Work vehicle

Abstract

To provide a work vehicle capable of lifting and lowering a work device straight at least in a vertical direction.SOLUTION: A work vehicle comprises a vehicle body capable of traveling and a coupling device attached to the vehicle body, where the coupling device includes a first device part directly or indirectly supported by the vehicle body, and a second device part including a coupling portion capable of coupling the work device for performing prescribed work, the first device part supporting the second device part to linearly move at least in a vertical direction among linear directions orthogonal to the vertical direction and a lateral direction orthogonal to a longitudinal direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work vehicle equipped with a coupling device for coupling a work implement. [Background technology]

[0002] Conventionally, work vehicles such as tractors are equipped with linkages (two-point links or three-point links) as coupling devices for connecting work equipment that performs a predetermined task (see, for example, Patent Document 1). This type of coupling device includes a link body having a base end that is rotatably connected around an axis that extends laterally relative to the body of the work vehicle, and a tip end on the opposite side of the base end, and the work equipment is coupled to the tip end of the link body. As a result, this type of coupling device raises and lowers the work equipment coupled to the tip end of the link body by swinging (rotating) the link body around the base end (axis). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-232766 Summary of the Invention [Problem to be solved by the invention]

[0004] In a conventional coupling device (link device), when the working implement is raised or lowered, the working implement moves along an arc-shaped path in accordance with the rotation of the link body. Therefore, for example, if the working implement is a rotary tiller used for tilling soil, when the working implement is raised while the rotary is rotating, the working implement may be thrown diagonally backward, causing the tilled soil to be thrown backward. In other words, while it is preferable for some working implements to be raised and lowered in a straight line in the vertical direction, conventional coupling devices make it impossible to raise and lower the working implement in a straight line in the vertical direction.

[0005] Therefore, the present invention provides a work vehicle that can raise and lower a work implement in a straight line at least in the vertical direction. [Means for solving the problem]

[0006] The present invention comprises a vehicle body capable of running, and a coupling device attached to the vehicle body, the coupling device having a first device section supported directly or indirectly on the vehicle body, and a second device section including a coupling section capable of coupling a work device for performing a specified task, the first device section supporting the second device section so that it can move linearly at least in the vertical direction among linear directions perpendicular to the vertical direction and the lateral direction perpendicular to the fore-aft direction. [Effects of the Invention]

[0007] According to the present invention, the working device can be raised and lowered straight at least in the vertical direction. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a left side view of a work vehicle according to an embodiment of the present invention, with a coupling device in a first state. [Figure 2] FIG. 2 is a left side view of the work vehicle according to the embodiment, showing the coupling device in the second state. [Figure 3] FIG. 3 is a left side view of the coupling device according to the embodiment, showing the coupling device in a first state. [Figure 4] FIG. 4 is a rear view of the coupling device according to the embodiment, as seen from the rear side, in the first state. [Figure 5] Figure 5 is a rear view of the connecting device according to the same embodiment, seen from the rear side, showing the second device part rotated to one side (right) around the vertical axis when the connecting device is in the first state. [Figure 6] Figure 6 is a rear view of the connecting device according to the same embodiment, seen from the rear side, showing the state in which the second device part has been rotated to the other (left) side around the vertical axis when the connecting device is in the first state. [Figure 7]FIG. 7 is a schematic partial perspective view of a guide device included in the connecting device according to the embodiment, as viewed obliquely from below. [Figure 8] FIG. 8 is a schematic diagram of a guide device included in the connecting device according to the same embodiment, and is a partial side view of the guide device, part of which is shown in virtual lines. [Figure 9] FIG. 9 is a cross-sectional view taken along line IX-IX in FIG. [Figure 10] FIG. 10 is a left side view of the first device part of the coupling device according to the embodiment, showing the first device part of the coupling device in a first state. [Figure 11] Figure 11 is a rear view of the first device part of the connecting device according to the same embodiment, seen from the rear side, showing the connecting device (first device part) in the first state with the second device and some of the components not shown. [Figure 12] FIG. 12 is a left side view of the second device part of the coupling device according to the embodiment, showing the second device part of the coupling device in the first state. [Figure 13] Figure 13 is a rear view of the second device part of the connecting device according to the same embodiment, seen from the rear side, showing the connecting device (second device part) in the first state with the first device and some of the components not shown. [Figure 14] FIG. 14 is an explanatory diagram of the connecting portion (lower connecting portion) of the connecting device according to the same embodiment. [Figure 15] FIG. 15 is an explanatory diagram of the connecting portion (upper connecting portion) of the connecting device according to the same embodiment. [Figure 16] FIG. 16 is an enlarged view of a main part around the device electric motor of the connecting device according to the same embodiment. [Figure 17] FIG. 17 is a schematic block diagram of an electrical system of the work vehicle according to the same embodiment. [Figure 18] FIG. 18 is a schematic partial perspective view of a guide device included in a connecting device according to another embodiment of the present invention, as viewed obliquely from below. [Figure 19] FIG. 19 is a rear view of a coupling device according to another embodiment of the present invention, as seen from the rear side, in a first state. [Figure 20]FIG. 20 is a left side view of a coupling device according to yet another embodiment of the present invention, showing the coupling device in a first state. [Figure 21] 21 is a rear view of the coupling device shown in FIG. 20. FIG. [Figure 22] FIG. 22 is a left side view of a work vehicle according to yet another embodiment of the present invention. [Figure 23] FIG. 23 is a schematic left side view for explaining an example of a work device coupled to the work vehicle according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A work vehicle according to one embodiment of the present invention will be described below with reference to the drawings. In the following description, the straight-ahead direction of the work vehicle (the direction in which it moves forward or backward in a straight line) will be referred to as the longitudinal direction, the forward side in the longitudinal direction will be referred to as the front, and the backward side in the longitudinal direction will be referred to as the rear. Accordingly, the direction corresponding to the width of the work vehicle, which is perpendicular to the longitudinal direction and the up-down direction, will be referred to as the lateral direction. Furthermore, based on the center line extending in the longitudinal direction of the work vehicle, the right side in the lateral direction looking from the rear side to the front side will be referred to as one side of the lateral direction or the right, and the left side in the lateral direction looking from the rear side to the front side will be referred to as the other side of the lateral direction or the left.

[0010] The work vehicle of this embodiment drives the electric motor with power supplied from the drive battery. 1 and 2, a work vehicle 1 is coupled to a work device 10 that performs a predetermined task at a work site.

[0011] The work implement 10 is connected to the work vehicle 1 while being disposed in front or behind (rear in the drawings and illustrations) the work vehicle 1. In this embodiment, the work vehicle 1 is an agricultural work vehicle (a so-called tractor) used in a farm field, which is a work site. 1 and 2, the work implement 10 is shown in simplified form using imaginary lines, but examples of the work implement 10 connected to the work vehicle 1 include a rotary (cultivator) that tills the soil in the field, a plow that turns the soil over in the field, a soiler that breaks up clumps of soil in the field, a harrow, a ridge coating machine that coats ridges, a seed sower that sows seeds in the field, a ridge maker that makes ridges, a broadcaster that spreads fertilizer and soil conditioner, a mulcher (mulcher) that mulches the ridges, a cultivator that weeds between the ridges, a flail mower that mows the grass, and a harvester (digger) that digs up crops in the soil in the field. The work implement 10 connected to the work vehicle 1 can be replaced (changed) with another work implement 10 depending on the type of work (purpose) to be performed at the work site.

[0012] Accordingly, the work vehicle 1 is provided with a coupling device 6 for coupling the work implement 10. That is, the work vehicle 1 is provided with a vehicle body 2 that is capable of traveling, and a coupling device 6 that is attached to the vehicle body 2.

[0013] More specifically, the work vehicle 1 comprises a vehicle body 2, a traveling device 3 that supports the vehicle body 2 so that it can travel, a traveling electric motor 4 that drives the traveling device 3, a drive battery 5 that is supported directly or indirectly on the vehicle body 2 and is capable of supplying power to the traveling electric motor 4, and a coupling device 6 attached to the vehicle body 2 that couples a work implement 10 to the vehicle body 2. The work vehicle 1 of this embodiment also comprises a control device 8 that controls the power supply of the drive battery 5.

[0014] The vehicle body 2 has a body frame 20 that extends in the longitudinal direction and supports a drive battery 5. The vehicle body 2 also has a bonnet 21 that covers the equipment on the body frame 20 from above and from the sides. The bonnet 21 covers the equipment located in half or approximately half of the area on the front side of the body frame 20 in the longitudinal direction. The work vehicle 1 is a passenger vehicle, and has a driver's seat 22 located behind the bonnet 21. The work vehicle 1 also has a protection mechanism 23 that protects the driver's seat 22.

[0015] The vehicle body 2 has a drive transmission device 24 that transmits the drive of the electric travel motor 4 to the traveling device 3. The drive transmission device 24 includes a transmission mechanism that transmits the output (rotational force) of the electric travel motor 4 to rear wheels 3b (a pair of rear wheels 3b, 3b) of the traveling device 3, which will be described later, and a casing 24a that houses the transmission mechanism. The transmission mechanism includes a clutch mechanism, a gear mechanism, and the like that are connected to the output shaft of the electric travel motor 4. The transmission mechanism distributes and transmits the output of the electric travel motor 4 to the pair of rear wheels 3b, 3b. In this embodiment, the casing 24a of the drive transmission device 24 also serves as part of the vehicle body frame 20.

