Working machine

Abstract

To provide a work machine which can replace a storage device for storing an energy source, and can suppress deterioration of work efficiency.SOLUTION: A work machine 1 includes a storage device for storing an energy source, and is driven by the energy source. The storage device includes a main battery 12M (first storage device) provided on the work machine 1, and a sub-battery 12S (second storage device) provided at a position different from the main battery 12M in the work machine 1, and the sub-battery 12S among the batteries is attachable / detachable to / from the work machine 1. For this reason, the storage device for storing the energy source can be replaced, and deterioration of work efficiency can be suppressed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a working machine including, for example, agricultural machines, construction machines, and the like.

Background Art

[0002] Conventionally, as a working machine such as an agricultural machine, the working machine of Patent Document 1 is known. The working machine of Patent Document 1 includes a working device connected to a traveling vehicle. The prime mover that drives the traveling vehicle is an electric motor. Electric power is supplied to this electric motor from a battery provided on the vehicle body. This battery can be charged from outside the working machine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Generally, in a battery or the like, when the stored electric energy is used up, replenishment such as charging is required. Since traveling and working stop during charging, the overall working efficiency may deteriorate. For this reason, there is a desire to save the time required for charging by replacing the battery or the like provided in the working machine with a fully charged battery or the like.

[0005] Therefore, in view of the above desire, an object of the present invention is to provide a working machine capable of replacing a storage device that stores an energy source and suppressing a deterioration in working efficiency.

Means for Solving the Problems

[0006] The technical means of the present invention for solving this technical problem are characterized by the following points. The working machine of the present invention is provided with a storage device for storing an energy source and is driven by the energy source. The storage device includes the first storage device provided on the working machine and the second storage device provided at a position different from the first storage device of the working machine, and at least one of the first storage device and the second storage device is detachable from the working machine.

[0007] The working machine of the present invention includes a traveling vehicle and a working device provided on the traveling vehicle, the first storage device is not detachable from the working machine, supplies the energy source for driving the traveling vehicle and / or the working device, and the second storage device is detachable from the working machine and supplies the energy source for driving the traveling vehicle when the energy source for driving the traveling vehicle and / or the working device is supplied by the first storage device.

[0008] In the working machine of the present invention, the second storage device supplies the energy source for driving the working device when the energy source for driving the traveling vehicle and / or the working device is supplied by the first storage device. Working machine.

[0009] The working machine of the present invention includes a traveling vehicle, a working device provided on the traveling vehicle, and a regeneration device capable of regenerating electric power from the traveling vehicle. The first storage device is a battery that can charge and discharge electrical energy as the energy source and is not detachable from the working machine. The second storage device is a battery that can charge and discharge electrical energy as the energy source and is detachable from the working machine. When the remaining amount of the electrical energy in the first storage device is equal to or greater than a predetermined value, it is provided with a charging control unit that charges the electrical energy regenerated by the regeneration device to the second storage device.

[0010] In the working machine of the present invention, the first storage device is a battery that can charge and discharge electrical energy as the energy source and is not detachable from the working machine, and the second storage device is a battery that can charge and discharge electrical energy as the energy source and is detachable from the working machine. Among the first storage device and the second storage device, a discharge control unit is provided that makes the discharge amount from the one with the larger remaining amount of the electrical energy larger than the discharge amount from the other one.

[0011] The working machine of the present invention includes a traveling vehicle and a working device provided on the traveling vehicle. The first storage device is not detachable from the working machine, the second storage device is detachable from the working machine, and is mounted at a position on the traveling vehicle opposite to the working device.

[0012] The working machine of the present invention includes a traveling vehicle, a working device, a first connecting device provided on the traveling vehicle and capable of connecting the working device, a supply path that is a path of the energy source supplied from the storage device to the working device, and a connector capable of connecting and disconnecting the supply path, which enables the supply of the energy source when connected and shuts off the supply of the energy source when disconnected.

[0013] In the working machine of the present invention, the connector is provided on the traveling vehicle so as to face the working device when the working device is connected to the first connecting device.

[0014] In the working machine of the present invention, the storage device is a battery that can charge and discharge electrical energy as the energy source, the working device can receive a signal from the traveling vehicle, a communication path that transmits the signal from the traveling vehicle to the working device, and a connector capable of connecting and disconnecting each of the supply path and the communication path, which enables the supply of the electrical energy and the transmission of the signal when connected and shuts off the supply of the electrical energy and the transmission of the signal when disconnected.

[0015] The working machine of the present invention is connectable to the second storage device, and includes a second connecting device that achieves attachment of the second storage device to the working machine when the second storage device is connected. The second storage device is detachable from the second connecting device, and is a battery capable of charging and discharging electrical energy as the energy source. The battery includes a battery terminal portion for discharging the electrical energy. The second connecting device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected. The electrical energy can be supplied from the second storage device to the working machine through the battery terminal portion and the terminal connection portion.

Advantages of the Invention

[0016] According to the present invention, a storage device for storing an energy source can be replaced, and deterioration of working efficiency can be suppressed.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0019] FIG. 1 shows an overall side view of a work machine 1 according to an embodiment of the present invention. FIG. 2 shows a plan view of the work machine 1. As shown in FIGS. 1 and 2, the work machine 1 includes a traveling vehicle 2 and a working device 3. Further, the work machine 1 includes a main battery (first storage device) 12M and a sub-battery (second storage device) 12S. The main battery 12M and the sub-battery 12S store electrical energy (energy source) for driving the traveling vehicle 2 and the working device 3. In the present embodiment, the main battery 12M and the sub-battery 12S are provided at different positions of the work machine 1, respectively. The main battery 12M is installed in the traveling vehicle 2 and is non-detachable. The sub-battery 12S is installed in the traveling vehicle 2 and is detachable and replaceable.

[0020] The traveling vehicle 2 is a vehicle that travels while towing the working device 3. In the case of the present embodiment, since the traveling vehicle 2 is a tractor, hereinafter, the traveling vehicle 2 will be described as a tractor 2. However, the traveling vehicle 2 is not limited to a tractor, and may be an agricultural vehicle such as a combine or a rice transplanter, or a construction vehicle or the like. Further, the traveling vehicle 2 may be a pickup truck. The working device 3 is a device for performing work (agricultural work) on a field or the like. The working device 3 is an implement or an attachment connected to the traveling vehicle 2.

[0021] <Tractor> The tractor 2 includes a vehicle body 4, a traveling device 5, a first coupling device 6, and a second coupling device 7. In an embodiment of the present invention, the front side (the left side in FIG. 1) of the driver sitting on the driver's seat 4a mounted on the vehicle body 4 is defined as the front, the rear side (the right side in FIG. 1) of the driver as the rear, the left side (the front side in FIG. 1) of the driver as the left, and the right side (the back side in FIG. 1) of the driver as the right for explanation. Also, the horizontal direction K2 (see FIG. 2), which is a direction orthogonal to the front-rear direction K1 (see FIG. 1), is described as the vehicle width direction.

[0022] The vehicle body 4 has a vehicle body frame 8, a clutch housing 9, a transmission case 10, a prime mover 11, and a main battery 12M. The vehicle body frame 8 extends in the front-rear direction of the vehicle body 4. The prime mover 11 and the main battery 12M are mounted on the vehicle body frame 8. In the case of this embodiment, the prime mover 11 is an electric motor. Hereinafter, the prime mover 11 is described as being an electric motor 11. The electric motor 11 is driven by being supplied with electric energy from the main battery 12M and the sub-battery 12S.

[0023] The main battery 12M includes a battery pack, an electrical component unit (relay, fuse, etc.), and a cooling means inside a substantially rectangular parallelepiped casing. The battery pack is composed of a plurality of battery modules. The battery module is composed of a plurality of cells. The main battery 12M configured in this way is a battery capable of charging and discharging electric energy, specifically a lithium-ion battery. The electric energy stored in the main battery 12M is sent to the main power supply path P1 described later (see FIG. 6).

[0024] The electric motor 11 and the main battery 12M are mounted on the vehicle body frame 8 and arranged at the front part of the vehicle body 4. The clutch housing 9 is connected to the rear part of the electric motor 11 and houses a clutch. The transmission case 10 is connected to the rear part of the clutch housing 9 and extends rearward. The transmission case 10 houses a transmission 13, a rear-wheel differential device 14, etc. to be described later. The traveling device 5 has front wheels 5F provided at the front part of the vehicle body 4 and rear wheels 5R provided at the rear part of the vehicle body 4. The front wheels 5F are supported by the vehicle body frame 8. The rear wheels 5R are supported by the output shaft of the rear-wheel differential device 14. The traveling device 5 is of the tire type in the case of this embodiment, but may be of the crawler type.

[0025] The first connecting device 6 is a device for connecting the working device 3 to the rear part of the tractor 2. In the case of this embodiment, the first connecting device 6 includes a three-point link mechanism. However, the configuration of the first connecting device 6 is not particularly limited as long as it can connect the working device 3 to the rear part of the traveling vehicle 2. For example, when the traveling vehicle 2 is a pickup truck, the first connecting device 6 connects the working device 3 by a mechanism other than the three-point link mechanism.

[0026] As shown in FIG. 3, the first connecting device 6 is connected to the rear part of the transmission case 10. The first connecting device 6 has a lift arm 6A, a three-point link mechanism 6B, and a shift cylinder 6C. The lift arm 6A includes a first lift arm 6AL and a second lift arm 6AR. The first lift arm 6AL is arranged on one side (left side) in the vehicle width direction. The second lift arm 6AR is arranged on the other side (right side) in the vehicle width direction. The front ends of the first lift arm 6AL and the second lift arm 6AR are pivotally supported by a horizontal shaft 6D supported by the upper part of the transmission case 10 and extend rearward.

[0027] The three-point link mechanism 6B has a top link 6B1, a lower link 6B2, and a lift rod 6B3. The top link 6B1 is disposed between the first lift arm 6AL and the second lift arm 6AR, and the front end portion thereof is pivotally supported by a first pivot portion 10b provided on the upper portion of the transmission case 10. The lower link 6B2 includes a first lower link 6B2L and a second lower link 6B2R. The front end portions of the first lower link 6B2L and the second lower link 6B2R are pivotally supported by a second pivot portion 10c provided at the lower left portion and the lower right portion of the transmission case 10. The lift rod 6B3 includes a first lift rod 6B3L and a second lift rod 6B3R. The upper end portion of the first lift rod 6B3L is connected to the rear end portion of the first lift arm 6AL, and the lower end portion thereof is connected to an intermediate portion in the longitudinal direction of the first lower link 6B2L. The upper end portion of the second lift rod 6B3R is connected to the rear end portion of the second lift arm 6AR, and the lower end portion thereof is connected to an intermediate portion in the longitudinal direction of the second lower link 6B2R.

