JP2022093361A - Tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow for properly placing an obstacle sensor that irradiates the back of a tractor having a work machine configured to move up and down mounted at the rear of a vehicle body.

SOLUTION: A tractor comprises a cabin (16) mounted on a vehicle body (1), a work machine (R) installed at the rear of the vehicle body (1) in such a way that the work machine is vertically movable, a sensor stay (40) provided above a roof (22) of the cabin (16) at the rear, and an obstacle sensor (30) attached to the sensor stay (40), where the obstacle sensor (30) is configured to irradiate obliquely downward at such an angle that a scanning range thereof does not interfere with the work machine (R).

SELECTED DRAWING: Figure 6

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a work vehicle such as an agricultural tractor.

A roof carrier that can be attached to the roof of a traveling vehicle to fix luggage or the like is known (Patent Document 1). Further, there is a configuration in which a camera that images the rear of the traveling vehicle and an infrared sensor that measures the distance to an obstacle reflected by the camera are housed in a housing and provided at the rear of the roof of the traveling vehicle (Patent Document 2). ..

Japanese Unexamined Patent Publication No. 7-223492 Japanese Unexamined Patent Publication No. 10-147178

An object of the present invention is to appropriately arrange an obstacle sensor that illuminates the rear of a tractor for a tractor that is provided with a work machine that moves up and down at the rear of a traveling vehicle body.

The present invention has taken the following technical measures to solve the above problems.

The invention according to claim 1 is
A cabin (16) is provided on the traveling vehicle body (1),
A work machine (R) is provided at the rear of the traveling vehicle body (1) so that it can be raised and lowered.
A sensor stay (40) is provided at the rear above the roof (22) of the cabin (16).
Attach the obstacle sensor (30) to the sensor stay (40),
The tractor is characterized in that the obstacle sensor (30) is configured to be able to irradiate diagonally downward, and its scanning range is an angle that does not interfere with the working machine (R).

The invention according to claim 2 is
The tractor according to claim 1, wherein the operation angle can be arbitrarily set around the irradiation point of the obstacle sensor (30).

The invention according to claim 3 is
The front part of the sensor stay (40) was attached to the left and right center part of the horizontal frame (36) provided in the rear upper part of the cabin (16), and the obstacle sensor (30) was provided in the rear part of the sensor stay (40). The tractor according to claim 2, wherein the tractor is characterized by the above.

The invention according to claim 4 is
The tractor according to claim 3, wherein a sensor cover (41) that covers the upper part of the obstacle sensor (30) is detachably provided.

The invention according to claim 5 is
The third or fourth aspect, wherein the cushion rubber (40a) is provided on the rear portion of the sensor stay (40), and the cushion rubber (40a) is placed on the upper surface of the roof (22). The described tractor.

According to the present invention, the infrared sensor directs the scanning range from the rear end of the upper part of the roof toward the rear side of the vehicle body 1, but the scanning surface can be set at an angle that does not interfere with the working machine R.

The sensor can be stably mounted above the roof 22.

Since it is installed on the roof 22 via the cushion rubber 40a as a cushioning material, it is possible to reduce the influence of vibration transmitted from the work vehicle side to the obstacle sensor 30.

It is a side view of the tractor which concerns on embodiment of this invention. It is a perspective view which looked at the cabin of the tractor from the rear upper side. It is a plan view of the tractor. It is a rear view of the tractor. It is a perspective view which shows (A) the front hanging metal fitting and the peripheral structure, and (B) the rear hanging metal fitting and the peripheral structure of the tractor. It is a perspective view of the rear of the roof of the tractor. It is a perspective view of (A) a side ultrasonic sensor and its support part, and (B) an enlarged perspective view of (B) a side ultrasonic sensor support part in the tractor. A perspective view showing a support configuration of a side ultrasonic sensor with an overfender removed, and a perspective view showing a support configuration of a side ultrasonic sensor with an overfender attached in the tractor. (C) It is a cut end view of a part thereof. It is a perspective view which shows the attachment structure of the accessory equipment of the upper part of the front part of a cabin in the tractor.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a tractor, in which a diesel engine E is mounted inside the bonnet 2 at the front of the traveling vehicle body 1, and the rotational power of the engine E is transmitted to the transmission in the transmission case 3, and the transmission is used. The decelerated rotational power is transmitted to the front wheels 4 and the rear wheels 5. A steering wheel 6 for steering the front wheels 4 is installed behind the engine E, and a driver's seat 7 is installed behind the steering wheel 6.

