Work vehicle

Abstract

To provide a work vehicle in which checking and switching operation of an operation mode is unnecessary and a place on which a remote operation device is placed is not required.SOLUTION: A vehicle body includes a storage unit capable of storing a remote operation device RC, and a detection unit 52 that detects that the remote operation device RC is stored in the storage unit. When the detection unit 52 detects that the remote operation device RC is stored in the storage unit, an operation mode switching unit 34 switches an operation mode to a body operation mode. When the detection unit 52 does not detect anymore that the remote operation device RC is stored in the storage unit, the operation mode switching unit 34 switches the operation mode to a remote operation mode.SELECTED DRAWING: Figure 6

Description

Technical Field

[0006] , ,

[0007] ,

[0001] The present invention relates to a work vehicle suitable for traveling on uneven ground with irregularities.

Background Art

[0002] As such a work vehicle, for example, there is one described in Patent Document 1. In this work vehicle, four traveling devices (referred to as "traveling wheels" in Patent Document 1) are supported via a folding link mechanism that can be telescopically operated by operating a hydraulic cylinder with respect to the vehicle body.

[0003] The work vehicle described in Patent Document 1 is configured to be able to operate the traveling device using a remote operation device (referred to as an "input device" in Patent Document 1).

[0004] In addition, in such a work vehicle, there is a configuration in which the operation mode can be switched between a remote operation mode in which the traveling device is operated by a remote operation device and a main body operation mode in which the traveling device is operated by a main body operation device provided on the vehicle body of the work vehicle.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in conventional work vehicles, when an operator operates the work vehicle, it is necessary to check the operation mode, perform a switching operation of the operation mode if necessary, and then perform the operation using the main body operation device or the remote operation device, which is a troublesome task. ​​Furthermore, when the operator was using the main control unit, they had to find a place to put the remote control device when not in use. Moreover, the operator sometimes forgot where they had put the remote control device and ended up losing it.

[0008] Therefore, the objective of the present invention is to provide a work vehicle that eliminates the need to check or switch operating modes, and furthermore, does not require a place to install a remote control device. [Means for solving the problem]

[0009] The work vehicle of the present invention comprises: a running device that supports the vehicle body; a control unit that controls the running device; a main unit operation unit provided on the vehicle body that controls the control unit by human operation; a remote control device that can be remotely controlled to the control unit; an operation mode switching unit that switches between an operation mode that enables the main unit operation unit to control the control unit and a remote control mode that enables the remote control device to control the control unit; and a flat loading section on the upper surface of the vehicle body that is substantially rectangular in plan view and capable of loading cargo. The vehicle body is provided with a storage section capable of storing the remote control device, and a detection unit that detects when the remote control device is stored in the storage section. When the detection unit detects that the remote control device is stored in the storage section, the operation mode switching unit switches the operation mode to the main unit operation mode. When the detection unit no longer detects that the remote control device is stored in the storage section, the operation mode switching unit switches the operation mode to the remote control mode. The storage section is positioned below the loading section. The vehicle body is provided with support mechanisms located on the left front, right front, left rear, and right rear, each of which has a bending link mechanism that allows for individual changes in posture, and the running gear is supported so as to be individually raised and lowered relative to the vehicle body via the bending link mechanism, and the storage section is located on the central side of the vehicle body in the left-right direction, closer to the center than both ends of the bending link mechanism. .

[0010] According to this invention, the remote control device can be stored in a storage compartment provided on the vehicle body, eliminating the need to search for a place to put the remote control device. Furthermore, the operating mode switches simply by storing the remote control device in the storage compartment or retrieving it from the storage compartment, eliminating the need for the operator to check or switch operating modes. 。

[0011] In the present invention, it is preferable that when the operation mode is the main unit operation mode, control of the control unit by the remote control device is prohibited, and when the operation mode is the remote control mode, control of the control unit by the main unit operation unit is prohibited.

[0012] With this configuration, even if the main unit's control panel is accidentally operated in remote control mode, the work vehicle will not be operated by the operation of the main unit's control panel. Similarly, even if the remote control device is accidentally operated in main unit control mode, the work vehicle will not be operated by the operation of the remote control device.

[0013] In the present invention, the detection unit preferably has a changeover switch that is configured to be pressable, and when the changeover switch is pressed by the remote control device stored in the storage unit, the detection unit preferably detects that the remote control device has been stored in the storage unit.

[0014] This configuration allows for a simple mechanism where a changeover switch is pressed when the remote control device is stored in the storage unit, thereby enabling the detection of the remote control device being stored in the storage unit.

