JP7510484B2 - Work Machine - Google Patents

Description

The present invention relates to a work machine.

Patent Document 1 below discloses a rice transplanter that can be changed between a usage state in which the measurement unit that acquires position information is located above the top end of the spare seedling frame, and a storage state in which the usage state is inverted and the measurement unit is located below the top end of the spare seedling frame.

JP 2017-112962 A

Incidentally, a sun visor or the like may be installed to make the working space of the rice transplanter more comfortable. In such cases, because the measurement unit acquires positioning information from satellites, it needs to be positioned above the sun visor when in use, and it needs to be possible to change between the use state and the storage state. However, no consideration of this is given in Patent Document 1.

In view of the above problems, the present invention aims to provide a rice transplanter that can switch the positioning unit between a use state and a stored state even when a component is mounted behind the positioning unit.

The rice transplanter of the present invention has a traveling body and
A seedling planting device disposed at the rear of the aircraft;
Left and right spare seedling trays on which spare seedlings to be replenished to the seedling planting device can be placed;
Left and right support frames extending upward from the left and right spare seedling stands, respectively;
A unit frame connected to the left and right support frames;
a positioning unit supported by the unit frame and adapted to acquire position information of the aircraft;
The positioning unit can be changed between an in-use state in which it is positioned above the upper end of the support frame and a stored state in which it is positioned below the upper end of the support frame by rotating toward the front of the aircraft about a left-right pivot axis.

According to the present invention, even if components such as a sun visor, rearview mirror, or reinforcing frame are mounted behind the positioning unit, the positioning unit can be switched between the use state and the storage state while avoiding these components.

In the present invention, the unit frame is connected to the left and right support frames so as to be rotatable about the rotation axis,
The unit frame may include a restricting portion that restricts rotation of the positioning unit toward the rear of the aircraft body.

This configuration can prevent the positioning unit from being accidentally rotated backwards.

In the present invention, the vehicle further includes a bonnet that covers an engine of the vehicle and is configured to be openable and closable,
In a stored state of the positioning unit, the positioning unit and the bonnet may overlap in a plan view, and the bonnet may be openable and closable.

With this configuration, the hood can be opened and closed even when the positioning unit is stored.

In the present invention, the support frame supports a front portion of the sun visor,
The unit frame may be connected to intermediate portions of the left and right support frames so as to be rotatable about the rotation axis.

With this configuration, even if a sun visor is installed behind the positioning unit, the positioning unit can be switched between the use state and the storage state while avoiding the sun visor.

In the present invention, when the storage state is a first storage state, the positioning unit is changeable to a second storage state located between the first storage state and the use state,
It is preferable that the positioning unit is fixable in the second stored state.

For example, the first storage state is a state in which the rice transplanter is not in use, and the second storage state is a state in which the rice transplanter is operated without needing the positioning unit, making it possible to appropriately change the position of the positioning unit depending on the task. In the second storage state, visibility from the operator sitting in the pilot's seat can be improved compared to the first storage state.

In the present invention, the positioning unit includes a positioning device and a case portion for accommodating the positioning device therein,
It is preferable that the case portion has a drain hole, and an opening of the drain hole does not face upward when the positioning unit is in use.

This configuration makes it difficult for rain to get into the case through the drainage hole when the positioning unit is in use.

In the present invention, it is preferable that the opening of the drain hole faces downward whether the positioning unit is in the first storage state or the second storage state.

With this configuration, when the positioning unit is in the first or second stored state, water that has entered the case can be discharged through the drain hole.