A hydraulic cylinder case 8 is provided on the rear upper portion of the mission case 3, and lift arms 9 constituting a part of the hydraulic elevating mechanism are rotatably attached to both left and right sides of the cylinder case 8. The lift arm 9 moves up and down by the expansion and contraction operation of the lifting hydraulic cylinder 10. A three-point link mechanism consisting of a top link 11 and left and right lower links 12 is provided at the rear of the vehicle body, a rotary work machine R is attached to the link mechanism, and the lower link 12 is connected to the lift arm 9 via a lift rod 13. By doing so, the working machine R can be raised and lowered.

The steering wheel 6, the driver's seat 7, and the like are covered with the cabin 16. The cabin 16 is fixed to the vehicle body via an elastic member such as a vibration-proof rubber, which makes it difficult for the vibration of the vehicle body to be transmitted to the cabin 16.

The cabin 16 includes a floor 17, front columns 18 erected on the left and right front parts of the floor 17, rear columns 19 erected on the rear left and right sides of the driver's seat 7, and intermediate columns 20 erected on the front and rear intermediate portions. The framework is integrated with the upper frame 21 that connects the upper ends of these columns, and is covered with the roof 22. Then, the box-shaped seat frame 23 that supports the driver's seat 7, the rear plate 24 that surrounds the rear surface of the driver's seat 7, the left and right fenders 25 that cover the upper part of the rear wheel 5, and the like are made rigid to secure strength, and further, front and rear side surfaces. It has a glass window and can be raised and lowered from the left and right opening and closing doors 26.

The roof 22 of the cabin 16 is provided with equipment related to driving support such as a sensor controller of the obstacle sensor 30. The obstacle sensor 30 is, for example, an infrared sensor, and is a control unit equipped with information such as obstacles on the vehicle body 1 via an infrared sensor that irradiates the rear of the tractor vehicle body 1 with infrared rays to acquire reflection data and a sensor controller 31 as a communication control unit. It is configured to transmit and output to C.

Hanging metal fittings 32 and 33 are provided at the upper ends of the front column 18 and the rear column 19 of the cabin 16 to support the carrier 34. That is, the side frame 35 is fixed over the front and rear hanging metal fittings 32, 33, and a plurality of horizontal frames 36, 36 ... Are bridged between the left and right side frames 35, 35 with a predetermined front-rear distance. As shown in FIG. 6, in this example, the side frames 35 and 35 are composed of a pipe 35a and a long fitting member 35b having a U-shaped cross section that is externally fitted to the pipe 35a, and the horizontal frame 36 is simply. The horizontal frame 36 is fixed by a plurality of fastening bolts 37, 37 ... , The carrier 34 is assembled. The hanging metal fittings 32 and 33 are for locking the hook when the cabin 16 is lifted by a crane when assembling the vehicle body, and are provided with a notch portion 32a for locking the hook and a locking hole 33a (FIG. FIG. 5).

Brackets 38 and 39 are fixed to the front and rear hanging brackets 32 and 33, respectively. Then, the lower part of the front end of the side frame 35 is connected and fixed to the bracket 38 on the front side, and the lower part of the rear end of the side frame 35 is connected and fixed to the bracket 39 on the rear side. More specifically, the front bracket 38 with respect to the front hanging bracket 32 has a configuration in which the front bracket 38a and the rear holding plate 38b are fastened to each other in a front-rear holding shape so as to be able to prevent rotation at the notch portion 32a. Further, the rear bracket 39 with respect to the rear hanging bracket 33 has a configuration in which the front bracket 39a and the rear holding plate 39b are fastened in a front-rear holding shape so as to be able to prevent rotation in the locking hole 33a.