[0015] In the present invention, the storage section preferably has an insertion section configured to allow the remote control device to be inserted from above, and the changeover switch is preferably provided at the bottom of the inside of the insertion section.

[0016] This configuration allows for a simple setup where the weight of the remote control device itself presses a changeover switch, thereby enabling a function to detect when the remote control device is stored in the storage unit. [Brief explanation of the drawing]

[0017] [Figure 1] Side view of the work vehicle. [Figure 2] Rear view of the work vehicle. [Figure 3] This is a plan view of the work vehicle. [Figure 4]It is a plan view of the support mechanism. [Figure 5] It is a side view of the support mechanism. [Figure 6] It is a control block diagram. [Figure 7] It is a diagram showing the configuration of the storage part.

Embodiments for Carrying out the Invention

[0018] The embodiments for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow FW in the drawings is defined as "front", the direction of arrow BK is defined as "rear", the direction of arrow LH is defined as "left", and the direction of arrow RH is defined as "right". Also, the direction of arrow UP in the drawings is defined as "up", and the direction of arrow DW is defined as "down".

[0019] 〔Overall Configuration of the Work Vehicle〕 As shown in FIGS. 1 to 3, the work vehicle includes a vehicle body 1 having a substantially rectangular shape in plan view that supports the entire vehicle, drive wheels 2 as a plurality of traveling devices that support the vehicle body 1, a plurality of auxiliary wheels 3 provided corresponding to each of the plurality of drive wheels 2, a support mechanism A that supports the plurality of drive wheels 2 so that their positions can be changed with respect to the vehicle body 1, and a plurality of hydraulic motors 4 as traveling drive devices that drive the plurality of drive wheels 2 individually.

[0020] The drive wheels 2 are located at the front and rear on both the left and right sides of the vehicle body 1. In the present embodiment, the work vehicle includes four drive wheels 2 at the left front, right front, left rear, and right rear. The work vehicle also includes four support mechanisms A at the left front, right front, left rear, and right rear. The support mechanism A includes a folding link mechanism 5 and a plurality of hydraulic cylinders 6 and 7 that can individually change the posture of the folding link mechanism 5.

[0021] The structures of the drive wheels 2, auxiliary wheels 3, and support mechanism A of the work vehicle in the present embodiment are symmetric in the front and rear, and the work vehicle can travel in both the front and rear directions defined in the drawings.

[0022] The vehicle body 1 is roughly rectangular in shape when viewed from above, and a flat loading section 8 capable of loading cargo is provided on the upper surface of the vehicle body 1. The loading section 8 is a roughly rectangular area when viewed from above and extends from the right end to the left end of the vehicle body 1. The loading section 8 is configured so that cargo can be placed on it. Examples of cargo that can be placed on the loading section 8 include agricultural machinery, agricultural materials such as fertilizers and chemicals, harvested produce and harvesting baskets, and pallets on which these are placed.

[0023] The vehicle body 1 is equipped with a hydraulic supply source 9 located below the loading section 8, which supplies hydraulic fluid to the hydraulic cylinders 6 and 7 and the hydraulic motor 4; multiple hydraulic control valves 10 that adjust the supply state of hydraulic fluid from the hydraulic supply source 9; an ECU 11 (Electronic Control Unit) that controls the operation of the hydraulic control valves 10; and a battery 12 for power supply. The hydraulic supply source 9 is equipped with a hydraulic pump 9b driven by the engine 9a. The hydraulic supply source 9 is also equipped with a hydraulic fluid tank 9c, a radiator 9d, and the like. The hydraulic supply source 9 is supported by the underframe 24. The fuel tank 9e is located at a high position on the front side of the vehicle body 1.

[0024] The ECU 11 is equipped with a microcomputer and can perform various controls according to a control program. The control device C is composed of multiple hydraulic control valves 10 and the ECU 11. The battery 12 is charged by a generator driven by the power of the engine 9a. A main unit operation unit 13 is provided on the rear side of the vehicle body 1, which allows the control device C to be controlled manually.

[0025] [Support mechanism] As described above, the support mechanism A comprises an articulated link mechanism 5 and a plurality of hydraulic cylinders 6 and 7. As shown in Figure 1, the plurality (specifically four) of drive wheels 2 are individually supported on the vehicle body 1 via the articulated link mechanism 5 so as to be able to move up and down.

