the control device 31. The tractor 1B also includes another control device 32 that is electrically connected to the control device 31.

[0081] In the above-described embodiment, the second control device 32 is disposed behind the driver's seat 9, but in this example, the second control device 32 is configured differently. As shown in FIG. 17, in this example, the second control device 32 is disposed on one side in the left-right direction of the tractor 1B. More specifically, the second control device 32 is disposed on the left side of the tractor 1B. As can be seen by comparing FIG. 16 with FIG. 17, the second control device 32 is covered by a side cover 30, which will be described later.

[0082] FIG. 18 is a diagram for explaining the arrangement of the second control device 32 in the fourth modified example. FIG. 18 is a schematic perspective view illustrating only some elements of the tractor 1B. As shown in FIG. 18, the tractor 1B includes a drive unit housing 4 disposed below the driver's seat 9. The tractor 1B also includes side covers 30 disposed on at least one of the left and right sides of the drive unit housing 4. In this example, the side covers 30 are disposed on the left and right sides of the drive unit housing 4. The drive unit housing 4 is disposed between the pair of left and right side covers 30 in the left-right direction. The left and right side covers 30 are detachably attached to the side frames of the tractor 1B. The side covers 30 are disposed inward in the left-right direction from the rear wheels 6 (see FIG. 1, etc.). Specifically, the left side cover 30 is located to the right of the left rear wheel 6. The right side cover 30 is located to the left of the right rear wheel 6.

[0083] In this example, the second control device 32 is disposed between the left side cover 30 and the drive unit housing 4 in the left-right direction. Note that the second control device 32 may also be disposed between the right side cover 30 and the drive unit housing 4 in the left-right direction. In other words, the second control device (other control device) 32 may be disposed between either the left or right side cover 30 and the drive unit housing 4. With this configuration, the second control device 32 can be disposed using available space in the tractor 1B. Furthermore, with this configuration, the second control device 32 can be disposed in a position where it is less susceptible to the effects of heat.

[0084] In the configuration of this example, it is preferable that the second control device 32 is disposed on the same left-right side of the tractor 1B as the first control device 31. By configuring it in this way, it is possible to prevent the wiring connecting the two from becoming unnecessarily long.

[0085] Next, the mounting structure of the second control device 32 in the tractor 1B will be described with reference to Fig. 19 to Fig. 21. Fig. 19 is an enlarged plan view showing the periphery of the second control device 32 provided in the tractor 1B of the fourth modified example. Fig. 20 is a perspective view showing the general configuration of the mounting structure of the second control device 32 provided in the tractor 1B of the fourth modified example. Fig. 21 is an exploded view showing a part of the mounting structure shown in Fig. 20.

[0086] As shown in FIG. 19, the second control device 32 is fixed to the control device support plate 33. In this example, this fixation is performed using bolts and nuts. However, fasteners other than bolts and nuts may also be used. This also applies to the fixing parts described below. In this example, the control device support plate 33 is a flat member. The control device support plate 33 is fixed to a member 34a that constitutes the lever unit 34 (see FIG. 16, etc.). This fixation is performed using bolts and nuts. The control device support plate 33 is attached to the member 34a that constitutes the lever unit 34 in an orientation such that the surface to which the second control device 32 is fixed extends vertically. The upper part of the control device support plate 33 is attached to the member 34a that constitutes the lever unit 34.

[0087] With this configuration, during maintenance or other work, the control device support plate 33 to which the second control device 32 is attached can be removed from the body of the tractor 1B together with the lever unit 34. With this configuration, the second control device 32 can be removed from the body of the tractor together with the floor unit. This improves workability when the wiring is removed from the body together with the floor unit. In this example, the lever unit 34 includes a transmission switching lever, but the lever included in the lever unit 34 may be something other than a transmission switching lever. Furthermore, as long as it can be removed together with the floor unit, the component to which the control device support plate 33 is attached may be something other than the lever unit 34. The floor unit refers to a structural unit (lump) that integrates multiple components, including the components that make up the floor 23, the driver's seat 9, and the operating system.

[0088] As described above, the second control device 32 is configured to be covered using the side cover 30. As shown in FIGS. 20 and 21 , specifically, a box-shaped inner cover 35 is attached to the inner surface in the left-right direction of the side cover 30 (the right surface in this example). In this example, the inner cover 35 is attached to the side cover 30 by fastening it at three locations using bolts and nuts. With this configuration, the second control device 32 can be surrounded by the inner cover 35 by attaching the side cover 30 with the attached inner cover 35 to the frame of the vehicle body. In this example, specifically, the upper side, rear side, and left side of the rectangular parallelepiped-shaped second control device 32 are covered by the inner cover 35.

[0089] In this example, the inner cover 35 is fastened to the control device support plate 33 using bolts and nuts. The bolts pass through a collar 36 disposed between the inner cover 35 and the control device support plate 33 in the left-right direction and are fastened to the nuts. This results in a structure in which the upper part of the control device support plate 33 is fixed to the member 34a constituting the lever unit 34 and the lower part is fixed to the inner cover 35. This structure makes it possible to make the control device support plate 33 less likely to shake.

[0090] In the above description, the side cover 30 and the inner cover 35 are configured as separate members, but this is merely an example. The side cover 30 and the inner cover 35 may be configured as a single member.

[0091] <5. Points to note> Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments and modifications shown in this specification can be combined to the extent possible.