As shown in FIG. 6, the sensor stays 40 are provided in the left and right central portions at the upper rear portion of the roof 22, and the obstacle sensor 30 is arranged at the rear portion. That is, the front end portion is fixed to the horizontal frame 36 at the rearmost portion of the carrier 34, the rear end portion is provided with the cushion rubber 40a as a cushioning material, and is placed on the upper surface of the roof 22 as a vibration-proof form. Then, an obstacle sensor 30 is attached to the rear portion of the sensor stay 40 so as to be able to irradiate infrared rays diagonally downward. The sensor cover 41 is detachably fixed so as to cover the upper part of the obstacle sensor 30.

A sensor controller 31 protected by the housing 31a is arranged on the side of the obstacle sensor 30 (on the right side in the example of FIG. 6).

By the way, supplementing the infrared sensor as the obstacle sensor 30 on the roof 22, the infrared sensor is configured to be able to scan a two-dimensional plane to grasp the distance to the obstacle, and the scanning angle can be arbitrarily set around the infrared irradiation point. The infrared sensor should be configured so that it can be set to the above, and the scanning range is directed to the rear side of the vehicle body 1 from the rear end of the upper part of the roof, but it is desirable that the scanning surface is at an angle that does not interfere with the work equipment R (see FIG. 1).

As described above, the carrier 34 is fixed by using the hanging metal fittings 32 and 33, and the carrier 34 can be firmly attached because the hanging metal fittings 32 and 33 have high strength. Further, since the carrier 34 is configured to connect both ends to the left and right side frames 35, it can be arranged so as to be appropriately separated from the upper surface of the roof 22, and the roof 22 may be made of resin. Further, since the sensor stay 40 for attaching the obstacle sensor 30 is supported on the horizontal frame 36 constituting the carrier 34, the sensor can be stably attached above the roof 22. Since it is installed on the roof 22 via the cushion rubber 40a as a cushioning material, the influence of vibration transmitted from the work vehicle side to the obstacle sensor 30 can be reduced.

In the embodiment, as shown in FIGS. 1 and 3, the obstacle sensor 43 is arranged in front of the bonnet 2 via the support 42 in order to detect an obstacle in front of the vehicle body 1. The obstacle sensor 43 is, for example, an infrared sensor, but in the case of the obstacle sensor 30 for detecting a rear obstacle, an ultrasonic sensor or an image pickup camera can also be used as the obstacle sensor.

Next, with respect to the obstacle sensors that detect obstacles and the like on the side of the vehicle body 1, as shown in FIGS. 1 and 2, obstacle sensors for detecting side obstacles are arranged at two front and rear locations. The front first side obstacle sensor 45 is attached to the front column 18 of the cabin 16 via the sensor stay 46, and the rear second side obstacle sensor 47 is attached to the upper surface of the fender 25 via the sensor stay 48. Although they are arranged, the first and second side obstacle sensors 45 and 47 are provided at substantially the same height.

The first side obstacle sensor 45 converts an electric signal from the control unit C into an ultrasonic wave by a transducer and transmits the ultrasonic wave, and the transmitted ultrasonic wave is reflected by the obstacle and returned depending on the time of the obstacle. It is an ultrasonic sensor that determines the presence / absence and distance. The transmitter support plate 45b that incorporates the transmitter 45a is detachably attached to the front support column 18 via a housing-shaped sensor stay 46. Therefore, it is possible to detect obstacles mainly on the front side of the vehicle body 1, which is the detection range of the transmission unit 45a.

The second side obstacle sensor 47 is also an ultrasonic sensor, and the transmitter support plate 47b incorporating the transmitter 47a is attached to the fender 25 via the sensor stay 48.