[0026] As shown in Figures 4 and 5, the articulated link mechanism 5 includes a base end 14 supported by the vehicle body 1, a first link 15 whose upper end is supported at the lower part of the base end 14 so as to be rotatable around a horizontal axis X1, and a second link 16 whose one end is supported at the lower end of the first link 15 so as to be rotatable around a horizontal axis X2 and whose other end supports a drive wheel 2.

[0027] A support bracket 17 supporting the drive wheel 2 is supported by a boss portion 18 provided at the pivoting end of the second link 16 so as to be able to pivot around the vertical axis Y. A hydraulic cylinder 20 for pivoting operation (hereinafter referred to as the pivot cylinder) is provided extending from the bracket 19 at one end of the second link 16 to the arm portion 17a provided on the support bracket 17.

[0028] Each of the multiple articulated link mechanisms 5 is provided with multiple hydraulic cylinders 6 and 7 that can individually change the orientation of each articulated link mechanism 5. Specifically, there is a first hydraulic cylinder 6 that can change the swinging orientation of the first link 15 relative to the vehicle body 1, and a second hydraulic cylinder 7 that can change the swinging orientation of the second link 16 relative to the first link 15.

[0029] When the operation of the second hydraulic cylinder 7 is stopped and the first hydraulic cylinder 6 is extended or retracted, the first link 15, the second link 16, and the drive wheel 2 each oscillate together around the horizontal axis X1 of the pivot connection point to the base end 14 while maintaining a constant relative position. When the operation of the first hydraulic cylinder 6 is stopped and the second hydraulic cylinder 7 is extended or retracted, the position of the first link 15 remains constant, and the second link 16 and the drive wheel 2 oscillate together around the horizontal axis X2 of the connection point between the first link 15 and the second link 16.

[0030] Auxiliary wheels 3 are rotatably supported at the intermediate bending points of each of the multiple bending link mechanisms 5. The auxiliary wheels 3 are made of wheels with approximately the same outer diameter as the drive wheels 2. The pivot shaft that pivotally connects the first link 15 and the second link 16 is extended to protrude outward in the width direction of the vehicle body, and the auxiliary wheels 3 are rotatably supported at the extended protruding portion of the pivot shaft.

[0031] By operating the slewing cylinder 20, the drive wheel 2 can be rotated around the vertical axis Y relative to the articulating link mechanism 5, thereby enabling a slewing operation.

[0032] The hydraulic control valve 10, which corresponds to the hydraulic motor 4, adjusts the flow rate of the hydraulic fluid, thereby changing the rotational speed of the hydraulic motor 4, and thus the rotational speed of the drive wheels 2.

[0033] [Sensor] This work vehicle is equipped with various sensors. As shown in Figure 6, each of the four first hydraulic cylinders 6 and the four second hydraulic cylinders 7 is equipped with multiple stroke sensors S1 capable of detecting the extension and retraction amount. The extension and retraction amount of each hydraulic cylinder 6, 7 is a detected value corresponding to the swing position of the first link 15 and the second link 16 that are being operated.

[0034] The vehicle body 1 is equipped with a tilt sensor S2 (corresponding to the "tilt acquisition unit" of the present invention) that detects the tilt angle of the vehicle body. The tilt sensor S2 is configured using an inertial measurement unit (IMU) with a well-known configuration. The IMU has a three-axis acceleration sensor and a gyro sensor and can detect changes in the attitude state of the vehicle body 1, specifically tilt in the longitudinal and lateral directions.

[0035] A rotation sensor S3 is provided near the drive wheel 2 to detect the rotational speed of the drive wheel 2, which is driven by a hydraulic motor 4. Based on the rotational speed of the drive wheel 2 detected by the rotation sensor S3, the supply of hydraulic fluid to the hydraulic motor 4 is controlled so that the rotational speed of the drive wheel 2 reaches a target value. A pressure sensor S4 is provided to detect the pressure of the hydraulic fluid supplied to the hydraulic motor 4. Based on the hydraulic fluid pressure detected by the pressure sensor S4, the supply (pressure) of hydraulic fluid to the hydraulic motor 4 is controlled so that the driving torque of the drive wheel 2 reaches a target value. Each of the four slewing cylinders 20 is equipped with a stroke sensor S5 capable of detecting the extension and retraction amount.

[0036] [ECU] The ECU11 (Electronic Control Unit) includes a non-volatile memory (not shown) that stores programs corresponding to the functional units described later, and a CPU (not shown) that executes these programs. The functions of each functional unit are realized when the programs are executed by the CPU.