FIG. 1 is a left side view showing the overall configuration of the rice transplanter according to the first embodiment. 4 is a perspective view of the unit frame and its periphery as viewed from the right rear. FIG. FIG. 3 is an exploded perspective view of region A in FIG. 2 . FIG. 3 is an enlarged view of region B in FIG. 2 . FIG. 1 is a left side view showing the rice transplanter with the positioning unit in a stored state. FIG. 2 is a perspective view of the driving operation unit as seen from the left rear. FIG. FIG. 11 is a left side view showing the overall configuration of the rice transplanter according to the second embodiment. FIG. 11 is a plan view showing a part of the rice transplanter according to the second embodiment. FIG. 11 is a perspective view showing a part of a rice transplanter according to a third embodiment. FIG. 11 is a left side view showing a part of the rice transplanter according to the third embodiment. FIG. 13 is a perspective view of the periphery of the unit frame according to the fourth embodiment, as viewed from the right rear. FIG. 13 is a left side view showing a change in the state of the positioning unit. FIG. 12 is an exploded perspective view of region C of FIG. 11 . FIG. 12 is an enlarged view of region D in FIG. 11 . FIG. 2 is a perspective view showing the overall configuration of a positioning unit. FIG. 2 is a cross-sectional view of the positioning unit in use. 4A and 4B are cross-sectional views of the positioning unit in a first storage state and a second storage state.

Below, an embodiment of the present invention will be described with reference to the drawings.

First Embodiment
First, a schematic structure of the rice transplanter 1 will be described. Fig. 1 is a left side view of the rice transplanter 1 according to this embodiment. In the following description, the left side facing the traveling direction of the traveling body 2 (left direction in Fig. 1) will be simply referred to as the left side, and the right side facing the traveling direction will be simply referred to as the right side.

The rice transplanter 1 comprises a running body 2, a pair of left and right front wheels 3, 3 and a pair of left and right rear wheels 4, 4 that support the running body 2, and an engine 5 mounted on the front of the running body 2. The running body 2 is configured to travel forward and backward by transmitting power from the engine 5 to a rear transmission case 6 to drive the front wheels 3, 3 and rear wheels 4, 4. A front axle case 7 protrudes to the left and right sides of the transmission case 6, and the front wheels 3 are steerably attached to the front axles extending outward to the left and right from the front axle case 7. A cylindrical frame 8 protrudes behind the transmission case 6, a rear axle case 9 is fixed to the rear end side of the cylindrical frame 8, and the rear wheels 4 are attached to the rear axles extending outward to the left and right from the rear axle case 9.

As shown in FIG. 1, a work step (body cover) 10 for an operator to board is provided on the upper surface side of the front and center of the traveling body 2. A bonnet 11 is disposed above the front of the work step 10, and an engine 5 is installed inside the bonnet 11. The bonnet 11 covers the engine 5 and is configured to be openable and closable.

The driving operation section 12 on the upper rear surface of the bonnet 11 is provided with a steering wheel 13 and a main travel speed change lever 14. A pilot's seat 16 is disposed behind the bonnet 11 on the upper surface of the work step 10 via a seat frame 15. A handrail may be provided in the space between the pilot's seat 16 and the steering wheel 13. The handrail is U-shaped when viewed from the front, and both ends are fixed to the floor on the left and right sides of the bonnet 11. The height of the handrail is lower than the steering wheel 13.

A link frame 17 is erected at the rear end of the traveling body 2. A seedling planting device 21 is connected to the link frame 17 so that it can be raised and lowered via a lifting link mechanism 20 consisting of a lower link 18 and a top link 19. The cylinder base end side of a hydraulic lifting cylinder 22 is supported on the rear part of the upper surface of the cylindrical frame 8 so that it can rotate up and down. The rod tip side of the lifting cylinder 22 is connected to the lower link 18. The extension and contraction of the lifting cylinder 22 rotates the lifting link mechanism 20 up and down, causing the seedling planting device 21 to rise and fall.

The operator boards the work step 10 from the boarding and disembarking step 23 located on the side of the work step 10, and while driving the vehicle to move around the field, drives the seedling planting device 21 to perform seedling planting work (rice planting work) by planting seedlings in the field.