[0016] Specifically, the body frame 20 includes a front frame 20a disposed on the front side in the front-to-rear direction, and a casing 24a of the drive transmission device 24. That is, the body frame 20 includes the front frame 20a as a structural body, and the casing 24a that houses the transmission mechanism of the drive transmission device 24 and is connected directly or indirectly to the front frame 20a.

[0017] The front frame 20a supports the drive battery 5. That is, the drive battery 5 is placed on the front frame 20a and fixed to the front frame 20a in an undetachable manner. The drive battery 5 is placed inside the hood 21. That is, the hood 21 faces the drive battery 5 laterally and vertically, and covers the drive battery 5 .

[0018] The traveling electric motor 4 is disposed on the front frame 20a. That is, the traveling electric motor 4 is firmly fixed to the front frame 20a. In this embodiment, the output shaft 4b of the traveling electric motor 4 protrudes rearward in the front-to-rear direction. Specifically, the traveling electric motor 4 includes a motor case 4a that houses a rotor, and an output shaft 4b that is connected to the rotor and protrudes outward from the motor case 4a. The traveling electric motor 4 has the motor case 4a located forward in the front-to-rear direction and the output shaft 4b located rearward of the motor case 4a in the front-to-rear direction. The output shaft 4b of the traveling electric motor 4 has an axial core that extends in the front-to-rear direction. A transmission mechanism of the drive transmission device 24 is connected to the output shaft 4b of the traveling electric motor 4. As a result, the drive transmission device 24 is disposed rearward of the traveling electric motor 4. In this embodiment, the casing 24a of the drive transmission device 24 is connected to the traveling electric motor 4. As a result, the drive transmission device 24 is indirectly connected to the front frame 20a via the traveling electric motor 4, and is disposed behind the front frame 20a.

[0019] In this embodiment, the traction electric motor 4 is disposed below the drive battery 5. The front frame 20a supports the drive battery 5 as well as devices such as a radiator He that cools the traction electric motor 4 and the drive battery 5. These devices such as the radiator He are disposed in front of the drive battery 5 and are disposed inside the hood 21 together with the drive battery 5. As a result, the traction electric motor 4 and the drive battery 5 are disposed within half or approximately half of the area on the front side in the fore-and-aft direction of the body frame 20.

[0020] The protection mechanism 23 in this embodiment is a so-called cabin that covers the driver's seat 22 and defines a driver's cab D. Various devices (operating devices 230 such as a steering wheel and control levers, a display device 231, etc.) are arranged in the driver's cab D (inside the protection mechanism 23). The driver's seat 22 and the protection mechanism 23 are located above the body frame 20 and are supported by the body frame 20.

[0021] Specifically, the driver's seat 22 and the protection mechanism 23 are located above a casing 24a of the drive transmission device 24 in the body frame 20 and are fixed to the casing 24a. As a result, the driver's seat 22 and the protection mechanism 23 are located in half or approximately half of the area on the rear side in the front-to-rear direction of the body frame 20. Devices such as the operating device 230 and the display device 231 are arranged in front of the driver's seat 22 so that an operator seated in the driver's seat 22 can perform operations, etc. Devices such as the operating device 230 and the display device 231 arranged in the driver's cab D are also located in half or approximately half of the area on the rear side in the front-to-rear direction of the body frame 20.

[0022] The traveling device 3 may be a crawler-type traveling device or a tire-type traveling device. In this embodiment, the traveling device 3 is a tire-type traveling device. More specifically, the traveling device 3 includes front wheels 3a and rear wheels 3b arranged at a distance in the front-to-rear direction. The front wheels 3a and rear wheels 3b are each arranged as a pair at a distance in the lateral direction (vehicle width direction). That is, the traveling device 3 includes a pair of front wheels 3a, 3a arranged to sandwich the vehicle body 2 in the lateral direction, and a pair of rear wheels 3b, 3b arranged rearward of the pair of front wheels 3a, 3a in the front-to-rear direction, and arranged to sandwich the vehicle body 2 in the lateral direction. In the work vehicle 1 of this embodiment, each of the pair of front wheels 3a, 3a is a steered wheel that is operated by an operating device 230 (steering wheel), and each of the pair of rear wheels 3b, 3b is a drive wheel that is driven by an electric traveling motor 4. The traveling device 3 of the work vehicle 1 may be a so-called 4WD (four-wheel drive) in which the pair of front wheels 3a, 3a are steered wheels and are driven together with the pair of rear wheels 3b, 3b.

[0023] The drive battery 5 is disposed in the vehicle body 2. The drive battery 5 is a secondary battery that can be charged and discharged. In this embodiment, the drive battery 5 is a lithium-ion battery. Specifically, the drive battery 5 is an assembled battery made up of multiple battery cells, and is capable of supplying large amounts of power. The drive battery 5 is connected to the traveling electric motor 4 via a power line L so as to be able to supply power.

[0024] In this embodiment, the driving battery 5 is also connected to be able to supply power to electrical devices 706, 62, 63, 64 (in this embodiment, an electric motor 706 for the device, a first actuator 62, a second actuator 63, and a third actuator 64, which will be described later) mounted on the coupling device 6 via a power line L. An electrical circuit switch (not shown) that opens and closes the electrical circuit in response to a command from the control device 8 is provided on the power line L.

[0025] As a result, based on instructions from the control device 8, power is supplied and the supply is stopped to the electrical equipment 706, 62, 63, 64 mounted on the connecting device 6 (in this embodiment, the device electric motor 706, first actuator 62, second actuator 63, and third actuator 64 described below).

[0026] The coupling device 6 is attached to the vehicle body 2. In this embodiment, the coupling device 6 is attached to the body frame 20 of the vehicle body 2. Specifically, the coupling device 6 is attached to at least one of the front end and rear end of the body frame 20. Accordingly, the working device 10 connected to the coupling device 6 is disposed at least one of the front and rear in the longitudinal direction of the vehicle body 2. In this embodiment, the coupling device 6 is attached to the rear end of the body frame 20. Accordingly, the working device 10 is disposed at the rear in the longitudinal direction of the vehicle body 2.

[0027] The coupling device 6 has a first device section 60 that is supported directly or indirectly on the vehicle body 2, and a second device section 70 that includes a coupling section 700 to which a working device 10 that performs a predetermined task can be coupled.

[0028] As shown in FIG. 1, the first device unit 60 supports the second device unit 70 so that it can move linearly at least in the vertical direction among linear directions perpendicular to the horizontal direction. In this embodiment, the first device unit 60 is rotatable about an axis S1 extending in the horizontal direction (hereinafter referred to as the first horizontal axis) as the center, as shown in FIG. 2. Furthermore, in the connecting device 6 of this embodiment, the second device unit 70 is movable in a linear direction perpendicular to the horizontal direction and rotatable about a vertical axis S2 extending in the front-to-rear direction (see FIGS. 5 and 6). That is, the connecting device 6 is switchable between a first state in which the second device unit 70 can move linearly in the vertical direction (the vertical direction) and a second state in which the second device unit 70 can move linearly in an inclined direction inclined relative to the vertical direction. The second state is not limited to a state in which the linear motion direction of the second device unit 70 is tilted at a fixed angle with respect to the vertical direction, but includes a state in which the linear motion direction of the second device unit 70 is tilted at a fixed angle or at any angle (within the movable range) with respect to the vertical direction by operating the operating device 230. Therefore, when the connecting device 6 in the first state starts to rotate the first device unit 60 around the first horizontal axis S1, the connecting device 6 is switched from the first state to the second state.

[0029] Accordingly, as shown in FIGS. 3 to 6, the coupling device 6 has a plurality of actuators 62, 63, and 64. Specifically, the coupling device 6 has a first actuator 62 that linearly moves the second device unit 70 in a linear direction perpendicular to the lateral direction. The coupling device 6 also has a second actuator 63 that rotates the first device unit 60 about a first horizontal axis S1 (see FIG. 3). The coupling device 6 of this embodiment also has a third actuator 64 that rotates the second device unit 70 about a vertical axis S2. The coupling device 6 also has an arm 65 that has a base end connected to the vehicle body 2 and a tip end opposite the base end, and extends outward from the vehicle body 2 (vehicle body frame 20) in a direction perpendicular to the up-down direction (see FIGS. 1 to 3).

[0030] In this embodiment, the first device section 60 has a guide device 66 that can guide the second device section 70 at least in the vertical direction among linear directions perpendicular to the horizontal direction (see FIGS. 1 and 3).

[0031] The guiding device 66 includes a guide body 67 extending in a linear direction perpendicular to the lateral direction, and a guided body 68 guided by the guide body 67, to which the second device part 70 is directly or indirectly connected.