[0037] The ECU11 includes, as a functional unit, a driving control unit 31 (corresponding to the "control unit" of the present invention), a turning control unit 32 (corresponding to the "control unit" of the present invention), a posture control unit 33, an operation mode switching unit 34, and an input control unit 35.

[0038] When the vehicle is running with all four drive wheels 2 in contact with the ground, the driving control unit 31 controls the rotation direction and rotation speed of each of the four drive wheels 2. Specifically, based on information input by manual operation of the operating handle 13a of the main unit operating unit 13, the driving control unit 31 switches the hydraulic control valve 10 that supplies and discharges hydraulic fluid to the hydraulic motor 4 so that the rotation speed of the drive wheels 2 detected by the rotation sensor S3 becomes the target speed and the drive torque detected by the pressure sensor S4 becomes the target value.

[0039] The slewing control unit 32 controls the slewing cylinders 20 to perform steering operations on the drive wheels 2. Specifically, the slewing control unit 32 performs switching operations on the hydraulic control valves 10 that supply and discharge hydraulic fluid to the four slewing cylinders 20 based on information input by manual operation of the operating handle 13a of the main unit operating section 13.

[0040] In other words, the operator controls the driving control unit 31 and the turning control unit 32 by operating the operating handle 13a, thereby controlling the steering and rotational drive of the drive wheels 2.

[0041] When the vehicle body is moving, the attitude control unit 33 controls the operation of the support mechanism A based on the detection information from the tilt sensor S2. Based on the detection information from the tilt sensor S2 and the detection information from the stroke sensor S1, the attitude control unit 33 controls the operation of the four first hydraulic cylinders 6 and the four second hydraulic cylinders 7 so that the vehicle body 1 is in a predetermined posture.

[0042] The operation mode switching unit 34 switches the operation mode between a main unit operation mode that enables control of the travel control unit 31 and the turning control unit 32 by the main unit operation unit 13, and a remote control mode that enables control of the travel control unit 31 and the turning control unit 32 by the remote control device RC, which will be described later.

[0043] The input control unit 35 processes input signals from the main unit operation unit 13 and the communication unit 40 (described later), and outputs them to the driving control unit 31 and the turning control unit 32. Operation information from the remote control device RC via the main unit operation unit 13 or the communication unit 40 is transmitted to the driving control unit 31 and the turning control unit 32 via the input control unit 35.

[0044] [Remote control device] The remote control device RC is configured to communicate wirelessly with the communication unit 40 located on the vehicle body 1.

[0045] The communication unit 40 has a communication antenna (not shown), processes the signal received from the remote control device RC by the communication antenna, and outputs it to the control device C. In this embodiment, the communication unit 40 is connected to the control device C, but it is not limited to this, and the communication unit 40 may be built within the control device C.

[0046] The operator uses a remote control device RC to control the travel control unit 31 and the turning control unit 32 via the communication unit 40 and the input control unit 35, thereby controlling the travel operation, forward and reverse movement, and rotational speed of the drive wheels 2. Although not described in detail, the operator can perform the same operations as the operating handle 13a of the main unit's operating section 13 using the remote control device RC.

[0047] [Storage Department] As shown in Figures 1 to 3, in this embodiment, a storage section 50 for storing the remote control device RC is provided to the right of the main body operation section 13 in the rear portion of the vehicle body 1. As shown in Figure 7, the storage section 50 has left and right side walls and a bottom, and has an insertion section 51 configured to allow the remote control device RC to be inserted from above.

[0048] In this embodiment, a detection unit 52 (see Figure 6) is provided to detect when the remote control device RC is stored in the storage unit 50. The detection unit 52 has a changeover switch 52a provided at the bottom of the insertion part 51 of the storage unit 50 and configured to be pressable.

[0049] The changeover switch 52a is configured to be pressed by the weight of the remote control device RC. When the remote control device RC is inserted into the insertion part 51, the remote control device RC comes into contact with the changeover switch 52a, and the changeover switch 52a is further pressed down by the weight of the remote control device RC.

[0050] As shown in Figure 6, when the remote control device RC presses the changeover switch 52a, the detection unit 52 notifies the operation mode switching unit 34 that the remote control device RC has been stored in the storage unit 50. Upon receiving this notification, the operation mode switching unit 34 switches the operation mode to the main unit operation mode. When the operation mode is the main unit operation mode, the input control unit 35 controls the input signal from the communication unit 40, and control of the driving control unit 31 and the turning control unit 32 by the remote control device RC is prohibited.

