JP2021045081A - Agricultural machine - Google Patents

Abstract

To provide an agricultural machine equipped with a weight in a front part of a vehicle body, and an obstacle detection device, which can detect an obstacle even in a state in which the weight is detached in the same way that the weight is attached.SOLUTION: An agricultural machine includes: a vehicle body having front wheels and rear wheels; a weight attaching part provided to a front part of the vehicle body, to which a weight can be attached; an obstacle detection device capable of detecting an obstacle around the weight attached to the weight attaching part; a weight cover capable of covering the periphery of the weight; and a cover mounting part to which the weight cover can be mounted. The cover mounting part sets an outer shape position of the weight cover with respect to the vehicle body to the same position in the case where the wight cover is mounted in a state that the weight is attached, and in the case where the weight cover is mounted in a state that the weight is detached.SELECTED DRAWING: Figure 1

Description

The present invention relates to, for example, agricultural machinery such as tractors, combines, and rice transplanters.

Conventionally, the agricultural machinery disclosed in Patent Document 1 is known.
The agricultural machine (tractor) disclosed in Patent Document 1 includes a vehicle body, a weight attached to the front portion of the vehicle body, and an obstacle detection module including an obstacle probe for detecting an obstacle existing in a search target area. , The obstacle detection module is provided with a traveling suppression unit that suppresses the traveling of the vehicle body when the obstacle is detected.

JP-A-2018-174890

In the agricultural machine disclosed in Patent Document 1, the area to be searched by the obstacle probe is set in the state where the weight is attached, but the same as in the state where the weight is attached even when the weight is removed. Agricultural machinery capable of detecting obstacles has been desired.
In view of such circumstances, it is an object of the present invention to provide an agricultural machine capable of detecting an obstacle even when the weight is removed as in the state where the weight is attached.

The agricultural machine according to one aspect of the present invention includes a vehicle body having front wheels and rear wheels, a weight attachment portion provided on the front portion of the vehicle body and to which weights can be attached, and around the weight attached to the weight attachment portion. An obstacle detection device capable of detecting an obstacle, a weight cover capable of covering the periphery of the weight, and a cover mounting portion on which the weight cover can be mounted are provided, and the cover mounting portion is the weight cover of the weight cover. The external position with respect to the vehicle body is set to the same position when the weight cover is attached with the weight attached and when the weight cover is attached with the weight removed.

Preferably, the obstacle detection device is arranged at a position outside the weight cover attached to the cover mounting portion in the vehicle body width direction and overlapping with the weight cover when viewed from the vehicle body width direction. There is.
Preferably, the weight cover includes a side plate arranged inward in the vehicle body width direction with respect to the obstacle detection device, a front plate connected to the front portion of the side plate, and an upper plate connected to the upper portion of the side plate. And a lower plate connected to the lower part of the side plate.

Preferably, the side plate includes a first side plate and a second side plate, and the cover mounting portion includes a first mounting portion on which the first side plate can be mounted and a second mounting portion on which the second side plate can be mounted. And have.
Preferably, the side plate has a color that is easier to detect by the obstacle detection device than the weight.

Preferably, the obstacle detection device can detect an obstacle in front of the weight.
Preferably, the obstacle detection device can set the space occupied by the weight attached to the weight attachment portion as a non-detection range, and the cover attachment portion fills the space with the weight removed. The weight cover can be attached to the position.

According to the agricultural machine having the above configuration, the cover mounting portion determines the external position of the weight cover with respect to the vehicle body when the weight cover is mounted with the weight attached and when the weight cover is mounted with the weight removed. Since the same position is set in the above, by attaching the weight cover to the cover mounting portion even when the weight is removed, an obstacle can be detected in the same manner as when the weight is attached.

It is an overall plan view of a tractor. It is an overall side view of a tractor. It is an enlarged side view of the front part of a tractor. It is a front view of the tractor when the obstacle detection device is a detection position. It is a front view of the tractor when the obstacle detection device is a retracted position. It is a block diagram of a control system of a tractor. It is a perspective view which made the obstacle detection device a detection position. It is a top view which made the obstacle detection device a detection position. It is a top view which showed the cover by a virtual line with an obstacle detection device as a detection position. It is a side view of the front part of a tractor when an obstacle detection device is a detection position. It is a perspective view of the state which removed the separation cover from a cover body. It is an exploded perspective view of a 1st cover, a 2nd cover, a support member and the like. It is a front perspective view of a support member, a position change mechanism and the like. It is a rear perspective view of a support member, a position change mechanism and the like. It is a front perspective view of a position change mechanism and the like. It is a top view of a support member, a handle and the like. It is a front perspective view of the position change mechanism and the like which omitted the front support plate and one plate. It is a front view of the position change mechanism and the like when the obstacle detection device is a detection position. It is a front view of the position change mechanism and the like when the obstacle detection device is a retracted position. It is a lower perspective view of a support member, a handle and the like. It is a top view of a cover, a handle and the like. It is a perspective view of a cover, a handle and the like. It is a front view of a cover, a handle and the like. It is a rear perspective view of a cover, a handle and the like. It is a perspective view which shows the 2nd engaging part provided on the back surface of the separation cover. It is a perspective view which shows the 1st engaging part. It is a rear perspective view which shows a support member, a handle and the like. It is a top view of a cover, a handle (second embodiment) and the like. It is a rear perspective view of a cover, a handle (second embodiment) and the like. It is a top view of a support member, a handle (second embodiment) and the like. It is a rear perspective view which shows the support member, the handle (second embodiment) and the like. It is a lower perspective view of a support member, a handle (second embodiment) and the like. It is a perspective view which shows the weight bracket, the weight and the like. (A) is a front perspective view of the weight cover, and (b) is a rear perspective view of the weight cover. It is a figure which shows the 2nd Embodiment of a weight cover, (a) is a front perspective view, (b) is a rear perspective view. It is a top view which shows the state which the weight cover of 2nd Embodiment is attached to the cover attachment part. It is a front view which shows the state which the weight cover of 2nd Embodiment is attached to the cover attachment part. It is a side view which shows the state which the weight cover of 2nd Embodiment is attached to the cover attachment part. It is a perspective view which shows the state which attached member is attached to the weight bracket. It is a top view and a partial cross-sectional view which shows the state which attached the attachment member to the weight bracket. It is a perspective view of a weight bracket, It is a perspective view which shows the state which attached the attachment member to the weight bracket, and attached the additional weight. It is a top view which shows the state which attached the attachment member to the weight bracket, and attached the additional weight. It is a top view which shows the state which attached the additional weight to the front part of the vehicle body.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
1 and 2 show an embodiment of the agricultural machine 1 according to the present invention. In the present embodiment, the agricultural machine 1 will be described as the tractor 1. However, the agricultural machine 1 may be another agricultural machine (agricultural vehicle) such as a combine harvester or a rice transplanter in addition to the tractor.
Hereinafter, for convenience of explanation, the direction of arrow A1 in FIGS. 1 and 2 is forward, the direction of arrow A2 is backward, the direction of arrow B1 is left, the direction of arrow B2 is right, and the direction of arrow D is the vehicle body width direction. (Or in the width direction). Further, the vehicle body width direction away from the center in the vehicle body width direction (arrow D1 direction) is outward (or outward) in the vehicle body width direction, and the vehicle body width direction is closer to the center in the vehicle body width direction (arrow D2). The direction) is called the inward (or inward) direction of the vehicle body width.

As shown in FIGS. 1 and 2, the tractor 1 includes a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 is provided with a traveling device 7. The traveling device 7 supports the vehicle body 3 so as to travel, and has front wheels 7F and rear wheels 7R. The front wheels 7F and the rear wheels 7R are tire type in the case of this embodiment, but may be crawler type. The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. The vehicle body 3 is provided with a driver's seat 10. The driver's seat 10 is protected by the protective device 9. In the case of the present embodiment, the protective device 9 is a cabin that protects the driver's seat 10 by surrounding the front, the rear, the upper side, and the side of the driver's seat 10, but by covering at least the upper part of the driver's seat 10, the driver's seat It may be a rops or the like that protects 10. A fender 13 is attached below the protective device 9, and the fender 13 covers the upper part of the rear wheel 7R.

A connecting portion (not shown) composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. A work device (implant, etc.) can be detachably connected to the connecting portion. By connecting the work device to the connecting portion, the work device can be towed by the vehicle body 3. The working equipment is a tilling device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass, a spreading device for spreading grass, and grass. It is a weed collecting device that collects grass, etc., a molding device that molds grass, etc.

The vehicle body 3 has a vehicle body frame 20. As shown in FIG. 1, the vehicle body frame 20 includes a vehicle body frame 20L provided on the left side and a vehicle body frame 20R provided on the right side. Each of the vehicle body frame 20L and the vehicle body frame 20R extends forward from the transmission 5 side and supports the lower portion of the prime mover 4. The vehicle body frame 20L and the vehicle body frame 20R are separated from each other in the vehicle body width direction. The front end portion of the vehicle body frame 20L and the front end portion of the vehicle body frame 20R are connected by a front connecting plate 20F. The middle part of the vehicle body frame 20L and the middle part of the vehicle body frame 20R are connected by the intermediate connecting plate 20M. The body frame 20L and the body frame 20R support the front axle case 29. A front axle 15 (see FIG. 6) that rotatably supports the front wheel 7F is housed in the front axle case 29. That is, in the case of the present embodiment, the vehicle body frame 20 is a front axle frame that supports the front axle 15. The body frame 20 may be a frame that supports a structure other than the front axle case 29 (a frame other than the front axle frame).

As shown in FIGS. 1 to 3, a bonnet 25 is provided above the vehicle body frame 20. The bonnet 25 extends in the front-rear direction along the vehicle body frame 20. The bonnet 25 is arranged in front of the central portion in the width direction of the protective device 9. The bonnet 25 has a left side wall 25L provided on the left side, a right side wall 25R provided on the right side, and an upper wall portion 25U connecting the upper portions of the left side wall 25L and the right side wall 25R. An engine room is formed by a left side wall 25L, a right side wall 25R, and an upper wall portion 25U, and a prime mover 4, a cooling fan, a radiator, a battery, and the like are housed in the engine room. Front wheels 7F are arranged on the left side of the left side wall 25L and on the right side of the right side wall 25R, respectively.

Weights 26 are provided on the front side of the bonnet 25, that is, on the front side of the vehicle body frames 20L and 20R. The weight 26 is attached to a weight bracket (weight attachment portion) 27 provided at the front portion of the vehicle body 3. The weight bracket 27 is attached to the front connecting plate 20F of the vehicle body frame 20L by fasteners such as bolts. The circumference of the weight 26 is covered with the weight cover 100.

As shown in FIG. 6, the tractor 1 includes a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a rotation shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. are doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving the spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheels 7F.

Therefore, when the steering wheel 11a is operated, the switching position and opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 expands and contracts to the left or right according to the switching position and opening degree of the control valve 22. The steering direction of the front wheels 7F can be changed accordingly. The above-mentioned steering device 11 is an example, and the configuration of the steering device 11 is not limited to the above-mentioned configuration.

As shown in FIGS. 1 and 2, the tractor 1 includes a position detecting device 30. The position detecting device 30 is mounted in front of the top plate of the protective device 9 via a mounting body 31. However, the mounting position of the position detecting device 30 is not limited to the position shown in the drawing, and may be mounted on the top plate of the protective device 9 or may be mounted at another location on the vehicle body 3. Further, the position detecting device 30 may be attached to a working device such as the above-mentioned tilling device.

The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the position detection device 30 receives signals transmitted from the positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects the position (latitude, longitude) based on the received signals. The position detection device 30 may detect a corrected position based on a signal such as a correction from a base station (reference station) capable of receiving a signal from a positioning satellite as its own position (latitude, longitude). Further, the position detection device 30 may have an inertial measurement unit such as a gyro sensor or an acceleration sensor, and may detect the position corrected by the inertial measurement unit as its own position. The position detection device 30 can detect the position (running position) of the vehicle body 3 of the tractor 1.

As shown in FIG. 6, the tractor 1 includes a control device 40. The control device 40 is composed of a CPU, an electric circuit, an electronic circuit, and the like, and performs various controls on the tractor 1. A state detection device 41 for detecting the driving state of the tractor 1 and the like is connected to the control device 40. The state detection device 41 is, for example, a device that detects the state of the traveling system, and is, for example, a state of a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, a position detection device 30), or the like. Is detected. The state detection device 41 may be a device that detects a state other than the state of the traveling system, for example, an elevating lever detection sensor, a PTO rotation detection sensor, or the like.

The control device 40 controls the traveling system and the working system in the tractor 1. The control device 40 controls, for example, the engine speed, the vehicle speed, the steering angle of the steering device 11, and the like based on the detection state detected by the state detection device 41. Further, the state detection device 41 controls the elevating device for raising and lowering the connecting portion, the PTO rotation speed, and the like based on the detection state detected by the state detection device 41.

The control device 40 can control the automatic traveling of the tractor 1 (vehicle body 3) (automatic traveling control). The control device 40 can switch between the automatic traveling mode and the manual traveling mode. In the automatic driving mode, the control device 40 makes sure that at least the traveling position of the vehicle body 3 (the position detected by the position detecting device 30) and the preset traveling route (traveling route) match, that is, the vehicle body. The switching position and opening degree of the control valve 22 are set so that 3 and the traveling route match. In other words, in the automatic traveling mode, the control device 40 sets the moving direction and the amount of movement (steering direction and steering angle of the front wheels 7F) of the steering cylinder 23 so that the traveling position of the tractor 1 and the traveling route match. Set.