As shown in FIG. 1, the seedling planting device 21 includes a planting input case 24 to which power is transmitted from the engine 5 via the transmission case 6, four sets of planting transmission cases 25 for eight rows (one set for two rows) connected to the planting input case 24, a seedling planting mechanism 26 provided at the rear end of each planting transmission case 25, a seedling carrier 27 for eight rows planting, and a float 28 for leveling the rice field surface provided on the underside of each planting transmission case 25. The seedling planting mechanism 26 is provided with a rotary case 30 having two planting claws 29 for one row. The rotary case 30 for two rows is arranged on the planting transmission case 25. With one rotation of the rotary case 30, the two planting claws 29 each cut and grab one seedling, and plant it on the rice field surface leveled by the float 28.

Spare seedling tables 31 are provided on the left and right sides of the bonnet 11, on which spare seedlings can be placed to be replenished to the seedling planting device 21. In this embodiment, four spare seedling tables 31 are provided on each side. Furthermore, two spare seedling frames 32 supporting the spare seedling tables 31 are provided on each side of the bonnet 11, spaced apart in the front-to-rear direction. Furthermore, a connecting frame 33 is provided above the spare seedling frames 32, which is connected to the upper ends of the two spare seedling frames 32 arranged in the front-to-rear direction.

The connecting frame 33 is roughly L-shaped when viewed from the side, and the upper end of the connecting frame 33 is connected to the support frame 34 that extends upward. The unit frame 35 is rotatably connected to the upper part of the left and right support frames 34.

Figure 2 is an oblique view of the unit frame 35 and its surroundings seen from the right rear. The unit frame 35 is roughly U-shaped when viewed from the front, and both ends are rotatably connected to the support frame 34. A positioning unit 36 is fixed to the unit frame 35.

3A is an exploded perspective view of region A of the support frame 34 and the unit frame 35 shown in FIG. 2. A support plate 341 is provided at the upper end of the support frame 34. The support plate 341 is L-shaped in a plan view and is welded to the outer circumferential surface of the support frame 34. Three through holes, a first fixing hole 342, a positioning hole 343, and a rotation hole 344, are formed in the support surface 341a on the inner left-right side of the support plate 341. The first fixing hole 342 is a hole for fixing the unit frame 35 to the support plate 341 with a bolt 345. The positioning hole 343 is a hole into which a positioning pin 353 (described later) provided on the unit frame 35 is inserted. The rotation hole 344 is a hole into which a rotation pin 354 (described later) provided on the unit frame 35 is inserted.

A rotating plate 351 is provided at the lower end of the unit frame 35. The rotating plate 351 is welded and fixed to the outer circumferential surface of the unit frame 35 so as to face the support plate 341. A second fixing hole 352 is formed in the rotating plate 351. The unit frame 35 can be fixed to the support frame 34 by inserting a bolt 345 into the first fixing hole 342 of the support plate 341 and the second fixing hole 352 of the rotating plate 351 and fastening them with a nut.

The rotating plate 351 is provided with an L-shaped positioning pin 353. The tip of the positioning pin 353 is configured to protrude from the rotating plate 351 and be inserted into the positioning hole 343 of the support plate 341 (however, the tip of the positioning pin 353 is not visible in FIG. 3A). The positioning pin 353 is biased in a direction toward the support plate 341 (to the left in FIG. 3A), and the tip of the positioning pin 353 can be removed from the positioning hole 343 by pulling the positioning pin 353 against the biasing force.

The rotating plate 351 is formed with a rotating pin 354 that protrudes toward the support plate 341. The rotating pin 354 is inserted into the rotation hole 344 of the support plate 341 and functions as a rotation axis. That is, the rotating plate 351 rotates around the rotating pin 354 relative to the support plate 341. This allows the unit frame 35 to rotate around the left-right rotation axis 35a shown in FIG. 2 relative to the support frame 34, and the state can be changed between the use state shown in FIG. 1 and the storage state shown in FIG. 4. The positioning unit 36 is located above the upper end of the support frame 34 in the use state, and is located below the upper end of the support frame 34 in the storage state. In the storage state shown in FIG. 4, the positioning unit 36 overlaps with the bonnet 11 in a plan view, and the bonnet 11 can be opened and closed.