[0032] The guide body 67 is a so-called rail that extends straight in a linear direction perpendicular to the lateral direction and guides the guided body 68 in this linear direction. Accordingly, in the following description, the extending direction of the guide body 67 (the linear direction in which the guided body 68 is guided) will be referred to as the guiding direction. As shown in FIGS. 7 and 8 , in this embodiment, the cross section of the guide body 67 viewed from the guiding direction is T-shaped. That is, the guide body 67 is a T-beam. Specifically, the guide body 67 has a strip-shaped base portion 670 that is elongated in one direction, and a protruding piece 671 that is provided at the center of one surface of the base portion 670 in a width direction perpendicular to the longitudinal direction and that protrudes in a direction perpendicular to the surface over the entire length of the base portion 670 in the longitudinal direction. In this embodiment, one surface of the base portion 670 and both surfaces of the protruding piece 671 are guide surfaces that guide the guided body 68.

[0033] In this embodiment, as shown in FIGS. 4 to 6, the guiding device 66 has a pair (two) of guiding bodies 67 configured as described above. Accordingly, it also includes a pair (two) of guided bodies 68 guided by each guiding body 67. The pair of guiding bodies 67 are arranged parallel or approximately parallel with a gap in the lateral direction. In this embodiment, the pair of guiding bodies 67 are arranged symmetrically (plane-symmetrically) with respect to an imaginary plane VS along the center line extending in the front-rear direction of the body frame 20. The pair of guiding bodies 67 are arranged with their base portions 670 facing each other, and their respective protruding pieces 671 protrude outward in the lateral direction from the base portion 670.

[0034] As shown in Figures 7 and 8, the guided body 68 has a flat base plate 680 arranged opposite the base portion 670 of the guiding body 67, a first guide roller 681 located on one side of the base plate 680 and supported by the base plate 680, the first guide roller 681 being rotatable around a first roller axis 681a extending in a direction perpendicular to the guiding direction while being parallel or approximately parallel to the base plate 680, and a second guide roller 682 located on one side of the base plate 680 and supported by the base plate 680, the second guide roller 682 being rotatable around a second roller axis 682a extending in a direction perpendicular to the base plate 680.

[0035] The first guide roller 681 abuts against one surface (guide surface) of the base portion 670 of the guiding body 67 and rolls on the one surface (guide surface), and the second guide roller 682 abuts against one of the surfaces (guide surface) of the protruding piece portion 671 of the guiding body 67 and rolls on the one surface (guide surface). In the guided body 68 of this embodiment, the first guide roller 681 and the second guide roller 682 are arranged on both sides of the protruding piece portion 671 of the guiding body 67. That is, the guided body 68 has a pair of first guide rollers 681 arranged on both sides of the protruding piece portion 671 of the guiding body 67, and a pair of second guide rollers 682 arranged on both sides of the protruding piece portion 671 of the guiding body 67 and sandwiching the protruding piece portion 671.

[0036] As a result, the guided body 68 is guided in the direction in which the protruding piece 671 extends (the longitudinal direction of the protruding piece 671) while movement of the guide body 67 in the direction perpendicular to the plane of the base part 670 (towards the base part 670) and in the direction perpendicular to the plane of the protruding piece 671 of the guide body 67 is restricted. That is, the guided body 68 is guided in the guiding direction perpendicular to the first roller shaft 681a of the first guide roller 681 and the second roller shaft 682a of the second guide roller 682.

[0037] The guided body 68 of this embodiment includes a pair of first guide rollers 681 and a pair of second guide rollers. The first pair of first guide rollers 681 and the two pairs of second guide rollers 682 are arranged at an interval in the guiding direction and supported by a base plate 680. This also prevents the guided body 68 from tilting (falling over) around an axis perpendicular to the base part 670 of the guiding body 67.

[0038] In this embodiment, the first roller shaft 681a is supported by a flange portion projecting from the base plate 680, and the second roller shaft 682a is projecting from one surface of the base plate 680. In addition, in the guided body 68 of this embodiment, a reinforcing rib 683 is projecting from the other surface of the base plate 680, extending in the guiding direction.

[0039] 3 to 6, the first device section 60 has, as the connecting frames 672, 673, which connect the pair of guide bodies 67. In this embodiment, the first device section 60 has, as the connecting frames 672, 673, a first connecting frame 672 which connects one ends (upper ends) of the pair of guide bodies 67 and a second connecting frame 673 which connects the other ends (lower ends) of the pair of guide bodies 67.

[0040] In this embodiment, the first connecting frame 672 and the second connecting frame 673 are made of square steel pipes. The first connecting frame 672 and the second connecting frame 673 each extend straight in the horizontal direction. As a result, the pair of guide bodies 67, 67, the first connecting frame 672, and the second connecting frame 673 integrally form a rectangular frame. In this embodiment, the pair of guide bodies 67, 67 are arranged with one end in the short direction (direction perpendicular to the long direction) of the base portion 670 facing the vehicle body 2 (the front side in the longitudinal direction).

[0041] Based on this premise, the first device section 60 of this embodiment has, as connecting frames 674, 675, a third connecting frame 674 that connects together one end in the short direction of base sections 670 located in the longitudinal middle of the pair of guide bodies 67, and a fourth connecting frame 675 that connects together one end in the short direction of base sections 670 located on the other end side of the pair of guide bodies 67. In this embodiment, the third connecting frame 674 and the fourth connecting frame 675 are also made of square steel pipes. Each of the third connecting frame 674 and the fourth connecting frame 675 extends straight in the horizontal direction.

[0042] As shown in FIG. 9 , a first bracket portion 678 for connecting the second actuator 63 is provided at the lateral center of the third connecting frame 674. Furthermore, a pair of second bracket portions 679 for connecting to the tip ends of the arms 65 are provided at the fourth connecting frame 675, the second bracket portions 679 being spaced apart in the lateral direction. The first bracket portion 678 protrudes forward in the front-rear direction from the third connecting frame 674 and is arranged so as to overlap in the lateral direction with one end (rod end in this embodiment) of the second actuator 63, which is a cylinder device. The pair of second bracket portions 679 protrude forward in the front-rear direction from the fourth connecting frame 675. The arrangement and lateral spacing of the pair of second bracket portions 679 are set according to the arrangement and spacing of the pair of arms 65 (tip ends). That is, the second bracket portions 679 are arranged so as to overlap in the lateral direction with the tip ends of the arms 65 extending from the body frame 20. In this embodiment, the second bracket portion 679 is connected to the tip end of the arm 65 via the first horizontal shaft S1, and is connected to the arm 65 so as to be rotatable about the first horizontal shaft S1.

[0043] The first bracket portion 678 and the second bracket portion 679 may be brackets made of a single plate material, but in this embodiment, they are a pair of brackets each made of a plate material and arranged to sandwich the object to be connected (the second actuator 63 in the case of the first bracket portion 678, and the arm 65 in the case of the second bracket portion 679) from the side.

[0044] 3 to 6, the first device section 60 includes a mounting frame 69 to which the second device section 70 is attached. The first device section 60 also includes an actuator connecting section 676 to which the first actuator 62 is connected.

[0045] The mounting frame 69 is connected to the guided bodies 68. As a result, the mounting frame 69 allows movement of the second device unit 70 connected to the mounting frame 69 in the guiding direction. In this embodiment, the guided bodies 68 are attached to each of a pair of guiding bodies 67 that are spaced apart in the horizontal direction, and therefore the pair of guided bodies 68 are also spaced apart in the horizontal direction. Accordingly, as shown in FIGS. 10 and 11 , the mounting frame 69 is disposed across the pair of guided bodies 68 and connects the pair of guided bodies 68. That is, the mounting frame 69 includes a horizontal beam portion (hereinafter referred to as a first horizontal beam portion) 690 that extends in the horizontal direction, and connects the pair of guided bodies 68 via the first horizontal beam portion 690.

[0046] Specifically, the mounting frame 69 has a pair of arms (hereinafter referred to as first arms) 691a, 691a connected to each of a pair of guided bodies 68, the pair of first arms 691a, 691a extending from the connected guided bodies rearward in the fore-and-aft direction relative to the guiding body 67, and a first cross beam portion 690 extending laterally and connecting the pair of first arms 691a, 691a.

[0047] In this embodiment, in addition to the above configuration, the mounting frame 69 has a pair of arms (hereinafter referred to as second arms) 691b, 691b connected to each of a pair of guided bodies 68 at a position below the pair of first arms 691a, 691a, and extends from the connected guided bodies rearward in the fore-and-aft direction relative to the guiding body 67, a pair of connecting pillars 692, 692 extending in the vertical direction and connecting the first arm 691a and second arm 691b which are aligned vertically, and a cross beam portion (hereinafter referred to as second cross beam portion) 693 extending in the horizontal direction and connecting the pair of connecting pillars 692, 692.

[0048] Furthermore, the mounting frame 69 of this embodiment has a plurality of auxiliary columns 694 (two in this embodiment) arranged at intervals in the horizontal direction, connecting the first cross beam portion 690 and the second cross beam portion 693, thereby increasing the rigidity of the mounting frame 69. The mounting frame 69 has a U-shape in plan view, and the first cross beam portion 690 and the second cross beam portion 693 connect the pair of first arms 691a, 691a and the pair of second arms 691b, 691b at positions that bypass the guide bodies 67. In other words, the first cross beam portion 690 and the second cross beam portion 693 are located rearward in the front-to-rear direction relative to the pair of guide bodies 67. In this embodiment, the first cross beam portion 690, the first arm portion 691a, the second arm portion 691b, the connecting column 692, and the second cross beam portion 693 are all made of square steel pipes and are connected by welding.