Specifically, in the automatic traveling mode, the control device 40 compares the traveling position of the vehicle body 3 with the position indicated by the traveling route (scheduled traveling position), and the traveling position and the planned traveling position match. If so, the steering angle and steering direction (steering angle and steering direction of the front wheels 7F) of the steering wheel 11a in the steering device 11 are held unchanged (the opening degree and switching position of the control valve 22 are maintained unchanged). ). When the traveling position and the planned traveling position do not match, the control device 40 increases the steering angle of the steering wheel 11a in the steering device 11 and the steering angle of the steering wheel 11a so that the deviation (deviation amount) between the traveling position and the planned traveling position becomes zero. / Or change the steering direction (change the opening and / or switching position of the control valve 22).

In the above-described embodiment, the control device 40 changes the steering angle of the steering device 11 based on the deviation between the traveling position and the planned traveling position in the automatic traveling control, but the direction of the traveling route and the tractor When the direction (vehicle body direction) of the traveling direction (traveling direction) of 1 (vehicle body 3) is different, the control device 40 may set the steering angle so that the vehicle body direction matches the direction of the traveling route. Further, the control device 40 sets the final steering angle in the automatic driving control based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the directional deviation in the automatic driving control. You may. Further, the steering angle may be set by a method different from the steering angle setting method in the automatic traveling control described above.

Further, in the automatic driving control, the control device 40 sets the traveling device 7, that is, the front wheels 7F and / / so that the actual vehicle speed of the tractor 1 (vehicle body 3) matches the vehicle speed corresponding to the preset traveling route. Alternatively, the rotation speed of the rear wheel 7R may be controlled.
Further, the control device 40 controls the automatic traveling based on the obstacle detection result by the obstacle detection device 45 described later. For example, if the obstacle detection device 45 does not detect an obstacle, the automatic running is continued, and if the obstacle detection device 45 detects an obstacle, the automatic running is stopped. More specifically, when the obstacle detection device 45 detects an obstacle, the control device 40 travels the tractor 1 when the distance between the obstacle and the tractor 1 is less than or equal to a predetermined distance. By stopping, automatic driving is stopped.

As shown in FIG. 1, the tractor 1 includes a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 can detect an object existing around the tractor 1, that is, an obstacle. At least one of the plurality of obstacle detection devices 45 is provided in front of the protection device 9 and outside the bonnet 25. That is, at least one obstacle detection device 45 is located in a region on the left side of the left side wall 25L of the bonnet 25 or a region on the right side of the right side wall 25R of the bonnet 25 in the region in front of the protection device 9 of the tractor 1. Have been placed. In the case of the present embodiment, the plurality of obstacle detection devices 45 are provided on the left side of the vehicle body 3 (left side of the bonnet 25) and the obstacle detection device 45L provided on the right side of the vehicle body 3 (right side of the bonnet 25). Includes an obstacle detection device 45R.

Further, the obstacle detection device 45 is provided in front of the front wheels 7F and outside the front wheels 7F. The obstacle detection device 45L is provided in front of the left front wheel 7F and outside (left) of the left front wheel 7. The obstacle detection device 45R is provided in front of the front wheel 7F on the right side and outside (right side) of the front wheel 7 on the right side. In other words, the obstacle detection device 45L is provided on the left front of the left front wheel 7F, and the obstacle detection device 45R is provided on the right front of the right front wheel 7F.

The obstacle detection device 45 is a laser scanner 45A, a sonar 45B, or the like. The laser scanner 45A detects an object (obstacle) by irradiating a laser as a detection wave. The laser scanner 45A detects the distance to an obstacle based on the time from laser irradiation to light reception. As shown in FIGS. 11 and 13, the laser scanner 45A includes a light emitting / receiving unit 45A1 and an accommodating body 45A2. The light emitting / receiving unit 45A1 irradiates the laser and receives the laser (reflected light) reflected by the irradiated laser hitting an obstacle. That is, the light emitting / receiving unit 45A1 includes an irradiation unit that irradiates a laser (detection wave) and a reception unit that receives a laser (detection wave) that is reflected by hitting an obstacle. The accommodating body 45A2 is a case for accommodating and supporting the light emitting / receiving unit 45A1. The accommodating body 45A2 has an upper body 45A3 arranged above the light emitting / receiving unit 45A1 and a lower body 45A4 arranged below the light receiving / receiving unit 45A1. The area between the upper body 45A3 and the lower body 45A4, that is, the periphery of the light emitting / receiving unit 45A1, is open in whole or in part, and a laser (detection wave) can pass therethrough.

The sonar 45B detects an object (obstacle) by irradiating a sound wave as a detection wave. As shown in FIGS. 11 and 13, the sonar 45B includes a sound input / output unit 45B1 and an accommodating body 45B2. The input / receive sound unit 45B1 irradiates a sound wave and receives the reflected sound reflected by the irradiated sound wave hitting an obstacle. That is, the input / receive sound unit 45B1 includes an irradiation unit that irradiates a sound wave (detection wave) and a reception unit that receives a sound wave (detection wave) that is reflected by hitting an obstacle. The accommodating body 45B2 is a case for accommodating and supporting the input / output sound unit 45B1. The sonar 45B detects the distance to an obstacle based on the time from the irradiation of the sound wave to the reception of the reflected sound.

As shown in FIG. 1, the laser scanner 45A and the sonar 45B are arranged in front of the front wheel 7F and outside the front wheel 7F. More specifically, in the laser scanner 45A and the sonar 45B, at least the receiving unit (transmitting / receiving unit 45A1 and transmitting / receiving sound unit 45B1) is arranged in front of the front wheel 7F and outside the front wheel 7F.
As shown in FIG. 4, the laser scanner 45A and the sonar 45B are installed at a position lower than the upper wall portion 25U of the bonnet 25 and lower than the upper end portion of the front wheel 7F. Therefore, the light emitting / receiving unit 45A1 of the laser scanner 45A and the sound transmitting / receiving unit 45B1 of the sonar 45B are also installed at positions below the upper wall portion 25U of the bonnet 25 and lower than the upper end portion of the front wheel 7F. Further, the laser scanner 45A (transmission / reception unit 45A1) and sonar 45B (transmission / reception sound unit 45B1) are located below the upper end of the front wheel 7F and above the front axle 15.

As shown in FIGS. 1 and 4, the laser scanner 45A is arranged outside the sonar 45B. Specifically, as shown in FIG. 1, the laser scanner 45A (light emitting / receiving unit 45A1) has a front wheel 7F in a state where the front wheel 7F is in a position where the vehicle body 3 advances straight (a state in which the handle 11a is not turned). It is arranged further outside than the virtual line L1 located outside by the width (tread width) W1 of the front wheel 7F from the outer end in the width direction. The sonar 45B is arranged inward of the virtual line L1.

As shown in FIG. 9, the obstacle detection device 45 is supported by the vehicle body 3 by the support member 50. The support member 50 includes a support member 50L that supports the obstacle detection device 45 to the left side of the vehicle body 3, and a support member 50R that supports the obstacle detection device 45 to the right side of the vehicle body 3. The support member 50L and the support member 50R have the same configuration except that they are symmetrical with respect to the center line CL1 in the vehicle body width direction.

The support member 50 extends outward from the vehicle body frame (front axle frame) 20 side. Specifically, the support member 50L extends to the left from the vehicle body frame 20L. The support member 50R extends to the right from the vehicle body frame 20R.
As shown in FIGS. 9, 13, 14, and 16, the support member 50 has a first support portion 50A, a second support portion 50B, and a third support portion 50C.

The first support portion 50A has a mounting arm 51, a mounting plate 52, a front support plate 53, and a rear support plate 54. The mounting arm 51 extends forward and outward from the front side surface of the vehicle body frame 20. The mounting arm 51 includes a mounting arm 51L and a mounting arm 51R. The mounting arm 51L is mounted on the front portion of the left side surface of the vehicle body frame 20L, and extends from the front portion toward the left front. The mounting arm 51R is mounted on the front portion of the right side surface of the vehicle body frame 20R, and extends from the front portion toward the front right. The mounting plate 52 is mounted on the front ends of the mounting arms 51L and 51R, with one surface facing outward and the other facing inward. The left side mounting plate 52 attached to the mounting arm 51L and the right side mounting plate 52 attached to the mounting arm 51R are connected by a connecting member 49. The connecting member 49 is composed of a pipe, passes above the weight cover 100, and connects the upper part of the left side mounting plate 52 and the upper part of the right side mounting plate 52.

The front support plate 53 and the rear support plate 54 have the same shape and are arranged so as to face each other in parallel with each other at intervals in the front-rear direction. The front support plate 53 and the rear support plate 54 are attached to one surface of the mounting plate 52 and extend outward. As shown in FIG. 15, the lower support plate 56 is in contact with the lower edge of the front support plate 53 and the lower edge of the rear support plate 54. The upper support plate 57 is in contact with the upper edge of the front support plate 53 and the upper edge of the rear support plate 54. The lower support plate 56 and the upper support plate 57 are fixed to the mounting plate 52. In FIG. 15, the front support plate 53 is shown by a virtual line.

As shown in FIGS. 13 and 15, the front support plate 53 is formed with a first front hole 53a and a second front hole 53b. The rear support plate 54 is formed with a first rear hole 54a and a second rear hole 54b. The first rear hole 54a is at a position facing the first front hole 53a, and the second rear hole 54b is at a position facing the second front hole 53b. As shown in FIGS. 13, 14, and 15, a tubular body 58 and a receiving member 59 are fixed to the upper portion of the rear support plate 54. In the tubular body 58, the axial direction of the central hole extends in the front-rear direction. The axial center of the central hole of the tubular body 58 and the center of the second rear hole 54b are arranged on the same straight line. A receiving member 59 is fixed to the lower part of the front support plate 53 and the lower part of the rear support plate 54. The receiving member 59 is a U-shaped member, and has a front portion 59a fixed to the front surface of the front support plate 53, a rear portion 59b fixed to the rear surface of the rear support plate 54, and a front portion 59a and a rear portion. It has a lower portion 59c that communicates with 59b. A knob bolt 60 is screwed to the lower portion 59c of the receiving member 59. The axis of the screw shaft of the knob bolt 60 faces in the vertical direction. As shown in FIG. 17, a tip member 61 is attached to the screw shaft of the knob bolt 60. The position (height) of the tip member 61 can be adjusted by rotating the knob bolt 60.

As shown in FIGS. 13, 14, 15, 15 and the like, the second support portion 50B is supported between the front support plate 53 and the rear support plate 54. The second support portion 50B has one plate 65, the other plate 66, a connecting plate 67, and a support arm 55.
The one plate 65 and the other plate 66 have the same shape, and are arranged so as to face each other in parallel with each other at intervals in the front-rear direction. One plate 65 faces the front support plate 53, and the other plate 66 faces the rear support plate 54. As shown in FIG. 15, the one-sided plate 65 is formed with a first one-sided hole 65a, a second one-sided hole 65b, and a third one-sided hole 65c. As shown in FIGS. 15 and 17, the other plate 66 is formed with a first other hole 66a, a second other hole 66b, and a third other hole 66c. The first other hole 66a is located at a position facing the first one hole 65a. The second other hole 66b is located at a position facing the second one hole 65b. The third other hole 66c is located at a position facing the third one hole 65c. In FIG. 17, the front support plate 53 and the one-side plate 65 are omitted. The connecting plate 67 is a strip-shaped plate bent in an L shape, and connects the one plate 65 and the other plate 66.

As shown in FIGS. 15 and 17, a cylindrical boss 68 is fitted in the first one hole 65a and the first other hole 66a. Specifically, the front end side of the boss 68 is fitted into the first one hole 65a, and the rear end side of the boss 68 is fitted into the first other hole 66a. The central hole 68a of the boss 68 is arranged on the same straight line as the first front hole 53a and the first rear hole 54a, and the screw shaft of the bolt BL1 (see FIGS. 13 and 14) penetrates these holes. Is inserted. A nut NT1 is screwed onto the screw shaft of the bolt BL1. A second support portion 50B (one plate 65, the other plate 66, and a connecting plate 67) is sandwiched and supported between the front support plate 53 and the rear support plate 54 by these bolts BL1 and nut NT1. The second support portion 50B is rotatable with respect to the first support portion 50A with the screw shaft of the bolt BL1 as a fulcrum. In other words, the screw shaft of the bolt BL1 functions as a support shaft that rotatably supports the second support portion 50B.

As shown in FIGS. 17 and 18, the first contact member 69 and the second contact member 70 are fixed between the one plate 65 and the other plate 66. The first contact member 69 and the second contact member 70 are arranged on the same circle centered on the support shaft (screw shaft of the bolt BL1). That is, the first contact member 69 and the second contact member 70 have the same distance from the support shaft (screw shaft of the bolt BL1). The first contact member 69 and the second contact member 70 are arranged at positions 90 ° apart from each other with respect to the support shaft (screw shaft of the bolt BL1).