2, after removing the bolt 345, the positioning pin 353 is pulled rightward to be removed from the positioning hole 343. On the other hand, when the rotating plate 351 is fixed to the support plate 341, the positioning pin 353 and the positioning hole 343 are pulled rightward to be removed.
After positioning is performed at 43, it can be fixed securely with bolt 345, so that it can be fixed safely and easily. A male thread is formed on the rotating pin 354, and the nut is loosened when rotating and fully tightened when fixing.

Figure 3B is an enlarged view of region B of the support frame 34 and unit frame 35 shown in Figure 2. The right-side rotating portion has substantially the same structure as the left-side rotating portion described above, so only the different parts will be described. Instead of the positioning pin 353, the right-side rotating plate 351 is formed with a stopper pin 355 (corresponding to a restricting portion). The stopper pin 355 protrudes in the direction toward the support frame 34 (to the right in Figure 3B), and by abutting against the rear of the support frame 34, it restricts the unit frame 35 in the used state from rotating toward the rear of the running body 2. In addition, by abutting against the rear of the support plate 341, the stopper pin 355 also restricts the unit frame 35 in the stored state from rotating toward the rear of the running body 2.

A positioning unit 36 is provided in the center of the unit frame 35 in the left-right direction. The positioning unit 36 includes a positioning antenna, a position information receiver, an inertial measurement unit (IMU), etc. The positioning antenna receives signals from positioning satellites that make up a positioning system such as a global navigation satellite system (GNSS). The positioning antenna is attached to the upper surface of the positioning unit 36. The positioning signal received by the positioning antenna is input to the position information receiver, which processes the input positioning signal to obtain positioning information. The inertial measurement unit is a unit that can identify the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

As a positioning method using a satellite positioning system, a positioning method can be applied in which the satellite positioning information of the rice transplanter 1 (mobile station) is corrected using correction information from a reference station installed at a predetermined reference point to determine the current position of the rice transplanter 1. For example, various positioning methods such as D-GPS positioning (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. In this embodiment, RTK positioning is applied.

As shown in Figs. 1 and 2, the positioning unit 36 is provided with a water intrusion prevention plate 360 at its bottom. The water intrusion prevention plate 360 is a plate member bent so that it protrudes downward. In the usage state shown in Fig. 1, the bent portion 360a of the water intrusion prevention plate 360 is located forward of the center of the positioning unit 36 in the front-to-rear direction. This makes it difficult for water droplets dripping from the water intrusion prevention plate 360 to hit the tablet 37 described below. On the other hand, in the stored state shown in Fig. 4, the water intrusion prevention plate 360 prevents water from entering through a drainage hole provided on the bottom surface of the positioning unit 36.

Figure 5 is a perspective view of the area around the driving operation unit 12. A tablet 37 with a touch panel is provided on the right side of the driving operation unit 12. The tablet 37 can display position information acquired by the positioning unit 36. The tablet 37 is also used to display the driving route and to give instructions for automatic driving, for example, when the rice transplanter 1 is automatically driven along a set route.

The tablet 37 is supported by a tablet stay 38 as shown in FIG. 6. The tablet stay 38 has a folding structure with a base end 38a that is fixed to the spare seedling frame 32 and a tip end 38b that rotates horizontally relative to the base end 38a. The tip end 38b supports the tablet 37.

The base end 38a of the tablet stay 38 is disposed between the front and rear spare seedling frames 32. A storage box 39 is provided on the upper surface of the base end 38a of the tablet stay 38. The storage box 39 is disposed between the front and rear spare seedling frames 32 and between the upper and lower spare seedling tables 31. The bottom surface of the storage box 39 is fixed to the upper surface of the base end 38a of the tablet stay 38 at the center in the left-right direction. The storage box 39 is waterproof and stores electronic devices such as communication devices. The bottom surface of the storage box 39 is provided with a hole (not shown) for pulling in a harness for connecting electronic devices. The hole is provided with a waterproof rubber.