[0049] The first device unit 60 has a connection portion 611 to which the second device unit 70 is connected, the connection portion 611 including a vertical axis S2 extending in the front-to-rear direction. In this embodiment, the connection portion 611 is provided on the mounting frame 69, and the vertical axis S2 protrudes rearward from the mounting frame 69. More specifically, the connection portion 611 is provided on a surface of the first horizontal beam portion 690 facing rearward. Accordingly, the vertical axis S2 protrudes rearward from the first horizontal beam portion 690. In this embodiment, the connection portion 611 is set at the lateral center portion. That is, the vertical axis S2 is disposed at a position corresponding to the lateral center of the first horizontal beam portion 690, more specifically, a center line that passes through the lateral center of the work vehicle 1 and extends in the front-to-rear direction.

[0050] In this embodiment, the first actuator 62 is a cylinder device that extends in one axial direction, as shown in Figures 4 to 6 and 9, and is a cylinder device that expands and contracts in this axial direction. Accordingly, the actuator connecting portion 676 is and a second connecting portion 676b to which the other end (in this embodiment, a rod end) of the first actuator 62 (cylinder device) in the axial direction is connected. In this embodiment, the first actuator 62 is disposed with its axial direction aligned with the guide direction. In this embodiment, the first actuator 62 is disposed on the second connecting frame 673 so as to correspond to the center position of the second connecting frame 673 in the lateral direction.

[0051] Accordingly, the first connecting portion 676a is provided on the second connecting frame 673, and one end portion (cylinder end in this embodiment) in one axial direction of the first actuator 62 is connected to the first connecting portion 676a. In contrast, the second connecting portion 676b is disposed at a position facing the first connecting portion 676a in the up-down direction, with the first actuator 62 interposed therebetween.

[0052] That is, the second connecting portion 676b is disposed at a midpoint (center) between the pair of guide bodies 67 in the lateral direction. The other end (rod end in this embodiment) of the first actuator 62 in one axial direction is connected to the second connecting portion 676b. The second connecting portion 676b is connected to the mounting frame 69. Specifically, the first device unit 60 has a support column 695 connected to the mounting frame 69 and extending upward, and an upper arm 696 extending forward from the upper end of the support column 695 and extending between the pair of guide bodies 67, the upper arm 696 to which the second connecting portion 676b is attached.

[0053] In this embodiment, the support pillar 695 is connected to the first cross beam portion 690 of the mounting frame 69, as shown in FIG. 10. As shown in FIGS. 4 to 6, in this embodiment, the first device unit 60 has two support pillars 695. The two support pillars 695 are arranged with a gap between them in the horizontal direction. In this embodiment, the two support pillars 695 are arranged symmetrically with respect to the center of the first cross beam portion 690. Accordingly, the first device unit 60 has a cross beam 697 that connects the upper ends of the two support pillars 695. The upper arm portion 696 extends forward from the cross beam 697, and its front end is positioned between the pair of guide bodies 67. As described above, when the first actuator 62 is connected to the first connecting portion 676a on the second connecting frame 673, the second connecting portion 676b is attached to the underside of the upper arm portion 696 and connected to the other end of the first actuator 62.

[0054] In this embodiment, the third actuator 64 is a cylinder device that extends in one axial direction and that expands and contracts in that axial direction. Accordingly, one of the two support pillars 695, 695 has attached to it a shaft (hereinafter referred to as the first support shaft) S3 that connects one end (a rod end in this embodiment) of the third actuator 64 in the axial direction, the first support shaft S3 extending in the front-rear direction. The first support shaft S3 is disposed at a predetermined distance above the first cross beam portion 690. The first support shaft S3 is attached to a surface of the support pillar 695 facing rearward, and protrudes rearward.

[0055] The second device unit 70 is connected to the mounting frame 69 of the first device unit 60. As a result, when the guided body 68 moves in the guiding direction along the guiding body 67, the second device unit 70 moves in the guiding direction following the movement of the guided body 68. In other words, when the first device unit 60 is oriented so that the longitudinal direction (guiding direction) of the guiding body 67 coincides with the up-down direction (vertical direction), the connecting device 6 is in the first state (standard state), and the second device unit 70 supported by the first device unit 60 is movable linearly in the up-down direction (vertical direction), which is a linear direction perpendicular to an axis extending in the lateral direction and perpendicular to the front-rear direction and the lateral direction (see FIG. 1). In addition, when the first device part 60 tilts the longitudinal direction (guiding direction) of the guide body 67 in the front-rear direction, the connecting device 6 is in the second state (changed state), and the second device part 70 supported by the first device part 60 is in a linear direction perpendicular to the axis extending in the lateral direction and relative to the center line of the body frame 20 extending in the front-rear direction. This allows linear movement in the inclined linear direction (see Figure 2).

[0056] 12 and 13, the second device unit 70 includes a connecting portion 700 to which the working device 10 is connected. More specifically, the second device unit 70 includes the connecting portion 700 and a support frame 703 that supports the connecting portion 700 and is connected to the first device unit 60. In this embodiment, in addition to the connecting portion 700 and the support frame 703, the second device unit 70 includes an electric motor (hereinafter referred to as an electric motor for device) 706 that drives the working device 10 connected to the connecting portion 700.

[0057] The working device 10 is connected to the connecting portion 700 of the second device section 70. Here, in order to be able to connect an existing working device 10 that was the target of connection with a conventional connecting device (three-point link), the connecting portion 700 has a structure similar to the connecting structure of a three-point link (the structure of the tip end of the lower link and the tip end of the upper link). Specifically, the working device 10 has a pair of lower locking shafts that extend laterally and are arranged with a space between them in the laterally direction, and an upper locking shaft that is arranged above the pair of lower locking shafts and at a position corresponding to the midpoint (center) position of the pair of lower locking shafts in the laterally direction.

[0058] Accordingly, the connecting portion 700 is capable of supporting the working device 10 at three points, the pair of lower locking shafts and the upper locking shaft. Specifically, the connecting portion 700 includes a pair of lower connecting portions 701, 701 that are arranged at a distance in the horizontal direction corresponding to the arrangement of the pair of lower locking shafts, and the pair of lower connecting portions 701, 701 that can lock the corresponding lower locking shafts, and an upper connecting portion 702 that is arranged above the pair of lower connecting portions 701, 701, corresponding to the arrangement of the upper locking shafts, and that is arranged at a position that corresponds to the horizontal intermediate (center) position between the pair of lower connecting portions 701, 701, and that can lock the upper locking shaft.

[0059] As shown in Figures 14 and 15, the pair of lower connecting portions 701, 701 and the upper connecting portion 702 each have recesses 701a, 702a into which a shaft (lower locking shaft LS1, upper locking shaft LS2) extending laterally can be fitted in the radial direction. The recesses 701a of the pair of lower connecting portions 701, 701 are configured so that the lower locking shaft LS1 can be fitted and removed in the front-to-rear direction (diagonal front-to-rear direction) (see Figure 14). In contrast, the recesses 702a of the upper connecting portion 702 are configured so that the upper locking shaft LS2 can be fitted and removed in the up-down direction (see Figure 15). Each of the pair of lower connecting portions 701, 701 is provided with an engaging claw (stopper) 701b that can engage with the lower locking shaft LS1 in the recess 701a to prevent the lower locking shaft LS1 fitted in the recess 701a from falling out. The engaging claw 701b is switchable between a restricted state in which it protrudes into the recess 701a and can engage with the lower locking shaft LS1, and a non-restricted state in which it retracts from the recess 701a.

[0060] As shown in FIGS. 12 and 13 , the support frame 703 includes a first mounting portion 704 to which the connecting portion 700 is attached, and a second mounting portion 705 connected to the first device portion 60, the second mounting portion 705 being directly or indirectly connected to the first mounting portion 704. The third actuator 64 is a cylinder device extending in one axial direction and capable of expanding and contracting in this axial direction. The third actuator 64 is disposed across the first device portion 60 and the second device portion 70. Accordingly, the support frame 703 includes a shaft (hereinafter referred to as the second support shaft) S4 that connects the other axial end (cylinder end in this embodiment) of the third actuator 64, the second support shaft S4 extending in the front-rear direction. In this embodiment, the support frame 703 includes a bracket 705e that supports the second support shaft S4.

[0061] In this embodiment, the first mounting portion 704 includes a first lower beam portion 704a to which a pair of lower connecting portions 701, 701 are attached, a first upper beam portion 704b arranged above the first lower beam portion 704a and to which the upper connecting portion 702 is attached, and a first connecting pillar 704c connecting the first lower beam portion 704a and the first upper beam portion 704b.

[0062] The first lower beam portion 704a and the first upper beam portion 704b are spaced apart in the vertical direction in accordance with the arrangement of the upper connecting portion 702 and the lower connecting portion 701. The first connecting pillar 704c extends in the vertical direction, with its upper end connected to the first upper beam portion 704b and its lower end connected to the first lower beam portion 704a. In this embodiment, the first mounting portion 704 includes two first connecting pillars 704c. The two first connecting pillars 704c are spaced apart in the horizontal direction. In this embodiment, one of the two first connecting pillars 704c is connected to one horizontal end of the first upper beam portion 704b and one horizontal end of the first lower beam portion 704a, and the other first connecting pillar 704c is connected to the other horizontal end of the first upper beam portion 704b and the other horizontal end of the first lower beam portion 704a. In this embodiment, the first lower beam portion 704a, the first upper beam portion 704b, and the first connecting column 704c are made of square steel pipes and are connected to each other by welding, thereby forming the first mounting portion 704 into a rectangular frame shape.