As shown in FIGS. 13 and 14, the support arm 55 extends from the first support portion 50A to the outer side of the vehicle body. One end of the support arm 55 is connected to the connecting plate 67 together with the contact member 71 described later. A third support portion 50C is connected to the other end of the support arm 55.
The third support portion 50C supports the obstacle detection device 45. As shown in FIGS. 13, 14, 20, and the like, the third support portion 50C has a support bracket 75 and a support stay 76. The support bracket 75 supports the laser scanner 45A. The support bracket 75 is a substantially C-shaped member composed of an upper horizontal portion 75a, a lower horizontal portion 75b, and a vertical portion 75c. The vertical portion 75c is fixed to the other end of the support arm 55. The upper lateral portion 75a supports the upper body 45A3 of the accommodating body 45A2. The lower lateral portion 75b supports the lower body 45A4 of the housing 45A2. As a result, the laser scanner 45A is supported by the support bracket 75. The support stay 76 is fixed to the middle part of the support arm 55 and supports the sonar 45B. The sonar 45B is attached to the support stay 76 so that the sound input / output unit 45B1 faces forward and inward of the vehicle body.

The mounting plate 52, the front support plate 53, the rear support plate 54 (see FIGS. 13 to 15, etc.) of the first support portion 50A described above constitute a position change mechanism 63 for changing the position of the obstacle detection device 45. are doing. The position change mechanism 63 is a mechanism for changing the position of the obstacle detection device 45 to a detection position for detecting an obstacle at a predetermined position and a retracted position for retracting from the detection position to the vehicle body 3 side. The position change mechanism 63 can change the position of the obstacle detection device 45 together with the second support portion 50B and the third support portion 50C of the support member 50.

4 and 18 show a state in which the obstacle detection device 45 is in the detection position. 5 and 19 show a state in which the obstacle detection device 45 is in the retracted position. The position change between the detection position and the retracted position can be performed by rotating the second support portion 50B with respect to the first support portion 50A with the screw shaft (support shaft) of the bolt BL1 as a fulcrum.
As shown in FIG. 18, when the obstacle detection device 45 is in the detection position, the support arm 55 extends in the horizontal direction. Specifically, the support arm 55 of the support member 50L that supports the obstacle detection device 45 to the left of the vehicle body 3 extends horizontally to the left. The support arm 55 of the support member 50R that supports the obstacle detection device 45 to the right of the vehicle body 3 extends horizontally to the right. When the obstacle detection device 45 is in the detection position, the irradiation direction of the laser emitted from the light emitting / receiving unit 45A1 is the horizontal direction.

When the obstacle detection device 45 is in the detection position, as shown in FIG. 15, the second front hole 53b, the second one hole 65b, the second other hole 66b, and the second rear hole 54b are arranged on the same straight line. The pin 64 is inserted so as to penetrate through these holes and the tubular body 58. By inserting the pin 64 into the second front hole 53b, the second one hole 65b, the second other hole 66b, and the second rear hole 54b, the second support portion 50B ( One plate 65, the other plate 66, the connecting plate 67, and the support arm 55) become non-rotatable, and the position of the second support portion 50B is fixed. As a result, as shown in FIGS. 4, 17, and 18, the support arm 55 is positioned with respect to the vehicle body 3 in a horizontally extended state (detection posture), and the obstacle detection device 45 is held at the detection position. To. At this time, the tip member 61 attached to the screw shaft of the knob bolt 60 is in contact with the first contact member 69.

When the obstacle detection device 45 is set to the retracted position (see FIG. 19) from the state where the obstacle detection device 45 is in the detection position (see FIG. 18), the pin 64 is first pulled out from the hole. The pin 64 can be pulled out by gripping the annular grip portion 64a provided at one end of the pin 64. By pulling out the pin 64 from the hole, the second support portion 50B (one plate 65, the other plate 66, the connecting plate 67, and the support arm 55) can be rotated with respect to the front support plate 53 and the rear support plate 54. Become. At this time, since the tip member 61 is in contact with the first contact member 69, the second support portion 50B cannot rotate downward and can rotate only upward.

After pulling out the pin 64 from the hole, when an upward force is applied to the support arm 55, the second support portion 50B (one plate 65, the other plate 66, the connecting plate 67, the support arm 55) becomes a support shaft (bolt). It rotates upward with the screw shaft of BL1 as a fulcrum (see arrow U1 in FIG. 18). The upward rotation range of the support arm 55 is regulated by the contact member 71 and the protruding shaft 72 (see FIGS. 15 and 17). The contact member 71 is fixed to the upper part of the support arm 55. The protruding shaft 72 projects outward from the shaft support 73 arranged on the upper portion of the upper support plate 57.

As shown in FIG. 19, the upward rotation of the support arm 55 can be performed until the contact member 71 comes into contact with the protruding shaft 72. When the contact member 71 comes into contact with the protruding shaft 72, the support arm 55 is in a state of extending upward (retracted posture). In the state shown in FIG. 19, since the second front hole 53b, the second rear hole 54b, the third one hole 65c, and the third other hole 66c are arranged on the same straight line, they penetrate these holes and the tubular body 58. By inserting the pin 64 in this way, the second support portion 50B (one plate 65, the other plate 66, the connecting plate 67, and the support arm 55) cannot rotate with respect to the front support plate 53 and the rear support plate 54. The position of the second support portion 50B is fixed. As a result, as shown in FIGS. 19 and 5, the support arm 55 is positioned with respect to the vehicle body 3 in a state of extending upward, and the obstacle detection device 45 is held in the retracted position. At this time, the tip member 61 attached to the screw shaft of the knob bolt 60 comes into contact with the second contact member 70.

As described above, the position change mechanism 63 can change the position of the obstacle detection device 45 between the detection position and the retracted position. By setting the obstacle detection device 45 as the detection position, obstacles around the vehicle body 3 can be detected. When the obstacle detection device 45 is not used, the obstacle detection device 45 is moved from the detection position to the retracted position.
The position change mechanism 63 has a posture detection device that detects whether the support arm 55 is in the detection posture or the retracted posture. As the posture detecting device, for example, a device that detects the retracted posture when the contact member 71 comes into contact with the protruding shaft 72 and detects the detected posture when the contact member 71 separates from the protruding shaft 72 is used. The detection information of the attitude detection device is input to the control device 40. The control device 40 displays, for example, the detection information of the posture detection device on the display device 12 (see FIG. 6) provided in the vicinity of the driver's seat 10, or when the control device 40 is in the detection posture when starting automatic driving. Control is performed such that automatic driving is permitted and automatic driving is not permitted when the vehicle is in the retracted posture.

As shown in FIGS. 12, 21, 16, 22, and the like, the periphery of the obstacle detection device 45 (laser scanner 45A, sonar 45B) is covered with a cover 80. The cover 80 is a mud cover that prevents mud and the like from adhering to the obstacle detection device 45. Further, the cover 80 covers not only the obstacle detection device 45 but also the periphery of the second support portion 50B and the third support portion 50C of the support member 50.

As shown in FIGS. 7, 8 and the like, the cover 80 is attached to the support member 50. The cover 80 includes a cover 80L attached to the support member 50L on the left side and a cover 80R attached to the support member 50R on the right side. The cover 80L and the cover 80R have the same configuration except that they are symmetrical with respect to the center line CL1 in the vehicle body width direction. Therefore, in the following, the cover 80L will be described as a typical example of the cover 80, and the description of the cover 80R will be omitted. Further, the orientations (up, down, left, right) in the following description of the cover 80 are based on the state where the cover 80 is attached to the support member 50 and the obstacle detection device 45 is in the detection position. It is the direction that was.

The cover 80 (cover 80L, cover 80R) includes a first cover 81 and a second cover 82. The first cover 81 is arranged on one side of the obstacle detection device 45. The second cover 82 is arranged on the other side opposite to one side of the obstacle detection device 45. In the case of the present embodiment, the first cover 81 is arranged above the obstacle detection device 45 and covers the upper side of the obstacle detection device 45. The second cover 82 is arranged below the obstacle detection device 45 and covers the lower side of the obstacle detection device 45.

At least one of the first cover 81 and the second cover 82 has a cover main body 81A and a separation cover 81B. In the case of the present embodiment, the first cover 81 has a cover main body 81A and a separation cover 81B.
As shown in FIGS. 11, 12, 23, 24, etc., the cover main body 81A is a member having an inverted U-shaped cross section having an upper plate 81a, a front plate 81b, and a rear plate 81c. The lower, left, and right sides of the cover body 81A are open. A plurality (two) through holes 81d are formed in the upper plate 81a. A first notch 81e and a second notch 81f are formed on the right edge (inner edge) of the upper plate 81a. A third notch 81g is formed on the lower edge of the front plate 81b. A protruding piece 81h projecting to the left is provided at the left end of the front plate 81b. A circular opening 81i is formed in the protruding piece 81h.

As shown in FIG. 12, the cover body 81A is attached to the upper part of the support arm 55 by the screw BL2. A through hole 55a is formed in the upper part of the support arm 55, and a nut NT2 (see FIGS. 14 and 20) is fixed in the lower part of the through hole 55a. The cover body 81A is attached to the upper part of the support arm 55 by inserting the screw BL2 into the through holes 81d and 55a and screwing it into the nut NT2.

The cover body 81A covers the upper part of the support arm 55 and covers the front and the rear of the substantially upper half of the support arm 55 in a state of being attached to the support arm 55. With the cover body 81A attached to the support arm 55, the upper plate 81a is placed above the support arm 55, the front plate 81b is placed in front of the support arm 55, and the rear plate 81c is behind the support arm 55. Be placed.

As shown in FIGS. 11, 21, and 22, in a state where the cover body 81A is attached to the support arm 55, the second support portion 50B (one plate 65, the other plate 66, and the connecting plate 67) is attached to the first notch 81e. ) Fits in from the inside. The contact member 71 is fitted into the second notch 81f from the inner side. The upper half of the handle 90, which will be described later, is inserted into the third notch 81g. Further, the input / output sound unit 45B1 of the sonar 45B is exposed from the opening 81i.

As shown in FIGS. 11, 12, 21, 21 and the like, the separation cover 81B constitutes a part of the first cover 81. Specifically, the separation cover 81B constitutes an end portion on the outer side of the first cover 81.
The separation cover 81B is arranged so as to cover a part (upper portion) around the obstacle detection device 45, and is detachable from the cover main body 81A. The separation cover 81B is a member having an inverted U-shaped cross section having an upper plate 81k, a front plate 81m, a rear plate 81n, and an outer plate (left plate) 81p. The lower part and the left side (inner side) of the separation cover 81B are open. A notch 81r is formed at the lower edge of the right end of the front plate 81m. The upper plate 81k is a portion that covers the receiving unit (transmitting / receiving unit 45A1 and transmitting / receiving sound unit 45B1) of the obstacle detection device 45. In other words, the separation cover 81B has a portion (upper plate 81k) that covers the receiving unit (transmitting / receiving unit 45A1 and transmitting / receiving sound unit 45B1) of the obstacle detection device 45.

As shown in FIG. 25, the separation cover 81B is provided with a second engaging portion 84. The second engaging portion 84 can be engaged with the first engaging portion 83 provided above the receiving unit (light emitting / receiving unit 45A1) of the obstacle detection device 45. As shown in FIG. 26, the first engaging portion 83 is attached to the upper surface of the upper body 45A3 of the housing body 45A2 of the laser scanner 45A. The first engaging portion 83 is attached to a support member 50 that supports the obstacle detection device 45 on the vehicle body 3 via the upper body 45A3. The first engaging portion 83 is composed of a plurality of engaging members 83a. The engaging member 83a is a flexible C-shaped member, and is arranged side by side with the open side of the C-shaped facing upward. In the case of the present embodiment, a total of eight engaging members 83a are arranged side by side in two rows of four.

As shown in FIG. 25, the second engaging portion 84 is attached to the back surface of the upper plate 81k of the separation cover 81B. The second engaging portion 84 has a round bar 84a that can be engaged with the engaging member 83a, and a support plate 84b that supports the round bar 84a. The number of round bars 84a corresponds to the number of rows of engaging members 83a, and is two in the case of the present embodiment. The two round bars 84a are arranged parallel to each other. The support plate 84b supports two round bars 84a on the back surface of the upper plate 81k. The support plate 84b is composed of two support plates extending in parallel with each other in the direction intersecting the round bar 84a. One end side of the two round bars 84a is fixed to one of the two support plates 84b, and the other end side of the two round bars 84a is fixed to the other. The support plate 84b is attached to the back surface of the upper plate 81k by bolts BL3.

As shown in FIG. 26, by engaging the round bar 84a of the second engaging portion 84 with the engaging member 83a constituting the first engaging portion 83, the second engaging portion 84 becomes the first engaging portion. Engage in 83. As a result, the separation cover 81B is attached at a position aligned with the main body cover 80, and the upper part of the obstacle detection device 45 is covered with the separation cover 81B (see FIGS. 21 and 22). On the other hand, by disengaging the round bar 84a from the engaging member 83a, the engagement of the second engaging portion 84 with the first engaging portion 83 is released. As a result, the separation cover 81B is separated from the cover body 81A and removed (see FIG. 11). The first engaging portion 83 and the second engaging portion 84 can be easily engaged / separated by human power, but are not separated by vibration during traveling. By separating the separation cover 81B from the cover main body 81A and removing it, the accessibility to the obstacle detection device 45 is improved, and maintenance such as cleaning and inspection of the obstacle detection device 45 can be easily performed. In addition, access to the adjustment communication port of the obstacle detection device 45 becomes easy. Further, it is possible to save the trouble of removing and attaching the cover body 81A. Further, since the separation cover 81B can be attached to and detached from the cover body 81A without using a tool, the attachment / detachment work is easy.