[0092] <6. Notes> An exemplary work vehicle of the present invention includes a driver's seat, a steering wheel located in front of the driver's seat, a steering shaft connected to the steering wheel, a motor that rotates the steering shaft, and a control device that controls the motor, and the control device may be configured (first configuration) to be located below the driver's seat in a partition that forms the driver's section in which the driver sits.

[0093] In the first configuration, the control device may be arranged on the floor in front of the driver's seat (second configuration).

[0094] In the second configuration, the control device may be arranged on one side in the left-right direction of a front panel on which the steering wheel is provided (third configuration).

[0095] In the third configuration, the device may be configured (fourth configuration) to include another control device that is disposed apart from the control device, and the other control device is disposed on the other side of the front panel in the left-right direction.

[0096] In the third or fourth configuration, a configuration (fifth configuration) may be provided in which a display device is arranged on the same left-right side of the front panel as the control device.

[0097] In any of the second to fifth configurations, the control device may be configured (sixth configuration) so that the control device is oriented in such a way that its height in the up-down direction is at its smallest.

[0098] In any of the second to sixth configurations, the control device may be arranged in front of an accelerator pedal provided on the floor (seventh configuration).

[0099] Any of the second to seventh configurations may be configured (eighth configuration) to further include a control device cover that is fixed to the floor and covers the control device.

[0100] In any of the second to eighth configurations above, a configuration (ninth configuration) may be provided which includes another control device arranged away from the control device, a wiring member including electric wires connecting the control device and the other control device, and a floor cover arranged on the floor and covering the wiring member.

[0101] In any of the above second to ninth configurations, the configuration may be one (tenth configuration) that includes a wall portion arranged at the outer edge of the floor and extending upward, and a connector portion that the control device has, and the connector portion is arranged at a position higher than the upper end of the wall portion.

[0102] In the first configuration, the control device may be arranged on a seat support frame that supports the driver's seat (eleventh configuration).

[0103] In the above 11th configuration, the seat support frame may be configured to be positioned above the floor in front of the driver's seat and have a first frame portion that forms the surface on which the driver's seat is mounted, and a second frame portion that connects the front end of the first frame portion to the floor, and the control device may be configured to be positioned on the second frame portion (12th configuration).

[0104] In the above 11th or 12th configuration, the vehicle may be configured (13th configuration) to include a drive unit housing arranged below the driver's seat, a side cover arranged on at least one of the left and right sides of the drive unit housing, and another control device arranged away from the control device, wherein the other control device is arranged between the side cover and the drive unit housing. [Explanation of symbols]

[0105] 1, 1A, 1B... Tractor (work vehicle) 4. Drive unit housing 8. Driving section 9. Driver's seat 10. Front Panel 11. Steering wheel 13. Steering shaft 15a Accelerator pedal 22...Display device 23 Floor (partition) 24, 24A Floor Cover 26 Wiring material 28 Control device cover 30 Side cover 31... First control device (control device) 32... Second control device (other control device) 91 Seat support frame (partition) 131 Motor 313···Connector part 511...Wall part 911···First frame section 912... Second frame section

Claims

1. The driver's seat and a steering wheel disposed in front of the driver's seat; a steering shaft connected to the steering wheel; a motor that rotates the steering shaft; a control device for controlling the motor; Equipped with A work vehicle in which the control device is disposed in a partition that is below the driver's seat and that constitutes a driver's section in which a driver sits.

2. A driver's seat, a steering wheel disposed in front of the driver's seat; a steering shaft connected to the steering wheel; a motor that rotates the steering shaft; a control device for controlling the motor; Equipped with The work vehicle according to claim 1 , wherein the control device is disposed on a floor in front of the driver's seat.

3. The work vehicle according to claim 2 , wherein the control device is disposed on one left-right side of a front panel on which the steering wheel is provided.

4. another control device disposed remotely from the control device; The work vehicle according to claim 3 , wherein the other control device is disposed on the other side of the front panel in the left-right direction.

5. The work vehicle according to claim 3 or 4, further comprising a display device that is arranged on the same left-right side of the front panel as the control device.

6. The work vehicle according to claim 2 , wherein the control device is disposed in an orientation that minimizes its height in the vertical direction.

7. The work vehicle according to claim 2 , wherein the control device is disposed in front of an accelerator pedal provided on the floor.

8. The work vehicle according to claim 2 , further comprising a control device cover fixed to the floor and covering the control device.

9. Another control device located remotely from the control device; a wiring member including an electric wire connecting the control device and the other control device; a floor cover disposed on the floor and covering the wiring member; The work vehicle according to claim 2 , comprising:

10. a wall portion disposed at an outer edge of the floor and extending upward; a connector portion provided in the control device; Equipped with The work vehicle according to claim 2 , wherein the connector portion is disposed at a position higher than an upper end of the wall portion.

11. A driver's seat; a steering wheel disposed in front of the driver's seat; a steering shaft connected to the steering wheel; a motor that rotates the steering shaft; a control device for controlling the motor; Equipped with The work vehicle according to claim 1 , wherein the control device is disposed on a seat support frame that supports the driver's seat.

12. The seat support frame includes: a first frame portion disposed above a floor in front of the driver's seat and constituting a surface to which the driver's seat is attached; a second frame portion connecting a front end portion of the first frame portion and the floor; and The work vehicle according to claim 11 , wherein the control device is disposed in the second frame portion.

13. a drive unit housing disposed below the driver's seat; a side cover disposed on at least one of the left and right sides of the drive unit housing; Another control device located remotely from the control device; Equipped with The work vehicle according to claim 11 or 12, wherein the other control device is disposed between the side cover and the drive unit housing.

Images