Work device

Abstract

To provide a work device that can be driven sufficiently while reducing a load to a work vehicle.SOLUTION: The present invention includes: a frame structure including a connection part connectable to a travel vehicle; a rotary work body pivoted by the frame structure, the rotary work body being rotatable around an axial line extending in a width direction of the travel vehicle; and a motor that drives the rotary work body to rotate. An output of the motor is transmitted directly or indirectly to the rotary work body.SELECTED DRAWING: Figure 21

Description

Technical Field

[0001] The present invention relates to a working device that is connected and supported to a working vehicle and includes a rotating working body that performs a predetermined operation.

Background Art

[0002] Conventionally, a working vehicle such as a tractor includes a driving engine for traveling, a coupling mechanism for coupling a working device that performs an operation during traveling, and a PTO mechanism that extracts the output of the driving engine for traveling and transmits the output of the driving engine to the working device coupled to the coupling mechanism. Thereby, the working device coupled to the working vehicle is operated by receiving the output of the driving engine of the working vehicle and performs a predetermined operation (for example, tilling operation, cleaning operation, etc.).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the output of the driving engine is transmitted to the working device via the PTO mechanism as described above, loss of output transmission occurs due to the influence of mechanical resistance or the like by the PTO mechanism, and the energy efficiency decreases. In addition, in order to extract a necessarily sufficient output via the PTO mechanism, the driving load of the driving engine increases to compensate for the above transmission loss.

[0005] Therefore, an object of the present invention is to provide a working device that can be driven sufficiently as required while reducing the load on the working vehicle.

Means for Solving the Problems

[0006] The working device of the present invention includes a frame structure having a connecting portion connectable to a traveling vehicle, a rotary working body pivotally supported by the frame structure, the rotary working body being rotatable about an axis extending in the width direction of the traveling vehicle, and a prime mover for rotationally driving the rotary working body, and the output of the prime mover is transmitted directly or indirectly to the rotary working body.

[0007] As one aspect of the present invention, the output of the prime mover may be transmitted directly or indirectly to either one of both ends of the rotary working body in the width direction.

[0008] As another aspect of the present invention, the working device includes a drive transmission mechanism for transmitting the output of the prime mover to the rotary working body, the prime mover has an output shaft, and the drive transmission mechanism may transmit the rotation of the output shaft to the one end of the rotary working body.

[0009] As another aspect of the present invention, the rotary working body has a shaft portion centered on the axis at the one end, the prime mover is arranged with the output shaft parallel or substantially parallel to the shaft portion, and the drive transmission mechanism includes an output gear attached to the output shaft and an input gear attached to the shaft portion, the input gear being directly or indirectly meshed with the output gear.

[0010] As yet another aspect of the present invention, the rotary working body has a shaft portion centered on the axis at the one end, the prime mover is arranged with the output shaft parallel or substantially parallel to the shaft portion, and the drive transmission mechanism includes an output sprocket attached to the output shaft , an input sprocket attached to the shaft portion, and a chain wound around the output sprocket and the input sprocket.

[0011] As yet another aspect of the present invention, the frame structure includes a support frame extending in the width direction and a pair of support portions extending downward from both end portions of the support frame. The rotary working body is disposed below the support frame, both end portions of the rotary working body are supported by the pair of support portions, and the prime mover may be attached to the support frame or the one support portion.

[0012] In this case, among the pair of support portions, the one support portion that supports the end portion may be a cover that covers the drive transmission mechanism.

[0013] As yet another aspect of the present invention, the working device includes a cover that covers the drive transmission mechanism, and the prime mover may be disposed in contact with or close to the cover.

[0014] As yet another aspect of the present invention, the working device includes a skid disposed below the drive transmission mechanism and movable in contact with the ground. The skid is directly or indirectly connected to the frame structure and may receive a load acting downward.

[0015] As yet another aspect of the present invention, the working device is a rotating disk body disposed at a position ahead of the skid when the traveling vehicle is traveling, and includes a rotating disk body that is rotatable about an inclined axis that rises upward toward the center line side of the vehicle in the width direction of the traveling vehicle and the rear side in the traveling direction of the traveling vehicle.

[0016] The prime mover may be disposed at a position that projectively overlaps the rotary working body when viewed from a direction orthogonal to the width direction of the traveling vehicle.

[0017] In this case, the prime mover is an electric motor and may be driven by receiving power supply from the traveling vehicle.

Advantages of the Invention

[0018] According to the present invention, the present invention can reduce the load of the working vehicle and can be driven sufficiently as required.

Brief Description of the Drawings

[0019]

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Embodiments for Carrying Out the Invention

[0020] Hereinafter, a working device according to an embodiment of the present invention will be described with reference to the drawings. In the following description, the working vehicle for connecting the working device and the working device B connected to the working vehicle will be described respectively.

[0021] First, the working vehicle will be described. As shown in FIGS. 1 and 2, the working vehicle A is a travelable vehicle. The working vehicle A according to the present embodiment is a so-called tractor, and includes a travelable vehicle body 1 and a coupling mechanism 2 attached to the vehicle body 1 for coupling and supporting a working device B that performs a predetermined operation.

[0022] More specifically, the working vehicle A includes a vehicle body 1, a traveling device 3 that supports the vehicle body 1 so as to be travelable, and a coupling mechanism 2 that couples and supports the working device B. The working vehicle A also includes a control device 4 that controls the operations of the traveling device 3 and the working device B. Further, as shown in FIG. 2, the working vehicle A includes an attitude detection device 5 that detects the inclination (attitude) of the vehicle body 1 in a direction orthogonal to the direction in which the vehicle body 1 travels straight (travels straight forward or backward) and the vertical direction.

[0023] In the following description, the direction in which the vehicle body 1 travels straight (travels straight forward or backward) and the corresponding direction will be referred to as the "first direction", the side on which the vehicle body 1 (working vehicle A) travels forward in the first direction will be referred to as the "front", and the side on which the vehicle body 1 (working vehicle A) travels backward in the first direction will be referred to as the "rear". Further, the direction orthogonal to the front-rear direction and the vertical direction (the direction corresponding to the vehicle width of the vehicle body 1) will be referred to as the "second direction". In accordance with this definition of the direction, the vertical direction will be Let it be the "third direction". Also, since the working device B is connected to the work vehicle A, in the description of the working device B as well, the above definition is used based on the state of being connected to the work vehicle A. Accordingly, in each figure, the first direction, the second direction, and the third direction are additionally illustrated using two orthogonal axes.

[0024] As shown in FIG. 1, the vehicle body 1 has a driver's seat 10 on which an operator rides and a driver's seat protection mechanism 11 that covers the driver's seat 10. The work vehicle A (vehicle body 1) has an operating device (hereinafter referred to as the first operating device) 12 for operating the traveling device 3, a display device 13 for displaying various information, and the like. Further, since the working device B is connected to the work vehicle A according to the present embodiment, the vehicle body 1 has an operating device (hereinafter referred to as the second operating device) 14 for operating the connected working device B.

[0025] In the present embodiment, the driver's seat protection mechanism 11 is a cabin that covers the entire driver's seat 10 and defines a driver's cab DR in which the operator stays during work (traveling). The first operating device 12, the display device 13, the second operating device 14, etc. are arranged at positions where they can be operated by the operator sitting on the driver's seat 10 inside the driver's cab DR. The first operating device 12, the display device 13, and the second operating device 14 are electrically connected to the control device 4 (see FIG. 8).

[0026] In the present embodiment, as shown in FIGS. 1 and 2, the traveling device 3 has a traveling prime mover 30, drive wheels 31 that receive the drive of the traveling prime mover 30, and a steering wheel 32 that determines the traveling direction. An internal combustion engine or an electric motor is adopted for the traveling prime mover 30. In the present embodiment, a diesel engine, which is an internal combustion engine, is adopted for the traveling prime mover 30. The traveling prime mover 30 is arranged in front of the driver's seat protection mechanism 11.

[0027] Specifically, the work vehicle A includes a bonnet 15 that defines a prime mover housing chamber ER for housing the traveling prime mover 30. The bonnet 15 is disposed in front of the driver's seat protection mechanism 11 (driver's cab DR) and at a position that does not obstruct the operator's view from within the driver's seat protection mechanism 11 (driver's cab DR) (a position lower than the lower end of the front window FW). Accordingly, the traveling prime mover 30 is disposed within the bonnet 15 (within the prime mover housing chamber ER), and thus is disposed in front of the driver's seat protection mechanism 11 (driver's cab DR) and at a position that does not obstruct the operator's view from within the driver's seat protection mechanism 11 (driver's cab DR) (a position lower than the lower end of the front window FW).

[0028] When an electric motor is employed as the traveling prime mover 30, the work vehicle A is equipped with a battery for storing the electric power supplied to the electric motor serving as the traveling prime mover 30, a generator for generating the electric power stored in this battery, and an internal combustion engine for driving the generator. Note that, in addition to a diesel engine, a gasoline engine, a hydrogen engine, or the like may be employed as the internal combustion engine serving as the traveling prime mover 30 or the internal combustion engine for power generation.

[0029] As shown in FIG. 1, the first operation device 12 includes a steering wheel 12a for steering the steering wheel 32, an accelerator device 12b for operating with respect to the output of the drive wheels 31 (traveling prime mover 30), and the like.

[0030] The display device 13 displays various information. That is, the display device 13 displays information regarding the work vehicle A and information regarding the work device B that is connected. In the present embodiment, a touch panel type monitor is employed as the display device 13, and necessary information can also be input.

[0031] The second operation device 14 is for the operator to perform operations on the coupling mechanism 2 and the work device B. That is, the second operation device 14 is operated by the operator with respect to the operations of the coupling mechanism 2 and the work device B (for example, the work device B including the prime mover 7a). The second operation device 14 is electrically connected to the control device 4 (see FIG. 8). Accordingly, the second operation device 14 performs work The content operated by the operator is output as an electrical signal toward the control device 4. The second operation device 14 is composed of any one of various switches such as a joystick, a dial switch, a lever switch, and a slide switch, or a combination of two or more of various switches. Further, as in the present embodiment, when a touch panel type monitor is adopted for the display device 13, the display device 13 may be used also as the second operation device 14.

[0032] As shown in FIGS. 2 and 3, the coupling mechanism 2 is coupled (attached) to the vehicle body 1. In the present embodiment, the coupling mechanism 2 is attached to the rear portion of the vehicle body 1 (behind the driver's seat protection mechanism 11).

[0033] Specifically, the coupling mechanism 2 includes a pair of lower links 20R, 20L each having a first end portion 20a rotatably coupled around an axis extending in a second direction with respect to the vehicle body 1 and a second end portion 20b on the opposite side of the first end portion 20a, the pair of lower links 20R, 20L being spaced apart in the second direction and the work device B being directly or indirectly coupled to the second end portion 20b, and a pair of actuators 21R, 21L disposed corresponding to each of the pair of lower links 20R, 20L, the pair of actuators 21R, 21L each swinging (rotating) the corresponding lower link 20R, 20L around the first end portion 20a (axis).

[0034] In addition to the above configuration, the connection mechanism 2 has an upper link 22 disposed above the pair of lower links 20R and 20L. Further, in the present embodiment, the connection mechanism 2 includes a pair of latching members 23R and 23L capable of latching the working device B, and the pair of latching members 23R and 23L are connected to the second ends 20b and 20b of the pair of lower links 20R and 20L, respectively. Furthermore, the connection mechanism 2 has a connection frame 24 that connects the second ends 20b and 20b of the pair of lower links 20R and 20L, and the connection frame 24 includes a latching portion 25 capable of latching the working device B. As shown in FIG. 3, the connection mechanism 2 has a pair of angle sensors S3 and S3 disposed corresponding to the pair of lower links 20R and 20L, respectively, and the pair of angle sensors S3 and S3 detect the rotation angles of the pair of lower links 20R and 20L around their respective rotation (oscillation) centers.

[0035] In the present embodiment, since the connection mechanism 2 is connected to the rear portion of the vehicle body 1, each of the pair of lower links 20R and 20L and the upper link 22 extends in the direction from the rear portion of the vehicle body 1.

[0036] As shown in FIG. 2, the pair of lower links 20R and 20L are symmetrically arranged with respect to a virtual plane (hereinafter referred to as this virtual plane as the virtual reference plane) VS that extends in the first direction and the third direction along the vehicle body center line (hereinafter referred to as the longitudinal center line) CL that extends in the first direction at the center of the vehicle body 1 in the second direction. The first ends 20a and the second ends 20b of the pair of lower links 20R and 20L extend straight in the first direction. The first ends 20a of the pair of lower links 20R and 20L are pivotally connected to the vehicle body 1 via a shaft extending in the second direction and are rotatable around the shaft (axis extending in the second direction).

[0037] In the present embodiment, each of the pair of lower links 20R and 20L has a first inclined portion 20c that inclines outward in the second direction as it extends rearward from the first end portion 20a, and a straight portion 20d that extends straight rearward (in the same direction as the front-rear center line CL) from the first inclined portion 20c and is directly or indirectly connected to the second end portion 20b. In the present embodiment, each of the pair of lower links 20R and 20L further has a connecting portion 20e that connects the straight portion 20d and the second end portion 20b, and the straight portion 20d and the second end portion 20b are indirectly connected via the connecting portion 20e. Note that the connecting portion 20e inclines outward in the second direction as it extends rearward.

[0038] As shown in FIG. 3, each of the pair of lower links 20R and 20L has a plurality of connection positions H1 and H2 that connect the corresponding actuators 21R and 21L. Specifically, a plurality of pin insertion holes H1... for inserting pins for connecting the actuators 21R and 21L are formed in the straight portions 20d of each of the pair of lower links 20R and 20L. Each of the plurality of pin insertion holes H1... is a through hole that penetrates in the second direction. The plurality of pin insertion holes H1... (connection positions) are arranged at predetermined intervals in the extending direction of the straight portion 20d.

[0039] Each of the latching members 23R and 23L has notches 230R and 230L that open upward and are recessed downward, and the notches 230R and 230L are capable of fitting the shaft portion 242 of the connecting frame 24 or a lower connecting shaft 85 (to be described later) of the working device B from above. In the present embodiment, the notches 230R and 230L of the latching members 23R and 23L correspond to the shaft portion 242 of the connecting frame 24.

[0040] The upper link 22 is disposed above the pair of lower links 20R and 20L. The upper link 22 is disposed between the pair of lower links 20R and 20L in the second direction. Specifically, there is one upper link 22, and it is disposed so as to overlap the front-rear center line CL in the third direction (and is on the virtual reference plane VS). The upper link 22 extends in one direction and has a base end portion 22a and a tip end portion 22b in one direction (longitudinal direction). The base end portion 22a of the upper link 22 is rotatably connected to the vehicle body 1 about an axis extending in the second direction. The working device B is directly or indirectly connected to the tip end portion 22b of the upper link 22. In the present embodiment, the tip end portion of the upper link 22 has a notch 22c into which a rod body extending in the second direction can be fitted. Thereby, the tip end portion 22b of the upper link 22 can directly or indirectly connect the working device B in a latched state by fitting the latching pin 243b (described later) of the latching portion 25 of the connection frame 24 or the upper connection shaft 87 of the connection portion 80 (described later) of the working device B into the notch 22c.

[0041] The pair of actuators 21R and 21L can operate independently. Each of the pair of actuators 21R and 21L is a cylinder device configured to be extendable and contractible in one direction. In the present embodiment, each of the pair of actuators 21R and 21L is a cylinder device having an electric motor 26 that is driven for its own extension and contraction, as shown in FIG. 4.

[0042] Specifically, the pair of actuators (cylinder devices) 21R and 21L includes fluid cylinders 27 that extend and contract by supply and discharge of fluid.