The configuration for separating the separation cover 81B from the cover body 81A so that it can be attached and detached is not limited to the above-described configuration. For example, the separation cover 81B may be detachable by using one of the first engaging portion 83 and the second engaging portion 84 as a magnet and the other as a metal body.
As shown in FIGS. 21 and 22, the boundary line R1 between the cover main body 81A and the separation cover 81B is a straight line. Specifically, the boundary line R1 is a straight line inclined so as to approach (inward) the vehicle body 3 as it goes forward. Since the boundary line R1 between the cover body 81A and the separation cover 81B is a straight line, the separation cover 81B can be easily positioned with respect to the cover body 81A, and the separation cover 81B can be easily attached and detached.

It is preferable that the color of the surface of the separation cover 81B and the color of the surface of the cover body 81A of the first cover 81 are different from each other. If the surface color of the separation cover 81B is different from the surface color of the cover body 81A, the boundary between the separation cover 81B and the cover body 81A can be easily visually recognized, so that the separation cover 81B can be easily attached and detached. It becomes possible.
As shown in FIG. 12, the second cover 82 is a member having an inverted U-shaped cross section having a lower plate 82a, a front plate 82b, a rear plate 82c, and an outer plate (left plate) 82d. The lower part and the left side (inner side) of the second cover 82 are open. A plurality (three) through holes 82e are formed in the lower plate 82a. A fourth notch 82f is formed on the upper edge of the front plate 82b. A fifth notch 82g is formed on the upper edge of the rear plate 82c.

The second cover 82 is attached to the lower part of the support arm 55 by the knob bolts 85a, 85b, 85c. As shown in FIG. 20, through holes 55b and 55c are formed in the lower part of the support arm 55, and a nut NT3 (see FIG. 27) is fixed in the upper part of these through holes. Further, a screw hole 75d is formed in the lower lateral portion 75b of the support bracket 75. The second cover 82 is attached to the support arm 55 by inserting the knob bolts 85a and 85b into the through holes 82e, 55b and 55c and screwing them into the nut, and inserting the knob bolts 85c into the through holes 82e and screwing them into the screw holes 75d. It is attached to the bottom of.

The second cover 82 covers the lower part of the support arm 55 and covers the front and the rear of the substantially upper half of the support arm 55 in a state of being attached to the support arm 55. With the second cover 82 attached to the support arm 55, the lower plate 82a is placed below the support arm 55, the front plate 82b is placed in front of the support arm 55, and the rear plate 82c is behind the support arm 55. Placed in.

As shown in FIGS. 22 and 23, in a state where the second cover 82 is attached to the support arm 55, the lower half of the handle 90 on one end side is inserted into the fourth notch 82f. Further, as shown in FIG. 24, a connecting member 98 (described later) to which the other end side of the handle 90 is connected is inserted through the fifth cutout portion 82g.
When the first cover 81 and the second cover 82 are attached to the support arm 55, the outer peripheral edge (contour) OL1 of the first cover 81 is located outside the outer peripheral edge (contour) OL2 of the second cover 82 ( (See FIG. 16). In other words, in a plan view, the outer shape of the first cover 81 is one size larger than the outer shape of the second cover 82. Further, the positions of the lower edges of the front plate 81b and the rear plate 81c of the cover body 81A of the first cover 81 are the same height as the positions of the upper edges of the front plate 82b and the rear plate 82c of the second cover 82. It is in a low position. As a result, in a side view, a gap is formed between the lower edge of the front plate 81b and the rear plate 81c of the cover body 81A of the first cover 81 and the upper edge of the front plate 82b and the rear plate 82c of the second cover 82. No (see FIGS. 23 and 24).

As shown in FIGS. 10, 23, 22 and the like, an opening 80a through which the detection wave emitted from the obstacle detection device 45 passes is provided around the cover 80. Specifically, the cover 80 has an opening 80a between the first cover 81 and the second cover 82 for passing the detection wave emitted from the obstacle detection device 45. The opening 80a is formed between the separation cover 81B and the second cover 82. Specifically, between the front plate 81m of the separation cover 81B and the front plate 82b of the second cover 82, between the rear plate 81n of the separation cover 81B and the rear plate 82c of the second cover 82, the outer plate 81p of the separation cover 81B. A gap is formed between the cover and the outer plate 82d of the second cover 82, and these gaps continuously form the opening 80a. In other words, the opening 80a is formed in a range extending from below the front plate 81m of the separation cover 81B, below the outer plate 81p, and below the rear plate 81n. The opening 80a is U-shaped in a plan view, and is open in three directions of front, rear, and outward (left or right). In FIG. 21, the range in which the opening 80a is formed is indicated by an arrow Ra. The opening 80a is opened so as to extend horizontally in a state where the obstacle detection device 45 is in the detection position.

The detection wave emitted from the obstacle detection device 45 passes through the opening 80a and exits to the outside of the cover 80. Therefore, the detection range of the obstacle detection device 45 is defined by the range Ra in which the opening 80a is formed. In the case of the present embodiment, the range Ra in which the opening 80a is formed is longer in the front direction than in the rear direction in the vehicle body width direction (see FIG. 21). Therefore, the detection range of the obstacle detection device 45 in the vehicle body width direction is wider in the front than in the rear. The region in front of the virtual lines La and Lb and the region outside the virtual lines Lc and Ld in FIG. 1 indicate the detection range of the laser scanner 45A, which is the obstacle detection device 45. However, the range Ra in which the opening 80a is formed can be appropriately changed according to the required detection range.

As shown in FIGS. 1 and 21, the trailing edge portion of the cover 80 has a first inclined portion 80b and a second inclined portion 80c. The first inclined portion 80b is provided on the outer side of the front wheel 7F and shifts to the rear as it goes outward. The second inclined portion 80c shifts forward from the first inclined portion 80b toward the outside. The first inclined portion 80b is composed of a portion on the outer side of the rear plate 81c of the cover body 81A and a rear plate 82c of the second cover 82 located below the portion. The second inclined portion 80c is composed of a rear plate 81n of the separation cover 81B and a rear plate 82c of the second cover 82 located below the rear plate 81n.

The second inclined portion 80c has an opening 80a, but the first inclined portion 80b does not have an opening 80a. Therefore, mud or the like scattered from the periphery of the front wheel 7F cannot enter from the first inclined portion 80b even if it reaches the trailing edge of the cover 80.
Since the first inclined portion 80b is configured such that the trailing edge of the cover 80 having no opening 80a projects toward the front wheel 7F, mud or the like scattered from the periphery of the front wheel 7F reaches the obstacle detection device 45. It has a guard function to prevent this. The second inclined portion 80c has a function of making it difficult for mud or the like scattered from the periphery of the front wheel 7F to enter the inside of the cover 80 through the opening 80a by moving (releasing) the rear edge of the cover 80 from the front wheel 7F. The cover 80 preferably has both the first inclined portion 80b and the second inclined portion 80c as in the present embodiment, but may have only the first inclined portion 80b, or the cover 80 may have a second inclined portion 80b. It may have only the inclined portion 80c.

As shown in FIGS. 1 and 21, the front edge portion of the cover 80 has a third inclined portion 80d. The third inclined portion 80d is provided outside the front wheel 7F and shifts forward as it goes outward. The third inclined portion 80d is composed of an outer portion of the front plate 81b of the cover body 81A, a front plate 81m of the separation cover 81B, and a front plate 82b of the second cover 82 located below these portions. Will be done.

As shown in FIGS. 1 and 21, the outer end portion 80f of the cover 80 connects the second inclined portion 80c and the third inclined portion 80d. The outer end portion 80f extends so as to move outward from the front to the rear. The outer end portion 80f is composed of an outer plate 81p of the separation cover 81B and an outer plate 82d of the second cover 82.
As shown in FIGS. 23 and 24, the bottom surface of the cover 80 (the lower surface of the lower plate 82a of the second cover 82) has an inclined surface 80e whose height (position in the vertical direction) changes in the vehicle body width direction. There is. The inclined surface 80e includes a first inclined surface 80e1 and a second inclined surface 80e2. The first inclined surface 80e1 gradually descends from the tip end (outer end in the vehicle body width direction) of the cover 80 toward the base end side (inward). The second inclined surface 80e2 gradually descends from the base end side to the tip end side of the cover 80, and is continuous with the lowermost portion of the first inclined surface 80e1 at the lowermost portion. The first inclined surface 80e1 and the second inclined surface 80e2 form a bent surface that bends in a V shape by being continuous. The lowermost portion of the bent surface (the portion where the lowermost portion of the first inclined surface 80e1 and the lowermost portion of the second inclined surface 80e2 are connected) 80e3 is located at a position shifted inward from the lower side of the obstacle detection device 45.

As shown in FIG. 24, a discharge hole 86 for discharging foreign matter such as water or mud that has entered the inside of the cover 80 is formed on the bottom surface of the cover 80 (the lower surface of the lower plate 82a of the second cover 82). Has been done. The discharge hole 86 is formed at the lowermost portion 80e of the bent surface, which is a boundary line between the first inclined surface 80e1 and the second inclined surface 80e2. As a result, water, mud, etc. that have entered the inside of the cover 80 during traveling or car washing flow down along the first inclined surface 80e1 or the second inclined surface 80e2, and pass through the discharge hole 86 to the outside of the cover 80. Is discharged to. Therefore, it is possible to prevent water, mud, and the like from accumulating inside the cover 80.

As shown in FIGS. 10, 23, 24 and the like, the pipe 87 is inserted into the bottom surface of the cover 80 (the lower surface of the lower plate 82a of the second cover 82). As shown in FIG. 20, the upper end of the pipe 87 penetrates the lower body 45A4 of the housing 45A2 of the laser scanner 45A. The cable connected to the obstacle detection device 45 can be pulled out of the cover 80 through the pipe 87. However, the cable connected to the obstacle detection device 45 may be pulled out of the cover 80 through a path other than the pipe 87 (for example, the inner side of the cover 80). In this case, the pipe 87 may be omitted.

As shown in FIGS. 1, 4, 16, 21, 21 to 23, etc., a handle 90 is provided around the obstacle detection device 45. The handle 90 is a portion that can be grasped by the operator when the position of the obstacle detection device 45 is changed to the detection position or the retracted position by the position change mechanism 63. By having the handle 90, it is possible to prevent the occurrence of problems such as damage to the cover 80 by gripping the cover 80 when the operator changes the position of the obstacle detection device 45. Further, the handle 90, together with the cover 80, constitutes a mud shield portion for preventing mud from adhering to the obstacle detection device 45.

As shown in FIG. 21 and the like, the handles 90 are arranged at intervals from the periphery of the cover 80 and extend along the periphery of the cover 80. The distance between the handle 90 and the periphery of the cover 80 is set to, for example, a distance such that a human finger can be inserted. The handle 90 is composed of a rod body that bends and extends along the circumference of the cover 80. The rod body constituting the handle 90 is a round bar having a circular cross section. The diameter of the round bar is set to be larger than the width of the opening 80a (gap in the vertical direction). Both ends of the rod body constituting the handle 90 are fixed to the support member 50.

As shown in FIG. 16, one end 90a of the handle 90 is fixed to the support arm 55, and the other end of the handle 90 is fixed to the support arm 55 via the connecting member 98. As shown in FIGS. 10, 16, 21, 23, 24, etc., the handle 90 has a first portion 91, a second member 92, a third portion 93, from one end side to the other end side. It has a fourth site 94, a fifth site 95, and a sixth site 96. The first portion 91 extends forward from the front surface of the support arm 55, and projects to the outside of the cover 80 from an opening formed by the third notch portion 81g and the fourth notch portion 82f of the cover 80. The second portion 92 bends from the front end portion of the first portion 91, extends outward, and moves forward. The third portion 93 bends from the outer end of the second portion 92, extends outward, and moves forward. The third portion 93 extends along the third inclined portion 80d of the cover 80. The fourth site 94 bends from the outer end of the third site 93, extends backward, and moves outward. The fourth portion 94 extends along the outer end portion 80f of the cover 80. The fifth site 95 bends from the rear end of the fourth site 94, extends inward, and moves backward. The fifth portion 95 extends along the second inclined portion 80c of the cover 80. The sixth site 96 bends inward from the inward end of the fifth site 95. The sixth portion 96 is fixed to a connecting member 98 connected to the support arm 55. The inner end of the sixth portion 96 constitutes the other end of the handle 90, and is indirectly fixed to the rear surface of the support arm 55 via the connecting member 98. The connecting member 98 extends rearward from the rear surface of the support arm 55, and projects from the fifth notch 82g of the cover 80 to the outside of the cover 80. The sixth portion 96 is fixed to a portion of the connecting member 98 that protrudes to the outside of the cover 80. The shape and position of each part of the handle 90 are set so as not to be hit by the detection wave of the obstacle detection device 45.