[0051] When the operator takes the remote control device RC from the storage unit 50, the changeover switch 52a is not pressed, and the detection unit 52 stops notifying that the remote control device RC has been stored in the storage unit 50. In other words, the notification of the detection result from the detection unit 52 to the operation mode switching unit 34 stops. At that time, the operation mode switching unit 34 switches the operation mode to remote control mode. When the operation mode is set to remote control mode, the input control unit 35 controls the input signal from the main unit operation unit 13, and the control of the driving control unit 31 and the turning control unit 32 by the main unit operation unit 13 is prohibited.

[0052] [Another embodiment] The following are examples of alternative embodiments that modify the above embodiments.

[0053] (1) In the above embodiment, a configuration in which control by the remote control device RC is prohibited when the operation mode is the main unit operation mode, and control by the main unit operation unit 13 is prohibited when the operation mode is the remote control mode, was described as an example. However, the present invention is not limited to the above embodiment, and the invention may be configured so that both the remote control device RC and the main unit operation unit 13 can be operated regardless of the operation mode.

[0054] (2) In the above embodiment, the detection unit 52 was described as having a configuration in which it detects that the remote control device RC has been stored in the storage unit 50 using a changeover switch 52a that is configured to be pressable. However, the present invention is not limited to the above embodiment, and instead of the changeover switch 52a, an optical sensor may be used to detect that the remote control device RC has been stored in the storage unit 50.

[0055] (3) In the above embodiment, a configuration in which a changeover switch 52a is provided at the bottom of the insertion portion 51 was described as an example, but the present invention is not limited to the above embodiment, and for example, a configuration in which a changeover switch 52a is provided on the side wall of the insertion portion 51 may also be used.

[0056] (4) In the above embodiment, the storage section 50 was described as having an insertion section 51 configured to allow the remote control device RC to be inserted from above, but the present invention is not limited to the above embodiment. For example, instead of the insertion section 51, the storage section may have a mounting section having a flat plate on which the remote control device RC can be placed. In this case, the changeover switch 52a may be pressed when the remote control device RC is placed on the mounting section.

[0057] Furthermore, the configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. In addition, the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention. [Industrial applicability]

[0058] This invention can be used in work vehicles suitable for traveling on uneven terrain. [Explanation of Symbols]

[0059] 1: Vehicle body 2: Running gear 13: Main Unit Control Panel 31: Driving control unit (control unit) 32: Swing control unit (control unit) 34: Operation mode switching section 50: Storage department 51: Insertion part 52: Detection unit 52a: Changeover switch RC: Remote control device

Claims

1. A running gear that supports the vehicle body, A control unit that controls the aforementioned traveling device, A main unit operating unit is provided on the vehicle body and controls the control unit by human operation, A remote control device that can be remotely controlled from the control unit, An operation mode switching unit that switches between an operation mode that enables control of the control unit by the main unit operation unit and a remote operation mode that enables control of the control unit by the remote operation device, The upper surface of the vehicle body is provided with a flat loading section that is roughly rectangular in shape in plan view and capable of loading cargo, The vehicle body is provided with a storage compartment capable of storing the remote control device, The remote control device is provided with a detection unit that detects when it is stored in the storage unit. When the detection unit detects that the remote control device is stored in the storage unit, the operation mode switching unit switches the operation mode to the main unit operation mode, and when the detection unit no longer detects that the remote control device is stored in the storage unit, the operation mode switching unit switches the operation mode back to the remote control mode. The storage section is located below the loading section. The vehicle body is provided with support mechanisms located on the left front, right front, left rear, and right rear. The support mechanism has a bending link mechanism that allows the posture to be changed individually. The aforementioned running gear is supported so as to be able to move up and down independently relative to the vehicle body via the articulated link mechanism, The storage unit is a work vehicle located on the central side of the vehicle body in the left-right direction, relative to both ends of the articulated link mechanism.

2. The work vehicle according to claim 1, wherein when the operation mode is the main unit operation mode, control of the control unit by the remote control device is prohibited, and when the operation mode is the remote control mode, control of the control unit by the main unit operation unit is prohibited.

3. The detection unit has a changeover switch that is configured to be pressable, The work vehicle according to claim 1, wherein the detection unit detects that the remote control device is stored in the storage unit when the changeover switch is pressed by the remote control device stored in the storage unit.

4. The storage section has an insertion section configured to allow the remote control device to be inserted from above. The changeover switch is provided in the bottom part inside the insertion part of the work vehicle according to claim 3.

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