[0028] Joints capable of connecting the working device 3 are provided at the rear end portions of the top link 6B1 and the lower link 6B2. By connecting the working device 3 to the rear end portions of the top link 6B1 and the lower link 6B2, the working device 3 is connected to the rear portion of the tractor 2 so as to be able to move up and down. The lift cylinder 6C is a hydraulic cylinder. The lift cylinder 6C includes a first lift cylinder 6CL and a second lift cylinder 6CR. One end portion of the first lift cylinder 6CL is connected to the first lift arm 6AL, and the other end portion thereof is connected to the lower left portion of the transmission case 10. One end portion of the second lift cylinder 6CR is connected to the second lift arm 6AR, and the other end portion thereof is connected to the lower right portion of the transmission case 10. By driving the lift cylinder 6C, the first lift arm 6AL and the second lift arm 6AR rotate around the horizontal axis 6D and swing in the vertical direction. An electromagnetic control valve is connected to the first lift cylinder 6CL and the second lift cylinder 6CR. The electromagnetic control valve can drive (extend and contract) the first lift cylinder 6CL and the second lift cylinder 6CR based on a control signal from the control device 20.

[0029] By driving the lift cylinder 6C, the height of the working device 3 can be adjusted, and the inclination in the vehicle width direction (the difference in height between the right part and the left part) can be adjusted. When adjusting the height, both the first lift cylinder 6CL and the second lift cylinder 6CR are driven in the same manner. When adjusting the inclination, either one of the first lift cylinder 6CL and the second lift cylinder 6CR is driven. Specifically, it is driven so that the lift cylinder arranged on the lower side in height of the working device 3 extends, or the lift cylinder arranged on the higher side in height is shortened.

[0030] The working device 3 is, for example, a spraying device for spraying substances to be sprayed (such as fertilizers and chemicals, powders, granules, etc.), a tilling device for tilling, a harvesting device for harvesting, a mowing device for mowing forage grass, etc., a spreading device for spreading forage grass, etc., a grass gathering device for gathering forage grass, a forming device for forming forage grass, etc. In addition, in FIGS. 1 and 2, an example in which a spraying device is attached as the working device 3 is shown. A detailed description of the working device 3 will be given later.

[0031] The second connecting device 7 is a device for connecting the sub-battery 12S to the front part of the tractor 2. In the case of the present embodiment, the second connecting device 7 includes a three-point link mechanism. However, the configuration of the second connecting device 7 is not particularly limited as long as it can connect the sub-battery 12S to the front part of the traveling vehicle 2.

[0032] As shown in FIGS. 1, 2, 4, and 5, the second connecting device 7 is provided at the foremost end of the vehicle body 4. The second connecting device 7 has a lift arm 7A, a three-point link mechanism 7B, a shift cylinder 7C, and a mounting hook (terminal connection part) 7D. The lift arm 7A includes a first lift arm 7AL and a second lift arm 7AR. The first lift arm 7AL is arranged on one side (left side) in the vehicle width direction. The second lift arm 7AR is arranged on the other side (right side) in the vehicle width direction. The first lift arm 7AL and the second lift arm 7AR are pivotally supported by a horizontal shaft 7E whose rear end is supported on the upper part at the front end of the vehicle body 4, and extend forward.

[0033] The three-point link mechanism 7B has a top link 7B1, a lower link 7B2, and a lift rod 7B3. The top link 7B1 is disposed between the first lift arm 7AL and the second lift arm 7AR, and the rear end portion thereof is pivotally supported by a first pivot portion 4b provided at the upper part of the front end of the vehicle body 4. The lower link 7B2 includes a first lower link 7B2L and a second lower link 7B2R. The front end portions of the first lower link 7B2L and the second lower link 7B2R are pivotally supported by a second pivot portion 4c provided at the lower left part and the lower right part of the front end of the vehicle body 4. The lift rod 7B3 includes a first lift rod 7B3L and a second lift rod 7B3R. The upper end portion of the first lift rod 7B3L is connected to the front end portion of the first lift arm 7AL, and the lower end portion thereof is connected to a middle portion in the longitudinal direction of the first lower link 7B2L. The upper end portion of the second lift rod 7B3R is connected to the rear end portion of the second lift arm 7AR, and the lower end portion thereof is connected to a middle portion in the longitudinal direction of the second lower link 7B2R.

[0034] As shown in FIGS. 4 and 5, a joint 7B4 connectable to the link bar 12S4 of the sub-battery 12S is provided at the front end portion of the top link 7B1. Mounting hooks 7DL and 7DR connectable to the terminal portions (battery terminal portions) 12S2L and 12S2R of the sub-battery 12S are respectively provided at the front end portions of the first lower link 7B2L and the second lower link 7B2R. The sub-battery 12S is connected to the top link 7B1 and the lower link 7B2 via the link bar 12S4 and the terminal portion 12S2. That is, the sub-battery 12S is three-point supported by the top link 7B1 and the lower link 7B2 and is mounted on the second coupling device 7. Further, by removing the link bar 12S4 and the terminal portion 12S2 in the connected state from the top link 7B1 and the lower link 7B2, the sub-battery 12S in the mounted state is detached from the second coupling device 7.

[0035] The sub-battery 12S has a substantially rectangular parallelepiped-shaped casing, and in this casing, a left side surface 12S1L, a right side surface 12S1R, and a top surface 12S3 are defined. On the top surface 12S3, a link bar 12S4 extends upward from a substantially central portion. The upper end portion 12S5 of the link bar 12S4 can be connected to the joint 7B4 of the top link 7B1. Inside this casing, a battery pack, electrical components (relays, fuses, etc.), cooling means, etc. are provided. The battery pack is composed of a plurality of battery modules. The battery module is composed of a plurality of cells. The sub-battery 12S configured in this way is a battery capable of charging and discharging electrical energy, and more specifically, it is a lithium-ion battery.

[0036] On the left side surface 12S1L and the right side surface 12S1R of the casing, terminal portions 12S2L and 12S2R are provided. The terminal portions 12S2L and 12S2R protrude in the left direction and the right direction from substantially the central portions of the left side surface 12S1L and the right side surface 12S1R, respectively. The terminal portions 12S2L and 12S2R are electrically connected to the battery modules inside the casing. The terminal portions 12S2L and 12S2R each exhibit a substantially cylindrical shape. The mounting hooks 7DL and 7DR are provided with recesses 7D1L and 7D1R that are recessed from top to bottom, and the terminal portions 12S2L and 12S2R can be engaged in the recesses 7D1L and 7D1R. The terminal portions 12S2 and the mounting hooks 7D are made of an electrically conductive material and are electrically connected in the engaged state. Further, the mounting hook 7D is electrically connected to a sub-power supply path P2, which will be described later, via the lower link 7B2 (see FIG. 6).

[0037] Therefore, as shown in FIG. 4, when the sub-battery 12S is attached to the second connecting device 7, the electrical energy stored in the sub-battery 12S is sent from the battery module in the case to the sub-power supply path P2 through the terminal portion 12S2L (12S2R), the mounting hook 7DL (7DR), and the lower link 7B2L (7B2R) in this order. On the other hand, as shown in FIG. 5, when the sub-battery 12S is detached from the second connecting device 7, the engagement of the terminal portion 12S2 and the mounting hook 7D is released, so the transmission of the electrical energy of the sub-battery 12S is also interrupted.

[0038] The lift cylinder 7C is a hydraulic cylinder. The lift cylinder 7C includes a first lift cylinder 7CL and a second lift cylinder 7CR. One end of the first lift cylinder 7CL is connected to the first lift arm 7AL, and the other end is connected to the lower left part at the front end of the vehicle body 4. One end of the second lift cylinder 7CR is connected to the second lift arm 7AR, and the other end is connected to the lower right part at the front end of the vehicle body 4. By driving the lift cylinder 7C, the first lift arm 7AL and the second lift arm 7AR rotate around the horizontal axis 7E and swing in the vertical direction. An electromagnetic control valve is connected to the first lift cylinder 7CL and the second lift cylinder 7CR. The electromagnetic control valve can drive (extend and contract) the first lift cylinder 7CL and the second lift cylinder 7CR based on a control signal from the control device 20.

[0039] In a state where the sub-battery 12S is attached to the second connecting device 7, by driving the lift cylinder 7C, it is possible to adjust the height of the sub-battery 12S and the inclination in the vehicle width direction (the difference in height between the right part and the left part). When adjusting the height, both the first lift cylinder 7CL and the second lift cylinder 7CR are driven in the same manner. When adjusting the inclination, either one of the first lift cylinder 7CL and the second lift cylinder 7CR is driven. Specifically, it is driven so that the lift cylinder arranged on the side where the height of the sub-battery 12S is low extends, or the lift cylinder arranged on the side where the height is high contracts.

[0040] In this way, the sub-battery 12S mounted on the second connecting device 7 can be lifted and its inclination adjusted with respect to the tractor 2. Therefore, the position of the center of gravity of the sub-battery 12S in the mounted state can be appropriately adjusted. While the working device 3 is provided on the rear side of the tractor 2 via the first connecting device 6, the sub-battery 12S is provided on the front side of the tractor 2 via the second connecting device 7, making it easier to achieve weight balance for the entire working machine 1. That is, the sub-battery 12S provided on the front side of the tractor 2 also functions as a weight.

[0041] When detaching the sub-battery 12S being mounted in the state shown in Fig. 4, first, remove the joint 7B4 from the upper end portion 12S5 of the link bar 12S4, swing the top link 7B1 upward, and separate it from the link bar 12S4. With the top link 7B1 separated, lift the sub-battery 12S upward and remove the terminal portions 12S2L and 12S2R from the concave portions 7D1L and 7D1R of the mounting hooks 7DL and 7DR. Thereby, separate the terminal portions 12S2L and 12S2R from the first lower link 7B2L and the second lower link 7B2R. Then, with the terminal portions 12S2L and 12S2R separated, move the sub-battery 12S forward, so that the sub-battery 12S is detached from the second connecting device 7 and reaches the state shown in Fig. 5.

[0042] When attaching the detaching sub-battery 12S in the state shown in Fig. 5, first, while orienting the terminal portions 12S2L and 12S2R in the left-right direction and the link bar 12S4 upward, lift the sub-battery 12S. Move the lifted sub-battery 12S backward so as to face the second connecting device 7, and while swinging the top link 7B1 upward, move the sub-battery 12S downward so that the terminal portions 12S2L and 12S2R land on the recesses 7D1L and 7D1R of the mounting hooks 7DL and 7DR. Engage the terminal portions 12S2L and 12S2R with the recesses 7D1L and 7D1R, swing the top link 7B1 downward, and attach the joint 7B4 to the upper end portion 12S5 of the link bar 12S4. Thereby, the sub-battery 12S is attached to the second connecting device 7, and the state shown in Fig. 4 is achieved.