As shown in FIG. 23, the second portion 92 of the handle 90 extends downward while extending outward. The third portion 93 extends upward while extending outward. The first part 91, the fourth part 94, the fifth part 95, and the sixth part 96 are arranged horizontally.
The handle 90 has a portion (second portion 92, third portion 93, etc.) arranged along the front portion around the cover 80. Here, as shown in FIG. 1, since the obstacle detection device 45 is arranged in front of the front wheel 7F, the support member 50 and the cover 80 are also arranged in front of the front wheel 7F. Therefore, since the handle 90 has a portion arranged along the front portion around the cover 80, the operator can stand in front of the cover 80, which is difficult to contact with the front wheel 7F, and grip the handle 90. .. As a result, the position of the obstacle detection device 45 can be easily changed by the position change mechanism 63. Since the handle 90 is arranged along the periphery of the cover 80, the position of the obstacle detection device 45 should be changed by standing outside or behind the cover 80 and grasping the handle 90. Is also possible. Further, since the handle 90 is provided around the third support portion 50C that supports the obstacle detection device 45, the tip side of the support member 50 close to the obstacle detection device 45 (the third support portion 50C side). The position of the cover 80 can be changed by grasping the handle 90 of the cover 80.

As shown in FIG. 21, the handle 90 extends over a range corresponding to at least the range Ra in which the opening 80a is formed in a plan view. As a result, the handle 90 can function as a mud shield that prevents mud from entering through the opening 80a. In the case of the present embodiment, the handle 90 extends over a range beyond the range corresponding to the range Ra in which the opening 80a is formed in a plan view.

As shown in FIGS. 10, 23, and 24, the handle 90 is arranged below the opening 80a. That is, the handle 90 is arranged at a position shifted downward with respect to the opening 80a. As a result, the detection wave of the obstacle detection device 45 that has passed through the opening 80a and has come out of the cover 80 and the detection wave that hits the obstacle and is reflected toward the opening 80a do not hit the handle 90. Further, it is possible to effectively prevent the mud splashed from below due to the rotation of the front wheel 7F or the like from entering the cover 80 through the opening 80a. Further, when the diameter of the rod body (round bar) constituting the handle 90 is larger than the width of the opening 80a, it is possible to effectively prevent mud from entering the cover 80 through the opening 80a. Further, since the rod body constituting the handle 90 is a round rod, it is possible to prevent mud from accumulating on the handle 90.

28 to 32 show another embodiment (second embodiment) of the handle 90. Hereinafter, the points that the handle 90 of the second embodiment is different from the handle 90 of the above-described embodiment (first embodiment) will be described, and the common points will be omitted.
The sixth part 96 of the handle 90 of the second embodiment bends from the inner end of the fifth part 95 and extends inward while moving forward. Further, the handle 90 of the second embodiment has a seventh part 97 in addition to the first part 91 to the sixth part 96. The seventh part 97 bends from the inner end of the sixth part 96 and extends forward, and is inserted into the inside of the cover 80 from the fifth notch 82g of the cover 80. The front end portion of the seventh portion 97 constitutes the other end portion of the handle 90, and is directly fixed to the rear surface of the support arm 55 without the intervention of the connecting member 98. According to the handle 90 of the second embodiment, the connecting member 98 can be omitted, and the handle 90 can be arranged close to the cover 80.

The configuration of the handle 90 is not limited to the illustrated configuration. For example, one end of the handle 90 of the first embodiment or the second embodiment is not directly connected to the support arm 55. , May be fixed to the support arm 55 via the connecting member 98.
Further, the configuration of the cover 80 is not limited to the illustrated configuration. For example, the first cover 81 may be arranged on the front side of the obstacle detection device 45, and the second cover 82 may be arranged on the rear side of the obstacle detection device 45. Alternatively, the first cover 81 may be arranged on the left side of the obstacle detection device 45, and the second cover 82 may be arranged on the right side of the obstacle detection device 45.

Further, the cover 80 may be composed of one or a plurality of cylinders that cover the periphery of the obstacle detection device 45. In this case, it is preferable that the cover 80 includes a portion that covers the periphery of the support member 50 and a portion that covers the periphery of the obstacle detection device 45. In this case, in order to facilitate the maintenance of the obstacle detection device 45, it is preferable that the portion covering the periphery of the obstacle detection device 45 is separated from other parts and detachable. Further, the portion covering the periphery of the obstacle detection device 45 may have a structure in which two members (for example, an upper member and a lower member) are separably combined. Further, the structure may be such that the outer end portion of the cover 80 is open, or the end portion may be provided with a removable or openable / closable lid.

As shown in FIG. 33, a weight 26 is attached to the front portion of the vehicle body frame 20 via a weight bracket 27. The weight 26 includes a plurality of weight plates 28. The plurality of weight plates 28 are arranged side by side in the vehicle body width direction. In FIG. 33, only two weight plates 28 located at both ends in the vehicle body width direction are specifically drawn. The weight plate 28 has a locking portion 28a, a through hole 28b, and a recess 28c. The locking portion 28a is provided on the rear portion (vehicle body frame 20 side) of the weight plate 28. The locking portion 28a is formed in a hook shape in a side view, and is locked to the weight locking portion 27a provided at the front portion of the weight bracket 27. The weight locking portion 27a projects upward at the front end portion of the weight bracket 27. The weight locking portion 27a extends over the entire length of the weight bracket 27 in the vehicle body width direction. The through hole 28b penetrates the weight plate 28 in the thickness direction (vehicle body width direction). A circular recess 28e is formed around the through hole 28b. The recessed portion 28e is formed on one side surface (left side surface) and the other side surface (right side surface) of the weight plate 28, respectively. The recess 28c is provided in the front portion of the weight plate 28 and is recessed toward the rear.

When the weight plate 28 is attached to the weight bracket 27, the weight plate 28 becomes an inclined surface that shifts downward as the upper surface moves forward, and the lower surface becomes a horizontal plane. A rectangular opening 28d that forms a handle for holding the weight plate 28 is provided on the upper portion of the weight plate 28.
The plurality of weight plates 28 can be connected by a connecting body (not shown). The connecting body is composed of a rod body penetrating the through hole 28b and a retaining tool such as a nut attached to both ends of the rod body. The specific configuration of the connector will be described later with reference to FIGS. A and F.

As shown in FIGS. 1, 3, 4, 8, and 10, the weight 26 can be covered with the weight cover 100. The weight cover 100 has a shape that follows the outer shape of the weight 26 (excluding the recess 28c), and can cover the periphery of the weight 26. In addition, "the circumference of the weight 26 can be covered" means that the weight cover 100 has a size and a shape capable of covering the circumference of the weight 26, and is actually inside the weight cover 100. It does not matter whether the weight 26 is accommodated or not.

The weight cover 100 may be able to cover the entire circumference of the weight 26, or may be able to cover a part of the weight 26. Preferably, the weight cover 100 can cover at least anterior, upward, downward, left and right sides around the weight 26. That is, the weight cover 100 may have a shape that does not cover the rear of the weight 26.

The weight cover 100 can be attached to the weight bracket 27 with or without the weight 26 covered.
Hereinafter, the weight cover 100 will be described in more detail, but the orientations (upper, lower, left, right) in the explanation are the states in which the weight cover 100 is attached to the weight bracket 27 (FIGS. 1, FIG. 4, FIG. 8, FIG. 10) is the reference orientation.

As shown in FIG. 34, the weight cover 100 has an upper plate 100a, a lower plate 100b, side plates (first side plate 100c, second side plate 100d), a front plate 100e, and a rear plate 100f. The upper plate 100a, the lower plate 100b, the second side plate 100d, and the front plate 100e are flat plates. A raised portion 100h is formed in the lower part of the surface (left surface) of the first side plate 100c. The boundary between adjacent plates constituting the weight cover 100 is curved.

The first side plate 100c and the second side plate 100d are arranged in parallel with each other at intervals in the vehicle body width direction. The front plate 100e is connected to the front portion of the side plates (first side plate 100c, second side plate 100d). The upper plate 100a is connected to the upper part of the side plates (first side plate 100c, second side plate 100d). The lower plate 100b is connected to the lower part of the side plates (first side plate 100c, second side plate 100d). The rear plate 100f has a first rear plate 100j, a second rear plate 100k, and a recessed portion 100g. The first rear plate 100j constitutes the upper part of the rear plate 100f. The first rear plate 100j is inclined so as to move backward as it goes downward. The second rear plate 100k constitutes the lower part of the rear plate 100f. The second rear plate 100k is substantially vertical. The recessed portion 100g is recessed forward between the first rear plate 100j and the second rear plate 100k. The shape of the recessed portion 100g is a shape that follows the shape of the rear portion of the weight plate 28, and has a hook-shaped portion 100i that follows the shape of the locking portion 28a. The hook-shaped portion 100i can be locked to the weight locking portion 27a.

The rear plate 100f of the weight cover 100 is connected to the rear portion of the side plates (first side plate 100c, second side plate 100d). The weight cover 100 may have a rear plate 100f or another plate that can be attached / detached or opened / closed. In this case, the weight 28 can be housed inside the weight cover 100. Further, the weight cover 100 may have a shape in which the rear portion is open without having the rear plate 100f. In this case, the side plates (first side plate 100c, second side plate 100d) can be locked to the weight locking portion 27a.

The weight cover 100 can be attached to the front portion of the vehicle body 2 by locking the hook-shaped portion 100i to the weight locking portion 27a.
As shown in FIGS. 7, 8, 10, 14, and 15, the weight cover 100 is mounted on the cover mounting portion 101. The cover mounting portion 101 includes a first mounting portion 101L and a second mounting portion 101R. The cover mounting portion 101 is mounted on the mounting plate 52 of the first support portion 50A. The first mounting portion 101L is mounted on the mounting plate 52 of the support member 50L. The second mounting portion 101R is mounted on the mounting plate 52 of the support member 50R. The first mounting portion 101L and the second mounting portion 101R have the same configuration except that they are symmetrical with respect to the center line CL1 in the vehicle body width direction.

The cover mounting portion 101 (first mounting portion 101L, second mounting portion 101R) has an upper mounting portion 101a and a lower mounting portion 101b. The upper mounting portion 101a is mounted on the upper portion of the mounting plate 52b. The lower mounting portion 101b is mounted on the lower part of the mounting plate 52b. The first side plate 100c of the weight cover 100 is mounted on the first mounting portion 101L. The second side plate 100d of the weight cover 100 is mounted on the second mounting portion 101R. The upper mounting portion 101a and the lower mounting portion 101b, the first side plate 100c, and the second side plate 100d have through holes through which bolts can be inserted, and the first side plate 100c is provided by the bolts BL4 inserted through the through holes. And the second side plate 100d is mounted on the cover mounting portion 101. By mounting the first side plate 100c and the second side plate 100d on the cover mounting portion 101, the weight cover 100 is mounted on the cover mounting portion 101.

The configuration of the cover mounting portion 101 is not limited to the above-described configuration. For example, even if the distance between the first mounting portion 101L and the second mounting portion 101R is reduced so that the first mounting portion 101L abuts on the first side plate 100c and the second mounting portion 101R abuts on the second side plate 100d. Good. Further, spacers may be interposed between the first side plate 100c and the first mounting portion 101L, and between the second side plate 100d and the second mounting portion 101R, respectively. Further, the weight locking portion 27a may be used as the cover mounting portion 101.

The weight cover 100 can be attached to the cover mounting portion 101 with the weight 26 attached to the weight bracket 27, or can be attached to the cover mounting portion 101 with the weight 26 removed from the weight bracket 27. In the former case, as the weight cover 100, a rear plate 100f or another plate that can be attached / detached or opened / closed, or one that does not have the rear plate 100f and has an open rear can be used.

When the weight cover 100 has a shape that does not have the rear plate 100f, the weight cover 100 does not have the hook-shaped portion 100i. Therefore, when the weight cover 100 is mounted, it is mounted on the first mounting portion 101L and the second mounting portion 101R without locking the weight locking portion 27a.
The external position of the weight cover 100 with respect to the vehicle body 3 of the cover mounting portion 101 is the same when the weight cover 100 is mounted with the weight 26 attached and when the weight cover 100 is mounted with the weight 26 removed. Set to position.

When the weight cover 100 is attached to the cover mounting portion 101 with the weight 26 attached to the weight bracket 27, the upper plate 100a is arranged above the upper surface of the weight 26. The lower plate 100b is arranged below the lower surface of the weight 26. The first side plate 100c is arranged on the left side of the left side of the weight 26. The second side plate 100d is arranged on the right side of the right side of the weight 26. The front plate 100e is arranged in front of the front surface of the weight 26. The rear plate 100f is arranged behind the rear surface of the weight 26. When the weight cover 100 does not have the rear plate 100f, the rear side of the weight 26 is opened, so that the presence or absence of the weight 26 can be confirmed from the rear side.

In a state where the weight cover 100 is mounted on the cover mounting portion 101, the upper surface of the upper plate 100a becomes an inclined surface that shifts downward as the upper surface moves forward. The lower surface of the lower plate 100b is a horizontal plane. Further, as shown in FIG. 3, the lower surface of the lower plate 100b is located above the center of the front wheels 7F. The outer surface (left surface) of the first side plate 100c and the outer surface (right surface) of the second side plate 100d are vertical surfaces. Further, as shown in FIG. 4, the length of the weight cover 100 in the vehicle body width direction is smaller than the length of the connecting member 49 in the vehicle body width direction, and the weight cover 100 and the connecting member 49 overlap each other in the front view. do not do.