A stopper 381 is provided at the base end 38a to prevent the tablet 37 from interfering with the storage box 39 when the tablet stay 38 is folded. The tip of the stopper 381 abuts against the back of the tip end 38b when the tablet stay 38 is folded.

A holder 382 is provided at the tip of the tip portion 38b, which clamps and fixes the tablet 37 from above and below. The holder 382 includes a holder lower portion 382a that is fixed to the tip portion 38b, and a holder upper portion 382b that is biased toward the holder lower portion 382a. The tablet 37 placed on the holder lower portion 382a is clamped and fixed by the holder upper portion 382b.

At both ends of the lower part 382a of the holder, there are provided lateral displacement prevention plates 382c that prevent the tablet 37 from shifting sideways. Because the lateral displacement prevention plates 382c are provided at the lower part 382a of the holder, the terminals of the tablet 37 fixed to the holder 382 can be easily accessed. In addition, the upper part 382b of the holder may be provided with a sun visor for the tablet to improve visibility. In addition, the lower part 382a of the holder may be provided with a wireless charging function that can charge the tablet 37.

It is preferable to provide an IMU reset switch inside the bonnet 11. In the rice transplanter 1 with an automatic driving function, the vehicle's position information is stored in the inertial measurement unit (IMU) inside the positioning unit 36, but if the position information becomes misaligned when the rice transplanter 1 is transported by truck, for example, or if the rice transplanter 1 is accidentally moved backwards while acquiring the positioning information of the rice transplanter 1, it is necessary to reset it. Since the IMU reset switch is not operated during normal operation, it is preferable to provide the IMU reset switch inside the bonnet 11.

Second Embodiment
7 is a left side view of the rice transplanter 1 equipped with a sun visor 40. The sun visor 40 is supported by a first sun visor frame 41 and a second sun visor frame 42. The first sun visor frame 41 supports the front part of the sun visor 40, and the second sun visor frame 42 supports the rear part of the sun visor 40. In the second embodiment, the unit frame 35 is rotatably connected to the middle part of the first sun visor frame 41 on the left and right. That is, the positioning unit 36 and the unit frame 35 can be changed by rotating toward the front side of the machine body about the left-right rotation axis 35a between a use state in which the positioning unit 36 and the unit frame 35 are positioned above the upper end of the first sun visor frame 41 and a storage state in which the positioning unit 36 and the unit frame 35 are positioned below the upper end of the first sun visor frame 41. Therefore, the positioning unit 36 and the unit frame 35 do not hit the sun visor 40.

The rice transplanter 1 according to the second embodiment is equipped with a sun visor 40, a first sun visor frame 41 (corresponding to the support frame of the present invention) that supports the sun visor 40, a unit frame 35 that is rotatably supported at the middle of the first sun visor frame 41, and a positioning unit 36 that is supported by the unit frame 35 and acquires the position information of the machine, and the positioning unit 36 can be changed by rotating toward the front side of the machine around a rotation axis 35a in the left-right direction of the machine between a usage state in which the positioning unit 36 is positioned above the front end of the sun visor 40 and forward in the direction of the machine, and a storage state in which the positioning unit 36 is positioned below the usage state and below the front end of the sun visor 40.

Figure 8 is a plan view of the rice transplanter 1 according to the second embodiment. The tablet 37 is positioned so that it overlaps with the sun visor 40 in a plan view. This is effective in protecting the tablet 37 from rain and also reduces sunlight reflection, improving visibility.