[0043] The fluid cylinder 27 includes a cylindrical cylinder tube 270 and a piston rod 271 including a rod-shaped rod 271a and a piston 271b connected to one end of the rod 271a. The piston 271b is installed inside the cylinder tube 270, and the other end side of the rod 271a protrudes from one end of the cylinder tube 270. The fluid cylinder 27 supplies and discharges fluid to and from one end side and the other end side inside the cylinder tube 270 with the piston 271b as a boundary, so that the rod 271a of the piston rod 271 extends and retracts from one end of the cylinder tube 270 and expands and contracts as a whole. In the present embodiment, the fluid supplied and discharged to and from one end side and the other end side inside the cylinder tube 270 is oil (hydraulic oil). That is, in the present embodiment, the fluid cylinder 27 is a hydraulic cylinder.

[0044] Furthermore, in addition to the electric motor 26 and the hydraulic cylinder (fluid cylinder) 27, the cylinder devices 21R and 21L include a hydraulic system 28 including a hydraulic pump 280 that supplies and discharges hydraulic oil to and from one end side and the other end side of the cylinder tube 270 of the hydraulic cylinder 27. That is, the cylinder devices 21R and 21L are electro-hydraulic cylinders in which the hydraulic cylinder 27, the hydraulic system 28, and the electric motor 26 that drives the hydraulic pump 280 of the hydraulic system 28 are integrated (packaged). There are various types of hydraulic pumps 280, but in the present embodiment, a gear pump is adopted. The hydraulic system 28 includes a first oil passage 281 connecting the hydraulic pump 280 and one end side of the cylinder tube 270, and a second oil passage 282 connecting the hydraulic pump 280 and the other end side of the cylinder tube 270.

[0045] There are various types of hydraulic pumps 280, but in the present embodiment, a gear pump is adopted. The hydraulic system 28 includes a first oil passage 281 connecting the hydraulic pump 280 and one end side of the cylinder tube 270, and a second oil passage 282 connecting the hydraulic pump 280 and the other end side of the cylinder tube 270.

[0046] In this type of cylinder, the volume (maximum volume) on one end side and the volume (maximum volume) on the other end side within the cylinder tube 270 with the piston 271b as the boundary are different depending on the presence or absence of the rod 271a of the piston rod 271. Therefore, the maximum capacity of the hydraulic oil supplied to the other end side of the cylinder tube 270 without the rod 271a is larger than the maximum capacity of the hydraulic oil supplied to one end side of the cylinder tube 270 with the rod 271a. In order to eliminate this capacity imbalance, an hydraulic oil storage section 283 for storing hydraulic oil to compensate for the capacity difference is provided on the first oil passage 281 connecting one end side of the cylinder tube 270 and the hydraulic pump 280. Here, although not particularly shown, in the first oil passage 281 and the second oil passage 282, pressure regulating valves, safety valves (relief valves), etc. for achieving pressure balance are also appropriately arranged.

[0047] In the cylinder devices 21R and 21L according to the present embodiment, since a gear pump is employed as the hydraulic pump 280, by switching the forward and reverse rotations of the electric motor 26, the hydraulic oil on one end side and the hydraulic oil on the other end side within the cylinder tube 270 with the piston 271b as the boundary are caused to flow back and forth. Specifically, when the electric motor 26 is rotationally driven (hereinafter referred to as forward rotation drive) on one side around the output shaft, the hydraulic pump 280 sucks in the hydraulic oil on the second oil passage 282 side and discharges it to the first oil passage 281 side. When the electric motor 26 is rotationally driven (hereinafter referred to as reverse rotation drive) on the other side around the output shaft, the hydraulic pump 280 sucks in the hydraulic oil on the first oil passage 281 side and discharges it to the second oil passage 282 side. That is, when the electric motor 26 is driven forward, the hydraulic cylinder 27 retracts by retracting the rod 271a, and when the electric motor 26 is driven in reverse, the hydraulic cylinder 27 extends by protruding the rod 271a.

[0048] As shown in FIG. 2, each of the pair of actuators 21R and 21L is symmetrically arranged with respect to the virtual reference plane VS, similarly to the pair of lower links 20R and 20L. Each of the pair of actuators 21R and 21L is arranged so as to straddle the corresponding lower link 20R or 20L and the vehicle body 1, and both ends in one direction (the telescopic direction) are connected to the lower link 20R or 20L and the vehicle body 1.

[0049] In the present embodiment, in each of the pair of actuators 21R and 21L, as shown in FIG. 3, the cylinder end CE of the hydraulic cylinder 27 is connected to the vehicle body 1, and the rod end RE is connected to the corresponding lower links 20R and 20L.

[0050] In at least one of the lower links 20R and 20L and the actuators 21R and 21L (the hydraulic cylinders 27 of the electro-hydraulic cylinders 21R and 21L), a plurality of connection positions H1..., H2... that can be connected to at least the other of the lower links 20R and 20L and the actuators 21R and 21L (the hydraulic cylinders 27 of the electro-hydraulic cylinders 21R and 21L) are set. In the present embodiment, as described above, a plurality of connection positions (pin insertion holes, which are through holes) H1... are provided with respect to the straight portions 20d of the lower links 20R and 20L. However, in the present embodiment, a plurality of connection positions (through holes) H2... are also provided with respect to the actuators 21R and 21L (the hydraulic cylinders 27 of the electro-hydraulic cylinders 21R and 21L). That is, a plurality of connection positions H2... for connecting to each other are set for each of the lower links 20R and 20L and the actuators 21R and 21L. In the present embodiment, the hydraulic cylinder 27 includes a connecting fitting 29 at the rod end RE. A plurality of through holes H2... are formed in the connecting fitting 29 at intervals in the extending direction (axial direction) of the piston rod 271 (rod 271a). With one of the plurality of through holes H2... in the connecting fitting 29 being aligned with one of the plurality of pin insertion holes (through holes) H1... in the lower links 20R and 20L, and a pin (shaft) being inserted (fitted) into both through holes H1 and H2, the connecting fitting 29 (the electro-hydraulic cylinders 21R and 21L) and the lower links 20R and 20L are connected.

[0051] In the present embodiment, the hydraulic cylinder 27 includes a connecting fitting 29 at the rod end RE. A plurality of through holes H2... are formed in the connecting fitting 29 at intervals in the extending direction (axial direction) of the piston rod 271 (rod 271a). With one of the plurality of through holes H2... in the connecting fitting 29 being aligned with one of the plurality of pin insertion holes (through holes) H1... in the lower links 20R and 20L, and a pin (shaft) being inserted (fitted) into both through holes H1 and H2, the connecting fitting 29 (the electro-hydraulic cylinders 21R and 21L) and the lower links 20R and 20L are connected.

[0052] As described above, a plurality of through-holes H1..., H2... are formed in each of the lower links 20R, 20L (linear portions 20d) and the connecting fitting 29, so that the connection positions H1, H2 between the lower links 20R, 20L and the actuators 21R, 21L can be combined. As a result, the posture (angle around the axis for pivotally connecting the first end portion 20a) of each of the pair of lower links 20R, 20L can be changed. As described above, the connecting mechanism 2 includes the angle sensors S3, S3. The angle sensors S3, S3 are provided corresponding to each of the first end portions 20a (the pivoted axis) that are the rotation centers of the pair of lower links 20R, 20L. Thereby, even if the posture (angle) of each of the pair of lower links 20R, 20L is changed, the current posture (angle) of each of the pair of lower links 20R, 20L can be recognized based on the detection results of the angle sensors S3, S3.

[0053] As shown in FIGS. 5 and 6, both end portions of the connecting frame 24 in the second direction are supported by the second end portions 20b (hooking members 23R, 23L) of the pair of lower links 20R, 20L via the spherical bearings 240. Specifically, the connecting frame 24 includes a frame body 241 that extends in the second direction and straddles the pair of lower links 20R, 20L, and a pair of shaft portions 242, 242 connected to both end portions of the frame body 241, and the pair of shaft portions 242, 242 each extend in the second direction. Further, the connecting frame 24 includes a hooking portion 25 capable of hooking the working device B. More specifically, the connecting frame 24 includes a pair of lower hooking portions 25a, 25a arranged at intervals in the second direction as the hooking portion 25. Furthermore, the connecting frame 24 includes an upper hooking portion 25b capable of locking the working device B between the pair of lower hooking portions 25a, 25a and above the pair of lower hooking portions 25a, 25a.

[0054] The frame body 241 is curved such that the approximate center in the second direction protrudes upward. At the central portion (top portion) of the frame body 241, an upper link connecting portion 243 to which the tip portion 22b of the upper link 22 is connected is provided. The upper link connecting portion 243 is a pair of brackets 243a, 243a protruding upward from the upper surface of the frame body 241, the pair of brackets 243a, 243a being arranged at intervals in the second direction, and an axially-shaped locking pin 243b extending in the second direction, the locking pin 243b having both ends connected to the pair of brackets 243a, 243a. The axial center of the locking pin 243b coincides with the central position of the frame body 241. Thereby, the connecting frame 24 is connected to the upper link 22 by the locking pin 243b being locked to the tip portion of the upper link 22.

[0055] The lower latching portions 25a, 25a of the connecting frame 24 are provided at both ends of the frame body 241 respectively. Thereby, the pair of lower latching portions 25a, 25a are arranged at intervals in the second direction, similar to the pair of latching members 23R, 23L attached to the second end portions 20b of the pair of lower links 20R, 20L. That is, the pair of lower latching portions 25a, 25a are arranged at intervals in the second direction and symmetrically arranged with respect to the virtual reference plane VS. Each of the pair of lower latching portions 25a, 25a is a recess open rearward and has a lower notch portion 250a dug deeper downward toward the front side. The lower notch portion 250a is configured to be able to insert a shaft extending in the second direction and is formed such that the shaft can be latched by the shaft being positioned on the front side. The connecting frame 24 has a retaining member 251a that can enter and exit within the lower notch portion 250a of the lower latching portion 25a and can lock a shaft positioned at the inner portion within the lower latching portion 25a. The lower notch portion 250a is configured to be able to insert a shaft extending in the second direction and is formed such that the shaft can be latched by the shaft being positioned on the front side. The connecting frame 24 has a retaining member 251a that can enter and exit within the lower notch portion 250a of the lower latching portion 25a and can lock a shaft positioned at the inner portion within the lower latching portion 25a.

[0056] The upper latching portion 25b is a depression that opens upward and has an upper notch portion 250b that is dug downward on the lower side. In the present embodiment, a pair of brackets 243a, 243a of the upper link connecting portion 243 extend rearward from the frame body 241. The upper notch portion 250b is formed such that the upper side is open and the lower side is dug downward with respect to the portion that extends rearward of the pair of brackets 243a, 243a. That is, the pair of brackets 243a, 243a of the upper link connecting portion 243 are also used as the upper latching portion 25b. Therefore, the upper latching portion 25b is disposed at the central portion of the vehicle body 1 in the second direction. That is, the upper latching portion 25b is disposed at an intermediate position between the pair of lower latching portions 25a, 25a that are located downward in the second direction.

[0057] As shown in FIG. 7, each of the pair of shaft portions 242, 242 includes a shaft body 244 that protrudes outward from the side surfaces facing outward at both ends of the frame body 241, and a spherical bearing 240 attached to the shaft body 244. The spherical bearing 240 has an inner ring 240a into which the shaft body 244 is inserted and an outer ring 240b that is externally fitted to the inner ring 240a. The outer peripheral surface of the inner ring 240a and the outer peripheral surface of the outer ring 240b are formed into a spherical surface with the centers aligned. Thereby, the shaft portions 242, 242 (inner ring 240a) and the outer ring 240b are relatively rotatable with the center (point) of the spherical surface as the rotation center with respect to the outer ring 240b.

[0058] In this embodiment, the shaft portions 242, 242 are hooked to the hooking members 23R, 23L of the corresponding lower links 20R, 20L. That is, they are hooked in a state where the outer ring 240b of the shaft portions 242, 242 is in contact with the hooking members 23R, 23L. In this state, the shaft body 244 can rotate about the center (point) of the spherical surface together with the inner ring 240a as the rotation center. In this embodiment, although the spherical bearing 240 including the outer ring 240b is adopted, it may be an annular bearing (for example, a grease-free bearing) into which the shaft body 244 is inserted, and the bearing (spherical bearing 240) whose outer peripheral surface is formed in a spherical shape. In this case, since the outer peripheral surface on the spherical surface of the bearing is in contact with and supported (hooked) by the hooking members 23R, 23L, the shaft body 244 (bearing) rotates about the center of the spherical surface on the hooking members 23R, 23L as the rotation center. Further, if the shaft body 244 is rotatably inserted into the bearing, the shaft body 244 can also rotate about its own axis.

[0059] As shown in FIG. 8, the control device 4 includes an arithmetic control unit 40, a storage unit 41 that stores information used for the processing of the arithmetic control unit 40, and an input unit 42 electrically connected to the arithmetic control unit 40. The input unit 42 inputs an electric signal as input information from an external electric device to the arithmetic control unit 40, and an output unit 43 electrically connected to the arithmetic control unit 40. The output unit 43 outputs an instruction signal (electric signal) as output information from the arithmetic control unit 40 toward an external electric device.

[0060] The arithmetic control unit 40 is a CPU (MPU) and includes an arithmetic unit 400 and a control unit 401. In the control device 4 according to this embodiment, the storage unit 41 includes a first storage unit 410 that temporarily or short-term stores information used for the processing by the arithmetic control unit 40 (arithmetic unit 400 and control unit 401), and a second storage unit 411 that stores information used for the processing by the arithmetic control unit 40 (arithmetic unit 400 and control unit 401) in a long term. The first storage unit 410 is a so-called memory, and the second storage unit 411 is a storage device such as a hard disk or an SSD (Solid State Drive).

[0061] The input unit 42 and the output unit 43 are so-called interfaces. An electrical device that outputs an electrical signal as information is connected to the output unit 43. On the other hand, an electrical device to which an electrical signal as information is input is connected to the output unit 43.

[0062] Specifically, the input unit 42 is connected to the first operating device 12, the second operating device 14, the attitude detection device 5 that detects the inclination (attitude) of the vehicle body 1 in the second direction, the angle sensors S3 and S3, the receiver 16 that receives a wireless signal from a transmitter 96 described later, and the like. On the other hand, the output unit 43 is connected to the electric hydraulic cylinders 21R and 21L (electric motor 26) of the connecting mechanism 2, the power line EL1 for supplying power to the working device B, and the like. In this embodiment, the display device 13 is a touch panel type monitor, and is therefore connected to the input unit 42 and the output unit 43 to transmit and receive information to and from the control device 4 (arithmetic control unit 40). Although no mention has been made of the placement of the receiver 16, the receiver 16 (strictly speaking, the antenna of the receiver 16) is placed in a place where communication with the transmitter 96 is not obstructed (for example, on the roof of the driver's seat protection mechanism (cabin) 11) (see Figs. 1 and 2). Also, in FIG. 8, the electric motor 26 and the power line EL1 are directly connected to the output section 43, but strictly speaking, a relay (relay for electric hydraulic cylinder) that opens and closes the power output system (circuit connecting the battery and the electric motor 26) that supplies power to the electric hydraulic cylinders 21R, 21L (electric motor 26), and a relay (relay for opening and closing a circuit) that opens and closes the power output system (circuit for external output) for supplying power to the working device B, etc. are connected to the output section 43.

[0063] The work vehicle A according to this embodiment has the above configuration, and has an automatic tilling depth function that maintains the tilling depth of the soil at a preset depth when the work implement B connected to the connecting mechanism 2 is a cultivator that tills the soil. In addition, the work vehicle A has a posture maintaining function for maintaining the posture of the work implement B in an appropriate state (a horizontal posture in the second direction) when the work implement B is operated while the work vehicle A is traveling.

[0064] Accordingly, before performing the work, when the operator uses a tillage tractor as the work device B, the operator determines the necessity of the automatic tillage depth function by operating the second operating device 14 or by operating the touch panel monitor (display device) 13. Further, when the operator performs work with the first work device B or other work devices B, the operator determines the necessity of the posture maintaining function by operating the second operating device 14 or by operating the touch panel (display device 13) as needed.