[0043] In this way, the sub-battery 12S is detachable from the second connecting device 7. For this reason, when the remaining amount of the sub-battery 12S during attachment decreases, after detaching the attached sub-battery 12S, a new replacement sub-battery 12S can be attached. That is, the sub-battery 12S can be exchanged according to the remaining amount. The replacement mode of the sub-battery 12S will be described in detail later (see Fig. 11).

[0044] In addition, in this embodiment, in addition to the main battery 12M, the sub-battery 12S is mounted, but instead of the sub-battery 12S, a package capable of storing an energy source may be mounted. As this package, for example, a hydrogen tank, an LPG (Liquified petroleum gas) tank, etc. may be used. When a hydrogen tank is attached to the second connecting device 7, for example, a fuel cell that generates electricity using hydrogen and oxygen in the air may be mounted on the tractor 2, and hydrogen from the tank may be supplied to the fuel cell. When an LPG tank is attached to the second connecting device 7, for example, a generator that generates electricity with a gas engine may be mounted on the tractor 2, and gas from the tank may be supplied to the gas engine.

[0045] In addition, in this embodiment, the second coupling device 7 is provided at the foremost end of the vehicle body 4, and the sub-battery 12S is mounted on the front side of the vehicle body 4 via the second coupling device 7. However, the mounting position of the sub-battery 12S is not limited to the front side of the vehicle body 4.

[0046] As shown in FIG. 6, the tractor 2 includes a PTO shaft 19. The PTO shaft 19 transmits the power from the electric motor 11 that drives the tractor 2 to the working device 3 and the like. The electric motor 11 is electrically connected to the main battery 12M and the sub-battery 12S via an inverter. The output shaft of the electric motor 11 transmits power to the propulsion shaft 13a. On the other hand, during regeneration, the output shaft of the electric motor 11 becomes the input shaft, and the inertial force during the running of the tractor 2 is transmitted to the input shaft through the power transmission system. Then, the power transmitted to the input shaft is input to the electric motor 11. In this way, the electric motor 11 also functions as a regenerator (generator) capable of regenerating electric power from the traveling vehicle 2.

[0047] One end of the main power supply path P1 is connected to the main battery 12M, and the other end is connected to the regulator 60. One end of the sub-power supply path P2 is connected to the terminal portion 12S2 of the sub-battery 12S via the mounting hook 7D and the lower link 7B2. The other end of the sub-power supply path P2 is connected to the regulator 60. One end of the electric motor supply path P3 is connected to the electric motor 11, and the other end is connected to the regulator 60. Actually, an inverter is interposed on the electric motor 11 side of the electric motor supply path P3. One end of the working device supply path P4 is connected to a connector 61, which will be described later, and the other end is connected to the regulator 60. The main power supply path P1, the sub-power supply path P2, the electric motor supply path P3, and the working device supply path P4 are, for example, harnesses and the like.

[0048] The regulator 60 is configured to switch between a discharge mode and a regeneration mode based on a control signal from the control device 20. In the case of the discharge mode, the regulator 60 is configured to receive power from the main battery 12M via the main power supply path P1 and power from the sub-battery 12S via the sub-power supply path P2. The regulator 60 adjusts the ratio of the received power from the main power supply path P1 and the received power from the sub-power supply path P2 based on a control signal from the control device 20. The power received by the regulator 60 is sent to the electric motor supply path P3 and the work device supply path P4. The regulator 60 adjusts the ratio of the power sent to the electric motor supply path P3 and the power sent to the work device supply path P4 based on a control signal from the control device 20.

[0049] On the other hand, in the case of the regeneration mode, the regulator 60 receives power from the electric motor 11 via the electric motor supply path P3, and the power is sent to the main power supply path P1 and the sub-power supply path P2 (see the dashed-dotted arrow in FIG. 6). The regulator 60 adjusts the ratio of the power sent to the main power supply path P1 and the power sent to the sub-power supply path P2 based on a control signal from the control device 20.

[0050] The tractor 2 (vehicle body 4) is provided with a connector 61. The connector 61 enables connection from the outside to the work device supply path P4. The connector 61 is connected to one end of the work device supply path P4 on the side opposite to the regulator 60. Note that the connector 61 is also connected to the in-vehicle network N1 in parallel with the work device supply path P4. The connector 61 is detachably connected to a cable connector 61A. The cable connector 61A has a power cable (supply path) 61B connected to the electric motor 50a of the work device 3 and a communication cable (communication path) 61C connected to the work device 3, respectively connected thereto.

[0051] As shown in FIG. 3, the connector 61 is provided at the rear part of the tractor 2, and is located above the front end of the top link 6B1 of the first connecting device 6 and the front end of the lift arm 6A. Further, the connector 61 is provided between the first lift arm 6AL and the second lift arm 6AR in the vehicle width direction. When the working device 3 is connected to the tractor 2, the connector 61 arranged as described above faces the working device 3. In the present embodiment, the connector 61 is provided on the tractor 2, but instead, it may be provided on the working device 3, an intermediate portion of the power cable 61B and the communication cable 61C, etc.

[0052] As shown in FIG. 6, in a state where the cable connector 61A is connected to the connector 61 and the sub-battery 12S is attached to the second connecting device 7, in the case of the discharge mode, the electric power discharged from the main battery 12M and the sub-battery 12S is supplied to the electric motor 11 of the tractor 2 and the electric motor 50a of the working device 3. More specifically, the electric power of the main battery 12M is supplied to the electric motor 11 through the main power supply path P1, the regulator 60, and the electric motor supply path P3, and is also supplied to the electric motor 50a through the main power supply path P1, the regulator 60, the working device supply path P4, the connector 61, and the power cable 61B. The electric power of the sub-battery 12S is supplied to the electric motor 11 through the sub-power supply path P2, the regulator 60, and the electric motor supply path P3, and is also supplied to the electric motor 50a through the sub-power supply path P2, the regulator 60, the working device supply path P4, the connector 61, and the power cable 61B. A regulator 60 is interposed in the power supply paths from the main battery 12M and the sub-battery 12S, and the regulator 60 adjusts the ratio of the received power from the main battery 12M and the sub-battery 12S. The electric energy supplied to the electric motor 11 is adjusted by controlling the inverter with a control signal from the control device 20, and the ON, OFF, and the rotational speed of the output shaft of the electric motor 11 are controlled.

[0053] When the cable connector 61A is connected to the connector 61 and the sub-battery 12S is attached to the second connecting device 7, in the regeneration mode, the electric power generated by the electric motor 11 of the tractor 2 is supplied to the main battery 12M and the sub-battery 12S. More specifically, the electric power of the electric motor 11 is supplied to the main battery 12M through the electric motor supply path P3, the regulator 60, and the main power supply path P1, and is supplied to the sub-battery 12S through the electric motor supply path P3, the regulator 60, and the sub-power supply path P2. The regulator 60 is interposed in the power supply path from the electric motor 11, and the regulator 60 adjusts the ratio of the power output to the main battery 12M and the sub-battery 12S. The electrical energy supplied to the main battery 12M and the sub-battery 12S is charged by each battery.

[0054] The PTO shaft 19 projects rearward from the transmission case 10. The transmission 13 includes a main shaft (propulsion shaft) 13a, a main speed change section 13b, a sub speed change section 13c, a shuttle section 13d, and a PTO power transmission section 13e. The propulsion shaft 13a is rotatably supported by the housing case of the transmission 13. Power from the output shaft of the electric motor 11 is transmitted to the propulsion shaft 13a. The main speed change section 13b has a plurality of gears and a shifter for changing the connection of the gears. The main speed change section 13b changes (shifts) the rotational speed input from the propulsion shaft 13a by appropriately changing the connection (meshing) of the plurality of gears with the shifter and outputs it.

[0055] The sub-transmission unit 13c, similar to the main transmission unit 13b, has a plurality of gears and a shifter for changing the connection of the gears. The sub-transmission unit 13c changes (shifts) the rotational speed input from the main transmission unit 13b by appropriately changing the connection (meshing) of the plurality of gears with the shifter and outputs it. The shuttle unit 13d has a shuttle shaft 16 and a forward / reverse switching unit 17. The power output from the sub-transmission unit 13c is transmitted to the shuttle shaft 16 via gears or the like. A rear-wheel differential device 14 is provided on the shuttle shaft 16. A rear axle that supports the rear wheels 5R is rotatably supported by the rear-wheel differential device 14. The forward / reverse switching unit 17 is composed of, for example, a clutch such as a hydraulic clutch or an electric clutch, and switches the rotational direction of the shuttle shaft 16, that is, the forward and reverse movement of the tractor 2, by engaging and disengaging the clutch.

[0056] The PTO power transmission unit 13e has a PTO clutch 18 and a PTO shaft 19. The PTO shaft 19 is rotatably supported and the power from the propulsion shaft 13a can be transmitted thereto. The PTO shaft 19 has a PTO propulsion shaft 19a and a PTO output shaft 19b. The PTO propulsion shaft 19a is connected to the PTO output shaft 19b via a PTO transmission unit 19c. However, the PTO propulsion shaft 19a may be connected to the PTO output shaft 19b without passing through the PTO transmission unit 19c. The output of the PTO output shaft 19b is transmitted to the power transmission mechanism 50 of the working device 3 described later.

[0057] The PTO speed change unit 19c can change the rotational speed of the PTO drive shaft 19a by an operating unit such as a PTO speed change lever and transmit it to the PTO output shaft 19b. The PTO speed change unit 19c includes a speed change actuator such as an electromagnetic solenoid or an electric motor that can operate the operating unit based on a control signal from the control device 20, for example. The PTO clutch 18 is a clutch that can be switched between a connected state in which the power of the drive shaft 13a is transmitted to the PTO shaft 19 and a disconnected state in which the power of the drive shaft 13a is not transmitted to the PTO shaft 19. Specifically, the PTO clutch 18 is provided between the drive shaft 13a and the PTO drive shaft 19a. The PTO clutch 18 is composed of a hydraulic clutch, an electric clutch, or the like, and by engaging and disengaging the clutch, it is possible to switch between a state in which the power of the drive shaft 13a (the power of the electric motor 11) is transmitted to the PTO shaft 19 and a state in which the power of the drive shaft 13a is not transmitted to the PTO shaft 19.