[0063] In this embodiment, the first mounting portion 704 includes a support beam 704d that supports the device electric motor 706. The support beam 704d extends laterally, and both ends are connected to the first connecting column 704c. The support beam 704d is located between the first upper beam portion 704b and the first lower beam portion 704a, at a position (height) that allows the device electric motor 706 to be supported at a predetermined position. In other words, the support beam 704d is located at a position that allows the device electric motor 706 to be supported at a predetermined position so that the output shaft 706a of the device electric motor 706 is located at a position that allows it to be connected to an input shaft that receives power from the working device 10 connected to the connecting portion 700. The support beam 704d is also made of a square steel pipe and is connected to the first connecting column 704c by welding.

[0064] In this embodiment, a pair of support brackets 707, 707 that support both lateral sides of the device electric motor 706 are attached to the support beam 704d. The pair of support brackets 707, 707 are arranged with a gap between them in the lateral direction. That is, the pair of support brackets 707, 707 are arranged with a gap between them that allows the device electric motor 706 to be placed between them. In this embodiment, the pair of support brackets 707, 707 hang down from the lower surface of the support column. That is, the pair of support brackets 707, 707 support the device electric motor 706 below the support beam 704d. The pair of support brackets 707, 707 are arranged symmetrically with respect to the lateral center of the support beam 704d. That is, the pair of support brackets 707, 707 support the device electric motor 706 so that the position of the output shaft 706a of the device electric motor 706, which is arranged between the pair of support brackets 707, 707, corresponds to the lateral center position of the support beam 704d.

[0065] In this embodiment, the pair of support brackets 707, 707 support the device electric motor 706 via a mounting bracket 710 attached to the device electric motor 706. Specifically, the mounting bracket 710 includes a pair of support shafts (hereinafter referred to as motor support shafts) S5, S5 arranged on both sides of a motor case 706b that houses a rotor of the device electric motor 706, each of which includes a pair of motor support shafts S7, S7 extending laterally. Accordingly, the pair of support brackets 707, 707 support the pair of motor support shafts S7, S7 of the mounting bracket 710. As shown in FIG. 16 , the device electric motor 706 is supported by the support beam 704d via the pair of support brackets 707 so as to be rotatable (swingable) about the motor support shafts S7, S7. As a result, the device electric motor 706 rotates (swings) about the motor support shafts S7, S7, and thereby the orientation of the output shaft 706a (the direction in which the axis extends) can be changed in the up and down direction. That is, the position (angle) of the output shaft 706a of the device electric motor 706 can be changed so as to correspond to the position and orientation of the drive input part of the working device 10 that receives the drive and operates.

[0066] Since the rotor and other components are housed inside the motor case 706b, the center of gravity of the electric motor 706 for the device is located forward of the motor support shaft S7. A larger load (downward force) acts on the front side of shaft S7 than on the rear side, causing the device electric motor 706 to rotate around the motor support shaft S7. In this embodiment, an elastic member (in this embodiment, a tension coil spring) 711 is provided to support the motor case 706b so that the output shaft 706a of the device electric motor 706 can be adjusted in the up-down direction while maintaining the output shaft 706a in a straight (horizontal or approximately horizontal) state in the normal state. The elastic member 711 is positioned to straddle the first mounting portion 704 and the motor case 706b.

[0067] As shown in Figure 12, in this embodiment, the second mounting portion 705 includes a second lower beam portion 705a arranged on the front side of the support beam 704d, a second upper beam portion 705b arranged on the front side of the first upper beam portion 704b, and a second connecting pillar 705c connecting the second lower beam portion 705a and the second upper beam portion 705b.

[0068] The second lower beam portion 705a and the second upper beam portion 705b are spaced apart in the vertical direction to match the arrangement of the support beam 704d and the first upper beam portion 704b. The second connecting pillar 705c extends in the vertical direction, with its upper end connected to the second upper beam portion 705b and its lower end connected to the second lower beam portion 705a. In this embodiment, the second mounting portion 705 includes two second connecting pillars 705c. The two second connecting pillars 705c are spaced apart in the horizontal direction.

[0069] In this embodiment, of the two second connecting columns 705c, one second connecting column 705c is connected to one lateral end of the second upper beam portion 705b and one lateral end of the second lower beam portion 705a, and the other second connecting column 705c is connected to the other lateral end of the second upper beam portion 705b and the other lateral end of the second lower beam portion 705a. The second lower beam portion 705a, the second upper beam portion 705b, and the second connecting column 705c are also made of square steel pipes and are connected to each other by welding. As a result, the second mounting portion 705 is formed into a rectangular frame shape of the same shape and size as the first mounting portion 704 and faces the first mounting portion 704.

[0070] A boss 705d that supports the vertical axis S2 of the first device unit 60 is attached to the second upper beam portion 705b. That is, the boss 705d having a hole into which the vertical axis S2 can be inserted from the front-rear direction is attached to a portion of the second upper beam portion 705b facing forward. The boss 705d is attached to the center of the second upper beam portion 705b in the horizontal direction.

[0071] In this embodiment, a second support shaft S4 is attached to the second upper beam portion 705b. Specifically, the second support shaft S4 is supported by a protruding bracket 705e attached to the second upper beam portion 705b and extends in the front-to-rear direction. The second support shaft S4 is located on one lateral end of the second upper beam portion 705b. That is, the second mounting portion 705 has a bracket 705e that supports the second support shaft S4 on one lateral end of the second upper beam portion 705b. The bracket 705e protrudes upward from the upper surface of the second upper beam portion 705b. As a result, the second support shaft S4 is located outward in the lateral direction from the first support shaft. As described above, the first support shaft S3 is attached to the support column 695 of the first device section 60, and the second support shaft S4 is attached to the second mounting section 705 (second upper beam section 705b) of the second device, so the third actuator 64 is disposed straddling the first device section 60 and the second device section 70. As described above, the second support shaft S4 is positioned outward in the horizontal direction from the first support shaft S3, so that one end of the third actuator 64 is pivotally attached to the first support shaft S3 and the other end of the third actuator 64 is pivotally attached to the second support shaft S4, so that the third actuator 64 (cylinder device) is disposed in an attitude inclined relative to the vertical or horizontal direction.

[0072] The second device section 70 includes vertical beams 708 extending in the front-rear direction, which connect the first mounting section 704 and the second mounting section 705. In this embodiment, the second device section 70 includes four vertical beams 708. The four vertical beams 708 are connected to the first mounting section 704, which has a rectangular frame shape. The four corners of the first mounting portion 704 and the second mounting portion 705 are connected to the four corners of the rectangular frame-shaped second mounting portion 705. The vertical beams 708 are also made of square steel pipes, and are connected to the first mounting portion 704 and the second mounting portion 705 by welding.

[0073] As described above, each of the first actuator 62, the second actuator 63, and the third actuator 64 is a cylinder device that expands and contracts in one axial direction. In this embodiment, each of the first actuator 62, the second actuator 63, and the third actuator 64 is an electric cylinder that expands and contracts upon receiving power from the drive battery 5. That is, each of the first actuator 62, the second actuator 63, and the third actuator 64 is connected to the drive battery 5 via a power line L, as shown in FIGS. 1 to 3.

[0074] 3, one end of the second actuator 63 in one axial direction is connected to the first bracket portion 678. In this embodiment, one end of the second actuator 63 in one axial direction (a rod end in this embodiment) is connected to the first bracket portion 678 via a shaft (hereinafter referred to as a second horizontal shaft) S5 extending in the horizontal direction, and is connected to be rotatable around the second horizontal shaft S5.

[0075] The other axial end of the second actuator 63 (cylinder end in this embodiment) is connected to a bracket 25 protruding from the rear end of the body frame 20 via a shaft (hereinafter referred to as a third horizontal shaft) S6 extending laterally, and is connected to be rotatable about the third horizontal shaft S6. Therefore, the second actuator 63 is disposed across the first device unit 60 and the body frame 20. As a result, when the second actuator 63 extends and contracts, the first device unit 60 and the second device unit 70 rotate in the front-rear direction about the first horizontal shaft S1 connecting the second bracket unit 679 and the tip end of the arm 65, thereby changing their posture.

[0076] Furthermore, as described above, the third actuator 64 is disposed across the first device unit 60 and the second device unit 70, and therefore, when the third actuator 64 extends and contracts, the second device unit 70 rotates to one side (right side) and the other side (left side) in the horizontal direction about the vertical axis S2, as shown in Figures 5 and 6. As a result, the connecting device 6 of this embodiment can rotate the working device 10 connected to the connecting portion 700 of the second device unit 70 to one side (right side) and the other side (left side) in the horizontal direction about the vertical axis S2, thereby changing its posture in the horizontal direction.