[0065] When the control device 4 receives a signal indicating that the automatic tillage depth function is to be activated effectively, as shown in FIG. 9, the control device 4 moves the rotary working body 6 (rotary 6) up and down according to the state of penetration (depth from the ground surface GL) of the rotary 6 into the soil, so as to keep the state of penetration (depth from the ground surface GL) of the rotary 6 into the soil constant. Specifically, the control device 4 grasps the current tillage depth state based on the information regarding the tillage depth by the tillage tractor. In the present embodiment, the work vehicle A receives, by the receiver 16, information regarding the detection result (tillage depth state) of the detection sensor 95 transmitted from the transmitter 96 (the transmitter 96 paired with the receiver 16 of the work vehicle A) provided in the work device B, and grasps the current tillage depth state based on the received detection result of the detection sensor 95. Then, the control device 4 calculates the difference between the grasped current tillage depth state and the preset tillage depth of the soil.

[0066] Furthermore, the control device 4 raises and lowers the working device B so as to eliminate the difference from a preset tilling depth of the soil. That is, the control device 4 drives the electric motors 26 of the pair of actuators 21R and 21L so as to raise and lower the pair of lower links 20R and 20L in synchronization according to the difference (height difference) from the preset tilling depth of the soil. That is, the control device 4 drives the electric motors 26 of the pair of actuators 21R and 21L in synchronization. As a result, as shown in FIG. 10, the pair of actuators 21R and 21L expand and contract in synchronization, and the pair of lower links 20R and 20L also move up and down in synchronization. At this time, the control device 4 raises and lowers the pair of lower links 20R and 20L by an amount of elevation corresponding to the detection result (tilt angle with respect to the horizontal) of the attitude detection device 5. That is, the control device 4 drives the electric motors 26 and 26 of the actuators 21R and 21L until the detection results (change angle amounts) by the angle sensors S3 and S3 reach a required state (angle). Thereby, the working device B moves while maintaining the relative positional relationship (height relationship) between the rotary 6 and the ground surface GL of the field or the like. That is, the state of penetration of the rotary 6 into the soil (depth from the ground surface GL) becomes constant, and tilling work can be performed while traveling with the work vehicle A, and tilling can be performed in a preset tilling depth state with respect to the ground surface GL as a reference.

[0067] When the control device 4 has received a signal indicating that the attitude maintenance function is to be activated effectively, when the travel of the work vehicle A is started, the control device 4 recognizes the attitude (tilt angle in the second direction) of the vehicle body 1 based on the detection result from the attitude detection device 5.

[0068] In the present embodiment, the attitude detection device 5 detects changes in the vertical position at two locations in the second direction of the vehicle body 1. For example, as shown in FIG. 2, the attitude detection device 5 includes sensors S1 and S2 arranged at two locations (two locations symmetric with respect to the virtual reference plane VS) in the second direction of the vehicle body 1, and each of the sensors S1 and S2 measures the height change at each of the two locations in the second direction of the vehicle body 1.

[0069] Sensors S1 and S2 arranged at two positions in the second direction of the vehicle body 1 may employ, for example, an altitude sensor, an atmospheric pressure sensor, or the like. Accordingly, the control device 4 calculates the angle of the vehicle body 1 in the second direction based on the height at two positions in the second direction, and calculates the difference between the attitude of the vehicle body 1 (the tilt angle of the vehicle body 1 in the second direction) and the horizontal. As described above, if the attitude detection device 5 includes a gyro sensor, in addition to the tilt (angle) of the vehicle body 1 in the front-rear direction, the tilt (angle) of the vehicle body 1 in the second direction can also be detected, and the control device 4 can recognize the state (tilt in the second direction) of the vehicle body 1 based on the detection result of the gyro sensor (attitude detection device 5).

[0070] In addition, the control device 4 recognizes the amount of change in the vertical direction at each of the two positions in the second direction of the vehicle body 1 by the attitude detection device 5. Thereby, the control device 4 can determine to what extent there is floating and sinking on both the left and right sides in the second direction of the vehicle body 1 due to the change (tilt) of the attitude of the vehicle body 1, whether it tilts about the front-rear center line CL, to what extent either one side on the left or right in the second direction of the vehicle body 1 sinks and tilts, and to what extent either one side on the left or right in the second direction of the vehicle body 1 floats up and tilts.

[0071] Then, the control device 4 raises and lowers the pair of lower links 20R and 20L of the connection mechanism 2 based on the above determination result. That is, the control device 4 drives the electric motor 26 of the pair of actuators 21R and 21L (electric hydraulic cylinders 21R and 21L) based on the determination result, and expands and contracts the hydraulic cylinders 27 of the pair of actuators 21R and 21L respectively.

[0072] In the present embodiment, since there are a plurality of combinations of the connection positions H1 and H2 between the actuator and the lower links 20R and 20L, the angles (attitudes) of the lower links 20R and 20L are different depending on the combination of the connection positions H1 and H2. When the angles of the lower links 20R and 20L are different in this way, the height of the connection position of the working device B is also different, and the reference attitude (angle) of the lower links 20R and 20L serving as the reference for the raising and lowering of the lower links 20R and 20L also changes.

[0073] Accordingly, the control device 4 recognizes the angles (postures) of the lower links 20R and 20L from the detection results of the angle sensors S3 and S3. Also, the amount of elevation and depression of the lower links 20R and 20L is recognized based on the detection results (rotation angles) of the angle sensors S3 and S3.

[0074] And as described above, when the vehicle body 1 tilts in the second direction, if the posture of the working device B behind the vehicle body 1 tilts following the vehicle body 1, the relative arrangement (posture) with respect to the ground changes. Therefore, the control device 4 independently drives the electric motors 26 of the pair of actuators 21R and 21L.

[0075] Specifically, when the control device 4 determines that the change (tilt) in the posture of the vehicle body 1 has a certain amount of floating and sinking on both the left and right sides in the second direction of the vehicle body 1 and tilts about the front-rear center line CL, the control device 4 drives the pair of actuators 21R and 21L in opposite operations according to the amount of floating and sinking on the left and right. That is, the control device 4 drives the electric motor 26 of one of the actuators 21R in the forward rotation while driving the electric motor 26 of the other actuator 21L in the reverse rotation. Accordingly, as shown in FIGS. 11 and 12, one of the lower links 20R and 20L rises and one of the lower links 20R and 20L drops. Thereby, the working device B rotates on both the left and right sides about the front-rear center line CL (second direction) as the center (reference) and maintains a horizontal posture.

[0076] When the control device 4 determines that either the left or right side in the second direction of the vehicle body 1 has sunk and tilted, the control device 4 drives one of the actuators 21R according to the amount of sinking. That is, the control device 4 drives the electric motor 26 of one of the actuators 21R in the forward rotation. Accordingly, as shown in FIGS. 13 and 14, one of the lower links 20R and 20L rises. That is, the working device B raises either the left or right side (the side with a risk of sinking) hooked to one of the lower links 20R and 20L with the second end portion 20b of one of the lower links 20R and 20L as a fulcrum and maintains a horizontal posture.

[0077] Further, when the control device 4 determines that either the left or right side in the second direction of the vehicle body 1 has lifted and tilted to a certain extent, it drives either one of the actuators 21R according to the amount of lift. That is, the control device 4 reversely drives the electric motor 26 of either one of the actuators 21R. Accordingly, as shown in FIGS. 15 and 16, either one of the lower links 20R, 20L descends. That is, the working device B lowers either the left or right side (the side that may lift) hooked to either one of the lower links 20R, 20L with the second end portion 20b of either one of the lower links 20R, 20L as a fulcrum and maintains a horizontal posture.

[0078] In this way, by independently driving the pair of left and right actuators 21R, 21L, not only can the posture of the working device B be corrected according to the tilt of the vehicle body 1, but also the correction corresponding to the cause of the tilt of the vehicle body 1 is achieved. Therefore, the working device B is restored to an appropriate posture based on the situation of the vehicle body 1.

[0079] As described above, when each of the pair of lower links 20R, 20L is independently raised and lowered, torsion occurs in the connecting frame 24 supported (hooked) by the pair of lower links 20R, 20L. However, in this embodiment, since the shaft portions 601, 601 of the connecting frame 24 are provided with spherical bearings 240, the force (stress) due to torsion accompanying the correction of the posture of the connecting frame 24 (frame body 241) does not act significantly on the shaft portions 601, 601 (particularly, the base of the shaft body 244).

[0080] Next, the working device B connected to the work vehicle A will be described. In the description of the working device B, for convenience, in accordance with the description of the work vehicle A, when the work vehicle A moves straight ahead (forwards or backwards), the direction in which the working device B is connected to the work vehicle A and follows (the direction in which the working device B moves straight) is referred to as the first direction, and the direction orthogonal to the direction in which the working device B moves straight and the vertical direction is referred to as the second direction. Also, the vertical direction is referred to as the third direction.

[0081] The working device B comes in various types. One of them is a rotary working body 6 that rotates around an axis extending in the second direction of the vehicle body 1 of the work vehicle A, and by rotating during work, it performs a predetermined function. There is a working device B equipped with a rotary working body 6 of this type. Even in this type, there are those in which the rotary working body 6 rotates passively and those that are rotationally driven upon receiving drive.

[0082] Here, first, a working device (hereinafter, for convenience, referred to as the first working device) B in which a rotary 6 as a rotary working body is rotationally driven will be described.

[0083] The first working device B is a so-called rotary tiller and does not receive drive from the work vehicle A but drives the rotary 6 itself. That is, as shown in FIG. 1, the first working device B includes a prime mover 7a. As a result, the first working device B is driven without being affected by the load, energy loss, etc. of the internal combustion engine (engine), which is the drive source of the work vehicle A. Also, since the first working device B itself includes the prime mover 7a, the load applied to the work vehicle A is reduced.

[0084] The first working device B is an electric type that operates by receiving power supply from the work vehicle A. That is, the prime mover 7a is an electric motor. The prime mover 7a is driven by receiving power supply from the work vehicle A. In the conventional first working device B, in a state of being connected to the coupling mechanism 2, it was mechanically connected to the output shaft of the PTO mechanism of the work vehicle A and received the output of the engine, which is the prime mover (drive source) of the work vehicle A, via the PTO mechanism. However, the first working device B according to the present embodiment is only electrically connected to the power storage element (battery) of the work vehicle A without being connected to the work vehicle A for power transmission.

[0085] More specifically, as shown in FIGS. 3 and 17, the first working device B includes a frame structure 8 including a connecting portion 80 connectable to a work vehicle A which is a travelable vehicle, and a rotary 6 which is a rotary working body pivotally supported by the frame structure 8 and is rotatable about an axis extending in a second direction, and a prime mover 7a for rotationally driving the rotary 6. The prime mover 7a has an output shaft 70a, and the output (rotational force of the output shaft 70a) of the prime mover 7a is transmitted directly or indirectly to the rotary 6. In the present embodiment, the first working device B includes a drive transmission mechanism 7b for transmitting the output of the prime mover 7a to the rotary 6. That is, in the first working device B, the output of the prime mover 7a is indirectly transmitted to the rotary 6 via the drive transmission mechanism 7b. Further, the first working device B includes a work body cover 9 covering the rotary 6 (see FIG. 3).

[0086] As shown in FIG. 17, the frame structure 8 includes, in addition to the connecting portion 80, a support frame 81 extending in the second direction, and a pair of support portions 82 and 83 extending downward from both end portions of the support frame 81.

[0087] The connecting portion 80 includes a pair of lower connecting portions 80a, 80a corresponding to the latching members 23R, 23L of the pair of lower links 20R, 20L on the work vehicle A side or the pair of lower latching portions 25a, 25a of the connecting frame 24. Further, in the present embodiment, the connecting portion 80 includes an upper connecting portion 80b corresponding to the tip portion 22b of the upper link 22 or the upper latching portion 25b of the connecting frame 24.

[0088] The pair of lower connecting portions 80a, 80a are arranged at intervals in the second direction. Specifically, each of the pair of lower connecting portions 80a, 80a includes a plate-like lower bracket 84 extending forward in the first direction from the support frame 81, and a lower connecting shaft 85 extending in the second direction from a side surface (surface facing the second direction) of the lower bracket 84.

[0089] The lower bracket 84 has one end and the other end opposite to the one end in the first direction, and one end is connected to the support frame 81. The lower connecting shaft 85 is disposed on the other end side of the lower bracket 84. The lower connecting shafts 85 of the pair of lower connecting portions 80a, 80a are concentric or substantially concentric.

[0090] The pair of lower connecting portions 80a, 80a are at the central position in the axial direction (second direction) of the rotary 6 and extend in the first direction. The center line CL (see FIG. 2) is symmetrically arranged with respect to the virtual plane VS that extends in the first direction and the third direction along the center line CL that coincides or substantially coincides with the extension line of the front-rear center line CL of the vehicle body 1 as viewed from the third direction in the state of being connected to the work vehicle A. Note that at the central position in the axial direction (second direction) of the rotary 6, the center line CL (the center line CL of the working device B) extending in the first direction extends in a direction different from the extension line of the front-rear center line CL of the vehicle body 1 in the state where the working device B is not connected to the work vehicle A. Here, on the premise that the working device B is connected to the work vehicle A, for the sake of convenience, the center line CL passing through the center in the axial direction (second direction) of the rotary 6 is also referred to as the front-rear center line CL, and the virtual plane VS extending in the first direction and the third direction with this as a reference is also referred to as the virtual reference plane.

[0091] The lower connecting shafts 85 of the pair of lower connecting portions 80a, 80a correspond to the arrangements of the latching members 23R, 23L of the pair of lower links 20R, 20L or the pair of lower latching portions 25a, 25a of the connecting frame 24. The lower connecting shaft 85 is set to an outer diameter that fits into the recess (notch portions 230R, 230L, lower notch portion 250a) of at least one of the latching members 23R, 23L and the latching portion 25. That is, the lower connecting shafts 85 of the respective lower connecting portions 80a, 80a are arranged so as to be latchable in the notch portions 230R, 230L of the latching members 23R, 23L of the corresponding lower links 20R, 20L or the recess (lower notch portion 250a) of the corresponding latching portion 25 (lower latching portions 25a, 25a) of the connecting frame 24. In the present embodiment, since the connecting mechanism 2 of the work vehicle A includes the connecting frame 24, each lower connecting shaft 85 is set to an outer diameter that fits into the lower notch portion 250a of the lower latching portion 25a.

[0092] The upper connecting part 80b is disposed between the pair of lower connecting parts 80a, 80a in the second direction. Specifically, the upper connecting part 80b is disposed corresponding to the intermediate position between the pair of lower connecting parts 80a, 80a in the second direction. That is, the upper connecting part 80b is disposed corresponding to the center in the axial direction (second direction) of the rotary 6.

[0093] More specifically, the upper connecting part 80b includes plate-shaped upper brackets 86, 86 extending from the support frame 81 in a direction orthogonal to the second direction (front side corresponding to the forward direction of the work vehicle A), and an upper connecting shaft 87 extending in the second direction from the side surfaces (surfaces facing the second direction) of the upper brackets 86, 86.

[0094] In the present embodiment, the upper connecting part 80b includes a pair of upper brackets 86, 86 disposed at intervals in the second direction. Each of the pair of upper brackets 86, 86 has one end and the other end opposite to the one end, and one end of each is connected to the support frame 81.

[0095] The pair of upper brackets 86, 86 are disposed at an interval through which the tip 22b of the upper link 22 can intervene. The upper connecting shaft 87 is disposed on the other end side of the upper brackets 86, 86. The upper connecting shaft 87 is connected to the surface of the upper brackets 86, 86 facing the second direction and extends in the second direction. In the present embodiment, as a pair of upper brackets 86, 86 are provided, the upper connecting shaft 87 is disposed between the pair of upper brackets 86, 86 with its axis directed in the second direction. Accordingly, one end of the upper connecting shaft 87 is connected to the side surface of one of the upper brackets 86, 86 facing one side in the second direction, and the other end of the upper connecting shaft 87 is connected to the side surface of the other upper bracket 86, 86 facing the other side in the second direction.

[0096] The central position of the upper connecting shaft 87 in the axial direction is located on the virtual reference plane VS (the position corresponding to the front-rear center line CL when viewed from the third direction) (see Fig. 2). The upper connecting shaft 87 is located above the lower connecting portions 80a, 80a, and is located directly above the lower connecting portions 80a, 80a or on the front side of the lower connecting portions 80a, 80a. In the present embodiment, the upper connecting shaft 87 is located on the front side of the lower connecting portions 80a, 80a.