[0058] As shown in FIG. 7, the tractor 2 includes a steering device 15. The steering device 15 has a steering wheel (steering wheel) 15a, a rotating shaft (steering shaft) 15b that rotates as the steering wheel 15a rotates, and an auxiliary mechanism (power steering mechanism) 15c that assists the steering of the steering wheel 15a. The auxiliary mechanism 15c includes a control valve 15d and a steering cylinder 15e. The control valve 15d is a three-position switching valve that can be switched, for example, by the movement of a spool or the like. Also, the control valve 15d can be switched by the steering of the steering shaft 15b. The steering cylinder 15e is connected to an arm (knuckle arm) 15f that changes the direction of the front wheels 5F. Therefore, by operating the steering wheel 15a, the switching position and opening degree of the control valve 15d are switched according to the steering wheel 15a, and the steering cylinder 15e expands and contracts to the left or right according to the switching position and opening degree of the control valve 15d, so that the steering direction of the front wheels 5F can be changed. Note that the above-described steering device 15 is an example and is not limited to the above-described configuration.

[0059] As shown in FIG. 7, the tractor 2 is provided with a plurality of detection devices 21. The plurality of detection devices 21 are devices for detecting the state of the tractor 2. For example, a water temperature sensor 21a for detecting the water temperature, a main battery sensor 21b for detecting the voltage of the main battery 12M, a motor rotation sensor 21c for detecting the rotation speed of the electric motor 11, an accelerator pedal sensor 21d for detecting the operation amount of the accelerator pedal, a steering angle sensor 21e for detecting the steering angle of the steering device 15, an angle sensor 21f for detecting the angles of the lift arms 6A and 7A, an inclination detection sensor 21g for detecting the inclination of the vehicle body 4 in the width direction (right direction or left direction), a speed sensor 21h for detecting the vehicle speed (speed) of the vehicle body 4, a PTO rotation sensor 21i for detecting the rotation speed of the PTO shaft 19, a sub-battery sensor 21j for detecting the voltage of the sub-battery 12S, a positioning sensor (positioning device) 21k for detecting the position of the vehicle body 4 based on signals from positioning satellites or the like, and the like.

[0060] The positioning device 21k can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the positioning device 21k receives satellite signals (position, transmission time, correction information, etc. of the positioning satellite) transmitted from the positioning satellite, and based on the satellite signals, detects the position of the tractor 2 (for example, latitude and longitude), that is, the position of the vehicle body 4. The positioning device 21k has a receiving device and an inertial measurement unit (IMU). The receiving device is a device having an antenna or the like and receiving satellite signals transmitted from the positioning satellite, and is attached to the vehicle body 4 separately from the inertial measurement unit. In this embodiment, the receiving device is attached to the vehicle body 4. Note that the attachment location of the receiving device is not limited to the embodiment.

[0061] The inertial measurement device has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc., and is provided below the vehicle body 4, for example, below the driver's seat 4a. The inertial measurement device can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 4. The speed sensor 21h detects the vehicle speed, for example, by converting the rotation speed of the axle of the front wheels 5F, the rotation speed of the axle of the front wheels 5F, the rotation speed of the front wheels 5F, the rotation speed of the rear wheels 5R, etc. into the vehicle speed. The speed sensor 21h can also detect the rotation direction of any one of the axles of the front wheels 5F, the axles of the rear wheels 5R, the front wheels 5F and the rear wheels 5R, and can also detect whether the tractor 2 (vehicle body 4) is moving forward or backward. The detection device 21 described above is an example and is not limited to the sensors described above.

[0062] The tractor 2 also includes a plurality of operating members 22. The plurality of operating members 22 include a shuttle lever 22a for switching the forward or backward movement of the vehicle body 4, an ignition switch 22b for starting the prime mover 11, etc., a PTO shift lever 22c for setting the rotation speed of the PTO shaft 19, a shift change switch 22d for switching between automatic and manual transmissions, a shift lever 22e for manually switching the gear position (shift level) of the transmission 13, an accelerator 22f for increasing or decreasing the vehicle speed, a pump switch 22g for operating the lifting of the hitch 6, a height setting dial 22h for setting the upper limit of the operation of the hitch 6, a vehicle speed lever 22i for setting the vehicle speed, a hydraulic actuator 22j, a rotation setting tool 22k for setting the upper limit of the prime mover rotation speed, etc.

[0063] Setting tools such as the shift change switch 22d, the height setting dial 22h, and the rotation setting tool 22k are provided in the console box provided on the side of the driver's seat 4a. By the driver operating the setting tools (shift change switch 22d, height setting dial 22h, rotation setting tool 22k), the operation of the vehicle body 4 can be set. The operating members 22 described above are an example and are not limited to those described above.

[0064] As shown in FIG. 7, the tractor 2 has a plurality of control devices 20. The control device 20 is a device that performs various controls of the tractor 2, such as a CPU, an electric and electronic circuit, etc. The control device 20 has a storage device 23 that stores various information, such as a control program, identification information, etc. The storage device 23 is composed of a non-volatile memory or the like. That is, the plurality of control devices 20 are electrical components equipped with the storage device 23.

[0065] The plurality of control devices 20 include a shift control device 20A, a motor control device 20B, a PTO control device 20C, a lift control device 20D, an automatic steering control device 20E, a first attitude control device 20F, a battery charge / discharge control device (charge control unit, discharge control unit) 20G, an automatic travel control unit 20H, and a second attitude control device 20I. Note that the control device 20 does not necessarily have to include all of the shift control device 20A, the motor control device 20B, the PTO control device 20C, the lift control device 20D, the automatic steering control device 20E, the first attitude control device 20F, the battery charge / discharge control device 20G, the automatic travel control unit 20H, and the second attitude control device 20I, and it may be provided according to the specifications of the tractor.

[0066] Also, the shift control device 20A, the motor control device 20B, the PTO control device 20C, the lift control device 20D, the automatic steering control device 20E, the attitude control device 20F, the battery charge / discharge control device 20G, the automatic travel control unit 20H, and the second attitude control device 20I may be provided in an integrated control device. The shift control device 20A performs shift control. In the shift control, when the automatic shift function is valid, either the main shift section 13b or the sub-shift section 13c is automatically switched according to the state of the tractor 2, and the shift stage (shift level) of the transmission 13 is automatically changed to a predetermined shift stage (shift level). In the shift control, when the shift change switch 22d is switched to manual shift, either the main shift section 13b or the sub-shift section 13c is automatically switched according to the shift stage (shift level) set by the shift lever 22e, and the shift stage of the transmission 13 is changed.

[0067] The transmission control device 20A performs control (travel switching control) in the travel drive state (operation of the traveling device 5) of the traveling device 5. In the travel switching control, when the shuttle lever 22a is operated forward, the vehicle body 4 is moved forward by switching the forward / backward switching unit 17 of the shuttle unit 13d to the forward position. Further, in the forward / backward switching control, when the shuttle lever 22a is operated backward, the vehicle body 4 is moved backward by switching the forward / backward switching unit 17 of the shuttle unit 13d to the backward position.

[0068] The motor control device 20B controls the electric motor 11 by inverter control. In the electric motor control, when the ignition switch 22b is turned ON, the electric motor 11 is started through predetermined processing, and when the ignition switch 22b is turned OFF, the drive of the electric motor 11 is stopped. In the electric motor control, when the accelerator 22f is operated, the inverter is controlled so that the rotational speed of the electric motor 11 is changed according to the operation amount of the accelerator 22f, thereby changing the vehicle speed (speed) of the vehicle body 4.

[0069] The PTO control device 20C performs PTO control. In the PTO control, when the PTO shift lever 22c is operated, the rotational speed (PTO rotational speed) of the PTO drive shaft 19a is changed by switching the PTO shift gear of the PTO shift unit 19c.

[0070] The lifting control device 20D performs lifting control in the first link device 6. In the lifting control, when the manual lifting function is effective and the pump switch 22g is operated in the raising direction (raising side), the control valve is controlled to extend the shift cylinder 6C and raise the rear end portion (the end portion on the working device 3 side) of the lift arm 6A. In the lifting control, when the manual lifting function is effective and the pump switch 22g is operated in the lowering direction (lowering side), the control valve is controlled to contract the shift cylinder 6C and lower the rear end portion (the end portion on the working device 3 side) of the lift arm 6A. When the working device 3 is being raised by the link device 6 and the position of the working device 3, that is, the angle of the lift arm 6A reaches the upper limit (height upper limit value) set by the height setting dial 22h, the raising operation in the first link device 6 is stopped.

[0071] In the lifting control, when the backup function is effective, when the vehicle body 4 moves backward, the control valve is automatically controlled to extend the shift cylinder 6C, and the rear end portion (the end portion on the working device 3 side) of the lift arm 6A is lifted. In the lifting control, when the auto-up function is effective, when the steering angle of the steering device 15 becomes a predetermined value or more, the control valve is automatically controlled to extend the shift cylinder 6C, and the rear end portion (the end portion on the working device 3 side) of the lift arm 6A is lifted.

[0072] The automatic steering control device 20E performs automatic steering control. In the automatic steering control, when the operation switch 65 described later is turned ON, the steering device 15 is automatically controlled, and the steering direction of the front wheels 5F is changed so that the vehicle body 4 travels along the set planned travel route.

[0073] The first attitude control device 20F performs attitude control by adjusting the position of the working device 3. In the attitude control, when adjusting the height of the working device 3, the lengths of both the first lift cylinder 6CL and the second lift cylinder 6CR are fixed to a predetermined length by outputting a control signal to the control valve. In the attitude control, when adjusting the inclination in the vehicle width direction (the difference in height between the right part and the left part), either one of the first lift cylinder 6CL and the second lift cylinder 6CR is driven by outputting a control signal to the control valve.

[0074] The battery charge / discharge control device 20G controls the discharge and charge of the main battery 12M and the sub-battery 12S. The battery charge / discharge control device 20G switches the regulator 60 to either the discharge mode or the regeneration mode. In the state of the discharge mode, when the battery charge / discharge control device 20G determines that power regeneration is performed from the electric motor 11 based on the operation amount of the accelerator pedal, the rotation speed of the electric motor 11, etc., it switches to the regeneration mode. Also, in the state of the regeneration mode, when the battery charge / discharge control device 20G determines that power supply to the electric motor 11 is necessary based on the operation amount of the accelerator pedal, the rotation speed of the electric motor 11, etc., it switches to the discharge mode.