[0077] As shown in FIGS. 1 to 3, the device electric motor 706 has an output shaft 706a that is directly or indirectly connected to the drive input portion (input shaft) of the working device 10. That is, the output shaft 706a of the device electric motor 706 is directly connected to the drive input portion (input shaft) of the working device 10, or indirectly connected to the drive input portion (input shaft) of the working device 10 via an intermediate member such as a universal joint. The device electric motor 706 is driven by power supplied from the vehicle body 2 via a power line L. That is, the device electric motor 706 is connected to the power line L that leads to the drive battery 5, and is driven by power supplied from the drive battery 5. Since the device electric motor 706 is intended to drive the working device 10 having a dynamic functional unit (to make the functional unit function), if the working device 10 does not have a dynamic functional unit, the circuit breaker opens the circuit of the power line L in response to an instruction from the control device 8, and the power supply (power feed) from the drive battery 5 to the device electric motor 706 is stopped.

[0078] The base end of the arm 65 is connected (fixed) to the body frame 20. In this embodiment, the base end of the arm 65 is connected (fixed) to the rear end of the body frame 20 by welding or bolting. The arm 65 extends rearward in the front-to-rear direction from the rear end of the body frame 20. The tip of the arm 65 connected to the first device part 60 is located rearward of the traveling device 3 (rear wheel 3b). As a result, the arm 65 is positioned rearward of the rear wheel 3b and is connected to the first device part 60. The connecting device 6 of this embodiment has two arms 65, and the two arms 65 are arranged with a gap between them in the lateral direction. Specifically, the two arms 65 are arranged symmetrically with respect to the center line extending in the front-rear direction of the body frame 20. In other words, the two arms 65 are arranged at positions spaced the same distance apart in the lateral direction from the center line of the body frame 20.

[0079] In this embodiment, the first device unit 60 is connected to the tip end of the arm 65 via a first horizontal shaft S1 extending laterally, and is rotatable about the first horizontal shaft S1. In this embodiment, as described above, two arms 65 arranged at a distance in the laterally direction are provided, and therefore the first device unit 60 is connected to the tip end of the two arms 65. In other words, the first device unit 60 is connected to each of the tip end portions of the two arms 65 via the first horizontal shaft S1 extending laterally. The first horizontal shafts S1 connecting the tip end portions of the two arms 65 and the second bracket unit 679 are arranged concentrically.

[0080] As shown in Fig. 17, the control device 8 controls the power supply to the drive battery 5. That is, the control device 8 includes a battery control system BMS. In this embodiment, the control device 8 includes not only the battery control system BMS but also an electronic control unit ECU that controls the drive of the device. Note that in this embodiment, the battery control system BMS and the electronic control unit ECU are not separated, but are collectively referred to as the control device 8.

[0081] The control device 8 comprises an arithmetic control unit 80, a memory unit 81 that stores information used for processing by the arithmetic control unit 80, an input unit 82 that is electrically connected to the arithmetic control unit 80 and inputs electrical signals as input information from external electrical equipment to the arithmetic control unit 80, and an output unit 83 that is electrically connected to the arithmetic control unit 80 and outputs instruction signals (electrical signals) as output information from the arithmetic control unit 80 to the external electrical equipment.

[0082] The arithmetic and control unit 80 is a CPU (MPU) and includes an arithmetic unit 80a and a control unit 80b. In the control device 8 according to this embodiment, the storage unit includes a first storage unit 81a that temporarily or short-term stores information used in processing by the arithmetic and control unit 80 (arithmetic unit 80a and control unit 80b), and a second storage unit 81b that long-term stores information used in processing by the arithmetic and control unit 80 (arithmetic unit 80a and control unit 80b). The first storage unit 81a is a so-called memory, and the second storage unit 81b is a storage device such as a hard disk or SSD (Solid State Drive).

[0083] The input unit 82 and the output unit 83 are so-called interfaces. An electrical device that outputs an electrical signal as information is connected to the input unit 82. On the other hand, an electrical device that inputs an electrical signal as information is connected to the output unit 83.

[0084] Specifically, the input unit 82 is connected to the operating device 230 and various sensors SA1, etc. that measure the voltage and current values ​​of the drive battery 5. On the other hand, the output unit 83 is connected to the traveling electric motor 4, the device electric motor 706, the first actuator 62, the second actuator 63, and the third actuator 64 (strictly speaking, the circuit breakers on the power lines connected to these), etc. In this embodiment, the display device 231 is a touch panel type, and is therefore connected to the input unit 82 and the output unit 83 to send and receive information (signals) to and from the control device 8 (arithmetic and control unit 80).

[0085] In the work vehicle 1 of this embodiment, the standard posture of the first device unit 60 when the coupling device 6 is in the first state is the state in which the guide body 67 (rail) extends in the up-down direction (vertical direction), and the control device 8 adjusts and maintains the expansion / contraction state of the second actuator 63 so that the first device unit 60 is in the standard posture in the normal state. In this state, as the first device part 60 tilts forward, the second device part 70 also tilts forward, so for example, if the first device part 60 is set to be in the standard position with the second actuator 63 extended to its maximum extent, the control device 8 maintains the second actuator 63 in its maximum extent.

[0086] When the worker operates the operating device 230 (for example, an operating lever) to adjust the height of the connecting part 700 or to adjust (raise or lower) the height of the working device 10 connected to the connecting part 700, the control device 8 receives an input signal from the operating device 230 and, based on the input signal, extends or contracts the first actuator 62. As a result, the second connecting part 676b connected to the other end of the first actuator 62 moves in accordance with the extension or contraction of the first actuator 62.

[0087] The second connecting portion 676b is connected to the guided body 68 via the upper arm portion 696, the support column 695, and the mounting frame 69, and therefore moves in the guiding direction (the direction in which the guide body 67 (rail) extends). Therefore, when the connecting device 6 is in the first state (the first device unit 60 is in the standard position), the second connecting portion 676b also moves up and down together with the guided body guided by the guiding body 67 extending in the vertical direction. The second connecting portion 676b is also connected to the second device unit 70 via the upper arm portion 696, the support column 695, and the first frame, and therefore the second device unit 70 also moves up and down (rising and descending). In other words, the second device unit 70 moves linearly up and down, and the connecting portion 700 or the working device 10 connected to the connecting portion 700 also rises and falls up and down (vertically).

[0088] Furthermore, when the worker operates the operating device 230 (for example, an operating lever) to change the first device unit 60 from the standard position to the tilted position, the control device 8 receives an input signal from the operating device 230 and expands or contracts (contracts in this embodiment) the second actuator 63 based on the input signal. As a result, the first device unit 60 rotates about the first horizontal axis S1 (the first horizontal axis S1 that connects the second bracket unit 679 to the tip end of the arm 65 and extends in the horizontal direction) at the lower end side of the guide unit, and assumes the tilted position, and the connecting device 6 enters the second state.

[0089] When only the second actuator 63 is extended or contracted, the connecting portion 700 or the working device 10 connected to the connecting portion 700 follows an arc-shaped trajectory centered on the first horizontal axis S1 (first horizontal axis S1 extending in the horizontal direction connecting the second bracket portion 679 to the tip of the arm 65) located on the lower end side of the guide portion. In contrast, when the control device 8 operates the operating device 230 to extend or contract the second actuator 63 in conjunction with the extension or contraction of the first actuator 62, the connecting portion 700 or the working device 10 follows a curved (or parabolic) trajectory centered on the first horizontal axis S1 (first horizontal axis S1 extending in the horizontal direction connecting the second bracket portion 679 to the tip of the arm 65) located on the lower end side of the guide portion.

[0090] Therefore, it is possible to follow a movement trajectory similar to that of the working device 10 using a conventional connecting device 6 (three-point link), and further, by combining the extension and contraction timing and extension speed of the first actuator 62 and the second actuator 63, the connecting part 700 and the connected working device 10 can be moved along a movement trajectory according to requirements.

[0091] Furthermore, when the worker operates the operating device 230 to perform horizontal control to keep the working implement 10 in a constant attitude relative to the ground (work surface), the control device 8 extends and retracts the third actuator 64 so that the attitude of the working implement 10 remains constant regardless of the lateral tilt (rolling) of the work vehicle 1. In other words, by extending and retracting the third actuator 64, the control device 8 rotates the second device section 70 around the vertical axis S2 in the direction opposite to the rolling direction of the work vehicle 1 by a rotation angle corresponding to the amount of rolling, thereby keeping the attitude of the working implement 10 constant.

[0092] The above embodiment is as described above, and the present invention (preferable embodiment) includes the following items (items): The present invention provides a work vehicle as set forth in items 1 to 15).

[0093] (Item 1) A work vehicle (1) comprising a drivable vehicle body (2) and a coupling device (6) attached to the vehicle body (2), the coupling device (6) having a first device section (60) supported directly or indirectly on the vehicle body (2) and a second device section (70) including a coupling section (700) to which a work device (10) for performing a specified task can be coupled, the first device section (60) supporting the second device section (70) so as to be linearly movable at least in the vertical direction among linear directions perpendicular to the vertical direction and the lateral direction perpendicular to the fore-aft direction.

[0094] According to the work vehicle 1 of item 1, the first equipment unit 60 supports the second equipment unit 70 so that it can move linearly at least in the vertical direction, and therefore the connecting unit 700 to which the work device 10 is connected also moves linearly in the vertical direction. Therefore, the work vehicle 1 of item 1 can raise and lower the work device 10 in a straight line at least in the vertical direction.