The tablet 37 is also positioned forward of the straight line L that connects the inner rear end of the spare seedling table 31 in the left-right direction and the outer end of the pilot seat 16. This ensures that the tablet 37 does not get in the way when seedlings on the spare seedling table 31 are replenished to the seedling carrier 27. Furthermore, even when the tablet stay 38 is folded and the tablet 37 is stored in front of the spare seedling table 31, the passage in front of the spare seedling table 31 is still wide enough to allow passage. This is the same in the first embodiment and the third embodiment described below.

Third Embodiment
9 and 10 show a configuration in which one spare seedling frame 32, 32 is provided on each of the left and right sides of the bonnet 11, and eight spare seedling tables 31 are provided on each spare seedling frame 32. The spare seedling tables 31 are configured to be rotatable around the spare seedling frame 32. In this third embodiment, the interval between the left and right spare seedling frames 32 is large, and the left and right width of the unit frame 35 is wide, so a support member 43 is provided to support the unit frame 35. The support member 43 stands upright from the floor on the right side of the bonnet 11. By providing the support member 43, the unit frame 35 is reinforced, and the vibration-proof effect of the positioning unit 36 is obtained. The arrangement of the support member 43 is not limited to the above configuration, and it may be arranged to stand upright from the floor on the left side of the bonnet 11.

The tablet 37 is fixed to a holder 382 provided on the support member 43. The support member 43 can also be used as a path for electrical wiring connected to the positioning unit 36 and the tablet 37. The support member 43 can also be used as a handrail.

In the first and second embodiments, the support frame 34 and the first sun visor frame 41 are connected to the connecting frame 33, but the support frame 34 and the first sun visor frame 41 may be integrated with the connecting frame 33. Also, as in the third embodiment, the support frame 34 may be directly connected to the spare seedling frame 32 without going through the connecting frame 33.

Fourth Embodiment
11 is a perspective view of the periphery of a unit frame 35 according to the fourth embodiment, seen from the right rear. The unit frame 35 is substantially U-shaped in a front view, and both ends are rotatably connected to the support frame 34. A positioning unit 36 is fixed to the unit frame 35.

The positioning unit 36 of the fourth embodiment has a first storage state and a second storage state. The positioning unit 36 can change its state to a usage state shown in FIG. 12(a), a first storage state shown in FIG. 12(c), and a second storage state shown in FIG. 12(b) that is located between the first storage state and the usage state.

The first storage state is rotated 160° from the use state, and the second storage state is rotated 115° from the use state. The positioning unit 36 is located above the upper end of the support frame 34 in the use state, and is located below the upper end of the support frame 34 in the first and second storage states. The positioning unit 36 is configured to be fixed in the second storage state. For example, the first storage state is a state in which the rice transplanter 1 is not used, and the second storage state is a state in which the rice transplanter 1 is operated without requiring the positioning unit 36, making it possible to appropriately change the position of the positioning unit 36 depending on the task. In the second storage state, visibility from the operator sitting in the pilot's seat 16 can be improved compared to the first storage state.

13A is an exploded perspective view of the C region of the support frame 34 and the unit frame 35 shown in FIG. 11. A support plate 341 is provided at the upper end of the support frame 34. The support plate 341 is L-shaped in a plan view and is welded to the outer circumferential surface of the support frame 34. Five through holes are formed on the support surface 341a on the inner left-right direction of the support plate 341, from the top to the bottom: a first fixing hole 342, a first positioning hole 343a, a rotation hole 344, a second positioning hole 343b, and a third positioning hole 343c. The first fixing hole 342 is a hole for fixing the unit frame 35 to the support plate 341 with a bolt 345. The first positioning hole 343a, the second positioning hole 343b, and the third positioning hole 343c are holes into which a positioning pin 353 (described later) provided on the unit frame 35 is inserted. The rotation hole 344 is a hole into which a rotation pin 354 (described later) provided on the unit frame 35 is inserted.