As shown in FIGS. 1 and 10, the obstacle detection device 45 (laser scanner 45A, sonar 45B) and the cover 80 are outside the weight cover 100 attached to the cover mounting portion 101 and have a vehicle body width. It is arranged at a position where it overlaps with the weight cover 100 when viewed from the direction. Further, as shown in FIG. 8, the side plates (first side plate 100c, second side plate 100d) of the weight cover 100 are arranged inward of the obstacle detection device 45 and the cover 80.

As described above, the virtual lines La, Lb, Lc, and Ld in FIG. 1 indicate the detection range of the laser scanner 45A. The detection range of the laser scanner 45A on the left side is in front of the virtual line La and outside the virtual line Lb. The detection range of the laser scanner 45A on the right side is in front of the virtual line Lc and outside the virtual line Ld. As shown in the figure, the obstacle detection device 45 can detect an obstacle in front of the weight 26.

The maximum detection range of the obstacle detection device 45 is defined by the range provided with the opening 80a. In other words, the obstacle detection device 45 can detect an obstacle on an extension of the range provided with the opening 80a. However, the detection range of the obstacle detection device 45 can be set in any range within the above maximum range. Further, the maximum degree can be changed by changing the range in which the opening 80a is provided.

The virtual line shown in FIG. 1 is an example of setting the detection range of the obstacle detection device 45. In the case of this example, the obstacle detection device 45 sets the space occupied by the weight 26 attached to the weight bracket (weight attachment portion) 27 as a non-detection range in which an obstacle is not detected. In other words, the obstacle detection device 45 can set the space occupied by the weight 26 attached to the weight attachment portion 27 as a non-detection range. This is because the space occupied by the weight 26 is a space in which obstacles cannot enter, and therefore there is no problem even if it is set as a non-detection range in which obstacles are not detected.

With the weight 26 removed, the cover mounting portion 101 can mount the weight cover 100 at a position that fills the space occupied by the weight 26. By attaching the weight cover 100 to a position that fills the space occupied by the weight 26 in the state where the weight 26 is removed, the non-detection range of the obstacle detection device 45 can be filled by the weight cover 100. Therefore, when the weight 26 is removed, it is possible to prevent an obstacle from entering the space occupied by the weight 26, which is a non-detection range of the obstacle detection device 45.

As shown in FIG. 1, the boundary line (virtual line La, Lc) between the detection range and the non-detection range of the obstacle detection device 45 is the front plate 100e and the side plate (first side plate 100c, second side plate) of the weight cover 100. It can be set near the corner forming the boundary with 100d). This makes it possible for the obstacle detection device 45 to detect an obstacle in front of the weight cover 100.
As for the shape of the weight cover 100, with the weight cover 100 mounted on the cover mounting portion 101, a detector made of an object imitating an obstacle determined in advance by a test or the like is arranged at a predetermined position in the vicinity of the weight cover 100. Occasionally, the detector is set to fall within the detection range. Specifically, the lower plate 100b, the side plates (first side plate 100c, the second side plate 100d), and the front plate 100e of the weight cover 100 have the detector body mounted on the cover mounting portion 101 with the weight cover 100 mounted on the weight cover 100. The detector is set to be within the detection range when placed at a predetermined position in the vicinity of.

Further, the lower plate 100b of the weight cover 100 is set in a shape that can secure a height that does not hit the ridges when the weight cover 100 is mounted on the cover mounting portion 101 and crosses the ridges.
It is preferable that the side plates (first side plate 100c, second side plate 100d) of the weight cover 100 have a color that is easier to detect by the obstacle detection device 45 than the weight 26. For example, when the color of the weight 26 is black, the color of the side plate of the weight cover 100 can be a color other than black (for example, a color having high brightness such as yellow or red). Thereby, when setting the detection range of the obstacle detection device 45, the obstacle detection device 45 can easily and surely recognize the weight cover 100. Therefore, the obstacle detection device 45 can easily and accurately set the space occupied by the weight 26 attached to the weight attachment portion 27 as the non-detection range.

FIG. 35 is a diagram showing another embodiment (second embodiment) of the weight cover 100.
Hereinafter, the weight cover 100 of the second embodiment will be mainly described as being different from the weight cover 100 of the above embodiment (first embodiment), and unless otherwise specified, the configuration is common to the weight cover 100 of the first embodiment. The description of the above will be omitted. For example, the description regarding the detection range and the non-detection range of the obstacle detection device 45, the description about the detector, the shape (height) of the lower plate 100b, and the like described above are the same for the weight cover 100 of the second embodiment. is there.

As shown in FIG. 35, the weight cover 100 of the second embodiment has an upper plate 100a, a lower plate 100b, side plates (first side plate 100c, second side plate 100d), and a front plate 100e. The weight cover 100 of the second embodiment does not have a rear plate and is open at the rear. Further, since the weight cover 100 of the second embodiment does not have a rear plate, it does not have a hook-shaped portion 100i. Therefore, the weight cover 100 of the second embodiment is not locked to the weight locking portion 27a.

The upper plate 100a is inclined so as to move downward toward the front, and is curved so as to bulge upward. The upper plate 100a is formed with a recessed portion 100a1 that is recessed downward. The recessed portion 100a1 is formed from the front end to the rear end at the center of the upper plate 100a in the vehicle body width direction.
The lower plate 100b is inclined so as to move upward toward the front, and is curved so as to bulge downward. In the illustrated example, the lower surface of the lower plate 100b is not formed with a recessed portion, but a recessed portion recessed upward may be formed. Further, a part of the lower plate 100b may be cut out as shown by the virtual line Le (see FIG. 35B). In this case, the weight 26 can be visually recognized from below.

The first side plate 100c and the second side plate 100d are inclined so as to approach each other toward the front, and are curved so as to bulge outward. Notches 100c1 and 100d1 are formed in the first side plate 100c and the second side plate 100d, respectively. The cutout portions 100c1, 100d1 are formed by notching the trailing edges of the first side plate 100c and the second side plate 100d in a substantially rectangular shape toward the front. In the illustrated example, the first side plate 100c and the second side plate 100d are not formed with a recessed portion, but a recessed portion recessed inward may be formed.

The front plate 100e is inclined so as to move backward as it goes downward, and is curved so as to bulge toward the front. The front plate 100e is formed with a recessed portion 100e1 that is recessed toward the rear. The recessed portion 100e1 is formed in the center of the front plate 100e in the vehicle body width direction.
As shown in FIGS. 36 to 38, the weight cover 100 of the second embodiment is mounted on the cover mounting portion 101. As a result, the weight cover 100 of the second embodiment is attached to the front portion of the vehicle body 2. In the case of this embodiment, the mounting plate 52 of the first support portion 50A is used as the cover mounting portion 101. Specifically, the mounting plate 52 of the support member 50L is used as the first mounting portion 101L. The mounting plate 52 of the support member 50R is used as the second mounting portion 101R.

The first side plate 100c is mounted on the first mounting portion 101L. The second side plate 100d is mounted on the second mounting portion 101R. The outer surface of the first side plate 100c is in contact with the mounting plate 52 of the support member 50L. The outer surface of the second side plate 100d is in contact with the mounting plate 52 of the support member 50R. The mounting plate 52, the first side plate 100c, and the second side plate 100d have through holes through which bolts can be inserted, and the bolts BL7 inserted through the through holes cover the first side plate 100c and the second side plate 100d. It is mounted on the mounting portion 101. The weight cover 100 of the second embodiment is attached to the cover mounting portion 101 by mounting the first side plate 100c and the second side plate 100d on the cover mounting portion 101.

The structure in which the weight cover 100 of the second embodiment is mounted on the cover mounting portion 101 (first mounting portion 101L, second mounting portion 101R) is not limited to the above-mentioned structure. For example, the weight cover 100 of the second embodiment may be mounted by using the upper mounting portion 101a and the lower mounting portion 101b of the cover mounting portion 101. Specifically, the upper mounting portion 101a and the lower mounting portion 101b of the first mounting portion 101L are in contact with the inner surface of the first side plate 100c, and the upper mounting portion 101a and the lower mounting portion 101b of the second mounting portion 101R are brought into contact with the second side plate. The second embodiment is formed by abutting the inner surface of 100d, inserting a bolt into a through hole formed in the abutting portion of each side plate, the upper mounting portion 101a and the lower mounting portion 101b, and screwing a nut into the bolt. The weight cover 100 may be attached to the cover attachment portion 101. In this case, the cutout portions 100c1 and 100d1 can be set to have a shape (size) that exposes the entire mounting plate 52.

The weight cover 100 of the second embodiment can also be attached to the cover mounting portion 101 with the weight 26 attached to the weight bracket 27, or attached to the cover mounting portion 101 with the weight 26 removed from the weight bracket 27. You can also do it.
The cover mounting portion 101 determines the external position of the weight cover 100 of the second embodiment with respect to the vehicle body 3 when the weight cover 100 is mounted with the weight 26 attached and when the weight cover 100 is removed. Set to the same position as when the is installed.

When the weight cover 100 of the second embodiment is attached to the cover mounting portion 101 with the weight 26 attached to the weight bracket 27, the upper plate 100a is arranged above the upper surface of the weight 26. The lower plate 100b is arranged below the lower surface of the weight 26. The first side plate 100c is arranged on the left side of the left side of the weight 26. The second side plate 100d is arranged on the right side of the right side of the weight 26. The front plate 100e is arranged in front of the front surface of the weight 26. Since the weight cover 100 of the second embodiment does not have the rear plate 100, the rear side of the weight 26 is opened, and the presence or absence of the weight 26 can be confirmed from the rear side.

As shown in FIG. 37, the length of the weight cover 100 in the vehicle body width direction of the second embodiment is smaller than the length of the connecting member 49 in the vehicle body width direction. Do not overlap.
39 and 40 show a state in which the attachment member 102 is attached to the weight bracket 27 in the agricultural machine 1 of the above embodiment. The attachment member 102 is a member for attaching an additional weight 36 in addition to the weight 26 attached to the weight bracket 27 to the front portion of the vehicle body 3. The attachment member 102 includes an attachment member 102L and an attachment member 102R. The attachment member 102L is arranged on one side (left side) of the weight bracket 27. The attachment member 102R is arranged on the other side (right side) of the weight bracket 27.

As shown in FIG. 40, the weight bracket 27 has a symmetrical shape with the center line CL1 in the vehicle body width direction interposed therebetween. The attached member 102L and the attached member 102R have the same configuration except that they are symmetrical with respect to the center line CL1 in the vehicle body width direction.
As shown in FIG. 41, the weight bracket 27 has a rear portion 27b, an anterior portion 27c, and an intermediate portion 27d. The rear portion 27b is a portion attached to the vehicle body frame (front axle frame) 20. The front portion 27c is a portion where a weight locking portion 27a capable of locking the weight 26 is formed on the upper portion of the front end. The intermediate portion 27d is a portion connecting the posterior portion 27b and the anterior portion 27c. The intermediate portion 27d extends in a trapezoidal shape in a plan view so that the length in the vehicle body width direction gradually increases from the rear portion 27b toward the front portion 27c.

As shown in FIGS. 39 and 40, the attachment member 102 has a first mounting portion 102b, a second mounting portion 102c, and a connecting portion 102d.
The first mounting portion 102b is mounted on the weight bracket 27. Specifically, the first mounting portion 102b is mounted on the side surface of the weight bracket 27 by a bolt BL5. The first attachment portion 102b of the attachment member 102L on the left side is attached to the left side surface of the weight bracket 27. The first attachment portion 102b of the attachment member 102R on the right side is attached to the right side surface of the weight bracket 27.

The second mounting portion 102c is mounted on the front axle frame 20. Specifically, the second mounting portion 102c is mounted on the side surface of the front axle frame 20 by bolts BL6. The second attachment portion 102c of the attachment member 102L on the left side is attached to the left side surface of the vehicle body frame 20L of the front axle frame 20. The second attachment portion 102c of the attachment member 102R on the right side is attached to the right side surface of the vehicle body frame 20R of the front axle frame 20.

The communication unit 102d communicates the first attachment unit 102b and the second attachment unit 102c. The connecting portion 102d extends along the side surface of the intermediate portion 27d of the weight bracket 27. The connecting portion 102d of the attachment member 102L on the left side extends along the left side surface of the intermediate portion 27d. The connecting portion 102d of the attachment member 102R on the right side extends along the right side surface of the intermediate portion 27d. The distance between the connecting portion 102d of the attachment member 102L and the connecting portion 102d of the attachment member 102R gradually increases toward the front.

As shown in FIGS. 39 and 40, the attachment member 102 has an additional locking portion 102a capable of locking an additional weight 36 (see FIGS. 42 and 43) on the side of the weight locking portion 27a. ing. The additional locking portion 102a projects upward at the front end portion of the first mounting portion 102b of the attachment member 102. The additional locking portion 102a has the same height and width (length in the front-rear direction) as the weight locking portion 27a. The additional locking portion 102a is provided continuously side by side with the weight locking portion 27a in the vehicle body width direction. The additional locking portion 102a of the attachment member 102L on the left side is provided continuously side by side with the weight locking portion 27a on the left side of the weight locking portion 27a. The additional locking portion 102a of the attachment member 102R on the right side is provided continuously side by side with the weight locking portion 27a on the right side of the weight locking portion 27a.