[0097] The upper connecting shaft 87 is disposed corresponding to the notch 22c of the tip portion 22b of the upper link 22 or the upper notch 250b of the upper latching portion 25b of the connecting frame 24. Also, the upper connecting shaft 87 is set to an outer diameter that fits into the notch 22c of the tip portion 22b of the upper link 22 or the upper notch 250b of the upper latching portion 25b of the connecting frame 24. In the present embodiment, the upper connecting shaft 87 is set to an outer diameter that fits into the upper notch 250b of the connecting frame 24.

[0098] The support frame 81 is a rod-shaped body extending in the second direction. In the present embodiment, the support frame 81 is a hollow body (cylindrical body). The support frame 81 corresponds to the width of the rotary 6 in the second direction (strictly speaking, the length of the main shaft portion 600 in the axial direction described later).

[0099] The pair of support portions 82, 83 are connected to both ends of the support frame 81 and extend in a direction orthogonal to the axis of the support frame 81. In the present embodiment, each of the pair of support portions 82, 83 extends obliquely rearward and downward from the support frame 81 (see Fig. 3). That is, one of the pair of support portions 82, 83, the support portion 82, is connected to one end of the support frame 81 and extends obliquely rearward and downward, and the other of the pair of support portions 82, 83, the support portion 83, is connected to the other end of the support frame 81 and extends obliquely rearward and downward. Each of the pair of support portions 82, 83 pivotally supports the rotary 6 at the lower end portion.

[0100] Specifically, each of the pair of support portions 82 and 83 has an upper end portion and a lower end portion. The upper end portion side is connected to the support frame 81, and bearings 820 and 830 for pivotally supporting the rotary body 6 are attached to the lower end portion. In the present embodiment, flange-type bearing units 820 and 830 are attached to the lower end portion of each of the pair of support portions 82 and 83.

[0101] In the present embodiment, one of the support portions 82 is formed in a plate shape. One of the support portions 82 has a longitudinal direction, with one end portion in the longitudinal direction being the upper end portion located on the upper side and the other end portion in the longitudinal direction being the lower end portion located on the lower side (diagonally downward). The upper end portion of one of the support portions 82 is connected to one end surface of the support frame 81. In the present embodiment, as the support frame 81 is formed in a cylindrical shape, the upper end portion of one of the support portions 82 is connected (coupled) to the support frame 81 in a state of closing one end opening of the support frame 81.

[0102] A through hole 821 for inserting the shaft portion 601 of the rotary body 6 penetrates in a second direction through the lower end portion of one of the support portions 82. Accordingly, a flange-type bearing unit 820, which is a bearing, is attached to the outer surface of the support portion 82 (the side surface in the second direction and facing outward). The flange-type bearing unit 820 is bolt-fixed to one of the support portions 82 and is detachable from one of the support portions 82. Note that a reinforcing member (such as a rib) may be appropriately provided on the support portion 82 to enhance rigidity.

[0103] The other support portion 83 also serves as a cover (case) for covering the drive transmission mechanism 7b. Specifically, the other support portion 83 includes a plate-shaped first member 831 connected to the other end of the support frame 81, a plate-shaped second member 832 disposed at a distance from the first member 831 in a second direction, and a third member 833 that closes the space between the peripheral edge of the first member 831 and the peripheral edge of the second member 832. The first member 831, the second member 832, and the third member 833 define an accommodation space for accommodating the drive transmission mechanism 7b.

[0104] The first member 831 has a longitudinal length in one direction, with an upper end portion where one end in the longitudinal direction is located on the upper side and a lower end portion where the other end in the longitudinal direction is located on the lower side (diagonally downward). The length of the first member 831 in one direction is set to be longer than the length of one of the support portions 82 in one direction. Accordingly, the first member 831 is arranged such that its upper end portion is located diagonally forward and upward from the support frame 81 and is connected to the support frame 81. Specifically, the first member 831 is integrally connected to the support frame 81 on the upper end side from the intermediate position in one direction such that the upper end portion extends diagonally forward and upward from the support frame 81. The first member 831 is connected (coupled) to the support frame 81 in a state where the opening (the other end opening) of the support frame 81 is closed, similar to one of the support portions 82.

[0105] A hole (hereinafter referred to as the first shaft insertion hole) 831a for inserting the output shaft 70a of the prime mover 7a is formed to penetrate in the second direction through the upper end portion of the first member 831. On the other hand, a hole (referred to as the second shaft insertion hole) 831b for inserting the shaft portion 601 of the rotary member 6 is formed to penetrate in the second direction through the lower end portion of the first member 831.

[0106] The through hole 821 of one of the support portions 82 and the second shaft insertion hole 831b are formed to be concentric and of the same size. In view of the attachment and detachment of the rotary member 6, at least one of the through hole 821 of one of the support portions 82 and the second shaft insertion hole 831b may be formed in a notch shape that is open in a direction orthogonal to the second direction. In this way, even if at least one of the pair of support portions 82, 83 cannot be removed from the support frame 81, the rotary member 6 can be removed from the support portions 82, 83 in a direction orthogonal to the axial direction. However, it goes without saying that even if at least one of the through hole 821 of one of the support portions 82 and the second shaft insertion hole 831b is formed in a notch shape, the shaft portions 601, 601 at both ends of the rotary member 6 are inserted concentrically.

[0107] As such, with the second shaft insertion hole 831b provided in the first member 831, a flange type bearing unit 830, which is a bearing, is attached to the outer surface of the first member 831 (the side surface in the second direction and the side surface facing outward). The flange type bearing unit 830 is bolt-fixed to the first member 831 and is detachable from the first member 831.

[0108] The second member 832 is formed in a plate shape. In the present embodiment, the second member 832 is thinner than the first member 831. The second member 832 is formed to be the same shape and size when viewed from the second direction. The second member 832 is arranged such that the peripheral edge of the second member 832 and the peripheral edge of the first member 831 coincide when viewed from the second direction. The third member 833 is formed by sheet metal working and is formed along the peripheral edge of the second member 832 and the peripheral edge of the first member 831. In the present embodiment, one end of the third member 833 in the second direction is connected to the peripheral edge of the second member 832. That is, the second member 832 and the third member 833 are integrally formed.

[0109] On the other hand, the other end of the third member 833 in the second direction is detachably fixed to the peripheral edge of the first member 831. Specifically, the other end of the third member 833 is bent inward so as to overlap the peripheral edge of the first member 831. Along with this, the other end of the third member 833 is detachably fixed to the first member 831 via a screw member. Note that a plurality of screw members are arranged at predetermined intervals in the outer circumferential direction of the first member 831 to connect the peripheral edge of the first member 831 and the other end of the third member 833 at a plurality of locations.

[0110] The rotary 6 is arranged below the support frame 81. As described above, since the frame structure 8 includes a pair of support portions 82, 83, both ends of the rotary 6 are supported by the pair of support portions 82, 83.

[0111] Accordingly, the rotary 6 has shaft portions 601, 601 centered on the axis at both ends. More specifically, the rotary 6 includes a rotary shaft 60 extending over the entire length in the second direction, and a plurality of tilling claws 61... that are detachably attached to the rotary shaft 60. In FIG. 17, only the tilling claws 61 disposed in the regions at both ends of the rotary shaft 60 among the plurality of tilling claws 61... are shown, and the illustration of the tilling claws 61 between them is omitted.

[0112] The rotary shaft 60 includes a main shaft portion 600 to which a plurality of tilling claws 61... are attached, and a pair of shaft portions 601, 601 that protrude outward in the second direction from both ends of the main shaft portion 600, and the shaft portions 601, 601 are concentric with the main shaft portion 600. In the present embodiment, the main shaft portion 600 is a hollow shaft formed in a cylindrical shape, and weight reduction is achieved.

[0113] The pair of shaft portions 601, 601 are set to have a smaller diameter than the main shaft portion 600. As the main shaft portion 600 is formed in a hollow (cylindrical) shape, a flange portion for closing the open end of the main shaft portion 600 is connected to one end of the shaft portions 601, 601. The flange portion is connected to the main shaft portion 600 by welding.

[0114] One of the pair of shaft portions 601, 601 is pivotally supported by one of the pair of support portions 82, 83 of the frame structure 8, and the other shaft portion 601, 601 is pivotally supported by the other support portion 83 of the pair of support portions 82, 83 of the frame structure 8. Also, the driving force of the prime mover 7a is transmitted to one of the shaft portions 601.

[0115] Each of the pair of shaft portions 601, 601 is rotatably supported by bearings (flange type bearing units) 820, 830 fixed to the pair of support portions 82, 83. Specifically, one shaft portion 601 passes through the through hole 821 of one support portion 82 and is rotatably supported by a bearing (flange type bearing unit) 820 fixed to one support portion 82. On the other hand, the other shaft portion 601 passes through the second shaft insertion hole 831b of the first member 831 of the other support portion 83 and is rotatably supported by a bearing (flange type bearing unit) 830 fixed to the first member 831 of the other support portion 83. In the present embodiment, the other shaft portion 601 is set to a length that passes through the bearing (flange type bearing unit) 830 and protrudes outward from the bearing (flange type bearing unit) 830 in order to attach an input sprocket 71b described later.

[0116] As described above, the prime mover 7a has an output shaft 70a. The prime mover 7a is arranged such that the output shaft 70a is parallel or substantially parallel to the axis of the rotary 6. That is, the prime mover 7a is arranged such that the output shaft 70a is parallel or substantially parallel to the shaft portion 601. In the present embodiment, the prime mover 7a is an electric motor. Accordingly, the first working device B includes a power line (cable) EL2 (see FIGS. 2 and 8) that supplies power to the prime mover (electric motor) 7a. The power line EL2 that supplies power to the prime mover 7a can be connected to the power line EL1 of the work vehicle A that is connected to the power output system (external output circuit) of the work vehicle A via a connector C. Thereby, the prime mover 7a is driven by receiving power supply from the work vehicle A via the power lines EL1 and EL2. As described above, in FIG. 8, since the illustration of the power output system (external output circuit) is omitted, the power line EL2 of the first working device B is connected to the power line EL1 connected to the output portion 43 of the control device 4. Strictly speaking, the power line EL1 of the work vehicle A has a portion connecting the control device 4 and a relay that opens and closes the power output system (external output circuit), and a portion connecting the power output system (external output circuit) opened and closed by the relay and the connector C. The power line EL2 of the first working device B is electrically connected to the power output system via the connector C.

[0117] The prime mover 7a is attached to the support frame 81 or one of the support portions 82. In the present embodiment, the prime mover 7a is attached to the support frame 81. The prime mover 7a is disposed at a position that projectively overlaps the rotary 6 when viewed from a direction orthogonal to the second direction. In the present embodiment, the prime mover 7a is disposed in contact with or close to the other support portion 83 (first member 831) that is a cover.

[0118] Specifically, the prime mover 7a is disposed on the support frame 81 with the output shaft 70a inserted into the first shaft insertion hole 831a of the first member 831 and is fixed to the support frame 81. From this, the prime mover 7a is disposed at a position that projectively overlaps the rotary 6 when viewed from a direction orthogonal to the second direction of the work vehicle A and is disposed within the range of the frame structure 8. That is, the prime mover 7a is disposed without protruding outward from the frame structure 8 in the second direction.

[0119] The prime mover 7a is in contact with or close to the first member 831 that constitutes the other support portion 83 (cover) with a casing (a casing that houses a rotor continuous with the output shaft 70a, etc.). Along with this, the output shaft 70a of the prime mover 7a protrudes into the accommodation space that houses the drive transmission mechanism 7b from the first member 831.

[0120] ​In this embodiment, the drive transmission mechanism 7b includes an output sprocket 71a attached to the output shaft 70a of the prime mover 7a, an input sprocket 71b attached to the other shaft portion 601 of the rotary 6, and a chain 71c wound around the output sprocket 71a and the input sprocket 71b. Accordingly, the input sprocket 71b is attached to a portion of the other shaft portion 601 of the rotary 6 that protrudes from the bearing 830. Note that, instead of the above configuration, the drive transmission mechanism 7b may have a gear group including an output gear attached to the output shaft 70a and an input gear attached to the shaft portions 601, 601, the input gear being directly or indirectly meshed with the output gear. Here, when the distance between the output gear and the input gear is large (when the output gear and the input gear cannot be directly meshed), an intermediate gear is provided between the output gear and the input gear, so that the output of the prime mover 7a can be transmitted to the rotary 6. That is, when a gear group is adopted for the drive transmission mechanism 7b, the output (rotational force) of the output gear may be directly or indirectly transmitted to the input gear.

[0121] As described above, since the output shaft 70a of the prime mover 7a and the other shaft portion 601 of the rotary 6 are between the first member 831 and the second member 832 (protruding into the accommodation space for accommodating the drive transmission mechanism 7b), the drive transmission mechanism 7b is covered by the other support portion 83 (cover). Further, when the prime mover 7a is rotationally driven, the drive transmission mechanism 7b transmits the output of the prime mover 7a to the rotary 6 (shaft portions 601, 601) and rotates the rotary 6.

[0122] As described above, in the first working device B according to this embodiment, the prime mover 7a and the drive transmission mechanism 7b are arranged on the other end side in the axial direction of the rotary 6 with reference to the center in the second direction. Accordingly, the weight (load) of the prime mover 7a and the drive transmission mechanism 7b acts biased toward the other end side in the axial direction of the rotary 6.

[0123] In view of this point, the first working device B includes a skid 75 disposed below the drive transmission mechanism 7b. Accordingly, the first working device B according to the present embodiment includes a rotating disk body 76 disposed at a position ahead of the skid 75 when the work vehicle A is traveling.

[0124] The skid 75 is movable in contact with the ground. The skid 75 is directly or indirectly connected to the frame structure 8 and receives a load acting downward. Specifically described, the skid 75 includes a support leg 750 fixed to the frame structure 8 and a skid body 751 connected to the lower end of the support leg 750.

[0125] In the present embodiment, as shown in FIG. 3, the skid 75 includes two (a pair) of support legs 750. Each of the pair of support legs 750 extends in one direction and has one end and the other end in one direction. The pair of support legs 750 are arranged at intervals in a direction orthogonal to the one direction. In the present embodiment, the pair of support legs 750 are fixed to the other support portion 83 (cover), which is a part of the frame structure 8. More specifically, the pair of support legs 750 are arranged along the outer surface of the second member 832. Each of the pair of support legs 750 is provided with a plurality of through holes arranged at intervals in one direction and through which male screw members can be inserted (not numbered). Accordingly, the second member 832 is provided with screw holes into which male screw members inserted through the through holes of the pair of support legs 750 are screwed. That is, the second member 832 is provided with screw holes corresponding to the pair of support legs 750 (through holes). Thereby, when fixing the skid 75, by selecting the through hole through which the male screw member is inserted from among the plurality of through holes of each support leg 750, the height of the skid body 751 can be changed and then the skid body 751 can be fixed in place.

[0126] The skid body 751 is formed in a ridged shape so that it can move in contact with the ground surface of a field or the like. Specifically, the skid body 751 is formed in a plate shape, extends in the traveling direction (straight-ahead direction) of the work vehicle A, and is inclined upward toward the leading side in the traveling direction at least on the leading side in the traveling direction. In the present embodiment, in consideration of the forward and backward movement of the work vehicle A, the skid body 751 is inclined upward toward the leading side in the traveling direction when the work vehicle A moves forward, and is also inclined upward toward the leading side in the traveling direction when the work vehicle A moves backward. That is, both ends in one direction of the skid body 751 are inclined upward. In the present embodiment, the lower ends of the pair of support legs 750 are connected to the upper surface of the skid body 751 so that the skid body 751 is located below the other support portion 83. Thereby, even if the first working device B tends to tilt toward one end side of the rotary 6 due to the weight of the drive transmission mechanism 7b of the prime mover 7a being biased toward one end side of the rotary 6, the skid 75 contacts the ground surface, and the tilting is prevented.