[0075] When the battery charge / discharge control device 20G is in the discharge mode, it switches the regulator 60 to either the first discharge mode or the second discharge mode. The ratio of the received power from the main power supply path P1 and the received power from the sub-power supply path P2 is different between the first discharge mode and the second discharge mode. In the first discharge mode, the battery charge / discharge control device 20G controls the regulator 60 so that the received power from the sub-power supply path P2 is greater than the received power from the main power supply path P1. That is, in the first discharge mode, the discharge amount from the sub-battery 12S is greater than the discharge amount from the main battery 12M. In the second discharge mode, the battery charge / discharge control device 20G controls the regulator 60 so that the received power from the main power supply path P1 is greater than the received power from the sub-power supply path P2. That is, in the second discharge mode, the discharge amount from the main battery 12M is greater than the discharge amount from the sub-battery 12S. In a state where it is in the first discharge mode, when the battery charge / discharge control device 20G determines that the remaining amount of the main battery 12M is greater than the remaining amount of the sub-battery 12S and the difference between the remaining amounts is equal to or greater than a predetermined value, it switches to the second discharge mode. Also, in a state where it is in the second discharge mode, when the battery charge / discharge control device 20G determines that the remaining amount of the sub-battery 12S is greater than the remaining amount of the main battery 12M and the difference between the remaining amounts is equal to or greater than a predetermined value, it switches to the first discharge mode.

[0076] When the battery charge / discharge control device 20G is in the regeneration mode, it switches the regulator 60 to either the first regeneration mode or the second regeneration mode. The ratio of the power sent to the main power supply path P1 and the power sent to the sub - power supply path P2 is different between the first regeneration mode and the second regeneration mode. In the first regeneration mode, the battery charge / discharge control device 20G sets the power sent to the sub - power supply path P2 to zero and controls the regulator 60 to send all the power received by the regulator 60 to the main power supply path P1. That is, in the first regeneration mode, the charge amount in the main battery 12M becomes larger than the charge amount in the sub - battery 12S. In the second regeneration mode, the battery charge / discharge control device 20G sets the power sent to the main power supply path P1 to zero and controls the regulator 60 to send all the power received by the regulator 60 to the sub - power supply path P2. That is, in the second regeneration mode, the charge amount in the sub - battery 12S becomes larger than the charge amount in the main battery 12M. When the battery charge / discharge control device 20G determines that the remaining amount of the main battery 12M is equal to or more than a predetermined value in the state of the first regeneration mode, it switches to the second regeneration mode. Also, when the battery charge / discharge control device 20G determines that the remaining amount of the main battery 12M is less than a predetermined value in the state of the second regeneration mode, it switches to the first discharge mode.

[0077] In this embodiment, the remaining amount of the main battery 12M is calculated based on the voltage etc. of the main battery 12M detected by the main battery sensor 21b. The remaining amount of the sub - battery 12S is calculated based on the voltage etc. of the sub - battery 12S detected by the sub - battery sensor 21j.

[0078] More specifically, based on the initial remaining amount Q1 at the start of travel of the main battery 12M, the battery consumption Q2 of the main battery 12M, and the charging amount Q3 due to regeneration of the main battery 12M, the remaining amount (theoretical remaining amount) Q4 of the main battery 12M at a predetermined position in the field can be obtained. The initial remaining amount Q1 (unit: kJ) is calculated based on, for example, the detected voltage of the main battery 12M. The battery consumption Q2 (unit: kJ) is obtained based on, for example, a value obtained by multiplying the travel distance when the tractor travels along the travel route in the field by the work load per unit distance and the power reception ratio at the regulator 60. The charging amount Q3 (unit: kJ) is calculated based on, for example, the rotation speed of the electric motor 11, the vehicle speed, the power transmission ratio at the regulator 60, and the like. Then, the remaining amount Q4 of the main battery 12M is obtained by adding the charging amount Q3 to the value obtained by subtracting the battery consumption Q2 from the initial remaining amount Q1. The remaining amount (theoretical remaining amount) of the sub-battery 12S is also obtained in the same manner as described above.

[0079] The tractor 2 is connected with an operation switching switch 65. The operation switching switch 65 is a switch that can be switched between ON and OFF. When it is ON, the automatic driving control unit 20H can be set to the automatic driving mode, and when it is OFF, the automatic driving control unit 20H can be set to the manual driving mode. The automatic driving control unit 20H controls the automatic driving of the vehicle body 4. The automatic driving control unit 20H starts automatic driving when it is in the automatic driving mode. In the control of automatic driving, the steering angle of the steering device 15 is changed based on the deviation between the position of the vehicle body 4 and the set planned travel route. The setting of the steering angle in the automatic driving in the above-described embodiment is an example and is not limited. Incidentally, when the planned travel route and the vehicle speed are associated with each other, the automatic driving control unit 20H automatically changes the gear position of the transmission 13, the rotation speed of the electric motor 11, etc. so that the current vehicle speed of the tractor 2 matches the vehicle speed corresponding to the planned travel route.

[0080] The second posture control device 20I performs posture control by adjusting the position of the sub-battery 12S. In this posture control, when adjusting the height of the sub-battery 12S, a control signal is output to the control valve to fix the lengths of both the first lift cylinder 7CL and the second lift cylinder 7CR to a predetermined length. In this posture control, when adjusting the inclination in the vehicle width direction (the difference in height between the right part and the left part), a control signal is output to the control valve to drive either the first lift cylinder 7CL or the second lift cylinder 7CR.

[0081] The tractor 2 is equipped with a communication device 26. The communication device 26 is a communication device (communication module) that can perform either direct communication or indirect communication with an external device 47. For example, it can perform wireless communication according to communication standards such as Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. Also, the communication device 26 may be a communication device (communication module) that performs wireless communication via a mobile phone communication network or a data communication network, etc.

[0082] The external device 47 is, for example, a portable terminal (mobile terminal) 47a such as a tablet, a smartphone, a PDA, etc., or a fixed terminal (fixed terminal) 47b such as a personal computer or a server, etc. The tractor 2 is equipped with a display device 25. The display device 25 is a device that displays various information related to the tractor 2. The display device 25 is installed around the driver's seat 4a so that the driver can check the displayed content. The display device 25 is a meter panel device that displays driving information, an auxiliary panel device that performs settings related to various work machines, etc.

[0083] The tractor 2 (vehicle body 4) has an in-vehicle network N1. The in-vehicle network N1 is a network such as CAN (Controller Area Network), LIN (Local Interconnect Network), MOST (Media Oriented System Transport), FlexRay, ISO11783 (ISOBUS), etc. The in-vehicle network N1 is constructed with various electrical components and the like, and a plurality of control devices 20, a plurality of detection devices 21, a plurality of operation members 22, a communication device 26, and a display device 25 are connected thereto.

[0084] As shown in FIGS. 3, 6, and 7, the connector 61 provided at the rear of the tractor 2 (vehicle body 4) enables connection from the outside to the in-vehicle network N1. The communication cable 61C connects the tractor 2 and the spraying device 3. One end of the communication cable 61C is connected to the cable connector 61A, and the other end of the communication cable 61C is connected to the working device 3. Also, the power cable 61B connects the tractor 2 and the spraying device 3. One end of the power cable 61B is connected to the cable connector 61A, and the other end of the power cable 61B is connected to the electric motor 50a of the spraying device 3. Thus, the cable connector 61A is configured to aggregate each one end of the power cable 61B and the communication cable 61C.

[0085] The connector 61 and the cable connector 61A are detachable from each other. The shapes of the connector 61 and the cable connector 61A are not limited as long as the power cable 61B and the communication cable 61C are detachable. For example, the connector 61 side may have a male power pin connected to the end of the working device supply path P4 and a male communication pin connected to the end of the in-vehicle network N1, and the cable connector 61A side may have a female power pin connected to one end of the power cable 61B and a female communication pin connected to one end of the communication cable 61C. Note that in the connector 61 and the cable connector 61A, the male and female of the above-mentioned pins may be reversed.

[0086] When the connector 61 and the cable connector 61A are attached to each other, the male power pin and the female power pin, and the male communication pin and the female communication pin are respectively connected. Thereby, through the connector 61, it becomes possible to supply electrical energy from the working device supply path P4 to the electric motor 50a of the spraying device 3, and it also becomes possible to transmit communication signals between the tractor 2 and the working device 3. On the other hand, when the connector 61 and the cable connector 61A are detached from each other, the connection of the male power pin and the female power pin, and the connection of the male communication pin and the female communication pin are respectively disconnected. Thereby, through the connector 61, the supply of electrical energy from the working device supply path P4 to the electric motor 50a of the spraying device 3 is interrupted, and the transmission of communication signals between the tractor 2 and the working device 3 is interrupted. In addition, in a state where the cable connector 61A is detached from the connector 61, the connector 61 may be closed by a lid body.

[0087] As shown in FIGS. 3 and 8, the power cable 61B and the communication cable 61C may be bundled by a bundling tool 109 so as to be integrated with each other on the cable connector 61A side, and may branch from each other on the way from the cable connector 61A toward the rear. The power cable 61B and the communication cable 61C may be arranged integrally at the bundling portion, and may be arranged separately behind the branching portion. For example, the bundling portion of the power cable 61B and the communication cable 61C is arranged toward the working device 3 side through above the first connecting device 6 (above the top link 6B1). After the branching portion of the power cable 61B and the communication cable 61C, the arrangement is separately adjusted according to the connection positions of the electric motor 50a and the communication system in the working device 3.

[0088] <Working device> The working device 3 is a device for performing agricultural work. In other words, the working device 3 is a device for performing work on a farm field. The working device 3 is driven by the power transmitted from the PTO shaft 19 of the tractor 2 and the power from the electric motor 50a of the working device 3. Specifically, as the working device 3, a spraying device for spraying a spraying material on a farm field, a seeding device for sowing seeds on a farm field, a forming device (baler) for collecting and forming the cut crops (such as forage), etc. are preferably used. As the spraying device, a fertilizer spraying device (spreader) for spraying fertilizer on a farm field, a chemical spraying device (sprayer) for spraying chemicals (chemical liquid) on a farm field, etc. are used. As the seeding device, for example, a seeder such as a drill seeder for sowing seeds in rows, a planter for sowing seeds at regular intervals, etc. are used. In the case of the present embodiment, since the working device 3 is a spraying device, hereinafter, the working device 3 will be described as the spraying device 3.

[0089] As shown in FIGS. 1 and 2, the spraying device 3 includes a storage unit 31 and a spraying unit 32. The storage unit 31 stores the spraying material (fertilizer, agricultural chemical, etc.) to be sprayed on the farm field. The storage unit 31 is composed of a hopper in a substantially inverted pyramid shape. The hopper includes a first hopper 31A and a second hopper 31B. The first hopper 31A is disposed on one side (left side) in the vehicle width direction. The second hopper 31B is disposed on the other side (right side) in the vehicle width direction. However, the number of hoppers is not limited. The storage unit 31 has an inlet for the spraying material at the upper end and an outlet for taking out the spraying material at the lower end. The number of outlets is not limited, but in the case of the present embodiment, it is set according to the number of rotators (disks) 40 described later. Specifically, the number of rotators 40 is two, and the number of outlets is also two. Incidentally, the number of rotators 40 may be two and the number of outlets may be one.