A rotating plate 351 is provided at the lower end of the unit frame 35. The rotating plate 351 is welded and fixed to the outer circumferential surface of the unit frame 35 so as to face the support plate 341. The rotating plate 351 is formed with a second fixing hole 352a, a third fixing hole 352b, and a fourth fixing hole 352c. The unit frame 35 can be fixed to the support frame 34 by inserting a bolt 345 into the first fixing hole 342 of the support plate 341 and the second fixing hole 352a, the third fixing hole 352b, or the fourth fixing hole 352c of the rotating plate 351 and fastening it with a nut. In the use state of the positioning unit 36, the unit frame 35 is fixed to the support frame 34 using the second fixing hole 352a. In the first storage state of the positioning unit 36, the unit frame 35 is fixed to the support frame 34 using the third fixing hole 352b. When the positioning unit 36 is in the second stored state, the unit frame 35 is fixed to the support frame 34 using the fourth fixing hole 352c.

The rotating plate 351 is provided with an L-shaped positioning pin 353. The tip of the positioning pin 353 is configured to protrude from the rotating plate 351 and be inserted into the first positioning hole 343a, the second positioning hole 343b, or the third positioning hole 343c of the support plate 341 (however, the tip of the positioning pin 353 is not visible in FIG. 13A). In the use state of the positioning unit 36, the positioning pin 353 is inserted into the first positioning hole 343a. In the second storage state of the positioning unit 36, the positioning pin 353 is inserted into the second positioning hole 343b. In the first storage state of the positioning unit 36, the positioning pin 353 is inserted into the third positioning hole 343c. The positioning pin 353 is biased in a direction toward the support plate 341 (to the left in FIG. 13A), and the tip of the positioning pin 353 can be removed from the first positioning hole 343a, the second positioning hole 343b, or the third positioning hole 343c by pulling the positioning pin 353 against the biasing force.

The rotating plate 351 is formed with a rotating pin 354 that protrudes toward the support plate 341. The rotating pin 354 is inserted into the rotation hole 344 of the support plate 341 and functions as a rotating shaft. That is, the rotating plate 351 rotates around the rotating pin 354 relative to the support plate 341. This allows the unit frame 35 to rotate around the left-right rotating shaft 35a shown in FIG. 11 relative to the support frame 34, and the state can be changed to the use state, first storage state, and second storage state shown in FIG. 12. The positioning unit 36 is located above the upper end of the support frame 34 in the use state, and is located below the upper end of the support frame 34 in the first storage state and second storage state. In the first storage state, the positioning unit 36 overlaps with the bonnet 11 in a plan view, and the bonnet 11 can be opened and closed.

When rotating the rotating plate 351 from the state shown in Fig. 11, after removing the bolt 345, the positioning pin 353 is pulled rightward and removed from the first positioning hole 343a. On the other hand, when fixing the rotating plate 351 to the support plate 341, after positioning is performed using the positioning pin 353 and the first positioning hole 343a, the second positioning hole 343b, or the third positioning hole 343c, the plate can be fixed with the bolt 345, so that the plate can be fixed safely and easily. A male thread is formed on the rotating pin 354, and the nut is loosened when rotating and fully tightened when fixing the plate.

Figure 13B is an enlarged view of area D of the support frame 34 and the unit frame 35 shown in Figure 11. The right-side rotating part has substantially the same structure as the left-side rotating part described above, so only the different parts will be described. Instead of the positioning pin 353, the right-side rotating plate 351 is formed with a stopper pin 355 (corresponding to a restricting part). The stopper pin 355 protrudes in the direction toward the support frame 34 (to the right in Figure 13B), and by abutting against the rear of the support frame 34, it restricts the unit frame 35 in the used state from rotating toward the rear of the running body 2. In addition, by abutting against the rear of the support plate 341, the stopper pin 355 also restricts the unit frame 35 in the first storage state from rotating toward the rear of the running body 2.