The fender 25 is composed of a fender body 25A and an over fender 25B. The sensor stay 48 is fastened together with the over fender 25B screwed and fixed to the fender body 25A. Support plates 25Bf, 25Br are provided on the front and rear of the lower surface side of the over fender 25B by forming the arm plates in two upper and lower stages and bending the upper arms downward to connect them to each other. It is configured so that the side fixing bolt 49 can be inserted and fixed to the nut 50 (FIGS. 2, FIG. 7, and FIG. 8).

The sensor stay 48 includes a base plate 48a sandwiched between the fender body 25A and the over fender 25B, and a bracket portion 48b that has an inverted U-shaped cross section and is detachably fixed to the base plate 48a with a fastening bolt 51. The transmitting portion support plate 47b is fastened to a pair of vertical wall portions of 48b with a fastening bolt 52. The bolt 52 is provided on each side with one bolt 52 on each side, and is coaxial with the horizontal axis. When the bolt 52 is relaxed, the vertical angle of the transmitting portion support plate 47b can be changed together with the transmitting portion 47a. The adjustment unit M1 is configured (FIG. 7 (B)). Further, it is assumed that the fastening bolt 51 connecting the base plate 48a and the bracket portion 48b can be fastened at two places, and a bracket portion 48a side hole through which one of the fastening bolts 51a is inserted is formed in the elongated hole 48c, and the other fastening bolt 51 is formed. The bracket portion 48a can be rotated and fastened around the vertical axis center around the 51b, and the transmitting portion support plate 47b, that is, the front-rear angle adjusting portion M2 capable of adjusting the left-right angle of the transmitting portion 47a is configured. (FIG. 7 (B)).

Therefore, the second side obstacle sensor 47 can detect obstacles mainly on the rear side of the vehicle body 1, which is the detection range of the transmission unit 47a. Since the second side obstacle sensor 47 can be fixed together with the over fender 25B fixed to the fender body 25A, it can be stably attached. Since the vertical angle adjusting portion M1 is formed between the bracket portion 48b of the sensor stay 48 and the transmitting portion support plate 47b of the second side obstacle sensor 47, the transmitting portion support plate 47b, that is, the transmitting portion 47a is moved up and down. Since it can be adjusted and fixed to, stable obstacle detection is possible within the adjusted detection range.

Further, since the front-rear adjusting portion M2 is formed between the base plate 48a of the sensor stay 48 and the bracket portion 48b, obstacle detection can be stably performed in a wide range.

Further, since the bracket portion 48b of the sensor stay 48 exhibits an inverted U shape, dust and rainwater can be removed by arranging a communication portion or the like for the transmission portion 47a constituting the obstacle sensor 47 below the bracket portion 48b. Shield and protect.

If the lower end edge of the bracket portion 48b of the sensor stay 48 is covered with the cushioning rubber 48d, damage due to contact with the upper surface of the overfender 25B can be prevented and vibration can be suppressed, so that the detection accuracy of the obstacle sensor 47 is not impaired.

The first side obstacle sensor 45 is arranged on the left and right front columns 18 of the cabin 16, and the second side obstacle sensor 47 is arranged on the left and right fenders 25. It is designed to detect objects. As a supplement to the ultrasonic sensor of this embodiment, it is desirable to arrange the sensor so that the long radial direction in the detection range of the ultrasonic sensor is the horizontal direction, and it is attached to the working vehicle body 1 of this embodiment. It is better to set the range so that the front surface of the work equipment R can be detected. Further, the first and second side obstacle sensors 45 and 47 are not limited to the ultrasonic type sensors and may have any form.