[0090] The spraying unit 32 is a working unit of the working device 3, which performs agricultural work (spraying of sprayed materials such as fertilizers and chemicals) by rotating. The spraying unit 32 sprays the sprayed material stored in the storage unit 31. As shown in FIG. 1, the spraying unit 32 is provided below the storage unit 31. The spraying unit 32 includes at least two or more spraying units. It is preferable that the spraying directions of all the spraying units are different, but it may also include spraying units with the same spraying direction.

[0091] As shown in FIG. 2, the spraying unit 32 includes a first spraying unit 321 and a second spraying unit 322. That is, in the case of this embodiment, the number of spraying units 32 is two. However, the number of spraying units 32 is not limited to two and may be three or more. The number of spraying units 32 is the same as the number of rotating bodies 40. The first spraying unit 321 and the second spraying unit 322 are arranged side by side in the vehicle width direction. Hereinafter, the two spraying units (the first spraying unit 321 and the second spraying unit 322) will be described.

[0092] The first spraying unit 321 is arranged on one side (left side) in the vehicle width direction. The second spraying unit 322 is arranged on the other side (right side) in the vehicle width direction. The first spraying unit 321 has a first rotating body 410 and a shutter device. The first rotating body 410 is disk-shaped and rotates around a central axis 40a extending in the vertical direction (up and down direction). As shown in FIG. 8, a plurality of rotating blades (blade members) 40b are attached to the upper surface of the first rotating body 410. The rotating blades 40b rotate around the central axis 40a together with the first rotating body 410. The plurality of rotating blades 40b are arranged at intervals in the circumferential direction and extend from the vicinity of the central axis 40a toward the radially outer direction. By rotating around the central axis 40a, the first rotating body 410 hits the sprayed material that has fallen from the outlet below the storage unit 31 against the rotating blades 40b and scatters it radially outward (in the radially outer direction). The opening area of this outlet can be changed by the shutter. Thereby, the spraying amount of the sprayed material by the first spraying unit 321 is adjusted. The second spraying unit 322 has the same configuration, and the spraying amount of the sprayed material is adjusted.

[0093] As shown in Fig. 2, the first rotating body 410 and the second rotating body 420 are arranged side by side in the vehicle width direction and rotate in different directions from each other. In the case of this embodiment, as shown by the black arrows in Fig. 2, in a plan view, the first rotating body 410 rotates in the clockwise direction and the second rotating body 420 rotates in the counterclockwise direction. The first rotating body 410 is disposed below the outlet of the storage portion 31. The spraying material that has fallen from this outlet is sprayed by the rotating first rotating body 410. The second rotating body 420 is disposed below the outlet of the storage portion 31. The spraying material that has fallen from this outlet is sprayed by the rotating second rotating body 420. In the case of this embodiment, the spraying directions of the first spraying portion 321 and the second spraying portion 322 are different from each other. The spraying direction of the first spraying portion 321 is one side and the rear in the vehicle width direction. The spraying direction of the second spraying portion 322 is the other side and the rear in the vehicle width direction. As shown by the white arrows in Fig. 2, in the case of this embodiment, the main spraying direction of the first spraying portion 321 is the left side and the left rear side, and the main spraying direction of the second spraying portion 322 is the right side and the right rear side. Note that the direction indicated by the white arrow is the main spraying direction, and actually, it is sprayed in a fan shape including the direction indicated by the white arrow.

[0094] As shown in FIGS. 1 and 8, the spraying device 3 is provided with a power transmission mechanism 50. The power transmission mechanism 50 includes an input / output shaft, gears, etc., and the power supplied from the electric motor 11 and the electric motor 50a is input, and the input power is transmitted to the spraying unit 32. Specifically, as shown in FIG. 6, the power transmission mechanism 50 is configured such that the power from the electric motor 11 of the tractor 2 is input via the PTO shaft 19 (PTO output shaft 19b). Also, the power transmission mechanism 50 is configured such that the power from the electric motor 50a of the spraying device 3 is input via the motor output shaft 50b. In the power transmission mechanism 50, the power of the input PTO output shaft 19b and the motor output shaft 50b is transmitted to the first rotating body 410 and the second rotating body 420 through integration and speed change. That is, the first rotating body 410 and the second rotating body 420 can be rotated by the power from the electric motor 11 and the electric motor 50a. Also, the rotation speeds of the first rotating body 410 and the second rotating body 420 can be changed by the speed change unit of the power transmission mechanism 50. The housing part 31, the spraying part 32, and the power transmission mechanism 50 configured as described above are supported by the frame 97.

[0095] As shown in FIG. 8, the spraying device 3 is provided with a frame 97. However, the configuration of the frame 97 is not limited to the illustrated configuration. In the following description, with respect to the directions (up, down, front, rear, left, right) of the frame 97, the state in which the spraying device 3 is connected to the rear part of the tractor 2 is used as a reference. The frame 97 has an upper frame 97A, a lower frame 97B, and a connecting part 98.

[0096] As shown in FIGS. 2 and 8, the upper frame 97A is a frame that supports the storage unit 31 and is located above the spraying unit 32. The upper frame 97A is formed in a substantially rectangular frame shape like a reversed L in plan view. The storage unit 31 (the first hopper 31A and the second hopper 31B) is installed on the upper frame 97A. The lower frame 97B is disposed below the upper frame 97A. The spraying unit 32 (the first spraying unit 321 and the second spraying unit 322) and the power transmission mechanism 50 are supported on the lower frame 97B via brackets so as to be located in the substantially rectangular hollow portion. The connecting portion 98 is provided at the front end portion of the frame 97 at a position corresponding to the rear end portion of the three-point link mechanism 6B (the top link 6B1, the first lower link 6B2L, and the second lower link 6B2R) of the connecting portion 6. The connecting portion 98 is detachably connected to the first connecting device 6 provided at the rear portion of the tractor 2. By connecting the connecting portion 98 to the first connecting device 6, the spraying device 3 is detachably connected to the rear portion of the tractor 2.

[0097] As shown in FIG. 7, the spraying device 3 includes an operation control device 3a. The operation control device 3a is a device that performs various controls on the spraying device 3 and includes a CPU, an electric and electronic circuit, etc. The operation control device 3a has a storage device that stores various information, such as a control program, identification information, etc. The storage device is composed of a non-volatile memory, etc. The operation control device 3a is connected to the in-vehicle network N1 via a communication cable 61C and a connector 61 that connect the spraying device 3 and the tractor 2. Thereby, transmission and reception of communication signals are possible between the tractor 2 and the spraying device 3.

[0098] <Battery Replacement and Battery Delivery / Collection> Generally, in a battery, when the stored electrical energy is used up, the traveling vehicle body will stop. For this reason, the working efficiency may deteriorate as a whole, such as the need to transport the replenishment (replacement) battery to the position of the working machine. In this embodiment, as described above, since the electric motor 11 is driven by the main battery 12M and the sub-battery 12S, when the work in the field progresses, the remaining amounts of the main battery 12M and the sub-battery 12S being worn will decrease (refer to the discharge mode in FIG. 9). Then, by replacing the sub-battery 12S, the electrical energy is replenished. In order to suppress the deterioration of the working efficiency, it is preferable that the replacement of the sub-battery 12S be carried out at an appropriate location and timing. On the other hand, since the same tendency exists for the materials in the working device, the material replenishment may be carried out in the area A that is outside the working area of the field F and in contact with the farm road R, as shown in FIG. 11. In this case, the area A can also be utilized as an area for replacing the sub-battery 12S.

[0099] In the field F, in order to enable the replacement of the sub-battery 12S in the above-mentioned "area A in contact with the farm road R", the delivery of the replenishment (replacement) sub-battery 12S and the recovery of the used sub-battery 12S are carried out as follows. In this embodiment, it is assumed that the uninstalled sub-battery 12S is stored at a delivery base (delivery center) away from the field F. At the delivery base, it is possible to store the replacement sub-battery 12S to be delivered to the field F or to charge the used sub-battery 12S recovered from the field F. The delivery of the replacement sub-battery 12S and the recovery of the used sub-battery 12S are carried out by a transport vehicle such as a truck that can carry the sub-battery 12S. The replacement sub-battery 12S refers to a battery that has been sufficiently charged. For example, when the maximum charge amount of the battery is set to 100%, it is a battery with a charge amount of 80% or more. Note that the charge amount is not limited to 80% or more.

[0100] When delivering the replacement sub - battery 12S to the field F, for example, the replacement sub - battery 12S stored at the delivery base is loaded onto the transport vehicle T. As shown in Fig. 11(a), the transport vehicle T travels from the delivery base towards the field F and reaches the area A of the field F adjacent to the farm road R. Then, as shown in Fig. 11(b), at the area A (for example, the supply area for materials), the sub - battery 12S loaded on the transport vehicle T is unloaded as the replacement sub - battery 12S. On the other hand, as shown in Fig. 11(c), the sub - battery 12S detached from the work machine 1 is left stationary at the area A as the used sub - battery 12S, and the replacement sub - battery 12S that has already been stationary is mounted on the work machine 1. Note that after unloading, the transport vehicle T heads to another field to collect other batteries and then returns to the delivery base.

[0101] And when collecting the used sub - battery 12S from the area A, as shown in Fig. 11(d), the used sub - battery 12S that has been stationary is loaded onto the transport vehicle T that has reached the area A via the farm road R, and the transport vehicle T travels towards the delivery base. Note that the unloading of the sub - battery 12S from the transport vehicle T and the loading of the sub - battery 12S onto the transport vehicle T may be carried out by the driver of the transport vehicle T. The detachment of the sub - battery 12S being mounted on the work machine 1 from the work machine 1 and the mounting of the replacement sub - battery 12S onto the work machine 1 may be carried out by the operator of the tractor, or may be carried out by the driver of the transport vehicle T as a service at the delivery base.

[0102] In order to enable the delivery and collection of the above-mentioned sub-battery 12S, a computer is installed at the delivery base (distribution center). The computer can communicate with the communication device 26 of the working machine (tractor) 1 via a network or the like. The computer at the delivery base (distribution center) acquires various information related to delivery (hereinafter referred to as delivery information), and based on the acquired delivery information, controls various devices and apparatuses installed at the delivery base (distribution center). The delivery information includes an instruction signal (request signal) for requesting the delivery of the sub-battery 12S, an instruction signal (collection signal) for requesting the collection of the sub-battery 12S, the vehicle body position of the working machine (tractor) 1, and the like. The request signal, the collection signal, and the vehicle body position are transmitted, for example, from the communication device 26 of the working machine (tractor) 1 and received (acquired) by the computer at the delivery base (distribution center).