[0095] (Item 2) Item 1. The work vehicle (1) according to item 1, wherein the first device section (60) has a guide device (66) capable of guiding the second device section (70) in the up and down direction.

[0096] According to the working device 10 of item 2, the guide device 66 of the first device unit 60 guides the second device unit 70 in the vertical direction, so that the second device unit 70 can be reliably moved linearly in the vertical direction.

[0097] (Item 3) The work vehicle 1 described in item 2, wherein the guiding device 66 includes a guiding body 67 extending in the linear direction and a guided body 68 guided by the guiding body 67, the guided body 68 being directly or indirectly connected to the second device section 70, and the connecting device 6 maintains the guiding body 67 in a position extending in the vertical direction at least when the connecting section 700 is raised and lowered in the vertical direction.

[0098] According to the working device 10 of item 3, the guiding device 66 includes a guide body 67 that extends in a linear direction and a guided body 68 that is guided by the guiding body 67, so that the second device section 70 to which the guided body 68 is connected also moves straight in the direction in which the guide body 67 extends. Therefore, by positioning the guide body 67 so that it extends in the vertical direction, the second device section 70 moves linearly in the vertical direction.

[0099] (Item 4) The work vehicle (1) according to any one of items (1) to (3), wherein the coupling device (6) has a first actuator (62) that linearly moves the second device section (70).

[0100] According to the work vehicle 1 of item 4, the first actuator 62 moves the second device section 70 linearly, and therefore by controlling the first actuator 62, the movement amount and movement speed of the second device section 70 can also be controlled (adjusted).

[0101] (Item 5) The work vehicle 1 according to any one of items 1 to 4, wherein the first device section 60 is rotatable about an axis (first horizontal axis) S1 extending in the horizontal direction.

[0102] According to the working device 10 of item 5, the first device unit 60 can rotate about the first horizontal axis S1 extending in the horizontal direction, so the first device unit 60 can be tilted, and the extending direction of the guide body 67 can be made to be inclined relative to the front-to-rear direction as well as the up-and-down direction. This makes it possible to move the working device 10 connected to the connecting unit 700 on an arc-shaped track centered on the first horizontal axis S1. In addition, by combining the tilting of the first device unit 60 and the linear movement of the second device unit 70, The working device 10 connected to the connecting portion 700 can also be moved so as to follow a trajectory other than a perfect circular arc (for example, a curved trajectory, a parabolic trajectory, etc.).

[0103] (Item 6) Item 6. The work vehicle 1 according to item 5, wherein the coupling device 6 has a second actuator 63 that rotates the first device section 60 about the axis (first horizontal axis) S1.

[0104] According to the work vehicle 1 of item 6, the second actuator 63 rotates the first device unit 60 around the first horizontal axis S1, and therefore, by controlling the second actuator 63, the amount of rotation and rotation speed of the second device unit 70 can also be controlled (adjusted).

[0105] (Item 7) Item 7. The work vehicle (1) according to item 6, wherein the second actuator (63) is an extendable cylinder device and is disposed across the first device section (60) and the vehicle body (2).

[0106] According to the work vehicle 1 of item 7, the second actuator 63 is a cylinder device arranged across the first device unit 60 and the vehicle body 2, so the posture of the first device unit 60 can be changed without complicating the structure.

[0107] (Item 8) The connecting device 6 is an arm 65 having a base end connected to the vehicle body 2 and a tip end opposite the base end, and the arm 65 extends outward from the vehicle body 2 in a direction perpendicular to the up-down direction, and the work vehicle 1 described in item 5 has the first device part 60 connected to the tip end of the arm 65 via the axis (first horizontal axis) S1.

[0108] According to the work vehicle 1 of item 8, the first equipment unit 60 is connected to the tip of the arm 65 extending outward from the vehicle body 2, thereby reducing interference of the first equipment unit 60 with the vehicle body 2. Furthermore, since the first equipment unit 60 is connected to the tip of the arm 65 via the first horizontal shaft S1, the posture of the first equipment unit 60 can also be changed.

[0109] (Item 9) Item 9. The work vehicle 1 according to item 8, wherein the lower end of the first device section 60 is connected to the tip end of the arm 65 via the shaft (first horizontal shaft) S1.

[0110] According to the work vehicle 1 of item 9, the lower end of the first device unit 60 is connected to the tip of the arm 65 via the first horizontal axis S1, so when the first device unit 60 rotates around its axis, the first operating unit does not move below the first horizontal axis S1, and the first device unit 60 does not interfere with the ground as it rotates (moves).

[0111] (Item 10) The work vehicle 1 described in any one of items 1 to 9, wherein the second device section 70 is an electric motor that drives the work device 10 connected to the connecting section 700, and includes an electric motor (electric motor for device) 706 that is driven by receiving power supply from the vehicle body 2.

[0112] According to the work vehicle 1 of item 10, the second device section 70 includes an electric motor (device electric motor) 706 that drives the work device 10, so there is no need to extract power from the traveling electric motor 4 to the work device 10. This prevents a decrease in the driving performance of the work vehicle 1.

[0113] (Item 11) The electric motor (electric motor for device) 706 is connected to the support shaft (motor support shaft) extending in the horizontal direction. ) The work vehicle 1 according to item 10, which is swingable around S5 as a center of rotation.

[0114] According to the work vehicle 1 of item 11, the electric motor (electric motor for equipment) 706 can swing around the motor support shaft S7 extending laterally, so that the posture of the electric motor (electric motor for equipment) 706 can be set to a posture that corresponds to the shape of the work equipment 10 connected to the connecting part 700.

[0115] (Item 12) The work vehicle 1 described in any one of items 1 to 11, wherein the first equipment unit 60 has a connection portion 611 to which the second equipment unit 70 is connected, the connection portion 611 including a vertical axis S2 extending in the fore-and-aft direction, and the second equipment unit 70 is connected to the connection portion 611 via the vertical axis S2 and is rotatable around the vertical axis S2.

[0116] According to the work vehicle 1 of item 12, the second device part 70 can be rotated around the vertical axis S2 extending in the fore-and-aft direction, and therefore the work device 10 connected to the connecting part 700 can also be rotated around the vertical axis S2, allowing the lateral posture of the work device 10 to be adjusted.

[0117] (Item 13) Item 13. The work vehicle 1 according to item 12, wherein the coupling device 6 has a third actuator 64 that rotates the second device section 70 about the longitudinal axis S2.

[0118] According to the work vehicle 1 of item 13, the third actuator 64 rotates the second device unit 70 around the vertical axis S2, and therefore, by adjusting the third actuator 64, the amount of rotation and rotation speed of the third actuator 64 around the vertical axis S2 can be controlled (adjusted).

[0119] (Item 14) The work vehicle 1 described in item 13, wherein the third actuator 64 is an extendable cylinder device and is disposed across the first device section 60 and the second device section 70.

[0120] According to the work vehicle 1 of item 14, the third actuator 64 is a cylinder device, so that the third actuator 64 can be rotated around the vertical axis S2 without a complex configuration.

[0121] (Item 15) The work vehicle (1) according to any one of items (1) to (14), wherein the coupling device (6) is attached to at least one of the front end and the rear end of the vehicle body (2).

[0122] According to the work vehicle 1 of item 15, the coupling device 6 is attached to at least one of the front end and rear end of the vehicle body 2, so that the working device 10 can be disposed either in front or rear of the vehicle body 2.

[0123] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention.

[0124] For example, in the above embodiment, the coupling device 6 includes the arm 65 coupled to the body frame 20, but this is not limiting. For example, if the rear end of the body frame 20 is located rearward of the traveling unit 3 (rear wheel 3b), the coupling device 6 may be directly coupled to the rear end of the body frame 20 because the coupling device 6 does not interfere with the rear wheel 3b.

[0125] In the above embodiment, the connecting device 6 (first device part 60) is configured to be rotatable (tiltable) about the first horizontal axis S1 extending in the horizontal direction, but is not limited to this. The first device section 60 may be configured to maintain a constant posture relative to the vehicle body 2 and support the second device section 70 so that it can move linearly in the vertical direction (linear direction that is the vertical direction).

[0126] In the above embodiment, the first actuator 62, the second actuator 63, and the third actuator 64 are each an electric actuator (electric cylinder), but this is not limited to this. For example, if the work vehicle 1 has a hydraulic system including a hydraulic pump driven by an electric motor, the first actuator 62, the second actuator 63, and the third actuator 64 may each be a hydraulic actuator (for example, a hydraulic cylinder). Furthermore, at least one of the first actuator 62, the second actuator 63, and the third actuator 64 may be a hydraulic actuator (for example, a hydraulic cylinder), and the rest may be electric actuators.

[0127] In the above embodiment, the first actuator 62, the second actuator 63, and the third actuator 64 are each an extendable and retractable cylinder device (electric cylinder), but this is not limiting. For example, the first actuator 62, the second actuator 63, and the third actuator 64 may be a motor. In this case, the rotational output of the motor may be used as is, or various mechanisms may be provided, such as a motion conversion mechanism (e.g., rack and pinion) that converts rotational motion into linear motion, or a speed reduction mechanism. Accordingly, it goes without saying that the actuator connection unit 676 may also be appropriately changed depending on the type of actuator used.