As shown in FIG. 41, a first recess 27e is formed on the side surface of the weight bracket 27. The first recess 27e is circularly recessed from the outer surface of the weight bracket 27 toward the inside of the vehicle body. The first recess 27e is formed on the left side surface and the right side surface of the weight bracket 27, respectively. A screw hole 27f is formed in the center of the first recess 27e.
As shown in the enlarged view in the circle of FIG. 40, a second recess 102e facing the first recess 27e is formed in the first mounting portion 102b of the attachment member 102. The second recess 102e is recessed in a circular shape from the inner side surface of the first mounting portion 102b toward the outer side of the vehicle body. The inner diameter of the second recess 102e is the same as the inner diameter of the first recess 27e. The second recess 102e is formed in the attachment member 102L and the attachment member 102R, respectively. A through hole 102f is formed in the center of the second recess 102e.

As shown in the enlarged view in the circle of FIG. 40, an interposing member 103 is interposed between the weight bracket 27 and the attachment member 102. The interposition member 103 is a cylindrical member having a central hole 103a. The interposition member 103 is fitted so as to straddle the first recess 27e and the second recess 102e. A bolt BL5 for attaching the attachment member 102 to the weight bracket 27 is inserted into the interposition member 103. The bolt BL5 is screwed into the screw hole 27f of the weight bracket 27 through the through hole 102f of the attachment member 102 and the center hole 103a of the interposition member 103.

By interposing the interposition member 103 between the weight bracket 27 and the attachment member 102 in this way, the accuracy of the attachment position of the attachment member 102 with respect to the weight bracket 27 can be improved. Further, the gap between the weight bracket 27 and the attachment member 102 becomes inconspicuous, and the appearance can be improved.
As shown in FIGS. 39 and 40, by attaching the attachment member 102 to the side of the weight bracket 27, the additional locking portions 102a are continuously arranged side by side on the side of the weight locking portion 27a. Therefore, the additional weight 36 can be locked to the additional locking portion 102a of the attachment member 102 on the side of the weight 26 locked to the weight locking portion 27a of the weight bracket 27 (see FIG. 42). ..

42 and 43 show a state in which an additional weight 36 is locked to the additional locking portion 102a of the attachment member 102 in addition to the weight 26 locked to the weight locking portion 27a of the weight bracket 27. ing. In FIG. 43, the additional weight 36 is shown by a virtual line. As shown, the additional weights 36 are arranged side by side continuously with the weights 26 in the vehicle width direction. Further, the additional weight 36 is locked so as to straddle the weight locking portion 27a and the additional locking portion 102a. In the illustrated example, the weight 26 is composed of 12 weight plates 28, and the additional weight 36 is composed of two weight plates. However, the number of weight plates 28 constituting the weight 26 and the number of weight plates forming the additional weight 36 are not particularly limited.

As shown in FIGS. 42 and 43, the weight 26 and the additional weight 36 are connected by a connecting body 37. The connecting body 37 is composed of a rod body 38 penetrating the through hole 28b of the weight 26 and retaining tools 39 attached to both ends of the rod body 38. The retaining tool 39 includes an annular pressing plate 39a that is fitted into the recessed portion 28e formed around the through hole 28b, and a nut 39b that is screwed into both ends of the rod body 38 to press the pressing plate 39a. Have. The connector 37 can also be used in the absence of the additional weight 36 (see FIG. 33). The length of the rod body 38 of the connecting body 37 is adjusted according to the number of weight plates to be attached.

The width (length in the vehicle body width direction) of the additional locking portion 102a of the attachment member 102 is such that at least one weight plate is locked as an additional weight 36 in a state where the attachment member 102 is attached to the side of the weight bracket 27. Set to a possible width. In the case of the present embodiment, the width of the additional locking portion 102a is set to a width that allows one weight plate to be locked as an additional weight 36, but a plurality of weight plates can be locked as an additional weight 36. Width may be set.

Further, in the case of the present embodiment, the attachment member 102 is attached to one side and the other side of the weight bracket 27, respectively, but two or more are attached to each side and the other side. It may be configured. Further, the number of the attachment members 102L attached to one side of the weight bracket 27 and the number of the attachment members 102R attached to the other side of the weight bracket 27 are preferably the same, but may be different. .. For example, the attachment member 102 may be attached to only one of the weight bracket 27 on one side and the other side.

As described above, by attaching the attachment member 102 to the side of the weight bracket 27, the number (maximum number) of weight plates that can be attached to the front portion of the vehicle body 3 can be increased. Therefore, when the weight of the work device attached to the connecting portion at the rear of the vehicle body 3 becomes heavier than before, the shared load of the front wheels 7F can be increased by attaching the attachment member 102 and providing the additional weight 36. it can. As a result, the load balance between the front wheels 7F and the rear wheels 7R can be optimized, and the traction performance of the working device can be improved without slipping the rear wheels 7R. Further, when the additional weight 36 is unnecessary, the attached member 102 can be removed.

As shown by a virtual line in FIG. 44, when an attachment member 102 is attached to the side of the weight bracket 27 to provide an additional weight 36, the weight cover 100 is engaged with the weight locking portion 27a of the weight bracket 27. A weight 26 having a size capable of covering the stopped weight 26 and the additional weight 36 locked to the additional locking portion 102a of the attachment member 102 is used. Specifically, the distance between the first side plate 100c and the second side plate 100d of the weight cover 100 is lengthened according to the length (length in the vehicle body width direction) in which the weight 26 and the additional weight 36 are arranged side by side. Set. In this case, although not shown in FIG. 44, the distance between the first mounting portion 101L and the second mounting portion 101R of the cover mounting portion 101 is set to the distance between the first side plate 100c and the second side plate 100d of the weight cover 100. Set according to the distance between and.

Further, when the attachment member 102 is attached to the side of the weight bracket 27 to provide the additional weight 36, the obstacle detection device 45 is attached to the weight 26 attached to the weight bracket 27 and the addition member 102. The space occupied by the weight 36 can be set as a non-detection range in which an obstacle is not detected. In this case, the weight cover 100 can be attached to a position that fills the space occupied by the weight 26 and the additional weight 36 in a state where the weight 26 and the additional weight 36 are removed.

According to the agricultural machine of the above embodiment, the following effects are obtained.
The agricultural machine 1 is arranged so as to cover the vehicle body 3 having the front wheels 7F and the rear wheels 7R, the obstacle detection device 45 attached to the vehicle body 3 and capable of detecting obstacles, and the obstacle detection device 45. A cover 80 is provided, and the cover 80 has a first cover 81 arranged on one side of the obstacle detection device 45 and a second cover 82 arranged on the other side of the obstacle detection device. At least one of the cover 81 and the second cover 82 is a separate cover 81B which is arranged so as to cover a part around the cover main body 81A and the obstacle detection device and is detachable from the cover main body 81A. And have.

According to this configuration, the obstacle detection device 45 is covered with the first cover 81 and the second cover 82, so that the adhesion of foreign matter to the obstacle detection device 45 can be suppressed. Further, by separating and removing the separation cover 81B from the cover body 81A of the second cover 82, a part around the obstacle detection device 45 is opened, so that the maintenance of the obstacle detection device 45 can be easily performed. Can be done.

Further, the cover 80 has an opening 80a between the first cover 81 and the second cover 82 for passing the detection wave emitted from the obstacle detection device 45.
According to this configuration, the detection wave emitted from the obstacle detection device 45 arranged inside the cover 80 can pass through the opening 80a and irradiate the outside of the cover 80. Therefore, it is possible to irradiate the detection wave while protecting the obstacle detection device 45 from foreign matter such as mud. Further, the irradiation range of the detection wave can be regulated by the opening 80a to specify the detection range of the obstacle detection device 45.

Further, the obstacle detection device 45 has a receiving unit 45A1 that receives the detection wave reflected by hitting the obstacle, and the separation cover 81B has a portion that covers the receiving unit 45A1.
According to this configuration, since the receiving unit 45A1 can be exposed by removing the separation cover 81B, maintenance such as removing mud adhering to the receiving unit 45A1 can be easily performed.

The portion that covers the receiving unit 45A1 is a portion that covers the upper part of the receiving unit 45A1.
According to this configuration, since the upper part of the receiving unit 45A1 can be opened by removing the separation cover 81B, maintenance such as removing mud adhering to the receiving unit 45A1 can be easily performed.
Further, the first cover 81 covers the upper part of the obstacle detection device 45, the second cover 82 covers the lower part of the obstacle detection device 45, and the separation cover 81B constitutes a part of the first cover 81.

According to this configuration, the obstacle detection device 45 can be sandwiched and covered from above and below by the first cover 81 and the second cover 82. Therefore, the obstacle detection device 45 can be reliably protected from foreign matter such as mud scattered from above or below the obstacle detection device 45 and stones jumping up from the ground.
Further, a first engaging portion 83 provided above the receiving portion 45A1 of the obstacle detection device 45 and a second engaging portion provided on the separation cover 81B and capable of engaging with the first engaging portion 83. It is equipped with 84.

According to this configuration, the separation cover 81B can be easily attached / detached by engaging / disengaging the second engaging portion 84 with respect to the first engaging portion 83.
Further, the first engaging portion 83 includes a front axle frame 20 that supports the axle of the front wheel 7F, and a support member 50 that extends outward in the vehicle body width direction from the front axle frame 20 side and supports the obstacle detection device 45. Is attached to the support member 50.

According to this configuration, since the obstacle detection device 45 can be supported by the front axle frame 20 via the support member 50, the obstacle detection device 45 can be reliably supported in a stable state.
Further, the color of the surface of the separation cover 81B and the color of the surface of the cover body 81A are different.
According to this configuration, the boundary between the separation cover 81B and the cover body 81A can be easily visually recognized, so that the separation cover 81B can be easily attached and detached.

Further, the boundary line between the cover body 81A and the separation cover 81B is a straight line.
According to this configuration, the separation cover 81B can be easily positioned with respect to the cover body 81A, and the separation cover 81B can be easily attached and detached.
Further, the agricultural machine 1 has a vehicle body 3 having front wheels 7F and rear wheels 7R, an obstacle detection device 45 attached to the vehicle body 3 that can detect obstacles, and a position where the positions of the obstacle detection device 45 can be changed. It includes a changing mechanism 63 and a handle 90 that can be gripped when the position of the obstacle detecting device 45 is changed.

According to this configuration, since the position of the obstacle detection device 45 can be changed by grasping the handle 90, the position of the obstacle detection device 45 can be easily changed.
Further, a support member 50 for supporting the obstacle detection device 45 on the vehicle body 3 is provided, and the position change mechanism 63 can change the position of the obstacle detection device 45 together with the support member 50.
According to this configuration, the obstacle detection device 45 can be stably supported by the support member 50, and the position of the obstacle detection device 45 can be stably changed together with the support member 50.

Further, a cover 80 that covers the periphery of the obstacle detection device 45 is provided, and the cover 80 and the handle 90 form a mud shield portion that prevents mud from adhering to the obstacle detection device 45.
According to this configuration, the cover 80 and the handle 90 can prevent mud from adhering to the obstacle detection device 45. Therefore, it is possible to effectively prevent the adhesion of mud to the obstacle detection device 45.

Further, the handle 90 extends along the periphery of the cover 80.
According to this configuration, the handle 90 can protect the periphery of the cover 80.
Further, an opening 80a for passing the detection wave emitted from the obstacle detection device 45 is provided around the cover 80.
According to this configuration, the handle 90 can prevent foreign matter such as mud from entering through the opening 80a provided around the cover 80.

Further, the handle 90 is arranged below the opening 80a.
According to this configuration, the handle 90 can prevent mud or the like splashed up from the ground due to the rotation of the front wheel 7F or the like from entering the opening 80a from below.
Further, the obstacle detection device 45 is arranged in front of the front wheel 7F, and the handle 90 is arranged along at least the front portion around the cover 80.

According to this configuration, the operator can hold the handle 90 by standing in front of the cover 80 which is hard to come into contact with the front wheel 7F. As a result, the position of the obstacle detection device 45 can be easily changed by the position change mechanism 63.
Further, a support member 50 for supporting the obstacle detection device 45 on the vehicle body 3 is provided, and the handle 90 is fixed to the support member 50.

According to this configuration, the strength of the handle 90 can be improved by fixing the handle 90 to the support member 50. Therefore, the handle 90 is less likely to be damaged when the position of the obstacle detection device 45 is changed.
Further, the handle 90 is composed of a rod body that bends and extends along the periphery of the cover 80, and both ends of the rod body are fixed to the support member 50.

According to this configuration, the rod body constituting the handle 90 is firmly fixed to the support member 50, so that the strength of the handle 90 can be improved.
Further, the handle 90 is composed of a rod body having a circular cross section.
According to this configuration, the handle 90 is easy to fit in the hand and easy to hold, and mud and water are prevented from accumulating on the upper part of the handle 90.

Further, the position change mechanism 63 is a mechanism for changing the position of the obstacle detection device 45 to a detection position for detecting an obstacle at a predetermined position and a retracted position for retracting from the detection position to the vehicle body 3 side. is there.
According to this configuration, the position changing mechanism 63 can set the detection position when the obstacle detection device 45 is used (when traveling) and the retracted position when not using it (when stopped). It is possible to hold the handle 90.