[0103] More specifically, during the operation of the working machine 1, when the control device 20 determines that the remaining amount of the sub-battery 12S being worn is smaller than a predetermined value and the replacement of the sub-battery 12S being worn is necessary, it instructs the communication device 26 to transmit a request signal and the vehicle body position. The communication device 26 transmits the request signal and the vehicle body signal to the computer (delivery base). The computer at the delivery base that has received the request signal and the vehicle body position displays a message "Battery delivery requested" and the vehicle body position on the monitor of the computer. At the delivery base, when the operator confirms the above display, the delivery driver is instructed to deliver the sub-battery 12S to the field corresponding to the vehicle body position.

[0104] Further, while the work machine 1 is stopped, when the control device 20 determines that the sub-battery 12S has been replaced with a replacement sub-battery 12S after the potential has temporarily become zero due to the detachment of the sub-battery 12S and the remaining amount has returned by attaching the sub-battery 12S, the control device 20 instructs the communication device 26 to transmit a recovery signal and the vehicle body position. The communication device 26 transmits the recovery signal and the vehicle body signal to a computer (delivery base). The computer at the delivery base that has received the recovery signal and the vehicle body position displays a message indicating "Battery recovery required" and the vehicle body position on a monitor or the like of the computer. At the delivery base, when the operator confirms the above display, an instruction is given to the delivery driver to recover the used sub-battery 12S toward the field corresponding to the vehicle body position.

[0105] Furthermore, when the automatic driving mode is set, if the control device 20 determines that it is necessary to replace the sub-battery 12S being worn, the control device 20 moves the tractor 2 to the area A of the field F adjacent to the farm road R by automatic driving. Since the delivered replacement sub-battery 12S is placed in the area A, the sub-battery 12S can be efficiently replaced before the battery is exhausted in the working area of the field F.

[0106] <Actual operation> The operation of the battery charge / discharge control and the control related to the replacement of the sub-battery 12S in the work machine 1 configured as described above will be described. As shown in the time chart of FIG. 9, the operation of the work machine 1 in the field F from the time t0 when the work and traveling are started will be described. At time t0, it is assumed that the remaining amounts of the main battery 12M and the sub-battery 12S are the maximum amounts Qmax, respectively. Also, either the discharge mode or the regeneration mode is set. In the discharge mode, usually, the first discharge mode is adopted, and in the regeneration mode, usually, the first regeneration mode is adopted. It is assumed that the regulator 60 is set to the first discharge mode at time t0. The temporal changes in the remaining amount of the main battery 12M and the remaining amount of the sub-battery 12S are indicated by a solid line and a one-dot chain line, respectively.

[0107] As shown in the flowchart of FIG. 10, first, it is determined whether it is necessary to replace the sub-battery 12S (S1). More specifically, it is determined whether the remaining amount of the sub-battery 12S obtained by the above-described calculation is equal to or less than a predetermined value Qth1 (<Qmax). At time t0, since the remaining amount of the sub-battery 12S is the maximum amount Qmax, it is determined as "No" in S1. Next, it is determined whether the regeneration condition is satisfied (S2). More specifically, at the current time, based on the operation amount of the accelerator pedal, the rotational speed of the electric motor 11, etc., it is determined whether power regeneration is performed from the electric motor 11. At time t0, since power regeneration is not performed, it is determined as "No" in S2. Next, it is determined whether it is necessary to switch to the second discharge mode (S3). More specifically, at the current time, in the first discharge mode, the remaining amount of the main battery 12M is larger than the remaining amount of the sub-battery 12S, and it is determined whether the remaining amount difference dQ between the main battery 12M and the sub-battery 12S is equal to or greater than a predetermined value dQth. At time t0, since the remaining amount difference dQ is zero, it is determined as "No" in S3. Next, the regulator 60 is controlled to execute discharge from the main battery 12M and the sub-battery 12S in the first discharge mode (S4), and then returns to S1 once.

[0108] In the first discharge mode, the regulator 60 is controlled so that the received power from the sub-power supply path P2 is larger than the received power from the main power supply path P1. In this state, power is supplied from the main battery 12M to the electric motor 11 of the tractor 2 and the electric motor 50a of the spraying device 3, and power is also supplied from the sub-battery 12S to the electric motor 11 of the tractor 2 and the electric motor 50a of the spraying device 3 (see FIG. 6). That is, the supplied power of the main battery 12M and the sub-battery 12S is used for both the traveling of the tractor 2 and the operation of the spraying device 3. Here, the power supply from the sub-battery 12S is larger than the power supply from the main battery 12M.

[0109] Therefore, as shown in FIG. 9, after time t0, the first discharge mode continues, and the remaining amount of the sub-battery 12S decreases more significantly than that of the main battery 12M. In response to this decreasing trend, after time t0, the remaining amount difference dQ increases from zero, and at time t1, it is assumed that the remaining amount of the main battery 12M is greater than that of the sub-battery 12S, and the remaining amount difference dQ is equal to or greater than a predetermined value dQth.

[0110] At time t1, "No" is determined at S1 and S2 in FIG. 10, and "Yes" is determined at S3. Subsequently, the regulator 60 executes discharge from the main battery 12M and the sub-battery 12S in the second discharge mode (S5), and then returns to S1 once.

[0111] In the second discharge mode, the regulator 60 is controlled so that the received power from the main power supply path P1 is greater than the received power from the sub-power supply path P2. In this state, power is supplied from the main battery 12M to the electric motor 11 of the tractor 2 and the electric motor 50a of the spraying device 3, and power is also supplied from the sub-battery 12S to the electric motor 11 of the tractor 2 and the electric motor 50a of the spraying device 3 (see FIG. 6). That is, the supplied power of the main battery 12M and the sub-battery 12S is used for both the running of the tractor 2 and the operation of the spraying device 3. Here, the power supply from the main battery 12M is greater than the power supply from the sub-battery 12S.

[0112] Therefore, as shown in FIG. 9, after time t1, the second discharge mode continues, and the remaining amount of the main battery 12M decreases more significantly than that of the sub-battery 12S. In response to this decreasing trend, after time t1, the remaining amount difference dQ decreases. As a result, the remaining amounts of the main battery 12M and the sub-battery 12S can be equalized. After time t1, after the second discharge mode continues, it is assumed that the regeneration condition is satisfied at time t2.

[0113] When time t2 is reached, it is determined as "No" at S1 and "Yes" at S2 in FIG. 10. Next, it is determined whether it is necessary to switch to the second power generation mode (S6). More specifically, at the current time, it is determined whether the remaining amount of the main battery 12M is equal to or greater than a predetermined value Qth2 (Qmax > Qth2 > Qth1). At time t2, the remaining amount of the main battery 12M has decreased significantly and is smaller than the predetermined value Qth2, so it is determined as "No" at S6. Next, the regulator 60 is set to the first power generation mode, and charging of the main battery 12M is executed (S7), and then it returns to S1 once.

[0114] In the first power generation mode, the regulator 60 is controlled so that the power output to the sub - power supply path P2 is zero, and all the power received by the regulator 60 is output to the main power supply path P1. In this state, power is supplied from the electric motor 11 of the tractor 2 to the main battery 12M (see FIG. 6). Here, the power supply to the main battery 12M is larger than the power supply to the sub - battery 12S.

[0115] For this reason, as shown in FIG. 9, the first power generation mode continues after time t2, the remaining amount of the sub - battery 12S does not increase, and the remaining amount of the main battery 12M increases more significantly. Assume that at time t3, the remaining amount of the main battery 12M becomes equal to or greater than the predetermined value Qth2.

[0116] When time t3 is reached, it is determined as "No" at S1 and "Yes" at S2 and S6 in FIG. 10. Next, the regulator 60 is set to the second power generation mode, and charging of the sub - battery 12S is executed (S8), and then it returns to S1 once.

[0117] In the second regeneration mode, the regulator 60 is controlled such that the power output to the main power supply path P1 is set to zero, and all the power received by the regulator 60 is output to the sub-power supply path P2. In this state, power is supplied from the electric motor 11 of the tractor 2 to the sub-battery 12S (see FIG. 6). Here, the power supply to the sub-battery 12S is greater than the power supply to the main battery 12M.

[0118] Therefore, as shown in FIG. 9, after time t3, the second regeneration mode continues, the remaining amount of the main battery 12M does not increase, and the remaining amount of the sub-battery 12S increases more significantly. As a result, the remaining amounts of the main battery 12M and the sub-battery 12S can be equalized. After time t3, it is assumed that the regeneration condition no longer holds at time t4 after the second regeneration mode continues. Also, at time t4, it is assumed that the remaining amount of the main battery 12M is greater than the remaining amount of the sub-battery 12S, and the remaining amount difference dQ is smaller than the predetermined value dQth.

[0119] At time t4, it is respectively determined as "No" at S1, S2, and S3 in FIG. 10. Next, the regulator 60 is set to the first discharge mode, and discharge from the main battery 12M and the sub-battery 12S is executed (S4), and then it returns to S1 once.

[0120] Therefore, as shown in FIG. 9, after time t4, the first discharge mode continues, and the remaining amount of the sub-battery 12S decreases more significantly than the remaining amount of the main battery 12M. At time t5, it is assumed that the remaining amount of the sub-battery 12S becomes equal to or less than the predetermined value Qth1.

[0121] When time t5 is reached, it is respectively determined as "Yes" at S1 in FIG. 10. Next, an instruction is given to the distribution center to deliver a new replacement sub-battery 12S (S9) (see FIG. 11(a)). The work machine 1 is controlled to move to area A of the farm field F by autonomous driving (S10) (see FIG. 11(b)). Then, when the sub-battery 12S is replaced in area A and the used sub-battery 12S is left stationary in area A, the replacement is detected and an instruction is given to the distribution center to collect the used sub-battery 12S (S11) (see FIG. 11(c)).

[0122] <Summary> As described above, the work machine 1 according to the embodiment of the present invention includes a storage device for storing an energy source and is driven by the energy source. This storage device includes a main battery 12M (first storage device) provided in the work machine 1 and a sub-battery 12S (second storage device) provided at a position different from the main battery 12M of the work machine 1. Among these batteries, the sub-battery 12S is detachable from the work machine 1. Therefore, the storage device for storing the energy source can be replaced, and a deterioration in work efficiency can be suppressed. In addition to the capacity of the main battery 12M, running and work can be continued for a longer time according to the capacity of the sub-battery 12S. Since this sub-battery 12S is detachable, when the remaining amount decreases, the sub-battery 12S can be detached and a pre-charged replacement sub-battery 12S can be attached. By replacing the sub-battery 12S, the energy source can be easily replenished in a short time. Therefore, the work efficiency can be appropriately improved by adjusting the discharge amount between the main battery 12M and the sub-battery 12S, such as making the discharge amount of the sub-battery 12S larger than that of the main battery 12M.