[0127] In the present embodiment, the rotating disk body 76 is disposed at a position ahead of the skid 75 when the work vehicle A moves forward. That is, the rotating disk body 76 is disposed in front of the skid 75 (on the side of the working device B). The rotating disk body 76 is rotatable around an inclined axis that rises upward toward the rear side of the work vehicle A and passes through the front-rear center line CL passing through the center in the second direction of the work vehicle A.

[0128] Specifically, it includes a support shaft portion 77a that rotatably supports the rotating disk body 76, and a support column portion 77b that supports the disk body (support shaft portion 77a) in a state where the relative height positions of the rotating disk body 76 and the skid 75 are made constant.

[0129] The center line (axis line) of the support shaft portion 77a is an inclined axis line that rises upward toward the rear side in the traveling direction of the work vehicle A and on the front-rear center line CL passing through the center in the second direction of the work vehicle A. That is, the support shaft portion 77a is inclined so as to rise upward toward the rear side in the traveling direction of the work vehicle A and on the front-rear center line CL passing through the center in the second direction of the work vehicle A, and the rotary disk body 76 is rotatably attached to the tip end portion. The support column portion 77b extends in the vertical direction. The lower end of the support column portion 77b is connected to the skid 75, and the upper end of the support column portion 77b is connected to the support shaft portion 77a. In the present embodiment, the support column portion 77b is formed in a rod shape. Accordingly, the support shaft portion 77a and the support column portion 77b are integrally formed. Thereby, when the work device B moves forward, as the rotary disk body 76 moves ahead of the skid 75, the surface layer of the soil is broken (softened) while rotating about the inclined axis line in a state of being in contact with the ground. As a result, the moving resistance when the subsequent skid 75 moves while being in contact with the ground with respect to the rotary disk body 76 is reduced, and smooth movement becomes possible.

[0130] Specifically, the place where the work is performed by the work device B is often soil in which lumps of soil and stones are mixed rather than snow, and even if the skid 75 is formed in a plow shape, the moving resistance increases when it comes into contact with lumps of soil and stones. However, as described above, when the rotary disk body 76 comes into contact with the surface layer of the soil ahead of the skid 75, not only does the soil on the surface layer of the soil become soft, but stones are also removed (pushed back) from the range through which the skid 75 passes, and lumps of soil are crushed. As a result, smooth progress of the skid 75 is ensured.

[0131] As shown in FIG. 3, the work body cover 9 is a main cover 90 that covers the upper part of the rotary 6, and includes the main cover 90 supported by the frame structure 8 (support frame 81) and a detection cover 91 that covers the rear side of the rotary 6.

[0132] Both the main cover 90 and the detection cover 91 are made of sheet metal. The main cover 90 and the detection cover 91 are arranged in the first direction, and the detection cover 91 is inclined downward as it goes backward in the first direction from the side of the main cover 90. Specifically, the detection cover 91 is connected to the main cover 90 via a hinge 92. That is, the front end portion of the detection cover 91 on the front side in the first direction is rotatably connected to the rear end portion of the main cover 90 on the rear side in the first direction around an axis extending in the second direction. Thereby, the detection cover 91 is configured to be swingable, and the rear end portion of the detection cover 91 on the rear side in the first direction is configured to move up and down. The rear end portion of the detection cover 91 contacts the ground surface of the soil during tillage work and serves to level the ground surface.

[0133] In the present embodiment, the first working device B includes a detection cover adjustment mechanism 93 for changing the posture of the detection cover 91. That is, the first working device B includes a detection cover adjustment mechanism 93 for changing the height of the rear end of the detection cover 91. The detection cover adjustment mechanism 93 maintains the detection cover 91 in a desired posture (inclination) in a swingable state. That is, the detection cover adjustment mechanism 93 maintains the rear end of the detection cover 91 at a desired position (height) while maintaining the detection cover 91 in a swingable state. Further, the first working device B includes a detection sensor 95 for grasping the height of the rear end of the detection cover 91 in order to realize the automatic tillage depth function in the work vehicle A. Further, in the present embodiment, the first working device B includes a transmitter 96 (transmitter) that transmits the detection result by the detection sensor 95 toward the receiver 16 of the work vehicle A.

[0134] The detection sensor 95 is an angle sensor that detects the inclination (angle) of the detection cover 91. The detection sensor 95 includes a rotating lever and detects the rotation angle by the rotation of the rotating lever. The detection sensor 95 is attached to the main cover 90. A connecting bar that is pivotally connected to the rotating lever so as to be rotatable around an axis extending in the second direction with respect to the detection cover 91 is connected to the rotating lever so as to be rotatable around an axis extending in the second direction. Accordingly, when the detection cover 91 rotates (oscillates) about the hinge 92, the rotating lever of the detection sensor 95 rotates, and the detection sensor 95 is configured to detect the rotation (posture) of the detection cover 91.

[0135] Accordingly, the control device 4 of the work vehicle A is configured to calculate the vertical movement (amount of movement) of the rear end portion of the detection cover 91 based on the detection result (angle information) by the detection sensor (angle sensor) 95. When the transmitter 96 receives power supply, it is paired with the receiver 16 of the work vehicle A. Accordingly, the first working device B includes a power line (cable) that supplies power to the detection sensor 95 and the transmitter 96. The power line is similar to the power line connected to the prime mover 7a (electric motor 26). It can be connector-connected to the power output system (external output circuit) of the work vehicle A.

[0136] Next, a working device of another aspect connected to the work vehicle A (hereinafter, referred to as a second working device for convenience) will be described. In the following description, components (identical components) or corresponding components that are common to the configuration of the first working device B shall be given the same name and the same reference numerals. Also, the definitions of directions and the like shall be the same as those of the first working device B.

[0137] As shown in FIGS. 18 and 19, the second working device B is a cage roller type tiller including a cage roller 6 as a rotary working body that is rotatable around an axis extending in the second direction. The second working device B is a driven tilling device in which the cage roller 6 rotates passively when the work vehicle A travels with the cage roller 6 in contact with the ground surface (grounded state). Accordingly, unlike the first working device B, the second working device B does not include the prime mover 7a. Accordingly, the second working device B does not include the prime mover 7a.

[0138] More specifically, the second working device B includes a frame structure 8 including a connecting portion 80 connectable to a working vehicle A which is a travelable vehicle, and a cage roller 6 which is a rotary working body pivotally supported by the frame structure 8 and is rotatable about an axis extending in the second direction of the working vehicle A. Further, the second working device B according to the present embodiment includes a tilling device 78 disposed at a position ahead of the cage roller 6 when the working vehicle A travels. The second working device B also includes a working body cover 9 covering the cage roller 6.

[0139] As shown in FIG. 19, the frame structure 8 includes, in addition to the connecting portion 80, a support frame 81 extending in the second direction, and a pair of support portions 82 and 83 extending downward from both end portions of the support frame 81.

[0140] The connecting portion 80 includes a pair of lower connecting portions 80a and 80a corresponding to the latching members 23R and 23L of a pair of lower links 20R and 20L on the working vehicle A side or a pair of lower latching portions 25a and 25a of the connecting frame 24 (in the figure, the latching members 23R and 23L of the pair of lower links 20R and 20L). In the present embodiment, the connecting portion 80 also includes an upper connecting portion 80b corresponding to the tip end portion of the upper link 22.

[0141] The pair of lower connecting portions 80a and 80a are arranged at intervals in the second direction. Specifically, each of the pair of lower connecting portions 80a and 80a includes a plate-shaped lower bracket 84 extending from the support frame 81 in a direction orthogonal to the second direction (the front side corresponding to the forward direction of the working vehicle A), and a lower connecting shaft 85 extending from the side surface (the surface facing the second direction) of the lower bracket 84 in the second direction.

[0142] The lower bracket 84 has one end and the other end opposite to the one end, and one end is connected to the support frame 81. The lower connecting shaft 85 is disposed on the other end side of the lower bracket 84. The lower connecting shafts 85 of the pair of lower connecting portions 80a and 80a are concentric or substantially concentric.

[0143] The pair of lower connecting portions 80a, 80a are symmetrically arranged with respect to the virtual reference plane VS. The lower connecting axes 85 of the pair of lower connecting portions 80a, 80a correspond to the arrangement of the latching members 23R, 23L of the pair of lower links 20R, 20L or the pair of lower latching portions 25a, 25a of the connecting frame 24. The lower connecting axis 85 is set to an outer diameter that fits into the recess of at least one of the latching members 23R, 23L and the lower latching portions 25a, 25a. That is, the lower connecting axis 85 of each lower connecting portion 80a, 80a is arranged so as to be latchable to the recess (lower notch portion 250a) of the corresponding latching member 23R, 23L of the corresponding lower links 20R, 20L or the corresponding lower latching portion 25a, 25a of the connecting frame 24. In the present embodiment, the lower connecting axis 85 of each lower connecting portion 80a, 80a is configured to be latchable to the latching members 23R, 23L of the corresponding lower links 20R, 20L. Note that the lower connecting axis 85 includes a shaft body connected to the lower bracket 84 and a spherical bearing externally fitted to the shaft body, similar to the shaft portion 242 of the connecting frame 24.

[0144] The upper connecting portion 80b is arranged between the pair of lower connecting portions 80a, 80a in the second direction. Specifically, the upper connecting portion 80b is arranged corresponding to the intermediate position between the pair of lower connecting portions 80a, 80a in the second direction. That is, the upper connecting portion 80b is arranged corresponding to the center in the axial direction (second direction) of the cage roller 6.

[0145] More specifically, the upper connecting portion 80b includes plate-like upper brackets 86, 86 extending from the support frame 81 in a direction orthogonal to the second direction (the front side corresponding to the forward direction of the work vehicle A), and an upper connecting axis 87 extending in the second direction from the side surfaces (surfaces facing the second direction) of the upper brackets 86, 86.

[0146] In the present embodiment, the upper connecting portion 80b includes a pair of upper brackets 86, 86 arranged at intervals in the second direction. Each of the pair of upper brackets 86, 86 has one end and the other end opposite to the one end, and one end of each is connected to the support frame 81.

[0147] A pair of upper brackets 86, 86 are arranged with an interval through which the tip of the upper link 22 can be interposed. The upper connecting shaft 87 is arranged on the other end side of the upper brackets 86, 86. The upper connecting shaft 87 is connected to the surface of the upper brackets 86, 86 facing in the second direction and extends in the second direction. In the present embodiment, as a pair of upper brackets 86, 86 are provided, the upper connecting shaft 87 is arranged between the pair of upper brackets 86, 86 with its axis facing in the second direction.

[0148] Accordingly, one end of the upper connecting shaft 87 is connected to the side surface of one upper bracket 86 facing one side in the second direction, and the other end of the upper connecting shaft 87 is connected to the side surface of the other upper bracket 86 facing the other side in the second direction. The central position of the upper connecting shaft 87 in the axial direction (second direction) coincides or substantially coincides with the front-rear center line CL (virtual reference plane VS) when viewed from the third direction. The upper connecting shaft 87 is located above the lower connecting portions 80a, 80a, and is located directly above the lower connecting portions 80a, 80a or on the front side in the first direction with respect to the lower connecting portions 80a, 80a. In the present embodiment, the upper connecting shaft 87 is located on the front side in the first direction with respect to the lower connecting portions 80a, 80a.

[0149] The upper connecting shaft 87 is arranged corresponding to the notch 22c of the tip portion 22b of the upper link 22 or the upper notch 250b of the upper latching portion 25b of the connecting frame 24. Also, the upper connecting shaft 87 is set to an outer diameter that fits into the notch 22c of the tip portion 22b of the upper link 22 or the upper notch 250b of the upper latching portion 25b of the connecting frame 24. In the present embodiment, the upper connecting shaft 87 is set to an outer diameter that fits into the notch 22c of the tip portion 22b of the upper link 22.

[0150] The support frame 81 is a rod-shaped body extending in the second direction. In the present embodiment, the support frame 81 is a hollow body (cylindrical body). The support frame 81 corresponds to the width of the cage roller 6 (strictly speaking, the axial length of the main shaft portion 600 described later).

[0151] The pair of support portions 82 and 83 are connected to both ends of the support frame 81 and extend in a direction orthogonal to the axis of the support frame 81. In the present embodiment, each of the pair of support portions 82 and 83 extends obliquely rearward and downward from the support frame 81. That is, one support portion 82 of the pair of support portions 82 and 83 is connected to one end of the support frame 81 and extends obliquely rearward and downward, and the other support portion 83 of the pair of support portions 82 and 83 is connected to the other end of the support frame 81 and extends obliquely rearward and downward. Each of the pair of support portions 82 and 83 pivotally supports the cage roller 6 at the lower end portion.

[0152] Specifically, each of the pair of support portions 82 and 83 has an upper end portion and a lower end portion. The upper end portion side is connected to the support frame 81, and bearings 820 and 830 for pivotally supporting the cage roller 6 are attached to the lower end portion. In the present embodiment, flange-type bearing units 820 and 830 are attached to the lower end portions of the support portions 82 and 83.

[0153] In the present embodiment, the pair of support portions 82 and 83 are formed in a plate shape. Each of the pair of support portions 82 and 83 has a longitudinal direction. One end portion in the longitudinal direction is an upper end portion located on the upper side, and the other end portion in the longitudinal direction is a lower end portion located on the lower side (obliquely downward). The upper end portion of one support portion 82 is connected to one end surface of the support frame 81. The upper end portion of the other support portion 83 is connected to the other end surface of the support frame 81. In the present embodiment, as the support frame 81 is formed in a cylindrical shape, the upper end portions of the pair of support portions 82 and 83 are connected (coupled) to the support frame 81 in a state where the opening of the support frame 81 is closed.

[0154] At the lower end of each of the pair of support portions 82 and 83, through-holes 821 and 831b for inserting the shaft portions 601 and 601 of the cage roller 6 are formed in the second direction. Accordingly, flange-type bearing units 820 and 830 are attached to the outer surfaces (the side surfaces in the second direction and facing outward) of the pair of support portions 82 and 83. The flange-type bearing units 820 and 830 are bolted to the support portions 82 and 83 and are detachable from the support portions 82 and 83. As in this embodiment, when the support portions 82 and 83 are in a plate shape, reinforcing members (ribs or the like) for reinforcing (increasing the rigidity of) the support portions 82 and 83 may be appropriately provided.

[0155] The cage roller 6 is disposed below the support frame 81. In this embodiment, the cage roller 6 is disposed obliquely rearward and downward of the support frame 81. As described above, since the frame structure 8 includes the pair of support portions 82 and 83, both ends of the cage roller 6 are supported by the pair of support portions 82 and 83.

[0156] The cage roller 6 has shaft portions 601 and 601 centered on the axis at one end. More specifically, the cage roller 6 has a roller body 605 and a pair of shaft portions 601 and 601.

[0157] The roller body 605 includes a plurality of cross bars 605a... arranged at intervals in the circumferential direction around the rotation center (axis extending in the second direction). Each of them includes a plurality of cross bars 605a... extending in the second direction, and a pair of support plates 605b and 605b connected to both ends of the plurality of cross bars 605a..., and the pair of support plates 605b and 605b supporting both ends of each of the plurality of cross bars 605a.... The roller body 605 includes reinforcing members 605c... for reinforcing the plurality of cross bars 605a....

[0158] Each of the multiple horizontal bars 605a is a solid or hollow bar. In this embodiment, a solid bar is used for each of the multiple horizontal bars 605a. As shown in Fig. 18, the multiple horizontal bars 605a have their centers (center lines) positioned on a virtual circle (circle viewed from the second direction) VC centered on the rotation center of the cage roller 6. In this embodiment, the multiple horizontal bars 605a are disposed at equal intervals in the circumferential direction around the rotation center (the circumferential direction of the virtual circle).

[0159] Each of the pair of support plates 605b, 605b is formed in a circular shape. Each of the pair of support plates 605b, 605b is set to a size that allows it to face the end faces of the multiple horizontal bars 605a... with its own center aligned with the center of the virtual circle VC that is the reference for the arrangement of the multiple horizontal bars 605a.... In this embodiment, each of the pair of support plates 605b, 605b has multiple cutouts formed on the outer circumferential end. The multiple cutouts are located between the horizontal bars 605a... adjacent to each other in the circumferential direction. In this embodiment, each of the multiple cutouts has an arc shape when viewed from the second direction.