Further, the agricultural machine 1 includes a vehicle body 3 having front wheels 7F and rear wheels 7R, a weight attachment portion 27 provided on the front portion of the vehicle body 3 and to which a weight 26 can be attached, and a weight 26 attached to the weight attachment portion 27. The cover mounting portion 101 includes an obstacle detecting device 45 capable of detecting obstacles around the weight 26, a weight cover 100 capable of covering the periphery of the weight 26, and a cover mounting portion 101 on which the weight cover 100 can be mounted. The external position of the weight cover 100 with respect to the vehicle body 3 is set to the same position when the weight cover 100 is attached with the weight 26 attached and when the weight cover 100 is attached with the weight 26 removed.

According to this configuration, even when the weight 26 is removed, by attaching the weight cover 100 to the cover mounting portion 101, an obstacle can be detected in the same manner as when the weight 26 is attached.
Further, the obstacle detection device 45 is arranged at a position outside the weight cover 100 attached to the cover mounting portion 101 in the vehicle body width direction and overlapping with the weight cover 100 when viewed from the vehicle body width direction. ..

According to this configuration, the obstacle detection device 45 can detect both the obstacles in front of the weight cover 100 and the obstacles behind the weight cover 100.
Further, the weight cover 100 includes side plates 100c and 100d arranged inward in the vehicle body width direction with respect to the obstacle detection device 45, front plates 100e connected to the front portions of the side plates 100c and 100d, and side plates 100c and 100d. It has an upper plate 100a connected to the upper portion and a lower plate 100b connected to the lower portions of the side plates 100c and 100d.

According to this configuration, the weight cover 100 can cover the front portion, the side portion, the upper portion, and the lower portion of the weight 26. Therefore, the weight 26 is less likely to be visually recognized from the outside, and the design can be improved. Further, by not covering the rear portion of the weight 26 with the weight cover 100, the presence / absence and the amount (number of sheets) of the weight 26 can be visually confirmed by visually recognizing the weight 26 from the rear.

Further, the side plates 100c and 100d include the first side plate 100c and the second side plate 100d, and the cover mounting portion 101 can mount the first mounting portion 101L to which the first side plate 100c can be mounted and the second side plate 100d. It has a second mounting portion 101R.
According to this configuration, the weight cover 100 can be reliably mounted by the two mounting portions (first mounting portion 101L and second mounting portion 101R), so that the weight cover 100 does not come off carelessly.

Further, the side plates 100c and 100d have colors that are easier to detect by the obstacle detection device 45 than the weight 26.
According to this configuration, the obstacle detection device 45 can easily and surely recognize the weight cover 100 when setting the detection range of the obstacle detection device 45. Therefore, the obstacle detection device 45 can easily and accurately set the space occupied by the weight 26 attached to the weight attachment portion 27 as the non-detection range.

Further, the obstacle detection device 45 can detect an obstacle in front of the weight 26.
According to this configuration, it is possible to prevent contact with an obstacle in front of the weight 26 during traveling.
Further, the obstacle detection device 45 can set the space occupied by the weight 26 attached to the weight attachment portion 27 as a non-detection range, and the cover attachment portion 101 fills the space with the weight 26 removed. The weight cover 100 can be attached to the position.

According to this configuration, when the weight 26 is removed, the weight cover 100 can be attached to a position that fills the space occupied by the weight 26, and the non-detection range of the obstacle detection device 45 can be filled by the weight cover 100. Therefore, when the weight 26 is removed, it is possible to prevent an obstacle from entering the space occupied by the weight 26, which is a non-detection range of the obstacle detection device 45.

Further, the agricultural machine 1 includes a vehicle body 3 having front wheels 7F and rear wheels 7R, an obstacle detection device 45 capable of detecting obstacles, a support member 50 for supporting the obstacle detection device 45 on the vehicle body 3, and a support member. It includes a cover 80 that is attached to the 50 and is arranged so as to cover the periphery of the obstacle detection device 45.
According to this configuration, the cover 80 arranged so as to cover the periphery of the obstacle detection device 45 can suppress the adhesion of foreign matter to the obstacle detection device 45.

Further, a front axle frame 20 for supporting the axle of the front wheel 7F is provided, the support member 50 extends outward in the vehicle body width direction from the front axle frame 20 side, and the cover 80 covers the periphery of the support member 50. Have been placed.
According to this configuration, the cover 80 can suppress the adhesion of foreign matter to the support member 50.

Further, the obstacle detection device 45 is arranged in front of the front wheels 7F and outside the front wheels 7F in the vehicle body width direction, and the rear edge portion of the cover 80 is located outside the front wheels 7F in the vehicle body width direction. It has a first inclined portion 80b that is provided and that shifts rearward as it goes outward in the vehicle body width direction.
According to this configuration, the first inclined portion 80b can function as a guard to prevent mud and the like scattered from the periphery of the front wheel 7F from reaching the obstacle detection device 45. As a result, adhesion of mud or the like to the obstacle detection device 45 can be effectively suppressed.

Further, the trailing edge portion of the cover 80 has a second inclined portion 80c that shifts forward from the first inclined portion 80b toward the outside in the vehicle body width direction.
According to this configuration, in addition to the effect of the first inclined portion 80b, the second inclined portion 80c keeps (escapes) the trailing edge of the cover 80 from the front wheel 7F to cover mud and the like scattered from the periphery of the front wheel 7F. It becomes difficult to reach 80, and it is possible to suppress adhesion of mud or the like to the obstacle detection device 45 covered with the cover 80.

Further, the obstacle detection device 45 is arranged in front of the front wheels 7F and outside the front wheels 7F in the vehicle body width direction, and the rear edge portion of the cover 80 is located outside the front wheels 7F in the vehicle body width direction. It has a second inclined portion 80c that is provided and that shifts forward as it goes outward in the vehicle body width direction.
According to this configuration, the second inclined portion 80c keeps the trailing edge of the cover 80 away from (releases) the front wheel 7F, so that mud and the like scattered from around the front wheel 7F are less likely to reach the cover 80 and are covered by the cover 80. Adhesion of mud or the like to the damaged obstacle detection device 45 can be suppressed.

Further, the second inclined portion 80c has an opening 80a through which the detection wave emitted from the obstacle detection device 45 passes, and the first inclined portion 80b does not have the opening 80a.
According to this configuration, the function of guarding mud or the like can be reliably exerted by the first inclined portion 80b having no opening 80a. Further, the inclination of the first inclined portion 80b can suppress the intrusion of mud and the like from the opening 80a.

Further, the obstacle detection device 45 includes a laser scanner 45A that detects an obstacle by irradiating a laser as a detection wave.
According to this configuration, the laser scanner 45A can reliably detect obstacles around the vehicle body 3.
Further, the obstacle detection device 45 includes a sonar 45B that detects an obstacle by irradiating a sound wave as a detection wave.

According to this configuration, the sonar 45B can reliably detect obstacles around the vehicle body 3.
Further, on the bottom surface of the cover 80, a discharge hole 86 for discharging foreign matter that has entered the inside of the cover 80 to the outside is formed.
According to this configuration, water, mud, etc. that have entered the inside of the cover 80 can be discharged to the outside of the cover 80 through the discharge hole 86. Therefore, it is possible to prevent water, mud, and the like from accumulating inside the cover 80.

Further, the agricultural machine 1 includes a vehicle body 3 having front wheels 7F and rear wheels 7R, a weight bracket 27 provided on the front portion of the vehicle body 3 and to which a weight 26 can be attached, and a weight bracket 27 attached to the weight bracket 27. In addition to the weight 26 attached to the weight 26, an attachment member 102 to which an additional weight 36 can be attached is provided.
According to this configuration, weights can be easily added as needed without changing the weight bracket 27. Specifically, by attaching the attachment member 102 to the side of the weight bracket 27, the weight of the weight (the number of weight plates) that can be attached to the front portion of the vehicle body 3 can be increased without changing the weight bracket 27. Can be done. Therefore, even if the weight that needs to be attached to the vehicle body 3 increases, it is not necessary to newly manufacture the weight bracket 27, and it can be dealt with by attaching the attachment member 102 to the weight bracket 27. Further, when the weight of the work device attached to the rear portion of the vehicle body 3 increases, the additional weight 36 can be easily attached to the front portion of the vehicle body 3 by attaching the attachment member 102 to the weight bracket 27. Therefore, it is possible to easily optimize the weight balance between the front and rear of the vehicle body 3.

Further, the weight bracket 27 has a weight locking portion 27a capable of locking the weight 26, and the attached member 102 additionally locks the additional weight 36 capable of locking the additional weight 36 on the side of the weight locking portion 27a. It has a portion 102a.
According to this configuration, since the additional locking portion 102a is provided on the side of the weight locking portion 27a, the additional weight 36 can be locked to the additional locking portion 102a on the side of the weight locking portion 27a. it can.

Further, the attachment member 102 is arranged on one side and the other side of the weight bracket 27.
According to this configuration, since the additional weight 36 can be arranged on one side and the other side of the weight bracket 27, the additional weight 36 can be arranged on the left and right sides of the weight bracket 27 in a well-balanced manner.

Further, the additional locking portion 102a is provided continuously side by side with the weight locking portion 27a in the vehicle body width direction.
According to this configuration, the weight 26 and the additional weight 36 can be continuously arranged side by side in the vehicle body width direction, so that the additional weight can be arranged without increasing the length in the vehicle body width direction more than necessary. 36 can be placed.

Further, a front axle frame 20 for supporting the axle of the front wheel 7F is provided, and the attachment member 102 has a first mounting portion 102b attached to the weight bracket 27 and a second mounting portion 102c attached to the front axle frame 20. ing.
According to this configuration, when an additional weight 36 is attached to the attachment member 102, the load applied by the additional weight 36 can be shared between the first attachment portion 102b and the second attachment portion 102c. Therefore, the attachment strength of the attachment member 102 is improved, and the additional weight 36 can be reliably supported by the attachment member 102.

Further, the weight bracket 27 has a rear portion 27b attached to the front axle frame 20, a front portion 27c having a weight locking portion 27a, and an intermediate portion 27d connecting the rear portion 27b and the front portion 27c, and is attached. The member 102 has a connecting portion 102d extending along the intermediate portion 27d and connecting the first mounting portion 102b and the second mounting portion 102c.
According to this configuration, since the attachment member 102 can be arranged close to the weight bracket 27, the attachment member 102 and the weight bracket 27 are visually recognized as one unit in appearance, and the attachment member 102 is attached. The appearance is not spoiled by the above.

Further, the first mounting portion 102b is mounted on the side surface of the weight bracket 27, and the second mounting portion 102c is mounted on the side surface of the front axle frame 20.
According to this configuration, since the attachment member 102 is attached to the side surface of the weight bracket 27 and the side surface of the front axle frame 20, the attachment member 102 can be easily and surely attached without interfering with other members.

Further, an intervening member 103 interposed between the weight bracket 27 and the attachment member 102 is provided, a first recess 27e is formed on the side surface of the weight bracket 27, and a first recess is formed on the first mounting portion 102b. A second recess 102e facing the 27e is formed, and the interposing member 103 is fitted across the first recess 27e and the second recess 102e.
According to this configuration, the interposition member 103 is interposed between the weight bracket 27 and the attachment member 102, so that the accuracy of the attachment position of the attachment member 102 with respect to the weight bracket 27 can be improved. Further, the gap between the weight bracket 27 and the attachment member 102 becomes inconspicuous, and the appearance can be improved.

Although the embodiments of the present invention have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown not by the above description but by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Agricultural machinery 3 Body 7F Front wheel 7R Rear wheel 26 Weight 27 Weight attachment 45 Obstacle detection device 100 Weight cover 100a Upper plate 100b Lower plate 100c Side plate (first side plate)
100d side plate (second side plate)
100e Front plate 101 Cover mounting part 101L First mounting part 101R Second mounting part

Claims (7)

A car body with front and rear wheels,
A weight attachment portion provided on the front portion of the vehicle body and to which a weight can be attached,
An obstacle detection device capable of detecting obstacles around the weight attached to the weight attachment portion, and an obstacle detection device.
A weight cover that can cover the circumference of the weight and
A cover mounting portion on which the weight cover can be mounted and a cover mounting portion
With
The external position of the weight cover with respect to the vehicle body is the same as that of the case where the weight cover is attached with the weight attached and the case where the weight cover is attached with the weight removed. Agricultural machinery to set in position. The claim that the obstacle detection device is arranged outside the weight cover attached to the cover mounting portion in the vehicle body width direction and at a position overlapping the weight cover when viewed from the vehicle body width direction. Agricultural machinery according to 1. The weight cover includes a side plate arranged inward in the vehicle body width direction with respect to the obstacle detection device, a front plate connected to the front portion of the side plate, an upper plate connected to the upper portion of the side plate, and the above. The agricultural machine according to claim 1 or 2, which has a lower plate connected to the lower part of the side plate. The side plate includes a first side plate and a second side plate.
The agricultural machine according to claim 3, wherein the cover mounting portion includes a first mounting portion to which the first side plate can be mounted and a second mounting portion to which the second side plate can be mounted. The agricultural machine according to claim 3 or 4, wherein the side plate has a color that is easier to detect by the obstacle detection device than the weight. The agricultural machine according to any one of claims 1 to 5, wherein the obstacle detection device can detect an obstacle in front of the weight. The obstacle detection device can set the space occupied by the weight attached to the weight attachment portion as a non-detection range.
The agricultural machine according to any one of claims 1 to 6, wherein the cover mounting portion can mount the weight cover at a position that fills the space with the weight removed.

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