[0123] The work machine 1 of the embodiment particularly includes a tractor 2 (traveling vehicle) and a spraying device 3 (working device) provided on the tractor 2. The main battery 12M is not detachable from the work machine 1 and supplies electric power for driving the tractor 2 and / or the spraying device 3. The sub-battery 12S is detachable from the work machine 1 and supplies electric power for driving the tractor 2 when electric power for driving the tractor 2 and / or the spraying device 3 is supplied by the main battery 12M. According to this, reduction in the remaining amount of the main battery 12M can be suppressed according to the amount of electric power supplied from the sub-battery 12S for driving the tractor 2. When the main battery 12M is exhausted, a charging operation is required. However, according to the above configuration, the timing of the charging operation can be extended, and the work efficiency can be improved appropriately. In particular, the above configuration is effective when the load on the tractor 2 is large.

[0124] In the work machine 1 of the embodiment, particularly, the sub-battery 12S supplies electric power for driving the spraying device 3 when electric power for driving the tractor 2 and / or the spraying device 3 is supplied by the main battery 12M. According to this, reduction in the remaining amount of the main battery 12M can be suppressed according to the amount of electric power supplied from the sub-battery 12S for driving the tractor 2 and the spraying device 3. Therefore, reduction in the remaining amount of the main battery 12M can be further suppressed, and the timing of the charging operation of the main battery 12M can be further extended.

[0125] In particular, the working machine 1 of the embodiment includes a tractor 2, a spraying device 3 provided on the tractor 2, and an electric motor 11 (regeneration device) capable of regenerating electric power from the tractor 2. The main battery 12M is a battery that can charge and discharge electric energy and is not detachable from the working machine 1. The sub-battery 12S is a battery that can charge and discharge electric energy and is detachable from the working machine 1. Further, when the remaining amount of the main battery 12M is equal to or greater than a predetermined value Qth2, the working machine 1 includes a battery charge / discharge control device 20G (charge control unit) that charges the sub-battery 12S with the electric energy regenerated by the electric motor 11. According to this, when the remaining amount of the main battery 12M is large, as the second regeneration mode, the charging amount of the sub-battery 12S can be preferentially increased, and the remaining amounts of the respective batteries can be equalized. Also, when the remaining amount of the main battery 12M is small, as the first regeneration mode, the charging amount of the main battery 12M can be preferentially increased, and the timing of the charging operation of the main battery 12M can be extended.

[0126] In particular, in the working machine 1 of the embodiment, the main battery 12M is a battery that can charge and discharge electric energy and is not detachable from the working machine 1. The sub-battery 12S is a battery that can charge and discharge electric energy and is detachable from the working machine 1. Further, the working machine 1 includes a battery charge / discharge control device 20G (discharge control unit) that makes the discharge amount from the battery with the larger remaining amount of electric energy among the main battery 12M and the sub-battery 12S larger than the discharge amount from the other battery. According to this, for example, when setting the first discharge mode in which the discharge amount of the sub-battery 12S is preferentially increased, the remaining amount of the main battery 12M may become larger than the remaining amount of the sub-battery 12S, and the remaining amount difference dQ may also become larger. When the remaining amount difference dQ becomes large, as the second discharge mode, the discharge amount of the main battery 12M can be preferentially increased, and the remaining amounts of the respective batteries can be equalized.

[0127] The working machine 1 of the embodiment particularly includes a tractor 2 and a spraying device 3 provided on the tractor 2. The main battery 12M is not detachable from the working machine 1, and the sub-battery 12S is mounted at a position on the opposite side of the spraying device 3 in the tractor 2. According to this, the sub-battery 12S can also function as a weight. The sub-battery 12S can be mounted on the side opposite to the spraying device 3 that is a weight load for the tractor 2, making it easier to balance the weight of the entire working machine 1.

[0128] The working machine 1 of the embodiment particularly includes a tractor 2, a spraying device 3, a first connecting device 6 provided on the tractor 2 and capable of connecting the spraying device 3, a power cable 61B (supply path) that is a path of electric power supplied from the main battery 12M and the sub-battery 12S to the spraying device 3, and a connector 61 capable of connecting and disconnecting the power cable 61B, which enables power supply when connected and cuts off power supply when disconnected. According to this, the length and routing of the power cable 61B can be adjusted, giving freedom to the position of the electric motor 50a that drives the spraying device 3. Also, the connector 61 can be connected when connecting the spraying device 3 and removed when disconnecting the connected spraying device 3.

[0129] In the working machine 1 of the embodiment, particularly, the connector 61 is provided on the tractor 2 so as to face the spraying device 3 when the spraying device 3 is connected to the first connecting device 6. Specifically, the connector 61 is provided at the rear of the tractor 2 and is located above the front end of the top link 6B1 of the first connecting device 6 and the front end of the lift arm 6A. According to this, the connector 61 can be brought closer to the electric motor 50a, and the required distance of the power cable 61B can be shortened. For this reason, the routing of the power cable 61B becomes easy. Furthermore, the energization resistance of the power cable 61B can be reduced. Also, when the first connecting device 6 is provided at the rear of the tractor 2, by arranging the connector 61 above the first connecting device 6, interference between the first connecting device 6 and the power cable 61B can be suppressed.

[0130] In the working machine 1 of the embodiment, in particular, the storage device is a battery that can charge and discharge electrical energy as the energy source, and the spraying device 3 can receive a signal from the tractor 2. The working machine 1 includes a communication cable 61C (communication path) that transmits a signal from the tractor 2 toward the spraying device 3, and a connector 61 that can connect and disconnect each of the power cable 61B and the communication cable 61C. When connected, it enables the supply of electrical energy and the transmission of signals, and when disconnected, it shuts off the supply of electrical energy and the transmission of signals. According to this, the communication connector can be effectively utilized and integrated with the power connector, and the connection and disconnection of the power cable 61B and the communication cable 61C can be executed with one connector 61. Therefore, the labor of connector connection can be suppressed, and the number of parts can also be reduced. Also, the power cable 61B and the communication cable 61C can be integrated by bundling or the like, and the labor of routing can be suppressed compared to routing them separately.

[0131] The working machine 1 of the embodiment can particularly connect the sub-battery 12S. The sub-battery 12S, which is a battery that can charge and discharge electrical energy as an energy source and is detachably attached to the second connecting device 7, is provided with a second connecting device 7 that enables the attachment of the sub-battery 12S to the working machine 1 when the sub-battery 12S is connected, and is provided with a terminal portion 12S2 (battery terminal portion) for discharging electrical energy. The second connecting device 7 includes an attachment hook 7D (terminal connection portion) that is connected to the terminal portion 12S2 when the sub-battery 12S is connected, and enables the supply of electrical energy from the sub-battery 12S to the working machine 1 via the terminal portion 12S2 and the attachment hook 7D. According to this, the supply of electrical energy becomes possible only by connecting the sub-battery 12S to the second connecting device 7. Therefore, when replacing the sub-battery 12S, operations such as cable connection and disconnection in the sub-battery 12S become unnecessary. Thus, the operation of battery replacement can be made easy.

[0132] The embodiments disclosed this time should be considered as illustrative in all aspects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims are included.

Explanation of Signs

[0133] 1: Working machine 2: Traveling vehicle (tractor) 3: Working device (spraying device) 3a: Working control device 6: First connecting device 7: Second connecting device 7B: Three-point link mechanism 7B1: Top link 7B2: Lower link 7 7B4: Joint 7D: Mounting hook 7DL: Mounting hook 7DR: Mounting hook 7D1L: Concave part 7D1R: Concave part 11: Electric motor 12M: Main battery 12S: Sub-battery 12S2: Terminal part 12S2L: Terminal part 12S2R: Terminal part 12S4: Link bar 12S5: Upper end part 20: Control device 20G: Battery charge / discharge control device 26: Communication device 60: Regulator 61: Connector 61A: Cable connector 61B: Power cable 61C: Communication cable N1: In-vehicle network P1: Main power supply path P2: Sub-power supply path P3: Electric motor supply path P4: Working device supply path Q4: Remaining amount Qth2: Specified value dQth: Specified value

Claims

1. In a working machine driven by an energy source, a first storage device provided in the working machine for storing the energy source; a second storage device provided at a position different from the first storage device for storing the energy source; a traveling vehicle; a working device provided on the traveling vehicle; a regenerator capable of regenerating electric power from the traveling vehicle; a control device; a regulator that switches to either a discharge mode or a regeneration mode based on a control signal from the control device; a first supply path that is a path of the energy source supplied from the first storage device to the working device in the discharge mode; a second supply path that is a path of the energy source supplied from the second storage device to the working device in the discharge mode; a third supply path that is a path of the energy source supplied from the regenerator to the first storage device and the second storage device in the regeneration mode; comprising: the first storage device is not detachable from the working machine; the second storage device is detachable from the working machine; one end of the first supply path is connected to the first storage device, and the other end of the first supply path is connected to the regulator; one end of the second supply path is connected to the second storage device, and the other end of the second supply path is connected to the regulator; when in the discharge mode, the control device switches the regulator to either a first discharge mode or a second discharge mode; in the first discharge mode, the control device controls the regulator such that the received power from the second supply path is greater than the received power from the first supply path; in the second discharge mode, the control device controls the regulator such that the received power from the first supply path is greater than the received power from the second supply path, a working machine.

2. In a working machine driven by an energy source, a first storage device provided in the working machine for storing the energy source; a second storage device provided at a position different from the first storage device for storing the energy source; a traveling vehicle; a working device provided on the traveling vehicle; a regenerator capable of regenerating electric power from the traveling vehicle; a control device; a regulator that switches to either a discharge mode or a regeneration mode based on a control signal from the control device; In the discharge mode, a first supply path which is a path of the energy source supplied from the first storage device to the working device; In the discharge mode, a second supply path which is a path of the energy source supplied from the second storage device to the working device; In the regeneration mode, a third supply path which is a path of the energy source supplied from the regeneration device to the first storage device and the second storage device; and includes: The first storage device is not detachable from the working machine; The second storage device is detachable from the working machine; One end of the first supply path is connected to the first storage device, and the other end of the first supply path is connected to the regulator; One end of the second supply path is connected to the second storage device, and the other end of the second supply path is connected to the regulator; When it is in the regeneration mode, the control device switches the regulator to either a first regeneration mode or a second regeneration mode; In the first regeneration mode, the control device controls the regulator such that the power output to the second supply path is zero and all the power received by the regulator is output to the first supply path; In the second regeneration mode, the control device controls the regulator such that the power output to the first supply path is zero and all the power received by the regulator is output to the second supply path, a working machine.

3. In the working machine according to claim 1, In a state of being in the second discharge mode, when the control device determines that the remaining amount of the second storage device is larger than the remaining amount of the first storage device and the difference between the respective remaining amounts is equal to or greater than a predetermined value, the working machine switches to the first discharge mode.

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