[0160] The pair of shaft portions 601, 601 are connected to the outer surfaces (surfaces facing outward in the second direction) of the pair of support plates 605b, 605b and protrude outward from the outer surfaces. Each of the pair of shaft portions 601, 601 has an axis extending in the second direction and is arranged concentrically with each other. Furthermore, each axis of the pair of shaft portions 601, 601 coincides with the center of the support plates 605b, 605b (the center of the imaginary circle VC).

[0161] The tilling device 78 has a plurality of tilling members 780 arranged in the second direction. A soiler, more specifically, a soiler with wings, is used for each of the multiple tilling members 780. The soiler 780 is formed in a plate shape. The soiler 780 is disposed with the plate thickness direction being the up-down direction. Based on this, the width of the soiler 780 in a second direction perpendicular to the traveling direction (first direction) and the up-down direction tapers toward the front in the traveling direction.

[0162] The tilling device 78 includes a support member 781 that supports a tilling member 780, and the support member 781 is directly or indirectly attached to the frame structure 8. The support member 781 extends in the vertical direction, and the tilling member (soiler) 780 is attached to the lower end thereof. In the present embodiment, the support member 781 is formed in a prismatic shape. As the tilling device 78 has a plurality of tilling members 780, it has a plurality of support members 781 corresponding to the tilling members 780. That is, the support member 781 is provided for each tilling member 780. The support member 781 is slidably attached to the frame structure 8 in the vertical direction, enabling adjustment of the height position of the tilling member 780.

[0163] More specifically, the second working device B includes an attachment bar 782 that is connected and supported by the support frame 81 and is disposed on the front side of the support frame 81, and a fixing fitting 783 that fixes the tilling device 78 (tilling member 780) to the attachment bar 782.

[0164] The attachment bar 782 extends in the second direction. In the present embodiment, the attachment bar 782 is formed in a square tube shape. The length of the attachment bar 782 in the second direction corresponds to the length of the support frame 81 (cage roller 6) in the second direction so that a plurality of tilling members 780 can be arranged in the second direction in front of the cage roller 6 (at a position ahead during travel).

[0165] The fixing fitting 783 is formed in a U shape when viewed from the second direction. Specifically, the fixing fitting 783 includes a pair of first piece portions 783a, 783a that are spaced apart in the vertical direction and each extend in the first direction, and a second piece portion 783b that connects one ends of the pair of first piece portions 783a, 783a. The pair of first piece portions 783a, 783a and the second piece portion 783b are formed in a plate shape. Accordingly, in the fixing fitting 783 according to the present embodiment, the pair of first piece portions 783a, 783a and the second piece portion 783b are continuously and integrally formed by bending a metal plate into a U shape.

[0166] The length of the pair of first blade parts 783a, 783a in the first direction is set to the length that extends forward from the mounting bar 782 with the mounting bar 782 interposed between the pair of first blade parts 783a, 783a. And each of the pair of first blade parts 783a, 783a has a hole 784 through which the support member 781 is inserted vertically. As described above, since the support member 781 is formed in a square tubular shape, the holes 784 of the first blade parts 783a, 783a are square holes according to the cross-sectional shape of the support member 781.

[0167] A male screw member S that biases the mounting bar 782 interposed between the pair of first blade parts 783a, 783a forward is screwed into the second blade part 783b. The fixing bracket 783 pulls the pair of first blade parts 783a, 783a backward by tightening the male screw member S to bias the mounting bar 782, and accordingly, the support member 781 inserted through the holes of the pair of first blade parts 783a, 783a is also pulled backward and pressed against the mounting bar 782. Thereby, the fixing bracket 783 fixes the support member 781 and the tilling member 780 connected to the support member 781 in a fixed position. Also, the fixing bracket 783 allows the vertical movement of the support member 781 by loosening the male screw member S to release the pressure contact of the support member 781 with respect to the mounting bar 782.

[0168] Thereby, the fixing bracket 783 enables the height adjustment of the tilling member 780 connected to the support member 781. In the present embodiment, the fixing bracket 783 is provided corresponding to each of the plurality of tilling members 780. That is, the second working device B has a plurality of fixing brackets 783 Accordingly, a plurality of fixing brackets 783 are fitted into the mounting bar 782 while being arranged in the second direction. As a result, the second working device B according to the present embodiment can individually fix and adjust the height of the tilling member 780. Note that the width of the fixing bracket 783 in the second direction may be made to correspond to the length of the mounting bar 782 to form a single fixing bracket 783, and a plurality of holes (holes through which the support member 781 is inserted) may be provided at intervals in the second direction in each of the pair of first piece portions 783a, 783a. In this way, the fixing and position adjustment of the plurality of support members 781 (tilling member 780) can be performed with a small number of man-hours. In this case, it goes without saying that it is preferable to arrange a plurality of male screw members S in the second direction in order to ensure the pulling force for the plurality of support members 781.

[0169] The working body cover 9 may have the same configuration as the working body cover 9 of the first working device B, but in the present embodiment, it is a detection cover 91 that covers from above to behind the cage roller 6, and includes a detection cover 91 supported by the frame structure 8 (support frame 81). In the present embodiment, the working body cover 9 further includes an extension cover 94 that extends the detection cover 91.

[0170] Both the detection cover 91 and the extension cover 94 are made of sheet metal. The detection cover 91 and the extension cover 94 are arranged in the first direction, and the detection cover 91 is inclined downward as it goes backward from the position covering above the cage roller 6. Specifically, the detection cover 91 is connected to the frame structure 8 (support frame 81) via a hinge 92. That is, the front end portion of the detection cover 91 on the front side in the first direction is rotatably connected to the portion on the rear side in the first direction of the support frame 81 around an axis extending in the second direction. As a result, the detection cover 91 is configured to be swingable, and the rear end portion of the detection cover 91 on the rear side in the first direction is configured to move up and down. In the present embodiment, the rear end portion of the extension cover 94 contacts the ground surface of the soil during tilling work and serves to level the ground surface.

[0171] In this embodiment, the second working device B includes a detection cover adjustment mechanism 93 for changing the posture of the detection cover 91. That is, the second working device B includes a detection cover adjustment mechanism 93 for changing the height of the rear end of the detection cover 91. The detection cover adjustment mechanism 93 maintains the detection cover 91 in a swingable state at a desired posture (tilt). That is, the detection cover adjustment mechanism 93 maintains the rear end of the detection cover 91 at a desired position (height) while maintaining the detection cover 91 in a swingable state. Further, the second working device B includes a detection sensor 95 for grasping the height of the rear end of the detection cover 91 in order to realize the automatic tillage depth function in the work vehicle A. Further, in this embodiment, the second working device B includes a transmitter 96 (transmitter) that transmits the detection result by the detection sensor 95 toward the receiver 16 of the work vehicle A.

[0172] The detection sensor 95 is an angle sensor that detects the inclination (angle) of the detection cover 91. The detection sensor 95 includes a rotary lever, and detects the rotation angle by the rotation of the rotary lever. The detection sensor 95 is attached to the frame structure 8 (support frame 81). A connecting bar pivotally connected to the rotary lever so as to be rotatable about an axis extending in the second direction with respect to the detection cover 91 is connected so as to be rotatable about an axis extending in the second direction. Thereby, when the detection cover 91 rotates (swings) about the hinge 92, the rotary lever of the detection sensor 95 rotates, and the detection sensor 95 is configured to detect the rotation (posture) of the detection cover 91.

[0173] Accordingly, the control device 4 of the work vehicle A is configured to calculate the vertical movement (movement amount) of the rear end portion of the detection cover 91 based on the detection result (angle information) by the detection sensor (angle sensor) 95. When the transmitter 96 receives power supply, it is paired with the receiver 16 of the work vehicle A. Accordingly, the second working device B includes a power line (cable) that supplies power to the detection sensor 95 and the transmitter 96. The power line is similar to the power line connected to the prime mover 7a (electric motor 26). It can be connector-connected to the power output system (external output circuit) of the work vehicle A.

[0174] The detection sensor 95 is an angle sensor that detects the inclination (angle) of the detection cover 91. As described above, the control device 4 of the work vehicle A calculates the vertical movement (amount of movement) of the rear end portion of the detection cover 91 based on the detection result (angle information) by the angle sensor. The transmitter 96 is paired with the receiver 16 of the work vehicle A when it receives power supply. Along with this, the second working device B includes a power line (cable) that supplies power to the detection sensor 95 and the transmitter 96. The power line is similar to the power line connected to the prime mover 7a (electric motor 26). It can be connected to the power output system (external output circuit) of the work vehicle A by a connector.

[0175] The second working device B is as described above. When performing tillage work, as the work vehicle A advances, the tilling member 780 (subsoiler) tills the soil in advance. The cage roller 6 further tills or cultivates the surface layer of the soil tilled by the tilling member 780 (subsoiler). In the present embodiment, since the extension cover 94 follows the cage roller 6, the extension cover 94 levels the soil surface uniformly. Also, in the second working device B, it has the detection sensor 95, and the detection result by the detection sensor 95 can be transmitted from the transmitter 96 to the work vehicle A. Therefore, when the operator sets the automatic tillage depth function, the control device 4 of the work vehicle A operates the coupling mechanism 2 (lower links 20R, 20L) based on the detection result of the detection sensor 95 to raise and lower the second working device B. Thereby, good tillage can also be performed in the second working device B.

[0176] The above embodiment is as described above. The present invention (preferred embodiment) provides the working device B described in the following items (items 2-1 to 2-12). In addition, the above embodiment also provides the work vehicle A described in the following items (items 1-1 to 1-8).

[0177] (Item 1-1) A work vehicle A includes a travelable vehicle body 1 and a coupling mechanism 2 attached to the vehicle body 1 for coupling and supporting a working device B. The coupling mechanism 2 includes a pair of lower links 20R, 20L each having a first end 20a rotatably coupled to the vehicle body 1 about an axis extending in the width direction (second direction) of the vehicle body 1 and a second end 20b opposite to the first end 20a. The pair of lower links 20R, 20L are spaced apart in the width direction (second direction) of the vehicle body 1, and the working device B is directly or indirectly coupled to the second end 20b. The coupling mechanism 2 further includes a pair of actuators 21R, 21L disposed corresponding to the pair of lower links 20R, 20L, each actuator 21R, 21L being configured to swing the corresponding lower link 20R, 20L about the axis. The pair of actuators 21R, 21L are each independently operable.

[0178] According to the work vehicle A of Item 1-1, since the pair of actuators 21R, 21L are each independently operable, the pair of lower links 20R, 20L can also rotate independently of each other. That is, the pair of lower links 20R, 20L can rotate in the same direction in synchronization (the second end 20b moves up and down) or rotate in opposite directions to each other. Also, only one of the lower links 20R, 20L can be moved up and down. As a result, the working device B coupled to the second ends 20b of the pair of lower links 20R, 20L assumes an appropriate posture according to the change in the posture of the vehicle body 1. Therefore, the work vehicle A can bring the posture of the working device B to an appropriate state according to the situation.

[0179] (Item 1-2) Each of the pair of actuators 21R, 21L is a cylinder device configured to be extendable and contractible in one direction and having an electric motor 26 for driving the actuator to extend and contract. The cylinder device is disposed to straddle the corresponding lower link 20R, 20L and the vehicle body 1, and both ends in one direction are coupled to the lower link 20R, 20L and the vehicle body 1. The work vehicle A according to Item 1-1.

[0180] According to the work vehicle A of Item 1-2, each of the pair of actuators 21R and 21L is configured to be extendable and retractable in one direction, and is a cylinder device 21R, 21L having an electric motor 26 that drives for its own extension and retraction, so that each can operate independently. That is, since the pair of actuators 21R and 21L (cylinder devices 21R and 21L) extend and retract by driving their own electric motors 26, either one of the actuators 21R can extend and retract without being affected by the situation of the other actuator 21L. Thereby, the pair of lower links 20R and 20L can be lifted and lowered independently without affecting each other (without mutual interference).

[0181] (Item 1-3) The work vehicle A according to Item 1-2, wherein each of the pair of actuators 21R and 21L is an electro-hydraulic cylinder including a hydraulic pump 280 that discharges hydraulic oil for its own extension and retraction, and the hydraulic pump 280 is driven by an electric motor 26.

[0182] According to the work vehicle A of Item 1-3, since each of the pair of actuators 21R and 21L is an electro-hydraulic cylinder including a hydraulic pump 280 driven by an electric motor 26, sufficient propulsive force (pushing force and pulling force) during extension and retraction can be ensured.

[0183] (Item 1-4) In at least one of the lower links 20R and 20L and the actuators 21R and 21L, a plurality of connection positions connectable to at least the other of the lower links 20R and 20L and the actuators 21R and 21L are set, and the connection mechanism 2 includes angle sensors S3, S3 that detect the rotation angle around the axis of each of the pair of lower links 20R and 20L. The work vehicle A according to Item 1-2.

[0184] According to Items 1-4, since a plurality of connection positions connectable to at least one of the lower links 20R and 20L and the actuators 21R and 21L are set in at least one of the lower links 20R and 20L and the actuators 21R and 21L, the posture (tilt angle) of the lower links 20R and 20L can be adjusted according to the situation by the combination of the connection positions. Further, since the connection mechanism 2 includes angle sensors S3 and S3 that detect the rotation angles about the respective axes of the pair of lower links 20R and 20L, the situation (tilt angle) of the pair of lower links 20R and 20L can be grasped. Thereby, the reference position (posture) of the pair of lower links 20R and 20L and the required rotation amount (rotation angle) for each of the pair of lower links 20R and 20L can also be grasped. Therefore, the pair of lower links 20R and 20L can be rotated by the rotation amount and in the rotation direction according to the situation.

[0185] (Item 1-5) The connection mechanism 2 is a connection frame 24 that connects the second ends 20b of the pair of lower links 20R and 20L, and has a connection frame 24 including a latching portion 25 to which the working device B can be latched. Both ends of the connection frame 24 are supported by the respective second ends 20b of the pair of lower links 20R and 20L via spherical bearings 240. The working vehicle A according to any one of Items 1-1 to 1-4.

[0186] According to the working vehicle A of Item 1-5, the connection mechanism 2 is for the pair of lower links 20R and 20L A connecting frame 24 that connects the second ends 20b of the pair of lower links 20R and 20L to each other. Since the connecting frame 24 includes a latching portion 25 to which the working device B can be latched, by latching the working device B to the latching portion 25, the working device B can be connected to the second ends 20b of the pair of lower links 20R and 20L via the connecting frame 24. Further, both ends of the connecting frame 24 are supported by the respective second ends 20b of the pair of lower links 20R and 20L via spherical bearings 240. Therefore, even if the pair of lower links 20R and 20L rotate relatively in opposite directions, no torsional action occurs on the connecting frame 24 and the working device B, and unnecessary forces (stresses) are prevented from acting. That is, since the spherical bearing 240 allows rotation regardless of the direction about the center point of the spherical surface, when a height difference occurs between the second ends 20b of the pair of lower links 20R and 20L, the spherical bearing 240 allows a change in the posture of the connecting frame 24 supported by the second ends 20b of the lower links 20R and 20L. Accordingly, it is possible to prevent a large torsional stress from acting on the end of the connecting frame 24 supported by the second ends 20b of the lower links 20R and 20L. Also, since excessive friction does not occur between the second ends 20b of the lower links 20R and 20L and the ends of the connecting frame 24, wear of both is suppressed.

[0187] (Item 1-6) The connecting mechanism 2 is a pair of latching members 23R and 23L to which the working device B can be latched, and the working vehicle A according to any one of Items 1-1 to 1-5, which has a pair of latching members 23R and 23L connected to the respective second ends 20b of the pair of lower links 20R and 20L.

[0188] According to the working vehicle A of Item 1-6, since it has a pair of latching members 23R and 23L to which the working device B can be latched, and the pair of latching members 23R and 23L are connected to the respective second ends 20b of the pair of lower links 20R and 20L, the connection of the working device B can be easily and surely performed.