[0128] Although the guiding device 66 of the above embodiment employs a guide body 67 (rail) with a T-shaped cross section, the present invention is not limited thereto. For example, as shown in Fig. 18, the guide body 67 (rail) may have a U-shaped cross section including a strip-shaped base portion 670 extending longitudinally in one direction and a pair of protruding pieces 671, 671 provided at both ends of one surface of the base portion 670 in a width direction perpendicular to the longitudinal direction and extending over the entire longitudinal length of the base portion 670 in a direction perpendicular to the surface. In this case, the guided body 68 includes a first guide roller 681 that contacts the guide body 67 in the lateral direction and a second guide roller 682 that contacts the guide body 67 in the front-rear direction, thereby achieving the same functions and effects as those of the above embodiment.

[0129] Specifically, when the guide body 67 (rail) has a U-shaped cross section, the guide body 67 is arranged so that a pair of protruding pieces 671, 671 are aligned in the front-rear direction, and the guided body 68 includes at least one first guide roller 681 arranged between the pair of protruding pieces 671, 671 and abutting against the base part 670 from the lateral direction, and a pair of second guide rollers 682 arranged between the pair of protruding pieces 671, 671 and each pair of second guide rollers 682 abutting against the corresponding protruding piece 671 of the pair of protruding pieces 671, 671 from the front-rear direction. Even in this case, the guided body 68 preferably includes two or more first guide rollers 681 arranged at intervals in the vertical direction, and two or more pairs of second guide rollers 682 arranged at intervals in the vertical direction.

[0130] In the above embodiment, the guiding device 66 includes a rail-shaped guide body 67 and a guided body 68 having a first guide roller 681 and a second guide roller 682 that roll on the guide body 67, but is not limited to this. For example, as shown in FIG. 19, the guiding device 66 may include a linear shaft 66a in the shape of a straight round bar and a linear bushing 66b into which the linear shaft 66a is inserted, the linear bushing 66b being movable in the axial direction along the linear shaft 66a. In this case, both ends of the linear shaft 66a are connected to connecting frames 672, 673 arranged at two positions, one above the other, and the linear bushing 66b is connected to the second device unit 70, so that the second device unit 70 can be guided in a linear direction (the direction in which the linear shaft 66a extends) perpendicular to the lateral direction, as in the above embodiment. In this case as well, a pair of linear shafts 66a may be provided spaced apart in the horizontal direction, and a linear bushing 66b may be provided for each of the linear shafts 66a, 66a.

[0131] In the above embodiment, the second device unit 70 is connected to the first device unit 60 via the vertical shaft S2, and the second device unit 70 is made swingable (rotatable) about the vertical shaft S2, thereby enabling horizontal control to keep the posture of the working device 10 horizontal, but this is not limiting. For example, if horizontal control to keep the posture of the working device 10 horizontal is not required, the first device unit 60 and the second device unit 70 may be connected together as an integral unit without being separated, as shown in Figures 20 and 21.

[0132] In the above embodiment, the connecting device 6 (first device section 60) is rotatable about the first horizontal axis S1 extending in the horizontal direction, but this is not limiting. The connecting device 6 may be non-rotatable, i.e., the guide device 66 (guide body 67) may be maintained in a fixed state (posture). In this case, the extending direction (guiding direction) of the guide body 67 must be vertical. Even in this case, the connecting section 700 can move linearly in the vertical direction.

[0133] In the above embodiment, the coupling device 6 is attached to the rear end of the vehicle body 2 (body frame 20), but this is not limiting. For example, as shown in FIG. 22, the coupling device 6 may be attached to the front end of the vehicle body 2 (body frame 20). Furthermore, although not shown, the coupling device 6 may be attached to both the front and rear ends of the vehicle body 2 (body frame 20). In either case, the structure of the coupling device 6 may be the same as that of the above embodiment.

[0134] In the above embodiment, no specific configuration of the working device 10 was mentioned, but for example, as shown in Fig. 23, the working device 10 may include a functional unit 100 that performs a function related to a predetermined task, an electric motor 101 that drives the functional unit 100, and a battery 102 that supplies power to the electric motor 101. Specifically, the working device 10 may be a working device 10 (tilling device) that includes a tilling rotor 100 as the functional unit 100, the electric motor 101, a battery 102 that supplies power to the electric motor 101, and a drive transmission device 103 that transmits the rotation of the electric motor 101 to the rotor 100 (functional unit 100).

[0135] In this case, the drive transmission device 103 is preferably configured to be connectable to the device electric motor 706 of the coupling device 6, and the electric motor 101 of the work device 10 is connected to and controlled by the control device 8 of the work device 10. The battery 102 of the work device 10 is also connected to the control device 8, and the remaining amount of stored electricity is managed by the control device 8. In this manner, the rotation of the electric motor 101 can be controlled by operating the operation device 230 of the work vehicle 1, and further, the electric motor 101 can be driven by power supplied from the battery 102 of the work device 10 itself, causing the rotor 100, which is the functional unit 100, to rotate and perform tilling.

[0136] Therefore, work can be performed using conventional operations, and power consumption of the drive battery 102 of the work vehicle 1 is reduced. Furthermore, by having the control device 8 of the work vehicle 1 manage the remaining charge of the battery 102 of the work device 10, the control device 8 of the work vehicle 1 can recognize, for example, that the remaining charge of the battery 102 of the work device 10 is low or has run out.

[0137] Therefore, when the control device 8 recognizes that the remaining charge of the battery 102 of the working device 10 is low or has run out, it can instruct the driving battery 102 to supply power to the device electric motor 706, thereby driving the device electric motor 706 of the connecting device 6 and continuously operating the functional unit 100. When it is recognized that the remaining charge is low or gone, if the driving battery 5 of the work vehicle 1 is instructed to charge the battery 102 of the work device 10, the battery 102 of the work device 10 is charged and work can be resumed.

[0138] In the above embodiment, the traveling device 3 is driven by the traveling electric motor (electric motor) 4, but this is not limiting. For example, the traveling device 3 may be driven by an internal combustion engine. Also, in the above embodiment, the coupling device 6 is controlled by the control device 8 of the work vehicle 1, but for example, a control device may be mounted on the working device 10, and the coupling device 6 may be controlled by the control device of this working device 10. [Explanation of symbols]

[0139] 1: Work vehicle 2: Body 6: Connecting device 10: Work equipment 60: 1st device section 62: First actuator (actuator) 63: Second actuator (actuator) 64: Third actuator (actuator) 65: Arm 66: Guidance device 67: Guide 68:Guided object 70:Second equipment section 101: Electric motor 611: Connection part 700: Connection part 706: Electric motors for equipment (electric motors) S2: Vertical axis

Claims

1. A drivable vehicle body, a coupling device attached to the vehicle body, The coupling device is a first device unit supported directly or indirectly on the vehicle body; a second device unit including a connecting part to which a work device for performing a predetermined work can be connected; and The first device unit supports the second device unit so that it can move linearly at least in the vertical direction among linear directions perpendicular to the vertical direction and the lateral direction perpendicular to the front-rear direction.

2. The work vehicle according to claim 1 , wherein the first device unit includes a guide device that can guide the second device unit in the up-down direction.

3. The guide device is A guide body extending in the linear direction; a guided body that is guided by the guiding body, and to which the second device portion is directly or indirectly connected; The work vehicle according to claim 2 , wherein the coupling device maintains the guide body in a position extending in the vertical direction at least when the coupling portion is raised and lowered in the vertical direction.

4. The work vehicle according to claim 1 , wherein the coupling device includes a first actuator that linearly moves the second device portion.

5. The work vehicle according to claim 1 , wherein the first device portion is rotatable about an axis extending in the lateral direction.

6. The work vehicle according to claim 5 , wherein the coupling device has a second actuator that rotates the first device portion about the axis.

7. The work vehicle according to claim 6 , wherein the second actuator is an extendable cylinder device and is disposed across the first device section and the vehicle body.

8. The work vehicle described in claim 5, wherein the connecting device is an arm having a base end connected to the vehicle body and a tip end opposite the base end, the arm extending outward from the vehicle body in a direction perpendicular to the up-down direction, and the first device unit is connected to the tip end of the arm via the shaft.

9. The work vehicle according to claim 8 , wherein a lower end of the first device unit is connected to a tip end of the arm via the shaft.

10. The work vehicle according to claim 1 , wherein the second device section includes an electric motor that drives the work device connected to the connecting section and that receives a power supply from the vehicle body to drive the electric motor.

11. The work vehicle according to claim 10, wherein the electric motor is capable of swinging about the support shaft extending in the lateral direction as a center of rotation.

12. the first device unit has a connection portion to which the second device unit is connected, the connection portion including a vertical axis extending in a front-rear direction; The work vehicle according to claim 1 , wherein the second device portion is connected to the connection portion via the vertical shaft and is rotatable around the vertical shaft.

13. The work vehicle according to claim 12 , wherein the coupling device includes a third actuator that rotates the second device portion about the longitudinal axis.

14. The work vehicle according to claim 13, wherein the third actuator is an extendable cylinder device and is disposed across the first device unit and the second device unit.

15. The work vehicle according to any one of claims 1 to 14, wherein the coupling device is attached to at least one of a front end and a rear end of the vehicle body.

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