A positioning unit 36 is provided in the center of the unit frame 35 in the left-right direction. The positioning unit 36 includes a positioning antenna, a position information receiver, an inertial measurement unit (IMU), etc. The positioning antenna receives signals from positioning satellites that make up a positioning system such as a global navigation satellite system (GNSS). The positioning signal received by the positioning antenna is input to the position information receiver, which processes the input positioning signal to obtain positioning information. The inertial measurement unit is a unit that can identify the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

As a positioning method using a satellite positioning system, a positioning method can be applied in which the satellite positioning information of the rice transplanter 1 (mobile station) is corrected using correction information from a reference station installed at a predetermined reference point to determine the current position of the rice transplanter 1. For example, various positioning methods such as D-GPS positioning (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. In this embodiment, D-GPS positioning is applied.

Figure 14 is a perspective view of the positioning unit 36, and Figure 15 is a cross-sectional view of the positioning unit 36 cut at the center in the left-right direction. The positioning unit 36 comprises a positioning device 361 and a case section 362 that houses the positioning device 361 inside. The positioning device 361 can perform D-GPS positioning. The positioning device 361 and the case section 362 are fastened by bolts from the underside of a flat base seat 363. The base seat 363 is fixed to the unit frame 35.

The case part 362 is box-shaped with an open bottom. The lower outer edge of the case part 362 covers the periphery of the base seat 363. A notch 362c is formed in the lower part of the rear wall of the case part 362, and a grommet 364 is fitted into the notch 362c. The grommet 364 supports the harness 361a that extends from the positioning device 361 to the outside of the case part 362.

A drain hole 362a is formed on the front upper surface of the case part 362 when in use. A recess 362b extending in the front-rear direction is provided on the upper surface of the case part 362. The recess 362b is configured so that the rear side is deeper than the front side, and the drain hole 362a is formed in the rear wall of the recess 362b. When the positioning unit 36 is in use, the opening of the drain hole 362a faces forward, not upward. This makes it difficult for rain to enter the case part 362 through the drain hole 362a when the positioning unit 36 is in use.

On the other hand, in both the first and second storage states of the positioning unit 36 shown in FIG. 16, the opening of the water drain hole 362a faces downward rather than horizontally. As a result, in both the first and second storage states of the positioning unit 36, water that has entered the case portion 362 is discharged from the water drain hole 362a.

In addition, a drain hole 363a is formed in the front of the base seat 363. This allows rainwater to be drained from the drain hole 363a even if it enters the case part 362 through the drain hole 362a when in use.

Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration should not be considered to be limited to these embodiments. The scope of the present invention is indicated not only by the description of the above embodiments but also by the claims, and further includes all modifications within the meaning and scope equivalent to the claims.

REFERENCE SIGNS LIST 1 Rice transplanter 2 Traveling machine body 11 Bonnet 21 Seedling planting device 27 Seedling carrier 31 Spare seedling carrier 32 Spare seedling frame 34 Support frame 35 Unit frame 35a Rotating shaft 36 Positioning unit 361 Positioning device 362 Case 362a Water drainage hole 37 Tablet 40 Sun visor 41 First sun visor frame 353 Positioning pin 354 Rotating pin 355 Stopper pin

Claims (3)

A moving vehicle and
a positioning unit supported by a unit frame of the airframe and configured to acquire position information of the airframe;
the positioning unit is changeable between a usage state, a first storage state located below the usage state, and a second storage state located between the first storage state and the usage state;
The work machine is capable of fixing the positioning unit in the second stored state . The unit frame is rotatable around a rotation axis in the left-right direction,
The work machine according to claim 1 , wherein the unit frame is provided with a restricting portion that restricts rotation of the positioning unit toward the rear of the machine body. A seedling planting device disposed at the rear of the aircraft;
Left and right spare seedling trays on which spare seedlings to be replenished to the seedling planting device can be placed;
Left and right support frames extending upward from the left and right spare seedling stands, respectively;
Equipped with
The unit frame is connected to the left and right support frames.
3. A work machine according to claim 1 or 2 .