[0189] (Item 1-7) The connecting mechanism 2 has an upper link 22 disposed above a pair of lower links 20R and 20L. The upper link 22 includes a base end portion 22a rotatably connected to the vehicle body 1 about an axis extending in the width direction (second direction), and a tip end portion 22b on the opposite side of the base end portion 22a. The tip end portion 22b is rotatably connected to the connecting frame 24 about an axis extending in the width direction (second direction). The work vehicle A according to items 1-5

[0190] According to the work vehicle A of items 1-7, it has an upper link 22 disposed above a pair of lower links 20R and 20L. The upper link 22 includes a base end portion 22a rotatably connected to the vehicle body 1 about an axis extending in the width direction (second direction), and a tip end portion 22b on the opposite side of the base end portion. Since the tip end portion 22b is rotatably connected to the connecting frame 24 about an axis extending in the width direction (second direction), the connecting frame 24 is supported at three (three locations) of a pair of lower links 20R and 20L and the upper link 22. Thereby, the positioning (posture determination) of the connecting frame 24 is ensured, so that the working device B is stably connected and supported.

[0191] (Items 1-8) The connecting mechanism 2 has an upper link 22 disposed above a pair of lower links 20R and 20L. The upper link 22 has a base end portion rotatably connected to the vehicle body 1 about an axis extending in the width direction (second direction), and a tip end portion on the opposite side of the base end portion. The tip end portion of the upper link 22 can latch the working device B. The work vehicle A according to items 1-6

[0192] According to the work vehicle A of items 1-8, it has an upper link 22 disposed above a pair of lower links 20R and 20L. The upper link 22 has a base end portion rotatably connected to the vehicle body 1 about an axis extending in the width direction (second direction), and a tip end portion on the opposite side of the base end portion. Since the tip end portion of the upper link 22 can latch the working device B, the working device B is supported at three (three locations) of a pair of lower links 20R and 20L and the upper link 22. That is, since the positioning (posture determination) of the working device B is ensured, the working device B is stably connected and supported.

[0193] (Item 2-1) A frame structure 8 including a coupling portion 80 connectable to a traveling vehicle, a rotary working body 6 pivotally supported by the frame structure 8, the rotary working body 6 being rotatable about an axis extending in the width direction (second direction) of the traveling vehicle, and a prime mover 7a for rotationally driving the rotary working body 6, wherein the output of the prime mover 7a is transmitted directly or indirectly to the rotary working body 6. A working device B.

[0194] According to the working device B of Item 2-1, since it includes a prime mover 7a for rotationally driving the rotary working body 6 and the output of the prime mover 7a is transmitted directly or indirectly to the rotary working body 6, it is not necessary to transmit drive from the traveling vehicle (working vehicle A) side. As a result, the drive load on the traveling vehicle (working vehicle A) side can be reduced. Further, since the working device B drives the rotary working body 6 with its own prime mover 7a, it can be driven while reducing drive transmission loss due to mechanical resistance or the like. Therefore, the working device B can be driven sufficiently while reducing the load on the working vehicle A.

[0195] (Item 2-2) The working device B according to Item 2-1, wherein the output of the prime mover 7a is transmitted directly or indirectly to either one of the both ends of the rotary working body 6 in the width direction (second direction).

[0196] According to the working device B of Item 2-2, since the output of the prime mover 7a is transmitted directly or indirectly to either one of the both ends of the rotary working body 6 in the width direction (second direction), the output of the prime mover 7a can be transmitted to the rotary working body 6 efficiently and reliably while having a simple configuration.

[0197] (Item 2-3) The working device B according to Item 2-2, further comprising a drive transmission mechanism 7b for transmitting the output of the prime mover 7a to the rotary working body 6, the prime mover 7a having an output shaft 70a, and the drive transmission mechanism 7b transmitting the rotation of the output shaft 70a to one end of the rotary working body 6.

[0198] According to the working device B of Item 2-3, a drive transmission mechanism 7b for transmitting the output of the prime mover 7a to the rotary working body 6 is provided. The prime mover 7a has an output shaft 70a, and the drive transmission mechanism 7b can reliably transmit the output of the prime mover 7a to the rotary working body 6 because it transmits the rotation of the output shaft 70a to one end of the rotary working body 6.

[0199] (Item 2-4) The rotary working body 6 has shaft portions 601, 601 centered on an axis at one end. The prime mover 7a is arranged with the output shaft 70a parallel or substantially parallel to the shaft portions 601. The drive transmission mechanism 7b has a gear group including an output gear attached to the output shaft 70a and an input gear attached to the shaft portions 601, 601 and meshing directly or indirectly with the output gear. The working device B described in Item 2-3.

[0200] According to the working device B of Item 2-4, the rotary working body 6 has shaft portions 601, 601 centered on an axis at one end. The prime mover 7a is arranged with the output shaft 70a parallel or substantially parallel to the shaft portions 601, 601. The drive transmission mechanism 7b has a gear group including an output gear attached to the output shaft 70a and an input gear attached to the shaft portions 601, 601 and meshing directly or indirectly with the output gear. Therefore, the output of the prime mover 7a can be reliably transmitted to the rotary working body 6 through the gear group including the output gear and the input gear.

[0201] (Item 2-5) The rotary working body 6 has shaft portions 601, 601 centered on an axis at one end. The prime mover 7a is arranged with the output shaft 70a parallel or substantially parallel to the shaft portions 601, 601. The drive transmission mechanism 7b has an output sprocket 71a attached to the output shaft 70a, an input sprocket 71b attached to the shaft portions 601, 601, and a chain 71c wound around the output sprocket 71a and the input sprocket 71b. The working device B described in Item 2-3.

[0202] According to the working device B of Item 2-5, the rotary working body 6 has shaft portions 601, 601 centered on the axis at one end, the prime mover 7a is arranged with the output shaft 70a parallel or substantially parallel to the shaft portions 601, 601, and the drive transmission mechanism 7b includes an output sprocket 71a attached to the output shaft 70a, an input sprocket 71b attached to the shaft portions 601, 601, and a chain 71c wound around the output sprocket 71a and the input sprocket 71b. Therefore, the output of the prime mover 7a can be transmitted in the order of the output sprocket 71a, the chain 71c, the input sprocket 71b, and the rotary working body 6. Since the output of the prime mover 7a can be transmitted with such a simple configuration, the loss of drive energy (transmission loss) can be suppressed.

[0203] (Item 2-6) The frame structure 8 includes a support frame 81 extending in the width direction (second direction) and a pair of support portions 82, 83 extending downward from both ends of the support frame 81. The rotary working body 6 is arranged below the support frame 81, both ends of the rotary working body 6 are supported by the pair of support portions 82, 83, and the prime mover 7a is attached to the support frame 81 or one of the support portions 82. The working device B described in Item 2-3.

[0204] According to the working device B of Item 2-6, the frame structure 8 includes a support frame 81 extending in the width direction (second direction) and a pair of support portions 82, 83 extending downward from both ends of the support frame 81. The rotary working body 6 is arranged below the support frame 81, and both ends of the rotary working body 6 are supported by the pair of support portions 82, 83. Therefore, the rotary working body 6 can be supported stably and reliably. In addition, since the prime mover 7a is attached to the support frame 81 or one of the support portions 82, the prime mover 7a can also be supported stably and reliably.

[0205] (Item 2-7) Among the pair of support portions 82, 83, one support portion 82 that supports the end is a cover that covers the drive transmission mechanism 7b. The working device B described in Item 2-6.

[0206] According to the working device B of Items 2-7, among the pair of support parts 82 and 83, since one support part 82 that supports the end part is a cover that covers the drive transmission mechanism 7b, by making one support part 82 also serve as the cover that covers the drive transmission mechanism 7b, the weight of the device can be reduced.

[0207] (Item 2-8) The working device B according to Item 2-3, which includes a cover that covers the drive transmission mechanism 7b, and the prime mover 7a is arranged in contact with or close to the cover.

[0208] According to the working device B of Items 2-3, since it includes a cover that covers the drive transmission mechanism 7b and the prime mover 7a is arranged in contact with or close to the cover, the prime mover 7a is arranged at a position close to the drive transmission mechanism 7b. That is, since the prime mover 7a and the rotary working body 6 are arranged at positions close to each other, the loss until the output of the prime mover 7a is transmitted to the rotary working body 6 can be suppressed.

[0209] (Item 2-9) The working device B according to Item 2-3, which is provided with a skid 75 arranged below the drive transmission mechanism 7b and movable in contact with the ground, and the skid 75 is directly or indirectly connected to the frame structure 8 and receives a load acting downward.

[0210] According to the working device B of Item 2-9, a skid 75 is provided which is arranged below the drive transmission mechanism 7b and is movable in contact with the ground. The skid 75 is directly or indirectly connected to the frame structure 8 and receives a load acting downward, so that the working device B can be prevented from being unnecessarily tilted due to the weight (load) of the prime mover 7a and the drive transmission mechanism 7b. That is, when the prime mover 7a and the drive transmission mechanism 7b are arranged on either one side in the width direction (second direction) of the device (the direction in which the rotation axis 60 of the rotary working body 6 extends), a moment acts around the center (starting point) of the rotation axis 60 of the rotary working body 6. Along with this, the working device B tends to tilt to either one side in the width direction (second direction), but according to the working device B of Item 2-9, since the skid 75 arranged below the drive transmission mechanism 7b and in contact with the ground supports either one side of the rotary working body 6, the working device B is prevented from being unnecessarily tilted. Also, since the skid 75 is movable in contact with the ground, it does not hinder the movement (advancement) of the working device B due to the running of the traveling vehicle (working vehicle A).

[0211] (Item 2-10) The working device B according to Item 2-9, comprising a rotating disk body 76 arranged at a position ahead of the skid 75 when the traveling vehicle is running, the rotating disk body 76 being rotatable around an inclined axis that rises upward toward the rear side in the traveling direction of the traveling vehicle and on the side of the front-rear center line CL passing through the center in the width direction (second direction) of the traveling vehicle.

[0212] According to the working device B of Item 2-10, since the rotating disk body 76 is provided which is arranged at a position ahead of the skid 75 when the traveling vehicle is running and is rotatable around an inclined axis that rises upward toward the rear side in the traveling direction of the traveling vehicle and on the side of the front-rear center line CL passing through the center in the width direction (second direction) of the traveling vehicle, the rotating disk body 76 removes stones and lumps of soil in front of the advancing skid 75 during work. As a result, the advancement of the skid 75 when the skid 75 moves in contact with the ground becomes smooth.

[0213] (Item 2-11) The power source 7a is the working device B according to any one of Items 2-1 to 2-10, which is arranged at a position that projects and overlaps the rotating working body 6 when viewed from a direction orthogonal to the width direction (second direction) of the traveling vehicle.

[0214] According to the working device B of Item 2-11, since the power source 7a is arranged at a position that projects and overlaps the rotating working body 6 when viewed from a direction orthogonal to the width direction (second direction) of the traveling vehicle, the power source 7a does not project in the width direction (second direction) from the rotating working body 6. Thereby, it is possible to prevent the power source 7a from coming into contact with the surroundings during the operation of the working device B.

[0215] (Item 2-12) The power source 7a is an electric motor 26, and is the working device B according to Item 2-11, which is driven by receiving power supply from the traveling vehicle.

[0216] According to the working device B of Item 2-12, since the power source 7a is an electric motor 26 and is driven by receiving power supply from the traveling vehicle, there is no generation of exhaust gas like an internal combustion engine, and it can contribute to environmental improvement and the like.

[0217] Note that the present invention is not limited to the above-described embodiment, and can be appropriately changed within a range that does not depart from the gist of the present invention. It can be appropriately changed within the range.

[0218] For example, in the above embodiment, although electric hydraulic cylinders are adopted for each of the pair of actuators 21R and 21L of the coupling mechanism 2 of the work vehicle A, the present invention is not limited thereto. For example, each of the pair of actuators 21R and 21L of the coupling mechanism 2 may be a hydraulic cylinder 27 connected to a hydraulic circuit provided in the work vehicle A. However, even in this case, as in the above embodiment, it is needless to say that the hydraulic circuit is configured such that the pair of hydraulic cylinders 27 can operate (extend and contract) independently. Further, each of the pair of actuators 21R and 21L of the coupling mechanism 2 is not limited to hydraulic pressure, and may be an electric cylinder having an electric motor 26. That is, each of the pair of actuators 21R and 21L of the coupling mechanism 2 may be an electric cylinder including an electric motor 26 and a conversion mechanism that converts the rotational output of the electric motor 26 into a linear motion, the conversion mechanism being configured to linearly move a rod 271a to move the rod 271a in and out of a cylinder tube 270.

[0219] In the above embodiment, an electric motor is adopted for the prime mover 7a of the first working device B, but the present invention is not limited thereto. For example, the prime mover 7a of the working measure may be a small internal combustion engine (small engine). Even in this case, since the small internal combustion engine (small engine) has an output shaft 70a, by arranging the output shaft 70a of the small internal combustion engine (small engine) in the same manner as the output shaft 70a of the electric motor 26 described above, the same operations and effects as those of the above embodiment can be achieved.

[0220] In the above-described embodiment, the first working device B transmits the output of the prime mover 7a to one end of the rotary working body 6, but is not limited thereto. For example, as shown in FIG. 20, the prime mover 7a may be arranged so that the output shaft 70a of the prime mover 7a corresponds to an arbitrary position (the central position in FIG. 20) between both ends in the second direction (axial direction) of the rotary working body 6. In this case, an output sprocket 71a is attached to the output shaft 70a of the prime mover 7a, and an input sprocket 71b is attached to an arbitrary position between both ends in the second direction (axial direction) of the main shaft portion 600 of the rotary working body (rotor) 6 and at a position corresponding to the arrangement of the output shaft 70a of the prime mover 7a (the central position in FIG. 20). By passing a chain 71c around the output sprocket 71a and the input sprocket 71b, the output of the prime mover 7a can be transmitted to the rotary working body 6. In this case, a cover 79 that covers the drive transmission mechanism 7b (the output sprocket 71a, the input sprocket 71b, and the chain 71c) may be arranged separately from the support portions 82 and 83 that support the rotary working body 6.

[0221] In the above-described embodiment, each of the first working device B and the second working device B includes one rotary working body 6 (rotary 6, cage roller 6), but is not limited thereto. For example, as shown in FIGS. 21 to 21L, the working device B may include a plurality (two or more) of rotary working bodies 6, and the plurality of rotary working bodies 6 may be arranged with a positional shift in the second direction. In this case, as shown in FIGS. 21 and 22, the plurality of rotary working bodies 6 may be arranged in a line in the second direction. Further, as shown in FIGS. 23 and 24, the plurality of rotary working bodies 6 may be arranged with a positional shift in the second direction such that adjacent rotary working bodies 6 are shifted in position in the first direction and partially overlap (partially overlap in projection) when viewed from the first direction.

[0222] Thus, when the working device B includes a plurality of rotary working bodies 6 that are displaced in the second direction, the overall length (overall width) of the working device B in the second direction becomes long, and the rotary working bodies 6 protrude outward beyond both side surfaces of the work vehicle A (vehicle body 1) in the second direction. Therefore, in these cases, since the working device B becomes an obstruction during traveling or when not performing work, it is preferable that the rotary working bodies 6 at both ends among the plurality of horizontally arranged rotary working bodies 6 are configured to be able to stand upright upward.

[0223] More specifically described, this type of working device B includes a frame structure 8 including a connecting portion 80 connectable to a traveling vehicle and a plurality of rotary working bodies 6 pivotally supported by the frame structure 8, each of the plurality of rotary working bodies 6 being rotatable about an axis extending in the second direction of the traveling vehicle.

[0224] In this type of working device B as well, when the rotary working body 6 is a rotary 6, it includes a plurality of prime movers 7a provided corresponding to each of the plurality of rotary working bodies 6, the plurality of prime movers 7a for rotationally driving the corresponding rotary working bodies 6, and the output of the prime mover 7a is transmitted directly or indirectly to the rotary working body 6.