Next, when the traveling vehicle body 1 is configured to be autonomously traveling, the installation configuration of the indicator lamp 55 for displaying the situation during the autonomous traveling will be described. As shown in FIGS. 3, 4, and 9, the indicator lamp 55 is configured to be able to light different warning colors in a stacked manner, and the vehicle body 1 situation during autonomous driving can be changed by various lighting methods, for example, during normal work driving. Is lit in green, lit in red if there is an abnormality, lit in yellow for obstacle detection, and blinks when the aircraft is stopped. That is, the direction indicator 57 is attached to the front support column 18 of the cabin 16 via the light bracket 56, the support seat plate 58 is fixed to the upper surface of the light bracket 56, and the support seat plate 58 is fixed to the support seat plate 58 in an upright position. It is provided (Fig. 9). The indicator light 55 fixed to the support seat plate 58 is arranged so as to be located on the opposite side of the front support column 18 with respect to the head position of the operator seated in the driver's seat 7 (FIG. 3). Therefore, in normal traveling by various operations of the operator, the indicator light 55 can be hidden by the front support column 18 without obstructing the operator's field of view. Further, even in the normal traveling state, the light emitted from the indicator light 55 can be suppressed by the front support column 18 and does not interfere with the operation even if the indicator light 55 is turned on as the normal traveling display.

Next, the mounting configuration of the rear-view mirror 60 will be described. As shown in FIG. 9, the rear-view mirror 60 is provided on each of the left and right front columns 18, and is mounted by using the front suspension bracket 32 among the suspension brackets. The rear-view mirror 60 is connected and supported by the hanging metal fitting 32 via a mirror arm 61 that rotatably connects the rear-view mirror 60 around the vertical axis. A bent arm portion is formed, the base end side vertical arm portion 61a of the mirror arm 61 is fastened and supported at the tip end portion of the hanging metal fitting 32, and the upper side portion of the rearview mirror 60 is attached to the tip end side vertical arm portion 61b of the mirror arm 61. It is rotatably connected. As shown in FIG. 3, in a plan view, the indicator lamp 55 is located diagonally forward of the front support column 18, and the mirror surface 60a is located outside and in front of the indicator lamp 55. The operator of the driver's seat 7 looks at the rear-view mirror 60 to check the rear, but the rear-view mirror 60 and the indicator light 55 are in a positional relationship so that the indicator light 55 is not reflected on the mirror surface 60a seen by the operator. .. In many cases, the mirror surface 60a adopts a convex surface in order to secure a wide field of view. In this case, the rearview mirror 60 is rotated and adjusted around the tip side or base end side vertical arm portion 61a or 61b to adjust the indicator lamp 55. Can be set to be removed from the mirror surface 60a.

As shown in FIG. 4, the indicator lamp 55 functions as a rear combination lamp 62 arranged on the rear column 19 of the cabin 16, that is, a direction indicator, a vehicle width lamp, a brake lamp, and the like in the rear view of the vehicle body 1. The integrated lamp 62 is arranged so as not to obstruct the view from the rear.

7 Driver's seat 16 Cabin 18 Front strut 19 Rear strut 22 Roof 30 Obstacle sensor 32 Hanging bracket 33 Hanging bracket 34 Carrier 35 Side frame 36 Horizontal frame 40 Sensor stay 40a Cushion rubber (cushioning material)

Claims (5)

A cabin (16) is provided on the traveling vehicle body (1),
A work machine (R) is provided at the rear of the traveling vehicle body (1) so that it can be raised and lowered.
A sensor stay (40) is provided at the rear above the roof (22) of the cabin (16).
Attach the obstacle sensor (30) to the sensor stay (40),
The tractor is characterized in that the obstacle sensor (30) is configured to be able to irradiate diagonally downward, and its scanning range is an angle that does not interfere with the working machine (R). The tractor according to claim 1, wherein the operation angle can be arbitrarily set around the irradiation point of the obstacle sensor (30). The front part of the sensor stay (40) was attached to the left and right center part of the horizontal frame (36) provided in the rear upper part of the cabin (16), and the obstacle sensor (30) was provided in the rear part of the sensor stay (40). The tractor according to claim 2, wherein the tractor is characterized by the above. The tractor according to claim 3, wherein a sensor cover (41) that covers the upper part of the obstacle sensor (30) is detachably provided. The third or fourth aspect, wherein the cushion rubber (40a) is provided on the rear portion of the sensor stay (40), and the cushion rubber (40a) is placed on the upper surface of the roof (22). The described tractor.

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