[0225] The frame structure 8 of this type of working device B has a first frame 8a including the connecting portion 80 and a pair of second frames 8b connected to both ends of the first frame 8a, the pair of second frames 8b rotatably supporting the rotary working bodies 6 at both ends in the second direction.

[0226] The first frame 8a has a support frame (referred to as the first support frame) 81a that extends in the second direction. The connecting portion 80 is connected to the first support frame 81a. Specifically, similar to the first working device B and the second working device B, the connecting portion 80 includes a pair of lower connecting portions 80a corresponding to the latching members 23R and 23L of the pair of lower links 20R and 20L on the work vehicle A side or the pair of lower latching portions 25a and 25a of the connecting frame 24. Further, in the present embodiment, the connecting portion 80 includes an upper connecting portion 80b corresponding to the tip of the upper link 22 or the upper latching portion 25b of the connecting frame 24. The pair of lower connecting portions and the upper connecting portion are the same in configuration as in the above embodiment except that they are connected to the first support frame 81a. Therefore, by reading the support frame 81 in the description of the pair of lower connecting portions 80a and the upper connecting portion 80b of the first working device B or the second working device B above as the first support frame 81a, the description of the pair of lower connecting portions and the upper connecting portion 80b here is obtained, so the description here is omitted.

[0227] The first support frame 81a has a pair of frame connecting portions 850 and 850 to which adjacent second frames 8b are connected. The pair of frame connecting portions 850 and 850 are symmetrically arranged with respect to a virtual plane (virtual reference plane) VS that extends in the first direction and the third direction along a center line passing through the central position of the first support frame 81a. A connected portion 860, which will be described later, of the adjacent second frames 8b and 8b is rotatably connected to the frame connecting portion 850 about an axis extending in the first direction.

[0228] Each of the pair of frame connecting portions 850 is arranged at a position where there is no interference between the surrounding components (for example, the second frame 8b related to the adjacent rotating working body 6, the prime mover 7a, the cover, etc.) when the second frame 8b is rotated to stand up (the rotating working body 6 stands up) and when the second frame 8b is in the standing state.

[0229] As shown in Fig. 21, when the working device B includes two rotary working bodies 6, 6, the first frame 8a has the above-described configuration. On the other hand, as shown in Figs. 22 to 24, when the working device B includes three or more rotary working bodies 6, the first frame 8a, in addition to the above-described configuration, includes a pair of support portions 82a, 83a connected to the first support frame 81a, and the pair of support portions 82a, 83a rotatably supports both ends of the rotary working body 6 located at the center in the second direction among the three rotary working bodies 6. The rotary working body 6 at the center is disposed below the first support frame 81a.

[0230] In this case, for the rotary working body 6 located at the center among the three rotary working bodies 6..., the drive of the prime mover 7a is transmitted to the central position in the second direction. That is, the prime mover 7a, the drive transmission mechanism 7b, and the cover covering the drive transmission mechanism 7b are arranged in the same manner as the working device B shown in Fig. 20.

[0231] And as shown in Figs. 21 to 24, when the working device B includes two rotary working bodies 6, 6 In either case where the working device B includes two rotary working bodies 6, 6 or three or more rotary working bodies 6, each of the pair of second frames 8b, 8b includes a support frame (referred to as a second support frame) 81b extending in the second direction and a pair of support portions 82b, 83b extending downward from both ends of the second support frame 81b, and the pair of support portions 82b, 83b rotatably supports both ends (shaft portions) of the rotary working body 6. The pair of second frames 8b, 8b supports the rotary working body 6 located at the outermost end in the second direction. Therefore, the prime mover 7a, the drive transmission mechanism 7b, and the cover (the other support portion 83b) are arranged in the same manner as the first working device B or in the manner shown in Fig. 20. In Figs. 22 to 24, the case of the same arrangement as the first working device B is illustrated. However, the pair of second frames 8b, 8b are symmetrically arranged with respect to the virtual reference plane VS so that the drive transmission mechanism 7b is located at the outermost side. Accordingly, a skid 75 and a rotating disk body 76 are also attached to the second frame 8b.

[0232] As is clear from the respective figures, the relationship between the second frame 8b and the rotating working body 6, the relationship between these and the prime mover 7a, the drive transmission mechanism 7b, etc., and the relationship between the skid 75 and the rotating disk body 76, etc. are the same as those of the first working device B. Therefore, referring to the description of the first working device B, the description here will be omitted.

[0233] And the second frame 8b has a connected portion 860 that is connected to the frame connection portion 850 of the first frame 8a on the end side where there is no prime mover 7a, drive transmission mechanism 7b, etc. of the second support frame 81b. The connected portion 860 is rotatably connected to the frame connection portion 850 around an axis extending in the first direction. Accordingly, this type of working device B includes a pair of swing actuators 870, 870 for rotating (swinging) each of the pair of second frames 8b on both sides in the second direction around the axis in the first direction. That is, it includes a pair of actuators 870, 870 for switching the posture of the rotating working bodies 6 at both ends between the normal lying state and the standing state. Accordingly, actuator connection portions 851, 861 for connecting the actuator 870 are provided on the first frame 8a and the second frame 8b. The pair of swing actuators 870, 870 employ a cylinder device that expands and contracts by driving an electric motor. The pair of swing actuators 870, 870 are connected to the actuator connection portion 851 of the first frame 8a and the actuator connection portion 861 of the second frame 8b. The actuator connection portion 851 of the first frame 8a is set at a higher position in the third direction than the actuator connection portion 861 of the second frame 8b. Accordingly, the pair of swing actuators 870, 870 are arranged in a posture that slopes downward from the first frame 8a side toward the second frame 8b side. This inclination direction coincides with the expansion and contraction direction of the cylinder device.

[0234] The electric motor of the actuator 870 receives power supply from the work vehicle A. Here, for each of the pair of swing actuators 870, 870, an electro-hydraulic cylinder is adopted, similar to the actuators 21R, 21L of the coupling mechanism 2 of the work vehicle A. Along with this, the working device B is provided with a power line (cable) for supplying power to the electric motor, which can be connector-connected to the power output system (external output circuit) of the work vehicle A. Along with this, by the operator operating the second operating device 14 of the work vehicle A, the pair of swing actuators 870, 870 can be extended and retracted.

[0235] In addition, the working device B shown in FIGS. 21 and 22 is arranged such that the adjacent rotating working bodies 6 are concentric or concentric. However, as shown in FIG. 23, the first frame 8a (the central rotating working body 6) and the second frame 8b (the end rotating working body 6) may be arranged with a shift in the first direction and may be arranged with partial overlap in the second direction. In this way, since the working ranges by the rotating working bodies 6 are continuous or overlapping, the formation of an unworked area is prevented.

[0236] As described above, since the working device B has a plurality of rotating working bodies 6, the working range becomes wider. By setting the second frames 8b (rotating working bodies 6) at both ends in an upright state, the amount of protrusion from both ends of the work vehicle A of the working device B can be suppressed, so that it is suppressed that the working device B gets in the way when no work is being done (for example, during traveling). In addition, since the working device B is provided with prime movers 7a corresponding to each of the plurality of rotating working bodies 6, the rotation conditions of each rotating working body 6 can also be made different. That is, in a field or the like, the soil quality and moisture may vary depending on the location. Therefore, by making the rotation conditions of each rotating working body 6 different, work corresponding to the location to be worked on becomes possible. Also, if a shaping machine for shaping the terrain is attached corresponding to each of the plurality of rotating working bodies 6, tilling (cultivation) and shaping (shaping of ridges, etc.) at that location become possible.

[0237] As is clear from the above description, the configuration (basic configuration) related to the rotary working bodies 6 at both ends is the same as that of the first working device B and the like, and the configuration (basic configuration) related to the central rotary working body 6 when there are three rotary working bodies 6 is the same as that of the working device B shown in FIG. 20. Therefore, the same operations and effects can be obtained. Although not particularly mentioned, this type of working device B can be provided with the configurations provided in the first working device B (for example, the working body cover 9, the detection sensor 95, etc.). In the above description, the output of the prime mover 7a that drives the rotary working bodies 6 at both ends in the second direction is transmitted to the ends of the rotary working bodies 6. In this case, since the drive transmission mechanism 7b is located outside the second direction of the rotary working body 6, the size of the working device B in the second direction increases. Considering this point, the prime mover 7a and the drive transmission mechanism 7b that drive each rotary working body 6 may be arranged within the range of the rotary working body 6 in the second direction as in the mode shown in FIG. 20.

[0238] Each of the above working devices B was a tillage tractor for tilling the soil, but it is not limited to this. For example, the working device B may be provided with a rotary brush as the rotary working body 6.

[0239] In the above embodiment, the second working device B is provided with a winged soiler as the tillage member 780, but the tillage member 780 is not limited to the winged soiler. For example, the tillage member 780 may be a soiler without wings. Further, as shown in FIG. 25, the tillage member 780 may be a short disk (disc) that is rotatable around an axis inclined obliquely downward toward the front side with respect to the center line passing through the center in the second direction of the work vehicle A (vehicle body 1). Even in this case, similar to the soiler, a plurality of them are arranged in the second direction. Note that the short disk has a plurality of recesses formed at intervals (at equal intervals or substantially equal intervals) in the circumferential direction with respect to the peripheral edge. That is, the short disk has a plurality of concavities and convexities formed on its outer periphery.

[0240] In the above embodiment, the second working device B has the cage roller 6 rotatably supported by the support portions 82 and 83 fixed to the support frame 81, so that the cage roller 6 is disposed at a fixed position, but it is not limited thereto. For example, as shown in FIG. 26, each of the pair of support portions 82 and 83 may be rotatably connected to the support frame 81 about an axis extending in the second direction (for example, about the center line of the support frame 81), and the cage roller 6 may be rotatable about the rotation center of the support portions 82 and 83. In this way, by rotating the cage roller 6 about the rotation center of the support portions 82 and 83, the height position of the cage roller 6 can be changed. In this case, the working device B preferably includes a rotation actuator (for example, an electric motor or an electro-hydraulic motor) 88 about an axis extending in the second direction (for example, about the center line of the support frame 81). In this way, by operating (for example, expanding and contracting) the actuator 88, the cage roller 6 can be rotated about the rotation center of the support portions 82 and 83, and by stopping the operation (for example, expanding and contracting) of the actuator 88, the cage roller 6 can be maintained at a fixed position.

[0241] In the above embodiment, each working device B is not limited to including a transmitter 96 (transmitter) that transmits (sends) the detection results of the angle sensors S3 and S3. That is, on the premise that the work vehicle A includes the receiver 16, each working device B includes the transmitter 96, but when the work vehicle A does not include the receiver 16, it is not limited thereto. For example, when the work vehicle A does not include the receiver 16, angle sensors S3 and S3 that output the angle of the detection cover 91 of the working device B may be provided on the work vehicle A, and a transmission wire that transmits the tilting of the detection cover 91 to the angle sensors S3 and S3 may be arranged across the work vehicle A and the working device B. In this case, the transmission wire on the work vehicle A and the transmission wire on the working device B side may be separated, and when the working device B is connected to the work vehicle A, a connection mechanism may be provided that can transmit the axial movement (axial force) of the transmission wire on the working device B side to the transmission wire on the work vehicle A.

[0242] In the above-described embodiment, in the first working device B, the rotary 6 as a rotary working body tills (cultivates) the soil as it is, and in the second working device B, the tilling member 780 and the cage roller 6 as a rotary working body till (cultivate) the soil as it is. However, before tilling (cultivating) the soil, plants (such as secondary ears and weeds) growing in the soil may be cut.

[0243] Specifically, when the working device B is a tillage tractor equipped with the rotary working body 6, as shown in FIG. 27, the working device B may be provided with a cutting device 65 for cutting plants growing in the soil in front of the rotary working body 6 (when the tilling member 780 is provided, further in front of the tilling member 780). That is, the working device B may be provided with a cutting device 65 disposed in front of the tilling means (the rotary working body 6, the tilling member 780) for tilling the soil. The cutting device 65 can employ, for example, a clipper or one equipped with a saw blade-shaped cutting edge. Also, the cutting device 65 may cut plants within a range corresponding to the working range (tilling (cultivating) range) in the second direction by the tilling means (the rotary working body 6, the tilling member 780). In this way, the cut plants (especially secondary ears) are turned under when the tilling means (the rotary working body 6, the tilling member 780) tills the soil, thus contributing to soil improvement.

Explanation of Reference Numerals

[0244] 1: Vehicle body 2: Link mechanism 6: Rotary working body 7a: Prime mover 7b: Drive transmission mechanism 8: Frame structure 20L: Lower link 20R: Lower link 20a: First end 20b: Second end 21R: Actuator (cylinder device: electro-hydraulic cylinder) 21L: Actuator (cylinder device: electro-hydraulic cylinder) 22: Upper link 22a: Base end 22b: Tip end 23R: Hanging member 23L: Hanging member 24: Connecting frame 25: Hanging part 26: Electric motor 27: Hydraulic cylinder (fluid cylinder) 70a: Output shaft 71a: Output sprocket 71b: Input sprocket 71c: Chain 75: Skid 76: Rotating disk body 80: Connecting part 81: Support frame 81a: Support frame (first support frame) 81b: Support frame (second support frame) 82: Supporting part 82a: Supporting part 82b: Supporting part 83: Supporting part 83a: Supporting part 83b: Supporting part 240: Spherical bearing 280: Hydraulic pump 601: Shaft part A: Work vehicle B: Working device (first working device, second working device) H1: Connecting position (pin insertion hole: through hole) H2: Connecting position S3: Angle sensor CL: Center line

Claims

1. A frame structure including a connecting portion connectable to a traveling vehicle, a rotary working body pivotally supported by the frame structure, the rotary working body being rotatable about an axis extending in the width direction of the traveling vehicle, and a prime mover for rotationally driving the rotary working body. The output of the prime mover is transmitted directly or indirectly to the rotary working body.

2. The working device according to claim 1, wherein the output of the prime mover is transmitted directly or indirectly to either one of both ends of the rotary working body in the width direction.

3. The working device includes a drive transmission mechanism for transmitting the output of the prime mover to the rotary working body. The prime mover has an output shaft. The drive transmission mechanism transmits the rotation of the output shaft to the one end of the rotary working body.

4. The rotary working body has a shaft portion centered on the axis at the one end. The prime mover is arranged with the output shaft parallel or substantially parallel to the shaft portion. The drive transmission mechanism includes an output gear attached to the output shaft, and an input gear attached to the shaft portion, the input gear meshing directly or indirectly with the output gear.

5. The rotary working body has a shaft portion centered on the axis at the one end. The prime mover is arranged with the output shaft parallel or substantially parallel to the shaft portion. The drive transmission mechanism includes an output sprocket attached to the output shaft, an input sprocket attached to the shaft portion, and a chain wound around the output sprocket and the input sprocket.

6. The frame structure includes a support frame extending in the width direction and a pair of support portions extending downward from both ends of the support frame. The rotary working body is arranged below the support frame, and both ends of the rotary working body are supported by the pair of support portions. The prime mover is attached to the support frame or the one support portion.

7. Among the pair of support portions, the one support portion that supports the end is a cover covering the drive transmission mechanism.

8. The working device includes a cover covering the drive transmission mechanism. The prime mover is arranged in contact with or close to the cover.

9. A skid disposed below the drive transmission mechanism and movable in contact with the ground, The skid is directly or indirectly connected to the frame structure, and the working device according to claim 3 that receives a load acting downward.

10. A rotating disk body disposed at a position ahead of the skid when the traveling vehicle is traveling, The working device according to claim 9, comprising a rotating disk body that is rotatable around an inclined axis that rises upward toward the center line of the vehicle passing through the center in the width direction of the traveling vehicle and the rear side in the traveling direction of the traveling vehicle.

11. The working device according to any one of claims 1 to 10, wherein the prime mover is disposed at a position that projectively overlaps the rotary working body when viewed from a direction orthogonal to the width direction of the traveling vehicle.

12. The working device according to claim 11, wherein the prime mover is an electric motor and is driven by receiving power supply from the traveling vehicle.

Images